must need stm32cubeclt to have breakpoint？

2026-07-24 03:27:45 +08:00 · 2025-11-05 21:16:46 +08:00
parent 9dff60f9ae
commit 2dbfa43588
3 changed files with 113 additions and 112 deletions
--- a/.idea/editor.xml
+++ b/.idea/editor.xml
@@ -268,6 +268,7 @@
    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BREAK_TEMPLATE_DECLARATION/@EntryValue" value="LINE_BREAK" type="string" />
    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CASE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CONTINUOUS_LINE_INDENT/@EntryValue" value="Double" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/FREE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_ACCESS_SPECIFIERS_FROM_CLASS/@EntryValue" value="false" type="bool" />
    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CASE_FROM_SWITCH/@EntryValue" value="true" type="bool" />
    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CLASS_MEMBERS_FROM_ACCESS_SPECIFIERS/@EntryValue" value="true" type="bool" />
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,24 +1,22 @@
 cmake_minimum_required(VERSION 3.22)
 include("cmake/gcc-arm-none-eabi.cmake")
-#
-# This file is generated only once,
-# and is not re-generated if converter is called multiple times.
-#
-# User is free to modify the file as much as necessary
-#
-
-# 条件编译 所有车共用一套代码
+project(TronOneH7_Scaffold)

 # option(BALANCE "Enable balance" ON)
 # option(STEER "Enable steer" ON)
-# option(OMNI "Enable omni" ON)
+#option(OMNI "Enable omni" ON)
 # option(INFANTRY_OMNI "Enable infantry moni" ON)
 # option(HERO "Enable hero" ON)
 # option(HERO_STEER "Enable hero_steer" ON)
 # option(DART_STAND "Enable dart stand" ON)
 # option(ENGINEER "Enable engineer" ON)

-# Setup compiler settings
+# 启用编译命令以便于使用例如 clangd 进行索引
+set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
+# 启用对 ASM 和 C 语言的 CMake 支持
+enable_language(C CXX ASM)
+
+# 设置编译器选项
 set(CMAKE_C_STANDARD 23)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_C_EXTENSIONS ON)
@@ -27,123 +25,129 @@ set(CMAKE_CXX_STANDARD 23)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS ON)

+if (CMAKE_BUILD_TYPE STREQUAL "Debug")
+    set(CMAKE_C_FLAGS_DEBUG "-O0 -g")
+    set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
+elseif (CMAKE_BUILD_TYPE STREQUAL "Release")
+    set(CMAKE_C_FLAGS_RELEASE "-O3")
+    set(CMAKE_CXX_FLAGS_RELEASE "-O3")
+elseif (CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
+    set(CMAKE_C_FLAGS_RELWITHDEBINFO "-O2 -g")
+    set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O2 -g")
+elseif (CMAKE_BUILD_TYPE STREQUAL "MinSizeRel")
+    set(CMAKE_C_FLAGS_MINSIZEREL "-Os")
+    set(CMAKE_CXX_FLAGS_MINSIZEREL "-Os")
+endif ()
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -frtti -Wno-volatile")
+
 # 定义构建类型
 if (NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE "Debug")
 endif ()
 message("Build type: ${CMAKE_BUILD_TYPE}")

-# Set the project name
-set(CMAKE_PROJECT_NAME TronOneH7_Scaffold)
-
-# Enable compile command to ease indexing with e.g. clangd
-set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
-
-# Core project settings
-project(${CMAKE_PROJECT_NAME})
-message("Build type: " ${CMAKE_BUILD_TYPE})
-
-# 启用对 ASM 和 C 语言的 CMake 支持
-enable_language(C CXX ASM)
-
-# Create an executable object type
+# 创建可执行对象类型
 add_executable(${CMAKE_PROJECT_NAME})

 # 添加子目录
 #add_subdirectory(cmake/stm32cubemx)
 #add_subdirectory(User_Code/bsp)
 #add_subdirectory(User_Code/module)
-#if(STEER)
+#if (STEER)
 #    add_subdirectory(User_Code/user/steer)
 #    message("You set STEER")
-#elseif(BALANCE)
+#
+#elseif (BALANCE)
 #    add_subdirectory(User_Code/user/balance)
 #    message("You set BALANCE")
-#elseif(OMNI)
+#
+#elseif (OMNI)
 #    add_subdirectory(User_Code/user/omni)
 #    message("You set OMNI")
-#elseif(INFANTRY_OMNI)
+#
+#elseif (INFANTRY_OMNI)
 #    add_subdirectory(User_Code/user/infantry_omni)
 #    message("You set INFANTRY_OMNI")
-#elseif(DART_STAND)
+#
+#elseif (DART_STAND)
 #    add_subdirectory(User_Code/user/dart_stand)
 #    message("You set DART_STAND")
-#elseif(ENGINEER)
+#
+#elseif (ENGINEER)
 #    add_subdirectory(User_Code/user/engineer)
 #    message("You set ENGINEER")
-#elseif(HERO)
+#
+#elseif (HERO)
 #    add_subdirectory(User_Code/user/hero)
 #    message("You set HERO")
-#elseif(HERO_STEER)
+#
+#elseif (HERO_STEER)
 #    add_subdirectory(User_Code/user/hero_steer)
 #    message("You set HERO_STEER")
-#endif()
+#endif ()
+
+# # 强制包含头文件
+# target_compile_options(${CMAKE_PROJECT_NAME} PRIVATE
+#     # -include "${CMAKE_SOURCE_DIR}/User_Code/bsp/safe_check/packed_struct.hpp"
+# )

 # Add STM32CubeMX generated sources
 add_subdirectory(cmake/stm32cubemx)

-# Add linked libraries
+# 添加链接库
 target_link_libraries(${CMAKE_PROJECT_NAME}
        stm32cubemx
-        #    ${CMAKE_SOURCE_DIR}/Drivers/CMSIS/DSP/Lib/GCC/libarm_cortexM7lfdp_math.a
-        # Add user defined libraries
+        #        ${CMAKE_SOURCE_DIR}/Drivers/CMSIS/DSP/Lib/GCC/libarm_cortexM7lfdp_math.a
 )
 #link_libraries("Drivers/CMSIS/DSP/Lib/GCC/libarm_cortexM7lfdp_math.a")
-#
-## 添加包含路径
-#include_directories(
-#        ./Drivers/CMSIS/Include
-#        ./Drivers/CMSIS/DSP/Include/
-#)
-## 添加链接目录
-#link_directories(
-#        ./Drivers/CMSIS/DSP/Lib/GCC
-#)
-#
-## 添加编译选项
-#add_compile_options(-pipe -Wall -fmessage-length=0 # basic options
-#        -ffunction-sections -fdata-sections -fno-common # optimize options
-#)
-#add_link_options(-pipe -Wl,--no-warn-rwx-segments # close RWX warning
-#        -lc -lstdc++ -lm -lnosys # lib options
-#        -Wl,--gc-sections -flto -specs=nano.specs -specs=nosys.specs # optimize options
-#)
-#
-## 添加全局宏定义
-#add_definitions(
-#        -DUSE_HAL_DRIVER
-#        -DARM_MATH_CM7
-#        -DARM_MATH_MATRIX_CHECK
-#        -DARM_MATH_ROUNDING
-#        -DARM_MATH_LOOPUNROLL
-#        -DDISABLEFLOAT16
-#)
-#
-## 添加目标编译选项
-#target_compile_options(${CMAKE_PROJECT_NAME} PRIVATE
-#        -mthumb
-#        -mthumb-interwork
-#        -mfpu=fpv5-d16
-#        -mfloat-abi=hard
-#)
-#
-## 忽略 usbd_desc.c 文件中由于缺少字段初始化引起的警告
+# 添加包含路径
+include_directories(
+        ./Drivers/CMSIS/Include
+        ./Drivers/CMSIS/DSP/Include/
+)
+# 添加链接目录
+link_directories(
+        ./Drivers/CMSIS/DSP/Lib/GCC
+)
+# 添加编译选项
+add_compile_options(-pipe -Wall -fmessage-length=0 # basic options
+        -ffunction-sections -fdata-sections -fno-common # optimize options
+)
+add_link_options(-pipe -Wl,--no-warn-rwx-segments # close RWX warning
+        -lc -lstdc++ -lm -lnosys # lib options
+        -Wl,--gc-sections -flto -specs=nano.specs -specs=nosys.specs # optimize options
+)
+# 添加全局宏定义
+add_definitions(
+        -DUSE_HAL_DRIVER
+        -DARM_MATH_CM7
+        -DARM_MATH_MATRIX_CHECK
+        -DARM_MATH_ROUNDING
+        -DARM_MATH_LOOPUNROLL
+        -DDISABLEFLOAT16
+)
+# 添加目标编译选项
+target_compile_options(${CMAKE_PROJECT_NAME} PRIVATE
+        -mthumb
+        #        -mthumb-interwork
+        -mfpu=fpv5-d16
+        -mfloat-abi=hard
+)
+
+
+# 忽略 usbd_desc.c 文件中由于缺少字段初始化引起的警告
 #set_source_files_properties(
 #        ${CMAKE_CURRENT_SOURCE_DIR}/USB_DEVICE/App/usbd_desc.c
 #        PROPERTIES COMPILE_FLAGS -Wno-missing-field-initializers
 #)
-## 忽略特定文件中的未使用参数警告
+# 忽略特定文件中的未使用参数警告
 #set_source_files_properties(
 #        ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/freertos.c
 #        ${CMAKE_CURRENT_SOURCE_DIR}/USB_DEVICE/App/usbd_cdc_if.c
 #        PROPERTIES COMPILE_FLAGS -Wno-unused-parameter
 #)

-# Link directories setup
-target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
-        # Add user defined library search paths
-)
-
 # Add sources to executable
 target_sources(${CMAKE_PROJECT_NAME} PRIVATE
        User_Code/bsp/fdcan/bsp_fdcan.c
@@ -165,48 +169,44 @@ target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
        # Add user defined include paths
 )

-# Add project symbols (macros)
+# 添加全局宏定义
 target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
        #        RM_REFEREE
-        # Add user defined symbols
 )

 # 添加全局宏定义
-#if(OMNI)
+#if (OMNI)
 #    target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
 #            SENTRY
 #            OMNI
 #    )
-#elseif(INFANTRY_OMNI)
+#elseif (INFANTRY_OMNI)
 #    target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
 #            # SENTRY
 #            INFANTRY_OMNI
 #    )
-#elseif(STEER)
+#elseif (STEER)
 #    target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
 #            STEER
 #    )
-#elseif(BALANCE)
+#elseif (BALANCE)
 #    target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
 #            BALANCE
 #    )
-#elseif(HERO)
+#elseif (HERO)
 #    target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
 #            HERO
 #    )
-#elseif(HERO_STEER)
+#elseif (HERO_STEER)
 #    target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
 #            HERO_STEER
 #    )
-#elseif(DART_STAND)
+#elseif (DART_STAND)
 #    target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
 #            DART_STAND
 #    )
-#elseif(ENGINEER)
+#elseif (ENGINEER)
 #    target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
 #            ENGINEER
 #    )
-#endif()
-
-# Remove wrong libob.a library dependency when using cpp files
-list(REMOVE_ITEM CMAKE_C_IMPLICIT_LINK_LIBRARIES ob)
+#endif ()
--- a/User_Code/bsp/fdcan/bsp_fdcan.h
+++ b/User_Code/bsp/fdcan/bsp_fdcan.h
@@ -25,30 +25,28 @@

 /* FDCAN实例结构体，每个注册到FDCAN的模块都应该有这个变量 */
 #pragma pack(1)
-typedef struct _FDCANInstance
-{
+typedef struct _FDCANInstance {
    FDCAN_HandleTypeDef *can_handle; // FDCAN句柄
-    FDCAN_TxHeaderTypeDef txconf;    // FDCAN报文发送配置
-    uint32_t tx_id;                  // 发送id
-    uint32_t tx_mailbox;             // FDCAN消息填入的邮箱号
-    uint8_t tx_buff[64];             // 发送缓存，FDCAN最大支持64字节
-    uint8_t rx_buff[64];             // 接收缓存，FDCAN最大支持64字节
-    uint32_t rx_id;                  // 接收id
-    uint8_t rx_len;                  // 接收长度
+    FDCAN_TxHeaderTypeDef txconf; // FDCAN报文发送配置
+    uint32_t tx_id; // 发送id
+    uint32_t tx_mailbox; // FDCAN消息填入的邮箱号
+    uint8_t tx_buff[64]; // 发送缓存，FDCAN最大支持64字节
+    uint8_t rx_buff[64]; // 接收缓存，FDCAN最大支持64字节
+    uint32_t rx_id; // 接收id
+    uint8_t rx_len; // 接收长度
    // 接收的回调函数，用于解析接收到的数据
    void (*can_module_callback)(struct _FDCANInstance *); // 回调函数需要实例来区分注册的设备
-    void *id;                                // 使用FDCAN外设的模块指针
+    void *id; // 使用FDCAN外设的模块指针
 } FDCANInstance;
 #pragma pack()

 /* FDCAN实例初始化结构体，将此结构体指针传入注册函数 */
-typedef struct
-{
-    FDCAN_HandleTypeDef *can_handle;              // FDCAN句柄
-    uint32_t tx_id;                               // 发送id
-    uint32_t rx_id;                               // 接收id
+typedef struct {
+    FDCAN_HandleTypeDef *can_handle; // FDCAN句柄
+    uint32_t tx_id; // 发送id
+    uint32_t rx_id; // 接收id
    void (*can_module_callback)(FDCANInstance *); // 处理接收数据的回调函数
-    void *id;                                     // 拥有FDCAN实例的模块地址
+    void *id; // 拥有FDCAN实例的模块地址
 } FDCAN_Init_Config_s;

 /**
@@ -87,7 +85,9 @@ void bsp_fdcan_set_baud(FDCAN_HandleTypeDef *hfdcan, uint8_t mode, uint8_t baud)

 // 弱定义的接收回调函数，用户可重写
 __weak void fdcan1_rx_callback(void);
+
 __weak void fdcan2_rx_callback(void);
+
 __weak void fdcan3_rx_callback(void);

-#endif /* __BSP_FDCAN_H_ */
+#endif /* __BSP_FDCAN_H_ */