diff --git a/.idea/editor.xml b/.idea/editor.xml
index de4eee6..17f50d3 100644
--- a/.idea/editor.xml
+++ b/.idea/editor.xml
@@ -268,6 +268,7 @@
+
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 89e8675..de7b4d1 100644
--- 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 ()
diff --git a/User_Code/bsp/fdcan/bsp_fdcan.h b/User_Code/bsp/fdcan/bsp_fdcan.h
index 08c7722..00bc9ce 100644
--- 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_ */
\ No newline at end of file
+#endif /* __BSP_FDCAN_H_ */