TuxMonkey/tronone-h7-scaffold
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mirror of https://gitee.com/dlmu-cone/tronone-h7-scaffold synced 2026-07-24 19:37:45 +08:00
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must need stm32cubeclt to have breakpoint？

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TuxMonkey
2025-11-05 21:16:46 +08:00
parent 9dff60f9ae
commit 2dbfa43588
3 changed files with 113 additions and 112 deletions
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1
.idea/editor.xml generated
View File

@@ -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/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/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/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_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_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" /> <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CLASS_MEMBERS_FROM_ACCESS_SPECIFIERS/@EntryValue" value="true" type="bool" />

190
CMakeLists.txt
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@@ -1,24 +1,22 @@
cmake_minimum_required(VERSION 3.22) cmake_minimum_required(VERSION 3.22)
include("cmake/gcc-arm-none-eabi.cmake") include("cmake/gcc-arm-none-eabi.cmake")
# project(TronOneH7_Scaffold)
# 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
# option(BALANCE "Enable balance" ON) # option(BALANCE "Enable balance" ON)
# option(STEER "Enable steer" ON) # option(STEER "Enable steer" ON)
# option(OMNI "Enable omni" ON) #option(OMNI "Enable omni" ON)
# option(INFANTRY_OMNI "Enable infantry moni" ON) # option(INFANTRY_OMNI "Enable infantry moni" ON)
# option(HERO "Enable hero" ON) # option(HERO "Enable hero" ON)
# option(HERO_STEER "Enable hero_steer" ON) # option(HERO_STEER "Enable hero_steer" ON)
# option(DART_STAND "Enable dart stand" ON) # option(DART_STAND "Enable dart stand" ON)
# option(ENGINEER "Enable engineer" 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 23)
set(CMAKE_C_STANDARD_REQUIRED ON) set(CMAKE_C_STANDARD_REQUIRED ON)
set(CMAKE_C_EXTENSIONS ON) set(CMAKE_C_EXTENSIONS ON)
@@ -27,123 +25,129 @@ set(CMAKE_CXX_STANDARD 23)
set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS 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 # 定义构建类型
if (NOT CMAKE_BUILD_TYPE) if (NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE "Debug") set(CMAKE_BUILD_TYPE "Debug")
endif () endif ()
message("Build type: ${CMAKE_BUILD_TYPE}") message("Build type: ${CMAKE_BUILD_TYPE}")
# Set the project name # 创建可执行对象类型
set(CMAKE_PROJECT_NAME TronOneH7_Scaffold)
# Enable compile command to ease indexing with e.g. clangd
set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
# Core project settings
project(${CMAKE_PROJECT_NAME})
message("Build type: " ${CMAKE_BUILD_TYPE})
# 启用对 ASM 和 C 语言的 CMake 支持
enable_language(C CXX ASM)
# Create an executable object type
add_executable(${CMAKE_PROJECT_NAME}) add_executable(${CMAKE_PROJECT_NAME})
# 添加子目录 # 添加子目录
#add_subdirectory(cmake/stm32cubemx) #add_subdirectory(cmake/stm32cubemx)
#add_subdirectory(User_Code/bsp) #add_subdirectory(User_Code/bsp)
#add_subdirectory(User_Code/module) #add_subdirectory(User_Code/module)
#if(STEER) #if (STEER)
# add_subdirectory(User_Code/user/steer) # add_subdirectory(User_Code/user/steer)
# message("You set STEER") # message("You set STEER")
#elseif(BALANCE) #
#elseif (BALANCE)
# add_subdirectory(User_Code/user/balance) # add_subdirectory(User_Code/user/balance)
# message("You set BALANCE") # message("You set BALANCE")
#elseif(OMNI) #
#elseif (OMNI)
# add_subdirectory(User_Code/user/omni) # add_subdirectory(User_Code/user/omni)
# message("You set OMNI") # message("You set OMNI")
#elseif(INFANTRY_OMNI) #
#elseif (INFANTRY_OMNI)
# add_subdirectory(User_Code/user/infantry_omni) # add_subdirectory(User_Code/user/infantry_omni)
# message("You set INFANTRY_OMNI") # message("You set INFANTRY_OMNI")
#elseif(DART_STAND) #
#elseif (DART_STAND)
# add_subdirectory(User_Code/user/dart_stand) # add_subdirectory(User_Code/user/dart_stand)
# message("You set DART_STAND") # message("You set DART_STAND")
#elseif(ENGINEER) #
#elseif (ENGINEER)
# add_subdirectory(User_Code/user/engineer) # add_subdirectory(User_Code/user/engineer)
# message("You set ENGINEER") # message("You set ENGINEER")
#elseif(HERO) #
#elseif (HERO)
# add_subdirectory(User_Code/user/hero) # add_subdirectory(User_Code/user/hero)
# message("You set HERO") # message("You set HERO")
#elseif(HERO_STEER) #
#elseif (HERO_STEER)
# add_subdirectory(User_Code/user/hero_steer) # add_subdirectory(User_Code/user/hero_steer)
# message("You set HERO_STEER") # message("You set HERO_STEER")
#endif() #endif ()
# # 强制包含头文件
# target_compile_options(${CMAKE_PROJECT_NAME} PRIVATE
# # -include "${CMAKE_SOURCE_DIR}/User_Code/bsp/safe_check/packed_struct.hpp"
# )
# Add STM32CubeMX generated sources # Add STM32CubeMX generated sources
add_subdirectory(cmake/stm32cubemx) add_subdirectory(cmake/stm32cubemx)
# Add linked libraries # 添加链接库
target_link_libraries(${CMAKE_PROJECT_NAME} target_link_libraries(${CMAKE_PROJECT_NAME}
stm32cubemx stm32cubemx
# ${CMAKE_SOURCE_DIR}/Drivers/CMSIS/DSP/Lib/GCC/libarm_cortexM7lfdp_math.a # ${CMAKE_SOURCE_DIR}/Drivers/CMSIS/DSP/Lib/GCC/libarm_cortexM7lfdp_math.a
# Add user defined libraries
) )
#link_libraries("Drivers/CMSIS/DSP/Lib/GCC/libarm_cortexM7lfdp_math.a") #link_libraries("Drivers/CMSIS/DSP/Lib/GCC/libarm_cortexM7lfdp_math.a")
# # 添加包含路径
## 添加包含路径 include_directories(
#include_directories( ./Drivers/CMSIS/Include
# ./Drivers/CMSIS/Include ./Drivers/CMSIS/DSP/Include/
# ./Drivers/CMSIS/DSP/Include/ )
#) # 添加链接目录
## 添加链接目录 link_directories(
#link_directories( ./Drivers/CMSIS/DSP/Lib/GCC
# ./Drivers/CMSIS/DSP/Lib/GCC )
#) # 添加编译选项
# add_compile_options(-pipe -Wall -fmessage-length=0 # basic options
## 添加编译选项 -ffunction-sections -fdata-sections -fno-common # optimize options
#add_compile_options(-pipe -Wall -fmessage-length=0 # basic options )
# -ffunction-sections -fdata-sections -fno-common # optimize options add_link_options(-pipe -Wl,--no-warn-rwx-segments # close RWX warning
#) -lc -lstdc++ -lm -lnosys # lib options
#add_link_options(-pipe -Wl,--no-warn-rwx-segments # close RWX warning -Wl,--gc-sections -flto -specs=nano.specs -specs=nosys.specs # optimize options
# -lc -lstdc++ -lm -lnosys # lib options )
# -Wl,--gc-sections -flto -specs=nano.specs -specs=nosys.specs # optimize options # 添加全局宏定义
#) add_definitions(
# -DUSE_HAL_DRIVER
## 添加全局宏定义 -DARM_MATH_CM7
#add_definitions( -DARM_MATH_MATRIX_CHECK
# -DUSE_HAL_DRIVER -DARM_MATH_ROUNDING
# -DARM_MATH_CM7 -DARM_MATH_LOOPUNROLL
# -DARM_MATH_MATRIX_CHECK -DDISABLEFLOAT16
# -DARM_MATH_ROUNDING )
# -DARM_MATH_LOOPUNROLL # 添加目标编译选项
# -DDISABLEFLOAT16 target_compile_options(${CMAKE_PROJECT_NAME} PRIVATE
#) -mthumb
# # -mthumb-interwork
## 添加目标编译选项 -mfpu=fpv5-d16
#target_compile_options(${CMAKE_PROJECT_NAME} PRIVATE -mfloat-abi=hard
# -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
#)
#
## 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( #set_source_files_properties(
# ${CMAKE_CURRENT_SOURCE_DIR}/USB_DEVICE/App/usbd_desc.c # ${CMAKE_CURRENT_SOURCE_DIR}/USB_DEVICE/App/usbd_desc.c
# PROPERTIES COMPILE_FLAGS -Wno-missing-field-initializers # 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( #set_source_files_properties(
# ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/freertos.c # ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/freertos.c
# ${CMAKE_CURRENT_SOURCE_DIR}/USB_DEVICE/App/usbd_cdc_if.c # ${CMAKE_CURRENT_SOURCE_DIR}/USB_DEVICE/App/usbd_cdc_if.c
# PROPERTIES COMPILE_FLAGS -Wno-unused-parameter # PROPERTIES COMPILE_FLAGS -Wno-unused-parameter
#) #)
# Link directories setup
target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
# Add user defined library search paths
)
# Add sources to executable # Add sources to executable
target_sources(${CMAKE_PROJECT_NAME} PRIVATE target_sources(${CMAKE_PROJECT_NAME} PRIVATE
User_Code/bsp/fdcan/bsp_fdcan.c User_Code/bsp/fdcan/bsp_fdcan.c
@@ -165,48 +169,44 @@ target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
# Add user defined include paths # Add user defined include paths
) )
# Add project symbols (macros) # 添加全局宏定义
target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
# RM_REFEREE # RM_REFEREE
# Add user defined symbols
) )
# 添加全局宏定义 # 添加全局宏定义
#if(OMNI) #if (OMNI)
# target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE # target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
# SENTRY # SENTRY
# OMNI # OMNI
# ) # )
#elseif(INFANTRY_OMNI) #elseif (INFANTRY_OMNI)
# target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE # target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
# # SENTRY # # SENTRY
# INFANTRY_OMNI # INFANTRY_OMNI
# ) # )
#elseif(STEER) #elseif (STEER)
# target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE # target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
# STEER # STEER
# ) # )
#elseif(BALANCE) #elseif (BALANCE)
# target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE # target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
# BALANCE # BALANCE
# ) # )
#elseif(HERO) #elseif (HERO)
# target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE # target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
# HERO # HERO
# ) # )
#elseif(HERO_STEER) #elseif (HERO_STEER)
# target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE # target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
# HERO_STEER # HERO_STEER
# ) # )
#elseif(DART_STAND) #elseif (DART_STAND)
# target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE # target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
# DART_STAND # DART_STAND
# ) # )
#elseif(ENGINEER) #elseif (ENGINEER)
# target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE # target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
# ENGINEER # ENGINEER
# ) # )
#endif() #endif ()
# Remove wrong libob.a library dependency when using cpp files
list(REMOVE_ITEM CMAKE_C_IMPLICIT_LINK_LIBRARIES ob)

32
User_Code/bsp/fdcan/bsp_fdcan.h
View File

@@ -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 */ /* 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) #pragma pack(1)
typedef struct _FDCANInstance typedef struct _FDCANInstance {
{
FDCAN_HandleTypeDef *can_handle; // FDCAN句柄 FDCAN_HandleTypeDef *can_handle; // FDCAN句柄
FDCAN_TxHeaderTypeDef txconf; // FDCAN报文发送配置 FDCAN_TxHeaderTypeDef txconf; // FDCAN报文发送配置
uint32_t tx_id; // 发送id uint32_t tx_id; // 发送id
uint32_t tx_mailbox; // FDCAN消息填入的邮箱号 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 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 uint8_t rx_buff[64]; // 接收缓存，FDCAN最大支持64字节
uint32_t rx_id; // 接收id uint32_t rx_id; // 接收id
uint8_t rx_len; // 接收长度 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 // 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 (*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; } FDCANInstance;
#pragma pack() #pragma pack()
/* FDCAN实例初始化结构体，将此结构体指针传入注册函数 */ /* FDCAN实例初始化结构体，将此结构体指针传入注册函数 */
typedef struct typedef struct {
{ FDCAN_HandleTypeDef *can_handle; // FDCAN句柄
FDCAN_HandleTypeDef *can_handle; // FDCAN句柄 uint32_t tx_id; // 发送id
uint32_t tx_id; // 发送id uint32_t rx_id; // 接收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 (*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; } 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 // 弱定义的接收回调函数，用户可重写
__weak void fdcan1_rx_callback(void); __weak void fdcan1_rx_callback(void);
__weak void fdcan2_rx_callback(void); __weak void fdcan2_rx_callback(void);
__weak void fdcan3_rx_callback(void); __weak void fdcan3_rx_callback(void);
#endif /* __BSP_FDCAN_H_ */ #endif /* __BSP_FDCAN_H_ */