TuxMonkey/tronone-h7-scaffold
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math lib ok(?) but not linked to lib

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TuxMonkey
2025-11-16 20:55:29 +08:00
parent 053563e951
commit 66da7a1935
6 changed files with 249 additions and 255 deletions
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13
Core/Src/freertos.c
View File

@@ -136,28 +136,20 @@ void StartINSTASK(void const *argument);
/* USER CODE END FunctionPrototypes */ /* USER CODE END FunctionPrototypes */
void StartDefaultTask(void *argument); void StartDefaultTask(void *argument);
void ShootTask(void *argument); void ShootTask(void *argument);
void GimbalTask(void *argument); void GimbalTask(void *argument);
void ChassisTask(void *argument); void ChassisTask(void *argument);
void StartInitTask(void *argument); void StartInitTask(void *argument);
void VisionTask(void *argument); void VisionTask(void *argument);
void CmdTask(void *argument); void CmdTask(void *argument);
void RefereeTask(void *argument); void RefereeTask(void *argument);
extern void ws2812Task(void *argument);
extern void MX_USB_DEVICE_Init(void); extern void MX_USB_DEVICE_Init(void);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */ void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
/* Hook prototypes */ /* Hook prototypes */
void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName); void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);
void vApplicationMallocFailedHook(void); void vApplicationMallocFailedHook(void);
/* USER CODE BEGIN 4 */ /* USER CODE BEGIN 4 */
@@ -192,8 +184,7 @@ void vApplicationMallocFailedHook(void)
* @param None * @param None
* @retval None * @retval None
*/ */
void MX_FREERTOS_Init(void) void MX_FREERTOS_Init(void) {
{
/* USER CODE BEGIN Init */ /* USER CODE BEGIN Init */
/* USER CODE END Init */ /* USER CODE END Init */

19
Core/Src/main.c
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@@ -61,11 +61,8 @@
/* Private function prototypes -----------------------------------------------*/ /* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void); void SystemClock_Config(void);
static void MPU_Config(void); static void MPU_Config(void);
void MX_FREERTOS_Init(void); void MX_FREERTOS_Init(void);
/* USER CODE BEGIN PFP */ /* USER CODE BEGIN PFP */
/* USER CODE END PFP */ /* USER CODE END PFP */
@@ -179,15 +176,13 @@ void SystemClock_Config(void)
*/ */
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0); __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);
while (!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
{
}
/** Initializes the RCC Oscillators according to the specified parameters /** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure. * in the RCC_OscInitTypeDef structure.
*/ */
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48 | RCC_OSCILLATORTYPE_HSI RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48|RCC_OSCILLATORTYPE_HSI
| RCC_OSCILLATORTYPE_HSE; |RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSIState = RCC_HSI_DIV1; RCC_OscInitStruct.HSIState = RCC_HSI_DIV1;
RCC_OscInitStruct.HSICalibrationValue = 64; RCC_OscInitStruct.HSICalibrationValue = 64;
@@ -209,9 +204,9 @@ void SystemClock_Config(void)
/** Initializes the CPU, AHB and APB buses clocks /** Initializes the CPU, AHB and APB buses clocks
*/ */
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
| RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
| RCC_CLOCKTYPE_D3PCLK1 | RCC_CLOCKTYPE_D1PCLK1; |RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2; RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
@@ -231,7 +226,7 @@ void SystemClock_Config(void)
/* USER CODE END 4 */ /* USER CODE END 4 */
/* MPU Configuration */ /* MPU Configuration */
void MPU_Config(void) void MPU_Config(void)
{ {

1
User_Code/module/algorithm/QuaternionEKF/QuaternionEKF.c
View File

@@ -15,6 +15,7 @@
****************************************************************************** ******************************************************************************
*/ */
#include "QuaternionEKF.h" #include "QuaternionEKF.h"
#include "arm_math.h"
QEKF_INS_t QEKF_INS; QEKF_INS_t QEKF_INS;

12
cmake/Toolchain/gcc-arm-none-eabi.cmake
View File

@@ -42,19 +42,19 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${TARGET_FLAGS}")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -Wpedantic -fdata-sections -ffunction-sections") set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -Wpedantic -fdata-sections -ffunction-sections")
# 根据构建类型设置不同的优化级别 # 根据构建类型设置不同的优化级别
if(CMAKE_BUILD_TYPE MATCHES "Debug") if (CMAKE_BUILD_TYPE MATCHES "Debug")
set(CMAKE_C_FLAGS_DEBUG "-O0 -g") # 调试模式：无优化，包含调试信息 set(CMAKE_C_FLAGS_DEBUG "-O0 -g") # 调试模式：无优化，包含调试信息
set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g") set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
elseif(CMAKE_BUILD_TYPE MATCHES "Release") elseif (CMAKE_BUILD_TYPE MATCHES "Release")
set(CMAKE_C_FLAGS_RELEASE "-O3") # 发布模式：最高级别优化 set(CMAKE_C_FLAGS_RELEASE "-O3") # 发布模式：最高级别优化
set(CMAKE_CXX_FLAGS_RELEASE "-O3") set(CMAKE_CXX_FLAGS_RELEASE "-O3")
elseif(CMAKE_BUILD_TYPE MATCHES "RelWithDebInfo") elseif (CMAKE_BUILD_TYPE MATCHES "RelWithDebInfo")
set(CMAKE_C_FLAGS_RELWITHDEBINFO "-O2 -g") # 带调试信息的发布模式：中等优化，包含调试信息 set(CMAKE_C_FLAGS_RELWITHDEBINFO "-O2 -g") # 带调试信息的发布模式：中等优化，包含调试信息
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O2 -g") set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O2 -g")
elseif(CMAKE_BUILD_TYPE MATCHES "MinSizeRel") elseif (CMAKE_BUILD_TYPE MATCHES "MinSizeRel")
set(CMAKE_C_FLAGS_MINSIZEREL "-Os") # 最小体积模式：优化代码大小 set(CMAKE_C_FLAGS_MINSIZEREL "-Os") # 最小体积模式：优化代码大小
set(CMAKE_CXX_FLAGS_MINSIZEREL "-Os") set(CMAKE_CXX_FLAGS_MINSIZEREL "-Os")
endif() endif ()
# 设置汇编器标志：包含C标志，并添加汇编特定选项 # 设置汇编器标志：包含C标志，并添加汇编特定选项
set(CMAKE_ASM_FLAGS "${CMAKE_C_FLAGS} -x assembler-with-cpp -MMD -MP") set(CMAKE_ASM_FLAGS "${CMAKE_C_FLAGS} -x assembler-with-cpp -MMD -MP")
@@ -76,3 +76,5 @@ set(CMAKE_C_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} -Wl,--print-memory-usage")
# 设置C++链接标志：在C链接标志基础上添加C++标准库支持 # 设置C++链接标志：在C链接标志基础上添加C++标准库支持
set(CMAKE_CXX_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} -Wl,--start-group -lstdc++ -lsupc++ -Wl,--end-group") set(CMAKE_CXX_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} -Wl,--start-group -lstdc++ -lsupc++ -Wl,--end-group")
set(TOOLCHAIN_LINK_LIBRARIES "m")

2
cmake/Toolchain/starm-clang.cmake
View File

@@ -104,3 +104,5 @@ set(CMAKE_C_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} -Wl,--print-memory-usage")
# 设置C++链接标志：在C链接标志基础上添加C++标准库支持 # 设置C++链接标志：在C链接标志基础上添加C++标准库支持
set(CMAKE_CXX_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} -Wl,--start-group -lstdc++ -lsupc++ -Wl,--end-group") set(CMAKE_CXX_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} -Wl,--start-group -lstdc++ -lsupc++ -Wl,--end-group")
set(TOOLCHAIN_LINK_LIBRARIES "m")

23
ozonedeb/windebnewestux.jdebug.user
View File

@@ -1,4 +1,7 @@
OpenDocument="ins_task.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/imu/ins_task.c", Line=0
OpenDocument="robot.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/application/robot.c", Line=33
OpenDocument="robot.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/application/robot.c", Line=33
OpenDocument="tasks.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=2293 OpenDocument="tasks.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=2293
OpenDocument="stm32h7xx_hal.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c", Line=329 OpenDocument="stm32h7xx_hal.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c", Line=329
OpenDocument="list.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/list.c", Line=144 OpenDocument="list.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/list.c", Line=144
@@ -13,19 +16,18 @@ OpenToolbar="Breakpoints", Floating=0, x=1, y=0
OpenWindow="Registers 1", DockArea=BOTTOM, x=1, y=0, w=362, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1 OpenWindow="Registers 1", DockArea=BOTTOM, x=1, y=0, w=362, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=551, h=273, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=551, h=273, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Disassembly", DockArea=BOTTOM, x=2, y=0, w=628, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Disassembly", DockArea=BOTTOM, x=2, y=0, w=628, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Break & Tracepoints", DockArea=LEFT, x=0, y=1, w=551, h=288, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VectorCatchIndexMask=254 OpenWindow="Break & Tracepoints", DockArea=LEFT, x=0, y=1, w=551, h=287, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VectorCatchIndexMask=254
OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=466, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x20005E30 OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=466, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x20005E30
OpenWindow="Global Data", DockArea=RIGHT, x=0, y=2, w=681, h=437, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Global Data", DockArea=RIGHT, x=0, y=2, w=681, h=433, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=2, w=551, h=294, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=2, w=551, h=293, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Functions", DockArea=LEFT, x=0, y=3, w=551, h=217, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Functions", DockArea=LEFT, x=0, y=3, w=551, h=219, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Call Graph", DockArea=LEFT, x=0, y=3, w=551, h=217, TabPos=2, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Call Graph", DockArea=LEFT, x=0, y=3, w=551, h=219, TabPos=2, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Data Sampling", DockArea=BOTTOM, x=0, y=0, w=1101, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 OpenWindow="Data Sampling", DockArea=BOTTOM, x=0, y=0, w=1101, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
OpenWindow="Timeline", DockArea=RIGHT, x=0, y=1, w=681, h=420, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=1, CodePaneShown=1, PinCursor="Cursor Movable", TimePerDiv="1 ns / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="491;-46", PowerGraphDrawAsPoints=0, PowerGraphLegendShown=1, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="459;-65", CodeGraphLegendShown=1, CodeGraphLegendPosition="475;0" OpenWindow="Timeline", DockArea=RIGHT, x=0, y=1, w=681, h=417, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=1, CodePaneShown=1, PinCursor="Cursor Movable", TimePerDiv="1 ns / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="491;-46", PowerGraphDrawAsPoints=0, PowerGraphLegendShown=1, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="459;-65", CodeGraphLegendShown=1, CodeGraphLegendPosition="475;0"
OpenWindow="Console", DockArea=LEFT, x=0, y=3, w=551, h=217, TabPos=0, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Console", DockArea=LEFT, x=0, y=3, w=551, h=219, TabPos=0, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="RTOS", DockArea=RIGHT, x=0, y=0, w=681, h=236, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, Showing="" OpenWindow="RTOS", DockArea=RIGHT, x=0, y=0, w=681, h=243, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, Showing=""
TableHeader="Call Graph", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Stack Total";"Stack Local";"Code Total";"Code Local";"Depth";"Called From"], ColWidths=[384;100;100;100;100;100;118]
TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1164;100;100;100;100] TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1164;100;100;100;100]
TableHeader="Global Data", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Location";"Size";"Type";"Scope"], ColWidths=[222;130;100;54;95;414] TableHeader="Global Data", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Location";"Size";"Type";"Scope"], ColWidths=[222;130;100;54;95;100]
TableHeader="Vector Catches", SortCol="None", SortOrder="ASCENDING", VisibleCols=["";"Vector Catch";"Description"], ColWidths=[50;300;500] TableHeader="Vector Catches", SortCol="None", SortOrder="ASCENDING", VisibleCols=["";"Vector Catch";"Description"], ColWidths=[50;300;500]
TableHeader="Break & Tracepoints", SortCol="None", SortOrder="ASCENDING", VisibleCols=["";"Type";"Location";"Extras"], ColWidths=[100;100;142;209] TableHeader="Break & Tracepoints", SortCol="None", SortOrder="ASCENDING", VisibleCols=["";"Type";"Location";"Extras"], ColWidths=[100;100;142;209]
TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[229;100;100;100;902] TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[229;100;100;100;902]
@@ -35,4 +37,5 @@ TableHeader="Power Sampling", SortCol="Index", SortOrder="ASCENDING", VisibleCol
TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;105;294] TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;105;294]
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location"], ColWidths=[171;101;279] TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location"], ColWidths=[171;101;279]
TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[] TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
TableHeader="Call Graph", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Stack Total";"Stack Local";"Code Total";"Code Local";"Depth";"Called From"], ColWidths=[384;100;100;100;100;100;118]
TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[27;27;27;38] TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[27;27;27;38]