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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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169
Core/Src/freertos.c
View File

@@ -58,65 +58,65 @@
/* Definitions for BeginTask */ /* Definitions for BeginTask */
osThreadId_t BeginTaskHandle; osThreadId_t BeginTaskHandle;
const osThreadAttr_t BeginTask_attributes = { const osThreadAttr_t BeginTask_attributes = {
.name = "BeginTask", .name = "BeginTask",
.stack_size = 256 * 4, .stack_size = 256 * 4,
.priority = (osPriority_t) osPriorityNormal, .priority = (osPriority_t) osPriorityNormal,
}; };
/* Definitions for shoot */ /* Definitions for shoot */
osThreadId_t shootHandle; osThreadId_t shootHandle;
const osThreadAttr_t shoot_attributes = { const osThreadAttr_t shoot_attributes = {
.name = "shoot", .name = "shoot",
.stack_size = 512 * 4, .stack_size = 512 * 4,
.priority = (osPriority_t) osPriorityNormal, .priority = (osPriority_t) osPriorityNormal,
}; };
/* Definitions for gimbal */ /* Definitions for gimbal */
osThreadId_t gimbalHandle; osThreadId_t gimbalHandle;
const osThreadAttr_t gimbal_attributes = { const osThreadAttr_t gimbal_attributes = {
.name = "gimbal", .name = "gimbal",
.stack_size = 512 * 4, .stack_size = 512 * 4,
.priority = (osPriority_t) osPriorityNormal, .priority = (osPriority_t) osPriorityNormal,
}; };
/* Definitions for chassis */ /* Definitions for chassis */
osThreadId_t chassisHandle; osThreadId_t chassisHandle;
const osThreadAttr_t chassis_attributes = { const osThreadAttr_t chassis_attributes = {
.name = "chassis", .name = "chassis",
.stack_size = 512 * 4, .stack_size = 512 * 4,
.priority = (osPriority_t) osPriorityNormal, .priority = (osPriority_t) osPriorityNormal,
}; };
/* Definitions for init */ /* Definitions for init */
osThreadId_t initHandle; osThreadId_t initHandle;
const osThreadAttr_t init_attributes = { const osThreadAttr_t init_attributes = {
.name = "init", .name = "init",
.stack_size = 256 * 4, .stack_size = 256 * 4,
.priority = (osPriority_t) osPriorityHigh, .priority = (osPriority_t) osPriorityHigh,
}; };
/* Definitions for vision */ /* Definitions for vision */
osThreadId_t visionHandle; osThreadId_t visionHandle;
const osThreadAttr_t vision_attributes = { const osThreadAttr_t vision_attributes = {
.name = "vision", .name = "vision",
.stack_size = 512 * 4, .stack_size = 512 * 4,
.priority = (osPriority_t) osPriorityNormal, .priority = (osPriority_t) osPriorityNormal,
}; };
/* Definitions for cmd */ /* Definitions for cmd */
osThreadId_t cmdHandle; osThreadId_t cmdHandle;
const osThreadAttr_t cmd_attributes = { const osThreadAttr_t cmd_attributes = {
.name = "cmd", .name = "cmd",
.stack_size = 512 * 4, .stack_size = 512 * 4,
.priority = (osPriority_t) osPriorityNormal, .priority = (osPriority_t) osPriorityNormal,
}; };
/* Definitions for reference */ /* Definitions for reference */
osThreadId_t referenceHandle; osThreadId_t referenceHandle;
const osThreadAttr_t reference_attributes = { const osThreadAttr_t reference_attributes = {
.name = "reference", .name = "reference",
.stack_size = 512 * 4, .stack_size = 512 * 4,
.priority = (osPriority_t) osPriorityNormal, .priority = (osPriority_t) osPriorityNormal,
}; };
/* Definitions for WS2812Task */ /* Definitions for WS2812Task */
osThreadId_t WS2812TaskHandle; osThreadId_t WS2812TaskHandle;
const osThreadAttr_t WS2812Task_attributes = { const osThreadAttr_t WS2812Task_attributes = {
.name = "WS2812Task", .name = "WS2812Task",
.stack_size = 256 * 4, .stack_size = 256 * 4,
.priority = (osPriority_t) osPriorityBelowNormal, .priority = (osPriority_t) osPriorityBelowNormal,
}; };
/* Private function prototypes -----------------------------------------------*/ /* Private function prototypes -----------------------------------------------*/
@@ -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 */
@@ -192,66 +184,65 @@ 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 */
/* USER CODE BEGIN RTOS_MUTEX */ /* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */ /* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */ /* USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES */ /* USER CODE BEGIN RTOS_SEMAPHORES */
/* add semaphores, ... */ /* add semaphores, ... */
/* USER CODE END RTOS_SEMAPHORES */ /* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */ /* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */ /* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */ /* USER CODE END RTOS_TIMERS */
/* USER CODE BEGIN RTOS_QUEUES */ /* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */ /* add queues, ... */
/* USER CODE END RTOS_QUEUES */ /* USER CODE END RTOS_QUEUES */
/* Create the thread(s) */ /* Create the thread(s) */
/* creation of BeginTask */ /* creation of BeginTask */
BeginTaskHandle = osThreadNew(StartDefaultTask, NULL, &BeginTask_attributes); BeginTaskHandle = osThreadNew(StartDefaultTask, NULL, &BeginTask_attributes);
/* creation of shoot */ /* creation of shoot */
shootHandle = osThreadNew(ShootTask, NULL, &shoot_attributes); shootHandle = osThreadNew(ShootTask, NULL, &shoot_attributes);
/* creation of gimbal */ /* creation of gimbal */
gimbalHandle = osThreadNew(GimbalTask, NULL, &gimbal_attributes); gimbalHandle = osThreadNew(GimbalTask, NULL, &gimbal_attributes);
/* creation of chassis */ /* creation of chassis */
chassisHandle = osThreadNew(ChassisTask, NULL, &chassis_attributes); chassisHandle = osThreadNew(ChassisTask, NULL, &chassis_attributes);
/* creation of init */ /* creation of init */
initHandle = osThreadNew(StartInitTask, NULL, &init_attributes); initHandle = osThreadNew(StartInitTask, NULL, &init_attributes);
/* creation of vision */ /* creation of vision */
visionHandle = osThreadNew(VisionTask, NULL, &vision_attributes); visionHandle = osThreadNew(VisionTask, NULL, &vision_attributes);
/* creation of cmd */ /* creation of cmd */
cmdHandle = osThreadNew(CmdTask, NULL, &cmd_attributes); cmdHandle = osThreadNew(CmdTask, NULL, &cmd_attributes);
/* creation of reference */ /* creation of reference */
referenceHandle = osThreadNew(RefereeTask, NULL, &reference_attributes); referenceHandle = osThreadNew(RefereeTask, NULL, &reference_attributes);
/* creation of WS2812Task */ /* creation of WS2812Task */
WS2812TaskHandle = osThreadNew(ws2812Task, NULL, &WS2812Task_attributes); WS2812TaskHandle = osThreadNew(ws2812Task, NULL, &WS2812Task_attributes);
/* USER CODE BEGIN RTOS_THREADS */ /* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */ /* add threads, ... */
//Todo：INS_Task是测试版本 //Todo：INS_Task是测试版本
// 创建线程 // 创建线程
insTaskHandle = osThreadNew(StartINSTASK, NULL, &instask_attributes); insTaskHandle = osThreadNew(StartINSTASK, NULL, &instask_attributes);
/* USER CODE END RTOS_THREADS */ /* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_EVENTS */ /* USER CODE BEGIN RTOS_EVENTS */
/* add events, ... */ /* add events, ... */
/* USER CODE END RTOS_EVENTS */ /* USER CODE END RTOS_EVENTS */
} }
@@ -264,15 +255,15 @@ void MX_FREERTOS_Init(void)
/* USER CODE END Header_StartDefaultTask */ /* USER CODE END Header_StartDefaultTask */
__weak void StartDefaultTask(void *argument) __weak void StartDefaultTask(void *argument)
{ {
/* init code for USB_DEVICE */ /* init code for USB_DEVICE */
MX_USB_DEVICE_Init(); MX_USB_DEVICE_Init();
/* USER CODE BEGIN StartDefaultTask */ /* USER CODE BEGIN StartDefaultTask */
/* Infinite loop */ /* Infinite loop */
for (;;) for (;;)
{ {
osDelay(1); osDelay(1);
} }
/* USER CODE END StartDefaultTask */ /* USER CODE END StartDefaultTask */
} }
/* USER CODE BEGIN Header_ShootTask */ /* USER CODE BEGIN Header_ShootTask */
@@ -284,13 +275,13 @@ __weak void StartDefaultTask(void *argument)
/* USER CODE END Header_ShootTask */ /* USER CODE END Header_ShootTask */
__weak void ShootTask(void *argument) __weak void ShootTask(void *argument)
{ {
/* USER CODE BEGIN ShootTask */ /* USER CODE BEGIN ShootTask */
/* Infinite loop */ /* Infinite loop */
for (;;) for (;;)
{ {
osDelay(1); osDelay(1);
} }
/* USER CODE END ShootTask */ /* USER CODE END ShootTask */
} }
/* USER CODE BEGIN Header_GimbalTask */ /* USER CODE BEGIN Header_GimbalTask */
@@ -302,13 +293,13 @@ __weak void ShootTask(void *argument)
/* USER CODE END Header_GimbalTask */ /* USER CODE END Header_GimbalTask */
__weak void GimbalTask(void *argument) __weak void GimbalTask(void *argument)
{ {
/* USER CODE BEGIN GimbalTask */ /* USER CODE BEGIN GimbalTask */
/* Infinite loop */ /* Infinite loop */
for (;;) for (;;)
{ {
osDelay(1); osDelay(1);
} }
/* USER CODE END GimbalTask */ /* USER CODE END GimbalTask */
} }
/* USER CODE BEGIN Header_ChassisTask */ /* USER CODE BEGIN Header_ChassisTask */
@@ -320,13 +311,13 @@ __weak void GimbalTask(void *argument)
/* USER CODE END Header_ChassisTask */ /* USER CODE END Header_ChassisTask */
__weak void ChassisTask(void *argument) __weak void ChassisTask(void *argument)
{ {
/* USER CODE BEGIN ChassisTask */ /* USER CODE BEGIN ChassisTask */
/* Infinite loop */ /* Infinite loop */
for (;;) for (;;)
{ {
osDelay(1); osDelay(1);
} }
/* USER CODE END ChassisTask */ /* USER CODE END ChassisTask */
} }
/* USER CODE BEGIN Header_StartInitTask */ /* USER CODE BEGIN Header_StartInitTask */
@@ -338,13 +329,13 @@ __weak void ChassisTask(void *argument)
/* USER CODE END Header_StartInitTask */ /* USER CODE END Header_StartInitTask */
__weak void StartInitTask(void *argument) __weak void StartInitTask(void *argument)
{ {
/* USER CODE BEGIN StartInitTask */ /* USER CODE BEGIN StartInitTask */
/* Infinite loop */ /* Infinite loop */
for (;;) for (;;)
{ {
osDelay(1); osDelay(1);
} }
/* USER CODE END StartInitTask */ /* USER CODE END StartInitTask */
} }
/* USER CODE BEGIN Header_VisionTask */ /* USER CODE BEGIN Header_VisionTask */
@@ -356,13 +347,13 @@ __weak void StartInitTask(void *argument)
/* USER CODE END Header_VisionTask */ /* USER CODE END Header_VisionTask */
__weak void VisionTask(void *argument) __weak void VisionTask(void *argument)
{ {
/* USER CODE BEGIN VisionTask */ /* USER CODE BEGIN VisionTask */
/* Infinite loop */ /* Infinite loop */
for (;;) for (;;)
{ {
osDelay(1); osDelay(1);
} }
/* USER CODE END VisionTask */ /* USER CODE END VisionTask */
} }
/* USER CODE BEGIN Header_CmdTask */ /* USER CODE BEGIN Header_CmdTask */
@@ -374,13 +365,13 @@ __weak void VisionTask(void *argument)
/* USER CODE END Header_CmdTask */ /* USER CODE END Header_CmdTask */
__weak void CmdTask(void *argument) __weak void CmdTask(void *argument)
{ {
/* USER CODE BEGIN CmdTask */ /* USER CODE BEGIN CmdTask */
/* Infinite loop */ /* Infinite loop */
for (;;) for (;;)
{ {
osDelay(1); osDelay(1);
} }
/* USER CODE END CmdTask */ /* USER CODE END CmdTask */
} }
/* USER CODE BEGIN Header_RefereeTask */ /* USER CODE BEGIN Header_RefereeTask */
@@ -392,13 +383,13 @@ __weak void CmdTask(void *argument)
/* USER CODE END Header_RefereeTask */ /* USER CODE END Header_RefereeTask */
__weak void RefereeTask(void *argument) __weak void RefereeTask(void *argument)
{ {
/* USER CODE BEGIN RefereeTask */ /* USER CODE BEGIN RefereeTask */
/* Infinite loop */ /* Infinite loop */
for (;;) for (;;)
{ {
osDelay(1); osDelay(1);
} }
/* USER CODE END RefereeTask */ /* USER CODE END RefereeTask */
} }
/* Private application code --------------------------------------------------*/ /* Private application code --------------------------------------------------*/

269
Core/Src/main.c
View File

@@ -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 */
@@ -82,84 +79,84 @@ void MX_FREERTOS_Init(void);
int main(void) int main(void)
{ {
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
/* USER CODE END 1 */ /* USER CODE END 1 */
/* MPU Configuration--------------------------------------------------------*/ /* MPU Configuration--------------------------------------------------------*/
MPU_Config(); MPU_Config();
/* Enable the CPU Cache */ /* Enable the CPU Cache */
/* Enable I-Cache---------------------------------------------------------*/ /* Enable I-Cache---------------------------------------------------------*/
SCB_EnableICache(); SCB_EnableICache();
/* Enable D-Cache---------------------------------------------------------*/ /* Enable D-Cache---------------------------------------------------------*/
SCB_EnableDCache(); SCB_EnableDCache();
/* MCU Configuration--------------------------------------------------------*/ /* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init(); HAL_Init();
/* USER CODE BEGIN Init */ /* USER CODE BEGIN Init */
/* USER CODE END Init */ /* USER CODE END Init */
/* Configure the system clock */ /* Configure the system clock */
SystemClock_Config(); SystemClock_Config();
/* USER CODE BEGIN SysInit */ /* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */ /* USER CODE END SysInit */
/* Initialize all configured peripherals */ /* Initialize all configured peripherals */
MX_GPIO_Init(); MX_GPIO_Init();
MX_DMA_Init(); MX_DMA_Init();
MX_FDCAN2_Init(); MX_FDCAN2_Init();
MX_FDCAN3_Init(); MX_FDCAN3_Init();
MX_CRC_Init(); MX_CRC_Init();
MX_FDCAN1_Init(); MX_FDCAN1_Init();
MX_USART10_UART_Init(); MX_USART10_UART_Init();
MX_SPI2_Init(); MX_SPI2_Init();
MX_TIM12_Init(); MX_TIM12_Init();
MX_UART7_Init(); MX_UART7_Init();
MX_TIM1_Init(); MX_TIM1_Init();
MX_USART1_UART_Init(); MX_USART1_UART_Init();
MX_ADC3_Init(); MX_ADC3_Init();
MX_USART2_UART_Init(); MX_USART2_UART_Init();
MX_USART3_UART_Init(); MX_USART3_UART_Init();
MX_SPI1_Init(); MX_SPI1_Init();
MX_UART5_Init(); MX_UART5_Init();
MX_TIM3_Init(); MX_TIM3_Init();
MX_SPI6_Init(); MX_SPI6_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
robotSelfCheck(); //自检LED robotSelfCheck(); //自检LED
RobotInit(); RobotInit();
systemstart_song(); //开机音乐 systemstart_song(); //开机音乐
/*还没有启动调度器！不允许任何涉及到 Freertos ticks的内容在这里运行！！！*/ /*还没有启动调度器！不允许任何涉及到 Freertos ticks的内容在这里运行！！！*/
/* USER CODE END 2 */ /* USER CODE END 2 */
/* Init scheduler */ /* Init scheduler */
osKernelInitialize(); /* Call init function for freertos objects (in cmsis_os2.c) */ osKernelInitialize(); /* Call init function for freertos objects (in cmsis_os2.c) */
MX_FREERTOS_Init(); MX_FREERTOS_Init();
/* Start scheduler */ /* Start scheduler */
osKernelStart(); osKernelStart();
/* We should never get here as control is now taken by the scheduler */ /* We should never get here as control is now taken by the scheduler */
/* Infinite loop */ /* Infinite loop */
/* USER CODE BEGIN WHILE */ /* USER CODE BEGIN WHILE */
while (1) while (1)
{ {
/* USER CODE END WHILE */ /* USER CODE END WHILE */
/* USER CODE BEGIN 3 */ /* USER CODE BEGIN 3 */
} }
/* USER CODE END 3 */ /* USER CODE END 3 */
} }
/** /**
@@ -168,95 +165,93 @@ int main(void)
*/ */
void SystemClock_Config(void) void SystemClock_Config(void)
{ {
RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Supply configuration update enable /** Supply configuration update enable
*/ */
HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY); HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
/** Configure the main internal regulator output voltage /** Configure the main internal regulator output voltage
*/ */
__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;
RCC_OscInitStruct.HSI48State = RCC_HSI48_ON; RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 2; RCC_OscInitStruct.PLL.PLLM = 2;
RCC_OscInitStruct.PLL.PLLN = 40; RCC_OscInitStruct.PLL.PLLN = 40;
RCC_OscInitStruct.PLL.PLLP = 1; RCC_OscInitStruct.PLL.PLLP = 1;
RCC_OscInitStruct.PLL.PLLQ = 4; RCC_OscInitStruct.PLL.PLLQ = 4;
RCC_OscInitStruct.PLL.PLLR = 2; RCC_OscInitStruct.PLL.PLLR = 2;
RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3; RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE; RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
RCC_OscInitStruct.PLL.PLLFRACN = 0; RCC_OscInitStruct.PLL.PLLFRACN = 0;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
/** 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;
RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2; RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2; RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2; RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2; RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_3) != HAL_OK) if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_3) != HAL_OK)
{ {
Error_Handler(); Error_Handler();
} }
HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSI, RCC_MCODIV_1); HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSI, RCC_MCODIV_1);
} }
/* USER CODE BEGIN 4 */ /* USER CODE BEGIN 4 */
/* USER CODE END 4 */ /* USER CODE END 4 */
/* MPU Configuration */ /* MPU Configuration */
void MPU_Config(void) void MPU_Config(void)
{ {
MPU_Region_InitTypeDef MPU_InitStruct = {0}; MPU_Region_InitTypeDef MPU_InitStruct = {0};
/* Disables the MPU */ /* Disables the MPU */
HAL_MPU_Disable(); HAL_MPU_Disable();
/** Initializes and configures the Region and the memory to be protected /** Initializes and configures the Region and the memory to be protected
*/ */
MPU_InitStruct.Enable = MPU_REGION_ENABLE; MPU_InitStruct.Enable = MPU_REGION_ENABLE;
MPU_InitStruct.Number = MPU_REGION_NUMBER0; MPU_InitStruct.Number = MPU_REGION_NUMBER0;
MPU_InitStruct.BaseAddress = 0x24000000; MPU_InitStruct.BaseAddress = 0x24000000;
MPU_InitStruct.Size = MPU_REGION_SIZE_128KB; MPU_InitStruct.Size = MPU_REGION_SIZE_128KB;
MPU_InitStruct.SubRegionDisable = 0x0; MPU_InitStruct.SubRegionDisable = 0x0;
MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL1; MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL1;
MPU_InitStruct.AccessPermission = MPU_REGION_FULL_ACCESS; MPU_InitStruct.AccessPermission = MPU_REGION_FULL_ACCESS;
MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_ENABLE; MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_ENABLE;
MPU_InitStruct.IsShareable = MPU_ACCESS_NOT_SHAREABLE; MPU_InitStruct.IsShareable = MPU_ACCESS_NOT_SHAREABLE;
MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE; MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE;
MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE; MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;
HAL_MPU_ConfigRegion(&MPU_InitStruct); HAL_MPU_ConfigRegion(&MPU_InitStruct);
/* Enables the MPU */ /* Enables the MPU */
HAL_MPU_Enable(MPU_HFNMI_PRIVDEF); HAL_MPU_Enable(MPU_HFNMI_PRIVDEF);
} }
@@ -270,16 +265,16 @@ void MPU_Config(void)
*/ */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{ {
/* USER CODE BEGIN Callback 0 */ /* USER CODE BEGIN Callback 0 */
/* USER CODE END Callback 0 */ /* USER CODE END Callback 0 */
if (htim->Instance == TIM23) if (htim->Instance == TIM23)
{ {
HAL_IncTick(); HAL_IncTick();
} }
/* USER CODE BEGIN Callback 1 */ /* USER CODE BEGIN Callback 1 */
/* USER CODE END Callback 1 */ /* USER CODE END Callback 1 */
} }
/** /**
@@ -288,13 +283,13 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
*/ */
void Error_Handler(void) void Error_Handler(void)
{ {
/* USER CODE BEGIN Error_Handler_Debug */ /* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */ /* User can add his own implementation to report the HAL error return state */
__disable_irq(); __disable_irq();
while (1) while (1)
{ {
} }
/* USER CODE END Error_Handler_Debug */ /* USER CODE END Error_Handler_Debug */
} }
#ifdef USE_FULL_ASSERT #ifdef USE_FULL_ASSERT
/** /**
@@ -306,9 +301,9 @@ void Error_Handler(void)
*/ */
void assert_failed(uint8_t *file, uint32_t line) void assert_failed(uint8_t *file, uint32_t line)
{ {
/* USER CODE BEGIN 6 */ /* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number, /* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */ /* USER CODE END 6 */
} }
#endif /* USE_FULL_ASSERT */ #endif /* USE_FULL_ASSERT */

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;

36
cmake/Toolchain/gcc-arm-none-eabi.cmake
View File

@@ -1,7 +1,7 @@
# 设置目标系统为通用系统（无操作系统） # 设置目标系统为通用系统（无操作系统）
set(CMAKE_SYSTEM_NAME Generic) set(CMAKE_SYSTEM_NAME Generic)
# 设置目标处理器架构为ARM # 设置目标处理器架构为ARM
set(CMAKE_SYSTEM_PROCESSOR arm) set(CMAKE_SYSTEM_PROCESSOR arm)
# 以下三行被注释掉的设置用于强制指定编译器信息 # 以下三行被注释掉的设置用于强制指定编译器信息
#set(CMAKE_C_COMPILER_FORCED TRUE) #set(CMAKE_C_COMPILER_FORCED TRUE)
@@ -10,25 +10,25 @@ set(CMAKE_SYSTEM_PROCESSOR arm)
#set(CMAKE_CXX_COMPILER_ID GNU) #set(CMAKE_CXX_COMPILER_ID GNU)
# 设置工具链前缀（需要在系统PATH环境变量中包含arm-none-eabi-工具链） # 设置工具链前缀（需要在系统PATH环境变量中包含arm-none-eabi-工具链）
set(TOOLCHAIN_PREFIX arm-none-eabi-) set(TOOLCHAIN_PREFIX arm-none-eabi-)
# 设置C编译器为arm-none-eabi-gcc # 设置C编译器为arm-none-eabi-gcc
set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}gcc) set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}gcc)
# 设置汇编器使用C编译器（gcc也可以处理汇编文件） # 设置汇编器使用C编译器（gcc也可以处理汇编文件）
set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER}) set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
# 设置C++编译器为arm-none-eabi-g++ # 设置C++编译器为arm-none-eabi-g++
set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}g++) set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}g++)
# 设置链接器为arm-none-eabi-g++（使用C++编译器进行链接） # 设置链接器为arm-none-eabi-g++（使用C++编译器进行链接）
set(CMAKE_LINKER ${TOOLCHAIN_PREFIX}g++) set(CMAKE_LINKER ${TOOLCHAIN_PREFIX}g++)
# 设置objcopy工具，用于生成二进制文件等 # 设置objcopy工具，用于生成二进制文件等
set(CMAKE_OBJCOPY ${TOOLCHAIN_PREFIX}objcopy) set(CMAKE_OBJCOPY ${TOOLCHAIN_PREFIX}objcopy)
# 设置size工具，用于查看程序内存占用 # 设置size工具，用于查看程序内存占用
set(CMAKE_SIZE ${TOOLCHAIN_PREFIX}size) set(CMAKE_SIZE ${TOOLCHAIN_PREFIX}size)
# 设置各种源文件生成的可执行文件后缀为.elf # 设置各种源文件生成的可执行文件后缀为.elf
set(CMAKE_EXECUTABLE_SUFFIX_ASM ".elf") set(CMAKE_EXECUTABLE_SUFFIX_ASM ".elf")
set(CMAKE_EXECUTABLE_SUFFIX_C ".elf") set(CMAKE_EXECUTABLE_SUFFIX_C ".elf")
set(CMAKE_EXECUTABLE_SUFFIX_CXX ".elf") set(CMAKE_EXECUTABLE_SUFFIX_CXX ".elf")
# 设置尝试编译的目标类型为静态库（用于工具链测试） # 设置尝试编译的目标类型为静态库（用于工具链测试）
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY) set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
@@ -42,19 +42,19 @@ set(CMAKE_C_FLAGS "${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]