From 777d0a52ba6ed41152c00617893bad0e7346af64 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Wed, 16 Apr 2025 10:16:31 +0800 Subject: [PATCH] =?UTF-8?q?V1025|=20=E4=BF=AE=E5=A4=8D=E5=8D=95=E7=89=87?= =?UTF-8?q?=E6=9C=BA=E5=90=AF=E5=8A=A8=E5=A4=B1=E8=B4=A5=E7=9A=84BUG?= =?UTF-8?q?=EF=BC=8C=E4=BD=BF=E8=83=BD=E5=B7=A5=E7=A8=8B=E5=B0=86WARNING?= =?UTF-8?q?=20=E5=BD=93=E4=BD=9CError?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .cproject | 15 +- .settings/language.settings.xml | 4 +- sdk/chip/zgpio.cpp | 2 +- sdk/components/tmc/helpers/Functions.c | 340 ++++++++++----------- sdk/components/tmc/helpers/Functions.h | 36 +-- .../optical_module_v2.cpp | 2 +- usrc/sysmgr/sys_mgr.cpp | 14 +- usrc/sysmgr/sys_mgr.hpp | 4 +- usrc/version.h | 2 +- 9 files changed, 218 insertions(+), 201 deletions(-) diff --git a/.cproject b/.cproject index 5d86c67..bc34269 100644 --- a/.cproject +++ b/.cproject @@ -63,6 +63,13 @@ @@ -90,12 +97,18 @@ diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml index 01aaf56..0cd9749 100644 --- a/.settings/language.settings.xml +++ b/.settings/language.settings.xml @@ -5,7 +5,7 @@ - + @@ -16,7 +16,7 @@ - + diff --git a/sdk/chip/zgpio.cpp b/sdk/chip/zgpio.cpp index cd684ee..32ffd51 100644 --- a/sdk/chip/zgpio.cpp +++ b/sdk/chip/zgpio.cpp @@ -119,7 +119,7 @@ bool ZGPIO::enableClock(GPIO_TypeDef *port) { return false; } -bool ZGPIO::enableClock() { enableClock(m_gpio); } +bool ZGPIO::enableClock() { return enableClock(m_gpio); } void regIRQGPIO(ZGPIO *gpio) { for (int i = 0; i < s_irqGPIO_num; i++) { diff --git a/sdk/components/tmc/helpers/Functions.c b/sdk/components/tmc/helpers/Functions.c index e2d224f..fd53f23 100644 --- a/sdk/components/tmc/helpers/Functions.c +++ b/sdk/components/tmc/helpers/Functions.c @@ -1,170 +1,170 @@ -/* - * Functions.c - * - * Created on: 23.07.2018 - * Author: ed - */ -#include "Functions.h" - -int32_t tmc_limitInt(int32_t value, int32_t min, int32_t max) -{ - if (value > max) - return max; - else if (value < min) - return min; - else - return value; -} - -int64_t tmc_limitS64(int64_t value, int64_t min, int64_t max) -{ - if (value > max) - return max; - else if (value < min) - return min; - else - return value; -} - -/* lookup table for square root function */ -static const unsigned char sqrttable[256] = -{ - 0, 16, 22, 27, 32, 35, 39, 42, 45, 48, 50, 53, 55, 57, 59, 61, - 64, 65, 67, 69, 71, 73, 75, 76, 78, 80, 81, 83, 84, 86, 87, 89, - 90, 91, 93, 94, 96, 97, 98, 99, 101, 102, 103, 104, 106, 107, 108, 109, - 110, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, - 128, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, - 143, 144, 144, 145, 146, 147, 148, 149, 150, 150, 151, 152, 153, 154, 155, 155, - 156, 157, 158, 159, 160, 160, 161, 162, 163, 163, 164, 165, 166, 167, 167, 168, - 169, 170, 170, 171, 172, 173, 173, 174, 175, 176, 176, 177, 178, 178, 179, 180, - 181, 181, 182, 183, 183, 184, 185, 185, 186, 187, 187, 188, 189, 189, 190, 191, - 192, 192, 193, 193, 194, 195, 195, 196, 197, 197, 198, 199, 199, 200, 201, 201, - 202, 203, 203, 204, 204, 205, 206, 206, 207, 208, 208, 209, 209, 210, 211, 211, - 212, 212, 213, 214, 214, 215, 215, 216, 217, 217, 218, 218, 219, 219, 220, 221, - 221, 222, 222, 223, 224, 224, 225, 225, 226, 226, 227, 227, 228, 229, 229, 230, - 230, 231, 231, 232, 232, 233, 234, 234, 235, 235, 236, 236, 237, 237, 238, 238, - 239, 240, 240, 241, 241, 242, 242, 243, 243, 244, 244, 245, 245, 246, 246, 247, - 247, 248, 248, 249, 249, 250, 250, 251, 251, 252, 252, 253, 253, 254, 254, 255 -}; - -int32_t tmc_sqrti(int32_t x) -{ - int32_t xn; - - // Negative parameter? - if (x < 0) - return -1; - - if (x < 0x0100) - return (int) sqrttable[x] >> 4; - - if (x >= 0x00010000) - { - if (x >= 0x01000000) - { - if (x >= 0x10000000) - { - if (x >= 0x40000000) - { - // 0x40000000 <= x < 0x7FFFFFFF - xn = (int) sqrttable[x >> 24] << 8; - } - else - { - // 0x10000000 <= x < 0x40000000 - xn = (int) sqrttable[x >> 22] << 7; - } - } - else - { - if (x >= 0x04000000) - { - // 0x04000000 <= x < 0x10000000 - xn = (int) sqrttable[x >> 20] << 6; - } - else - { - // 0x01000000 <= x < 0x04000000 - xn = (int) sqrttable[x >> 18] << 5; - } - } - - // Two steps of the babylonian method - xn = (xn + 1 + (x / xn)) >> 1; - xn = (xn + 1 + (x / xn)) >> 1; - } - else - { - if (x >= 0x00100000) - { - if (x >= 0x00400000) - { - // 0x00400000 <= x < 0x01000000 - xn = (int) sqrttable[x >> 16] << 4; - } - else - { - // 0x00100000 <= x < 0x00400000 - xn = (int) sqrttable[x >> 14] << 3; - } - } - else - { - if (x >= 0x00040000) - { - // 0x00040000 <= x < 0x00100000 - xn = (int) sqrttable[x >> 12] << 2; - } - else - { - // 0x00010000 <= x < 0x00040000 - xn = (int) sqrttable[x >> 10] << 1; - } - } - - // One step of the babylonian method - xn = (xn + 1 + (x / xn)) >> 1; - } - } - else - { - if (x >= 0x1000) - { - if (x >= 0x4000) - { - // 0x4000 <= x < 0x00010000 - xn = (int) (sqrttable[x >> 8] ) + 1; - } - else - { - // 0x1000 <= x < 0x4000 - xn = (int) (sqrttable[x >> 6] >> 1) + 1; - } - } - else - { - if (x >= 0x0400) - { - // 0x0400 <= x < 0x1000 - xn = (int) (sqrttable[x >> 4] >> 2) + 1; - } - else - { - // 0x0100 <= x < 0x0400 - xn = (int) (sqrttable[x >> 2] >> 3) + 1; - } - } - } - - // Make sure that our result is floored - if ((xn * xn) > x) - xn--; - - return xn; -} - -int32_t tmc_filterPT1(int64_t *akku, int32_t newValue, int32_t lastValue, uint8_t actualFilter, uint8_t maxFilter) -{ - *akku += (newValue-lastValue) << (maxFilter-actualFilter); - return *akku >> maxFilter; -} +///* +// * Functions.c +// * +// * Created on: 23.07.2018 +// * Author: ed +// */ +//#include "Functions.h" +// +//int32_t tmc_limitInt(int32_t value, int32_t min, int32_t max) +//{ +// if (value > max) +// return max; +// else if (value < min) +// return min; +// else +// return value; +//} +// +//int64_t tmc_limitS64(int64_t value, int64_t min, int64_t max) +//{ +// if (value > max) +// return max; +// else if (value < min) +// return min; +// else +// return value; +//} +// +///* lookup table for square root function */ +//static const unsigned char sqrttable[256] = +//{ +// 0, 16, 22, 27, 32, 35, 39, 42, 45, 48, 50, 53, 55, 57, 59, 61, +// 64, 65, 67, 69, 71, 73, 75, 76, 78, 80, 81, 83, 84, 86, 87, 89, +// 90, 91, 93, 94, 96, 97, 98, 99, 101, 102, 103, 104, 106, 107, 108, 109, +// 110, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, +// 128, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, +// 143, 144, 144, 145, 146, 147, 148, 149, 150, 150, 151, 152, 153, 154, 155, 155, +// 156, 157, 158, 159, 160, 160, 161, 162, 163, 163, 164, 165, 166, 167, 167, 168, +// 169, 170, 170, 171, 172, 173, 173, 174, 175, 176, 176, 177, 178, 178, 179, 180, +// 181, 181, 182, 183, 183, 184, 185, 185, 186, 187, 187, 188, 189, 189, 190, 191, +// 192, 192, 193, 193, 194, 195, 195, 196, 197, 197, 198, 199, 199, 200, 201, 201, +// 202, 203, 203, 204, 204, 205, 206, 206, 207, 208, 208, 209, 209, 210, 211, 211, +// 212, 212, 213, 214, 214, 215, 215, 216, 217, 217, 218, 218, 219, 219, 220, 221, +// 221, 222, 222, 223, 224, 224, 225, 225, 226, 226, 227, 227, 228, 229, 229, 230, +// 230, 231, 231, 232, 232, 233, 234, 234, 235, 235, 236, 236, 237, 237, 238, 238, +// 239, 240, 240, 241, 241, 242, 242, 243, 243, 244, 244, 245, 245, 246, 246, 247, +// 247, 248, 248, 249, 249, 250, 250, 251, 251, 252, 252, 253, 253, 254, 254, 255 +//}; +// +//int32_t tmc_sqrti(int32_t x) +//{ +// int32_t xn; +// +// // Negative parameter? +// if (x < 0) +// return -1; +// +// if (x < 0x0100) +// return (int) sqrttable[x] >> 4; +// +// if (x >= 0x00010000) +// { +// if (x >= 0x01000000) +// { +// if (x >= 0x10000000) +// { +// if (x >= 0x40000000) +// { +// // 0x40000000 <= x < 0x7FFFFFFF +// xn = (int) sqrttable[x >> 24] << 8; +// } +// else +// { +// // 0x10000000 <= x < 0x40000000 +// xn = (int) sqrttable[x >> 22] << 7; +// } +// } +// else +// { +// if (x >= 0x04000000) +// { +// // 0x04000000 <= x < 0x10000000 +// xn = (int) sqrttable[x >> 20] << 6; +// } +// else +// { +// // 0x01000000 <= x < 0x04000000 +// xn = (int) sqrttable[x >> 18] << 5; +// } +// } +// +// // Two steps of the babylonian method +// xn = (xn + 1 + (x / xn)) >> 1; +// xn = (xn + 1 + (x / xn)) >> 1; +// } +// else +// { +// if (x >= 0x00100000) +// { +// if (x >= 0x00400000) +// { +// // 0x00400000 <= x < 0x01000000 +// xn = (int) sqrttable[x >> 16] << 4; +// } +// else +// { +// // 0x00100000 <= x < 0x00400000 +// xn = (int) sqrttable[x >> 14] << 3; +// } +// } +// else +// { +// if (x >= 0x00040000) +// { +// // 0x00040000 <= x < 0x00100000 +// xn = (int) sqrttable[x >> 12] << 2; +// } +// else +// { +// // 0x00010000 <= x < 0x00040000 +// xn = (int) sqrttable[x >> 10] << 1; +// } +// } +// +// // One step of the babylonian method +// xn = (xn + 1 + (x / xn)) >> 1; +// } +// } +// else +// { +// if (x >= 0x1000) +// { +// if (x >= 0x4000) +// { +// // 0x4000 <= x < 0x00010000 +// xn = (int) (sqrttable[x >> 8] ) + 1; +// } +// else +// { +// // 0x1000 <= x < 0x4000 +// xn = (int) (sqrttable[x >> 6] >> 1) + 1; +// } +// } +// else +// { +// if (x >= 0x0400) +// { +// // 0x0400 <= x < 0x1000 +// xn = (int) (sqrttable[x >> 4] >> 2) + 1; +// } +// else +// { +// // 0x0100 <= x < 0x0400 +// xn = (int) (sqrttable[x >> 2] >> 3) + 1; +// } +// } +// } +// +// // Make sure that our result is floored +// if ((xn * xn) > x) +// xn--; +// +// return xn; +//} +// +//int32_t tmc_filterPT1(int64_t *akku, int32_t newValue, int32_t lastValue, uint8_t actualFilter, uint8_t maxFilter) +//{ +// *akku += (newValue-lastValue) << (maxFilter-actualFilter); +// return *akku >> maxFilter; +//} diff --git a/sdk/components/tmc/helpers/Functions.h b/sdk/components/tmc/helpers/Functions.h index f5e871d..373e9b1 100644 --- a/sdk/components/tmc/helpers/Functions.h +++ b/sdk/components/tmc/helpers/Functions.h @@ -1,18 +1,18 @@ -/* - * Functions.h - * - * Created on: 23.07.2018 - * Author: ed - */ - -#ifndef TMC_FUNCTIONS_H_ -#define TMC_FUNCTIONS_H_ - -#include "API_Header.h" - -int32_t tmc_limitInt(int32_t value, int32_t min, int32_t max); -int64_t tmc_limitS64(int64_t value, int64_t min, int64_t max); -int32_t tmc_sqrti(int32_t x); -int32_t tmc_filterPT1(int64_t *akku, int32_t newValue, int32_t lastValue, uint8_t actualFilter, uint8_t maxFilter); - -#endif /* TMC_FUNCTIONS_H_ */ +///* +// * Functions.h +// * +// * Created on: 23.07.2018 +// * Author: ed +// */ +// +//#ifndef TMC_FUNCTIONS_H_ +//#define TMC_FUNCTIONS_H_ +// +//#include "API_Header.h" +// +//int32_t tmc_limitInt(int32_t value, int32_t min, int32_t max); +//int64_t tmc_limitS64(int64_t value, int64_t min, int64_t max); +//int32_t tmc_sqrti(int32_t x); +//int32_t tmc_filterPT1(int64_t *akku, int32_t newValue, int32_t lastValue, uint8_t actualFilter, uint8_t maxFilter); +// +//#endif /* TMC_FUNCTIONS_H_ */ diff --git a/usrc/subboards/subboard90_optical_module/optical_module_v2.cpp b/usrc/subboards/subboard90_optical_module/optical_module_v2.cpp index 68807d6..e0bf1f4 100644 --- a/usrc/subboards/subboard90_optical_module/optical_module_v2.cpp +++ b/usrc/subboards/subboard90_optical_module/optical_module_v2.cpp @@ -405,7 +405,7 @@ int32_t OpticalModuleV2::start_barcode_scan(int32_t lasterGain, int32_t scanGain int32_t OpticalModuleV2::dumpresult() { for (int32_t i = 0; i < adc_capture_point_num; i++) { - printf("%d,%d", i, adc_capture_buf[i]); + printf("%ld,%d", i, adc_capture_buf[i]); if (i != 0 && i % 5 == 0) printf("\n"); else { diff --git a/usrc/sysmgr/sys_mgr.cpp b/usrc/sysmgr/sys_mgr.cpp index 8a8e1c2..d23ab23 100644 --- a/usrc/sysmgr/sys_mgr.cpp +++ b/usrc/sysmgr/sys_mgr.cpp @@ -1,15 +1,15 @@ #include "sys_mgr.hpp" -#include "sdk/os/zos.hpp" -#include "project_configs.h" #include #include +#include "project_configs.h" +#include "sdk/os/zos.hpp" + using namespace iflytop; #define TAG "SysMgr" - extern "C" { /*********************************************************************************************************************** @@ -108,10 +108,11 @@ void SysMgr::osTaskName(osThreadId id, char* name, int bufsize) { strncpy(name, pcTaskGetName(id), bufsize); name[bufsize - 1] = 0; } -void SysMgr::osTaskStackRemainingSize(osThreadId id, uint16_t* remainsize) { *remainsize = uxTaskGetStackHighWaterMark(id); } -void SysMgr::osTaskPriority(osThreadId id, uint16_t* priority) { *priority = uxTaskPriorityGet(id); } +void SysMgr::osTaskStackRemainingSize(osThreadId id, unsigned long* remainsize) { *remainsize = uxTaskGetStackHighWaterMark(id); } +void SysMgr::osTaskPriority(osThreadId id, unsigned long* priority) { *priority = uxTaskPriorityGet(id); } void SysMgr::osTaskGetState(osThreadId id, char* state) { eTaskState task_state = eTaskGetState(id); + switch (task_state) { case eRunning: *state = 'X'; @@ -128,6 +129,9 @@ void SysMgr::osTaskGetState(osThreadId id, char* state) { case eDeleted: *state = 'D'; break; + case eInvalid: + *state = '?'; + break; default: *state = '?'; break; diff --git a/usrc/sysmgr/sys_mgr.hpp b/usrc/sysmgr/sys_mgr.hpp index 6207539..ac3ba32 100644 --- a/usrc/sysmgr/sys_mgr.hpp +++ b/usrc/sysmgr/sys_mgr.hpp @@ -39,8 +39,8 @@ class SysMgr { const char* osTaskName(osThreadId id); void osTaskName(osThreadId id, char* name, int bufsize); - void osTaskStackRemainingSize(osThreadId id, uint16_t* remainsize); - void osTaskPriority(osThreadId id, uint16_t* priority); + void osTaskStackRemainingSize(osThreadId id, unsigned long* remainsize); + void osTaskPriority(osThreadId id, unsigned long* priority); void osTaskGetState(osThreadId id, char* state); int32_t getTaskNum(); diff --git a/usrc/version.h b/usrc/version.h index e516517..69b703e 100644 --- a/usrc/version.h +++ b/usrc/version.h @@ -1,2 +1,2 @@ #pragma once -#define APP_VERSION 1024 +#define APP_VERSION 1025