update

components/iflytop_can_slave_v1/iflytop_can_slave.cpp

@@ -3,6 +3,7 @@
 #ifdef HAL_CAN_MODULE_ENABLED
 #include <stdio.h>
 #include <string.h>
+#include <stdlib.h>
 using namespace iflytop;
 
 #define TAG "IflytopCanProtocolStackProcesser"
@@ -712,4 +713,4 @@ void IflytopCanProtocolStackProcesser::callOnRegisterExtEvent(icps::Reg_t *reg,
   value = eve.value;
 }
 #endif
-#endif
+#endif

components/m3078/m3078_code_scaner.cpp

@@ -12,7 +12,7 @@ void M3078CodeScanner::initialize(UART_HandleTypeDef* huart, Pin_t triggerPin) {
   m_uart.initialize(&cfg, [this](uint8_t* data, size_t len) {
     if (m_onidinfo) m_onidinfo((char*)data);
   });
-  m_triggerGpio.initAsOutput(triggerPin, ZGPIO::kOutput_nopull, false, false);
+  m_triggerGpio.initAsOutput(triggerPin, ZGPIO::kMode_nopull, false, false);
 
   m_trigger = false;
   m_uart.startRxIt();

components/tmc/ic/ztmc4361A.hpp

@@ -26,13 +26,13 @@ class TMC4361A : public IStepperMotor {
   typedef struct {
     SPI_HandleTypeDef *spi;
 
-    STM32_GPIO *csgpio;
-    STM32_GPIO *resetPin;
-    STM32_GPIO *fREEZEPin;
-    STM32_GPIO *ennPin;
+    ZGPIO *csgpio;
+    ZGPIO *resetPin;
+    ZGPIO *fREEZEPin;
+    ZGPIO *ennPin;
 
-    STM32_GPIO *driverIC_ennPin;
-    STM32_GPIO *driverIC_resetPin;
+    ZGPIO *driverIC_ennPin;
+    ZGPIO *driverIC_resetPin;
   } cfg_t;
 
  private:
@@ -46,13 +46,13 @@ class TMC4361A : public IStepperMotor {
 
   SPI_HandleTypeDef *m_spi;
 
-  STM32_GPIO *m_csgpio;
-  STM32_GPIO *m_resetPin;
-  STM32_GPIO *m_fREEZEPin;
-  STM32_GPIO *m_ennPin;
+  ZGPIO *m_csgpio;
+  ZGPIO *m_resetPin;
+  ZGPIO *m_fREEZEPin;
+  ZGPIO *m_ennPin;
 
-  STM32_GPIO *m_driverIC_ennPin;
-  STM32_GPIO *m_driverIC_resetPin;
+  ZGPIO *m_driverIC_ennPin;
+  ZGPIO *m_driverIC_resetPin;
 
   bool m_reachtarget;
 

hal/gpio.cpp

@@ -136,7 +136,7 @@ void ZGPIO::initAsInput(Pin_t pin, GPIOMode_t mode, GPIOIrqType_t irqtype, bool
   m_mirror   = mirror;
   m_mode     = mode;
   m_irqtype  = irqtype;
-  m_gpiotype = kInput;
+  m_gpiotype = kType_Input;
 
   m_gpio   = chip_get_gpio(pin);
   m_pinoff = chip_get_pinoff(pin);
@@ -178,7 +178,7 @@ void ZGPIO::initAsOutput(Pin_t pin, GPIOMode_t mode, bool mirror, bool initLevel
   m_mirror   = mirror;
   m_mode     = mode;
   m_irqtype  = kIRQ_noIrq;
-  m_gpiotype = kOutput;
+  m_gpiotype = kType_Output;
 
   m_gpio   = chip_get_gpio(pin);
   m_pinoff = chip_get_pinoff(pin);
@@ -189,25 +189,23 @@ void ZGPIO::initAsOutput(Pin_t pin, GPIOMode_t mode, bool mirror, bool initLevel
   initLevel                          = m_mirror ? !initLevel : initLevel;
   GPIO_PinState pinState             = initLevel ? GPIO_PIN_SET : GPIO_PIN_RESET;
 
-  if (m_mode == kOutput_nopull || m_mode == kOutput_pullup || m_mode == kOutput_pulldown || m_mode == kOutput_od) {
-    HAL_GPIO_WritePin(m_gpio, m_pinoff, pinState);
-  }
-  if (m_mode == kOutput_nopull) {
+  HAL_GPIO_WritePin(m_gpio, m_pinoff, pinState);
+  if (m_mode == kMode_nopull) {
     m_GPIO_InitStruct.Pin   = m_pinoff;
     m_GPIO_InitStruct.Mode  = GPIO_MODE_OUTPUT_PP;
     m_GPIO_InitStruct.Pull  = GPIO_NOPULL;
     m_GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  } else if (m_mode == kOutput_pullup) {
+  } else if (m_mode == kMode_pullup) {
     m_GPIO_InitStruct.Pin   = m_pinoff;
     m_GPIO_InitStruct.Mode  = GPIO_MODE_OUTPUT_PP;
     m_GPIO_InitStruct.Pull  = GPIO_PULLUP;
     m_GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  } else if (m_mode == kOutput_pulldown) {
+  } else if (m_mode == kMode_pulldown) {
     m_GPIO_InitStruct.Pin   = m_pinoff;
     m_GPIO_InitStruct.Mode  = GPIO_MODE_OUTPUT_PP;
     m_GPIO_InitStruct.Pull  = GPIO_PULLDOWN;
     m_GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  } else if (m_mode == kOutput_od) {
+  } else if (m_mode == kMode_od) {
     m_GPIO_InitStruct.Pin   = m_pinoff;
     m_GPIO_InitStruct.Mode  = GPIO_MODE_OUTPUT_OD;
     m_GPIO_InitStruct.Pull  = 0;

hal/gpio.hpp

@@ -16,18 +16,13 @@ class ZGPIO {
   } IrqTypeEvent_t;
 
   typedef enum {
-    kAIN,
-    kInput_nopull,     //
-    kInput_pullup,     //
-    kInput_pulldown,   //
-    kInput_od,         //
-    kOutput_nopull,    //
-    kOutput_pullup,    //
-    kOutput_pulldown,  //
-    kOutput_od,        //
+    kMode_nopull,    //
+    kMode_pullup,    //
+    kMode_pulldown,  //
+    kMode_od,        //
   } GPIOMode_t;
 
-  typedef enum { kAIN, kInput, kOutput } GPIOType_t;
+  typedef enum { kType_AIN, kType_Input, kType_Output } GPIOType_t;
 
   typedef enum {
     kIRQ_noIrq,

hal/zuart.cpp

@@ -5,6 +5,7 @@
 
 #include "critical_context.hpp"
 #include "zhal_core.hpp"
+#include "malloc.h"
 using namespace iflytop;
 
 static ZUART *s_uart_table[10];
@@ -138,12 +139,12 @@ bool ZUART::startRxIt() {
 }
 
 bool ZUART::dataIsReady() {
-  CriticalContext criticalContext();
+  CriticalContext criticalContext;
   if (m_dataIsReady) {
     return true;
   }
   if (!m_dataIsReady && m_rxBufferPos != 0) {
-    if (ifly_has_passedms(m_lastRxTime) > m_rxovertime_ms) {
+    if (ifly_has_passedms(m_lastRxTime) > (uint32_t)m_rxovertime_ms) {
       m_dataIsReady = true;
       return true;
     }
@@ -151,7 +152,7 @@ bool ZUART::dataIsReady() {
   return false;
 }
 void ZUART::clearRxData() {
-  ZCriticalContext criticalContext();
+  ZCriticalContext criticalContext;
   m_dataIsReady = false;
   memset(m_rxBuffer, 0, m_rxBufferLen);
   m_rxBufferPos = 0;
@@ -165,18 +166,6 @@ void ZUART::periodicJob() {
   }
 }
 
-bool ZUART::startRxIt() {
-  ZASSERT(m_rxBuffer != NULL);
-  ZASSERT(NVIC_GetEnableIRQ(getUartIRQType()) != 0);
-
-  if (m_isRxing) return true;
-  m_isRxing = true;
-
-  HAL_UART_Receive_IT(m_huart, &onebyte, 1);
-
-  return true;
-}
-
 /*******************************************************************************
  *                                    中断                                     *
  *******************************************************************************/