diff --git a/.clang-format b/.clang-format index 63a3fd8..26476ea 100644 --- a/.clang-format +++ b/.clang-format @@ -1,5 +1,10 @@ + # Defines the Chromium style for automatic reformatting. # http://clang.llvm.org/docs/ClangFormatStyleOptions.html Language: Cpp BasedOnStyle: Google -ColumnLimit: 160 \ No newline at end of file +ColumnLimit: 160 +AlignConsecutiveMacros: true +AlignConsecutiveDeclarations: true +AlignConsecutiveAssignments: true +AlignOperands: true \ No newline at end of file diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json index 349fb65..5699127 100644 --- a/.vscode/c_cpp_properties.json +++ b/.vscode/c_cpp_properties.json @@ -12,7 +12,8 @@ ".\\app\\Core\\Src", ".\\dep", ".\\src", - ".\\app\\Drivers\\STM32F4xx_HAL_Driver\\Src" + ".\\app\\Drivers\\STM32F4xx_HAL_Driver\\Src", + ".\\dep\\libtrinamic\\IFLYTOP-TMC-API" ], "defines": [ "USE_HAL_DRIVER", diff --git a/.vscode/settings.json b/.vscode/settings.json index c0e0705..a39c20c 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -8,6 +8,8 @@ "stm32_header.h": "c", "stm32f4xx_hal_tim.h": "c", "project_board.h": "c", - "port.h": "c" + "port.h": "c", + "compare": "c", + "tmc4361a_register.h": "c" } } \ No newline at end of file diff --git a/app/MDK-ARM/app.uvguix.h_zha b/app/MDK-ARM/app.uvguix.h_zha index c661435..bcd4fcb 100644 --- a/app/MDK-ARM/app.uvguix.h_zha +++ b/app/MDK-ARM/app.uvguix.h_zha @@ -6,7 +6,7 @@
### uVision Project, (C) Keil Software
- D:\workspace\project_boditech_vidas_a8000\Incubator_control_system\src + D:\workspace\project_boditech_vidas_a8000\Incubator_control_system\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ramp @@ -15,17 +15,17 @@ 38003 Registers - 259 30 + 162 163 346 Code Coverage - 860 578 + 860 160 204 Performance Analyzer - 1020 153 153 112 + 1020 @@ -102,16 +102,16 @@ 9 - 9 - 1687 + -1909 + -231 1009 0 - 757 - 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583 @@ -3603,7 +3603,7 @@ 0 100 - 4 + 8 ../Core/Src/main.c 0 @@ -3641,10 +3641,46 @@ 0 - ..\..\dep\libiflytop_micro\stm32\basic\basic.c + ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c + 0 + 60 + 90 + 1 + + 0 + + + ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\helpers\CRC.c + 0 + 1 + 1 + 1 + + 0 + + + ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ramp\LinearRamp1.c 0 - 14 - 42 + 1 + 1 + 1 + + 0 + + + D:\workspace\project_boditech_vidas_a8000\Incubator_control_system\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ramp\LinearRamp.c + 0 + 1 + 1 + 1 + + 0 + + + ..\..\dep\libtrinamic\src\ic\tmc4361A.cpp + 27 + 1 + 7 1 0 diff --git a/app/MDK-ARM/app.uvoptx b/app/MDK-ARM/app.uvoptx index 3bba598..8f9ee05 100644 --- a/app/MDK-ARM/app.uvoptx +++ b/app/MDK-ARM/app.uvoptx @@ -349,7 +349,7 @@ Drivers/STM32F4xx_HAL_Driver - 1 + 0 0 0 0 @@ -573,7 +573,7 @@ Drivers/CMSIS - 1 + 0 0 0 0 @@ -613,7 +613,7 @@ src - 1 + 0 0 0 0 @@ -644,6 +644,86 @@ + libtrinamic + 1 + 0 + 0 + 0 + + 7 + 32 + 1 + 0 + 0 + 0 + ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c + TMC4361A.c + 0 + 0 + + + 7 + 33 + 1 + 0 + 0 + 0 + ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\helpers\CRC.c + CRC.c + 0 + 0 + + + 7 + 34 + 1 + 0 + 0 + 0 + ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\helpers\Functions.c + Functions.c + 0 + 0 + + + 7 + 35 + 1 + 0 + 0 + 0 + ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ramp\Ramp.c + Ramp.c + 0 + 0 + + + 7 + 36 + 8 + 0 + 0 + 0 + ..\..\dep\libtrinamic\src\ic\tmc4361A.cpp + tmc4361A.cpp + 0 + 0 + + + 7 + 37 + 1 + 0 + 0 + 0 + ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ramp\LinearRamp1.c + LinearRamp1.c + 0 + 0 + + + + ::CMSIS 0 0 diff --git a/app/MDK-ARM/app.uvprojx b/app/MDK-ARM/app.uvprojx index f32d440..f94a59e 100644 --- a/app/MDK-ARM/app.uvprojx +++ b/app/MDK-ARM/app.uvprojx @@ -189,7 +189,7 @@ 1 0 8 - 1 + 0 0 0 0 @@ -339,7 +339,7 @@ --diag_suppress=381 --diag_suppress=1 --diag_suppress=177 --diag_suppress=111 --diag_suppress=1295 USE_HAL_DRIVER,STM32F407xx - ../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../../dep;../../src + ../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../../dep;../../src;../../dep/libtrinamic/IFLYTOP-TMC-API @@ -821,6 +821,41 @@ + libtrinamic + + + TMC4361A.c + 1 + ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c + + + CRC.c + 1 + ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\helpers\CRC.c + + + Functions.c + 1 + ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\helpers\Functions.c + + + Ramp.c + 1 + ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ramp\Ramp.c + + + tmc4361A.cpp + 8 + ..\..\dep\libtrinamic\src\ic\tmc4361A.cpp + + + LinearRamp1.c + 1 + ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ramp\LinearRamp1.c + + + + ::CMSIS diff --git a/app/MDK-ARM/startup_stm32f407xx.lst b/app/MDK-ARM/startup_stm32f407xx.lst index cdfef02..44fb53d 100644 --- a/app/MDK-ARM/startup_stm32f407xx.lst +++ b/app/MDK-ARM/startup_stm32f407xx.lst @@ -464,9 +464,9 @@ ARM Macro Assembler Page 8 171 00000000 IMPORT SystemInit 172 00000000 IMPORT __main 173 00000000 - 174 00000000 4806 LDR R0, =SystemInit + 174 00000000 4809 LDR R0, =SystemInit 175 00000002 4780 BLX R0 - 176 00000004 4806 LDR R0, =__main + 176 00000004 4809 LDR R0, =__main 177 00000006 4700 BX R0 178 00000008 ENDP 179 00000008 @@ -818,25 +818,42 @@ ARM Macro Assembler Page 13 398 0000001C ;******************************************************* ************************ 399 0000001C IF :DEF:__MICROLIB - 400 0000001C - 401 0000001C EXPORT __initial_sp - 402 0000001C EXPORT __heap_base - 403 0000001C EXPORT __heap_limit - 404 0000001C - 405 0000001C ELSE - 420 ENDIF - 421 0000001C - 422 0000001C END + 406 0000001C + 407 0000001C IMPORT __use_two_region_memory + 408 0000001C EXPORT __user_initial_stackheap + 409 0000001C + 410 0000001C __user_initial_stackheap + 411 0000001C + 412 0000001C 4804 LDR R0, = Heap_Mem + 413 0000001E 4905 LDR R1, =(Stack_Mem + Stack_Size) + 414 00000020 4A05 LDR R2, = (Heap_Mem + Heap_Size) + 415 00000022 4B06 LDR R3, = Stack_Mem + 416 00000024 4770 BX LR + 417 00000026 + 418 00000026 00 00 ALIGN + 419 00000028 + 420 00000028 ENDIF + 421 00000028 + 422 00000028 END 00000000 00000000 + 00000000 + 00000400 + 00000400 + 00000000 Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M4.fp.sp --apcs= interwork --depend=app\startup_stm32f407xx.d -oapp\startup_stm32f407xx.o -I.\RT + + + +ARM Macro Assembler Page 14 + + E\_app -IC:\Users\h_zha\AppData\Local\Arm\Packs\ARM\CMSIS\5.8.0\CMSIS\Core\Incl ude -IC:\Users\h_zha\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\2.16.0\Drivers\ -CMSIS\Device\ST\STM32F4xx\Include --predefine="__MICROLIB SETA 1" --predefine=" -__UVISION_VERSION SETA 535" --predefine="_RTE_ SETA 1" --predefine="STM32F407xx - SETA 1" --predefine="_RTE_ SETA 1" --list=startup_stm32f407xx.lst startup_stm3 -2f407xx.s +CMSIS\Device\ST\STM32F4xx\Include --predefine="__UVISION_VERSION SETA 535" --pr +edefine="_RTE_ SETA 1" --predefine="STM32F407xx SETA 1" --predefine="_RTE_ SETA + 1" --list=startup_stm32f407xx.lst startup_stm32f407xx.s @@ -857,8 +874,9 @@ Symbol: Stack_Mem Definitions At line 35 in file startup_stm32f407xx.s Uses - None -Comment: Stack_Mem unused + At line 413 in file startup_stm32f407xx.s + At line 415 in file startup_stm32f407xx.s + __initial_sp 00000400 Symbol: __initial_sp @@ -866,8 +884,7 @@ Symbol: __initial_sp At line 36 in file startup_stm32f407xx.s Uses At line 60 in file startup_stm32f407xx.s - At line 401 in file startup_stm32f407xx.s - +Comment: __initial_sp used once 3 symbols @@ -889,24 +906,25 @@ Symbol: Heap_Mem Definitions At line 47 in file startup_stm32f407xx.s Uses - None -Comment: Heap_Mem unused + At line 412 in file startup_stm32f407xx.s + At line 414 in file startup_stm32f407xx.s + __heap_base 00000000 Symbol: __heap_base Definitions At line 46 in file startup_stm32f407xx.s Uses - At line 402 in file startup_stm32f407xx.s -Comment: __heap_base used once + None +Comment: __heap_base unused __heap_limit 00000400 Symbol: __heap_limit Definitions At line 48 in file startup_stm32f407xx.s Uses - At line 403 in file startup_stm32f407xx.s -Comment: __heap_limit used once + None +Comment: __heap_limit unused 4 symbols @@ -1866,7 +1884,15 @@ Symbol: WWDG_IRQHandler At line 78 in file startup_stm32f407xx.s At line 226 in file startup_stm32f407xx.s -93 symbols +__user_initial_stackheap 0000001C + +Symbol: __user_initial_stackheap + Definitions + At line 410 in file startup_stm32f407xx.s + Uses + At line 408 in file startup_stm32f407xx.s +Comment: __user_initial_stackheap used once +94 symbols @@ -1880,7 +1906,8 @@ Symbol: Heap_Size At line 43 in file startup_stm32f407xx.s Uses At line 47 in file startup_stm32f407xx.s -Comment: Heap_Size used once + At line 414 in file startup_stm32f407xx.s + Stack_Size 00000400 Symbol: Stack_Size @@ -1888,7 +1915,8 @@ Symbol: Stack_Size At line 32 in file startup_stm32f407xx.s Uses At line 35 in file startup_stm32f407xx.s -Comment: Stack_Size used once + At line 413 in file startup_stm32f407xx.s + __Vectors_Size 00000188 Symbol: __Vectors_Size @@ -1920,5 +1948,13 @@ Symbol: __main Uses At line 176 in file startup_stm32f407xx.s Comment: __main used once -2 symbols -445 symbols in table +__use_two_region_memory 00000000 + +Symbol: __use_two_region_memory + Definitions + At line 407 in file startup_stm32f407xx.s + Uses + None +Comment: __use_two_region_memory unused +3 symbols +448 symbols in table diff --git a/dep/libtrinamic b/dep/libtrinamic index f7be628..a66eaf2 160000 --- a/dep/libtrinamic +++ b/dep/libtrinamic @@ -1 +1 @@ -Subproject commit f7be628b1f15b46f5dea445dd6f8c8ef81208115 +Subproject commit a66eaf2a974dbd93497c167cab4d092f61f4f92a diff --git a/src/umain.c b/src/umain.c index b689adb..15a6a30 100644 --- a/src/umain.c +++ b/src/umain.c @@ -6,6 +6,15 @@ #include "project_board.h" #define TAG "main" +/** + * @brief 对接libtrinamic + * + * @param channel + * @param data + * @param length + */ +// void libtrinamic_readWriteArray(uint8_t channel, uint8_t *data, size_t length) {} + int umain(int argc, char const *argv[]) { sys_loggger_enable(true);