From ec7f403638c5ae17f2bebca3cd4039e6830f2ff5 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Fri, 7 Apr 2023 20:43:12 +0800 Subject: [PATCH] =?UTF-8?q?cpp=20=E7=BC=96=E8=AF=91=E9=80=9A=E8=BF=87?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .clang-format | 7 ++- .vscode/c_cpp_properties.json | 3 +- .vscode/settings.json | 4 +- app/MDK-ARM/app.uvguix.h_zha | 90 +++++++++++++++++++++++----------- app/MDK-ARM/app.uvoptx | 86 +++++++++++++++++++++++++++++++-- app/MDK-ARM/app.uvprojx | 39 ++++++++++++++- app/MDK-ARM/startup_stm32f407xx.lst | 96 +++++++++++++++++++++++++------------ dep/libtrinamic | 2 +- src/umain.c | 9 ++++ 9 files changed, 270 insertions(+), 66 deletions(-) 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 - 01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000005000000040000000100000056443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C6170705C436F72655C5372635C6D61696E2E6300000000066D61696E2E6300000000C5D4F200FFFFFFFF4E443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C7372635C756D61696E2E630000000007756D61696E2E6300000000FFDC7800FFFFFFFF4D443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C7372635C706F72742E630000000006706F72742E6300000000BECEA100FFFFFFFF64443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C6170705C4D444B2D41524D5C737461727475705F73746D33326634303778782E730000000015737461727475705F73746D33326634303778782E7300000000F0A0A100FFFFFFFF6B443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C6465705C6C696269666C79746F705F6D6963726F5C73746D33325C62617369635C62617369632E63000000000762617369632E6300000000BCA8E100FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000FF00000066000000900600007F020000 + 1351 + 01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000009000000080000000100000056443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C6170705C436F72655C5372635C6D61696E2E6300000000066D61696E2E6300000000C5D4F200FFFFFFFF4E443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C7372635C756D61696E2E630000000007756D61696E2E6300000000FFDC7800FFFFFFFF4D443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C7372635C706F72742E630000000006706F72742E6300000000BECEA100FFFFFFFF64443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C6170705C4D444B2D41524D5C737461727475705F73746D33326634303778782E730000000015737461727475705F73746D33326634303778782E7300000000F0A0A100FFFFFFFF7D443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C6465705C6C69627472696E616D69635C49464C59544F502D544D432D4150495C746D635C69635C544D4334333631415C544D4334333631412E63000000000A544D4334333631412E6300000000BCA8E100FFFFFFFF74443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C6465705C6C69627472696E616D69635C49464C59544F502D544D432D4150495C746D635C68656C706572735C4352432E6300000000054352432E63000000009CC1B600FFFFFFFF79443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C6465705C6C69627472696E616D69635C49464C59544F502D544D432D4150495C746D635C72616D705C4C696E65617252616D70312E63000000000D4C696E65617252616D70312E6300000000F7B88600FFFFFFFF78443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C6465705C6C69627472696E616D69635C49464C59544F502D544D432D4150495C746D635C72616D705C4C696E65617252616D702E63000000000C4C696E65617252616D702E6300000000D9ADC200FFFFFFFF66443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C6465705C6C69627472696E616D69635C7372635C69635C746D6334333631412E637070000000000C746D6334333631412E63707000000000A5C2D700FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000D3F9FFFF6600000000000000FA020000 @@ -134,7 +134,7 @@ 16 - D600000066000000DC040000F0000000 + 56F9FFFF660000005CFDFFFFF0000000 @@ -150,7 +150,7 @@ 0 16 - 0300000066000000F80000004F020000 + 03000000660000004C010000CA020000 16 @@ -170,7 +170,7 @@ 0 16 - 0300000066000000F80000004F020000 + 03000000660000004C010000CA020000 16 @@ -450,7 +450,7 @@ 0 16 - 0300000066000000F80000004F020000 + 03000000660000004C010000CA020000 16 @@ -470,7 +470,7 @@ 0 16 - 0300000066000000F80000004F020000 + 03000000660000004C010000CA020000 16 @@ -490,7 +490,7 @@ 0 16 - 000000008002000090060000C0030000 + 00000000FB02000080070000DE030000 16 @@ -530,7 +530,7 @@ 0 16 - 030000008302000043030000A7030000 + 03000000FE0200007D070000C5030000 16 @@ -1150,7 +1150,7 @@ 0 16 - 0300000066000000F800000046020000 + 03000000660000004C010000CA020000 16 @@ -1170,7 +1170,7 @@ 0 16 - 030000008302000043030000A7030000 + 03000000FE0200007D070000C5030000 16 @@ -1190,7 +1190,7 @@ 0 16 - 030000008302000043030000A7030000 + 03000000FE0200007D070000C5030000 16 @@ -1250,7 +1250,7 @@ 0 16 - 030000008302000043030000A7030000 + 03000000FE0200007D070000C5030000 16 @@ -1270,7 +1270,7 @@ 0 16 - 030000008302000043030000A7030000 + 03000000FE0200007D070000C5030000 16 @@ -1730,7 +1730,7 @@ 0 16 - 00000000C003000090060000D3030000 + 00000000DE03000080070000F1030000 16 @@ -1799,7 +1799,7 @@ 3312 - 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 + 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 59392 @@ -1822,7 +1822,7 @@ Build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ore/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);