初版适配和修改

2026-08-07 19:04:38 +08:00
parent 460e0e9e73
commit f695460797
17 changed files with 1701 additions and 1 deletions
--- a/125
+++ b/125
@@ -0,0 +1,125 @@
+PROJECT       := OriginCar
+BUILD         ?= debug
+FRAMEWORK_DIR ?= ../../stm32/stm32f407-gcc-framework
+FRAMEWORK_DIR := $(abspath $(FRAMEWORK_DIR))
+
+CC      := arm-none-eabi-gcc
+OBJCOPY := arm-none-eabi-objcopy
+SIZE    := arm-none-eabi-size
+NM      := arm-none-eabi-nm
+OPENOCD := openocd
+
+MCU := -mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=hard
+DEFS := -DSTM32F40_41xxx -DUSE_STDPERIPH_DRIVER -DARM_MATH_CM4 \
+        -D__FPU_PRESENT=1 -D__FPU_USED=1 -DHSE_VALUE=8000000U
+INCLUDES := \
+  -IGCC_COMPAT/include \
+  -IUSER -ICORE -IFWLIB/inc \
+  -ISYSTEM/delay -ISYSTEM/sys -ISYSTEM/usart \
+  -IHARDWARE -IHARDWARE/MPU6050 -IBALANCE \
+  -IFreeRTOS/include -IFreeRTOS/portable/GCC/ARM_CM4F
+
+APP_SRC := \
+  USER/main.c USER/stm32f4xx_it.c USER/system_stm32f4xx.c \
+  HARDWARE/adc.c HARDWARE/can.c HARDWARE/encoder.c HARDWARE/key.c \
+  HARDWARE/motor.c HARDWARE/oled.c HARDWARE/pstwo.c HARDWARE/timer.c \
+  HARDWARE/usartx.c HARDWARE/MPU6050/MPU6050.c HARDWARE/MPU6050/I2C.c \
+  SYSTEM/delay/delay.c SYSTEM/usart/usart.c \
+  BALANCE/system.c BALANCE/balance.c BALANCE/robot_select_init.c BALANCE/show.c
+
+FWLIB_SRC := \
+  FWLIB/src/misc.c FWLIB/src/stm32f4xx_gpio.c FWLIB/src/stm32f4xx_rcc.c \
+  FWLIB/src/stm32f4xx_syscfg.c FWLIB/src/stm32f4xx_usart.c \
+  FWLIB/src/stm32f4xx_adc.c FWLIB/src/stm32f4xx_can.c \
+  FWLIB/src/stm32f4xx_tim.c FWLIB/src/stm32f4xx_pwr.c
+
+FREERTOS_SRC := \
+  FreeRTOS/croutine.c FreeRTOS/event_groups.c FreeRTOS/list.c \
+  FreeRTOS/queue.c FreeRTOS/tasks.c FreeRTOS/timers.c \
+  FreeRTOS/portable/GCC/ARM_CM4F/port.c \
+  FreeRTOS/portable/MemMang/heap_4.c
+
+C_SRC := $(APP_SRC) $(FWLIB_SRC) $(FREERTOS_SRC) \
+         GCC_COMPAT/runtime.c GCC_COMPAT/sys_gcc.c
+UPPER_C_SRC := HARDWARE/LED.C
+BUILD_DIR := build/$(BUILD)
+C_OBJS := $(addprefix $(BUILD_DIR)/,$(C_SRC:.c=.o))
+UPPER_C_OBJS := $(addprefix $(BUILD_DIR)/,$(UPPER_C_SRC:.C=.o))
+STARTUP_OBJ := $(BUILD_DIR)/startup_stm32f407xx_gcc.o
+OBJS := $(C_OBJS) $(UPPER_C_OBJS) $(STARTUP_OBJ)
+DEPS := $(OBJS:.o=.d)
+
+ifeq ($(BUILD),release)
+  OPT_FLAGS := -Os -g0 -DNDEBUG
+else
+  OPT_FLAGS := -O0 -g3 -DDEBUG -fno-omit-frame-pointer
+endif
+
+CFLAGS := $(MCU) $(DEFS) $(INCLUDES) $(OPT_FLAGS) \
+  -std=gnu11 -ffreestanding -ffunction-sections -fdata-sections -fno-common \
+  -Wall -Wextra -Wshadow -Wno-unused-parameter -Wno-sign-compare \
+  -MMD -MP
+ASFLAGS := $(MCU) $(DEFS) $(OPT_FLAGS) -x assembler-with-cpp -Wa,--gdwarf-2
+LDSCRIPT := $(FRAMEWORK_DIR)/STM32F407VGTX_FLASH.ld
+LDFLAGS := $(MCU) -nostdlib -T$(LDSCRIPT) \
+  -Wl,-Map=$(BUILD_DIR)/$(PROJECT).map,--cref,--gc-sections \
+  -Wl,--start-group -lgcc -Wl,--end-group
+
+ELF := $(BUILD_DIR)/$(PROJECT).elf
+HEX := $(BUILD_DIR)/$(PROJECT).hex
+BIN := $(BUILD_DIR)/$(PROJECT).bin
+
+.PHONY: all debug release clean flash debug-server linkscope-info check-tools
+
+all: check-tools $(ELF) $(HEX) $(BIN)
+	$(SIZE) $(ELF)
+
+debug:
+	$(MAKE) BUILD=debug all
+
+release:
+	$(MAKE) BUILD=release all
+
+check-tools:
+	@command -v $(CC) >/dev/null || { echo "Missing $(CC)"; exit 1; }
+	@command -v $(OPENOCD) >/dev/null || { echo "Missing $(OPENOCD)"; exit 1; }
+	@test -f $(LDSCRIPT) || { echo "Framework not found: $(FRAMEWORK_DIR)"; exit 1; }
+
+$(ELF): $(OBJS)
+	@mkdir -p $(dir $@)
+	$(CC) $(OBJS) $(LDFLAGS) -o $@
+
+$(HEX): $(ELF)
+	$(OBJCOPY) -O ihex $< $@
+
+$(BIN): $(ELF)
+	$(OBJCOPY) -O binary $< $@
+
+$(BUILD_DIR)/%.o: %.c
+	@mkdir -p $(dir $@)
+	$(CC) $(CFLAGS) -c $< -o $@
+
+$(BUILD_DIR)/%.o: %.C
+	@mkdir -p $(dir $@)
+	$(CC) $(CFLAGS) -x c -c $< -o $@
+
+$(STARTUP_OBJ): $(FRAMEWORK_DIR)/CORE/startup_stm32f407xx_gcc.s
+	@mkdir -p $(dir $@)
+	$(CC) $(ASFLAGS) -c $< -o $@
+
+flash: all
+	$(OPENOCD) -f openocd.cfg -c "program $(ELF) verify reset exit"
+
+debug-server:
+	$(OPENOCD) -f openocd.cfg
+
+linkscope-info: $(ELF)
+	@echo "ELF: $(abspath $(ELF))"
+	@echo "GDB server: localhost:3333 (run 'make debug-server')"
+	@echo "Example observable globals:"
+	@$(NM) -S --size-sort $(ELF) | grep -E ' (Car_Mode|RC_Velocity|Velocity_KP|Velocity_KI|Move_X|Move_Y|Move_Z)$$' || true
+
+clean:
+	rm -rf build
+
+-include $(DEPS)