Merge branch '8-auto-aim-integration' into 10-referee-system-communic…

…ation
RoboMaster-Club · Mar 23, 2024 · 4ea5c86 · 4ea5c86
2 parents c736fae + 0d5a21e
commit 4ea5c86
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Showing 24 changed files with 592 additions and 135 deletions.
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -0,0 +1,31 @@
+name: Build Project
+on:
+  push:
+    paths:
+      - 'src/**'
+      - 'lib/**'
+  pull_request:
+    paths:
+      - 'src/**'
+      - 'lib/**'
+
+jobs:
+  build:
+    name: Build
+    runs-on: windows-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+        with:
+          submodules: 'recursive'  # Ensure submodules are checked out
+
+      - name: Set up MSYS2
+        uses: msys2/setup-msys2@v2
+        with:
+          update: true
+          install: mingw-w64-x86_64-arm-none-eabi-gcc make
+
+      - name: Build project
+        run: |
+          make -j24 V=1
+        shell: msys2 {0}
diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -2,7 +2,7 @@
     "version": "0.2.0",
     "configurations": [
         {
-            "name": "cmsis-dap-debug",
+            "name": "cmsis-dap-debug (Windows)",
             "cwd": "${workspaceRoot}",
             "executable": "${workspaceRoot}\\build\\control-base.elf",
             "request": "launch",
@@ -17,7 +17,27 @@
             "liveWatch": { 
                 "enabled": true,
                 "samplesPerSecond": 4
-            }
+            },
+            "preLaunchTask": "build (Windows)" // build before debug
+        },
+        {
+            "name": "stlink-debug (Windows)",
+            "cwd": "${workspaceRoot}",
+            "executable": "${workspaceRoot}\\build\\control-base.elf",
+            "request": "launch",
+            "type": "cortex-debug",
+            "svdFile": "STM32F407.svd",
+            "servertype": "openocd", //GDB server
+            "configFiles": [
+                "${workspaceRoot}/config/openocd_stlink.cfg" // config
+            ],
+            //"runToEntryPoint": "main", // stop at main
+            //"rtos": "FreeRTOS",
+            "liveWatch": { 
+                "enabled": true,
+                "samplesPerSecond": 4
+            },
+            "preLaunchTask": "build (Windows)" // build before debug
         },
         {
             "name": "cmsis-dap-debug (Darwin)",
@@ -35,7 +55,8 @@
             "liveWatch": { 
                 "enabled": true,
                 "samplesPerSecond": 4
-            }
+            },
+            "preLaunchTask": "build (Darwin)" // build before debug
         }
     ]
 }
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
@@ -4,7 +4,7 @@
         {
             "label": "build (Darwin)",
             "type": "shell",
-            "command": "make",
+            "command": "make -j24 V=1",
             "args": [],
             "group": {
                 "kind": "build",
@@ -56,7 +56,16 @@
         {
             "label": "download dap (Windows)",
             "type": "shell",
-            "command": "mingw32-make download_dap",
+            "command": "mingw32-make -j24 V=1; mingw32-make download_dap",
+            "group": {
+                "kind": "build",
+                "isDefault": false
+            }
+        },
+        {
+            "label": "download stlink (Windows)",
+            "type": "shell",
+            "command": "mingw32-make -j24 V=1; mingw32-make download_stlink",
             "group": {
                 "kind": "build",
                 "isDefault": false

diff --git a/Makefile b/Makefile
@@ -90,6 +90,7 @@ src/bsp/src/bsp_pwm.c \
 src/bsp/src/bsp_spi.c \
 src/bsp/src/bsp_serial.c \
 src/bsp/src/bsp_crc.c \
+src/bsp/src/bsp_uart.c \
 src/devices/src/BMI088driver.c \
 src/devices/src/BMI088Middleware.c \
 src/devices/src/dji_motor.c \
@@ -100,6 +101,7 @@ src/devices/src/mf_motor.c \
 src/devices/src/remote.c \
 src/devices/src/imu_task.c \
 src/devices/src/referee_system.c \
+src/devices/src/jetson_orin.c \
 src/app/src/motor_task.c \
 src/app/src/chassis_task.c \
 src/app/src/gimbal_task.c \
@@ -245,5 +247,8 @@ clean:
 -include $(wildcard $(BUILD_DIR)/*.d)
 
 download_dap:
-	openocd -f openocd_cmsis_dap.cfg -c init -c halt -c "flash write_image erase $(BUILD_DIR)/$(TARGET).bin 0x08000000" -c reset -c shutdown
+	openocd -f config/openocd_cmsis_dap.cfg -c init -c halt -c "flash write_image erase $(BUILD_DIR)/$(TARGET).bin 0x08000000" -c reset -c shutdown
+
+download_stlink:
+	openocd -f config/openocd_stlink.cfg -c init -c halt -c "flash write_image erase $(BUILD_DIR)/$(TARGET).bin 0x08000000" -c reset -c shutdown
 # *** EOF ***
diff --git a/README.md b/README.md
@@ -1,7 +1,9 @@
-## About The Library
+![Build Project](https://github.com/RoboMaster-Club/control-base/actions/workflows/build.yml/badge.svg)
 
+# About The Library
 This is a shareable hardware library for robomaster embedded system. It contains board support packages, device-drivers, and algorithms for control systems.
-## How To
+
+## Setup Guide
 Clone repo, initialize submodule (STM32-CubeMX project)
 ``` shell
 git clone https://github.com/RoboMaster-Club/control-base.git

diff --git a/config/openocd_stlink.cfg b/config/openocd_stlink.cfg
@@ -1,6 +1,6 @@
 # choose stlink as debugger
 source [find interface/stlink.cfg]
 
-transport select swd
+transport select hla_swd
 
 source [find target/stm32f4x.cfg]
diff --git a/lib/typec-board-base b/lib/typec-board-base
diff --git a/src/algo/inc/user_math.h b/src/algo/inc/user_math.h
@@ -3,27 +3,39 @@
 
 #define PI (3.1415926f)
 
-#define __MAX_LIMIT(val, min, max)      do\
-                                        {\
-                                            val =(val > max ? max : val);\
-                                            val = (val < min ? min : val);\
-                                        }\
-                                        while(0);
+#define __MAX_LIMIT(val, min, max)     \
+    do                                 \
+    {                                  \
+        val = (val > max ? max : val); \
+        val = (val < min ? min : val); \
+    } while (0);
 
 #define DEG_TO_RAD 3.14159f / 180.0f
 
-#define __MAP(x, in_min, in_max, out_min, out_max) do\
-                                                { \
-                                                if (x > in_max) { x -= in_max; } \
-                                                else if (x < -in_max) {x += in_max;} \
-                                                x = ((x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min);\
-                                                } \
-                                                while(0);
-
-#define __MAP_ANGLE_TO_UNIT_CIRCLE(x) do\
-                                    {\
-                                        while (error >= PI) { error -= 2 * PI; }\
-                                        while (error < -PI) { error += 2 * PI; }\
-                                    }\
-                                    while(0);
+#define __MAP(x, in_min, in_max, out_min, out_max)                              \
+    do                                                                          \
+    {                                                                           \
+        if (x > in_max)                                                         \
+        {                                                                       \
+            x -= in_max;                                                        \
+        }                                                                       \
+        else if (x < -in_max)                                                   \
+        {                                                                       \
+            x += in_max;                                                        \
+        }                                                                       \
+        x = ((x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min); \
+    } while (0);
+
+#define __MAP_ANGLE_TO_UNIT_CIRCLE(x) \
+    do                                \
+    {                                 \
+        while (error >= PI)           \
+        {                             \
+            error -= 2 * PI;          \
+        }                             \
+        while (error < -PI)           \
+        {                             \
+            error += 2 * PI;          \
+        }                             \
+    } while (0);
 #endif
+4 −0		Core/Inc/stm32f4xx_it.h
+6 −0		Core/Src/dma.c
+60 −0		Core/Src/stm32f4xx_it.c
+55 −1		Core/Src/usart.c
+4 −4		Makefile
+30 −4		typec-board-base.ioc