Merge pull request #41 from xrobot-org/dev

Dev
xrobot-org · Dec 27, 2023 · 5fda58a · 5fda58a
2 parents 648c572 + a286993
commit 5fda58a
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Showing 11 changed files with 37 additions and 8 deletions.
diff --git a/hw/bsp/dual_canfd/drivers/bsp_usb.h b/hw/bsp/dual_canfd/drivers/bsp_usb.h
@@ -12,7 +12,6 @@ extern "C" {
 
 typedef enum {
   BSP_USB_CDC,
-  BSP_GPIO_LED,
   /* BSP_USB_XXX, */
   BSP_USB_NUM,
   BSP_USB_ERR,

diff --git a/hw/bsp/f103_can/drivers/bsp_usb.h b/hw/bsp/f103_can/drivers/bsp_usb.h
@@ -12,7 +12,6 @@ extern "C" {
 
 typedef enum {
   BSP_USB_CDC,
-  BSP_GPIO_LED,
   /* BSP_USB_XXX, */
   BSP_USB_NUM,
   BSP_USB_ERR,

diff --git a/hw/bsp/f103_can/drivers/hal/CMakeLists.txt b/hw/bsp/f103_can/drivers/hal/CMakeLists.txt
@@ -4,8 +4,6 @@ project(hal)
 
 add_compile_options(-w)
 
-add_compile_definitions(USE_FULL_ASSERT)
-
 file(GLOB ${PROJECT_NAME}_SOURCES_MX "${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/*.c")
 file(GLOB ${PROJECT_NAME}_SOURCES_HAL "${HAL_DIR}/Src/*.c")
 

diff --git a/hw/bsp/microswitch/drivers/bsp_uart.c b/hw/bsp/microswitch/drivers/bsp_uart.c
@@ -127,7 +127,7 @@ bsp_status_t bsp_uart_receive(bsp_uart_t uart, uint8_t *buff, size_t size,
 
 uint32_t bsp_uart_get_count(bsp_uart_t uart) {
   return bsp_uart_get_handle(uart)->RxXferSize -
-         __HAL_DMA_GET_COUNTER(bsp_uart_get_handle(BSP_UART_MCU)->hdmarx);
+         __HAL_DMA_GET_COUNTER(bsp_uart_get_handle(uart)->hdmarx);
 }
 
 bsp_status_t bsp_uart_abort_receive(bsp_uart_t uart) {

diff --git a/hw/bsp/microswitch/drivers/hal/CMakeLists.txt b/hw/bsp/microswitch/drivers/hal/CMakeLists.txt
@@ -4,8 +4,6 @@ project(hal)
 
 add_compile_options(-w)
 
-add_compile_definitions(USE_FULL_ASSERT)
-
 file(GLOB ${PROJECT_NAME}_SOURCES_MX "${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/*.c")
 file(GLOB ${PROJECT_NAME}_SOURCES_HAL "${HAL_DIR}/Src/*.c")
 

diff --git a/hw/bsp/rm-c/drivers/bsp_uart.c b/hw/bsp/rm-c/drivers/bsp_uart.c
@@ -184,5 +184,5 @@ bsp_status_t bsp_uart_receive(bsp_uart_t uart, uint8_t *buff, size_t size,
 
 uint32_t bsp_uart_get_count(bsp_uart_t uart) {
   return bsp_uart_get_handle(uart)->RxXferSize -
-         __HAL_DMA_GET_COUNTER(bsp_uart_get_handle(BSP_UART_REF)->hdmarx);
+         __HAL_DMA_GET_COUNTER(bsp_uart_get_handle(uart)->hdmarx);
 }
diff --git a/hw/mcu/default/bsp_def.h b/hw/mcu/default/bsp_def.h
@@ -13,6 +13,9 @@ extern "C" {
 #include <stdlib.h>
 #include <string.h>
 
+#define XB_TO_STR(_arg) #_arg
+#define XB_DEF2STR(_arg) XB_TO_STR(_arg)
+
 #if MCU_DEBUG_BUILD
 #define XB_ASSERT(arg)                                         \
   if (!(arg))                                                  \

diff --git a/hw/mcu/st/cmake/mcu_stm32l0.cmake b/hw/mcu/st/cmake/mcu_stm32l0.cmake
@@ -0,0 +1,28 @@
+include(${MCU_DIR}/default/custom_printf.cmake)
+
+set(CPU_FLAGS
+    "-mcpu=cortex-m0plus -mthumb -mfloat-abi=soft"
+    CACHE INTERNAL "" FORCE)
+
+set(GENERAL_FLAGS
+    "-Wall -Wextra -fno-builtin -fno-exceptions -ffunction-sections -fdata-sections"
+    CACHE INTERNAL "" FORCE)
+
+set(CMAKE_C_FLAGS
+    "${CPU_FLAGS} ${GENERAL_FLAGS} -fshort-enums -fdiagnostics-color=auto"
+    CACHE INTERNAL "" FORCE)
+
+set(CMAKE_CXX_FLAGS
+    "${CPU_FLAGS} ${GENERAL_FLAGS} -fno-threadsafe-statics -fno-rtti -fshort-enums -fdiagnostics-color=auto"
+    CACHE INTERNAL "" FORCE)
+
+set(CMAKE_ASM_FLAGS
+    "${CPU_FLAGS} -x assembler-with-cpp"
+    CACHE INTERNAL "" FORCE)
+
+# Linker Flag
+set(LINKER_SCRIPT ${BOARD_DIR}/ld/LinkerScripts.ld)
+
+set(CMAKE_EXE_LINKER_FLAGS
+    "-T${LINKER_SCRIPT} --specs=nano.specs --specs=nosys.specs -Wl,--cref,--gc-sections,--print-memory-usage,-Map=${CMAKE_PROJECT_NAME}.map"
+    CACHE INTERNAL "" FORCE)
diff --git a/src/device/motor/dev_mit_motor.cpp b/src/device/motor/dev_mit_motor.cpp
@@ -101,6 +101,7 @@ void MitMotor::Control(float output) {
 void MitMotor::SetCurrent(float current) {
   if (this->feedback_.temp > 75.0f) {
     Relax();
+    OMLOG_WARNING("motor %s high temperature detected", name_);
     return;
   }
 
@@ -114,6 +115,7 @@ void MitMotor::SetCurrent(float current) {
 void MitMotor::SetPos(float pos) {
   if (this->feedback_.temp > 75.0f) {
     Relax();
+    OMLOG_WARNING("motor %s high temperature detected", name_);
     return;
   }
 

diff --git a/src/device/motor/dev_rm_motor.cpp b/src/device/motor/dev_rm_motor.cpp
@@ -127,6 +127,7 @@ float RMMotor::GetLSB() {
 void RMMotor::Control(float out) {
   if (this->feedback_.temp > 75.0f) {
     out = 0.0f;
+    OMLOG_WARNING("motor %s high temperature detected", name_);
   }
 
   clampf(&out, -1.0f, 1.0f);

diff --git a/src/device/motor/dev_rmd_motor.cpp b/src/device/motor/dev_rmd_motor.cpp
@@ -65,6 +65,7 @@ void RMDMotor::Decode(Can::Pack &rx) {
 void RMDMotor::Control(float out) {
   if (this->feedback_.temp > 75.0f) {
     out = 0.0f;
+    OMLOG_WARNING("motor %s high temperature detected", name_);
   }
 
   clampf(&out, -1.0f, 1.0f);