Merge pull request #32 from xrobot-org/dev

自定义printf
xrobot-org · Aug 23, 2023 · b4b6f01 · b4b6f01
2 parents 721a4ba + 76c641a
commit b4b6f01
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Showing 26 changed files with 279 additions and 66 deletions.
diff --git a/.gitmodules b/.gitmodules
@@ -52,3 +52,6 @@
 [submodule "lib/MiniFlashDB"]
 	path = lib/MiniFlashDB
 	url = https://github.com/Jiu-xiao/MiniFlashDB.git
+[submodule "lib/printf"]
+	path = lib/printf
+	url = https://github.com/xrobot-org/printf.git
diff --git a/hw/bsp/Webots/main.cpp b/hw/bsp/Webots/main.cpp
@@ -8,6 +8,6 @@ int main() {
   robot_init();
   while (1) {
     wb_robot_step(1);
-    poll(NULL, 0, 2);
+    poll(NULL, 0, 1);
   }
 }
diff --git a/hw/bsp/atom/drivers/bsp_spi.c b/hw/bsp/atom/drivers/bsp_spi.c
@@ -63,12 +63,28 @@ bsp_status_t bsp_spi_register_callback(bsp_spi_t spi, bsp_spi_callback_t type,
   return BSP_OK;
 }
 
-bsp_status_t bsp_spi_transmit(bsp_spi_t spi, uint8_t *data, size_t size,
+bsp_status_t bsp_spi_transmit_receive(bsp_spi_t spi, uint8_t *recv_data,
+                                      const uint8_t *trans_data, size_t size,
+                                      bool block) {
+  if (block) {
+    return HAL_SPI_TransmitReceive(bsp_spi_get_handle(spi),
+                                   (uint8_t *)trans_data, recv_data, size,
+                                   10) != HAL_OK;
+  } else {
+    return HAL_SPI_TransmitReceive_DMA(bsp_spi_get_handle(spi),
+                                       (uint8_t *)trans_data, recv_data,
+                                       size) != HAL_OK;
+  }
+}
+
+bsp_status_t bsp_spi_transmit(bsp_spi_t spi, const uint8_t *data, size_t size,
                               bool block) {
   if (block) {
-    return HAL_SPI_Transmit(bsp_spi_get_handle(spi), data, size, 10) != HAL_OK;
+    return HAL_SPI_Transmit(bsp_spi_get_handle(spi), (uint8_t *)data, size,
+                            10) != HAL_OK;
   } else {
-    return HAL_SPI_Transmit_DMA(bsp_spi_get_handle(spi), data, size) != HAL_OK;
+    return HAL_SPI_Transmit_DMA(bsp_spi_get_handle(spi), (uint8_t *)data,
+                                size) != HAL_OK;
   }
 }
 
@@ -80,3 +96,28 @@ bsp_status_t bsp_spi_receive(bsp_spi_t spi, uint8_t *buff, size_t size,
     return HAL_SPI_Receive_DMA(bsp_spi_get_handle(spi), buff, size) != HAL_OK;
   }
 }
+
+uint8_t bsp_spi_mem_read_byte(bsp_spi_t spi, uint8_t reg) {
+  uint8_t tmp[2] = {reg | 0x80, 0x00};
+  bsp_spi_transmit_receive(spi, tmp, tmp, 2u, true);
+  return tmp[1];
+}
+
+bsp_status_t bsp_spi_mem_write_byte(bsp_spi_t spi, uint8_t reg, uint8_t data) {
+  uint8_t tmp[2] = {reg & 0x7f, data};
+  return bsp_spi_transmit(spi, tmp, 2u, true);
+}
+
+bsp_status_t bsp_spi_mem_read(bsp_spi_t spi, uint8_t reg, uint8_t *buff,
+                              size_t size, bool block) {
+  reg = reg | 0x80;
+  bsp_spi_transmit(spi, &reg, 1u, true);
+  return bsp_spi_receive(spi, buff, size, block);
+}
+
+bsp_status_t bsp_spi_mem_write(bsp_spi_t spi, uint8_t reg, const uint8_t *buff,
+                               size_t size, bool block) {
+  reg = reg & 0x7f;
+  bsp_spi_transmit(spi, &reg, 1u, true);
+  return bsp_spi_transmit(spi, buff, size, block);
+}
diff --git a/hw/bsp/atom/drivers/bsp_spi.h b/hw/bsp/atom/drivers/bsp_spi.h
@@ -25,10 +25,19 @@ typedef enum {
 bsp_status_t bsp_spi_register_callback(bsp_spi_t spi, bsp_spi_callback_t type,
                                        void (*callback)(void *),
                                        void *callback_arg);
-bsp_status_t bsp_spi_transmit(bsp_spi_t spi, uint8_t *data, size_t size,
+bsp_status_t bsp_spi_transmit_receive(bsp_spi_t spi, uint8_t *recv_data,
+                                      const uint8_t *trans_data, size_t size,
+                                      bool block);
+bsp_status_t bsp_spi_transmit(bsp_spi_t spi, const uint8_t *data, size_t size,
                               bool block);
 bsp_status_t bsp_spi_receive(bsp_spi_t spi, uint8_t *buff, size_t size,
                              bool block);
+uint8_t bsp_spi_mem_read_byte(bsp_spi_t spi, uint8_t reg);
+bsp_status_t bsp_spi_mem_write_byte(bsp_spi_t spi, uint8_t reg, uint8_t data);
+bsp_status_t bsp_spi_mem_read(bsp_spi_t spi, uint8_t reg, uint8_t *buff,
+                              size_t size, bool block);
+bsp_status_t bsp_spi_mem_write(bsp_spi_t spi, uint8_t reg, const uint8_t *buff,
+                               size_t size, bool block);
 
 #ifdef __cplusplus
 }

diff --git a/hw/bsp/atom/drivers/bsp_usb.c b/hw/bsp/atom/drivers/bsp_usb.c
@@ -23,10 +23,8 @@ static void uart_tx_cb(void *arg) {
 }
 
 bsp_status_t bsp_usb_transmit(const uint8_t *buffer, uint32_t len) {
-  xSemaphoreTake(sem, UINT32_MAX);
-
   bsp_uart_transmit(BSP_UART_MCU, (uint8_t *)(buffer), len, false);
-
+  xSemaphoreTake(sem, 10);
   return BSP_OK;
 }
 
@@ -82,8 +80,6 @@ void bsp_usb_init() {
   bsp_uart_receive(BSP_UART_MCU, usb_rx_buff, sizeof(usb_rx_buff), false);
 
   sem = xSemaphoreCreateBinary();
-
-  xSemaphoreGive(sem);
 }
 
 void bsp_usb_update() {}
diff --git a/hw/bsp/c-mini/drivers/bsp_spi.c b/hw/bsp/c-mini/drivers/bsp_spi.c
@@ -63,12 +63,28 @@ bsp_status_t bsp_spi_register_callback(bsp_spi_t spi, bsp_spi_callback_t type,
   return BSP_OK;
 }
 
-bsp_status_t bsp_spi_transmit(bsp_spi_t spi, uint8_t *data, size_t size,
+bsp_status_t bsp_spi_transmit_receive(bsp_spi_t spi, uint8_t *recv_data,
+                                      const uint8_t *trans_data, size_t size,
+                                      bool block) {
+  if (block) {
+    return HAL_SPI_TransmitReceive(bsp_spi_get_handle(spi),
+                                   (uint8_t *)trans_data, recv_data, size,
+                                   10) != HAL_OK;
+  } else {
+    return HAL_SPI_TransmitReceive_DMA(bsp_spi_get_handle(spi),
+                                       (uint8_t *)trans_data, recv_data,
+                                       size) != HAL_OK;
+  }
+}
+
+bsp_status_t bsp_spi_transmit(bsp_spi_t spi, const uint8_t *data, size_t size,
                               bool block) {
   if (block) {
-    return HAL_SPI_Transmit(bsp_spi_get_handle(spi), data, size, 10) != HAL_OK;
+    return HAL_SPI_Transmit(bsp_spi_get_handle(spi), (uint8_t *)data, size,
+                            10) != HAL_OK;
   } else {
-    return HAL_SPI_Transmit_DMA(bsp_spi_get_handle(spi), data, size) != HAL_OK;
+    return HAL_SPI_Transmit_DMA(bsp_spi_get_handle(spi), (uint8_t *)data,
+                                size) != HAL_OK;
   }
 }
 
@@ -80,3 +96,28 @@ bsp_status_t bsp_spi_receive(bsp_spi_t spi, uint8_t *buff, size_t size,
     return HAL_SPI_Receive_DMA(bsp_spi_get_handle(spi), buff, size) != HAL_OK;
   }
 }
+
+uint8_t bsp_spi_mem_read_byte(bsp_spi_t spi, uint8_t reg) {
+  uint8_t tmp[2] = {reg | 0x80, 0x00};
+  bsp_spi_transmit_receive(spi, tmp, tmp, 2u, true);
+  return tmp[1];
+}
+
+bsp_status_t bsp_spi_mem_write_byte(bsp_spi_t spi, uint8_t reg, uint8_t data) {
+  uint8_t tmp[2] = {reg & 0x7f, data};
+  return bsp_spi_transmit(spi, tmp, 2u, true);
+}
+
+bsp_status_t bsp_spi_mem_read(bsp_spi_t spi, uint8_t reg, uint8_t *buff,
+                              size_t size, bool block) {
+  reg = reg | 0x80;
+  bsp_spi_transmit(spi, &reg, 1u, true);
+  return bsp_spi_receive(spi, buff, size, block);
+}
+
+bsp_status_t bsp_spi_mem_write(bsp_spi_t spi, uint8_t reg, const uint8_t *buff,
+                               size_t size, bool block) {
+  reg = reg & 0x7f;
+  bsp_spi_transmit(spi, &reg, 1u, true);
+  return bsp_spi_transmit(spi, buff, size, block);
+}
diff --git a/hw/bsp/c-mini/drivers/bsp_spi.h b/hw/bsp/c-mini/drivers/bsp_spi.h
@@ -27,10 +27,19 @@ typedef enum {
 bsp_status_t bsp_spi_register_callback(bsp_spi_t spi, bsp_spi_callback_t type,
                                        void (*callback)(void *),
                                        void *callback_arg);
-bsp_status_t bsp_spi_transmit(bsp_spi_t spi, uint8_t *data, size_t size,
+bsp_status_t bsp_spi_transmit_receive(bsp_spi_t spi, uint8_t *recv_data,
+                                      const uint8_t *trans_data, size_t size,
+                                      bool block);
+bsp_status_t bsp_spi_transmit(bsp_spi_t spi, const uint8_t *data, size_t size,
                               bool block);
 bsp_status_t bsp_spi_receive(bsp_spi_t spi, uint8_t *buff, size_t size,
                              bool block);
+uint8_t bsp_spi_mem_read_byte(bsp_spi_t spi, uint8_t reg);
+bsp_status_t bsp_spi_mem_write_byte(bsp_spi_t spi, uint8_t reg, uint8_t data);
+bsp_status_t bsp_spi_mem_read(bsp_spi_t spi, uint8_t reg, uint8_t *buff,
+                              size_t size, bool block);
+bsp_status_t bsp_spi_mem_write(bsp_spi_t spi, uint8_t reg, const uint8_t *buff,
+                               size_t size, bool block);
 
 #ifdef __cplusplus
 }

diff --git a/hw/bsp/node_imu/drivers/bsp_spi.c b/hw/bsp/node_imu/drivers/bsp_spi.c
@@ -63,12 +63,28 @@ bsp_status_t bsp_spi_register_callback(bsp_spi_t spi, bsp_spi_callback_t type,
   return BSP_OK;
 }
 
-bsp_status_t bsp_spi_transmit(bsp_spi_t spi, uint8_t *data, size_t size,
+bsp_status_t bsp_spi_transmit_receive(bsp_spi_t spi, uint8_t *recv_data,
+                                      const uint8_t *trans_data, size_t size,
+                                      bool block) {
+  if (block) {
+    return HAL_SPI_TransmitReceive(bsp_spi_get_handle(spi),
+                                   (uint8_t *)trans_data, recv_data, size,
+                                   10) != HAL_OK;
+  } else {
+    return HAL_SPI_TransmitReceive_DMA(bsp_spi_get_handle(spi),
+                                       (uint8_t *)trans_data, recv_data,
+                                       size) != HAL_OK;
+  }
+}
+
+bsp_status_t bsp_spi_transmit(bsp_spi_t spi, const uint8_t *data, size_t size,
                               bool block) {
   if (block) {
-    return HAL_SPI_Transmit(bsp_spi_get_handle(spi), data, size, 10) != HAL_OK;
+    return HAL_SPI_Transmit(bsp_spi_get_handle(spi), (uint8_t *)data, size,
+                            10) != HAL_OK;
   } else {
-    return HAL_SPI_Transmit_DMA(bsp_spi_get_handle(spi), data, size) != HAL_OK;
+    return HAL_SPI_Transmit_DMA(bsp_spi_get_handle(spi), (uint8_t *)data,
+                                size) != HAL_OK;
   }
 }
 
@@ -80,3 +96,28 @@ bsp_status_t bsp_spi_receive(bsp_spi_t spi, uint8_t *buff, size_t size,
     return HAL_SPI_Receive_DMA(bsp_spi_get_handle(spi), buff, size) != HAL_OK;
   }
 }
+
+uint8_t bsp_spi_mem_read_byte(bsp_spi_t spi, uint8_t reg) {
+  uint8_t tmp[2] = {reg | 0x80, 0x00};
+  bsp_spi_transmit_receive(spi, tmp, tmp, 2u, true);
+  return tmp[1];
+}
+
+bsp_status_t bsp_spi_mem_write_byte(bsp_spi_t spi, uint8_t reg, uint8_t data) {
+  uint8_t tmp[2] = {reg & 0x7f, data};
+  return bsp_spi_transmit(spi, tmp, 2u, true);
+}
+
+bsp_status_t bsp_spi_mem_read(bsp_spi_t spi, uint8_t reg, uint8_t *buff,
+                              size_t size, bool block) {
+  reg = reg | 0x80;
+  bsp_spi_transmit(spi, &reg, 1u, true);
+  return bsp_spi_receive(spi, buff, size, block);
+}
+
+bsp_status_t bsp_spi_mem_write(bsp_spi_t spi, uint8_t reg, const uint8_t *buff,
+                               size_t size, bool block) {
+  reg = reg & 0x7f;
+  bsp_spi_transmit(spi, &reg, 1u, true);
+  return bsp_spi_transmit(spi, buff, size, block);
+}
diff --git a/hw/bsp/node_imu/drivers/bsp_spi.h b/hw/bsp/node_imu/drivers/bsp_spi.h
@@ -25,10 +25,19 @@ typedef enum {
 bsp_status_t bsp_spi_register_callback(bsp_spi_t spi, bsp_spi_callback_t type,
                                        void (*callback)(void *),
                                        void *callback_arg);
-bsp_status_t bsp_spi_transmit(bsp_spi_t spi, uint8_t *data, size_t size,
+bsp_status_t bsp_spi_transmit_receive(bsp_spi_t spi, uint8_t *recv_data,
+                                      const uint8_t *trans_data, size_t size,
+                                      bool block);
+bsp_status_t bsp_spi_transmit(bsp_spi_t spi, const uint8_t *data, size_t size,
                               bool block);
 bsp_status_t bsp_spi_receive(bsp_spi_t spi, uint8_t *buff, size_t size,
                              bool block);
+uint8_t bsp_spi_mem_read_byte(bsp_spi_t spi, uint8_t reg);
+bsp_status_t bsp_spi_mem_write_byte(bsp_spi_t spi, uint8_t reg, uint8_t data);
+bsp_status_t bsp_spi_mem_read(bsp_spi_t spi, uint8_t reg, uint8_t *buff,
+                              size_t size, bool block);
+bsp_status_t bsp_spi_mem_write(bsp_spi_t spi, uint8_t reg, const uint8_t *buff,
+                               size_t size, bool block);
 
 #ifdef __cplusplus
 }

diff --git a/hw/bsp/rm-c/drivers/bsp_spi.c b/hw/bsp/rm-c/drivers/bsp_spi.c
@@ -64,12 +64,28 @@ bsp_status_t bsp_spi_register_callback(bsp_spi_t spi, bsp_spi_callback_t type,
   return BSP_OK;
 }
 
-bsp_status_t bsp_spi_transmit(bsp_spi_t spi, uint8_t *data, size_t size,
+bsp_status_t bsp_spi_transmit_receive(bsp_spi_t spi, uint8_t *recv_data,
+                                      const uint8_t *trans_data, size_t size,
+                                      bool block) {
+  if (block) {
+    return HAL_SPI_TransmitReceive(bsp_spi_get_handle(spi),
+                                   (uint8_t *)trans_data, recv_data, size,
+                                   10) != HAL_OK;
+  } else {
+    return HAL_SPI_TransmitReceive_DMA(bsp_spi_get_handle(spi),
+                                       (uint8_t *)trans_data, recv_data,
+                                       size) != HAL_OK;
+  }
+}
+
+bsp_status_t bsp_spi_transmit(bsp_spi_t spi, const uint8_t *data, size_t size,
                               bool block) {
   if (block) {
-    return HAL_SPI_Transmit(bsp_spi_get_handle(spi), data, size, 10) != HAL_OK;
+    return HAL_SPI_Transmit(bsp_spi_get_handle(spi), (uint8_t *)data, size,
+                            10) != HAL_OK;
   } else {
-    return HAL_SPI_Transmit_DMA(bsp_spi_get_handle(spi), data, size) != HAL_OK;
+    return HAL_SPI_Transmit_DMA(bsp_spi_get_handle(spi), (uint8_t *)data,
+                                size) != HAL_OK;
   }
 }
 
@@ -81,3 +97,28 @@ bsp_status_t bsp_spi_receive(bsp_spi_t spi, uint8_t *buff, size_t size,
     return HAL_SPI_Receive_DMA(bsp_spi_get_handle(spi), buff, size) != HAL_OK;
   }
 }
+
+uint8_t bsp_spi_mem_read_byte(bsp_spi_t spi, uint8_t reg) {
+  uint8_t tmp[2] = {reg | 0x80, 0x00};
+  bsp_spi_transmit_receive(spi, tmp, tmp, 2u, true);
+  return tmp[1];
+}
+
+bsp_status_t bsp_spi_mem_write_byte(bsp_spi_t spi, uint8_t reg, uint8_t data) {
+  uint8_t tmp[2] = {reg & 0x7f, data};
+  return bsp_spi_transmit(spi, tmp, 2u, true);
+}
+
+bsp_status_t bsp_spi_mem_read(bsp_spi_t spi, uint8_t reg, uint8_t *buff,
+                              size_t size, bool block) {
+  reg = reg | 0x80;
+  bsp_spi_transmit(spi, &reg, 1u, true);
+  return bsp_spi_receive(spi, buff, size, block);
+}
+
+bsp_status_t bsp_spi_mem_write(bsp_spi_t spi, uint8_t reg, const uint8_t *buff,
+                               size_t size, bool block) {
+  reg = reg & 0x7f;
+  bsp_spi_transmit(spi, &reg, 1u, true);
+  return bsp_spi_transmit(spi, buff, size, block);
+}
diff --git a/hw/bsp/rm-c/drivers/bsp_spi.h b/hw/bsp/rm-c/drivers/bsp_spi.h
@@ -27,10 +27,19 @@ typedef enum {
 bsp_status_t bsp_spi_register_callback(bsp_spi_t spi, bsp_spi_callback_t type,
                                        void (*callback)(void *),
                                        void *callback_arg);
-bsp_status_t bsp_spi_transmit(bsp_spi_t spi, uint8_t *data, size_t size,
+bsp_status_t bsp_spi_transmit_receive(bsp_spi_t spi, uint8_t *recv_data,
+                                      const uint8_t *trans_data, size_t size,
+                                      bool block);
+bsp_status_t bsp_spi_transmit(bsp_spi_t spi, const uint8_t *data, size_t size,
                               bool block);
 bsp_status_t bsp_spi_receive(bsp_spi_t spi, uint8_t *buff, size_t size,
                              bool block);
+uint8_t bsp_spi_mem_read_byte(bsp_spi_t spi, uint8_t reg);
+bsp_status_t bsp_spi_mem_write_byte(bsp_spi_t spi, uint8_t reg, uint8_t data);
+bsp_status_t bsp_spi_mem_read(bsp_spi_t spi, uint8_t reg, uint8_t *buff,
+                              size_t size, bool block);
+bsp_status_t bsp_spi_mem_write(bsp_spi_t spi, uint8_t reg, const uint8_t *buff,
+                               size_t size, bool block);
 
 #ifdef __cplusplus
 }

diff --git a/hw/mcu/default/custom_printf.cmake b/hw/mcu/default/custom_printf.cmake
@@ -0,0 +1,17 @@
+set(SUPPORT_EXPONENTIAL_SPECIFIERS 0)
+set(MSVC_STYLE_INTEGER_SPECIFIERS 0)
+set(SUPPORT_WRITEBACK_SPECIFIER 0)
+set(BUILD_STATIC_LIBRARY 1)
+
+add_subdirectory(${LIB_DIR}/printf printf.o)
+
+add_compile_options(
+  -fno-builtin-printf
+  -fno-builtin-sprintf
+  -fno-builtin-vsprintf
+  -fno-builtin-snprintf
+  -fno-builtin-vsnprintf
+  -fno-builtin-vprintf
+)
+
+target_compile_options(printf PRIVATE -w)
diff --git a/hw/mcu/gd/cmake/mcu_gd32f4.cmake b/hw/mcu/gd/cmake/mcu_gd32f4.cmake
@@ -1,7 +1,9 @@
+include(${MCU_DIR}/default/custom_printf.cmake)
+
 set(CPU_FLAGS "-mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb")
 
 set(GENERAL_FLAGS
-    "-Wall -Wextra -Wstack-usage=1024 --specs=nano.specs --specs=nosys.specs -u _printf_float -fno-builtin -ffunction-sections -fdata-sections"
+    "-Wall -Wextra -Wstack-usage=1024 --specs=nano.specs --specs=nosys.specs -fno-builtin -ffunction-sections -fdata-sections"
 )
 
 set(CMAKE_C_FLAGS