cbb
e646544f7f
- 将原本在 calibrate_cogging_tick 中的大函数拆分为多个职责单一的函数 - 新增 start_cogging_calibration、cogging_settling_tick、cogging_sampling_tick、 cogging_stopping_tick、cogging_done_tick 等状态处理函数 - 添加 process_cogging_run_data、start_next_cogging_run、build_cogging_tables、 print_cogging_table、print_cogging_c_array 等辅助函数 - 移动全局 FOC 控制器单例注释到更合适位置 - 添加齿槽转矩校准参数常量定义和详细注释 - 添加防御性编程处理默认状态分支，避免状态机卡死 - 提高代码可读性和维护性 feat(tasks): 添加任务头文件到项目配置 - 在 Robot_V2.cproject.yml 中添加 tasks.h 和 tasks.cpp 文件引用 docs(ADC): 添加ADC转换常量说明注释 - 在 ADC.cpp 中添加关于ADC换算常量的详细注释 - 说明全局采样器单例的初始化和使用方式
94 lines
3.3 KiB
YAML
94 lines
3.3 KiB
YAML
project:
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groups:
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- group: Source Files
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files:
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- file: main.h
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- file: main.cpp
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- file: tasks.h
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- file: tasks.cpp
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- group: sys
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files:
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- file: sys/systick.cpp
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- file: sys/systick.h
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- file: sys/initial.cpp
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- file: sys/initial.h
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- file: sys/health.h
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- file: sys/health.cpp
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- file: sys/flash.h
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- file: sys/flash.cpp
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- file: sys/config.h
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- group: device
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files:
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- file: device/Can.cpp
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- file: device/Can.h
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- file: device/ang_sensor.cpp
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- file: device/ang_sensor.h
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- file: device/ADC.cpp
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- file: device/adc.h
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- file: device/Timer.cpp
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- file: device/Timer.h
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- file: device/motor.cpp
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- file: device/motor.h
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- group: Algorithm
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files:
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- file: Algorithm/Filter.cpp
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- file: Algorithm/Filter.h
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- file: Algorithm/FOC.cpp
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- file: Algorithm/FOC.h
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- file: Algorithm/pid.cpp
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- file: Algorithm/pid.h
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components:
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- component: ARM::CMSIS:CORE
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- component: Device:Startup
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- component: Device:EVAL:GD32C10x
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- component: Device:GD32C10x_libopt
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- component: Device:GD32C10x_StdPeripherals:FMC
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- component: Device:GD32C10x_StdPeripherals:ADC
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- component: Device:GD32C10x_StdPeripherals:CAN
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- component: Device:GD32C10x_StdPeripherals:DMA
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- component: Device:GD32C10x_StdPeripherals:EXTI
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- component: Device:GD32C10x_StdPeripherals:GPIO
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- component: Device:GD32C10x_StdPeripherals:MISC
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- component: Device:GD32C10x_StdPeripherals:PMU
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- component: Device:GD32C10x_StdPeripherals:RCU
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- component: Device:GD32C10x_StdPeripherals:SPI_I2S
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- component: Device:GD32C10x_StdPeripherals:TIMER
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- component: Device:GD32C10x_StdPeripherals:USART
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- component: Device:GD32C10x_StdPeripherals:DBG
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- component: Device:GD32C10x_StdPeripherals:FWDGT
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- component: Device:GD32C10x_StdPeripherals:WWDGT
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- component: Device:GD32C10x_StdPeripherals:BKP
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- component: Device:GD32C10x_StdPeripherals:CRC
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- component: Device:GD32C10x_StdPeripherals:RTC
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- component: CMSIS:DSP&Source
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output:
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type:
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- elf
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- hex
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- bin
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- map
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packs:
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- pack: ARM::CMSIS
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- pack: GigaDevice::GD32C10x_DFP
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- pack: ARM::CMSIS-DSP
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misc:
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- for-compiler: AC6
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C-CPP:
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- -fshort-enums
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- -fshort-wchar
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- -D__MICROLIB
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- -Wno-register
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- -O3 # 添加优化级别
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- -DARM_MATH_CM4 # Cortex-M4核心定义
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C:
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- -D__packed=__attribute__((packed))
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ASM:
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- -D__packed=__attribute__((packed))
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- -D__MICROLIB
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Link:
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- --library_type=microlib
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- --entry=Reset_Handler
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- --remove # 移除未使用的代码段
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- --diag_suppress=L6207,L6210,L6218,L6220,L6222,L6224,L6226,L6228,L6230,L6232,L6234,L6236,L6238,L6240,L6242,L6244,L6246,L6248,L6308,L6329,L6310,L6312,L6314,L6316,L6318,L6320,L6322,L6324,L6326,L6328,L6330,L6332,L6334,L6336,L6338,L6340,L6342,L6344,L6346,L6348,L6350,L6352,L6354,L6311,L6313,L6315,L6317,L6319,L6321,L6323,L6325,L6327,L6329,L6331,L6333,L6335,L6337,L6339,L6341,L6343,L6345,L6347,L6349,L6351,L6353
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# 移除了 __TARGET_FPU_VFP，因为它不是链接器参数
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