From ee8ba878c69cf6c5055f64060bbcb56c186edf3d Mon Sep 17 00:00:00 2001 From: Lizongdi <1210855344@qq.com> Date: Sat, 10 Oct 2026 10:33:25 +0800 Subject: [PATCH] =?UTF-8?q?rbcore=E6=94=AF=E6=8C=81=E5=8D=95=E7=8B=AC?= =?UTF-8?q?=E7=BC=96=E8=AF=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CMakePresets.json | 25 ++++++++++++++----------- Core/Src/freertos.c | 2 ++ Core/Src/main.c | 5 ++++- Core/Src/stm32h7xx_it.c | 21 +++++++++++++++++++++ robot | 2 +- 5 files changed, 42 insertions(+), 13 deletions(-) diff --git a/CMakePresets.json b/CMakePresets.json index 3365e07..cb349c2 100644 --- a/CMakePresets.json +++ b/CMakePresets.json @@ -20,7 +20,6 @@ { "name": "rb-core", "inherits": "default-release", - "hidden": true, "cacheVariables": { "BUILD_LUA": "ON", "BUILD_LUA_STANDALONE": "OFF", @@ -28,32 +27,36 @@ "BUILD_PERIPHERAL": "ON", "BUILD_LIST": "ON", "BUILD_BSPMCU": "ON", + "BUILD_LITTLEFS": "ON", + "BUILD_LOG": "ON", "MEM_POOL_TOTAL_SIZE": "192*1024", "IOC_100PIN": true, "USE_UART": true, - "USE_LUA_ST_UART": false, + "USE_LUA_ST": true, + "USE_LUA_ST_UART": true, + "USE_TALNET": true, + "USE_LWIP": true, + "USE_PRINT": false, + "USE_W25QXX": true, + "USE_FREERTOS": true, "CONFIG_UART_IT_IDLEDMA": false, "CONFIG_CAN_NEW_VERSION": "1", - "BUILD_RBCORE": "ON", - "USE_CAN": true + "USE_CAN": true, + "LUACOM_ID": "3", + "RD_VERSION": "rb-core v1.0" } }, { "name": "paint_robot_new", "inherits": "rb-core", "cacheVariables": { + "BUILD_RBCORE": "ON", "BUILD_MOTOR": "ON", "BUILD_CONTROLLER": "ON", "BUILD_PAINT_ROBOT_NEW": "ON", - "BUILD_LITTLEFS": "ON", - "BUILD_LOG": "ON", - "USE_LUA_ST": true, - "USE_TALNET": true, - "USE_LWIP": true, + "USE_LUA_ST_UART": false, "USE_PRINT": true, - "USE_W25QXX": true, "PRINT_ID": "3", - "USE_FREERTOS": true, "CFG_MK32_COM": "COM_SBUS", "CFG_CLI_SET_COM": "COM_LPUART", "CFG_TL720D_COM": "COM_RS485_1", diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c index b405193..b7c81ac 100644 --- a/Core/Src/freertos.c +++ b/Core/Src/freertos.c @@ -145,7 +145,9 @@ void MX_FREERTOS_Init(void) { #endif #endif MyTask_Init(); +#ifdef BUILD_RBCORE Drv_InterfaceInit(); +#endif /* USER CODE END RTOS_THREADS */ /* USER CODE BEGIN RTOS_EVENTS */ diff --git a/Core/Src/main.c b/Core/Src/main.c index 4fccd15..6ca5d76 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -289,7 +289,7 @@ void MPU_Config(void) void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { /* USER CODE BEGIN Callback 0 */ - void Timer_Task(void); + /* USER CODE END Callback 0 */ if (htim->Instance == TIM3) { @@ -298,7 +298,10 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) /* USER CODE BEGIN Callback 1 */ else if (htim->Instance == TIM8) { +#ifdef BUILD_RBCORE + void Timer_Task(void); Timer_Task(); +#endif } /* USER CODE END Callback 1 */ } diff --git a/Core/Src/stm32h7xx_it.c b/Core/Src/stm32h7xx_it.c index 8546b93..500c398 100644 --- a/Core/Src/stm32h7xx_it.c +++ b/Core/Src/stm32h7xx_it.c @@ -22,7 +22,10 @@ #include "stm32h7xx_it.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ +#include "common.h" +#ifdef BUILD_RBCORE #include "drv_interface.h" +#endif /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ @@ -86,7 +89,9 @@ extern TIM_HandleTypeDef htim8; extern TIM_HandleTypeDef htim3; /* USER CODE BEGIN EV */ +#ifdef USE_PRINT extern TComCtrl *g_ptUartCtrl; +#endif /* USER CODE END EV */ /******************************************************************************/ @@ -372,7 +377,9 @@ void TIM3_IRQHandler(void) void USART1_IRQHandler(void) { /* USER CODE BEGIN USART1_IRQn 0 */ +#ifdef BUILD_RBCORE UART_DMA_RX_IRQHandler(g_apstUart[COM_RS485_1]); +#endif /* USER CODE END USART1_IRQn 0 */ HAL_UART_IRQHandler(&huart1); /* USER CODE BEGIN USART1_IRQn 1 */ @@ -386,7 +393,9 @@ void USART1_IRQHandler(void) void USART2_IRQHandler(void) { /* USER CODE BEGIN USART2_IRQn 0 */ +#ifdef BUILD_RBCORE UART_DMA_RX_IRQHandler(g_apstUart[COM_LTE_7S0]); +#endif /* USER CODE END USART2_IRQn 0 */ HAL_UART_IRQHandler(&huart2); /* USER CODE BEGIN USART2_IRQn 1 */ @@ -403,7 +412,9 @@ void USART3_IRQHandler(void) #ifdef USE_PRINT UART_DMA_RX_IRQHandler(g_ptUartCtrl); #else +#ifdef BUILD_RBCORE UART_DMA_RX_IRQHandler(g_apstUart[COM_RS485_2]); +#endif #endif /* USER CODE END USART3_IRQn 0 */ HAL_UART_IRQHandler(&huart3); @@ -446,7 +457,9 @@ void DMA1_Stream7_IRQHandler(void) void UART4_IRQHandler(void) { /* USER CODE BEGIN UART4_IRQn 0 */ +#ifdef BUILD_RBCORE UART_DMA_RX_IRQHandler(g_apstUart[COM_INTERCALL]); +#endif /* USER CODE END UART4_IRQn 0 */ HAL_UART_IRQHandler(&huart4); /* USER CODE BEGIN UART4_IRQn 1 */ @@ -460,7 +473,9 @@ void UART4_IRQHandler(void) void UART5_IRQHandler(void) { /* USER CODE BEGIN UART5_IRQn 0 */ +#ifdef BUILD_RBCORE UART_DMA_RX_IRQHandler(g_apstUart[COM_SBUS]); +#endif /* USER CODE END UART5_IRQn 0 */ HAL_UART_IRQHandler(&huart5); /* USER CODE BEGIN UART5_IRQn 1 */ @@ -572,7 +587,9 @@ void DMA2_Stream5_IRQHandler(void) void USART6_IRQHandler(void) { /* USER CODE BEGIN USART6_IRQn 0 */ +#ifdef BUILD_RBCORE UART_DMA_RX_IRQHandler(g_apstUart[COM_RS485_3]); +#endif /* USER CODE END USART6_IRQn 0 */ HAL_UART_IRQHandler(&huart6); /* USER CODE BEGIN USART6_IRQn 1 */ @@ -586,7 +603,9 @@ void USART6_IRQHandler(void) void UART7_IRQHandler(void) { /* USER CODE BEGIN UART7_IRQn 0 */ +#ifdef BUILD_RBCORE UART_DMA_RX_IRQHandler(g_apstUart[COM_RS485_4]); +#endif /* USER CODE END UART7_IRQn 0 */ HAL_UART_IRQHandler(&huart7); /* USER CODE BEGIN UART7_IRQn 1 */ @@ -628,7 +647,9 @@ void I2C4_ER_IRQHandler(void) void LPUART1_IRQHandler(void) { /* USER CODE BEGIN LPUART1_IRQn 0 */ +#ifdef BUILD_RBCORE UART_DMA_RX_IRQHandler(g_apstUart[COM_LPUART]); +#endif /* USER CODE END LPUART1_IRQn 0 */ HAL_UART_IRQHandler(&hlpuart1); /* USER CODE BEGIN LPUART1_IRQn 1 */ diff --git a/robot b/robot index ffbbf79..d64aa4f 160000 --- a/robot +++ b/robot @@ -1 +1 @@ -Subproject commit ffbbf79f419c15b5bc309c6e752fa922a36acc45 +Subproject commit d64aa4f291afe549bd70c0f52b3d04951605d4f4