From d019b41ed69bd171bd291e964640935b4694f880 Mon Sep 17 00:00:00 2001 From: cbb <2625274797@qq.com> Date: Sun, 26 Apr 2026 02:27:34 +0800 Subject: [PATCH] =?UTF-8?q?feat(CAN):=20=E5=AE=9E=E7=8E=B0CAN=20FD?= =?UTF-8?q?=E5=8D=8F=E8=AE=AE=E6=A0=88=E4=BC=98=E5=8C=96=E5=92=8C=E5=8F=91?= =?UTF-8?q?=E9=80=81=E9=98=9F=E5=88=97=E6=9C=BA=E5=88=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 将CAN收发缓冲区扩展至64字节以支持CAN FD协议 - 添加发送队列机制防止高负载时消息丢失 - 优化中断处理流程，直接读取消息数据避免DMA竞争 - 修改编译配置指向Release版本目录 - 调整OTA处理逻辑将Flash擦除操作移至主循环执行 BREAKING CHANGE: 缓冲区大小调整可能影响现有CAN通信协议实现 --- .vscode/settings.json | 2 +- Robot_V2.cbuild-idx.yml | 3 +- Robot_V2/.clangd | 6 +- Robot_V2/device/Can.cpp | 137 +- Robot_V2/sys/OTA.cpp | 21 +- Robot_V2/sys/OTA.h | 6 + out/Robot_V2/GD32C103CB/Release/Robot_V2.axf | Bin 252576 -> 254144 bytes .../GD32C103CB/Release/Robot_V2.axf.map | 392 +-- out/Robot_V2/GD32C103CB/Release/Robot_V2.hex | 2531 +++++++++-------- tmp/.ninja_log | 75 +- tmp/1/.ninja_deps | Bin 12468 -> 24464 bytes tmp/1/.ninja_log | 123 +- .../3.31.5/CMakeDetermineCompilerABI_C.bin | Bin 1884 -> 1884 bytes .../3.31.5/CMakeDetermineCompilerABI_CXX.bin | Bin 1894 -> 1894 bytes tmp/1/CMakeFiles/CMakeConfigureLog.yaml | 60 +- .../G_/Robot_v2/BOOT/Robot_V2/device/Can.o | Bin 37656 -> 39916 bytes .../G_/Robot_v2/BOOT/Robot_V2/sys/OTA.o | Bin 40208 -> 40456 bytes tmp/1/CMakeFiles/feature_tests.bin | Bin 3314 -> 3314 bytes ...ot_V2.Release+GD32C103CB-configure-out.log | 2 +- tmp/build.ninja | 4 +- 20 files changed, 1783 insertions(+), 1579 deletions(-) diff --git a/.vscode/settings.json b/.vscode/settings.json index fda8f8d..4208c90 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,6 +1,6 @@ { "clangd.arguments": [ - "--compile-commands-dir=g:\\Robot_v2\\BOOT\\out\\Robot_V2\\GD32C103CB\\Debug" + "--compile-commands-dir=g:\\Robot_v2\\BOOT\\out\\Robot_V2\\GD32C103CB\\Release" ], "debug.hideSlowPreLaunchWarning": true, "debug.showInStatusBar": "never" diff --git a/Robot_V2.cbuild-idx.yml b/Robot_V2.cbuild-idx.yml index 472a96b..c2fdb52 100644 --- a/Robot_V2.cbuild-idx.yml +++ b/Robot_V2.cbuild-idx.yml @@ -13,6 +13,5 @@ build-idx: messages: info: - Robot_V2.cbuild-pack.yml - file is already up-to-date - - Robot_V2+GD32C103CB.cbuild-run.yml - file generated successfully + - Robot_V2+GD32C103CB.cbuild-run.yml - file is already up-to-date - Robot_V2.Release+GD32C103CB.cbuild.yml - file is already up-to-date - rebuild: true diff --git a/Robot_V2/.clangd b/Robot_V2/.clangd index ba75faa..16dfdd4 100644 --- a/Robot_V2/.clangd +++ b/Robot_V2/.clangd @@ -1,5 +1,5 @@ CompileFlags: - CompilationDatabase: g:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Debug + CompilationDatabase: g:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release Add: - "-D_ILP32=1\r\n" - "-D_USE_STATIC_INLINE=1\r\n" @@ -245,13 +245,13 @@ CompileFlags: - "-D__MEMORY_SCOPE_SYSTEM=0\r\n" - "-D__MEMORY_SCOPE_WRKGRP=2\r\n" - "-D__MEMORY_SCOPE_WVFRNT=3\r\n" - - "-D__NO_INLINE__=1\r\n" - "-D__OBJC_BOOL_IS_BOOL=0\r\n" - "-D__OPENCL_MEMORY_SCOPE_ALL_SVM_DEVICES=3\r\n" - "-D__OPENCL_MEMORY_SCOPE_DEVICE=2\r\n" - "-D__OPENCL_MEMORY_SCOPE_SUB_GROUP=4\r\n" - "-D__OPENCL_MEMORY_SCOPE_WORK_GROUP=1\r\n" - "-D__OPENCL_MEMORY_SCOPE_WORK_ITEM=0\r\n" + - "-D__OPTIMIZE__=1\r\n" - "-D__ORDER_BIG_ENDIAN__=4321\r\n" - "-D__ORDER_LITTLE_ENDIAN__=1234\r\n" - "-D__ORDER_PDP_ENDIAN__=3412\r\n" @@ -411,7 +411,7 @@ CompileFlags: - "-D__thumb2__=1\r\n" - "-D__thumb__=1\r\n" - '-D__ARMCOMPILER_LIBCXX=1' - - '-IG:/Robot_v2/BOOT/Robot_V2/RTE/_Debug_GD32C103CB' + - '-IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB' - '-IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include' - >- -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc diff --git a/Robot_V2/device/Can.cpp b/Robot_V2/device/Can.cpp index e6a191c..5ff326d 100644 --- a/Robot_V2/device/Can.cpp +++ b/Robot_V2/device/Can.cpp @@ -17,8 +17,25 @@ extern OTAHandler ota; // 添加DMA相关变量 dma_parameter_struct dma_rx_parameter; dma_parameter_struct dma_tx_parameter; -uint8_t can_rx_buffer[8]; // CAN接收缓冲区 -uint8_t can_tx_buffer[8]; // CAN发送缓冲区 +uint8_t can_rx_buffer[64]; // CAN接收缓冲区（支持CAN FD最大64字节） +uint8_t can_tx_buffer[64]; // CAN发送缓冲区（支持CAN FD最大64字节） + +// CAN发送队列结构 +#define CAN_TX_QUEUE_SIZE 8 +typedef struct { + u32 id; + u8 length; + u8 data[64]; + u8 valid; +} can_tx_queue_item_t; + +static can_tx_queue_item_t tx_queue[CAN_TX_QUEUE_SIZE]; +static volatile u8 tx_queue_head = 0; +static volatile u8 tx_queue_tail = 0; +static volatile u8 tx_queue_count = 0; + +// 发送队列使用的独立消息结构体 +static can_trasnmit_message_struct queue_transmit_message; /*! \brief initialize CAN GPIO @@ -107,7 +124,7 @@ void canfd_config(void) { can_parameter.auto_bus_off_recovery = DISABLE; can_parameter.auto_wake_up = DISABLE; can_parameter.auto_retrans = ENABLE; - can_parameter.rec_fifo_overwrite = ENABLE; + can_parameter.rec_fifo_overwrite = ENABLE; // 改回覆盖模式，丢失旧消息比丢失新消息更可取 can_parameter.trans_fifo_order = ENABLE; can_parameter.working_mode = CAN_NORMAL_MODE; /* baudrate 1Mbps, sample piont at 80% */ @@ -231,7 +248,7 @@ u8 CAN_transmiter::sendDATA_ACK(u32 packet_num, } /** - * @brief CAN0中断服务程序 + * @brief CAN0中断服务程序（优化版：直接读取数据，减少DMA竞态条件） * @retval 无 */ void CAN0_RX0_IRQHandler(void) { @@ -240,14 +257,7 @@ void CAN0_RX0_IRQHandler(void) { // 清除中断标志 can_interrupt_flag_clear(CAN0, CAN_INT_FLAG_RFL0); - // 使用DMA读取接收到的数据 - dma_channel_disable(DMA0, DMA_CH4); - dma_rx_parameter.number = - can_receive_message_length_get(CAN0, CAN_FIFO0); - dma_init(DMA0, DMA_CH4, &dma_rx_parameter); - dma_channel_enable(DMA0, DMA_CH4); - - // 读取接收到的数据 + // 直接读取消息（包括数据），不依赖DMA can_receive_message_struct temp_message; can_message_receive(CAN0, CAN_FIFO0, &temp_message); @@ -257,7 +267,7 @@ void CAN0_RX0_IRQHandler(void) { temp_message.rx_efid == CANFD_OTA_ACK_ID || temp_message.rx_efid == CANFD_OTA_WAIT_ID || temp_message.rx_efid == CANFD_OTA_CANCEL_ID) { - // 将消息复制到接收缓冲区 + // 将消息复制到接收缓冲区（包括数据） CAN0_transmiter.receive_message = temp_message; // 增加待处理消息计数器 if (CAN0_transmiter.can0_receive_count < 255) { @@ -284,13 +294,12 @@ void CAN0_RX0_IRQHandler(void) { can_interrupt_flag_clear(CAN0, CAN_INT_FLAG_RFO0); #if CAN_DEBUG printf("CAN FIFO0 overflow\n"); - #endif } } /** - * @brief DMA通道4中断服务程序(CAN接收DMA) + * @brief DMA通道4中断服务程序(CAN接收DMA) - 优化版：支持64字节 * @retval 无 */ void DMA0_Channel4_IRQHandler(void) { @@ -298,9 +307,12 @@ void DMA0_Channel4_IRQHandler(void) { // 清除DMA传输完成中断标志 dma_interrupt_flag_clear(DMA0, DMA_CH4, DMA_INT_FLAG_G); - // 将DMA缓冲区的数据复制到接收消息结构体 - for (int i = 0; i < CAN0_transmiter.receive_message.rx_dlen && i < 8; - i++) { + // 获取实际接收的数据长度 + u8 data_len = CAN0_transmiter.receive_message.rx_dlen; + if (data_len > 64) data_len = 64; // 安全限制 + + // 将DMA缓冲区的数据复制到接收消息结构体（支持最大64字节） + for (int i = 0; i < data_len; i++) { CAN0_transmiter.receive_message.rx_data[i] = can_rx_buffer[i]; } } @@ -320,7 +332,53 @@ void DMA0_Channel5_IRQHandler(void) { } /** - * @brief 异步CANFD数据发送(使用DMA和中断机制) + * @brief 向发送队列添加消息 + * @param id CAN消息ID + * @param length CAN消息长度 + * @param data CAN消息数据 + * @retval 1=成功, 0=队列满 + */ +static u8 CAN_TX_QueuePush(u32 id, u8 length, u8 *data) { + if (tx_queue_count >= CAN_TX_QUEUE_SIZE) { +#if CAN_DEBUG + printf("TX queue full, message dropped\r\n"); +#endif + return 0; // 队列满，丢弃消息 + } + + tx_queue[tx_queue_tail].id = id; + tx_queue[tx_queue_tail].length = length; + for (int i = 0; i < length && i < 64; i++) { + tx_queue[tx_queue_tail].data[i] = data[i]; + } + tx_queue[tx_queue_tail].valid = 1; + + tx_queue_tail = (tx_queue_tail + 1) % CAN_TX_QUEUE_SIZE; + tx_queue_count++; + + return 1; +} + +/** + * @brief 从发送队列取出消息 + * @param item 指向队列项的指针 + * @retval 1=成功, 0=队列空 + */ +static u8 CAN_TX_QueuePop(can_tx_queue_item_t *item) { + if (tx_queue_count == 0) { + return 0; // 队列空 + } + + *item = tx_queue[tx_queue_head]; + tx_queue[tx_queue_head].valid = 0; + tx_queue_head = (tx_queue_head + 1) % CAN_TX_QUEUE_SIZE; + tx_queue_count--; + + return 1; +} + +/** + * @brief 异步CANFD数据发送(使用队列机制防止丢帧) * @param id CAN消息ID * @param length CAN消息长度 * @param data CAN消息数据 @@ -339,7 +397,6 @@ u8 CAN_transmiter::CANFD_AsyncSend(u32 id, u8 length, u8 *data) { if (data == nullptr) { #if CAN_DEBUG printf("Invalid data pointer\r\n"); - #endif return 0; } @@ -392,29 +449,49 @@ u8 CAN_transmiter::CANFD_AsyncSend(u32 id, u8 length, u8 *data) { // 检查是否成功获取mailbox if (transmit_mailbox == CAN_NOMAILBOX) { - + // 没有可用的mailbox，将消息加入发送队列 #if CAN_DEBUG - // 没有可用的mailbox，启用发送中断以便在邮箱可用时重试 - printf("No available mailbox for CANFD transmission, enabling TX " - "interrupt\r\n"); - + printf("No available mailbox, adding to TX queue\r\n"); #endif - return 0; + return CAN_TX_QueuePush(id, valid_length, data); } - // 启用CAN发送中断以检测传输完成 + // 启用CAN发送中断以检测传输完成（用于队列发送） can_interrupt_enable(CAN0, CAN_INTEN_TMEIE); return 1; } -// 添加CAN传输中断处理函数 +/** + * @brief CAN传输中断处理函数（支持队列发送） + */ void CAN0_TX_IRQHandler(void) { // 检查是否有发送邮箱空闲 if (can_flag_get(CAN0, CAN_FLAG_TME0) != RESET || can_flag_get(CAN0, CAN_FLAG_TME1) != RESET || can_flag_get(CAN0, CAN_FLAG_TME2) != RESET) { - // 邮箱已空闲，可以发送新消息 - // 可以在这里处理待发送队列中的消息 + + can_tx_queue_item_t next_msg; + // 尝试从队列中取出下一条消息发送 + if (CAN_TX_QueuePop(&next_msg)) { + // 配置并发送队列中的消息（使用独立的队列消息结构体） + queue_transmit_message.tx_ft = CAN_FT_DATA; + queue_transmit_message.tx_ff = CAN_FF_EXTENDED; + queue_transmit_message.tx_efid = next_msg.id; + queue_transmit_message.tx_dlen = next_msg.length; + queue_transmit_message.fd_flag = CAN_FDF_FDFRAME; + queue_transmit_message.fd_brs = ENABLE; + queue_transmit_message.fd_esi = DISABLE; + + for (int i = 0; i < next_msg.length; i++) { + queue_transmit_message.tx_data[i] = next_msg.data[i]; + } + + can_message_transmit(CAN0, &queue_transmit_message); + } else { + // 队列为空，禁用发送中断 + can_interrupt_disable(CAN0, CAN_INTEN_TMEIE); + } + // 清除发送中断标志 can_flag_clear(CAN0, CAN_FLAG_TME0); can_flag_clear(CAN0, CAN_FLAG_TME1); diff --git a/Robot_V2/sys/OTA.cpp b/Robot_V2/sys/OTA.cpp index 67d2b26..add0c03 100644 --- a/Robot_V2/sys/OTA.cpp +++ b/Robot_V2/sys/OTA.cpp @@ -138,6 +138,20 @@ void OTAHandler::init() {} * @retval 无 */ void OTAHandler::process() { + // 执行待处理的Flash擦除操作（在主循环中执行，避免中断中耗时操作） + if (pending_flash_erase) { + pending_flash_erase = false; +#if DEBUG_OTA + printf("Executing pending Flash erase...\r\n"); +#endif + eraseApplicationArea(); +#if DEBUG_OTA + printf("Flash erase completed.\r\n"); +#endif + // Flash擦除完成后，更新状态为接收固件 + ota_state = OTA_STATE_RECEIVING_FIRMWARE; + } + if (ota_state == OTA_STATE_IDLE) { ota_time = 0; // 重置计时器 static u8 zero[1] = {0}; @@ -444,12 +458,13 @@ void OTAHandler::handleOTAMessage(u32 id, u8 *data, u8 len) { send_error_frame(OTA_ERROR_INVALID_SIZE); return; } + // 设置待执行的Flash擦除标志，在process()中执行（避免中断中耗时操作） + pending_flash_erase = true; + // 注意：不立即改变状态，等待Flash擦除完成后在process()中改变 + // 发送确认信号，告诉上位机可以开始发送数据 u8 send_data[6] = {0xBA, 0xC0, 0x00, 0x00, 0x00, 0x00}; // 确认开始传输 - eraseApplicationArea(); - // 发送接收包0请求 CAN0_transmiter.CANFD_AsyncSend(CANFD_OTA_ACK_ID, 6, send_data); - ota_state = OTA_STATE_RECEIVING_FIRMWARE; } else if (len == 2 and ota_state == OTA_STATE_FINISHED) { #if DEBUG_OTA printf("stage--:OTA_STATE_FINISHED\r\n"); diff --git a/Robot_V2/sys/OTA.h b/Robot_V2/sys/OTA.h index f032d25..2ad2b72 100644 --- a/Robot_V2/sys/OTA.h +++ b/Robot_V2/sys/OTA.h @@ -25,6 +25,12 @@ class OTAHandler { void eraseApplicationArea(); void writeApplicationData(u32 offset, u8 *data, u32 size); bool verifyApplicationData(u32 offset, u8 *data, u32 size); + + // Flash操作标志（用于延迟执行，避免中断中耗时操作） + bool pending_flash_erase = false; + u32 pending_flash_offset = 0; + u8 pending_flash_data[64]; + u8 pending_flash_size = 0; typedef enum { OTA_STATE_IDLE = 0, OTA_STATE_WAITING_RANDOM, // 第二阶段等待随机数 diff --git a/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf b/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf index 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ABSOLUTE) + Load Region LR_ROM0 (Base: 0x08000000, Size: 0x00005148, Max: 0x08006000, ABSOLUTE) - Execution Region ER_ROM0 (Base: 0x08000000, Size: 0x00004f40, Max: 0x08006000, ABSOLUTE) + Execution Region ER_ROM0 (Base: 0x08000000, Size: 0x00005050, Max: 0x08006000, ABSOLUTE) Base Addr Size Type Attr Idx E Section Name Object - 0x08000000 0x00000150 Data RO 887 RESET startup_gd32c10x.o - 0x08000150 0x00000000 Code RO 1051 * .ARM.Collect$$$$00000000 mc_w.l(entry.o) - 0x08000150 0x00000004 Code RO 1476 .ARM.Collect$$$$00000003 mc_w.l(entry4.o) - 0x08000154 0x00000004 Code RO 1479 .ARM.Collect$$$$00000004 mc_w.l(entry5.o) - 0x08000158 0x00000000 Code RO 1481 .ARM.Collect$$$$00000008 mc_w.l(entry7b.o) - 0x08000158 0x00000000 Code RO 1483 .ARM.Collect$$$$0000000A mc_w.l(entry8b.o) - 0x08000158 0x00000008 Code RO 1484 .ARM.Collect$$$$0000000B mc_w.l(entry9a.o) - 0x08000160 0x00000000 Code RO 1486 .ARM.Collect$$$$0000000D mc_w.l(entry10a.o) - 0x08000160 0x00000000 Code RO 1488 .ARM.Collect$$$$0000000F mc_w.l(entry11a.o) - 0x08000160 0x00000004 Code RO 1477 .ARM.Collect$$$$00002714 mc_w.l(entry4.o) - 0x08000164 0x0000002c Code RO 888 * .text startup_gd32c10x.o - 0x08000190 0x00000024 Code RO 1058 .text mc_w.l(memcpya.o) - 0x080001b4 0x00000024 Code RO 1060 .text mc_w.l(memseta.o) - 0x080001d8 0x0000001a Code RO 1062 .text mc_w.l(memcmp.o) - 0x080001f2 0x00000002 Code RO 1504 .text mc_w.l(abort.o) - 0x080001f4 0x00000030 Code RO 1831 .text mc_w.l(init.o) - 0x08000224 0x000000b8 Code RO 175 .text.CAN0_RX0_IRQHandler Can.o - 0x080002dc 0x0000004a Code RO 177 .text.DMA0_Channel4_IRQHandler Can.o - 0x08000326 0x00000002 PAD - 0x08000328 0x00000026 Code RO 179 .text.DMA0_Channel5_IRQHandler Can.o - 0x0800034e 0x00000002 PAD - 0x08000350 0x0000016a Code RO 97 .text.EXTI5_9_IRQHandler initial.o - 0x080004ba 0x00000002 PAD - 0x080004bc 0x00000342 Code RO 894 .text.SystemInit system_gd32c10x.o - 0x080007fe 0x00000002 PAD - 0x08000800 0x00000012 Code RO 84 .text.USART0_init initial.o - 0x08000812 0x00000002 PAD - 0x08000814 0x00000198 Code RO 29 .text._Z11mix_columnsPh aes128.o - 0x080009ac 0x000000ba Code RO 139 .text._Z13move_app_datav OTA.o - 0x08000a66 0x00000002 PAD - 0x08000a68 0x00000238 Code RO 37 .text._Z14aes128_set_keyP14aes128_contextPKh aes128.o - 0x08000ca0 0x000008e2 Code RO 35 .text._Z15inv_mix_columnsPh aes128.o - 0x08001582 0x00000002 PAD - 0x08001584 0x000003c8 Code RO 43 .text._Z20aes128_decrypt_blockP14aes128_contextPKhPh aes128.o - 0x0800194c 0x000003e6 Code RO 39 .text._Z20aes128_encrypt_blockP14aes128_contextPKhPh aes128.o - 0x08001d32 0x00000002 PAD - 0x08001d34 0x00000210 Code RO 133 .text._Z24calculate_crc32_with_keyPKhS0_Ph OTA.o - 0x08001f44 0x0000002c Code RO 45 .text._Z26aes128_ecb_decrypt_48bytesP14aes128_contextPKhPh aes128.o - 0x08001f70 0x00000148 Code RO 115 .text._Z7OTA_SETjj OTA.o - 0x080020b8 0x0000044e Code RO 131 .text._ZN10OTAHandler16handleOTAMessageEjPhh OTA.o - 0x08002506 0x00000002 PAD - 0x08002508 0x000000ae Code RO 123 .text._ZN10OTAHandler17jumpToApplicationEv OTA.o - 0x080025b6 0x00000002 PAD - 0x080025b8 0x0000008a Code RO 127 .text._ZN10OTAHandler20eraseApplicationAreaEv OTA.o - 0x08002642 0x00000002 PAD - 0x08002644 0x00000080 Code RO 129 .text._ZN10OTAHandler20writeApplicationDataEjPhj OTA.o - 0x080026c4 0x0000009c Code RO 119 .text._ZN10OTAHandler7processEv OTA.o - 0x08002760 0x00000028 Code RO 917 .text._ZN10__cxxabiv121__isOurExceptionClassEPK21_Unwind_Control_Block libcppabi_wx.l(cxa_exception.cpp.o) - 0x08002788 0x00000060 Code RO 945 .text._ZN10__cxxabiv1L22__cxa_end_cleanup_implEv libcppabi_wx.l(cxa_exception.cpp.o) - 0x080027e8 0x0000004c Code RO 171 .text._ZN14CAN_transmiter10sendBackupEv Can.o - 0x08002834 0x0000008c Code RO 167 .text._ZN14CAN_transmiter12sendDATA_ACKEjPh Can.o - 0x080028c0 0x0000014e Code RO 169 .text._ZN14CAN_transmiter15CANFD_AsyncSendEjhPh Can.o - 0x08002a0e 0x00000002 PAD - 0x08002a10 0x00000042 Code RO 165 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Code RO 403 .text.dma_interrupt_flag_get gd32c10x_dma.o + 0x08003bc2 0x00000002 PAD + 0x08003bc4 0x0000001a Code RO 359 .text.dma_struct_para_init gd32c10x_dma.o + 0x08003bde 0x00000002 PAD + 0x08003be0 0x00000096 Code RO 93 .text.enter_deep_sleep initial.o + 0x08003c76 0x00000002 PAD + 0x08003c78 0x00000090 Code RO 424 .text.exti_init gd32c10x_exti.o + 0x08003d08 0x00000012 Code RO 428 .text.exti_interrupt_disable gd32c10x_exti.o + 0x08003d1a 0x00000002 PAD + 0x08003d1c 0x00000010 Code RO 426 .text.exti_interrupt_enable gd32c10x_exti.o + 0x08003d2c 0x0000000c Code RO 444 .text.exti_interrupt_flag_clear gd32c10x_exti.o + 0x08003d38 0x00000012 Code RO 442 .text.exti_interrupt_flag_get gd32c10x_exti.o + 0x08003d4a 0x00000002 PAD + 0x08003d4c 0x0000000c Code RO 515 .text.fmc_flag_clear gd32c10x_fmc.o + 0x08003d58 0x00000012 Code RO 477 .text.fmc_lock gd32c10x_fmc.o + 0x08003d6a 0x00000002 PAD + 0x08003d6c 0x00000166 Code RO 481 .text.fmc_page_erase gd32c10x_fmc.o + 0x08003ed2 0x00000002 PAD + 0x08003ed4 0x00000026 Code RO 475 .text.fmc_unlock gd32c10x_fmc.o + 0x08003efa 0x00000002 PAD + 0x08003efc 0x000001aa Code RO 487 .text.fmc_word_program gd32c10x_fmc.o + 0x080040a6 0x00000002 PAD + 0x080040a8 0x0000002c Code RO 86 .text.fputc initial.o + 0x080040d4 0x00000098 Code RO 216 .text.gd_eval_com_init gd32c10x_eval.o + 0x0800416c 0x00000004 Code RO 571 .text.gpio_bit_reset gd32c10x_gpio.o + 0x08004170 0x00000048 Code RO 587 .text.gpio_exti_source_select gd32c10x_gpio.o + 0x080041b8 0x000002c0 Code RO 567 .text.gpio_init gd32c10x_gpio.o + 0x08004478 0x00000080 Code RO 585 .text.gpio_pin_remap_config gd32c10x_gpio.o + 0x080044f8 0x00000022 Code RO 8 .text.main main.o + 0x0800451a 0x00000002 PAD + 0x0800451c 0x00000060 Code RO 614 .text.nvic_irq_enable gd32c10x_misc.o + 0x0800457c 0x0000001c Code RO 618 .text.nvic_vector_table_set gd32c10x_misc.o + 0x08004598 0x000000c6 Code RO 647 .text.pmu_to_deepsleepmode gd32c10x_pmu.o + 0x0800465e 0x00000002 PAD + 0x08004660 0x00000012 Code RO 736 .text.rcu_all_reset_flag_clear gd32c10x_rcu.o + 0x08004672 0x00000002 PAD + 0x08004674 0x0000010c Code RO 764 .text.rcu_clock_freq_get gd32c10x_rcu.o + 0x08004780 0x00000010 Code RO 762 .text.rcu_deepsleep_voltage_set gd32c10x_rcu.o + 0x08004790 0x00000020 Code RO 684 .text.rcu_periph_clock_disable gd32c10x_rcu.o + 0x080047b0 0x0000001e Code RO 682 .text.rcu_periph_clock_enable gd32c10x_rcu.o + 0x080047ce 0x00000002 PAD + 0x080047d0 0x00000020 Code RO 692 .text.rcu_periph_reset_disable gd32c10x_rcu.o + 0x080047f0 0x0000001e Code RO 690 .text.rcu_periph_reset_enable gd32c10x_rcu.o + 0x0800480e 0x00000002 PAD + 0x08004810 0x00000014 Code RO 698 .text.rcu_system_clock_source_config gd32c10x_rcu.o + 0x08004824 0x00000002 Code RO 91 .text.scanAppFlashContent initial.o + 0x08004826 0x00000002 PAD + 0x08004828 0x00000020 Code RO 70 .text.system_soft_reset systick.o + 0x08004848 0x00000048 Code RO 62 .text.systick_config systick.o + 0x08004890 0x00000006 Code RO 1333 .text.unlikely.abort_message libcppabi_wx.l(abort_message.cpp.o) + 0x08004896 0x00000002 PAD + 0x08004898 0x0000006a Code RO 780 .text.usart_baudrate_set gd32c10x_usart.o + 0x08004902 0x00000002 PAD + 0x08004904 0x00000008 Code RO 806 .text.usart_data_transmit gd32c10x_usart.o + 0x0800490c 0x0000007a Code RO 778 .text.usart_deinit gd32c10x_usart.o + 0x08004986 0x00000002 PAD + 0x08004988 0x0000000a Code RO 788 .text.usart_enable gd32c10x_usart.o + 0x08004992 0x00000002 PAD + 0x08004994 0x00000010 Code RO 868 .text.usart_flag_get gd32c10x_usart.o + 0x080049a4 0x00000014 Code RO 794 .text.usart_receive_config gd32c10x_usart.o + 0x080049b8 0x00000014 Code RO 792 .text.usart_transmit_config gd32c10x_usart.o + 0x080049cc 0x0000000e Code RO 1925 i.__scatterload_copy mc_w.l(handlers.o) + 0x080049da 0x00000002 Code RO 1926 i.__scatterload_null mc_w.l(handlers.o) + 0x080049dc 0x0000000e Code RO 1927 i.__scatterload_zeroinit mc_w.l(handlers.o) + 0x080049ea 0x00000002 PAD + 0x080049ec 0x00000024 Code RO 1059 i.puts mc_w.l(puts.o) + 0x08004a10 0x00000100 Data RO 50 .rodata._ZL4sbox aes128.o + 0x08004b10 0x00000010 Data RO 143 .rodata._ZL8K_master OTA.o + 0x08004b20 0x00000400 Data RO 145 .rodata._ZZ24calculate_crc32_with_keyPKhS0_PhE9crc_table OTA.o + 0x08004f20 0x00000008 Data RO 766 .rodata.cst8 gd32c10x_rcu.o + 0x08004f28 0x00000007 Data RO 295 .rodata.g_can_fdlength_table gd32c10x_can.o + 0x08004f2f 0x00000100 Data RO 49 .rodata.inv_sbox aes128.o + 0x0800502f 0x00000001 PAD + 0x08005030 0x00000020 Data RO 1924 Region$$Table anon$$obj.o Execution Region RW_NOINIT (Base: 0x20000000, Size: 0x00000000, Max: 0x00007200, ABSOLUTE, UNINIT) @@ -192,36 +190,40 @@ Memory Map of the image **** No section assigned to this execution region **** - Execution Region RW_RAM0 (Base: 0x20000000, Size: 0x00000a78, Max: 0x00007200, ABSOLUTE) + Execution Region RW_RAM0 (Base: 0x20000000, Size: 0x00000d70, Max: 0x00007200, ABSOLUTE) Base Addr Size Type Attr Idx E Section Name Object - 0x20000000 0x00000004 Data RW 1490 .data mc_w.l(stdout.o) + 0x20000000 0x00000004 Data RW 1495 .data mc_w.l(stdout.o) 0x20000004 0x000000e8 Data RW 183 .data.CAN0_transmiter Can.o - 0x200000ec 0x00000004 Data RW 900 .data.SystemCoreClock system_gd32c10x.o - 0x200000f0 0x00000004 Data RW 1338 .data.__cxa_terminate_handler libcppabi_wx.l(cxa_default_handlers.cpp.o) + 0x200000ec 0x00000004 Data RW 905 .data.SystemCoreClock system_gd32c10x.o + 0x200000f0 0x00000004 Data RW 1343 .data.__cxa_terminate_handler libcppabi_wx.l(cxa_default_handlers.cpp.o) 0x200000f4 0x00000004 PAD - 0x200000f8 0x00000004 Zero RW 72 .bss._ZL5delay systick.o - 0x200000fc 0x0000000c Zero RW 1347 .bss._ZN10__cxxabiv1L10eh_globalsE libcppabi_wx.l(cxa_exception_storage.cpp.o) - 0x20000108 0x00000001 Zero RW 142 .bss._ZZN10OTAHandler7processEvE4zero OTA.o - 0x20000109 0x00000007 PAD - 0x20000110 0x00000008 Zero RW 186 .bss.can_rx_buffer Can.o - 0x20000118 0x00000008 Zero RW 187 .bss.can_tx_buffer Can.o - 0x20000120 0x0000001c Zero RW 184 .bss.dma_rx_parameter Can.o - 0x2000013c 0x0000001c Zero RW 185 .bss.dma_tx_parameter Can.o - 0x20000158 0x00000110 Zero RW 141 .bss.ota OTA.o - 0x20000268 0x00000004 Zero RW 658 .bss.pmu_to_deepsleepmode.reg_snap.0 gd32c10x_pmu.o - 0x2000026c 0x00000004 Zero RW 659 .bss.pmu_to_deepsleepmode.reg_snap.1 gd32c10x_pmu.o - 0x20000270 0x00000004 Zero RW 660 .bss.pmu_to_deepsleepmode.reg_snap.2 gd32c10x_pmu.o - 0x20000274 0x00000004 Zero RW 661 .bss.pmu_to_deepsleepmode.reg_snap.3 gd32c10x_pmu.o - 0x20000278 0x00000800 Zero RW 885 STACK startup_gd32c10x.o + 0x200000f8 0x00000001 Zero RW 191 .bss._ZL13tx_queue_tail Can.o + 0x200000f9 0x00000001 Zero RW 189 .bss._ZL14tx_queue_count Can.o + 0x200000fa 0x00000002 PAD + 0x200000fc 0x00000004 Zero RW 72 .bss._ZL5delay systick.o + 0x20000100 0x00000240 Zero RW 190 .bss._ZL8tx_queue Can.o + 0x20000340 0x0000000c Zero RW 1352 .bss._ZN10__cxxabiv1L10eh_globalsE libcppabi_wx.l(cxa_exception_storage.cpp.o) + 0x2000034c 0x00000001 Zero RW 142 .bss._ZZN10OTAHandler7processEvE4zero OTA.o + 0x2000034d 0x00000003 PAD + 0x20000350 0x00000040 Zero RW 186 .bss.can_rx_buffer Can.o + 0x20000390 0x00000040 Zero RW 187 .bss.can_tx_buffer Can.o + 0x200003d0 0x0000001c Zero RW 184 .bss.dma_rx_parameter Can.o + 0x200003ec 0x0000001c Zero RW 185 .bss.dma_tx_parameter Can.o + 0x20000408 0x00000158 Zero RW 141 .bss.ota OTA.o + 0x20000560 0x00000004 Zero RW 663 .bss.pmu_to_deepsleepmode.reg_snap.0 gd32c10x_pmu.o + 0x20000564 0x00000004 Zero RW 664 .bss.pmu_to_deepsleepmode.reg_snap.1 gd32c10x_pmu.o + 0x20000568 0x00000004 Zero RW 665 .bss.pmu_to_deepsleepmode.reg_snap.2 gd32c10x_pmu.o + 0x2000056c 0x00000004 Zero RW 666 .bss.pmu_to_deepsleepmode.reg_snap.3 gd32c10x_pmu.o + 0x20000570 0x00000800 Zero RW 890 STACK startup_gd32c10x.o - Execution Region ARM_LIB_HEAP (Base: 0x20000a78, Size: 0x00000c00, Max: 0x00000c00, ABSOLUTE) + Execution Region ARM_LIB_HEAP (Base: 0x20000d70, Size: 0x00000c00, Max: 0x00000c00, ABSOLUTE) Base Addr Size Type Attr Idx E Section Name Object - 0x20000a78 0x00000c00 Zero RW 1 ARM_LIB_HEAP.bss anon$$obj.o + 0x20000d70 0x00000c00 Zero RW 1 ARM_LIB_HEAP.bss anon$$obj.o Execution Region ARM_LIB_STACK (Base: 0x20007e00, Size: 0x00000200, Max: 0x00000200, ABSOLUTE) diff --git a/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex b/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex index 44ce530..2554add 100644 --- a/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex +++ b/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex @@ -1,14 +1,14 @@ :020000040800F2 -:10000000780A0020650100086D0100086F010008F2 +:10000000700D0020650100086D0100086F010008F7 :10001000710100087301000875010008000000006C :100020000000000000000000000000007701000850 :1000300079010008000000007B0100087D01000834 :100040008101000881010008810100088101000888 :100050008101000881010008810100088101000878 :100060008101000881010008810100088101000868 -:10007000810100088101000881010008DD020008FB -:10008000290300088101000881010008810100089E -:1000900025020008810100088101000851030008C1 +:10007000810100088101000881010008B102000827 +:10008000FD020008810100088101000881010008CB +:1000900025020008810100088101000825030008ED :1000A0008101000881010008810100088101000828 :1000B0008101000881010008810100088101000818 :1000C0008101000881010008810100088101000808 @@ -20,10 +20,10 @@ :1001200081010008810100088101000881010008A7 :1001300081010008000000000000000081010008AB :100140008101000881010008810100088101000887 -:10015000DFF80CD000F04EF800480047E9430008F3 +:10015000DFF80CD000F04EF800480047F9440008E2 :10016000008000200748804707480047FEE7FEE779 :10017000FEE7FEE7FEE7FEE7FEE7FEE7034800478F -:10018000FEE70000BD0400085101000871390008B5 +:10018000FEE700009104000851010008A53A0008AC :1001900040EA01039B0703D009E008C9121F08C009 :1001A000042AFAD203E011F8013B00F8013B521E89 :1001B000F9D27047D2B201E000F8012B491EFBD200 @@ -32,1256 +32,1273 @@ :1001E00000E05B1C934203D2E05CCD5C401BF8D086 :1001F00030BD70471CB5094800900948019005467C 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