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ARM9 I/O驱动程序源码及其在Linux上的使用

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ARM9 I/O 驱动源码介绍与实践 ARM9是ARM公司推出的一系列32位RISC处理器之一,广泛应用于嵌入式系统开发中。在嵌入式系统中,I/O驱动程序承担着控制硬件设备与操作系统、应用程序之间数据交换的重任。熟悉ARM9平台的I/O驱动开发,对于嵌入式软件工程师来说是必备的技能。 ARM9 I/O Driver的含义 I/O(Input/Output)指的是计算机中的输入与输出设备,例如显示器、键盘、鼠标、传感器等。I/O驱动程序是操作系统的一部分,它负责管理这些设备,确保它们能正常工作并与系统正确通信。在ARM9这样的嵌入式平台上,I/O驱动程序可能需要直接与硬件寄存器打交道,控制硬件的行为。 标题“ARM9 I/O driver source”表明我们即将讨论的是与ARM9处理器相关的I/O驱动程序源码。源码是驱动程序开发的基础,它用特定编程语言(如C语言)编写,直接与硬件接口进行交互。 描述中提到的“Desc how to ps on linux”可能是指在Linux操作系统上如何进行I/O驱动程序的开发与调试。Linux内核具有丰富的设备驱动框架和API,可以为开发者提供便利。而“Ex is 18B20”很可能是指一个温度传感器的型号,DS18B20是一款广泛使用的数字温度传感器,它可以提供9位至12位的摄氏温度测量,广泛应用于多种电子系统中。因此,可以理解为在该文件中将展示如何为ARM9编写一个控制DS18B20传感器的I/O驱动程序。 在实践层面,编写ARM9的I/O驱动程序涉及到对硬件规范的深入了解,包括对处理器架构、外设接口和时序等的掌握。编写和调试I/O驱动程序需要以下几个步骤: 1. 阅读硬件手册:了解DS18B20传感器的技术细节、通信协议和电气特性等。 2. 设计驱动架构:根据硬件手册设计驱动程序的架构,包括初始化、数据读取、错误处理等。 3. 编写源码:使用C语言编写驱动代码,通常需要直接操作硬件寄存器,可能还需要配置中断和定时器。 4. 驱动集成与测试:将编写的驱动源码集成到Linux内核中,并进行编译。之后在ARM9开发板上进行功能和稳定性测试。 5. 调试优化:根据测试结果调试驱动程序,优化性能和资源占用。 在编写驱动源码时,需要遵守Linux内核的编程规范,确保代码的可移植性和安全性。此外,由于驱动程序运行在内核空间,因此编写时要特别注意避免内存泄漏、死锁和竞态条件等问题,这些问题可能会导致系统的不稳定甚至崩溃。 【标签】“arm9 driver”意味着这些文件与ARM9平台下的驱动程序开发相关,是针对特定硬件和平台的定制代码。 【压缩包子文件的文件名称列表】中的“temperature”提示这些文件可能主要处理温度测量功能,因此可以推断出这些文件可能包含实现DS18B20温度传感器功能的代码片段、配置文件或者测试脚本等。 总结而言,ARM9 I/O驱动源码的开发涉及到对嵌入式系统硬件和Linux内核的深入理解,以及严谨的编程实践。编写出高效、稳定和可靠的驱动程序对于嵌入式设备的性能和用户体验至关重要。

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/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * * Copyright (c) 2025 STMicroelectronics. * All rights reserved. * * This software is licensed under terms that can be found in the LICENSE file * in the root directory of this software component. * If no LICENSE file comes with this software, it is provided AS-IS. * ****************************************************************************** */ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "main.h" #include "gpio.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ RGBColor ledStrip[4][LED_PER_CHAIN]; /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ /* USER CODE BEGIN PV */ /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); /* USER CODE BEGIN PFP */ /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ /** * @brief The application entry point. * @retval int */ int main(void) { /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ /* MCU Configuration--------------------------------------------------------*/ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ HAL_Init(); /* USER CODE BEGIN Init */ /* USER CODE END Init */ /* Configure the system clock */ SystemClock_Config(); /* USER CODE BEGIN SysInit */ /* USER CODE END SysInit */ /* Initialize all configured peripherals */ MX_GPIO_Init(); /* USER CODE BEGIN 2 */ /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ } /* USER CODE END 3 */ } /** * @brief System Clock Configuration * @retval None */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); } /** Initializes the CPU, AHB and APB buses clocks */ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) { Error_Handler(); } } /* USER CODE BEGIN 4 */ /* USER CODE END 4 */ /** * @brief This function is executed in case of error occurrence. * @retval None */ void Error_Handler(void) { /* USER CODE BEGIN Error_Handler_Debug */ /* User can add his own implementation to report the HAL error return state */ __disable_irq(); while (1) { } /* USER CODE END Error_Handler_Debug */ } #ifdef USE_FULL_ASSERT /** * @brief Reports the name of the source file and the source line number * where the assert_param error has occurred. * @param file: pointer to the source file name * @param line: assert_param error line source number * @retval None */ void assert_failed(uint8_t *file, uint32_t line) { /* USER CODE BEGIN 6 */ /* User can add his own implementation to report the file name and line number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ /* USER CODE END 6 */ } #endif /* USE_FULL_ASSERT */ /* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.h * @brief : Header for main.c file. * This file contains the common defines of the application. ****************************************************************************** * @attention * * Copyright (c) 2025 STMicroelectronics. * All rights reserved. * * This software is licensed under terms that can be found in the LICENSE file * in the root directory of this software component. * If no LICENSE file comes with this software, it is provided AS-IS. * ****************************************************************************** */ /* USER CODE END Header */ /* Define to prevent recursive inclusion -------------------------------------*/ #ifndef __MAIN_H #define __MAIN_H #ifdef __cplusplus extern "C" { #endif /* Includes ------------------------------------------------------------------*/ #include "stm32f1xx_hal.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ /* USER CODE END Includes */ /* Exported types ------------------------------------------------------------*/ /* USER CODE BEGIN ET */ /* USER CODE END ET */ /* Exported constants --------------------------------------------------------*/ /* USER CODE BEGIN EC */ /* USER CODE END EC */ /* Exported macro ------------------------------------------------------------*/ /* USER CODE BEGIN EM */ /* USER CODE END EM */ /* Exported functions prototypes ---------------------------------------------*/ void Error_Handler(void); /* USER CODE BEGIN EFP */ /* USER CODE END EFP */ /* Private defines -----------------------------------------------------------*/ /* USER CODE BEGIN Private defines */ /* USER CODE END Private defines */ #ifdef __cplusplus } #endif #endif /* __MAIN_H */ #ifndef WS2812_H#include "ws2812.h" #include "math.h" // 亮度调整参数 static uint8_t global_brightness = 100; // 亮度因子 static float brightness_factor = 1.0f; // 占空比定义 (72MHz时钟@ARR=71) #define PWM_HIGH 50 // 0.7µs高电平 #define PWM_LOW 25 // 0.35µs高电平 #define PWM_RESET 0 // 复位电平 // PWM数据缓冲区(按通道分组) static uint16_t pwmData[4][PWM_BUFFER_SIZE]; // Timer和DMA句柄 static TIM_HandleTypeDef* htim; static DMA_HandleTypeDef* hdma; static volatile uint8_t dma_busy = 0; // 通道配置 const WS2812_Channel channels[4] = { {NULL, TIM_CHANNEL_1, GPIO_PIN_0, GPIOA}, // PA0 {NULL, TIM_CHANNEL_2, GPIO_PIN_1, GPIOA}, // PA1 {NULL, TIM_CHANNEL_3, GPIO_PIN_2, GPIOA}, // PA2 {NULL, TIM_CHANNEL_4, GPIO_PIN_3, GPIOA} // PA3 }; // 初始化WS2812控制器 void WS2812_Init(TIM_HandleTypeDef* htim, DMA_HandleTypeDef* hdma) { htim = htim; hdma = hdma; // 设置所有通道初始状态 for (int i = 0; i < 4; i++) { HAL_GPIO_WritePin(channels[i].port, channels[i].pin, GPIO_PIN_RESET); } // 清除DMA状态 dma_busy = 0; } // 设置LED颜色(带亮度调整) void WS2812_SetColor(uint8_t ch, uint16_t index, RGBColor color) { if (ch >= 4 || index >= LED_PER_CHAIN) return; // 应用全局亮度 RGBColor adjColor = { .r = (uint8_t)(color.r * brightness_factor), .g = (uint8_t)(color.g * brightness_factor), .b = (uint8_t)(color.b * brightness_factor) }; // 转换为GRB格式 uint32_t grb = ((adjColor.g << 16) | (adjColor.r << 8) | adjColor.b); uint16_t* buf = pwmData[ch] + index * BIT_PER_LED; // 生成波形数据(高位先出) for(int i = 0; i < BIT_PER_LED; i++) { buf[i] = (grb & 0x800000) ? PWM_HIGH : PWM_LOW; grb <<= 1; } } // 设置全局亮度 (0-100) void WS2812_SetBrightness(uint8_t brightness) { if (brightness > 100) brightness = 100; global_brightness = brightness; // 亮度调整公式: // $$ \text{brightness_factor} = \sqrt{\frac{\text{brightness}}{100}} $$ brightness_factor = sqrtf((float)brightness / 100.0f); } // 启动DMA传输 void WS2812_StartDMATransfer(void) { // 配置DMA传输(TIM2_CCR寄存器连续地址) HAL_DMA_Start_IT( hdma, (uint32_t)&pwmData[0][0], (uint32_t)&htim->Instance->CCR1, DMA_TRANSFER_SIZE ); // 启用DMA请求 __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC1 | TIM_DMA_CC2 | TIM_DMA_CC3 | TIM_DMA_CC4); __HAL_TIM_ENABLE(htim); dma_busy = 1; } // 更新LED显示 void WS2812_Update(void) { if (dma_busy) return; WS2812_StartDMATransfer(); } // 检查是否忙状态 uint8_t WS2812_IsBusy(void) { return dma_busy; } // DMA传输完成回调 void WS2812_DMACompleteCallback(void) { // 关闭定时器和DMA __HAL_TIM_DISABLE(htim); __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC1 | TIM_DMA_CC2 | TIM_DMA_CC3 | TIM_DMA_CC4); // 所有引脚置低电平(产生复位信号) for (int i = 0; i < 4; i++) { HAL_GPIO_WritePin(channels[i].port, channels[i].pin, GPIO_PIN_RESET); } dma_busy = 0; } 22:42:50 **** 项目dengguang配置Debug的增量构建 **** make -j16 all arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.o" arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.o" arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.o" arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.o" arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.o" arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.o" arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.o" arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.o" arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.o" arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.o" arm-none-eabi-gcc "../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.d" -MT"Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.o" arm-none-eabi-gcc "../Core/Src/gpio.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/gpio.d" -MT"Core/Src/gpio.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/gpio.o" arm-none-eabi-gcc "../Core/Src/main.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/main.d" -MT"Core/Src/main.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/main.o" arm-none-eabi-gcc "../Core/Src/stm32f1xx_hal_msp.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/stm32f1xx_hal_msp.d" -MT"Core/Src/stm32f1xx_hal_msp.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/stm32f1xx_hal_msp.o" arm-none-eabi-gcc "../Core/Src/stm32f1xx_it.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/stm32f1xx_it.d" -MT"Core/Src/stm32f1xx_it.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/stm32f1xx_it.o" arm-none-eabi-gcc "../Core/Src/syscalls.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/syscalls.d" -MT"Core/Src/syscalls.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/syscalls.o" ../Core/Src/main.c:25:1: error: unknown type name 'RGBColor' 25 | RGBColor ledStrip[4][LED_PER_CHAIN]; | ^~~~~~~~ ../Core/Src/main.c:25:22: error: 'LED_PER_CHAIN' undeclared here (not in a function) 25 | RGBColor ledStrip[4][LED_PER_CHAIN]; | ^~~~~~~~~~~~~ make: *** [Core/Src/subdir.mk:40: Core/Src/main.o] Error 1 make: *** Waiting for unfinished jobs.... "make -j16 all"以退出代码2结尾。构建可能不完整。 22:42:51 构建失败。 4 错误,0 警告。 (使用1s.155ms) #define WS2812_H #include "stm32f1xx_hal.h" // 每路LED数量(根据内存调整) #define LED_PER_CHAIN 30 // 每LED数据位数 (24位GRB) #define BIT_PER_LED 24 // PWM缓冲大小 #define PWM_BUFFER_SIZE (LED_PER_CHAIN * BIT_PER_LED) // 单个通道数据总数 #define DMA_TRANSFER_SIZE (PWM_BUFFER_SIZE * 4) // 4通道共享同一DMA请求 // LED颜色结构 typedef struct { uint8_t r; uint8_t g; uint8_t b; } RGBColor; // 通道配置结构 typedef struct { TIM_HandleTypeDef* timer; uint32_t channel; uint16_t pin; GPIO_TypeDef* port; } WS2812_Channel; // 初始化函数 void WS2812_Init(TIM_HandleTypeDef* htim, DMA_HandleTypeDef* hdma); // 设置LED颜色 void WS2812_SetColor(uint8_t ch, uint16_t index, RGBColor color); // 设置全局亮度 (0-100) void WS2812_SetBrightness(uint8_t brightness); // 更新LED显示 void WS2812_Update(void); // 复位完成标志 uint8_t WS2812_IsBusy(void); // DMA传输完成回调 void WS2812_DMACompleteCallback(void); #endif

filetype

inline std::string RobotFormat(int level, const char *pformat, ...) { if (level > g_Logger->getLogLevel() || g_Logger->getLogLevel() == 9) { return std::string(""); } va_list argList; va_start(argList, pformat); char strBuf[MAX_LOG_SIZE] = {'\0'}; size_t num_of_chars = vsnprintf(strBuf, MAX_LOG_SIZE - 1, pformat, argList); va_end(argList); if(num_of_chars <= 0) { return std::string(""); } return std::string(strBuf); } #0 strlen () at ../sysdeps/arm/armv6t2/strlen.S:126 #1 0xb662827e in __vfprintf_internal (s=s@entry=0xaa268450, format=format@entry=0xb45291dc "handle time is out range (20*2ms, +)!!! handle_time_us = %ld, m_prev_handle_timestamp_us = %ld, curr_handle_timestamp_us = %ld, m_first_frame_ %s", ap=..., ap@entry=..., mode_flags=mode_flags@entry=0) at vfprintf-internal.c:1688 #2 0xb66339e6 in __vsnprintf_internal (string=0xaa268570 "handle time is out range (20*2ms, +)!!! handle_time_us = 0, m_prev_handle_timestamp_us = 54009, curr_handle_timestamp_us = 0, m_first_frame_ ", maxlen=<optimized out>, format=0xb45291dc "handle time is out range (20*2ms, +)!!! handle_time_us = %ld, m_prev_handle_timestamp_us = %ld, curr_handle_timestamp_us = %ld, m_first_frame_ %s", args=..., mode_flags=mode_flags@entry=0) at vsnprintf.c:114 #3 0xb6633a10 in ___vsnprintf (string=<optimized out>, maxlen=<optimized out>, format=<optimized out>, args=...) at vsnprintf.c:124 #4 0xb45efc94 in RobotFormat[abi:cxx11](int, char const*, ...) () from Plugins/libPeripheral.plg #5 0xb45245cc in communication::CSerialMessageHandle::handleSensorMessage(communication::CRobotPacket*) () from /home/lizewei/source/T10/robot2.0/build_ssd22d/bin/libStm32.so #6 0xb4525364 in communication::CSerialMessageHandle::handleMessage(communication::CRobotPacket*) () from /home/lizewei/source/T10/robot2.0/build_ssd22d/bin/libStm32.so #7 0xb45a0b38 in driver::Stm32Driver::readData() () from /home/lizewei/source/T10/robot2.0/build_ssd22d/bin/libDriver.so #8 0xb680e21a in std::execute_native_thread_routine (__p=0x14ebf08) at /home/meng/toolchain/build/snapshots/gcc.git~gcc-9_1_0-release/libstdc++-v3/src/c++11/thread.cc:80 #9 0xb65b1c00 in start_thread (arg=0x5b2bcd5) at pthread_create.c:479 #10 0xb667e61c in ?? () at ../sysdeps/unix/sysv/linux/arm/clone.S:73 from /opt/ssd22d/arm-buildroot-linux-gnueabihf/sysroot/lib/libc.so.6