[adaptive debug option] stlink and cmsis-dap

RoboMaster-Club · Apr 5, 2024 · 660bcd2 · 660bcd2
1 parent aa3b2b6
commit 660bcd2
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Showing 3 changed files with 43 additions and 17 deletions.
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
@@ -23,6 +23,15 @@
                 }
             }
         },
+        {
+            "label": "flash (Darwin)",
+            "type": "shell",
+            "command": "mingw32-make -j24 V=1; mingw32-make download",
+            "group": {
+                "kind": "build",
+                "isDefault": false
+            }
+        },
         {
             "label": "build (Windows)",
             "type": "shell",
@@ -54,18 +63,9 @@
             "problemMatcher": []
         },
         {
-            "label": "download dap (Windows)",
-            "type": "shell",
-            "command": "mingw32-make -j24 V=1; mingw32-make download_dap",
-            "group": {
-                "kind": "build",
-                "isDefault": false
-            }
-        },
-        {
-            "label": "download stlink (Windows)",
+            "label": "flash (Windows)",
             "type": "shell",
-            "command": "mingw32-make -j24 V=1; mingw32-make download_stlink",
+            "command": "mingw32-make -j24 V=1; mingw32-make download_powershell",
             "group": {
                 "kind": "build",
                 "isDefault": false

diff --git a/Makefile b/Makefile
@@ -279,9 +279,35 @@ clean:
 #######################################
 -include $(wildcard $(BUILD_DIR)/*.d)
 
-download_dap:
-	openocd -f config/openocd_cmsis_dap.cfg -c init -c halt -c "flash write_image erase $(BUILD_DIR)/$(TARGET).bin 0x08000000" -c reset -c shutdown
+#######################################
+# download task
+#######################################
+
+# Windows (Powershell)
+ECHO_WARNING_POWERSHELL=powershell Write-Host -ForegroundColor Yellow [Message from Jason]:
+ECHO_SUCCESS_POWERSHELL=powershell Write-Host -ForegroundColor Green [Success]
+
+download_powershell:
+	@echo "Attempting to use CMSIS-DAP..."
+	@openocd -f config/openocd_cmsis_dap.cfg -c init -c halt -c "program $(BUILD_DIR)/$(TARGET).bin 0x08000000 verify reset" -c "reset run" -c shutdown && \
+	($(ECHO_SUCCESS_POWERSHELL) "Successfully programmed the device using CMSIS-DAP.") || \
+	($(ECHO_WARNING_POWERSHELL) "Failed to connect using CMSIS-DAP. Attempting to use STLink..." && \
+	openocd -f config/openocd_stlink.cfg -c init -c halt -c "program $(BUILD_DIR)/$(TARGET).bin 0x08000000 verify reset" -c "reset run" -c shutdown && \
+	($(ECHO_SUCCESS_POWERSHELL) "Successfully programmed the device using STLink.") || \
+	($(ECHO_WARNING_POWERSHELL) "Failed to connect using both CMSIS-DAP and STLink. Please check your connections and try again."))
+
+
+# Unix-Like (Linux, MacOS)
+ECHO_WARNING=@echo -e "\033[33m[Warning]\033[0m"
+ECHO_SUCCESS=@echo -e "\033[32m[Success]\033[0m"
+
+download:
+	@echo "Attempting to use CMSIS-DAP..."
+	@openocd -d2 -f config/openocd_cmsis_dap.cfg -c init -c halt -c "program $(BUILD_DIR)/$(TARGET).bin 0x08000000 verify reset" -c "reset run" -c shutdown && \
+	($(ECHO_SUCCESS) "Successfully programmed the device using CMSIS-DAP.") || \
+	($(ECHO_WARNING) "Failed to connect using CMSIS-DAP. Attempting to use STLink..." && \
+	openocd -d2 -f config/openocd_stlink.cfg -c init -c halt -c "program $(BUILD_DIR)/$(TARGET).bin 0x08000000 verify reset" -c "reset run" -c shutdown && \
+	($(ECHO_SUCCESS) "Successfully programmed the device using STLink.") || \
+	($(ECHO_WARNING) "Failed to connect using both CMSIS-DAP and STLink. Please check your connections and try again."))
 
-download_stlink:
-	openocd -f config/openocd_stlink.cfg -c init -c halt -c "flash write_image erase $(BUILD_DIR)/$(TARGET).bin 0x08000000" -c reset -c shutdown
 # *** EOF ***
diff --git a/src/app/src/debug_task.c b/src/app/src/debug_task.c
@@ -23,8 +23,8 @@ extern Daemon_Instance_t *g_daemon_instances[3];
 void Debug_Task_Loop(void)
 {
     static uint32_t counter = 0;
-    // DEBUG_PRINTF(&huart6, "time=%.1f,a=%d,b=%d,c=%f,d=%d\r\n", (float) counter / 1000.0f * DEBUG_PERIOD, 
-    //             g_daemon_instances[1]->counter, g_daemon_instances[0]->counter, g_imu.deg.roll, counter);
+    DEBUG_PRINTF(&huart6, "time=%.1f,a=%d,b=%d,c=%f,d=%d\r\n", (float) counter / 1000.0f * DEBUG_PERIOD, 
+                2, 12, g_imu.deg.roll, counter);
     counter++;
     if (counter > 0xFFFFFFFF) {
         counter = 0;