feat: (Module) Totally refactor

libs/module/avm_core.c

@@ -0,0 +1,64 @@
+#include <avm_core.h>
+
+static unsigned char avm_core_init(void *arg);
+
+avm_module_t avm_core_module_st = {
+ 0,
+ NULL,
+ avm_core_init,
+ NULL,
+ NULL
+};
+
+void jump2ISP() {
+ __set_MSP(*(unsigned int *)ISP_ADDR);
+ ((void (*)(void))*((unsigned int *)(ISP_ADDR + 4)))();
+}
+
+void delay_ms(unsigned int t) {
+ SysTick->LOAD = 9000 * t;
+ SysTick->VAL = 0;
+ SysTick->CTRL = 0x01;
+ for(unsigned int tmp = SysTick->CTRL;(tmp&0x01)&&(!(tmp&SysTick_CTRL_COUNTFLAG));tmp = SysTick->CTRL);
+ SysTick->CTRL = 0;
+ SysTick->VAL = 0;
+}
+
+// 延时函数, 单位为微秒
+void delay_us(unsigned int t) {
+ SysTick->LOAD = 9 * t;
+ SysTick->VAL = 0;
+ SysTick->CTRL = 0x01;
+ for(unsigned int tmp = SysTick->CTRL;(tmp&0x01)&&(!(tmp&SysTick_CTRL_COUNTFLAG));tmp = SysTick->CTRL);
+ SysTick->CTRL = 0;
+ SysTick->VAL = 0;
+}
+
+avm_module_t *avm_modules_pool[] = {
+ &avm_core_module_st,
+ &avm_uart_module_st,
+ &avm_i2c_module_st,
+ &avm_motor_module_st,
+ &avm_mpu_module_st,
+ NULL
+};
+
+static unsigned char avm_core_init(void *arg) {
+ NVIC_SetPriorityGrouping(0x07 - NVIC_GROUPING);
+
+ avm_module_t *p_core = avm_modules_pool[0];
+ // Count
+ static unsigned char avm_modules_num = 0;
+ for(;avm_modules_pool[avm_modules_num] != NULL;avm_modules_num++) {
+ avm_modules_pool[avm_modules_num]->index = avm_modules_num;
+ }
+
+ p_core->confs = (void *)&avm_modules_num; // Stored
+ // Initial
+ avm_module_t **this = &avm_modules_pool[1];
+ for(;*this != NULL;this++) {
+ (*this)->init_module((*this)->confs);
+ }
+
+ return 0;
+}

libs/module/avm_core.h

@@ -0,0 +1,39 @@
+#ifndef _AVM_CORE_H_
+#define _AVM_CORE_H_
+
+typedef struct avm_module_s avm_module_t;
+// typedef struct avm_string_s avm_string_t;
+
+#include <math.h>
+#include <stm32f10x.h>
+// #include <avm_string.h>
+#include <avm_bit.h>
+#include <avm_mpu6050.h>
+#include <avm_motor.h>
+#include <avm_uart.h>
+#include <avm_wifi.h>
+#include <avm_pid.h>
+#include <avm_i2c.h>
+#include <avm_tty.h>
+
+struct avm_module_s {
+ unsigned short index;
+ unsigned int *confs;
+ unsigned char (*init_module)(void *arg);
+ unsigned char (*enable_module)(void);
+ unsigned char (*disable_module)(void);
+};
+
+extern avm_module_t *avm_modules_pool[];
+extern avm_module_t avm_core_module_st;
+
+void delay_ms(unsigned int t);
+void delay_us(unsigned int t);
+
+#define NVIC_GROUPING 3
+// Jump to built-in bootloader
+#define ISP_ADDR 0x1FFFF000
+void jump2ISP();
+
+
+#endif

libs/module/avm_string.h

@@ -0,0 +1,12 @@
+#ifndef _AVM_STRING_H_
+#define _AVM_STRING_H_
+
+struct avm_string_s {
+ unsigned char * string;
+ unsigned int len;
+};
+
+#define avm_string(str) { (unsigned char *)(str), sizeof((str) - 1) }
+#define avm_null_string { 0, NULL }
+
+#endif