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Actionable comments posted: 5
🤖 Fix all issues with AI agents
In `@firmware/c_board/bsp/HAL/Core/Src/syscalls.c`:
- Around line 67-90: The _read and _write implementations call weak symbols
__io_getchar and __io_putchar which are not implemented in this repo; add
concrete implementations or safe fallbacks for these symbols (or replace weak
declarations) so stdio I/O is well-defined. Specifically, implement functions
named __io_getchar() and __io_putchar(int ch) that route to your board
UART/console HAL (or provide stub behaviors that return EOF/ignore writes),
ensure the prototypes/signatures match the weak declarations in syscalls.c, and
register/enable the underlying UART initialization so _read/_write operate
correctly at runtime.
In `@firmware/c_board/bsp/HAL/Drivers/CMSIS/Include/cmsis_iccarm.h`:
- Around line 648-651: The __ROR(uint32_t op1, uint32_t op2) implementation
performs undefined shifts when op2 == 0 or op2 >= 32; change it to normalize op2
modulo 32, return op1 when op2 == 0, and otherwise compute the rotate as (op1 >>
op2) | (op1 << (32U - op2)). Update the __ROR function to do: op2 %= 32U; if
(op2 == 0U) return op1; return (op1 >> op2) | (op1 << (32U - op2)); so it
matches other CMSIS implementations and avoids undefined behavior.
In `@firmware/c_board/bsp/HAL/Drivers/CMSIS/Include/core_cm1.h`:
- Line 319: NVIC_Type 结构体中保留字段名拼写错误：将当前的 RSERVED1 更正为 RESERVED1（与同结构体的
RESERVED0/2/3/4 保持一致）以修复命名不一致的问题；在 core_cm1.h 中更新该标识符并同步检查并修正其他受影响的 CMSIS 头文件（如
core_sc000.h、core_starmc1.h、core_cm55.h、core_cm85.h、core_cm33.h、core_cm35p.h、core_cm23.h）中的同名拼写以保持一致性。
In `@firmware/c_board/bsp/HAL/Drivers/CMSIS/Include/mpu_armv8.h`:
- Around line 82-93: The Doxygen tag typo in the ARM_MPU_RBAR comment (currently
"\oaram XN") prevents parameter documentation for XN from being generated;
update the comment block above the ARM_MPU_RBAR macro replacing "\oaram" with
the correct "\param" for the XN parameter so the Doxygen parser recognizes and
includes the XN description.
In `@firmware/c_board/bsp/HAL/Drivers/CMSIS/Include/pmu_armv8.h`:
- Around line 134-137: The macro ARM_PMU_MVE_ST_MULTI_RETIRED is incorrectly
defined as 0x0261 (duplicate of ARM_PMU_MVE_LD_MULTI_SPEC); update the
definition for ARM_PMU_MVE_ST_MULTI_RETIRED to the correct event code 0x0264 so
the event mapping is unique and matches the Armv8.1‑M Performance Monitoring
User Guide.
🧹 Nitpick comments (10)
firmware/c_board/bsp/HAL/Drivers/CMSIS/Device/ST/STM32F4xx/LICENSE.txt (1)
3-3: 精简措辞以减少冗余。“outside of”可简化为“outside”，让句子更简洁。
📝 建议改动
- software component outside of a package or without applicable license terms, + software component outside a package or without applicable license terms,firmware/c_board/bsp/HAL/Core/Src/sysmem.c (1)
53-79: 标准的 STM32CubeMX 生成代码，实现正确。这是标准的 newlib
_sbrk实现，内存布局和边界检查逻辑正确。有两个可选的改进建议供参考：
- 负增量边界检查：当
incr为负值时（释放内存），当前检查__sbrk_heap_end + incr > max_heap不会捕获堆指针下溢到_end以下的情况。- RTOS 环境下的线程安全：如果在多任务环境中使用，可能需要添加临界区保护。
如果项目仅在单任务环境中运行且不依赖负增量场景，当前实现完全可以接受。
♻️ 可选：添加负增量边界检查
/* Protect heap from growing into the reserved MSP stack */ - if (__sbrk_heap_end + incr > max_heap) + if (__sbrk_heap_end + incr > max_heap || + __sbrk_heap_end + incr < &_end) { errno = ENOMEM; return (void *)-1; }firmware/c_board/bsp/HAL/Core/Src/syscalls.c (1)
99-104:_fstat和_stat缺少 NULL 指针检查（可选改进）。这是标准的 STM32CubeMX 生成代码，在正常使用场景下 C 库会传递有效指针。作为防御性编程的可选改进，可以添加空指针检查：
🛡️ 可选：添加防御性空指针检查
int _fstat(int file, struct stat *st) { (void)file; + if (st == NULL) { + errno = EFAULT; + return -1; + } st->st_mode = S_IFCHR; return 0; }同样适用于
_stat函数。Also applies to: 148-153
firmware/c_board/bsp/HAL/CMakePresets.json (1)
9-9: 缩进不一致：此处使用了 Tab 而非空格。第 9 行使用了 Tab 字符缩进，而文件其他部分均使用空格缩进。建议统一使用空格以保持一致性。
🔧 建议修复
- "toolchainFile": "${sourceDir}/cmake/gcc-arm-none-eabi.cmake", + "toolchainFile": "${sourceDir}/cmake/gcc-arm-none-eabi.cmake",firmware/c_board/bsp/HAL/CMakeLists.txt (2)
10-13: 考虑添加 C++ 标准设置。当前仅设置了 C11 标准。如果项目后续需要使用 C++ 源文件，建议同时添加 C++ 标准设置以保持一致性。
🔧 建议添加 C++ 标准设置
# Setup compiler settings set(CMAKE_C_STANDARD 11) set(CMAKE_C_STANDARD_REQUIRED ON) set(CMAKE_C_EXTENSIONS ON) +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) +set(CMAKE_CXX_EXTENSIONS OFF)
60-61: libob.a 移除的 workaround 建议添加注释说明。这行代码移除了
libob.a库依赖。注释提到是为了解决 C++ 文件的链接问题，但建议补充更详细的说明，例如此问题的来源或相关 issue 链接，便于后续维护。firmware/c_board/bsp/HAL/Core/Inc/main.h (1)
29-37:stm32f4xx_hal.h重复包含。第 30 行已经包含了
stm32f4xx_hal.h，第 35 行在 USER CODE 区域又重复包含了一次。虽然有 include guard 保护不会造成编译错误，但这是冗余的。♻️ 建议移除重复包含
/* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ -#include "stm32f4xx_hal.h" // IWYU pragma: export `#include` "stm32f4xx_hal_def.h" // IWYU pragma: export `#include` "stm32f407xx.h" // IWYU pragma: exportfirmware/c_board/CMakePresets.json (1)
5-10: 建议为不同 preset 使用独立的构建目录。当前所有 preset 共享同一个
binaryDir（${sourceDir}/build）。在切换 preset（如从 debug 切换到 release）时，CMake 缓存可能会残留旧配置，导致构建问题。♻️ 建议修改
"name": "base", "hidden": true, "generator": "Ninja", - "binaryDir": "${sourceDir}/build", + "binaryDir": "${sourceDir}/build/${presetName}", "toolchainFile": "${sourceDir}/bsp/HAL/cmake/gcc-arm-none-eabi.cmake"firmware/c_board/bsp/HAL/Core/Src/can.c (1)
41-56:AutoBusOff和AutoRetransmission禁用可能影响 CAN 通信可靠性。
AutoBusOff = DISABLE：当 CAN 控制器因总线错误进入 Bus-Off 状态后，需要手动恢复，可能导致通信中断AutoRetransmission = DISABLE：发送失败的报文不会自动重传，可能导致消息丢失如果这是有意为之（如实时控制场景需要避免重传延迟），请忽略此建议。否则建议启用以提高鲁棒性。
♻️ 建议启用自动恢复和重传
hcan1.Init.TimeTriggeredMode = DISABLE; - hcan1.Init.AutoBusOff = DISABLE; + hcan1.Init.AutoBusOff = ENABLE; hcan1.Init.AutoWakeUp = DISABLE; - hcan1.Init.AutoRetransmission = DISABLE; + hcan1.Init.AutoRetransmission = ENABLE;同样修改
MX_CAN2_Init中的配置。firmware/c_board/bsp/HAL/Core/Inc/stm32f4xx_hal_conf.h (1)
204-259: Ethernet PHY 占位宏需条件编译保护，防止后续启用 ETH 模块时出错。当前
HAL_ETH_MODULE_ENABLED处于禁用状态，但DP83848_PHY_ADDRESS、PHY_SR、PHY_SPEED_STATUS、PHY_DUPLEX_STATUS等占位宏在配置文件中仍然无条件定义（行 204-259）。若后续启用HAL_ETH_MODULE_ENABLED而未补全这些宏的值，将导致编译或运行期错误。建议用#ifdef HAL_ETH_MODULE_ENABLED保护 Ethernet 配置段，或为这些占位宏提供有效的默认值。
| __attribute__((weak)) int _read(int file, char *ptr, int len) | ||
| { | ||
| (void)file; | ||
| int DataIdx; | ||
|
|
||
| for (DataIdx = 0; DataIdx < len; DataIdx++) | ||
| { | ||
| *ptr++ = __io_getchar(); | ||
| } | ||
|
|
||
| return len; | ||
| } | ||
|
|
||
| __attribute__((weak)) int _write(int file, char *ptr, int len) | ||
| { | ||
| (void)file; | ||
| int DataIdx; | ||
|
|
||
| for (DataIdx = 0; DataIdx < len; DataIdx++) | ||
| { | ||
| __io_putchar(*ptr++); | ||
| } | ||
| return len; | ||
| } |
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_read 和 _write 依赖未实现的弱符号 __io_getchar/__io_putchar。
在当前代码库中未找到 __io_getchar 和 __io_putchar 的实现。这两个函数被声明为弱符号（第 35-36 行），在 _read（第 74 行）和 _write（第 87 行）中被直接调用。如果这些弱符号未被链接的其他库或项目代码实现，调用时会导致未定义行为。
需要确保在项目中提供这些 I/O 函数的实现（例如通过 UART 重定向），否则读写操作将无法正常工作。
🤖 Prompt for AI Agents
In `@firmware/c_board/bsp/HAL/Core/Src/syscalls.c` around lines 67 - 90, The _read
and _write implementations call weak symbols __io_getchar and __io_putchar which
are not implemented in this repo; add concrete implementations or safe fallbacks
for these symbols (or replace weak declarations) so stdio I/O is well-defined.
Specifically, implement functions named __io_getchar() and __io_putchar(int ch)
that route to your board UART/console HAL (or provide stub behaviors that return
EOF/ignore writes), ensure the prototypes/signatures match the weak declarations
in syscalls.c, and register/enable the underlying UART initialization so
_read/_write operate correctly at runtime.
| __IAR_FT uint32_t __ROR(uint32_t op1, uint32_t op2) | ||
| { | ||
| return (op1 >> op2) | (op1 << ((sizeof(op1)*8)-op2)); | ||
| } |
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修复 __ROR 函数在 op2=0 或 op2≥32 时的 C 语言未定义行为
当前实现未对 op2 进行范围检查，当 op2=0 时 (op1 << 32) 或 op2≥32 时会违反 C 标准（移位位数不得等于或超过操作数位宽）。GCC、Clang 等其他 CMSIS 实现均采用 modulo 32 的方式处理，IAR 应保持一致。
建议改为：
op2 %= 32U;
if (op2 == 0U) {
return op1;
}
return (op1 >> op2) | (op1 << (32U - op2));🤖 Prompt for AI Agents
In `@firmware/c_board/bsp/HAL/Drivers/CMSIS/Include/cmsis_iccarm.h` around lines
648 - 651, The __ROR(uint32_t op1, uint32_t op2) implementation performs
undefined shifts when op2 == 0 or op2 >= 32; change it to normalize op2 modulo
32, return op1 when op2 == 0, and otherwise compute the rotate as (op1 >> op2) |
(op1 << (32U - op2)). Update the __ROR function to do: op2 %= 32U; if (op2 ==
0U) return op1; return (op1 >> op2) | (op1 << (32U - op2)); so it matches other
CMSIS implementations and avoids undefined behavior.
| __IOM uint32_t ISER[1U]; /*!< Offset: 0x000 (R/W) Interrupt Set Enable Register */ | ||
| uint32_t RESERVED0[31U]; | ||
| __IOM uint32_t ICER[1U]; /*!< Offset: 0x080 (R/W) Interrupt Clear Enable Register */ | ||
| uint32_t RSERVED1[31U]; |
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修复 NVIC_Type 结构体中的拼写错误，并注意该问题的广泛性
RSERVED1 应为 RESERVED1（缺少字母 'E'）。对比 core_cm0.h 第 319 行的 RESERVED1（正确拼写）以及同一结构体中 RESERVED0、RESERVED2、RESERVED3、RESERVED4，命名应保持一致。
注意：该拼写错误不仅存在于 core_cm1.h，还出现在多个 CMSIS 头文件中（core_sc000.h、core_starmc1.h、core_cm55.h、core_cm85.h、core_cm33.h、core_cm35p.h、core_cm23.h），这表明该问题可能源自上游 ARM CMSIS 源码。虽然这些是保留字段不影响功能，但建议修正以保持命名一致性。
🤖 Prompt for AI Agents
In `@firmware/c_board/bsp/HAL/Drivers/CMSIS/Include/core_cm1.h` at line 319,
NVIC_Type 结构体中保留字段名拼写错误：将当前的 RSERVED1 更正为 RESERVED1（与同结构体的 RESERVED0/2/3/4
保持一致）以修复命名不一致的问题；在 core_cm1.h 中更新该标识符并同步检查并修正其他受影响的 CMSIS 头文件（如
core_sc000.h、core_starmc1.h、core_cm55.h、core_cm85.h、core_cm33.h、core_cm35p.h、core_cm23.h）中的同名拼写以保持一致性。
| /** \brief Region Base Address Register value | ||
| * \param BASE The base address bits [31:5] of a memory region. The value is zero extended. Effective address gets 32 byte aligned. | ||
| * \param SH Defines the Shareability domain for this memory region. | ||
| * \param RO Read-Only: Set to 1 for a read-only memory region. | ||
| * \param NP Non-Privileged: Set to 1 for a non-privileged memory region. | ||
| * \oaram XN eXecute Never: Set to 1 for a non-executable memory region. | ||
| */ | ||
| #define ARM_MPU_RBAR(BASE, SH, RO, NP, XN) \ | ||
| (((BASE) & MPU_RBAR_BASE_Msk) | \ | ||
| (((SH) << MPU_RBAR_SH_Pos) & MPU_RBAR_SH_Msk) | \ | ||
| ((ARM_MPU_AP_(RO, NP) << MPU_RBAR_AP_Pos) & MPU_RBAR_AP_Msk) | \ | ||
| (((XN) << MPU_RBAR_XN_Pos) & MPU_RBAR_XN_Msk)) |
There was a problem hiding this comment.
修正 Doxygen 参数标签拼写错误。
ARM_MPU_RBAR 注释里的 \oaram 应为 \param，否则生成的文档会丢失参数说明。
🛠️ 建议修正
-* \oaram XN eXecute Never: Set to 1 for a non-executable memory region.
+* \param XN eXecute Never: Set to 1 for a non-executable memory region.📝 Committable suggestion
‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.
| /** \brief Region Base Address Register value | |
| * \param BASE The base address bits [31:5] of a memory region. The value is zero extended. Effective address gets 32 byte aligned. | |
| * \param SH Defines the Shareability domain for this memory region. | |
| * \param RO Read-Only: Set to 1 for a read-only memory region. | |
| * \param NP Non-Privileged: Set to 1 for a non-privileged memory region. | |
| * \oaram XN eXecute Never: Set to 1 for a non-executable memory region. | |
| */ | |
| #define ARM_MPU_RBAR(BASE, SH, RO, NP, XN) \ | |
| (((BASE) & MPU_RBAR_BASE_Msk) | \ | |
| (((SH) << MPU_RBAR_SH_Pos) & MPU_RBAR_SH_Msk) | \ | |
| ((ARM_MPU_AP_(RO, NP) << MPU_RBAR_AP_Pos) & MPU_RBAR_AP_Msk) | \ | |
| (((XN) << MPU_RBAR_XN_Pos) & MPU_RBAR_XN_Msk)) | |
| /** \brief Region Base Address Register value | |
| * \param BASE The base address bits [31:5] of a memory region. The value is zero extended. Effective address gets 32 byte aligned. | |
| * \param SH Defines the Shareability domain for this memory region. | |
| * \param RO Read-Only: Set to 1 for a read-only memory region. | |
| * \param NP Non-Privileged: Set to 1 for a non-privileged memory region. | |
| * \param XN eXecute Never: Set to 1 for a non-executable memory region. | |
| */ | |
| `#define` ARM_MPU_RBAR(BASE, SH, RO, NP, XN) \ | |
| (((BASE) & MPU_RBAR_BASE_Msk) | \ | |
| (((SH) << MPU_RBAR_SH_Pos) & MPU_RBAR_SH_Msk) | \ | |
| ((ARM_MPU_AP_(RO, NP) << MPU_RBAR_AP_Pos) & MPU_RBAR_AP_Msk) | \ | |
| (((XN) << MPU_RBAR_XN_Pos) & MPU_RBAR_XN_Msk)) |
🤖 Prompt for AI Agents
In `@firmware/c_board/bsp/HAL/Drivers/CMSIS/Include/mpu_armv8.h` around lines 82 -
93, The Doxygen tag typo in the ARM_MPU_RBAR comment (currently "\oaram XN")
prevents parameter documentation for XN from being generated; update the comment
block above the ARM_MPU_RBAR macro replacing "\oaram" with the correct "\param"
for the XN parameter so the Doxygen parser recognizes and includes the XN
description.
| #define ARM_PMU_MVE_LD_MULTI_RETIRED 0x0260 /*!< MVE memory load instruction targeting multiple registers architecturally executed */ | ||
| #define ARM_PMU_MVE_LD_MULTI_SPEC 0x0261 /*!< MVE memory load instruction targeting multiple registers speculatively executed */ | ||
| #define ARM_PMU_MVE_ST_MULTI_RETIRED 0x0261 /*!< MVE memory store instruction targeting multiple registers architecturally executed */ | ||
| #define ARM_PMU_MVE_ST_MULTI_SPEC 0x0265 /*!< MVE memory store instruction targeting multiple registers speculatively executed */ |
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# 首先查看文件内容，确认第 134-137 行的代码
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🌐 Web query:
Arm CMSIS pmu_armv8.h MVE event codes ARM_PMU_MVE_ST_MULTI_RETIRED correct value
💡 Result:
ARM_PMU_MVE_ST_MULTI_RETIRED should be 0x0264 (MVE memory store instruction targeting multiple registers, architecturally executed). This matches Arm’s Armv8.1‑M Performance Monitoring User Guide event table, where 0x0264 = MVE_ST_MULTI_RETIRED. [1]
The 0x0261 value seen in some pmu_armv8.h copies is inconsistent because 0x0261 is already used for ARM_PMU_MVE_LD_MULTI_SPEC in CMSIS documentation, indicating the ST_MULTI_RETIRED define there is likely a typo. [2]
Practical fix: override/patch your header to:
`#define` ARM_PMU_MVE_ST_MULTI_RETIRED 0x0264Sources: Arm PMU user guide table [1], CMSIS PMU event definitions page showing the conflicting 0x0261 entries [2].
[1] https://www.scribd.com/document/723966350/ARM-an-ARMv8-1-M-Performance-Monitoring-User-Guide
[2] https://arm-software.github.io/CMSIS_6/v6.0.0/Core/group__pmu8__events__armv81.html
事件编码重复：ARM_PMU_MVE_ST_MULTI_RETIRED 定义错误。
第 136 行中 ARM_PMU_MVE_ST_MULTI_RETIRED 定义为 0x0261，与第 135 行的 ARM_PMU_MVE_LD_MULTI_SPEC 编码重复，会导致性能计数器事件映射错误。根据官方 Arm Armv8.1‑M Performance Monitoring User Guide，ARM_PMU_MVE_ST_MULTI_RETIRED 应为 0x0264。
修正：
`#define` ARM_PMU_MVE_ST_MULTI_RETIRED 0x0264 /*!< MVE memory store instruction targeting multiple registers architecturally executed */🤖 Prompt for AI Agents
In `@firmware/c_board/bsp/HAL/Drivers/CMSIS/Include/pmu_armv8.h` around lines 134
- 137, The macro ARM_PMU_MVE_ST_MULTI_RETIRED is incorrectly defined as 0x0261
(duplicate of ARM_PMU_MVE_LD_MULTI_SPEC); update the definition for
ARM_PMU_MVE_ST_MULTI_RETIRED to the correct event code 0x0264 so the event
mapping is unique and matches the Armv8.1‑M Performance Monitoring User Guide.
1 participant
PR 摘要：c_board 固件模块集成
概述
本PR向librmcs项目添加了完整的c_board固件支持，包括STM32F407微控制器的HAL驱动程序库、CMSIS核心库和基于CMake的构建系统。这是一个大规模的基础设施提交，为嵌入式固件开发奠定了基础。
核心变更
构建系统与工作流
lint.yml: 在linting工作流中新增"Configure firmware/c_board"步骤，用于CMake预设配置
lint-targets.yml: 添加c_board的lint目标定义，指定firmware/c_board/CMakeLists.txt和相关源目录
CMakeLists.txt (固件根目录):
CMakePresets.json: 定义四个CMake预设
代码质量工具配置
STM32 HAL 驱动程序
添加完整的STM32F407 HAL支持：
外设初始化模块:
系统初始化:
main.c:
stm32f4xx_it.c/stm32f4xx_it.h:
system_stm32f4xx.c:
内存和系统支持:
配置文件:
stm32f4xx_hal_conf.h: STM32 HAL配置（495行）
.mxproject: STM32CubeMX项目配置，包含文件列表、源路径、预处理定义
CMSIS 核心库（Cortex Microcontroller Software Interface Standard）
编译器兼容层 (支持多个编译器):
核心外设访问层:
系统设备定义:
特殊功能库:
许可证:
技术特性
代码统计