Initial commit

.github/workflows/build.yml

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+name: Build Project
+on:
+  push:
+  pull_request:
+
+jobs:
+  build:
+    name: Build
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          submodules: "recursive" # Checkout submodules
+
+      - name: Install ARM GCC Toolchain
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y gcc-arm-none-eabi make
+
+      - name: Build project
+        run: |
+          make -j$(nproc) V=1
+        shell: bash

.gitignore

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+.vscode/settings.json
+.vscode/c_cpp_properties.json
+build/

.gitmodules

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+[submodule "control-base"]
+	path = control-base
+	url = https://github.com/RoboMaster-Club/control-base.git

.vscode/launch.json

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+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "CMSIS-DAP",
+            "cwd": "${workspaceRoot}",
+            "executable": "${workspaceRoot}${/}build${/}control-template.elf",
+            "request": "launch",
+            "type": "cortex-debug",
+            "svdFile": "STM32F407.svd",
+            "servertype": "openocd", //GDB server
+            "configFiles": [
+                "${workspaceRoot}${/}control-base${/}config${/}openocd_cmsis_dap.cfg" // config
+            ],
+            //"runToEntryPoint": "main", // stop at main
+            //"showDevDebugOutput": "raw", // enable debug output
+            "rtos": "FreeRTOS",
+            "liveWatch": {
+                "enabled": true,
+                "samplesPerSecond": 4
+            },
+            "preLaunchTask": "build" // build before debug
+        },
+        {
+            "name": "ST-LINK",
+            "cwd": "${workspaceRoot}",
+            "executable": "${workspaceRoot}${/}build${/}control-template.elf",
+            "request": "launch",
+            "type": "cortex-debug",
+            "svdFile": "STM32F407.svd",
+            "servertype": "openocd", //GDB server
+            "configFiles": [
+                "${workspaceRoot}${/}control-base${/}config${/}openocd_stlink.cfg" // config
+            ],
+            //"runToEntryPoint": "main", // stop at main
+            //"showDevDebugOutput": "raw", // enable debug output
+            "rtos": "FreeRTOS",
+            "liveWatch": {
+                "enabled": true,
+                "samplesPerSecond": 4
+            },
+            "preLaunchTask": "build" // build before debug
+        }
+    ]
+}

.vscode/tasks.json

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+{
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "build",
+            "type": "shell",
+            "osx": {
+                "command": "make -j V=1"
+            },
+            "linux": {
+                "command": "make -j V=1"
+            },
+            "windows": {
+                "command": "mingw32-make -j V=1"
+            },
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "problemMatcher": {
+                "fileLocation": "absolute",
+                "pattern": {
+                    "regexp": "^(.*):(\\d+):(\\d+):\\s+(warning|error):\\s+(.*)$",
+                    "file": 1,
+                    "line": 2,
+                    "column": 3,
+                    "severity": 4,
+                    "message": 5
+                }
+            }
+        },
+        {
+            "label": "clean",
+            "type": "shell",
+            "osx": {
+                "command": "git submodule update; make clean_unix"
+            },
+            "linux": {
+                "command": "git submodule update; make clean_unix"
+            },
+            "windows": {
+                "command": "git submodule update; mingw32-make clean"
+            },
+            "problemMatcher": []
+        },
+        {
+            "label": "flash",
+            "type": "shell",
+            "osx": {
+                "command": "make download"
+            },
+            "linux": {
+                "command": "make download"
+            },
+            "windows": {
+                "command": "mingw32-make download_powershell"
+            },
+            "problemMatcher": []
+        },
+        {
+            "label": "build and flash",
+            "type": "shell",
+            "dependsOn": [
+                "build",
+                "flash"
+            ],
+            "dependsOrder": "sequence",
+            "problemMatcher": []
+        },
+        {
+            "label": "rebuild",
+            "type": "shell",
+            "dependsOn": [
+                "clean",
+                "build"
+            ],
+            "dependsOrder": "sequence",
+            "problemMatcher": []
+        }
+    ]
+}