feat(firmware/rmcs_board): Add WS2812 status LED feedback#50
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Walkthrough该 PR 在 rmcs_board 上新增 WS2812 驱动（PWM+DMA）与 LED 控制逻辑、引入 1 kHz 的周期滴答定时器并将其与 LED 更新关联，更新若干通信模块在缓冲区溢出时触发 LED 指示，添加板级 WS2812 / GPTMR 初始化和中断接入；同时为 utility::Lazy 添加文档并新增非断言访问器 ChangesLED/Timer 集成（主 DAG）
工具类改动（独立 DAG）
Sequence DiagramsequenceDiagram
participant App as App
participant Timer as Tick Timer
participant LED as Led Controller
participant WS2812 as WS2812 Driver
participant CANUARTUSB as CAN/UART/USB Buffers
participant IRQ as IRQ Handler
App->>Timer: timer::tick.init()
App->>LED: led::led.init()
LED->>WS2812: ws2812.init()
WS2812->>WS2812: 配置 PWM + DMA
loop 每 ~1ms
IRQ->>Timer: GPTMR1 重载中断
Timer->>Timer: tick_counter++
Timer->>LED: update(tick_counter)
LED->>WS2812: set_value(...) (根据计数器和相位)
end
CANUARTUSB->>LED: 缓冲区满触发
LED->>LED: 设置相应计数器 = 5000
Estimated code review effort🎯 4 (Complex) | ⏱️ ~60 minutes Possibly related PRs
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🚥 Pre-merge checks | ✅ 4 | ❌ 1❌ Failed checks (1 warning)
✅ Passed checks (4 passed)
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Actionable comments posted: 2
🤖 Prompt for all review comments with AI agents
Verify each finding against the current code and only fix it if needed.
Inline comments:
In `@firmware/rmcs_board/app/src/led/ws2812.hpp`:
- Around line 113-116: The DMA transfer size is set incorrectly in set_value():
ctrl.TRANSIZE uses compare_values_.size() (element count) but must be a byte
count to match init_dma() and tx semantics; change the assignment in set_value()
so ctrl.TRANSIZE is the number of bytes (e.g., sizeof(compare_values_)) rather
than the element count, consistent with how TRANSIZE is used in init_dma() and
tx_buffer.hpp.
In `@firmware/rmcs_board/app/src/utility/lazy.hpp`:
- Around line 54-63: Lazy::get() now returns nullptr instead of asserting;
update all callers to handle that case: search for uses of Lazy::get() (e.g.,
variables can1, can2 and the call sequence where can = can1.get(); can =
can2.get(); followed by can->handle_uplink()) and add a null-check before any
dereference (or replace with a checked accessor) and handle the uninitialized
path consistently (log/error/early-return or assert_if_critical). Ensure every
call site that previously assumed non-nullation either guards the pointer or
calls a new checked accessor on Lazy.
🪄 Autofix (Beta)
Fix all unresolved CodeRabbit comments on this PR:
- Push a commit to this branch (recommended)
- Create a new PR with the fixes
ℹ️ Review info
⚙️ Run configuration
Configuration used: Organization UI
Review profile: CHILL
Plan: Pro
Run ID: 46612772-632a-404c-a994-eadbd03ef43b
📒 Files selected for processing (16)
firmware/c_board/app/src/utility/lazy.hppfirmware/rmcs_board/app/src/app.cppfirmware/rmcs_board/app/src/can/can.hppfirmware/rmcs_board/app/src/gpio/analog_gpio_pin.hppfirmware/rmcs_board/app/src/led/led.hppfirmware/rmcs_board/app/src/led/ws2812.hppfirmware/rmcs_board/app/src/timer/tick.cppfirmware/rmcs_board/app/src/timer/tick.hppfirmware/rmcs_board/app/src/uart/uart.hppfirmware/rmcs_board/app/src/usb/interrupt_safe_buffer.hppfirmware/rmcs_board/app/src/utility/assert.cppfirmware/rmcs_board/app/src/utility/lazy.hppfirmware/rmcs_board/boards/lite/app/board_app.cppfirmware/rmcs_board/boards/lite/app/board_app.hppfirmware/rmcs_board/boards/pro/app/board_app.cppfirmware/rmcs_board/boards/pro/app/board_app.hpp
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✅ Actions performedReviews paused. |
- Expose USB, UART, and CAN backpressure plus fatal asserts through a shared status light path so board health is visible without a debugger. - Keep the pro variant initialized but non-driving so the same firmware path is ready for the next hardware revision.
- Introduce an explicit nullable probe accessor for firmware Lazy wrappers and keep get(), operator->(), and operator*() as strict accessors that require prior initialization. - Use try_get() in the rmcs_board assert WS2812 path so assert handling can probe LED availability without re-entering Lazy assertions or triggering clang-tidy recursion diagnostics. - Add Doxygen comments to document the split between nullable probing and strict access across both firmware variants.
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WS2812 状态指示灯反馈功能（更新）
该拉取请求为固件添加了共享的 WS2812 状态指示灯路径，用于在无需调试器的情况下通过可视反馈暴露 USB/UART/CAN 的背压状态及致命断言信息；同时保留 pro 硬件变体的初始化但不驱动线路，以便未来硬件修订复用相同固件路径。
核心功能
集成点（缓冲区/传输失败 -> 指示灯）
断言视觉反馈
Lazy 访问语义变更（重要，破坏性）
板级与 GPIO 改动
其它