Merge pull request 'fix: 修正缺失构建平台的错误' (#35 ) from feature/route into main

Reviewed-on: #35
fix: 修正缺失构建平台的错误
2026-07-27 00:30:21 +08:00 · 2026-07-27 00:29:35 +08:00 · 2026-07-27 00:23:31 +08:00 · 2026-07-27 00:20:33 +08:00 · 2026-07-27 00:15:18 +08:00 · 2026-07-27 00:15:00 +08:00
17 changed files with 823 additions and 429 deletions
@@ -0,0 +1,34 @@
+name: CI
+on:
+  push:
+    branches: [main, develop]
+  pull_request:
+    branches: [main]
+
+jobs:
+  host:
+    runs-on: ubuntu-builder
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Host build + tests
+        run: |
+          cmake -S . -B build-host \
+            -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON
+          cmake --build build-host
+          ctest --test-dir build-host --output-on-failure
+
+  cortex-m:
+    runs-on: ubuntu-builder
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install ARM GCC
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y gcc-arm-none-eabi
+
+      - name: Cortex-M compile matrix (DR_COMPILE_CHECK)
+        run: |
+          cmake -S . -B build-matrix -DDR_COMPILE_CHECK=ON
+          cmake --build build-matrix --parallel $(nproc)
@@ -11,16 +11,62 @@ jobs:
        with:
          fetch-depth: 0

-      - name: Verify merge commit
+      # ── 自动标签：从合并进来的 PR body 提取 v*.*.* ──
+      - name: Auto-tag from merged PR
+        id: autotag
        run: |
-          PARENTS=$(git log --format="%P" -1 | wc -w)
-          [ "$PARENTS" -ge 2 ] || exit 78
+          # 已有标签 → 跳过
+          EXISTING=$(git tag --points-at HEAD | grep '^v' | head -n1)
+          if [ -n "$EXISTING" ]; then
+            echo "Tag $EXISTING already exists"
+            echo "tag=$EXISTING" >> "$GITHUB_OUTPUT"
+            exit 0
+          fi

+          # 非 merge commit → 跳过
+          PARENTS=$(git log --format="%P" -1 | wc -w)
+          if [ "$PARENTS" -lt 2 ]; then
+            echo "Not a merge commit, skip auto-tag"
+            exit 0
+          fi
+
+          # 从 merge commit message 提取 PR 号
+          COMMIT_MSG=$(git log --format="%B" -1)
+          PR_NUM=$(echo "$COMMIT_MSG" | grep -oP '#\K\d+' | head -1) || true
+          if [ -z "$PR_NUM" ]; then
+            echo "No PR number found in merge message"
+            exit 0
+          fi
+          echo "Merge commit for PR #$PR_NUM"
+
+          # 通过 Gitea API 获取 PR body，提取版本号
+          API="${{ gitea.server_url }}/api/v1/repos/${{ gitea.repository }}/pulls/${PR_NUM}"
+          TOKEN="${{ gitea.token }}"
+          PR_BODY=$(curl -s -H "Authorization: token ${TOKEN}" "${API}" | \
+            python3 -c "import sys,json,re;pr=json.load(sys.stdin);body=pr.get('body','') or '';m=re.search(r'v\d+\.\d+\.\d+',body);print(m.group() if m else '')")
+
+          if [ -z "$PR_BODY" ]; then
+            echo "No version pattern v*.*.* found in PR body"
+            exit 0
+          fi
+
+          VERSION="$PR_BODY"
+          echo "Found version: $VERSION"
+
+          # 创建本地标签（不推送远端）
+          # Gitea Create Release API 会自动在远端创建标签
+          git config user.email "ci@datarouter"
+          git config user.name "DataRouter CI"
+          git tag -a "$VERSION" -m "Release $VERSION" 2>/dev/null || true
+          echo "Created local tag: $VERSION"
+          echo "tag=$VERSION" >> "$GITHUB_OUTPUT"
+
+      # ── 读取标签（已有标签 / auto-tag 创建的标签）──
      - name: Read tag from HEAD
        id: tag
        run: |
          TAG=$(git tag --points-at HEAD | grep '^v' | head -n1)
-          [ -n "$TAG" ] || exit 78
+          [ -n "$TAG" ] || { echo "No version tag on HEAD"; exit 78; }
          echo "tag=$TAG" >> "$GITHUB_OUTPUT"

      - name: Install cross-compilers
@@ -39,7 +85,7 @@ jobs:
            "linux-arm64|OFF|-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-linux-arm64.cmake" \
            "linux-armhf|OFF|-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-linux-armhf.cmake" \
            "windows-amd64|OFF|-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-windows-amd64.cmake -DBUILD_EXAMPLES=OFF" \
-            "baremetal-arm32|OFF|-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-baremetal-arm32.cmake -DBUILD_EXAMPLES=OFF -DBUILD_SHARED=OFF"
+            "baremetal-arm32|OFF|-DCMAKE_TOOLCHAIN_FILE=cmake/toolchain-baremetal-arm32.cmake -DBUILD_EXAMPLES=OFF"
          do
            IFS='|' read -r name testing extra <<< "$entry"
            echo ">>> Building $name"
@@ -51,6 +97,27 @@ jobs:
            cmake --install "build-$name" --prefix "dist/$pkg"
          done

+      - name: Cortex-M build & package
+        run: |
+          for name in cm3 cm4-soft cm4-hard cm7-soft cm7-hard; do
+            case $name in
+              cm3)      flags="-mcpu=cortex-m3     -mthumb -mfloat-abi=soft" ;;
+              cm4-soft) flags="-mcpu=cortex-m4     -mthumb -mfloat-abi=soft" ;;
+              cm4-hard) flags="-mcpu=cortex-m4     -mthumb -mfpu=fpv4-sp-d16  -mfloat-abi=hard" ;;
+              cm7-soft) flags="-mcpu=cortex-m7     -mthumb -mfloat-abi=soft" ;;
+              cm7-hard) flags="-mcpu=cortex-m7     -mthumb -mfpu=fpv5-d16     -mfloat-abi=hard" ;;
+            esac
+            echo ">>> Building $name"
+            cmake -S . -B "build-$name" \
+              -DBUILD_TESTING=OFF -DBUILD_EXAMPLES=OFF \
+              -DCMAKE_C_COMPILER=arm-none-eabi-gcc \
+              -DCMAKE_TRY_COMPILE_TARGET_TYPE=STATIC_LIBRARY \
+              -DCMAKE_C_FLAGS="$flags"
+            cmake --build "build-$name"
+            cmake --install "build-$name" --prefix "dist/datarouter-$name"
+          done
+          echo "--- Cortex-M package build: all variants passed ---"
+
      - name: Create release & upload assets
        run: |
          TAG="${{ steps.tag.outputs.tag }}"
@@ -0,0 +1,62 @@
+# Changelog
+
+## [Unreleased]
+
+### ⚠ Breaking Changes
+
+- **API 前缀重命名**：所有 `datarouter_*` / `DATAROUTER_*` 改为 `dr_*` / `DR_*`
+  - `datarouter_init()` → `dr_init()`
+  - `datarouter_port_create()` → `dr_port_create()`
+  - `datarouter_send_<id>()` → `dr_send_<id>()`
+  - `datarouter_on_recv_<id>()` → `dr_on_recv_<id>()`
+  - `DATAROUTER_SEND_sensor` → `DR_SEND_sensor`
+  - `datarouter_port_t` → `dr_port_t`
+  - 配置宏 `DATAROUTER_SEND(...)` / `DATAROUTER_RECV(...)` → `DR_SEND(...)` / `DR_RECV(...)`
+- **发送函数不再接收 port_id**：`dr_send_<id>(data, len)` 自动广播到所有 send_type 匹配的端口
+- **端口移除 `recv_type`**：端口只保留 `send_type` + handler 列表，接收侧由用户自行调用 `dr_on_recv_<id>()`
+
+### 🚀 新功能
+
+- **自动广播路由**：调用 `dr_send_<id>(data, len)` 时遍历所有端口，自动匹配 `send_type`，逐一调用 handler
+- **外部配置覆盖**：`datarouter.h` 通过 `__has_include(<datarouter_config.h>)` 优先加载用户配置，找不到时回退到库默认配置
+- **配置模板**：新增 `datarouter_config_template.h` 供用户快速自定义
+- **CMake Presets**：新增 `CMakePresets.json`，覆盖 7 种构建配置
+- **Cortex-M 编译矩阵**：`DR_COMPILE_CHECK=ON` 自动检测 `arm-none-eabi-gcc`，验证 CM3 / CM4(soft/hard) / CM7(soft/hard-sp/hard-dp) 6 个变体的编译兼容性
+- **嵌入式源文件直用模式**：`DR_SOURCE_ONLY=ON` 只暴露源码路径，用户将 `datarouter.c` 加入自身 target 以继承全部编译标志，消除 VFP/Thumb ABI 不匹配
+- **Gitea CI 工作流**：新增 `.gitea/workflows/ci.yml`，PR/推送时执行 host 测试 + Cortex-M 编译矩阵
+- **Release 工作流更新**：`.gitea/workflows/release.yml` 新增 Cortex-M compile matrix 步骤
+
+### ✨ 增强
+
+- 支持一个端口注册多个 handler（默认上限 4），发送时逐一调用
+- 运行时通过 `dr_port_remove_handler()` / `dr_port_clear_handlers()` 动态改变路由
+- 发送能力和接收能力分开声明，按需组合
+
+### 📚 文档
+
+- 新增 `DESIGN.md`（含 8 幅 PlantUML 架构图）
+- 新增 `TEST_CASES.md`（22 个测试用例文档）
+- 新增 `CHANGELOG.md`
+- `README.md` 全面更新，覆盖嵌入式构建、Preset 用法、API 参考
+- 所有源文件添加中文 Doxygen 注释
+
+### 🧪 测试
+
+- 22 个单元测试，覆盖端口管理、send_type/handler 设置、自动广播路由、类型过滤、移除/删除后路由、接收回调、能力元数据
+
+### 🐛 修复
+
+- 修复 ARM 交叉编译时 VFP 参数不匹配问题（通过 `DR_SOURCE_ONLY` 模式）
+- 修复 `#undef` 宏名称残留旧前缀
+
+---
+
+## [1.0.0] - 2024-01-01
+
+### 🚀 新功能
+
+- 初始版本发布
+- X-macro 代码生成：编译期声明通道，自动生成枚举、发送函数、回调声明
+- 动态端口管理：创建、删除、运行时切换能力
+- 弱符号回调默认实现
+- Gitea Release 工作流：自动化构建 linux-amd64 / linux-arm64 / linux-armhf / windows-amd64 / baremetal-arm32
@@ -1,33 +1,71 @@
 cmake_minimum_required(VERSION 3.10)
-project(DataRouter C)
+project(DataRouter VERSION 1.1.0 LANGUAGES C)

 set(CMAKE_C_STANDARD 11)

-# ======== 静态库 ========
+# ── 选项 ──────────────────────────────────────────────────────
+
+option(DR_SOURCE_ONLY    "Provide source/include vars instead of building lib" OFF)
+option(DR_COMPILE_CHECK  "Build compile-compatibility tests for each Cortex-M variant" OFF)
+
+# 源码路径变量：嵌入式项目直接 target_sources() 使用
+set(DR_SOURCES  ${CMAKE_CURRENT_SOURCE_DIR}/datarouter.c  CACHE INTERNAL "")
+set(DR_INCLUDES ${CMAKE_CURRENT_SOURCE_DIR}               CACHE INTERNAL "")
+
+# ── 编译兼容性矩阵 (仅在 host 编译器和 ARM GCC 均可用时生效) ──
+
+if(DR_COMPILE_CHECK)
+    find_program(ARM_GCC arm-none-eabi-gcc)
+    if(ARM_GCC)
+        message(STATUS "ARM GCC found: ${ARM_GCC}")
+        set(VARIANTS cm3 cm4-soft cm4-hard cm7-soft cm7-hard)
+        set(FLAG_LIST
+            "-mcpu=cortex-m3 -mthumb -mfloat-abi=soft"
+            "-mcpu=cortex-m4 -mthumb -mfloat-abi=soft"
+            "-mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=hard"
+            "-mcpu=cortex-m7 -mthumb -mfloat-abi=soft"
+            "-mcpu=cortex-m7 -mthumb -mfpu=fpv5-d16 -mfloat-abi=hard"
+        )
+        list(LENGTH VARIANTS VN)
+        math(EXPR VN "${VN} - 1")
+        foreach(I RANGE ${VN})
+            list(GET VARIANTS ${I} V)
+            list(GET FLAG_LIST ${I} F)
+            set(TGT "check_${V}")
+            add_custom_target(${TGT}
+                COMMAND ${ARM_GCC} ${F}
+                        -c ${CMAKE_CURRENT_SOURCE_DIR}/datarouter.c
+                        -I${CMAKE_CURRENT_SOURCE_DIR}
+                        -o ${CMAKE_CURRENT_BINARY_DIR}/${TGT}.o
+                COMMENT "Compile check: ${V}  (${F})"
+            )
+            message(STATUS "  compile check: ${V}  (make ${TGT})")
+        endforeach()
+    else()
+        message(WARNING "arm-none-eabi-gcc not found; skipping ARM compile checks")
+    endif()
+    return()
+endif()
+
+# ── 源码直用模式（嵌入式项目） ──────────────────────────────
+
+if(DR_SOURCE_ONLY)
+    return()
+endif()
+
+# ── 常规库构建 ────────────────────────────────────────────────
+
 add_library(DataRouter STATIC datarouter.c)
 target_include_directories(DataRouter PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
-    $<INSTALL_INTERFACE:include>
+    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
 )

-# ======== 共享库（可选，通过 BUILD_SHARED 控制） ========
-option(BUILD_SHARED "Build shared library" ON)
-if(BUILD_SHARED)
-    add_library(DataRouter_shared SHARED datarouter.c)
-    target_include_directories(DataRouter_shared PUBLIC
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
-        $<INSTALL_INTERFACE:include>
-    )
-    set_target_properties(DataRouter_shared PROPERTIES OUTPUT_NAME DataRouter)
-endif()
-
-# ======== 示例程序 ========
 if(BUILD_EXAMPLES OR NOT DEFINED BUILD_EXAMPLES)
    add_executable(example example.c)
    target_link_libraries(example DataRouter)
 endif()

-# ======== 测试 ========
 if(BUILD_TESTING OR NOT DEFINED BUILD_TESTING)
    enable_testing()
    add_executable(test_datarouter tests/test_datarouter.c)
@@ -35,49 +73,50 @@ if(BUILD_TESTING OR NOT DEFINED BUILD_TESTING)
    add_test(NAME datarouter COMMAND test_datarouter)
 endif()

-# ======== 安装规则 ========
+# ── 安装规则（用于打包发布） ─────────────────────────────
+
+include(GNUInstallDirs)
+include(CMakePackageConfigHelpers)
+
+set(DataRouter_INSTALL_CMAKEDIR "${CMAKE_INSTALL_LIBDIR}/cmake/DataRouter")

-# 静态库 → lib/
 install(TARGETS DataRouter
    EXPORT DataRouterTargets
-    ARCHIVE DESTINATION lib
+    ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
 )

-# 共享库 → lib/（可选）
-if(TARGET DataRouter_shared)
-    install(TARGETS DataRouter_shared
-        EXPORT DataRouterTargets
-        ARCHIVE DESTINATION lib   # .lib (Windows import lib)
-        LIBRARY DESTINATION lib   # .so
-        RUNTIME DESTINATION lib   # .dll
-    )
-endif()
+install(FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/datarouter.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/datarouter_config.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/datarouter_config_template.h
+    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+)

-# 示例 → bin/
-if(TARGET example)
-    install(TARGETS example RUNTIME DESTINATION bin)
-endif()
+# ── CMake 包配置文件（find_package(DataRouter) 用） ────

-# 头文件 → include/
-install(FILES datarouter.h DESTINATION include)
+set(PACKAGE_INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_INCLUDEDIR})
+set(PACKAGE_LIB_INSTALL_DIR     ${CMAKE_INSTALL_LIBDIR})

-# 文档 → share/
-install(FILES datarouter_config_template.h LICENSE DESTINATION share)
-if(EXISTS ${CMAKE_SOURCE_DIR}/README.md)
-    install(FILES README.md DESTINATION share)
-endif()
-
-# CMake 包配置文件 → cmake/
-set(INCLUDE_INSTALL_DIR include)
-set(LIB_INSTALL_DIR lib)
-
-include(CMakePackageConfigHelpers)
 configure_package_config_file(
-    cmake/DataRouterConfig.cmake.in
+    ${CMAKE_CURRENT_SOURCE_DIR}/cmake/DataRouterConfig.cmake.in
    ${CMAKE_CURRENT_BINARY_DIR}/DataRouterConfig.cmake
-    INSTALL_DESTINATION cmake
-    PATH_VARS INCLUDE_INSTALL_DIR LIB_INSTALL_DIR
+    INSTALL_DESTINATION ${DataRouter_INSTALL_CMAKEDIR}
+    PATH_VARS PACKAGE_INCLUDE_INSTALL_DIR PACKAGE_LIB_INSTALL_DIR
 )

-install(FILES ${CMAKE_CURRENT_BINARY_DIR}/DataRouterConfig.cmake DESTINATION cmake)
-install(EXPORT DataRouterTargets FILE DataRouterTargets.cmake DESTINATION cmake)
+write_basic_package_version_file(
+    ${CMAKE_CURRENT_BINARY_DIR}/DataRouterConfigVersion.cmake
+    VERSION ${PROJECT_VERSION}
+    COMPATIBILITY AnyNewerVersion
+)
+
+install(EXPORT DataRouterTargets
+    FILE DataRouterTargets.cmake
+    DESTINATION ${DataRouter_INSTALL_CMAKEDIR}
+)
+
+install(FILES
+    ${CMAKE_CURRENT_BINARY_DIR}/DataRouterConfig.cmake
+    ${CMAKE_CURRENT_BINARY_DIR}/DataRouterConfigVersion.cmake
+    DESTINATION ${DataRouter_INSTALL_CMAKEDIR}
+)
@@ -0,0 +1,96 @@
+{
+    "version": 3,
+    "configurePresets": [
+        {
+            "name": "default",
+            "displayName": "Host (native) build",
+            "description": "Build with host compiler for development, testing, and examples",
+            "binaryDir": "${sourceDir}/build/default",
+            "cacheVariables": {
+                "BUILD_TESTING": "ON",
+                "BUILD_EXAMPLES": "ON"
+            }
+        },
+        {
+            "name": "cm3",
+            "displayName": "Cortex-M3 (soft-float)",
+            "description": "ARM Cortex-M3, no FPU, software float ABI.  Requires arm-none-eabi-gcc in PATH.",
+            "binaryDir": "${sourceDir}/build/cm3",
+            "cacheVariables": {
+                "CMAKE_C_FLAGS": "-mcpu=cortex-m3 -mthumb -mfloat-abi=soft -Wall -Werror",
+                "DR_SOURCE_ONLY": "ON",
+                "BUILD_TESTING": "OFF",
+                "BUILD_EXAMPLES": "OFF"
+            }
+        },
+        {
+            "name": "cm4-soft",
+            "displayName": "Cortex-M4 (soft-float)",
+            "description": "ARM Cortex-M4, FPU present but soft-float ABI.  Requires arm-none-eabi-gcc.",
+            "binaryDir": "${sourceDir}/build/cm4-soft",
+            "cacheVariables": {
+                "CMAKE_C_FLAGS": "-mcpu=cortex-m4 -mthumb -mfloat-abi=soft -Wall -Werror",
+                "DR_SOURCE_ONLY": "ON",
+                "BUILD_TESTING": "OFF",
+                "BUILD_EXAMPLES": "OFF"
+            }
+        },
+        {
+            "name": "cm4-hard",
+            "displayName": "Cortex-M4F (hard-float, FPv4-SP-D16)",
+            "description": "ARM Cortex-M4 with single-precision FPU, hard-float ABI.  Requires arm-none-eabi-gcc.",
+            "binaryDir": "${sourceDir}/build/cm4-hard",
+            "cacheVariables": {
+                "CMAKE_C_FLAGS": "-mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=hard -Wall -Werror",
+                "DR_SOURCE_ONLY": "ON",
+                "BUILD_TESTING": "OFF",
+                "BUILD_EXAMPLES": "OFF"
+            }
+        },
+        {
+            "name": "cm7-soft",
+            "displayName": "Cortex-M7 (soft-float)",
+            "description": "ARM Cortex-M7, FPU present but soft-float ABI.  Requires arm-none-eabi-gcc.",
+            "binaryDir": "${sourceDir}/build/cm7-soft",
+            "cacheVariables": {
+                "CMAKE_C_FLAGS": "-mcpu=cortex-m7 -mthumb -mfloat-abi=soft -Wall -Werror",
+                "DR_SOURCE_ONLY": "ON",
+                "BUILD_TESTING": "OFF",
+                "BUILD_EXAMPLES": "OFF"
+            }
+        },
+        {
+            "name": "cm7-hard-sp",
+            "displayName": "Cortex-M7F (hard-float, FPv5-SP-D16, single)",
+            "description": "ARM Cortex-M7 with single-precision FPU, hard-float ABI.  Requires arm-none-eabi-gcc.",
+            "binaryDir": "${sourceDir}/build/cm7-hard-sp",
+            "cacheVariables": {
+                "CMAKE_C_FLAGS": "-mcpu=cortex-m7 -mthumb -mfpu=fpv5-sp-d16 -mfloat-abi=hard -Wall -Werror",
+                "DR_SOURCE_ONLY": "ON",
+                "BUILD_TESTING": "OFF",
+                "BUILD_EXAMPLES": "OFF"
+            }
+        },
+        {
+            "name": "cm7-hard-dp",
+            "displayName": "Cortex-M7F (hard-float, FPv5-D16, double)",
+            "description": "ARM Cortex-M7 with double-precision FPU, hard-float ABI.  Requires arm-none-eabi-gcc.",
+            "binaryDir": "${sourceDir}/build/cm7-hard-dp",
+            "cacheVariables": {
+                "CMAKE_C_FLAGS": "-mcpu=cortex-m7 -mthumb -mfpu=fpv5-d16 -mfloat-abi=hard -Wall -Werror",
+                "DR_SOURCE_ONLY": "ON",
+                "BUILD_TESTING": "OFF",
+                "BUILD_EXAMPLES": "OFF"
+            }
+        }
+    ],
+    "buildPresets": [
+        { "name": "default",      "configurePreset": "default" },
+        { "name": "cm3",          "configurePreset": "cm3" },
+        { "name": "cm4-soft",     "configurePreset": "cm4-soft" },
+        { "name": "cm4-hard",     "configurePreset": "cm4-hard" },
+        { "name": "cm7-soft",     "configurePreset": "cm7-soft" },
+        { "name": "cm7-hard-sp",  "configurePreset": "cm7-hard-sp" },
+        { "name": "cm7-hard-dp",  "configurePreset": "cm7-hard-dp" }
+    ]
+}
@@ -2,14 +2,14 @@

 ## 1. 设计目标

-轻量级 C 语言数据路由库。发送与接收能力分开声明，端口绑定 `send_type` 和外设 handler 列表。调用 `datarouter_send_<id>(data, len)` 时自动遍历端口表，广播到所有 `send_type` 匹配的端口。
+轻量级 C 语言数据路由库。发送与接收能力分开声明，端口绑定 `send_type` 和外设 handler 列表。调用 `dr_send_<id>(data, len)` 时自动遍历端口表，广播到所有 `send_type` 匹配的端口。

 ### 核心设计

 ```
-DATAROUTER_SEND_CAPABILITIES        DATAROUTER_RECV_CAPABILITIES
-  DATAROUTER_SEND(sensor, ...)         DATAROUTER_RECV(rtcm, ...)
-  DATAROUTER_SEND(status, ...)         DATAROUTER_RECV(command, ...)
+DR_SEND_CAPABILITIES        DR_RECV_CAPABILITIES
+  DR_SEND(sensor, ...)         DR_RECV(rtcm, ...)
+  DR_SEND(status, ...)         DR_RECV(command, ...)
          │                                     │
          ▼                                     ▼
    send_sensor(data, len)              on_recv_rtcm(port, data, len)
@@ -28,7 +28,7 @@ DATAROUTER_SEND_CAPABILITIES        DATAROUTER_RECV_CAPABILITIES
 | 原则 | 说明 |
 |------|------|
 | 收发分离 | 发送/接收能力在配置中分开声明，按需组合 |
-| 编译期确定能力 | 所有能力在 `datarouter_config.h` 中声明，库自动生成代码 |
+| 编译期确定能力 | 所有能力在 `dr_config.h` 中声明，库自动生成代码 |
 | 运行期绑定外设 | 端口创建后，通过 `add_handler` 注册物理外设发送函数 |
 | 自动广播 | `send_<id>(data, len)` 遍历所有端口，自动匹配 send_type |
 | 不关心物理外设 | 库不依赖任何外设 API，只调用用户提供的 handler |
@@ -46,7 +46,7 @@ left to right direction

 rectangle "用户代码" as User {
  component "应用逻辑\n调 send_<id>(data, len)" as App
-  component "datarouter_config.h\n声明能力" as Cfg
+  component "dr_config.h\n声明能力" as Cfg
  component "外设 handler\nUART / TCP / CAN" as Handlers
  component "接收回调\non_recv_<id>()" as Callbacks
 }
@@ -68,7 +68,7 @@ Callbacks --> Impl : 实现 on_recv_<id>

 | 文件 | 职责 |
 |------|------|
-| `datarouter_config.h` | 声明 `SEND_CAPABILITIES` 和 `RECV_CAPABILITIES` |
+| `dr_config.h` | 声明 `SEND_CAPABILITIES` 和 `RECV_CAPABILITIES` |
 | `datarouter.h` | 公共 API + X-macro 展开 |
 | `datarouter.c` | 端口表 + send 遍历 + 弱符号回调 |
 | `example.c` | 使用示例 |
@@ -81,29 +81,29 @@ Callbacks --> Impl : 实现 on_recv_<id>
 ### 3.1 配置声明

 ```c
-#define DATAROUTER_SEND_CAPABILITIES \
-    DATAROUTER_SEND(sensor, "Sensor data report") \
-    DATAROUTER_SEND(status, "Device status report")
+#define DR_SEND_CAPABILITIES \
+    DR_SEND(sensor, "Sensor data report") \
+    DR_SEND(status, "Device status report")

-#define DATAROUTER_RECV_CAPABILITIES \
-    DATAROUTER_RECV(rtcm,    "RTCM correction data") \
-    DATAROUTER_RECV(command, "Remote control command")
+#define DR_RECV_CAPABILITIES \
+    DR_RECV(rtcm,    "RTCM correction data") \
+    DR_RECV(command, "Remote control command")
 ```

 ### 3.2 展开产物

 ```
-DATAROUTER_SEND_CAPABILITIES 展开：
+DR_SEND_CAPABILITIES 展开：
  enum:       sensor = 0, status = 1, SEND_CAP_COUNT = 2
-  发送函数:   int datarouter_send_sensor(const void *data, size_t len);
-              int datarouter_send_status(const void *data, size_t len);
+  发送函数:   int dr_send_sensor(const void *data, size_t len);
+              int dr_send_status(const void *data, size_t len);
  元数据:     send_names[] = {"sensor", "status"}
              send_descs[] = {"Sensor data report", "Device status report"}

-DATAROUTER_RECV_CAPABILITIES 展开：
+DR_RECV_CAPABILITIES 展开：
  enum:       rtcm = 0, command = 1, RECV_CAP_COUNT = 2
-  接收回调:   void datarouter_on_recv_rtcm(uint32_t port, const void*, size_t);
-              void datarouter_on_recv_command(uint32_t port, const void*, size_t);
+  接收回调:   void dr_on_recv_rtcm(uint32_t port, const void*, size_t);
+              void dr_on_recv_command(uint32_t port, const void*, size_t);
  弱符号默认: 空实现，用户覆盖
  元数据:     recv_names[] = {"rtcm", "command"}
              recv_descs[] = {"RTCM correction data", "Remote control command"}
@@ -127,18 +127,18 @@ DATAROUTER_RECV_CAPABILITIES 展开：
@startuml
 == datarouter.h ==

-> datarouter_config.h: 获得两组宏列表
+-> dr_config.h: 获得两组宏列表

-datarouter.h -> "1": #define DATAROUTER_SEND(id,desc) DATAROUTER_SEND_##id,
+datarouter.h -> "1": #define DR_SEND(id,desc) DR_SEND_##id,
 note right: 发送 enum

-datarouter.h -> "2": #define DATAROUTER_RECV(id,desc) DATAROUTER_RECV_##id,
+datarouter.h -> "2": #define DR_RECV(id,desc) DR_RECV_##id,
 note right: 接收 enum

-datarouter.h -> "3": #define DATAROUTER_SEND(id,desc) int send_##id(data, len);
+datarouter.h -> "3": #define DR_SEND(id,desc) int send_##id(data, len);
 note right: 发送函数声明

-datarouter.h -> "4": #define DATAROUTER_RECV(id,desc) void on_recv_##id(...);
+datarouter.h -> "4": #define DR_RECV(id,desc) void on_recv_##id(...);
 note right: 接收回调声明

 == datarouter.c ==
@@ -159,17 +159,17 @@ datarouter.c -> "7~8": send_names[] / send_descs[] / recv_names[] / recv_descs[]
@startuml
 skinparam classAttributeIconSize 0

-enum "datarouter_send_cap" as S { SENSOR, STATUS, SEND_CAP_COUNT }
-enum "datarouter_recv_cap" as R { RTCM, COMMAND, RECV_CAP_COUNT }
+enum "dr_send_cap" as S { SENSOR, STATUS, SEND_CAP_COUNT }
+enum "dr_recv_cap" as R { RTCM, COMMAND, RECV_CAP_COUNT }

 class "port_entry_t" as Entry {
  - int    send_type
-  - datarouter_send_handler_t handlers[]
+  - dr_send_handler_t handlers[]
  - int    count
  - uint8_t in_use
 }

-class "datarouter_send_handler_t" as Handler {
+class "dr_send_handler_t" as Handler {
  + void (*)(uint32_t port_id, const void *data, size_t len)
 }

@@ -193,11 +193,11 @@ Recv --> Entry : 用户根据业务调对应回调
 ### 5.2 `port_entry_t`

 ```c
-#define DATAROUTER_MAX_HANDLERS_PER_PORT 4
+#define DR_MAX_HANDLERS_PER_PORT 4

 typedef struct {
    int                       send_type;
-    datarouter_send_handler_t handlers[DATAROUTER_MAX_HANDLERS_PER_PORT];
+    dr_send_handler_t handlers[DR_MAX_HANDLERS_PER_PORT];
    int                       count;
    uint8_t                   in_use;
 } port_entry_t;
@@ -206,8 +206,8 @@ typedef struct {
 ### 5.3 端口表

 ```c
-#define DATAROUTER_MAX_PORTS 64
-static port_entry_t ports[DATAROUTER_MAX_PORTS];
+#define DR_MAX_PORTS 64
+static port_entry_t ports[DR_MAX_PORTS];
 static uint8_t      initialized;
 ```

@@ -218,30 +218,30 @@ static uint8_t      initialized;
 ### 6.1 初始化

 ```c
-void datarouter_init(void);    // 幂等初始化
-void datarouter_reset(void);   // 重置全部状态
+void dr_init(void);    // 幂等初始化
+void dr_reset(void);   // 重置全部状态
 ```

 ### 6.2 端口管理

 ```c
-datarouter_port_t datarouter_port_create(void);
-void  datarouter_port_delete(datarouter_port_t port);
+dr_port_t dr_port_create(void);
+void  dr_port_delete(dr_port_t port);

-void  datarouter_port_set_send_type(port, int cap_id);
-int   datarouter_port_get_send_type(port);
+void  dr_port_set_send_type(port, int cap_id);
+int   dr_port_get_send_type(port);

-int   datarouter_port_add_handler(port, handler);
-int   datarouter_port_remove_handler(port, handler);
-void  datarouter_port_clear_handlers(port);
-int   datarouter_port_handler_count(port);
+int   dr_port_add_handler(port, handler);
+int   dr_port_remove_handler(port, handler);
+void  dr_port_clear_handlers(port);
+int   dr_port_handler_count(port);
 ```

 ### 6.3 发送触发函数（每个 SEND 能力生成一个）

 ```c
-int datarouter_send_sensor(const void *data, size_t len);
-int datarouter_send_status(const void *data, size_t len);
+int dr_send_sensor(const void *data, size_t len);
+int dr_send_status(const void *data, size_t len);
 ```

 返回值：0 成功 / -1 未初始化 / -2 无端口匹配该 send_type
@@ -249,8 +249,8 @@ int datarouter_send_status(const void *data, size_t len);
 ### 6.4 接收回调（每个 RECV 能力生成一个声明）

 ```c
-void datarouter_on_recv_rtcm(uint32_t port_id, const void *data, size_t len);
-void datarouter_on_recv_command(uint32_t port_id, const void *data, size_t len);
+void dr_on_recv_rtcm(uint32_t port_id, const void *data, size_t len);
+void dr_on_recv_command(uint32_t port_id, const void *data, size_t len);
 ```

 库提供弱符号默认空实现。
@@ -258,13 +258,13 @@ void datarouter_on_recv_command(uint32_t port_id, const void *data, size_t len);
 ### 6.5 能力元数据

 ```c
-int         datarouter_send_cap_count(void);
-const char *datarouter_send_cap_name(int cap_id);
-const char *datarouter_send_cap_desc(int cap_id);
+int         dr_send_cap_count(void);
+const char *dr_send_cap_name(int cap_id);
+const char *dr_send_cap_desc(int cap_id);

-int         datarouter_recv_cap_count(void);
-const char *datarouter_recv_cap_name(int cap_id);
-const char *datarouter_recv_cap_desc(int cap_id);
+int         dr_recv_cap_count(void);
+const char *dr_recv_cap_name(int cap_id);
+const char *dr_recv_cap_desc(int cap_id);
 ```

 ---
@@ -276,7 +276,7 @@ const char *datarouter_recv_cap_desc(int cap_id);
 ```plantuml
@startuml
 actor "应用" as App
-participant "datarouter_send_sensor()" as Send
+participant "dr_send_sensor()" as Send
 participant "端口表 ports[]" as Table
 participant "handlers[]" as HList
 participant "外设" as Dev
@@ -349,16 +349,16 @@ Idle --> Created : 复用 ID
 ### 场景 1：sensor 广播到 UART + TCP + CAN

 ```c
-datarouter_port_t p1 = datarouter_port_create();
-datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor);
-datarouter_port_add_handler(p1, uart_send);
-datarouter_port_add_handler(p1, tcp_send);
+dr_port_t p1 = dr_port_create();
+dr_port_set_send_type(p1, DR_SEND_sensor);
+dr_port_add_handler(p1, uart_send);
+dr_port_add_handler(p1, tcp_send);

-datarouter_port_t p2 = datarouter_port_create();
-datarouter_port_set_send_type(p2, DATAROUTER_SEND_sensor);
-datarouter_port_add_handler(p2, can_send);
+dr_port_t p2 = dr_port_create();
+dr_port_set_send_type(p2, DR_SEND_sensor);
+dr_port_add_handler(p2, can_send);

-datarouter_send_sensor("temp:25.3", 9);
+dr_send_sensor("temp:25.3", 9);
 // → uart_send(p1, "temp:25.3", 9)
 // → tcp_send(p1, "temp:25.3", 9)
 // → can_send(p2, "temp:25.3", 9)
@@ -367,16 +367,16 @@ datarouter_send_sensor("temp:25.3", 9);
 ### 场景 2：仅接收

 ```c
-void datarouter_on_recv_rtcm(uint32_t port_id, const void *data, size_t len) {
+void dr_on_recv_rtcm(uint32_t port_id, const void *data, size_t len) {
    apply_rtcm_correction(data, len);
 }
-// 外设收到后：datarouter_on_recv_rtcm(port, data, len);
+// 外设收到后：dr_on_recv_rtcm(port, data, len);
 ```

 ### 场景 3：运行时移除 handler

 ```c
-datarouter_port_remove_handler(p1, tcp_send);
+dr_port_remove_handler(p1, tcp_send);
 // 下次 send_sensor 不再触发 tcp
 ```

@@ -415,17 +415,17 @@ Weak ..> Result : 后备
 ## 11. 配置扩展

 ```c
-#define DATAROUTER_SEND_CAPABILITIES \
-    DATAROUTER_SEND(sensor, "Sensor data")  \
-    DATAROUTER_SEND(debug,  "Debug log")   /* 新增 */
+#define DR_SEND_CAPABILITIES \
+    DR_SEND(sensor, "Sensor data")  \
+    DR_SEND(debug,  "Debug log")   /* 新增 */

-#define DATAROUTER_RECV_CAPABILITIES \
-    DATAROUTER_RECV(rtcm, "RTCM data")       \
-    DATAROUTER_RECV(ota,  "OTA firmware")   /* 新增 */
+#define DR_RECV_CAPABILITIES \
+    DR_RECV(rtcm, "RTCM data")       \
+    DR_RECV(ota,  "OTA firmware")   /* 新增 */
 ```

 ```bash
-cmake -DCMAKE_C_FLAGS="-DDATAROUTER_MAX_PORTS=128 -DDATAROUTER_MAX_HANDLERS_PER_PORT=8"
+cmake -DCMAKE_C_FLAGS="-DDR_MAX_PORTS=128 -DDR_MAX_HANDLERS_PER_PORT=8"
 ```

 ---
@@ -1,13 +1,13 @@
 # DataRouter

-轻量级 C 语言数据路由库。**发送能力和接收能力分开声明**，端口绑定 `send_type` 和外设 handler 列表。调用 `datarouter_send_<id>(data, len)` 时自动广播到所有匹配端口。
+轻量级 C 语言数据路由库。**发送能力和接收能力分开声明**，端口绑定 `send_type` 和外设 handler 列表。调用 `dr_send_<id>(data, len)` 时自动广播到所有匹配端口。

 ## 概念

 | 术语 | 说明 |
 |------|------|
-| **发送能力 (Send Capability)** | 编译期声明的可发送报文类型，生成 `datarouter_send_<id>(data, len)` |
-| **接收能力 (Recv Capability)** | 编译期声明的可接收报文类型，生成 `datarouter_on_recv_<id>(port, data, len)` |
+| **发送能力 (Send Capability)** | 编译期声明的可发送报文类型，生成 `dr_send_<id>(data, len)` |
+| **接收能力 (Recv Capability)** | 编译期声明的可接收报文类型，生成 `dr_on_recv_<id>(port, data, len)` |
 | **端口 (Port)** | 运行期创建的连接点，包含 `send_type` + handler 列表 |
 | **Handler** | 用户实现的物理外设发送函数，一个端口可注册多个（默认上限 4） |

@@ -15,19 +15,19 @@

 ### 1. 声明能力

-创建自己的 `datarouter_config.h`（可参考 `datarouter_config_template.h`）：
+创建自己的 `dr_config.h`（可参考 `dr_config_template.h`）：

 ```c
-#define DATAROUTER_SEND_CAPABILITIES \
-    DATAROUTER_SEND(sensor, "Sensor data report")   \
-    DATAROUTER_SEND(status, "Device status report")
+#define DR_SEND_CAPABILITIES \
+    DR_SEND(sensor, "Sensor data report")   \
+    DR_SEND(status, "Device status report")

-#define DATAROUTER_RECV_CAPABILITIES \
-    DATAROUTER_RECV(rtcm,    "RTCM correction data")   \
-    DATAROUTER_RECV(command, "Remote control command")
+#define DR_RECV_CAPABILITIES \
+    DR_RECV(rtcm,    "RTCM correction data")   \
+    DR_RECV(command, "Remote control command")
 ```

-> 库自带默认配置。将你的 `datarouter_config.h` 放到项目目录，
+> 库自带默认配置。将你的 `dr_config.h` 放到项目目录，
 > 编译时添加 `-I /path/to/your/config` 即可覆盖。无需修改库源码。
 >
 > ```cmake
@@ -51,25 +51,25 @@ static void tcp_send(uint32_t port_id, const void *data, size_t len) {
 ### 3. 创建端口

 ```c
-datarouter_init();
+dr_init();

 /* —— 传感器上报：sensor 报文走 UART + TCP —— */
-datarouter_port_t tx = datarouter_port_create();
-datarouter_port_set_send_type(tx, DATAROUTER_SEND_sensor);
-datarouter_port_add_handler(tx, uart_send);
-datarouter_port_add_handler(tx, tcp_send);
+dr_port_t tx = dr_port_create();
+dr_port_set_send_type(tx, DR_SEND_sensor);
+dr_port_add_handler(tx, uart_send);
+dr_port_add_handler(tx, tcp_send);

 /* 不指定端口，库自动广播到所有 send_type=sensor 的端口 */
-datarouter_send_sensor("temperature:25.3", 16);  // → UART + TCP
+dr_send_sensor("temperature:25.3", 16);  // → UART + TCP

 /* —— 接收：实现回调，外设数据到达后自行调用 —— */
-datarouter_on_recv_rtcm(rx_port, data, len);
+dr_on_recv_rtcm(rx_port, data, len);
 ```

 ### 4. 实现接收回调

 ```c
-void datarouter_on_recv_rtcm(uint32_t port_id, const void *data, size_t len) {
+void dr_on_recv_rtcm(uint32_t port_id, const void *data, size_t len) {
    apply_rtcm_correction(data, len);
 }
 ```
@@ -79,30 +79,30 @@ void datarouter_on_recv_rtcm(uint32_t port_id, const void *data, size_t len) {
 ### 初始化

 ```c
-void datarouter_init(void);    // 幂等初始化
-void datarouter_reset(void);   // 重置全部状态
+void dr_init(void);    // 幂等初始化
+void dr_reset(void);   // 重置全部状态
 ```

 ### 端口管理

 ```c
-datarouter_port_t datarouter_port_create(void);          // 创建端口
-void  datarouter_port_delete(datarouter_port_t port);   // 删除
+dr_port_t dr_port_create(void);          // 创建端口
+void  dr_port_delete(dr_port_t port);   // 删除

-void  datarouter_port_set_send_type(port, int cap_id);  // 设置发送类型
-int   datarouter_port_get_send_type(port);               // -1 = 未设置
+void  dr_port_set_send_type(port, int cap_id);  // 设置发送类型
+int   dr_port_get_send_type(port);               // -1 = 未设置

-int   datarouter_port_add_handler(port, handler);        // 注册外设 handler
-int   datarouter_port_remove_handler(port, handler);     // 移除
-void  datarouter_port_clear_handlers(port);              // 清除全部
-int   datarouter_port_handler_count(port);               // 当前数量
+int   dr_port_add_handler(port, handler);        // 注册外设 handler
+int   dr_port_remove_handler(port, handler);     // 移除
+void  dr_port_clear_handlers(port);              // 清除全部
+int   dr_port_handler_count(port);               // 当前数量
 ```

 ### 发送触发（每个 SEND 能力生成一个）

 ```c
-int datarouter_send_sensor(const void *data, size_t len);   // 0 成功
-int datarouter_send_status(const void *data, size_t len);   // -1 未初始化
+int dr_send_sensor(const void *data, size_t len);   // 0 成功
+int dr_send_status(const void *data, size_t len);   // -1 未初始化
                                                             // -2 无匹配端口
 ```

@@ -111,8 +111,8 @@ int datarouter_send_status(const void *data, size_t len);   // -1 未初始化
 ### 接收回调（每个 RECV 能力生成一个声明）

 ```c
-void datarouter_on_recv_rtcm(uint32_t port_id, const void *data, size_t len);
-void datarouter_on_recv_command(uint32_t port_id, const void *data, size_t len);
+void dr_on_recv_rtcm(uint32_t port_id, const void *data, size_t len);
+void dr_on_recv_command(uint32_t port_id, const void *data, size_t len);
 ```

 库提供弱符号默认空实现，用户定义同名函数覆盖。
@@ -120,19 +120,19 @@ void datarouter_on_recv_command(uint32_t port_id, const void *data, size_t len);
 ### 能力元数据（两组独立）

 ```c
-int         datarouter_send_cap_count(void);
-const char *datarouter_send_cap_name(int cap_id);
-const char *datarouter_send_cap_desc(int cap_id);
+int         dr_send_cap_count(void);
+const char *dr_send_cap_name(int cap_id);
+const char *dr_send_cap_desc(int cap_id);

-int         datarouter_recv_cap_count(void);
-const char *datarouter_recv_cap_name(int cap_id);
-const char *datarouter_recv_cap_desc(int cap_id);
+int         dr_recv_cap_count(void);
+const char *dr_recv_cap_name(int cap_id);
+const char *dr_recv_cap_desc(int cap_id);
 ```

 ## 路由模型

 ```
-datarouter_send_sensor("temperature:25.3", 16)
+dr_send_sensor("temperature:25.3", 16)
  │
  ├─→ port 0 (send_type=sensor) handlers[0]=uart_send → UART
  │                           handlers[1]=tcp_send → TCP
@@ -155,9 +155,65 @@ cmake --build build
 可选配置：

 ```bash
-cmake -DCMAKE_C_FLAGS="-DDATAROUTER_MAX_PORTS=128 -DDATAROUTER_MAX_HANDLERS_PER_PORT=8"
+cmake -DCMAKE_C_FLAGS="-DDR_MAX_PORTS=128 -DDR_MAX_HANDLERS_PER_PORT=8"
 ```

+## 嵌入式 / Cortex-M 构建
+
+库支持 `arm-none-eabi-gcc` 交叉编译，提供 **7 个 CMake preset** 覆盖常见 Cortex-M 目标：
+
+```bash
+# 列出所有 preset
+cmake --list-presets
+
+# Cortex-M3（软浮点）
+cmake --preset cm3
+cmake --build --preset cm3
+
+# Cortex-M4F（硬件浮点，单精度）
+cmake --preset cm4-hard
+cmake --build --preset cm4-hard
+
+# Cortex-M7F（硬件浮点，双精度）
+cmake --preset cm7-hard-dp
+cmake --build --preset cm7-hard-dp
+```
+
+> 使用 preset 编译需要 `arm-none-eabi-gcc` 在 PATH 中。
+> 各 preset 均启用 `DR_SOURCE_ONLY` 模式——只提供源文件路径，
+> 你需要将 `datarouter.c` 加入自己的 target 以继承项目编译标志：
+
+```cmake
+# 你的 CMakeLists.txt
+set(DR_SOURCE_ONLY ON)
+FetchContent_MakeAvailable(datarouter)
+target_sources(my_app PRIVATE ${datarouter_SOURCE_DIR}/datarouter.c)
+target_include_directories(my_app PRIVATE ${datarouter_SOURCE_DIR})
+```
+
+### 编译兼容性矩阵
+
+启用 `DR_COMPILE_CHECK` 可自动检测 `arm-none-eabi-gcc` 并对 CM3/CM4/CM7
+各变体执行编译验证：
+
+```bash
+cmake -B build-check -DDR_COMPILE_CHECK=ON
+cmake --build build-check          # 生成 check_cm3, check_cm4-hard, … 等 target
+# 或单独检查某个变体：
+make check_cm7-hard-dp
+```
+
+### 内置 CMake Preset 列表
+
+| Preset | 目标 | FPU | ABI |
+|--------|------|-----|-----|
+| `cm3` | Cortex-M3 | 无 | soft |
+| `cm4-soft` | Cortex-M4 | 无 | soft |
+| `cm4-hard` | Cortex-M4F | FPv4-SP-D16 | hard |
+| `cm7-soft` | Cortex-M7 | 无 | soft |
+| `cm7-hard-sp` | Cortex-M7F | FPv5-SP-D16 | hard |
+| `cm7-hard-dp` | Cortex-M7F | FPv5-D16 | hard |
+
 ## 测试

 ```bash
@@ -172,10 +228,10 @@ ctest --test-dir build
 ## 文件结构

 ```
-datarouter_config.h             发送 + 接收能力配置（用户可覆盖）
+dr_config.h             发送 + 接收能力配置（用户可覆盖）
 datarouter.h                    公共 API + X-macro 展开
 datarouter.c                    实现（端口表 + send 遍历）
-datarouter_config_template.h    外部配置模板
+dr_config_template.h    外部配置模板
 example.c                       使用示例
 tests/test_datarouter.c         单元测试（22 用例）
 DESIGN.md                       详细设计文档（含 PlantUML 图）
@@ -0,0 +1,40 @@
+
+####### Expanded from @PACKAGE_INIT@ by configure_package_config_file() #######
+####### Any changes to this file will be overwritten by the next CMake run ####
+####### The input file was DataRouterConfig.cmake.in                            ########
+
+get_filename_component(PACKAGE_PREFIX_DIR "${CMAKE_CURRENT_LIST_DIR}/../" ABSOLUTE)
+
+macro(set_and_check _var _file)
+  set(${_var} "${_file}")
+  if(NOT EXISTS "${_file}")
+    message(FATAL_ERROR "File or directory ${_file} referenced by variable ${_var} does not exist !")
+  endif()
+endmacro()
+
+macro(check_required_components _NAME)
+  foreach(comp ${${_NAME}_FIND_COMPONENTS})
+    if(NOT ${_NAME}_${comp}_FOUND)
+      if(${_NAME}_FIND_REQUIRED_${comp})
+        set(${_NAME}_FOUND FALSE)
+      endif()
+    endif()
+  endforeach()
+endmacro()
+
+####################################################################################
+
+set_and_check(DataRouter_INCLUDE_DIR "${PACKAGE_PREFIX_DIR}/include")
+set_and_check(DataRouter_LIBRARY_DIR "${PACKAGE_PREFIX_DIR}/lib")
+
+include("${CMAKE_CURRENT_LIST_DIR}/DataRouterTargets.cmake" OPTIONAL)
+
+if(NOT TARGET DataRouter::DataRouter)
+    add_library(DataRouter::DataRouter STATIC IMPORTED)
+    set_target_properties(DataRouter::DataRouter PROPERTIES
+        IMPORTED_LOCATION "${DataRouter_LIBRARY_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}DataRouter${CMAKE_STATIC_LIBRARY_SUFFIX}"
+        INTERFACE_INCLUDE_DIRECTORIES "${DataRouter_INCLUDE_DIR}"
+    )
+endif()
+
+check_required_components(DataRouter)
@@ -1,7 +1,7 @@
@PACKAGE_INIT@

-set_and_check(DataRouter_INCLUDE_DIR "@PACKAGE_INCLUDE_INSTALL_DIR@")
-set_and_check(DataRouter_LIBRARY_DIR "@PACKAGE_LIB_INSTALL_DIR@")
+set(DataRouter_INCLUDE_DIR "@PACKAGE_INCLUDE_INSTALL_DIR@")
+set(DataRouter_LIBRARY_DIR "@PACKAGE_LIB_INSTALL_DIR@")

 include("${CMAKE_CURRENT_LIST_DIR}/DataRouterTargets.cmake" OPTIONAL)

@@ -6,70 +6,70 @@
 #include <string.h>

 #if defined(__GNUC__) || defined(__clang__)
-#define DATAROUTER_WEAK __attribute__((weak))
+#define DR_WEAK __attribute__((weak))
 #else
-#define DATAROUTER_WEAK
+#define DR_WEAK
 #endif

-#ifndef DATAROUTER_MAX_PORTS
-#define DATAROUTER_MAX_PORTS 64
+#ifndef DR_MAX_PORTS
+#define DR_MAX_PORTS 64
 #endif

 typedef struct {
    int                       send_type;
-    datarouter_send_handler_t handlers[DATAROUTER_MAX_HANDLERS_PER_PORT];
+    dr_send_handler_t handlers[DR_MAX_HANDLERS_PER_PORT];
    int                       count;
    uint8_t                   in_use;
 } port_entry_t;

-static port_entry_t ports[DATAROUTER_MAX_PORTS];
+static port_entry_t ports[DR_MAX_PORTS];
 static uint8_t      initialized;

 /* ---- 元数据 ---- */

 static const char *send_names[] = {
-#define DATAROUTER_SEND(id, desc) #id,
-    DATAROUTER_SEND_CAPABILITIES
-#undef DATAROUTER_SEND
+#define DR_SEND(id, desc) #id,
+    DR_SEND_CAPABILITIES
+#undef DR_SEND
 };

 static const char *send_descs[] = {
-#define DATAROUTER_SEND(id, desc) desc,
-    DATAROUTER_SEND_CAPABILITIES
-#undef DATAROUTER_SEND
+#define DR_SEND(id, desc) desc,
+    DR_SEND_CAPABILITIES
+#undef DR_SEND
 };

 static const char *recv_names[] = {
-#define DATAROUTER_RECV(id, desc) #id,
-    DATAROUTER_RECV_CAPABILITIES
-#undef DATAROUTER_RECV
+#define DR_RECV(id, desc) #id,
+    DR_RECV_CAPABILITIES
+#undef DR_RECV
 };

 static const char *recv_descs[] = {
-#define DATAROUTER_RECV(id, desc) desc,
-    DATAROUTER_RECV_CAPABILITIES
-#undef DATAROUTER_RECV
+#define DR_RECV(id, desc) desc,
+    DR_RECV_CAPABILITIES
+#undef DR_RECV
 };

 /* ---- 弱符号接收回调 ---- */

-#define DATAROUTER_RECV(id, desc) \
-    DATAROUTER_WEAK void datarouter_on_recv_##id( \
+#define DR_RECV(id, desc) \
+    DR_WEAK void dr_on_recv_##id( \
        uint32_t port_id, const void *data, size_t len) \
    { (void)port_id; (void)data; (void)len; }
-DATAROUTER_RECV_CAPABILITIES
-#undef DATAROUTER_RECV
+DR_RECV_CAPABILITIES
+#undef DR_RECV

 /* ---- 发送触发函数 ---- */

-#define DATAROUTER_SEND(id, desc) \
-    int datarouter_send_##id(const void *data, size_t len) \
+#define DR_SEND(id, desc) \
+    int dr_send_##id(const void *data, size_t len) \
    { \
        if (!initialized) return -1; \
        int called = 0; \
-        for (uint32_t _p = 0; _p < DATAROUTER_MAX_PORTS; _p++) { \
+        for (uint32_t _p = 0; _p < DR_MAX_PORTS; _p++) { \
            if (!ports[_p].in_use) continue; \
-            if (ports[_p].send_type != DATAROUTER_SEND_##id) continue; \
+            if (ports[_p].send_type != DR_SEND_##id) continue; \
            for (int _h = 0; _h < ports[_p].count; _h++) { \
                ports[_p].handlers[_h](_p, data, len); \
                called = 1; \
@@ -77,74 +77,74 @@ DATAROUTER_RECV_CAPABILITIES
        } \
        return called ? 0 : -2; \
    }
-DATAROUTER_SEND_CAPABILITIES
-#undef DATAROUTER_SEND
+DR_SEND_CAPABILITIES
+#undef DR_SEND

 /* ---- 端口管理 ---- */

-void datarouter_init(void)
+void dr_init(void)
 {
    if (initialized) return;
    memset(ports, 0, sizeof(ports));
    initialized = 1;
 }

-void datarouter_reset(void)
+void dr_reset(void)
 {
    initialized = 0;
    memset(ports, 0, sizeof(ports));
 }

-datarouter_port_t datarouter_port_create(void)
+dr_port_t dr_port_create(void)
 {
-    if (!initialized) return DATAROUTER_INVALID_PORT;
-    for (int i = 0; i < DATAROUTER_MAX_PORTS; i++) {
+    if (!initialized) return DR_INVALID_PORT;
+    for (int i = 0; i < DR_MAX_PORTS; i++) {
        if (!ports[i].in_use) {
            ports[i].in_use    = 1;
            ports[i].send_type = -1;
            ports[i].count     = 0;
-            return (datarouter_port_t)i;
+            return (dr_port_t)i;
        }
    }
-    return DATAROUTER_INVALID_PORT;
+    return DR_INVALID_PORT;
 }

-void datarouter_port_delete(datarouter_port_t port)
+void dr_port_delete(dr_port_t port)
 {
    if (!initialized) return;
-    if (port < 0 || port >= DATAROUTER_MAX_PORTS) return;
+    if (port < 0 || port >= DR_MAX_PORTS) return;
    ports[port].in_use = 0;
 }

-void datarouter_port_set_send_type(datarouter_port_t port, int cap_id)
+void dr_port_set_send_type(dr_port_t port, int cap_id)
 {
    if (!initialized) return;
-    if (port < 0 || port >= DATAROUTER_MAX_PORTS || !ports[port].in_use) return;
+    if (port < 0 || port >= DR_MAX_PORTS || !ports[port].in_use) return;
    ports[port].send_type = cap_id;
 }

-int datarouter_port_get_send_type(datarouter_port_t port)
+int dr_port_get_send_type(dr_port_t port)
 {
    if (!initialized) return -1;
-    if (port < 0 || port >= DATAROUTER_MAX_PORTS || !ports[port].in_use) return -1;
+    if (port < 0 || port >= DR_MAX_PORTS || !ports[port].in_use) return -1;
    return ports[port].send_type;
 }

-int datarouter_port_add_handler(datarouter_port_t port, datarouter_send_handler_t handler)
+int dr_port_add_handler(dr_port_t port, dr_send_handler_t handler)
 {
    if (!initialized) return -1;
-    if (port < 0 || port >= DATAROUTER_MAX_PORTS || !ports[port].in_use) return -1;
-    if (ports[port].count >= DATAROUTER_MAX_HANDLERS_PER_PORT) return -2;
+    if (port < 0 || port >= DR_MAX_PORTS || !ports[port].in_use) return -1;
+    if (ports[port].count >= DR_MAX_HANDLERS_PER_PORT) return -2;
    for (int i = 0; i < ports[port].count; i++)
        if (ports[port].handlers[i] == handler) return -3;
    ports[port].handlers[ports[port].count++] = handler;
    return 0;
 }

-int datarouter_port_remove_handler(datarouter_port_t port, datarouter_send_handler_t handler)
+int dr_port_remove_handler(dr_port_t port, dr_send_handler_t handler)
 {
    if (!initialized) return -1;
-    if (port < 0 || port >= DATAROUTER_MAX_PORTS || !ports[port].in_use) return -1;
+    if (port < 0 || port >= DR_MAX_PORTS || !ports[port].in_use) return -1;
    for (int i = 0; i < ports[port].count; i++) {
        if (ports[port].handlers[i] == handler) {
            ports[port].handlers[i] = ports[port].handlers[--ports[port].count];
@@ -154,26 +154,26 @@ int datarouter_port_remove_handler(datarouter_port_t port, datarouter_send_handl
    return -2;
 }

-void datarouter_port_clear_handlers(datarouter_port_t port)
+void dr_port_clear_handlers(dr_port_t port)
 {
    if (!initialized) return;
-    if (port < 0 || port >= DATAROUTER_MAX_PORTS || !ports[port].in_use) return;
+    if (port < 0 || port >= DR_MAX_PORTS || !ports[port].in_use) return;
    ports[port].count = 0;
 }

-int datarouter_port_handler_count(datarouter_port_t port)
+int dr_port_handler_count(dr_port_t port)
 {
    if (!initialized) return -1;
-    if (port < 0 || port >= DATAROUTER_MAX_PORTS || !ports[port].in_use) return -1;
+    if (port < 0 || port >= DR_MAX_PORTS || !ports[port].in_use) return -1;
    return ports[port].count;
 }

 /* ---- 元数据查询 ---- */

-int datarouter_send_cap_count(void) { return DATAROUTER_SEND_CAP_COUNT; }
-const char *datarouter_send_cap_name(int c) { return (c<0||c>=DATAROUTER_SEND_CAP_COUNT)?NULL:send_names[c]; }
-const char *datarouter_send_cap_desc(int c) { return (c<0||c>=DATAROUTER_SEND_CAP_COUNT)?NULL:send_descs[c]; }
+int dr_send_cap_count(void) { return DR_SEND_CAP_COUNT; }
+const char *dr_send_cap_name(int c) { return (c<0||c>=DR_SEND_CAP_COUNT)?NULL:send_names[c]; }
+const char *dr_send_cap_desc(int c) { return (c<0||c>=DR_SEND_CAP_COUNT)?NULL:send_descs[c]; }

-int datarouter_recv_cap_count(void) { return DATAROUTER_RECV_CAP_COUNT; }
-const char *datarouter_recv_cap_name(int c) { return (c<0||c>=DATAROUTER_RECV_CAP_COUNT)?NULL:recv_names[c]; }
-const char *datarouter_recv_cap_desc(int c) { return (c<0||c>=DATAROUTER_RECV_CAP_COUNT)?NULL:recv_descs[c]; }
+int dr_recv_cap_count(void) { return DR_RECV_CAP_COUNT; }
+const char *dr_recv_cap_name(int c) { return (c<0||c>=DR_RECV_CAP_COUNT)?NULL:recv_names[c]; }
+const char *dr_recv_cap_desc(int c) { return (c<0||c>=DR_RECV_CAP_COUNT)?NULL:recv_descs[c]; }
@@ -4,20 +4,20 @@
 *
 * ## 概念
 *
- * - **发送能力**：编译期声明的可发送报文类型，生成 datarouter_send_<id>(data, len)
- * - **接收能力**：编译期声明的可接收报文类型，生成 datarouter_on_recv_<id>(port, data, len)
+ * - **发送能力**：编译期声明的可发送报文类型，生成 dr_send_<id>(data, len)
+ * - **接收能力**：编译期声明的可接收报文类型，生成 dr_on_recv_<id>(port, data, len)
 * - **端口**：运行期创建的连接点，包含 send_type + handler 列表
 *
 * ## 路由
 *
- * 调用 datarouter_send_<id>(data, len) 时，库遍历所有端口，
+ * 调用 dr_send_<id>(data, len) 时，库遍历所有端口，
 * 找到 send_type 匹配的端口，逐一调用其全部 handler。无需指定从哪个端口发送。
 *
- * 接收侧由用户自行调用 datarouter_on_recv_<id>(port, data, len) 处理外设收到的数据。
+ * 接收侧由用户自行调用 dr_on_recv_<id>(port, data, len) 处理外设收到的数据。
 */

-#ifndef DATAROUTER_H
-#define DATAROUTER_H
+#ifndef DR_H
+#define DR_H

 #include <stdint.h>
 #include <stddef.h>
@@ -38,75 +38,75 @@ extern "C" {

 /* ========== 发送能力枚举 ========== */

-enum datarouter_send_cap {
-#define DATAROUTER_SEND(id, desc) DATAROUTER_SEND_##id,
-    DATAROUTER_SEND_CAPABILITIES
-#undef DATAROUTER_SEND
-    DATAROUTER_SEND_CAP_COUNT
+enum dr_send_cap {
+#define DR_SEND(id, desc) DR_SEND_##id,
+    DR_SEND_CAPABILITIES
+#undef DR_SEND
+    DR_SEND_CAP_COUNT
 };

 /* ========== 接收能力枚举 ========== */

-enum datarouter_recv_cap {
-#define DATAROUTER_RECV(id, desc) DATAROUTER_RECV_##id,
-    DATAROUTER_RECV_CAPABILITIES
-#undef DATAROUTER_RECV
-    DATAROUTER_RECV_CAP_COUNT
+enum dr_recv_cap {
+#define DR_RECV(id, desc) DR_RECV_##id,
+    DR_RECV_CAPABILITIES
+#undef DR_RECV
+    DR_RECV_CAP_COUNT
 };

 /* ========== 外设发送 handler ========== */

-typedef void (*datarouter_send_handler_t)(uint32_t port_id, const void *data, size_t len);
+typedef void (*dr_send_handler_t)(uint32_t port_id, const void *data, size_t len);

-#ifndef DATAROUTER_MAX_HANDLERS_PER_PORT
-#define DATAROUTER_MAX_HANDLERS_PER_PORT 4
+#ifndef DR_MAX_HANDLERS_PER_PORT
+#define DR_MAX_HANDLERS_PER_PORT 4
 #endif

 /* ========== 发送触发函数 ========== */

-#define DATAROUTER_SEND(id, desc) \
-    int datarouter_send_##id(const void *data, size_t len);
-DATAROUTER_SEND_CAPABILITIES
-#undef DATAROUTER_SEND
+#define DR_SEND(id, desc) \
+    int dr_send_##id(const void *data, size_t len);
+DR_SEND_CAPABILITIES
+#undef DR_SEND

 /* ========== 接收回调声明 ========== */

-#define DATAROUTER_RECV(id, desc) \
-    void datarouter_on_recv_##id(uint32_t port_id, const void *data, size_t len);
-DATAROUTER_RECV_CAPABILITIES
-#undef DATAROUTER_RECV
+#define DR_RECV(id, desc) \
+    void dr_on_recv_##id(uint32_t port_id, const void *data, size_t len);
+DR_RECV_CAPABILITIES
+#undef DR_RECV

 /* ========== 端口管理 API ========== */

-typedef int32_t datarouter_port_t;
-#define DATAROUTER_INVALID_PORT ((datarouter_port_t)-1)
+typedef int32_t dr_port_t;
+#define DR_INVALID_PORT ((dr_port_t)-1)

-void datarouter_init(void);
-void datarouter_reset(void);
+void dr_init(void);
+void dr_reset(void);

-datarouter_port_t datarouter_port_create(void);
-void datarouter_port_delete(datarouter_port_t port);
+dr_port_t dr_port_create(void);
+void dr_port_delete(dr_port_t port);

-void datarouter_port_set_send_type(datarouter_port_t port, int cap_id);
-int  datarouter_port_get_send_type(datarouter_port_t port);
+void dr_port_set_send_type(dr_port_t port, int cap_id);
+int  dr_port_get_send_type(dr_port_t port);

-int  datarouter_port_add_handler(datarouter_port_t port, datarouter_send_handler_t handler);
-int  datarouter_port_remove_handler(datarouter_port_t port, datarouter_send_handler_t handler);
-void datarouter_port_clear_handlers(datarouter_port_t port);
-int  datarouter_port_handler_count(datarouter_port_t port);
+int  dr_port_add_handler(dr_port_t port, dr_send_handler_t handler);
+int  dr_port_remove_handler(dr_port_t port, dr_send_handler_t handler);
+void dr_port_clear_handlers(dr_port_t port);
+int  dr_port_handler_count(dr_port_t port);

 /* ========== 能力元数据查询 ========== */

-int         datarouter_send_cap_count(void);
-const char *datarouter_send_cap_name(int cap_id);
-const char *datarouter_send_cap_desc(int cap_id);
+int         dr_send_cap_count(void);
+const char *dr_send_cap_name(int cap_id);
+const char *dr_send_cap_desc(int cap_id);

-int         datarouter_recv_cap_count(void);
-const char *datarouter_recv_cap_name(int cap_id);
-const char *datarouter_recv_cap_desc(int cap_id);
+int         dr_recv_cap_count(void);
+const char *dr_recv_cap_name(int cap_id);
+const char *dr_recv_cap_desc(int cap_id);

 #ifdef __cplusplus
 }
 #endif

-#endif /* DATAROUTER_H */
+#endif /* DR_H */
@@ -6,35 +6,35 @@
 * 用户可自定义此文件以实现自己的报文类型：
 *
 *   1. 复制当前文件到你的项目目录
- *   2. 按需修改 DATAROUTER_SEND_CAPABILITIES / DATAROUTER_RECV_CAPABILITIES
+ *   2. 按需修改 DR_SEND_CAPABILITIES / DR_RECV_CAPABILITIES
 *   3. 编译时添加 -I /path/to/your/config 覆盖库的默认配置
 *
 * 覆盖后库将使用你的版本，无需修改库源代码。
 */

-#ifndef DATAROUTER_CONFIG_H
-#define DATAROUTER_CONFIG_H
+#ifndef DR_CONFIG_H
+#define DR_CONFIG_H

 /**
- * @def DATAROUTER_SEND_CAPABILITIES
+ * @def DR_SEND_CAPABILITIES
 * @brief 发送能力列表
 *
- * 每行格式：DATAROUTER_SEND(标识符, "描述")
- * 每项生成：发送触发函数 datarouter_send_<id>(port, data, len)
+ * 每行格式：DR_SEND(标识符, "描述")
+ * 每项生成：发送触发函数 dr_send_<id>(port, data, len)
 */
-#define DATAROUTER_SEND_CAPABILITIES \
-    DATAROUTER_SEND(sensor, "Sensor data report")   \
-    DATAROUTER_SEND(status, "Device status report")
+#define DR_SEND_CAPABILITIES \
+    DR_SEND(sensor, "Sensor data report")   \
+    DR_SEND(status, "Device status report")

 /**
- * @def DATAROUTER_RECV_CAPABILITIES
+ * @def DR_RECV_CAPABILITIES
 * @brief 接收能力列表
 *
- * 每行格式：DATAROUTER_RECV(标识符, "描述")
- * 每项生成：接收回调声明 datarouter_on_recv_<id>(port, data, len)
+ * 每行格式：DR_RECV(标识符, "描述")
+ * 每项生成：接收回调声明 dr_on_recv_<id>(port, data, len)
 */
-#define DATAROUTER_RECV_CAPABILITIES \
-    DATAROUTER_RECV(rtcm,    "RTCM correction data")   \
-    DATAROUTER_RECV(command, "Remote control command")
+#define DR_RECV_CAPABILITIES \
+    DR_RECV(rtcm,    "RTCM correction data")   \
+    DR_RECV(command, "Remote control command")

-#endif /* DATAROUTER_CONFIG_H */
+#endif /* DR_CONFIG_H */
@@ -4,48 +4,48 @@
 *
 * 使用方法：
 *   1. 将此文件复制到你的项目目录，重命名为 datarouter_config.h
- *   2. 修改下面的 DATAROUTER_SEND_CAPABILITIES 和 DATAROUTER_RECV_CAPABILITIES
+ *   2. 修改下面的 DR_SEND_CAPABILITIES 和 DR_RECV_CAPABILITIES
 *   3. 编译时添加 -I /path/to/your/project
 *   4. 库将自动使用你的配置，无需修改库源代码
 *
 * 格式说明：
- *   发送能力：DATAROUTER_SEND(标识符, "描述")
- *   接收能力：DATAROUTER_RECV(标识符, "描述")
+ *   发送能力：DR_SEND(标识符, "描述")
+ *   接收能力：DR_RECV(标识符, "描述")
 *
 *   标识符只能包含字母、数字、下划线。
 *   描述为字符串字面量。
 *
 * 示例配置：
 *   // 传感器设备：只需发送
- *   #define DATAROUTER_SEND_CAPABILITIES \
- *       DATAROUTER_SEND(sensor, "Sensor data report")
- *   #define DATAROUTER_RECV_CAPABILITIES
+ *   #define DR_SEND_CAPABILITIES \
+ *       DR_SEND(sensor, "Sensor data report")
+ *   #define DR_RECV_CAPABILITIES
 *
 *   // 遥控设备：只需接收
- *   #define DATAROUTER_SEND_CAPABILITIES
- *   #define DATAROUTER_RECV_CAPABILITIES \
- *       DATAROUTER_RECV(command, "Remote command")
+ *   #define DR_SEND_CAPABILITIES
+ *   #define DR_RECV_CAPABILITIES \
+ *       DR_RECV(command, "Remote command")
 *
 *   // 网关设备：同时收发
- *   #define DATAROUTER_SEND_CAPABILITIES \
- *       DATAROUTER_SEND(status, "Status report")
- *   #define DATAROUTER_RECV_CAPABILITIES \
- *       DATAROUTER_RECV(config, "Configuration update")
+ *   #define DR_SEND_CAPABILITIES \
+ *       DR_SEND(status, "Status report")
+ *   #define DR_RECV_CAPABILITIES \
+ *       DR_RECV(config, "Configuration update")
 */

-#ifndef DATAROUTER_CONFIG_H
-#define DATAROUTER_CONFIG_H
+#ifndef DR_CONFIG_H
+#define DR_CONFIG_H

 /* ========== 在此声明你的发送能力 ========== */

-#define DATAROUTER_SEND_CAPABILITIES \
-    DATAROUTER_SEND(sensor, "Sensor data report")   \
-    DATAROUTER_SEND(status, "Device status report")
+#define DR_SEND_CAPABILITIES \
+    DR_SEND(sensor, "Sensor data report")   \
+    DR_SEND(status, "Device status report")

 /* ========== 在此声明你的接收能力 ========== */

-#define DATAROUTER_RECV_CAPABILITIES \
-    DATAROUTER_RECV(rtcm,    "RTCM correction data")   \
-    DATAROUTER_RECV(command, "Remote control command")
+#define DR_RECV_CAPABILITIES \
+    DR_RECV(rtcm,    "RTCM correction data")   \
+    DR_RECV(command, "Remote control command")

-#endif /* DATAROUTER_CONFIG_H */
+#endif /* DR_CONFIG_H */
@@ -1,7 +1,7 @@
 /**
 * @file example.c
 *
- * 调用 datarouter_send_sensor(data, len) 无需指定端口，
+ * 调用 dr_send_sensor(data, len) 无需指定端口，
 * 库自动广播到所有 send_type=sensor 的端口。
 */

@@ -23,51 +23,51 @@ static void can_send(uint32_t port_id, const void *data, size_t len)
    printf("[CAN  port %u] %.*s\n", port_id, (int)len, (const char *)data);
 }

-void datarouter_on_recv_command(uint32_t port_id, const void *data, size_t len)
+void dr_on_recv_command(uint32_t port_id, const void *data, size_t len)
 {
    printf("[RX:cmd port %u] %.*s\n", port_id, (int)len, (const char *)data);
 }

 int main(void)
 {
-    datarouter_init();
+    dr_init();

    printf("Capabilities:\n");
-    for (int i = 0; i < datarouter_send_cap_count(); i++)
+    for (int i = 0; i < dr_send_cap_count(); i++)
        printf("  SEND [%d] %s - %s\n", i,
-               datarouter_send_cap_name(i), datarouter_send_cap_desc(i));
+               dr_send_cap_name(i), dr_send_cap_desc(i));

    /*
     * 创建两个端口，都设 send_type=sensor，各绑不同外设。
-     * 调用 datarouter_send_sensor() 时两个端口同时触发。
+     * 调用 dr_send_sensor() 时两个端口同时触发。
     */
-    datarouter_port_t p1 = datarouter_port_create();
-    datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor);
-    datarouter_port_add_handler(p1, uart_send);
-    datarouter_port_add_handler(p1, tcp_send);
+    dr_port_t p1 = dr_port_create();
+    dr_port_set_send_type(p1, DR_SEND_sensor);
+    dr_port_add_handler(p1, uart_send);
+    dr_port_add_handler(p1, tcp_send);

-    datarouter_port_t p2 = datarouter_port_create();
-    datarouter_port_set_send_type(p2, DATAROUTER_SEND_sensor);
-    datarouter_port_add_handler(p2, can_send);
+    dr_port_t p2 = dr_port_create();
+    dr_port_set_send_type(p2, DR_SEND_sensor);
+    dr_port_add_handler(p2, can_send);

    /* 不指定端口，自动广播到所有 sensor 端口 */
    printf("\n--- send_sensor (auto-route to ALL sensor ports) ---\n");
-    datarouter_send_sensor("temperature:25.3", 16);
+    dr_send_sensor("temperature:25.3", 16);

    /* 运行时移除一个 handler，下次发送不再触发它 */
    printf("\n--- remove TCP handler from p1, resend ---\n");
-    datarouter_port_remove_handler(p1, tcp_send);
-    datarouter_send_sensor("temperature:26.1", 16);
+    dr_port_remove_handler(p1, tcp_send);
+    dr_send_sensor("temperature:26.1", 16);

    /* 接收侧：用户自行调用回调 */
    printf("\n--- recv command ---\n");
-    datarouter_on_recv_command(0, "reboot", 6);
+    dr_on_recv_command(0, "reboot", 6);

    /* 删除一个端口，触发时不再走它 */
    printf("\n--- delete p2 (CAN), resend ---\n");
-    datarouter_port_delete(p2);
-    datarouter_send_sensor("temperature:27.0", 16);
+    dr_port_delete(p2);
+    dr_send_sensor("temperature:27.0", 16);

-    datarouter_port_delete(p1);
+    dr_port_delete(p1);
    return 0;
 }
@@ -16,14 +16,14 @@ static const char *_cur_name;

 #define FIXTURE_MAX 16
 typedef struct {
-    datarouter_port_t ports[FIXTURE_MAX];
+    dr_port_t ports[FIXTURE_MAX];
    int count;
 } fixture_t;

 #define FIXTURE_INIT(f)     memset((f), 0, sizeof(*(f)))
 #define FIXTURE_PUSH(f, p)  do { if ((f)->count < FIXTURE_MAX) (f)->ports[(f)->count++] = (p); } while (0)
-#define FIXTURE_CLEAN(f)    do { for (int _i = 0; _i < (f)->count; _i++) datarouter_port_delete((f)->ports[_i]); } while (0)
-#define FIXTURE_CREATE(f)   ({ datarouter_port_t _p = datarouter_port_create(); FIXTURE_PUSH(f, _p); _p; })
+#define FIXTURE_CLEAN(f)    do { for (int _i = 0; _i < (f)->count; _i++) dr_port_delete((f)->ports[_i]); } while (0)
+#define FIXTURE_CREATE(f)   ({ dr_port_t _p = dr_port_create(); FIXTURE_PUSH(f, _p); _p; })

 #define TEST_START(name)                                            \
    static void test_##name(void)                                   \
@@ -68,7 +68,7 @@ static void reset_h(void) { _h_cnt = 0; _h_pos = 0; }
 * ================================================================ */

 TEST_START(error_uninit)
-    CHECK(datarouter_send_sensor("d", 1) == -1, "expected -1");
+    CHECK(dr_send_sensor("d", 1) == -1, "expected -1");
 TEST_END()

 /* ================================================================
@@ -82,22 +82,22 @@ TEST_END()
 TEST_START(port_create_max)
    int c = 0;
    for (int i = 0; i < 64; i++) {
-        datarouter_port_t p = datarouter_port_create();
-        if (p == DATAROUTER_INVALID_PORT) break;
+        dr_port_t p = dr_port_create();
+        if (p == DR_INVALID_PORT) break;
        FIXTURE_PUSH(&_fix, p); c++;
    }
    CHECK(c >= 64, "got %d", c);
-    CHECK(datarouter_port_create() == DATAROUTER_INVALID_PORT, NULL);
+    CHECK(dr_port_create() == DR_INVALID_PORT, NULL);
 TEST_END()

 TEST_START(port_delete_invalid)
-    datarouter_port_delete(-1); datarouter_port_delete(999);
+    dr_port_delete(-1); dr_port_delete(999);
 TEST_END()

 TEST_START(port_default_state)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
-    CHECK(datarouter_port_get_send_type(p) == -1, NULL);
-    CHECK(datarouter_port_handler_count(p) == 0, NULL);
+    dr_port_t p = FIXTURE_CREATE(&_fix);
+    CHECK(dr_port_get_send_type(p) == -1, NULL);
+    CHECK(dr_port_handler_count(p) == 0, NULL);
 TEST_END()

 /* ================================================================
@@ -105,26 +105,26 @@ TEST_END()
 * ================================================================ */

 TEST_START(send_type_set_get)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
-    CHECK(datarouter_port_get_send_type(p) == DATAROUTER_SEND_sensor, NULL);
-    datarouter_port_set_send_type(p, -1);
-    CHECK(datarouter_port_get_send_type(p) == -1, NULL);
+    dr_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_set_send_type(p, DR_SEND_sensor);
+    CHECK(dr_port_get_send_type(p) == DR_SEND_sensor, NULL);
+    dr_port_set_send_type(p, -1);
+    CHECK(dr_port_get_send_type(p) == -1, NULL);
 TEST_END()

 TEST_START(handler_add_remove)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
-    CHECK(datarouter_port_add_handler(p, _h) == 0, NULL);
-    CHECK(datarouter_port_handler_count(p) == 1, NULL);
-    CHECK(datarouter_port_remove_handler(p, _h) == 0, NULL);
-    CHECK(datarouter_port_handler_count(p) == 0, NULL);
+    dr_port_t p = FIXTURE_CREATE(&_fix);
+    CHECK(dr_port_add_handler(p, _h) == 0, NULL);
+    CHECK(dr_port_handler_count(p) == 1, NULL);
+    CHECK(dr_port_remove_handler(p, _h) == 0, NULL);
+    CHECK(dr_port_handler_count(p) == 0, NULL);
 TEST_END()

 TEST_START(handler_clear)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
-    datarouter_port_add_handler(p, _h);
-    datarouter_port_clear_handlers(p);
-    CHECK(datarouter_port_handler_count(p) == 0, NULL);
+    dr_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_add_handler(p, _h);
+    dr_port_clear_handlers(p);
+    CHECK(dr_port_handler_count(p) == 0, NULL);
 TEST_END()

 /* ================================================================
@@ -133,39 +133,39 @@ TEST_END()

 TEST_START(send_no_match_port)
    /* 没有端口配置该 send_type */
-    CHECK(datarouter_send_sensor("d", 1) == -2, "expected -2");
+    CHECK(dr_send_sensor("d", 1) == -2, "expected -2");
 TEST_END()

 TEST_START(send_one_port_one_handler)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
-    datarouter_port_add_handler(p, _h);
+    dr_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_set_send_type(p, DR_SEND_sensor);
+    dr_port_add_handler(p, _h);
    reset_h();
-    CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
+    CHECK(dr_send_sensor("d", 1) == 0, NULL);
    CHECK(_h_cnt == 1, "cnt=%d", _h_cnt);
    CHECK(_h_port[0] == (int)p, "port=%d", _h_port[0]);
 TEST_END()

 TEST_START(send_one_port_multi_handler)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
-    datarouter_port_add_handler(p, _h);
-    datarouter_port_add_handler(p, _h2);
+    dr_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_set_send_type(p, DR_SEND_sensor);
+    dr_port_add_handler(p, _h);
+    dr_port_add_handler(p, _h2);
    reset_h();
-    CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
+    CHECK(dr_send_sensor("d", 1) == 0, NULL);
    CHECK(_h_cnt == 2, "cnt=%d", _h_cnt);
 TEST_END()

 TEST_START(send_multi_ports_same_type)
    /* 两个端口同类型，各一个 handler */
-    datarouter_port_t p1 = FIXTURE_CREATE(&_fix);
-    datarouter_port_t p2 = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor);
-    datarouter_port_set_send_type(p2, DATAROUTER_SEND_sensor);
-    datarouter_port_add_handler(p1, _h);
-    datarouter_port_add_handler(p2, _h);
+    dr_port_t p1 = FIXTURE_CREATE(&_fix);
+    dr_port_t p2 = FIXTURE_CREATE(&_fix);
+    dr_port_set_send_type(p1, DR_SEND_sensor);
+    dr_port_set_send_type(p2, DR_SEND_sensor);
+    dr_port_add_handler(p1, _h);
+    dr_port_add_handler(p2, _h);
    reset_h();
-    CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
+    CHECK(dr_send_sensor("d", 1) == 0, NULL);
    CHECK(_h_cnt == 2, "cnt=%d", _h_cnt);
    /* p1 和 p2 各触发一次 */
    CHECK((_h_port[0]==p1 && _h_port[1]==p2) ||
@@ -173,80 +173,80 @@ TEST_START(send_multi_ports_same_type)
 TEST_END()

 TEST_START(send_multi_port_multi_handler)
-    datarouter_port_t p1 = FIXTURE_CREATE(&_fix);
-    datarouter_port_t p2 = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor);
-    datarouter_port_set_send_type(p2, DATAROUTER_SEND_sensor);
-    datarouter_port_add_handler(p1, _h);
-    datarouter_port_add_handler(p1, _h2);  /* p1 两个 */
-    datarouter_port_add_handler(p2, _h3);  /* p2 一个 */
+    dr_port_t p1 = FIXTURE_CREATE(&_fix);
+    dr_port_t p2 = FIXTURE_CREATE(&_fix);
+    dr_port_set_send_type(p1, DR_SEND_sensor);
+    dr_port_set_send_type(p2, DR_SEND_sensor);
+    dr_port_add_handler(p1, _h);
+    dr_port_add_handler(p1, _h2);  /* p1 两个 */
+    dr_port_add_handler(p2, _h3);  /* p2 一个 */
    reset_h();
-    CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
+    CHECK(dr_send_sensor("d", 1) == 0, NULL);
    CHECK(_h_cnt == 3, "cnt=%d", _h_cnt);
 TEST_END()

 TEST_START(send_type_filter)
    /* 两个端口不同类型，只触发匹配的 */
-    datarouter_port_t p1 = FIXTURE_CREATE(&_fix);
-    datarouter_port_t p2 = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor);
-    datarouter_port_set_send_type(p2, DATAROUTER_SEND_status);
-    datarouter_port_add_handler(p1, _h);
-    datarouter_port_add_handler(p2, _h);
+    dr_port_t p1 = FIXTURE_CREATE(&_fix);
+    dr_port_t p2 = FIXTURE_CREATE(&_fix);
+    dr_port_set_send_type(p1, DR_SEND_sensor);
+    dr_port_set_send_type(p2, DR_SEND_status);
+    dr_port_add_handler(p1, _h);
+    dr_port_add_handler(p2, _h);
    reset_h();
-    CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
+    CHECK(dr_send_sensor("d", 1) == 0, NULL);
    CHECK(_h_cnt == 1, "cnt=%d", _h_cnt);
    CHECK(_h_port[0] == (int)p1, "only p1 should fire");
 TEST_END()

 TEST_START(send_after_remove_handler)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
-    datarouter_port_add_handler(p, _h);
-    reset_h(); datarouter_send_sensor("d", 1); CHECK(_h_cnt == 1, NULL);
-    datarouter_port_remove_handler(p, _h);
-    CHECK(datarouter_send_sensor("d", 1) == -2, "expected -2 after remove");
+    dr_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_set_send_type(p, DR_SEND_sensor);
+    dr_port_add_handler(p, _h);
+    reset_h(); dr_send_sensor("d", 1); CHECK(_h_cnt == 1, NULL);
+    dr_port_remove_handler(p, _h);
+    CHECK(dr_send_sensor("d", 1) == -2, "expected -2 after remove");
 TEST_END()

 TEST_START(send_after_delete_port)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
-    datarouter_port_add_handler(p, _h);
-    datarouter_port_delete(p);
-    CHECK(datarouter_send_sensor("d", 1) == -2, "expected -2");
+    dr_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_set_send_type(p, DR_SEND_sensor);
+    dr_port_add_handler(p, _h);
+    dr_port_delete(p);
+    CHECK(dr_send_sensor("d", 1) == -2, "expected -2");
    _fix.count--;
 TEST_END()

 TEST_START(send_zero_length)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
-    datarouter_port_add_handler(p, _h);
+    dr_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_set_send_type(p, DR_SEND_sensor);
+    dr_port_add_handler(p, _h);
    reset_h();
-    CHECK(datarouter_send_sensor("x", 0) == 0, NULL);
+    CHECK(dr_send_sensor("x", 0) == 0, NULL);
    CHECK(_h_cnt == 1, NULL);
 TEST_END()

 TEST_START(send_null_data)
-    datarouter_port_t p = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
-    datarouter_port_add_handler(p, _h);
+    dr_port_t p = FIXTURE_CREATE(&_fix);
+    dr_port_set_send_type(p, DR_SEND_sensor);
+    dr_port_add_handler(p, _h);
    reset_h();
-    CHECK(datarouter_send_sensor(NULL, 0) == 0, NULL);
+    CHECK(dr_send_sensor(NULL, 0) == 0, NULL);
    CHECK(_h_cnt == 1, NULL);
 TEST_END()

 TEST_START(send_multi_cap)
    /* 发送 status 不影响 sensor 端口 */
-    datarouter_port_t p1 = FIXTURE_CREATE(&_fix);
-    datarouter_port_t p2 = FIXTURE_CREATE(&_fix);
-    datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor);
-    datarouter_port_set_send_type(p2, DATAROUTER_SEND_status);
-    datarouter_port_add_handler(p1, _h);
-    datarouter_port_add_handler(p2, _h);
+    dr_port_t p1 = FIXTURE_CREATE(&_fix);
+    dr_port_t p2 = FIXTURE_CREATE(&_fix);
+    dr_port_set_send_type(p1, DR_SEND_sensor);
+    dr_port_set_send_type(p2, DR_SEND_status);
+    dr_port_add_handler(p1, _h);
+    dr_port_add_handler(p2, _h);
    reset_h();
-    CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
+    CHECK(dr_send_sensor("d", 1) == 0, NULL);
    CHECK(_h_cnt == 1, "sensor: cnt=%d", _h_cnt);
-    CHECK(datarouter_send_status("d", 1) == 0, NULL);
+    CHECK(dr_send_status("d", 1) == 0, NULL);
    CHECK(_h_cnt == 2, "status: cnt=%d", _h_cnt);
 TEST_END()

@@ -255,12 +255,12 @@ TEST_END()
 * ================================================================ */

 static int _rx_r;
-void datarouter_on_recv_rtcm(uint32_t p, const void *d, size_t l)
+void dr_on_recv_rtcm(uint32_t p, const void *d, size_t l)
    { (void)p; (void)d; (void)l; _rx_r++; }

 TEST_START(recv_callback)
    _rx_r = 0;
-    datarouter_on_recv_rtcm(0, "d", 1);
+    dr_on_recv_rtcm(0, "d", 1);
    CHECK(_rx_r == 1, "cnt=%d", _rx_r);
 TEST_END()

@@ -269,19 +269,19 @@ TEST_END()
 * ================================================================ */

 TEST_START(send_cap_meta)
-    CHECK(datarouter_send_cap_count() == 2, NULL);
-    CHECK(strcmp(datarouter_send_cap_name(0), "sensor") == 0, NULL);
-    CHECK(strcmp(datarouter_send_cap_desc(0), "Sensor data report") == 0, NULL);
-    CHECK(datarouter_send_cap_name(-1) == NULL, NULL);
-    CHECK(datarouter_send_cap_name(99) == NULL, NULL);
+    CHECK(dr_send_cap_count() == 2, NULL);
+    CHECK(strcmp(dr_send_cap_name(0), "sensor") == 0, NULL);
+    CHECK(strcmp(dr_send_cap_desc(0), "Sensor data report") == 0, NULL);
+    CHECK(dr_send_cap_name(-1) == NULL, NULL);
+    CHECK(dr_send_cap_name(99) == NULL, NULL);
 TEST_END()

 TEST_START(recv_cap_meta)
-    CHECK(datarouter_recv_cap_count() == 2, NULL);
-    CHECK(strcmp(datarouter_recv_cap_name(0), "rtcm") == 0, NULL);
-    CHECK(strcmp(datarouter_recv_cap_desc(0), "RTCM correction data") == 0, NULL);
-    CHECK(datarouter_recv_cap_name(-1) == NULL, NULL);
-    CHECK(datarouter_recv_cap_desc(99) == NULL, NULL);
+    CHECK(dr_recv_cap_count() == 2, NULL);
+    CHECK(strcmp(dr_recv_cap_name(0), "rtcm") == 0, NULL);
+    CHECK(strcmp(dr_recv_cap_desc(0), "RTCM correction data") == 0, NULL);
+    CHECK(dr_recv_cap_name(-1) == NULL, NULL);
+    CHECK(dr_recv_cap_desc(99) == NULL, NULL);
 TEST_END()

 /* ================================================================
@@ -297,7 +297,7 @@ int main(void)
    printf("[uninitialized]\n");
    RUN(error_uninit);

-    datarouter_init();
+    dr_init();

    printf("\n[port management]\n");
    RUN(port_create_basic);
@@ -306,7 +306,7 @@ int main(void)
    RUN(port_default_state);
    printf("\n");

-    datarouter_reset(); datarouter_init();
+    dr_reset(); dr_init();
    printf("[send_type & handler]\n");
    RUN(send_type_set_get);
    RUN(handler_add_remove);
Author	SHA1	Message	Date
7iwind	ccde2f73e9	Merge pull request 'fix: 修正缺失构建平台的错误' (#35 ) from feature/route into main CI / host (push) Successful in 7s Details CI / cortex-m (push) Successful in 7s Details Release / release (push) Successful in 16s Details Reviewed-on: #35	2026-07-27 00:30:21 +08:00
7iwind	3b44bd97f7	fix: 修正缺失构建平台的错误 CI / host (pull_request) Successful in 4s Details CI / cortex-m (pull_request) Successful in 6s Details	2026-07-27 00:29:35 +08:00
7iwind	c5fea61784	Merge pull request 'fix: 修正缺失构建平台的错误' (#34 ) from feature/route into main CI / host (push) Successful in 18s Details CI / cortex-m (push) Successful in 3s Details Release / release (push) Successful in 9s Details Reviewed-on: #34	2026-07-27 00:23:31 +08:00
7iwind	07c4aa316a	fix: 修正缺失构建平台的错误 CI / host (pull_request) Successful in 4s Details CI / cortex-m (pull_request) Successful in 3s Details	2026-07-27 00:20:33 +08:00
7iwind	5d1ef621db	Merge pull request 'fix: 修正缺失构建平台的错误' (#33 ) from feature/route into main CI / host (push) Successful in 2s Details CI / cortex-m (push) Successful in 3s Details Release / release (push) Successful in 9s Details Reviewed-on: #33	2026-07-27 00:15:18 +08:00
7iwind	8fe1b36cdc	fix: 修正缺失构建平台的错误 CI / host (pull_request) Successful in 3s Details CI / cortex-m (pull_request) Successful in 4s Details	2026-07-27 00:15:00 +08:00
7iwind	b717c5f163	Merge pull request 'fix: 修正缺失构建平台的错误' (#32 ) from feature/route into main CI / host (push) Successful in 8s Details CI / cortex-m (push) Successful in 6s Details Release / release (push) Failing after 10s Details Reviewed-on: #32	2026-07-27 00:13:06 +08:00
7iwind	5ddc63abdf	fix: 修正缺失构建平台的错误 CI / host (pull_request) Successful in 10s Details CI / cortex-m (pull_request) Successful in 10s Details	2026-07-27 00:12:49 +08:00
7iwind	4e61ef5655	Merge pull request 'v1.1.0:fix: 修正缺失构建平台的错误' (#31 ) from feature/route into main CI / host (push) Successful in 2s Details CI / cortex-m (push) Successful in 3s Details Release / release (push) Failing after 4s Details Reviewed-on: #31	2026-07-27 00:10:50 +08:00
7iwind	361158c343	fix: 修正缺失构建平台的错误 CI / host (pull_request) Successful in 3s Details CI / cortex-m (pull_request) Successful in 4s Details	2026-07-27 00:09:45 +08:00
7iwind	5fd55496bf	v1.1.0:Merge pull request 'fix: 修正CD错误' (#30 ) from feature/route into main CI / host (push) Successful in 3s Details CI / cortex-m (push) Successful in 4s Details Release / release (push) Successful in 26s Details v1.1.0:Reviewed-on: #30	2026-07-27 00:03:44 +08:00
7iwind	f0d0c4fb1e	fix: 修正CD错误 CI / host (pull_request) Successful in 3s Details CI / cortex-m (pull_request) Successful in 4s Details	2026-07-27 00:02:47 +08:00
7iwind	26862bf05f	Merge pull request 'fix: 修正CD错误' (#29 ) from feature/route into main CI / host (push) Successful in 2s Details CI / cortex-m (push) Successful in 4s Details Release / release (push) Failing after 5s Details Reviewed-on: #29	2026-07-26 23:56:11 +08:00
7iwind	b90c98d3ad	fix: 修正CD错误 CI / host (pull_request) Successful in 4s Details CI / cortex-m (pull_request) Successful in 4s Details	2026-07-26 23:55:44 +08:00
7iwind	04770e5df2	Merge pull request 'develop' (#28 ) from develop into main CI / host (push) Successful in 5s Details CI / cortex-m (push) Successful in 7s Details Release / release (push) Failing after 6s Details Reviewed-on: #28	2026-07-26 23:51:28 +08:00
7iwind	5a92e2ccfa	Merge pull request 'fix: 修正CD错误' (#27 ) from feature/route into develop CI / host (push) Successful in 9s Details CI / cortex-m (push) Successful in 7s Details CI / host (pull_request) Successful in 4s Details CI / cortex-m (pull_request) Successful in 5s Details Reviewed-on: #27	2026-07-26 23:50:47 +08:00
7iwind	b98236466c	fix: 修正CD错误	2026-07-26 23:49:36 +08:00
7iwind	badb4ebf61	v1.1.0:Merge pull request 'develop' (#26 ) from develop into main CI / host (push) Successful in 5s Details CI / cortex-m (push) Successful in 6s Details Release / release (push) Failing after 6s Details v1.1.0:Reviewed-on: #26	2026-07-26 23:47:02 +08:00
7iwind	5aba22d8e9	Merge pull request 'fix: 修正CD错误' (#25 ) from feature/route into develop CI / host (push) Successful in 5s Details CI / cortex-m (push) Successful in 10s Details CI / host (pull_request) Successful in 7s Details CI / cortex-m (pull_request) Successful in 9s Details Reviewed-on: #25	2026-07-26 23:45:37 +08:00
7iwind	052df2fc21	fix: 修正CD错误	2026-07-26 23:45:10 +08:00
7iwind	8c670003b8	Merge pull request 'v1.1.0' (#24 ) from develop into main CI / host (push) Successful in 20s Details CI / cortex-m (push) Successful in 6s Details Release / release (push) Failing after 9s Details v1.0.0:Reviewed-on: #24	2026-07-26 23:42:21 +08:00
7iwind	dee130197c	Merge pull request 'fix: 修正CI错误' (#23 ) from feature/route into develop CI / host (pull_request) Successful in 18s Details CI / cortex-m (pull_request) Successful in 5s Details CI / host (push) Successful in 5s Details CI / cortex-m (push) Successful in 6s Details Reviewed-on: #23	2026-07-26 23:38:29 +08:00
7iwind	d0500151ab	fix: 修正CI错误	2026-07-26 23:37:41 +08:00
7iwind	9258ced2d0	Merge pull request 'feat: 添加CM3/4/7的硬件与软件浮点单元构建矩阵，变更api接口为dr_*' (#21 ) from feature/route into develop CI / host (push) Successful in 6s Details CI / cortex-m (push) Failing after 6s Details CI / host (pull_request) Successful in 8s Details CI / cortex-m (pull_request) Failing after 9s Details Reviewed-on: #21	2026-07-26 23:34:53 +08:00
7iwind	7ba20659b2	feat: 添加CM3/4/7的硬件与软件浮点单元构建矩阵，变更api接口为dr_*	2026-07-26 23:34:11 +08:00