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Feelyx 2026-01-12 16:34:56 +08:00
parent 8fa0d118f9
commit e250fedca2
7 changed files with 743 additions and 674 deletions
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2
Core/Inc/stm32f4xx_it.h
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@ -58,6 +58,7 @@ void EXTI3_IRQHandler(void);
void EXTI4_IRQHandler(void); void EXTI4_IRQHandler(void);
void DMA1_Stream1_IRQHandler(void); void DMA1_Stream1_IRQHandler(void);
void DMA1_Stream2_IRQHandler(void); void DMA1_Stream2_IRQHandler(void);
void CAN1_TX_IRQHandler(void);
void CAN1_RX0_IRQHandler(void); void CAN1_RX0_IRQHandler(void);
void CAN1_RX1_IRQHandler(void); void CAN1_RX1_IRQHandler(void);
void EXTI9_5_IRQHandler(void); void EXTI9_5_IRQHandler(void);
@ -68,6 +69,7 @@ void TIM7_IRQHandler(void);
void DMA2_Stream1_IRQHandler(void); void DMA2_Stream1_IRQHandler(void);
void DMA2_Stream2_IRQHandler(void); void DMA2_Stream2_IRQHandler(void);
void DMA2_Stream3_IRQHandler(void); void DMA2_Stream3_IRQHandler(void);
void CAN2_TX_IRQHandler(void);
void CAN2_RX0_IRQHandler(void); void CAN2_RX0_IRQHandler(void);
void CAN2_RX1_IRQHandler(void); void CAN2_RX1_IRQHandler(void);
void OTG_FS_IRQHandler(void); void OTG_FS_IRQHandler(void);

6
Core/Src/can.c
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@ -122,6 +122,8 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/* CAN1 interrupt Init */ /* CAN1 interrupt Init */
HAL_NVIC_SetPriority(CAN1_TX_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0); HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn); HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 5, 0); HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 5, 0);
@ -155,6 +157,8 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* CAN2 interrupt Init */ /* CAN2 interrupt Init */
HAL_NVIC_SetPriority(CAN2_TX_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0); HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn); HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0); HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
@ -186,6 +190,7 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1); HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
/* CAN1 interrupt Deinit */ /* CAN1 interrupt Deinit */
HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn); HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn); HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
/* USER CODE BEGIN CAN1_MspDeInit 1 */ /* USER CODE BEGIN CAN1_MspDeInit 1 */
@ -211,6 +216,7 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6); HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6);
/* CAN2 interrupt Deinit */ /* CAN2 interrupt Deinit */
HAL_NVIC_DisableIRQ(CAN2_TX_IRQn);
HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn); HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn); HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
/* USER CODE BEGIN CAN2_MspDeInit 1 */ /* USER CODE BEGIN CAN2_MspDeInit 1 */

314
Core/Src/freertos.c
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@ -1,157 +1,157 @@
/* USER CODE BEGIN Header */ /* USER CODE BEGIN Header */
/** /**
****************************************************************************** ******************************************************************************
* File Name : freertos.c * File Name : freertos.c
* Description : Code for freertos applications * Description : Code for freertos applications
****************************************************************************** ******************************************************************************
* @attention * @attention
* *
* Copyright (c) 2026 STMicroelectronics. * Copyright (c) 2026 STMicroelectronics.
* All rights reserved. * All rights reserved.
* *
* This software is licensed under terms that can be found in the LICENSE file * This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component. * in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS. * If no LICENSE file comes with this software, it is provided AS-IS.
* *
****************************************************************************** ******************************************************************************
*/ */
/* USER CODE END Header */ /* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "task.h" #include "task.h"
#include "main.h" #include "main.h"
#include "cmsis_os.h" #include "cmsis_os.h"
/* Private includes ----------------------------------------------------------*/ /* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
#include "task/user_task.h" #include "task/user_task.h"
/* USER CODE END Includes */ /* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */ /* USER CODE BEGIN PTD */
/* USER CODE END PTD */ /* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */ /* USER CODE BEGIN PD */
/* USER CODE END PD */ /* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/ /* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */ /* USER CODE BEGIN PM */
/* USER CODE END PM */ /* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */ /* USER CODE BEGIN Variables */
/* USER CODE END Variables */ /* USER CODE END Variables */
/* Definitions for defaultTask */ /* Definitions for defaultTask */
osThreadId_t defaultTaskHandle; osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = { const osThreadAttr_t defaultTask_attributes = {
.name = "defaultTask", .name = "defaultTask",
.stack_size = 128 * 4, .stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityNormal, .priority = (osPriority_t) osPriorityNormal,
}; };
/* Private function prototypes -----------------------------------------------*/ /* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */ /* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */ /* USER CODE END FunctionPrototypes */
void StartDefaultTask(void *argument); void StartDefaultTask(void *argument);
extern void MX_USB_DEVICE_Init(void); extern void MX_USB_DEVICE_Init(void);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */ void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
/* Hook prototypes */ /* Hook prototypes */
void configureTimerForRunTimeStats(void); void configureTimerForRunTimeStats(void);
unsigned long getRunTimeCounterValue(void); unsigned long getRunTimeCounterValue(void);
void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName); void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName);
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
/* Functions needed when configGENERATE_RUN_TIME_STATS is on */ /* Functions needed when configGENERATE_RUN_TIME_STATS is on */
__weak void configureTimerForRunTimeStats(void) __weak void configureTimerForRunTimeStats(void)
{ {
} }
__weak unsigned long getRunTimeCounterValue(void) __weak unsigned long getRunTimeCounterValue(void)
{ {
return 0; return 0;
} }
/* USER CODE END 1 */ /* USER CODE END 1 */
/* USER CODE BEGIN 4 */ /* USER CODE BEGIN 4 */
void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName) void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName)
{ {
/* Run time stack overflow checking is performed if /* Run time stack overflow checking is performed if
configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
called if a stack overflow is detected. */ called if a stack overflow is detected. */
} }
/* USER CODE END 4 */ /* USER CODE END 4 */
/** /**
* @brief FreeRTOS initialization * @brief FreeRTOS initialization
* @param None * @param None
* @retval None * @retval None
*/ */
void MX_FREERTOS_Init(void) { void MX_FREERTOS_Init(void) {
/* USER CODE BEGIN Init */ /* USER CODE BEGIN Init */
/* USER CODE END Init */ /* USER CODE END Init */
/* USER CODE BEGIN RTOS_MUTEX */ /* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */ /* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */ /* USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES */ /* USER CODE BEGIN RTOS_SEMAPHORES */
/* add semaphores, ... */ /* add semaphores, ... */
/* USER CODE END RTOS_SEMAPHORES */ /* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */ /* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */ /* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */ /* USER CODE END RTOS_TIMERS */
/* USER CODE BEGIN RTOS_QUEUES */ /* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */ /* add queues, ... */
/* USER CODE END RTOS_QUEUES */ /* USER CODE END RTOS_QUEUES */
/* Create the thread(s) */ /* Create the thread(s) */
/* creation of defaultTask */ /* creation of defaultTask */
defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes); defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
/* USER CODE BEGIN RTOS_THREADS */ /* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */ /* add threads, ... */
osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务 osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务
/* USER CODE END RTOS_THREADS */ /* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_EVENTS */ /* USER CODE BEGIN RTOS_EVENTS */
/* add events, ... */ /* add events, ... */
/* USER CODE END RTOS_EVENTS */ /* USER CODE END RTOS_EVENTS */
} }
/* USER CODE BEGIN Header_StartDefaultTask */ /* USER CODE BEGIN Header_StartDefaultTask */
/** /**
* @brief Function implementing the defaultTask thread. * @brief Function implementing the defaultTask thread.
* @param argument: Not used * @param argument: Not used
* @retval None * @retval None
*/ */
/* USER CODE END Header_StartDefaultTask */ /* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument) void StartDefaultTask(void *argument)
{ {
/* init code for USB_DEVICE */ /* init code for USB_DEVICE */
MX_USB_DEVICE_Init(); MX_USB_DEVICE_Init();
/* USER CODE BEGIN StartDefaultTask */ /* USER CODE BEGIN StartDefaultTask */
osThreadTerminate(osThreadGetId()); osThreadTerminate(osThreadGetId());
/* USER CODE END StartDefaultTask */ /* USER CODE END StartDefaultTask */
} }
/* Private application code --------------------------------------------------*/ /* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */ /* USER CODE BEGIN Application */
/* USER CODE END Application */ /* USER CODE END Application */

1054
Core/Src/stm32f4xx_it.c
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File diff suppressed because it is too large Load Diff

10
DevC.ioc
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@ -270,8 +270,10 @@ MxDb.Version=DB.6.0.150
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.CAN1_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true NVIC.CAN1_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN2_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true NVIC.CAN2_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN2_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.DMA1_Stream1_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true NVIC.DMA1_Stream1_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream7_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true NVIC.DMA1_Stream7_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
@ -441,6 +443,13 @@ PC9.GPIO_Pu=GPIO_PULLUP
PC9.Locked=true PC9.Locked=true
PC9.Mode=I2C PC9.Mode=I2C
PC9.Signal=I2C3_SDA PC9.Signal=I2C3_SDA
PCC.Checker=false
PCC.Line=STM32F407/417
PCC.MCU=STM32F407I(E-G)Hx
PCC.PartNumber=STM32F407IGHx
PCC.Series=STM32F4
PCC.Temperature=25
PCC.Vdd=3.3
PD0.Locked=true PD0.Locked=true
PD0.Mode=CAN_Activate PD0.Mode=CAN_Activate
PD0.Signal=CAN1_RX PD0.Signal=CAN1_RX
@ -553,6 +562,7 @@ ProjectManager.DeletePrevious=true
ProjectManager.DeviceId=STM32F407IGHx ProjectManager.DeviceId=STM32F407IGHx
ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.28.3 ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.28.3
ProjectManager.FreePins=false ProjectManager.FreePins=false
ProjectManager.FreePinsContext=
ProjectManager.HalAssertFull=true ProjectManager.HalAssertFull=true
ProjectManager.HeapSize=0x1000 ProjectManager.HeapSize=0x1000
ProjectManager.KeepUserCode=true ProjectManager.KeepUserCode=true

18
User/module/arm.hpp
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@ -0,0 +1,18 @@
#pragma once
#include "main.h"
#include "bsp/can.h"
#include "device/motor.h"
#include "device/motor_lz.h"
#include "device/motor_rm.h"
#include "device/motor_dm.h"
class Arm {
public:
Arm();
void init();
void operator()();
private:
MOTOR_DM_Param_t motors_param[4];
MOTOR_t arm_motors[4];
};

13
User/task/rc.c
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@ -6,7 +6,7 @@
/* Includes ----------------------------------------------------------------- */ /* Includes ----------------------------------------------------------------- */
#include "task/user_task.h" #include "task/user_task.h"
/* USER INCLUDE BEGIN */ /* USER INCLUDE BEGIN */
#include "device/dr16.h"
/* USER INCLUDE END */ /* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */ /* Private typedef ---------------------------------------------------------- */
@ -14,7 +14,7 @@
/* Private macro ------------------------------------------------------------ */ /* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */ /* USER STRUCT BEGIN */
DR16_t dr16;
/* USER STRUCT END */ /* USER STRUCT END */
/* Private function --------------------------------------------------------- */ /* Private function --------------------------------------------------------- */
@ -30,13 +30,18 @@ void Task_rc(void *argument) {
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */ /* USER CODE INIT BEGIN */
DR16_Init(&dr16);
/* USER CODE INIT END */ /* USER CODE INIT END */
while (1) { while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */ tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */ /* USER CODE BEGIN */
DR16_StartDmaRecv(&dr16);
if (DR16_WaitDmaCplt(20)) {
DR16_ParseData(&dr16);
} else {
DR16_Offline(&dr16);
}
/* USER CODE END */ /* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
} }