遥控器ok

Core/Inc/stm32f4xx_it.h

@@ -58,6 +58,7 @@ void EXTI3_IRQHandler(void);
 void EXTI4_IRQHandler(void);
 void DMA1_Stream1_IRQHandler(void);
 void DMA1_Stream2_IRQHandler(void);
+void CAN1_TX_IRQHandler(void);
 void CAN1_RX0_IRQHandler(void);
 void CAN1_RX1_IRQHandler(void);
 void EXTI9_5_IRQHandler(void);
@@ -68,6 +69,7 @@ void TIM7_IRQHandler(void);
 void DMA2_Stream1_IRQHandler(void);
 void DMA2_Stream2_IRQHandler(void);
 void DMA2_Stream3_IRQHandler(void);
+void CAN2_TX_IRQHandler(void);
 void CAN2_RX0_IRQHandler(void);
 void CAN2_RX1_IRQHandler(void);
 void OTG_FS_IRQHandler(void);

Core/Src/can.c

@@ -122,6 +122,8 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
     HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
 
     /* 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_EnableIRQ(CAN1_RX0_IRQn);
     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);
 
     /* 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_EnableIRQ(CAN2_RX0_IRQn);
     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);
 
     /* CAN1 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
     HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
     HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
   /* 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);
 
     /* CAN2 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(CAN2_TX_IRQn);
     HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
     HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
   /* USER CODE BEGIN CAN2_MspDeInit 1 */

Core/Src/freertos.c

@@ -126,7 +126,7 @@ void MX_FREERTOS_Init(void) {
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
    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 */
   /* add events, ... */
@@ -147,7 +147,7 @@ void StartDefaultTask(void *argument)
   MX_USB_DEVICE_Init();
   /* USER CODE BEGIN StartDefaultTask */
     osThreadTerminate(osThreadGetId());
-/* USER CODE END StartDefaultTask */
+  /* USER CODE END StartDefaultTask */
 }
 
 /* Private application code --------------------------------------------------*/

Core/Src/stm32f4xx_it.c

@@ -268,6 +268,20 @@ void DMA1_Stream2_IRQHandler(void)
   /* USER CODE END DMA1_Stream2_IRQn 1 */
 }
 
+/**
+  * @brief This function handles CAN1 TX interrupts.
+  */
+void CAN1_TX_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN1_TX_IRQn 0 */
+
+  /* USER CODE END CAN1_TX_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan1);
+  /* USER CODE BEGIN CAN1_TX_IRQn 1 */
+
+  /* USER CODE END CAN1_TX_IRQn 1 */
+}
+
 /**
   * @brief This function handles CAN1 RX0 interrupts.
   */
@@ -409,6 +423,20 @@ void DMA2_Stream3_IRQHandler(void)
   /* USER CODE END DMA2_Stream3_IRQn 1 */
 }
 
+/**
+  * @brief This function handles CAN2 TX interrupts.
+  */
+void CAN2_TX_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN2_TX_IRQn 0 */
+
+  /* USER CODE END CAN2_TX_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan2);
+  /* USER CODE BEGIN CAN2_TX_IRQn 1 */
+
+  /* USER CODE END CAN2_TX_IRQn 1 */
+}
+
 /**
   * @brief This function handles CAN2 RX0 interrupts.
   */

DevC.ioc

@@ -270,8 +270,10 @@ MxDb.Version=DB.6.0.150
 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_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_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_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
@@ -441,6 +443,13 @@ PC9.GPIO_Pu=GPIO_PULLUP
 PC9.Locked=true
 PC9.Mode=I2C
 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.Mode=CAN_Activate
 PD0.Signal=CAN1_RX
@@ -553,6 +562,7 @@ ProjectManager.DeletePrevious=true
 ProjectManager.DeviceId=STM32F407IGHx
 ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.28.3
 ProjectManager.FreePins=false
+ProjectManager.FreePinsContext=
 ProjectManager.HalAssertFull=true
 ProjectManager.HeapSize=0x1000
 ProjectManager.KeepUserCode=true

User/module/arm.hpp

@@ -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];
+};

User/task/rc.c

@@ -6,7 +6,7 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
+#include "device/dr16.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -14,7 +14,7 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
-
+DR16_t dr16;
 /* USER STRUCT END */
 
 /* 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 */
   /* USER CODE INIT BEGIN */
-
+  DR16_Init(&dr16);
   /* USER CODE INIT END */
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
-
+    DR16_StartDmaRecv(&dr16);
+    if (DR16_WaitDmaCplt(20)) {
+      DR16_ParseData(&dr16);
+    } else {
+      DR16_Offline(&dr16);
+    }
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }