LYL/R2_CHASSIS
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修改文件名称导致keil设置丢失，重新写相关文件，这个只提交验证后的可使用代码

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This commit is contained in:
ZHAISHUI04 2025-03-28 17:41:23 +08:00
parent c264f1d2b1
commit c4a8f6b523
14 changed files with 57 additions and 82 deletions
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75
MDK-ARM/AUTO_CHASSIS.uvoptx → MDK-ARM/R2_CHASSIS.uvoptx
View File

@ -12,7 +12,7 @@
<lExt>*.lib</lExt> <lExt>*.lib</lExt>
<tExt>*.txt; *.h; *.inc; *.md</tExt> <tExt>*.txt; *.h; *.inc; *.md</tExt>
<pExt>*.plm</pExt> <pExt>*.plm</pExt>
<CppX>*.cpp</CppX> <CppX>*.cpp; *.cc; *.cxx</CppX>
<nMigrate>0</nMigrate> <nMigrate>0</nMigrate>
</Extensions> </Extensions>
@ -22,7 +22,7 @@
</DaveTm> </DaveTm>
<Target> <Target>
<TargetName>AUTO_CHASSIS</TargetName> <TargetName>R2_CHASSIS</TargetName>
<ToolsetNumber>0x4</ToolsetNumber> <ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName> <ToolsetName>ARM-ADS</ToolsetName>
<TargetOption> <TargetOption>
@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn> <bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf> <bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf> <bTchkAxf>0</bTchkAxf>
<nTsel>3</nTsel> <nTsel>6</nTsel>
<sDll></sDll> <sDll></sDll>
<sDllPa></sDllPa> <sDllPa></sDllPa>
<sDlgDll></sDlgDll> <sDlgDll></sDlgDll>
@ -114,14 +114,9 @@
<tDlgDll></tDlgDll> <tDlgDll></tDlgDll>
<tDlgPa></tDlgPa> <tDlgPa></tDlgPa>
<tIfile></tIfile> <tIfile></tIfile>
<pMon>BIN\CMSIS_AGDI.dll</pMon> <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
</DebugOpt> </DebugOpt>
<TargetDriverDllRegistry> <TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key>
<Name>-U00160029510000164E574E32 -O206 -SF5000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131091 -TC12000000 -TT12000000 -TP21 -TDS8005 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>ARMRTXEVENTFLAGS</Key> <Key>ARMRTXEVENTFLAGS</Key>
@ -139,13 +134,13 @@
</SetRegEntry> </SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>CMSIS_AGDI</Key> <Key>ST-LINKIII-KEIL_SWO</Key>
<Name>-X"Horco CMSIS-DAP" -U8626380832 -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC168000000 -TT168000000 -TP20 -TDS8010 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name> <Name>-U00260035480000034E575152 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8000 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry> </SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>DLGUARM</Key> <Key>DLGUARM</Key>
<Name></Name> <Name>(105=-1,-1,-1,-1,0)</Name>
</SetRegEntry> </SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
@ -158,41 +153,9 @@
<Ww> <Ww>
<count>0</count> <count>0</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>CAN_data,0x0A</ItemText> <ItemText>dr16,0x0A</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>aaaaaaa,0x0A</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_rc,0x0A</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>cmd,0x0A</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>rc_ctrl,0x0A</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>buf0ready,0x0A</ItemText>
</Ww> </Ww>
</WatchWindow1> </WatchWindow1>
<WatchWindow2>
<Ww>
<count>0</count>
<WinNumber>2</WinNumber>
<ItemText>a</ItemText>
</Ww>
</WatchWindow2>
<Tracepoint> <Tracepoint>
<THDelay>0</THDelay> <THDelay>0</THDelay>
</Tracepoint> </Tracepoint>
@ -236,18 +199,18 @@
<pSingCmdsp></pSingCmdsp> <pSingCmdsp></pSingCmdsp>
<pMultCmdsp></pMultCmdsp> <pMultCmdsp></pMultCmdsp>
<DebugDescription> <DebugDescription>
<Enable>0</Enable> <Enable>1</Enable>
<EnableFlashSeq>0</EnableFlashSeq> <EnableFlashSeq>0</EnableFlashSeq>
<EnableLog>0</EnableLog> <EnableLog>0</EnableLog>
<Protocol>2</Protocol> <Protocol>2</Protocol>
<DbgClock>5000000</DbgClock> <DbgClock>10000000</DbgClock>
</DebugDescription> </DebugDescription>
</TargetOption> </TargetOption>
</Target> </Target>
<Group> <Group>
<GroupName>Application/MDK-ARM</GroupName> <GroupName>Application/MDK-ARM</GroupName>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -279,7 +242,7 @@
<Group> <Group>
<GroupName>Application/User/Core</GroupName> <GroupName>Application/User/Core</GroupName>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -711,7 +674,7 @@
<Group> <Group>
<GroupName>Middlewares/FreeRTOS</GroupName> <GroupName>Middlewares/FreeRTOS</GroupName>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -839,7 +802,7 @@
<Group> <Group>
<GroupName>User/Module</GroupName> <GroupName>User/Module</GroupName>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -1163,7 +1126,7 @@
<Group> <Group>
<GroupName>User/Algorithm</GroupName> <GroupName>User/Algorithm</GroupName>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -1243,7 +1206,7 @@
<Group> <Group>
<GroupName>User/Device</GroupName> <GroupName>User/Device</GroupName>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -1335,7 +1298,7 @@
<Group> <Group>
<GroupName>Application/User/USB_DEVICE/App</GroupName> <GroupName>Application/User/USB_DEVICE/App</GroupName>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -1379,7 +1342,7 @@
<Group> <Group>
<GroupName>Application/User/USB_DEVICE/Target</GroupName> <GroupName>Application/User/USB_DEVICE/Target</GroupName>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -1399,7 +1362,7 @@
<Group> <Group>
<GroupName>Middlewares/USB_Device_Library</GroupName> <GroupName>Middlewares/USB_Device_Library</GroupName>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>

10
MDK-ARM/AUTO_CHASSIS.uvprojx → MDK-ARM/R2_CHASSIS.uvprojx
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@ -7,7 +7,7 @@
<Targets> <Targets>
<Target> <Target>
<TargetName>AUTO_CHASSIS</TargetName> <TargetName>R2_CHASSIS</TargetName>
<ToolsetNumber>0x4</ToolsetNumber> <ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName> <ToolsetName>ARM-ADS</ToolsetName>
<pArmCC>5060960::V5.06 update 7 (build 960)::.\ARMCC</pArmCC> <pArmCC>5060960::V5.06 update 7 (build 960)::.\ARMCC</pArmCC>
@ -49,8 +49,8 @@
<NotGenerated>0</NotGenerated> <NotGenerated>0</NotGenerated>
<InvalidFlash>1</InvalidFlash> <InvalidFlash>1</InvalidFlash>
</TargetStatus> </TargetStatus>
<OutputDirectory>ELE_CHASSIS\</OutputDirectory> <OutputDirectory>.\R2_CHASSIS\</OutputDirectory>
<OutputName>AUTO_CHASSIS</OutputName> <OutputName>R2_CHASSIS</OutputName>
<CreateExecutable>1</CreateExecutable> <CreateExecutable>1</CreateExecutable>
<CreateLib>0</CreateLib> <CreateLib>0</CreateLib>
<CreateHexFile>0</CreateHexFile> <CreateHexFile>0</CreateHexFile>
@ -82,7 +82,7 @@
</BeforeMake> </BeforeMake>
<AfterMake> <AfterMake>
<RunUserProg1>0</RunUserProg1> <RunUserProg1>0</RunUserProg1>
<RunUserProg2>1</RunUserProg2> <RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name> <UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name> <UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode> <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
@ -1993,7 +1993,7 @@
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.3.0" condition="ARMv6_7_8-M Device"> <component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.3.0" condition="ARMv6_7_8-M Device">
<package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.6.0"/> <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.6.0"/>
<targetInfos> <targetInfos>
<targetInfo name="AUTO_CHASSIS"/> <targetInfo name="R2_CHASSIS"/>
</targetInfos> </targetInfos>
</component> </component>
</components> </components>

0
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.hex → MDK-ARM/R2_CHASSIS/AUTO_CHASSIS.hex
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0
MDK-ARM/ELE_CHASSIS/ELE_CHASSIS.hex → MDK-ARM/R2_CHASSIS/ELE_CHASSIS.hex
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BIN
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf → MDK-ARM/R2_CHASSIS/R2_CHASSIS.axf
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Binary file not shown.

0
AUTO_CHASSIS.ioc → R2_CHASSIS.ioc
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12
User/device/cmd.c
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@ -95,15 +95,15 @@ static void CMD_RcLostLogic(CMD_t *cmd){
int8_t CMD_ParseRc(CMD_t *cmd,CMD_RC_t *rc){ int8_t CMD_ParseRc(CMD_t *cmd,CMD_RC_t *rc){
if (cmd == NULL) return -1; if (cmd == NULL) return -1;
if (rc == NULL) return -1; if (rc == NULL) return -1;
//#ifdef dr16_t #ifdef dr16_t
/*c当rc丢控时，恢复机器人至默认状态 */ /*c当rc丢控时，恢复机器人至默认状态 */
// if ((rc->ch_w == CMD_SW_ERR) || (rc->ch_y == CMD_SW_ERR)) { if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) {
// CMD_RcLostLogic(cmd); CMD_RcLostLogic(cmd);
// } else { } else {
CMD_RcLogic(rc, cmd); CMD_RcLogic(rc, cmd);
// } }
//#endif #endif
return 0; return 0;
} }

4
User/device/cmd.h
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@ -26,8 +26,8 @@
/*选择遥控器，else为r12ds*/ /*选择遥控器，else为r12ds*/
//#define dr16_t #define dr16_t
#define r12ds_t //#define r12ds_t

1
User/device/dr16.c
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@ -106,7 +106,6 @@ int8_t DR16_ParseRC(const DR16_t *dr16, CMD_RC_t *rc) {
} else { } else {
memset(rc, 0, sizeof(*rc)); memset(rc, 0, sizeof(*rc));
} }
rc->RC_type = RC_dr16;
float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN); float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN);
rc->ch_r_x = 2 * ((float)dr16->data.ch_r_x - DR16_CH_VALUE_MID) / full_range; rc->ch_r_x = 2 * ((float)dr16->data.ch_r_x - DR16_CH_VALUE_MID) / full_range;

4
User/task/dr16_task.c
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@ -13,7 +13,7 @@
/* Private macro ------------------------------------------------------------ */ /* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
#ifdef dr16 #ifdef dr16_t
#ifdef DEBUG #ifdef DEBUG
DR16_t dr16; DR16_t dr16;
@ -35,7 +35,7 @@ static CMD_RC_t cmd_rc;
*/ */
void Task_dr16(void *argument) { void Task_dr16(void *argument) {
(void)argument; /* 未使用，消除警告 */ (void)argument; /* 未使用，消除警告 */
#ifdef dr16 #ifdef dr16_t
DR16_Init(&dr16); /* 初始化dr16 */ DR16_Init(&dr16); /* 初始化dr16 */

2
User/task/init.c
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@ -37,6 +37,8 @@ void Task_Init(void *argument) {
osThreadNew(Task_Chassis, NULL, &attr_chassis); osThreadNew(Task_Chassis, NULL, &attr_chassis);
task_runtime.thread.r12ds = task_runtime.thread.r12ds =
osThreadNew(Task_r12ds,NULL,&attr_r12ds); osThreadNew(Task_r12ds,NULL,&attr_r12ds);
task_runtime.thread.dr16 =
osThreadNew(Task_dr16,NULL,&attr_dr16);
task_runtime.thread.can = task_runtime.thread.can =
osThreadNew(Task_can,NULL,&attr_can); osThreadNew(Task_can,NULL,&attr_can);

13
User/task/r12ds_task.c
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@ -37,14 +37,20 @@ void Task_r12ds(void *argument)
{ {
(void)argument; (void)argument;
#ifdef r12ds_t
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_R12DS; const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_R12DS;
R12ds_DMA_Init(sbus_rx_buf[0],sbus_rx_buf[1],50);
uint32_t tick = osKernelGetTickCount(); uint32_t tick = osKernelGetTickCount();
#ifdef r12ds_t
R12ds_DMA_Init(sbus_rx_buf[0],sbus_rx_buf[1],50);
#endif
while (1) while (1)
{ {
#ifdef r12ds_t
#ifdef DEBUG #ifdef DEBUG
task_runtime.stack_water_mark.r12ds = task_runtime.stack_water_mark.r12ds =
@ -61,13 +67,14 @@ void Task_r12ds(void *argument)
osMessageQueueReset(task_runtime.msgq.cmd.raw.rc); osMessageQueueReset(task_runtime.msgq.cmd.raw.rc);
osMessageQueuePut(task_runtime.msgq.cmd.raw.rc,(&cmd_rc),0,0); osMessageQueuePut(task_runtime.msgq.cmd.raw.rc,(&cmd_rc),0,0);
#endif
tick += delay_tick; /* 计算下一个唤醒时*/ tick += delay_tick; /* 计算下一个唤醒时*/
osDelay(10); osDelay(10);
} }
#endif
} }

12
User/task/user_task.c
View File

@ -35,6 +35,12 @@ const osThreadAttr_t attr_r12ds = {
.priority = osPriorityRealtime, .priority = osPriorityRealtime,
.stack_size = 128 * 4, .stack_size = 128 * 4,
}; };
const osThreadAttr_t attr_dr16 = {
.name = "dr16",
.priority = osPriorityRealtime,
.stack_size = 128 *4,
};
const osThreadAttr_t attr_can = { const osThreadAttr_t attr_can = {
.name = "can", .name = "can",
@ -60,10 +66,4 @@ const osThreadAttr_t attr_error_detect = {
.stack_size = 128 *4, .stack_size = 128 *4,
}; };
const osThreadAttr_t attr_dr16 = {
.name = "dr16",
.priority = osPriorityRealtime,
.stack_size = 128 *4,
};

6
User/task/user_task.h
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@ -110,6 +110,8 @@ typedef struct {
float can; float can;
float atti_esti; float atti_esti;
float r12ds; float r12ds;
float dr16;
float cmd; float cmd;
float nuc; float nuc;
float error_detect; float error_detect;
@ -120,6 +122,8 @@ typedef struct {
float can; float can;
float atti_esti; float atti_esti;
float r12ds; float r12ds;
float dr16;
float cmd; float cmd;
float nuc; float nuc;
float error_detect; float error_detect;
@ -143,7 +147,7 @@ extern const osThreadAttr_t attr_nuc;
extern const osThreadAttr_t attr_error_detect; extern const osThreadAttr_t attr_error_detect;
//extern const osThreadAttr_t attr_dr16; extern const osThreadAttr_t attr_dr16;
extern const osThreadAttr_t attr_r12ds; extern const osThreadAttr_t attr_r12ds;