LYL/R2_UP
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base: LYL:500a70869ef3d040e5be7af894cf55123618f8c9
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LYL:main
LYL:new-branch
LYL:up_try
LYL:up_branch
LYL:JIAXING_UP
LYL:xiaomi
..
compare: LYL:70349583c9a8cca834f96fcd33b905cacaae52c8
Branches Tags
LYL:new-branch
LYL:up_try
LYL:up_branch
LYL:JIAXING_UP
LYL:main
LYL:xiaomi

No commits in common. "500a70869ef3d040e5be7af894cf55123618f8c9" and "70349583c9a8cca834f96fcd33b905cacaae52c8" have entirely different histories.
500a70869e ... 70349583c9

12 changed files with 243 additions and 290 deletions
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4
Core/Src/main.c
View File

@ -80,7 +80,8 @@ int main(void)
/* MCU Configuration--------------------------------------------------------*/ /* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. * HAL_Init(); /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */ /* USER CODE BEGIN Init */
@ -95,7 +96,6 @@ int main(void)
/* Initialize all configured peripherals */ /* Initialize all configured peripherals */
MX_GPIO_Init(); MX_GPIO_Init();
MX_DMA_Init(); MX_DMA_Init();
MX_SPI1_Init(); MX_SPI1_Init();
MX_TIM4_Init(); MX_TIM4_Init();

139
MDK-ARM/AUTO_CHASSIS.uvoptx
View File

@ -103,7 +103,7 @@
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@ -114,7 +114,7 @@
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@ -158,42 +158,17 @@
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<GroupNumber>13</GroupNumber> <GroupNumber>13</GroupNumber>
<FileNumber>93</FileNumber> <FileNumber>94</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>

5
MDK-ARM/AUTO_CHASSIS.uvprojx
View File

@ -1098,6 +1098,11 @@
<Group> <Group>
<GroupName>User/Module</GroupName> <GroupName>User/Module</GroupName>
<Files> <Files>
<File>
<FileName>Chassis.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\Module\Chassis.c</FilePath>
</File>
<File> <File>
<FileName>config.c</FileName> <FileName>config.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>

BIN
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
View File

Binary file not shown.

217
User/Module/config.c
View File

@ -28,21 +28,36 @@ ConfigParam_t param_chassis ={
static const ConfigParam_t param_chassis ={ static const ConfigParam_t param_chassis ={
//
//typedef struct
//{
// /*该部分决定PID的参数整定在config中修改*/
// pid_param_t VESC_5065_M1_param;
// pid_param_t VESC_5065_M2_param;
//
// pid_param_t UP_GM6020_speed_param;
// pid_param_t UP_GM6020_angle_param;
//
// pid_param_t M2006_speed_param;
// pid_param_t M2006_angle_param;
//
//}UP_Param_t;
#endif #endif
.up={ .up={
.M2006_angle_param = { .M2006_angle_param = { // 外环（角度环）
.p = 25.0f, .p = 25.0f, // 原13.0 → 提升P加速响应
.i = 0.0f, .i = 0.0f, // 保持
.d = 1.5f, .d = 1.5f, // 原1.8 → 增强D抑制振荡
.i_limit = 1000.0f, .i_limit = 1000.0f,// 原2000 → 限制积分累积
.out_limit = 3000.0f, .out_limit = 3000.0f,
}, },
.M2006_speed_param = { .M2006_speed_param = { // 内环（速度环）
.p = 5.0f, .p = 5.0f, // 原5.5 → 提升P加快跟踪
.i = 0.3f, .i = 0.3f, // 保持
.d = 0.0f, .d = 0.0f, // 原0.4 → 抑制新增高频噪声
.i_limit = 2000.0f, .i_limit = 2000.0f,
.out_limit = 3000.0f, .out_limit = 3000.0f,
}, },
@ -66,108 +81,100 @@ static const ConfigParam_t param_chassis ={
.d = 3.2f, .d = 3.2f,
.i_limit = 200.0f, .i_limit = 200.0f,
.out_limit =6000.0f, .out_limit =6000.0f,
}
}, },
.go_param={
.rev = 0, .chassis = {/**/
.T=0.1, .C6020pitAngle_param = {
.W=0.1, .p = 15.0f,
.K_P=0.1, .i = 0.3f,
.K_W=0.1, .d =0.0f,
.i_limit = 200.0f,
.out_limit = 3000.0f,
},
.C6020pitOmega_param = {
.p =30.0f,
.i =0.3f,
.d =0.0f,
.i_limit = 200.0f,
.out_limit = 3000.0f
},
.Gimbal_yawAngle_param = {
.p =8.0f,
.i =0.0f,
.d =0.0f,
.i_limit = 200.0f,
.out_limit = 3000.0f
},
.Gimbal_yawOmega_param = {
.p =18.0f,
.i =0.0f,
.d =0.0f,
.i_limit = 200.0f,
.out_limit = 3000.0f
},
.Gimbal_pitchAngle_param = {
.p =8.0f,
.i =0.0f,
.d =0.0f,
.i_limit = 200.0f,
.out_limit = 3000.0f
},
.Gimbal_pitchOmega_param = {
.p =18.0f,
.i =0.0f,
.d =0.0f,
.i_limit = 200.0f,
.out_limit = 3000.0f
},
.AngleCor_param = {
.p =0.8f,
.i =0.0f,
.d =1.0f,
.i_limit = 0.0f,
.out_limit =5000.0f,
},
.OmegaCor_param = {
.p =23.5f,
.i =0.0f,
.d =0.05f,
.i_limit = 0.0f,
.out_limit =5000.0f,
},
.ImuCor_param = {
.p =95.0f,
.i =0.0f,
.d =0.0f,
.i_limit = 0.0f,
.out_limit =200.0f,
},
.DisCamera_param = {
.p =80.0f,
.i =0.1f,
.d =0.0f,
.i_limit = 0.0f,
.out_limit =5000.0f,
},
.M3508_param = {
.p = 15.1f,
.i = 0.02f,
.d = 3.2f,
.i_limit = 200.0f,
.out_limit =6000.0f,
} }
}, },
// .chassis = {/**/
// .C6020pitAngle_param = {
// .p = 15.0f,
// .i = 0.3f,
// .d =0.0f,
// .i_limit = 200.0f,
// .out_limit = 3000.0f,
// },
// .C6020pitOmega_param = {
// .p =30.0f,
// .i =0.3f,
// .d =0.0f,
// .i_limit = 200.0f,
// .out_limit = 3000.0f
// },
//
// .Gimbal_yawAngle_param = {
// .p =8.0f,
// .i =0.0f,
// .d =0.0f,
// .i_limit = 200.0f,
// .out_limit = 3000.0f
// },
//
// .Gimbal_yawOmega_param = {
// .p =18.0f,
// .i =0.0f,
// .d =0.0f,
// .i_limit = 200.0f,
// .out_limit = 3000.0f
// },
//
// .Gimbal_pitchAngle_param = {
// .p =8.0f,
// .i =0.0f,
// .d =0.0f,
// .i_limit = 200.0f,
// .out_limit = 3000.0f
// },
//
// .Gimbal_pitchOmega_param = {
// .p =18.0f,
// .i =0.0f,
// .d =0.0f,
// .i_limit = 200.0f,
// .out_limit = 3000.0f
// },
// .AngleCor_param = {
// .p =0.8f,
// .i =0.0f,
// .d =1.0f,
// .i_limit = 0.0f,
// .out_limit =5000.0f,
// },
//
// .OmegaCor_param = {
// .p =23.5f,
// .i =0.0f,
// .d =0.05f,
// .i_limit = 0.0f,
// .out_limit =5000.0f,
// },
//
// .ImuCor_param = {
// .p =95.0f,
// .i =0.0f,
// .d =0.0f,
// .i_limit = 0.0f,
// .out_limit =200.0f,
// },
//
// .DisCamera_param = {
// .p =80.0f,
// .i =0.1f,
// .d =0.0f,
// .i_limit = 0.0f,
// .out_limit =5000.0f,
// },
// .M3508_param = {
// .p = 15.1f,
// .i = 0.02f,
// .d = 3.2f,
// .i_limit = 200.0f,
// .out_limit =6000.0f,
// }
//
// },
.can = { .can = {
.pitch6020 = BSP_CAN_1, .pitch6020 = BSP_CAN_1,

34
User/Module/up.c
View File

@ -23,17 +23,11 @@ int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq)
PID_init (&u->pid .GM6020_speed,PID_POSITION ,&(u->param ->UP_GM6020_speed_param )); PID_init (&u->pid .GM6020_speed,PID_POSITION ,&(u->param ->UP_GM6020_speed_param ));
PID_init (&u->pid .GM6020_angle,PID_POSITION ,&(u->param ->UP_GM6020_angle_param )); PID_init (&u->pid .GM6020_angle,PID_POSITION ,&(u->param ->UP_GM6020_angle_param ));
u->M2006 .motor =M2006 ;
u->M3508 .motor =M3508 ;
for(int i=0;i<3;i++){ for(int i=0;i<3;i++){
PID_init (&u->pid .M3508_speed[i] ,PID_POSITION ,&(u->param ->M3508_speed_param )); PID_init (&u->pid .M3508_speed[i] ,PID_POSITION ,&(u->param ->M3508_speed_param ));
} }
for(int i=0;i<2;i++){ //go初始位置设置为0
u->GO_motor_info[i] = getGoPoint(i);
GO_M8010_send_data(BSP_UART_GetHandle(BSP_UART_RS485), i,u->param->go_param .rev ,u->param->go_param .T ,u->param->go_param .W ,0,u->param->go_param .K_P ,u->param->go_param .K_W );
}
} }
@ -55,21 +49,19 @@ int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can) {
int8_t cnt=0; int8_t cnt=0;
/*上层电机控制*/ /*上层电机控制*/
int8_t UP_angle(UP_t *u, fp32 target_angle) { int8_t UP_M2006_angle(UP_t *u, fp32 target_angle) {
// 获取当前编码器角度 // 获取当前编码器角度
// switch (u->)
float angle = u->motorfeedback.M2006_angle; float angle = u->motorfeedback.M2006_angle;
// 初始化阶段：前50次循环记录初始值 // 初始化阶段：前50次循环记录初始值
if (u->M2006.init_cnt < 50) { if (u->M2006.init_cnt < 50) {
u->M2006.orig_angle = angle; // 记录初始编码器值 u->M2006.orig_angle = angle; // 记录初始编码器值
u->M2006.last_angle = angle; u->M2006.last_angle = angle; // 初始化上一次角度
u->M2006.init_cnt++; // 初始化计数器递增 u->M2006.init_cnt++; // 初始化计数器递增
return 0; return 0; // 初始化阶段不执行控制
} }
// 计算角度差值（处理编码器溢出）
float delta = angle - u->M2006.last_angle; float delta = angle - u->M2006.last_angle;
if (delta > 4096) { if (delta > 4096) {
u->M2006.round_cnt--; // 逆时针跨圈 u->M2006.round_cnt--; // 逆时针跨圈
@ -79,10 +71,10 @@ int8_t UP_angle(UP_t *u, fp32 target_angle) {
u->M2006.last_angle = angle; u->M2006.last_angle = angle;
// 计算总角度 // 计算总角度（基于初始偏移和圈数）
float total_angle = (u->M2006.round_cnt * 8191 + (angle - u->M2006.orig_angle)) * MOTOR2006_ECD_TO_ANGLE; float total_angle = (u->M2006.round_cnt * 8191 + (angle - u->M2006.orig_angle)) * MOTOR2006_ECD_TO_ANGLE;
u->M2006 .total_angle =total_angle; u->M2006 .total_angle =total_angle;
// PID控制计算
float delta_angle = PID_calc(&u->pid.M2006_angle, total_angle, target_angle); float delta_angle = PID_calc(&u->pid.M2006_angle, total_angle, target_angle);
float delta_speed = PID_calc(&u->pid.M2006_speed, u->motorfeedback.M2006_rpm, delta_angle); float delta_speed = PID_calc(&u->pid.M2006_speed, u->motorfeedback.M2006_rpm, delta_angle);
u->motor_target.M2006_angle = target_angle; u->motor_target.M2006_angle = target_angle;
@ -108,7 +100,7 @@ int8_t VESC_M5065_Control(UP_t *u,fp32 speed)
u->motor_target .VESC_5065_M2_rpm =speed; u->motor_target .VESC_5065_M2_rpm =speed;
u->final_out .final_VESC_5065_M1out =u->motor_target .VESC_5065_M1_rpm; u->final_out .final_VESC_5065_M1out =u->motor_target .VESC_5065_M1_rpm;
u->final_out .final_VESC_5065_M2out =-u->motor_target .VESC_5065_M2_rpm; u->final_out .final_VESC_5065_M2out =u->motor_target .VESC_5065_M2_rpm;
} }
@ -124,13 +116,7 @@ int8_t GM6020_control(UP_t *u,fp32 angle)
PID_calc (&(u->pid .GM6020_speed ),u->motorfeedback.rotor_pit6020rpm ,delat_speed); PID_calc (&(u->pid .GM6020_speed ),u->motorfeedback.rotor_pit6020rpm ,delat_speed);
u->motor_target .rotor_pit6020angle =angle ; u->motor_target .rotor_pit6020angle =angle ;
} }
/*go电机控制*/
int8_t GO_SendData(UP_t *u,int id,float pos)
{
GO_M8010_send_data(BSP_UART_GetHandle(BSP_UART_RS485), id,u->param->go_param .rev ,u->param->go_param .T ,u->param->go_param .W ,AngleChange(RADIAN,pos),u->param->go_param .K_P ,u->param->go_param .K_W );
}
int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out) int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
@ -163,5 +149,3 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out)
case STATE_POST_LAUNCH : break ; case STATE_POST_LAUNCH : break ;
} }
} }

49
User/Module/up.h
View File

@ -34,31 +34,6 @@ typedef struct {
}UP_Imu_t; }UP_Imu_t;
/**
*@input[in] rev 暂时不知道干啥用的，github为回答issue
*@input[in] T 力矩，单位N·m
*@input[in] Pos 目标位置，单位rad
*@input[in] W 目标速度，单位rad/s
*@input[in] K_P 位置环环kp
*@input[in] K_W 速度环kp
*@note 控制公式 ： t = T + （设定位置 - 实际位置）*K_P + （设定速度 - 实际速度）*K_W
*/
typedef struct {
int rev; //暂时不知何用
float T;
float W;
float K_P;
float K_W;
}GO_param_t;
typedef enum {
M2006 = 1,
M3508
} MotorType_t;
typedef struct typedef struct
{ {
@ -73,20 +48,17 @@ typedef struct
pid_param_t M2006_angle_param; pid_param_t M2006_angle_param;
pid_param_t M3508_speed_param; pid_param_t M3508_speed_param;
GO_param_t go_param;
}UP_Param_t; }UP_Param_t;
typedef struct typedef struct
{ {
MotorType_t motor;
float orig_angle; float orig_angle;
int8_t offset_flag;
float angle;
float last_angle; float last_angle;
int32_t round_cnt;
uint16_t init_cnt;
float total_angle; float total_angle;
}motor_angle_data; }M2006_data;
typedef struct{ typedef struct{
@ -96,10 +68,13 @@ typedef struct{
UP_Imu_t pos088; UP_Imu_t pos088;
OperationState ctrl; OperationState ctrl;
motor_angle_data M2006; struct {
motor_angle_data M3508; float orig_angle; // 初始偏移量
GO_Motorfield *GO_motor_info[GO_NUM];//存放go电机数据 float last_angle; // 上一次编码器值
int32_t round_cnt; // 圈数计数器
uint16_t init_cnt; // 初始化计数器（前50次记录初始值）
float total_angle;
} M2006;
struct{ struct{
fp32 rotor_pit6020ecd; fp32 rotor_pit6020ecd;
@ -170,8 +145,8 @@ int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq);
int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can) ; int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can) ;
int8_t GM6020_control(UP_t *u,fp32 angle); int8_t GM6020_control(UP_t *u,fp32 angle);
int8_t VESC_M5065_Control(UP_t *u,fp32 speed); int8_t VESC_M5065_Control(UP_t *u,fp32 speed);
int8_t GO_SendData(UP_t *u,int id,float pos);
int8_t UP_angle(UP_t *u, fp32 target_angle) ; int8_t UP_M2006_angle(UP_t *u,fp32 target_angle);
int8_t UP_control(UP_t *u,CAN_Output_t *out); int8_t UP_control(UP_t *u,CAN_Output_t *out);
int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out); int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out);
int8_t UP_M2006_angle(UP_t *u,fp32 target_angle); int8_t UP_M2006_angle(UP_t *u,fp32 target_angle);

16
User/device/GO_M8010_6_Driver.c
View File

@ -14,11 +14,11 @@ static void GO_M8010_recv_data(uint8_t* Temp_buffer);
/** /**
*@brief 电机初始化 *@brief 电机初始化
*/ */
void GO_M8010_init (void){ void GO_M8010_init (){
for (uint8_t id= 0; id <GO_NUM ;id++) for (uint8_t id= 0; id <GO_NUM ;id++)
{ {
GO_motor_info[id].id = id; GO_motor_info[id].id = id;
GO_motor_info[id].mode = 1; //位置模式 GO_motor_info[id].mode = 1;
GO_motor_info[id].correct = 1; GO_motor_info[id].correct = 1;
GO_motor_info[id].MError = 0; GO_motor_info[id].MError = 0;
GO_motor_info[id].Temp = 0; GO_motor_info[id].Temp = 0;
@ -47,12 +47,12 @@ void USART6_RxCompleteCallback(void )
uint16_t crc = CRC16_Calc(Temp_buffer,sizeof(Temp_buffer)-2,0x0000); uint16_t crc = CRC16_Calc(Temp_buffer,sizeof(Temp_buffer)-2,0x0000);
if ((Temp_buffer[14] != (crc&0xFF)) || (Temp_buffer[15] != ((crc>>8) & 0xFF))) if ((Temp_buffer[14] != (crc&0xFF)) || (Temp_buffer[15] != ((crc>>8) & 0xFF)))
{ {
// HAL_GPIO_WritePin(LED_B_GPIO_Port, LED_B_Pin, GPIO_PIN_SET); //蓝色灯亮 HAL_GPIO_WritePin(LED_B_GPIO_Port, LED_B_Pin, GPIO_PIN_SET); //蓝色灯亮
// HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_RESET); //红色灯灭 HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_RESET); //红色灯灭
return; return;
} }
// HAL_GPIO_WritePin(GPIOH, GPIO_PIN_11, GPIO_PIN_SET); // indicate CRC correct HAL_GPIO_WritePin(GPIOH, GPIO_PIN_11, GPIO_PIN_SET); // indicate CRC correct
// HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_RESET); //红色灯灭 HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_RESET); //红色灯灭
GO_M8010_recv_data(Temp_buffer); GO_M8010_recv_data(Temp_buffer);
} }
@ -79,11 +79,11 @@ void uartTxCB(UART_HandleTypeDef *huart)
*@input[in] K_W 速度环kp *@input[in] K_W 速度环kp
*@note 控制公式 ： t = T + （设定位置 - 实际位置）*K_P + （设定速度 - 实际速度）*K_W *@note 控制公式 ： t = T + （设定位置 - 实际位置）*K_P + （设定速度 - 实际速度）*K_W
*/ */
GO_Motorfield* motor;
void GO_M8010_send_data(UART_HandleTypeDef *huart, int id,int rev,float T,float Pos, void GO_M8010_send_data(UART_HandleTypeDef *huart, int id,int rev,float T,float Pos,
float W,float K_P,float K_W) float W,float K_P,float K_W)
{ {
GO_Motorfield* motor;
// a pointer to target motor // a pointer to target motor
motor = GO_motor_info+id; motor = GO_motor_info+id;
@ -130,7 +130,7 @@ void GO_M8010_send_data(UART_HandleTypeDef *huart, int id,int rev,float T,float
// interrupt buffer sending // interrupt buffer sending
HAL_UART_Transmit_IT(huart,motor->buffer,sizeof(motor->buffer)); HAL_UART_Transmit_IT(huart,motor->buffer,sizeof(motor->buffer));
osDelay(1); osDelay(1000);
HAL_UART_Receive_DMA(huart, Temp_buffer, 16);//有无都可以 HAL_UART_Receive_DMA(huart, Temp_buffer, 16);//有无都可以

29
User/device/GO_M8010_6_Driver.h
View File

@ -19,18 +19,21 @@ typedef struct
uint8_t id :4; uint8_t id :4;
uint8_t status :3; uint8_t status :3;
uint8_t none :1; uint8_t none :1;
} RIS_Mode_t ; } RIS_Mode_t /*__attribute__((packed))*/;
/**
* @brief <EFBFBD><EFBFBD><EFBFBD>״̬<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
*
*/
typedef struct typedef struct
{ {
int16_t tor_des; int16_t tor_des; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD>Ť<EFBFBD><C5A4> unit: N.m (q8)
int16_t spd_des; int16_t spd_des; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> unit: rad/s (q7)
int32_t pos_des; int32_t pos_des; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB> unit: rad (q15)
uint16_t k_pos; uint16_t k_pos; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽڸն<DAB8>ϵ<EFBFBD><CFB5> unit: 0.0-1.0 (q15)
uint16_t k_spd; uint16_t k_spd; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5> unit: 0.0-1.0 (q15)
} RIS_Comd_t; } RIS_Comd_t;
@ -58,12 +61,12 @@ typedef struct {
uint16_t correct; uint16_t correct;
int MError; int MError;
int Temp; int Temp;
float tar_pos; float tar_pos; // target position
float tar_w; float tar_w; // target speed
float T; float T; // <20><>ǰʵ<C7B0>ʵ<EFBFBD><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float W; float W; // <20><>ǰʵ<C7B0>ʵ<EFBFBD><CAB5><EFBFBD>ٶȣ<D9B6><C8A3><EFBFBD><EFBFBD>٣<EFBFBD>
float Pos; float Pos; // <20><>ǰ<EFBFBD><C7B0><EFBFBD>λ<EFBFBD><CEBB>
int footForce; int footForce; // They dont even know what 7 is this so we dont update this
uint8_t buffer[17]; uint8_t buffer[17];
uint8_t Rec_buffer[16]; uint8_t Rec_buffer[16];
ControlData_t motor_send_data; ControlData_t motor_send_data;

6
User/device/can_use.c
View File

@ -266,10 +266,10 @@ int8_t CAN_VESC_Control(int id,CAN_MotorGroup_e group, CAN_Output_t *output,CAN_
for(int i=0 ; i < 4 ; i ++) for(int i=0 ; i < 4 ; i ++)
{ {
// if(i==2) //此处可能同时发送四个vesc导致只有三个轮子接收到数据 故加上delay if(i==2) //此处可能同时发送四个vesc导致只有三个轮子接收到数据 故加上delay
// { {
osDelay(1); osDelay(1);
// } }
//将单个电机的期望输出值通过联合体拆分 //将单个电机的期望输出值通过联合体拆分
Byte[0] = raw[i].byte.byte1; Byte[0] = raw[i].byte.byte1;
Byte[1] = raw[i].byte.byte2; Byte[1] = raw[i].byte.byte2;

5
User/task/can_task.c
View File

@ -73,7 +73,10 @@ const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN;
&(can_out.chassis5065), 0, 0) == osOK) { &(can_out.chassis5065), 0, 0) == osOK) {
CAN_VESC_Control(1,CAN_MOTOR_CHASSIS5065, &can_out ,&can); CAN_VESC_Control(1,CAN_MOTOR_CHASSIS5065, &can_out ,&can);
} }
if (osMessageQueueGet(task_runtime.msgq.can.output.shoot5065,
&(can_out.chassis5065), 0, 0) == osOK) {
CAN_VESC_Control(2,CAN_MOTOR_CHASSIS5065, &can_out ,&can);
}
tick += delay_tick; /* 计算下一个唤醒时刻 */ tick += delay_tick; /* 计算下一个唤醒时刻 */
osDelayUntil(tick); /* 运行结束，等待下一个周期唤醒 */ osDelayUntil(tick); /* 运行结束，等待下一个周期唤醒 */
} }

19
User/task/up_task.c
View File

@ -29,9 +29,7 @@ static UP_t UP;
#endif #endif
float aaa=0;
float bbb=0;
float CCC=0;
/** /**
@ -55,20 +53,11 @@ void Task_up(void *argument)
#endif #endif
UP_UpdateFeedback(&UP, &can) ; UP_UpdateFeedback(&UP, &can) ;
// GM6020_control(&UP, 100) ; // GM6020_control(&UP, 100) ;
UP_angle(&UP, bbb); // UP_M2006_angle(&UP, 180);
// UP_M3508_speed(&UP, 500); // UP_M3508_speed(&UP, 500);
VESC_M5065_Control(&UP, 00);
// VESC_M5065_Control(&UP, 20000);
GO_SendData(&UP, 1,CCC);
GO_SendData(&UP, 0,aaa);
ALL_Motor_Control(&UP,&UP_CAN_out); ALL_Motor_Control(&UP,&UP_CAN_out);
// GO_M8010_send_data(&huart6, 0,0,0,5,10,0.12,0.08);
osDelay(1); osDelay(1);