Merge branch 'main' of ssh://gitea.qutrobot.top:222/LYL/R2_UP

Core/Src/usart.c

@@ -103,7 +103,7 @@ void MX_USART6_UART_Init(void)
 
   /* USER CODE END USART6_Init 1 */
   huart6.Instance = USART6;
-  huart6.Init.BaudRate = 115200;
+  huart6.Init.BaudRate = 4000000;
   huart6.Init.WordLength = UART_WORDLENGTH_8B;
   huart6.Init.StopBits = UART_STOPBITS_1;
   huart6.Init.Parity = UART_PARITY_NONE;

User/Module/up.c

@@ -13,6 +13,7 @@ int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq)
 {
 	 u->param = param; 	/*初始化参数 */
    
+	GO_M8010_init();
 	PID_init (&u->pid.VESC_5065_M1 ,PID_POSITION ,&(u->param ->VESC_5065_M1_param  ));
 	PID_init (&u->pid.VESC_5065_M2 ,PID_POSITION ,&(u->param ->VESC_5065_M2_param ));
 

User/bsp/crc16.c

@@ -48,3 +48,15 @@ bool CRC16_Verify(const uint8_t *buf, size_t len) {
          ((const uint16_t *)((const uint8_t *)buf +
                              (len % 2)))[len / sizeof(uint16_t) - 1];
 }
+
+uint16_t do_crc_table(uint8_t *ptr, int len)
+{
+    uint16_t crc = 0x0000;
+    
+    while(len--) 
+    {
+        crc = (crc >> 8) ^ crc16_tab[(crc ^ *ptr++) & 0xff];
+    }
+    
+    return crc;
+}

User/bsp/crc16.h

@@ -12,6 +12,7 @@ extern "C" {
 
 uint16_t CRC16_Calc(const uint8_t *buf, size_t len, uint16_t crc);
 bool CRC16_Verify(const uint8_t *buf, size_t len);
+uint16_t do_crc_table(uint8_t *ptr, int len);
 
 #ifdef __cplusplus
 }

User/device/GO_M8010_6_Driver.c

@@ -7,7 +7,7 @@
 #include <cmsis_os2.h>
 
 GO_Motorfield GO_motor_info[GO_NUM];//存放电机数据
-const float gravit_const =9.81;//计算前馈力矩有关
+static const float gravit_const =9.81;//计算前馈力矩有关
 
 //数据处理函数
 static void GO_M8010_recv_data(uint8_t* Temp_buffer);
@@ -38,7 +38,7 @@ void GO_M8010_init (){
 
 
 //暂存接收数据
-static uint8_t Temp_buffer[16];
+uint8_t Temp_buffer[16];
 
 void USART6_RxCompleteCallback(void ) 
 {
@@ -79,12 +79,12 @@ void uartTxCB(UART_HandleTypeDef *huart)
 	*@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
 	*/
+    GO_Motorfield* motor;
 
 void GO_M8010_send_data(UART_HandleTypeDef *huart, int id,int rev,float T,float Pos,
                          float W,float K_P,float K_W)
 {
     // a pointer to target motor
-    GO_Motorfield* motor;
     motor = GO_motor_info+id;
 		
 	  //这个rev是干啥的
@@ -130,7 +130,7 @@ void GO_M8010_send_data(UART_HandleTypeDef *huart, int id,int rev,float T,float
 
     // interrupt buffer sending
     HAL_UART_Transmit_IT(huart,motor->buffer,sizeof(motor->buffer));
-    osDelay(100);
+    osDelay(1000);
     HAL_UART_Receive_DMA(huart, Temp_buffer, 16);//有无都可以
 
     

User/device/GO_M8010_6_Driver.h

@@ -35,23 +35,22 @@ typedef struct
     uint16_t  k_pos;        // <20><><EFBFBD><EFBFBD><EFBFBD>ؽڸն<DAB8>ϵ<EFBFBD><CFB5> unit: 0.0-1.0 (q15)
     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;   // <20><><EFBFBD>Ʋ<EFBFBD><C6B2><EFBFBD> 12Byte
-
+} RIS_Comd_t;   
 
 
 
 /**
- * @brief <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD><EFBFBD><EFBFBD>ʽ
+ *
  * 
  */
 typedef struct
 {
-    uint8_t head[2];    // <20><>ͷ         2Byte
-    RIS_Mode_t mode;    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ  1Byte
-    RIS_Comd_t comd;    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 12Byte
-    uint16_t   CRC16;   // CRC          2Byte
+    uint8_t head[2];    
+    RIS_Mode_t mode;    
+    RIS_Comd_t comd;   
+    uint16_t   CRC16;  
 
-} ControlData_t;    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>     17Byte
+} ControlData_t;    
 
 
 

User/device/can_use.h

@@ -102,7 +102,6 @@ typedef struct {
   BSP_CAN_t chassis5065;
 	BSP_CAN_t motor3508;
 	BSP_CAN_t pitch6020;
-	
 	BSP_CAN_t sick;
 } CAN_Params_t;
 

User/task/up_task.c

@@ -55,8 +55,11 @@ void Task_up(void *argument)
 //    GM6020_control(&UP, 100) ;
 //			UP_M2006_angle(&UP, 180);
 //			UP_M3508_speed(&UP, 500);
-//			VESC_M5065_Control(&UP, 1000);
+			VESC_M5065_Control(&UP, 00);
 		ALL_Motor_Control(&UP,&UP_CAN_out);
+//    GO_M8010_send_data(&huart6, 0,0,0,5,10,0.12,0.08);
+		osDelay(1);
+			
 
 	/*imu数据获取*/					
 	osMessageQueueGet(task_runtime.msgq.imu.eulr, &UP.pos088.imu_eulr, NULL, 0);