Compare commits
9 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
| 9cd4a4b161 | |||
| 61e7f07bac | |||
| 500a70869e | |||
| 06273f875a | |||
| 70349583c9 | |||
| ea949443ad | |||
| 94f899f27b | |||
| adbf87522c | |||
| 5b856e6b87 |
@ -80,8 +80,7 @@ int main(void)
|
||||
|
||||
/* MCU Configuration--------------------------------------------------------*/
|
||||
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||||
/* 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 */
|
||||
|
||||
@ -96,6 +95,7 @@ int main(void)
|
||||
|
||||
/* Initialize all configured peripherals */
|
||||
MX_GPIO_Init();
|
||||
|
||||
MX_DMA_Init();
|
||||
MX_SPI1_Init();
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||||
MX_TIM4_Init();
|
||||
|
||||
@ -103,7 +103,7 @@ void MX_USART6_UART_Init(void)
|
||||
|
||||
/* USER CODE END USART6_Init 1 */
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huart6.Instance = USART6;
|
||||
huart6.Init.BaudRate = 115200;
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huart6.Init.BaudRate = 4000000;
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huart6.Init.WordLength = UART_WORDLENGTH_8B;
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huart6.Init.StopBits = UART_STOPBITS_1;
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||||
huart6.Init.Parity = UART_PARITY_NONE;
|
||||
|
||||
313
MDK-ARM/.vscode/c_cpp_properties.json
vendored
Normal file
313
MDK-ARM/.vscode/c_cpp_properties.json
vendored
Normal file
@ -0,0 +1,313 @@
|
||||
{
|
||||
"configurations": [
|
||||
{
|
||||
"name": "windows-gcc-x64",
|
||||
"includePath": [
|
||||
"${workspaceFolder}/**",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Core\\Inc",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\CMSIS\\Include",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User\\bsp",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User\\device",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User\\task",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User\\Algorithm",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User\\Module",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\MDK-ARM",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\CMSIS\\Lib\\ARM",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Core\\Src",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\STM32F4xx_HAL_Driver\\Src",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Middlewares\\Third_Party\\FreeRTOS\\Source",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang",
|
||||
"${default}"
|
||||
],
|
||||
"defines": [
|
||||
"USE_HAL_DRIVER",
|
||||
"STM32F407xx",
|
||||
"__CC_ARM",
|
||||
"__arm__",
|
||||
"__align(x)=",
|
||||
"__ALIGNOF__(x)=",
|
||||
"__alignof__(x)=",
|
||||
"__asm(x)=",
|
||||
"__forceinline=",
|
||||
"__restrict=",
|
||||
"__global_reg(n)=",
|
||||
"__inline=",
|
||||
"__int64=long long",
|
||||
"__INTADDR__(expr)=0",
|
||||
"__irq=",
|
||||
"__packed=",
|
||||
"__pure=",
|
||||
"__smc(n)=",
|
||||
"__svc(n)=",
|
||||
"__svc_indirect(n)=",
|
||||
"__svc_indirect_r7(n)=",
|
||||
"__value_in_regs=",
|
||||
"__weak=",
|
||||
"__writeonly=",
|
||||
"__declspec(x)=",
|
||||
"__attribute__(x)=",
|
||||
"__nonnull__(x)=",
|
||||
"__register=",
|
||||
"__breakpoint(x)=",
|
||||
"__cdp(x,y,z)=",
|
||||
"__clrex()=",
|
||||
"__clz(x)=0U",
|
||||
"__current_pc()=0U",
|
||||
"__current_sp()=0U",
|
||||
"__disable_fiq()=",
|
||||
"__disable_irq()=",
|
||||
"__dmb(x)=",
|
||||
"__dsb(x)=",
|
||||
"__enable_fiq()=",
|
||||
"__enable_irq()=",
|
||||
"__fabs(x)=0.0",
|
||||
"__fabsf(x)=0.0f",
|
||||
"__force_loads()=",
|
||||
"__force_stores()=",
|
||||
"__isb(x)=",
|
||||
"__ldrex(x)=0U",
|
||||
"__ldrexd(x)=0U",
|
||||
"__ldrt(x)=0U",
|
||||
"__memory_changed()=",
|
||||
"__nop()=",
|
||||
"__pld(...)=",
|
||||
"__pli(...)=",
|
||||
"__qadd(x,y)=0",
|
||||
"__qdbl(x)=0",
|
||||
"__qsub(x,y)=0",
|
||||
"__rbit(x)=0U",
|
||||
"__rev(x)=0U",
|
||||
"__return_address()=0U",
|
||||
"__ror(x,y)=0U",
|
||||
"__schedule_barrier()=",
|
||||
"__semihost(x,y)=0",
|
||||
"__sev()=",
|
||||
"__sqrt(x)=0.0",
|
||||
"__sqrtf(x)=0.0f",
|
||||
"__ssat(x,y)=0",
|
||||
"__strex(x,y)=0U",
|
||||
"__strexd(x,y)=0",
|
||||
"__strt(x,y)=",
|
||||
"__swp(x,y)=0U",
|
||||
"__usat(x,y)=0U",
|
||||
"__wfe()=",
|
||||
"__wfi()=",
|
||||
"__yield()=",
|
||||
"__vfp_status(x,y)=0"
|
||||
],
|
||||
"intelliSenseMode": "windows-gcc-x64",
|
||||
"cStandard": "${default}",
|
||||
"cppStandard": "${default}",
|
||||
"compilerPath": "C:/vspack/mingw64/bin/gcc.exe"
|
||||
},
|
||||
{
|
||||
"name": "ELE_CHASSIS",
|
||||
"includePath": [
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(2.16AGV)\\Core\\Inc",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(2.16AGV)\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(2.16AGV)\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(2.16AGV)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(2.16AGV)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(2.16AGV)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(2.16AGV)\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(2.16AGV)\\Drivers\\CMSIS\\Include",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(2.16AGV)",
|
||||
"${default}",
|
||||
"${workspaceFolder}/**"
|
||||
],
|
||||
"defines": [
|
||||
"USE_HAL_DRIVER",
|
||||
"STM32F407xx",
|
||||
"__CC_ARM",
|
||||
"__arm__",
|
||||
"__align(x)=",
|
||||
"__ALIGNOF__(x)=",
|
||||
"__alignof__(x)=",
|
||||
"__asm(x)=",
|
||||
"__forceinline=",
|
||||
"__restrict=",
|
||||
"__global_reg(n)=",
|
||||
"__inline=",
|
||||
"__int64=long long",
|
||||
"__INTADDR__(expr)=0",
|
||||
"__irq=",
|
||||
"__packed=",
|
||||
"__pure=",
|
||||
"__smc(n)=",
|
||||
"__svc(n)=",
|
||||
"__svc_indirect(n)=",
|
||||
"__svc_indirect_r7(n)=",
|
||||
"__value_in_regs=",
|
||||
"__weak=",
|
||||
"__writeonly=",
|
||||
"__declspec(x)=",
|
||||
"__attribute__(x)=",
|
||||
"__nonnull__(x)=",
|
||||
"__register=",
|
||||
"__breakpoint(x)=",
|
||||
"__cdp(x,y,z)=",
|
||||
"__clrex()=",
|
||||
"__clz(x)=0U",
|
||||
"__current_pc()=0U",
|
||||
"__current_sp()=0U",
|
||||
"__disable_fiq()=",
|
||||
"__disable_irq()=",
|
||||
"__dmb(x)=",
|
||||
"__dsb(x)=",
|
||||
"__enable_fiq()=",
|
||||
"__enable_irq()=",
|
||||
"__fabs(x)=0.0",
|
||||
"__fabsf(x)=0.0f",
|
||||
"__force_loads()=",
|
||||
"__force_stores()=",
|
||||
"__isb(x)=",
|
||||
"__ldrex(x)=0U",
|
||||
"__ldrexd(x)=0U",
|
||||
"__ldrt(x)=0U",
|
||||
"__memory_changed()=",
|
||||
"__nop()=",
|
||||
"__pld(...)=",
|
||||
"__pli(...)=",
|
||||
"__qadd(x,y)=0",
|
||||
"__qdbl(x)=0",
|
||||
"__qsub(x,y)=0",
|
||||
"__rbit(x)=0U",
|
||||
"__rev(x)=0U",
|
||||
"__return_address()=0U",
|
||||
"__ror(x,y)=0U",
|
||||
"__schedule_barrier()=",
|
||||
"__semihost(x,y)=0",
|
||||
"__sev()=",
|
||||
"__sqrt(x)=0.0",
|
||||
"__sqrtf(x)=0.0f",
|
||||
"__ssat(x,y)=0",
|
||||
"__strex(x,y)=0U",
|
||||
"__strexd(x,y)=0",
|
||||
"__strt(x,y)=",
|
||||
"__swp(x,y)=0U",
|
||||
"__usat(x,y)=0U",
|
||||
"__wfe()=",
|
||||
"__wfi()=",
|
||||
"__yield()=",
|
||||
"__vfp_status(x,y)=0"
|
||||
],
|
||||
"intelliSenseMode": "${default}"
|
||||
},
|
||||
{
|
||||
"name": "AUTO_CHASSIS",
|
||||
"includePath": [
|
||||
"d:\\Desktop\\r2\\R2_UP\\Core\\Inc",
|
||||
"d:\\Desktop\\r2\\R2_UP\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
|
||||
"d:\\Desktop\\r2\\R2_UP\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
|
||||
"d:\\Desktop\\r2\\R2_UP\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
|
||||
"d:\\Desktop\\r2\\R2_UP\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
|
||||
"d:\\Desktop\\r2\\R2_UP\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
|
||||
"d:\\Desktop\\r2\\R2_UP\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
|
||||
"d:\\Desktop\\r2\\R2_UP\\Drivers\\CMSIS\\Include",
|
||||
"d:\\Desktop\\r2\\R2_UP\\User",
|
||||
"d:\\Desktop\\r2\\R2_UP\\User\\bsp",
|
||||
"d:\\Desktop\\r2\\R2_UP\\User\\device",
|
||||
"d:\\Desktop\\r2\\R2_UP\\User\\task",
|
||||
"d:\\Desktop\\r2\\R2_UP\\User\\Algorithm",
|
||||
"d:\\Desktop\\r2\\R2_UP\\User\\Module",
|
||||
"d:\\Desktop\\r2\\R2_UP\\MDK-ARM",
|
||||
"d:\\Desktop\\r2\\R2_UP\\USB_DEVICE\\App",
|
||||
"d:\\Desktop\\r2\\R2_UP\\USB_DEVICE\\Target",
|
||||
"d:\\Desktop\\r2\\R2_UP\\Middlewares\\ST\\STM32_USB_Device_Library\\Core\\Inc",
|
||||
"d:\\Desktop\\r2\\R2_UP\\Middlewares\\ST\\STM32_USB_Device_Library\\Class\\CDC\\Inc",
|
||||
"d:\\Desktop\\r2\\R2_UP\\Drivers\\CMSIS\\Lib\\ARM",
|
||||
"d:\\Desktop\\r2\\R2_UP\\Core\\Src",
|
||||
"d:\\Desktop\\r2\\R2_UP\\Drivers\\STM32F4xx_HAL_Driver\\Src",
|
||||
"d:\\Desktop\\r2\\R2_UP\\Middlewares\\Third_Party\\FreeRTOS\\Source",
|
||||
"d:\\Desktop\\r2\\R2_UP\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang",
|
||||
"d:\\Desktop\\r2\\R2_UP\\Middlewares\\ST\\STM32_USB_Device_Library\\Core\\Src",
|
||||
"d:\\Desktop\\r2\\R2_UP\\Middlewares\\ST\\STM32_USB_Device_Library\\Class\\CDC\\Src"
|
||||
],
|
||||
"defines": [
|
||||
"USE_HAL_DRIVER",
|
||||
"STM32F407xx",
|
||||
"__CC_ARM",
|
||||
"__arm__",
|
||||
"__align(x)=",
|
||||
"__ALIGNOF__(x)=",
|
||||
"__alignof__(x)=",
|
||||
"__asm(x)=",
|
||||
"__forceinline=",
|
||||
"__restrict=",
|
||||
"__global_reg(n)=",
|
||||
"__inline=",
|
||||
"__int64=long long",
|
||||
"__INTADDR__(expr)=0",
|
||||
"__irq=",
|
||||
"__packed=",
|
||||
"__pure=",
|
||||
"__smc(n)=",
|
||||
"__svc(n)=",
|
||||
"__svc_indirect(n)=",
|
||||
"__svc_indirect_r7(n)=",
|
||||
"__value_in_regs=",
|
||||
"__weak=",
|
||||
"__writeonly=",
|
||||
"__declspec(x)=",
|
||||
"__attribute__(x)=",
|
||||
"__nonnull__(x)=",
|
||||
"__register=",
|
||||
"__breakpoint(x)=",
|
||||
"__cdp(x,y,z)=",
|
||||
"__clrex()=",
|
||||
"__clz(x)=0U",
|
||||
"__current_pc()=0U",
|
||||
"__current_sp()=0U",
|
||||
"__disable_fiq()=",
|
||||
"__disable_irq()=",
|
||||
"__dmb(x)=",
|
||||
"__dsb(x)=",
|
||||
"__enable_fiq()=",
|
||||
"__enable_irq()=",
|
||||
"__fabs(x)=0.0",
|
||||
"__fabsf(x)=0.0f",
|
||||
"__force_loads()=",
|
||||
"__force_stores()=",
|
||||
"__isb(x)=",
|
||||
"__ldrex(x)=0U",
|
||||
"__ldrexd(x)=0U",
|
||||
"__ldrt(x)=0U",
|
||||
"__memory_changed()=",
|
||||
"__nop()=",
|
||||
"__pld(...)=",
|
||||
"__pli(...)=",
|
||||
"__qadd(x,y)=0",
|
||||
"__qdbl(x)=0",
|
||||
"__qsub(x,y)=0",
|
||||
"__rbit(x)=0U",
|
||||
"__rev(x)=0U",
|
||||
"__return_address()=0U",
|
||||
"__ror(x,y)=0U",
|
||||
"__schedule_barrier()=",
|
||||
"__semihost(x,y)=0",
|
||||
"__sev()=",
|
||||
"__sqrt(x)=0.0",
|
||||
"__sqrtf(x)=0.0f",
|
||||
"__ssat(x,y)=0",
|
||||
"__strex(x,y)=0U",
|
||||
"__strexd(x,y)=0",
|
||||
"__strt(x,y)=",
|
||||
"__swp(x,y)=0U",
|
||||
"__usat(x,y)=0U",
|
||||
"__wfe()=",
|
||||
"__wfi()=",
|
||||
"__yield()=",
|
||||
"__vfp_status(x,y)=0"
|
||||
],
|
||||
"intelliSenseMode": "${default}"
|
||||
}
|
||||
],
|
||||
"version": 4
|
||||
}
|
||||
477
MDK-ARM/.vscode/keil-assistant.log
vendored
Normal file
477
MDK-ARM/.vscode/keil-assistant.log
vendored
Normal file
@ -0,0 +1,477 @@
|
||||
[info] Log at : 2024/1/8|19:32:39|GMT+0800
|
||||
|
||||
[info] Log at : 2024/1/8|20:02:44|GMT+0800
|
||||
|
||||
[info] Log at : 2024/1/8|20:04:27|GMT+0800
|
||||
|
||||
[info] Log at : 2024/1/9|15:26:47|GMT+0800
|
||||
|
||||
[info] Log at : 2024/1/9|15:46:56|GMT+0800
|
||||
|
||||
[info] Log at : 2024/1/9|15:48:33|GMT+0800
|
||||
|
||||
[info] Log at : 2024/1/9|18:32:19|GMT+0800
|
||||
|
||||
[info] Log at : 2024/1/9|20:07:50|GMT+0800
|
||||
|
||||
[info] Log at : 2024/1/9|20:37:25|GMT+0800
|
||||
|
||||
[info] Log at : 2024/1/9|21:16:25|GMT+0800
|
||||
|
||||
[info] Log at : 2024/1/10|10:34:29|GMT+0800
|
||||
|
||||
[info] Log at : 2024/1/10|11:15:48|GMT+0800
|
||||
|
||||
[info] Log at : 2024/1/10|17:51:38|GMT+0800
|
||||
|
||||
[info] Log at : 2024/1/11|15:04:55|GMT+0800
|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
[info] Log at : 2024/1/13|11:08:34|GMT+0800
|
||||
|
||||
[info] project closed: ELE_CHASSIS
|
||||
[info] Log at : 2024/1/13|14:49:16|GMT+0800
|
||||
|
||||
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|
||||
|
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|
||||
|
||||
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|
||||
|
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
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|
||||
|
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||||
|
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|
||||
|
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
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||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
[info] Log at : 2024/3/26|18:06:39|GMT+0800
|
||||
|
||||
[info] Log at : 2024/3/26|18:22:33|GMT+0800
|
||||
|
||||
[info] Log at : 2024/3/26|19:31:54|GMT+0800
|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
[info] Log at : 2024/4/8|19:16:21|GMT+0800
|
||||
|
||||
[info] Log at : 2024/4/8|22:58:13|GMT+0800
|
||||
|
||||
[info] Log at : 2024/4/8|23:39:42|GMT+0800
|
||||
|
||||
[info] Log at : 2024/4/9|19:14:07|GMT+0800
|
||||
|
||||
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|
||||
|
||||
[info] Log at : 2024/4/9|22:58:33|GMT+0800
|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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|
||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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|
||||
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||||
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||||
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||||
|
||||
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||||
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||||
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||||
|
||||
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||||
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||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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|
||||
[info] Log at : 2024/12/6|17:39:09|GMT+0800
|
||||
|
||||
[info] Log at : 2024/12/6|20:43:23|GMT+0800
|
||||
|
||||
[info] Log at : 2024/12/6|20:54:48|GMT+0800
|
||||
|
||||
[info] Log at : 2024/12/8|17:22:45|GMT+0800
|
||||
|
||||
[info] Log at : 2024/12/8|19:23:34|GMT+0800
|
||||
|
||||
[info] Log at : 2025/1/6|21:24:35|GMT+0800
|
||||
|
||||
[info] Log at : 2025/1/13|22:47:43|GMT+0800
|
||||
|
||||
[info] Log at : 2025/1/13|22:53:23|GMT+0800
|
||||
|
||||
Log at : 2025/1/16|20:09:48|GMT+0800
|
||||
|
||||
Log at : 2025/2/16|19:35:45|GMT+0800
|
||||
|
||||
Log at : 2025/2/16|20:16:53|GMT+0800
|
||||
|
||||
Log at : 2025/2/18|16:19:47|GMT+0800
|
||||
|
||||
Log at : 2025/2/19|14:09:53|GMT+0800
|
||||
|
||||
Log at : 2025/2/20|15:49:08|GMT+0800
|
||||
|
||||
Log at : 2025/2/21|21:26:57|GMT+0800
|
||||
|
||||
Log at : 2025/2/23|14:39:36|GMT+0800
|
||||
|
||||
[info] Log at : 2025/3/5|21:18:28|GMT+0800
|
||||
|
||||
[info] Log at : 2025/3/5|21:22:17|GMT+0800
|
||||
|
||||
[info] Log at : 2025/3/5|21:36:22|GMT+0800
|
||||
|
||||
[info] Log at : 2025/3/5|21:42:18|GMT+0800
|
||||
|
||||
[info] Log at : 2025/3/11|21:09:29|GMT+0800
|
||||
|
||||
6
MDK-ARM/.vscode/keil_project_properties.json
vendored
Normal file
6
MDK-ARM/.vscode/keil_project_properties.json
vendored
Normal file
@ -0,0 +1,6 @@
|
||||
{
|
||||
"project": {
|
||||
"name": "593c6fad1b2d09a0b98264505a86eaed",
|
||||
"activeTargetName": "ELE_CHASSIS"
|
||||
}
|
||||
}
|
||||
24
MDK-ARM/.vscode/launch.json
vendored
Normal file
24
MDK-ARM/.vscode/launch.json
vendored
Normal file
@ -0,0 +1,24 @@
|
||||
{
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
{
|
||||
"name": "C/C++ Runner: Debug Session",
|
||||
"type": "cppdbg",
|
||||
"request": "launch",
|
||||
"args": [],
|
||||
"stopAtEntry": false,
|
||||
"externalConsole": true,
|
||||
"cwd": "c:/Users/hanke/Desktop/WaitToImprv/chassis(1.06)AGV待完善)/User/bsp",
|
||||
"program": "c:/Users/hanke/Desktop/WaitToImprv/chassis(1.06)AGV待完善)/User/bsp/build/Debug/outDebug",
|
||||
"MIMode": "gdb",
|
||||
"miDebuggerPath": "gdb",
|
||||
"setupCommands": [
|
||||
{
|
||||
"description": "Enable pretty-printing for gdb",
|
||||
"text": "-enable-pretty-printing",
|
||||
"ignoreFailures": true
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
102
MDK-ARM/.vscode/settings.json
vendored
Normal file
102
MDK-ARM/.vscode/settings.json
vendored
Normal file
@ -0,0 +1,102 @@
|
||||
{
|
||||
"C_Cpp_Runner.cCompilerPath": "gcc",
|
||||
"C_Cpp_Runner.cppCompilerPath": "g++",
|
||||
"C_Cpp_Runner.debuggerPath": "gdb",
|
||||
"C_Cpp_Runner.cStandard": "",
|
||||
"C_Cpp_Runner.cppStandard": "",
|
||||
"C_Cpp_Runner.msvcBatchPath": "",
|
||||
"C_Cpp_Runner.useMsvc": false,
|
||||
"C_Cpp_Runner.warnings": [
|
||||
"-Wall",
|
||||
"-Wextra",
|
||||
"-Wpedantic",
|
||||
"-Wshadow",
|
||||
"-Wformat=2",
|
||||
"-Wcast-align",
|
||||
"-Wconversion",
|
||||
"-Wsign-conversion",
|
||||
"-Wnull-dereference"
|
||||
],
|
||||
"C_Cpp_Runner.msvcWarnings": [
|
||||
"/W4",
|
||||
"/permissive-",
|
||||
"/w14242",
|
||||
"/w14287",
|
||||
"/w14296",
|
||||
"/w14311",
|
||||
"/w14826",
|
||||
"/w44062",
|
||||
"/w44242",
|
||||
"/w14905",
|
||||
"/w14906",
|
||||
"/w14263",
|
||||
"/w44265",
|
||||
"/w14928"
|
||||
],
|
||||
"C_Cpp_Runner.enableWarnings": true,
|
||||
"C_Cpp_Runner.warningsAsError": false,
|
||||
"C_Cpp_Runner.compilerArgs": [],
|
||||
"C_Cpp_Runner.linkerArgs": [],
|
||||
"C_Cpp_Runner.includePaths": [
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Core\\Inc",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\CMSIS\\Include",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User\\bsp",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User\\device",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User\\task",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User\\Algorithm",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User\\Module",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\MDK-ARM",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\CMSIS\\Lib\\ARM",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Core\\Src",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\STM32F4xx_HAL_Driver\\Src",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Middlewares\\Third_Party\\FreeRTOS\\Source",
|
||||
"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang",
|
||||
"${default}",
|
||||
"${workspaceFolder}/**"
|
||||
],
|
||||
"C_Cpp_Runner.includeSearch": [
|
||||
"*",
|
||||
"**/*"
|
||||
],
|
||||
"C_Cpp_Runner.excludeSearch": [
|
||||
"**/build",
|
||||
"**/build/**",
|
||||
"**/.*",
|
||||
"**/.*/**",
|
||||
"**/.vscode",
|
||||
"**/.vscode/**"
|
||||
],
|
||||
"C_Cpp_Runner.useAddressSanitizer": false,
|
||||
"C_Cpp_Runner.useUndefinedSanitizer": false,
|
||||
"C_Cpp_Runner.useLeakSanitizer": false,
|
||||
"C_Cpp_Runner.showCompilationTime": false,
|
||||
"C_Cpp_Runner.useLinkTimeOptimization": false,
|
||||
"C_Cpp_Runner.msvcSecureNoWarnings": false,
|
||||
"files.associations": {
|
||||
"chassis.h": "c",
|
||||
"bmi088.h": "c",
|
||||
"user_math.h": "c",
|
||||
"action.h": "c",
|
||||
"can_use.h": "c",
|
||||
"user_task.h": "c",
|
||||
"user_cmsis_os2.h": "c",
|
||||
"memory": "c",
|
||||
"string": "c",
|
||||
"utility": "c",
|
||||
"xmemory": "c",
|
||||
"xstring": "c",
|
||||
"xutility": "c",
|
||||
"limits": "c",
|
||||
"gimbal_task.h": "c",
|
||||
"gimgal.h": "c",
|
||||
"navi.h": "c",
|
||||
"map.h": "c"
|
||||
}
|
||||
}
|
||||
109
MDK-ARM/.vscode/uv4.log
vendored
Normal file
109
MDK-ARM/.vscode/uv4.log
vendored
Normal file
@ -0,0 +1,109 @@
|
||||
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil mdk\ARM\ARMCC\Bin'
|
||||
Build target 'AUTO_CHASSIS'
|
||||
Note: source file '..\User\bsp\gpio.c' - object file renamed from 'ELE_CHASSIS\gpio.o' to 'ELE_CHASSIS\gpio_1.o'.Note: source file '..\User\bsp\spi.c' - object file renamed from 'ELE_CHASSIS\spi.o' to 'ELE_CHASSIS\spi_1.o'.assembling startup_stm32f407xx.s...
|
||||
compiling stm32f4xx_hal_msp.c...
|
||||
compiling usart.c...
|
||||
compiling stm32f4xx_hal_pcd.c...
|
||||
compiling stm32f4xx_hal_pcd_ex.c...
|
||||
compiling spi.c...
|
||||
compiling tim.c...
|
||||
compiling can.c...
|
||||
compiling dma.c...
|
||||
compiling stm32f4xx_it.c...
|
||||
compiling crc.c...
|
||||
compiling stm32f4xx_ll_usb.c...
|
||||
compiling gpio.c...
|
||||
compiling stm32f4xx_hal_rcc.c...
|
||||
compiling main.c...
|
||||
compiling freertos.c...
|
||||
compiling stm32f4xx_hal_cortex.c...
|
||||
compiling stm32f4xx_hal_pwr.c...
|
||||
compiling stm32f4xx_hal_rcc_ex.c...
|
||||
compiling stm32f4xx_hal_dma.c...
|
||||
compiling stm32f4xx_hal_flash_ramfunc.c...
|
||||
compiling stm32f4xx_hal_pwr_ex.c...
|
||||
compiling stm32f4xx_hal_flash_ex.c...
|
||||
compiling stm32f4xx_hal_flash.c...
|
||||
compiling stm32f4xx_hal_gpio.c...
|
||||
compiling croutine.c...
|
||||
compiling stm32f4xx_hal.c...
|
||||
compiling event_groups.c...
|
||||
compiling list.c...
|
||||
compiling queue.c...
|
||||
compiling stm32f4xx_hal_exti.c...
|
||||
compiling stm32f4xx_hal_dma_ex.c...
|
||||
compiling stm32f4xx_hal_can.c...
|
||||
compiling stream_buffer.c...
|
||||
compiling timers.c...
|
||||
compiling tasks.c...
|
||||
compiling heap_4.c...
|
||||
compiling stm32f4xx_hal_crc.c...
|
||||
compiling port.c...
|
||||
compiling stm32f4xx_hal_spi.c...
|
||||
compiling map.c...
|
||||
compiling bsp_can.c...
|
||||
compiling system_stm32f4xx.c...
|
||||
compiling crc16.c...
|
||||
compiling gpio.c...
|
||||
compiling stm32f4xx_hal_tim.c...
|
||||
compiling stm32f4xx_hal_uart.c...
|
||||
compiling stm32f4xx_hal_tim_ex.c...
|
||||
compiling config.c...
|
||||
compiling bsp_delay.c...
|
||||
compiling delay.c...
|
||||
compiling pwm.c...
|
||||
compiling Chassis.c...
|
||||
compiling spi.c...
|
||||
compiling bsp_usart.c...
|
||||
compiling cmsis_os2.c...
|
||||
compiling led.c...
|
||||
compiling bsp_buzzer.c...
|
||||
compiling flash.c...
|
||||
..\User\bsp\flash.c(20): warning: #29-D: expected an expression
|
||||
#elif
|
||||
..\User\bsp\flash.c: 1 warning, 0 errors
|
||||
compiling kalman.c...
|
||||
compiling user_task.c...
|
||||
compiling init.c...
|
||||
compiling error_detect_task.c...
|
||||
compiling cmd_task.c...
|
||||
compiling chassis_task.c...
|
||||
compiling dr16_task.c...
|
||||
compiling action_task.c...
|
||||
compiling atti_esti.c...
|
||||
compiling can_task.c...
|
||||
compiling filter.c...
|
||||
compiling nuc_task.c...
|
||||
compiling navi_task.c...
|
||||
compiling ahrs.c...
|
||||
compiling can_use.c...
|
||||
compiling pid.c...
|
||||
compiling cmd.c...
|
||||
compiling nuc.c...
|
||||
compiling dr16.c...
|
||||
compiling vofa.c...
|
||||
compiling navi.c...
|
||||
..\User\Algorithm\navi.c(111): warning: #177-D: variable "zArrive" was declared but never referenced
|
||||
uint16_t xArrive = 0, yArrive = 0, zArrive=0;
|
||||
..\User\Algorithm\navi.c(130): warning: #550-D: variable "chassis_vx" was set but never used
|
||||
static fp32 chassis_vx,chassis_vy;//底盘xy分速度
|
||||
..\User\Algorithm\navi.c(130): warning: #550-D: variable "chassis_vy" was set but never used
|
||||
static fp32 chassis_vx,chassis_vy;//底盘xy分速度
|
||||
..\User\Algorithm\navi.c: 3 warnings, 0 errors
|
||||
compiling usb_device.c...
|
||||
compiling user_math.c...
|
||||
compiling Action.c...
|
||||
compiling bmi088.c...
|
||||
compiling user_cmsis_os2.c...
|
||||
compiling LD_remote.c...
|
||||
compiling usbd_desc.c...
|
||||
compiling usbd_core.c...
|
||||
compiling usbd_ioreq.c...
|
||||
compiling usbd_cdc_if.c...
|
||||
compiling usbd_cdc.c...
|
||||
compiling usbd_ctlreq.c...
|
||||
compiling usbd_conf.c...
|
||||
linking...
|
||||
Program Size: Code=75220 RO-data=1400 RW-data=1268 ZI-data=33316
|
||||
"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 4 Warning(s).
|
||||
Build Time Elapsed: 00:00:38
|
||||
1
MDK-ARM/.vscode/uv4.log.lock
vendored
Normal file
1
MDK-ARM/.vscode/uv4.log.lock
vendored
Normal file
@ -0,0 +1 @@
|
||||
2025/2/20 16:57:14
|
||||
1486
MDK-ARM/AUTO_CHASSIS.uvoptx
Normal file
1486
MDK-ARM/AUTO_CHASSIS.uvoptx
Normal file
File diff suppressed because it is too large
Load Diff
2017
MDK-ARM/AUTO_CHASSIS.uvprojx
Normal file
2017
MDK-ARM/AUTO_CHASSIS.uvprojx
Normal file
File diff suppressed because it is too large
Load Diff
BIN
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
Normal file
BIN
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
Normal file
Binary file not shown.
3618
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.hex
Normal file
3618
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.hex
Normal file
File diff suppressed because it is too large
Load Diff
3643
MDK-ARM/ELE_CHASSIS/ELE_CHASSIS.hex
Normal file
3643
MDK-ARM/ELE_CHASSIS/ELE_CHASSIS.hex
Normal file
File diff suppressed because it is too large
Load Diff
736
MDK-ARM/IMU.uvoptx
Normal file
736
MDK-ARM/IMU.uvoptx
Normal file
@ -0,0 +1,736 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
|
||||
<ProjectOpt xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_optx.xsd">
|
||||
|
||||
<SchemaVersion>1.0</SchemaVersion>
|
||||
|
||||
<Header>### uVision Project, (C) Keil Software</Header>
|
||||
|
||||
<Extensions>
|
||||
<cExt>*.c</cExt>
|
||||
<aExt>*.s*; *.src; *.a*</aExt>
|
||||
<oExt>*.obj; *.o</oExt>
|
||||
<lExt>*.lib</lExt>
|
||||
<tExt>*.txt; *.h; *.inc</tExt>
|
||||
<pExt>*.plm</pExt>
|
||||
<CppX>*.cpp</CppX>
|
||||
<nMigrate>0</nMigrate>
|
||||
</Extensions>
|
||||
|
||||
<DaveTm>
|
||||
<dwLowDateTime>0</dwLowDateTime>
|
||||
<dwHighDateTime>0</dwHighDateTime>
|
||||
</DaveTm>
|
||||
|
||||
<Target>
|
||||
<TargetName>IMU</TargetName>
|
||||
<ToolsetNumber>0x4</ToolsetNumber>
|
||||
<ToolsetName>ARM-ADS</ToolsetName>
|
||||
<TargetOption>
|
||||
<CLKADS>12000000</CLKADS>
|
||||
<OPTTT>
|
||||
<gFlags>1</gFlags>
|
||||
<BeepAtEnd>1</BeepAtEnd>
|
||||
<RunSim>0</RunSim>
|
||||
<RunTarget>1</RunTarget>
|
||||
<RunAbUc>0</RunAbUc>
|
||||
</OPTTT>
|
||||
<OPTHX>
|
||||
<HexSelection>1</HexSelection>
|
||||
<FlashByte>65535</FlashByte>
|
||||
<HexRangeLowAddress>0</HexRangeLowAddress>
|
||||
<HexRangeHighAddress>0</HexRangeHighAddress>
|
||||
<HexOffset>0</HexOffset>
|
||||
</OPTHX>
|
||||
<OPTLEX>
|
||||
<PageWidth>79</PageWidth>
|
||||
<PageLength>66</PageLength>
|
||||
<TabStop>8</TabStop>
|
||||
<ListingPath></ListingPath>
|
||||
</OPTLEX>
|
||||
<ListingPage>
|
||||
<CreateCListing>1</CreateCListing>
|
||||
<CreateAListing>1</CreateAListing>
|
||||
<CreateLListing>1</CreateLListing>
|
||||
<CreateIListing>0</CreateIListing>
|
||||
<AsmCond>1</AsmCond>
|
||||
<AsmSymb>1</AsmSymb>
|
||||
<AsmXref>0</AsmXref>
|
||||
<CCond>1</CCond>
|
||||
<CCode>0</CCode>
|
||||
<CListInc>0</CListInc>
|
||||
<CSymb>0</CSymb>
|
||||
<LinkerCodeListing>0</LinkerCodeListing>
|
||||
</ListingPage>
|
||||
<OPTXL>
|
||||
<LMap>1</LMap>
|
||||
<LComments>1</LComments>
|
||||
<LGenerateSymbols>1</LGenerateSymbols>
|
||||
<LLibSym>1</LLibSym>
|
||||
<LLines>1</LLines>
|
||||
<LLocSym>1</LLocSym>
|
||||
<LPubSym>1</LPubSym>
|
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|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f4xx_hal_pwr_ex.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>24</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f4xx_hal_cortex.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>25</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f4xx_hal.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>26</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f4xx_hal_exti.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>27</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f4xx_hal_crc.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>28</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f4xx_hal_spi.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>29</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f4xx_hal_tim.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>30</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f4xx_hal_tim_ex.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>3</GroupNumber>
|
||||
<FileNumber>31</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stm32f4xx_hal_uart.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
</Group>
|
||||
|
||||
<Group>
|
||||
<GroupName>Drivers/CMSIS</GroupName>
|
||||
<tvExp>1</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<cbSel>0</cbSel>
|
||||
<RteFlg>0</RteFlg>
|
||||
<File>
|
||||
<GroupNumber>4</GroupNumber>
|
||||
<FileNumber>32</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Core/Src/system_stm32f4xx.c</PathWithFileName>
|
||||
<FilenameWithoutPath>system_stm32f4xx.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
</Group>
|
||||
|
||||
<Group>
|
||||
<GroupName>Middlewares/FreeRTOS</GroupName>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<cbSel>0</cbSel>
|
||||
<RteFlg>0</RteFlg>
|
||||
<File>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>33</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/croutine.c</PathWithFileName>
|
||||
<FilenameWithoutPath>croutine.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>34</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c</PathWithFileName>
|
||||
<FilenameWithoutPath>event_groups.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>35</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/list.c</PathWithFileName>
|
||||
<FilenameWithoutPath>list.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>36</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/queue.c</PathWithFileName>
|
||||
<FilenameWithoutPath>queue.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>37</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c</PathWithFileName>
|
||||
<FilenameWithoutPath>stream_buffer.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>38</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/tasks.c</PathWithFileName>
|
||||
<FilenameWithoutPath>tasks.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>39</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/timers.c</PathWithFileName>
|
||||
<FilenameWithoutPath>timers.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>40</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c</PathWithFileName>
|
||||
<FilenameWithoutPath>cmsis_os2.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>41</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c</PathWithFileName>
|
||||
<FilenameWithoutPath>heap_4.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>42</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c</PathWithFileName>
|
||||
<FilenameWithoutPath>port.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
</Group>
|
||||
|
||||
<Group>
|
||||
<GroupName>::CMSIS</GroupName>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<cbSel>0</cbSel>
|
||||
<RteFlg>1</RteFlg>
|
||||
</Group>
|
||||
|
||||
</ProjectOpt>
|
||||
27
MDK-ARM/keilkill.bat
Normal file
27
MDK-ARM/keilkill.bat
Normal file
@ -0,0 +1,27 @@
|
||||
del *.bak /s
|
||||
del *.ddk /s
|
||||
del *.edk /s
|
||||
del *.lst /s
|
||||
del *.lnp /s
|
||||
del *.mpf /s
|
||||
del *.mpj /s
|
||||
del *.obj /s
|
||||
del *.omf /s
|
||||
::del *.opt /s ::不允许删除JTAG的设置
|
||||
del *.plg /s
|
||||
del *.rpt /s
|
||||
del *.tmp /s
|
||||
del *.__i /s
|
||||
del *.crf /s
|
||||
del *.o /s
|
||||
del *.d /s
|
||||
del *.axf /s
|
||||
del *.tra /s
|
||||
del *.dep /s
|
||||
del JLinkLog.txt /s
|
||||
|
||||
del *.iex /s
|
||||
del *.htm /s
|
||||
del *.sct /s
|
||||
del *.map /s
|
||||
exit
|
||||
423
MDK-ARM/startup_stm32f407xx.s
Normal file
423
MDK-ARM/startup_stm32f407xx.s
Normal file
@ -0,0 +1,423 @@
|
||||
;*******************************************************************************
|
||||
;* File Name : startup_stm32f407xx.s
|
||||
;* Author : MCD Application Team
|
||||
;* Description : STM32F407xx devices vector table for MDK-ARM toolchain.
|
||||
;* This module performs:
|
||||
;* - Set the initial SP
|
||||
;* - Set the initial PC == Reset_Handler
|
||||
;* - Set the vector table entries with the exceptions ISR address
|
||||
;* - Branches to __main in the C library (which eventually
|
||||
;* calls main()).
|
||||
;* After Reset the CortexM4 processor is in Thread mode,
|
||||
;* priority is Privileged, and the Stack is set to Main.
|
||||
;*******************************************************************************
|
||||
;* @attention
|
||||
;*
|
||||
;* Copyright (c) 2017 STMicroelectronics.
|
||||
;* All rights reserved.
|
||||
;*
|
||||
;* This software is licensed under terms that can be found in the LICENSE file
|
||||
;* in the root directory of this software component.
|
||||
;* If no LICENSE file comes with this software, it is provided AS-IS.
|
||||
;*
|
||||
;*******************************************************************************
|
||||
;* <<< Use Configuration Wizard in Context Menu >>>
|
||||
;
|
||||
; Amount of memory (in bytes) allocated for Stack
|
||||
; Tailor this value to your application needs
|
||||
; <h> Stack Configuration
|
||||
; <o> Stack Size (in Bytes) <0x0-0xFFFFFFFF:8>
|
||||
; </h>
|
||||
|
||||
Stack_Size EQU 0x400
|
||||
|
||||
AREA STACK, NOINIT, READWRITE, ALIGN=3
|
||||
Stack_Mem SPACE Stack_Size
|
||||
__initial_sp
|
||||
|
||||
|
||||
; <h> Heap Configuration
|
||||
; <o> Heap Size (in Bytes) <0x0-0xFFFFFFFF:8>
|
||||
; </h>
|
||||
|
||||
Heap_Size EQU 0x200
|
||||
|
||||
AREA HEAP, NOINIT, READWRITE, ALIGN=3
|
||||
__heap_base
|
||||
Heap_Mem SPACE Heap_Size
|
||||
__heap_limit
|
||||
|
||||
PRESERVE8
|
||||
THUMB
|
||||
|
||||
|
||||
; Vector Table Mapped to Address 0 at Reset
|
||||
AREA RESET, DATA, READONLY
|
||||
EXPORT __Vectors
|
||||
EXPORT __Vectors_End
|
||||
EXPORT __Vectors_Size
|
||||
|
||||
__Vectors DCD __initial_sp ; Top of Stack
|
||||
DCD Reset_Handler ; Reset Handler
|
||||
DCD NMI_Handler ; NMI Handler
|
||||
DCD HardFault_Handler ; Hard Fault Handler
|
||||
DCD MemManage_Handler ; MPU Fault Handler
|
||||
DCD BusFault_Handler ; Bus Fault Handler
|
||||
DCD UsageFault_Handler ; Usage Fault Handler
|
||||
DCD 0 ; Reserved
|
||||
DCD 0 ; Reserved
|
||||
DCD 0 ; Reserved
|
||||
DCD 0 ; Reserved
|
||||
DCD SVC_Handler ; SVCall Handler
|
||||
DCD DebugMon_Handler ; Debug Monitor Handler
|
||||
DCD 0 ; Reserved
|
||||
DCD PendSV_Handler ; PendSV Handler
|
||||
DCD SysTick_Handler ; SysTick Handler
|
||||
|
||||
; External Interrupts
|
||||
DCD WWDG_IRQHandler ; Window WatchDog
|
||||
DCD PVD_IRQHandler ; PVD through EXTI Line detection
|
||||
DCD TAMP_STAMP_IRQHandler ; Tamper and TimeStamps through the EXTI line
|
||||
DCD RTC_WKUP_IRQHandler ; RTC Wakeup through the EXTI line
|
||||
DCD FLASH_IRQHandler ; FLASH
|
||||
DCD RCC_IRQHandler ; RCC
|
||||
DCD EXTI0_IRQHandler ; EXTI Line0
|
||||
DCD EXTI1_IRQHandler ; EXTI Line1
|
||||
DCD EXTI2_IRQHandler ; EXTI Line2
|
||||
DCD EXTI3_IRQHandler ; EXTI Line3
|
||||
DCD EXTI4_IRQHandler ; EXTI Line4
|
||||
DCD DMA1_Stream0_IRQHandler ; DMA1 Stream 0
|
||||
DCD DMA1_Stream1_IRQHandler ; DMA1 Stream 1
|
||||
DCD DMA1_Stream2_IRQHandler ; DMA1 Stream 2
|
||||
DCD DMA1_Stream3_IRQHandler ; DMA1 Stream 3
|
||||
DCD DMA1_Stream4_IRQHandler ; DMA1 Stream 4
|
||||
DCD DMA1_Stream5_IRQHandler ; DMA1 Stream 5
|
||||
DCD DMA1_Stream6_IRQHandler ; DMA1 Stream 6
|
||||
DCD ADC_IRQHandler ; ADC1, ADC2 and ADC3s
|
||||
DCD CAN1_TX_IRQHandler ; CAN1 TX
|
||||
DCD CAN1_RX0_IRQHandler ; CAN1 RX0
|
||||
DCD CAN1_RX1_IRQHandler ; CAN1 RX1
|
||||
DCD CAN1_SCE_IRQHandler ; CAN1 SCE
|
||||
DCD EXTI9_5_IRQHandler ; External Line[9:5]s
|
||||
DCD TIM1_BRK_TIM9_IRQHandler ; TIM1 Break and TIM9
|
||||
DCD TIM1_UP_TIM10_IRQHandler ; TIM1 Update and TIM10
|
||||
DCD TIM1_TRG_COM_TIM11_IRQHandler ; TIM1 Trigger and Commutation and TIM11
|
||||
DCD TIM1_CC_IRQHandler ; TIM1 Capture Compare
|
||||
DCD TIM2_IRQHandler ; TIM2
|
||||
DCD TIM3_IRQHandler ; TIM3
|
||||
DCD TIM4_IRQHandler ; TIM4
|
||||
DCD I2C1_EV_IRQHandler ; I2C1 Event
|
||||
DCD I2C1_ER_IRQHandler ; I2C1 Error
|
||||
DCD I2C2_EV_IRQHandler ; I2C2 Event
|
||||
DCD I2C2_ER_IRQHandler ; I2C2 Error
|
||||
DCD SPI1_IRQHandler ; SPI1
|
||||
DCD SPI2_IRQHandler ; SPI2
|
||||
DCD USART1_IRQHandler ; USART1
|
||||
DCD USART2_IRQHandler ; USART2
|
||||
DCD USART3_IRQHandler ; USART3
|
||||
DCD EXTI15_10_IRQHandler ; External Line[15:10]s
|
||||
DCD RTC_Alarm_IRQHandler ; RTC Alarm (A and B) through EXTI Line
|
||||
DCD OTG_FS_WKUP_IRQHandler ; USB OTG FS Wakeup through EXTI line
|
||||
DCD TIM8_BRK_TIM12_IRQHandler ; TIM8 Break and TIM12
|
||||
DCD TIM8_UP_TIM13_IRQHandler ; TIM8 Update and TIM13
|
||||
DCD TIM8_TRG_COM_TIM14_IRQHandler ; TIM8 Trigger and Commutation and TIM14
|
||||
DCD TIM8_CC_IRQHandler ; TIM8 Capture Compare
|
||||
DCD DMA1_Stream7_IRQHandler ; DMA1 Stream7
|
||||
DCD FMC_IRQHandler ; FMC
|
||||
DCD SDIO_IRQHandler ; SDIO
|
||||
DCD TIM5_IRQHandler ; TIM5
|
||||
DCD SPI3_IRQHandler ; SPI3
|
||||
DCD UART4_IRQHandler ; UART4
|
||||
DCD UART5_IRQHandler ; UART5
|
||||
DCD TIM6_DAC_IRQHandler ; TIM6 and DAC1&2 underrun errors
|
||||
DCD TIM7_IRQHandler ; TIM7
|
||||
DCD DMA2_Stream0_IRQHandler ; DMA2 Stream 0
|
||||
DCD DMA2_Stream1_IRQHandler ; DMA2 Stream 1
|
||||
DCD DMA2_Stream2_IRQHandler ; DMA2 Stream 2
|
||||
DCD DMA2_Stream3_IRQHandler ; DMA2 Stream 3
|
||||
DCD DMA2_Stream4_IRQHandler ; DMA2 Stream 4
|
||||
DCD ETH_IRQHandler ; Ethernet
|
||||
DCD ETH_WKUP_IRQHandler ; Ethernet Wakeup through EXTI line
|
||||
DCD CAN2_TX_IRQHandler ; CAN2 TX
|
||||
DCD CAN2_RX0_IRQHandler ; CAN2 RX0
|
||||
DCD CAN2_RX1_IRQHandler ; CAN2 RX1
|
||||
DCD CAN2_SCE_IRQHandler ; CAN2 SCE
|
||||
DCD OTG_FS_IRQHandler ; USB OTG FS
|
||||
DCD DMA2_Stream5_IRQHandler ; DMA2 Stream 5
|
||||
DCD DMA2_Stream6_IRQHandler ; DMA2 Stream 6
|
||||
DCD DMA2_Stream7_IRQHandler ; DMA2 Stream 7
|
||||
DCD USART6_IRQHandler ; USART6
|
||||
DCD I2C3_EV_IRQHandler ; I2C3 event
|
||||
DCD I2C3_ER_IRQHandler ; I2C3 error
|
||||
DCD OTG_HS_EP1_OUT_IRQHandler ; USB OTG HS End Point 1 Out
|
||||
DCD OTG_HS_EP1_IN_IRQHandler ; USB OTG HS End Point 1 In
|
||||
DCD OTG_HS_WKUP_IRQHandler ; USB OTG HS Wakeup through EXTI
|
||||
DCD OTG_HS_IRQHandler ; USB OTG HS
|
||||
DCD DCMI_IRQHandler ; DCMI
|
||||
DCD 0 ; Reserved
|
||||
DCD HASH_RNG_IRQHandler ; Hash and Rng
|
||||
DCD FPU_IRQHandler ; FPU
|
||||
|
||||
|
||||
__Vectors_End
|
||||
|
||||
__Vectors_Size EQU __Vectors_End - __Vectors
|
||||
|
||||
AREA |.text|, CODE, READONLY
|
||||
|
||||
; Reset handler
|
||||
Reset_Handler PROC
|
||||
EXPORT Reset_Handler [WEAK]
|
||||
IMPORT SystemInit
|
||||
IMPORT __main
|
||||
|
||||
|
||||
LDR R0, =SystemInit
|
||||
BLX R0
|
||||
LDR R0, =__main
|
||||
BX R0
|
||||
ENDP
|
||||
|
||||
; Dummy Exception Handlers (infinite loops which can be modified)
|
||||
|
||||
NMI_Handler PROC
|
||||
EXPORT NMI_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
HardFault_Handler\
|
||||
PROC
|
||||
EXPORT HardFault_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
MemManage_Handler\
|
||||
PROC
|
||||
EXPORT MemManage_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
BusFault_Handler\
|
||||
PROC
|
||||
EXPORT BusFault_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
UsageFault_Handler\
|
||||
PROC
|
||||
EXPORT UsageFault_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
SVC_Handler PROC
|
||||
EXPORT SVC_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
DebugMon_Handler\
|
||||
PROC
|
||||
EXPORT DebugMon_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
PendSV_Handler PROC
|
||||
EXPORT PendSV_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
SysTick_Handler PROC
|
||||
EXPORT SysTick_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
|
||||
Default_Handler PROC
|
||||
|
||||
EXPORT WWDG_IRQHandler [WEAK]
|
||||
EXPORT PVD_IRQHandler [WEAK]
|
||||
EXPORT TAMP_STAMP_IRQHandler [WEAK]
|
||||
EXPORT RTC_WKUP_IRQHandler [WEAK]
|
||||
EXPORT FLASH_IRQHandler [WEAK]
|
||||
EXPORT RCC_IRQHandler [WEAK]
|
||||
EXPORT EXTI0_IRQHandler [WEAK]
|
||||
EXPORT EXTI1_IRQHandler [WEAK]
|
||||
EXPORT EXTI2_IRQHandler [WEAK]
|
||||
EXPORT EXTI3_IRQHandler [WEAK]
|
||||
EXPORT EXTI4_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Stream0_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Stream1_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Stream2_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Stream3_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Stream4_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Stream5_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Stream6_IRQHandler [WEAK]
|
||||
EXPORT ADC_IRQHandler [WEAK]
|
||||
EXPORT CAN1_TX_IRQHandler [WEAK]
|
||||
EXPORT CAN1_RX0_IRQHandler [WEAK]
|
||||
EXPORT CAN1_RX1_IRQHandler [WEAK]
|
||||
EXPORT CAN1_SCE_IRQHandler [WEAK]
|
||||
EXPORT EXTI9_5_IRQHandler [WEAK]
|
||||
EXPORT TIM1_BRK_TIM9_IRQHandler [WEAK]
|
||||
EXPORT TIM1_UP_TIM10_IRQHandler [WEAK]
|
||||
EXPORT TIM1_TRG_COM_TIM11_IRQHandler [WEAK]
|
||||
EXPORT TIM1_CC_IRQHandler [WEAK]
|
||||
EXPORT TIM2_IRQHandler [WEAK]
|
||||
EXPORT TIM3_IRQHandler [WEAK]
|
||||
EXPORT TIM4_IRQHandler [WEAK]
|
||||
EXPORT I2C1_EV_IRQHandler [WEAK]
|
||||
EXPORT I2C1_ER_IRQHandler [WEAK]
|
||||
EXPORT I2C2_EV_IRQHandler [WEAK]
|
||||
EXPORT I2C2_ER_IRQHandler [WEAK]
|
||||
EXPORT SPI1_IRQHandler [WEAK]
|
||||
EXPORT SPI2_IRQHandler [WEAK]
|
||||
EXPORT USART1_IRQHandler [WEAK]
|
||||
EXPORT USART2_IRQHandler [WEAK]
|
||||
EXPORT USART3_IRQHandler [WEAK]
|
||||
EXPORT EXTI15_10_IRQHandler [WEAK]
|
||||
EXPORT RTC_Alarm_IRQHandler [WEAK]
|
||||
EXPORT OTG_FS_WKUP_IRQHandler [WEAK]
|
||||
EXPORT TIM8_BRK_TIM12_IRQHandler [WEAK]
|
||||
EXPORT TIM8_UP_TIM13_IRQHandler [WEAK]
|
||||
EXPORT TIM8_TRG_COM_TIM14_IRQHandler [WEAK]
|
||||
EXPORT TIM8_CC_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Stream7_IRQHandler [WEAK]
|
||||
EXPORT FMC_IRQHandler [WEAK]
|
||||
EXPORT SDIO_IRQHandler [WEAK]
|
||||
EXPORT TIM5_IRQHandler [WEAK]
|
||||
EXPORT SPI3_IRQHandler [WEAK]
|
||||
EXPORT UART4_IRQHandler [WEAK]
|
||||
EXPORT UART5_IRQHandler [WEAK]
|
||||
EXPORT TIM6_DAC_IRQHandler [WEAK]
|
||||
EXPORT TIM7_IRQHandler [WEAK]
|
||||
EXPORT DMA2_Stream0_IRQHandler [WEAK]
|
||||
EXPORT DMA2_Stream1_IRQHandler [WEAK]
|
||||
EXPORT DMA2_Stream2_IRQHandler [WEAK]
|
||||
EXPORT DMA2_Stream3_IRQHandler [WEAK]
|
||||
EXPORT DMA2_Stream4_IRQHandler [WEAK]
|
||||
EXPORT ETH_IRQHandler [WEAK]
|
||||
EXPORT ETH_WKUP_IRQHandler [WEAK]
|
||||
EXPORT CAN2_TX_IRQHandler [WEAK]
|
||||
EXPORT CAN2_RX0_IRQHandler [WEAK]
|
||||
EXPORT CAN2_RX1_IRQHandler [WEAK]
|
||||
EXPORT CAN2_SCE_IRQHandler [WEAK]
|
||||
EXPORT OTG_FS_IRQHandler [WEAK]
|
||||
EXPORT DMA2_Stream5_IRQHandler [WEAK]
|
||||
EXPORT DMA2_Stream6_IRQHandler [WEAK]
|
||||
EXPORT DMA2_Stream7_IRQHandler [WEAK]
|
||||
EXPORT USART6_IRQHandler [WEAK]
|
||||
EXPORT I2C3_EV_IRQHandler [WEAK]
|
||||
EXPORT I2C3_ER_IRQHandler [WEAK]
|
||||
EXPORT OTG_HS_EP1_OUT_IRQHandler [WEAK]
|
||||
EXPORT OTG_HS_EP1_IN_IRQHandler [WEAK]
|
||||
EXPORT OTG_HS_WKUP_IRQHandler [WEAK]
|
||||
EXPORT OTG_HS_IRQHandler [WEAK]
|
||||
EXPORT DCMI_IRQHandler [WEAK]
|
||||
EXPORT HASH_RNG_IRQHandler [WEAK]
|
||||
EXPORT FPU_IRQHandler [WEAK]
|
||||
|
||||
WWDG_IRQHandler
|
||||
PVD_IRQHandler
|
||||
TAMP_STAMP_IRQHandler
|
||||
RTC_WKUP_IRQHandler
|
||||
FLASH_IRQHandler
|
||||
RCC_IRQHandler
|
||||
EXTI0_IRQHandler
|
||||
EXTI1_IRQHandler
|
||||
EXTI2_IRQHandler
|
||||
EXTI3_IRQHandler
|
||||
EXTI4_IRQHandler
|
||||
DMA1_Stream0_IRQHandler
|
||||
DMA1_Stream1_IRQHandler
|
||||
DMA1_Stream2_IRQHandler
|
||||
DMA1_Stream3_IRQHandler
|
||||
DMA1_Stream4_IRQHandler
|
||||
DMA1_Stream5_IRQHandler
|
||||
DMA1_Stream6_IRQHandler
|
||||
ADC_IRQHandler
|
||||
CAN1_TX_IRQHandler
|
||||
CAN1_RX0_IRQHandler
|
||||
CAN1_RX1_IRQHandler
|
||||
CAN1_SCE_IRQHandler
|
||||
EXTI9_5_IRQHandler
|
||||
TIM1_BRK_TIM9_IRQHandler
|
||||
TIM1_UP_TIM10_IRQHandler
|
||||
TIM1_TRG_COM_TIM11_IRQHandler
|
||||
TIM1_CC_IRQHandler
|
||||
TIM2_IRQHandler
|
||||
TIM3_IRQHandler
|
||||
TIM4_IRQHandler
|
||||
I2C1_EV_IRQHandler
|
||||
I2C1_ER_IRQHandler
|
||||
I2C2_EV_IRQHandler
|
||||
I2C2_ER_IRQHandler
|
||||
SPI1_IRQHandler
|
||||
SPI2_IRQHandler
|
||||
USART1_IRQHandler
|
||||
USART2_IRQHandler
|
||||
USART3_IRQHandler
|
||||
EXTI15_10_IRQHandler
|
||||
RTC_Alarm_IRQHandler
|
||||
OTG_FS_WKUP_IRQHandler
|
||||
TIM8_BRK_TIM12_IRQHandler
|
||||
TIM8_UP_TIM13_IRQHandler
|
||||
TIM8_TRG_COM_TIM14_IRQHandler
|
||||
TIM8_CC_IRQHandler
|
||||
DMA1_Stream7_IRQHandler
|
||||
FMC_IRQHandler
|
||||
SDIO_IRQHandler
|
||||
TIM5_IRQHandler
|
||||
SPI3_IRQHandler
|
||||
UART4_IRQHandler
|
||||
UART5_IRQHandler
|
||||
TIM6_DAC_IRQHandler
|
||||
TIM7_IRQHandler
|
||||
DMA2_Stream0_IRQHandler
|
||||
DMA2_Stream1_IRQHandler
|
||||
DMA2_Stream2_IRQHandler
|
||||
DMA2_Stream3_IRQHandler
|
||||
DMA2_Stream4_IRQHandler
|
||||
ETH_IRQHandler
|
||||
ETH_WKUP_IRQHandler
|
||||
CAN2_TX_IRQHandler
|
||||
CAN2_RX0_IRQHandler
|
||||
CAN2_RX1_IRQHandler
|
||||
CAN2_SCE_IRQHandler
|
||||
OTG_FS_IRQHandler
|
||||
DMA2_Stream5_IRQHandler
|
||||
DMA2_Stream6_IRQHandler
|
||||
DMA2_Stream7_IRQHandler
|
||||
USART6_IRQHandler
|
||||
I2C3_EV_IRQHandler
|
||||
I2C3_ER_IRQHandler
|
||||
OTG_HS_EP1_OUT_IRQHandler
|
||||
OTG_HS_EP1_IN_IRQHandler
|
||||
OTG_HS_WKUP_IRQHandler
|
||||
OTG_HS_IRQHandler
|
||||
DCMI_IRQHandler
|
||||
HASH_RNG_IRQHandler
|
||||
FPU_IRQHandler
|
||||
|
||||
B .
|
||||
|
||||
ENDP
|
||||
|
||||
ALIGN
|
||||
|
||||
;*******************************************************************************
|
||||
; User Stack and Heap initialization
|
||||
;*******************************************************************************
|
||||
IF :DEF:__MICROLIB
|
||||
|
||||
EXPORT __initial_sp
|
||||
EXPORT __heap_base
|
||||
EXPORT __heap_limit
|
||||
|
||||
ELSE
|
||||
|
||||
IMPORT __use_two_region_memory
|
||||
EXPORT __user_initial_stackheap
|
||||
|
||||
__user_initial_stackheap
|
||||
|
||||
LDR R0, = Heap_Mem
|
||||
LDR R1, =(Stack_Mem + Stack_Size)
|
||||
LDR R2, = (Heap_Mem + Heap_Size)
|
||||
LDR R3, = Stack_Mem
|
||||
BX LR
|
||||
|
||||
ALIGN
|
||||
|
||||
ENDIF
|
||||
|
||||
END
|
||||
25
MDK-ARM/study.md
Normal file
25
MDK-ARM/study.md
Normal file
@ -0,0 +1,25 @@
|
||||
# 1 TASK 错误检测
|
||||
# 我感觉是在单独模块里写任务和功能，在task里设置总任务：init 功能 延时 错误处理
|
||||
|
||||
|
||||
# ahrss算法
|
||||
# 学各种滤波
|
||||
# 卡尔曼滤波
|
||||
|
||||
|
||||
# osMessageQueueId_t消息句柄
|
||||
|
||||
# can_use.c大疆电机控制函数
|
||||
|
||||
# osThreadId_t 操作系统中的线程 ID
|
||||
|
||||
# UBaseType_t unsigned int 类型的别名，用于表示无符号整数值。它通常用于计数任务的堆栈使用情况、任务的优先级等等。防止堆栈溢出等问题。
|
||||
|
||||
# osThreadGetStackSpace 是一个函数，用于获取指定线程的剩余堆栈空间 UBaseType_t osThreadGetStackSpace(osThreadId_t thread_id); thread_id: 指定线程的 ID 返回值:剩余堆栈空间的大小（以字节为单位）
|
||||
|
||||
# osMessageQueueGet osStatus osMessageQueueGet(osMessageQueueId_t queue_id, void *buffer, uint16_t buffer_size, uint32_t timeout); 返回值：
|
||||
# osOK: 获取消息成功
|
||||
# osErrorTimeout: 超时
|
||||
# osErrorParameter: 参数错误
|
||||
# osErrorResource: 资源错误
|
||||
|
||||
11
README.md
11
README.md
@ -1,6 +1,11 @@
|
||||
*代码框架
|
||||
r2上层代码
|
||||
|
||||
在24年r2代码上修改
|
||||
3.12 增加go电机，需测试
|
||||
|
||||
12.2 修改遥控器控制
|
||||
3.13 go已测试，控制和反馈正常
|
||||
|
||||
3.15 vesc控制有问题，id为1和2时，出现只能控制第一个的情况，查找原因是can_use里对id为3进行delay，删除for循环，直接整个控制代码osdelay，问题消失，不加延时无法控制任何电机。原因未查明，但可以正常使用
|
||||
|
||||
3.16 up.c里3508需增加位置环，id1，2分别为2006，3508位置环，适应升降机构。
|
||||
go电机需换rs485模块测试，目前存在可控但收不到反馈数据的情况
|
||||
|
||||
|
||||
@ -28,36 +28,21 @@ 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
|
||||
.up={
|
||||
|
||||
.M2006_angle_param = { // 外环（角度环）
|
||||
.p = 25.0f, // 原13.0 → 提升P加速响应
|
||||
.i = 0.0f, // 保持
|
||||
.d = 1.5f, // 原1.8 → 增强D抑制振荡
|
||||
.i_limit = 1000.0f,// 原2000 → 限制积分累积
|
||||
.M2006_angle_param = {
|
||||
.p = 25.0f,
|
||||
.i = 0.0f,
|
||||
.d = 1.5f,
|
||||
.i_limit = 1000.0f,
|
||||
.out_limit = 3000.0f,
|
||||
},
|
||||
.M2006_speed_param = { // 内环（速度环）
|
||||
.p = 5.0f, // 原5.5 → 提升P加快跟踪
|
||||
.i = 0.3f, // 保持
|
||||
.d = 0.0f, // 原0.4 → 抑制新增高频噪声
|
||||
.M2006_speed_param = {
|
||||
.p = 5.0f,
|
||||
.i = 0.3f,
|
||||
.d = 0.0f,
|
||||
.i_limit = 2000.0f,
|
||||
.out_limit = 3000.0f,
|
||||
},
|
||||
@ -81,99 +66,107 @@ static const ConfigParam_t param_chassis ={
|
||||
.d = 3.2f,
|
||||
.i_limit = 200.0f,
|
||||
.out_limit =6000.0f,
|
||||
},
|
||||
.go_param={
|
||||
.rev = 0,
|
||||
.T=0.1,
|
||||
.W=0.1,
|
||||
.K_P=0.1,
|
||||
.K_W=0.1,
|
||||
}
|
||||
|
||||
|
||||
},
|
||||
|
||||
.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,
|
||||
},
|
||||
// .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,
|
||||
// },
|
||||
|
||||
.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,
|
||||
}
|
||||
|
||||
// .M3508_param = {
|
||||
// .p = 15.1f,
|
||||
// .i = 0.02f,
|
||||
// .d = 3.2f,
|
||||
// .i_limit = 200.0f,
|
||||
// .out_limit =6000.0f,
|
||||
// }
|
||||
//
|
||||
|
||||
},
|
||||
// },
|
||||
|
||||
|
||||
.can = {
|
||||
|
||||
@ -12,7 +12,8 @@
|
||||
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 ));
|
||||
|
||||
@ -22,11 +23,17 @@ 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_angle,PID_POSITION ,&(u->param ->UP_GM6020_angle_param ));
|
||||
|
||||
u->M2006 .motor =M2006 ;
|
||||
u->M3508 .motor =M3508 ;
|
||||
|
||||
for(int i=0;i<3;i++){
|
||||
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 );
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -48,19 +55,21 @@ int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can) {
|
||||
int8_t cnt=0;
|
||||
|
||||
/*上层电机控制*/
|
||||
int8_t UP_M2006_angle(UP_t *u, fp32 target_angle) {
|
||||
int8_t UP_angle(UP_t *u, fp32 target_angle) {
|
||||
// 获取当前编码器角度
|
||||
|
||||
// switch (u->)
|
||||
float angle = u->motorfeedback.M2006_angle;
|
||||
|
||||
// 初始化阶段：前50次循环记录初始值
|
||||
if (u->M2006.init_cnt < 50) {
|
||||
u->M2006.orig_angle = angle; // 记录初始编码器值
|
||||
u->M2006.last_angle = angle; // 初始化上一次角度
|
||||
u->M2006.last_angle = angle;
|
||||
|
||||
u->M2006.init_cnt++; // 初始化计数器递增
|
||||
return 0; // 初始化阶段不执行控制
|
||||
return 0;
|
||||
}
|
||||
|
||||
// 计算角度差值（处理编码器溢出）
|
||||
|
||||
float delta = angle - u->M2006.last_angle;
|
||||
if (delta > 4096) {
|
||||
u->M2006.round_cnt--; // 逆时针跨圈
|
||||
@ -70,10 +79,10 @@ int8_t UP_M2006_angle(UP_t *u, fp32 target_angle) {
|
||||
|
||||
u->M2006.last_angle = angle;
|
||||
|
||||
// 计算总角度（基于初始偏移和圈数）
|
||||
// 计算总角度
|
||||
float total_angle = (u->M2006.round_cnt * 8191 + (angle - u->M2006.orig_angle)) * MOTOR2006_ECD_TO_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_speed = PID_calc(&u->pid.M2006_speed, u->motorfeedback.M2006_rpm, delta_angle);
|
||||
u->motor_target.M2006_angle = target_angle;
|
||||
@ -99,7 +108,7 @@ int8_t VESC_M5065_Control(UP_t *u,fp32 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_M2out =u->motor_target .VESC_5065_M2_rpm;
|
||||
u->final_out .final_VESC_5065_M2out =-u->motor_target .VESC_5065_M2_rpm;
|
||||
|
||||
|
||||
}
|
||||
@ -115,7 +124,13 @@ int8_t GM6020_control(UP_t *u,fp32 angle)
|
||||
PID_calc (&(u->pid .GM6020_speed ),u->motorfeedback.rotor_pit6020rpm ,delat_speed);
|
||||
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)
|
||||
@ -148,3 +163,5 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out)
|
||||
case STATE_POST_LAUNCH : break ;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -34,7 +34,32 @@ typedef struct {
|
||||
|
||||
}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
|
||||
{
|
||||
/*该部分决定PID的参数整定在config中修改*/
|
||||
@ -47,18 +72,21 @@ typedef struct
|
||||
pid_param_t M2006_speed_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;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
float orig_angle;
|
||||
int8_t offset_flag;
|
||||
float angle;
|
||||
float last_angle;
|
||||
float total_angle;
|
||||
MotorType_t motor;
|
||||
float orig_angle;
|
||||
float last_angle;
|
||||
int32_t round_cnt;
|
||||
uint16_t init_cnt;
|
||||
float total_angle;
|
||||
|
||||
}M2006_data;
|
||||
}motor_angle_data;
|
||||
|
||||
|
||||
typedef struct{
|
||||
@ -68,13 +96,10 @@ typedef struct{
|
||||
UP_Imu_t pos088;
|
||||
|
||||
OperationState ctrl;
|
||||
struct {
|
||||
float orig_angle; // 初始偏移量
|
||||
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;
|
||||
motor_angle_data M2006;
|
||||
motor_angle_data M3508;
|
||||
GO_Motorfield *GO_motor_info[GO_NUM];//存放go电机数据
|
||||
|
||||
struct{
|
||||
|
||||
fp32 rotor_pit6020ecd;
|
||||
@ -145,8 +170,8 @@ 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 GM6020_control(UP_t *u,fp32 angle);
|
||||
int8_t VESC_M5065_Control(UP_t *u,fp32 speed);
|
||||
|
||||
int8_t UP_M2006_angle(UP_t *u,fp32 target_angle);
|
||||
int8_t GO_SendData(UP_t *u,int id,float pos);
|
||||
int8_t UP_angle(UP_t *u, fp32 target_angle) ;
|
||||
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 UP_M2006_angle(UP_t *u,fp32 target_angle);
|
||||
|
||||
@ -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;
|
||||
}
|
||||
|
||||
@ -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
|
||||
}
|
||||
|
||||
@ -6,19 +6,19 @@
|
||||
#include "bsp_usart.h"
|
||||
#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
|
||||
GO_Motorfield GO_motor_info[GO_NUM];//存放电机数据
|
||||
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);
|
||||
/**
|
||||
*@brief 电机初始化
|
||||
*/
|
||||
void GO_M8010_init (){
|
||||
void GO_M8010_init (void){
|
||||
for (uint8_t id= 0; id <GO_NUM ;id++)
|
||||
{
|
||||
GO_motor_info[id].id = id;
|
||||
GO_motor_info[id].mode = 1;
|
||||
GO_motor_info[id].mode = 1; //位置模式
|
||||
GO_motor_info[id].correct = 1;
|
||||
GO_motor_info[id].MError = 0;
|
||||
GO_motor_info[id].Temp = 0;
|
||||
@ -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 )
|
||||
{
|
||||
@ -47,12 +47,12 @@ void USART6_RxCompleteCallback(void )
|
||||
uint16_t crc = CRC16_Calc(Temp_buffer,sizeof(Temp_buffer)-2,0x0000);
|
||||
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_R_GPIO_Port, LED_R_Pin, GPIO_PIN_RESET); //红色灯灭
|
||||
// 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
|
||||
return;
|
||||
}
|
||||
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(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
|
||||
GO_M8010_recv_data(Temp_buffer);
|
||||
|
||||
}
|
||||
@ -83,8 +83,8 @@ void uartTxCB(UART_HandleTypeDef *huart)
|
||||
void GO_M8010_send_data(UART_HandleTypeDef *huart, int id,int rev,float T,float Pos,
|
||||
float W,float K_P,float K_W)
|
||||
{
|
||||
GO_Motorfield* motor;
|
||||
// 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(1);
|
||||
HAL_UART_Receive_DMA(huart, Temp_buffer, 16);//有无都可以
|
||||
|
||||
|
||||
|
||||
@ -19,39 +19,35 @@ typedef struct
|
||||
uint8_t id :4;
|
||||
uint8_t status :3;
|
||||
uint8_t none :1;
|
||||
} RIS_Mode_t /*__attribute__((packed))*/;
|
||||
} RIS_Mode_t ;
|
||||
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* @brief <EFBFBD><EFBFBD><EFBFBD>״̬<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
|
||||
*
|
||||
*/
|
||||
typedef struct
|
||||
{
|
||||
int16_t tor_des; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD>Ť<EFBFBD><C5A4> unit: N.m (q8)
|
||||
int16_t spd_des; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> unit: rad/s (q7)
|
||||
int32_t pos_des; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB> unit: rad (q15)
|
||||
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)
|
||||
int16_t tor_des;
|
||||
int16_t spd_des;
|
||||
int32_t pos_des;
|
||||
uint16_t k_pos;
|
||||
uint16_t k_spd;
|
||||
|
||||
} 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;
|
||||
|
||||
|
||||
|
||||
@ -62,12 +58,12 @@ typedef struct {
|
||||
uint16_t correct;
|
||||
int MError;
|
||||
int Temp;
|
||||
float tar_pos; // target position
|
||||
float tar_w; // target speed
|
||||
float T; // <20><>ǰʵ<C7B0>ʵ<EFBFBD><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
float W; // <20><>ǰʵ<C7B0>ʵ<EFBFBD><CAB5><EFBFBD>ٶȣ<D9B6><C8A3><EFBFBD><EFBFBD>٣<EFBFBD>
|
||||
float Pos; // <20><>ǰ<EFBFBD><C7B0><EFBFBD>λ<EFBFBD><CEBB>
|
||||
int footForce; // They dont even know what 7 is this so we dont update this
|
||||
float tar_pos;
|
||||
float tar_w;
|
||||
float T;
|
||||
float W;
|
||||
float Pos;
|
||||
int footForce;
|
||||
uint8_t buffer[17];
|
||||
uint8_t Rec_buffer[16];
|
||||
ControlData_t motor_send_data;
|
||||
|
||||
@ -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 ++)
|
||||
{
|
||||
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);
|
||||
}
|
||||
// }
|
||||
//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[1] = raw[i].byte.byte2;
|
||||
|
||||
@ -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;
|
||||
|
||||
|
||||
@ -73,10 +73,7 @@ const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN;
|
||||
&(can_out.chassis5065), 0, 0) == osOK) {
|
||||
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 */
|
||||
osDelayUntil(tick); /* 运行结束，等待下一个周期唤醒 */
|
||||
}
|
||||
|
||||
@ -29,7 +29,9 @@ static UP_t UP;
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
float aaa=0;
|
||||
float bbb=0;
|
||||
float CCC=0;
|
||||
|
||||
|
||||
/**
|
||||
@ -53,11 +55,23 @@ void Task_up(void *argument)
|
||||
#endif
|
||||
UP_UpdateFeedback(&UP, &can) ;
|
||||
// GM6020_control(&UP, 100) ;
|
||||
// UP_M2006_angle(&UP, 180);
|
||||
// UP_M3508_speed(&UP, 500);
|
||||
// VESC_M5065_Control(&UP, 1000);
|
||||
UP_angle(&UP, bbb);
|
||||
// UP_M3508_speed(&UP, 500);
|
||||
|
||||
|
||||
|
||||
// VESC_M5065_Control(&UP, 20000);
|
||||
|
||||
|
||||
|
||||
GO_SendData(&UP, 1,CCC);
|
||||
GO_SendData(&UP, 0,aaa);
|
||||
|
||||
ALL_Motor_Control(&UP,&UP_CAN_out);
|
||||
|
||||
osDelay(1);
|
||||
|
||||
|
||||
/*imu数据获取*/
|
||||
osMessageQueueGet(task_runtime.msgq.imu.eulr, &UP.pos088.imu_eulr, NULL, 0);
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user