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9 Commits
xiaomi ... main

Author SHA1 Message Date
LYL
9cd4a4b161 更新 README.md 2025-03-17 00:47:13 +08:00
LYL
61e7f07bac 更新 README.md 2025-03-17 00:45:27 +08:00
ZHAISHUI04
500a70869e Merge branch 'main' of ssh://gitea.qutrobot.top:222/LYL/R2_UP 2025-03-17 00:35:01 +08:00
ZHAISHUI04
06273f875a 修改vesc底层控制混乱问题，3508角度环待增加 2025-03-17 00:32:06 +08:00
LYL
70349583c9 更新 README.md 2025-03-13 19:12:02 +08:00
ZHAISHUI04
ea949443ad . 2025-03-13 19:11:19 +08:00
ZHAISHUI04
94f899f27b Merge branch 'main' of ssh://gitea.qutrobot.top:222/LYL/R2_UP 2025-03-13 19:07:53 +08:00
ZHAISHUI04
adbf87522c . 2025-03-13 19:07:44 +08:00
ZHAISHUI04
5b856e6b87 更新 README.md 2025-03-12 10:49:02 +08:00
30 changed files with 13256 additions and 190 deletions
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4
Core/Src/main.c
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@ -80,8 +80,7 @@ int main(void)
/* MCU Configuration--------------------------------------------------------*/ /* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */ /* Reset of all peripherals, Initializes the Flash interface and the Systick. * HAL_Init();
HAL_Init();
/* USER CODE BEGIN Init */ /* USER CODE BEGIN Init */
@ -96,6 +95,7 @@ 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();

2
Core/Src/usart.c
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@ -103,7 +103,7 @@ void MX_USART6_UART_Init(void)
/* USER CODE END USART6_Init 1 */ /* USER CODE END USART6_Init 1 */
huart6.Instance = USART6; huart6.Instance = USART6;
huart6.Init.BaudRate = 115200; huart6.Init.BaudRate = 4000000;
huart6.Init.WordLength = UART_WORDLENGTH_8B; huart6.Init.WordLength = UART_WORDLENGTH_8B;
huart6.Init.StopBits = UART_STOPBITS_1; huart6.Init.StopBits = UART_STOPBITS_1;
huart6.Init.Parity = UART_PARITY_NONE; huart6.Init.Parity = UART_PARITY_NONE;

313
MDK-ARM/.vscode/c_cpp_properties.json vendored Normal file
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@ -0,0 +1,313 @@
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}

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{
"project": {
"name": "593c6fad1b2d09a0b98264505a86eaed",
"activeTargetName": "ELE_CHASSIS"
}
}

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{
"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
}
]
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}

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{
"C_Cpp_Runner.cCompilerPath": "gcc",
"C_Cpp_Runner.cppCompilerPath": "g++",
"C_Cpp_Runner.debuggerPath": "gdb",
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"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"
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"C_Cpp_Runner.msvcWarnings": [
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"C_Cpp_Runner.enableWarnings": true,
"C_Cpp_Runner.warningsAsError": false,
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"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",
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"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",
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"c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\CMSIS\\Lib\\ARM",
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"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}",
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"C_Cpp_Runner.useAddressSanitizer": false,
"C_Cpp_Runner.useUndefinedSanitizer": false,
"C_Cpp_Runner.useLeakSanitizer": false,
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"C_Cpp_Runner.useLinkTimeOptimization": false,
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"files.associations": {
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"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",
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*** 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

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2025/2/20 16:57:14

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<?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>
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<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/queue.c</PathWithFileName>
<FilenameWithoutPath>queue.c</FilenameWithoutPath>
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<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c</PathWithFileName>
<FilenameWithoutPath>stream_buffer.c</FilenameWithoutPath>
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<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/tasks.c</PathWithFileName>
<FilenameWithoutPath>tasks.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
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27
MDK-ARM/keilkill.bat Normal file
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@ -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
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@ -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
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@ -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
View File

@ -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

217
User/Module/config.c
View File

@ -28,36 +28,21 @@ 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 = { // 外环（角度环） .M2006_angle_param = {
.p = 25.0f, // 原13.0 → 提升P加速响应 .p = 25.0f,
.i = 0.0f, // 保持 .i = 0.0f,
.d = 1.5f, // 原1.8 → 增强D抑制振荡 .d = 1.5f,
.i_limit = 1000.0f,// 原2000 → 限制积分累积 .i_limit = 1000.0f,
.out_limit = 3000.0f, .out_limit = 3000.0f,
}, },
.M2006_speed_param = { // 内环（速度环） .M2006_speed_param = {
.p = 5.0f, // 原5.5 → 提升P加快跟踪 .p = 5.0f,
.i = 0.3f, // 保持 .i = 0.3f,
.d = 0.0f, // 原0.4 → 抑制新增高频噪声 .d = 0.0f,
.i_limit = 2000.0f, .i_limit = 2000.0f,
.out_limit = 3000.0f, .out_limit = 3000.0f,
}, },
@ -81,100 +66,108 @@ 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={
.chassis = {/**/ .rev = 0,
.C6020pitAngle_param = { .T=0.1,
.p = 15.0f, .W=0.1,
.i = 0.3f, .K_P=0.1,
.d =0.0f, .K_W=0.1,
.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,

35
User/Module/up.c
View File

@ -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 */ 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_M1 ,PID_POSITION ,&(u->param ->VESC_5065_M1_param ));
PID_init (&u->pid.VESC_5065_M2 ,PID_POSITION ,&(u->param ->VESC_5065_M2_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_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 );
}
} }
@ -48,19 +55,21 @@ 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_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 // 获取当前编码器角度
float angle = u->motorfeedback.M2006_angle;
// switch (u->)
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; // 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 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; 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
@ -70,10 +79,10 @@ int8_t UP_M2006_angle(UP_t *u, fp32 target_angle) {
u->M2006.last_angle = 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; 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;
@ -99,7 +108,7 @@ 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;
} }
@ -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); 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)
@ -148,3 +163,5 @@ 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

@ -34,6 +34,31 @@ 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
{ {
@ -48,17 +73,20 @@ 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;
}M2006_data; }motor_angle_data;
typedef struct{ typedef struct{
@ -68,13 +96,10 @@ typedef struct{
UP_Imu_t pos088; UP_Imu_t pos088;
OperationState ctrl; OperationState ctrl;
struct { motor_angle_data M2006;
float orig_angle; // 初始偏移量 motor_angle_data M3508;
float last_angle; // 上一次编码器值 GO_Motorfield *GO_motor_info[GO_NUM];//存放go电机数据
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;
@ -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 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_M2006_angle(UP_t *u,fp32 target_angle); int8_t UP_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);

12
User/bsp/crc16.c
View File

@ -48,3 +48,15 @@ bool CRC16_Verify(const uint8_t *buf, size_t len) {
((const uint16_t *)((const uint8_t *)buf + ((const uint16_t *)((const uint8_t *)buf +
(len % 2)))[len / sizeof(uint16_t) - 1]; (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;
}

1
User/bsp/crc16.h
View File

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

20
User/device/GO_M8010_6_Driver.c
View File

@ -7,18 +7,18 @@
#include <cmsis_os2.h> #include <cmsis_os2.h>
GO_Motorfield GO_motor_info[GO_NUM];//存放电机数据 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 //数据处理函数
static void GO_M8010_recv_data(uint8_t* Temp_buffer); 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 GO_M8010_init (void){
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; GO_motor_info[id].mode = 1; //位置模式
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;
@ -38,7 +38,7 @@ void GO_M8010_init (){
//暂存接收数据 //暂存接收数据
static uint8_t Temp_buffer[16]; uint8_t Temp_buffer[16];
void USART6_RxCompleteCallback(void ) void USART6_RxCompleteCallback(void )
{ {
@ -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);
} }
@ -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, 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)
{ {
// a pointer to target motor
GO_Motorfield* motor; GO_Motorfield* motor;
// a pointer to target motor
motor = GO_motor_info+id; motor = GO_motor_info+id;
//这个rev是干啥的 //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 // interrupt buffer sending
HAL_UART_Transmit_IT(huart,motor->buffer,sizeof(motor->buffer)); 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 HAL_UART_Receive_DMA(huart, Temp_buffer, 16);//有无都可以

56
User/device/GO_M8010_6_Driver.h
View File

@ -19,39 +19,35 @@ 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 /*__attribute__((packed))*/; } RIS_Mode_t ;
typedef struct
{
int16_t tor_des;
int16_t spd_des;
int32_t pos_des;
uint16_t k_pos;
uint16_t k_spd;
} RIS_Comd_t;
/** /**
* @brief <EFBFBD><EFBFBD><EFBFBD>״̬<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ *
* *
*/ */
typedef struct typedef struct
{ {
int16_t tor_des; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD>Ť<EFBFBD><C5A4> unit: N.m (q8) uint8_t head[2];
int16_t spd_des; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> unit: rad/s (q7) RIS_Mode_t mode;
int32_t pos_des; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB> unit: rad (q15) RIS_Comd_t comd;
uint16_t k_pos; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽڸն<DAB8>ϵ<EFBFBD><CFB5> unit: 0.0-1.0 (q15) uint16_t CRC16;
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 } ControlData_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
} ControlData_t; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 17Byte
@ -62,12 +58,12 @@ typedef struct {
uint16_t correct; uint16_t correct;
int MError; int MError;
int Temp; int Temp;
float tar_pos; // target position float tar_pos;
float tar_w; // target speed float tar_w;
float T; // <20><>ǰʵ<C7B0>ʵ<EFBFBD><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> float T;
float W; // <20><>ǰʵ<C7B0>ʵ<EFBFBD><CAB5><EFBFBD>ٶȣ<D9B6><C8A3><EFBFBD><EFBFBD>٣<EFBFBD> float W;
float Pos; // <20><>ǰ<EFBFBD><C7B0><EFBFBD>λ<EFBFBD><CEBB> float Pos;
int footForce; // They dont even know what 7 is this so we dont update this int footForce;
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;

1
User/device/can_use.h
View File

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

5
User/task/can_task.c
View File

@ -73,10 +73,7 @@ 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 */
} }

20
User/task/up_task.c
View File

@ -29,7 +29,9 @@ static UP_t UP;
#endif #endif
float aaa=0;
float bbb=0;
float CCC=0;
/** /**
@ -53,11 +55,23 @@ void Task_up(void *argument)
#endif #endif
UP_UpdateFeedback(&UP, &can) ; UP_UpdateFeedback(&UP, &can) ;
// GM6020_control(&UP, 100) ; // GM6020_control(&UP, 100) ;
// UP_M2006_angle(&UP, 180); UP_angle(&UP, bbb);
// UP_M3508_speed(&UP, 500); // UP_M3508_speed(&UP, 500);
// VESC_M5065_Control(&UP, 1000);
// 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);
osDelay(1);
/*imu数据获取*/ /*imu数据获取*/
osMessageQueueGet(task_runtime.msgq.imu.eulr, &UP.pos088.imu_eulr, NULL, 0); osMessageQueueGet(task_runtime.msgq.imu.eulr, &UP.pos088.imu_eulr, NULL, 0);