这个spi读编码器绝对好使

Core/Src/usart.c

@@ -102,7 +102,7 @@ void MX_USART6_UART_Init(void)
 
   /* USER CODE END USART6_Init 1 */
   huart6.Instance = USART6;
-  huart6.Init.BaudRate = 4000000;
+  huart6.Init.BaudRate = 115200;
   huart6.Init.WordLength = UART_WORDLENGTH_8B;
   huart6.Init.StopBits = UART_STOPBITS_1;
   huart6.Init.Parity = UART_PARITY_NONE;

MDK-ARM/.vscode/keil-assistant.log

@@ -48,3 +48,13 @@
 
 [info] Log at : 2025/3/13|14:46:01|GMT+0800
 
+[info] Log at : 2025/3/13|19:24:02|GMT+0800
+
+[info] Log at : 2025/3/13|21:58:39|GMT+0800
+
+[info] Log at : 2025/3/14|16:14:48|GMT+0800
+
+[info] Log at : 2025/3/14|16:14:59|GMT+0800
+
+[info] Log at : 2025/3/14|20:12:19|GMT+0800
+

MDK-ARM/.vscode/settings.json

@@ -16,6 +16,7 @@
         "ball.h": "c",
         "shoot.h": "c",
         "dji.h": "c",
-        "calc_lib.h": "c"
+        "calc_lib.h": "c",
+        "odrive_shoot.h": "c"
     }
 }

MDK-ARM/.vscode/uv4.log

@@ -1,3 +1,10 @@
-Load "mycode1\\mycode1.axf" 
+*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
-Erase Done.Programming Done.Verify OK.Application running ...
+Build target 'mycode1'
-Flash Load finished at 19:18:06
+compiling read_spi.c...
+compiling odrive_shoot.c...
+compiling shoot_task.c...
+linking...
+Program Size: Code=26528 RO-data=1904 RW-data=280 ZI-data=22496  
+FromELF: creating hex file...
+"mycode1\mycode1.axf" - 0 Error(s), 0 Warning(s).
+Build Time Elapsed:  00:00:03

MDK-ARM/.vscode/uv4.log.lock

@@ -1 +1 @@
-2025/3/13 19:18:07
+2025/3/14 20:41:26

MDK-ARM/mycode1.uvoptx

@@ -205,6 +205,41 @@
           <WinNumber>1</WinNumber>
           <ItemText>basketball,0x0A</ItemText>
         </Ww>
+        <Ww>
+          <count>11</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>angleo,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>12</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>shoot</ItemText>
+        </Ww>
+        <Ww>
+          <count>13</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>multi_turn_angle,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>14</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>angle_encoder</ItemText>
+        </Ww>
+        <Ww>
+          <count>15</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>back_angle,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>16</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>encoder,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>17</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>angles</ItemText>
+        </Ww>
       </WatchWindow1>
       <WatchWindow2>
         <Ww>
@@ -287,7 +322,7 @@
 
   <Group>
     <GroupName>Application/User/Core</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1083,7 +1118,7 @@
 
   <Group>
     <GroupName>User/task</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

User/device/read_spi.c

@@ -40,41 +40,31 @@ uint16_t AS5047_read(uint16_t add)
 	return data;
 }
 
-// void Update_MultiTurn_Angle(void)
+void Encoder_Init(Encoder_t *ptr) {
-// {
+    ptr->round_cnt = 0;
-//     uint16_t current_angle = AS5047_read(ANGLEUNC);
+    ptr->ecd = AS5047_read(ANGLEUNC);
-//     int16_t angle_diff = current_angle - last_angle;
+    ptr->last_ecd = ptr->ecd;
-
+    ptr->offset_ecd = ptr->ecd;
-//     // 检测角度跳变
+    ptr->total_angle = 0.0;
-//     if (angle_diff > 8192) // 角度从低到高跳变
+}
-//     {
+
-//         multi_turn_angle -= (16384 - angle_diff);
+void Update_Encoder(Encoder_t *ptr) {
-//     }
+    ptr->ecd = AS5047_read(ANGLEUNC);
-//     else if (angle_diff < -8192) // 角度从高到低跳变
+
-//     {
+    if (ptr->ecd - ptr->last_ecd > 4096) {
-//         multi_turn_angle += (16384 + angle_diff);
+        ptr->round_cnt--;
-//     }
+    } else if (ptr->ecd - ptr->last_ecd < -4096) {
-//     else
+        ptr->round_cnt++;
-//     {
+    }
-//         multi_turn_angle += angle_diff;
+
-//     }
+    ptr->total_angle = (double)((ptr->round_cnt * 8192 + ptr->ecd - ptr->offset_ecd) );
-
+    ptr->last_ecd = ptr->ecd;
-//     last_angle = current_angle;
+}
-// }
+
-void Update_MultiTurn_Angle(void)
+int32_t Get_Encoder_Rounds(Encoder_t *ptr) {
-{
+    return ptr->round_cnt;
-    uint16_t current_angle = AS5047_read(ANGLEUNC);
+}
-    int16_t angle_diff = current_angle - last_angle;
+
-
+double Get_Encoder_Angle(Encoder_t *ptr) {
-    // 检测角度跳变
+    return ptr->total_angle;
-    if (angle_diff > 8192) // 角度从低到高跳变
-    {
-        multi_turn_angle -= 1;
-    }
-    else if (angle_diff < -8192) // 角度从高到低跳变
-    {
-        multi_turn_angle += 1;
-    }
-
-    last_angle = current_angle;
 }

User/device/read_spi.h

@@ -18,6 +18,14 @@
 #define SETTINGS1 0x0018
 #define SETTINGS2 0x0019
 
+typedef struct {
+  int32_t round_cnt;
+  uint16_t ecd;
+  uint16_t last_ecd;
+  uint16_t offset_ecd;
+  double total_angle;
+} Encoder_t;
+
 #define AS5407P_CS_H() \
   HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_SET)
 #define AS5407P_CS_L() \
@@ -26,6 +34,11 @@
   uint16_t Parity_bit_Calculate(uint16_t data_2_cal);
   uint16_t SPI_ReadWrite_OneByte(uint16_t _txdata);
   uint16_t AS5047_read(uint16_t add);
-  void Update_MultiTurn_Angle(void);
+
+
+  void Encoder_Init(Encoder_t *ptr);
+  void Update_Encoder(Encoder_t *ptr);
+  int32_t Get_Encoder_Rounds(Encoder_t *ptr);
+  double Get_Encoder_Angle(Encoder_t *ptr);
 
 #endif

User/module/odrive_shoot.c

@@ -4,6 +4,8 @@
 #include <cmsis_os2.h>
 #include "read_spi.h"
 
+#include "vofa.h"
+
 extern RC_mess_t RC_mess;
 
 extern float angle_encoder;
@@ -12,31 +14,28 @@ extern volatile uint16_t last_angle ;
 
 #define POS_SET -10.6
 #define POS_ZERO 2.705
-#define ACCEL_SEND 10//梯形加速度
+#define ACCEL_SEND 100//梯形加速度
-#define ACCEL_BACK 5//返回时的加速度
+#define ACCEL_BACK 100//返回时的加速度
 #define DELAY 1000
 
-fp32 shoot = 10;
+fp32 shoot = 0;
-
+fp32 back_angle = 0;
+float vofa_spi[8];
 
 void shootStep(void)
 {
 
-
+  // back_angle=Get_Angle();
-  angle_encoder=AS5047_read(ANGLEUNC);
+  // angle_encoder=AS5047_read(ANGLEUNC);
-  Update_MultiTurn_Angle();
+  // Update_MultiTurn_Angle();
 
   odrive_accel_cmd(AXIS0_NODE,ACCEL_SEND,ACCEL_SEND); 
   //  osDelay(2);//不知道为什么要延时
   odrive_pos_cmd(AXIS0_NODE,shoot);
 
-
+	  // vofa_spi[0]=shoot;
-//     osDelay(5000);
+    //  vofa_spi[0]=multi_turn_angle;
-//    odrive_accel_cmd(AXIS0_NODE,5,5); 
+    //  vofa_tx_main(vofa_spi);
-//   odrive_pos_cmd(AXIS0_NODE,10); 
- // osDelay(DELAY);
-//   odrive_accel_cmd(AXIS1_NODE,ACCEL_BACK,ACCEL_BACK);
-//   odrive_pos_cmd(AXIS1_NODE,POS_ZERO);
 
 }
 
@@ -45,5 +44,6 @@ void shootBack(void)
     odrive_accel_cmd(AXIS0_NODE,ACCEL_BACK,ACCEL_BACK);
 		osDelay(2);
     odrive_pos_cmd(AXIS0_NODE,POS_ZERO);
+
 }
 

User/module/shoot.c

@@ -5,8 +5,8 @@ extern RC_mess_t RC_mess;
 extern motor_measure_t *trigger_motor_data;//3508电机数据
 
 
-#define GO1_SHOOT 1
+#define GO1_SHOOT 0
-#define ODRIVE_SHOOT 0
+#define ODRIVE_SHOOT 1
 
 #define KP 0.12
 #define KD 0.008
@@ -59,18 +59,33 @@ void shoot_ball(int key)
 
 
 #elif ODRIVE_SHOOT == 1
+//初始位置在最上面, 有球放过来, 电机转动到最下面等待发射
+//发射指令,当到最高点时,扳机离合
+//返回扳机,远动到最下面
 
-void shoot_odrive(void)
+extern float angle_encoder;
+extern volatile int32_t multi_turn_angle ;
+extern volatile uint16_t last_angle ;
+
+void shoot_odrive(int angle)
 {
-    //扳机
+    // if(ball)
-    if(trigger_motor_data->real_angle == 60)
+    // {
-    {
+    //     if(multi_turn_angle==8)
-        trigger_pos(0);
+    //     {
-    }
+    //         //di
-    else
+    //         odrive_accel_cmd(AXIS0_NODE,200,200);
-    {
+    //         odrive_pos_cmd(AXIS0_NODE,0);
-        trigger_pos(60);
+    //     }
-    }
+    //     else if(multi_turn_angle==0)
+    //     {
+           
+    //     }
+    // }
+             odrive_accel_cmd(AXIS0_NODE,200,200);
+             osDelay(2);
+             odrive_pos_cmd(AXIS0_NODE,angle);
+
 }
 
 #endif

User/module/shoot.h

@@ -22,5 +22,6 @@ typedef struct
 
 void shooterInit(void);
 void shoot_ball(int key);
+void shoot_odrive(int angle);
 
 #endif

User/task/go_task.c

@@ -16,14 +16,14 @@ void Task_Go(void *argument)
 	#if GOUSE==1
 
 	//HAL_Delay(2000);
-	gimbalInit();
+//	gimbalInit();
 	//HAL_GPIO_WritePin(ledGreen_GPIO_Port,ledGreen_Pin,GPIO_PIN_RESET);
 
 	while(1)
 	{
           
 		LED_green();
-        gimbalFlow();
+      //  gimbalFlow();
         osDelay(1);
 	}
 	#else

User/task/led_task.c

@@ -12,7 +12,7 @@ void Task_Led(void *argument) {
 
     // LED_red();
     //  LED_bule();
-     see_you_again();
+    // see_you_again();
     //  LED_green();
     
    // osDelay(500);

User/task/shoot_task.c

@@ -5,16 +5,22 @@
 #include <cmsis_os2.h>
 #include "remote_control.h"
 #include "shoot.h"
+#include "odrive_shoot.h"
+#include "read_spi.h"
 
 extern RC_mess_t RC_mess;
-
+Encoder_t encoder;
-#define GO1_SHOOT 1
+double angles;
-#define ODRIVE_SHOOT 0
+int32_t rounds;
+int angleo = 0;  //发射角度
+#define GO1_SHOOT 0
+#define ODRIVE_SHOOT 1
 
 void Task_Shoot(void *argument)
 {
     (void)argument; /* 未使用argument，消除警告 */
    const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN;
+   Encoder_Init(&encoder);
    #if GO1_SHOOT == 1   
    shooterInit();
    #endif
@@ -29,8 +35,10 @@ void Task_Shoot(void *argument)
 
      #elif ODRIVE_SHOOT == 1
 			shootStep();
+    //shoot_odrive(angleo);
      #endif
-
+  // 更新编码器数据
+  Update_Encoder(&encoder);
 
      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 */