RoboDuoduo/shoot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Compare commits

base: RoboDuoduo:d56405a1bacc3a81acc6c0a988de7dd89433c4bb
Branches Tags
RoboDuoduo:main
RoboDuoduo:odrive离合
..
compare: RoboDuoduo:f483ba99806b4ae8e5e8d4feb16bcf81dcecc854
Branches Tags
RoboDuoduo:odrive离合
RoboDuoduo:main

No commits in common. "d56405a1bacc3a81acc6c0a988de7dd89433c4bb" and "f483ba99806b4ae8e5e8d4feb16bcf81dcecc854" have entirely different histories.
d56405a1ba ... f483ba9980

39 changed files with 182 additions and 926 deletions
Show Stats Expand all files Collapse all files

8
Core/Inc/main.h
View File

@ -69,14 +69,6 @@ void Error_Handler(void);
#define LED_G_GPIO_Port GPIOH #define LED_G_GPIO_Port GPIOH
#define LED_B_Pin GPIO_PIN_10 #define LED_B_Pin GPIO_PIN_10
#define LED_B_GPIO_Port GPIOH #define LED_B_GPIO_Port GPIOH
#define buzzer_Pin GPIO_PIN_14
#define buzzer_GPIO_Port GPIOD
#define down_Pin GPIO_PIN_13
#define down_GPIO_Port GPIOE
#define key_Pin GPIO_PIN_11
#define key_GPIO_Port GPIOE
#define paw_Pin GPIO_PIN_14
#define paw_GPIO_Port GPIOE
#define SPI_CS_Pin GPIO_PIN_12 #define SPI_CS_Pin GPIO_PIN_12
#define SPI_CS_GPIO_Port GPIOB #define SPI_CS_GPIO_Port GPIOB

3
Core/Inc/tim.h
View File

@ -34,14 +34,11 @@ extern "C" {
extern TIM_HandleTypeDef htim1; extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim4;
/* USER CODE BEGIN Private defines */ /* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */ /* USER CODE END Private defines */
void MX_TIM1_Init(void); void MX_TIM1_Init(void);
void MX_TIM4_Init(void);
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim); void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);

10
Core/Src/gpio.c
View File

@ -57,9 +57,6 @@ void MX_GPIO_Init(void)
/*Configure GPIO pin Output Level */ /*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOH, LED_R_Pin|LED_G_Pin|LED_B_Pin, GPIO_PIN_RESET); HAL_GPIO_WritePin(GPIOH, LED_R_Pin|LED_G_Pin|LED_B_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOE, down_Pin|key_Pin|paw_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */ /*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_RESET); HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_RESET);
@ -82,13 +79,6 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOH, &GPIO_InitStruct); HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
/*Configure GPIO pins : PEPin PEPin PEPin */
GPIO_InitStruct.Pin = down_Pin|key_Pin|paw_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */ /*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = SPI_CS_Pin; GPIO_InitStruct.Pin = SPI_CS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;

3
Core/Src/main.c
View File

@ -101,12 +101,9 @@ int main(void)
MX_USART6_UART_Init(); MX_USART6_UART_Init();
MX_TIM1_Init(); MX_TIM1_Init();
MX_SPI2_Init(); MX_SPI2_Init();
MX_TIM4_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
//HAL_TIM_Base_Start(&htim1); //HAL_TIM_Base_Start(&htim1);
//HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1 ); //HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1 );
HAL_TIM_Base_Start(&htim4);
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
/* USER CODE END 2 */ /* USER CODE END 2 */
/* Init scheduler */ /* Init scheduler */

109
Core/Src/tim.c
View File

@ -25,7 +25,6 @@
/* USER CODE END 0 */ /* USER CODE END 0 */
TIM_HandleTypeDef htim1; TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim4;
/* TIM1 init function */ /* TIM1 init function */
void MX_TIM1_Init(void) void MX_TIM1_Init(void)
@ -86,60 +85,6 @@ void MX_TIM1_Init(void)
/* USER CODE END TIM1_Init 2 */ /* USER CODE END TIM1_Init 2 */
HAL_TIM_MspPostInit(&htim1); HAL_TIM_MspPostInit(&htim1);
}
/* TIM4 init function */
void MX_TIM4_Init(void)
{
/* USER CODE BEGIN TIM4_Init 0 */
/* USER CODE END TIM4_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM4_Init 1 */
/* USER CODE END TIM4_Init 1 */
htim4.Instance = TIM4;
htim4.Init.Prescaler = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 20999;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
} }
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle) void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
@ -157,22 +102,6 @@ void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
/* USER CODE END TIM1_MspInit 1 */ /* USER CODE END TIM1_MspInit 1 */
} }
} }
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{
if(tim_baseHandle->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspInit 0 */
/* USER CODE END TIM4_MspInit 0 */
/* TIM4 clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
/* USER CODE BEGIN TIM4_MspInit 1 */
/* USER CODE END TIM4_MspInit 1 */
}
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle) void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{ {
@ -182,6 +111,7 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
/* USER CODE BEGIN TIM1_MspPostInit 0 */ /* USER CODE BEGIN TIM1_MspPostInit 0 */
/* USER CODE END TIM1_MspPostInit 0 */ /* USER CODE END TIM1_MspPostInit 0 */
__HAL_RCC_GPIOE_CLK_ENABLE(); __HAL_RCC_GPIOE_CLK_ENABLE();
/**TIM1 GPIO Configuration /**TIM1 GPIO Configuration
PE9 ------> TIM1_CH1 PE9 ------> TIM1_CH1
@ -197,27 +127,6 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
/* USER CODE END TIM1_MspPostInit 1 */ /* USER CODE END TIM1_MspPostInit 1 */
} }
else if(timHandle->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspPostInit 0 */
/* USER CODE END TIM4_MspPostInit 0 */
__HAL_RCC_GPIOD_CLK_ENABLE();
/**TIM4 GPIO Configuration
PD14 ------> TIM4_CH3
*/
GPIO_InitStruct.Pin = buzzer_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
HAL_GPIO_Init(buzzer_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM4_MspPostInit 1 */
/* USER CODE END TIM4_MspPostInit 1 */
}
} }
@ -237,22 +146,6 @@ void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
} }
} }
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
{
if(tim_baseHandle->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspDeInit 0 */
/* USER CODE END TIM4_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM4_CLK_DISABLE();
/* USER CODE BEGIN TIM4_MspDeInit 1 */
/* USER CODE END TIM4_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
/* USER CODE END 1 */ /* USER CODE END 1 */

2
Core/Src/usart.c
View File

@ -102,7 +102,7 @@ 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;

36
MDK-ARM/.vscode/c_cpp_properties.json vendored
View File

@ -3,26 +3,26 @@
{ {
"name": "mycode1", "name": "mycode1",
"includePath": [ "includePath": [
"d:\\Desktop\\mycode-shoot\\shoot\\Core\\Inc", "d:\\Desktop\\mycode -vision\\Core\\Inc",
"d:\\Desktop\\mycode-shoot\\shoot\\Drivers\\STM32F4xx_HAL_Driver\\Inc", "d:\\Desktop\\mycode -vision\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
"d:\\Desktop\\mycode-shoot\\shoot\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy", "d:\\Desktop\\mycode -vision\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
"d:\\Desktop\\mycode-shoot\\shoot\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include", "d:\\Desktop\\mycode -vision\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
"d:\\Desktop\\mycode-shoot\\shoot\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2", "d:\\Desktop\\mycode -vision\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
"d:\\Desktop\\mycode-shoot\\shoot\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F", "d:\\Desktop\\mycode -vision\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
"d:\\Desktop\\mycode-shoot\\shoot\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include", "d:\\Desktop\\mycode -vision\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
"d:\\Desktop\\mycode-shoot\\shoot\\Drivers\\CMSIS\\Include", "d:\\Desktop\\mycode -vision\\Drivers\\CMSIS\\Include",
"d:\\Desktop\\mycode-shoot\\shoot\\User\\bsp", "d:\\Desktop\\mycode -vision\\User\\bsp",
"d:\\Desktop\\mycode-shoot\\shoot\\User\\device", "d:\\Desktop\\mycode -vision\\User\\device",
"d:\\Desktop\\mycode-shoot\\shoot\\User\\lib", "d:\\Desktop\\mycode -vision\\User\\lib",
"d:\\Desktop\\mycode-shoot\\shoot\\User\\module", "d:\\Desktop\\mycode -vision\\User\\module",
"d:\\Desktop\\mycode-shoot\\shoot\\User\\task", "d:\\Desktop\\mycode -vision\\User\\task",
"D:\\keil\\ARM\\ARMCC\\include", "D:\\keil\\ARM\\ARMCC\\include",
"D:\\keil\\ARM\\ARMCC\\include\\rw", "D:\\keil\\ARM\\ARMCC\\include\\rw",
"d:\\Desktop\\mycode-shoot\\shoot\\MDK-ARM", "d:\\Desktop\\mycode -vision\\MDK-ARM",
"d:\\Desktop\\mycode-shoot\\shoot\\Core\\Src", "d:\\Desktop\\mycode -vision\\Core\\Src",
"d:\\Desktop\\mycode-shoot\\shoot\\Drivers\\STM32F4xx_HAL_Driver\\Src", "d:\\Desktop\\mycode -vision\\Drivers\\STM32F4xx_HAL_Driver\\Src",
"d:\\Desktop\\mycode-shoot\\shoot\\Middlewares\\Third_Party\\FreeRTOS\\Source", "d:\\Desktop\\mycode -vision\\Middlewares\\Third_Party\\FreeRTOS\\Source",
"d:\\Desktop\\mycode-shoot\\shoot\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang" "d:\\Desktop\\mycode -vision\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
], ],
"defines": [ "defines": [
"USE_HAL_DRIVER", "USE_HAL_DRIVER",

42
MDK-ARM/.vscode/keil-assistant.log vendored
View File

@ -16,45 +16,3 @@
[info] Log at : 2025/3/12|23:02:19|GMT+0800 [info] Log at : 2025/3/12|23:02:19|GMT+0800
[info] Log at : 2025/3/12|23:23:36|GMT+0800
[info] Log at : 2025/3/13|10:52:41|GMT+0800
[info] Log at : 2025/3/13|11:23:36|GMT+0800
[info] Log at : 2025/3/13|11:29:50|GMT+0800
[info] Log at : 2025/3/13|11:32:26|GMT+0800
[info] Log at : 2025/3/13|11:48:43|GMT+0800
[info] Log at : 2025/3/13|11:49:08|GMT+0800
[info] Log at : 2025/3/13|11:52:00|GMT+0800
[info] Log at : 2025/3/13|11:52:12|GMT+0800
[info] Log at : 2025/3/13|11:52:29|GMT+0800
[info] Log at : 2025/3/13|11:52:40|GMT+0800
[info] Log at : 2025/3/13|13:05:40|GMT+0800
[info] Log at : 2025/3/13|13:05:50|GMT+0800
[info] Log at : 2025/3/13|13:09:23|GMT+0800
[info] Log at : 2025/3/13|13:09:39|GMT+0800
[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

9
MDK-ARM/.vscode/settings.json vendored
View File

@ -10,13 +10,6 @@
"can_task.h": "c", "can_task.h": "c",
"go_m8010_6_driver.h": "c", "go_m8010_6_driver.h": "c",
"read_spi.h": "c", "read_spi.h": "c",
"djimotor.h": "c", "djimotor.h": "c"
"buzzer.h": "c",
"main.h": "c",
"ball.h": "c",
"shoot.h": "c",
"dji.h": "c",
"calc_lib.h": "c",
"odrive_shoot.h": "c"
} }
} }

11
MDK-ARM/.vscode/uv4.log vendored
View File

@ -1,10 +1,13 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin' *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'mycode1' Build target 'mycode1'
compiling read_spi.c... compiling dji_task.c...
compiling odrive_shoot.c... compiling dji.c...
compiling djiMotor.c...
compiling shoot_task.c... compiling shoot_task.c...
compiling can_task.c...
compiling odrive_shoot.c...
linking... linking...
Program Size: Code=26528 RO-data=1904 RW-data=280 ZI-data=22496 Program Size: Code=26064 RO-data=1860 RW-data=284 ZI-data=22276
FromELF: creating hex file... FromELF: creating hex file...
"mycode1\mycode1.axf" - 0 Error(s), 0 Warning(s). "mycode1\mycode1.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:03 Build Time Elapsed: 00:00:04

2
MDK-ARM/.vscode/uv4.log.lock vendored
View File

@ -1 +1 @@
2025/3/14 20:41:26 2025/3/12 20:09:49

124
MDK-ARM/mycode1.uvoptx
View File

@ -153,92 +153,62 @@
<Ww> <Ww>
<count>0</count> <count>0</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>cmd_fromnuc</ItemText> <ItemText>go</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>1</count> <count>1</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>nucbuf</ItemText> <ItemText>Temp_buffer</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>2</count> <count>2</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>motor_3508_data,0x0A</ItemText> <ItemText>cmd_fromnuc</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>3</count> <count>3</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>speed,0x0A</ItemText> <ItemText>nucbuf</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>4</count> <count>4</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>RC_mess,0x0A</ItemText> <ItemText>motor_3508_data,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>5</count> <count>5</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>M3508_speed_PID</ItemText> <ItemText>speed,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>6</count> <count>6</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>M3508_angle_PID</ItemText> <ItemText>RC_mess</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>7</count> <count>7</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>angle,0x0A</ItemText> <ItemText>M3508_speed_PID</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>8</count> <count>8</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>m,0x0A</ItemText> <ItemText>M3508_angle_PID</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>9</count> <count>9</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>go</ItemText> <ItemText>angle,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>10</count> <count>10</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>basketball,0x0A</ItemText> <ItemText>m,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>11</count> <count>11</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>angleo,0x0A</ItemText> <ItemText>go</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> </Ww>
</WatchWindow1> </WatchWindow1>
<WatchWindow2> <WatchWindow2>
@ -322,7 +292,7 @@
<Group> <Group>
<GroupName>Application/User/Core</GroupName> <GroupName>Application/User/Core</GroupName>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -1078,53 +1048,17 @@
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File>
<GroupNumber>9</GroupNumber>
<FileNumber>60</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\module\buzzer.c</PathWithFileName>
<FilenameWithoutPath>buzzer.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>9</GroupNumber>
<FileNumber>61</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\module\ball.c</PathWithFileName>
<FilenameWithoutPath>ball.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>9</GroupNumber>
<FileNumber>62</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\module\shoot.c</PathWithFileName>
<FilenameWithoutPath>shoot.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group> </Group>
<Group> <Group>
<GroupName>User/task</GroupName> <GroupName>User/task</GroupName>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<File> <File>
<GroupNumber>10</GroupNumber> <GroupNumber>10</GroupNumber>
<FileNumber>63</FileNumber> <FileNumber>60</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -1136,7 +1070,7 @@
</File> </File>
<File> <File>
<GroupNumber>10</GroupNumber> <GroupNumber>10</GroupNumber>
<FileNumber>64</FileNumber> <FileNumber>61</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -1148,7 +1082,7 @@
</File> </File>
<File> <File>
<GroupNumber>10</GroupNumber> <GroupNumber>10</GroupNumber>
<FileNumber>65</FileNumber> <FileNumber>62</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -1160,7 +1094,7 @@
</File> </File>
<File> <File>
<GroupNumber>10</GroupNumber> <GroupNumber>10</GroupNumber>
<FileNumber>66</FileNumber> <FileNumber>63</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -1172,7 +1106,7 @@
</File> </File>
<File> <File>
<GroupNumber>10</GroupNumber> <GroupNumber>10</GroupNumber>
<FileNumber>67</FileNumber> <FileNumber>64</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -1184,7 +1118,7 @@
</File> </File>
<File> <File>
<GroupNumber>10</GroupNumber> <GroupNumber>10</GroupNumber>
<FileNumber>68</FileNumber> <FileNumber>65</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -1196,7 +1130,7 @@
</File> </File>
<File> <File>
<GroupNumber>10</GroupNumber> <GroupNumber>10</GroupNumber>
<FileNumber>69</FileNumber> <FileNumber>66</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -1208,7 +1142,7 @@
</File> </File>
<File> <File>
<GroupNumber>10</GroupNumber> <GroupNumber>10</GroupNumber>
<FileNumber>70</FileNumber> <FileNumber>67</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -1220,7 +1154,7 @@
</File> </File>
<File> <File>
<GroupNumber>10</GroupNumber> <GroupNumber>10</GroupNumber>
<FileNumber>71</FileNumber> <FileNumber>68</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -1230,18 +1164,6 @@
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>72</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\task\ball_task.c</PathWithFileName>
<FilenameWithoutPath>ball_task.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group> </Group>
<Group> <Group>

20
MDK-ARM/mycode1.uvprojx
View File

@ -820,21 +820,6 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>..\User\module\odrive_shoot.c</FilePath> <FilePath>..\User\module\odrive_shoot.c</FilePath>
</File> </File>
<File>
<FileName>buzzer.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\module\buzzer.c</FilePath>
</File>
<File>
<FileName>ball.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\module\ball.c</FilePath>
</File>
<File>
<FileName>shoot.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\module\shoot.c</FilePath>
</File>
</Files> </Files>
</Group> </Group>
<Group> <Group>
@ -885,11 +870,6 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>..\User\task\rc_task.c</FilePath> <FilePath>..\User\task\rc_task.c</FilePath>
</File> </File>
<File>
<FileName>ball_task.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\task\ball_task.c</FilePath>
</File>
</Files> </Files>
</Group> </Group>
<Group> <Group>

9
README.md
View File

@ -1,8 +1,3 @@
# myshoot # shoot
## r1上层 r1上层
1. **odrive**推射 **can1** **id 010** **spi2**读取as5047p
2. go1 RS485模块 01翻转 02云台
3. 爪子 左三PC6
4. 接球 左一左2 PI7 PI6

2
User/device/odrive_can.h
View File

@ -136,6 +136,8 @@ device_status_e odrive_pos_cmd(node_id_e node_id, fp32 pos);
*/ */
odrive_msg_t* Get_Odrive_Point(void); odrive_msg_t* Get_Odrive_Point(void);
void odrive_CB(void);
void User_Odrive_Can1_CB(void); void User_Odrive_Can1_CB(void);
void User_Odrive_Can2_CB(void); void User_Odrive_Can2_CB(void);

56
User/device/read_spi.c
View File

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

15
User/device/read_spi.h
View File

@ -18,14 +18,6 @@
#define SETTINGS1 0x0018 #define SETTINGS1 0x0018
#define SETTINGS2 0x0019 #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() \ #define AS5407P_CS_H() \
HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_SET) HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_SET)
#define AS5407P_CS_L() \ #define AS5407P_CS_L() \
@ -34,11 +26,6 @@ typedef struct {
uint16_t Parity_bit_Calculate(uint16_t data_2_cal); uint16_t Parity_bit_Calculate(uint16_t data_2_cal);
uint16_t SPI_ReadWrite_OneByte(uint16_t _txdata); uint16_t SPI_ReadWrite_OneByte(uint16_t _txdata);
uint16_t AS5047_read(uint16_t add); 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 #endif

88
User/module/ball.c
View File

@ -1,88 +0,0 @@
#include "ball.h"
#include "main.h"
#include "cmsis_os.h"
#include "FreeRTOS.h"
#include "bsp_delay.h"
#define ballcome 1
#define balldown 0
//光电识别
int ball_in(void)
{
if (HAL_GPIO_ReadPin(ball_up_GPIO_Port, ball_up_Pin) == GPIO_PIN_SET)
{
return ballcome;
}
else
{
return balldown;
}
}
int pass_ball(void)
{
if (HAL_GPIO_ReadPin(ball_in1_GPIO_Port, ball_in1_Pin) == GPIO_PIN_SET)
{
return ballcome;
}
else
{
return balldown;
}
}
//运球
void handling_ball(int hand, int paw)
{
paw =ball_in();
if (hand == 1 && paw == 1)
{
//爪子
delay_us(100);
HAL_GPIO_WritePin(paw_GPIO_Port, paw_Pin, GPIO_PIN_RESET);
osDelay(2);
delay_us(100);
//上推
HAL_GPIO_WritePin(down_GPIO_Port, down_Pin, GPIO_PIN_RESET);
hand=0;
}
else
{
//爪子
HAL_GPIO_WritePin(paw_GPIO_Port, paw_Pin, GPIO_PIN_SET);
osDelay(2);
delay_us(100);
//下推
HAL_GPIO_WritePin(down_GPIO_Port, down_Pin, GPIO_PIN_SET);
}
}
//接球
int catch_ball(int inball)
{
inball =pass_ball();
if(inball==1)
{
return ballcome;
}
else
{
return balldown;
}
}

19
User/module/ball.h
View File

@ -1,19 +0,0 @@
#ifndef _BALL_H_
#define _BALL_H_
typedef struct ball
{
int hand;//运球
int paw;//爪
int inball;//光电门
int to_shoot;//给发射
}BASKETBALL;
int ball_in(void);
int pass_ball(void);
void handling_ball(int hand, int paw);
int catch_ball(int inball);
#endif

79
User/module/buzzer.c
View File

@ -1,79 +0,0 @@
#include "buzzer.h"
uint32_t Frequency = 0;
uint32_t CLOCK = 10500000;
int i;
int pwm = MIN_BUZZER_PWM;
int psc = 0;
unsigned int notes[] = {
G3,C4,D4s,D4,C4,D4s,C4,D4,C4,G3s,A3s,G3,
G3,C4,D4s,D4,C4,D4s,C4,D4,C4,G3,F3s,F3,
F3,G3s,B3,D4, F3,G3s,B3,C4,
C4,D4s,A4s,G4s,G4,A4s,G4s,G4s,G4,G4,B3,C4,
C5,C5,B4,A4s, A4s,D5,C5,G4s,G4,
G4,A4s,G4,F4, F4,G4s,G4,F4,G4
};
unsigned int duration[] = {
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 5,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 5,
1, 1, 1, 5, 1, 1, 1, 4,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 5,
1, 1, 1, 3, 1, 2, 1, 1, 4,
1, 1, 1, 3, 1, 2, 1, 1, 4
};
void buzzer_on(uint16_t note) {
Frequency = CLOCK / note; // 计算定时器的重载值
htim4.Init.Prescaler = 0; // 预分频器设置为0
htim4.Init.Period = Frequency; // 设置定时器的重载值
// 设置PWM的占空比为50%
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, Frequency / 2);
// 启动PWM
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
}
void noTone(void){
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, 0);
HAL_Delay(30);
}
void playSong(void){
for (i = 0; i < sizeof(notes)/sizeof(notes[0]); i++) {
Frequency = CLOCK / notes[i]; // 计算定时器的重载值
htim4.Instance->ARR = Frequency; // 设置定时器的重载值
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, Frequency / 2);// 设置PWM的占空比为50%
HAL_Delay(400*duration[i]);
noTone();
}
}
void set_buzzer_frequency(uint32_t freq){
__HAL_TIM_SetAutoreload(&htim4, freq);
__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_3, freq/2);
}
uint32_t music[3][205]={{9, 10, 9, 6, 9, 0, 6, 10, 9, 10, 12, 10, 9, 10, 9, 6, 8, 0, 10, 9, 12, 10}, {5, 9, 8, 3, 0, 8, 9, 10, 9, 8, 9, 5, 9, 8, 3, 0, 8, 9, 10, 9, 8, 9, 5, 9, 8, 3, 0, 8, 9, 10, 9, 8, 9, 5, 9, 8, 3, 0, 8, 10, 12, 13, 12, 0, 8, 9, 9, 8, 9, 10, 0, 10, 12, 13, 14, 13, 12, 10, 9, 9, 8, 9, 9, 9, 8, 0, 8, 10, 12, 13, 12, 0, 8, 9, 9, 8, 10, 0, 9, 10, 12, 13, 15, 16, 17, 16, 15, 12, 13, 15, 17, 17, 17, 16, 0, 12, 13, 15, 17, 17, 17, 16, 0}};
uint32_t lst[3][205]={{ 1, 1, 1, 1, 4, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 4, 2, 2, 1, 1, 2}, {2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 6, 6, 3, 1, 2, 2, 2, 2, 4, 2, 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 5, 1, 1, 1, 6, 6, 3, 1, 2, 2, 2, 2, 4, 1, 1, 2, 2, 2, 2, 2, 2, 2, 1, 1, 2, 2, 2, 2, 2, 4, 1, 1, 2, 2, 2, 2, 2, 8}};
uint32_t tones[]={21000000, 262, 294, 330, 349, 392, 440, 494, 523, 587, 659, 698, 784, 880, 988, 1046, 1174, 1318, 1396, 1568, 1760, 1976};
uint32_t lenth[]={22, 103};
uint32_t frequency = 21000000;
uint32_t nw = 0, time_base = 125;
uint32_t song = 1;
void see_you_again(void)
{
set_buzzer_frequency(frequency/tones[music[song][nw]]);
/* USER CODE BEGIN 3 */
HAL_Delay(time_base*lst[song][nw]-time_base*1/4);
set_buzzer_frequency(frequency/tones[0]);
HAL_Delay(time_base*1/64);
nw = (nw + 1) % lenth[song];
}

53
User/module/buzzer.h
View File

@ -1,53 +0,0 @@
#ifndef _BUZZER_H_
#define _BUZZER_H_
#include "tim.h"
#define MIN_BUZZER_PWM ((uint32_t)10000)
#define MAX_BUZZER_PWM ((uint32_t)20000)
#define MAX_PSC ((uint32_t)1000)
#define C3 131
#define C3s 139
#define D3 147
#define D3s 156
#define E3 165
#define F3 175
#define F3s 185
#define G3 196
#define G3s 208
#define A3 220
#define A3s 233
#define B3 247
#define C4 262
#define C4s 277
#define D4 294
#define D4s 311
#define E4 330
#define F4 349
#define F4s 370
#define G4 392
#define G4s 415
#define A4 440
#define A4s 466
#define B4 494
#define C5 523
#define C5s 554
#define D5 587
#define D5s 622
#define E5 659
#define F5 698
#define F5s 740
#define G5 784
#define G5s 831
#define A5 880
#define A5s 932
#define B5 988
#define C6 1047
void buzzer_on(uint16_t note);
void noTone(void);
void playSong(void);
void see_you_again(void);
#endif

41
User/module/dji.c
View File

@ -26,49 +26,17 @@ fp32 M3508_PID[3]={4.9,0.01,0.0};
int16_t result; //速度环 int16_t result; //速度环
float angleSet[MOTOR_NUM]; //位置环 float angleSet[MOTOR_NUM]; //位置环
//trigger
//编码器数据
const motor_measure_t *trigger_motor_data;//3508电机数据
pid_type_def t_speed_pid;//2006速度环pid结构体
pid_type_def t_angle_pid;//2006位置环pid结构体
fp32 M2006_speed_PID[3]={5.0,0.3,0.0}; //P,I,D(速度环)
fp32 M2006_angle_PID[3]={25.0,0.0,1.5}; //P,I,D(角度环)
//速度环pid参数
fp32 M2006_PID[3]={4.9,0.01,0.0};
int16_t t_result; //速度环 //can最后发送的数据
float t_angleSet[1]; //位置环
void motor_init(void) void motor_init(void)
{ {
// motor_3508_data=get_motor_point(0); motor_3508_data=get_motor_point(0);
trigger_motor_data=get_motor_point(0);
// PID_init(&speed_pid,PID_POSITION,M3508_speed_PID,3000,1000); // PID_init(&speed_pid,PID_POSITION,M3508_speed_PID,3000,1000);
// PID_init(&angle_pid,PID_POSITION,M3508_angle_PID,7000,2000); // PID_init(&angle_pid,PID_POSITION,M3508_angle_PID,7000,2000);
// PID_init(&speed_pid,PID_POSITION,M3508_speed_PID,500000,500000); PID_init(&speed_pid,PID_POSITION,M3508_speed_PID,500000,500000);
// PID_init(&angle_pid,PID_POSITION,M3508_angle_PID,500000,100000); PID_init(&angle_pid,PID_POSITION,M3508_angle_PID,500000,100000);
PID_init(&t_speed_pid,PID_POSITION,M2006_speed_PID,500000,500000);
PID_init(&t_angle_pid,PID_POSITION,M2006_angle_PID,500000,100000);
} }
float trigger_angle = 0;
void trigger_pos(fp32 angle)
{
int16_t delta[1];
delta[0]=PID_calc(&t_angle_pid,trigger_motor_data->total_angle,angle);
t_result=PID_calc(&t_speed_pid,trigger_motor_data->speed_rpm,delta[0]);
}
void motor_speed(fp32 speed) void motor_speed(fp32 speed)
{ {
@ -85,4 +53,3 @@ void motor_pos(fp32 angle)
result=PID_calc(&speed_pid,motor_3508_data->speed_rpm,delta[0]); result=PID_calc(&speed_pid,motor_3508_data->speed_rpm,delta[0]);
} }

23
User/module/dji.h
View File

@ -14,11 +14,30 @@ typedef enum
MOTOR_NUM MOTOR_NUM
}motorput_e; }motorput_e;
// //电机输出
// int16_t result[MOTOR_NUM]; //速度环
// float angleSet[MOTOR_NUM]; //位置环
// //电机状态
// motor_measure_t* putMotor[MOTOR_NUM];
// //翻转3508pid
// static const float M3508_speed_PID[3];
// static const float M3508_angle_PID[3];
// //前后与夹球2006pid
// static const float M2006_speed_PID[3];
// static const float M2006_angle_PID[3];
// //电机速度pid结构体
// pid_type_def speed_pid[MOTOR_NUM];
// //位置环pid
// pid_type_def angle_pid[MOTOR_NUM];
// //暂存目标位置
// //0上下，1翻转，2前后，3夹球
// float angleSet[MOTOR_NUM];
void motor_init(void); void motor_init(void);
void motor_speed(fp32 speed); void motor_speed(fp32 speed);
void motor_pos(fp32 angle); void motor_pos(fp32 angle);
void trigger_pos(fp32 angle);
#endif #endif

9
User/module/go.c
View File

@ -20,17 +20,20 @@ void gimbalInit(void)
for(i = 0;i < GO_NUM;i ++) for(i = 0;i < GO_NUM;i ++)
{ {
go.goData[i] = getGoPoint(i);//获取电机数据指针 go.goData[i] = getGoPoint(i);//获取电机数据指针
// PID_init(&angle_pid[i],PID_POSITION,PID_angle,15,0.5);//pid初始化
// PID_init(&speed_pid[i],PID_POSITION,PID_speed,60,0.2);//pid初始化
// result[i] = 0;
go.angleSetgo[i] = 0; go.angleSetgo[i] = 0;
go.offestAngle[i] = 0; go.offestAngle[i] = 0;
// GO_M8010_send_data(&huart1, i,0,0,0,0,0,0); // GO_M8010_send_data(&huart1, i,0,0,0,0,0,0);
GO_M8010_send_data(&huart6, i,0,0,0,0,0,0); GO_M8010_send_data(&huart6, i,0,0,0,0,0,0);
go.offestAngle[i] = go.goData[i]->Pos; go.offestAngle[i] = go.goData[i]->Pos;
HAL_Delay(100); HAL_Delay(2000);
// GO_M8010_send_data(&huart1, i,0,0,0,0,0,0); // GO_M8010_send_data(&huart1, i,0,0,0,0,0,0);
GO_M8010_send_data(&huart6, i,0,0,0,0,0,0); GO_M8010_send_data(&huart6, i,0,0,0,0,0,0);
go.offestAngle[i] = go.goData[i]->Pos; go.offestAngle[i] = go.goData[i]->Pos;
HAL_Delay(100); HAL_Delay(2000);
} }
} }

28
User/module/odrive_shoot.c
View File

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

92
User/module/shoot.c
View File

@ -1,92 +0,0 @@
#include "shoot.h"
#include "remote_control.h"
extern RC_mess_t RC_mess;
extern motor_measure_t *trigger_motor_data;//3508电机数据
#define GO1_SHOOT 0
#define ODRIVE_SHOOT 1
#define KP 0.12
#define KD 0.008
#if GO1_SHOOT == 1
GO_SHOOT goshoot;
void shooterInit(void)
{
int i;
GO_M8010_init();
for(i = 0;i < GO_NUM;i ++)
{
goshoot.goData[i] = getGoPoint(i);//获取电机数据指针
goshoot.angleSetgo[i] = 0;
goshoot.offestAngle[i] = 0;
// GO_M8010_send_data(&huart1, i,0,0,0,0,0,0);
GO_M8010_send_data(&huart6, i,0,0,0,0,0,0);
goshoot.offestAngle[i] = goshoot.goData[i]->Pos;
HAL_Delay(100);
// GO_M8010_send_data(&huart1, i,0,0,0,0,0,0);
GO_M8010_send_data(&huart6, i,0,0,0,0,0,0);
goshoot.offestAngle[i] = goshoot.goData[i]->Pos;
HAL_Delay(100);
}
}
void shoot_ball(int key)
{
//蓄力
if(trigger_motor_data->real_angle ==60)//扳机已闭合
{
goshoot.angleSetgo[0] = 10;
GO_M8010_send_data(&huart6, 0,0,0,goshoot.angleSetgo[0],1,KP,KD);
}
if (key ==2)//上升准备蓄力
{
goshoot.angleSetgo[0] = 0;
GO_M8010_send_data(&huart6, 0,0,0,goshoot.angleSetgo[0],1,KP,KD);
}
}
#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
extern float angle_encoder;
extern volatile int32_t multi_turn_angle ;
extern volatile uint16_t last_angle ;
void shoot_odrive(int angle)
{
// if(ball)
// {
// if(multi_turn_angle==8)
// {
// //di
// odrive_accel_cmd(AXIS0_NODE,200,200);
// odrive_pos_cmd(AXIS0_NODE,0);
// }
// else if(multi_turn_angle==0)
// {
// }
// }
odrive_accel_cmd(AXIS0_NODE,200,200);
osDelay(2);
odrive_pos_cmd(AXIS0_NODE,angle);
}
#endif

27
User/module/shoot.h
View File

@ -1,27 +0,0 @@
#ifndef _SHOOT_H_
#define _SHOOT_H_
#include "GO_M8010_6_Driver.h"
#include "odrive_can.h"
#include "djiMotor.h"
#include "calc_lib.h"
#include "pid.h"
typedef struct
{
/* data */
GO_Motorfield* goData[GO_NUM];
//暂存目标位置
//0 left，1 right
float angleSetgo[GO_NUM];
float offestAngle[GO_NUM];//go数据
float Kp;
float Kd;
float allowRange;
}GO_SHOOT;
void shooterInit(void);
void shoot_ball(int key);
void shoot_odrive(int angle);
#endif

7
User/task/attrTask.c
View File

@ -63,10 +63,5 @@ const osThreadAttr_t attr_rc = {
.stack_size = 256 * 4, .stack_size = 256 * 4,
}; };
//ball
const osThreadAttr_t attr_ball = {
.name = "ball",
.priority = osPriorityRealtime,
.stack_size = 256 * 4,
};

8
User/task/attrTask.h
View File

@ -20,7 +20,7 @@
#define TASK_FREQ_MONITOR (2u) #define TASK_FREQ_MONITOR (2u)
#define TASK_FREQ_CAN (500u) #define TASK_FREQ_CAN (500u)
#define TASK_FREQ_AI (250u) #define TASK_FREQ_AI (250u)
#define TASK_FREQ_BALL (500u) #define TASK_FREQ_REFEREE (1000u)
#define TASK_INIT_DELAY_INFO (500u) #define TASK_INIT_DELAY_INFO (500u)
#define TASK_INIT_DELAY_MONITOR (10) #define TASK_INIT_DELAY_MONITOR (10)
@ -43,8 +43,7 @@ typedef struct {
osThreadId_t dji_motor; osThreadId_t dji_motor;
osThreadId_t shoot; osThreadId_t shoot;
osThreadId_t go; osThreadId_t go;
osThreadId_t nuc; osThreadId_t nuc;
osThreadId_t ball;
} thread; } thread;
/* 电机的反馈和输出 */ /* 电机的反馈和输出 */
@ -160,7 +159,6 @@ extern const osThreadAttr_t attr_shoot;
extern const osThreadAttr_t attr_go; extern const osThreadAttr_t attr_go;
extern const osThreadAttr_t attr_nuc; extern const osThreadAttr_t attr_nuc;
extern const osThreadAttr_t attr_rc; extern const osThreadAttr_t attr_rc;
extern const osThreadAttr_t attr_ball;
/* Exported functions prototypes -------------------------------------------- */ /* Exported functions prototypes -------------------------------------------- */
//声明一下任务 //声明一下任务
@ -180,6 +178,4 @@ void Task_nuc(void *argument);
void Task_Rc(void *argument); void Task_Rc(void *argument);
void Task_Ball(void *argument);
#endif #endif

29
User/task/ball_task.c
View File

@ -1,29 +0,0 @@
#include "ball_task.h"
#include "TopDefine.h"
#include "FreeRTOS.h"
#include "attrTask.h"
#include <cmsis_os2.h>
#include "remote_control.h"
#include "ball.h"
extern RC_mess_t RC_mess;
BASKETBALL basketball;
void Task_Ball(void *argument)
{
(void)argument; /* 未使用argument，消除警告 */
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN;
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计算 */
basketball.hand=0;
basketball.paw=0;
while(1)
{
handling_ball(basketball.hand, basketball.paw);
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 */
}
}

5
User/task/ball_task.h
View File

@ -1,5 +0,0 @@
#ifndef _BALL_TASK_H_
#define _BALL_TASK_H_
#endif

6
User/task/can_task.c
View File

@ -14,7 +14,7 @@ extern motor_measure_t *motor_3508_data;
void Task_Can(void *argument) void Task_Can(void *argument)
{ {
(void)argument; /* 未使用argument，消除警告 */ (void)argument; /* 未使用argument，消除警告 */
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN; // const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN;
djiInit();//FIFO滤波器初始化 djiInit();//FIFO滤波器初始化
Odrive_Can_Init(); Odrive_Can_Init();
@ -29,8 +29,8 @@ void Task_Can(void *argument)
//将can数据添加到消息队列 //将can数据添加到消息队列
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 */
} }
} }

13
User/task/dji_task.c
View File

@ -9,7 +9,6 @@
extern RC_mess_t RC_mess; extern RC_mess_t RC_mess;
extern int16_t result; extern int16_t result;
extern int16_t t_result;
extern motor_measure_t *motor_3508_data; extern motor_measure_t *motor_3508_data;
float vofa[8]; float vofa[8];
/** /**
@ -25,7 +24,7 @@ void Task_Motor(void *argument)
{ {
(void)argument; /* 未使用argument，消除警告 */ (void)argument; /* 未使用argument，消除警告 */
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_CHASSIS; // const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_CHASSIS;
motor_init(); motor_init();
@ -38,18 +37,18 @@ void Task_Motor(void *argument)
//电机控制 //电机控制
//motor_speed(speed); //motor_speed(speed);
m=angle*(8191/360); m=angle*(8191/360);
// motor_pos(m); motor_pos(m);
trigger_pos(m);
//CAN_cmd_200(result[MOTOR_UP],result[MOTOR_UP],result[MOTOR_UP],result[MOTOR_UP],&hcan1); //CAN_cmd_200(result[MOTOR_UP],result[MOTOR_UP],result[MOTOR_UP],result[MOTOR_UP],&hcan1);
CAN_cmd_200(t_result,0,0,0,&hcan1); CAN_cmd_200(result,0,0,0,&hcan1);
osDelay(2); osDelay(2);
// vofa[0]=motor_3508_data->speed_rpm; // vofa[0]=motor_3508_data->speed_rpm;
// vofa[1]=speed; // vofa[1]=speed;
// vofa_tx_main(vofa); // vofa_tx_main(vofa);
tick += delay_tick; // tick += delay_tick;
osDelayUntil(tick); // osDelayUntil(tick);
} }

4
User/task/go_task.c
View File

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

5
User/task/initTask.c
View File

@ -48,10 +48,7 @@ task_runtime.thread.nuc =
osThreadNew(Task_nuc, NULL, &attr_nuc); osThreadNew(Task_nuc, NULL, &attr_nuc);
// rc // rc
task_runtime.thread.rc = task_runtime.thread.rc =
osThreadNew(Task_Rc, NULL, &attr_rc); osThreadNew(Task_Rc, NULL, &attr_rc);
// ball
task_runtime.thread.ball =
osThreadNew(Task_Ball, NULL, &attr_ball);
/* 消息队列 */ /* 消息队列 */
//can //can

6
User/task/led_task.c
View File

@ -3,7 +3,6 @@
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "main.h" #include "main.h"
#include "led.h" #include "led.h"
#include "buzzer.h"
void Task_Led(void *argument) { void Task_Led(void *argument) {
(void)argument; /* 未使用argument，消除警告 */ (void)argument; /* 未使用argument，消除警告 */
@ -11,10 +10,9 @@ void Task_Led(void *argument) {
for (;;) { for (;;) {
// LED_red(); // LED_red();
// LED_bule(); LED_bule();
// see_you_again();
// LED_green(); // LED_green();
// osDelay(500); osDelay(500);
} }
} }

8
User/task/nuc_task.c
View File

@ -15,11 +15,11 @@ void Task_nuc(void *argument)
{ {
(void)argument; /* 未使用argument，消除警告 */ (void)argument; /* 未使用argument，消除警告 */
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_AI; // const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_AI;
NUC_Init(&cmd_fromnuc); NUC_Init(&cmd_fromnuc);
uint32_t tick = osKernelGetTickCount(); uint32_t tick = osKernelGetTickCount();
while(1) while(1)
{ {
@ -42,8 +42,8 @@ void Task_nuc(void *argument)
// osMessageQueuePut(task_runtime.msgq.cmd.raw.nuc,&(cmd_fromnuc),0,0); // osMessageQueuePut(task_runtime.msgq.cmd.raw.nuc,&(cmd_fromnuc),0,0);
osDelay(2); osDelay(2);
tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/ // tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/
osDelayUntil(tick); // osDelayUntil(tick);
} }
} }

44
User/task/shoot_task.c
View File

@ -3,45 +3,29 @@
#include "FreeRTOS.h" #include "FreeRTOS.h"
#include "attrTask.h" #include "attrTask.h"
#include <cmsis_os2.h> #include <cmsis_os2.h>
#include "remote_control.h" #include "shoot_task.h"
#include "shoot.h"
#include "odrive_shoot.h" #include "odrive_shoot.h"
#include "read_spi.h" #include "remote_control.h"
extern RC_mess_t RC_mess; extern RC_mess_t RC_mess;
Encoder_t encoder; const odrive_msg_t *odrive_msg1;
double angles;
int32_t rounds;
int angleo = 0; //发射角度
#define GO1_SHOOT 0
#define ODRIVE_SHOOT 1
void Task_Shoot(void *argument) void Task_Shoot(void *argument)
{ {
(void)argument; /* 未使用argument，消除警告 */ (void)argument; /* 未使用argument，消除警告 */
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN; // const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN;
Encoder_Init(&encoder); // odrive_CB();
#if GO1_SHOOT == 1 // uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计算 */
shooterInit();
#endif
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计算 */
while(1) while(1)
{ {
#if GO1_SHOOT == 1 shootStep();
shoot_ball(0);
#elif ODRIVE_SHOOT == 1 odrive_get_encode(AXIS0_NODE);
shootStep();
//shoot_odrive(angleo); odrive_msg1 = Get_Odrive_Point();
#endif osDelay(2);
// 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 */ // 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 */
} }
} }

53
mycode1.ioc
View File

@ -67,9 +67,8 @@ Mcu.CPN=STM32F407IGH6
Mcu.Family=STM32F4 Mcu.Family=STM32F4
Mcu.IP0=CAN1 Mcu.IP0=CAN1
Mcu.IP1=CAN2 Mcu.IP1=CAN2
Mcu.IP10=USART1 Mcu.IP10=USART3
Mcu.IP11=USART3 Mcu.IP11=USART6
Mcu.IP12=USART6
Mcu.IP2=DMA Mcu.IP2=DMA
Mcu.IP3=FREERTOS Mcu.IP3=FREERTOS
Mcu.IP4=NVIC Mcu.IP4=NVIC
@ -77,8 +76,8 @@ Mcu.IP5=RCC
Mcu.IP6=SPI2 Mcu.IP6=SPI2
Mcu.IP7=SYS Mcu.IP7=SYS
Mcu.IP8=TIM1 Mcu.IP8=TIM1
Mcu.IP9=TIM4 Mcu.IP9=USART1
Mcu.IPNb=13 Mcu.IPNb=12
Mcu.Name=STM32F407I(E-G)Hx Mcu.Name=STM32F407I(E-G)Hx
Mcu.Package=UFBGA176 Mcu.Package=UFBGA176
Mcu.Pin0=PB5 Mcu.Pin0=PB5
@ -94,26 +93,21 @@ Mcu.Pin17=PH12
Mcu.Pin18=PH11 Mcu.Pin18=PH11
Mcu.Pin19=PH10 Mcu.Pin19=PH10
Mcu.Pin2=PA14 Mcu.Pin2=PA14
Mcu.Pin20=PD14 Mcu.Pin20=PE9
Mcu.Pin21=PE13 Mcu.Pin21=PB12
Mcu.Pin22=PE9 Mcu.Pin22=PB13
Mcu.Pin23=PE11 Mcu.Pin23=PB14
Mcu.Pin24=PE14 Mcu.Pin24=PB15
Mcu.Pin25=PB12 Mcu.Pin25=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin26=PB13 Mcu.Pin26=VP_SYS_VS_Systick
Mcu.Pin27=PB14
Mcu.Pin28=PB15
Mcu.Pin29=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin3=PA13 Mcu.Pin3=PA13
Mcu.Pin30=VP_SYS_VS_Systick
Mcu.Pin31=VP_TIM4_VS_ClockSourceINT
Mcu.Pin4=PB7 Mcu.Pin4=PB7
Mcu.Pin5=PB6 Mcu.Pin5=PB6
Mcu.Pin6=PD0 Mcu.Pin6=PD0
Mcu.Pin7=PC11 Mcu.Pin7=PC11
Mcu.Pin8=PC10 Mcu.Pin8=PC10
Mcu.Pin9=PI7 Mcu.Pin9=PI7
Mcu.PinsNb=32 Mcu.PinsNb=27
Mcu.ThirdPartyNb=0 Mcu.ThirdPartyNb=0
Mcu.UserConstants= Mcu.UserConstants=
Mcu.UserName=STM32F407IGHx Mcu.UserName=STM32F407IGHx
@ -180,22 +174,6 @@ PD0.Signal=CAN1_RX
PD1.Locked=true PD1.Locked=true
PD1.Mode=CAN_Activate PD1.Mode=CAN_Activate
PD1.Signal=CAN1_TX PD1.Signal=CAN1_TX
PD14.GPIOParameters=GPIO_Label
PD14.GPIO_Label=buzzer
PD14.Locked=true
PD14.Signal=S_TIM4_CH3
PE11.GPIOParameters=GPIO_Label
PE11.GPIO_Label=key
PE11.Locked=true
PE11.Signal=GPIO_Output
PE13.GPIOParameters=GPIO_Label
PE13.GPIO_Label=down
PE13.Locked=true
PE13.Signal=GPIO_Output
PE14.GPIOParameters=GPIO_Label
PE14.GPIO_Label=paw
PE14.Locked=true
PE14.Signal=GPIO_Output
PE9.Locked=true PE9.Locked=true
PE9.Signal=S_TIM1_CH1 PE9.Signal=S_TIM1_CH1
PG14.Mode=Asynchronous PG14.Mode=Asynchronous
@ -294,8 +272,6 @@ RCC.VCOOutputFreq_Value=336000000
RCC.VcooutputI2S=192000000 RCC.VcooutputI2S=192000000
SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1 SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
SH.S_TIM1_CH1.ConfNb=1 SH.S_TIM1_CH1.ConfNb=1
SH.S_TIM4_CH3.0=TIM4_CH3,PWM Generation3 CH3
SH.S_TIM4_CH3.ConfNb=1
SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_32 SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_32
SPI2.CLKPhase=SPI_PHASE_2EDGE SPI2.CLKPhase=SPI_PHASE_2EDGE
SPI2.CalculateBaudRate=1.3125 MBits/s SPI2.CalculateBaudRate=1.3125 MBits/s
@ -309,9 +285,6 @@ TIM1.IPParameters=Channel-PWM Generation1 CH1,Prescaler,Period,Pulse-PWM Generat
TIM1.Period=20000-1 TIM1.Period=20000-1
TIM1.Prescaler=168-1 TIM1.Prescaler=168-1
TIM1.Pulse-PWM\ Generation1\ CH1=2000 TIM1.Pulse-PWM\ Generation1\ CH1=2000
TIM4.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM4.IPParameters=Channel-PWM Generation3 CH3,Period
TIM4.Period=20999
USART1.BaudRate=115200 USART1.BaudRate=115200
USART1.IPParameters=VirtualMode,BaudRate USART1.IPParameters=VirtualMode,BaudRate
USART1.VirtualMode=VM_ASYNC USART1.VirtualMode=VM_ASYNC
@ -326,7 +299,5 @@ VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2 VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
VP_SYS_VS_Systick.Mode=SysTick VP_SYS_VS_Systick.Mode=SysTick
VP_SYS_VS_Systick.Signal=SYS_VS_Systick VP_SYS_VS_Systick.Signal=SYS_VS_Systick
VP_TIM4_VS_ClockSourceINT.Mode=Internal
VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
board=custom board=custom
rtos.0.ip=FREERTOS rtos.0.ip=FREERTOS