From 5d829f2ffaf810e562c6fb1ccee36a1b85422a0e Mon Sep 17 00:00:00 2001 From: Robofish <1683502971@qq.com> Date: Thu, 1 Jan 2026 22:29:44 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .DS_Store | Bin 10244 -> 12292 bytes bsp/.DS_Store | Bin 6148 -> 6148 bytes bsp/{ => can}/can.c | 0 bsp/{ => can}/can.h | 0 bsp/describe.csv | 3 +- bsp/{ => dwt}/dwt.c | 0 bsp/{ => dwt}/dwt.h | 0 bsp/fdcan/fdcan.c | 576 +++++++++++++++ bsp/fdcan/fdcan.h | 137 ++++ bsp/flash/CHANGELOG.md | 77 ++ bsp/flash/README.md | 346 +++++++++ bsp/flash/flash.c | 55 ++ bsp/flash/flash.h | 31 + bsp/{ => gpio}/gpio.c | 0 bsp/{ => gpio}/gpio.h | 0 bsp/{ => i2c}/i2c.c | 0 bsp/{ => i2c}/i2c.h | 0 bsp/{ => mm}/mm.c | 0 bsp/{ => mm}/mm.h | 0 bsp/{ => pwm}/pwm.c | 0 bsp/{ => pwm}/pwm.h | 0 bsp/{ => spi}/spi.c | 0 bsp/{ => spi}/spi.h | 0 bsp/{ => time}/time.c | 0 bsp/{ => time}/time.h | 0 bsp/{ => uart}/uart.c | 0 bsp/{ => uart}/uart.h | 0 component/{ => ahrs}/ahrs.c | 0 component/{ => ahrs}/ahrs.h | 0 component/{ => capacity}/capacity.c | 0 component/{ => capacity}/capacity.h | 0 component/{ => cmd}/cmd.c | 0 component/{ => cmd}/cmd.h | 0 component/{ => crc16}/crc16.c | 0 component/{ => crc16}/crc16.h | 0 component/{ => crc8}/crc8.c | 0 component/{ => crc8}/crc8.h | 0 component/{ => error_detect}/error_detect.c | 0 component/{ => error_detect}/error_detect.h | 0 component/{ => filter}/filter.c | 0 component/{ => filter}/filter.h | 0 component/{ => freertos_cli}/FreeRTOS_CLI.c | 0 component/{ => freertos_cli}/FreeRTOS_CLI.h | 0 component/{ => limiter}/limiter.c | 0 component/{ => limiter}/limiter.h | 0 component/{ => mixer}/mixer.c | 0 component/{ => mixer}/mixer.h | 0 component/{ => pid}/pid.c | 0 component/{ => pid}/pid.h | 0 component/{ => ui}/ui.c | 0 component/{ => ui}/ui.h | 0 component/{ => user_math}/user_math.c | 0 component/{ => user_math}/user_math.h | 0 config.csv | 4 +- device/{ => bmi088}/bmi088.c | 0 device/{ => bmi088}/bmi088.h | 0 device/{ => buzzer}/buzzer.c | 0 device/{ => buzzer}/buzzer.h | 0 device/config.yaml | 16 + device/{ => dm_imu}/dm_imu.c | 0 device/{ => dm_imu}/dm_imu.h | 0 device/{ => dr16}/dr16.c | 0 device/{ => dr16}/dr16.h | 0 device/{ => ist8310}/ist8310.c | 0 device/{ => ist8310}/ist8310.h | 0 device/{ => led}/led.c | 0 device/{ => led}/led.h | 0 device/{ => motor}/motor.c | 0 device/{ => motor}/motor.h | 0 device/{ => motor_dm}/motor_dm.c | 0 device/{ => motor_dm}/motor_dm.h | 0 device/{ => motor_lk}/motor_lk.c | 0 device/{ => motor_lk}/motor_lk.h | 0 device/{ => motor_lz}/motor_lz.c | 0 device/{ => motor_lz}/motor_lz.h | 0 device/{ => motor_odrive}/motor_odrive.c | 0 device/{ => motor_odrive}/motor_odrive.h | 0 device/{ => motor_rm}/motor_rm.c | 0 device/{ => motor_rm}/motor_rm.h | 0 device/{ => motor_vesc}/motor_vesc.c | 0 device/{ => motor_vesc}/motor_vesc.h | 0 device/{ => oid}/oid.c | 0 device/{ => oid}/oid.h | 0 device/{ => ops9}/ops9.c | 0 device/{ => ops9}/ops9.h | 0 device/{ => rc_can}/rc_can.c | 0 device/{ => rc_can}/rc_can.h | 0 device/{ => servo}/servo.c | 0 device/{ => servo}/servo.h | 0 device/{ => vofa}/vofa.c | 0 device/{ => vofa}/vofa.h | 0 device/{ => ws2812}/ws2812.c | 0 device/{ => ws2812}/ws2812.h | 0 module/config.c | 13 +- module/config.h | 11 + module/describe.csv | 4 + .../2_axis_gimbal/gimbal.c} | 0 .../2_axis_gimbal/gimbal.h} | 0 module/shoot/3+3shoot/shoot.c | 658 ++++++++++++++++++ module/shoot/3+3shoot/shoot.h | 243 +++++++ 100 files changed, 2168 insertions(+), 6 deletions(-) rename bsp/{ => can}/can.c (100%) rename bsp/{ => can}/can.h (100%) rename bsp/{ => dwt}/dwt.c (100%) rename bsp/{ => dwt}/dwt.h (100%) create mode 100644 bsp/fdcan/fdcan.c create mode 100644 bsp/fdcan/fdcan.h create mode 100644 bsp/flash/CHANGELOG.md create mode 100644 bsp/flash/README.md create mode 100644 bsp/flash/flash.c create mode 100644 bsp/flash/flash.h rename bsp/{ => gpio}/gpio.c (100%) rename bsp/{ => gpio}/gpio.h (100%) rename bsp/{ => i2c}/i2c.c (100%) rename bsp/{ => i2c}/i2c.h (100%) rename bsp/{ => mm}/mm.c (100%) rename bsp/{ => mm}/mm.h (100%) rename bsp/{ => pwm}/pwm.c (100%) rename bsp/{ => pwm}/pwm.h (100%) rename bsp/{ => spi}/spi.c (100%) rename bsp/{ => spi}/spi.h (100%) rename bsp/{ => time}/time.c (100%) rename bsp/{ => time}/time.h (100%) rename bsp/{ => uart}/uart.c (100%) rename bsp/{ => uart}/uart.h (100%) rename component/{ => ahrs}/ahrs.c (100%) rename component/{ => ahrs}/ahrs.h (100%) rename component/{ => capacity}/capacity.c (100%) rename component/{ => capacity}/capacity.h (100%) rename component/{ => cmd}/cmd.c (100%) rename component/{ => cmd}/cmd.h (100%) rename component/{ => crc16}/crc16.c (100%) rename component/{ => crc16}/crc16.h (100%) rename component/{ => crc8}/crc8.c (100%) rename component/{ => crc8}/crc8.h (100%) rename component/{ => error_detect}/error_detect.c (100%) rename component/{ => error_detect}/error_detect.h (100%) rename component/{ => filter}/filter.c (100%) rename component/{ => filter}/filter.h (100%) rename component/{ => freertos_cli}/FreeRTOS_CLI.c (100%) rename component/{ => freertos_cli}/FreeRTOS_CLI.h (100%) rename component/{ => limiter}/limiter.c (100%) rename component/{ => limiter}/limiter.h (100%) rename component/{ => mixer}/mixer.c (100%) rename component/{ => mixer}/mixer.h (100%) rename component/{ => pid}/pid.c (100%) rename component/{ => pid}/pid.h (100%) rename component/{ => ui}/ui.c (100%) rename component/{ => ui}/ui.h (100%) rename component/{ => user_math}/user_math.c (100%) rename component/{ => user_math}/user_math.h (100%) rename device/{ => bmi088}/bmi088.c (100%) rename device/{ => bmi088}/bmi088.h (100%) rename device/{ => buzzer}/buzzer.c (100%) rename device/{ => buzzer}/buzzer.h (100%) rename device/{ => dm_imu}/dm_imu.c (100%) rename device/{ => dm_imu}/dm_imu.h (100%) rename device/{ => dr16}/dr16.c (100%) rename device/{ => dr16}/dr16.h (100%) rename device/{ => ist8310}/ist8310.c (100%) rename device/{ => ist8310}/ist8310.h (100%) rename device/{ => led}/led.c (100%) rename device/{ => led}/led.h (100%) rename device/{ => motor}/motor.c (100%) rename device/{ => motor}/motor.h (100%) rename device/{ => motor_dm}/motor_dm.c (100%) rename device/{ => motor_dm}/motor_dm.h (100%) rename device/{ => motor_lk}/motor_lk.c (100%) rename device/{ => motor_lk}/motor_lk.h (100%) rename device/{ => motor_lz}/motor_lz.c (100%) rename device/{ => motor_lz}/motor_lz.h (100%) rename device/{ => motor_odrive}/motor_odrive.c (100%) rename device/{ => motor_odrive}/motor_odrive.h (100%) rename device/{ => motor_rm}/motor_rm.c (100%) rename device/{ => motor_rm}/motor_rm.h (100%) rename device/{ => motor_vesc}/motor_vesc.c (100%) rename device/{ => motor_vesc}/motor_vesc.h (100%) rename device/{ => oid}/oid.c (100%) rename device/{ => oid}/oid.h (100%) rename device/{ => ops9}/ops9.c (100%) rename device/{ => ops9}/ops9.h (100%) rename device/{ => rc_can}/rc_can.c (100%) rename device/{ => rc_can}/rc_can.h (100%) rename device/{ => servo}/servo.c (100%) rename device/{ => servo}/servo.h (100%) rename device/{ => vofa}/vofa.c (100%) rename device/{ => vofa}/vofa.h (100%) rename device/{ => ws2812}/ws2812.c (100%) rename device/{ => ws2812}/ws2812.h (100%) create mode 100644 module/describe.csv rename module/{2_axis_gimbal.c => gimbal/2_axis_gimbal/gimbal.c} (100%) rename module/{2_axis_gimbal.h => gimbal/2_axis_gimbal/gimbal.h} (100%) create mode 100644 module/shoot/3+3shoot/shoot.c create mode 100644 module/shoot/3+3shoot/shoot.h diff --git a/.DS_Store b/.DS_Store index e391af5deab85694ed97fedde8261f16f37636ad..6386a06dd946fa998e126d527d221acf1b2232e4 100644 GIT binary patch delta 1069 zcmbVLK~ED=5T4g=%T^kxQf!x&-6GYrDhjqyY(i=)s5LP*6r%AU+U?q|+3q%N0mA`F z7jNRlo6*^YAYw?wm(0$4^UZwk+nL>k?803M09bme zFbEK#El*~8j~l?|0thWi39h2b(~Wnp84iRw2P2eg9_;zd4o!MGYI4=kw5(B6>#CtQ zT6V74#&bLq@tY_F9FT`8P(g!2Mlw7vNR4$sa_|@V1N$yDW|wA<2_|v!J3p@ 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zEMSA6O@dV;*@`5{MOh;+y9D$y?AkuaLiErvJ~Z@v9}@uzZE)wfMkhI8@0N!Q lswW3%hw9L6CJzu~2NHo+2aT!~knX#>qTPx|=PT&#`O{U~XXA%+A5j0aUWtk@-9G aWPTA{PDTa>h66y%FxiGjdUK4(5@rCWc z(P5s_jvi@C?*mz7rOm8OZYQs +#include +#include + +/* Private define ----------------------------------------------------------- */ +#define FDCAN_QUEUE_MUTEX_TIMEOUT 100 + +/* Private macro ------------------------------------------------------------ */ + +/* ===== FDCAN_FilterTypeDef 配置表 ===== + * 定义每个FDCAN实例的过滤器参数表。 + * 过滤器表参数说明： + * idx idtype ftype id1 id2 rxidx + * 过滤器编号 标识符类型 过滤器类型 过滤器ID1 过滤器ID2 接收缓冲区索引 + */ +#ifdef FDCAN1_EN + #define FDCAN1_FILTER_CONFIG_TABLE(X) \ + X(0, FDCAN_STANDARD_ID, FDCAN_FILTER_MASK, 0x000 , 0x000 , 0) \ + X(1, FDCAN_EXTENDED_ID, FDCAN_FILTER_MASK, 0x00000000, 0x00000000, 0) + #define FDCAN1_GLOBAL_FILTER FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */ +#endif +#ifdef FDCAN2_EN + #define FDCAN2_FILTER_CONFIG_TABLE(X) \ + X(0, FDCAN_STANDARD_ID, FDCAN_FILTER_MASK, 0x000 , 0x000 , 0) \ + X(1, FDCAN_EXTENDED_ID, FDCAN_FILTER_MASK, 0x00000000, 0x00000000, 0) + #define FDCAN2_GLOBAL_FILTER FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */ +#endif +#ifdef FDCAN3_EN + #define FDCAN3_FILTER_CONFIG_TABLE(X) \ + X(0, FDCAN_STANDARD_ID, FDCAN_FILTER_MASK, 0x000 , 0x000 , 0) \ + X(1, FDCAN_EXTENDED_ID, FDCAN_FILTER_MASK, 0x00000000, 0x00000000, 0) + #define FDCAN3_GLOBAL_FILTER FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */ +#endif + +/* ====宏展开实现==== */ +#define FDCAN_FILTER_TO_RXFIFO_ENUM_INNER(FIFOIndex) FDCAN_FILTER_TO_RXFIFO##FIFOIndex +#define FDCAN_FILTER_TO_RXFIFO_ENUM(FIFOIndex) FDCAN_FILTER_TO_RXFIFO_ENUM_INNER(FIFOIndex) +#define FDCAN_CONFIG_FILTER(idx, idtype, ftype, id1, id2, rxidx) \ + sFilterConfig.FilterIndex = (idx); \ + sFilterConfig.IdType = (idtype); \ + sFilterConfig.FilterType = (ftype); \ + sFilterConfig.FilterConfig = (FDCAN_FILTER_TO_RXFIFO_ENUM(FDCANX_RX_FIFO)); \ + sFilterConfig.FilterID1 = (id1); \ + sFilterConfig.FilterID2 = (id2); \ + sFilterConfig.RxBufferIndex = (rxidx); \ + HAL_FDCAN_ConfigFilter(&hfdcan, &sFilterConfig); + +#define FDCAN_NOTIFY_FLAG_RXFIFO_INNER(FIFO_IDX) FDCAN_IT_RX_FIFO##FIFO_IDX##_NEW_MESSAGE +#define FDCAN_NOTIFY_FLAG_RXFIFO(FIFO_IDX) FDCAN_NOTIFY_FLAG_RXFIFO_INNER(FIFO_IDX) +#define FDCANx_NOTIFY_FLAGS(FIFO_MACRO) (FDCAN_NOTIFY_FLAG_RXFIFO(FIFO_MACRO) | FDCAN_IT_TX_EVT_FIFO_NEW_DATA | FDCAN_IT_RAM_ACCESS_FAILURE) + +#define FDCANX_MSG_PENDING_CB_INNER(FIFO_IDX) HAL_FDCAN_RX_FIFO##FIFO_IDX##_MSG_PENDING_CB +#define FDCANX_MSG_PENDING_CB(FIFO_IDX) FDCANX_MSG_PENDING_CB_INNER(FIFO_IDX) +/* Private typedef ---------------------------------------------------------- */ +typedef struct BSP_FDCAN_QueueNode { + BSP_FDCAN_t fdcan; + uint32_t can_id; + osMessageQueueId_t queue; + uint8_t queue_size; + struct BSP_FDCAN_QueueNode *next; +} BSP_FDCAN_QueueNode_t; + +/* Private variables -------------------------------------------------------- */ +static BSP_FDCAN_QueueNode_t *queue_list = NULL; +static osMutexId_t queue_mutex = NULL; +static void (*FDCAN_Callback[BSP_FDCAN_NUM][HAL_FDCAN_CB_NUM])(void); +static bool inited = false; +static BSP_FDCAN_IdParser_t id_parser = NULL; +static BSP_FDCAN_TxQueue_t tx_queues[BSP_FDCAN_NUM]; +static const uint8_t fdcan_dlc2len[16] = {0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64}; + +/* Private function prototypes ---------------------------------------------- */ +static BSP_FDCAN_t FDCAN_Get(FDCAN_HandleTypeDef *hfdcan); +static osMessageQueueId_t BSP_FDCAN_FindQueue(BSP_FDCAN_t fdcan, uint32_t can_id); +static int8_t BSP_FDCAN_CreateIdQueue(BSP_FDCAN_t fdcan, uint32_t can_id, uint8_t queue_size); +static void BSP_FDCAN_RxFifo0Callback(void); +static void BSP_FDCAN_RxFifo1Callback(void); +static void BSP_FDCAN_TxCompleteCallback(void); +static BSP_FDCAN_FrameType_t BSP_FDCAN_GetFrameType(FDCAN_RxHeaderTypeDef *header); +static uint32_t BSP_FDCAN_DefaultIdParser(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type); +static void BSP_FDCAN_TxQueueInit(BSP_FDCAN_t fdcan); +static bool BSP_FDCAN_TxQueuePush(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg); +static bool BSP_FDCAN_TxQueuePop(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg); +static bool BSP_FDCAN_TxQueueIsEmpty(BSP_FDCAN_t fdcan); + +/* Private functions -------------------------------------------------------- */ +static BSP_FDCAN_t FDCAN_Get(FDCAN_HandleTypeDef *hfdcan) { + if (hfdcan == NULL) return BSP_FDCAN_ERR; + if (hfdcan->Instance == FDCAN1) return BSP_FDCAN_1; + else if (hfdcan->Instance == FDCAN2) return BSP_FDCAN_2; + else if (hfdcan->Instance == FDCAN3) return BSP_FDCAN_3; + else return BSP_FDCAN_ERR; +} + +static osMessageQueueId_t BSP_FDCAN_FindQueue(BSP_FDCAN_t fdcan, uint32_t can_id) { + BSP_FDCAN_QueueNode_t *node = queue_list; + while (node != NULL) { + if (node->fdcan == fdcan && node->can_id == can_id) return node->queue; + node = node->next; + } + return NULL; +} + +static int8_t BSP_FDCAN_CreateIdQueue(BSP_FDCAN_t fdcan, uint32_t can_id, uint8_t queue_size) { + if (queue_size == 0) queue_size = BSP_FDCAN_DEFAULT_QUEUE_SIZE; + if (osMutexAcquire(queue_mutex, FDCAN_QUEUE_MUTEX_TIMEOUT) != osOK) return BSP_ERR_TIMEOUT; + BSP_FDCAN_QueueNode_t *node = queue_list; + while (node != NULL) { + if (node->fdcan == fdcan && node->can_id == can_id) { + osMutexRelease(queue_mutex); + return BSP_ERR; + } + node = node->next; + } + + BSP_FDCAN_QueueNode_t *new_node = (BSP_FDCAN_QueueNode_t *)BSP_Malloc(sizeof(BSP_FDCAN_QueueNode_t)); + if (new_node == NULL) { osMutexRelease(queue_mutex); return BSP_ERR_NULL; } + new_node->queue = osMessageQueueNew(queue_size, sizeof(BSP_FDCAN_Message_t), NULL); + if (new_node->queue == NULL) { BSP_Free(new_node); osMutexRelease(queue_mutex); return BSP_ERR; } + new_node->fdcan = fdcan; + new_node->can_id = can_id; + new_node->queue_size = queue_size; + new_node->next = queue_list; + queue_list = new_node; + osMutexRelease(queue_mutex); + return BSP_OK; +} + +static BSP_FDCAN_FrameType_t BSP_FDCAN_GetFrameType(FDCAN_RxHeaderTypeDef *header) { + if (header->RxFrameType == FDCAN_REMOTE_FRAME) { + return (header->IdType == FDCAN_EXTENDED_ID) ? BSP_FDCAN_FRAME_EXT_REMOTE : BSP_FDCAN_FRAME_STD_REMOTE; + } else { + return (header->IdType == FDCAN_EXTENDED_ID) ? BSP_FDCAN_FRAME_EXT_DATA : BSP_FDCAN_FRAME_STD_DATA; + } +} + +static uint32_t BSP_FDCAN_DefaultIdParser(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type) { + (void)frame_type; + return original_id; +} + +static uint32_t BSP_FDCAN_EncodeDLC(uint8_t dlc) { + if (dlc <= 8) return dlc; + if (dlc <= 12) return FDCAN_DLC_BYTES_12; + if (dlc <= 16) return FDCAN_DLC_BYTES_16; + if (dlc <= 20) return FDCAN_DLC_BYTES_20; + if (dlc <= 24) return FDCAN_DLC_BYTES_24; + if (dlc <= 32) return FDCAN_DLC_BYTES_32; + if (dlc <= 48) return FDCAN_DLC_BYTES_48; + return FDCAN_DLC_BYTES_64; +} + +static void BSP_FDCAN_TxQueueInit(BSP_FDCAN_t fdcan) { + if (fdcan >= BSP_FDCAN_NUM) return; + tx_queues[fdcan].head = 0; + tx_queues[fdcan].tail = 0; +} + +static bool BSP_FDCAN_TxQueuePush(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg) { + if (fdcan >= BSP_FDCAN_NUM || msg == NULL) return false; + BSP_FDCAN_TxQueue_t *queue = &tx_queues[fdcan]; + uint32_t next_head = (queue->head + 1) % BSP_FDCAN_TX_QUEUE_SIZE; + if (next_head == queue->tail) return false; + queue->buffer[queue->head] = *msg; + queue->head = next_head; + return true; +} + +static bool BSP_FDCAN_TxQueuePop(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg) { + if (fdcan >= BSP_FDCAN_NUM || msg == NULL) return false; + BSP_FDCAN_TxQueue_t *queue = &tx_queues[fdcan]; + if (queue->head == queue->tail) return false; + *msg = queue->buffer[queue->tail]; + queue->tail = (queue->tail + 1) % BSP_FDCAN_TX_QUEUE_SIZE; + return true; +} + +static bool BSP_FDCAN_TxQueueIsEmpty(BSP_FDCAN_t fdcan) { + if (fdcan >= BSP_FDCAN_NUM) return true; + return tx_queues[fdcan].head == tx_queues[fdcan].tail; +} + +static void BSP_FDCAN_TxCompleteCallback(void) { + for (int i = 0; i < BSP_FDCAN_NUM; i++) { + BSP_FDCAN_t fdcan = (BSP_FDCAN_t)i; + FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle(fdcan); + if (hfdcan == NULL) continue; + // 消费所有 TX EVENT FIFO 事件，防止堵塞 + FDCAN_TxEventFifoTypeDef tx_event; + while (HAL_FDCAN_GetTxEvent(hfdcan, &tx_event) == HAL_OK) { + // 可在此统计 MessageMarker、ID、时间戳等 + } + // 续写软件队列到硬件 FIFO + BSP_FDCAN_TxMessage_t msg; + while (!BSP_FDCAN_TxQueueIsEmpty(fdcan)) { + if (HAL_FDCAN_GetTxFifoFreeLevel(hfdcan) == 0) break; + if (!BSP_FDCAN_TxQueuePop(fdcan, &msg)) break; + HAL_StatusTypeDef res = HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &msg.header, msg.data); + if (res != HAL_OK) { + break; + } + } + } +} + +static void BSP_FDCAN_RxFifo0Callback(void) { + FDCAN_RxHeaderTypeDef rx_header; + uint8_t rx_data[BSP_FDCAN_MAX_DLC]; + for (int fdcan_idx = 0; fdcan_idx < BSP_FDCAN_NUM; fdcan_idx++) { + FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle((BSP_FDCAN_t)fdcan_idx); + if (hfdcan == NULL) continue; + while (HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO0) > 0) { + if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &rx_header, rx_data) == HAL_OK) { + uint32_t original_id = (rx_header.IdType == FDCAN_STANDARD_ID) ? rx_header.Identifier&0x7ff : rx_header.Identifier&0x1fffffff; + BSP_FDCAN_FrameType_t frame_type = BSP_FDCAN_GetFrameType(&rx_header); + uint32_t parsed_id = BSP_FDCAN_ParseId(original_id, frame_type); + osMessageQueueId_t queue = BSP_FDCAN_FindQueue((BSP_FDCAN_t)fdcan_idx, parsed_id); + if (queue != NULL) { + BSP_FDCAN_Message_t msg; + msg.frame_type = frame_type; + msg.original_id = original_id; + msg.parsed_id = parsed_id; + uint8_t real_len = fdcan_dlc2len[rx_header.DataLength & 0xF]; + msg.dlc = real_len; + if (msg.dlc > BSP_FDCAN_MAX_DLC) msg.dlc = BSP_FDCAN_MAX_DLC; + memset(msg.data, 0, BSP_FDCAN_MAX_DLC);//现在是最大缓冲区写法所以全清零 + memcpy(msg.data, rx_data, msg.dlc); + osMessageQueuePut(queue, &msg, 0, 0); + } + } else { + break; + } + } + } +} + +static void BSP_FDCAN_RxFifo1Callback(void) { + FDCAN_RxHeaderTypeDef rx_header; + uint8_t rx_data[BSP_FDCAN_MAX_DLC]; + for (int fdcan_idx = 0; fdcan_idx < BSP_FDCAN_NUM; fdcan_idx++) { + FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle((BSP_FDCAN_t)fdcan_idx); + if (hfdcan == NULL) continue; + while (HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO1) > 0) { + if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO1, &rx_header, rx_data) == HAL_OK) { + uint32_t original_id = (rx_header.IdType == FDCAN_STANDARD_ID) ? rx_header.Identifier&0x7ff : rx_header.Identifier&0x1fffffff; + BSP_FDCAN_FrameType_t frame_type = BSP_FDCAN_GetFrameType(&rx_header); + uint32_t parsed_id = BSP_FDCAN_ParseId(original_id, frame_type); + osMessageQueueId_t queue = BSP_FDCAN_FindQueue((BSP_FDCAN_t)fdcan_idx, parsed_id); + if (queue != NULL) { + BSP_FDCAN_Message_t msg; + msg.frame_type = frame_type; + msg.original_id = original_id; + msg.parsed_id = parsed_id; + uint8_t real_len = fdcan_dlc2len[rx_header.DataLength & 0xF]; + msg.dlc = real_len; + if (msg.dlc > BSP_FDCAN_MAX_DLC) msg.dlc = BSP_FDCAN_MAX_DLC; + memset(msg.data, 0, BSP_FDCAN_MAX_DLC);//现在是最大缓冲区写法所以全清零 + memcpy(msg.data, rx_data, msg.dlc); + osMessageQueuePut(queue, &msg, 0, 0); + } + } else { + break; + } + } + } +} + +/* HAL Callback Stubs (map HAL FDCAN callbacks to user callbacks) */ +void HAL_FDCAN_TxEventFifoCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t TxEventFifoITs) { + BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan); + if (bsp_fdcan != BSP_FDCAN_ERR) { + if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_EVENT_FIFO_CB]) + FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_EVENT_FIFO_CB](); + } +} + +void HAL_FDCAN_TxBufferCompleteCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t BufferIndex) { + BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan); + if (bsp_fdcan != BSP_FDCAN_ERR) { + if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_COMPLETE_CB]) + FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_COMPLETE_CB](); + } +} + +void HAL_FDCAN_TxBufferAbortCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t BufferIndex) { + BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan); + if (bsp_fdcan != BSP_FDCAN_ERR) { + if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_ABORT_CB]) + FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_ABORT_CB](); + } +} + +void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs) { + BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan); + if (bsp_fdcan != BSP_FDCAN_ERR) { + if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB]) + FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB](); + } +} + +void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs) { + BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan); + if (bsp_fdcan != BSP_FDCAN_ERR) { + if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB]) + FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB](); + } +} + +void HAL_FDCAN_ErrorCallback(FDCAN_HandleTypeDef *hfdcan) { + BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan); + if (bsp_fdcan != BSP_FDCAN_ERR) { + if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_ERROR_CB]) + FDCAN_Callback[bsp_fdcan][HAL_FDCAN_ERROR_CB](); + } +} + +/* Exported functions ------------------------------------------------------- */ +int8_t BSP_FDCAN_Init(void) { + if (inited) return BSP_ERR_INITED; + + memset(FDCAN_Callback, 0, sizeof(FDCAN_Callback)); + for (int i = 0; i < BSP_FDCAN_NUM; i++) BSP_FDCAN_TxQueueInit((BSP_FDCAN_t)i); + id_parser = BSP_FDCAN_DefaultIdParser; + queue_mutex = osMutexNew(NULL); + if (queue_mutex == NULL) return BSP_ERR; + + inited = true; + + /* 配置并启动 FDCAN 实例，绑定中断/回调 */ + + //========== 过滤器配置说明：========================== + // 过滤器编号：相对于每个（相当于经典can过滤器的bank） + // sFilterConfig.FilterIndex = 0 to 127(标准ID) or 0 to 63(扩展ID); + // 关于过滤器索引的说明： + // 由stm32h7xx_hal_fdcan.c的第1874行代码可知滤波器地址计算方式如下： + // StandardFilterSA（字节） = SRAMCAN_BASE + (MessageRAMOffset * 4U) + // 标准滤波器物理地址（字节） = StandardFilterSA + (FilterIndex * 4U)（每个标准滤波器占 4 字节 = 1 word,扩展的则是8个字节） + // + // + // 标识符类型: + // sFilterConfig.IdType = FDCAN_STANDARD_ID or FDCAN_EXTENDED_ID; + // 过滤器类型: （仅介绍掩码模式） + // sFilterConfig.FilterType = FDCAN_FILTER_MASK;(掩码模式） + // 过滤器配置: + // sFilterConfig.FilterConfig = FDCAN_FILTER_DISABLE; (禁用该过滤器条目) + // FDCAN_FILTER_TO_RXFIFO0; (将匹配的消息放入 FIFO 0（普通优先级）) + // FDCAN_FILTER_TO_RXFIFO1; (将匹配的消息放入 FIFO 1（高优先级）) + // FDCAN_FILTER_TO_RXBUFFER; (将匹配的消息放入 指定的接收缓冲区) + // FDCAN_FILTER_REJECT; (拒绝接收该标识符对应的报文) + // FDCAN_FILTER_ACCEPT; (接受所有消息) + // FDCAN_FILTER_HP (过滤器匹配时，将报文标记为高优先级) + // FDCAN_FILTER_TO_RXFIFO0_HP (过滤器匹配时，将报文标记为高优先级并存储至接收FIFO 0) + // FDCAN_FILTER_TO_RXFIFO1_HP (过滤器匹配时，将报文标记为高优先级并存储至接收FIFO 1) + // FDCAN_FILTER_TO_RXBUFFER (将报文存储至接收缓冲区，过滤器类型（FilterType）配置项失效 ) + // 过滤器ID与掩码(FilterType掩码模式下) + // 比较值（要匹配的 ID 的参考位） + // sFilterConfig.FilterID1 = 0 to 0x7FF; 标准ID + // 0 to 0x1FFFFFFF 扩展ID + // 掩码（1=比较该位，0=忽略该位） + // sFilterConfig.FilterID2 = 0 to 0x7FF; 标准ID + // 0 to 0x1FFFFFFF 扩展ID + // 接收缓冲区索引 + // FilterConfig == FDCAN_FILTER_TO_RXBUFFER 时有效;必须小于RxBuffersNbr配置的实际Rx buffer数量 + // sFilterConfig.RxBufferIndex = 0 to (RxBuffersNbr - 1); + // 标记校准信息（用于 FDCAN 校准/时钟相关单元作特殊处理或统计） + // 仅在FilterConfig 设为 FDCAN_FILTER_TO_RXBUFFER 时才有意义，通常设置为0 + // IsCalibrationMsg = 0 or 1; + // fdcan_filter_table.h + //================================================================================= + /* 依据上述说明，配置过滤器并启动FDCAN */ + FDCAN_FilterTypeDef sFilterConfig; + +#ifdef FDCAN1_EN + #define hfdcan hfdcan1 + #define FDCANX_RX_FIFO FDCAN1_RX_FIFO + FDCAN1_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER) + #undef hfdcan + #undef FDCANX_RX_FIFO + HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN1_GLOBAL_FILTER); + HAL_FDCAN_ActivateNotification(&hfdcan1, FDCANx_NOTIFY_FLAGS(FDCAN1_RX_FIFO), 0); + BSP_FDCAN_RegisterCallback(BSP_FDCAN_1, FDCANX_MSG_PENDING_CB(FDCAN1_RX_FIFO), BSP_FDCAN_RxFifo0Callback); + BSP_FDCAN_RegisterCallback(BSP_FDCAN_1, HAL_FDCAN_TX_EVENT_FIFO_CB, BSP_FDCAN_TxCompleteCallback); + HAL_FDCAN_Start(&hfdcan1); +#endif + +#ifdef FDCAN2_EN + #define hfdcan hfdcan2 + #define FDCANX_RX_FIFO FDCAN2_RX_FIFO + FDCAN2_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER) + #undef hfdcan + #undef FDCANX_RX_FIFO + HAL_FDCAN_ConfigGlobalFilter(&hfdcan2, FDCAN2_GLOBAL_FILTER); + HAL_FDCAN_ActivateNotification(&hfdcan2, FDCANx_NOTIFY_FLAGS(FDCAN2_RX_FIFO), 0); + BSP_FDCAN_RegisterCallback(BSP_FDCAN_2, FDCANX_MSG_PENDING_CB(FDCAN2_RX_FIFO), BSP_FDCAN_RxFifo1Callback); + BSP_FDCAN_RegisterCallback(BSP_FDCAN_2, HAL_FDCAN_TX_EVENT_FIFO_CB, BSP_FDCAN_TxCompleteCallback); + HAL_FDCAN_Start(&hfdcan2); +#endif + +#ifdef FDCAN3_EN + #define hfdcan hfdcan3 + #define FDCANX_RX_FIFO FDCAN3_RX_FIFO + FDCAN3_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER) + #undef hfdcan + #undef FDCANX_RX_FIFO + HAL_FDCAN_ConfigGlobalFilter(&hfdcan3, FDCAN3_GLOBAL_FILTER); + HAL_FDCAN_ActivateNotification(&hfdcan3, FDCANx_NOTIFY_FLAGS(FDCAN3_RX_FIFO), 0); + BSP_FDCAN_RegisterCallback(BSP_FDCAN_3, FDCANX_MSG_PENDING_CB(FDCAN3_RX_FIFO), BSP_FDCAN_RxFifo1Callback); + BSP_FDCAN_RegisterCallback(BSP_FDCAN_3, HAL_FDCAN_TX_EVENT_FIFO_CB, BSP_FDCAN_TxCompleteCallback); + HAL_FDCAN_Start(&hfdcan3); +#endif + +#undef FDCAN_FILTER_TO_RXFIFO_ENUM_INNER +#undef FDCAN_FILTER_TO_RXFIFO_ENUM +#undef FDCAN_CONFIG_FILTER +#undef FDCAN_NOTIFY_FLAG_RXFIFO_INNER +#undef FDCAN_NOTIFY_FLAG_RXFIFO +#undef FDCANx_NOTIFY_FLAGS +#undef FDCANX_MSG_PENDING_CB_INNER +#undef FDCANX_MSG_PENDING_CB + + return BSP_OK; +} + +FDCAN_HandleTypeDef *BSP_FDCAN_GetHandle(BSP_FDCAN_t fdcan) { + if (fdcan >= BSP_FDCAN_NUM) return NULL; + switch (fdcan) { + /* AUTO GENERATED BSP_FDCAN_GET_HANDLE BEGIN */ + case BSP_FDCAN_1: return &hfdcan1; + case BSP_FDCAN_2: return &hfdcan2; + case BSP_FDCAN_3: return &hfdcan3; + /* AUTO GENERATED BSP_FDCAN_GET_HANDLE END */ + default: return NULL; + } +} + +int8_t BSP_FDCAN_RegisterCallback(BSP_FDCAN_t fdcan, BSP_FDCAN_Callback_t type, void (*callback)(void)) { + if (!inited) return BSP_ERR_INITED; + if (callback == NULL) return BSP_ERR_NULL; + if (fdcan >= BSP_FDCAN_NUM) return BSP_ERR; + if (type >= HAL_FDCAN_CB_NUM) return BSP_ERR; + FDCAN_Callback[fdcan][type] = callback; + return BSP_OK; +} + +int8_t BSP_FDCAN_Transmit(BSP_FDCAN_t fdcan, BSP_FDCAN_Format_t format, uint32_t id, uint8_t *data, uint8_t dlc) { + if (!inited) return BSP_ERR_INITED; + if (fdcan >= BSP_FDCAN_NUM) return BSP_ERR; + if (data == NULL && format != BSP_FDCAN_FORMAT_STD_REMOTE && format != BSP_FDCAN_FORMAT_EXT_REMOTE) return BSP_ERR_NULL; + if (dlc > BSP_FDCAN_MAX_DLC) return BSP_ERR; + FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle(fdcan); + if (hfdcan == NULL) return BSP_ERR_NULL; + + BSP_FDCAN_TxMessage_t tx_msg = {0}; + switch (format) { + case BSP_FDCAN_FORMAT_STD_DATA: + tx_msg.header.Identifier = id; + tx_msg.header.IdType = FDCAN_STANDARD_ID; + tx_msg.header.TxFrameType = FDCAN_DATA_FRAME; + break; + case BSP_FDCAN_FORMAT_EXT_DATA: + tx_msg.header.Identifier = id; + tx_msg.header.IdType = FDCAN_EXTENDED_ID; + tx_msg.header.TxFrameType = FDCAN_DATA_FRAME; + break; + case BSP_FDCAN_FORMAT_STD_REMOTE: + tx_msg.header.Identifier = id; + tx_msg.header.IdType = FDCAN_STANDARD_ID; + tx_msg.header.TxFrameType = FDCAN_REMOTE_FRAME; + break; + case BSP_FDCAN_FORMAT_EXT_REMOTE: + tx_msg.header.Identifier = id; + tx_msg.header.IdType = FDCAN_EXTENDED_ID; + tx_msg.header.TxFrameType = FDCAN_REMOTE_FRAME; + break; + default: + return BSP_ERR; + } + switch (hfdcan->Init.FrameFormat) { + case FDCAN_FRAME_FD_BRS: + tx_msg.header.BitRateSwitch = FDCAN_BRS_ON; + tx_msg.header.FDFormat = FDCAN_FD_CAN; + break; + case FDCAN_FRAME_FD_NO_BRS: + tx_msg.header.BitRateSwitch = FDCAN_BRS_OFF; + tx_msg.header.FDFormat = FDCAN_FD_CAN; + break; + case FDCAN_FRAME_CLASSIC: + default: + tx_msg.header.BitRateSwitch = FDCAN_BRS_OFF; + tx_msg.header.FDFormat = FDCAN_CLASSIC_CAN; + break; + } + tx_msg.header.ErrorStateIndicator = FDCAN_ESI_ACTIVE; + tx_msg.header.TxEventFifoControl = FDCAN_STORE_TX_EVENTS; + tx_msg.header.MessageMarker = 0x01; + tx_msg.header.DataLength = BSP_FDCAN_EncodeDLC(dlc); + + memset(tx_msg.data, 0, dlc); + if (data != NULL && dlc > 0) {memcpy(tx_msg.data, data, dlc);} + + if (HAL_FDCAN_GetTxFifoFreeLevel(hfdcan) > 0) { + if (HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &tx_msg.header, tx_msg.data) == HAL_OK) return BSP_OK; + } + if (BSP_FDCAN_TxQueuePush(fdcan, &tx_msg)) return BSP_OK; + return BSP_ERR; +} + +int8_t BSP_FDCAN_TransmitStdDataFrame(BSP_FDCAN_t fdcan, BSP_FDCAN_StdDataFrame_t *frame) { + if (frame == NULL) return BSP_ERR_NULL; + return BSP_FDCAN_Transmit(fdcan, BSP_FDCAN_FORMAT_STD_DATA, frame->id, frame->data, frame->dlc); +} + +int8_t BSP_FDCAN_TransmitExtDataFrame(BSP_FDCAN_t fdcan, BSP_FDCAN_ExtDataFrame_t *frame) { + if (frame == NULL) return BSP_ERR_NULL; + return BSP_FDCAN_Transmit(fdcan, BSP_FDCAN_FORMAT_EXT_DATA, frame->id, frame->data, frame->dlc); +} + +int8_t BSP_FDCAN_TransmitRemoteFrame(BSP_FDCAN_t fdcan, BSP_FDCAN_RemoteFrame_t *frame) { + if (frame == NULL) return BSP_ERR_NULL; + BSP_FDCAN_Format_t format = frame->is_extended ? BSP_FDCAN_FORMAT_EXT_REMOTE : BSP_FDCAN_FORMAT_STD_REMOTE; + return BSP_FDCAN_Transmit(fdcan, format, frame->id, NULL, frame->dlc); +} + +int8_t BSP_FDCAN_RegisterId(BSP_FDCAN_t fdcan, uint32_t can_id, uint8_t queue_size) { + if (!inited) return BSP_ERR_INITED; + return BSP_FDCAN_CreateIdQueue(fdcan, can_id, queue_size); +} + +int8_t BSP_FDCAN_GetMessage(BSP_FDCAN_t fdcan, uint32_t can_id, BSP_FDCAN_Message_t *msg, uint32_t timeout) { + if (!inited) return BSP_ERR_INITED; + if (msg == NULL) return BSP_ERR_NULL; + if (osMutexAcquire(queue_mutex, FDCAN_QUEUE_MUTEX_TIMEOUT) != osOK) return BSP_ERR_TIMEOUT; + osMessageQueueId_t queue = BSP_FDCAN_FindQueue(fdcan, can_id); + osMutexRelease(queue_mutex); + if (queue == NULL) return BSP_ERR_NO_DEV; + osStatus_t res = osMessageQueueGet(queue, msg, NULL, timeout); + return (res == osOK) ? BSP_OK : BSP_ERR; +} + +int32_t BSP_FDCAN_GetQueueCount(BSP_FDCAN_t fdcan, uint32_t can_id) { + if (!inited) return -1; + if (osMutexAcquire(queue_mutex, FDCAN_QUEUE_MUTEX_TIMEOUT) != osOK) return -1; + osMessageQueueId_t queue = BSP_FDCAN_FindQueue(fdcan, can_id); + osMutexRelease(queue_mutex); + if (queue == NULL) return -1; + return (int32_t)osMessageQueueGetCount(queue); +} + +int8_t BSP_FDCAN_FlushQueue(BSP_FDCAN_t fdcan, uint32_t can_id) { + if (!inited) return BSP_ERR_INITED; + if (osMutexAcquire(queue_mutex, FDCAN_QUEUE_MUTEX_TIMEOUT) != osOK) return BSP_ERR_TIMEOUT; + osMessageQueueId_t queue = BSP_FDCAN_FindQueue(fdcan, can_id); + osMutexRelease(queue_mutex); + if (queue == NULL) return BSP_ERR_NO_DEV; + BSP_FDCAN_Message_t tmp; + while (osMessageQueueGet(queue, &tmp, NULL, BSP_FDCAN_TIMEOUT_IMMEDIATE) == osOK) { } + return BSP_OK; +} + +int8_t BSP_FDCAN_RegisterIdParser(BSP_FDCAN_IdParser_t parser) { + if (!inited) return BSP_ERR_INITED; + if (parser == NULL) return BSP_ERR_NULL; + id_parser = parser; + return BSP_OK; +} + +uint32_t BSP_FDCAN_ParseId(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type) { + if (id_parser != NULL) return id_parser(original_id, frame_type); + return BSP_FDCAN_DefaultIdParser(original_id, frame_type); +} +/* */ + diff --git a/bsp/fdcan/fdcan.h b/bsp/fdcan/fdcan.h new file mode 100644 index 0000000..99ecd80 --- /dev/null +++ b/bsp/fdcan/fdcan.h @@ -0,0 +1,137 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include +#include +#include "bsp/bsp.h" +#include "bsp/mm.h" +#include + +/* USER INCLUDE BEGIN */ +#include +/* USER INCLUDE END */ + +/* Exported constants ------------------------------------------------------- */ +#define BSP_FDCAN_MAX_DLC 64 +#define BSP_FDCAN_DEFAULT_QUEUE_SIZE 10 +#define BSP_FDCAN_TIMEOUT_IMMEDIATE 0 +#define BSP_FDCAN_TIMEOUT_FOREVER osWaitForever +#define BSP_FDCAN_TX_QUEUE_SIZE 32 +/* Exported macro ----------------------------------------------------------- */ +//FDCANX实例使能 +/* AUTO GENERATED FDCAN_EN BEGIN */ +#define FDCAN1_EN +#define FDCAN2_EN +#define FDCAN3_EN +/* AUTO GENERATED FDCAN_EN END */ + +// FDCANX接收FIFO选择（0=FIFO0, 1=FIFO1） +/* AUTO GENERATED FDCAN_RX_FIFO BEGIN */ +#ifdef FDCAN1_EN + #define FDCAN1_RX_FIFO 0 +#endif +#ifdef FDCAN2_EN + #define FDCAN2_RX_FIFO 1 +#endif +#ifdef FDCAN3_EN + #define FDCAN3_RX_FIFO 1 +#endif +/* AUTO GENERATED FDCAN_RX_FIFO END */ +/* Exported types ----------------------------------------------------------- */ +typedef enum { + /* AUTO GENERATED BSP_FDCAN_NAME BEGIN */ + BSP_FDCAN_1, + BSP_FDCAN_2, + BSP_FDCAN_3, + /* AUTO GENERATED BSP_FDCAN_NAME END */ + BSP_FDCAN_NUM, + BSP_FDCAN_ERR, +} BSP_FDCAN_t; + +typedef enum { + HAL_FDCAN_TX_EVENT_FIFO_CB, + HAL_FDCAN_TX_BUFFER_COMPLETE_CB, + HAL_FDCAN_TX_BUFFER_ABORT_CB, + HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB, + HAL_FDCAN_RX_FIFO0_FULL_CB, + HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB, + HAL_FDCAN_RX_FIFO1_FULL_CB, + HAL_FDCAN_ERROR_CB, + HAL_FDCAN_CB_NUM, +} BSP_FDCAN_Callback_t; + +typedef enum { + BSP_FDCAN_FORMAT_STD_DATA, + BSP_FDCAN_FORMAT_EXT_DATA, + BSP_FDCAN_FORMAT_STD_REMOTE, + BSP_FDCAN_FORMAT_EXT_REMOTE, +} BSP_FDCAN_Format_t; + +typedef enum { + BSP_FDCAN_FRAME_STD_DATA, + BSP_FDCAN_FRAME_EXT_DATA, + BSP_FDCAN_FRAME_STD_REMOTE, + BSP_FDCAN_FRAME_EXT_REMOTE, +} BSP_FDCAN_FrameType_t; + +typedef struct { + BSP_FDCAN_FrameType_t frame_type; + uint32_t original_id; + uint32_t parsed_id; + uint8_t dlc; + uint8_t data[BSP_FDCAN_MAX_DLC]; + uint32_t timestamp; +} BSP_FDCAN_Message_t; + +typedef struct { + uint32_t id; + uint8_t dlc; + uint8_t data[BSP_FDCAN_MAX_DLC]; +} BSP_FDCAN_StdDataFrame_t; + +typedef struct { + uint32_t id; + uint8_t dlc; + uint8_t data[BSP_FDCAN_MAX_DLC]; +} BSP_FDCAN_ExtDataFrame_t; + +typedef struct { + uint32_t id; + uint8_t dlc; + bool is_extended; +} BSP_FDCAN_RemoteFrame_t; + +typedef uint32_t (*BSP_FDCAN_IdParser_t)(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type); + +typedef struct { + FDCAN_TxHeaderTypeDef header; /* HAL FDCAN header type */ + uint8_t data[BSP_FDCAN_MAX_DLC]; +} BSP_FDCAN_TxMessage_t; + +typedef struct { + BSP_FDCAN_TxMessage_t buffer[BSP_FDCAN_TX_QUEUE_SIZE]; + volatile uint32_t head; + volatile uint32_t tail; +} BSP_FDCAN_TxQueue_t; + +/* Exported functions prototypes -------------------------------------------- */ +int8_t BSP_FDCAN_Init(void); +FDCAN_HandleTypeDef *BSP_FDCAN_GetHandle(BSP_FDCAN_t can); +int8_t BSP_FDCAN_RegisterCallback(BSP_FDCAN_t can, BSP_FDCAN_Callback_t type, void (*callback)(void)); +int8_t BSP_FDCAN_Transmit(BSP_FDCAN_t can, BSP_FDCAN_Format_t format, uint32_t id, uint8_t *data, uint8_t dlc); +int8_t BSP_FDCAN_TransmitStdDataFrame(BSP_FDCAN_t can, BSP_FDCAN_StdDataFrame_t *frame); +int8_t BSP_FDCAN_TransmitExtDataFrame(BSP_FDCAN_t can, BSP_FDCAN_ExtDataFrame_t *frame); +int8_t BSP_FDCAN_TransmitRemoteFrame(BSP_FDCAN_t can, BSP_FDCAN_RemoteFrame_t *frame); +int8_t BSP_FDCAN_RegisterId(BSP_FDCAN_t can, uint32_t can_id, uint8_t queue_size); +int8_t BSP_FDCAN_GetMessage(BSP_FDCAN_t can, uint32_t can_id, BSP_FDCAN_Message_t *msg, uint32_t timeout); +int32_t BSP_FDCAN_GetQueueCount(BSP_FDCAN_t can, uint32_t can_id); +int8_t BSP_FDCAN_FlushQueue(BSP_FDCAN_t can, uint32_t can_id); +int8_t BSP_FDCAN_RegisterIdParser(BSP_FDCAN_IdParser_t parser); +uint32_t BSP_FDCAN_ParseId(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type); +#ifdef __cplusplus +} +#endif diff --git a/bsp/flash/CHANGELOG.md b/bsp/flash/CHANGELOG.md new file mode 100644 index 0000000..1216745 --- /dev/null +++ b/bsp/flash/CHANGELOG.md @@ -0,0 +1,77 @@ +# Flash BSP 更新日志 + +## v2.0 - 2026-01-01 + +### 新增功能 +✨ **多系列MCU支持** +- 新增 STM32F1 系列支持（Page模式） +- 新增 STM32H7 系列支持（Sector模式） +- 保持 STM32F4 系列支持（Sector模式） + +### STM32F1系列详情 +- **Flash组织**: Page模式（页） +- **页大小**: + - 小/中容量（≤128KB）: 1KB/页 + - 大容量/互联型（>128KB）: 2KB/页 +- **容量支持**: 16KB - 1MB +- **容量代码**: 4/6/8/B/C/D/E/F/G +- **生成宏**: `ADDR_FLASH_PAGE_X` + +### STM32H7系列详情 +- **Flash组织**: Sector模式（扇区） +- **扇区大小**: 固定128KB +- **容量支持**: 128KB - 2MB +- **容量代码**: B/G/I +- **Bank支持**: + - 单Bank: 1MB (8个Sector) + - 双Bank: 2MB (16个Sector) +- **生成宏**: `ADDR_FLASH_SECTOR_X` + +### 技术改进 +- 重构 `get_flash_config_from_mcu()` 函数为多系列架构 +- 新增 `_get_stm32f1_flash_config()` - F1系列专用配置 +- 新增 `_get_stm32f4_flash_config()` - F4系列专用配置 +- 新增 `_get_stm32h7_flash_config()` - H7系列专用配置 +- 配置中新增 `type` 字段区分 'page' 和 'sector' 模式 +- 界面自动识别并显示Page或Sector模式 +- 代码生成支持Page和Sector两种宏定义 + +### 示例支持的芯片型号 +**STM32F1:** +- STM32F103C8T6 → 64KB (64 pages × 1KB) +- STM32F103RCT6 → 256KB (128 pages × 2KB) +- STM32F103ZET6 → 512KB (256 pages × 2KB) + +**STM32F4:** +- STM32F407VGT6 → 1MB (Sector 0-11) +- STM32F407IGH6 → 2MB (Sector 0-23, 双Bank) +- STM32F405RGT6 → 1MB (Sector 0-11) + +**STM32H7:** +- STM32H750VBT6 → 128KB (1 sector) +- STM32H743VGT6 → 1MB (8 sectors) +- STM32H743VIT6 → 2MB (16 sectors, 双Bank) + +### 配置文件变化 +```yaml +# 新增字段 +flash: + type: page # 或 sector + page_size: 2 # 仅F1系列有此字段 +``` + +### 文档更新 +- 更新 README.md 包含三个系列的完整说明 +- 新增各系列的Flash布局图 +- 新增各系列的使用示例 +- 更新注意事项包含擦除时间和寿命信息 + +--- + +## v1.0 - 初始版本 + +### 初始功能 +- STM32F4 系列支持 +- 自动识别芯片型号 +- 单Bank/双Bank配置 +- 基础API（擦除、读、写） diff --git a/bsp/flash/README.md b/bsp/flash/README.md new file mode 100644 index 0000000..ad3676d --- /dev/null +++ b/bsp/flash/README.md @@ -0,0 +1,346 @@ +# Flash BSP 自动配置说明 + +## 功能特性 + +Flash BSP模块能够自动识别STM32芯片型号并生成对应的Flash配置代码。 + +### 支持的芯片系列 + +#### STM32F1 系列 +- 使用**Page**组织方式（而非Sector） +- 自动检测Flash容量（16KB - 1MB） +- 小/中容量设备：1KB/页 +- 大容量/互联型设备：2KB/页 + +#### STM32F4 系列 +- 使用**Sector**组织方式 +- 自动检测Flash容量（256KB/512KB/1MB/2MB） +- 自动配置单Bank或双Bank模式 +- 不同大小的Sector（16KB/64KB/128KB） + +#### STM32H7 系列 +- 使用**Sector**组织方式 +- 每个Sector固定128KB +- 自动检测Flash容量（128KB/1MB/2MB） +- 自动配置单Bank或双Bank模式 + +### Flash容量识别规则 + +根据STM32命名规则中的第9位字符识别Flash容量： + +**STM32F1系列:** +- **4**: 16KB (16 pages × 1KB) +- **6**: 32KB (32 pages × 1KB) +- **8**: 64KB (64 pages × 1KB) +- **B**: 128KB (128 pages × 1KB) +- **C**: 256KB (128 pages × 2KB) +- **D**: 384KB (192 pages × 2KB) +- **E**: 512KB (256 pages × 2KB) +- **F**: 768KB (384 pages × 2KB, 互联型) +- **G**: 1MB (512 pages × 2KB, 互联型) + +**STM32F4系列:** +- **C**: 256KB (单Bank, Sector 0-7) +- **E**: 512KB (单Bank, Sector 0-9) +- **G**: 1MB (单Bank, Sector 0-11) +- **I**: 2MB (双Bank, Sector 0-23) + +**STM32H7系列:** +- **B**: 128KB (1个Sector, 单Bank) +- **G**: 1MB (8个Sector, 单Bank) +- **I**: 2MB (16个Sector, 双Bank) + +例如： +- `STM32F103C8T6` → 64KB Flash (64 pages × 1KB) +- `STM32F103RCT6` → 256KB Flash (128 pages × 2KB) +- `STM32F103ZET6` → 512KB Flash (256 pages × 2KB) +- `STM32F407VGT6` → 1MB Flash (Sector 0-11) +- `STM32F407IGH6` → 2MB Flash (Sector 0-23, 双Bank) +- `STM32F405RGT6` → 1MB Flash (Sector 0-11) +- `STM32H743VIT6` → 2MB Flash (16 sectors × 128KB, 双Bank) +- `STM32H750VBT6` → 128KB Flash (1 sector × 128KB) + +## Flash布局 + +### STM32F1 Page模式 (16KB - 1MB) +``` +小/中容量 (≤128KB): 每页1KB + Page 0: 0x08000000 - 0x080003FF (1KB) + Page 1: 0x08000400 - 0x080007FF (1KB) + ... + +大容量/互联型 (>128KB): 每页2KB + Page 0: 0x08000000 - 0x080007FF (2KB) + Page 1: 0x08000800 - 0x08000FFF (2KB) + ... +``` + +### STM32F4 单Bank模式 (256KB - 1MB) +``` +Sector 0-3: 16KB each (0x08000000 - 0x0800FFFF) +Sector 4: 64KB (0x08010000 - 0x0801FFFF) +Sector 5-11: 128KB each (0x08020000 - 0x080FFFFF) +``` + +### STM32F4 双Bank模式 (2MB) +``` +Bank 1: + Sector 0-3: 16KB each (0x08000000 - 0x0800FFFF) + Sector 4: 64KB (0x08010000 - 0x0801FFFF) + Sector 5-11: 128KB each (0x08020000 - 0x080FFFFF) + +Bank 2: + Sector 12-15: 16KB each (0x08100000 - 0x0810FFFF) + Sector 16: 64KB (0x08110000 - 0x0811FFFF) + Sector 17-23: 128KB each (0x08120000 - 0x081FFFFF) +``` + +### STM32H7 Sector模式 +``` +单Bank (1MB): + Sector 0-7: 128KB each (0x08000000 - 0x080FFFFF) + +双Bank (2MB): + Bank 1: + Sector 0-7: 128KB each (0x08000000 - 0x080FFFFF) + Bank 2: + Sector 8-15: 128KB each (0x08100000 - 0x081FFFFF) +``` + +## 使用方法 + +### 1. 在BSP配置界面启用Flash +在代码生成界面的BSP标签中，勾选"生成 Flash 代码"选项。 + +### 2. 自动检测 +系统会自动： +- 读取项目中的`.ioc`文件 +- 提取MCU型号信息 +- 计算Flash扇区配置 +- 生成对应的宏定义 + +### 3. 生成的代码示例 + +**STM32F1系列** (以STM32F103RCT6为例 - 256KB): +```c +// flash.h +#define ADDR_FLASH_PAGE_0 ((uint32_t)0x08000000) +/* Base address of Page 0, 2 Kbytes */ +#define ADDR_FLASH_PAGE_1 ((uint32_t)0x08000800) +/* Base address of Page 1, 2 Kbytes */ +... +#define ADDR_FLASH_PAGE_127 ((uint32_t)0x0803F800) +/* Base address of Page 127, 2 Kbytes */ +#define ADDR_FLASH_END ((uint32_t)0x08040000) + +// flash.c +#define BSP_FLASH_MAX_PAGE 127 +if (page >= 0 && page <= 127) { + // 擦除代码... +} +``` + +**STM32F4系列** (以STM32F407IGH6为例 - 2MB): +```c +// flash.h +#define ADDR_FLASH_SECTOR_0 ((uint32_t)0x08000000) +/* Base address of Sector 0, 16 Kbytes */ +... +#define ADDR_FLASH_SECTOR_23 ((uint32_t)0x081E0000) +/* Base address of Sector 23, 128 Kbytes */ + +#define ADDR_FLASH_END ((uint32_t)0x08200000) +/* End address for flash */ +``` + +**flash.c**: +```c +#define BSP_FLASH_MAX_SECTOR 23 + +void BSP_Flash_EraseSector(uint32_t sector) { + if (sector > 0 && sector <= 23) { + // 擦除代码... + } +} +``` + +**STM32H7系列** (以STM32H743VIT6为例 - 2MB): +```c +// flash.h +#define ADDR_FLASH_SECTOR_0 ((uint32_t)0x08000000) +/* Base address of Sector 0, 128 Kbytes */ +... +#define ADDR_FLASH_SECTOR_15 ((uint32_t)0x081E0000) +/* Base address of Sector 15, 128 Kbytes */ + +#define ADDR_FLASH_END ((uint32_t)0x08200000) + +// flash.c +#define BSP_FLASH_MAX_SECTOR 15 +if (sector > 0 && sector <= 15) { + // 擦除代码... +} +``` + +## API接口 + +### BSP_Flash_EraseSector (F4/H7) / BSP_Flash_ErasePage (F1) +擦除指定扇区或页 +```c +// F4/H7系列 +void BSP_Flash_EraseSector(uint32_t sector); +// F1系列 +void BSP_Flash_ErasePage(uint32_t page); +``` +- **参数**: + - sector/page - 扇区号或页号 + - F1: 0 到 (页数-1) + - F4: 0-11 或 0-23（根据芯片型号） + - H7: 0-7 或 0-15（根据芯片型号） + +### BSP_Flash_WriteBytes +写入数据到Flash +```c +void BSP_Flash_WriteBytes(uint32_t address, const uint8_t *buf, size_t len); +``` +- **参数**: + - address - Flash地址 + - buf - 数据缓冲区 + - len - 数据长度 + +### BSP_Flash_ReadBytes +从Flash读取数据 +```c +void BSP_Flash_ReadBytes(uint32_t address, void *buf, size_t len); +``` +- **参数**: + - address - Flash地址 + - buf - 接收缓冲区 + - len - 读取长度 + +## 使用示例 + +### STM32F1系列示例 +```c +#include "bsp/flash.h" + +void save_config_f1(void) { + // 擦除Page 127 (最后一页，通常用于存储用户数据) + BSP_Flash_ErasePage(127); + + // 写入配置数据 + uint8_t config[100] = {/* 配置数据 */}; + BSP_Flash_WriteBytes(ADDR_FLASH_PAGE_127, config, sizeof(config)); +} + +void load_config_f1(void) { + // 读取配置数据 + uint8_t config[100]; + BSP_Flash_ReadBytes(ADDR_FLASH_PAGE_127, config, sizeof(config)); +} +``` + +### STM32F4系列示例 +```c +#include "bsp/flash.h" + +void save_config_f4(void) { + // 擦除Sector 11 (通常用于存储用户数据) + BSP_Flash_EraseSector(11); + + // 写入配置数据 + uint8_t config[100] = {/* 配置数据 */}; + BSP_Flash_WriteBytes(ADDR_FLASH_SECTOR_11, config, sizeof(config)); +} + +void load_config_f4(void) { + // 读取配置数据 + uint8_t config[100]; + BSP_Flash_ReadBytes(ADDR_FLASH_SECTOR_11, config, sizeof(config)); +} +``` + +### STM32H7系列示例 + +### STM32H7系列示例 +```c +#include "bsp/flash.h" + +void save_config(void) { + // 擦除Sector 11 (通常用于存储用户数据) + BSP_Flash_EraseSector(11); + + // 写入配置数据 + uint8_t config[100] = {/* 配置数据 */}; + BSP_Flash_WriteBytes(ADDR_FLASH_SECTOR_11, config, sizeof(config)); +} + +void load_config(void) { + // 读取配置数据 + uint8_t config[100]; + BSP_Flash_ReadBytes(ADDR_FLASH_SECTOR_11, config, sizeof(config)); +} +``` + +## 注意事项 + +1. **擦除时间**: Flash擦除需要一定时间，注意不要在中断中执行 + - F1 Page擦除: ~20ms + - F4 Sector擦除: 16KB~100ms, 64KB~300ms, 128KB~500ms + - H7 Sector擦除: ~200ms +2. **写入前擦除**: + - F1: 必须先擦除整页才能写入 + - F4/H7: 必须先擦除整个扇区才能写入 +3. **区域选择**: 避免擦除包含程序代码的扇区/页 + - F1: 通常最后几页用于存储数据 + - F4: Sector 11 或 23 常用于存储数据 + - H7: Sector 7 或 15 常用于存储数据 +4. **写入对齐**: 建议按字节写入，HAL库会处理对齐 +5. **断电保护**: 写入过程中断电可能导致数据丢失 +6. **擦写次数限制**: + - F1: 典型10,000次 + - F4/H7: 典型10,000-100,000次 + +## 配置文件 + +配置信息保存在 `bsp_config.yaml`: + +**STM32F1:** +```yaml +flash: + enabled: true + mcu_name: STM32F103RCT6 + dual_bank: false + sectors: 128 # 实际是128个页 + type: page + page_size: 2 +``` + +**STM32F4:** +```yaml +flash: + enabled: true + mcu_name: STM32F407IGHx + dual_bank: true + sectors: 24 + type: sector +``` + +**STM32H7:** +```yaml +flash: + enabled: true + mcu_name: STM32H743VIT6 + dual_bank: true + sectors: 16 + type: sector +``` + +## 扩展支持 + +当前支持的系列： +- ✅ STM32F1 (Page模式) +- ✅ STM32F4 (Sector模式) +- ✅ STM32H7 (Sector模式) + +如需支持其他STM32系列（如F2/F3/L4/G4等），可在 `analyzing_ioc.py` 的 `get_flash_config_from_mcu()` 函数中添加相应的配置规则。 diff --git a/bsp/flash/flash.c b/bsp/flash/flash.c new file mode 100644 index 0000000..0df01ca --- /dev/null +++ b/bsp/flash/flash.c @@ -0,0 +1,55 @@ +/* Includes ----------------------------------------------------------------- */ +#include "bsp/flash.h" + +#include +#include + +/* Private define ----------------------------------------------------------- */ +/* USER CODE BEGIN FLASH_MAX_SECTOR */ +/* AUTO GENERATED FLASH_MAX_SECTOR */ +/* USER CODE END FLASH_MAX_SECTOR */ + +/* Private macro ------------------------------------------------------------ */ +/* Private typedef ---------------------------------------------------------- */ +/* Private variables -------------------------------------------------------- */ +/* Private function -------------------------------------------------------- */ +/* Exported functions ------------------------------------------------------- */ + +void BSP_Flash_EraseSector(uint32_t sector) { + FLASH_EraseInitTypeDef flash_erase; + uint32_t sector_error; + + /* USER CODE BEGIN FLASH_ERASE_CHECK */ + /* AUTO GENERATED FLASH_ERASE_CHECK */ + /* USER CODE END FLASH_ERASE_CHECK */ + flash_erase.Sector = sector; + flash_erase.TypeErase = FLASH_TYPEERASE_SECTORS; + flash_erase.VoltageRange = FLASH_VOLTAGE_RANGE_3; + flash_erase.NbSectors = 1; + + HAL_FLASH_Unlock(); + while (FLASH_WaitForLastOperation(50) != HAL_OK) + ; + HAL_FLASHEx_Erase(&flash_erase, §or_error); + HAL_FLASH_Lock(); + } + /* USER CODE BEGIN FLASH_ERASE_END */ + /* USER CODE END FLASH_ERASE_END */ +} + +void BSP_Flash_WriteBytes(uint32_t address, const uint8_t *buf, size_t len) { + HAL_FLASH_Unlock(); + while (len > 0) { + while (FLASH_WaitForLastOperation(50) != HAL_OK) + ; + HAL_FLASH_Program(FLASH_TYPEPROGRAM_BYTE, address, *buf); + address++; + buf++; + len--; + } + HAL_FLASH_Lock(); +} + +void BSP_Flash_ReadBytes(uint32_t address, void *buf, size_t len) { + memcpy(buf, (void *)address, len); +} diff --git a/bsp/flash/flash.h b/bsp/flash/flash.h new file mode 100644 index 0000000..68a0a80 --- /dev/null +++ b/bsp/flash/flash.h @@ -0,0 +1,31 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ------------------------------------------------------------------ */ +#include + +#include "bsp/bsp.h" + +/* Exported constants -------------------------------------------------------- */ +/* Base address of the Flash sectors */ +/* USER CODE BEGIN FLASH_SECTOR_DEFINES */ +/* AUTO GENERATED FLASH_SECTORS */ +/* USER CODE END FLASH_SECTOR_DEFINES */ + +/* USER CODE BEGIN FLASH_END_ADDRESS */ +/* AUTO GENERATED FLASH_END_ADDRESS */ +/* USER CODE END FLASH_END_ADDRESS */ + +/* Exported macro ------------------------------------------------------------ */ +/* Exported types ------------------------------------------------------------ */ +/* Exported functions prototypes --------------------------------------------- */ +void BSP_Flash_EraseSector(uint32_t sector); +void BSP_Flash_WriteBytes(uint32_t address, const uint8_t *buf, size_t len); +void BSP_Flash_ReadBytes(uint32_t address, void *buf, size_t len); + +#ifdef __cplusplus +} +#endif diff --git a/bsp/gpio.c b/bsp/gpio/gpio.c similarity index 100% rename from bsp/gpio.c rename to bsp/gpio/gpio.c diff --git a/bsp/gpio.h b/bsp/gpio/gpio.h similarity index 100% rename from bsp/gpio.h rename to bsp/gpio/gpio.h diff --git a/bsp/i2c.c b/bsp/i2c/i2c.c similarity index 100% rename from bsp/i2c.c rename to bsp/i2c/i2c.c diff --git a/bsp/i2c.h b/bsp/i2c/i2c.h similarity index 100% rename from bsp/i2c.h rename to bsp/i2c/i2c.h diff --git a/bsp/mm.c b/bsp/mm/mm.c similarity index 100% rename from bsp/mm.c rename to bsp/mm/mm.c diff --git a/bsp/mm.h b/bsp/mm/mm.h similarity index 100% rename from bsp/mm.h rename to bsp/mm/mm.h diff --git a/bsp/pwm.c b/bsp/pwm/pwm.c similarity index 100% rename from bsp/pwm.c rename to bsp/pwm/pwm.c diff --git a/bsp/pwm.h b/bsp/pwm/pwm.h similarity index 100% rename from bsp/pwm.h rename to bsp/pwm/pwm.h diff --git a/bsp/spi.c b/bsp/spi/spi.c similarity index 100% rename from bsp/spi.c rename to bsp/spi/spi.c diff --git a/bsp/spi.h b/bsp/spi/spi.h similarity index 100% rename from bsp/spi.h rename to bsp/spi/spi.h diff --git a/bsp/time.c b/bsp/time/time.c similarity index 100% rename from bsp/time.c rename to bsp/time/time.c diff --git a/bsp/time.h b/bsp/time/time.h similarity index 100% rename from bsp/time.h rename to bsp/time/time.h diff --git a/bsp/uart.c b/bsp/uart/uart.c similarity index 100% rename from bsp/uart.c rename to bsp/uart/uart.c diff --git a/bsp/uart.h b/bsp/uart/uart.h similarity index 100% rename from bsp/uart.h rename to bsp/uart/uart.h diff --git a/component/ahrs.c b/component/ahrs/ahrs.c similarity index 100% rename from component/ahrs.c rename to component/ahrs/ahrs.c diff --git a/component/ahrs.h b/component/ahrs/ahrs.h similarity index 100% rename from component/ahrs.h rename to component/ahrs/ahrs.h diff --git a/component/capacity.c b/component/capacity/capacity.c similarity index 100% rename from component/capacity.c rename to component/capacity/capacity.c diff --git a/component/capacity.h b/component/capacity/capacity.h similarity index 100% rename from component/capacity.h rename to component/capacity/capacity.h diff --git a/component/cmd.c b/component/cmd/cmd.c similarity index 100% rename from component/cmd.c rename to component/cmd/cmd.c diff --git a/component/cmd.h b/component/cmd/cmd.h similarity index 100% rename from component/cmd.h rename to component/cmd/cmd.h diff --git a/component/crc16.c b/component/crc16/crc16.c similarity index 100% rename from component/crc16.c rename to component/crc16/crc16.c diff --git a/component/crc16.h b/component/crc16/crc16.h similarity index 100% rename from component/crc16.h rename to component/crc16/crc16.h diff --git a/component/crc8.c b/component/crc8/crc8.c similarity index 100% rename from component/crc8.c rename to component/crc8/crc8.c diff --git a/component/crc8.h b/component/crc8/crc8.h similarity index 100% rename from component/crc8.h rename to component/crc8/crc8.h diff --git a/component/error_detect.c b/component/error_detect/error_detect.c similarity index 100% rename from component/error_detect.c rename to component/error_detect/error_detect.c diff --git a/component/error_detect.h b/component/error_detect/error_detect.h similarity index 100% rename from component/error_detect.h rename to component/error_detect/error_detect.h diff --git a/component/filter.c b/component/filter/filter.c similarity index 100% rename from component/filter.c rename to component/filter/filter.c diff --git a/component/filter.h b/component/filter/filter.h similarity index 100% rename from component/filter.h rename to component/filter/filter.h diff --git a/component/FreeRTOS_CLI.c b/component/freertos_cli/FreeRTOS_CLI.c similarity index 100% rename from component/FreeRTOS_CLI.c rename to component/freertos_cli/FreeRTOS_CLI.c diff --git a/component/FreeRTOS_CLI.h b/component/freertos_cli/FreeRTOS_CLI.h similarity index 100% rename from component/FreeRTOS_CLI.h rename to component/freertos_cli/FreeRTOS_CLI.h diff --git a/component/limiter.c b/component/limiter/limiter.c similarity index 100% rename from component/limiter.c rename to component/limiter/limiter.c diff --git a/component/limiter.h b/component/limiter/limiter.h similarity index 100% rename from component/limiter.h rename to component/limiter/limiter.h diff --git a/component/mixer.c b/component/mixer/mixer.c similarity index 100% rename from component/mixer.c rename to component/mixer/mixer.c diff --git a/component/mixer.h b/component/mixer/mixer.h similarity index 100% rename from component/mixer.h rename to component/mixer/mixer.h diff --git a/component/pid.c b/component/pid/pid.c similarity index 100% rename from component/pid.c rename to component/pid/pid.c diff --git a/component/pid.h b/component/pid/pid.h similarity index 100% rename from component/pid.h rename to component/pid/pid.h diff --git a/component/ui.c b/component/ui/ui.c similarity index 100% rename from component/ui.c rename to component/ui/ui.c diff --git a/component/ui.h b/component/ui/ui.h similarity index 100% rename from component/ui.h rename to component/ui/ui.h diff --git a/component/user_math.c b/component/user_math/user_math.c similarity index 100% rename from component/user_math.c rename to component/user_math/user_math.c diff --git a/component/user_math.h b/component/user_math/user_math.h similarity index 100% rename from component/user_math.h rename to component/user_math/user_math.h diff --git a/config.csv b/config.csv index d462c63..1eb9b34 100644 --- a/config.csv +++ b/config.csv @@ -1,4 +1,4 @@ -bsp,can,dwt,gpio,i2c,mm,spi,uart,pwm,time +bsp,can,fdcan,dwt,gpio,i2c,mm,spi,uart,pwm,time,flash component,ahrs,capacity,cmd,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math device,dr16,bmi088,ist8310,motor,motor_rm,motor_dm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,rc_can,servo,buzzer,led,ws2812,vofa,ops9,oid,lcd_driver -module,config, \ No newline at end of file +module, \ No newline at end of file diff --git a/device/bmi088.c b/device/bmi088/bmi088.c similarity index 100% rename from device/bmi088.c rename to device/bmi088/bmi088.c diff --git a/device/bmi088.h b/device/bmi088/bmi088.h similarity index 100% rename from device/bmi088.h rename to device/bmi088/bmi088.h diff --git a/device/buzzer.c b/device/buzzer/buzzer.c similarity index 100% rename from device/buzzer.c rename to device/buzzer/buzzer.c diff --git a/device/buzzer.h b/device/buzzer/buzzer.h similarity index 100% rename from device/buzzer.h rename to device/buzzer/buzzer.h diff --git a/device/config.yaml b/device/config.yaml index e240946..f02ad18 100644 --- a/device/config.yaml +++ b/device/config.yaml @@ -240,6 +240,22 @@ devices: description: "lcd驱动(SPI)" dependencies: bsp: ["gpio", "spi"] + bsp_requirements: + - type: "spi" + var_name: "BSP_SPI_LCD" + description: "用于LCD通信的SPI总线" + - type: "gpio" + var_name: "BSP_GPIO_LCD_CS" + description: "LCD片选引脚" + gpio_type: "output" + - type: "gpio" + var_name: "BSP_GPIO_LCD_DC" + description: "LCD数据/命令控制引脚" + gpio_type: "output" + - type: "gpio" + var_name: "BSP_GPIO_LCD_RST" + description: "LCD复位引脚" + gpio_type: "output" thread_signals: [] files: header: "lcd.h" diff --git a/device/dm_imu.c b/device/dm_imu/dm_imu.c similarity index 100% rename from device/dm_imu.c rename to device/dm_imu/dm_imu.c diff --git a/device/dm_imu.h b/device/dm_imu/dm_imu.h similarity index 100% rename from device/dm_imu.h rename to device/dm_imu/dm_imu.h diff --git a/device/dr16.c b/device/dr16/dr16.c similarity index 100% rename from device/dr16.c rename to device/dr16/dr16.c diff --git a/device/dr16.h b/device/dr16/dr16.h similarity index 100% rename from device/dr16.h rename to device/dr16/dr16.h diff --git a/device/ist8310.c b/device/ist8310/ist8310.c similarity index 100% rename from device/ist8310.c rename to device/ist8310/ist8310.c diff --git a/device/ist8310.h b/device/ist8310/ist8310.h similarity index 100% rename from device/ist8310.h rename to device/ist8310/ist8310.h diff --git a/device/led.c b/device/led/led.c similarity index 100% rename from device/led.c rename to device/led/led.c diff --git a/device/led.h b/device/led/led.h similarity index 100% rename from device/led.h rename to device/led/led.h diff --git a/device/motor.c b/device/motor/motor.c similarity index 100% rename from device/motor.c rename to device/motor/motor.c diff --git a/device/motor.h b/device/motor/motor.h similarity index 100% rename from device/motor.h rename to device/motor/motor.h diff --git a/device/motor_dm.c b/device/motor_dm/motor_dm.c similarity index 100% rename from device/motor_dm.c rename to device/motor_dm/motor_dm.c diff --git a/device/motor_dm.h b/device/motor_dm/motor_dm.h similarity index 100% rename from device/motor_dm.h rename to device/motor_dm/motor_dm.h diff --git a/device/motor_lk.c b/device/motor_lk/motor_lk.c similarity index 100% rename from device/motor_lk.c rename to device/motor_lk/motor_lk.c diff --git a/device/motor_lk.h b/device/motor_lk/motor_lk.h similarity index 100% rename from device/motor_lk.h rename to device/motor_lk/motor_lk.h diff --git a/device/motor_lz.c b/device/motor_lz/motor_lz.c similarity index 100% rename from device/motor_lz.c rename to device/motor_lz/motor_lz.c diff --git a/device/motor_lz.h b/device/motor_lz/motor_lz.h similarity index 100% rename from device/motor_lz.h rename to device/motor_lz/motor_lz.h diff --git a/device/motor_odrive.c b/device/motor_odrive/motor_odrive.c similarity index 100% rename from device/motor_odrive.c rename to device/motor_odrive/motor_odrive.c diff --git a/device/motor_odrive.h b/device/motor_odrive/motor_odrive.h similarity index 100% rename from device/motor_odrive.h rename to device/motor_odrive/motor_odrive.h diff --git a/device/motor_rm.c b/device/motor_rm/motor_rm.c similarity index 100% rename from device/motor_rm.c rename to device/motor_rm/motor_rm.c diff --git a/device/motor_rm.h b/device/motor_rm/motor_rm.h similarity index 100% rename from device/motor_rm.h rename to device/motor_rm/motor_rm.h diff --git a/device/motor_vesc.c b/device/motor_vesc/motor_vesc.c similarity index 100% rename from device/motor_vesc.c rename to device/motor_vesc/motor_vesc.c diff --git a/device/motor_vesc.h b/device/motor_vesc/motor_vesc.h similarity index 100% rename from device/motor_vesc.h rename to device/motor_vesc/motor_vesc.h diff --git a/device/oid.c b/device/oid/oid.c similarity index 100% rename from device/oid.c rename to device/oid/oid.c diff --git a/device/oid.h b/device/oid/oid.h similarity index 100% rename from device/oid.h rename to device/oid/oid.h diff --git a/device/ops9.c b/device/ops9/ops9.c similarity index 100% rename from device/ops9.c rename to device/ops9/ops9.c diff --git a/device/ops9.h b/device/ops9/ops9.h similarity index 100% rename from device/ops9.h rename to device/ops9/ops9.h diff --git a/device/rc_can.c b/device/rc_can/rc_can.c similarity index 100% rename from device/rc_can.c rename to device/rc_can/rc_can.c diff --git a/device/rc_can.h b/device/rc_can/rc_can.h similarity index 100% rename from device/rc_can.h rename to device/rc_can/rc_can.h diff --git a/device/servo.c b/device/servo/servo.c similarity index 100% rename from device/servo.c rename to device/servo/servo.c diff --git a/device/servo.h b/device/servo/servo.h similarity index 100% rename from device/servo.h rename to device/servo/servo.h diff --git a/device/vofa.c b/device/vofa/vofa.c similarity index 100% rename from device/vofa.c rename to device/vofa/vofa.c diff --git a/device/vofa.h b/device/vofa/vofa.h similarity index 100% rename from device/vofa.h rename to device/vofa/vofa.h diff --git a/device/ws2812.c b/device/ws2812/ws2812.c similarity index 100% rename from device/ws2812.c rename to device/ws2812/ws2812.c diff --git a/device/ws2812.h b/device/ws2812/ws2812.h similarity index 100% rename from device/ws2812.h rename to device/ws2812/ws2812.h diff --git a/module/config.c b/module/config.c index cb4ed7c..99a8640 100644 --- a/module/config.c +++ b/module/config.c @@ -13,10 +13,17 @@ /* Exported variables ------------------------------------------------------- */ -// 机器人参数配置 +/** + * @brief 机器人参数配置 + * @note 在此配置机器人参数 + */ Config_RobotParam_t robot_config = { - - + /* USER CODE BEGIN robot_config */ + .example_param = 0, // 示例参数初始化 + + // 在此添加您的配置参数初始化 + + /* USER CODE END robot_config */ }; /* Private function prototypes ---------------------------------------------- */ diff --git a/module/config.h b/module/config.h index 446fb6c..4478d9e 100644 --- a/module/config.h +++ b/module/config.h @@ -9,9 +9,20 @@ extern "C" { #endif #include +#include +/** + * @brief 机器人参数配置结构体 + * @note 在此添加您的配置参数 + */ typedef struct { + // 示例配置项（可根据实际需求修改或删除） + uint8_t example_param; // 示例参数 + /* USER CODE BEGIN Config_RobotParam */ + // 在此添加您的配置参数 + + /* USER CODE END Config_RobotParam */ } Config_RobotParam_t; /* Exported functions prototypes -------------------------------------------- */ diff --git a/module/describe.csv b/module/describe.csv new file mode 100644 index 0000000..0a5327a --- /dev/null +++ b/module/describe.csv @@ -0,0 +1,4 @@ +module_name,description +cmd,命令系统，用于机器人指令处理和行为控制 +2_axis_gimbal,双轴云台控制模块，支持pitch和yaw轴控制 +3+3shoot,双级三摩擦轮发射机构模块 \ No newline at end of file diff --git a/module/2_axis_gimbal.c b/module/gimbal/2_axis_gimbal/gimbal.c similarity index 100% rename from module/2_axis_gimbal.c rename to module/gimbal/2_axis_gimbal/gimbal.c diff --git a/module/2_axis_gimbal.h b/module/gimbal/2_axis_gimbal/gimbal.h similarity index 100% rename from module/2_axis_gimbal.h rename to module/gimbal/2_axis_gimbal/gimbal.h diff --git a/module/shoot/3+3shoot/shoot.c b/module/shoot/3+3shoot/shoot.c new file mode 100644 index 0000000..b8902a3 --- /dev/null +++ b/module/shoot/3+3shoot/shoot.c @@ -0,0 +1,658 @@ +/* + * far♂蛇模块 + */ + +/********************************* 使用示例 **********************************/ +/*1.配置config参数以及Config_ShootInit函数参数*/ +/*2. +COMP_AT9S_CMD_t shoot_ctrl_cmd_rc; +Shoot_t shoot; +Shoot_CMD_t shoot_cmd; + +void Task(void *argument) { + + Config_ShootInit(); + Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ); + Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE); 关于模式选择：初始化一个模式 + + while (1) { + + shoot_cmd.online =shoot_ctrl_cmd_rc.online; + shoot_cmd.ready =shoot_ctrl_cmd_rc.shoot.ready; + shoot_cmd.firecmd =shoot_ctrl_cmd_rc.shoot.firecmd; + + shoot.mode =shoot_ctrl_cmd_rc.mode; 关于模式选择：或者用遥控器随时切换模式，二选一 + + Chassis_UpdateFeedback(&shoot); + Shoot_Control(&shoot,&shoot_cmd); + } +} +*******************************************************************************/ + + +/* Includes ----------------------------------------------------------------- */ +#include +#include +#include "shoot.h" +#include "bsp/mm.h" +#include "bsp/time.h" +#include "component/filter.h" +#include "component/user_math.h" +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +#define MAX_FRIC_RPM 7000.0f +#define MAX_TRIG_RPM 1500.0f//这里可能也会影响最高发射频率，待测试 +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +static bool last_firecmd; + +float maxTrigrpm=1500.0f; +/* Private function -------------------------------------------------------- */ + +/** + * \brief 设置射击模式 + * + * \param s 包含射击数据的结构体 + * \param mode 要设置的模式 + * + * \return 函数运行结果 + */ +int8_t Shoot_SetMode(Shoot_t *s, Shoot_Mode_t mode) +{ + if (s == NULL) { + return SHOOT_ERR_NULL; // 参数错误 + } + s->mode=mode; + return SHOOT_OK; +} + +/** + * \brief 重置PID积分 + * + * \param s 包含射击数据的结构体 + * + * \return 函数运行结果 + */ +int8_t Shoot_ResetIntegral(Shoot_t *s) +{ + if (s == NULL) { + return SHOOT_ERR_NULL; // 参数错误 + } + uint8_t fric_num = s->param->basic.fric_num; + for(int i=0;ipid.fric_follow[i]); + PID_ResetIntegral(&s->pid.fric_err[i]); + } + PID_ResetIntegral(&s->pid.trig); + PID_ResetIntegral(&s->pid.trig_omg); + return SHOOT_OK; +} + +/** + * \brief 重置计算模块 + * + * \param s 包含射击数据的结构体 + * + * \return 函数运行结果 + */ +int8_t Shoot_ResetCalu(Shoot_t *s) +{ + if (s == NULL) { + return SHOOT_ERR_NULL; // 参数错误 + } + uint8_t fric_num = s->param->basic.fric_num; + for(int i=0;ipid.fric_follow[i]); + PID_Reset(&s->pid.fric_err[i]); + LowPassFilter2p_Reset(&s->filter.fric.in[i], 0.0f); + LowPassFilter2p_Reset(&s->filter.fric.out[i], 0.0f); + } + PID_Reset(&s->pid.trig); + PID_Reset(&s->pid.trig_omg); + LowPassFilter2p_Reset(&s->filter.trig.in, 0.0f); + LowPassFilter2p_Reset(&s->filter.trig.out, 0.0f); + return SHOOT_OK; +} + +/** + * \brief 重置输出 + * + * \param s 包含射击数据的结构体 + * + * \return 函数运行结果 + */ +int8_t Shoot_ResetOutput(Shoot_t *s) +{ + if (s == NULL) { + return SHOOT_ERR_NULL; // 参数错误 + } + uint8_t fric_num = s->param->basic.fric_num; + for(int i=0;ioutput.out_follow[i]=0.0f; + s->output.out_err[i]=0.0f; + s->output.out_fric[i]=0.0f; + s->output.lpfout_fric[i]=0.0f; + } + s->output.outagl_trig=0.0f; + s->output.outomg_trig=0.0f; + s->output.outlpf_trig=0.0f; + return SHOOT_OK; +} +//float last_angle=0.0f; +//float speed=0.0f; +//int8_t Shoot_CalufeedbackRPM(Shoot_t *s) +//{ +// if (s == NULL) { +// return SHOOT_ERR_NULL; // 参数错误 +// } +//// static +// float err; +// err=CircleError(s->feedback.fric[0].rotor_abs_angle,last_angle,M_2PI); +// speed=err/s->dt/M_2PI*60.0f; +// last_angle=s->feedback.fric->rotor_abs_angle; + + +// return SHOOT_OK; +//} + +/** + * \brief 根据目标弹丸速度计算摩擦轮目标转速 + * + * \param s 包含射击数据的结构体 + * \param target_speed 目标弹丸速度，单位m/s + * + * \return 函数运行结果 + */ +int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed) +{ + if (s == NULL) { + return SHOOT_ERR_NULL; // 参数错误 + } + switch(s->param->basic.projectileType) + { + case SHOOT_PROJECTILE_17MM: + s->target_variable.fric_rpm=5000.0f; + break; + case SHOOT_PROJECTILE_42MM: + s->target_variable.fric_rpm=4000.0f; + break; + } + return SHOOT_OK; +} + +/** + * \brief 根据发射弹丸数量及发射频率计算拨弹电机目标角度 + * + * \param s 包含发射数据的结构体 + * \param cmd 包含射击指令的结构体 + * + * \return 函数运行结果 + */ +int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd) +{ + if (s == NULL || s->var_trig.num_toShoot == 0) { + return SHOOT_ERR_NULL; + } + float dt = s->timer.now - s->var_trig.time_lastShoot; + float dpos; + dpos = CircleError(s->target_variable.trig_angle, s->var_trig.trig_agl, M_2PI); + if(dt >= 1.0f/s->param->basic.shot_freq && cmd->firecmd && dpos<=1.0f) + { + s->var_trig.time_lastShoot=s->timer.now; + CircleAdd(&s->target_variable.trig_angle, M_2PI/s->param->basic.num_trig_tooth, M_2PI); + s->var_trig.num_toShoot--; + } + return SHOOT_OK; +} + +static float Shoot_CaluCoupledWeight(Shoot_t *s, uint8_t fric_index) +{ + if (s == NULL) { + return SHOOT_ERR_NULL; // 参数错误 + } + + float Threshold; + switch (s->param->basic.projectileType) { + case SHOOT_PROJECTILE_17MM: + Threshold=50.0f; + break; + case SHOOT_PROJECTILE_42MM: + Threshold=400.0f; + break; + default: + return 0.0f; + } + + float err; + err=fabs((s->param->basic.ratio_multilevel[fric_index] + *s->target_variable.fric_rpm) + -s->feedback.fric[fric_index].rotor_speed); + if (errvar_fric.coupled_control_weights=1.0f-(err*err)/(Threshold*Threshold); + } + else + { + s->var_fric.coupled_control_weights=0.0f; + } + return s->var_fric.coupled_control_weights; +} + +/** + * \brief 更新射击模块的电机反馈信息 + * + * \param s 包含射击数据的结构体 + * + * \return 函数运行结果 + */ +int8_t Shoot_UpdateFeedback(Shoot_t *s) +{ + if (s == NULL) { + return SHOOT_ERR_NULL; // 参数错误 + } + uint8_t fric_num = s->param->basic.fric_num; + for(int i = 0; i < fric_num; i++) { + /* 更新摩擦轮电机反馈 */ + MOTOR_RM_Update(&s->param->motor.fric[i].param); + MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->motor.fric[i].param); + if(motor_fed!=NULL) + { + s->feedback.fric[i]=motor_fed->motor.feedback; + } + /* 滤波摩擦轮电机转速反馈 */ + s->var_fric.fil_rpm[i] = LowPassFilter2p_Apply(&s->filter.fric.in[i], s->feedback.fric[i].rotor_speed); + /* 归一化摩擦轮电机转速反馈 */ + s->var_fric.normalized_fil_rpm[i] = s->var_fric.fil_rpm[i] / MAX_FRIC_RPM; + if(s->var_fric.normalized_fil_rpm[i]>1.0f)s->var_fric.normalized_fil_rpm[i]=1.0f; + if(s->var_fric.normalized_fil_rpm[i]<-1.0f)s->var_fric.normalized_fil_rpm[i]=-1.0f; + /* 计算平均摩擦轮电机转速反馈 */ + s->var_fric.normalized_fil_avgrpm[s->param->motor.fric[i].level-1]+=s->var_fric.normalized_fil_rpm[i]; + } + for (int i=1; ivar_fric.normalized_fil_avgrpm[i]=s->var_fric.normalized_fil_avgrpm[i]/fric_num/MAX_NUM_MULTILEVEL; + } + /* 更新拨弹电机反馈 */ + MOTOR_RM_Update(&s->param->motor.trig); + s->feedback.trig = *MOTOR_RM_GetMotor(&s->param->motor.trig); + s->var_trig.trig_agl=s->param->basic.extra_deceleration_ratio*s->feedback.trig.gearbox_total_angle; + while(s->var_trig.trig_agl<0)s->var_trig.trig_agl+=M_2PI; + while(s->var_trig.trig_agl>=M_2PI)s->var_trig.trig_agl-=M_2PI; + if (s->feedback.trig.motor.reverse) { + s->var_trig.trig_agl = M_2PI - s->var_trig.trig_agl; + } + s->var_trig.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.feedback.rotor_speed); + s->var_trig.trig_rpm = s->feedback.trig.feedback.rotor_speed / maxTrigrpm; + if(s->var_trig.trig_rpm>1.0f)s->var_trig.trig_rpm=1.0f; + if(s->var_trig.trig_rpm<-1.0f)s->var_trig.trig_rpm=-1.0f; + + s->errtosee = s->feedback.fric[0].rotor_speed - s->feedback.fric[1].rotor_speed; + return SHOOT_OK; +} + +/** + * \brief 射击模块运行状态机 + * + * \param s 包含射击数据的结构体 + * \param cmd 包含射击指令的结构体 + * + * \return 函数运行结果 + */float a; +int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd) +{ + if (s == NULL || cmd == NULL) { + return SHOOT_ERR_NULL; // 参数错误 + } + uint8_t fric_num = s->param->basic.fric_num; + static float pos; + if(s->mode==SHOOT_MODE_SAFE){ + for(int i=0;iparam->motor.fric[i].param); + } + MOTOR_RM_Relax(&s->param->motor.trig);\ + pos=s->target_variable.trig_angle=s->var_trig.trig_agl; + } + else{ + switch(s->running_state) + { + case SHOOT_STATE_IDLE:/*熄火等待*/ + for(int i=0;ipid.fric_follow[i]); + s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],0.0f,s->var_fric.normalized_fil_rpm[i],0,s->timer.dt); + s->output.out_fric[i]=s->output.out_follow[i]; + s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]); + MOTOR_RM_SetOutput(&s->param->motor.fric[i].param, s->output.lpfout_fric[i]); + } + + s->output.outagl_trig =PID_Calc(&s->pid.trig,pos,s->var_trig.trig_agl,0,s->timer.dt); + s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->var_trig.trig_rpm,0,s->timer.dt); + s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig); + MOTOR_RM_SetOutput(&s->param->motor.trig, s->output.outlpf_trig); + + /* 检查状态机 */ + if(cmd->ready) + { + Shoot_ResetCalu(s); + Shoot_ResetIntegral(s); + Shoot_ResetOutput(s); + s->running_state=SHOOT_STATE_READY; + } + break; + + case SHOOT_STATE_READY:/*准备射击*/ + for(int i=0;iparam->motor.fric[i].level-1; + float target_rpm=s->param->basic.ratio_multilevel[level] + *s->target_variable.fric_rpm/MAX_FRIC_RPM; + /* 计算耦合控制权重 */ + float w=Shoot_CaluCoupledWeight(s,i); + /* 计算跟随输出、计算修正输出 */ + s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i], + target_rpm, + s->var_fric.normalized_fil_rpm[i], + 0, + s->timer.dt); + s->output.out_err[i]=w*PID_Calc(&s->pid.fric_err[i], + s->var_fric.normalized_fil_avgrpm[s->param->motor.fric[i].level-1], + s->var_fric.normalized_fil_rpm[i], + 0, + s->timer.dt); + /* 按比例缩放并加和输出 */ + ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]); + s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i]; + /* 滤波 */ + s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]); + /* 设置输出 */ + MOTOR_RM_SetOutput(&s->param->motor.fric[i].param, s->output.lpfout_fric[i]); + } + /* 设置拨弹电机输出 */ + s->output.outagl_trig =PID_Calc(&s->pid.trig, + pos, + s->var_trig.trig_agl, + 0, + s->timer.dt); + s->output.outomg_trig =PID_Calc(&s->pid.trig_omg, + s->output.outagl_trig, + s->var_trig.trig_rpm, + 0, + s->timer.dt); + s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig); + MOTOR_RM_SetOutput(&s->param->motor.trig, s->output.outlpf_trig); + + /* 检查状态机 */ + if(!cmd->ready) + { + Shoot_ResetCalu(s); + Shoot_ResetOutput(s); + s->running_state=SHOOT_STATE_IDLE; + } + else if(last_firecmd==false&&cmd->firecmd==true) + { + s->running_state=SHOOT_STATE_FIRE; + /* 根据模式设置待发射弹数 */ + switch(s->mode) + { + case SHOOT_MODE_SINGLE: + s->var_trig.num_toShoot=1; + break; + case SHOOT_MODE_BURST: + s->var_trig.num_toShoot=s->param->basic.shot_burst_num; + break; + case SHOOT_MODE_CONTINUE: + s->var_trig.num_toShoot=6666; + break; + default: + s->var_trig.num_toShoot=0; + break; + } + } + break; + + case SHOOT_STATE_FIRE:/*射击*/ + Shoot_CaluTargetAngle(s, cmd); + for(int i=0;iparam->motor.fric[i].level-1; + float target_rpm=s->param->basic.ratio_multilevel[level] + *s->target_variable.fric_rpm/MAX_FRIC_RPM; + /* 计算耦合控制权重 */ + float w=Shoot_CaluCoupledWeight(s,i); + /* 计算跟随输出、计算修正输出 */ + s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i], + target_rpm, + s->var_fric.normalized_fil_rpm[i], + 0, + s->timer.dt); + s->output.out_err[i]=w*PID_Calc(&s->pid.fric_err[i], + s->var_fric.normalized_fil_avgrpm[s->param->motor.fric[i].level-1], + s->var_fric.normalized_fil_rpm[i], + 0, + s->timer.dt); + /* 按比例缩放并加和输出 */ + ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]); + s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i]; + /* 滤波 */ + s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]); + /* 设置输出 */ + MOTOR_RM_SetOutput(&s->param->motor.fric[i].param, s->output.lpfout_fric[i]); + } + /* 设置拨弹电机输出 */ + s->output.outagl_trig =PID_Calc(&s->pid.trig, + s->target_variable.trig_angle, + s->var_trig.trig_agl, + 0, + s->timer.dt); + s->output.outomg_trig =PID_Calc(&s->pid.trig_omg, + s->output.outagl_trig, + s->var_trig.trig_rpm, + 0, + s->timer.dt); + s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig); + MOTOR_RM_SetOutput(&s->param->motor.trig, s->output.outlpf_trig); + + /* 检查状态机 */ + if(!cmd->firecmd) + { + s->running_state=SHOOT_STATE_READY; + pos=s->var_trig.trig_agl; + s->var_trig.num_toShoot=0; + } + break; + + default: + s->running_state=SHOOT_STATE_IDLE; + break; + } + } + /* 输出 */ + MOTOR_RM_Ctrl(&s->param->motor.fric[0].param); + if(s->param->basic.fric_num>4) + { + MOTOR_RM_Ctrl(&s->param->motor.fric[4].param); + } + MOTOR_RM_Ctrl(&s->param->motor.trig); + last_firecmd = cmd->firecmd; + return SHOOT_OK; +} + +/** + * \brief 射击模块堵塞检测状态机 + * + * \param s 包含射击数据的结构体 + * \param cmd 包含射击指令的结构体 + * + * \return 函数运行结果 + */ +int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd) +{ + if (s == NULL) { + return SHOOT_ERR_NULL; // 参数错误 + } + if(s->param->jamDetection.enable){ + switch (s->jamdetection.fsmState) { + case SHOOT_JAMFSM_STATE_NORMAL:/* 正常运行 */ + /* 检测电流是否超过阈值 */ + if (s->feedback.trig.feedback.torque_current/1000.0f > s->param->jamDetection.threshold) { + s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_SUSPECTED; + s->jamdetection.lastTime = s->timer.now; /* 记录怀疑开始时间 */ + } + /* 正常运行射击状态机 */ + Shoot_RunningFSM(s, cmd); + break; + case SHOOT_JAMFSM_STATE_SUSPECTED:/* 怀疑堵塞 */ + /* 检测电流是否低于阈值 */ + if (s->feedback.trig.feedback.torque_current/1000.0f < s->param->jamDetection.threshold) { + s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_NORMAL; + break; + } + /* 检测高阈值状态是否超过设定怀疑时间 */ + else if ((s->timer.now - s->jamdetection.lastTime) >= s->param->jamDetection.suspectedTime) { + s->jamdetection.detected =true; + s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_CONFIRMED; + break; + } + /* 正常运行射击状态机 */ + Shoot_RunningFSM(s, cmd); + break; + case SHOOT_JAMFSM_STATE_CONFIRMED:/* 确认堵塞 */ + /* 清空待发射弹 */ + s->var_trig.num_toShoot=0; + /* 修改拨弹盘目标角度 */ + s->target_variable.trig_angle = s->var_trig.trig_agl-(M_2PI/s->param->basic.num_trig_tooth); + /* 切换状态 */ + s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_DEAL; + /* 记录处理开始时间 */ + s->jamdetection.lastTime = s->timer.now; + case SHOOT_JAMFSM_STATE_DEAL:/* 堵塞处理 */ + /* 正常运行射击状态机 */ + Shoot_RunningFSM(s, cmd); + /* 给予0.3秒响应时间并检测电流小于20A，认为堵塞已解除 */ + if ((s->timer.now - s->jamdetection.lastTime)>=0.3f&&s->feedback.trig.feedback.torque_current/1000.0f < 20.0f) { + s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_NORMAL; + } + break; + default: + s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_NORMAL; + break; + } + } + else{ + s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_NORMAL; + s->jamdetection.detected = false; + Shoot_RunningFSM(s, cmd); + } + + return SHOOT_OK; +} +/* Exported functions ------------------------------------------------------- */ +/** + * \brief 初始化射击模块 + * + * \param s 包含射击数据的结构体 + * \param param 包含射击参数的结构体 + * \param target_freq 控制循环频率，单位Hz + * + * \return 函数运行结果 + */ +int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq) +{ + if (s == NULL || param == NULL || target_freq <= 0.0f) { + return SHOOT_ERR_NULL; // 参数错误 + } + uint8_t fric_num = param->basic.fric_num; + s->param=param; + BSP_CAN_Init(); + /* 初始化摩擦轮PID和滤波器 */ + for(int i=0;imotor.fric[i].param); + PID_Init(&s->pid.fric_follow[i], + KPID_MODE_CALC_D, + target_freq, + ¶m->pid.fric_follow); + PID_Init(&s->pid.fric_err[i], + KPID_MODE_CALC_D, + target_freq, + ¶m->pid.fric_err); + LowPassFilter2p_Init(&s->filter.fric.in[i], + target_freq, + s->param->filter.fric.in); + LowPassFilter2p_Init(&s->filter.fric.out[i], + target_freq, + s->param->filter.fric.out); + } + /* 初始化拨弹PID和滤波器 */ + MOTOR_RM_Register(¶m->motor.trig); + switch(s->param->motor.trig.module) + { + case MOTOR_M3508: + PID_Init(&s->pid.trig, + KPID_MODE_CALC_D, + target_freq, + ¶m->pid.trig_3508); + PID_Init(&s->pid.trig_omg, + KPID_MODE_CALC_D, + target_freq, + ¶m->pid.trig_omg_3508); + break; + case MOTOR_M2006: + PID_Init(&s->pid.trig, + KPID_MODE_CALC_D, + target_freq, + ¶m->pid.trig_2006); + PID_Init(&s->pid.trig_omg, + KPID_MODE_CALC_D, + target_freq, + ¶m->pid.trig_omg_2006); + break; + default: + return SHOOT_ERR_MOTOR; + break; + } + LowPassFilter2p_Init(&s->filter.trig.in, + target_freq, + s->param->filter.trig.in); + LowPassFilter2p_Init(&s->filter.trig.out, + target_freq, + s->param->filter.trig.out); + + /* 归零变量 */ + memset(&s->var_trig,0,sizeof(s->var_trig)); + return SHOOT_OK; +} + +/** + * \brief 射击模块控制主函数 + * + * \param s 包含射击数据的结构体 + * \param cmd 包含射击指令的结构体 + * + * \return 函数运行结果 + */ +int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd) +{ + if (s == NULL || cmd == NULL) { + return SHOOT_ERR_NULL; // 参数错误 + } + s->timer.now = BSP_TIME_Get_us() / 1000000.0f; + s->timer.dt = (BSP_TIME_Get_us() - s->timer.lask_wakeup) / 1000000.0f; + s->timer.lask_wakeup = BSP_TIME_Get_us(); + Shoot_CaluTargetRPM(s,233); + + Shoot_JamDetectionFSM(s, cmd); +// Shoot_CalufeedbackRPM(s); + return SHOOT_OK; +} + + + + + + + + diff --git a/module/shoot/3+3shoot/shoot.h b/module/shoot/3+3shoot/shoot.h new file mode 100644 index 0000000..1972543 --- /dev/null +++ b/module/shoot/3+3shoot/shoot.h @@ -0,0 +1,243 @@ +/* + * far♂蛇模块 + */ + +#pragma once + +#include +#ifdef __cplusplus +extern "C" { +#endif + +#include "main.h" +#include "component/pid.h" +#include "device/motor_rm.h" +/* Exported constants ------------------------------------------------------- */ +#define MAX_FRIC_NUM 6 +#define MAX_NUM_MULTILEVEL 2 /* 多级发射级数 */ + +#define SHOOT_OK (0) /* 运行正常 */ +#define SHOOT_ERR_NULL (-1) /* 运行时发现NULL指针 */ +#define SHOOT_ERR_ERR (-2) /* 运行时发现了其他错误 */ +#define SHOOT_ERR_MODE (-3) /* 运行时配置了错误的Mode */ +#define SHOOT_ERR_MOTOR (-4) /* 运行时配置了不存在的电机类型 */ +#define SHOOT_ERR_MALLOC (-5) /* 内存分配失败 */ +/* Exported macro ----------------------------------------------------------- */ +/* Exported types ----------------------------------------------------------- */ +typedef enum { + SHOOT_JAMFSM_STATE_NORMAL = 0,/* 常规状态 */ + SHOOT_JAMFSM_STATE_SUSPECTED, /* 怀疑状态 */ + SHOOT_JAMFSM_STATE_CONFIRMED, /* 确认状态 */ + SHOOT_JAMFSM_STATE_DEAL /* 处理状态 */ +}Shoot_JamDetectionFSM_State_t; +typedef enum { + SHOOT_STATE_IDLE = 0,/* 熄火 */ + SHOOT_STATE_READY, /* 准备射击 */ + SHOOT_STATE_FIRE /* 射击 */ +}Shoot_Running_State_t; + +typedef enum { + SHOOT_MODE_SAFE = 0,/* 安全模式 */ + SHOOT_MODE_SINGLE, /* 单发模式 */ + SHOOT_MODE_BURST, /* 多发模式 */ + SHOOT_MODE_CONTINUE,/* 连发模式 */ + SHOOT_MODE_NUM +}Shoot_Mode_t; + +typedef enum { + SHOOT_PROJECTILE_17MM, + SHOOT_PROJECTILE_42MM, +}Shoot_Projectile_t; + +typedef struct{ + MOTOR_RM_Param_t param; + uint8_t level; /* 电机属于第几级发射；1起始 */ +}Shoot_MOTOR_RM_Param_t; + +typedef struct { + MOTOR_Feedback_t fric[MAX_FRIC_NUM];/* 摩擦轮电机反馈 */ + MOTOR_RM_t trig; /* 拨弹电机反馈 */ + +}Shoot_Feedback_t; + +typedef struct{ + float fil_rpm[MAX_FRIC_NUM]; /* 滤波后的摩擦轮原始转速 */ + float normalized_fil_rpm[MAX_FRIC_NUM]; /* 归一化摩擦轮转速 */ + float normalized_fil_avgrpm[MAX_NUM_MULTILEVEL]; /* 归一化摩擦轮平均转速 */ + float coupled_control_weights; /* 耦合控制权重 */ +}Shoot_VARSForFricCtrl_t; + +typedef struct{ + float time_lastShoot;/* 上次射击时间 */ + uint16_t num_toShoot;/* 剩余待发射弹数 */ + uint16_t num_shooted;/* 已发射弹数 */ + + float trig_agl; /*计算所有减速比后的拨弹盘的角度*/ + float fil_trig_rpm; /* 滤波后的拨弹电机转速*/ + float trig_rpm; /* 归一化拨弹电机转速 */ +}Shoot_VARSForTrigCtrl_t; + +typedef struct { + bool detected; /* 卡弹检测结果 */ + float lastTime;/* 用于记录怀疑状态或处理状态的开始时间 */ + Shoot_JamDetectionFSM_State_t fsmState; /* 卡弹检测状态机 */ +}Shoot_JamDetection_t; +typedef struct { + float out_follow[MAX_FRIC_NUM]; + float out_err[MAX_FRIC_NUM]; + float out_fric[MAX_FRIC_NUM]; + float lpfout_fric[MAX_FRIC_NUM]; + + float outagl_trig; + float outomg_trig; + float outlpf_trig; +}Shoot_Output_t; + +typedef struct { + Shoot_Mode_t mode;/* 射击模式 */ + bool ready; /* 准备射击 */ + bool firecmd; /* 射击 */ +}Shoot_CMD_t; +/* 底盘参数的结构体，包含所有初始化用的参数，通常是const，存好几组 */ +typedef struct { + struct{ + Shoot_Projectile_t projectileType; /* 发射弹丸类型 */; + size_t fric_num; /* 摩擦轮电机数量 */ + float ratio_multilevel[MAX_NUM_MULTILEVEL]; /* 多级发射各级速度比例 */ + float extra_deceleration_ratio; /*电机出轴到拨盘的额外减速比；没有写1*/ + size_t num_trig_tooth; /* 拨弹盘每圈弹丸数量 */ + float shot_freq; /* 射击频率，单位Hz */ + size_t shot_burst_num; /* 多发模式一次射击的数量 */ + }basic;/* 发射基础参数 */ + struct { + bool enable; /* 是否启用卡弹检测 */ + float threshold; /* 卡弹检测阈值，单位A (dji2006建议设置为120A，dji3508建议设置为235A,根据实际测试调整)*/ + float suspectedTime;/* 卡弹怀疑时间，单位秒 */ + }jamDetection;/* 卡弹检测参数 */ + struct { + Shoot_MOTOR_RM_Param_t fric[MAX_FRIC_NUM]; + MOTOR_RM_Param_t trig; + }motor; /* 电机参数 */ + struct{ + KPID_Params_t fric_follow; /* 摩擦轮电机PID控制参数，用于跟随目标速度 */ + KPID_Params_t fric_err; /* 摩擦轮电机PID控制参数，用于消除转速误差 */ + KPID_Params_t trig_2006; /* 拨弹电机PID控制参数 */ + KPID_Params_t trig_omg_2006;/* 拨弹电机PID控制参数 */ + KPID_Params_t trig_3508; /* 拨弹电机PID控制参数 */ + KPID_Params_t trig_omg_3508;/* 拨弹电机PID控制参数 */ + }pid; /* PID参数 */ + struct { + struct{ + float in; /* 反馈值滤波器截止频率 */ + float out; /* 输出值滤波器截止频率 */ + }fric; + struct{ + float in; /* 反馈值滤波器截止频率 */ + float out; /* 输出值滤波器截止频率 */ + }trig; + } filter;/* 滤波器截止频率参数 */ +} Shoot_Params_t; + +typedef struct { + float now; /* 当前时间，单位秒 */ + uint64_t lask_wakeup; /* 上次唤醒时间，单位微秒 */ + float dt; /* 两次唤醒间隔时间，单位秒 */ +}Shoot_Timer_t; + +/* + * 运行的主结构体，所有这个文件里的函数都在操作这个结构体 + * 包含了初始化参数，中间变量，输出变量 + */ +typedef struct { + Shoot_Timer_t timer; /* 计时器 */ + Shoot_Params_t *param; /* 发射参数 */ + /* 模块通用 */ + Shoot_Mode_t mode; /* 射击模式 */ + /* 反馈信息 */ + Shoot_Feedback_t feedback; + /* 控制信息*/ + Shoot_Running_State_t running_state; /* 运行状态机 */ + Shoot_JamDetection_t jamdetection; /* 卡弹检测控制信息 */ + Shoot_VARSForFricCtrl_t var_fric; /* 摩擦轮控制信息 */ + Shoot_VARSForTrigCtrl_t var_trig; /* 角度计算控制信息 */ + Shoot_Output_t output; /* 输出信息 */ + /* 目标控制量 */ + struct { + float fric_rpm; /* 目标摩擦轮转速 */ + float trig_angle;/* 目标拨弹位置 */ + }target_variable; + + /* 反馈控制用的PID */ + struct { + KPID_t fric_follow[MAX_FRIC_NUM];/* 摩擦轮PID主结构体 */ + KPID_t fric_err[MAX_FRIC_NUM]; /* 摩擦轮PID主结构体 */ + KPID_t trig; /* 拨弹PID主结构体 */ + KPID_t trig_omg; /* 拨弹PID主结构体 */ + } pid; + + /* 滤波器 */ + struct { + struct{ + LowPassFilter2p_t in[MAX_FRIC_NUM]; /* 反馈值滤波器 */ + LowPassFilter2p_t out[MAX_FRIC_NUM];/* 输出值滤波器 */ + }fric; + struct{ + LowPassFilter2p_t in; /* 反馈值滤波器 */ + LowPassFilter2p_t out;/* 输出值滤波器 */ + }trig; + } filter; + + float errtosee; /*调试用*/ + +} Shoot_t; + +/* Exported functions prototypes -------------------------------------------- */ + +/** + * \brief 初始化发射 + * + * \param s 包含发射数据的结构体 + * \param param 包含发射参数的结构体指针 + * \param target_freq 任务预期的运行频率 + * + * \return 函数运行结果 + */ +int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq); + +/** + * \brief 设置发射模式 + * + * \param s 包含发射数据的结构体 + * \param mode 包含发射模式的枚举 + * + * \return 函数运行结果 + */ +int8_t Shoot_SetMode(Shoot_t *s, Shoot_Mode_t mode); + +/** + * \brief 更新反馈 + * + * \param s 包含发射数据的结构体 + * + * \return 函数运行结果 + */ +int8_t Shoot_UpdateFeedback(Shoot_t *s); + +/** + * \brief 初始化发射 + * + * \param s 包含发射数据的结构体 + * \param cmd 包含发射命令的结构体 + * + * \return 函数运行结果 + */ +int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd); + + + +#ifdef __cplusplus +} +#endif + + +