robofish/MRobot
1
0
Fork 0
mirror of https://github.com/goldenfishs/MRobot.git synced 2026-04-01 05:17:13 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

修改can

Browse Source
This commit is contained in:
Robofish
2025-09-20 00:32:32 +08:00
parent 60154cafd5
commit d5d580f384
59 changed files with 910 additions and 126 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
assets/User_code/device/bmi088.c
View File

@@ -15,6 +15,11 @@
#include "bsp/spi.h"
#include "component/user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
#define BMI088_REG_ACCL_CHIP_ID (0x00)
#define BMI088_REG_ACCL_ERR (0x02)
@@ -79,6 +84,10 @@ typedef enum {
BMI_GYRO,
} BMI_Device_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
static uint8_t buffer[2];
static uint8_t bmi088_rxbuf[BMI088_LEN_RX_BUFF];
@@ -87,6 +96,10 @@ static osThreadId_t thread_alert;
static bool inited = false;
/* Private function -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
static void BMI_WriteSingle(BMI_Device_t dv, uint8_t reg, uint8_t data) {
buffer[0] = (reg & 0x7f);
buffer[1] = data;

16
assets/User_code/device/bmi088.h
View File

@@ -11,6 +11,14 @@ extern "C" {
#include "component/ahrs.h"
#include "device/device.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
@@ -32,6 +40,10 @@ typedef struct {
const BMI088_Cali_t *cali;
} BMI088_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Exported functions prototypes -------------------------------------------- */
int8_t BMI088_Init(BMI088_t *bmi088, const BMI088_Cali_t *cali);
int8_t BMI088_Restart(void);
@@ -60,6 +72,10 @@ int8_t BMI088_ParseAccl(BMI088_t *bmi088);
int8_t BMI088_ParseGyro(BMI088_t *bmi088);
float BMI088_GetUpdateFreq(BMI088_t *bmi088);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

12
assets/User_code/device/buzzer.c
View File

@@ -1,5 +1,13 @@
#include "device/buzzer.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel) {
if (buzzer == NULL) return DEVICE_ERR;
@@ -42,3 +50,7 @@ int8_t BUZZER_Set(BUZZER_t *buzzer, float freq, float duty_cycle) {
return result;
}
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

16
assets/User_code/device/buzzer.h
View File

@@ -9,14 +9,26 @@ extern "C" {
#include "bsp/pwm.h"
#include <stddef.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */
typedef struct {
DEVICE_Header_t header;
BSP_PWM_Channel_t channel;
} BUZZER_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Exported functions prototypes -------------------------------------------- */
int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel);
@@ -30,6 +42,10 @@ int8_t BUZZER_Stop(BUZZER_t *buzzer);
int8_t BUZZER_Set(BUZZER_t *buzzer, float freq, float duty_cycle);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

16
assets/User_code/device/device.h
View File

@@ -7,6 +7,14 @@ extern "C" {
#include <stdbool.h>
#include <stdint.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
#define DEVICE_OK (0)
#define DEVICE_ERR (-1)
#define DEVICE_ERR_NULL (-2)
@@ -26,6 +34,14 @@ typedef struct {
uint64_t last_online_time;
} DEVICE_Header_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

2
assets/User_code/device/dm_imu.c
View File

@@ -166,7 +166,7 @@ int8_t DM_IMU_Request(DM_IMU_t *imu, DM_IMU_RID_t rid) {
.dlc = 4,
};
memcpy(frame.data, tx_data, 4);
BSP_CAN_WaitTxMailboxEmpty(imu->param.can, 1); // 等待发送邮箱空闲
int8_t result = BSP_CAN_TransmitStdDataFrame(imu->param.can, &frame);
return (result == BSP_OK) ? DEVICE_OK : DEVICE_ERR;
}

12
assets/User_code/device/dr16.c
View File

@@ -9,11 +9,19 @@
#include "bsp/uart.h"
#include "bsp/time.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
#define DR16_CH_VALUE_MIN (364u)
#define DR16_CH_VALUE_MID (1024u)
#define DR16_CH_VALUE_MAX (1684u)
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* Private variables -------------------------------------------------------- */
@@ -83,3 +91,7 @@ bool DR16_WaitDmaCplt(uint32_t timeout) {
return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) ==
SIGNAL_DR16_RAW_REDY);
}
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

11
assets/User_code/device/dr16.h
View File

@@ -10,6 +10,14 @@ extern "C" {
#include "component/user_math.h"
#include "device/device.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
@@ -41,6 +49,9 @@ int8_t DR16_Restart(void);
int8_t DR16_StartDmaRecv(DR16_t *dr16);
bool DR16_WaitDmaCplt(uint32_t timeout);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}

17
assets/User_code/device/ist8310.c
View File

@@ -13,6 +13,10 @@
#include "bsp/gpio.h"
#include "bsp/i2c.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
#define IST8310_WAI (0x00)
#define IST8310_STAT1 (0x02)
@@ -31,6 +35,11 @@
#define IST8310_IIC_ADDRESS (0x0E << 1)
#define IST8310_LEN_RX_BUFF (6)
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
#define IST8310_SET() \
BSP_GPIO_WritePin(CMPS_RST_Pin, GPIO_PIN_SET)
@@ -38,6 +47,10 @@
BSP_GPIO_WritePin(CMPS_RST_Pin, GPIO_PIN_RESET)
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
uint8_t ist8310_rxbuf[IST8310_LEN_RX_BUFF];
@@ -45,6 +58,10 @@ static osThreadId_t thread_alert;
static bool inited = false;
/* Private function -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
static void IST8310_WriteSingle(uint8_t reg, uint8_t data) {
BSP_I2C_MemWriteByte(BSP_I2C_COMP, IST8310_IIC_ADDRESS, reg, data);
}

17
assets/User_code/device/led.c
View File

@@ -6,9 +6,26 @@
#include "bsp/gpio.h"
#include "bsp/pwm.h"
#include "device.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
int8_t LED_PWMSet(BSP_PWM_Channel_t channel,float duty_cycle)
{

15
assets/User_code/device/motor.c
View File

@@ -7,13 +7,28 @@
#include <string.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
/* Private function -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
/* Exported functions ------------------------------------------------------- */
float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor) {

16
assets/User_code/device/motor.h
View File

@@ -7,6 +7,14 @@ extern "C" {
/* Includes ----------------------------------------------------------------- */
#include "device/device.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
@@ -41,12 +49,20 @@ typedef struct {
MOTOR_Feedback_t feedback;
} MOTOR_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Exported functions prototypes -------------------------------------------- */
float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor);
float MOTOR_GetRotorSpeed(const MOTOR_t *motor);
float MOTOR_GetTorqueCurrent(const MOTOR_t *motor);
float MOTOR_GetTemp(const MOTOR_t *motor);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

22
assets/User_code/device/motor_lk.c
View File

@@ -10,6 +10,10 @@
#include "bsp/time.h"
#include "component/user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
#define LK_CTRL_ID_BASE (0x140)
#define LK_FB_ID_BASE (0x240)
@@ -36,12 +40,24 @@
#define LK_ENC_15BIT_MAX (32767) // 15位编码器最大值
#define LK_ENC_16BIT_MAX (65535) // 16位编码器最大值
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
static MOTOR_LK_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL};
/* Private functions -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
static float MOTOR_LK_GetCurrentLSB(MOTOR_LK_Module_t module) {
switch (module) {
case MOTOR_LK_MF9025:
@@ -239,7 +255,7 @@ int8_t MOTOR_LK_SetOutput(MOTOR_LK_Param_t *param, float value) {
tx_frame.data[5] = (uint8_t)((torque_control >> 8) & 0xFF); // 转矩电流控制值高字节
tx_frame.data[6] = 0x00; // NULL
tx_frame.data[7] = 0x00; // NULL
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
@@ -265,7 +281,7 @@ int8_t MOTOR_LK_MotorOn(MOTOR_LK_Param_t *param) {
tx_frame.data[5] = 0x00;
tx_frame.data[6] = 0x00;
tx_frame.data[7] = 0x00;
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
@@ -285,7 +301,7 @@ int8_t MOTOR_LK_MotorOff(MOTOR_LK_Param_t *param) {
tx_frame.data[5] = 0x00;
tx_frame.data[6] = 0x00;
tx_frame.data[7] = 0x00;
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}

3
assets/User_code/device/motor_lz.c
View File

@@ -129,7 +129,8 @@ static int8_t MOTOR_LZ_SendExtFrame(BSP_CAN_t can, uint32_t ext_id, uint8_t *dat
} else {
memset(tx_frame.data, 0, dlc);
}
BSP_CAN_WaitTxMailboxEmpty(can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitExtDataFrame(can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}

18
assets/User_code/device/motor_rm.c
View File

@@ -10,6 +10,10 @@
#include "bsp/time.h"
#include "component/user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
#define GM6020_FB_ID_BASE (0x205)
#define GM6020_CTRL_ID_BASE (0x1ff)
@@ -30,11 +34,24 @@
#define MOTOR_ENC_RES (8192) /* 电机编码器分辨率 */
#define MOTOR_CUR_RES (16384) /* 电机转矩电流分辨率 */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
static MOTOR_RM_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL};
/* Private function -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
static int8_t MOTOR_RM_GetLogicalIndex(uint16_t can_id, MOTOR_RM_Module_t module) {
switch (module) {
case MOTOR_M2006:
@@ -223,6 +240,7 @@ int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param) {
default:
return DEVICE_ERR;
}
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}

14
assets/User_code/device/servo.c
View File

@@ -1,5 +1,5 @@
/*
pwm控制舵机
pwm<EFBFBD><EFBFBD><EFBFBD>ƶ<EFBFBD><EFBFBD>
*/
/*Includes -----------------------------------------*/
@@ -7,9 +7,17 @@
#include "bsp/pwm.h"
#include "servo.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
#define SERVO_MIN_DUTY 0.025f
#define SERVO_MAX_DUTY 0.125f
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/**
* @brief
* @param
@@ -24,10 +32,10 @@ int8_t SERVO_Init(SERVO_t *servo) {
int8_t SERVO_SetAngle(SERVO_t *servo, float angle) {
if (servo == NULL) return BSP_ERR;
/*限制角度范围*/
/*<EFBFBD><EFBFBD><EFBFBD>ƽǶȷ<EFBFBD>Χ*/
if (angle < 0.0f) angle = 0.0f;
if (angle > 180.0f) angle = 180.0f;
/*角度映射到占空比*/
/*<EFBFBD>Ƕ<EFBFBD>ӳ<EFBFBD>䵽ռ<EFBFBD>ձ<EFBFBD>*/
float duty = servo->min_duty + (angle / 180.0f) * (servo->max_duty - servo->min_duty);
return BSP_PWM_Set(servo->pwm_ch, duty);

16
assets/User_code/device/servo.h
View File

@@ -8,6 +8,14 @@ extern "C" {
#include <cmsis_os2.h>
#include "bsp/pwm.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
@@ -22,6 +30,10 @@ typedef struct {
float max_duty;
} SERVO_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/**
* @brief
* @param servo
@@ -46,6 +58,10 @@ int8_t SERVO_SetAngle(SERVO_t *servo, float angle);
int8_t SERVO_Stop(SERVO_t *servo);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}

17
assets/User_code/device/vofa.c
View File

@@ -3,18 +3,35 @@
#include <string.h>
#include "device/vofa.h"
#include "bsp/uart.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
#define MAX_CHANNEL 64u // 根据实际最大通道数调整
#define JUSTFLOAT_TAIL 0x7F800000
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
static uint8_t vofa_tx_buf[sizeof(float) * MAX_CHANNEL + sizeof(uint32_t)];
static VOFA_Protocol_t current_protocol = VOFA_PROTOCOL_FIREWATER; // 默认协议
/* Private function -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
/************************ RawData *************************/
void VOFA_RawData_Send(const char* data, bool dma) {

18
assets/User_code/device/ws2812.c
View File

@@ -4,18 +4,36 @@
#include "bsp/pwm.h"
#include <stdlib.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
#define DEVICE_WS2812_T1H (uint16_t)(BSP_PWM_GetAutoReloadPreload(BSP_PWM_WS2812) * 0.56) // High-level width of logic-1 pulse
#define DEVICE_WS2812_T0H (BSP_PWM_GetAutoReloadPreload(BSP_PWM_WS2812) * 0.29) // High-level width of logic-0 pulse
#define DEVICE_WS2812_WS_REST 40 // Number of reset pulses (low level) after data stream
#define DEVICE_WS2812_DATA_LEN 24 // WS2812 data length: 24 bits (GRB) per LED
#define DEVICE_WS2812_RST_NUM 50 // Extra reset pulses reserved at the end of the buffer
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
static uint16_t DEVICE_WS2812_LED_NUM; // Total number of LEDs
static uint16_t *DEVICE_WS2812_RGB_Buff = NULL;// PWM duty buffer for DMA
/* Private function -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
/* Exported functions ------------------------------------------------------- */
/**
* Set color of a single WS2812 LED