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ws 2025-03-14 05:34:45 +08:00
parent 90bdf5c2c9
commit 9343ceff11
14 changed files with 10321 additions and 9028 deletions
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884
rmul2025/MDK-ARM/.vscode/c_cpp_properties.json vendored Normal file
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@ -0,0 +1,884 @@
{
"configurations": [
{
"name": "DevC",
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],
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"__llvm__=1"
],
"intelliSenseMode": "${default}"
},
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],
"defines": [
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"STM32F407xx",
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"__INT8_FMTd__=\"hhd\"",
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"__INT8_MAX__=127",
"__INT8_TYPE__=signed char",
"__INTMAX_C_SUFFIX__=LL",
"__INTMAX_FMTd__=\"lld\"",
"__INTMAX_FMTi__=\"lli\"",
"__INTMAX_MAX__=9223372036854775807LL",
"__INTMAX_TYPE__=long long int",
"__INTMAX_WIDTH__=64",
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"__INTPTR_MAX__=2147483647",
"__INTPTR_TYPE__=int",
"__INTPTR_WIDTH__=32",
"__INT_FAST16_FMTd__=\"hd\"",
"__INT_FAST16_FMTi__=\"hi\"",
"__INT_FAST16_MAX__=32767",
"__INT_FAST16_TYPE__=short",
"__INT_FAST32_FMTd__=\"d\"",
"__INT_FAST32_FMTi__=\"i\"",
"__INT_FAST32_MAX__=2147483647",
"__INT_FAST32_TYPE__=int",
"__INT_FAST64_FMTd__=\"lld\"",
"__INT_FAST64_FMTi__=\"lli\"",
"__INT_FAST64_MAX__=9223372036854775807LL",
"__INT_FAST64_TYPE__=long long int",
"__INT_FAST8_FMTd__=\"hhd\"",
"__INT_FAST8_FMTi__=\"hhi\"",
"__INT_FAST8_MAX__=127",
"__INT_FAST8_TYPE__=signed char",
"__INT_LEAST16_FMTd__=\"hd\"",
"__INT_LEAST16_FMTi__=\"hi\"",
"__INT_LEAST16_MAX__=32767",
"__INT_LEAST16_TYPE__=short",
"__INT_LEAST32_FMTd__=\"d\"",
"__INT_LEAST32_FMTi__=\"i\"",
"__INT_LEAST32_MAX__=2147483647",
"__INT_LEAST32_TYPE__=int",
"__INT_LEAST64_FMTd__=\"lld\"",
"__INT_LEAST64_FMTi__=\"lli\"",
"__INT_LEAST64_MAX__=9223372036854775807LL",
"__INT_LEAST64_TYPE__=long long int",
"__INT_LEAST8_FMTd__=\"hhd\"",
"__INT_LEAST8_FMTi__=\"hhi\"",
"__INT_LEAST8_MAX__=127",
"__INT_LEAST8_TYPE__=signed char",
"__INT_MAX__=2147483647",
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"__LDBL_DECIMAL_DIG__=17",
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"__LONG_MAX__=2147483647L",
"__NO_INLINE__=1",
"__OBJC_BOOL_IS_BOOL=0",
"__OPENCL_MEMORY_SCOPE_ALL_SVM_DEVICES=3",
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"__POINTER_WIDTH__=32",
"__PRAGMA_REDEFINE_EXTNAME=1",
"__PTRDIFF_FMTd__=\"d\"",
"__PTRDIFF_FMTi__=\"i\"",
"__PTRDIFF_MAX__=2147483647",
"__PTRDIFF_TYPE__=int",
"__PTRDIFF_WIDTH__=32",
"__REGISTER_PREFIX__=",
"__SCHAR_MAX__=127",
"__SHRT_MAX__=32767",
"__SIG_ATOMIC_MAX__=2147483647",
"__SIG_ATOMIC_WIDTH__=32",
"__SIZEOF_DOUBLE__=8",
"__SIZEOF_FLOAT__=4",
"__SIZEOF_INT__=4",
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"__SIZEOF_WCHAR_T__=4",
"__SIZEOF_WINT_T__=4",
"__SIZE_FMTX__=\"X\"",
"__SIZE_FMTo__=\"o\"",
"__SIZE_FMTu__=\"u\"",
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"__SIZE_MAX__=4294967295U",
"__SIZE_TYPE__=unsigned int",
"__SIZE_WIDTH__=32",
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"__STDC__=1",
"__UINT16_C_SUFFIX__=",
"__UINT16_FMTX__=\"hX\"",
"__UINT16_FMTo__=\"ho\"",
"__UINT16_FMTu__=\"hu\"",
"__UINT16_FMTx__=\"hx\"",
"__UINT16_MAX__=65535",
"__UINT16_TYPE__=unsigned short",
"__UINT32_C_SUFFIX__=U",
"__UINT32_FMTX__=\"X\"",
"__UINT32_FMTo__=\"o\"",
"__UINT32_FMTu__=\"u\"",
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"__UINT32_TYPE__=unsigned int",
"__UINT64_C_SUFFIX__=ULL",
"__UINT64_FMTX__=\"llX\"",
"__UINT64_FMTo__=\"llo\"",
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"__UINT64_TYPE__=long long unsigned int",
"__UINT8_C_SUFFIX__=",
"__UINT8_FMTX__=\"hhX\"",
"__UINT8_FMTo__=\"hho\"",
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"__UINT8_TYPE__=unsigned char",
"__UINTMAX_C_SUFFIX__=ULL",
"__UINTMAX_FMTX__=\"llX\"",
"__UINTMAX_FMTo__=\"llo\"",
"__UINTMAX_FMTu__=\"llu\"",
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"__UINTMAX_MAX__=18446744073709551615ULL",
"__UINTMAX_TYPE__=long long unsigned int",
"__UINTMAX_WIDTH__=64",
"__UINTPTR_FMTX__=\"X\"",
"__UINTPTR_FMTo__=\"o\"",
"__UINTPTR_FMTu__=\"u\"",
"__UINTPTR_FMTx__=\"x\"",
"__UINTPTR_MAX__=4294967295U",
"__UINTPTR_TYPE__=unsigned int",
"__UINTPTR_WIDTH__=32",
"__UINT_FAST16_FMTX__=\"hX\"",
"__UINT_FAST16_FMTo__=\"ho\"",
"__UINT_FAST16_FMTu__=\"hu\"",
"__UINT_FAST16_FMTx__=\"hx\"",
"__UINT_FAST16_MAX__=65535",
"__UINT_FAST16_TYPE__=unsigned short",
"__UINT_FAST32_FMTX__=\"X\"",
"__UINT_FAST32_FMTo__=\"o\"",
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"__UINT_FAST32_FMTx__=\"x\"",
"__UINT_FAST32_MAX__=4294967295U",
"__UINT_FAST32_TYPE__=unsigned int",
"__UINT_FAST64_FMTX__=\"llX\"",
"__UINT_FAST64_FMTo__=\"llo\"",
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"__UINT_FAST64_FMTx__=\"llx\"",
"__UINT_FAST64_MAX__=18446744073709551615ULL",
"__UINT_FAST64_TYPE__=long long unsigned int",
"__UINT_FAST8_FMTX__=\"hhX\"",
"__UINT_FAST8_FMTo__=\"hho\"",
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"__UINT_FAST8_MAX__=255",
"__UINT_FAST8_TYPE__=unsigned char",
"__UINT_LEAST16_FMTX__=\"hX\"",
"__UINT_LEAST16_FMTo__=\"ho\"",
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"__UINT_LEAST16_FMTx__=\"hx\"",
"__UINT_LEAST16_MAX__=65535",
"__UINT_LEAST16_TYPE__=unsigned short",
"__UINT_LEAST32_FMTX__=\"X\"",
"__UINT_LEAST32_FMTo__=\"o\"",
"__UINT_LEAST32_FMTu__=\"u\"",
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"__UINT_LEAST64_FMTo__=\"llo\"",
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"__UINT_LEAST64_MAX__=18446744073709551615ULL",
"__UINT_LEAST64_TYPE__=long long unsigned int",
"__UINT_LEAST8_FMTX__=\"hhX\"",
"__UINT_LEAST8_FMTo__=\"hho\"",
"__UINT_LEAST8_FMTu__=\"hhu\"",
"__UINT_LEAST8_FMTx__=\"hhx\"",
"__UINT_LEAST8_MAX__=255",
"__UINT_LEAST8_TYPE__=unsigned char",
"__USER_LABEL_PREFIX__=",
"__VERSION__=\"Clang 13.0.0 (ssh://ds-gerrit/armcompiler/llvm-project 1f5770d6f72ee4eba2159092bbf4cbb819be323a)\"",
"__WCHAR_MAX__=4294967295U",
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"__WCHAR_UNSIGNED__=1",
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"__WINT_WIDTH__=32",
"__arm=1",
"__arm__=1",
"__clang__=1",
"__clang_major__=13",
"__clang_minor__=0",
"__clang_patchlevel__=0",
"__clang_version__=\"13.0.0 (ssh://ds-gerrit/armcompiler/llvm-project 1f5770d6f72ee4eba2159092bbf4cbb819be323a)\"",
"__llvm__=1"
],
"intelliSenseMode": "${default}"
}
],
"version": 4
}

2
rmul2025/MDK-ARM/.vscode/keil-assistant.log vendored Normal file
View File

@ -0,0 +1,2 @@
[info] Log at : 2025/3/13|21:31:38|GMT+0800

6
rmul2025/MDK-ARM/.vscode/settings.json vendored Normal file
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@ -0,0 +1,6 @@
{
"files.associations": {
"can.h": "c",
"cap.h": "c"
}
}

8
rmul2025/MDK-ARM/.vscode/uv4.log vendored Normal file
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@ -0,0 +1,8 @@
*** Using Compiler 'V6.16', folder: 'D:\keil\ARM\ARMCLANG\Bin'
Build target 'DevC'
Note: source file '..\User\bsp\c\adc.c' - object file renamed from 'DevC\adc.o' to 'DevC\adc_1.o'.Note: source file '..\User\bsp\c\can.c' - object file renamed from 'DevC\can.o' to 'DevC\can_1.o'.Note: source file '..\User\bsp\c\gpio.c' - object file renamed from 'DevC\gpio.o' to 'DevC\gpio_1.o'.Note: source file '..\User\bsp\c\i2c.c' - object file renamed from 'DevC\i2c.o' to 'DevC\i2c_1.o'.Note: source file '..\User\bsp\c\spi.c' - object file renamed from 'DevC\spi.o' to 'DevC\spi_1.o'.Note: source file '..\User\device\can.c' - object file renamed from 'DevC\can.o' to 'DevC\can_2.o'.Note: source file '..\User\task\ai.c' - object file renamed from 'DevC\ai.o' to 'DevC\ai_1.o'.Note: source file '..\User\task\can.c' - object file renamed from 'DevC\can.o' to 'DevC\can_3.o'.Note: source file '..\User\task\cap.c' - object file renamed from 'DevC\cap.o' to 'DevC\cap_1.o'.Note: source file '..\User\task\referee.c' - object file renamed from 'DevC\referee.o' to 'DevC\referee_1.o'.compiling can.c...
compiling can.c...
linking...
Program Size: Code=148440 RO-data=6544 RW-data=1112 ZI-data=44320
"DevC\DevC.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:02

1
rmul2025/MDK-ARM/.vscode/uv4.log.lock vendored Normal file
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@ -0,0 +1 @@
2025/3/14 5:30:42

19
rmul2025/MDK-ARM/DevC.uvoptx
View File

@ -324,6 +324,11 @@
<pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key>
<Name>-U-O206 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>ARMRTXEVENTFLAGS</Key>
@ -347,7 +352,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>CMSIS_AGDI</Key>
<Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
<Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@ -390,7 +395,17 @@
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>cfg_qs</ItemText>
<ItemText>cap_out,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>pm01_od,0x0A</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>cap,0x0A</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow4>

BIN
rmul2025/MDK-ARM/DevC/DevC.axf
View File

Binary file not shown.

18008
rmul2025/MDK-ARM/DevC/DevC.hex
View File

File diff suppressed because it is too large Load Diff

256
rmul2025/User/device/can.c
View File

@ -66,6 +66,8 @@ static osThreadId_t thread_alert;
static CAN_t *gcan;
static bool inited = false;
volatile pm01_od_t pm01_od;
/* Private function -------------------------------------------------------- */
static void CAN_Motor_Decode(CAN_MotorFeedback_t *feedback,
const uint8_t *raw)
@ -260,6 +262,9 @@ int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
&raw_tx.tx_header, raw_tx.tx_data,
&(can->mailbox.shoot));
break;
default:
break;
}
return DEVICE_OK;
}
@ -304,7 +309,61 @@ int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx)
case CAN_TOF_ID_BASE:
can->recive_flag |= 1 << 10;
CAN_Tof_Decode(&(can->tof), can_rx->rx_data);
break;
break;
//超电
case 0x600:
pm01_od.ccr = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
can->cap.cap_od.ccr = pm01_od.ccr;
break;
case 0x601:
pm01_od.p_set = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
can->cap.cap_od.p_set = pm01_od.p_set;
break;
case 0x602:
pm01_od.v_set = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
can->cap.cap_od.v_set = pm01_od.v_set;
break;
case 0x603:
pm01_od.i_set = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
can->cap.cap_od.i_set = pm01_od.i_set;
break;
case 0x610:
pm01_od.sta_code.all = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
can->cap.cap_od.sta_code.all = pm01_od.sta_code.all;
pm01_od.err_code = (uint16_t)can_rx->rx_data[2] << 8 | can_rx->rx_data[3];
can->cap.cap_od.err_code = pm01_od.err_code;
break;
case 0x611:
pm01_od.p_in = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
can->cap.cap_od.p_in = pm01_od.p_in;
pm01_od.v_in = (uint16_t)can_rx->rx_data[2] << 8 | can_rx->rx_data[3];
can->cap.cap_od.v_in = pm01_od.v_in;
pm01_od.i_in = (uint16_t)can_rx->rx_data[4] << 8 | can_rx->rx_data[5];
can->cap.cap_od.i_in = pm01_od.i_in;
break;
case 0x612:
pm01_od.p_out = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
can->cap.cap_od.p_out = pm01_od.p_out;
pm01_od.v_out = (uint16_t)can_rx->rx_data[2] << 8 | can_rx->rx_data[3];
can->cap.cap_od.v_out = pm01_od.v_out;
pm01_od.i_out = (uint16_t)can_rx->rx_data[4] << 8 | can_rx->rx_data[5];
can->cap.cap_od.i_out = pm01_od.i_out;
break;
case 0x613:
pm01_od.temp = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
can->cap.cap_od.temp = pm01_od.temp;
pm01_od.total_time = (uint16_t)can_rx->rx_data[2] << 8 | can_rx->rx_data[3];
can->cap.cap_od.total_time = pm01_od.total_time;
pm01_od.run_time = (uint16_t)can_rx->rx_data[4] << 8 | can_rx->rx_data[5];
can->cap.cap_od.run_time = pm01_od.run_time;
break;
default:
break;
}
@ -326,6 +385,7 @@ int8_t CAN_ClearFlag(CAN_t *can, uint32_t flag)
return DEVICE_OK;
}
//不用这里
int8_t CAN_Cap_Control(CAN_CapOutput_t *output, CAN_t *can)
{
float power_limit = output->power_limit;
@ -345,6 +405,200 @@ int8_t CAN_Cap_Control(CAN_CapOutput_t *output, CAN_t *can)
return DEVICE_OK;
}
//添加的电容控制 int型函数
//超电控制
/**
* @brief 控制命令发送
* @param[in] new_cmd 0x00: 停机
0x01: 运行，不打开输出负载开关（只给超级电容充电）
0x02: 运行，打开输出负载开关（正常运行使用该指令）
save_flg: 0x00: 不保存至EEPROM 0x01: 保存至EEPROM
* @retval none
*/
int8_t CAN_Cap_cmd_send(CAN_CapOutput_t *output, CAN_t *can)
{
uint16_t cmd = output->new_cmd;
// uint16_t cmd = 2;
raw_tx.tx_header.StdId = 0x600;
raw_tx.tx_header.IDE = CAN_ID_STD;
raw_tx.tx_header.RTR = CAN_RTR_DATA;
raw_tx.tx_header.DLC = 0x04;
raw_tx.tx_data[0] = (uint8_t)(cmd >> 8 );
raw_tx.tx_data[1] = (uint8_t)(cmd & 0xFF);
raw_tx.tx_data[2] = 0x00;
raw_tx.tx_data[3] = (0x00 == 0x01); //反正demo里设置的是0x00,不管了
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
raw_tx.tx_data, &(can->mailbox.cap));
return DEVICE_OK;
}
/**
* @brief 设置功率
* @param[in] new_power：新的功率值
save_flg: 0x00: 不保存至EEPROM 0x01: 保存至EEPROM
* @retval none
*/
int8_t CAN_Cap_power_send(CAN_CapOutput_t *output, CAN_t *can)
{
uint16_t cmd = output->new_power;
//uint16_t cmd = 5000;
raw_tx.tx_header.StdId = 0x601;
raw_tx.tx_header.IDE = CAN_ID_STD;
raw_tx.tx_header.RTR = CAN_RTR_DATA;
raw_tx.tx_header.DLC = 0x04;
raw_tx.tx_data[0] = (uint8_t)(cmd >> 8 );
raw_tx.tx_data[1] = (uint8_t)(cmd & 0xFF);
raw_tx.tx_data[2] = 0x00;
raw_tx.tx_data[3] = (0x00 == 0x01); //save_flg
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
raw_tx.tx_data, &(can->mailbox.cap));
return DEVICE_OK;
}
/**
* @brief 设置输出电压
* @param[in] new_volt：新的电压值
save_flg: 0x00: 不保存至EEPROM 0x01: 保存至EEPROM
* @retval none
*/
int8_t CAN_Cap_voltage_send(CAN_CapOutput_t *output, CAN_t *can)
{
uint16_t cmd = output->new_voltage;
// uint16_t cmd = 2400;
raw_tx.tx_header.StdId = 0x602;
raw_tx.tx_header.IDE = CAN_ID_STD;
raw_tx.tx_header.RTR = CAN_RTR_DATA;
raw_tx.tx_header.DLC = 0x04;
raw_tx.tx_data[0] = (uint8_t)(cmd >> 8 );
raw_tx.tx_data[1] = (uint8_t)(cmd & 0xFF);
raw_tx.tx_data[2] = 0x00;
raw_tx.tx_data[3] = (0x00 == 0x01); //save_flg
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
raw_tx.tx_data, &(can->mailbox.cap));
return DEVICE_OK;
}
/**
* @brief 设置输出电流
* @param[in] new_volt：新的电流值
save_flg: 0x00: 不保存至EEPROM 0x01: 保存至EEPROM
* @retval none
*/
int8_t CAN_Cap_current_send(CAN_CapOutput_t *output, CAN_t *can)
{
uint16_t cmd = output->new_current;
// uint16_t cmd = 500;
raw_tx.tx_header.StdId = 0x603;
raw_tx.tx_header.IDE = CAN_ID_STD;
raw_tx.tx_header.RTR = CAN_RTR_DATA;
raw_tx.tx_header.DLC = 0x04;
raw_tx.tx_data[0] = (uint8_t)(cmd >> 8 );
raw_tx.tx_data[1] = (uint8_t)(cmd & 0xFF);
raw_tx.tx_data[2] = 0x00;
raw_tx.tx_data[3] = (0x00 == 0x01); //save_flg
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
raw_tx.tx_data, &(can->mailbox.cap));
return DEVICE_OK;
}
/**
* @brief 获取输入信息
* @param[in] new_volt：新的电流值
save_flg: 0x00: 不保存至EEPROM 0x01: 保存至EEPROM
* @retval none
*/
int8_t CAN_Cap_input_send(CAN_t *can)
{
raw_tx.tx_header.StdId = 0x611;
raw_tx.tx_header.IDE = CAN_ID_STD;
raw_tx.tx_header.RTR = CAN_RTR_REMOTE;
raw_tx.tx_header.DLC = 0x00;
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
raw_tx.tx_data, &(can->mailbox.cap));
return DEVICE_OK;
}
/**
* @brief 获取输出信息
* @param[in] new_volt：新的电流值
save_flg: 0x00: 不保存至EEPROM 0x01: 保存至EEPROM
* @retval none
*/
int8_t CAN_Cap_output_send(CAN_t *can)
{
raw_tx.tx_header.StdId = 0x612;
raw_tx.tx_header.IDE = CAN_ID_STD;
raw_tx.tx_header.RTR = CAN_RTR_REMOTE;
raw_tx.tx_header.DLC = 0x00;
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
raw_tx.tx_data, &(can->mailbox.cap));
return DEVICE_OK;
}
/**
* @brief 获取其他信息
* @param[in] new_volt：新的电流值
save_flg: 0x00: 不保存至EEPROM 0x01: 保存至EEPROM
* @retval none
*/
int8_t CAN_Cap_other_send(CAN_t *can)
{
raw_tx.tx_header.StdId = 0x613;
raw_tx.tx_header.IDE = CAN_ID_STD;
raw_tx.tx_header.RTR = CAN_RTR_REMOTE;
raw_tx.tx_header.DLC = 0x00;
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
raw_tx.tx_data, &(can->mailbox.cap));
return DEVICE_OK;
}
/**
* @brief 超电容器参数设置
* @param cap_out 电容输出结构体
* @param can can总线
* @retval none
*/
void Can_Set_send(CAN_CapOutput_t *output, CAN_t *can)
{
CAN_Cap_input_send(can);//获取输入信息
osDelay(1);
CAN_Cap_output_send(can);//获取输出信息
osDelay(1);
//// CAN_Cap_other_send(can);//获取其他信息
//// osDelay(1);
CAN_Cap_cmd_send(output, can);//控制命令发送
osDelay(1);
CAN_Cap_power_send(output, can);//设置功率
osDelay(1);
CAN_Cap_voltage_send(output, can);//设置输出电压
osDelay(1);
CAN_Cap_current_send(output, can);//设置输出电流
}
void CAN_CAP_HandleOffline(CAN_Capacitor_t *cap, CAN_CapOutput_t *cap_out,
float power_chassis)
{

68
rmul2025/User/device/can.h
View File

@ -163,6 +163,10 @@ typedef union {
typedef struct {
float power_limit;
uint16_t new_cmd;//can的超电控制设置数值
uint16_t new_power;
uint16_t new_voltage;
uint16_t new_current;
} CAN_CapOutput_t;
typedef struct {
@ -232,11 +236,61 @@ typedef struct {
uint8_t tx_data[CAN_TX_BUF_SIZE_MAX];
} CAN_RawTx_t;
//超电
typedef union
{
uint16_t all;
struct {
uint16_t rdy: 1; /*!< bit0 就绪 */
uint16_t run: 1; /*!< bit1 运行 */
uint16_t alm: 1; /*!< bit2 报警 */
uint16_t pwr: 1; /*!< bit3 电源开关 */
uint16_t load: 1; /*!< bit4 负载开关 */
uint16_t cc: 1; /*!< bit5 恒流 */
uint16_t cv: 1; /*!< bit6 恒压 */
uint16_t cw: 1; /*!< bit7 恒功率 */
uint16_t revd: 7; /*!< bit8-14 保留 */
uint16_t flt: 1; /*!< bit15 故障 */
}bit;
}csr_t;
typedef struct mb_reg_type{
uint16_t ccr; /*!< 8000H 控制寄存器 */
uint16_t p_set; /*!< 8001H 输入功率限制 */
uint16_t v_set; /*!< 8002H 输出电压设置 */
uint16_t i_set; /*!< 8003H 输出电流限制 */
csr_t sta_code; /*!< 8100H 状态标志位 */
uint16_t err_code; /*!< 8101H 故障代码 */
int16_t v_in; /*!< 8102H 输入电压 */
int16_t i_in; /*!< 8103H 输入电流 */
int16_t p_in; /*!< 8104H 输入功率 */
int16_t v_out; /*!< 8105H 输出电压 */
int16_t i_out; /*!< 8106H 输出电流 */
int16_t p_out; /*!< 8107H 输出功率 */
int16_t temp; /*!< 8108H 温度 */
uint16_t total_time; /*!< 8109H 累计时间 */
uint16_t run_time; /*!< 810AH 运行时间 */
volatile uint16_t pm01_access_id; /* 正在访问的标识符 */
volatile uint16_t pm01_response_flg; /* 控制器响应成功标志位 */
uint16_t g_cmd_set ;
uint16_t g_power_set ;
uint16_t g_vout_set ;
uint16_t g_iout_set ;
}pm01_od_t;
typedef struct {
float percentage;
float percentage;// 电容器的百分比状态
CAN_CapStatus_t cap_status;
CAN_CapFeedback_t cap_feedback;
} CAN_Capacitor_t;
volatile pm01_od_t cap_od;
} CAN_Capacitor_t;//
typedef struct {
CAN_ChassisMotor_t chassis;
@ -283,6 +337,16 @@ void CAN_CAP_HandleOffline(CAN_Capacitor_t *cap, CAN_CapOutput_t *cap_out,
void CAN_Tof_Decode(CAN_Tof_t *tof, const uint8_t *raw);
//添加send函数
int8_t CAN_Cap_cmd_send(CAN_CapOutput_t *output, CAN_t *can);
int8_t CAN_Cap_power_send(CAN_CapOutput_t *output, CAN_t *can);
int8_t CAN_Cap_voltage_send(CAN_CapOutput_t *output, CAN_t *can);
int8_t CAN_Cap_current_send(CAN_CapOutput_t *output, CAN_t *can);
int8_t CAN_Cap_output_send(CAN_t *can);
int8_t CAN_Cap_input_send(CAN_t *can);
int8_t CAN_Cap_other_send(CAN_t *can);
void Can_Set_send(CAN_CapOutput_t *output, CAN_t *can);
#ifdef __cplusplus
}
#endif

51
rmul2025/User/module/cap.c
View File

@ -26,21 +26,42 @@
* @param cap_out 电容输出结构体
*/
void Cap_Control(CAN_Capacitor_t *cap, const Referee_ForCap_t *referee,
CAN_CapOutput_t *cap_out) {
if (referee->ref_status != REF_STATUS_RUNNING) {
/* 当裁判系统离线时，依然使用裁判系统进程传来的数据 */
cap_out->power_limit = referee->chassis_power_limit;
} else {
/* 当裁判系统在线时，使用算法控制裁判系统输出（即电容输入） */
cap_out->power_limit =
PowerLimit_CapInput(referee->chassis_watt, referee->chassis_power_limit,
referee->chassis_pwr_buff);
}
/* 更新电容状态和百分比 */
cap->cap_status = CAN_CAP_STATUS_RUNNING;
cap->percentage = Capacity_GetCapacitorRemain(cap->cap_feedback.cap_volt,
cap->cap_feedback.input_volt,
CAP_CUTOFF_VOLT);
CAN_CapOutput_t *cap_out) {
if (referee->ref_status != REF_STATUS_RUNNING) {
/* 当裁判系统离线时，依然使用裁判系统进程传来的数据 */
cap_out->power_limit = referee->chassis_power_limit;
} else {
/* 当裁判系统在线时，使用算法控制裁判系统输出（即电容输入） */
cap_out->power_limit =
PowerLimit_CapInput(referee->chassis_watt, referee->chassis_power_limit,
referee->chassis_pwr_buff);
}
/* 更新电容状态和百分比 */
cap->cap_status = CAN_CAP_STATUS_RUNNING;
// cap->percentage = Capacity_GetCapacitorRemain(cap->cap_feedback.cap_volt,
// cap->cap_feedback.input_volt,
// CAP_CUTOFF_VOLT);//电容剩余电量比例
cap->percentage = Capacity_GetCapacitorRemain(cap->cap_od.v_out,
cap->cap_od.v_in,
CAP_CUTOFF_VOLT);//电容剩余电量比例
}
/**
* @brief 运行设置电容参数
*
* @param cap_out 电容输出结构体
* @param can can总线
*/
void Cap_Can_Send(CAN_CapOutput_t *cap_out)
{
cap_out->new_cmd=2;
cap_out->new_power=5000;
cap_out->new_voltage=2400;
cap_out->new_current=100;
}
/**

8
rmul2025/User/module/cap.h
View File

@ -35,6 +35,14 @@ void Cap_Control(CAN_Capacitor_t *cap, const Referee_ForCap_t *referee,
*/
void Cap_DumpUI(const CAN_Capacitor_t *cap, Referee_CapUI_t *ui);
/**
* @brief 运行设置电容参数
*
* @param cap_out 电容输出结构体
* @param can can总线
*/
void Cap_Can_Send(CAN_CapOutput_t *cap_out) ;
#ifdef __cplusplus
}
#endif

35
rmul2025/User/task/can.c
View File

@ -53,13 +53,17 @@ void Task_Can(void *argument) {
osMessageQueueReset(task_runtime.msgq.can.feedback.shoot);
osMessageQueuePut(task_runtime.msgq.can.feedback.shoot, &can, 0, 0);
if (CAN_CheckFlag(&can, CAN_REC_CAP_FINISHED)) {
osMessageQueueReset(task_runtime.msgq.can.feedback.cap);
osMessageQueuePut(task_runtime.msgq.can.feedback.cap, &can, 0, 0);
CAN_ClearFlag(&can, CAN_REC_CAP_FINISHED);
} else {
// Error Handle
}
//不注释掉不能用
// if (CAN_CheckFlag(&can, CAN_REC_CAP_FINISHED)) {
// osMessageQueueReset(task_runtime.msgq.can.feedback.cap);
// osMessageQueuePut(task_runtime.msgq.can.feedback.cap, &can, 0, 0);
// CAN_ClearFlag(&can, CAN_REC_CAP_FINISHED);
// } else {
// // Error Handle
// }
osMessageQueueReset(task_runtime.msgq.can.feedback.cap);
osMessageQueuePut(task_runtime.msgq.can.feedback.cap, &can, 0, 0);
if (CAN_CheckFlag(&can, CAN_REC_TOF_FINISHED)) {
osMessageQueueReset(task_runtime.msgq.can.feedback.tof);
@ -84,10 +88,19 @@ void Task_Can(void *argument) {
CAN_Motor_Control(CAN_MOTOR_GROUT_SHOOT1, &can_out, &can);
}
if (osMessageQueueGet(task_runtime.msgq.can.output.cap, &(can_out.cap), 0,
0) == osOK) {
CAN_Cap_Control(&(can_out.cap), &can);
}
// if (osMessageQueueGet(task_runtime.msgq.can.output.cap, &(can_out.cap), 0,
// 0) == osOK) {
// CAN_Cap_Control(&(can_out.cap), &can);
// }
//在cap的task里计算电容的输出功率消息队列
if (osMessageQueueGet(task_runtime.msgq.can.output.cap, &(can_out.cap), 0,
0) == osOK) {
// CAN_Cap_Control(&(can_out.cap), &can);
Can_Set_send(&(can_out.cap), &can);
}
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}
}

3
rmul2025/User/task/cap.c
View File

@ -74,6 +74,9 @@ void Task_Cap(void *argument) {
osKernelLock(); /* 锁住RTOS内核防止控制过程中断，造成错误 */
/* 根据裁判系统数据计算输出功率 */
Cap_Control(&can.cap, &referee_cap, &cap_out);
/* 超电参数设置 */
Cap_Can_Send(&cap_out);
osKernelUnlock();
/* 将电容输出值发送到CAN */
osMessageQueueReset(task_runtime.msgq.can.output.cap);