英雄单独（can未兼容）

.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "files.associations": {
+        "functional": "cpp"
+    }
+}

MDK-ARM/DevC.uvoptx

@@ -10,7 +10,7 @@
     <aExt>*.s*; *.src; *.a*</aExt>
     <oExt>*.obj; *.o</oExt>
     <lExt>*.lib</lExt>
-    <tExt>*.txt; *.h; *.inc</tExt>
+    <tExt>*.txt; *.h; *.inc; *.md</tExt>
     <pExt>*.plm</pExt>
     <CppX>*.cpp</CppX>
     <nMigrate>0</nMigrate>
@@ -360,34 +360,22 @@
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>chassis</ItemText>
+          <ItemText>param_default</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
           <ItemText>gimbal</ItemText>
         </Ww>
-        <Ww>
-          <count>2</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>gimbal_out</ItemText>
-        </Ww>
-        <Ww>
-          <count>3</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>for_chassis</ItemText>
-        </Ww>
-        <Ww>
-          <count>4</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>task_runtime</ItemText>
-        </Ww>
-        <Ww>
-          <count>5</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>ref</ItemText>
-        </Ww>
       </WatchWindow1>
+      <MemoryWindow4>
+        <Mm>
+          <WinNumber>4</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>for_chassis</ItemText>
+          <AccSizeX>0</AccSizeX>
+        </Mm>
+      </MemoryWindow4>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
@@ -1250,7 +1238,7 @@
 
   <Group>
     <GroupName>User/bsp</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1474,7 +1462,7 @@
 
   <Group>
     <GroupName>User/component</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1786,7 +1774,7 @@
       <GroupNumber>12</GroupNumber>
       <FileNumber>105</FileNumber>
       <FileType>1</FileType>
-      <tvExp>1</tvExp>
+      <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\User\module\shoot.c</PathWithFileName>

MDK-ARM/DevC.uvprojx

@@ -16,7 +16,7 @@
         <TargetCommonOption>
           <Device>STM32F407IGHx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.14.0</PackID>
+          <PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
           <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000-0x2001FFFF) IRAM2(0x10000000-0x1000FFFF) IROM(0x8000000-0x80FFFFF)  CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4")</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
@@ -1726,13 +1726,13 @@
       <TargetName>Debug</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
-      <pCCUsed>6140000::V6.14::ARMCLANG</pCCUsed>
+      <pCCUsed>6160000::V6.16::ARMCLANG</pCCUsed>
       <uAC6>1</uAC6>
       <TargetOption>
         <TargetCommonOption>
           <Device>STM32F407IGHx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.14.0</PackID>
+          <PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
           <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000-0x2001FFFF) IRAM2(0x10000000-0x1000FFFF) IROM(0x8000000-0x80FFFFF)  CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4")</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
@@ -3443,11 +3443,6 @@
     <Layers>
       <Layer>
         <LayName>DevC</LayName>
-        <LayDesc></LayDesc>
-        <LayUrl></LayUrl>
-        <LayKeys></LayKeys>
-        <LayCat></LayCat>
-        <LayLic></LayLic>
         <LayTarg>0</LayTarg>
         <LayPrjMark>1</LayPrjMark>
       </Layer>

User/device/can.c

@@ -205,7 +205,10 @@ int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
       raw_tx.tx_data[6] = 0;
       raw_tx.tx_data[7] = 0;
 
-      HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->gimbal),
+      HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->gimbal.yaw),
+                           &raw_tx.tx_header, raw_tx.tx_data,
+                           &(can->mailbox.gimbal));
+      HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->gimbal.pitch),
                            &raw_tx.tx_header, raw_tx.tx_data,
                            &(can->mailbox.gimbal));
 			// HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->shoot),
@@ -239,6 +242,9 @@ int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
       HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->shoot),
                            &raw_tx.tx_header, raw_tx.tx_data,
                            &(can->mailbox.shoot));
+      HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->trig),
+                           &raw_tx.tx_header, raw_tx.tx_data,
+                           &(can->mailbox.shoot));                     
       break;
 
     default:

User/device/can.h

@@ -78,10 +78,16 @@ typedef enum {
   CAN_GM6020_PIT_ID = 0x20A, /* 6 */
 } CAN_MotorId_t;
 
+typedef struct {
+  BSP_CAN_t yaw;
+  BSP_CAN_t pitch;
+} Gimbal_CAN_t;
+
 typedef struct {
   BSP_CAN_t chassis;
-  BSP_CAN_t gimbal;
+  Gimbal_CAN_t gimbal;
   BSP_CAN_t shoot;
+  BSP_CAN_t trig;
   BSP_CAN_t cap;
 } CAN_Params_t;
 

User/module/config.c

@@ -194,8 +194,10 @@ static const Config_RobotParam_t param_default = {
 
   .can = {
     .chassis = BSP_CAN_1,
-    .gimbal = BSP_CAN_2,
+    .gimbal.yaw = BSP_CAN_2,
-    .shoot = BSP_CAN_2,      
+    .gimbal.pitch = BSP_CAN_2,
+    .shoot = BSP_CAN_2,
+    .trig = BSP_CAN_2,
     .cap = BSP_CAN_1,
     }, /* can */
 }; /* param_default */
@@ -339,8 +341,10 @@ static const Config_RobotParam_t param_hero = {
 
   .can = {
     .chassis = BSP_CAN_1,
-    .gimbal = BSP_CAN_2,
+    .gimbal.yaw = BSP_CAN_1,
-    .shoot = BSP_CAN_2,      
+    .gimbal.pitch = BSP_CAN_2,
+    .shoot = BSP_CAN_2,
+    .trig = BSP_CAN_1,
     .cap = BSP_CAN_1,
     }, /* can */
 }; /* param_hero */