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英雄单独（can未兼容）

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Robofish 2025-03-01 01:44:52 +08:00
parent 76fde06500
commit 9fe34c0bf8
8 changed files with 9709 additions and 6968 deletions
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5
.vscode/settings.json vendored Normal file
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@ -0,0 +1,5 @@
{
"files.associations": {
"functional": "cpp"
}
}

38
MDK-ARM/DevC.uvoptx
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@ -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>

11
MDK-ARM/DevC.uvprojx
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@ -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>

BIN
MDK-ARM/DevC/DevC.axf
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16595
MDK-ARM/DevC/DevC.hex
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File diff suppressed because it is too large Load Diff

8
User/device/can.c
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@ -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:

8
User/device/can.h
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@ -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;

8
User/module/config.c
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@ -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,
.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,
.gimbal.pitch = BSP_CAN_2,
.shoot = BSP_CAN_2,
.trig = BSP_CAN_1,
.cap = BSP_CAN_1,
}, /* can */
}; /* param_hero */