diff --git a/.DS_Store b/.DS_Store index 1e67116..9e46c90 100644 Binary files a/.DS_Store and b/.DS_Store differ diff --git a/.mxproject b/.mxproject index ccd00e5..e344211 100644 --- a/.mxproject +++ b/.mxproject @@ -1,14 +1,14 @@ [PreviousLibFiles] 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[PreviousUsedCMakes] -SourceFiles=Core/Src/main.c;Core/Src/gpio.c;Core/Src/freertos.c;Core/Src/adc.c;Core/Src/bdma.c;Core/Src/dac.c;Core/Src/dma.c;Core/Src/fdcan.c;Core/Src/spi.c;Core/Src/tim.c;Core/Src/usart.c;Core/Src/usb_otg.c;Core/Src/stm32h7xx_it.c;Core/Src/stm32h7xx_hal_msp.c;Core/Src/stm32h7xx_hal_timebase_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_hsem.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dac.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dac_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_usb.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Drivers/CMSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c;Core/Src/system_stm32h7xx.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_hsem.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dac.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dac_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_usb.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Drivers/CMSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c;Core/Src/system_stm32h7xx.c;;;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Pa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+SourceFiles=Core/Src/main.c;Core/Src/gpio.c;Core/Src/freertos.c;Core/Src/adc.c;Core/Src/bdma.c;Core/Src/dac.c;Core/Src/dma.c;Core/Src/fdcan.c;Core/Src/octospi.c;Core/Src/spi.c;Core/Src/tim.c;Core/Src/usart.c;Core/Src/usb_otg.c;Core/Src/stm32h7xx_it.c;Core/Src/stm32h7xx_hal_msp.c;Core/Src/stm32h7xx_hal_timebase_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_hsem.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dac.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dac_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_ospi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_usb.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Drivers/CMSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c;Core/Src/system_stm32h7xx.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_hsem.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dac.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dac_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_ospi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_usb.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Drivers/CMSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c;Core/Src/system_stm32h7xx.c;;;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c; HeaderPath=Drivers/STM32H7xx_HAL_Driver/Inc;Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;Middlewares/Third_Party/FreeRTOS/Source/include;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F;Drivers/CMSIS/Device/ST/STM32H7xx/Include;Drivers/CMSIS/Include;Core/Inc; CDefines=USE_PWR_LDO_SUPPLY;USE_PWR_LDO_SUPPLY;USE_HAL_DRIVER;STM32H723xx;USE_HAL_DRIVER;USE_HAL_DRIVER; [PreviousGenFiles] AdvancedFolderStructure=true -HeaderFileListSize=14 +HeaderFileListSize=15 HeaderFiles#0=../Core/Inc/gpio.h HeaderFiles#1=../Core/Inc/FreeRTOSConfig.h HeaderFiles#2=../Core/Inc/adc.h @@ -16,17 +16,18 @@ HeaderFiles#3=../Core/Inc/bdma.h HeaderFiles#4=../Core/Inc/dac.h HeaderFiles#5=../Core/Inc/dma.h HeaderFiles#6=../Core/Inc/fdcan.h -HeaderFiles#7=../Core/Inc/spi.h -HeaderFiles#8=../Core/Inc/tim.h -HeaderFiles#9=../Core/Inc/usart.h -HeaderFiles#10=../Core/Inc/usb_otg.h -HeaderFiles#11=../Core/Inc/stm32h7xx_it.h -HeaderFiles#12=../Core/Inc/stm32h7xx_hal_conf.h -HeaderFiles#13=../Core/Inc/main.h +HeaderFiles#7=../Core/Inc/octospi.h +HeaderFiles#8=../Core/Inc/spi.h +HeaderFiles#9=../Core/Inc/tim.h +HeaderFiles#10=../Core/Inc/usart.h +HeaderFiles#11=../Core/Inc/usb_otg.h +HeaderFiles#12=../Core/Inc/stm32h7xx_it.h +HeaderFiles#13=../Core/Inc/stm32h7xx_hal_conf.h +HeaderFiles#14=../Core/Inc/main.h HeaderFolderListSize=1 HeaderPath#0=../Core/Inc HeaderFiles=; -SourceFileListSize=15 +SourceFileListSize=16 SourceFiles#0=../Core/Src/gpio.c SourceFiles#1=../Core/Src/freertos.c SourceFiles#2=../Core/Src/adc.c @@ -34,14 +35,15 @@ SourceFiles#3=../Core/Src/bdma.c SourceFiles#4=../Core/Src/dac.c SourceFiles#5=../Core/Src/dma.c SourceFiles#6=../Core/Src/fdcan.c -SourceFiles#7=../Core/Src/spi.c -SourceFiles#8=../Core/Src/tim.c -SourceFiles#9=../Core/Src/usart.c -SourceFiles#10=../Core/Src/usb_otg.c -SourceFiles#11=../Core/Src/stm32h7xx_it.c -SourceFiles#12=../Core/Src/stm32h7xx_hal_msp.c -SourceFiles#13=../Core/Src/stm32h7xx_hal_timebase_tim.c -SourceFiles#14=../Core/Src/main.c +SourceFiles#7=../Core/Src/octospi.c +SourceFiles#8=../Core/Src/spi.c +SourceFiles#9=../Core/Src/tim.c +SourceFiles#10=../Core/Src/usart.c +SourceFiles#11=../Core/Src/usb_otg.c +SourceFiles#12=../Core/Src/stm32h7xx_it.c +SourceFiles#13=../Core/Src/stm32h7xx_hal_msp.c +SourceFiles#14=../Core/Src/stm32h7xx_hal_timebase_tim.c +SourceFiles#15=../Core/Src/main.c SourceFolderListSize=1 SourcePath#0=../Core/Src SourceFiles=; diff --git a/.settings/bundles-lock.store.json b/.settings/bundles-lock.store.json index 7e6cbbe..b8edaa2 100644 --- a/.settings/bundles-lock.store.json +++ b/.settings/bundles-lock.store.json @@ -117,7 +117,7 @@ "selected_by": [ { "name": "st-arm-clangd", - "version": "19.1.2+st.3" + "version": "^19.1.2+st.3" } ] }, @@ -128,7 +128,7 @@ "selected_by": [ { "name": "st-arm-clangd", - "version": "19.1.2+st.3" + "version": "^19.1.2+st.3" } ] }, @@ -139,7 +139,7 @@ "selected_by": [ { "name": "st-arm-clangd", - "version": "19.1.2+st.3" + "version": "^19.1.2+st.3" } ] } diff --git a/.settings/bundles.store.json b/.settings/bundles.store.json index d036e56..357e80c 100644 --- a/.settings/bundles.store.json +++ b/.settings/bundles.store.json @@ -14,7 +14,7 @@ }, { "name": "st-arm-clangd", - "version": "19.1.2+st.3" + "version": "^19.1.2+st.3" } ] } diff --git a/CMakeLists.txt b/CMakeLists.txt index 906d60a..3721242 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -45,52 +45,11 @@ target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE # Add sources to executable target_sources(${CMAKE_PROJECT_NAME} PRIVATE # Add user sources here - # User/bsp sources - User/bsp/fdcan.c - User/bsp/flash.c - User/bsp/gpio.c - User/bsp/mm.c - User/bsp/pwm.c - User/bsp/spi.c - User/bsp/time.c - User/bsp/uart.c - - # User/component sources - User/component/ahrs.c - User/component/crc16.c - User/component/crc8.c - User/component/error_detect.c - User/component/filter.c - User/component/freertos_cli.c - User/component/limiter.c - User/component/pid.c - User/component/user_math.c - - # User/device sources - User/device/bmi088.c - User/device/buzzer.c - User/device/dr16.c - User/device/motor.c - User/device/motor_dm.c - User/device/motor_lk.c - User/device/motor_lz.c - User/device/motor_rm.c - - # User/module sources - User/module/config.c - - # User/task sources - User/task/ai.c - User/task/atti_esti.c - User/task/init.c - User/task/rc.c - User/task/user_task.c ) # Add include paths target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE # Add user defined include paths - User ) # Add project symbols (macros) diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h index 6c40c25..c081c8b 100644 --- a/Core/Inc/FreeRTOSConfig.h +++ b/Core/Inc/FreeRTOSConfig.h @@ -68,7 +68,7 @@ #define configTICK_RATE_HZ ((TickType_t)1000) #define configMAX_PRIORITIES ( 56 ) #define configMINIMAL_STACK_SIZE ((uint16_t)128) -#define configTOTAL_HEAP_SIZE ((size_t)0x10000) +#define configTOTAL_HEAP_SIZE ((size_t)15360) #define configMAX_TASK_NAME_LEN ( 16 ) #define configUSE_TRACE_FACILITY 1 #define configUSE_16_BIT_TICKS 0 diff --git a/Core/Inc/main.h b/Core/Inc/main.h index 234114a..9f776cb 100644 --- a/Core/Inc/main.h +++ b/Core/Inc/main.h @@ -59,18 +59,22 @@ void Error_Handler(void); /* Private defines -----------------------------------------------------------*/ #define POWER_24V_2_Pin GPIO_PIN_13 #define POWER_24V_2_GPIO_Port GPIOC +#define POWER_24_EN__Pin GPIO_PIN_14 +#define POWER_24_EN__GPIO_Port GPIOC #define POWER_5V_Pin GPIO_PIN_15 #define POWER_5V_GPIO_Port GPIOC -#define ACC_CS_Pin GPIO_PIN_0 -#define ACC_CS_GPIO_Port GPIOC +#define ACCL_CS_Pin GPIO_PIN_0 +#define ACCL_CS_GPIO_Port GPIOC #define GYRO_CS_Pin GPIO_PIN_3 #define GYRO_CS_GPIO_Port GPIOC -#define ACC_INT_Pin GPIO_PIN_10 -#define ACC_INT_GPIO_Port GPIOE +#define ACCL_INT_Pin GPIO_PIN_10 +#define ACCL_INT_GPIO_Port GPIOE +#define ACCL_INT_EXTI_IRQn EXTI15_10_IRQn #define W25Q64_CS_Pin GPIO_PIN_11 #define W25Q64_CS_GPIO_Port GPIOE #define GYRO_INT_Pin GPIO_PIN_12 #define GYRO_INT_GPIO_Port GPIOE +#define GYRO_INT_EXTI_IRQn EXTI15_10_IRQn #define LCD_CS_Pin GPIO_PIN_15 #define LCD_CS_GPIO_Port GPIOE #define LCD_BLK_Pin GPIO_PIN_10 diff --git a/Core/Inc/octospi.h b/Core/Inc/octospi.h new file mode 100644 index 0000000..6610f0e --- /dev/null +++ b/Core/Inc/octospi.h @@ -0,0 +1,52 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file octospi.h + * @brief This file contains all the function prototypes for + * the octospi.c file + ****************************************************************************** + * @attention + * + * Copyright (c) 2026 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __OCTOSPI_H__ +#define __OCTOSPI_H__ + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "main.h" + +/* USER CODE BEGIN Includes */ + +/* USER CODE END Includes */ + +extern OSPI_HandleTypeDef hospi1; + +/* USER CODE BEGIN Private defines */ + +/* USER CODE END Private defines */ + +void MX_OCTOSPI1_Init(void); + +/* USER CODE BEGIN Prototypes */ + +/* USER CODE END Prototypes */ + +#ifdef __cplusplus +} +#endif + +#endif /* __OCTOSPI_H__ */ + diff --git a/Core/Inc/stm32h7xx_hal_conf.h b/Core/Inc/stm32h7xx_hal_conf.h index a889a6d..d01ae53 100644 --- a/Core/Inc/stm32h7xx_hal_conf.h +++ b/Core/Inc/stm32h7xx_hal_conf.h @@ -58,7 +58,7 @@ /* #define HAL_GFXMMU_MODULE_ENABLED */ /* #define HAL_JPEG_MODULE_ENABLED */ /* #define HAL_OPAMP_MODULE_ENABLED */ -/* #define HAL_OSPI_MODULE_ENABLED */ +#define HAL_OSPI_MODULE_ENABLED /* #define HAL_I2S_MODULE_ENABLED */ /* #define HAL_SMBUS_MODULE_ENABLED */ /* #define HAL_IWDG_MODULE_ENABLED */ diff --git a/Core/Inc/stm32h7xx_it.h b/Core/Inc/stm32h7xx_it.h index e7f94ae..de415ab 100644 --- a/Core/Inc/stm32h7xx_it.h +++ b/Core/Inc/stm32h7xx_it.h @@ -63,11 +63,11 @@ void FDCAN1_IT0_IRQHandler(void); void FDCAN2_IT0_IRQHandler(void); void FDCAN1_IT1_IRQHandler(void); void FDCAN2_IT1_IRQHandler(void); -void TIM4_IRQHandler(void); void SPI2_IRQHandler(void); void USART1_IRQHandler(void); void USART2_IRQHandler(void); void USART3_IRQHandler(void); +void EXTI15_10_IRQHandler(void); void DMA1_Stream7_IRQHandler(void); void UART5_IRQHandler(void); void DMA2_Stream0_IRQHandler(void); @@ -83,6 +83,7 @@ void BDMA_Channel0_IRQHandler(void); void USART10_IRQHandler(void); void FDCAN3_IT0_IRQHandler(void); void FDCAN3_IT1_IRQHandler(void); +void TIM23_IRQHandler(void); /* USER CODE BEGIN EFP */ /* USER CODE END EFP */ diff --git a/Core/Src/fdcan.c b/Core/Src/fdcan.c index 4bc0adb..a89c6be 100644 --- a/Core/Src/fdcan.c +++ b/Core/Src/fdcan.c @@ -40,9 +40,9 @@ void MX_FDCAN1_Init(void) /* USER CODE END FDCAN1_Init 1 */ hfdcan1.Instance = FDCAN1; - hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC; + hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_BRS; hfdcan1.Init.Mode = FDCAN_MODE_NORMAL; - hfdcan1.Init.AutoRetransmission = ENABLE; + hfdcan1.Init.AutoRetransmission = DISABLE; hfdcan1.Init.TransmitPause = DISABLE; hfdcan1.Init.ProtocolException = DISABLE; hfdcan1.Init.NominalPrescaler = 5; @@ -88,9 +88,9 @@ void MX_FDCAN2_Init(void) /* USER CODE END FDCAN2_Init 1 */ hfdcan2.Instance = FDCAN2; - hfdcan2.Init.FrameFormat = FDCAN_FRAME_CLASSIC; + hfdcan2.Init.FrameFormat = FDCAN_FRAME_FD_BRS; hfdcan2.Init.Mode = FDCAN_MODE_NORMAL; - hfdcan2.Init.AutoRetransmission = ENABLE; + hfdcan2.Init.AutoRetransmission = DISABLE; hfdcan2.Init.TransmitPause = DISABLE; hfdcan2.Init.ProtocolException = DISABLE; hfdcan2.Init.NominalPrescaler = 5; @@ -136,9 +136,9 @@ void MX_FDCAN3_Init(void) /* USER CODE END FDCAN3_Init 1 */ hfdcan3.Instance = FDCAN3; - hfdcan3.Init.FrameFormat = FDCAN_FRAME_CLASSIC; + hfdcan3.Init.FrameFormat = FDCAN_FRAME_FD_BRS; hfdcan3.Init.Mode = FDCAN_MODE_NORMAL; - hfdcan3.Init.AutoRetransmission = ENABLE; + hfdcan3.Init.AutoRetransmission = DISABLE; hfdcan3.Init.TransmitPause = DISABLE; hfdcan3.Init.ProtocolException = DISABLE; hfdcan3.Init.NominalPrescaler = 5; diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c index 1f17afb..cdb9c31 100644 --- a/Core/Src/freertos.c +++ b/Core/Src/freertos.c @@ -26,7 +26,6 @@ /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ -#include "task/user_task.h" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ @@ -97,7 +96,6 @@ void MX_FREERTOS_Init(void) { /* USER CODE BEGIN RTOS_THREADS */ /* add threads, ... */ - osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务 /* USER CODE END RTOS_THREADS */ /* USER CODE BEGIN RTOS_EVENTS */ @@ -116,7 +114,11 @@ void MX_FREERTOS_Init(void) { void StartDefaultTask(void *argument) { /* USER CODE BEGIN StartDefaultTask */ - osThreadTerminate(osThreadGetId()); + /* Infinite loop */ + for(;;) + { + osDelay(1); + } /* USER CODE END StartDefaultTask */ } diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c index 2c08007..bdc2dbd 100644 --- a/Core/Src/gpio.c +++ b/Core/Src/gpio.c @@ -53,10 +53,10 @@ void MX_GPIO_Init(void) __HAL_RCC_GPIOD_CLK_ENABLE(); /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(GPIOC, POWER_24V_2_Pin|POWER_5V_Pin|ACC_CS_Pin|GYRO_CS_Pin, GPIO_PIN_SET); + HAL_GPIO_WritePin(GPIOC, POWER_24V_2_Pin|POWER_24_EN__Pin, GPIO_PIN_RESET); /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(GPIOC, GPIO_PIN_14, GPIO_PIN_RESET); + HAL_GPIO_WritePin(GPIOC, POWER_5V_Pin|ACCL_CS_Pin|GYRO_CS_Pin, GPIO_PIN_SET); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(GPIOE, W25Q64_CS_Pin|LCD_CS_Pin, GPIO_PIN_RESET); @@ -64,22 +64,22 @@ void MX_GPIO_Init(void) /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(GPIOB, LCD_BLK_Pin|LCD_RES_Pin, GPIO_PIN_RESET); - /*Configure GPIO pins : POWER_24V_2_Pin PC14 POWER_5V_Pin */ - GPIO_InitStruct.Pin = POWER_24V_2_Pin|GPIO_PIN_14|POWER_5V_Pin; + /*Configure GPIO pins : POWER_24V_2_Pin POWER_24_EN__Pin POWER_5V_Pin */ + GPIO_InitStruct.Pin = POWER_24V_2_Pin|POWER_24_EN__Pin|POWER_5V_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); - /*Configure GPIO pins : ACC_CS_Pin GYRO_CS_Pin */ - GPIO_InitStruct.Pin = ACC_CS_Pin|GYRO_CS_Pin; + /*Configure GPIO pins : ACCL_CS_Pin GYRO_CS_Pin */ + GPIO_InitStruct.Pin = ACCL_CS_Pin|GYRO_CS_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); - /*Configure GPIO pins : ACC_INT_Pin GYRO_INT_Pin */ - GPIO_InitStruct.Pin = ACC_INT_Pin|GYRO_INT_Pin; + /*Configure GPIO pins : ACCL_INT_Pin GYRO_INT_Pin */ + GPIO_InitStruct.Pin = ACCL_INT_Pin|GYRO_INT_Pin; GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOE, &GPIO_InitStruct); @@ -107,6 +107,10 @@ void MX_GPIO_Init(void) /*AnalogSwitch Config */ HAL_SYSCFG_AnalogSwitchConfig(SYSCFG_SWITCH_PC3, SYSCFG_SWITCH_PC3_CLOSE); + /* EXTI interrupt init*/ + HAL_NVIC_SetPriority(EXTI15_10_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(EXTI15_10_IRQn); + } /* USER CODE BEGIN 2 */ diff --git a/Core/Src/main.c b/Core/Src/main.c index a07844f..db0f46b 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -24,6 +24,7 @@ #include "dac.h" #include "dma.h" #include "fdcan.h" +#include "octospi.h" #include "spi.h" #include "tim.h" #include "usart.h" @@ -121,6 +122,7 @@ int main(void) MX_DAC1_Init(); MX_USB_OTG_HS_PCD_Init(); MX_UART5_Init(); + MX_OCTOSPI1_Init(); /* USER CODE BEGIN 2 */ /* USER CODE END 2 */ @@ -237,7 +239,7 @@ void PeriphCommonClock_Config(void) /** * @brief Period elapsed callback in non blocking mode - * @note This function is called when TIM4 interrupt took place, inside + * @note This function is called when TIM23 interrupt took place, inside * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment * a global variable "uwTick" used as application time base. * @param htim : TIM handle @@ -248,7 +250,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) /* USER CODE BEGIN Callback 0 */ /* USER CODE END Callback 0 */ - if (htim->Instance == TIM4) + if (htim->Instance == TIM23) { HAL_IncTick(); } diff --git a/Core/Src/octospi.c b/Core/Src/octospi.c new file mode 100644 index 0000000..481f9c9 --- /dev/null +++ b/Core/Src/octospi.c @@ -0,0 +1,182 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file octospi.c + * @brief This file provides code for the configuration + * of the OCTOSPI instances. + ****************************************************************************** + * @attention + * + * Copyright (c) 2026 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ +/* Includes ------------------------------------------------------------------*/ +#include "octospi.h" + +/* USER CODE BEGIN 0 */ + +/* USER CODE END 0 */ + +OSPI_HandleTypeDef hospi1; + +/* OCTOSPI1 init function */ +void MX_OCTOSPI1_Init(void) +{ + + /* USER CODE BEGIN OCTOSPI1_Init 0 */ + + /* USER CODE END OCTOSPI1_Init 0 */ + + OSPIM_CfgTypeDef sOspiManagerCfg = {0}; + + /* USER CODE BEGIN OCTOSPI1_Init 1 */ + + /* USER CODE END OCTOSPI1_Init 1 */ + hospi1.Instance = OCTOSPI1; + hospi1.Init.FifoThreshold = 1; + hospi1.Init.DualQuad = HAL_OSPI_DUALQUAD_DISABLE; + hospi1.Init.MemoryType = HAL_OSPI_MEMTYPE_MICRON; + hospi1.Init.DeviceSize = 32; + hospi1.Init.ChipSelectHighTime = 1; + hospi1.Init.FreeRunningClock = HAL_OSPI_FREERUNCLK_DISABLE; + hospi1.Init.ClockMode = HAL_OSPI_CLOCK_MODE_0; + hospi1.Init.WrapSize = HAL_OSPI_WRAP_NOT_SUPPORTED; + hospi1.Init.ClockPrescaler = 1; + hospi1.Init.SampleShifting = HAL_OSPI_SAMPLE_SHIFTING_NONE; + hospi1.Init.DelayHoldQuarterCycle = HAL_OSPI_DHQC_DISABLE; + hospi1.Init.ChipSelectBoundary = 0; + hospi1.Init.DelayBlockBypass = HAL_OSPI_DELAY_BLOCK_BYPASSED; + hospi1.Init.MaxTran = 0; + hospi1.Init.Refresh = 0; + if (HAL_OSPI_Init(&hospi1) != HAL_OK) + { + Error_Handler(); + } + sOspiManagerCfg.ClkPort = 1; + sOspiManagerCfg.IOLowPort = HAL_OSPIM_IOPORT_1_LOW; + if (HAL_OSPIM_Config(&hospi1, &sOspiManagerCfg, HAL_OSPI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN OCTOSPI1_Init 2 */ + + /* USER CODE END OCTOSPI1_Init 2 */ + +} + +void HAL_OSPI_MspInit(OSPI_HandleTypeDef* ospiHandle) +{ + + GPIO_InitTypeDef GPIO_InitStruct = {0}; + RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0}; + if(ospiHandle->Instance==OCTOSPI1) + { + /* USER CODE BEGIN OCTOSPI1_MspInit 0 */ + + /* USER CODE END OCTOSPI1_MspInit 0 */ + + /** Initializes the peripherals clock + */ + PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_OSPI; + PeriphClkInitStruct.OspiClockSelection = RCC_OSPICLKSOURCE_D1HCLK; + if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) + { + Error_Handler(); + } + + /* OCTOSPI1 clock enable */ + __HAL_RCC_OCTOSPIM_CLK_ENABLE(); + __HAL_RCC_OSPI1_CLK_ENABLE(); + + __HAL_RCC_GPIOA_CLK_ENABLE(); + __HAL_RCC_GPIOB_CLK_ENABLE(); + __HAL_RCC_GPIOD_CLK_ENABLE(); + /**OCTOSPI1 GPIO Configuration + PA1 ------> OCTOSPIM_P1_IO3 + PA3 ------> OCTOSPIM_P1_IO2 + PB0 ------> OCTOSPIM_P1_IO1 + PB2 ------> OCTOSPIM_P1_CLK + PD11 ------> OCTOSPIM_P1_IO0 + */ + GPIO_InitStruct.Pin = GPIO_PIN_1; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF9_OCTOSPIM_P1; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + + GPIO_InitStruct.Pin = GPIO_PIN_3; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF6_OCTOSPIM_P1; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + + GPIO_InitStruct.Pin = GPIO_PIN_0; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF4_OCTOSPIM_P1; + HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + + GPIO_InitStruct.Pin = GPIO_PIN_2; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF9_OCTOSPIM_P1; + HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + + GPIO_InitStruct.Pin = GPIO_PIN_11; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF9_OCTOSPIM_P1; + HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); + + /* USER CODE BEGIN OCTOSPI1_MspInit 1 */ + + /* USER CODE END OCTOSPI1_MspInit 1 */ + } +} + +void HAL_OSPI_MspDeInit(OSPI_HandleTypeDef* ospiHandle) +{ + + if(ospiHandle->Instance==OCTOSPI1) + { + /* USER CODE BEGIN OCTOSPI1_MspDeInit 0 */ + + /* USER CODE END OCTOSPI1_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_OCTOSPIM_CLK_DISABLE(); + __HAL_RCC_OSPI1_CLK_DISABLE(); + + /**OCTOSPI1 GPIO Configuration + PA1 ------> OCTOSPIM_P1_IO3 + PA3 ------> OCTOSPIM_P1_IO2 + PB0 ------> OCTOSPIM_P1_IO1 + PB2 ------> OCTOSPIM_P1_CLK + PD11 ------> OCTOSPIM_P1_IO0 + */ + HAL_GPIO_DeInit(GPIOA, GPIO_PIN_1|GPIO_PIN_3); + + HAL_GPIO_DeInit(GPIOB, GPIO_PIN_0|GPIO_PIN_2); + + HAL_GPIO_DeInit(GPIOD, GPIO_PIN_11); + + /* USER CODE BEGIN OCTOSPI1_MspDeInit 1 */ + + /* USER CODE END OCTOSPI1_MspDeInit 1 */ + } +} + +/* USER CODE BEGIN 1 */ + +/* USER CODE END 1 */ diff --git a/Core/Src/stm32h7xx_hal_timebase_tim.c b/Core/Src/stm32h7xx_hal_timebase_tim.c index eef8499..eab1a26 100644 --- a/Core/Src/stm32h7xx_hal_timebase_tim.c +++ b/Core/Src/stm32h7xx_hal_timebase_tim.c @@ -25,12 +25,12 @@ /* Private define ------------------------------------------------------------*/ /* Private macro -------------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/ -TIM_HandleTypeDef htim4; +TIM_HandleTypeDef htim23; /* Private function prototypes -----------------------------------------------*/ /* Private functions ---------------------------------------------------------*/ /** - * @brief This function configures the TIM4 as a time base source. + * @brief This function configures the TIM23 as a time base source. * The time source is configured to have 1ms time base with a dedicated * Tick interrupt priority. * @note This function is called automatically at the beginning of program after @@ -41,17 +41,17 @@ TIM_HandleTypeDef htim4; HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority) { RCC_ClkInitTypeDef clkconfig; - uint32_t uwTimclock, uwAPB1Prescaler; + uint32_t uwTimclock; uint32_t uwPrescalerValue; uint32_t pFLatency; - /*Configure the TIM4 IRQ priority */ + /*Configure the TIM23 IRQ priority */ if (TickPriority < (1UL << __NVIC_PRIO_BITS)) { - HAL_NVIC_SetPriority(TIM4_IRQn, TickPriority ,0); + HAL_NVIC_SetPriority(TIM23_IRQn, TickPriority ,0); - /* Enable the TIM4 global Interrupt */ - HAL_NVIC_EnableIRQ(TIM4_IRQn); + /* Enable the TIM23 global Interrupt */ + HAL_NVIC_EnableIRQ(TIM23_IRQn); uwTickPrio = TickPriority; } else @@ -59,45 +59,36 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority) return HAL_ERROR; } - /* Enable TIM4 clock */ - __HAL_RCC_TIM4_CLK_ENABLE(); + /* Enable TIM23 clock */ + __HAL_RCC_TIM23_CLK_ENABLE(); /* Get clock configuration */ HAL_RCC_GetClockConfig(&clkconfig, &pFLatency); - /* Get APB1 prescaler */ - uwAPB1Prescaler = clkconfig.APB1CLKDivider; - /* Compute TIM4 clock */ - if (uwAPB1Prescaler == RCC_HCLK_DIV1) - { - uwTimclock = HAL_RCC_GetPCLK1Freq(); - } - else - { - uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq(); - } + /* Compute TIM23 clock */ + uwTimclock = 2*HAL_RCC_GetPCLK2Freq(); - /* Compute the prescaler value to have TIM4 counter clock equal to 1MHz */ + /* Compute the prescaler value to have TIM23 counter clock equal to 1MHz */ uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U); - /* Initialize TIM4 */ - htim4.Instance = TIM4; + /* Initialize TIM23 */ + htim23.Instance = TIM23; /* Initialize TIMx peripheral as follow: - * Period = [(TIM4CLK/1000) - 1]. to have a (1/1000) s time base. + * Period = [(TIM23CLK/1000) - 1]. to have a (1/1000) s time base. * Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock. * ClockDivision = 0 * Counter direction = Up */ - htim4.Init.Period = (1000000U / 1000U) - 1U; - htim4.Init.Prescaler = uwPrescalerValue; - htim4.Init.ClockDivision = 0; - htim4.Init.CounterMode = TIM_COUNTERMODE_UP; + htim23.Init.Period = (1000000U / 1000U) - 1U; + htim23.Init.Prescaler = uwPrescalerValue; + htim23.Init.ClockDivision = 0; + htim23.Init.CounterMode = TIM_COUNTERMODE_UP; - if(HAL_TIM_Base_Init(&htim4) == HAL_OK) + if(HAL_TIM_Base_Init(&htim23) == HAL_OK) { /* Start the TIM time Base generation in interrupt mode */ - return HAL_TIM_Base_Start_IT(&htim4); + return HAL_TIM_Base_Start_IT(&htim23); } /* Return function status */ @@ -106,25 +97,25 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority) /** * @brief Suspend Tick increment. - * @note Disable the tick increment by disabling TIM4 update interrupt. + * @note Disable the tick increment by disabling TIM23 update interrupt. * @param None * @retval None */ void HAL_SuspendTick(void) { - /* Disable TIM4 update Interrupt */ - __HAL_TIM_DISABLE_IT(&htim4, TIM_IT_UPDATE); + /* Disable TIM23 update Interrupt */ + __HAL_TIM_DISABLE_IT(&htim23, TIM_IT_UPDATE); } /** * @brief Resume Tick increment. - * @note Enable the tick increment by Enabling TIM4 update interrupt. + * @note Enable the tick increment by Enabling TIM23 update interrupt. * @param None * @retval None */ void HAL_ResumeTick(void) { - /* Enable TIM4 Update interrupt */ - __HAL_TIM_ENABLE_IT(&htim4, TIM_IT_UPDATE); + /* Enable TIM23 Update interrupt */ + __HAL_TIM_ENABLE_IT(&htim23, TIM_IT_UPDATE); } diff --git a/Core/Src/stm32h7xx_it.c b/Core/Src/stm32h7xx_it.c index 6d12f90..533ebcd 100644 --- a/Core/Src/stm32h7xx_it.c +++ b/Core/Src/stm32h7xx_it.c @@ -82,7 +82,7 @@ extern UART_HandleTypeDef huart2; extern UART_HandleTypeDef huart3; extern UART_HandleTypeDef huart10; extern PCD_HandleTypeDef hpcd_USB_OTG_HS; -extern TIM_HandleTypeDef htim4; +extern TIM_HandleTypeDef htim23; /* USER CODE BEGIN EV */ @@ -340,20 +340,6 @@ void FDCAN2_IT1_IRQHandler(void) /* USER CODE END FDCAN2_IT1_IRQn 1 */ } -/** - * @brief This function handles TIM4 global interrupt. - */ -void TIM4_IRQHandler(void) -{ - /* USER CODE BEGIN TIM4_IRQn 0 */ - - /* USER CODE END TIM4_IRQn 0 */ - HAL_TIM_IRQHandler(&htim4); - /* USER CODE BEGIN TIM4_IRQn 1 */ - - /* USER CODE END TIM4_IRQn 1 */ -} - /** * @brief This function handles SPI2 global interrupt. */ @@ -410,6 +396,21 @@ void USART3_IRQHandler(void) /* USER CODE END USART3_IRQn 1 */ } +/** + * @brief This function handles EXTI line[15:10] interrupts. + */ +void EXTI15_10_IRQHandler(void) +{ + /* USER CODE BEGIN EXTI15_10_IRQn 0 */ + + /* USER CODE END EXTI15_10_IRQn 0 */ + HAL_GPIO_EXTI_IRQHandler(ACCL_INT_Pin); + HAL_GPIO_EXTI_IRQHandler(GYRO_INT_Pin); + /* USER CODE BEGIN EXTI15_10_IRQn 1 */ + + /* USER CODE END EXTI15_10_IRQn 1 */ +} + /** * @brief This function handles DMA1 stream7 global interrupt. */ @@ -620,6 +621,20 @@ void FDCAN3_IT1_IRQHandler(void) /* USER CODE END FDCAN3_IT1_IRQn 1 */ } +/** + * @brief This function handles TIM23 global interrupt. + */ +void TIM23_IRQHandler(void) +{ + /* USER CODE BEGIN TIM23_IRQn 0 */ + + /* USER CODE END TIM23_IRQn 0 */ + HAL_TIM_IRQHandler(&htim23); + /* USER CODE BEGIN TIM23_IRQn 1 */ + + /* USER CODE END TIM23_IRQn 1 */ +} + /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ diff --git a/STM32H723XG_FLASH.ld b/STM32H723XG_FLASH.ld index ada5d22..dacf7cb 100644 --- a/STM32H723XG_FLASH.ld +++ b/STM32H723XG_FLASH.ld @@ -66,8 +66,8 @@ FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 1024K /* Highest address of the user mode stack */ _estack = ORIGIN(DTCMRAM) + LENGTH(DTCMRAM); /* end of RAM */ /* Generate a link error if heap and stack don't fit into RAM */ -_Min_Heap_Size = 0x1000; /* required amount of heap */ -_Min_Stack_Size = 0x2000; /* required amount of stack */ +_Min_Heap_Size = 0x200; /* required amount of heap */ +_Min_Stack_Size = 0x800; /* required amount of stack */ /* Define output sections */ SECTIONS @@ -229,17 +229,6 @@ SECTIONS PROVIDE( __bss_start = __tbss_start ); PROVIDE( __bss_size = __bss_end - __bss_start ); - /* DMA buffer section in RAM_D2 (SRAM1/2) for STM32H7 DMA access */ - .dma_buffer (NOLOAD) : ALIGN(32) - { - . = ALIGN(32); - _sdma_buffer = .; - *(.dma_buffer) - *(.dma_buffer*) - . = ALIGN(32); - _edma_buffer = .; - } >RAM_D2 - /* User_heap_stack section, used to check that there is enough RAM left */ ._user_heap_stack (NOLOAD) : { diff --git a/User/bsp/bsp.h b/User/bsp/bsp.h deleted file mode 100644 index 1f8cbfd..0000000 --- a/User/bsp/bsp.h +++ /dev/null @@ -1,28 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -#define BSP_OK (0) -#define BSP_ERR (-1) -#define BSP_ERR_NULL (-2) -#define BSP_ERR_INITED (-3) -#define BSP_ERR_NO_DEV (-4) -#define BSP_ERR_TIMEOUT (-5) - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/User/bsp/bsp_config.yaml b/User/bsp/bsp_config.yaml deleted file mode 100644 index 02ceebf..0000000 --- a/User/bsp/bsp_config.yaml +++ /dev/null @@ -1,110 +0,0 @@ -fdcan: - devices: - - instance: FDCAN1 - name: '1' - - instance: FDCAN2 - name: '2' - - instance: FDCAN3 - name: '3' - enabled: true -flash: - dual_bank: false - enabled: true - mcu_name: STM32H723VGTx - sectors: 8 -gpio: - configs: - - custom_name: LCD_BLK - has_exti: false - ioc_label: LCD_BLK - pin: PB10 - type: OUTPUT - - custom_name: LCD_RES - has_exti: false - ioc_label: LCD_RES - pin: PB11 - type: OUTPUT - - custom_name: ACC_CS - has_exti: false - ioc_label: ACC_CS - pin: PC0 - type: OUTPUT - - custom_name: POWER_24V_2 - has_exti: false - ioc_label: POWER_24V_2 - pin: PC13 - type: OUTPUT - - custom_name: POWER_5V - has_exti: false - ioc_label: POWER_5V - pin: PC15-OSC32_OUT - type: OUTPUT - - custom_name: GYRO_CS - has_exti: false - ioc_label: GYRO_CS - pin: PC3_C - type: OUTPUT - - custom_name: ACC_INT - has_exti: true - ioc_label: ACC_INT - pin: PE10 - type: EXTI - - custom_name: W25Q64_CS - has_exti: false - ioc_label: W25Q64_CS - pin: PE11 - type: OUTPUT - - custom_name: GYRO_INT - has_exti: true - ioc_label: GYRO_INT - pin: PE12 - type: EXTI - - custom_name: LCD_CS - has_exti: false - ioc_label: LCD_CS - pin: PE15 - type: OUTPUT - enabled: true -mm: - enabled: true -pwm: - configs: - - channel: TIM_CHANNEL_1 - custom_name: TIM2_CH1 - label: TIM2_CH1 - timer: TIM2 - - channel: TIM_CHANNEL_3 - custom_name: TIM2_CH3 - label: TIM2_CH3 - timer: TIM2 - - channel: TIM_CHANNEL_4 - custom_name: TIM3_CH4 - label: TIM3_CH4 - timer: TIM3 - - channel: TIM_CHANNEL_2 - custom_name: TIM12_CH2 - label: TIM12_CH2 - timer: TIM12 - - channel: TIM_CHANNEL_3 - custom_name: TIM1_CH3 - label: TIM1_CH3 - timer: TIM1 - - channel: TIM_CHANNEL_1 - custom_name: TIM1_CH1 - label: TIM1_CH1 - timer: TIM1 - enabled: true -spi: - devices: - - instance: SPI2 - name: BMI088 - enabled: true -time: - enabled: true -uart: - devices: - - instance: UART5 - name: DR16 - - instance: USART2 - name: IMU - enabled: true diff --git a/User/bsp/can.h b/User/bsp/can.h deleted file mode 100644 index 531f824..0000000 --- a/User/bsp/can.h +++ /dev/null @@ -1,79 +0,0 @@ -/** - * @file can.h - * @brief CAN兼容层 - 将CAN接口映射到FDCAN - * @note 本文件用于FDCAN兼容CAN接口，设备层代码可以继续使用BSP_CAN_xxx接口 - */ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include "bsp/fdcan.h" - -/* 类型映射 */ -typedef BSP_FDCAN_t BSP_CAN_t; -typedef BSP_FDCAN_Callback_t BSP_CAN_Callback_t; -typedef BSP_FDCAN_Format_t BSP_CAN_Format_t; -typedef BSP_FDCAN_FrameType_t BSP_CAN_FrameType_t; -typedef BSP_FDCAN_Message_t BSP_CAN_Message_t; -typedef BSP_FDCAN_StdDataFrame_t BSP_CAN_StdDataFrame_t; -typedef BSP_FDCAN_ExtDataFrame_t BSP_CAN_ExtDataFrame_t; -typedef BSP_FDCAN_RemoteFrame_t BSP_CAN_RemoteFrame_t; -typedef BSP_FDCAN_IdParser_t BSP_CAN_IdParser_t; - -/* 常量映射 */ -#define BSP_CAN_MAX_DLC BSP_FDCAN_MAX_DLC -#define BSP_CAN_DEFAULT_QUEUE_SIZE BSP_FDCAN_DEFAULT_QUEUE_SIZE -#define BSP_CAN_TIMEOUT_IMMEDIATE BSP_FDCAN_TIMEOUT_IMMEDIATE -#define BSP_CAN_TIMEOUT_FOREVER BSP_FDCAN_TIMEOUT_FOREVER -#define BSP_CAN_TX_QUEUE_SIZE BSP_FDCAN_TX_QUEUE_SIZE - -/* 枚举值映射 */ -#define BSP_CAN_1 BSP_FDCAN_1 -#define BSP_CAN_2 BSP_FDCAN_2 -#define BSP_CAN_3 BSP_FDCAN_3 -#define BSP_CAN_NUM BSP_FDCAN_NUM -#define BSP_CAN_ERR BSP_FDCAN_ERR - -#define BSP_CAN_FORMAT_STD_DATA BSP_FDCAN_FORMAT_STD_DATA -#define BSP_CAN_FORMAT_EXT_DATA BSP_FDCAN_FORMAT_EXT_DATA -#define BSP_CAN_FORMAT_STD_REMOTE BSP_FDCAN_FORMAT_STD_REMOTE -#define BSP_CAN_FORMAT_EXT_REMOTE BSP_FDCAN_FORMAT_EXT_REMOTE - -#define BSP_CAN_FRAME_STD_DATA BSP_FDCAN_FRAME_STD_DATA -#define BSP_CAN_FRAME_EXT_DATA BSP_FDCAN_FRAME_EXT_DATA -#define BSP_CAN_FRAME_STD_REMOTE BSP_FDCAN_FRAME_STD_REMOTE -#define BSP_CAN_FRAME_EXT_REMOTE BSP_FDCAN_FRAME_EXT_REMOTE - -/* 函数映射 */ -#define BSP_CAN_Init() BSP_FDCAN_Init() -#define BSP_CAN_GetHandle(can) BSP_FDCAN_GetHandle(can) -#define BSP_CAN_RegisterCallback(can, type, callback) \ - BSP_FDCAN_RegisterCallback(can, type, callback) -#define BSP_CAN_Transmit(can, format, id, data, dlc) \ - BSP_FDCAN_Transmit(can, format, id, data, dlc) -#define BSP_CAN_TransmitStdDataFrame(can, frame) \ - BSP_FDCAN_TransmitStdDataFrame(can, frame) -#define BSP_CAN_TransmitExtDataFrame(can, frame) \ - BSP_FDCAN_TransmitExtDataFrame(can, frame) -#define BSP_CAN_TransmitRemoteFrame(can, frame) \ - BSP_FDCAN_TransmitRemoteFrame(can, frame) -#define BSP_CAN_RegisterId(can, can_id, queue_size) \ - BSP_FDCAN_RegisterId(can, can_id, queue_size) -#define BSP_CAN_GetMessage(can, can_id, msg, timeout) \ - BSP_FDCAN_GetMessage(can, can_id, msg, timeout) -#define BSP_CAN_GetQueueCount(can, can_id) \ - BSP_FDCAN_GetQueueCount(can, can_id) -#define BSP_CAN_FlushQueue(can, can_id) \ - BSP_FDCAN_FlushQueue(can, can_id) -#define BSP_CAN_RegisterIdParser(parser) \ - BSP_FDCAN_RegisterIdParser(parser) -#define BSP_CAN_ParseId(original_id, frame_type) \ - BSP_FDCAN_ParseId(original_id, frame_type) - -#ifdef __cplusplus -} -#endif diff --git a/User/bsp/fdcan.c b/User/bsp/fdcan.c deleted file mode 100644 index 6c6221f..0000000 --- a/User/bsp/fdcan.c +++ /dev/null @@ -1,576 +0,0 @@ -/* Includes ----------------------------------------------------------------- */ -#include "fdcan.h" -#include "bsp/fdcan.h" -#include "bsp/bsp.h" -#include -#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/User/bsp/fdcan.h b/User/bsp/fdcan.h deleted file mode 100644 index 99ecd80..0000000 --- a/User/bsp/fdcan.h +++ /dev/null @@ -1,137 +0,0 @@ -#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/User/bsp/flash.c b/User/bsp/flash.c deleted file mode 100644 index 0771a1f..0000000 --- a/User/bsp/flash.c +++ /dev/null @@ -1,82 +0,0 @@ -/* Includes ----------------------------------------------------------------- */ -#include "bsp/flash.h" - -#include -#include - -/* Private define ----------------------------------------------------------- */ -/* USER CODE BEGIN FLASH_MAX_SECTOR */ -#define BSP_FLASH_MAX_SECTOR 7 -/* 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 */ - if (sector > 0 && sector <= 7) { - /* 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; -#if defined(STM32H7) - flash_erase.Banks = FLASH_BANK_1; // H7 requires Bank parameter -#endif - - HAL_FLASH_Unlock(); -#if defined(STM32H7) - while (FLASH_WaitForLastOperation(50, FLASH_BANK_1) != HAL_OK) - ; -#else - while (FLASH_WaitForLastOperation(50) != HAL_OK) - ; -#endif - 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(); -#if defined(STM32H7) - // H7 uses FLASHWORD (32 bytes) programming - uint8_t flash_word[32] __attribute__((aligned(32))); - while (len > 0) { - size_t chunk = (len < 32) ? len : 32; - memset(flash_word, 0xFF, 32); - memcpy(flash_word, buf, chunk); - - while (FLASH_WaitForLastOperation(50, FLASH_BANK_1) != HAL_OK) - ; - HAL_FLASH_Program(FLASH_TYPEPROGRAM_FLASHWORD, address, (uint32_t)flash_word); - - address += 32; - buf += chunk; - len -= chunk; - } -#else - // F4/F7 use byte programming - while (len > 0) { - while (FLASH_WaitForLastOperation(50) != HAL_OK) - ; - HAL_FLASH_Program(FLASH_TYPEPROGRAM_BYTE, address, *buf); - address++; - buf++; - len--; - } -#endif - HAL_FLASH_Lock(); -} - -void BSP_Flash_ReadBytes(uint32_t address, void *buf, size_t len) { - memcpy(buf, (void *)address, len); -} diff --git a/User/bsp/flash.h b/User/bsp/flash.h deleted file mode 100644 index e95f18f..0000000 --- a/User/bsp/flash.h +++ /dev/null @@ -1,46 +0,0 @@ -#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 */ -#define ADDR_FLASH_SECTOR_0 ((uint32_t)0x08000000) -/* Base address of Sector 0, 128 Kbytes */ -#define ADDR_FLASH_SECTOR_1 ((uint32_t)0x08020000) -/* Base address of Sector 1, 128 Kbytes */ -#define ADDR_FLASH_SECTOR_2 ((uint32_t)0x08040000) -/* Base address of Sector 2, 128 Kbytes */ -#define ADDR_FLASH_SECTOR_3 ((uint32_t)0x08060000) -/* Base address of Sector 3, 128 Kbytes */ -#define ADDR_FLASH_SECTOR_4 ((uint32_t)0x08080000) -/* Base address of Sector 4, 128 Kbytes */ -#define ADDR_FLASH_SECTOR_5 ((uint32_t)0x080A0000) -/* Base address of Sector 5, 128 Kbytes */ -#define ADDR_FLASH_SECTOR_6 ((uint32_t)0x080C0000) -/* Base address of Sector 6, 128 Kbytes */ -#define ADDR_FLASH_SECTOR_7 ((uint32_t)0x080E0000) -/* Base address of Sector 7, 128 Kbytes */ -/* USER CODE END FLASH_SECTOR_DEFINES */ - -/* USER CODE BEGIN FLASH_END_ADDRESS */ -#define ADDR_FLASH_END ((uint32_t)0x08100000) /* End address for flash */ -/* 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/User/bsp/gpio.c b/User/bsp/gpio.c deleted file mode 100644 index 9be5893..0000000 --- a/User/bsp/gpio.c +++ /dev/null @@ -1,123 +0,0 @@ -/* Includes ----------------------------------------------------------------- */ -#include "bsp/gpio.h" - -#include -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private define ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -typedef struct { - uint16_t pin; - GPIO_TypeDef *gpio; -} BSP_GPIO_MAP_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private variables -------------------------------------------------------- */ -static const BSP_GPIO_MAP_t GPIO_Map[BSP_GPIO_NUM] = { - {LCD_BLK_Pin, LCD_BLK_GPIO_Port}, - {LCD_RES_Pin, LCD_RES_GPIO_Port}, - {ACC_CS_Pin, ACC_CS_GPIO_Port}, - {POWER_24V_2_Pin, POWER_24V_2_GPIO_Port}, - {POWER_5V_Pin, POWER_5V_GPIO_Port}, - {GYRO_CS_Pin, GYRO_CS_GPIO_Port}, - {ACC_INT_Pin, ACC_INT_GPIO_Port}, - {W25Q64_CS_Pin, W25Q64_CS_GPIO_Port}, - {GYRO_INT_Pin, GYRO_INT_GPIO_Port}, - {LCD_CS_Pin, LCD_CS_GPIO_Port}, -}; - -static void (*GPIO_Callback[16])(void); - -/* Private function -------------------------------------------------------- */ -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) { - for (uint8_t i = 0; i < 16; i++) { - if (GPIO_Pin & (1 << i)) { - if (GPIO_Callback[i]) { - GPIO_Callback[i](); - } - } - } -} - -/* Exported functions ------------------------------------------------------- */ -int8_t BSP_GPIO_RegisterCallback(BSP_GPIO_t gpio, void (*callback)(void)) { - if (callback == NULL) return BSP_ERR_NULL; - if (gpio >= BSP_GPIO_NUM) return BSP_ERR; - - // 从GPIO映射中获取对应的pin值 - uint16_t pin = GPIO_Map[gpio].pin; - - for (uint8_t i = 0; i < 16; i++) { - if (pin & (1 << i)) { - GPIO_Callback[i] = callback; - break; - } - } - return BSP_OK; -} - -int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio) { - switch (gpio) { - case BSP_GPIO_ACC_INT: -#if defined(ACC_INT_EXTI_IRQn) - HAL_NVIC_EnableIRQ(ACC_INT_EXTI_IRQn); -#endif - return BSP_OK; - case BSP_GPIO_GYRO_INT: -#if defined(GYRO_INT_EXTI_IRQn) - HAL_NVIC_EnableIRQ(GYRO_INT_EXTI_IRQn); -#endif - return BSP_OK; - default: - return BSP_ERR; - } -} - -int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio) { - switch (gpio) { - case BSP_GPIO_ACC_INT: -#if defined(ACC_INT_EXTI_IRQn) - HAL_NVIC_DisableIRQ(ACC_INT_EXTI_IRQn); -#endif - return BSP_OK; - case BSP_GPIO_GYRO_INT: -#if defined(GYRO_INT_EXTI_IRQn) - HAL_NVIC_DisableIRQ(GYRO_INT_EXTI_IRQn); -#endif - return BSP_OK; - default: - return BSP_ERR; - } -} -int8_t BSP_GPIO_WritePin(BSP_GPIO_t gpio, bool value){ - if (gpio >= BSP_GPIO_NUM) return BSP_ERR; - HAL_GPIO_WritePin(GPIO_Map[gpio].gpio, GPIO_Map[gpio].pin, value); - return BSP_OK; -} - -int8_t BSP_GPIO_TogglePin(BSP_GPIO_t gpio){ - if (gpio >= BSP_GPIO_NUM) return BSP_ERR; - HAL_GPIO_TogglePin(GPIO_Map[gpio].gpio, GPIO_Map[gpio].pin); - return BSP_OK; -} - -bool BSP_GPIO_ReadPin(BSP_GPIO_t gpio){ - if (gpio >= BSP_GPIO_NUM) return false; - return HAL_GPIO_ReadPin(GPIO_Map[gpio].gpio, GPIO_Map[gpio].pin) == GPIO_PIN_SET; -} \ No newline at end of file diff --git a/User/bsp/gpio.h b/User/bsp/gpio.h deleted file mode 100644 index c2fe4ad..0000000 --- a/User/bsp/gpio.h +++ /dev/null @@ -1,56 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include -#include - -#include "bsp/bsp.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported types ----------------------------------------------------------- */ -typedef enum { - BSP_GPIO_LCD_BLK, - BSP_GPIO_LCD_RES, - BSP_GPIO_ACC_CS, - BSP_GPIO_POWER_24V_2, - BSP_GPIO_POWER_5V, - BSP_GPIO_GYRO_CS, - BSP_GPIO_ACC_INT, - BSP_GPIO_W25Q64_CS, - BSP_GPIO_GYRO_INT, - BSP_GPIO_LCD_CS, - BSP_GPIO_NUM, - BSP_GPIO_ERR, -} BSP_GPIO_t; - -/* Exported functions prototypes -------------------------------------------- */ -int8_t BSP_GPIO_RegisterCallback(BSP_GPIO_t gpio, void (*callback)(void)); - -int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio); -int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio); - -int8_t BSP_GPIO_WritePin(BSP_GPIO_t gpio, bool value); -int8_t BSP_GPIO_TogglePin(BSP_GPIO_t gpio); - -bool BSP_GPIO_ReadPin(BSP_GPIO_t gpio); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif \ No newline at end of file diff --git a/User/bsp/mm.c b/User/bsp/mm.c deleted file mode 100644 index 13d20c0..0000000 --- a/User/bsp/mm.c +++ /dev/null @@ -1,30 +0,0 @@ -/* Includes ----------------------------------------------------------------- */ -#include "bsp/mm.h" - -#include "FreeRTOS.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Private variables -------------------------------------------------------- */ -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private function -------------------------------------------------------- */ -/* Exported functions ------------------------------------------------------- */ -inline void *BSP_Malloc(size_t size) { return pvPortMalloc(size); } - -inline void BSP_Free(void *pv) { vPortFree(pv); } - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ diff --git a/User/bsp/mm.h b/User/bsp/mm.h deleted file mode 100644 index d24634e..0000000 --- a/User/bsp/mm.h +++ /dev/null @@ -1,32 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported types ----------------------------------------------------------- */ -/* Exported functions prototypes -------------------------------------------- */ -void *BSP_Malloc(size_t size); -void BSP_Free(void *pv); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/User/bsp/pwm.c b/User/bsp/pwm.c deleted file mode 100644 index 9d3c275..0000000 --- a/User/bsp/pwm.c +++ /dev/null @@ -1,115 +0,0 @@ -/* Includes ----------------------------------------------------------------- */ -#include "tim.h" -#include "bsp/pwm.h" -#include "bsp.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private define ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -typedef struct { - TIM_HandleTypeDef *tim; - uint16_t channel; -} BSP_PWM_Config_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private variables -------------------------------------------------------- */ -static const BSP_PWM_Config_t PWM_Map[BSP_PWM_NUM] = { - {&htim2, TIM_CHANNEL_1}, - {&htim2, TIM_CHANNEL_3}, - {&htim3, TIM_CHANNEL_4}, - {&htim12, TIM_CHANNEL_2}, - {&htim1, TIM_CHANNEL_3}, - {&htim1, TIM_CHANNEL_1}, -}; - -/* Private function -------------------------------------------------------- */ -/* Exported functions ------------------------------------------------------- */ - -int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch) { - if (ch >= BSP_PWM_NUM) return BSP_ERR; - - HAL_TIM_PWM_Start(PWM_Map[ch].tim, PWM_Map[ch].channel); - return BSP_OK; -} - -int8_t BSP_PWM_SetComp(BSP_PWM_Channel_t ch, float duty_cycle) { - if (ch >= BSP_PWM_NUM) return BSP_ERR; - - if (duty_cycle > 1.0f) { - duty_cycle = 1.0f; - } - if (duty_cycle < 0.0f) { - duty_cycle = 0.0f; - } - // 获取ARR值（周期值） - uint32_t arr = __HAL_TIM_GET_AUTORELOAD(PWM_Map[ch].tim); - - // 计算比较值：CCR = duty_cycle * (ARR + 1) - uint32_t ccr = (uint32_t)(duty_cycle * (arr + 1)); - - __HAL_TIM_SET_COMPARE(PWM_Map[ch].tim, PWM_Map[ch].channel, ccr); - - return BSP_OK; -} - -int8_t BSP_PWM_SetFreq(BSP_PWM_Channel_t ch, float freq) { - if (ch >= BSP_PWM_NUM) return BSP_ERR; - - uint32_t timer_clock = HAL_RCC_GetPCLK1Freq(); // Get the timer clock frequency - uint32_t prescaler = PWM_Map[ch].tim->Init.Prescaler; - uint32_t period = (timer_clock / (prescaler + 1)) / freq - 1; - - if (period > UINT16_MAX) { - return BSP_ERR; // Frequency too low - } - __HAL_TIM_SET_AUTORELOAD(PWM_Map[ch].tim, period); - - return BSP_OK; -} - -int8_t BSP_PWM_Stop(BSP_PWM_Channel_t ch) { - if (ch >= BSP_PWM_NUM) return BSP_ERR; - - HAL_TIM_PWM_Stop(PWM_Map[ch].tim, PWM_Map[ch].channel); - return BSP_OK; -} - -uint32_t BSP_PWM_GetAutoReloadPreload(BSP_PWM_Channel_t ch) { - if (ch >= BSP_PWM_NUM) return BSP_ERR; - return PWM_Map[ch].tim->Init.AutoReloadPreload; -} - -TIM_HandleTypeDef* BSP_PWM_GetHandle(BSP_PWM_Channel_t ch) { - return PWM_Map[ch].tim; -} - - -uint16_t BSP_PWM_GetChannel(BSP_PWM_Channel_t ch) { - if (ch >= BSP_PWM_NUM) return BSP_ERR; - return PWM_Map[ch].channel; -} - -int8_t BSP_PWM_Start_DMA(BSP_PWM_Channel_t ch, uint32_t *pData, uint16_t Length) { - if (ch >= BSP_PWM_NUM) return BSP_ERR; - - HAL_TIM_PWM_Start_DMA(PWM_Map[ch].tim, PWM_Map[ch].channel, pData, Length); - return BSP_OK; -} - -int8_t BSP_PWM_Stop_DMA(BSP_PWM_Channel_t ch) { - if (ch >= BSP_PWM_NUM) return BSP_ERR; - - HAL_TIM_PWM_Stop_DMA(PWM_Map[ch].tim, PWM_Map[ch].channel); - return BSP_OK; -} \ No newline at end of file diff --git a/User/bsp/pwm.h b/User/bsp/pwm.h deleted file mode 100644 index f0e75f2..0000000 --- a/User/bsp/pwm.h +++ /dev/null @@ -1,53 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include -#include "tim.h" -#include "bsp.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - - -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported types ----------------------------------------------------------- */ -/* PWM通道 */ -typedef enum { - BSP_PWM_TIM2_CH1, - BSP_PWM_TIM2_CH3, - BSP_PWM_TIM3_CH4, - BSP_PWM_TIM12_CH2, - BSP_PWM_TIM1_CH3, - BSP_PWM_TIM1_CH1, - BSP_PWM_NUM, - BSP_PWM_ERR, -} BSP_PWM_Channel_t; - -/* Exported functions prototypes -------------------------------------------- */ -int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch); -int8_t BSP_PWM_SetComp(BSP_PWM_Channel_t ch, float duty_cycle); -int8_t BSP_PWM_SetFreq(BSP_PWM_Channel_t ch, float freq); -int8_t BSP_PWM_Stop(BSP_PWM_Channel_t ch); -uint32_t BSP_PWM_GetAutoReloadPreload(BSP_PWM_Channel_t ch); -uint16_t BSP_PWM_GetChannel(BSP_PWM_Channel_t ch); -TIM_HandleTypeDef* BSP_PWM_GetHandle(BSP_PWM_Channel_t ch); -int8_t BSP_PWM_Start_DMA(BSP_PWM_Channel_t ch, uint32_t *pData, uint16_t Length); -int8_t BSP_PWM_Stop_DMA(BSP_PWM_Channel_t ch); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif \ No newline at end of file diff --git a/User/bsp/spi.c b/User/bsp/spi.c deleted file mode 100644 index 0727529..0000000 --- a/User/bsp/spi.c +++ /dev/null @@ -1,181 +0,0 @@ -/* Includes ----------------------------------------------------------------- */ -#include -#include "bsp/spi.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 -------------------------------------------------------- */ -static void (*SPI_Callback[BSP_SPI_NUM][BSP_SPI_CB_NUM])(void); - -/* Private function -------------------------------------------------------- */ -static BSP_SPI_t SPI_Get(SPI_HandleTypeDef *hspi) { - if (hspi->Instance == SPI2) - return BSP_SPI_BMI088; - else - return BSP_SPI_ERR; -} - -void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi) { - BSP_SPI_t bsp_spi = SPI_Get(hspi); - if (bsp_spi != BSP_SPI_ERR) { - if (SPI_Callback[bsp_spi][BSP_SPI_TX_CPLT_CB]) { - SPI_Callback[bsp_spi][BSP_SPI_TX_CPLT_CB](); - } - } -} - -void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) { - BSP_SPI_t bsp_spi = SPI_Get(hspi); - if (bsp_spi != BSP_SPI_ERR) { - if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_RX_CPLT_CB]) - SPI_Callback[SPI_Get(hspi)][BSP_SPI_RX_CPLT_CB](); - } -} - -void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) { - BSP_SPI_t bsp_spi = SPI_Get(hspi); - if (bsp_spi != BSP_SPI_ERR) { - if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_RX_CPLT_CB]) - SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_RX_CPLT_CB](); - } -} - -void HAL_SPI_TxHalfCpltCallback(SPI_HandleTypeDef *hspi) { - BSP_SPI_t bsp_spi = SPI_Get(hspi); - if (bsp_spi != BSP_SPI_ERR) { - if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_HALF_CPLT_CB]) - SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_HALF_CPLT_CB](); - } -} - -void HAL_SPI_RxHalfCpltCallback(SPI_HandleTypeDef *hspi) { - BSP_SPI_t bsp_spi = SPI_Get(hspi); - if (bsp_spi != BSP_SPI_ERR) { - if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_RX_HALF_CPLT_CB]) - SPI_Callback[SPI_Get(hspi)][BSP_SPI_RX_HALF_CPLT_CB](); - } -} - -void HAL_SPI_TxRxHalfCpltCallback(SPI_HandleTypeDef *hspi) { - BSP_SPI_t bsp_spi = SPI_Get(hspi); - if (bsp_spi != BSP_SPI_ERR) { - if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_RX_HALF_CPLT_CB]) - SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_RX_HALF_CPLT_CB](); - } -} - -void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi) { - BSP_SPI_t bsp_spi = SPI_Get(hspi); - if (bsp_spi != BSP_SPI_ERR) { - if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_ERROR_CB]) - SPI_Callback[SPI_Get(hspi)][BSP_SPI_ERROR_CB](); - } -} - -void HAL_SPI_AbortCpltCallback(SPI_HandleTypeDef *hspi) { - BSP_SPI_t bsp_spi = SPI_Get(hspi); - if (bsp_spi != BSP_SPI_ERR) { - if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_ABORT_CPLT_CB]) - SPI_Callback[SPI_Get(hspi)][BSP_SPI_ABORT_CPLT_CB](); - } -} - -/* Exported functions ------------------------------------------------------- */ -SPI_HandleTypeDef *BSP_SPI_GetHandle(BSP_SPI_t spi) { - switch (spi) { - case BSP_SPI_BMI088: - return &hspi2; - default: - return NULL; - } -} - -int8_t BSP_SPI_RegisterCallback(BSP_SPI_t spi, BSP_SPI_Callback_t type, - void (*callback)(void)) { - if (callback == NULL) return BSP_ERR_NULL; - SPI_Callback[spi][type] = callback; - return BSP_OK; -} - -int8_t BSP_SPI_Transmit(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma) { - if (spi >= BSP_SPI_NUM) return BSP_ERR; - SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi); - if (hspi == NULL) return BSP_ERR; - - if (dma) { - return HAL_SPI_Transmit_DMA(hspi, data, size)!= HAL_OK;; - } else { - return HAL_SPI_Transmit(hspi, data, size, 20)!= HAL_OK;; - } -} - -int8_t BSP_SPI_Receive(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma) { - if (spi >= BSP_SPI_NUM) return BSP_ERR; - SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi); - if (hspi == NULL) return BSP_ERR; - - if (dma) { - return HAL_SPI_Receive_DMA(hspi, data, size)!= HAL_OK;; - } else { - return HAL_SPI_Receive(hspi, data, size, 20)!= HAL_OK;; - } -} - -int8_t BSP_SPI_TransmitReceive(BSP_SPI_t spi, uint8_t *txData, uint8_t *rxData, - uint16_t size, bool dma) { - if (spi >= BSP_SPI_NUM) return BSP_ERR; - SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi); - if (hspi == NULL) return BSP_ERR; - - if (dma) { - return HAL_SPI_TransmitReceive_DMA(hspi, txData, rxData, size)!= HAL_OK;; - } else { - return HAL_SPI_TransmitReceive(hspi, txData, rxData, size, 20)!= HAL_OK;; - } -} - -uint8_t BSP_SPI_MemReadByte(BSP_SPI_t spi, uint8_t reg) { - if (spi >= BSP_SPI_NUM) return 0xFF; - uint8_t tmp[2] = {reg | 0x80, 0x00}; - BSP_SPI_TransmitReceive(spi, tmp, tmp, 2u, true); - return tmp[1]; -} - -int8_t BSP_SPI_MemWriteByte(BSP_SPI_t spi, uint8_t reg, uint8_t data) { - if (spi >= BSP_SPI_NUM) return BSP_ERR; - uint8_t tmp[2] = {reg & 0x7f, data}; - return BSP_SPI_Transmit(spi, tmp, 2u, true); -} - -int8_t BSP_SPI_MemRead(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size) { - if (spi >= BSP_SPI_NUM) return BSP_ERR; - if (data == NULL || size == 0) return BSP_ERR_NULL; - reg = reg | 0x80; - BSP_SPI_Transmit(spi, ®, 1u, true); - return BSP_SPI_Receive(spi, data, size, true); -} - -int8_t BSP_SPI_MemWrite(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size) { - if (spi >= BSP_SPI_NUM) return BSP_ERR; - if (data == NULL || size == 0) return BSP_ERR_NULL; - reg = reg & 0x7f; - BSP_SPI_Transmit(spi, ®, 1u, true); - return BSP_SPI_Transmit(spi, data, size, true); -} - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ diff --git a/User/bsp/spi.h b/User/bsp/spi.h deleted file mode 100644 index 2abb0c6..0000000 --- a/User/bsp/spi.h +++ /dev/null @@ -1,70 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include -#include -#include - -#include "bsp/bsp.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported types ----------------------------------------------------------- */ - -/* 要添加使用SPI的新设备，需要先在此添加对应的枚举值 */ - -/* SPI实体枚举，与设备对应 */ -typedef enum { - BSP_SPI_BMI088, - BSP_SPI_NUM, - BSP_SPI_ERR, -} BSP_SPI_t; - -/* SPI支持的中断回调函数类型，具体参考HAL中定义 */ -typedef enum { - BSP_SPI_TX_CPLT_CB, - BSP_SPI_RX_CPLT_CB, - BSP_SPI_TX_RX_CPLT_CB, - BSP_SPI_TX_HALF_CPLT_CB, - BSP_SPI_RX_HALF_CPLT_CB, - BSP_SPI_TX_RX_HALF_CPLT_CB, - BSP_SPI_ERROR_CB, - BSP_SPI_ABORT_CPLT_CB, - BSP_SPI_CB_NUM, -} BSP_SPI_Callback_t; - -/* Exported functions prototypes -------------------------------------------- */ -SPI_HandleTypeDef *BSP_SPI_GetHandle(BSP_SPI_t spi); -int8_t BSP_SPI_RegisterCallback(BSP_SPI_t spi, BSP_SPI_Callback_t type, - void (*callback)(void)); - - -int8_t BSP_SPI_Transmit(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma); -int8_t BSP_SPI_Receive(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma); -int8_t BSP_SPI_TransmitReceive(BSP_SPI_t spi, uint8_t *txData, uint8_t *rxData, - uint16_t size, bool dma); - -uint8_t BSP_SPI_MemReadByte(BSP_SPI_t spi, uint8_t reg); -int8_t BSP_SPI_MemWriteByte(BSP_SPI_t spi, uint8_t reg, uint8_t data); -int8_t BSP_SPI_MemRead(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size); -int8_t BSP_SPI_MemWrite(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/User/bsp/time.c b/User/bsp/time.c deleted file mode 100644 index 21918ed..0000000 --- a/User/bsp/time.c +++ /dev/null @@ -1,81 +0,0 @@ -/* Includes ----------------------------------------------------------------- */ -#include "bsp/time.h" -#include "bsp.h" - -#include -#include "FreeRTOS.h" -#include "main.h" -#include "task.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 -------------------------------------------------------- */ -/* Exported functions ------------------------------------------------------- */ - -uint32_t BSP_TIME_Get_ms() { return xTaskGetTickCount(); } - -uint64_t BSP_TIME_Get_us() { - uint32_t tick_freq = osKernelGetTickFreq(); - uint32_t ticks_old = xTaskGetTickCount()*(1000/tick_freq); - uint32_t tick_value_old = SysTick->VAL; - uint32_t ticks_new = xTaskGetTickCount()*(1000/tick_freq); - uint32_t tick_value_new = SysTick->VAL; - if (ticks_old == ticks_new) { - return ticks_new * 1000 + 1000 - tick_value_old * 1000 / (SysTick->LOAD + 1); - } else { - return ticks_new * 1000 + 1000 - tick_value_new * 1000 / (SysTick->LOAD + 1); - } -} - -uint64_t BSP_TIME_Get() __attribute__((alias("BSP_TIME_Get_us"))); - -int8_t BSP_TIME_Delay_ms(uint32_t ms) { - uint32_t tick_period = 1000u / osKernelGetTickFreq(); - uint32_t ticks = ms / tick_period; - - switch (osKernelGetState()) { - case osKernelError: - case osKernelReserved: - case osKernelLocked: - case osKernelSuspended: - return BSP_ERR; - - case osKernelRunning: - osDelay(ticks ? ticks : 1); - break; - - case osKernelInactive: - case osKernelReady: - HAL_Delay(ms); - break; - } - return BSP_OK; -} - -/*阻塞us延迟*/ -int8_t BSP_TIME_Delay_us(uint32_t us) { - uint64_t start = BSP_TIME_Get_us(); - while (BSP_TIME_Get_us() - start < us) { - // 等待us时间 - } - return BSP_OK; -} - -int8_t BSP_TIME_Delay(uint32_t ms) __attribute__((alias("BSP_TIME_Delay_ms"))); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ \ No newline at end of file diff --git a/User/bsp/time.h b/User/bsp/time.h deleted file mode 100644 index c69085b..0000000 --- a/User/bsp/time.h +++ /dev/null @@ -1,43 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include - -#include "bsp/bsp.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported types ----------------------------------------------------------- */ -/* Exported functions prototypes -------------------------------------------- */ -uint32_t BSP_TIME_Get_ms(); - -uint64_t BSP_TIME_Get_us(); - -uint64_t BSP_TIME_Get(); - -int8_t BSP_TIME_Delay_ms(uint32_t ms); - -/*微秒阻塞延时，一般别用*/ -int8_t BSP_TIME_Delay_us(uint32_t us); - -int8_t BSP_TIME_Delay(uint32_t ms); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/User/bsp/uart.c b/User/bsp/uart.c deleted file mode 100644 index 7157e65..0000000 --- a/User/bsp/uart.c +++ /dev/null @@ -1,159 +0,0 @@ -/* Includes ----------------------------------------------------------------- */ -#include - -#include "bsp/uart.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 -------------------------------------------------------- */ -static void (*UART_Callback[BSP_UART_NUM][BSP_UART_CB_NUM])(void); - -/* Private function -------------------------------------------------------- */ -static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) { - if (huart->Instance == UART5) - return BSP_UART_DR16; - else if (huart->Instance == USART2) - return BSP_UART_IMU; - else - return BSP_UART_ERR; -} - -void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) { - BSP_UART_t bsp_uart = UART_Get(huart); - if (bsp_uart != BSP_UART_ERR) { - if (UART_Callback[bsp_uart][BSP_UART_TX_CPLT_CB]) { - UART_Callback[bsp_uart][BSP_UART_TX_CPLT_CB](); - } - } -} - -void HAL_UART_TxHalfCpltCallback(UART_HandleTypeDef *huart) { - BSP_UART_t bsp_uart = UART_Get(huart); - if (bsp_uart != BSP_UART_ERR) { - if (UART_Callback[bsp_uart][BSP_UART_TX_HALF_CPLT_CB]) { - UART_Callback[bsp_uart][BSP_UART_TX_HALF_CPLT_CB](); - } - } -} - -void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) { - BSP_UART_t bsp_uart = UART_Get(huart); - if (bsp_uart != BSP_UART_ERR) { - if (UART_Callback[bsp_uart][BSP_UART_RX_CPLT_CB]) { - UART_Callback[bsp_uart][BSP_UART_RX_CPLT_CB](); - } - } -} - -void HAL_UART_RxHalfCpltCallback(UART_HandleTypeDef *huart) { - BSP_UART_t bsp_uart = UART_Get(huart); - if (bsp_uart != BSP_UART_ERR) { - if (UART_Callback[bsp_uart][BSP_UART_RX_HALF_CPLT_CB]) { - UART_Callback[bsp_uart][BSP_UART_RX_HALF_CPLT_CB](); - } - } -} - -void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart) { - BSP_UART_t bsp_uart = UART_Get(huart); - if (bsp_uart != BSP_UART_ERR) { - if (UART_Callback[bsp_uart][BSP_UART_ERROR_CB]) { - UART_Callback[bsp_uart][BSP_UART_ERROR_CB](); - } - } -} - -void HAL_UART_AbortCpltCallback(UART_HandleTypeDef *huart) { - BSP_UART_t bsp_uart = UART_Get(huart); - if (bsp_uart != BSP_UART_ERR) { - if (UART_Callback[bsp_uart][BSP_UART_ABORT_CPLT_CB]) { - UART_Callback[bsp_uart][BSP_UART_ABORT_CPLT_CB](); - } - } -} - -void HAL_UART_AbortTransmitCpltCallback(UART_HandleTypeDef *huart) { - BSP_UART_t bsp_uart = UART_Get(huart); - if (bsp_uart != BSP_UART_ERR) { - if (UART_Callback[bsp_uart][BSP_UART_ABORT_TX_CPLT_CB]) { - UART_Callback[bsp_uart][BSP_UART_ABORT_TX_CPLT_CB](); - } - } -} - -void HAL_UART_AbortReceiveCpltCallback(UART_HandleTypeDef *huart) { - BSP_UART_t bsp_uart = UART_Get(huart); - if (bsp_uart != BSP_UART_ERR) { - if (UART_Callback[bsp_uart][BSP_UART_ABORT_RX_CPLT_CB]) { - UART_Callback[bsp_uart][BSP_UART_ABORT_RX_CPLT_CB](); - } - } -} - -/* Exported functions ------------------------------------------------------- */ -void BSP_UART_IRQHandler(UART_HandleTypeDef *huart) { - if (__HAL_UART_GET_FLAG(huart, UART_FLAG_IDLE)) { - __HAL_UART_CLEAR_IDLEFLAG(huart); - if (UART_Callback[UART_Get(huart)][BSP_UART_IDLE_LINE_CB]) { - UART_Callback[UART_Get(huart)][BSP_UART_IDLE_LINE_CB](); - } - } -} - -UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) { - switch (uart) { - case BSP_UART_DR16: - return &huart5; - case BSP_UART_IMU: - return &huart2; - default: - return NULL; - } -} - -int8_t BSP_UART_RegisterCallback(BSP_UART_t uart, BSP_UART_Callback_t type, - void (*callback)(void)) { - if (callback == NULL) return BSP_ERR_NULL; - if (uart >= BSP_UART_NUM || type >= BSP_UART_CB_NUM) return BSP_ERR; - UART_Callback[uart][type] = callback; - return BSP_OK; -} - -int8_t BSP_UART_Transmit(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma) { - if (uart >= BSP_UART_NUM) return BSP_ERR; - if (data == NULL || size == 0) return BSP_ERR_NULL; - - if (dma) { - return HAL_UART_Transmit_DMA(BSP_UART_GetHandle(uart), data, size); - } else { - return HAL_UART_Transmit_IT(BSP_UART_GetHandle(uart), data, size); - } -} - -int8_t BSP_UART_Receive(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma) { - if (uart >= BSP_UART_NUM) return BSP_ERR; - if (data == NULL || size == 0) return BSP_ERR_NULL; - - if (dma) { - return HAL_UART_Receive_DMA(BSP_UART_GetHandle(uart), data, size); - } else { - return HAL_UART_Receive_IT(BSP_UART_GetHandle(uart), data, size); - } -} - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ \ No newline at end of file diff --git a/User/bsp/uart.h b/User/bsp/uart.h deleted file mode 100644 index 5060aad..0000000 --- a/User/bsp/uart.h +++ /dev/null @@ -1,69 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include -#include -#include - -#include "bsp/bsp.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported types ----------------------------------------------------------- */ - -/* 要添加使用UART的新设备，需要先在此添加对应的枚举值 */ - -/* UART实体枚举，与设备对应 */ -typedef enum { - BSP_UART_DR16, - BSP_UART_IMU, - BSP_UART_NUM, - BSP_UART_ERR, -} BSP_UART_t; - -/* UART支持的中断回调函数类型，具体参考HAL中定义 */ -typedef enum { - BSP_UART_TX_HALF_CPLT_CB, - BSP_UART_TX_CPLT_CB, - BSP_UART_RX_HALF_CPLT_CB, - BSP_UART_RX_CPLT_CB, - BSP_UART_ERROR_CB, - BSP_UART_ABORT_CPLT_CB, - BSP_UART_ABORT_TX_CPLT_CB, - BSP_UART_ABORT_RX_CPLT_CB, - - BSP_UART_IDLE_LINE_CB, - BSP_UART_CB_NUM, -} BSP_UART_Callback_t; - -/* Exported functions prototypes -------------------------------------------- */ - -UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart); - -void BSP_UART_IRQHandler(UART_HandleTypeDef *huart); - -int8_t BSP_UART_RegisterCallback(BSP_UART_t uart, BSP_UART_Callback_t type, - void (*callback)(void)); - -int8_t BSP_UART_Transmit(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma); -int8_t BSP_UART_Receive(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/User/component/ahrs.c b/User/component/ahrs.c deleted file mode 100644 index ffdb870..0000000 --- a/User/component/ahrs.c +++ /dev/null @@ -1,417 +0,0 @@ -/* - 开源的AHRS算法。 - MadgwickAHRS -*/ - -#include "ahrs.h" - -#include - -#include "user_math.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -#define BETA_IMU (0.033f) -#define BETA_AHRS (0.041f) - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* 2 * proportional gain (Kp) */ -static float beta = BETA_IMU; - -/** - * @brief 不使用磁力计计算姿态 - * - * @param ahrs 姿态解算主结构体 - * @param accl 加速度计数据 - * @param gyro 陀螺仪数据 - * @return int8_t 0对应没有错误 - */ -static int8_t AHRS_UpdateIMU(AHRS_t *ahrs, const AHRS_Accl_t *accl, - const AHRS_Gyro_t *gyro) { - if (ahrs == NULL) return -1; - if (accl == NULL) return -1; - if (gyro == NULL) return -1; - - beta = BETA_IMU; - - float ax = accl->x; - float ay = accl->y; - float az = accl->z; - - float gx = gyro->x; - float gy = gyro->y; - float gz = gyro->z; - - float recip_norm; - float s0, s1, s2, s3; - float q_dot1, q_dot2, q_dot3, q_dot4; - float _2q0, _2q1, _2q2, _2q3, _4q0, _4q1, _4q2, _8q1, _8q2, q0q0, q1q1, q2q2, - q3q3; - - /* Rate of change of quaternion from gyroscope */ - q_dot1 = 0.5f * (-ahrs->quat.q1 * gx - ahrs->quat.q2 * gy - - ahrs->quat.q3 * gz); - q_dot2 = 0.5f * (ahrs->quat.q0 * gx + ahrs->quat.q2 * gz - - ahrs->quat.q3 * gy); - q_dot3 = 0.5f * (ahrs->quat.q0 * gy - ahrs->quat.q1 * gz + - ahrs->quat.q3 * gx); - q_dot4 = 0.5f * (ahrs->quat.q0 * gz + ahrs->quat.q1 * gy - - ahrs->quat.q2 * gx); - - /* Compute feedback only if accelerometer measurement valid (avoids NaN in - * accelerometer normalisation) */ - if (!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { - /* Normalise accelerometer measurement */ - recip_norm = InvSqrt(ax * ax + ay * ay + az * az); - ax *= recip_norm; - ay *= recip_norm; - az *= recip_norm; - - /* Auxiliary variables to avoid repeated arithmetic */ - _2q0 = 2.0f * ahrs->quat.q0; - _2q1 = 2.0f * ahrs->quat.q1; - _2q2 = 2.0f * ahrs->quat.q2; - _2q3 = 2.0f * ahrs->quat.q3; - _4q0 = 4.0f * ahrs->quat.q0; - _4q1 = 4.0f * ahrs->quat.q1; - _4q2 = 4.0f * ahrs->quat.q2; - _8q1 = 8.0f * ahrs->quat.q1; - _8q2 = 8.0f * ahrs->quat.q2; - q0q0 = ahrs->quat.q0 * ahrs->quat.q0; - q1q1 = ahrs->quat.q1 * ahrs->quat.q1; - q2q2 = ahrs->quat.q2 * ahrs->quat.q2; - q3q3 = ahrs->quat.q3 * ahrs->quat.q3; - - /* Gradient decent algorithm corrective step */ - s0 = _4q0 * q2q2 + _2q2 * ax + _4q0 * q1q1 - _2q1 * ay; - s1 = _4q1 * q3q3 - _2q3 * ax + 4.0f * q0q0 * ahrs->quat.q1 - - _2q0 * ay - _4q1 + _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az; - s2 = 4.0f * q0q0 * ahrs->quat.q2 + _2q0 * ax + _4q2 * q3q3 - - _2q3 * ay - _4q2 + _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az; - s3 = 4.0f * q1q1 * ahrs->quat.q3 - _2q1 * ax + - 4.0f * q2q2 * ahrs->quat.q3 - _2q2 * ay; - - /* normalise step magnitude */ - recip_norm = InvSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); - - s0 *= recip_norm; - s1 *= recip_norm; - s2 *= recip_norm; - s3 *= recip_norm; - - /* Apply feedback step */ - q_dot1 -= beta * s0; - q_dot2 -= beta * s1; - q_dot3 -= beta * s2; - q_dot4 -= beta * s3; - } - - /* Integrate rate of change of quaternion to yield quaternion */ - ahrs->quat.q0 += q_dot1 * ahrs->inv_sample_freq; - ahrs->quat.q1 += q_dot2 * ahrs->inv_sample_freq; - ahrs->quat.q2 += q_dot3 * ahrs->inv_sample_freq; - ahrs->quat.q3 += q_dot4 * ahrs->inv_sample_freq; - - /* Normalise quaternion */ - recip_norm = InvSqrt(ahrs->quat.q0 * ahrs->quat.q0 + - ahrs->quat.q1 * ahrs->quat.q1 + - ahrs->quat.q2 * ahrs->quat.q2 + - ahrs->quat.q3 * ahrs->quat.q3); - ahrs->quat.q0 *= recip_norm; - ahrs->quat.q1 *= recip_norm; - ahrs->quat.q2 *= recip_norm; - ahrs->quat.q3 *= recip_norm; - - return 0; -} - -/** - * @brief 初始化姿态解算 - * - * @param ahrs 姿态解算主结构体 - * @param magn 磁力计数据 - * @param sample_freq 采样频率 - * @return int8_t 0对应没有错误 - */ -int8_t AHRS_Init(AHRS_t *ahrs, const AHRS_Magn_t *magn, float sample_freq) { - if (ahrs == NULL) return -1; - - ahrs->inv_sample_freq = 1.0f / sample_freq; - - ahrs->quat.q0 = 1.0f; - ahrs->quat.q1 = 0.0f; - ahrs->quat.q2 = 0.0f; - ahrs->quat.q3 = 0.0f; - - if (magn) { - float yaw = -atan2(magn->y, magn->x); - - if ((magn->x == 0.0f) && (magn->y == 0.0f) && (magn->z == 0.0f)) { - ahrs->quat.q0 = 0.800884545f; - ahrs->quat.q1 = 0.00862364192f; - ahrs->quat.q2 = -0.00283267116f; - ahrs->quat.q3 = 0.598749936f; - - } else if ((yaw < (M_PI / 2.0f)) || (yaw > 0.0f)) { - ahrs->quat.q0 = 0.997458339f; - ahrs->quat.q1 = 0.000336312107f; - ahrs->quat.q2 = -0.0057230792f; - ahrs->quat.q3 = 0.0740156546; - - } else if ((yaw < M_PI) || (yaw > (M_PI / 2.0f))) { - ahrs->quat.q0 = 0.800884545f; - ahrs->quat.q1 = 0.00862364192f; - ahrs->quat.q2 = -0.00283267116f; - ahrs->quat.q3 = 0.598749936f; - - } else if ((yaw < 90.0f) || (yaw > M_PI)) { - ahrs->quat.q0 = 0.800884545f; - ahrs->quat.q1 = 0.00862364192f; - ahrs->quat.q2 = -0.00283267116f; - ahrs->quat.q3 = 0.598749936f; - - } else if ((yaw < 90.0f) || (yaw > 0.0f)) { - ahrs->quat.q0 = 0.800884545f; - ahrs->quat.q1 = 0.00862364192f; - ahrs->quat.q2 = -0.00283267116f; - ahrs->quat.q3 = 0.598749936f; - } - } - return 0; -} - -/** - * @brief 姿态运算更新一次 - * @note 输入数据必须是NED(North East Down) 参考坐标系 - * - * @param ahrs 姿态解算主结构体 - * @param accl 加速度计数据 - * @param gyro 陀螺仪数据 - * @param magn 磁力计数据 - * @return int8_t 0对应没有错误 - */ -int8_t AHRS_Update(AHRS_t *ahrs, const AHRS_Accl_t *accl, - const AHRS_Gyro_t *gyro, const AHRS_Magn_t *magn) { - if (ahrs == NULL) return -1; - if (accl == NULL) return -1; - if (gyro == NULL) return -1; - - beta = BETA_AHRS; - - float recip_norm; - float s0, s1, s2, s3; - float q_dot1, q_dot2, q_dot3, q_dot4; - float hx, hy; - float _2q0mx, _2q0my, _2q0mz, _2q1mx, _2bx, _2bz, _4bx, _4bz, _2q0, _2q1, - _2q2, _2q3, _2q0q2, _2q2q3, q0q0, q0q1, q0q2, q0q3, q1q1, q1q2, q1q3, - q2q2, q2q3, q3q3; - - if (magn == NULL) return AHRS_UpdateIMU(ahrs, accl, gyro); - - float mx = magn->x; - float my = magn->y; - float mz = magn->z; - - /* Use IMU algorithm if magnetometer measurement invalid (avoids NaN in */ - /* magnetometer normalisation) */ - if ((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) { - return AHRS_UpdateIMU(ahrs, accl, gyro); - } - - float ax = accl->x; - float ay = accl->y; - float az = accl->z; - - float gx = gyro->x; - float gy = gyro->y; - float gz = gyro->z; - - /* Rate of change of quaternion from gyroscope */ - q_dot1 = 0.5f * (-ahrs->quat.q1 * gx - ahrs->quat.q2 * gy - - ahrs->quat.q3 * gz); - q_dot2 = 0.5f * (ahrs->quat.q0 * gx + ahrs->quat.q2 * gz - - ahrs->quat.q3 * gy); - q_dot3 = 0.5f * (ahrs->quat.q0 * gy - ahrs->quat.q1 * gz + - ahrs->quat.q3 * gx); - q_dot4 = 0.5f * (ahrs->quat.q0 * gz + ahrs->quat.q1 * gy - - ahrs->quat.q2 * gx); - - /* Compute feedback only if accelerometer measurement valid (avoids NaN in - * accelerometer normalisation) */ - if (!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { - /* Normalise accelerometer measurement */ - recip_norm = InvSqrt(ax * ax + ay * ay + az * az); - ax *= recip_norm; - ay *= recip_norm; - az *= recip_norm; - - /* Normalise magnetometer measurement */ - recip_norm = InvSqrt(mx * mx + my * my + mz * mz); - mx *= recip_norm; - my *= recip_norm; - mz *= recip_norm; - - /* Auxiliary variables to avoid repeated arithmetic */ - _2q0mx = 2.0f * ahrs->quat.q0 * mx; - _2q0my = 2.0f * ahrs->quat.q0 * my; - _2q0mz = 2.0f * ahrs->quat.q0 * mz; - _2q1mx = 2.0f * ahrs->quat.q1 * mx; - _2q0 = 2.0f * ahrs->quat.q0; - _2q1 = 2.0f * ahrs->quat.q1; - _2q2 = 2.0f * ahrs->quat.q2; - _2q3 = 2.0f * ahrs->quat.q3; - _2q0q2 = 2.0f * ahrs->quat.q0 * ahrs->quat.q2; - _2q2q3 = 2.0f * ahrs->quat.q2 * ahrs->quat.q3; - q0q0 = ahrs->quat.q0 * ahrs->quat.q0; - q0q1 = ahrs->quat.q0 * ahrs->quat.q1; - q0q2 = ahrs->quat.q0 * ahrs->quat.q2; - q0q3 = ahrs->quat.q0 * ahrs->quat.q3; - q1q1 = ahrs->quat.q1 * ahrs->quat.q1; - q1q2 = ahrs->quat.q1 * ahrs->quat.q2; - q1q3 = ahrs->quat.q1 * ahrs->quat.q3; - q2q2 = ahrs->quat.q2 * ahrs->quat.q2; - q2q3 = ahrs->quat.q2 * ahrs->quat.q3; - q3q3 = ahrs->quat.q3 * ahrs->quat.q3; - - /* Reference direction of Earth's magnetic field */ - hx = mx * q0q0 - _2q0my * ahrs->quat.q3 + - _2q0mz * ahrs->quat.q2 + mx * q1q1 + - _2q1 * my * ahrs->quat.q2 + _2q1 * mz * ahrs->quat.q3 - - mx * q2q2 - mx * q3q3; - hy = _2q0mx * ahrs->quat.q3 + my * q0q0 - - _2q0mz * ahrs->quat.q1 + _2q1mx * ahrs->quat.q2 - - my * q1q1 + my * q2q2 + _2q2 * mz * ahrs->quat.q3 - my * q3q3; - // _2bx = sqrtf(hx * hx + hy * hy); - // 改为invsqrt - _2bx = 1.f / InvSqrt(hx * hx + hy * hy); - _2bz = -_2q0mx * ahrs->quat.q2 + _2q0my * ahrs->quat.q1 + - mz * q0q0 + _2q1mx * ahrs->quat.q3 - mz * q1q1 + - _2q2 * my * ahrs->quat.q3 - mz * q2q2 + mz * q3q3; - _4bx = 2.0f * _2bx; - _4bz = 2.0f * _2bz; - - /* Gradient decent algorithm corrective step */ - s0 = -_2q2 * (2.0f * q1q3 - _2q0q2 - ax) + - _2q1 * (2.0f * q0q1 + _2q2q3 - ay) - - _2bz * ahrs->quat.q2 * - (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + - (-_2bx * ahrs->quat.q3 + _2bz * ahrs->quat.q1) * - (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + - _2bx * ahrs->quat.q2 * - (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); - s1 = _2q3 * (2.0f * q1q3 - _2q0q2 - ax) + - _2q0 * (2.0f * q0q1 + _2q2q3 - ay) - - 4.0f * ahrs->quat.q1 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + - _2bz * ahrs->quat.q3 * - (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + - (_2bx * ahrs->quat.q2 + _2bz * ahrs->quat.q0) * - (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + - (_2bx * ahrs->quat.q3 - _4bz * ahrs->quat.q1) * - (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); - s2 = -_2q0 * (2.0f * q1q3 - _2q0q2 - ax) + - _2q3 * (2.0f * q0q1 + _2q2q3 - ay) - - 4.0f * ahrs->quat.q2 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + - (-_4bx * ahrs->quat.q2 - _2bz * ahrs->quat.q0) * - (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + - (_2bx * ahrs->quat.q1 + _2bz * ahrs->quat.q3) * - (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + - (_2bx * ahrs->quat.q0 - _4bz * ahrs->quat.q2) * - (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); - s3 = _2q1 * (2.0f * q1q3 - _2q0q2 - ax) + - _2q2 * (2.0f * q0q1 + _2q2q3 - ay) + - (-_4bx * ahrs->quat.q3 + _2bz * ahrs->quat.q1) * - (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + - (-_2bx * ahrs->quat.q0 + _2bz * ahrs->quat.q2) * - (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + - _2bx * ahrs->quat.q1 * - (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); - /* normalise step magnitude */ - recip_norm = InvSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); - s0 *= recip_norm; - s1 *= recip_norm; - s2 *= recip_norm; - s3 *= recip_norm; - - /* Apply feedback step */ - q_dot1 -= beta * s0; - q_dot2 -= beta * s1; - q_dot3 -= beta * s2; - q_dot4 -= beta * s3; - } - - /* Integrate rate of change of quaternion to yield quaternion */ - ahrs->quat.q0 += q_dot1 * ahrs->inv_sample_freq; - ahrs->quat.q1 += q_dot2 * ahrs->inv_sample_freq; - ahrs->quat.q2 += q_dot3 * ahrs->inv_sample_freq; - ahrs->quat.q3 += q_dot4 * ahrs->inv_sample_freq; - - /* Normalise quaternion */ - recip_norm = InvSqrt(ahrs->quat.q0 * ahrs->quat.q0 + - ahrs->quat.q1 * ahrs->quat.q1 + - ahrs->quat.q2 * ahrs->quat.q2 + - ahrs->quat.q3 * ahrs->quat.q3); - ahrs->quat.q0 *= recip_norm; - ahrs->quat.q1 *= recip_norm; - ahrs->quat.q2 *= recip_norm; - ahrs->quat.q3 *= recip_norm; - - return 0; -} - -/** - * @brief 通过姿态解算主结构体中的四元数计算欧拉角 - * - * @param eulr 欧拉角 - * @param ahrs 姿态解算主结构体 - * @return int8_t 0对应没有错误 - */ -int8_t AHRS_GetEulr(AHRS_Eulr_t *eulr, const AHRS_t *ahrs) { - if (eulr == NULL) return -1; - if (ahrs == NULL) return -1; - - const float sinr_cosp = 2.0f * (ahrs->quat.q0 * ahrs->quat.q1 + - ahrs->quat.q2 * ahrs->quat.q3); - const float cosr_cosp = - 1.0f - 2.0f * (ahrs->quat.q1 * ahrs->quat.q1 + - ahrs->quat.q2 * ahrs->quat.q2); - eulr->pit = atan2f(sinr_cosp, cosr_cosp); - - const float sinp = 2.0f * (ahrs->quat.q0 * ahrs->quat.q2 - - ahrs->quat.q3 * ahrs->quat.q1); - - if (fabsf(sinp) >= 1.0f) - eulr->rol = copysignf(M_PI / 2.0f, sinp); - else - eulr->rol = asinf(sinp); - - const float siny_cosp = 2.0f * (ahrs->quat.q0 * ahrs->quat.q3 + - ahrs->quat.q1 * ahrs->quat.q2); - const float cosy_cosp = - 1.0f - 2.0f * (ahrs->quat.q2 * ahrs->quat.q2 + - ahrs->quat.q3 * ahrs->quat.q3); - eulr->yaw = atan2f(siny_cosp, cosy_cosp); - -#if 0 - eulr->yaw *= M_RAD2DEG_MULT; - eulr->rol *= M_RAD2DEG_MULT; - eulr->pit *= M_RAD2DEG_MULT; -#endif - - return 0; -} - -/** - * \brief 将对应数据置零 - * - * \param eulr 被操作的数据 - */ -void AHRS_ResetEulr(AHRS_Eulr_t *eulr) { memset(eulr, 0, sizeof(*eulr)); } - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ diff --git a/User/component/ahrs.h b/User/component/ahrs.h deleted file mode 100644 index 2245b1f..0000000 --- a/User/component/ahrs.h +++ /dev/null @@ -1,114 +0,0 @@ -/* - 开源的AHRS算法。 - MadgwickAHRS -*/ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include "user_math.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* 欧拉角（Euler angle） */ -typedef struct { - float yaw; /* 偏航角（Yaw angle） */ - float pit; /* 俯仰角（Pitch angle） */ - float rol; /* 翻滚角（Roll angle） */ -} AHRS_Eulr_t; - -/* 加速度计 Accelerometer */ -typedef struct { - float x; - float y; - float z; -} AHRS_Accl_t; - -/* 陀螺仪 Gyroscope */ -typedef struct { - float x; - float y; - float z; -} AHRS_Gyro_t; - -/* 磁力计 Magnetometer */ -typedef struct { - float x; - float y; - float z; -} AHRS_Magn_t; - -/* 四元数 */ -typedef struct { - float q0; - float q1; - float q2; - float q3; -} AHRS_Quaternion_t; - -/* 姿态解算算法主结构体 */ -typedef struct { - /* 四元数 */ - AHRS_Quaternion_t quat; - - float inv_sample_freq; /* 采样频率的的倒数 */ -} AHRS_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/** - * @brief 初始化姿态解算 - * - * @param ahrs 姿态解算主结构体 - * @param magn 磁力计数据 - * @param sample_freq 采样频率 - * @return int8_t 0对应没有错误 - */ -int8_t AHRS_Init(AHRS_t *ahrs, const AHRS_Magn_t *magn, float sample_freq); - -/** - * @brief 姿态运算更新一次 - * - * @param ahrs 姿态解算主结构体 - * @param accl 加速度计数据 - * @param gyro 陀螺仪数据 - * @param magn 磁力计数据 - * @return int8_t 0对应没有错误 - */ -int8_t AHRS_Update(AHRS_t *ahrs, const AHRS_Accl_t *accl, - const AHRS_Gyro_t *gyro, const AHRS_Magn_t *magn); - -/** - * @brief 通过姿态解算主结构体中的四元数计算欧拉角 - * - * @param eulr 欧拉角 - * @param ahrs 姿态解算主结构体 - * @return int8_t 0对应没有错误 - */ -int8_t AHRS_GetEulr(AHRS_Eulr_t *eulr, const AHRS_t *ahrs); - -/** - * \brief 将对应数据置零 - * - * \param eulr 被操作的数据 - */ -void AHRS_ResetEulr(AHRS_Eulr_t *eulr); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/User/component/component_config.yaml b/User/component/component_config.yaml deleted file mode 100644 index 1eadd3d..0000000 --- a/User/component/component_config.yaml +++ /dev/null @@ -1,31 +0,0 @@ -ahrs: - dependencies: - - component/user_math.h - enabled: true -crc16: - dependencies: [] - enabled: true -crc8: - dependencies: [] - enabled: true -error_detect: - dependencies: - - bsp/mm - enabled: true -filter: - dependencies: - - component/ahrs - enabled: true -freertos_cli: - dependencies: [] - enabled: true -limiter: - dependencies: [] - enabled: true -pid: - dependencies: - - component/filter - enabled: true -user_math: - dependencies: [] - enabled: true diff --git a/User/component/crc16.c b/User/component/crc16.c deleted file mode 100644 index 0d17eb0..0000000 --- a/User/component/crc16.c +++ /dev/null @@ -1,62 +0,0 @@ -#include "crc16.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -static const uint16_t crc16_tab[256] = { - 0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48, - 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 0x1081, 0x0108, - 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, 0x9cc9, 0x8d40, 0xbfdb, - 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, 0x308b, 0x0210, 0x1399, - 0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, - 0xfae7, 0xc87c, 0xd9f5, 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, - 0x54b5, 0x453c, 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, - 0xc974, 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb, - 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 0x5285, - 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44, - 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, 0x6306, 0x728f, 0x4014, - 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5, - 0xa96a, 0xb8e3, 0x8a78, 0x9bf1, 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, - 0x242a, 0x16b1, 0x0738, 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, - 0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, - 0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff, - 0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1, - 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483, - 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5, 0x2942, 0x38cb, 0x0a50, - 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 0xb58b, 0xa402, 0x9699, 0x8710, - 0xf3af, 0xe226, 0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, - 0x6e6e, 0x5cf5, 0x4d7c, 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, - 0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, - 0x3efb, 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232, - 0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, 0xe70e, - 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1, 0x6b46, 0x7acf, - 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9, 0xf78f, 0xe606, 0xd49d, - 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c, - 0x3de3, 0x2c6a, 0x1ef1, 0x0f78}; - -static inline uint16_t CRC16_Byte(uint16_t crc, const uint8_t data) { - return (crc >> 8) ^ crc16_tab[(crc ^ data) & 0xff]; -} - -uint16_t CRC16_Calc(const uint8_t *buf, size_t len, uint16_t crc) { - while (len--) crc = CRC16_Byte(crc, *buf++); - return crc; -} - -bool CRC16_Verify(const uint8_t *buf, size_t len) { - if (len < 2) return false; - - uint16_t expected = CRC16_Calc(buf, len - sizeof(uint16_t), CRC16_INIT); - return expected == - ((const uint16_t *)((const uint8_t *)buf + - (len % 2)))[len / sizeof(uint16_t) - 1]; -} - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ diff --git a/User/component/crc16.h b/User/component/crc16.h deleted file mode 100644 index 68b0a87..0000000 --- a/User/component/crc16.h +++ /dev/null @@ -1,30 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include - -#include "user_math.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -#define CRC16_INIT 0XFFFF - -uint16_t CRC16_Calc(const uint8_t *buf, size_t len, uint16_t crc); -bool CRC16_Verify(const uint8_t *buf, size_t len); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/User/component/crc8.c b/User/component/crc8.c deleted file mode 100644 index 66f4ad2..0000000 --- a/User/component/crc8.c +++ /dev/null @@ -1,52 +0,0 @@ -#include "crc8.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -static const uint8_t crc8_tab[256] = { - 0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20, - 0xa3, 0xfd, 0x1f, 0x41, 0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e, - 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc, 0x23, 0x7d, 0x9f, 0xc1, - 0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62, - 0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e, - 0x1d, 0x43, 0xa1, 0xff, 0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5, - 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07, 0xdb, 0x85, 0x67, 0x39, - 0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a, - 0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45, - 0xc6, 0x98, 0x7a, 0x24, 0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b, - 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9, 0x8c, 0xd2, 0x30, 0x6e, - 0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd, - 0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31, - 0xb2, 0xec, 0x0e, 0x50, 0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c, - 0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee, 0x32, 0x6c, 0x8e, 0xd0, - 0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73, - 0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea, - 0x69, 0x37, 0xd5, 0x8b, 0x57, 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4, - 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16, 0xe9, 0xb7, 0x55, 0x0b, - 0x88, 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8, - 0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54, - 0xd7, 0x89, 0x6b, 0x35, -}; - -uint8_t CRC8_Calc(const uint8_t *buf, size_t len, uint8_t crc) { - /* loop over the buffer data */ - while (len-- > 0) crc = crc8_tab[(crc ^ *buf++) & 0xff]; - - return crc; -} - -bool CRC8_Verify(const uint8_t *buf, size_t len) { - if (len < 2) return false; - - uint8_t expected = CRC8_Calc(buf, len - sizeof(uint8_t), CRC8_INIT); - return expected == buf[len - sizeof(uint8_t)]; -} - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ diff --git a/User/component/crc8.h b/User/component/crc8.h deleted file mode 100644 index a376c71..0000000 --- a/User/component/crc8.h +++ /dev/null @@ -1,30 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include -#include -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -#define CRC8_INIT 0xFF - -uint8_t CRC8_Calc(const uint8_t *buf, size_t len, uint8_t crc); -bool CRC8_Verify(const uint8_t *buf, size_t len); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/User/component/error_detect.c b/User/component/error_detect.c deleted file mode 100644 index b29e591..0000000 --- a/User/component/error_detect.c +++ /dev/null @@ -1,67 +0,0 @@ -/* - 错误检测。 -*/ - -#include "error_detect.h" - -#include -#include - -#include "bsp/mm.h" - -static ErrorDetect_t ged; -static bool inited = false; - -int8_t ErrorDetect_Init(void) { - if (inited) return -1; - - memset(&ged, 0x00, sizeof(ged)); - - for (uint8_t i = 0; i < ERROR_DETECT_UNIT_NUM; i++) { - ged.error[i].enable = true; - ged.error[i].priority = i; - ged.error[i].patient_lost = 500; - ged.error[i].patient_work = 500; - } - return 0; -} - -void ErrorDetect_Processing(uint32_t sys_time) { - for (uint8_t i = 0; i < ERROR_DETECT_UNIT_NUM; i++) { - if (!ged.error[i].enable) continue; - - if (sys_time - ged.error[i].showup > ged.error[i].patient_lost) { - ged.error[i].is_lost = true; - ged.error[i].found_lost = sys_time; - } else if (sys_time - ged.error[i].showup > ged.error[i].patient_lost) { - } else { - ged.error[i].cycle_time = ged.error[i].showup - ged.error[i].showup_last; - } - } -} - -bool ErrorDetect_ErrorExist(ErrorDetect_Unit_t unit) { - if (unit == ERROR_DETECT_UNIT_NO_DEV) { - for (uint8_t i = ERROR_DETECT_UNIT_NUM; i > 0; i--) { - if (ged.error[i].error_exist) return true; - } - return false; - } else { - return ged.error[unit].error_exist; - } -} - -ErrorDetect_Unit_t ErrorDetect_GetErrorUnit(void) { - for (uint8_t i = ERROR_DETECT_UNIT_NUM; i > 0; i--) { - if (ged.error[i].error_exist) return i; - } - return ERROR_DETECT_UNIT_NO_DEV; -} - -const ErrorDetect_Error_t *ErrorDetect_GetDetail(ErrorDetect_Unit_t unit) { - return &ged.error[unit]; -} - -void ErrorDetect_Update(ErrorDetect_Unit_t unit, uint32_t time_current) { - ged.error[unit].showup = time_current; -} diff --git a/User/component/error_detect.h b/User/component/error_detect.h deleted file mode 100644 index 3dba7a2..0000000 --- a/User/component/error_detect.h +++ /dev/null @@ -1,82 +0,0 @@ -/* - 错误检测。 -*/ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -typedef enum { - /* Low priority */ - ERROR_DETECT_UNIT_NO_DEV = 0, - ERROR_DETECT_UNIT_REFEREE, - ERROR_DETECT_UNIT_CHASSIS_M1, - ERROR_DETECT_UNIT_CHASSIS_M2, - ERROR_DETECT_UNIT_CHASSIS_M3, - ERROR_DETECT_UNIT_CHASSIS_M4, - ERROR_DETECT_UNIT_TRIGGER, - ERROR_DETECT_UNIT_FEED, - ERROR_DETECT_UNIT_GIMBAL_YAW, - ERROR_DETECT_UNIT_GIMBAL_PIT, - ERROR_DETECT_UNIT_GYRO, - ERROR_DETECT_UNIT_ACCL, - ERROR_DETECT_UNIT_MAGN, - ERROR_DETECT_UNIT_DBUS, - ERROR_DETECT_UNIT_NUM, - /* High priority */ -} ErrorDetect_Unit_t; - -typedef struct { - bool enable; - uint8_t priority; - uint32_t patient_lost; - uint32_t patient_work; - - uint32_t showup; - uint32_t showup_last; - uint32_t cycle_time; - uint32_t duration_lost; - uint32_t duration_work; - uint32_t found_lost; - bool error_exist; - bool is_lost; - uint8_t data_is_error; - -} ErrorDetect_Error_t; - -typedef struct { - ErrorDetect_Error_t error[ERROR_DETECT_UNIT_NUM]; -} ErrorDetect_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -int8_t ErrorDetect_Init(void); -void ErrorDetect_Processing(uint32_t sys_time); -bool ErrorDetect_ErrorExist(ErrorDetect_Unit_t unit); -ErrorDetect_Unit_t ErrorDetect_GetErrorUnit(void); -const ErrorDetect_Error_t *ErrorDetect_GetDetail(ErrorDetect_Unit_t unit); - -void ErrorDetect_Update(ErrorDetect_Unit_t unit, uint32_t time_current); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/User/component/filter.c b/User/component/filter.c deleted file mode 100644 index 5375b8e..0000000 --- a/User/component/filter.c +++ /dev/null @@ -1,185 +0,0 @@ -/* - 各类滤波器。 -*/ - -#include "filter.h" - -#include "user_math.h" - -/** - * @brief 初始化滤波器 - * - * @param f 滤波器 - * @param sample_freq 采样频率 - * @param cutoff_freq 截止频率 - */ -void LowPassFilter2p_Init(LowPassFilter2p_t *f, float sample_freq, - float cutoff_freq) { - if (f == NULL) return; - - f->cutoff_freq = cutoff_freq; - - f->delay_element_1 = 0.0f; - f->delay_element_2 = 0.0f; - - if (f->cutoff_freq <= 0.0f) { - /* no filtering */ - f->b0 = 1.0f; - f->b1 = 0.0f; - f->b2 = 0.0f; - - f->a1 = 0.0f; - f->a2 = 0.0f; - - return; - } - const float fr = sample_freq / f->cutoff_freq; - const float ohm = tanf(M_PI / fr); - const float c = 1.0f + 2.0f * cosf(M_PI / 4.0f) * ohm + ohm * ohm; - - f->b0 = ohm * ohm / c; - f->b1 = 2.0f * f->b0; - f->b2 = f->b0; - - f->a1 = 2.0f * (ohm * ohm - 1.0f) / c; - f->a2 = (1.0f - 2.0f * cosf(M_PI / 4.0f) * ohm + ohm * ohm) / c; -} - -/** - * @brief 施加一次滤波计算 - * - * @param f 滤波器 - * @param sample 采样的值 - * @return float 滤波后的值 - */ -float LowPassFilter2p_Apply(LowPassFilter2p_t *f, float sample) { - if (f == NULL) return 0.0f; - - /* do the filtering */ - float delay_element_0 = - sample - f->delay_element_1 * f->a1 - f->delay_element_2 * f->a2; - - if (isinf(delay_element_0)) { - /* don't allow bad values to propagate via the filter */ - delay_element_0 = sample; - } - - const float output = delay_element_0 * f->b0 + f->delay_element_1 * f->b1 + - f->delay_element_2 * f->b2; - - f->delay_element_2 = f->delay_element_1; - f->delay_element_1 = delay_element_0; - - /* return the value. Should be no need to check limits */ - return output; -} - -/** - * @brief 重置滤波器 - * - * @param f 滤波器 - * @param sample 采样的值 - * @return float 滤波后的值 - */ -float LowPassFilter2p_Reset(LowPassFilter2p_t *f, float sample) { - if (f == NULL) return 0.0f; - - const float dval = sample / (f->b0 + f->b1 + f->b2); - - if (isfinite(dval)) { - f->delay_element_1 = dval; - f->delay_element_2 = dval; - - } else { - f->delay_element_1 = sample; - f->delay_element_2 = sample; - } - - return LowPassFilter2p_Apply(f, sample); -} - -/** - * @brief 初始化滤波器 - * - * @param f 滤波器 - * @param sample_freq 采样频率 - * @param notch_freq 中心频率 - * @param bandwidth 带宽 - */ -void NotchFilter_Init(NotchFilter_t *f, float sample_freq, float notch_freq, - float bandwidth) { - if (f == NULL) return; - - f->notch_freq = notch_freq; - f->bandwidth = bandwidth; - - f->delay_element_1 = 0.0f; - f->delay_element_2 = 0.0f; - - if (notch_freq <= 0.0f) { - /* no filtering */ - f->b0 = 1.0f; - f->b1 = 0.0f; - f->b2 = 0.0f; - - f->a1 = 0.0f; - f->a2 = 0.0f; - - return; - } - - const float alpha = tanf(M_PI * bandwidth / sample_freq); - const float beta = -cosf(M_2PI * notch_freq / sample_freq); - const float a0_inv = 1.0f / (alpha + 1.0f); - - f->b0 = a0_inv; - f->b1 = 2.0f * beta * a0_inv; - f->b2 = a0_inv; - - f->a1 = f->b1; - f->a2 = (1.0f - alpha) * a0_inv; -} - -/** - * @brief 施加一次滤波计算 - * - * @param f 滤波器 - * @param sample 采样的值 - * @return float 滤波后的值 - */ -inline float NotchFilter_Apply(NotchFilter_t *f, float sample) { - if (f == NULL) return 0.0f; - - /* Direct Form II implementation */ - const float delay_element_0 = - sample - f->delay_element_1 * f->a1 - f->delay_element_2 * f->a2; - const float output = delay_element_0 * f->b0 + f->delay_element_1 * f->b1 + - f->delay_element_2 * f->b2; - - f->delay_element_2 = f->delay_element_1; - f->delay_element_1 = delay_element_0; - - return output; -} - -/** - * @brief 重置滤波器 - * - * @param f 滤波器 - * @param sample 采样的值 - * @return float 滤波后的值 - */ -float NotchFilter_Reset(NotchFilter_t *f, float sample) { - if (f == NULL) return 0.0f; - - float dval = sample; - - if (fabsf(f->b0 + f->b1 + f->b2) > FLT_EPSILON) { - dval = dval / (f->b0 + f->b1 + f->b2); - } - - f->delay_element_1 = dval; - f->delay_element_2 = dval; - - return NotchFilter_Apply(f, sample); -} diff --git a/User/component/filter.h b/User/component/filter.h deleted file mode 100644 index ae2b072..0000000 --- a/User/component/filter.h +++ /dev/null @@ -1,120 +0,0 @@ -/* - 各类滤波器。 -*/ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include "user_math.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* 二阶低通滤波器 */ -typedef struct { - float cutoff_freq; /* 截止频率 */ - - float a1; - float a2; - - float b0; - float b1; - float b2; - - float delay_element_1; - float delay_element_2; - -} LowPassFilter2p_t; - -/* 带阻滤波器 */ -typedef struct { - float notch_freq; /* 阻止频率 */ - float bandwidth; /* 带宽 */ - - float a1; - float a2; - - float b0; - float b1; - float b2; - float delay_element_1; - float delay_element_2; - -} NotchFilter_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/** - * @brief 初始化滤波器 - * - * @param f 滤波器 - * @param sample_freq 采样频率 - * @param cutoff_freq 截止频率 - */ -void LowPassFilter2p_Init(LowPassFilter2p_t *f, float sample_freq, - float cutoff_freq); - -/** - * @brief 施加一次滤波计算 - * - * @param f 滤波器 - * @param sample 采样的值 - * @return float 滤波后的值 - */ -float LowPassFilter2p_Apply(LowPassFilter2p_t *f, float sample); - -/** - * @brief 重置滤波器 - * - * @param f 滤波器 - * @param sample 采样的值 - * @return float 滤波后的值 - */ -float LowPassFilter2p_Reset(LowPassFilter2p_t *f, float sample); - -/** - * @brief 初始化滤波器 - * - * @param f 滤波器 - * @param sample_freq 采样频率 - * @param notch_freq 中心频率 - * @param bandwidth 带宽 - */ -void NotchFilter_Init(NotchFilter_t *f, float sample_freq, float notch_freq, - float bandwidth); - -/** - * @brief 施加一次滤波计算 - * - * @param f 滤波器 - * @param sample 采样的值 - * @return float 滤波后的值 - */ -float NotchFilter_Apply(NotchFilter_t *f, float sample); - -/** - * @brief 重置滤波器 - * - * @param f 滤波器 - * @param sample 采样的值 - * @return float 滤波后的值 - */ -float NotchFilter_Reset(NotchFilter_t *f, float sample); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/User/component/freertos_cli.c b/User/component/freertos_cli.c deleted file mode 100644 index 32421de..0000000 --- a/User/component/freertos_cli.c +++ /dev/null @@ -1,352 +0,0 @@ -/* - * FreeRTOS+CLI V1.0.4 - * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. - * - * Permission is hereby granted, free of charge, to any person obtaining a copy of - * this software and associated documentation files (the "Software"), to deal in - * the Software without restriction, including without limitation the rights to - * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of - * the Software, and to permit persons to whom the Software is furnished to do so, - * subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS - * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR - * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER - * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN - * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos - * - * 1 tab == 4 spaces! - */ - -/* Standard includes. */ -#include -#include - -/* FreeRTOS includes. */ -#include "FreeRTOS.h" -#include "task.h" - -/* Utils includes. */ -#include "FreeRTOS_CLI.h" - -/* If the application writer needs to place the buffer used by the CLI at a -fixed address then set configAPPLICATION_PROVIDES_cOutputBuffer to 1 in -FreeRTOSConfig.h, then declare an array with the following name and size in -one of the application files: - char cOutputBuffer[ configCOMMAND_INT_MAX_OUTPUT_SIZE ]; -*/ -#ifndef configAPPLICATION_PROVIDES_cOutputBuffer - #define configAPPLICATION_PROVIDES_cOutputBuffer 0 -#endif - -typedef struct xCOMMAND_INPUT_LIST -{ - const CLI_Command_Definition_t *pxCommandLineDefinition; - struct xCOMMAND_INPUT_LIST *pxNext; -} CLI_Definition_List_Item_t; - -/* - * The callback function that is executed when "help" is entered. This is the - * only default command that is always present. - */ -static BaseType_t prvHelpCommand( char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString ); - -/* - * Return the number of parameters that follow the command name. - */ -static int8_t prvGetNumberOfParameters( const char *pcCommandString ); - -/* The definition of the "help" command. This command is always at the front -of the list of registered commands. */ -static const CLI_Command_Definition_t xHelpCommand = -{ - "help", - "\r\nhelp:\r\n Lists all the registered commands\r\n\r\n", - prvHelpCommand, - 0 -}; - -/* The definition of the list of commands. Commands that are registered are -added to this list. */ -static CLI_Definition_List_Item_t xRegisteredCommands = -{ - &xHelpCommand, /* The first command in the list is always the help command, defined in this file. */ - NULL /* The next pointer is initialised to NULL, as there are no other registered commands yet. */ -}; - -/* A buffer into which command outputs can be written is declared here, rather -than in the command console implementation, to allow multiple command consoles -to share the same buffer. For example, an application may allow access to the -command interpreter by UART and by Ethernet. Sharing a buffer is done purely -to save RAM. Note, however, that the command console itself is not re-entrant, -so only one command interpreter interface can be used at any one time. For that -reason, no attempt at providing mutual exclusion to the cOutputBuffer array is -attempted. - -configAPPLICATION_PROVIDES_cOutputBuffer is provided to allow the application -writer to provide their own cOutputBuffer declaration in cases where the -buffer needs to be placed at a fixed address (rather than by the linker). */ - -#if( configAPPLICATION_PROVIDES_cOutputBuffer == 0 ) - static char cOutputBuffer[ configCOMMAND_INT_MAX_OUTPUT_SIZE ]; -#else - extern char cOutputBuffer[ configCOMMAND_INT_MAX_OUTPUT_SIZE ]; -#endif - - -/*---------------------------------------------------------- */ - -BaseType_t FreeRTOS_CLIRegisterCommand( const CLI_Command_Definition_t * const pxCommandToRegister ) -{ -static CLI_Definition_List_Item_t *pxLastCommandInList = &xRegisteredCommands; -CLI_Definition_List_Item_t *pxNewListItem; -BaseType_t xReturn = pdFAIL; - - /* Check the parameter is not NULL. */ - configASSERT( pxCommandToRegister ); - - /* Create a new list item that will reference the command being registered. */ - pxNewListItem = ( CLI_Definition_List_Item_t * ) pvPortMalloc( sizeof( CLI_Definition_List_Item_t ) ); - configASSERT( pxNewListItem ); - - if( pxNewListItem != NULL ) - { - taskENTER_CRITICAL(); - { - /* Reference the command being registered from the newly created - list item. */ - pxNewListItem->pxCommandLineDefinition = pxCommandToRegister; - - /* The new list item will get added to the end of the list, so - pxNext has nowhere to point. */ - pxNewListItem->pxNext = NULL; - - /* Add the newly created list item to the end of the already existing - list. */ - pxLastCommandInList->pxNext = pxNewListItem; - - /* Set the end of list marker to the new list item. */ - pxLastCommandInList = pxNewListItem; - } - taskEXIT_CRITICAL(); - - xReturn = pdPASS; - } - - return xReturn; -} -/*---------------------------------------------------------- */ - -BaseType_t FreeRTOS_CLIProcessCommand( const char * const pcCommandInput, char * pcWriteBuffer, size_t xWriteBufferLen ) -{ -static const CLI_Definition_List_Item_t *pxCommand = NULL; -BaseType_t xReturn = pdTRUE; -const char *pcRegisteredCommandString; -size_t xCommandStringLength; - - /* Note: This function is not re-entrant. It must not be called from more - thank one task. */ - - if( pxCommand == NULL ) - { - /* Search for the command string in the list of registered commands. */ - for( pxCommand = &xRegisteredCommands; pxCommand != NULL; pxCommand = pxCommand->pxNext ) - { - pcRegisteredCommandString = pxCommand->pxCommandLineDefinition->pcCommand; - xCommandStringLength = strlen( pcRegisteredCommandString ); - - /* To ensure the string lengths match exactly, so as not to pick up - a sub-string of a longer command, check the byte after the expected - end of the string is either the end of the string or a space before - a parameter. */ - if( ( pcCommandInput[ xCommandStringLength ] == ' ' ) || ( pcCommandInput[ xCommandStringLength ] == 0x00 ) ) - { - if( strncmp( pcCommandInput, pcRegisteredCommandString, xCommandStringLength ) == 0 ) - { - /* The command has been found. Check it has the expected - number of parameters. If cExpectedNumberOfParameters is -1, - then there could be a variable number of parameters and no - check is made. */ - if( pxCommand->pxCommandLineDefinition->cExpectedNumberOfParameters >= 0 ) - { - if( prvGetNumberOfParameters( pcCommandInput ) != pxCommand->pxCommandLineDefinition->cExpectedNumberOfParameters ) - { - xReturn = pdFALSE; - } - } - - break; - } - } - } - } - - if( ( pxCommand != NULL ) && ( xReturn == pdFALSE ) ) - { - /* The command was found, but the number of parameters with the command - was incorrect. */ - strncpy( pcWriteBuffer, "Incorrect command parameter(s). Enter \"help\" to view a list of available commands.\r\n\r\n", xWriteBufferLen ); - pxCommand = NULL; - } - else if( pxCommand != NULL ) - { - /* Call the callback function that is registered to this command. */ - xReturn = pxCommand->pxCommandLineDefinition->pxCommandInterpreter( pcWriteBuffer, xWriteBufferLen, pcCommandInput ); - - /* If xReturn is pdFALSE, then no further strings will be returned - after this one, and pxCommand can be reset to NULL ready to search - for the next entered command. */ - if( xReturn == pdFALSE ) - { - pxCommand = NULL; - } - } - else - { - /* pxCommand was NULL, the command was not found. */ - strncpy( pcWriteBuffer, "Command not recognised. Enter 'help' to view a list of available commands.\r\n\r\n", xWriteBufferLen ); - xReturn = pdFALSE; - } - - return xReturn; -} -/*---------------------------------------------------------- */ - -char *FreeRTOS_CLIGetOutputBuffer( void ) -{ - return cOutputBuffer; -} -/*---------------------------------------------------------- */ - -const char *FreeRTOS_CLIGetParameter( const char *pcCommandString, UBaseType_t uxWantedParameter, BaseType_t *pxParameterStringLength ) -{ -UBaseType_t uxParametersFound = 0; -const char *pcReturn = NULL; - - *pxParameterStringLength = 0; - - while( uxParametersFound < uxWantedParameter ) - { - /* Index the character pointer past the current word. If this is the start - of the command string then the first word is the command itself. */ - while( ( ( *pcCommandString ) != 0x00 ) && ( ( *pcCommandString ) != ' ' ) ) - { - pcCommandString++; - } - - /* Find the start of the next string. */ - while( ( ( *pcCommandString ) != 0x00 ) && ( ( *pcCommandString ) == ' ' ) ) - { - pcCommandString++; - } - - /* Was a string found? */ - if( *pcCommandString != 0x00 ) - { - /* Is this the start of the required parameter? */ - uxParametersFound++; - - if( uxParametersFound == uxWantedParameter ) - { - /* How long is the parameter? */ - pcReturn = pcCommandString; - while( ( ( *pcCommandString ) != 0x00 ) && ( ( *pcCommandString ) != ' ' ) ) - { - ( *pxParameterStringLength )++; - pcCommandString++; - } - - if( *pxParameterStringLength == 0 ) - { - pcReturn = NULL; - } - - break; - } - } - else - { - break; - } - } - - return pcReturn; -} -/*---------------------------------------------------------- */ - -static BaseType_t prvHelpCommand( char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString ) -{ -static const CLI_Definition_List_Item_t * pxCommand = NULL; -BaseType_t xReturn; - - ( void ) pcCommandString; - - if( pxCommand == NULL ) - { - /* Reset the pxCommand pointer back to the start of the list. */ - pxCommand = &xRegisteredCommands; - } - - /* Return the next command help string, before moving the pointer on to - the next command in the list. */ - strncpy( pcWriteBuffer, pxCommand->pxCommandLineDefinition->pcHelpString, xWriteBufferLen ); - pxCommand = pxCommand->pxNext; - - if( pxCommand == NULL ) - { - /* There are no more commands in the list, so there will be no more - strings to return after this one and pdFALSE should be returned. */ - xReturn = pdFALSE; - } - else - { - xReturn = pdTRUE; - } - - return xReturn; -} -/*---------------------------------------------------------- */ - -static int8_t prvGetNumberOfParameters( const char *pcCommandString ) -{ -int8_t cParameters = 0; -BaseType_t xLastCharacterWasSpace = pdFALSE; - - /* Count the number of space delimited words in pcCommandString. */ - while( *pcCommandString != 0x00 ) - { - if( ( *pcCommandString ) == ' ' ) - { - if( xLastCharacterWasSpace != pdTRUE ) - { - cParameters++; - xLastCharacterWasSpace = pdTRUE; - } - } - else - { - xLastCharacterWasSpace = pdFALSE; - } - - pcCommandString++; - } - - /* If the command string ended with spaces, then there will have been too - many parameters counted. */ - if( xLastCharacterWasSpace == pdTRUE ) - { - cParameters--; - } - - /* The value returned is one less than the number of space delimited words, - as the first word should be the command itself. */ - return cParameters; -} - diff --git a/User/component/freertos_cli.h b/User/component/freertos_cli.h deleted file mode 100644 index e6d8266..0000000 --- a/User/component/freertos_cli.h +++ /dev/null @@ -1,108 +0,0 @@ -/* - * FreeRTOS+CLI V1.0.4 - * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. - * - * Permission is hereby granted, free of charge, to any person obtaining a copy of - * this software and associated documentation files (the "Software"), to deal in - * the Software without restriction, including without limitation the rights to - * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of - * the Software, and to permit persons to whom the Software is furnished to do so, - * subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS - * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR - * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER - * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN - * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos - * - * 1 tab == 4 spaces! - */ - -#ifndef COMMAND_INTERPRETER_H -#define COMMAND_INTERPRETER_H - -/* This config should be defined in FreeRTOSConfig.h. But due to the limition of CubeMX I put it here. */ -#define configCOMMAND_INT_MAX_OUTPUT_SIZE 512 - -/* The prototype to which callback functions used to process command line -commands must comply. pcWriteBuffer is a buffer into which the output from -executing the command can be written, xWriteBufferLen is the length, in bytes of -the pcWriteBuffer buffer, and pcCommandString is the entire string as input by -the user (from which parameters can be extracted).*/ -typedef BaseType_t (*pdCOMMAND_LINE_CALLBACK)( char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString ); - -/* The structure that defines command line commands. A command line command -should be defined by declaring a const structure of this type. */ -typedef struct xCOMMAND_LINE_INPUT -{ - const char * const pcCommand; /* The command that causes pxCommandInterpreter to be executed. For example "help". Must be all lower case. */ - const char * const pcHelpString; /* String that describes how to use the command. Should start with the command itself, and end with "\r\n". For example "help: Returns a list of all the commands\r\n". */ - const pdCOMMAND_LINE_CALLBACK pxCommandInterpreter; /* A pointer to the callback function that will return the output generated by the command. */ - int8_t cExpectedNumberOfParameters; /* Commands expect a fixed number of parameters, which may be zero. */ -} CLI_Command_Definition_t; - -/* For backward compatibility. */ -#define xCommandLineInput CLI_Command_Definition_t - -/* - * Register the command passed in using the pxCommandToRegister parameter. - * Registering a command adds the command to the list of commands that are - * handled by the command interpreter. Once a command has been registered it - * can be executed from the command line. - */ -BaseType_t FreeRTOS_CLIRegisterCommand( const CLI_Command_Definition_t * const pxCommandToRegister ); - -/* - * Runs the command interpreter for the command string "pcCommandInput". Any - * output generated by running the command will be placed into pcWriteBuffer. - * xWriteBufferLen must indicate the size, in bytes, of the buffer pointed to - * by pcWriteBuffer. - * - * FreeRTOS_CLIProcessCommand should be called repeatedly until it returns pdFALSE. - * - * pcCmdIntProcessCommand is not reentrant. It must not be called from more - * than one task - or at least - by more than one task at a time. - */ -BaseType_t FreeRTOS_CLIProcessCommand( const char * const pcCommandInput, char * pcWriteBuffer, size_t xWriteBufferLen ); - -/*---------------------------------------------------------- */ - -/* - * A buffer into which command outputs can be written is declared in the - * main command interpreter, rather than in the command console implementation, - * to allow application that provide access to the command console via multiple - * interfaces to share a buffer, and therefore save RAM. Note, however, that - * the command interpreter itself is not re-entrant, so only one command - * console interface can be used at any one time. For that reason, no attempt - * is made to provide any mutual exclusion mechanism on the output buffer. - * - * FreeRTOS_CLIGetOutputBuffer() returns the address of the output buffer. - */ -char *FreeRTOS_CLIGetOutputBuffer( void ); - -/* - * Return a pointer to the xParameterNumber'th word in pcCommandString. - */ -const char *FreeRTOS_CLIGetParameter( const char *pcCommandString, UBaseType_t uxWantedParameter, BaseType_t *pxParameterStringLength ); - -#endif /* COMMAND_INTERPRETER_H */ - - - - - - - - - - - - - diff --git a/User/component/limiter.c b/User/component/limiter.c deleted file mode 100644 index 71e4bf1..0000000 --- a/User/component/limiter.c +++ /dev/null @@ -1,107 +0,0 @@ -/* - 限制器 -*/ - -#include "limiter.h" - -#include -#include - -#define POWER_BUFF_THRESHOLD 20 -#define CHASSIS_POWER_CHECK_FREQ 10 -#define CHASSIS_POWER_FACTOR_PASS 0.9f -#define CHASSIS_POWER_FACTOR_NO_PASS 1.5f - -#define CHASSIS_MOTOR_CIRCUMFERENCE 0.12f - -/** - * @brief 限制底盘功率不超过power_limit - * - * @param power_limit 最大功率 - * @param motor_out 电机输出值 - * @param speed 电机转速 - * @param len 电机数量 - * @return int8_t 0对应没有错误 - */ -int8_t PowerLimit_ChassicOutput(float power_limit, float *motor_out, - float *speed, uint32_t len) { - /* power_limit小于0时不进行限制 */ - if (motor_out == NULL || speed == NULL || power_limit < 0) return -1; - - float sum_motor_out = 0.0f; - for (uint32_t i = 0; i < len; i++) { - /* 总功率计算 P=F(由转矩电流表示)*V(由转速表示) */ - sum_motor_out += - fabsf(motor_out[i]) * fabsf(speed[i]) * CHASSIS_MOTOR_CIRCUMFERENCE; - } - - /* 保持每个电机输出值缩小时比例不变 */ - if (sum_motor_out > power_limit) { - for (uint32_t i = 0; i < len; i++) { - motor_out[i] *= power_limit / sum_motor_out; - } - } - - return 0; -} - -/** - * @brief 电容输入功率计算 - * - * @param power_in 底盘当前功率 - * @param power_limit 裁判系统功率限制值 - * @param power_buffer 缓冲能量 - * @return float 裁判系统输出最大值 - */ -float PowerLimit_CapInput(float power_in, float power_limit, - float power_buffer) { - float target_power = 0.0f; - - /* 计算下一个检测周期的剩余缓冲能量 */ - float heat_buff = power_buffer - (float)(power_in - power_limit) / - (float)CHASSIS_POWER_CHECK_FREQ; - if (heat_buff < POWER_BUFF_THRESHOLD) { /* 功率限制 */ - target_power = power_limit * CHASSIS_POWER_FACTOR_PASS; - } else { - target_power = power_limit * CHASSIS_POWER_FACTOR_NO_PASS; - } - - return target_power; -} - -/** - * @brief 使用缓冲能量计算底盘最大功率 - * - * @param power_limit 裁判系统功率限制值 - * @param power_buffer 缓冲能量 - * @return float 底盘输出最大值 - */ -float PowerLimit_TargetPower(float power_limit, float power_buffer) { - float target_power = 0.0f; - - /* 根据剩余缓冲能量计算输出功率 */ - target_power = power_limit * (power_buffer - 10.0f) / 20.0f; - if (target_power < 0.0f) target_power = 0.0f; - - return target_power; -} - -/** - * @brief 射击频率控制 - * - * @param heat 当前热量 - * @param heat_limit 热量上限 - * @param cooling_rate 冷却速率 - * @param heat_increase 冷却增加 - * @param shoot_freq 经过热量限制后的射击频率 - * @return float 射击频率 - */ -float HeatLimit_ShootFreq(float heat, float heat_limit, float cooling_rate, - float heat_increase, bool is_big) { - float heat_percent = heat / heat_limit; - float stable_freq = cooling_rate / heat_increase; - if (is_big) - return stable_freq; - else - return (heat_percent > 0.7f) ? stable_freq : 3.0f * stable_freq; -} diff --git a/User/component/limiter.h b/User/component/limiter.h deleted file mode 100644 index d0aa92a..0000000 --- a/User/component/limiter.h +++ /dev/null @@ -1,63 +0,0 @@ -/* - 限制器 -*/ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/** - * @brief 限制底盘功率不超过power_limit - * - * @param power_limit 最大功率 - * @param motor_out 电机输出值 - * @param speed 电机转速 - * @param len 电机数量 - * @return int8_t 0对应没有错误 - */ -int8_t PowerLimit_ChassicOutput(float power_limit, float *motor_out, - float *speed, uint32_t len); -/** - * @brief 电容输入功率计算 - * - * @param power_in 底盘当前功率 - * @param power_limit 裁判系统功率限制值 - * @param power_buffer 缓冲能量 - * @return float 裁判系统输出最大值 - */ -float PowerLimit_CapInput(float power_in, float power_limit, - float power_buffer); -/** - * @brief 使用缓冲能量计算底盘最大功率 - * - * @param power_limit 裁判系统功率限制值 - * @param power_buffer 缓冲能量 - * @return float 底盘输出最大值 - */ -float PowerLimit_TargetPower(float power_limit, float power_buffer); - -/** - * @brief 射击频率控制 - * - * @param heat 当前热量 - * @param heat_limit 热量上限 - * @param cooling_rate 冷却速率 - * @param heat_increase 冷却增加 - * @param shoot_freq 经过热量限制后的射击频率 - * @return float 射击频率 - */ -float HeatLimit_ShootFreq(float heat, float heat_limit, float cooling_rate, - float heat_increase, bool is_big); diff --git a/User/component/pid.c b/User/component/pid.c deleted file mode 100644 index 0a3c7d4..0000000 --- a/User/component/pid.c +++ /dev/null @@ -1,158 +0,0 @@ -/* - Modified from - https://github.com/PX4/Firmware/blob/master/src/lib/pid/pid.cpp - - 参考资料： - https://github.com/PX4/Firmware/issues/12362 - https://dev.px4.io/master/en/flight_stack/controller_diagrams.html - https://docs.px4.io/master/en/config_mc/pid_tuning_guide_multicopter.html#standard_form - https://www.controleng.com/articles/not-all-pid-controllers-are-the-same/ - https://en.wikipedia.org/wiki/PID_controller - http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-derivative-kick/ -*/ - -#include "pid.h" - -#define SIGMA 0.000001f - -/** - * @brief 初始化PID - * - * @param pid PID结构体 - * @param mode PID模式 - * @param sample_freq 采样频率 - * @param param PID参数 - * @return int8_t 0对应没有错误 - */ -int8_t PID_Init(KPID_t *pid, KPID_Mode_t mode, float sample_freq, - const KPID_Params_t *param) { - if (pid == NULL) return -1; - - if (!isfinite(param->p)) return -1; - if (!isfinite(param->i)) return -1; - if (!isfinite(param->d)) return -1; - if (!isfinite(param->i_limit)) return -1; - if (!isfinite(param->out_limit)) return -1; - pid->param = param; - - float dt_min = 1.0f / sample_freq; - if (isfinite(dt_min)) - pid->dt_min = dt_min; - else - return -1; - - LowPassFilter2p_Init(&(pid->dfilter), sample_freq, pid->param->d_cutoff_freq); - - pid->mode = mode; - PID_Reset(pid); - return 0; -} - -/** - * @brief PID计算 - * - * @param pid PID结构体 - * @param sp 设定值 - * @param fb 反馈值 - * @param fb_dot 反馈值微分 - * @param dt 间隔时间 - * @return float 计算的输出 - */ -float PID_Calc(KPID_t *pid, float sp, float fb, float fb_dot, float dt) { - if (!isfinite(sp) || !isfinite(fb) || !isfinite(fb_dot) || !isfinite(dt)) { - return pid->last.out; - } - - /* 计算误差值 */ - const float err = CircleError(sp, fb, pid->param->range); - - /* 计算P项 */ - const float k_err = err * pid->param->k; - - /* 计算D项 */ - const float k_fb = pid->param->k * fb; - const float filtered_k_fb = LowPassFilter2p_Apply(&(pid->dfilter), k_fb); - - float d; - switch (pid->mode) { - case KPID_MODE_CALC_D: - /* 通过fb计算D，避免了由于sp变化导致err突变的问题 */ - /* 当sp不变时，err的微分等于负的fb的微分 */ - d = (filtered_k_fb - pid->last.k_fb) / fmaxf(dt, pid->dt_min); - break; - - case KPID_MODE_SET_D: - d = fb_dot; - break; - - case KPID_MODE_NO_D: - d = 0.0f; - break; - } - pid->last.err = err; - pid->last.k_fb = filtered_k_fb; - - if (!isfinite(d)) d = 0.0f; - - /* 计算PD输出 */ - float output = (k_err * pid->param->p) - (d * pid->param->d); - - /* 计算I项 */ - const float i = pid->i + (k_err * dt); - const float i_out = i * pid->param->i; - - if (pid->param->i > SIGMA) { - /* 检查是否饱和 */ - if (isfinite(i)) { - if ((fabsf(output + i_out) <= pid->param->out_limit) && - (fabsf(i) <= pid->param->i_limit)) { - /* 未饱和，使用新积分 */ - pid->i = i; - } - } - } - - /* 计算PID输出 */ - output += i_out; - - /* 限制输出 */ - if (isfinite(output)) { - if (pid->param->out_limit > SIGMA) { - output = AbsClip(output, pid->param->out_limit); - } - pid->last.out = output; - } - return pid->last.out; -} - -/** - * @brief 重置微分项 - * - * @param pid PID结构体 - * @return int8_t 0对应没有错误 - */ -int8_t PID_ResetIntegral(KPID_t *pid) { - if (pid == NULL) return -1; - - pid->i = 0.0f; - - return 0; -} - -/** - * @brief 重置PID - * - * @param pid PID结构体 - * @return int8_t 0对应没有错误 - */ -int8_t PID_Reset(KPID_t *pid) { - if (pid == NULL) return -1; - - pid->i = 0.0f; - pid->last.err = 0.0f; - pid->last.k_fb = 0.0f; - pid->last.out = 0.0f; - LowPassFilter2p_Reset(&(pid->dfilter), 0.0f); - - return 0; -} diff --git a/User/component/pid.h b/User/component/pid.h deleted file mode 100644 index 4b451eb..0000000 --- a/User/component/pid.h +++ /dev/null @@ -1,107 +0,0 @@ -/* - Modified from - https://github.com/PX4/Firmware/blob/master/src/lib/pid/pid.h -*/ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include - -#include "filter.h" -#include "user_math.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* PID模式 */ -typedef enum { - KPID_MODE_NO_D = 0, /* 不使用微分项，PI控制器 */ - KPID_MODE_CALC_D, /* 根据反馈的值计算离散微分，忽略PID_Calc中的fb_dot */ - KPID_MODE_SET_D /* 直接提供微分值，PID_Calc中的fb_dot将被使用，(Gyros) */ -} KPID_Mode_t; - -/* PID参数 */ -typedef struct { - float k; /* 控制器增益，设置为1用于并行模式 */ - float p; /* 比例项增益，设置为1用于标准形式 */ - float i; /* 积分项增益 */ - float d; /* 微分项增益 */ - float i_limit; /* 积分项上限 */ - float out_limit; /* 输出绝对值限制 */ - float d_cutoff_freq; /* D项低通截止频率 */ - float range; /* 计算循环误差时使用，大于0时启用 */ -} KPID_Params_t; - -/* PID主结构体 */ -typedef struct { - KPID_Mode_t mode; - const KPID_Params_t *param; - - float dt_min; /* 最小PID_Calc调用间隔 */ - float i; /* 积分 */ - - struct { - float err; /* 上次误差 */ - float k_fb; /* 上次反馈值 */ - float out; /* 上次输出 */ - } last; - - LowPassFilter2p_t dfilter; /* D项低通滤波器 */ -} KPID_t; - -/** - * @brief 初始化PID - * - * @param pid PID结构体 - * @param mode PID模式 - * @param sample_freq 采样频率 - * @param param PID参数 - * @return int8_t 0对应没有错误 - */ -int8_t PID_Init(KPID_t *pid, KPID_Mode_t mode, float sample_freq, - const KPID_Params_t *param); - -/** - * @brief PID计算 - * - * @param pid PID结构体 - * @param sp 设定值 - * @param fb 反馈值 - * @param fb_dot 反馈值微分 - * @param dt 间隔时间 - * @return float 计算的输出 - */ -float PID_Calc(KPID_t *pid, float sp, float fb, float fb_dot, float dt); - -/** - * @brief 重置微分项 - * - * @param pid PID结构体 - * @return int8_t 0对应没有错误 - */ -int8_t PID_ResetIntegral(KPID_t *pid); - -/** - * @brief 重置PID - * - * @param pid PID结构体 - * @return int8_t 0对应没有错误 - */ -int8_t PID_Reset(KPID_t *pid); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/User/component/user_math.c b/User/component/user_math.c deleted file mode 100644 index 5e0b0c4..0000000 --- a/User/component/user_math.c +++ /dev/null @@ -1,134 +0,0 @@ -/* - 自定义的数学运算。 -*/ - -#include "user_math.h" -#include -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -inline float InvSqrt(float x) { -//#if 0 - /* Fast inverse square-root */ - /* See: http://en.wikipedia.org/wiki/Fast_inverse_square_root */ - float halfx = 0.5f * x; - float y = x; - long i = *(long*)&y; - i = 0x5f3759df - (i>>1); - y = *(float*)&i; - y = y * (1.5f - (halfx * y * y)); - y = y * (1.5f - (halfx * y * y)); - return y; -//#else -// return 1.0f / sqrtf(x); -//#endif -} - -inline float AbsClip(float in, float limit) { - return (in < -limit) ? -limit : ((in > limit) ? limit : in); -} - -float fAbs(float in){ - return (in > 0) ? in : -in; -} - -inline void Clip(float *origin, float min, float max) { - if (*origin > max) *origin = max; - if (*origin < min) *origin = min; -} - -inline float Sign(float in) { return (in > 0) ? 1.0f : 0.0f; } - -/** - * \brief 将运动向量置零 - * - * \param mv 被操作的值 - */ -inline void ResetMoveVector(MoveVector_t *mv) { memset(mv, 0, sizeof(*mv)); } - -/** - * \brief 计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x - * 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b; - * \param sp 设定值 - * \param fb 反馈值 - * \param range 被操作的值变化范围，正数时起效 - * \return 函数运行结果 - */ -inline float CircleError(float sp, float fb, float range) { - float error = sp - fb; - if (range > 0.0f) { - float half_range = range / 2.0f; - - if (error > half_range) - error -= range; - else if (error < -half_range) - error += range; - } - return error; -} - -/** - * \brief 循环加法，适用于被操作的值在（0,range）范围内循环的情况 - * \param origin 被操作的值 - * \param delta 变化量 - * \param range 被操作的值变化范围，正数时起效 - */ -inline void CircleAdd(float *origin, float delta, float range) { - float out = *origin + delta; - if (range > 0.0f) { - if (out >= range) - out -= range; - else if (out < 0.0f) - out += range; - } - *origin = out; -} - -/** - * @brief 循环值取反 - * - * @param origin 被操作的值 - */ -inline void CircleReverse(float *origin) { *origin = -(*origin) + M_2PI; } - -/** - * @brief 根据目标弹丸速度计算摩擦轮转速 - * - * @param bullet_speed 弹丸速度 - * @param fric_radius 摩擦轮半径 - * @param is17mm 是否为17mm - * @return 摩擦轮转速 - */ -inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) { - if (bullet_speed == 0.0f) return 0.f; - if (is17mm) { - if (bullet_speed == 15.0f) return 4670.f; - if (bullet_speed == 18.0f) return 5200.f; - if (bullet_speed == 30.0f) return 7350.f; - } else { - if (bullet_speed == 10.0f) return 4450.f; - if (bullet_speed == 16.0f) return 5800.f; - } - - /* 不为裁判系统设定值时,计算转速 */ - return 60.0f * (float)bullet_speed / (M_2PI * fric_radius); -} - -// /** -// * @brief 断言失败处理 -// * -// * @param file 文件名 -// * @param line 行号 -// */ -// void VerifyFailed(const char *file, uint32_t line) { -// UNUSED(file); -// UNUSED(line); -// while (1) { -// __NOP(); -// } -// } - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ \ No newline at end of file diff --git a/User/component/user_math.h b/User/component/user_math.h deleted file mode 100644 index 6e61ca2..0000000 --- a/User/component/user_math.h +++ /dev/null @@ -1,179 +0,0 @@ -/* - 自定义的数学运算。 -*/ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include -#include -#include -#include -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -#define M_DEG2RAD_MULT (0.01745329251f) -#define M_RAD2DEG_MULT (57.2957795131f) - -#ifndef M_PI_2 -#define M_PI_2 1.57079632679f -#endif - -#ifndef M_PI -#define M_PI 3.14159265358979323846f -#endif - -#ifndef M_2PI -#define M_2PI 6.28318530717958647692f -#endif - -#ifndef __packed - #define __packed __attribute__((__packed__)) -#endif /* __packed */ - -#define max(a, b) \ - ({ \ - __typeof__(a) _a = (a); \ - __typeof__(b) _b = (b); \ - _a > _b ? _a : _b; \ - }) - -#define min(a, b) \ - ({ \ - __typeof__(a) _a = (a); \ - __typeof__(b) _b = (b); \ - _a < _b ? _a : _b; \ - }) - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - - - -/* 移动向量 */ -typedef struct { - float vx; /* 前后平移 */ - float vy; /* 左右平移 */ - float wz; /* 转动 */ -} MoveVector_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -float InvSqrt(float x); - -float AbsClip(float in, float limit); - -float fAbs(float in); - -void Clip(float *origin, float min, float max); - -float Sign(float in); - -/** - * \brief 将运动向量置零 - * - * \param mv 被操作的值 - */ -void ResetMoveVector(MoveVector_t *mv); - -/** - * \brief 计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x - * 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b; - * \param sp 设定值 - * \param fb 反馈值 - * \param range 被操作的值变化范围，正数时起效 - * \return 函数运行结果 - */ -float CircleError(float sp, float fb, float range); - -/** - * \brief 循环加法，适用于被操作的值在（0,range）范围内循环的情况 - * \param origin 被操作的值 - * \param delta 变化量 - * \param range 被操作的值变化范围，正数时起效 - */ -void CircleAdd(float *origin, float delta, float range); - -/** - * @brief 循环值取反 - * - * @param origin 被操作的值 - */ -void CircleReverse(float *origin); - -/** - * @brief 根据目标弹丸速度计算摩擦轮转速 - * - * @param bullet_speed 弹丸速度 - * @param fric_radius 摩擦轮半径 - * @param is17mm 是否为17mm - * @return 摩擦轮转速 - */ -float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm); - -#ifdef __cplusplus -} -#endif - -#ifdef DEBUG - -/** - * @brief 如果表达式的值为假则运行处理函数 - * - */ -#define ASSERT(expr) \ - do { \ - if (!(expr)) { \ - VerifyFailed(__FILE__, __LINE__); \ - } \ - } while (0) -#else - -/** - * @brief 未定DEBUG，表达式不会运行，断言被忽略 - * - */ -#define ASSERT(expr) ((void)(0)) -#endif - -#ifdef DEBUG - -/** - * @brief 如果表达式的值为假则运行处理函数 - * - */ -#define VERIFY(expr) \ - do { \ - if (!(expr)) { \ - VerifyFailed(__FILE__, __LINE__); \ - } \ - } while (0) -#else - -/** - * @brief 表达式会运行，忽略表达式结果 - * - */ -#define VERIFY(expr) ((void)(expr)) -#endif - -// /** -// * @brief 断言失败处理 -// * -// * @param file 文件名 -// * @param line 行号 -// */ -// void VerifyFailed(const char *file, uint32_t line); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ \ No newline at end of file diff --git a/User/device/bmi088.c b/User/device/bmi088.c deleted file mode 100644 index 0678f3c..0000000 --- a/User/device/bmi088.c +++ /dev/null @@ -1,381 +0,0 @@ -/* - BMI088 陀螺仪+加速度计传感器。 -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "bmi088.h" - -#include -#include -#include -#include - -#include "bsp/time.h" -#include "bsp/gpio.h" -#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) -#define BMI088_REG_ACCL_STATUS (0x03) -#define BMI088_REG_ACCL_X_LSB (0x12) -#define BMI088_REG_ACCL_X_MSB (0x13) -#define BMI088_REG_ACCL_Y_LSB (0x14) -#define BMI088_REG_ACCL_Y_MSB (0x15) -#define BMI088_REG_ACCL_Z_LSB (0x16) -#define BMI088_REG_ACCL_Z_MSB (0x17) -#define BMI088_REG_ACCL_SENSORTIME_0 (0x18) -#define BMI088_REG_ACCL_SENSORTIME_1 (0x19) -#define BMI088_REG_ACCL_SENSORTIME_2 (0x1A) -#define BMI088_REG_ACCL_INT_STAT_1 (0x1D) -#define BMI088_REG_ACCL_TEMP_MSB (0x22) -#define BMI088_REG_ACCL_TEMP_LSB (0x23) -#define BMI088_REG_ACCL_CONF (0x40) -#define BMI088_REG_ACCL_RANGE (0x41) -#define BMI088_REG_ACCL_INT1_IO_CONF (0x53) -#define BMI088_REG_ACCL_INT2_IO_CONF (0x54) -#define BMI088_REG_ACCL_INT1_INT2_MAP_DATA (0x58) -#define BMI088_REG_ACCL_SELF_TEST (0x6D) -#define BMI088_REG_ACCL_PWR_CONF (0x7C) -#define BMI088_REG_ACCL_PWR_CTRL (0x7D) -#define BMI088_REG_ACCL_SOFTRESET (0x7E) - -#define BMI088_REG_GYRO_CHIP_ID (0x00) -#define BMI088_REG_GYRO_X_LSB (0x02) -#define BMI088_REG_GYRO_X_MSB (0x03) -#define BMI088_REG_GYRO_Y_LSB (0x04) -#define BMI088_REG_GYRO_Y_MSB (0x05) -#define BMI088_REG_GYRO_Z_LSB (0x06) -#define BMI088_REG_GYRO_Z_MSB (0x07) -#define BMI088_REG_GYRO_INT_STAT_1 (0x0A) -#define BMI088_REG_GYRO_RANGE (0x0F) -#define BMI088_REG_GYRO_BANDWIDTH (0x10) -#define BMI088_REG_GYRO_LPM1 (0x11) -#define BMI088_REG_GYRO_SOFTRESET (0x14) -#define BMI088_REG_GYRO_INT_CTRL (0x15) -#define BMI088_REG_GYRO_INT3_INT4_IO_CONF (0x16) -#define BMI088_REG_GYRO_INT3_INT4_IO_MAP (0x18) -#define BMI088_REG_GYRO_SELF_TEST (0x3C) - -#define BMI088_CHIP_ID_ACCL (0x1E) -#define BMI088_CHIP_ID_GYRO (0x0F) - -#define BMI088_LEN_RX_BUFF (19) -/* Private macro ------------------------------------------------------------ */ -#define BMI088_ACCL_NSS_SET() \ - BSP_GPIO_WritePin(BSP_GPIO_ACC_CS, GPIO_PIN_SET) -#define BMI088_ACCL_NSS_RESET() \ - BSP_GPIO_WritePin(BSP_GPIO_ACC_CS, GPIO_PIN_RESET) - -#define BMI088_GYRO_NSS_SET() \ - BSP_GPIO_WritePin(BSP_GPIO_GYRO_CS, GPIO_PIN_SET) -#define BMI088_GYRO_NSS_RESET() \ - BSP_GPIO_WritePin(BSP_GPIO_GYRO_CS, GPIO_PIN_RESET) - -/* Private typedef ---------------------------------------------------------- */ -typedef enum { - BMI_ACCL, - 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]; - -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; - - BSP_TIME_Delay(1); - switch (dv) { - case BMI_ACCL: - BMI088_ACCL_NSS_RESET(); - break; - - case BMI_GYRO: - BMI088_GYRO_NSS_RESET(); - break; - } - - BSP_SPI_Transmit(BSP_SPI_BMI088, buffer, 2u, false); - - switch (dv) { - case BMI_ACCL: - BMI088_ACCL_NSS_SET(); - break; - - case BMI_GYRO: - BMI088_GYRO_NSS_SET(); - break; - } -} - -static uint8_t BMI_ReadSingle(BMI_Device_t dv, uint8_t reg) { - BSP_TIME_Delay(1); - switch (dv) { - case BMI_ACCL: - BMI088_ACCL_NSS_RESET(); - break; - - case BMI_GYRO: - BMI088_GYRO_NSS_RESET(); - break; - } - buffer[0] = (uint8_t)(reg | 0x80); - BSP_SPI_Transmit(BSP_SPI_BMI088, buffer, 1u, false); - BSP_SPI_Receive(BSP_SPI_BMI088, buffer, 2u, false); - - switch (dv) { - case BMI_ACCL: - BMI088_ACCL_NSS_SET(); - return buffer[1]; - - case BMI_GYRO: - BMI088_GYRO_NSS_SET(); - return buffer[0]; - } -} - -static void BMI_Read(BMI_Device_t dv, uint8_t reg, uint8_t *data, uint8_t len) { - if (data == NULL) return; - - switch (dv) { - case BMI_ACCL: - BMI088_ACCL_NSS_RESET(); - break; - - case BMI_GYRO: - BMI088_GYRO_NSS_RESET(); - break; - } - buffer[0] = (uint8_t)(reg | 0x80); - BSP_SPI_Transmit(BSP_SPI_BMI088, buffer, 1u, false); - BSP_SPI_Receive(BSP_SPI_BMI088, data, len, true); -} - -static void BMI088_RxCpltCallback(void) { - if (BSP_GPIO_ReadPin(BSP_GPIO_ACC_CS) == GPIO_PIN_RESET) { - BMI088_ACCL_NSS_SET(); - osThreadFlagsSet(thread_alert, SIGNAL_BMI088_ACCL_RAW_REDY); - } - if (BSP_GPIO_ReadPin(BSP_GPIO_GYRO_CS) == GPIO_PIN_RESET) { - BMI088_GYRO_NSS_SET(); - osThreadFlagsSet(thread_alert, SIGNAL_BMI088_GYRO_RAW_REDY); - } -} - -static void BMI088_AcclIntCallback(void) { - osThreadFlagsSet(thread_alert, SIGNAL_BMI088_ACCL_NEW_DATA); -} - -static void BMI088_GyroIntCallback(void) { - osThreadFlagsSet(thread_alert, SIGNAL_BMI088_GYRO_NEW_DATA); -} - -/* Exported functions ------------------------------------------------------- */ -int8_t BMI088_Init(BMI088_t *bmi088, const BMI088_Cali_t *cali) { - if (bmi088 == NULL) return DEVICE_ERR_NULL; - if (cali == NULL) return DEVICE_ERR_NULL; - if (inited) return DEVICE_ERR_INITED; - if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; - - bmi088->cali = cali; - - BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_SOFTRESET, 0xB6); - BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_SOFTRESET, 0xB6); - BSP_TIME_Delay(30); - - /* Switch accl to SPI mode. */ - BMI_ReadSingle(BMI_ACCL, BMI088_CHIP_ID_ACCL); - - if (BMI_ReadSingle(BMI_ACCL, BMI088_REG_ACCL_CHIP_ID) != BMI088_CHIP_ID_ACCL) - return DEVICE_ERR_NO_DEV; - - if (BMI_ReadSingle(BMI_GYRO, BMI088_REG_GYRO_CHIP_ID) != BMI088_CHIP_ID_GYRO) - return DEVICE_ERR_NO_DEV; - - BSP_GPIO_DisableIRQ(BSP_GPIO_ACC_INT); - BSP_GPIO_DisableIRQ(BSP_GPIO_ACC_INT); - - BSP_SPI_RegisterCallback(BSP_SPI_BMI088, BSP_SPI_RX_CPLT_CB, - BMI088_RxCpltCallback); - BSP_GPIO_RegisterCallback(BSP_GPIO_ACC_INT, BMI088_AcclIntCallback); - BSP_GPIO_RegisterCallback(BSP_GPIO_ACC_INT, BMI088_GyroIntCallback); - - /* Accl init. */ - /* Filter setting: Normal. */ - /* ODR: 0xAB: 800Hz. 0xAA: 400Hz. 0xA9: 200Hz. 0xA8: 100Hz. 0xA6: 25Hz. */ - BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_CONF, 0xAA); - - /* 0x00: +-3G. 0x01: +-6G. 0x02: +-12G. 0x03: +-24G. */ - BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_RANGE, 0x01); - - /* INT1 as output. Push-pull. Active low. Output. */ - BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_INT1_IO_CONF, 0x08); - - /* Map data ready interrupt to INT1. */ - BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_INT1_INT2_MAP_DATA, 0x04); - - /* Turn on accl. Now we can read data. */ - BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_PWR_CTRL, 0x04); - BSP_TIME_Delay(50); - - /* Gyro init. */ - /* 0x00: +-2000. 0x01: +-1000. 0x02: +-500. 0x03: +-250. 0x04: +-125. */ - BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_RANGE, 0x01); - - /* Filter bw: 47Hz. */ - /* ODR: 0x02: 1000Hz. 0x03: 400Hz. 0x06: 200Hz. 0x07: 100Hz. */ - BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_BANDWIDTH, 0x03); - - /* INT3 and INT4 as output. Push-pull. Active low. */ - BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_INT3_INT4_IO_CONF, 0x00); - - /* Map data ready interrupt to INT3. */ - BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_INT3_INT4_IO_MAP, 0x01); - - /* Enable new data interrupt. */ - BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_INT_CTRL, 0x80); - - BSP_TIME_Delay(10); - - inited = true; - - BSP_GPIO_EnableIRQ(BSP_GPIO_ACC_INT); - BSP_GPIO_EnableIRQ(BSP_GPIO_ACC_INT); - return DEVICE_OK; -} - -bool BMI088_GyroStable(AHRS_Gyro_t *gyro) { - return ((gyro->x < 0.03f) && (gyro->y < 0.03f) && (gyro->z < 0.03f)); -} - -uint32_t BMI088_WaitNew() { - return osThreadFlagsWait( - SIGNAL_BMI088_ACCL_NEW_DATA | SIGNAL_BMI088_GYRO_NEW_DATA, osFlagsWaitAll, - osWaitForever); -} - -int8_t BMI088_AcclStartDmaRecv() { - BMI_Read(BMI_ACCL, BMI088_REG_ACCL_X_LSB, bmi088_rxbuf, BMI088_LEN_RX_BUFF); - return DEVICE_OK; -} - -uint32_t BMI088_AcclWaitDmaCplt() { - return osThreadFlagsWait(SIGNAL_BMI088_ACCL_RAW_REDY, osFlagsWaitAll, - osWaitForever); -} - -int8_t BMI088_GyroStartDmaRecv() { - BMI_Read(BMI_GYRO, BMI088_REG_GYRO_X_LSB, bmi088_rxbuf + 7, 6u); - return DEVICE_OK; -} - -uint32_t BMI088_GyroWaitDmaCplt() { - return osThreadFlagsWait(SIGNAL_BMI088_GYRO_RAW_REDY, osFlagsWaitAll, - osWaitForever); -} - -int8_t BMI088_ParseAccl(BMI088_t *bmi088) { - if (bmi088 == NULL) return DEVICE_ERR_NULL; - -#if 1 - int16_t raw_x, raw_y, raw_z; - memcpy(&raw_x, bmi088_rxbuf + 1, sizeof(raw_x)); - memcpy(&raw_y, bmi088_rxbuf + 3, sizeof(raw_y)); - memcpy(&raw_z, bmi088_rxbuf + 5, sizeof(raw_z)); - - bmi088->accl.x = (float)raw_x; - bmi088->accl.y = (float)raw_y; - bmi088->accl.z = (float)raw_z; - -#else - const int16_t *praw_x = (int16_t *)(bmi088_rxbuf + 1); - const int16_t *praw_y = (int16_t *)(bmi088_rxbuf + 3); - const int16_t *praw_z = (int16_t *)(bmi088_rxbuf + 5); - - bmi088->accl.x = (float)*praw_x; - bmi088->accl.y = (float)*praw_y; - bmi088->accl.z = (float)*praw_z; - -#endif - - /* 3G: 10920. 6G: 5460. 12G: 2730. 24G: 1365. */ - bmi088->accl.x /= 5460.0f; - bmi088->accl.y /= 5460.0f; - bmi088->accl.z /= 5460.0f; - - int16_t raw_temp = - (uint16_t)((bmi088_rxbuf[17] << 3) | (bmi088_rxbuf[18] >> 5)); - - if (raw_temp > 1023) raw_temp -= 2048; - - bmi088->temp = (float)raw_temp * 0.125f + 23.0f; - - return DEVICE_OK; -} - -int8_t BMI088_ParseGyro(BMI088_t *bmi088) { - if (bmi088 == NULL) return DEVICE_ERR_NULL; - -#if 1 - /* Gyroscope imu_raw -> degrees/sec -> radians/sec */ - int16_t raw_x, raw_y, raw_z; - memcpy(&raw_x, bmi088_rxbuf + 7, sizeof(raw_x)); - memcpy(&raw_y, bmi088_rxbuf + 9, sizeof(raw_y)); - memcpy(&raw_z, bmi088_rxbuf + 11, sizeof(raw_z)); - - bmi088->gyro.x = (float)raw_x; - bmi088->gyro.y = (float)raw_y; - bmi088->gyro.z = (float)raw_z; - -#else - /* Gyroscope imu_raw -> degrees/sec -> radians/sec */ - const int16_t *raw_x = (int16_t *)(bmi088_rxbuf + 7); - const int16_t *raw_y = (int16_t *)(bmi088_rxbuf + 9); - const int16_t *raw_z = (int16_t *)(bmi088_rxbuf + 11); - - bmi088->gyro.x = (float)*raw_x; - bmi088->gyro.y = (float)*raw_y; - bmi088->gyro.z = (float)*raw_z; -#endif - - /* FS125: 262.144. FS250: 131.072. FS500: 65.536. FS1000: 32.768. - * FS2000: 16.384.*/ - bmi088->gyro.x /= 32.768f; - bmi088->gyro.y /= 32.768f; - bmi088->gyro.z /= 32.768f; - - bmi088->gyro.x *= M_DEG2RAD_MULT; - bmi088->gyro.y *= M_DEG2RAD_MULT; - bmi088->gyro.z *= M_DEG2RAD_MULT; - - bmi088->gyro.x -= bmi088->cali->gyro_offset.x; - bmi088->gyro.y -= bmi088->cali->gyro_offset.y; - bmi088->gyro.z -= bmi088->cali->gyro_offset.z; - - return DEVICE_ERR_NULL; -} - -float BMI088_GetUpdateFreq(BMI088_t *bmi088) { - (void)bmi088; - return 400.0f; -} diff --git a/User/device/bmi088.h b/User/device/bmi088.h deleted file mode 100644 index eb44e0c..0000000 --- a/User/device/bmi088.h +++ /dev/null @@ -1,81 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include -#include - -#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 ----------------------------------------------------------- */ -typedef struct { - struct { - float x; - float y; - float z; - } gyro_offset; /* 陀螺仪偏置 */ -} BMI088_Cali_t; /* BMI088校准数据 */ - -typedef struct { - DEVICE_Header_t header; - AHRS_Accl_t accl; - AHRS_Gyro_t gyro; - - float temp; /* 温度 */ - - 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); - -bool BMI088_GyroStable(AHRS_Gyro_t *gyro); - -/* Sensor use right-handed coordinate system. */ -/* - x < R(logo) - y - UP is z - All implementation should follow this rule. - */ -uint32_t BMI088_WaitNew(); - -/* - BMI088的Accl和Gyro共用同一个DMA通道，所以一次只能读一个传感器。 - 即BMI088_AcclStartDmaRecv() 和 BMI088_AcclWaitDmaCplt() 中间不能 - 出现 BMI088_GyroStartDmaRecv()。 -*/ -int8_t BMI088_AcclStartDmaRecv(); -uint32_t BMI088_AcclWaitDmaCplt(); -int8_t BMI088_GyroStartDmaRecv(); -uint32_t BMI088_GyroWaitDmaCplt(); -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 diff --git a/User/device/buzzer.c b/User/device/buzzer.c deleted file mode 100644 index f5cc820..0000000 --- a/User/device/buzzer.c +++ /dev/null @@ -1,171 +0,0 @@ -#include "device/buzzer.h" -#include "bsp/time.h" -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -#define MUSIC_DEFAULT_VOLUME 0.5f -#define MUSIC_A4_FREQ 440.0f // A4音符频率 - -/* USER MUSIC MENU BEGIN */ -// RM音乐 -const Tone_t RM[] = { - {NOTE_B, 5, 200}, - {NOTE_G, 4, 200}, - {NOTE_B, 5, 400}, - {NOTE_G, 4, 200}, - {NOTE_B, 5, 400}, - {NOTE_G, 4, 200}, - {NOTE_D, 5, 400}, - {NOTE_G, 4, 200}, - {NOTE_C, 5, 200}, - {NOTE_C, 5, 200}, - {NOTE_G, 4, 200}, - {NOTE_B, 5, 200}, - {NOTE_C, 5, 200} -}; - -// Nokia 经典铃声音符 -const Tone_t NOKIA[] = { - {NOTE_E, 5, 125}, {NOTE_D, 5, 125}, {NOTE_FS, 4, 250}, {NOTE_GS, 4, 250}, - {NOTE_CS, 5, 125}, {NOTE_B, 4, 125}, {NOTE_D, 4, 250}, {NOTE_E, 4, 250}, - {NOTE_B, 4, 125}, {NOTE_A, 4, 125}, {NOTE_CS, 4, 250}, {NOTE_E, 4, 250}, - {NOTE_A, 4, 500} -}; -/* USER MUSIC MENU END */ - -static void BUZZER_Update(BUZZER_t *buzzer){ - buzzer->header.online = true; - buzzer->header.last_online_time = BSP_TIME_Get_ms(); -} - -// 根据音符和八度计算频率的辅助函数 -static float BUZZER_CalcFreq(NOTE_t note, uint8_t octave) { - if (note == NOTE_REST) { - return 0.0f; // 休止符返回0频率 - } - - // 将音符和八度转换为MIDI音符编号 - int midi_num = (int)note + (int)((octave + 1) * 12); - - // 使用A4 (440Hz) 作为参考，计算频率 - // 公式: freq = 440 * 2^((midi_num - 69)/12) - float freq = 440.0f * powf(2.0f, ((float)midi_num - 69.0f) / 12.0f); - - return freq; -} - -// 播放单个音符 -static int8_t BUZZER_PlayTone(BUZZER_t *buzzer, NOTE_t note, uint8_t octave, uint16_t duration_ms) { - if (buzzer == NULL || !buzzer->header.online) - return DEVICE_ERR; - - float freq = BUZZER_CalcFreq(note, octave); - - if (freq > 0.0f) { - // 播放音符 - if (BUZZER_Set(buzzer, freq, MUSIC_DEFAULT_VOLUME) != DEVICE_OK) - return DEVICE_ERR; - - if (BUZZER_Start(buzzer) != DEVICE_OK) - return DEVICE_ERR; - } else { - // 休止符，停止播放 - BUZZER_Stop(buzzer); - } - - // 等待指定时间 - BSP_TIME_Delay_ms(duration_ms); - - // 停止当前音符，为下一个音符做准备 - BUZZER_Stop(buzzer); - BSP_TIME_Delay_ms(20); // 短暂间隔 - - return DEVICE_OK; -} - -int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel) { - if (buzzer == NULL) return DEVICE_ERR; - - buzzer->channel = channel; - buzzer->header.online = true; - - BUZZER_Stop(buzzer); - - return DEVICE_OK ; -} - -int8_t BUZZER_Start(BUZZER_t *buzzer) { - if (buzzer == NULL || !buzzer->header.online) - return DEVICE_ERR; - BUZZER_Update(buzzer); - return (BSP_PWM_Start(buzzer->channel) == BSP_OK) ? - DEVICE_OK : DEVICE_ERR; -} - -int8_t BUZZER_Stop(BUZZER_t *buzzer) { - if (buzzer == NULL || !buzzer->header.online) - return DEVICE_ERR; - BUZZER_Update(buzzer); - return (BSP_PWM_Stop(buzzer->channel) == BSP_OK) ? - DEVICE_OK : DEVICE_ERR; -} - -int8_t BUZZER_Set(BUZZER_t *buzzer, float freq, float duty_cycle) { - if (buzzer == NULL || !buzzer->header.online) - return DEVICE_ERR; - - int result = DEVICE_OK ; - BUZZER_Update(buzzer); - if (BSP_PWM_SetFreq(buzzer->channel, freq) != BSP_OK) - result = DEVICE_ERR; - - if (BSP_PWM_SetComp(buzzer->channel, duty_cycle) != BSP_OK) - result = DEVICE_ERR; - - return result; -} - -int8_t BUZZER_PlayMusic(BUZZER_t *buzzer, MUSIC_t music) { - if (buzzer == NULL || !buzzer->header.online) - return DEVICE_ERR; - - const Tone_t *melody = NULL; - size_t melody_length = 0; - - // 根据音乐类型选择对应的音符数组 - switch (music) { - case MUSIC_RM: - melody = RM; - melody_length = sizeof(RM) / sizeof(Tone_t); - break; - case MUSIC_NOKIA: - melody = NOKIA; - melody_length = sizeof(NOKIA) / sizeof(Tone_t); - break; - default: - return DEVICE_ERR; - } - - // 播放整首音乐 - for (size_t i = 0; i < melody_length; i++) { - if (BUZZER_PlayTone(buzzer, melody[i].note, melody[i].octave, melody[i].duration_ms) != DEVICE_OK) { - BUZZER_Stop(buzzer); // 出错时停止播放 - return DEVICE_ERR; - } - } - - // 音乐播放完成后停止 - BUZZER_Stop(buzzer); - return DEVICE_OK; -} - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ diff --git a/User/device/buzzer.h b/User/device/buzzer.h deleted file mode 100644 index 4ef7e43..0000000 --- a/User/device/buzzer.h +++ /dev/null @@ -1,138 +0,0 @@ -/** - * @file buzzer.h - * @brief 蜂鸣器设备驱动头文件 - * @details 提供蜂鸣器音频播放功能，支持单音符播放和预设音乐播放 - * @author Generated by STM32CubeMX - * @date 2025年10月23日 - */ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include "bsp/pwm.h" // PWM底层硬件抽象层 -#include "device.h" // 设备通用头文件 -#include // 标准定义 -#include // 标准整型定义 - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Exported constants ------------------------------------------------------- */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported types ----------------------------------------------------------- */ - -/** - * @brief 音符枚举类型 - * @details 定义标准十二平均律音符，用于音乐播放 - */ -typedef enum { - NOTE_C = 0, ///< Do音符 - NOTE_CS = 1, ///< Do#音符 (升Do) - NOTE_D = 2, ///< Re音符 - NOTE_DS = 3, ///< Re#音符 (升Re) - NOTE_E = 4, ///< Mi音符 - NOTE_F = 5, ///< Fa音符 - NOTE_FS = 6, ///< Fa#音符 (升Fa) - NOTE_G = 7, ///< Sol音符 - NOTE_GS = 8, ///< Sol#音符 (升Sol) - NOTE_A = 9, ///< La音符 - NOTE_AS = 10, ///< La#音符 (升La) - NOTE_B = 11, ///< Si音符 - NOTE_REST = 255 ///< 休止符 (无声音) -} NOTE_t; - -/** - * @brief 音调结构体 - * @details 定义一个完整的音调信息，包括音符、八度和持续时间 - */ -typedef struct { - NOTE_t note; ///< 音符名称 (使用NOTE_t枚举) - uint8_t octave; ///< 八度 (0-8，通常使用3-7) - uint16_t duration_ms; ///< 持续时间，单位毫秒 -} Tone_t; - -/** - * @brief 预设音乐枚举类型 - * @details 定义可播放的预设音乐类型 - */ -typedef enum { - /* USER MUSIC MENU BEGIN */ - MUSIC_RM, ///< RM战队音乐 - MUSIC_NOKIA, ///< 诺基亚经典铃声 - /* USER MUSIC MENU END */ -} MUSIC_t; - -/** - * @brief 蜂鸣器设备结构体 - * @details 蜂鸣器设备的完整描述，包含设备头信息和PWM通道 - */ -typedef struct { - DEVICE_Header_t header; ///< 设备通用头信息 (在线状态、时间戳等) - BSP_PWM_Channel_t channel; ///< PWM输出通道 -} BUZZER_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Exported functions prototypes -------------------------------------------- */ - -/** - * @brief 初始化蜂鸣器设备 - * @param buzzer 蜂鸣器设备结构体指针 - * @param channel PWM输出通道 - * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败 - * @note 初始化后蜂鸣器处于停止状态 - */ -int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel); - -/** - * @brief 启动蜂鸣器播放 - * @param buzzer 蜂鸣器设备结构体指针 - * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败 - * @note 需要先调用BUZZER_Set设置频率和占空比 - */ -int8_t BUZZER_Start(BUZZER_t *buzzer); - -/** - * @brief 停止蜂鸣器播放 - * @param buzzer 蜂鸣器设备结构体指针 - * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败 - */ -int8_t BUZZER_Stop(BUZZER_t *buzzer); - -/** - * @brief 设置蜂鸣器频率和占空比 - * @param buzzer 蜂鸣器设备结构体指针 - * @param freq 频率 (Hz)，通常范围20Hz-20kHz - * @param duty_cycle 占空比 (0.0-1.0)，影响音量大小 - * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败 - * @note 设置后需要调用BUZZER_Start才能听到声音 - */ -int8_t BUZZER_Set(BUZZER_t *buzzer, float freq, float duty_cycle); - -/** - * @brief 播放预设音乐 - * @param buzzer 蜂鸣器设备结构体指针 - * @param music 音乐类型 (使用MUSIC_t枚举) - * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败 - * @note 这是一个阻塞函数，会播放完整首音乐后返回 - */ -int8_t BUZZER_PlayMusic(BUZZER_t *buzzer, MUSIC_t music); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/User/device/device.h b/User/device/device.h deleted file mode 100644 index 18ffc73..0000000 --- a/User/device/device.h +++ /dev/null @@ -1,51 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include -#include - -/* 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) -#define DEVICE_ERR_INITED (-3) -#define DEVICE_ERR_NO_DEV (-4) - -/* AUTO GENERATED SIGNALS BEGIN */ -#define SIGNAL_DR16_RAW_REDY (1u << 0) -#define SIGNAL_BMI088_ACCL_RAW_REDY (1u << 1) -#define SIGNAL_BMI088_GYRO_RAW_REDY (1u << 2) -#define SIGNAL_BMI088_ACCL_NEW_DATA (1u << 3) -#define SIGNAL_BMI088_GYRO_NEW_DATA (1u << 4) -/* AUTO GENERATED SIGNALS END */ - -/* USER SIGNALS BEGIN */ - -/* USER SIGNALS END */ -/*设备层通用Header*/ -typedef struct { - bool online; - uint64_t last_online_time; -} DEVICE_Header_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/User/device/device_config.yaml b/User/device/device_config.yaml deleted file mode 100644 index 62f5e40..0000000 --- a/User/device/device_config.yaml +++ /dev/null @@ -1,31 +0,0 @@ -bmi088: - bsp_config: - BSP_GPIO_ACCL_CS: BSP_GPIO_ACC_CS - BSP_GPIO_ACCL_INT: BSP_GPIO_ACC_INT - BSP_GPIO_GYRO_CS: BSP_GPIO_GYRO_CS - BSP_GPIO_GYRO_INT: BSP_GPIO_ACC_INT - BSP_SPI_BMI088: BSP_SPI_BMI088 - enabled: true -buzzer: - bsp_config: - BSP_PWM_BUZZER: BSP_PWM_TIM12_CH2 - enabled: true -dr16: - bsp_config: - BSP_UART_DR16: BSP_UART_DR16 - enabled: true -motor: - bsp_config: {} - enabled: true -motor_dm: - bsp_config: {} - enabled: true -motor_lk: - bsp_config: {} - enabled: true -motor_lz: - bsp_config: {} - enabled: true -motor_rm: - bsp_config: {} - enabled: true diff --git a/User/device/dr16.c b/User/device/dr16.c deleted file mode 100644 index 120997b..0000000 --- a/User/device/dr16.c +++ /dev/null @@ -1,169 +0,0 @@ -/* - DR16接收机 - Example： - - DR16_Init(&dr16); - - while (1) { - DR16_StartDmaRecv(&dr16); - if (DR16_WaitDmaCplt(20)) { - DR16_ParseData(&dr16); - } else { - DR16_Offline(&dr16); - } -} -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "dr16.h" -#include "bsp/uart.h" -#include "bsp/time.h" -#include "device.h" - -#include -#include - -/* 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 -------------------------------------------------------- */ - -static osThreadId_t thread_alert; -static bool inited = false; - -/* Private function -------------------------------------------------------- */ -static void DR16_RxCpltCallback(void) { - osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY); -} - -static bool DR16_DataCorrupted(const DR16_t *dr16) { - if (dr16 == NULL) return DEVICE_ERR_NULL; - - if ((dr16->raw_data.ch_r_x < DR16_CH_VALUE_MIN) || - (dr16->raw_data.ch_r_x > DR16_CH_VALUE_MAX)) - return DEVICE_ERR; - - if ((dr16->raw_data.ch_r_y < DR16_CH_VALUE_MIN) || - (dr16->raw_data.ch_r_y > DR16_CH_VALUE_MAX)) - return DEVICE_ERR; - - if ((dr16->raw_data.ch_l_x < DR16_CH_VALUE_MIN) || - (dr16->raw_data.ch_l_x > DR16_CH_VALUE_MAX)) - return DEVICE_ERR; - - if ((dr16->raw_data.ch_l_y < DR16_CH_VALUE_MIN) || - (dr16->raw_data.ch_l_y > DR16_CH_VALUE_MAX)) - return DEVICE_ERR; - - if (dr16->raw_data.sw_l == 0) return DEVICE_ERR; - - if (dr16->raw_data.sw_r == 0) return DEVICE_ERR; - - return DEVICE_OK; -} - -/* Exported functions ------------------------------------------------------- */ -int8_t DR16_Init(DR16_t *dr16) { - if (dr16 == NULL) return DEVICE_ERR_NULL; - if (inited) return DEVICE_ERR_INITED; - if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; - - BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_RX_CPLT_CB, - DR16_RxCpltCallback); - - inited = true; - return DEVICE_OK; -} - -int8_t DR16_Restart(void) { - __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_DR16)); - __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_DR16)); - return DEVICE_OK; -} - -int8_t DR16_StartDmaRecv(DR16_t *dr16) { - if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16), - (uint8_t *)&(dr16->raw_data), - sizeof(dr16->raw_data)) == HAL_OK) - return DEVICE_OK; - return DEVICE_ERR; -} - -bool DR16_WaitDmaCplt(uint32_t timeout) { - return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) == - SIGNAL_DR16_RAW_REDY); -} - -int8_t DR16_ParseData(DR16_t *dr16){ - if (dr16 == NULL) return DEVICE_ERR_NULL; - - if (DR16_DataCorrupted(dr16)) { - return DEVICE_ERR; - } - - dr16->header.online = true; - dr16->header.last_online_time = BSP_TIME_Get_us(); - - memset(&(dr16->data), 0, sizeof(dr16->data)); - - float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN); - - // 解析摇杆数据 - dr16->data.ch_r_x = 2.0f * ((float)dr16->raw_data.ch_r_x - DR16_CH_VALUE_MID) / full_range; - dr16->data.ch_r_y = 2.0f * ((float)dr16->raw_data.ch_r_y - DR16_CH_VALUE_MID) / full_range; - dr16->data.ch_l_x = 2.0f * ((float)dr16->raw_data.ch_l_x - DR16_CH_VALUE_MID) / full_range; - dr16->data.ch_l_y = 2.0f * ((float)dr16->raw_data.ch_l_y - DR16_CH_VALUE_MID) / full_range; - - // 解析拨杆位置 - dr16->data.sw_l = (DR16_SwitchPos_t)dr16->raw_data.sw_l; - dr16->data.sw_r = (DR16_SwitchPos_t)dr16->raw_data.sw_r; - - // 解析鼠标数据 - dr16->data.mouse.x = dr16->raw_data.x; - dr16->data.mouse.y = dr16->raw_data.y; - dr16->data.mouse.z = dr16->raw_data.z; - - dr16->data.mouse.l_click = dr16->raw_data.press_l; - dr16->data.mouse.r_click = dr16->raw_data.press_r; - - // 解析键盘按键 - 使用union简化代码 - uint16_t key_value = dr16->raw_data.key; - - // 解析键盘位映射（W-B键，位0-15） - for (int i = DR16_KEY_W; i <= DR16_KEY_B; i++) { - dr16->data.keyboard.key[i] = (key_value & (1 << i)) != 0; - } - - // 解析鼠标点击 - dr16->data.keyboard.key[DR16_L_CLICK] = dr16->data.mouse.l_click; - dr16->data.keyboard.key[DR16_R_CLICK] = dr16->data.mouse.r_click; - - // 解析第五通道 - dr16->data.ch_res = 2.0f * ((float)dr16->raw_data.res - DR16_CH_VALUE_MID) / full_range; - - return DEVICE_OK; -} - -int8_t DR16_Offline(DR16_t *dr16){ - if (dr16 == NULL) return DEVICE_ERR_NULL; - - dr16->header.online = false; - memset(&(dr16->data), 0, sizeof(dr16->data)); - - return DEVICE_OK; -} - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ diff --git a/User/device/dr16.h b/User/device/dr16.h deleted file mode 100644 index 03fa526..0000000 --- a/User/device/dr16.h +++ /dev/null @@ -1,117 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include - -#include "component/user_math.h" -#include "device.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ -typedef struct __packed { - uint16_t ch_r_x : 11; - uint16_t ch_r_y : 11; - uint16_t ch_l_x : 11; - uint16_t ch_l_y : 11; - uint8_t sw_r : 2; - uint8_t sw_l : 2; - int16_t x; - int16_t y; - int16_t z; - uint8_t press_l; - uint8_t press_r; - uint16_t key; - uint16_t res; -} DR16_RawData_t; - -typedef enum { - DR16_SW_ERR = 0, - DR16_SW_UP = 1, - DR16_SW_MID = 3, - DR16_SW_DOWN = 2, -} DR16_SwitchPos_t; - -/* 键盘按键值 */ -typedef enum { - DR16_KEY_W = 0, - DR16_KEY_S, - DR16_KEY_A, - DR16_KEY_D, - DR16_KEY_SHIFT, - DR16_KEY_CTRL, - DR16_KEY_Q, - DR16_KEY_E, - DR16_KEY_R, - DR16_KEY_F, - DR16_KEY_G, - DR16_KEY_Z, - DR16_KEY_X, - DR16_KEY_C, - DR16_KEY_V, - DR16_KEY_B, - DR16_L_CLICK, - DR16_R_CLICK, - DR16_KEY_NUM, -} DR16_Key_t; - -typedef struct { - float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */ - float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */ - float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */ - float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */ - - float ch_res; /* 第五通道值 */ - - DR16_SwitchPos_t sw_r; /* 右侧拨杆位置 */ - DR16_SwitchPos_t sw_l; /* 左侧拨杆位置 */ - - struct { - int16_t x; - int16_t y; - int16_t z; - bool l_click; /* 左键 */ - bool r_click; /* 右键 */ - } mouse; /* 鼠标值 */ - - union { - bool key[DR16_KEY_NUM]; /* 键盘按键值 */ - uint16_t value; /* 键盘按键值的位映射 */ - } keyboard; - - uint16_t res; /* 保留，未启用 */ -} DR16_Data_t; - -typedef struct { - DEVICE_Header_t header; - DR16_RawData_t raw_data; - DR16_Data_t data; -} DR16_t; - -/* Exported functions prototypes -------------------------------------------- */ -int8_t DR16_Init(DR16_t *dr16); -int8_t DR16_Restart(void); -int8_t DR16_StartDmaRecv(DR16_t *dr16); -bool DR16_WaitDmaCplt(uint32_t timeout); -int8_t DR16_ParseData(DR16_t *dr16); -int8_t DR16_Offline(DR16_t *dr16); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/User/device/motor.c b/User/device/motor.c deleted file mode 100644 index 1fb059d..0000000 --- a/User/device/motor.c +++ /dev/null @@ -1,52 +0,0 @@ -/* - 电机通用函数 -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "motor.h" - -#include - -/* 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) { - if (motor == NULL) return DEVICE_ERR_NULL; - return motor->feedback.rotor_abs_angle; -} - -float MOTOR_GetRotorSpeed(const MOTOR_t *motor) { - if (motor == NULL) return DEVICE_ERR_NULL; - return motor->feedback.rotor_speed; -} - -float MOTOR_GetTorqueCurrent(const MOTOR_t *motor) { - if (motor == NULL) return DEVICE_ERR_NULL; - return motor->feedback.torque_current; -} - -float MOTOR_GetTemp(const MOTOR_t *motor) { - if (motor == NULL) return DEVICE_ERR_NULL; - return motor->feedback.temp; -} diff --git a/User/device/motor.h b/User/device/motor.h deleted file mode 100644 index e1f945b..0000000 --- a/User/device/motor.h +++ /dev/null @@ -1,68 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include "device/device.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ -typedef struct { - float rotor_abs_angle; /* 转子绝对角度 */ - float rotor_speed; /* 实际转子转速 */ - float torque_current; /* 转矩电流 */ - float temp; /* 温度 */ -} MOTOR_Feedback_t; - -/** - * @brief mit电机输出参数结构体 - */ -typedef struct { - float torque; /* 目标力矩 */ - float velocity; /* 目标速度 */ - float angle; /* 目标位置 */ - float kp; /* 位置环增益 */ - float kd; /* 速度环增益 */ -} MOTOR_MIT_Output_t; - -/** - * @brief 转矩电流控制模式参数结构体 - */ -typedef struct { - float current; /* 目标电流 */ -} MOTOR_Current_Output_t; - -typedef struct { - DEVICE_Header_t header; - bool reverse; /* 是否反装 true表示反装 */ - 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 diff --git a/User/device/motor_dm.c b/User/device/motor_dm.c deleted file mode 100644 index a77656f..0000000 --- a/User/device/motor_dm.c +++ /dev/null @@ -1,496 +0,0 @@ -#define MOTOR_DM_FLOAT_TO_INT_SIGNED(x, x_min, x_max, bits) \ - ((int32_t)roundf(((x) / ((x_max) - (x_min))) * (1 << (bits)) + (1 << ((bits) - 1)))) - -#define MOTOR_DM_INT_TO_FLOAT_SIGNED(x_int, x_min, x_max, bits) \ - (((float)((int32_t)(x_int) - (1 << ((bits) - 1))) * ((x_max) - (x_min)) / (float)(1 << (bits)))) -/* Includes ----------------------------------------------------------------- */ -#include "device/motor_dm.h" -#include "bsp/mm.h" -#include "bsp/time.h" -#include "component/user_math.h" -#include "string.h" -#include "math.h" - -/* Private constants -------------------------------------------------------- */ -/* DM电机数据映射范围 */ -#define DM_P_MIN (-12.56637f) -#define DM_P_MAX (12.56637f) -#define DM_V_MIN (-30.0f) -#define DM_V_MAX (30.0f) -#define DM_T_MIN (-12.0f) -#define DM_T_MAX (12.0f) -#define DM_KP_MIN (0.0f) -#define DM_KP_MAX (500.0f) -#define DM_KD_MIN (0.0f) -#define DM_KD_MAX (5.0f) - -/* CAN ID偏移量 */ -#define DM_CAN_ID_OFFSET_POS_VEL 0x100 -#define DM_CAN_ID_OFFSET_VEL 0x200 - -/* Private macro ------------------------------------------------------------ */ -#define FLOAT_TO_UINT(x, x_min, x_max, bits) \ - (uint32_t)((x - x_min) * ((1 << bits) - 1) / (x_max - x_min)) - -#define UINT_TO_FLOAT(x_int, x_min, x_max, bits) \ - ((float)(x_int) * (x_max - x_min) / ((1 << bits) - 1) + x_min) - - -/* Private variables -------------------------------------------------------- */ -static MOTOR_DM_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL}; - -static int float_to_uint(float x_float, float x_min, float x_max, int bits) -{ - /* Converts a float to an unsigned int, given range and number of bits */ - float span = x_max - x_min; - float offset = x_min; - return (int) ((x_float-offset)*((float)((1<motor.feedback.rotor_abs_angle = uint_to_float(p_int, DM_P_MIN, DM_P_MAX, 16); // (-12.5,12.5) - uint16_t v_int=(data[3]<<4)|(data[4]>>4); - motor->motor.feedback.rotor_speed = uint_to_float(v_int, DM_V_MIN, DM_V_MAX, 12); // (-30.0,30.0) - uint16_t t_int=((data[4]&0xF)<<8)|data[5]; - motor->motor.feedback.torque_current = uint_to_float(t_int, DM_T_MIN, DM_T_MAX, 12); // (-12.0,12.0) - motor->motor.feedback.temp = (float)(data[6]); - - while (motor->motor.feedback.rotor_abs_angle < 0) { - motor->motor.feedback.rotor_abs_angle += M_2PI; - } - while (motor->motor.feedback.rotor_abs_angle >= M_2PI) { - motor->motor.feedback.rotor_abs_angle -= M_2PI; - } - - if (motor->param.reverse) { - motor->motor.feedback.rotor_abs_angle = M_2PI - motor->motor.feedback.rotor_abs_angle; - motor->motor.feedback.rotor_speed = -motor->motor.feedback.rotor_speed; - motor->motor.feedback.torque_current = -motor->motor.feedback.torque_current; - } - return DEVICE_OK; -} - -/** - * @brief 发送MIT模式控制命令 - * @param motor 电机实例 - * @param output MIT控制参数 - * @return 发送结果 - */ -static int8_t MOTOR_DM_SendMITCmd(MOTOR_DM_t *motor, MOTOR_MIT_Output_t *output) { - if (motor == NULL || output == NULL) { - return DEVICE_ERR_NULL; - } - - uint8_t data[8]; - uint16_t pos_tmp,vel_tmp,kp_tmp,kd_tmp,tor_tmp; - uint16_t id = motor->param.can_id; - - pos_tmp = float_to_uint(output->angle, DM_P_MIN , DM_P_MAX, 16); - vel_tmp = float_to_uint(output->velocity, DM_V_MIN , DM_V_MAX, 12); - kp_tmp = float_to_uint(output->kp, DM_KP_MIN, DM_KP_MAX, 12); - kd_tmp = float_to_uint(output->kd, DM_KD_MIN, DM_KD_MAX, 12); - tor_tmp = float_to_uint(output->torque, DM_T_MIN , DM_T_MAX, 12); - - /* 打包数据 */ - data[0] = (pos_tmp >> 8); - data[1] = pos_tmp; - data[2] = (vel_tmp >> 4); - data[3] = ((vel_tmp&0xF)<<4)|(kp_tmp>>8); - data[4] = kp_tmp; - data[5] = (kd_tmp >> 4); - data[6] = ((kd_tmp&0xF)<<4)|(tor_tmp>>8); - data[7] = tor_tmp; - - /* 发送CAN消息 */ - BSP_CAN_StdDataFrame_t frame; - frame.id = motor->param.can_id; - frame.dlc = 8; - memcpy(frame.data, data, 8); - - - return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -/** - * @brief 发送位置速度模式控制命令 - * @param motor 电机实例 - * @param pos 目标位置 - * @param vel 目标速度 - * @return 发送结果 - */ -static int8_t MOTOR_DM_SendPosVelCmd(MOTOR_DM_t *motor, float pos, float vel) { - if (motor == NULL) { - return DEVICE_ERR_NULL; - } - - uint8_t data[8] = {0}; - - - /* 直接发送浮点数数据 */ - memcpy(&data[0], &pos, 4); // 位置，低位在前 - memcpy(&data[4], &vel, 4); // 速度，低位在前 - - /* 发送CAN消息，ID为原ID+0x100 */ - uint32_t can_id = DM_CAN_ID_OFFSET_POS_VEL + motor->param.can_id; - BSP_CAN_StdDataFrame_t frame; - frame.id = can_id; - frame.dlc = 8; - memcpy(frame.data, data, 8); - - return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -/** - * @brief 发送速度模式控制命令 - * @param motor 电机实例 - * @param vel 目标速度 - * @return 发送结果 - */ -static int8_t MOTOR_DM_SendVelCmd(MOTOR_DM_t *motor, float vel) { - if (motor == NULL) { - return DEVICE_ERR_NULL; - } - - uint8_t data[4] = {0}; - - /* 直接发送浮点数数据 */ - memcpy(&data[0], &vel, 4); // 速度，低位在前 - - /* 发送CAN消息，ID为原ID+0x200 */ - uint32_t can_id = DM_CAN_ID_OFFSET_VEL + motor->param.can_id; - BSP_CAN_StdDataFrame_t frame; - frame.id = can_id; - frame.dlc = 4; - memcpy(frame.data, data, 4); - - return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -/** - * @brief 获取指定CAN总线的管理器 - * @param can CAN总线 - * @return CAN管理器指针 - */ -static MOTOR_DM_CANManager_t* MOTOR_DM_GetCANManager(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) { - return NULL; - } - - return can_managers[can]; -} - -/** - * @brief 创建CAN管理器 - * @param can CAN总线 - * @return 创建结果 - */ -static int8_t MOTOR_DM_CreateCANManager(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) return DEVICE_ERR; - if (can_managers[can] != NULL) return DEVICE_OK; - - can_managers[can] = (MOTOR_DM_CANManager_t*)BSP_Malloc(sizeof(MOTOR_DM_CANManager_t)); - if (can_managers[can] == NULL) return DEVICE_ERR; - - memset(can_managers[can], 0, sizeof(MOTOR_DM_CANManager_t)); - can_managers[can]->can = can; - return DEVICE_OK; -} - -/* Exported functions ------------------------------------------------------- */ - -/** - * @brief 注册一个DM电机 - * @param param 电机参数 - * @return 注册结果 - */ -int8_t MOTOR_DM_Register(MOTOR_DM_Param_t *param) { - if (param == NULL) { - return DEVICE_ERR_NULL; - } - - /* 创建CAN管理器 */ - if (MOTOR_DM_CreateCANManager(param->can) != DEVICE_OK) { - return DEVICE_ERR; - } - - /* 获取CAN管理器 */ - MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager(param->can); - if (manager == NULL) { - return DEVICE_ERR; - } - - /* 检查是否已注册 */ - for (int i = 0; i < manager->motor_count; i++) { - if (manager->motors[i] && manager->motors[i]->param.master_id == param->master_id) { - return DEVICE_ERR_INITED; - } - } - - /* 检查是否已达到最大数量 */ - if (manager->motor_count >= MOTOR_DM_MAX_MOTORS) { - return DEVICE_ERR; - } - - /* 分配内存 */ - MOTOR_DM_t *motor = (MOTOR_DM_t *)BSP_Malloc(sizeof(MOTOR_DM_t)); - if (motor == NULL) { - return DEVICE_ERR; - } - - /* 初始化电机 */ - memset(motor, 0, sizeof(MOTOR_DM_t)); - memcpy(&motor->param, param, sizeof(MOTOR_DM_Param_t)); - motor->motor.header.online = false; - motor->motor.reverse = param->reverse; - - /* 注册CAN接收ID - DM电机使用Master ID接收反馈 */ - uint16_t feedback_id = param->master_id; - if (BSP_CAN_RegisterId(param->can, feedback_id, 3) != BSP_OK) { - BSP_Free(motor); - return DEVICE_ERR; - } - - /* 添加到管理器 */ - manager->motors[manager->motor_count] = motor; - manager->motor_count++; - - return DEVICE_OK; -} - -/** - * @brief 更新指定电机数据 - * @param param 电机参数 - * @return 更新结果 - */ -int8_t MOTOR_DM_Update(MOTOR_DM_Param_t *param) { - if (param == NULL) { - return DEVICE_ERR_NULL; - } - - MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager(param->can); - if (manager == NULL) { - return DEVICE_ERR_NO_DEV; - } - - /* 查找电机 */ - MOTOR_DM_t *motor = NULL; - for (int i = 0; i < manager->motor_count; i++) { - if (manager->motors[i] && manager->motors[i]->param.master_id == param->master_id) { - motor = manager->motors[i]; - break; - } - } - - if (motor == NULL) { - return DEVICE_ERR_NO_DEV; - } - - /* 主动接收CAN消息 */ - uint16_t feedback_id = param->master_id; - BSP_CAN_Message_t rx_msg; - if (BSP_CAN_GetMessage(param->can, feedback_id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) { - uint64_t now_time = BSP_TIME_Get(); - if (now_time - motor->motor.header.last_online_time > 100000) { // 100ms超时，单位微秒 - motor->motor.header.online = false; - } - return DEVICE_ERR; - } - - motor->motor.header.online = true; - motor->motor.header.last_online_time = BSP_TIME_Get(); - MOTOR_DM_ParseFeedbackFrame(motor, rx_msg.data); - - return DEVICE_OK; -} - -/** - * @brief 更新所有电机数据 - * @return 更新结果 - */ -int8_t MOTOR_DM_UpdateAll(void) { - int8_t ret = DEVICE_OK; - for (int can = 0; can < BSP_CAN_NUM; can++) { - MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager((BSP_CAN_t)can); - if (manager == NULL) continue; - - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_DM_t *motor = manager->motors[i]; - if (motor != NULL) { - if (MOTOR_DM_Update(&motor->param) != DEVICE_OK) { - ret = DEVICE_ERR; - } - } - } - } - return ret; -} - -/** - * @brief MIT模式控制 - * @param param 电机参数 - * @param output MIT控制参数 - * @return 控制结果 - */ -int8_t MOTOR_DM_MITCtrl(MOTOR_DM_Param_t *param, MOTOR_MIT_Output_t *output) { - if (param == NULL || output == NULL) { - return DEVICE_ERR_NULL; - } - - MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param); - if (motor == NULL) { - return DEVICE_ERR_NO_DEV; - } - - return MOTOR_DM_SendMITCmd(motor, output); -} - -/** - * @brief 位置速度模式控制 - * @param param 电机参数 - * @param target_pos 目标位置 - * @param target_vel 目标速度 - * @return 控制结果 - */ -int8_t MOTOR_DM_PosVelCtrl(MOTOR_DM_Param_t *param, float target_pos, float target_vel) { - if (param == NULL) { - return DEVICE_ERR_NULL; - } - - MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param); - if (motor == NULL) { - return DEVICE_ERR_NO_DEV; - } - - return MOTOR_DM_SendPosVelCmd(motor, target_pos, target_vel); -} - -/** - * @brief 速度模式控制 - * @param param 电机参数 - * @param target_vel 目标速度 - * @return 控制结果 - */ -int8_t MOTOR_DM_VelCtrl(MOTOR_DM_Param_t *param, float target_vel) { - if (param == NULL) { - return DEVICE_ERR_NULL; - } - - MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param); - if (motor == NULL) { - return DEVICE_ERR_NO_DEV; - } - - return MOTOR_DM_SendVelCmd(motor, target_vel); -} - -/** - * @brief 获取指定电机的实例指针 - * @param param 电机参数 - * @return 电机实例指针 - */ -MOTOR_DM_t* MOTOR_DM_GetMotor(MOTOR_DM_Param_t *param) { - if (param == NULL) { - return NULL; - } - - MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager(param->can); - if (manager == NULL) { - return NULL; - } - - /* 查找对应的电机 */ - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_DM_t *motor = manager->motors[i]; - if (motor && motor->param.can == param->can && - motor->param.master_id == param->master_id) { - return motor; - } - } - - return NULL; -} - - -int8_t MOTOR_DM_Enable(MOTOR_DM_Param_t *param){ - if (param == NULL) { - return DEVICE_ERR_NULL; - } - - MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param); - if (motor == NULL) { - return DEVICE_ERR_NO_DEV; - } - - BSP_CAN_StdDataFrame_t frame; - frame.id = motor->param.can_id; - frame.dlc = 8; - frame.data[0] = 0XFF; - frame.data[1] = 0xFF; - frame.data[2] = 0xFF; - frame.data[3] = 0xFF; - frame.data[4] = 0xFF; - frame.data[5] = 0xFF; - frame.data[6] = 0xFF; - frame.data[7] = 0xFC; - - return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -/** - * @brief 使电机松弛（设置输出为0） - * @param param 电机参数 - * @return 操作结果 - */ -int8_t MOTOR_DM_Relax(MOTOR_DM_Param_t *param) { - if (param == NULL) { - return DEVICE_ERR_NULL; - } - - MOTOR_MIT_Output_t output = {0}; - return MOTOR_DM_MITCtrl(param, &output); -} - -/** - * @brief 使电机离线（设置在线状态为false） - * @param param 电机参数 - * @return 操作结果 - */ -int8_t MOTOR_DM_Offine(MOTOR_DM_Param_t *param) { - if (param == NULL) { - return DEVICE_ERR_NULL; - } - - MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param); - if (motor == NULL) { - return DEVICE_ERR_NO_DEV; - } - - motor->motor.header.online = false; - return DEVICE_OK; -} diff --git a/User/device/motor_dm.h b/User/device/motor_dm.h deleted file mode 100644 index 20e91d4..0000000 --- a/User/device/motor_dm.h +++ /dev/null @@ -1,98 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include "device/device.h" -#include "device/motor.h" -#include "bsp/can.h" - -/* Exported constants ------------------------------------------------------- */ -#define MOTOR_DM_MAX_MOTORS 32 - -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ -typedef enum { - MOTOR_DM_J4310, -} MOTOR_DM_Module_t; - -/*每个电机需要的参数*/ -typedef struct { - BSP_CAN_t can; - uint16_t master_id; /* 主站ID，用于发送控制命令 */ - uint16_t can_id; /* 反馈ID，用于接收电机反馈 */ - MOTOR_DM_Module_t module; - bool reverse; -} MOTOR_DM_Param_t; - -/*电机实例*/ -typedef struct{ - MOTOR_DM_Param_t param; - MOTOR_t motor; -} MOTOR_DM_t; - -/*CAN管理器，管理一个CAN总线上所有的电机*/ -typedef struct { - BSP_CAN_t can; - MOTOR_DM_t *motors[MOTOR_DM_MAX_MOTORS]; - uint8_t motor_count; -} MOTOR_DM_CANManager_t; - -/* Exported functions prototypes -------------------------------------------- */ - -/** - * @brief 注册一个LK电机 - * @param param 电机参数 - * @return - */ -int8_t MOTOR_DM_Register(MOTOR_DM_Param_t *param); - -/** - * @brief 更新指定电机数据 - * @param param 电机参数 - * @return - */ -int8_t MOTOR_DM_Update(MOTOR_DM_Param_t *param); - -/** - * @brief 更新所有电机数据 - * @return - */ -int8_t MOTOR_DM_UpdateAll(void); - -int8_t MOTOR_DM_MITCtrl(MOTOR_DM_Param_t *param, MOTOR_MIT_Output_t *output); - -int8_t MOTOR_DM_PosVelCtrl(MOTOR_DM_Param_t *param, float target_pos, float target_vel); - -int8_t MOTOR_DM_VelCtrl(MOTOR_DM_Param_t *param, float target_vel); - -/** - * @brief 获取指定电机的实例指针 - * @param param 电机参数 - * @return - */ -MOTOR_DM_t* MOTOR_DM_GetMotor(MOTOR_DM_Param_t *param); - -int8_t MOTOR_DM_Enable(MOTOR_DM_Param_t *param); - -/** - * @brief 使电机松弛（设置输出为0） - * @param param - * @return - */ -int8_t MOTOR_DM_Relax(MOTOR_DM_Param_t *param); - -/** - * @brief 使电机离线（设置在线状态为false） - * @param param - * @return - */ -int8_t MOTOR_DM_Offine(MOTOR_DM_Param_t *param); - - - -#ifdef __cplusplus -} -#endif \ No newline at end of file diff --git a/User/device/motor_lk.c b/User/device/motor_lk.c deleted file mode 100644 index c26878e..0000000 --- a/User/device/motor_lk.c +++ /dev/null @@ -1,329 +0,0 @@ -/* - LK电机驱动 -*/ -/* Includes ----------------------------------------------------------------- */ -#include "motor_lk.h" -#include -#include -#include "bsp/can.h" -#include "bsp/mm.h" -#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) - -// LK电机命令字节定义 -#define LK_CMD_FEEDBACK (0x9C) // 反馈命令字节 -#define LK_CMD_MOTOR_OFF (0x80) // 电机关闭命令 -#define LK_CMD_MOTOR_ON (0x88) // 电机运行命令 -#define LK_CMD_TORQUE_CTRL (0xA1) // 转矩闭环控制命令 - -// LK电机参数定义 -#define LK_CURR_LSB_MF (33.0f / 4096.0f) // MF电机转矩电流分辨率 A/LSB -#define LK_CURR_LSB_MG (66.0f / 4096.0f) // MG电机转矩电流分辨率 A/LSB -#define LK_POWER_RANGE_MS (1000) // MS电机功率范围 ±1000 -#define LK_TORQUE_RANGE (2048) // 转矩控制值范围 ±2048 -#define LK_TORQUE_CURRENT_MF (16.5f) // MF电机最大转矩电流 A -#define LK_TORQUE_CURRENT_MG (33.0f) // MG电机最大转矩电流 A - -#define MOTOR_TX_BUF_SIZE (8) -#define MOTOR_RX_BUF_SIZE (8) - -// 编码器分辨率定义 -#define LK_ENC_14BIT_MAX (16383) // 14位编码器最大值 -#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: - case MOTOR_LK_MF9035: - return LK_CURR_LSB_MF; - default: - return LK_CURR_LSB_MG; // 默认使用MG的分辨率 - } -} - -static uint16_t MOTOR_LK_GetEncoderMax(MOTOR_LK_Module_t module) { - // 根据电机型号返回编码器最大值，这里假设都使用16位编码器 - // 实际使用时需要根据具体电机型号配置 - return LK_ENC_16BIT_MAX; -} - -static MOTOR_LK_CANManager_t* MOTOR_LK_GetCANManager(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) return NULL; - return can_managers[can]; -} - -static int8_t MOTOR_LK_CreateCANManager(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) return DEVICE_ERR; - if (can_managers[can] != NULL) return DEVICE_OK; - - can_managers[can] = (MOTOR_LK_CANManager_t*)BSP_Malloc(sizeof(MOTOR_LK_CANManager_t)); - if (can_managers[can] == NULL) return DEVICE_ERR; - - memset(can_managers[can], 0, sizeof(MOTOR_LK_CANManager_t)); - can_managers[can]->can = can; - return DEVICE_OK; -} - -static void MOTOR_LK_Decode(MOTOR_LK_t *motor, BSP_CAN_Message_t *msg) { - - // 检查命令字节是否为反馈命令 - if (msg->data[0] != LK_CMD_FEEDBACK) { - // 如果不是标准反馈命令，可能是其他格式的数据 - // 临时跳过命令字节检查，直接解析数据 - // return; - } - - // 解析温度 (DATA[1]) - motor->motor.feedback.temp = (int8_t)msg->data[1]; - - // 解析转矩电流值或功率值 (DATA[2], DATA[3]) - int16_t raw_current_or_power = (int16_t)((msg->data[3] << 8) | msg->data[2]); - - // 根据电机类型解析电流或功率 - switch (motor->param.module) { - case MOTOR_LK_MF9025: - case MOTOR_LK_MF9035: - motor->motor.feedback.torque_current = raw_current_or_power * MOTOR_LK_GetCurrentLSB(motor->param.module); - break; - default: - motor->motor.feedback.torque_current = (float)raw_current_or_power; - break; - } - - // 解析转速 (DATA[4], DATA[5]) - 单位：1dps/LSB - int16_t raw_speed = (int16_t)((msg->data[5] << 8) | msg->data[4]); - motor->motor.feedback.rotor_speed = motor->param.reverse ? -raw_speed : raw_speed; - - // 解析编码器值 (DATA[6], DATA[7]) - uint16_t raw_encoder = (uint16_t)((msg->data[7] << 8) | msg->data[6]); - uint16_t encoder_max = MOTOR_LK_GetEncoderMax(motor->param.module); - - // 将编码器值转换为弧度 (0 ~ 2π) - float angle = (float)raw_encoder / (float)encoder_max * M_2PI; - motor->motor.feedback.rotor_abs_angle = motor->param.reverse ? (M_2PI - angle) : angle; -} - -/* Exported functions ------------------------------------------------------- */ - -int8_t MOTOR_LK_Register(MOTOR_LK_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - - if (MOTOR_LK_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR; - MOTOR_LK_CANManager_t *manager = MOTOR_LK_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR; - - // 检查是否已注册 - for (int i = 0; i < manager->motor_count; i++) { - if (manager->motors[i] && manager->motors[i]->param.id == param->id) { - return DEVICE_ERR_INITED; - } - } - - // 检查数量 - if (manager->motor_count >= MOTOR_LK_MAX_MOTORS) return DEVICE_ERR; - - // 创建新电机实例 - MOTOR_LK_t *new_motor = (MOTOR_LK_t*)BSP_Malloc(sizeof(MOTOR_LK_t)); - if (new_motor == NULL) return DEVICE_ERR; - - memcpy(&new_motor->param, param, sizeof(MOTOR_LK_Param_t)); - memset(&new_motor->motor, 0, sizeof(MOTOR_t)); - new_motor->motor.reverse = param->reverse; - - // 对于某些LK电机，反馈数据可能通过命令ID发送 - // 根据实际测试，使用命令ID接收反馈数据 - uint16_t feedback_id = param->id; // 使用命令ID作为反馈ID - - // 注册CAN接收ID - if (BSP_CAN_RegisterId(param->can, feedback_id, 3) != BSP_OK) { - BSP_Free(new_motor); - return DEVICE_ERR; - } - - manager->motors[manager->motor_count] = new_motor; - manager->motor_count++; - return DEVICE_OK; -} - -int8_t MOTOR_LK_Update(MOTOR_LK_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - - MOTOR_LK_CANManager_t *manager = MOTOR_LK_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR_NO_DEV; - - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_LK_t *motor = manager->motors[i]; - if (motor && motor->param.id == param->id) { - // 对于某些LK电机，反馈数据通过命令ID发送 - uint16_t feedback_id = param->id; - - BSP_CAN_Message_t rx_msg; - if (BSP_CAN_GetMessage(param->can, feedback_id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) { - uint64_t now_time = BSP_TIME_Get(); - if (now_time - motor->motor.header.last_online_time > 1000) { - motor->motor.header.online = false; - return DEVICE_ERR_NO_DEV; - } - return DEVICE_ERR; - } - - motor->motor.header.online = true; - motor->motor.header.last_online_time = BSP_TIME_Get(); - MOTOR_LK_Decode(motor, &rx_msg); - return DEVICE_OK; - } - } - return DEVICE_ERR_NO_DEV; -} - -int8_t MOTOR_LK_UpdateAll(void) { - int8_t ret = DEVICE_OK; - for (int can = 0; can < BSP_CAN_NUM; can++) { - MOTOR_LK_CANManager_t *manager = MOTOR_LK_GetCANManager((BSP_CAN_t)can); - if (manager == NULL) continue; - - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_LK_t *motor = manager->motors[i]; - if (motor != NULL) { - if (MOTOR_LK_Update(&motor->param) != DEVICE_OK) { - ret = DEVICE_ERR; - } - } - } - } - return ret; -} - -int8_t MOTOR_LK_SetOutput(MOTOR_LK_Param_t *param, float value) { - if (param == NULL) return DEVICE_ERR_NULL; - - MOTOR_LK_CANManager_t *manager = MOTOR_LK_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR_NO_DEV; - - // 限制输出值范围 - if (value > 1.0f) value = 1.0f; - if (value < -1.0f) value = -1.0f; - - MOTOR_LK_t *motor = MOTOR_LK_GetMotor(param); - if (motor == NULL) return DEVICE_ERR_NO_DEV; - - // 根据反转参数调整输出 - float output = param->reverse ? -value : value; - - // 转矩闭环控制命令 - 将输出值转换为转矩控制值 - int16_t torque_control = (int16_t)(output * (float)LK_TORQUE_RANGE); - - // 构建CAN帧 - BSP_CAN_StdDataFrame_t tx_frame; - tx_frame.id = param->id; - tx_frame.dlc = MOTOR_TX_BUF_SIZE; - - tx_frame.data[0] = LK_CMD_TORQUE_CTRL; - tx_frame.data[1] = 0x00; - tx_frame.data[2] = 0x00; - tx_frame.data[3] = 0x00; - tx_frame.data[4] = (uint8_t)(torque_control & 0xFF); - tx_frame.data[5] = (uint8_t)((torque_control >> 8) & 0xFF); - tx_frame.data[6] = 0x00; - tx_frame.data[7] = 0x00; - return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -int8_t MOTOR_LK_Ctrl(MOTOR_LK_Param_t *param) { - // 对于LK电机，每次设置输出时就直接发送控制命令 - // 这个函数可以用于发送其他控制命令，如电机开启/关闭 - return DEVICE_OK; -} - -int8_t MOTOR_LK_MotorOn(MOTOR_LK_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - - BSP_CAN_StdDataFrame_t tx_frame; - tx_frame.id = param->id; - tx_frame.dlc = MOTOR_TX_BUF_SIZE; - - // 电机运行命令 - tx_frame.data[0] = LK_CMD_MOTOR_ON; // 命令字节 - tx_frame.data[1] = 0x00; - tx_frame.data[2] = 0x00; - tx_frame.data[3] = 0x00; - tx_frame.data[4] = 0x00; - tx_frame.data[5] = 0x00; - tx_frame.data[6] = 0x00; - tx_frame.data[7] = 0x00; - return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -int8_t MOTOR_LK_MotorOff(MOTOR_LK_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - - BSP_CAN_StdDataFrame_t tx_frame; - tx_frame.id = param->id; - tx_frame.dlc = MOTOR_TX_BUF_SIZE; - - // 电机关闭命令 - tx_frame.data[0] = LK_CMD_MOTOR_OFF; // 命令字节 - tx_frame.data[1] = 0x00; - tx_frame.data[2] = 0x00; - tx_frame.data[3] = 0x00; - tx_frame.data[4] = 0x00; - tx_frame.data[5] = 0x00; - tx_frame.data[6] = 0x00; - tx_frame.data[7] = 0x00; - return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -MOTOR_LK_t* MOTOR_LK_GetMotor(MOTOR_LK_Param_t *param) { - if (param == NULL) return NULL; - - MOTOR_LK_CANManager_t *manager = MOTOR_LK_GetCANManager(param->can); - if (manager == NULL) return NULL; - - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_LK_t *motor = manager->motors[i]; - if (motor && motor->param.id == param->id) { - return motor; - } - } - return NULL; -} - -int8_t MOTOR_LK_Relax(MOTOR_LK_Param_t *param) { - return MOTOR_LK_SetOutput(param, 0.0f); -} - -int8_t MOTOR_LK_Offine(MOTOR_LK_Param_t *param) { - MOTOR_LK_t *motor = MOTOR_LK_GetMotor(param); - if (motor) { - motor->motor.header.online = false; - return DEVICE_OK; - } - return DEVICE_ERR_NO_DEV; -} \ No newline at end of file diff --git a/User/device/motor_lk.h b/User/device/motor_lk.h deleted file mode 100644 index f17dde0..0000000 --- a/User/device/motor_lk.h +++ /dev/null @@ -1,119 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include "device/device.h" -#include "device/motor.h" -#include "bsp/can.h" - -/* Exported constants ------------------------------------------------------- */ -#define MOTOR_LK_MAX_MOTORS 32 - -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ -typedef enum { - MOTOR_LK_MF9025, - MOTOR_LK_MF9035, -} MOTOR_LK_Module_t; - - -/*每个电机需要的参数*/ -typedef struct { - BSP_CAN_t can; - uint16_t id; - MOTOR_LK_Module_t module; - bool reverse; -} MOTOR_LK_Param_t; - -/*电机实例*/ -typedef struct{ - MOTOR_LK_Param_t param; - MOTOR_t motor; -} MOTOR_LK_t; - -/*CAN管理器，管理一个CAN总线上所有的电机*/ -typedef struct { - BSP_CAN_t can; - MOTOR_LK_t *motors[MOTOR_LK_MAX_MOTORS]; - uint8_t motor_count; -} MOTOR_LK_CANManager_t; - -/* Exported functions prototypes -------------------------------------------- */ - -/** - * @brief 注册一个LK电机 - * @param param 电机参数 - * @return - */ -int8_t MOTOR_LK_Register(MOTOR_LK_Param_t *param); - -/** - * @brief 更新指定电机数据 - * @param param 电机参数 - * @return - */ -int8_t MOTOR_LK_Update(MOTOR_LK_Param_t *param); - -/** - * @brief 设置一个电机的输出 - * @param param 电机参数 - * @param value 输出值，范围[-1.0, 1.0] - * @return - */ -int8_t MOTOR_LK_SetOutput(MOTOR_LK_Param_t *param, float value); - -/** - * @brief 发送控制命令到电机，注意一个CAN可以控制多个电机，所以只需要发送一次即可 - * @param param 电机参数 - * @return - */ -int8_t MOTOR_LK_Ctrl(MOTOR_LK_Param_t *param); - -/** - * @brief 发送电机开启命令 - * @param param 电机参数 - * @return - */ -int8_t MOTOR_LK_MotorOn(MOTOR_LK_Param_t *param); - -/** - * @brief 发送电机关闭命令 - * @param param 电机参数 - * @return - */ -int8_t MOTOR_LK_MotorOff(MOTOR_LK_Param_t *param); - -/** - * @brief 获取指定电机的实例指针 - * @param param 电机参数 - * @return - */ -MOTOR_LK_t* MOTOR_LK_GetMotor(MOTOR_LK_Param_t *param); - -/** - * @brief 使电机松弛（设置输出为0） - * @param param - * @return - */ -int8_t MOTOR_LK_Relax(MOTOR_LK_Param_t *param); - -/** - * @brief 使电机离线（设置在线状态为false） - * @param param - * @return - */ -int8_t MOTOR_LK_Offine(MOTOR_LK_Param_t *param); - -/** - * @brief - * @param - * @return - */ -int8_t MOTOR_LK_UpdateAll(void); - -#ifdef __cplusplus -} -#endif \ No newline at end of file diff --git a/User/device/motor_lz.c b/User/device/motor_lz.c deleted file mode 100644 index 7ed7344..0000000 --- a/User/device/motor_lz.c +++ /dev/null @@ -1,440 +0,0 @@ -/* - 灵足电机驱动 - - 灵足电机通信协议： - - CAN 2.0通信接口，波特率1Mbps - - 采用扩展帧格式(29位ID) - - ID格式：Bit28~24(通信类型) + Bit23~8(数据区2) + Bit7~0(目标地址) -*/ -/* Includes ----------------------------------------------------------------- */ -#include "motor_lz.h" -#include -#include -#include -#include "bsp/can.h" -#include "bsp/mm.h" -#include "bsp/time.h" -#include "component/user_math.h" - -/* Private define ----------------------------------------------------------- */ -// 灵足电机协议参数 -#define LZ_ANGLE_RANGE_RAD (12.57f) /* 角度范围 ±12.57 rad */ -#define LZ_VELOCITY_RANGE_RAD_S (20.0f) /* 角速度范围 ±20 rad/s */ -#define LZ_TORQUE_RANGE_NM (60.0f) /* 力矩范围 ±60 Nm */ -#define LZ_KP_MAX (5000.0f) /* Kp最大值 */ -#define LZ_KD_MAX (100.0f) /* Kd最大值 */ - -#define LZ_RAW_VALUE_MAX (65535) /* 16位原始值最大值 */ -#define LZ_TEMP_SCALE (10.0f) /* 温度缩放因子 */ - -#define LZ_MAX_RECOVER_DIFF_RAD (0.28f) -#define MOTOR_TX_BUF_SIZE (8) -#define MOTOR_RX_BUF_SIZE (8) - -/* Private macro ------------------------------------------------------------ */ - -MOTOR_LZ_MotionParam_t lz_relax_param = { - .target_angle = 0.0f, - .target_velocity = 0.0f, - .kp = 0.0f, - .kd = 0.0f, - .torque = 0.0f, -}; -/* Private typedef ---------------------------------------------------------- */ -/* Private variables -------------------------------------------------------- */ -static MOTOR_LZ_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL}; - -/* Private function prototypes ---------------------------------------------- */ -static MOTOR_LZ_CANManager_t* MOTOR_LZ_GetCANManager(BSP_CAN_t can); -static int8_t MOTOR_LZ_CreateCANManager(BSP_CAN_t can); -static void MOTOR_LZ_Decode(MOTOR_LZ_t *motor, BSP_CAN_Message_t *msg); -static uint32_t MOTOR_LZ_BuildExtID(MOTOR_LZ_CmdType_t cmd_type, uint16_t data2, uint8_t target_id); -static uint16_t MOTOR_LZ_FloatToRaw(float value, float max_value); -static float MOTOR_LZ_RawToFloat(uint16_t raw_value, float max_value); -static int8_t MOTOR_LZ_SendExtFrame(BSP_CAN_t can, uint32_t ext_id, uint8_t *data, uint8_t dlc); -static uint32_t MOTOR_LZ_IdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type); - -/* Private functions -------------------------------------------------------- */ - -/** - * @brief 获取CAN管理器 - */ -static MOTOR_LZ_CANManager_t* MOTOR_LZ_GetCANManager(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) return NULL; - return can_managers[can]; -} - -/** - * @brief 创建CAN管理器 - */ -static int8_t MOTOR_LZ_CreateCANManager(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) return DEVICE_ERR; - if (can_managers[can] != NULL) return DEVICE_OK; - - can_managers[can] = (MOTOR_LZ_CANManager_t*)BSP_Malloc(sizeof(MOTOR_LZ_CANManager_t)); - if (can_managers[can] == NULL) return DEVICE_ERR; - - memset(can_managers[can], 0, sizeof(MOTOR_LZ_CANManager_t)); - can_managers[can]->can = can; - return DEVICE_OK; -} - -/** - * @brief 构建扩展ID - */ -static uint32_t MOTOR_LZ_BuildExtID(MOTOR_LZ_CmdType_t cmd_type, uint16_t data2, uint8_t target_id) { - uint32_t ext_id = 0; - ext_id |= ((uint32_t)cmd_type & 0x1F) << 24; // Bit28~24: 通信类型 - ext_id |= ((uint32_t)data2 & 0xFFFF) << 8; // Bit23~8: 数据区2 - ext_id |= ((uint32_t)target_id & 0xFF); // Bit7~0: 目标地址 - return ext_id; -} - -/** - * @brief 浮点值转换为原始值（对称范围：-max_value ~ +max_value） - */ -static uint16_t MOTOR_LZ_FloatToRaw(float value, float max_value) { - // 限制范围 - if (value > max_value) value = max_value; - if (value < -max_value) value = -max_value; - - // 转换为0~65535范围，对应-max_value~max_value - return (uint16_t)((value + max_value) / (2.0f * max_value) * (float)LZ_RAW_VALUE_MAX); -} - -/** - * @brief 浮点值转换为原始值（单向范围：0 ~ +max_value） - */ -static uint16_t MOTOR_LZ_FloatToRawPositive(float value, float max_value) { - // 限制范围 - if (value > max_value) value = max_value; - if (value < 0.0f) value = 0.0f; - - // 转换为0~65535范围，对应0~max_value - return (uint16_t)(value / max_value * (float)LZ_RAW_VALUE_MAX); -} - -/** - * @brief 原始值转换为浮点值 - */ -static float MOTOR_LZ_RawToFloat(uint16_t raw_value, float max_value) { - // 将0~65535范围转换为-max_value~max_value - return ((float)raw_value / (float)LZ_RAW_VALUE_MAX) * (2.0f * max_value) - max_value; -} - -/** - * @brief 发送扩展帧 - */ -static int8_t MOTOR_LZ_SendExtFrame(BSP_CAN_t can, uint32_t ext_id, uint8_t *data, uint8_t dlc) { - BSP_CAN_ExtDataFrame_t tx_frame; - tx_frame.id = ext_id; - tx_frame.dlc = dlc; - if (data != NULL) { - memcpy(tx_frame.data, data, dlc); - } else { - memset(tx_frame.data, 0, dlc); - } - return BSP_CAN_TransmitExtDataFrame(can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -/** - * @brief 灵足电机ID解析器 - * @param original_id 原始CAN ID（29位扩展帧） - * @param frame_type 帧类型 - * @return 解析后的ID（用于队列匹配） - * - * 灵足电机扩展ID格式： - * Bit28~24: 通信类型 (0x1=运控控制, 0x2=反馈数据, 0x3=使能, 0x4=停止, 0x6=设零位) - * Bit23~8: 数据区2 (根据通信类型而定) - * Bit7~0: 目标地址 (目标电机CAN ID) - */ -static uint32_t MOTOR_LZ_IdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type) { - // 只处理扩展数据帧 - if (frame_type != BSP_CAN_FRAME_EXT_DATA) { - return original_id; // 非扩展帧直接返回原始ID - } - - // 解析扩展ID各个字段 - uint8_t cmd_type = (original_id >> 24) & 0x1F; // Bit28~24: 通信类型 - uint16_t data2 = (original_id >> 8) & 0xFFFF; // Bit23~8: 数据区2 - uint8_t host_id = (uint8_t)(original_id & 0xFF); // Bit7~0: 主机CAN ID - - // 对于反馈数据帧，我们使用特殊的解析规则 - if (cmd_type == MOTOR_LZ_CMD_FEEDBACK) { - // 反馈数据的data2字段包含： - // Bit8~15: 当前电机CAN ID - // Bit16~21: 故障信息 - // Bit22~23: 模式状态 - uint8_t motor_can_id = data2 & 0xFF; // bit8~15: 当前电机CAN ID - - // 返回格式化的ID，便于匹配 - // 格式：0x02HHMMTT (02=反馈命令, HH=主机ID, MM=电机ID, TT=主机ID) - return (0x02000000) | (host_id << 16) | (motor_can_id << 8) | host_id; - } - - // 对于其他命令类型，直接返回原始ID - return original_id; -} - -/** - * @brief 解码灵足电机反馈数据 - */ -static void MOTOR_LZ_Decode(MOTOR_LZ_t *motor, BSP_CAN_Message_t *msg) { - if (motor == NULL || msg == NULL) return; - uint8_t cmd_type = (msg->original_id >> 24) & 0x1F; - if (cmd_type != MOTOR_LZ_CMD_FEEDBACK) return; - uint16_t id_data2 = (msg->original_id >> 8) & 0xFFFF; - uint8_t motor_can_id = id_data2 & 0xFF; - uint8_t fault_info = (id_data2 >> 8) & 0x3F; - uint8_t mode_state = (id_data2 >> 14) & 0x03; - motor->lz_feedback.motor_can_id = motor_can_id; - motor->lz_feedback.fault.under_voltage = (fault_info & 0x01) != 0; - motor->lz_feedback.fault.driver_fault = (fault_info & 0x02) != 0; - motor->lz_feedback.fault.over_temp = (fault_info & 0x04) != 0; - motor->lz_feedback.fault.encoder_fault = (fault_info & 0x08) != 0; - motor->lz_feedback.fault.stall_overload = (fault_info & 0x10) != 0; - motor->lz_feedback.fault.uncalibrated = (fault_info & 0x20) != 0; - motor->lz_feedback.state = (MOTOR_LZ_State_t)mode_state; - - // 反馈解码并自动反向 - uint16_t raw_angle = (uint16_t)((msg->data[0] << 8) | msg->data[1]); - float angle = MOTOR_LZ_RawToFloat(raw_angle, LZ_ANGLE_RANGE_RAD); - uint16_t raw_velocity = (uint16_t)((msg->data[2] << 8) | msg->data[3]); - float velocity = MOTOR_LZ_RawToFloat(raw_velocity, LZ_VELOCITY_RANGE_RAD_S); - uint16_t raw_torque = (uint16_t)((msg->data[4] << 8) | msg->data[5]); - float torque = MOTOR_LZ_RawToFloat(raw_torque, LZ_TORQUE_RANGE_NM); - - while (angle <0){ - angle += M_2PI; - } - while (angle > M_2PI){ - angle -= M_2PI; - } - // 自动反向 - if (motor->param.reverse) { - angle = M_2PI - angle; - velocity = -velocity; - torque = -torque; - } - - motor->lz_feedback.current_angle = angle; - motor->lz_feedback.current_velocity = velocity; - motor->lz_feedback.current_torque = torque; - - uint16_t raw_temp = (uint16_t)((msg->data[6] << 8) | msg->data[7]); - motor->lz_feedback.temperature = (float)raw_temp / LZ_TEMP_SCALE; - - motor->motor.feedback.rotor_abs_angle = angle; - motor->motor.feedback.rotor_speed = velocity; - motor->motor.feedback.torque_current = torque; - motor->motor.feedback.temp = (int8_t)motor->lz_feedback.temperature; - motor->motor.header.online = true; - motor->motor.header.last_online_time = BSP_TIME_Get(); -} - -/* Exported functions ------------------------------------------------------- */ - -/** - * @brief 初始化灵足电机驱动系统 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_Init(void) { - // 注册灵足电机专用的ID解析器 - return BSP_CAN_RegisterIdParser(MOTOR_LZ_IdParser) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - - -int8_t MOTOR_LZ_Register(MOTOR_LZ_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - - if (MOTOR_LZ_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR; - MOTOR_LZ_CANManager_t *manager = MOTOR_LZ_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR; - - // 检查是否已注册 - for (int i = 0; i < manager->motor_count; i++) { - if (manager->motors[i] && manager->motors[i]->param.motor_id == param->motor_id) { - return DEVICE_ERR; // 已注册 - } - } - - // 检查数量 - if (manager->motor_count >= MOTOR_LZ_MAX_MOTORS) return DEVICE_ERR; - - // 创建新电机实例 - MOTOR_LZ_t *new_motor = (MOTOR_LZ_t*)BSP_Malloc(sizeof(MOTOR_LZ_t)); - if (new_motor == NULL) return DEVICE_ERR; - - memcpy(&new_motor->param, param, sizeof(MOTOR_LZ_Param_t)); - memset(&new_motor->motor, 0, sizeof(MOTOR_t)); - memset(&new_motor->lz_feedback, 0, sizeof(MOTOR_LZ_Feedback_t)); - memset(&new_motor->motion_param, 0, sizeof(MOTOR_LZ_MotionParam_t)); - - new_motor->motor.reverse = param->reverse; - - // 注册CAN接收ID - 使用解析后的反馈数据ID - // 构建反馈数据的原始扩展ID - // 反馈数据：data2包含电机ID(bit8~15)，target_id是主机ID - uint32_t original_feedback_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_FEEDBACK, param->motor_id, param->host_id); - // 通过ID解析器得到解析后的ID - uint32_t parsed_feedback_id = MOTOR_LZ_IdParser(original_feedback_id, BSP_CAN_FRAME_EXT_DATA); - - if (BSP_CAN_RegisterId(param->can, parsed_feedback_id, 3) != BSP_OK) { - BSP_Free(new_motor); - return DEVICE_ERR; - } - - manager->motors[manager->motor_count] = new_motor; - manager->motor_count++; - return DEVICE_OK; -} - -int8_t MOTOR_LZ_Update(MOTOR_LZ_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - - MOTOR_LZ_CANManager_t *manager = MOTOR_LZ_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR_NO_DEV; - - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_LZ_t *motor = manager->motors[i]; - if (motor && motor->param.motor_id == param->motor_id) { - // 获取反馈数据 - 使用解析后的ID - uint32_t original_feedback_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_FEEDBACK, param->motor_id, param->host_id); - uint32_t parsed_feedback_id = MOTOR_LZ_IdParser(original_feedback_id, BSP_CAN_FRAME_EXT_DATA); - BSP_CAN_Message_t msg; - - while (BSP_CAN_GetMessage(param->can, parsed_feedback_id, &msg, 0) == BSP_OK) { - MOTOR_LZ_Decode(motor, &msg); - } - return DEVICE_OK; - } - } - return DEVICE_ERR_NO_DEV; -} - -int8_t MOTOR_LZ_UpdateAll(void) { - int8_t ret = DEVICE_OK; - for (int can = 0; can < BSP_CAN_NUM; can++) { - MOTOR_LZ_CANManager_t *manager = MOTOR_LZ_GetCANManager((BSP_CAN_t)can); - if (manager == NULL) continue; - - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_LZ_t *motor = manager->motors[i]; - if (motor) { - if (MOTOR_LZ_Update(&motor->param) != DEVICE_OK) { - ret = DEVICE_ERR; - } - } - } - } - return ret; -} - -int8_t MOTOR_LZ_MotionControl(MOTOR_LZ_Param_t *param, MOTOR_LZ_MotionParam_t *motion_param) { - if (param == NULL || motion_param == NULL) return DEVICE_ERR_NULL; - MOTOR_LZ_t *motor = MOTOR_LZ_GetMotor(param); - if (motor == NULL) return DEVICE_ERR_NO_DEV; - - // 自动反向控制 - MOTOR_LZ_MotionParam_t send_param = *motion_param; - if (param->reverse) { - send_param.target_angle = -send_param.target_angle; - send_param.target_velocity = -send_param.target_velocity; - send_param.torque = -send_param.torque; - } - - memcpy(&motor->motion_param, motion_param, sizeof(MOTOR_LZ_MotionParam_t)); - - uint16_t raw_torque = MOTOR_LZ_FloatToRaw(send_param.torque, LZ_TORQUE_RANGE_NM); - uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_MOTION, raw_torque, param->motor_id); - uint8_t data[8]; - uint16_t raw_angle = MOTOR_LZ_FloatToRaw(send_param.target_angle, LZ_ANGLE_RANGE_RAD); - data[0] = (raw_angle >> 8) & 0xFF; - data[1] = raw_angle & 0xFF; - uint16_t raw_velocity = MOTOR_LZ_FloatToRaw(send_param.target_velocity, LZ_VELOCITY_RANGE_RAD_S); - data[2] = (raw_velocity >> 8) & 0xFF; - data[3] = raw_velocity & 0xFF; - uint16_t raw_kp = MOTOR_LZ_FloatToRawPositive(send_param.kp, LZ_KP_MAX); - data[4] = (raw_kp >> 8) & 0xFF; - data[5] = raw_kp & 0xFF; - uint16_t raw_kd = MOTOR_LZ_FloatToRawPositive(send_param.kd, LZ_KD_MAX); - data[6] = (raw_kd >> 8) & 0xFF; - data[7] = raw_kd & 0xFF; - return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8); -} - - -int8_t MOTOR_LZ_Enable(MOTOR_LZ_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - - // 构建扩展ID - 使能命令 - uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_ENABLE, param->host_id, param->motor_id); - - // 数据区清零 - uint8_t data[8] = {0}; - - return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8); -} - -int8_t MOTOR_LZ_Disable(MOTOR_LZ_Param_t *param, bool clear_fault) { - if (param == NULL) return DEVICE_ERR_NULL; - - // 构建扩展ID - 停止命令 - uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_DISABLE, param->host_id, param->motor_id); - - // 数据区 - uint8_t data[8] = {0}; - if (clear_fault) { - data[0] = 1; // Byte[0]=1时清故障 - } - - return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8); -} - -int8_t MOTOR_LZ_SetZero(MOTOR_LZ_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - - // 构建扩展ID - 设置零位命令 - uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_SET_ZERO, param->host_id, param->motor_id); - - // 数据区 - Byte[0]=1 - uint8_t data[8] = {1, 0, 0, 0, 0, 0, 0, 0}; - - return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8); -} - -MOTOR_LZ_t* MOTOR_LZ_GetMotor(MOTOR_LZ_Param_t *param) { - if (param == NULL) return NULL; - - MOTOR_LZ_CANManager_t *manager = MOTOR_LZ_GetCANManager(param->can); - if (manager == NULL) return NULL; - - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_LZ_t *motor = manager->motors[i]; - if (motor && motor->param.motor_id == param->motor_id) { - return motor; - } - } - return NULL; -} - -int8_t MOTOR_LZ_Relax(MOTOR_LZ_Param_t *param) { - return MOTOR_LZ_MotionControl(param, &lz_relax_param); -} - -int8_t MOTOR_LZ_Offline(MOTOR_LZ_Param_t *param) { - MOTOR_LZ_t *motor = MOTOR_LZ_GetMotor(param); - if (motor) { - motor->motor.header.online = false; - return DEVICE_OK; - } - return DEVICE_ERR_NO_DEV; -} - -static MOTOR_LZ_Feedback_t* MOTOR_LZ_GetFeedback(MOTOR_LZ_Param_t *param) { - MOTOR_LZ_t *motor = MOTOR_LZ_GetMotor(param); - if (motor && motor->motor.header.online) { - return &motor->lz_feedback; - } - return NULL; -} diff --git a/User/device/motor_lz.h b/User/device/motor_lz.h deleted file mode 100644 index d2a8002..0000000 --- a/User/device/motor_lz.h +++ /dev/null @@ -1,212 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include "device/device.h" -#include "device/motor.h" -#include "bsp/can.h" - -/* Exported constants ------------------------------------------------------- */ -#define MOTOR_LZ_MAX_MOTORS 32 - -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ -typedef enum { - MOTOR_LZ_RSO0, - MOTOR_LZ_RSO1, - MOTOR_LZ_RSO2, - MOTOR_LZ_RSO3, - MOTOR_LZ_RSO4, - MOTOR_LZ_RSO5, - MOTOR_LZ_RSO6, -} MOTOR_LZ_Module_t; - -/* 灵足电机控制模式 */ -typedef enum { - MOTOR_LZ_MODE_MOTION = 0x1, /* 运控模式 */ - MOTOR_LZ_MODE_CURRENT = 0x2, /* 电流模式 */ - MOTOR_LZ_MODE_VELOCITY = 0x3, /* 速度模式 */ - MOTOR_LZ_MODE_POSITION = 0x4, /* 位置模式 */ -} MOTOR_LZ_ControlMode_t; - -/* 灵足电机通信类型 */ -typedef enum { - MOTOR_LZ_CMD_MOTION = 0x1, /* 运控模式控制 */ - MOTOR_LZ_CMD_FEEDBACK = 0x2, /* 电机反馈数据 */ - MOTOR_LZ_CMD_ENABLE = 0x3, /* 电机使能运行 */ - MOTOR_LZ_CMD_DISABLE = 0x4, /* 电机停止运行 */ - MOTOR_LZ_CMD_SET_ZERO = 0x6, /* 设置电机机械零位 */ -} MOTOR_LZ_CmdType_t; - -/* 灵足电机运行状态 */ -typedef enum { - MOTOR_LZ_STATE_RESET = 0, /* Reset模式[复位] */ - MOTOR_LZ_STATE_CALI = 1, /* Cali模式[标定] */ - MOTOR_LZ_STATE_MOTOR = 2, /* Motor模式[运行] */ -} MOTOR_LZ_State_t; - -/* 灵足电机故障信息 */ -typedef struct { - bool uncalibrated; /* bit21: 未标定 */ - bool stall_overload; /* bit20: 堵转过载故障 */ - bool encoder_fault; /* bit19: 磁编码故障 */ - bool over_temp; /* bit18: 过温 */ - bool driver_fault; /* bit17: 驱动故障 */ - bool under_voltage; /* bit16: 欠压故障 */ -} MOTOR_LZ_Fault_t; - -/* 灵足电机运控参数 */ -typedef struct { - float target_angle; /* 目标角度 (-12.57f~12.57f rad) */ - float target_velocity; /* 目标角速度 (-20~20 rad/s) */ - float kp; /* 位置增益 (0.0~5000.0) */ - float kd; /* 微分增益 (0.0~100.0) */ - float torque; /* 力矩 (-60~60 Nm) */ -} MOTOR_LZ_MotionParam_t; - -/*每个电机需要的参数*/ -typedef struct { - BSP_CAN_t can; /* CAN总线 */ - uint8_t motor_id; /* 电机CAN ID */ - uint8_t host_id; /* 主机CAN ID */ - MOTOR_LZ_Module_t module; /* 电机型号 */ - bool reverse; /* 是否反向 */ - MOTOR_LZ_ControlMode_t mode; /* 控制模式 */ -} MOTOR_LZ_Param_t; - -/*电机反馈信息扩展*/ -typedef struct { - float current_angle; /* 当前角度 (-12.57f~12.57f rad) */ - float current_velocity; /* 当前角速度 (-20~20 rad/s) */ - float current_torque; /* 当前力矩 (-60~60 Nm) */ - float temperature; /* 当前温度 (摄氏度) */ - MOTOR_LZ_State_t state; /* 运行状态 */ - MOTOR_LZ_Fault_t fault; /* 故障信息 */ - uint8_t motor_can_id; /* 当前电机CAN ID */ -} MOTOR_LZ_Feedback_t; - -/*电机实例*/ -typedef struct { - MOTOR_LZ_Param_t param; - MOTOR_t motor; - MOTOR_LZ_Feedback_t lz_feedback; /* 灵足电机特有反馈信息 */ - MOTOR_LZ_MotionParam_t motion_param; /* 运控模式参数 */ -} MOTOR_LZ_t; - -/*CAN管理器，管理一个CAN总线上所有的电机*/ -typedef struct { - BSP_CAN_t can; - MOTOR_LZ_t *motors[MOTOR_LZ_MAX_MOTORS]; - uint8_t motor_count; -} MOTOR_LZ_CANManager_t; - -/* Exported functions prototypes -------------------------------------------- */ - -/** - * @brief 初始化灵足电机驱动系统 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_Init(void); - -/** - * @brief 注册一个灵足电机 - * @param param 电机参数 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_Register(MOTOR_LZ_Param_t *param); - -/** - * @brief 更新指定电机数据 - * @param param 电机参数 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_Update(MOTOR_LZ_Param_t *param); - -/** - * @brief 更新所有电机数据 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_UpdateAll(void); - -/** - * @brief 运控模式控制电机 - * @param param 电机参数 - * @param motion_param 运控参数 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_MotionControl(MOTOR_LZ_Param_t *param, MOTOR_LZ_MotionParam_t *motion_param); - -/** - * @brief 电流(力矩)模式控制电机 - * @param param 电机参数 - * @param torque 目标力矩 (-60~60 Nm) - * @return 设备状态码 - */ -int8_t MOTOR_LZ_TorqueControl(MOTOR_LZ_Param_t *param, float torque); - -/** - * @brief 位置模式控制电机 - * @param param 电机参数 - * @param target_angle 目标角度 (-12.57~12.57 rad) - * @param max_velocity 最大速度 (0~20 rad/s) - * @return 设备状态码 - */ -int8_t MOTOR_LZ_PositionControl(MOTOR_LZ_Param_t *param, float target_angle, float max_velocity); - -/** - * @brief 速度模式控制电机 - * @param param 电机参数 - * @param target_velocity 目标速度 (-20~20 rad/s) - * @return 设备状态码 - */ -int8_t MOTOR_LZ_VelocityControl(MOTOR_LZ_Param_t *param, float target_velocity); - -/** - * @brief 电机使能运行 - * @param param 电机参数 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_Enable(MOTOR_LZ_Param_t *param); - -/** - * @brief 电机停止运行 - * @param param 电机参数 - * @param clear_fault 是否清除故障 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_Disable(MOTOR_LZ_Param_t *param, bool clear_fault); - -/** - * @brief 设置电机机械零位 - * @param param 电机参数 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_SetZero(MOTOR_LZ_Param_t *param); - -/** - * @brief 获取指定电机的实例指针 - * @param param 电机参数 - * @return 电机实例指针，失败返回NULL - */ -MOTOR_LZ_t* MOTOR_LZ_GetMotor(MOTOR_LZ_Param_t *param); - -/** - * @brief 使电机松弛（发送停止命令） - * @param param 电机参数 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_Relax(MOTOR_LZ_Param_t *param); - -/** - * @brief 使电机离线（设置在线状态为false） - * @param param 电机参数 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_Offline(MOTOR_LZ_Param_t *param); - -#ifdef __cplusplus -} -#endif \ No newline at end of file diff --git a/User/device/motor_rm.c b/User/device/motor_rm.c deleted file mode 100644 index 88c1ef4..0000000 --- a/User/device/motor_rm.c +++ /dev/null @@ -1,321 +0,0 @@ -/* - RM电机驱动 -*/ -/* Includes ----------------------------------------------------------------- */ -#include "motor_rm.h" -#include -#include -#include "bsp/can.h" -#include "bsp/mm.h" -#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) -#define GM6020_CTRL_ID_EXTAND (0x2ff) - -#define M3508_M2006_FB_ID_BASE (0x201) -#define M3508_M2006_CTRL_ID_BASE (0x200) -#define M3508_M2006_CTRL_ID_EXTAND (0x1ff) -#define M3508_M2006_ID_SETTING_ID (0x700) - -#define GM6020_MAX_ABS_LSB (30000) -#define M3508_MAX_ABS_LSB (16384) -#define M2006_MAX_ABS_LSB (10000) - -#define MOTOR_TX_BUF_SIZE (8) -#define MOTOR_RX_BUF_SIZE (8) - -#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: - case MOTOR_M3508: - if (can_id >= M3508_M2006_FB_ID_BASE && can_id <= M3508_M2006_FB_ID_BASE + 7) { - return can_id - M3508_M2006_FB_ID_BASE; - } - break; - case MOTOR_GM6020: - if (can_id >= GM6020_FB_ID_BASE && can_id <= GM6020_FB_ID_BASE + 6) { - return can_id - GM6020_FB_ID_BASE + 4; - } - break; - default: - break; - } - return DEVICE_ERR; -} - -static float MOTOR_RM_GetRatio(MOTOR_RM_Module_t module) { - switch (module) { - case MOTOR_M2006: return 36.0f; - case MOTOR_M3508: return 3591.0f / 187.0f; - case MOTOR_GM6020: return 1.0f; - default: return 1.0f; - } -} - -static int16_t MOTOR_RM_GetLSB(MOTOR_RM_Module_t module) { - switch (module) { - case MOTOR_M2006: return M2006_MAX_ABS_LSB; - case MOTOR_M3508: return M3508_MAX_ABS_LSB; - case MOTOR_GM6020: return GM6020_MAX_ABS_LSB; - default: return DEVICE_ERR; - } -} - -static MOTOR_RM_CANManager_t* MOTOR_RM_GetCANManager(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) return NULL; - return can_managers[can]; -} - -static int8_t MOTOR_RM_CreateCANManager(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) return DEVICE_ERR; - if (can_managers[can] != NULL) return DEVICE_OK; - can_managers[can] = (MOTOR_RM_CANManager_t*)BSP_Malloc(sizeof(MOTOR_RM_CANManager_t)); - if (can_managers[can] == NULL) return DEVICE_ERR; - memset(can_managers[can], 0, sizeof(MOTOR_RM_CANManager_t)); - can_managers[can]->can = can; - return DEVICE_OK; -} - -static void Motor_RM_Decode(MOTOR_RM_t *motor, BSP_CAN_Message_t *msg) { - uint16_t raw_angle = (uint16_t)((msg->data[0] << 8) | msg->data[1]); - int16_t raw_speed = (int16_t)((msg->data[2] << 8) | msg->data[3]); - int16_t raw_current = (int16_t)((msg->data[4] << 8) | msg->data[5]); - int16_t lsb = MOTOR_RM_GetLSB(motor->param.module); - float ratio = MOTOR_RM_GetRatio(motor->param.module); - - float rotor_angle = raw_angle / (float)MOTOR_ENC_RES * M_2PI; - float rotor_speed = raw_speed; - float torque_current = raw_current * lsb / (float)MOTOR_CUR_RES; - - if (motor->param.gear) { - // 多圈累加 - int32_t delta = (int32_t)raw_angle - (int32_t)motor->last_raw_angle; - if (delta > (MOTOR_ENC_RES / 2)) { - motor->gearbox_round_count--; - } else if (delta < -(MOTOR_ENC_RES / 2)) { - motor->gearbox_round_count++; - } - motor->last_raw_angle = raw_angle; - float single_turn = rotor_angle; - motor->gearbox_total_angle = (motor->gearbox_round_count * M_2PI + single_turn) / ratio; - // 输出轴多圈绝对值 - motor->feedback.rotor_abs_angle = motor->gearbox_total_angle; - motor->feedback.rotor_speed = rotor_speed / ratio; - motor->feedback.torque_current = torque_current * ratio; - } else { - // 非gear模式，直接用转子单圈 - motor->gearbox_round_count = 0; - motor->last_raw_angle = raw_angle; - motor->gearbox_total_angle = 0.0f; - motor->feedback.rotor_abs_angle = rotor_angle; - motor->feedback.rotor_speed = rotor_speed; - motor->feedback.torque_current = torque_current; - } - while (motor->feedback.rotor_abs_angle < 0) { - motor->feedback.rotor_abs_angle += M_2PI; - } - while (motor->feedback.rotor_abs_angle >= M_2PI) { - motor->feedback.rotor_abs_angle -= M_2PI; - } - if (motor->motor.reverse) { - motor->feedback.rotor_abs_angle = M_2PI - motor->feedback.rotor_abs_angle; - motor->feedback.rotor_speed = -motor->feedback.rotor_speed; - motor->feedback.torque_current = -motor->feedback.torque_current; - } - motor->feedback.temp = msg->data[6]; -} - -/* Exported functions ------------------------------------------------------- */ - -int8_t MOTOR_RM_Register(MOTOR_RM_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - if (MOTOR_RM_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR; - MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR; - // 检查是否已注册 - for (int i = 0; i < manager->motor_count; i++) { - if (manager->motors[i] && manager->motors[i]->param.id == param->id) { - return DEVICE_ERR_INITED; - } - } - // 检查数量 - if (manager->motor_count >= MOTOR_RM_MAX_MOTORS) return DEVICE_ERR; - // 创建新电机实例 - MOTOR_RM_t *new_motor = (MOTOR_RM_t*)BSP_Malloc(sizeof(MOTOR_RM_t)); - if (new_motor == NULL) return DEVICE_ERR; - memcpy(&new_motor->param, param, sizeof(MOTOR_RM_Param_t)); - memset(&new_motor->motor, 0, sizeof(MOTOR_t)); - new_motor->motor.reverse = param->reverse; - // 注册CAN接收ID - if (BSP_CAN_RegisterId(param->can, param->id, 3) != BSP_OK) { - BSP_Free(new_motor); - return DEVICE_ERR; - } - manager->motors[manager->motor_count] = new_motor; - manager->motor_count++; - return DEVICE_OK; -} - -int8_t MOTOR_RM_Update(MOTOR_RM_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR_NO_DEV; - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_RM_t *motor = manager->motors[i]; - if (motor && motor->param.id == param->id) { - BSP_CAN_Message_t rx_msg; - if (BSP_CAN_GetMessage(param->can, param->id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) { - uint64_t now_time = BSP_TIME_Get(); - if (now_time - motor->motor.header.last_online_time > 1000) { - motor->motor.header.online = false; - return DEVICE_ERR_NO_DEV; - } - return DEVICE_ERR; - } - motor->motor.header.online = true; - motor->motor.header.last_online_time = BSP_TIME_Get(); - Motor_RM_Decode(motor, &rx_msg); - motor->motor.feedback = motor->feedback; - return DEVICE_OK; - } - } - return DEVICE_ERR_NO_DEV; -} - -int8_t MOTOR_RM_UpdateAll(void) { - int8_t ret = DEVICE_OK; - for (int can = 0; can < BSP_CAN_NUM; can++) { - MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager((BSP_CAN_t)can); - if (manager == NULL) continue; - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_RM_t *motor = manager->motors[i]; - if (motor != NULL) { - if (MOTOR_RM_Update(&motor->param) != DEVICE_OK) { - ret = DEVICE_ERR; - } - } - } - } - return ret; -} - -int8_t MOTOR_RM_SetOutput(MOTOR_RM_Param_t *param, float value) { - if (param == NULL) return DEVICE_ERR_NULL; - MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR_NO_DEV; - if (value > 1.0f) value = 1.0f; - if (value < -1.0f) value = -1.0f; - if (param->reverse){ - value = -value; - } - MOTOR_RM_t *motor = MOTOR_RM_GetMotor(param); - if (motor == NULL) return DEVICE_ERR_NO_DEV; - int8_t logical_index = MOTOR_RM_GetLogicalIndex(param->id, param->module); - if (logical_index < 0) return DEVICE_ERR; - MOTOR_RM_MsgOutput_t *output_msg = &manager->output_msg; - int16_t output_value = (int16_t)(value * (float)MOTOR_RM_GetLSB(param->module)); - output_msg->output[logical_index] = output_value; - return DEVICE_OK; -} - -int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR_NO_DEV; - MOTOR_RM_MsgOutput_t *output_msg = &manager->output_msg; - BSP_CAN_StdDataFrame_t tx_frame; - uint16_t id = param->id; - switch (id) { - case M3508_M2006_FB_ID_BASE: - case M3508_M2006_FB_ID_BASE+1: - case M3508_M2006_FB_ID_BASE+2: - case M3508_M2006_FB_ID_BASE+3: - tx_frame.id = M3508_M2006_CTRL_ID_BASE; - tx_frame.dlc = MOTOR_TX_BUF_SIZE; - for (int i = 0; i < 4; i++) { - tx_frame.data[i*2] = (uint8_t)((output_msg->output[i] >> 8) & 0xFF); - tx_frame.data[i*2+1] = (uint8_t)(output_msg->output[i] & 0xFF); - } - break; - case M3508_M2006_FB_ID_BASE+4: - case M3508_M2006_FB_ID_BASE+5: - case M3508_M2006_FB_ID_BASE+6: - case M3508_M2006_FB_ID_BASE+7: - tx_frame.id = M3508_M2006_CTRL_ID_EXTAND; - tx_frame.dlc = MOTOR_TX_BUF_SIZE; - for (int i = 4; i < 8; i++) { - tx_frame.data[(i-4)*2] = (uint8_t)((output_msg->output[i] >> 8) & 0xFF); - tx_frame.data[(i-4)*2+1] = (uint8_t)(output_msg->output[i] & 0xFF); - } - break; - case GM6020_FB_ID_BASE+4: - case GM6020_FB_ID_BASE+5: - case GM6020_FB_ID_BASE+6: - tx_frame.id = GM6020_CTRL_ID_EXTAND; - tx_frame.dlc = MOTOR_TX_BUF_SIZE; - for (int i = 8; i < 11; i++) { - tx_frame.data[(i-8)*2] = (uint8_t)((output_msg->output[i] >> 8) & 0xFF); - tx_frame.data[(i-8)*2+1] = (uint8_t)(output_msg->output[i] & 0xFF); - } - tx_frame.data[6] = 0; - tx_frame.data[7] = 0; - break; - default: - return DEVICE_ERR; - } - return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -MOTOR_RM_t* MOTOR_RM_GetMotor(MOTOR_RM_Param_t *param) { - if (param == NULL) return NULL; - MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can); - if (manager == NULL) return NULL; - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_RM_t *motor = manager->motors[i]; - if (motor && motor->param.id == param->id) { - return motor; - } - } - return NULL; -} - -int8_t MOTOR_RM_Relax(MOTOR_RM_Param_t *param) { - return MOTOR_RM_SetOutput(param, 0.0f); -} - -int8_t MOTOR_RM_Offine(MOTOR_RM_Param_t *param) { - MOTOR_RM_t *motor = MOTOR_RM_GetMotor(param); - if (motor) { - motor->motor.header.online = false; - return DEVICE_OK; - } - return DEVICE_ERR_NO_DEV; -} \ No newline at end of file diff --git a/User/device/motor_rm.h b/User/device/motor_rm.h deleted file mode 100644 index 670b427..0000000 --- a/User/device/motor_rm.h +++ /dev/null @@ -1,132 +0,0 @@ -#pragma once - -#include "motor.h" -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include "device/device.h" -#include "device/motor.h" -#include "bsp/can.h" - -/* Exported constants ------------------------------------------------------- */ -#define MOTOR_RM_MAX_MOTORS 11 - -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ -typedef enum { - MOTOR_M2006, - MOTOR_M3508, - MOTOR_GM6020, -} MOTOR_RM_Module_t; - -/*一个can最多控制11个电机*/ -typedef union { - int16_t output[MOTOR_RM_MAX_MOTORS]; - struct { - int16_t m3508_m2006_id201; - int16_t m3508_m2006_id202; - int16_t m3508_m2006_id203; - int16_t m3508_m2006_id204; - int16_t m3508_m2006_gm6020_id205; - int16_t m3508_m2006_gm6020_id206; - int16_t m3508_m2006_gm6020_id207; - int16_t m3508_m2006_gm6020_id208; - int16_t gm6020_id209; - int16_t gm6020_id20A; - int16_t gm6020_id20B; - } named; -} MOTOR_RM_MsgOutput_t; - -/*每个电机需要的参数*/ -typedef struct { - BSP_CAN_t can; - uint16_t id; - MOTOR_RM_Module_t module; - bool reverse; - bool gear; -} MOTOR_RM_Param_t; - -typedef MOTOR_Feedback_t MOTOR_RM_Feedback_t; - -typedef struct { - MOTOR_RM_Param_t param; - MOTOR_RM_Feedback_t feedback; - MOTOR_t motor; - // 多圈相关变量，仅gear模式下有效 - uint16_t last_raw_angle; - int32_t gearbox_round_count; - float gearbox_total_angle; -} MOTOR_RM_t; - -/*CAN管理器，管理一个CAN总线上所有的电机*/ -typedef struct { - BSP_CAN_t can; - MOTOR_RM_MsgOutput_t output_msg; - MOTOR_RM_t *motors[MOTOR_RM_MAX_MOTORS]; - uint8_t motor_count; -} MOTOR_RM_CANManager_t; - -/* Exported functions prototypes -------------------------------------------- */ - -/** - * @brief 注册一个RM电机 - * @param param 电机参数 - * @return - */ -int8_t MOTOR_RM_Register(MOTOR_RM_Param_t *param); - -/** - * @brief 更新指定电机数据 - * @param param 电机参数 - * @return - */ -int8_t MOTOR_RM_Update(MOTOR_RM_Param_t *param); - -/** - * @brief 设置一个电机的输出 - * @param param 电机参数 - * @param value 输出值，范围[-1.0, 1.0] - * @return - */ -int8_t MOTOR_RM_SetOutput(MOTOR_RM_Param_t *param, float value); - -/** - * @brief 发送控制命令到电机，注意一个CAN可以控制多个电机，所以只需要发送一次即可 - * @param param 电机参数 - * @return - */ -int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param); - -/** - * @brief 获取指定电机的实例指针 - * @param param 电机参数 - * @return - */ -MOTOR_RM_t* MOTOR_RM_GetMotor(MOTOR_RM_Param_t *param); - -/** - * @brief 使电机松弛（设置输出为0） - * @param param - * @return - */ -int8_t MOTOR_RM_Relax(MOTOR_RM_Param_t *param); - -/** - * @brief 使电机离线（设置在线状态为false） - * @param param - * @return - */ -int8_t MOTOR_RM_Offine(MOTOR_RM_Param_t *param); - -/** - * @brief - * @param - * @return - */ -int8_t MOTOR_RM_UpdateAll(void); - -#ifdef __cplusplus -} -#endif \ No newline at end of file diff --git a/User/module/config.c b/User/module/config.c deleted file mode 100644 index 99a8640..0000000 --- a/User/module/config.c +++ /dev/null @@ -1,38 +0,0 @@ -/* - * 配置相关 - */ - -/* Includes ----------------------------------------------------------------- */ -#include "module/config.h" - - -/* Private typedef ---------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ - -/* Exported variables ------------------------------------------------------- */ - -/** - * @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 ---------------------------------------------- */ -/* Exported functions ------------------------------------------------------- */ - -/** - * @brief 获取机器人配置参数 - * @return 机器人配置参数指针 - */ -Config_RobotParam_t* Config_GetRobotParam(void) { - return &robot_config; -} \ No newline at end of file diff --git a/User/module/config.h b/User/module/config.h deleted file mode 100644 index 4478d9e..0000000 --- a/User/module/config.h +++ /dev/null @@ -1,38 +0,0 @@ -/* - * 配置相关 - */ - -#pragma once - -#ifdef __cplusplus -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 -------------------------------------------- */ - -/** - * @brief 获取机器人配置参数 - * @return 机器人配置参数指针 - */ -Config_RobotParam_t* Config_GetRobotParam(void); - -#ifdef __cplusplus -} -#endif diff --git a/User/task/ai.c b/User/task/ai.c deleted file mode 100644 index ae90c59..0000000 --- a/User/task/ai.c +++ /dev/null @@ -1,44 +0,0 @@ -/* - ai Task - -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "task/user_task.h" -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private typedef ---------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private function --------------------------------------------------------- */ -/* Exported functions ------------------------------------------------------- */ -void Task_ai(void *argument) { - (void)argument; /* 未使用argument，消除警告 */ - - - /* 计算任务运行到指定频率需要等待的tick数 */ - const uint32_t delay_tick = osKernelGetTickFreq() / AI_FREQ; - - osDelay(AI_INIT_DELAY); /* 延时一段时间再开启任务 */ - - uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ - /* USER CODE INIT BEGIN */ - - /* USER CODE INIT END */ - - while (1) { - tick += delay_tick; /* 计算下一个唤醒时刻 */ - /* USER CODE BEGIN */ - - /* USER CODE END */ - osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ - } - -} \ No newline at end of file diff --git a/User/task/atti_esti.c b/User/task/atti_esti.c deleted file mode 100644 index fbeb2d5..0000000 --- a/User/task/atti_esti.c +++ /dev/null @@ -1,96 +0,0 @@ -/* - atti_esti Task - -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "task/user_task.h" -/* USER INCLUDE BEGIN */ -#include "bsp/mm.h" -#include "bsp/pwm.h" -#include "bsp/gpio.h" -#include "component/ahrs.h" -#include "component/pid.h" -#include "device/bmi088.h" -#include "task/user_task.h" -/* USER INCLUDE END */ - -/* Private typedef ---------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ -/* USER STRUCT BEGIN */ -static BMI088_t bmi088 __attribute__((section(".dma_buffer"))) __attribute__((aligned(32))); - -AHRS_t gimbal_ahrs; -AHRS_Magn_t magn; -AHRS_Eulr_t eulr_to_send; - -KPID_t imu_temp_ctrl_pid; - - -BMI088_Cali_t cali_bmi088= { - .gyro_offset = {-0.00149519544f,-0.00268901442f,0.00169837975f}, -}; - -static const KPID_Params_t imu_temp_ctrl_pid_param = { - .k = 0.3f, - .p = 1.0f, - .i = 0.01f, - .d = 0.0f, - .i_limit = 1.0f, - .out_limit = 1.0f, -}; - -/* USER STRUCT END */ - -/* Private function --------------------------------------------------------- */ -/* Exported functions ------------------------------------------------------- */ -void Task_atti_esti(void *argument) { - (void)argument; /* 未使用argument，消除警告 */ - - - /* 计算任务运行到指定频率需要等待的tick数 */ - const uint32_t delay_tick = osKernelGetTickFreq() / ATTI_ESTI_FREQ; - - osDelay(ATTI_ESTI_INIT_DELAY); /* 延时一段时间再开启任务 */ - - uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ - /* USER CODE INIT BEGIN */ - BMI088_Init(&bmi088,&cali_bmi088); - AHRS_Init(&gimbal_ahrs, &magn, BMI088_GetUpdateFreq(&bmi088)); - PID_Init(&imu_temp_ctrl_pid, KPID_MODE_NO_D, - 1.0f / BMI088_GetUpdateFreq(&bmi088), &imu_temp_ctrl_pid_param); - - /* USER CODE INIT END */ - - while (1) { - tick += delay_tick; /* 计算下一个唤醒时刻 */ - /* USER CODE BEGIN */ - BMI088_WaitNew(); - BMI088_AcclStartDmaRecv(); - BMI088_AcclWaitDmaCplt(); - - BMI088_GyroStartDmaRecv(); - BMI088_GyroWaitDmaCplt(); - - /* 锁住RTOS内核防止数据解析过程中断，造成错误 */ - osKernelLock(); - /* 接收完所有数据后，把数据从原始字节加工成方便计算的数据 */ - BMI088_ParseAccl(&bmi088); - BMI088_ParseGyro(&bmi088); - // IST8310_Parse(&ist8310); - - /* 根据设备接收到的数据进行姿态解析 */ - AHRS_Update(&gimbal_ahrs, &bmi088.accl, &bmi088.gyro, &magn); - - /* 根据解析出来的四元数计算欧拉角 */ - AHRS_GetEulr(&eulr_to_send, &gimbal_ahrs); - - osKernelUnlock(); - - /* USER CODE END */ - osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ - } - -} \ No newline at end of file diff --git a/User/task/config.yaml b/User/task/config.yaml deleted file mode 100644 index 2df32e7..0000000 --- a/User/task/config.yaml +++ /dev/null @@ -1,21 +0,0 @@ -- delay: 0 - description: '' - freq_control: true - frequency: 500.0 - function: Task_ai - name: ai - stack: 256 -- delay: 0 - description: '' - freq_control: true - frequency: 500.0 - function: Task_rc - name: rc - stack: 256 -- delay: 0 - description: '' - freq_control: true - frequency: 500.0 - function: Task_atti_esti - name: atti_esti - stack: 256 diff --git a/User/task/init.c b/User/task/init.c deleted file mode 100644 index 59b5f1f..0000000 --- a/User/task/init.c +++ /dev/null @@ -1,44 +0,0 @@ -/* - Init Task - 任务初始化，创建各个线程任务和消息队列 -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "task/user_task.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private typedef ---------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ -/* Private function --------------------------------------------------------- */ -/* Exported functions ------------------------------------------------------- */ - -/** - * \brief 初始化 - * - * \param argument 未使用 - */ -void Task_Init(void *argument) { - (void)argument; /* 未使用argument，消除警告 */ - /* USER CODE INIT BEGIN */ - - /* USER CODE INIT END */ - osKernelLock(); /* 锁定内核，防止任务切换 */ - - /* 创建任务线程 */ - task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai); - task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc); - task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti); - - // 创建消息队列 - /* USER MESSAGE BEGIN */ - task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL); - /* USER MESSAGE END */ - - osKernelUnlock(); // 解锁内核 - osThreadTerminate(osThreadGetId()); // 任务完成后结束自身 -} \ No newline at end of file diff --git a/User/task/rc.c b/User/task/rc.c deleted file mode 100644 index d3bd497..0000000 --- a/User/task/rc.c +++ /dev/null @@ -1,56 +0,0 @@ -/* - rc Task - -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "task/user_task.h" -/* USER INCLUDE BEGIN */ -#include "device/dr16.h" -/* USER INCLUDE END */ - -/* Private typedef ---------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ -/* USER STRUCT BEGIN */ -/* STM32H7: 整个DR16结构体放在DMA可访问的SRAM区域 */ -static DR16_t dr16 __attribute__((section(".dma_buffer"))) __attribute__((aligned(32))); -/* USER STRUCT END */ - -/* Private function --------------------------------------------------------- */ -/* Exported functions ------------------------------------------------------- */ -void Task_rc(void *argument) { - (void)argument; /* 未使用argument，消除警告 */ - - - /* 计算任务运行到指定频率需要等待的tick数 */ - const uint32_t delay_tick = osKernelGetTickFreq() / RC_FREQ; - - osDelay(RC_INIT_DELAY); /* 延时一段时间再开启任务 */ - - uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ - /* USER CODE INIT BEGIN */ - /* 初始化DR16遥控器 */ - DR16_Init(&dr16); - /* USER CODE INIT END */ - - while (1) { - tick += delay_tick; /* 计算下一个唤醒时刻 */ - /* USER CODE BEGIN */ - /* 启动DMA接收 */ - DR16_StartDmaRecv(&dr16); - - /* 等待DMA接收完成，超时时间20ms */ - if (DR16_WaitDmaCplt(20)) { - /* DMA接收成功，解析数据 */ - DR16_ParseData(&dr16); - } else { - /* DMA接收超时，标记离线 */ - DR16_Offline(&dr16); - } - /* USER CODE END */ - osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ - } - -} \ No newline at end of file diff --git a/User/task/user_task.c b/User/task/user_task.c deleted file mode 100644 index 1344d58..0000000 --- a/User/task/user_task.c +++ /dev/null @@ -1,26 +0,0 @@ -#include "task/user_task.h" - -Task_Runtime_t task_runtime; - -const osThreadAttr_t attr_init = { - .name = "Task_Init", - .priority = osPriorityRealtime, - .stack_size = 256 * 4, -}; - -/* User_task */ -const osThreadAttr_t attr_ai = { - .name = "ai", - .priority = osPriorityNormal, - .stack_size = 256 * 4, -}; -const osThreadAttr_t attr_rc = { - .name = "rc", - .priority = osPriorityNormal, - .stack_size = 256 * 4, -}; -const osThreadAttr_t attr_atti_esti = { - .name = "atti_esti", - .priority = osPriorityNormal, - .stack_size = 256 * 4, -}; \ No newline at end of file diff --git a/User/task/user_task.h b/User/task/user_task.h deleted file mode 100644 index b89435f..0000000 --- a/User/task/user_task.h +++ /dev/null @@ -1,96 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif -/* Includes ----------------------------------------------------------------- */ -#include -#include "FreeRTOS.h" -#include "task.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ -/* Exported constants ------------------------------------------------------- */ -/* 任务运行频率 */ -#define AI_FREQ (500.0) -#define RC_FREQ (500.0) -#define ATTI_ESTI_FREQ (500.0) - -/* 任务初始化延时ms */ -#define TASK_INIT_DELAY (100u) -#define AI_INIT_DELAY (0) -#define RC_INIT_DELAY (0) -#define ATTI_ESTI_INIT_DELAY (0) - -/* Exported defines --------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ - -/* 任务运行时结构体 */ -typedef struct { - /* 各任务，也可以叫做线程 */ - struct { - osThreadId_t ai; - osThreadId_t rc; - osThreadId_t atti_esti; - } thread; - - /* USER MESSAGE BEGIN */ - struct { - osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */ - } msgq; - /* USER MESSAGE END */ - - /* 机器人状态 */ - struct { - float battery; /* 电池电量百分比 */ - float vbat; /* 电池电压 */ - float cpu_temp; /* CPU温度 */ - } status; - - /* USER CONFIG BEGIN */ - - /* USER CONFIG END */ - - /* 各任务的stack使用 */ - struct { - UBaseType_t ai; - UBaseType_t rc; - UBaseType_t atti_esti; - } stack_water_mark; - - /* 各任务运行频率 */ - struct { - float ai; - float rc; - float atti_esti; - } freq; - - /* 任务最近运行时间 */ - struct { - float ai; - float rc; - float atti_esti; - } last_up_time; - -} Task_Runtime_t; - -/* 任务运行时结构体 */ -extern Task_Runtime_t task_runtime; - -/* 初始化任务句柄 */ -extern const osThreadAttr_t attr_init; -extern const osThreadAttr_t attr_ai; -extern const osThreadAttr_t attr_rc; -extern const osThreadAttr_t attr_atti_esti; - -/* 任务函数声明 */ -void Task_Init(void *argument); -void Task_ai(void *argument); -void Task_rc(void *argument); -void Task_atti_esti(void *argument); - -#ifdef __cplusplus -} -#endif \ No newline at end of file diff --git a/balance_infantry.ioc b/balance_infantry.ioc index 3ad6bb0..815e9d9 100644 --- a/balance_infantry.ioc +++ b/balance_infantry.ioc @@ -313,7 +313,6 @@ Dma.USART3_TX.10.SyncEnable=DISABLE Dma.USART3_TX.10.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT Dma.USART3_TX.10.SyncRequestNumber=1 Dma.USART3_TX.10.SyncSignalID=NONE -FDCAN1.AutoRetransmission=ENABLE FDCAN1.CalculateBaudRateNominal=999999 FDCAN1.CalculateTimeBitNominal=1000 FDCAN1.CalculateTimeQuantumNominal=90.90909090909092 @@ -322,8 +321,8 @@ FDCAN1.DataSyncJumpWidth=10 FDCAN1.DataTimeSeg1=9 FDCAN1.DataTimeSeg2=1 FDCAN1.ExtFiltersNbr=1 -FDCAN1.FrameFormat=FDCAN_FRAME_CLASSIC -FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1,FrameFormat,NominalSyncJumpWidth,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,MessageRAMOffset,ExtFiltersNbr,RxFifo0ElmtSize,RxFifo1ElmtsNbr,RxFifo1ElmtSize,RxBuffersNbr,RxBufferSize,TxElmtSize,NominalTimeSeg2,DataPrescaler,AutoRetransmission +FDCAN1.FrameFormat=FDCAN_FRAME_FD_BRS +FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1,FrameFormat,NominalSyncJumpWidth,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,MessageRAMOffset,ExtFiltersNbr,RxFifo0ElmtSize,RxFifo1ElmtsNbr,RxFifo1ElmtSize,RxBuffersNbr,RxBufferSize,TxElmtSize,NominalTimeSeg2,DataPrescaler FDCAN1.MessageRAMOffset=0 FDCAN1.NominalPrescaler=5 FDCAN1.NominalSyncJumpWidth=10 @@ -338,7 +337,6 @@ FDCAN1.RxFifo1ElmtsNbr=0 FDCAN1.StdFiltersNbr=1 FDCAN1.TxElmtSize=FDCAN_DATA_BYTES_64 FDCAN1.TxFifoQueueElmtsNbr=23 -FDCAN2.AutoRetransmission=ENABLE FDCAN2.CalculateBaudRateNominal=999999 FDCAN2.CalculateTimeBitNominal=1000 FDCAN2.CalculateTimeQuantumNominal=90.90909090909092 @@ -347,8 +345,8 @@ FDCAN2.DataSyncJumpWidth=10 FDCAN2.DataTimeSeg1=9 FDCAN2.DataTimeSeg2=1 FDCAN2.ExtFiltersNbr=1 -FDCAN2.FrameFormat=FDCAN_FRAME_CLASSIC -FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,FrameFormat,NominalSyncJumpWidth,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,ExtFiltersNbr,RxFifo0ElmtSize,RxFifo1ElmtsNbr,RxFifo1ElmtSize,RxBuffersNbr,RxBufferSize,TxBuffersNbr,TxElmtSize,NominalTimeSeg1,NominalTimeSeg2,DataPrescaler,AutoRetransmission +FDCAN2.FrameFormat=FDCAN_FRAME_FD_BRS +FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,FrameFormat,NominalSyncJumpWidth,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,ExtFiltersNbr,RxFifo0ElmtSize,RxFifo1ElmtsNbr,RxFifo1ElmtSize,RxBuffersNbr,RxBufferSize,TxBuffersNbr,TxElmtSize,NominalTimeSeg1,NominalTimeSeg2,DataPrescaler FDCAN2.MessageRAMOffset=831 FDCAN2.NominalPrescaler=5 FDCAN2.NominalSyncJumpWidth=10 @@ -364,7 +362,6 @@ FDCAN2.StdFiltersNbr=1 FDCAN2.TxBuffersNbr=0 FDCAN2.TxElmtSize=FDCAN_DATA_BYTES_64 FDCAN2.TxFifoQueueElmtsNbr=23 -FDCAN3.AutoRetransmission=ENABLE FDCAN3.CalculateBaudRateNominal=999999 FDCAN3.CalculateTimeBitNominal=1000 FDCAN3.CalculateTimeQuantumNominal=90.90909090909092 @@ -373,8 +370,8 @@ FDCAN3.DataSyncJumpWidth=10 FDCAN3.DataTimeSeg1=9 FDCAN3.DataTimeSeg2=1 FDCAN3.ExtFiltersNbr=1 -FDCAN3.FrameFormat=FDCAN_FRAME_CLASSIC -FDCAN3.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,FrameFormat,NominalSyncJumpWidth,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,ExtFiltersNbr,RxFifo0ElmtSize,RxFifo1ElmtsNbr,RxFifo1ElmtSize,RxBuffersNbr,RxBufferSize,TxBuffersNbr,TxElmtSize,NominalTimeSeg1,NominalTimeSeg2,DataPrescaler,Mode,AutoRetransmission +FDCAN3.FrameFormat=FDCAN_FRAME_FD_BRS +FDCAN3.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,FrameFormat,NominalSyncJumpWidth,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,ExtFiltersNbr,RxFifo0ElmtSize,RxFifo1ElmtsNbr,RxFifo1ElmtSize,RxBuffersNbr,RxBufferSize,TxBuffersNbr,TxElmtSize,NominalTimeSeg1,NominalTimeSeg2,DataPrescaler,Mode FDCAN3.MessageRAMOffset=1662 FDCAN3.Mode=FDCAN_MODE_NORMAL FDCAN3.NominalPrescaler=5 @@ -391,9 +388,8 @@ FDCAN3.StdFiltersNbr=1 FDCAN3.TxBuffersNbr=0 FDCAN3.TxElmtSize=FDCAN_DATA_BYTES_64 FDCAN3.TxFifoQueueElmtsNbr=23 -FREERTOS.IPParameters=Tasks01,configTOTAL_HEAP_SIZE +FREERTOS.IPParameters=Tasks01 FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL -FREERTOS.configTOTAL_HEAP_SIZE=0x10000 File.Version=6 GPIO.groupedBy=Group By Peripherals KeepUserPlacement=false @@ -405,22 +401,23 @@ Mcu.IP0=ADC1 Mcu.IP1=BDMA Mcu.IP10=MEMORYMAP Mcu.IP11=NVIC -Mcu.IP12=RCC -Mcu.IP13=SPI2 -Mcu.IP14=SPI6 -Mcu.IP15=SYS -Mcu.IP16=TIM1 -Mcu.IP17=TIM2 -Mcu.IP18=TIM3 -Mcu.IP19=TIM12 +Mcu.IP12=OCTOSPI1 +Mcu.IP13=RCC +Mcu.IP14=SPI2 +Mcu.IP15=SPI6 +Mcu.IP16=SYS +Mcu.IP17=TIM1 +Mcu.IP18=TIM2 +Mcu.IP19=TIM3 Mcu.IP2=CORTEX_M7 -Mcu.IP20=UART5 -Mcu.IP21=UART7 -Mcu.IP22=USART1 -Mcu.IP23=USART2 -Mcu.IP24=USART3 -Mcu.IP25=USART10 -Mcu.IP26=USB_OTG_HS +Mcu.IP20=TIM12 +Mcu.IP21=UART5 +Mcu.IP22=UART7 +Mcu.IP23=USART1 +Mcu.IP24=USART2 +Mcu.IP25=USART3 +Mcu.IP26=USART10 +Mcu.IP27=USB_OTG_HS Mcu.IP3=DAC1 Mcu.IP4=DEBUG Mcu.IP5=DMA @@ -428,65 +425,71 @@ Mcu.IP6=FDCAN1 Mcu.IP7=FDCAN2 Mcu.IP8=FDCAN3 Mcu.IP9=FREERTOS -Mcu.IPNb=27 +Mcu.IPNb=28 Mcu.Name=STM32H723VGTx Mcu.Package=LQFP100 Mcu.Pin0=PE2 Mcu.Pin1=PE3 Mcu.Pin10=PC3_C Mcu.Pin11=PA0 -Mcu.Pin12=PA2 -Mcu.Pin13=PA5 -Mcu.Pin14=PA7 -Mcu.Pin15=PC4 -Mcu.Pin16=PB1 -Mcu.Pin17=PE7 -Mcu.Pin18=PE8 -Mcu.Pin19=PE9 +Mcu.Pin12=PA1 +Mcu.Pin13=PA2 +Mcu.Pin14=PA3 +Mcu.Pin15=PA5 +Mcu.Pin16=PA7 +Mcu.Pin17=PC4 +Mcu.Pin18=PB0 +Mcu.Pin19=PB1 Mcu.Pin2=PC13 -Mcu.Pin20=PE10 -Mcu.Pin21=PE11 -Mcu.Pin22=PE12 -Mcu.Pin23=PE13 -Mcu.Pin24=PE15 -Mcu.Pin25=PB10 -Mcu.Pin26=PB11 -Mcu.Pin27=PB13 -Mcu.Pin28=PB14 -Mcu.Pin29=PB15 +Mcu.Pin20=PB2 +Mcu.Pin21=PE7 +Mcu.Pin22=PE8 +Mcu.Pin23=PE9 +Mcu.Pin24=PE10 +Mcu.Pin25=PE11 +Mcu.Pin26=PE12 +Mcu.Pin27=PE13 +Mcu.Pin28=PE15 +Mcu.Pin29=PB10 Mcu.Pin3=PC14-OSC32_IN -Mcu.Pin30=PD8 -Mcu.Pin31=PD9 -Mcu.Pin32=PD12 -Mcu.Pin33=PD13 -Mcu.Pin34=PA9 -Mcu.Pin35=PA10 -Mcu.Pin36=PA11 -Mcu.Pin37=PA12 -Mcu.Pin38=PA13(JTMS/SWDIO) -Mcu.Pin39=PA14(JTCK/SWCLK) +Mcu.Pin30=PB11 +Mcu.Pin31=PB13 +Mcu.Pin32=PB14 +Mcu.Pin33=PB15 +Mcu.Pin34=PD8 +Mcu.Pin35=PD9 +Mcu.Pin36=PD11 +Mcu.Pin37=PD12 +Mcu.Pin38=PD13 +Mcu.Pin39=PA9 Mcu.Pin4=PC15-OSC32_OUT -Mcu.Pin40=PA15(JTDI) -Mcu.Pin41=PC12 -Mcu.Pin42=PD0 -Mcu.Pin43=PD1 -Mcu.Pin44=PD2 -Mcu.Pin45=PD4 -Mcu.Pin46=PD5 -Mcu.Pin47=PD6 -Mcu.Pin48=PB3(JTDO/TRACESWO) -Mcu.Pin49=PB5 +Mcu.Pin40=PA10 +Mcu.Pin41=PA11 +Mcu.Pin42=PA12 +Mcu.Pin43=PA13(JTMS/SWDIO) +Mcu.Pin44=PA14(JTCK/SWCLK) +Mcu.Pin45=PA15(JTDI) +Mcu.Pin46=PC12 +Mcu.Pin47=PD0 +Mcu.Pin48=PD1 +Mcu.Pin49=PD2 Mcu.Pin5=PH0-OSC_IN -Mcu.Pin50=PB6 -Mcu.Pin51=VP_DAC1_VS_DACI2 -Mcu.Pin52=VP_FREERTOS_VS_CMSIS_V2 -Mcu.Pin53=VP_SYS_VS_tim4 -Mcu.Pin54=VP_MEMORYMAP_VS_MEMORYMAP +Mcu.Pin50=PD4 +Mcu.Pin51=PD5 +Mcu.Pin52=PD6 +Mcu.Pin53=PB3(JTDO/TRACESWO) +Mcu.Pin54=PB5 +Mcu.Pin55=PB6 +Mcu.Pin56=VP_DAC1_VS_DACI2 +Mcu.Pin57=VP_FREERTOS_VS_CMSIS_V2 +Mcu.Pin58=VP_OCTOSPI1_VS_octo +Mcu.Pin59=VP_SYS_VS_tim23 Mcu.Pin6=PH1-OSC_OUT +Mcu.Pin60=VP_MEMORYMAP_VS_MEMORYMAP Mcu.Pin7=PC0 Mcu.Pin8=PC1 Mcu.Pin9=PC2_C -Mcu.PinsNb=55 +Mcu.PinsNb=61 Mcu.ThirdPartyNb=0 Mcu.UserConstants= Mcu.UserName=STM32H723VGTx @@ -509,6 +512,7 @@ NVIC.DMA2_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA2_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA2_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false +NVIC.EXTI15_10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.FDCAN1_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.FDCAN1_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.FDCAN2_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true @@ -529,9 +533,9 @@ NVIC.SavedPendsvIrqHandlerGenerated=true NVIC.SavedSvcallIrqHandlerGenerated=true NVIC.SavedSystickIrqHandlerGenerated=true NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false -NVIC.TIM4_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true -NVIC.TimeBase=TIM4_IRQn -NVIC.TimeBaseIP=TIM4 +NVIC.TIM23_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true +NVIC.TimeBase=TIM23_IRQn +NVIC.TimeBaseIP=TIM23 NVIC.UART5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.UART7_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true NVIC.USART10_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true @@ -541,6 +545,9 @@ NVIC.USART3_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false PA0.Locked=true PA0.Signal=S_TIM2_CH1_ETR +PA1.Locked=true +PA1.Mode=OCTOSPI1_IOL_Port1L +PA1.Signal=OCTOSPIM_P1_IO3 PA10.Locked=true PA10.Mode=Asynchronous PA10.Signal=USART1_RX @@ -558,6 +565,9 @@ PA15(JTDI).Locked=true PA15(JTDI).Signal=GPIO_Input PA2.Locked=true PA2.Signal=S_TIM2_CH3 +PA3.Locked=true +PA3.Mode=OCTOSPI1_IOL_Port1L +PA3.Signal=OCTOSPIM_P1_IO2 PA5.Locked=true PA5.Signal=ADCx_INP19 PA7.Mode=TX_Only_Simplex_Unidirect_Master @@ -565,6 +575,9 @@ PA7.Signal=SPI6_MOSI PA9.Locked=true PA9.Mode=Asynchronous PA9.Signal=USART1_TX +PB0.Locked=true +PB0.Mode=OCTOSPI1_IOL_Port1L +PB0.Signal=OCTOSPIM_P1_IO1 PB1.Locked=true PB1.Signal=S_TIM3_CH4 PB10.GPIOParameters=GPIO_Label @@ -584,6 +597,9 @@ PB14.Mode=Hardware Flow Control (RS485) PB14.Signal=USART3_DE PB15.Locked=true PB15.Signal=S_TIM12_CH2 +PB2.Locked=true +PB2.Mode=O1_P1_CLK +PB2.Signal=OCTOSPIM_P1_CLK PB3(JTDO/TRACESWO).Mode=TX_Only_Simplex_Unidirect_Master PB3(JTDO/TRACESWO).Signal=SPI6_SCK PB5.Locked=true @@ -593,7 +609,7 @@ PB6.Locked=true PB6.Mode=FDCAN_Activate PB6.Signal=FDCAN2_TX PC0.GPIOParameters=GPIO_Speed,PinState,GPIO_Label -PC0.GPIO_Label=ACC_CS +PC0.GPIO_Label=ACCL_CS PC0.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH PC0.Locked=true PC0.PinState=GPIO_PIN_SET @@ -607,8 +623,10 @@ PC12.Signal=UART5_TX PC13.GPIOParameters=PinState,GPIO_Label PC13.GPIO_Label=POWER_24V_2 PC13.Locked=true -PC13.PinState=GPIO_PIN_SET +PC13.PinState=GPIO_PIN_RESET PC13.Signal=GPIO_Output +PC14-OSC32_IN.GPIOParameters=GPIO_Label +PC14-OSC32_IN.GPIO_Label=POWER_24_EN\! PC14-OSC32_IN.Locked=true PC14-OSC32_IN.Signal=GPIO_Output PC15-OSC32_OUT.GPIOParameters=PinState,GPIO_Label @@ -633,6 +651,9 @@ PD0.Signal=FDCAN1_RX PD1.Locked=true PD1.Mode=FDCAN_Activate PD1.Signal=FDCAN1_TX +PD11.Locked=true +PD11.Mode=OCTOSPI1_IOL_Port1L +PD11.Signal=OCTOSPIM_P1_IO0 PD12.Mode=FDCAN_Activate PD12.Signal=FDCAN3_RX PD13.Locked=true @@ -654,7 +675,7 @@ PD8.Signal=USART3_TX PD9.Mode=Asynchronous PD9.Signal=USART3_RX PE10.GPIOParameters=GPIO_PuPd,GPIO_Label -PE10.GPIO_Label=ACC_INT +PE10.GPIO_Label=ACCL_INT PE10.GPIO_PuPd=GPIO_NOPULL PE10.Locked=true PE10.Signal=GPXTI10 @@ -699,7 +720,7 @@ ProjectManager.DeviceId=STM32H723VGTx ProjectManager.FirmwarePackage=STM32Cube FW_H7 V1.12.1 ProjectManager.FreePins=false ProjectManager.HalAssertFull=false -ProjectManager.HeapSize=0x1000 +ProjectManager.HeapSize=0x200 ProjectManager.KeepUserCode=true ProjectManager.LastFirmware=true ProjectManager.LibraryCopy=0 @@ -711,7 +732,7 @@ ProjectManager.ProjectFileName=balance_infantry.ioc ProjectManager.ProjectName=balance_infantry ProjectManager.ProjectStructure= ProjectManager.RegisterCallBack= -ProjectManager.StackSize=0x2000 +ProjectManager.StackSize=0x800 ProjectManager.TargetToolchain=CMake ProjectManager.ToolChainLocation= ProjectManager.UAScriptAfterPath= @@ -898,7 +919,8 @@ VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2 VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2 VP_MEMORYMAP_VS_MEMORYMAP.Mode=CurAppReg VP_MEMORYMAP_VS_MEMORYMAP.Signal=MEMORYMAP_VS_MEMORYMAP -VP_SYS_VS_tim4.Mode=TIM4 -VP_SYS_VS_tim4.Signal=SYS_VS_tim4 +VP_OCTOSPI1_VS_octo.Mode=octo_mode +VP_OCTOSPI1_VS_octo.Signal=OCTOSPI1_VS_octo +VP_SYS_VS_tim23.Mode=TIM23 +VP_SYS_VS_tim23.Signal=SYS_VS_tim23 board=custom -rtos.0.ip=FREERTOS diff --git a/cmake/stm32cubemx/CMakeLists.txt b/cmake/stm32cubemx/CMakeLists.txt index 850d69d..a3f5aaa 100644 --- a/cmake/stm32cubemx/CMakeLists.txt +++ b/cmake/stm32cubemx/CMakeLists.txt @@ -31,6 +31,7 @@ set(MX_Application_Src ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/dac.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/dma.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/fdcan.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/octospi.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/spi.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/tim.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/usart.c @@ -69,6 +70,7 @@ set(STM32_Drivers_Src ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dac.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dac_ex.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_ospi.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi_ex.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c