From 47b8a6ef1cee41d7e1f2d58f465403c3c18aa1f2 Mon Sep 17 00:00:00 2001 From: Robofish <1683502971@qq.com> Date: Sun, 11 Jan 2026 02:15:59 +0800 Subject: [PATCH] =?UTF-8?q?=E6=8A=BD=E8=B1=A1?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .mxproject | 10 +-- Core/Src/fdcan.c | 6 +- CtrBoard-H7_ALL.ioc | 9 ++- MDK-ARM/CtrBoard-H7_ALL.uvoptx | 7 +- MDK-ARM/CtrBoard-H7_ALL.uvprojx | 2 +- MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf | Bin 1059948 -> 1059972 bytes MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex | 84 ++++++++++---------- User/module/config.c | 7 +- User/module/shoot.c | 2 +- 9 files changed, 68 insertions(+), 59 deletions(-) diff --git a/.mxproject b/.mxproject index 93753b4..004d245 100644 --- a/.mxproject +++ b/.mxproject @@ -6,6 +6,11 @@ SourceFiles=Core/Src/main.c;Core/Src/gpio.c;Core/Src/freertos.c;Core/Src/adc.c;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_PWR_LDO_SUPPLY;USE_HAL_DRIVER;STM32H723xx;USE_HAL_DRIVER;USE_HAL_DRIVER; +[PreviousUsedKeilFiles] +SourceFiles=../Core/Src/main.c;../Core/Src/gpio.c;../Core/Src/freertos.c;../Core/Src/adc.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_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/RVDS/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_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/RVDS/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/RVDS/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/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32H7xx/Include;../Drivers/CMSIS/Include;../Core/Inc; +CDefines=USE_PWR_LDO_SUPPLY;USE_PWR_LDO_SUPPLY;USE_PWR_LDO_SUPPLY;USE_HAL_DRIVER;STM32H723xx;USE_HAL_DRIVER;USE_HAL_DRIVER; + [PreviousGenFiles] AdvancedFolderStructure=true HeaderFileListSize=13 @@ -44,8 +49,3 @@ SourceFolderListSize=1 SourcePath#0=../Core/Src SourceFiles=; -[PreviousUsedKeilFiles] -SourceFiles=../Core/Src/main.c;../Core/Src/gpio.c;../Core/Src/freertos.c;../Core/Src/adc.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_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/RVDS/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_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/RVDS/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/RVDS/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/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32H7xx/Include;../Drivers/CMSIS/Include;../Core/Inc; -CDefines=USE_PWR_LDO_SUPPLY;USE_PWR_LDO_SUPPLY;USE_PWR_LDO_SUPPLY;USE_HAL_DRIVER;STM32H723xx;USE_HAL_DRIVER;USE_HAL_DRIVER; - diff --git a/Core/Src/fdcan.c b/Core/Src/fdcan.c index 80df4c7..83b99cf 100644 --- a/Core/Src/fdcan.c +++ b/Core/Src/fdcan.c @@ -42,7 +42,7 @@ void MX_FDCAN1_Init(void) hfdcan1.Instance = FDCAN1; hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC; hfdcan1.Init.Mode = FDCAN_MODE_NORMAL; - hfdcan1.Init.AutoRetransmission = DISABLE; + hfdcan1.Init.AutoRetransmission = ENABLE; hfdcan1.Init.TransmitPause = DISABLE; hfdcan1.Init.ProtocolException = DISABLE; hfdcan1.Init.NominalPrescaler = 24; @@ -90,7 +90,7 @@ void MX_FDCAN2_Init(void) hfdcan2.Instance = FDCAN2; hfdcan2.Init.FrameFormat = FDCAN_FRAME_CLASSIC; hfdcan2.Init.Mode = FDCAN_MODE_NORMAL; - hfdcan2.Init.AutoRetransmission = DISABLE; + hfdcan2.Init.AutoRetransmission = ENABLE; hfdcan2.Init.TransmitPause = DISABLE; hfdcan2.Init.ProtocolException = DISABLE; hfdcan2.Init.NominalPrescaler = 24; @@ -138,7 +138,7 @@ void MX_FDCAN3_Init(void) hfdcan3.Instance = FDCAN3; hfdcan3.Init.FrameFormat = FDCAN_FRAME_CLASSIC; hfdcan3.Init.Mode = FDCAN_MODE_NORMAL; - hfdcan3.Init.AutoRetransmission = DISABLE; + hfdcan3.Init.AutoRetransmission = ENABLE; hfdcan3.Init.TransmitPause = DISABLE; hfdcan3.Init.ProtocolException = DISABLE; hfdcan3.Init.NominalPrescaler = 24; diff --git a/CtrBoard-H7_ALL.ioc b/CtrBoard-H7_ALL.ioc index 5cc0827..5ff29c1 100644 --- a/CtrBoard-H7_ALL.ioc +++ b/CtrBoard-H7_ALL.ioc @@ -106,29 +106,32 @@ Dma.UART5_RX.3.SyncEnable=DISABLE Dma.UART5_RX.3.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT Dma.UART5_RX.3.SyncRequestNumber=1 Dma.UART5_RX.3.SyncSignalID=NONE +FDCAN1.AutoRetransmission=ENABLE FDCAN1.CalculateBaudRateNominal=1000000 FDCAN1.CalculateTimeBitNominal=1000 FDCAN1.CalculateTimeQuantumNominal=200.0 -FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1 +FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1,AutoRetransmission FDCAN1.NominalPrescaler=24 FDCAN1.NominalTimeSeg1=3 FDCAN1.RxFifo0ElmtsNbr=32 FDCAN1.StdFiltersNbr=1 FDCAN1.TxFifoQueueElmtsNbr=32 +FDCAN2.AutoRetransmission=ENABLE FDCAN2.CalculateBaudRateNominal=1000000 FDCAN2.CalculateTimeBitNominal=1000 FDCAN2.CalculateTimeQuantumNominal=200.0 -FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1 +FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1,AutoRetransmission FDCAN2.MessageRAMOffset=0x406 FDCAN2.NominalPrescaler=24 FDCAN2.NominalTimeSeg1=3 FDCAN2.RxFifo0ElmtsNbr=32 FDCAN2.StdFiltersNbr=1 FDCAN2.TxFifoQueueElmtsNbr=32 +FDCAN3.AutoRetransmission=ENABLE FDCAN3.CalculateBaudRateNominal=1000000 FDCAN3.CalculateTimeBitNominal=1000 FDCAN3.CalculateTimeQuantumNominal=200.0 -FDCAN3.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1 +FDCAN3.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1,AutoRetransmission FDCAN3.MessageRAMOffset=0x812 FDCAN3.NominalPrescaler=24 FDCAN3.NominalTimeSeg1=3 diff --git a/MDK-ARM/CtrBoard-H7_ALL.uvoptx b/MDK-ARM/CtrBoard-H7_ALL.uvoptx index 1c116d8..39257f2 100644 --- a/MDK-ARM/CtrBoard-H7_ALL.uvoptx +++ b/MDK-ARM/CtrBoard-H7_ALL.uvoptx @@ -160,6 +160,11 @@ 1 chassis + + 1 + 1 + shoot + 0 @@ -1251,7 +1256,7 @@ User/module - 0 + 1 0 0 0 diff --git a/MDK-ARM/CtrBoard-H7_ALL.uvprojx b/MDK-ARM/CtrBoard-H7_ALL.uvprojx index 06e4bed..1b09ad2 100644 --- a/MDK-ARM/CtrBoard-H7_ALL.uvprojx +++ b/MDK-ARM/CtrBoard-H7_ALL.uvprojx @@ -340,7 +340,7 @@ USE_PWR_LDO_SUPPLY,USE_HAL_DRIVER,STM32H723xx - ../Core/Inc;../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/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32H7xx/Include;../Drivers/CMSIS/Include;..\User + ../Core/Inc;../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/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32H7xx/Include;../Drivers/CMSIS/Include;../User diff --git a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf index c3e8d8880711c0f9ffb7ac733b15c6cf74582979..8d8c72f14dc419a72d55a548dd832ce7c262541f 100644 GIT binary patch delta 699 zcmaEJ!=dG-!vq<&Cz=8bELsbdzGyHiNhmWWFen~)$t1|s)L3%hC94s$^1eR0qsMzO;uHfNv)BcKME$(O!p5U1&z5Hn2EW~Z+Q#KagBj(qxM zaOB4V1_lL(O?%%kbr|j0d-;MzHN*XKdXrm%x@N zz?iVTp@3})6JykN(PFl6PR6g>b8Fb1b26H24{c*h=4af!edkm*3wFlN_D^%zfS7&z zr#T$WN13)TPnY-RJT?8@6@Iqq`mF4%(|wXT%jIP_N?DbCSd|P|74=!=n7Pte6__jZ zSmk_JWqnu`eWn+taH>rIpUlZmKxGR=rB@1JmD_=4s`E3-O`loJsS2d_7jv5M$uKf7 zFf&Z(U;;7ZrZbjsnlZ|?Ta<7DF&7YX12GQ}^Deh2;ad+3IZI{!(?Q!A%lLnL0mJj} z0e8v_H W>cwD{4p9&dD)?C>yaOXBt%xAQOSc*dVt)$J}dv$;y13e3EcZ=8NXZkezn%3k5yf{kL2Y?d*W zWM|tPjT5pbEANcTdXMam$?Y-O6RQt;6fcf457JSlIR9X|v$7|M*-^FwNB*X8p>!&k z8MbO@q?rafen_*uiW?-!B+bu~`k(`bmY4&B8Kw*2{3O$I@eC7K1Wf{~z{ca5=5G(h z+m85@*T=YPLa7aiXF7^X+Zaq^D4_bt_tSVhpzea_crKuJlBx&qij`E);G6n+1~ /* Private typedef ---------------------------------------------------------- */ @@ -24,14 +25,14 @@ Config_RobotParam_t robot_config = { .shot_delay_time=0.05f, .shot_burst_num=1, .fric_motor_param[0] = { - .can = BSP_CAN_2, + .can = BSP_CAN_1, .id = 0x201, .module = MOTOR_M3508, .reverse = true, .gear=false, }, .fric_motor_param[1] = { - .can = BSP_CAN_2, + .can = BSP_CAN_1, .id = 0x202, .module = MOTOR_M3508, .reverse = false, @@ -39,7 +40,7 @@ Config_RobotParam_t robot_config = { }, .trig_motor_param = { .can = BSP_CAN_1, - .id = 0x201, + .id = 0x203, .module = MOTOR_M2006, .reverse = true, .gear=true, diff --git a/User/module/shoot.c b/User/module/shoot.c index 5c102f7..aa1af4a 100644 --- a/User/module/shoot.c +++ b/User/module/shoot.c @@ -132,7 +132,7 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq) memset(&s->shoot_Anglecalu,0,sizeof(s->shoot_Anglecalu)); memset(&s->output,0,sizeof(s->output)); - s->target_variable.target_rpm=5000.0f; + s->target_variable.target_rpm=500.0f; return 0; }