抽象

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;

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

MDK-ARM/CtrBoard-H7_ALL.uvoptx

@@ -160,6 +160,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>chassis</ItemText>
         </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>shoot</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -1251,7 +1256,7 @@
 
   <Group>
     <GroupName>User/module</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

MDK-ARM/CtrBoard-H7_ALL.uvprojx

@@ -340,7 +340,7 @@
               <MiscControls></MiscControls>
               <Define>USE_PWR_LDO_SUPPLY,USE_HAL_DRIVER,STM32H723xx</Define>
               <Undefine></Undefine>
-              <IncludePath>../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</IncludePath>
+              <IncludePath>../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</IncludePath>
             </VariousControls>
           </Cads>
           <Aads>

MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex

@@ -3901,23 +3901,23 @@
 :10F3B0000D20F8F7B5FC0E2005210022F8F7C0FC5F
 :10F3C0000E2002B0BDE88040F8F7AABC00000000A3
 :10F3D00080B540F694704AF20001C2F20040C4F2D7
-:10F3E00000011822032301600021C0E90211C0F8C6
+:10F3E00000010122182301600021C0E902110282FC
-:10F3F0000F10426101228261C0E90732C0E909228F
+:10F3F0008174C0E905320323C163C0E90732C0E963
-:10F40000C0E90B22C0E90D12C1632022026404236B
+:10F400000922C0E90B22C0E90D1220220264042364
 :10F41000C0E91131C0E91331C0E91531C0E9171253
 :10F42000C0E91913F7F75CFE002808BF80BDBDE8EE
 :10F430008040F4F79DBE000080B541F234004AF2EE
-:10F440000041C2F20040C4F200011822032301600F
+:10F440000041C2F20040C4F2000101221823016011
-:10F450000021C0E90211C0F80F104261012282614F
+:10F450000021C0E9021102828174C0E90532032350
-:10F46000C0E90732C0E90922C0E90B2240F2064395
+:10F46000C163C0E90732C0E90922C0E90B2240F2BA
-:10F47000C163C0E90D32202202640423C0E91131C6
+:10F470000643C0E90D32202202640423C0E91131A1
 :10F48000C0E91331C0E91531C0E91712C0E91913F9
 :10F49000F7F726FE002808BF80BDBDE88040F4F7DE
 :10F4A00067BE00000000000080B541F2D4004DF2BC
-:10F4B0000041C2F20040C4F200011822032301609F
+:10F4B0000041C2F20040C4F20001012218230160A1
-:10F4C0000021C0E90211C0F80F10426101228261DF
+:10F4C0000021C0E9021102828174C0E905320323E0
-:10F4D000C0E90732C0E90922C0E90B2240F6120355
+:10F4D000C163C0E90732C0E90922C0E90B2240F646
-:10F4E000C163C0E90D32202202640423C0E9113156
+:10F4E0001203C0E90D32202202640423C0E9113165
 :10F4F000C0E91331C0E91531C0E91712C0E9191389
 :10F50000F7F7EEFD002808BF80BDBDE88040F4F7A6
 :10F510002FBE00000000000080B540F6096048F6EC
@@ -4284,8 +4284,8 @@
 :100B9000FFF726FA6169B0EE480A04F52470D1ED3A
 :100BA0002B0AFDF73DF86169B0EE480A04F52C7098
 :100BB000D1ED2C0AFDF734F804F16C003421EFF785
-:100BC00032FD44F20000C4F29C50C4F8A0000020A2
+:100BC00032FD0020C4F2FA30C4F8A000002040B288
-:100BD00040B2BDEC028B70BD002847D010B52DEDA2
+:100BD000BDEC028B70BD0000002847D010B52DED94
 :100BE000028B0446A830FFF747FA04F59070FFF730
 :100BF00043FA9FED208A04F50470B0EE480AFDF731
 :100C000067F8B0EE480A04F51470FDF761F804F1D6
@@ -6345,34 +6345,34 @@
 :108C6000808C010800000024C002000008030008F6
 :108C7000608E0108C0020024807F010064030008A8
 :108C8000320142102C90D003042011022B073D63C7
-:108C9000ADC1BA503A33BBD3F2C93A1211292418E4
+:108C9000ADC1BA503A33BBD3F2C93A1211292428D4
-:108CA0000ADB0F493FCDCC4C3D010E1C01020113E4
+:108CA00009DB0F493FCDCC4C3D0C2C0102010711D3
-:108CB00012012B02021A190A1202291131C7803F30
+:108CB0003B02020711130302491111C7803F666688
-:108CC0006666E63F1C666666101BF0411C2ABF20E4
+:108CC000E63F1C666666101BF0411C2ABF20190493
-:108CD0001904180A40CDCCCC3E0AD7233D0C4A3E9D
+:108CD000180A40CDCCCC3E0AD7233D0C4A3E049B1B
-:108CE000049B20422019682BCC3D6C1904294C2987
+:108CE00020422019682BCC3D6C1904294C29144EC4
-:108CF000144EBFDB0FC940201EC03F9A9999341112
+:108CF000BFDB0FC940201EC03F9A999934112990BB
-:108D000029904A3E60393C1904296889041D027C77
+:108D00004A3E60393C1904296889041D027CFF032E
-:108D1000FF039D3A7D0638087EFF030101027F06AE
+:108D1000AD3A7D0638087EFF030101027F06111A75
-:108D2000111A41AF12022A42CD59E0413808F62803
+:108D200041AF12022B4201DB49E0413808F6285CD2
-:108D30005C3E93188404290CC109161C105FFC5179
+:108D30003E93188404290CC109161C105FFC515D78
-:108D40005DC3DA646B431B6AD3C20661CABFEBE83A
+:108D4000C3DA646B431B6AD3C20661CABFEBE81285
-:108D500012C1ED82084161251BC18D9F74BE322274
+:108D5000C1ED82084161251BC18D9F74BE32227D09
-:108D60007DC270CE7A4223ABAAC1C7248FBE2F909A
+:108D6000C270CE7A4223ABAAC1C7248FBE2F909483
-:108D700094C2427093428219D1C1F17219BFF1605D
+:108D7000C2427093428219D1C1F17219BFF1608B66
-:108D80008BC27199B842F3F530C227920141C953A1
+:108D8000C27199B842F3F530C227920141C95374B8
-:108D900074C1A371A241328621C13FEB103040D88B
+:108D9000C1A371A241328621C13FEB103040D82DD2
-:108DA0002D7A4227981041D2AE33C24BA98D41078C
+:108DA0007A4227981041D2AE33C24BA98D4107A415
-:108DB000A4013D123BEB40A11DD3C0BA1A3340D2EF
+:108DB000013D123BEB40A11DD3C0BA1A3340D21C77
-:108DC0001C69C2C7CC9B425BA519C2748D2032417D
+:108DC00069C2C7CC9B425BA519C2748D2032415148
-:108DD00051C2B2C2E8C9E142E7BE53C2ABCB2B419C
+:108DD000C2B2C2E8C9E142E7BE53C2ABCB2B412BC2
-:108DE0002BD97743315D76C33D31A7421E30054113
+:108DE000D97743315D76C33D31A7421E300541DA64
-:108DF000DA497C420DA77AC21F5BAA41FCC76C3FCF
+:108DF000497C420DA77AC21F5BAA41FCC76C3F5A4F
-:108E00005A8004215C9A9999D829105FF041DB0FB0
+:108E00008004215C9A9999D829105FF041DB0FC941
-:108E1000C9401C2E3F0AD7233C041CCDCC4C24490E
+:108E1000401C2E3F0AD7233C041CCDCC4C244920B7
-:108E20002019081ABF0419241A4004C11A201C6909
+:108E200019081ABF0419241A4004C11A201C692009
-:108E3000202320422BA0413C3159285B48433C1958
+:108E30002320422BA0413C3159285B48433C190474
-:108E4000042AA014B94019646A3D407C4CE88A1C8D
+:108E40002AA014B94019646A3D407C4CE88A1C4D44
-:108E50004DCDCCCCBD181CF041AA01410000000052
+:108E5000CDCCCCBD181CF041AA014100000000009F
 :04000005080002CD20
 :00000001FF

User/module/config.c

@@ -4,6 +4,7 @@
 
 /* Includes ----------------------------------------------------------------- */
 #include "module/config.h"
+#include <stdbool.h>
 
 
 /* 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,

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;
 }