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Robofish 2026-01-11 02:15:59 +08:00
parent 401508ed08
commit 47b8a6ef1c
9 changed files with 68 additions and 59 deletions
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10
.mxproject
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File diff suppressed because one or more lines are too long

6
Core/Src/fdcan.c
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@ -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;

9
CtrBoard-H7_ALL.ioc
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@ -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

7
MDK-ARM/CtrBoard-H7_ALL.uvoptx
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@ -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>

2
MDK-ARM/CtrBoard-H7_ALL.uvprojx
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@ -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>

BIN
MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf
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Binary file not shown.

84
MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex
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@ -3901,23 +3901,23 @@
:10F3B0000D20F8F7B5FC0E2005210022F8F7C0FC5F
:10F3C0000E2002B0BDE88040F8F7AABC00000000A3
:10F3D00080B540F694704AF20001C2F20040C4F2D7
:10F3E00000011822032301600021C0E90211C0F8C6
:10F3F0000F10426101228261C0E90732C0E909228F
:10F40000C0E90B22C0E90D12C1632022026404236B
:10F3E00000010122182301600021C0E902110282FC
:10F3F0008174C0E905320323C163C0E90732C0E963
:10F400000922C0E90B22C0E90D1220220264042364
:10F41000C0E91131C0E91331C0E91531C0E9171253
:10F42000C0E91913F7F75CFE002808BF80BDBDE8EE
:10F430008040F4F79DBE000080B541F234004AF2EE
:10F440000041C2F20040C4F200011822032301600F
:10F450000021C0E90211C0F80F104261012282614F
:10F46000C0E90732C0E90922C0E90B2240F2064395
:10F47000C163C0E90D32202202640423C0E91131C6
:10F440000041C2F20040C4F2000101221823016011
:10F450000021C0E9021102828174C0E90532032350
:10F46000C163C0E90732C0E90922C0E90B2240F2BA
:10F470000643C0E90D32202202640423C0E91131A1
:10F48000C0E91331C0E91531C0E91712C0E91913F9
:10F49000F7F726FE002808BF80BDBDE88040F4F7DE
:10F4A00067BE00000000000080B541F2D4004DF2BC
:10F4B0000041C2F20040C4F200011822032301609F
:10F4C0000021C0E90211C0F80F10426101228261DF
:10F4D000C0E90732C0E90922C0E90B2240F6120355
:10F4E000C163C0E90D32202202640423C0E9113156
:10F4B0000041C2F20040C4F20001012218230160A1
:10F4C0000021C0E9021102828174C0E905320323E0
:10F4D000C163C0E90732C0E90922C0E90B2240F646
:10F4E0001203C0E90D32202202640423C0E9113165
:10F4F000C0E91331C0E91531C0E91712C0E9191389
:10F50000F7F7EEFD002808BF80BDBDE88040F4F7A6
:10F510002FBE00000000000080B540F6096048F6EC
@ -4284,8 +4284,8 @@
:100B9000FFF726FA6169B0EE480A04F52470D1ED3A
:100BA0002B0AFDF73DF86169B0EE480A04F52C7098
:100BB000D1ED2C0AFDF734F804F16C003421EFF785
:100BC00032FD44F20000C4F29C50C4F8A0000020A2
:100BD00040B2BDEC028B70BD002847D010B52DEDA2
:100BC00032FD0020C4F2FA30C4F8A000002040B288
:100BD000BDEC028B70BD0000002847D010B52DED94
:100BE000028B0446A830FFF747FA04F59070FFF730
:100BF00043FA9FED208A04F50470B0EE480AFDF731
:100C000067F8B0EE480A04F51470FDF761F804F1D6
@ -6345,34 +6345,34 @@
:108C6000808C010800000024C002000008030008F6
:108C7000608E0108C0020024807F010064030008A8
:108C8000320142102C90D003042011022B073D63C7
:108C9000ADC1BA503A33BBD3F2C93A1211292418E4
:108CA0000ADB0F493FCDCC4C3D010E1C01020113E4
:108CB00012012B02021A190A1202291131C7803F30
:108CC0006666E63F1C666666101BF0411C2ABF20E4
:108CD0001904180A40CDCCCC3E0AD7233D0C4A3E9D
:108CE000049B20422019682BCC3D6C1904294C2987
:108CF000144EBFDB0FC940201EC03F9A9999341112
:108D000029904A3E60393C1904296889041D027C77
:108D1000FF039D3A7D0638087EFF030101027F06AE
:108D2000111A41AF12022A42CD59E0413808F62803
:108D30005C3E93188404290CC109161C105FFC5179
:108D40005DC3DA646B431B6AD3C20661CABFEBE83A
:108D500012C1ED82084161251BC18D9F74BE322274
:108D60007DC270CE7A4223ABAAC1C7248FBE2F909A
:108D700094C2427093428219D1C1F17219BFF1605D
:108D80008BC27199B842F3F530C227920141C953A1
:108D900074C1A371A241328621C13FEB103040D88B
:108DA0002D7A4227981041D2AE33C24BA98D41078C
:108DB000A4013D123BEB40A11DD3C0BA1A3340D2EF
:108DC0001C69C2C7CC9B425BA519C2748D2032417D
:108DD00051C2B2C2E8C9E142E7BE53C2ABCB2B419C
:108DE0002BD97743315D76C33D31A7421E30054113
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:108E00005A8004215C9A9999D829105FF041DB0FB0
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:108CB0003B02020711130302491111C7803F666688
:108CC000E63F1C666666101BF0411C2ABF20190493
:108CD000180A40CDCCCC3E0AD7233D0C4A3E049B1B
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:108CF000BFDB0FC940201EC03F9A999934112990BB
:108D00004A3E60393C1904296889041D027CFF032E
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:04000005080002CD20
:00000001FF

7
User/module/config.c
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@ -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,

2
User/module/shoot.c
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@ -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;
}