robofish/rm_balance
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Robofish 2025-10-14 22:14:41 +08:00
parent d5357ba317
commit 4fed910cb7
5 changed files with 8 additions and 9 deletions
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2
Core/Inc/FreeRTOSConfig.h
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@ -73,7 +73,7 @@
#define configTICK_RATE_HZ ((TickType_t)1000) #define configTICK_RATE_HZ ((TickType_t)1000)
#define configMAX_PRIORITIES ( 56 ) #define configMAX_PRIORITIES ( 56 )
#define configMINIMAL_STACK_SIZE ((uint16_t)128) #define configMINIMAL_STACK_SIZE ((uint16_t)128)
#define configTOTAL_HEAP_SIZE ((size_t)0x6000) #define configTOTAL_HEAP_SIZE ((size_t)0x10000)
#define configMAX_TASK_NAME_LEN ( 16 ) #define configMAX_TASK_NAME_LEN ( 16 )
#define configGENERATE_RUN_TIME_STATS 1 #define configGENERATE_RUN_TIME_STATS 1
#define configUSE_TRACE_FACILITY 1 #define configUSE_TRACE_FACILITY 1

9
DevC.ioc
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@ -15,13 +15,12 @@ ADC3.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
CAD.formats= CAD.formats=
CAD.pinconfig= CAD.pinconfig=
CAD.provider= CAD.provider=
CAN1.ABOM=DISABLE
CAN1.BS1=CAN_BS1_6TQ CAN1.BS1=CAN_BS1_6TQ
CAN1.BS2=CAN_BS2_7TQ CAN1.BS2=CAN_BS2_7TQ
CAN1.CalculateBaudRate=1000000 CAN1.CalculateBaudRate=1000000
CAN1.CalculateTimeBit=1000 CAN1.CalculateTimeBit=1000
CAN1.CalculateTimeQuantum=71.42857142857143 CAN1.CalculateTimeQuantum=71.42857142857143
CAN1.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,TXFP,ABOM,CalculateTimeBit,CalculateBaudRate,NART CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2,NART,TXFP
CAN1.NART=ENABLE CAN1.NART=ENABLE
CAN1.Prescaler=3 CAN1.Prescaler=3
CAN1.TXFP=ENABLE CAN1.TXFP=ENABLE
@ -150,7 +149,7 @@ FREERTOS.configENABLE_BACKWARD_COMPATIBILITY=0
FREERTOS.configENABLE_FPU=1 FREERTOS.configENABLE_FPU=1
FREERTOS.configGENERATE_RUN_TIME_STATS=1 FREERTOS.configGENERATE_RUN_TIME_STATS=1
FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1 FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1
FREERTOS.configTOTAL_HEAP_SIZE=0x6000 FREERTOS.configTOTAL_HEAP_SIZE=0x10000
FREERTOS.configUSE_STATS_FORMATTING_FUNCTIONS=1 FREERTOS.configUSE_STATS_FORMATTING_FUNCTIONS=1
File.Version=6 File.Version=6
GPIO.groupedBy=Group By Peripherals GPIO.groupedBy=Group By Peripherals
@ -267,7 +266,7 @@ Mcu.UserName=STM32F407IGHx
MxCube.Version=6.2.0 MxCube.Version=6.2.0
MxDb.Version=DB.6.0.20 MxDb.Version=DB.6.0.20
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.CAN1_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN2_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true NVIC.CAN2_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
@ -555,7 +554,7 @@ ProjectManager.ProjectFileName=DevC.ioc
ProjectManager.ProjectName=DevC ProjectManager.ProjectName=DevC
ProjectManager.ProjectStructure= ProjectManager.ProjectStructure=
ProjectManager.RegisterCallBack= ProjectManager.RegisterCallBack=
ProjectManager.StackSize=0x1000 ProjectManager.StackSize=0x2000
ProjectManager.TargetToolchain=CMake ProjectManager.TargetToolchain=CMake
ProjectManager.ToolChainLocation= ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath= ProjectManager.UAScriptAfterPath=

2
STM32F407XX_FLASH.ld
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@ -64,7 +64,7 @@ FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 1024K
_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of RAM */ _estack = ORIGIN(RAM) + LENGTH(RAM); /* end of RAM */
/* Generate a link error if heap and stack don't fit into RAM */ /* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0x1000; /* required amount of heap */ _Min_Heap_Size = 0x1000; /* required amount of heap */
_Min_Stack_Size = 0x1000; /* required amount of stack */ _Min_Stack_Size = 0x2000; /* required amount of stack */
/* Define output sections */ /* Define output sections */
SECTIONS SECTIONS

2
User/task/blink.c
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@ -6,7 +6,7 @@
/* Includes ----------------------------------------------------------------- */ /* Includes ----------------------------------------------------------------- */
#include "task/user_task.h" #include "task/user_task.h"
/* USER INCLUDE BEGIN */ /* USER INCLUDE BEGIN */
#include "bsp/pwm.h"
/* USER INCLUDE END */ /* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */ /* Private typedef ---------------------------------------------------------- */

2
User/task/user_task.c
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@ -22,7 +22,7 @@ const osThreadAttr_t attr_imu = {
const osThreadAttr_t attr_ctrl_chassis = { const osThreadAttr_t attr_ctrl_chassis = {
.name = "ctrl_chassis", .name = "ctrl_chassis",
.priority = osPriorityNormal, .priority = osPriorityNormal,
.stack_size = 256 * 4, .stack_size = 512 * 4,
}; };
const osThreadAttr_t attr_atti_esti = { const osThreadAttr_t attr_atti_esti = {
.name = "atti_esti", .name = "atti_esti",