From 5abffb4cd18b8569c601ac1dfe3b91571ccf6c99 Mon Sep 17 00:00:00 2001 From: Robofish <1683502971@qq.com> Date: Mon, 29 Sep 2025 03:35:01 +0800 Subject: [PATCH] shoot --- CMakeLists.txt | 5 + Core/Src/stm32f4xx_it.c | 1030 +++++++++++++++++++------------------- User/bsp/bsp_config.yaml | 4 +- User/bsp/uart.c | 8 +- User/bsp/uart.h | 2 +- User/module/config.c | 54 ++ User/module/config.h | 30 ++ User/module/gimbal.c | 0 User/module/gimbal.h | 0 User/module/shoot.c | 201 ++++++++ User/module/shoot.h | 176 +++++++ User/task/monitor.c | 14 +- User/task/rc.c | 13 +- debug.jdebug | 361 +++++++++++++ 14 files changed, 1367 insertions(+), 531 deletions(-) create mode 100644 User/module/config.c create mode 100644 User/module/config.h create mode 100644 User/module/gimbal.c create mode 100644 User/module/gimbal.h create mode 100644 User/module/shoot.c create mode 100644 User/module/shoot.h create mode 100644 debug.jdebug diff --git a/CMakeLists.txt b/CMakeLists.txt index b4401dd..ec9e9fe 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -70,6 +70,11 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE User/device/motor.c User/device/motor_rm.c + # User/module sources + User/module/config.c + User/module/gimbal.c + User/module/shoot.c + # User/task sources User/task/ai.c User/task/atti_esti.c diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c index 200488b..3baef83 100644 --- a/Core/Src/stm32f4xx_it.c +++ b/Core/Src/stm32f4xx_it.c @@ -1,515 +1,515 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file stm32f4xx_it.c - * @brief Interrupt Service Routines. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2025 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under Ultimate Liberty license - * SLA0044, the "License"; You may not use this file except in compliance with - * the License. You may obtain a copy of the License at: - * www.st.com/SLA0044 - * - ****************************************************************************** - */ -/* USER CODE END Header */ - -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "stm32f4xx_it.h" -#include "FreeRTOS.h" -#include "task.h" -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include "bsp/uart.h" -/* USER CODE END Includes */ - -/* Private typedef -----------------------------------------------------------*/ -/* USER CODE BEGIN TD */ - -/* USER CODE END TD */ - -/* Private define ------------------------------------------------------------*/ -/* USER CODE BEGIN PD */ - -/* USER CODE END PD */ - -/* Private macro -------------------------------------------------------------*/ -/* USER CODE BEGIN PM */ - -/* USER CODE END PM */ - -/* Private variables ---------------------------------------------------------*/ -/* USER CODE BEGIN PV */ - -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -/* USER CODE BEGIN PFP */ - -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ - -/* USER CODE END 0 */ - -/* External variables --------------------------------------------------------*/ -extern PCD_HandleTypeDef hpcd_USB_OTG_FS; -extern CAN_HandleTypeDef hcan1; -extern CAN_HandleTypeDef hcan2; -extern DMA_HandleTypeDef hdma_i2c2_tx; -extern DMA_HandleTypeDef hdma_i2c3_rx; -extern DMA_HandleTypeDef hdma_spi1_rx; -extern DMA_HandleTypeDef hdma_spi1_tx; -extern TIM_HandleTypeDef htim1; -extern TIM_HandleTypeDef htim7; -extern DMA_HandleTypeDef hdma_usart1_tx; -extern DMA_HandleTypeDef hdma_usart1_rx; -extern DMA_HandleTypeDef hdma_usart3_rx; -extern DMA_HandleTypeDef hdma_usart6_rx; -extern DMA_HandleTypeDef hdma_usart6_tx; -extern UART_HandleTypeDef huart1; -extern UART_HandleTypeDef huart6; -/* USER CODE BEGIN EV */ - -/* USER CODE END EV */ - -/******************************************************************************/ -/* Cortex-M4 Processor Interruption and Exception Handlers */ -/******************************************************************************/ -/** - * @brief This function handles Non maskable interrupt. - */ -void NMI_Handler(void) -{ - /* USER CODE BEGIN NonMaskableInt_IRQn 0 */ - - /* USER CODE END NonMaskableInt_IRQn 0 */ - /* USER CODE BEGIN NonMaskableInt_IRQn 1 */ - while (1) - { - } - /* USER CODE END NonMaskableInt_IRQn 1 */ -} - -/** - * @brief This function handles Hard fault interrupt. - */ -void HardFault_Handler(void) -{ - /* USER CODE BEGIN HardFault_IRQn 0 */ - - /* USER CODE END HardFault_IRQn 0 */ - while (1) - { - /* USER CODE BEGIN W1_HardFault_IRQn 0 */ - /* USER CODE END W1_HardFault_IRQn 0 */ - } -} - -/** - * @brief This function handles Memory management fault. - */ -void MemManage_Handler(void) -{ - /* USER CODE BEGIN MemoryManagement_IRQn 0 */ - - /* USER CODE END MemoryManagement_IRQn 0 */ - while (1) - { - /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */ - /* USER CODE END W1_MemoryManagement_IRQn 0 */ - } -} - -/** - * @brief This function handles Pre-fetch fault, memory access fault. - */ -void BusFault_Handler(void) -{ - /* USER CODE BEGIN BusFault_IRQn 0 */ - - /* USER CODE END BusFault_IRQn 0 */ - while (1) - { - /* USER CODE BEGIN W1_BusFault_IRQn 0 */ - /* USER CODE END W1_BusFault_IRQn 0 */ - } -} - -/** - * @brief This function handles Undefined instruction or illegal state. - */ -void UsageFault_Handler(void) -{ - /* USER CODE BEGIN UsageFault_IRQn 0 */ - - /* USER CODE END UsageFault_IRQn 0 */ - while (1) - { - /* USER CODE BEGIN W1_UsageFault_IRQn 0 */ - /* USER CODE END W1_UsageFault_IRQn 0 */ - } -} - -/** - * @brief This function handles Debug monitor. - */ -void DebugMon_Handler(void) -{ - /* USER CODE BEGIN DebugMonitor_IRQn 0 */ - - /* USER CODE END DebugMonitor_IRQn 0 */ - /* USER CODE BEGIN DebugMonitor_IRQn 1 */ - - /* USER CODE END DebugMonitor_IRQn 1 */ -} - -/** - * @brief This function handles System tick timer. - */ -void SysTick_Handler(void) -{ - /* USER CODE BEGIN SysTick_IRQn 0 */ - - /* USER CODE END SysTick_IRQn 0 */ - HAL_IncTick(); -#if (INCLUDE_xTaskGetSchedulerState == 1 ) - if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) - { -#endif /* INCLUDE_xTaskGetSchedulerState */ - xPortSysTickHandler(); -#if (INCLUDE_xTaskGetSchedulerState == 1 ) - } -#endif /* INCLUDE_xTaskGetSchedulerState */ - /* USER CODE BEGIN SysTick_IRQn 1 */ - - /* USER CODE END SysTick_IRQn 1 */ -} - -/******************************************************************************/ -/* STM32F4xx Peripheral Interrupt Handlers */ -/* Add here the Interrupt Handlers for the used peripherals. */ -/* For the available peripheral interrupt handler names, */ -/* please refer to the startup file (startup_stm32f4xx.s). */ -/******************************************************************************/ - -/** - * @brief This function handles EXTI line0 interrupt. - */ -void EXTI0_IRQHandler(void) -{ - /* USER CODE BEGIN EXTI0_IRQn 0 */ - - /* USER CODE END EXTI0_IRQn 0 */ - HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_0); - /* USER CODE BEGIN EXTI0_IRQn 1 */ - - /* USER CODE END EXTI0_IRQn 1 */ -} - -/** - * @brief This function handles EXTI line3 interrupt. - */ -void EXTI3_IRQHandler(void) -{ - /* USER CODE BEGIN EXTI3_IRQn 0 */ - - /* USER CODE END EXTI3_IRQn 0 */ - HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_3); - /* USER CODE BEGIN EXTI3_IRQn 1 */ - - /* USER CODE END EXTI3_IRQn 1 */ -} - -/** - * @brief This function handles EXTI line4 interrupt. - */ -void EXTI4_IRQHandler(void) -{ - /* USER CODE BEGIN EXTI4_IRQn 0 */ - - /* USER CODE END EXTI4_IRQn 0 */ - HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_4); - /* USER CODE BEGIN EXTI4_IRQn 1 */ - - /* USER CODE END EXTI4_IRQn 1 */ -} - -/** - * @brief This function handles DMA1 stream1 global interrupt. - */ -void DMA1_Stream1_IRQHandler(void) -{ - /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */ - - /* USER CODE END DMA1_Stream1_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_usart3_rx); - /* USER CODE BEGIN DMA1_Stream1_IRQn 1 */ - - /* USER CODE END DMA1_Stream1_IRQn 1 */ -} - -/** - * @brief This function handles DMA1 stream2 global interrupt. - */ -void DMA1_Stream2_IRQHandler(void) -{ - /* USER CODE BEGIN DMA1_Stream2_IRQn 0 */ - - /* USER CODE END DMA1_Stream2_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_i2c3_rx); - /* USER CODE BEGIN DMA1_Stream2_IRQn 1 */ - - /* USER CODE END DMA1_Stream2_IRQn 1 */ -} - -/** - * @brief This function handles CAN1 RX0 interrupts. - */ -void CAN1_RX0_IRQHandler(void) -{ - /* USER CODE BEGIN CAN1_RX0_IRQn 0 */ - - /* USER CODE END CAN1_RX0_IRQn 0 */ - HAL_CAN_IRQHandler(&hcan1); - /* USER CODE BEGIN CAN1_RX0_IRQn 1 */ - - /* USER CODE END CAN1_RX0_IRQn 1 */ -} - -/** - * @brief This function handles CAN1 RX1 interrupt. - */ -void CAN1_RX1_IRQHandler(void) -{ - /* USER CODE BEGIN CAN1_RX1_IRQn 0 */ - - /* USER CODE END CAN1_RX1_IRQn 0 */ - HAL_CAN_IRQHandler(&hcan1); - /* USER CODE BEGIN CAN1_RX1_IRQn 1 */ - - /* USER CODE END CAN1_RX1_IRQn 1 */ -} - -/** - * @brief This function handles EXTI line[9:5] interrupts. - */ -void EXTI9_5_IRQHandler(void) -{ - /* USER CODE BEGIN EXTI9_5_IRQn 0 */ - - /* USER CODE END EXTI9_5_IRQn 0 */ - HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_5); - /* USER CODE BEGIN EXTI9_5_IRQn 1 */ - - /* USER CODE END EXTI9_5_IRQn 1 */ -} - -/** - * @brief This function handles TIM1 break interrupt and TIM9 global interrupt. - */ -void TIM1_BRK_TIM9_IRQHandler(void) -{ - /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 0 */ - - /* USER CODE END TIM1_BRK_TIM9_IRQn 0 */ - HAL_TIM_IRQHandler(&htim1); - /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 1 */ - - /* USER CODE END TIM1_BRK_TIM9_IRQn 1 */ -} - -/** - * @brief This function handles USART1 global interrupt. - */ -void USART1_IRQHandler(void) -{ - /* USER CODE BEGIN USART1_IRQn 0 */ - - /* USER CODE END USART1_IRQn 0 */ - HAL_UART_IRQHandler(&huart1); - /* USER CODE BEGIN USART1_IRQn 1 */ - BSP_UART_IRQHandler(&huart1); - - /* USER CODE END USART1_IRQn 1 */ -} - -/** - * @brief This function handles DMA1 stream7 global interrupt. - */ -void DMA1_Stream7_IRQHandler(void) -{ - /* USER CODE BEGIN DMA1_Stream7_IRQn 0 */ - - /* USER CODE END DMA1_Stream7_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_i2c2_tx); - /* USER CODE BEGIN DMA1_Stream7_IRQn 1 */ - - /* USER CODE END DMA1_Stream7_IRQn 1 */ -} - -/** - * @brief This function handles TIM7 global interrupt. - */ -void TIM7_IRQHandler(void) -{ - /* USER CODE BEGIN TIM7_IRQn 0 */ - - /* USER CODE END TIM7_IRQn 0 */ - HAL_TIM_IRQHandler(&htim7); - /* USER CODE BEGIN TIM7_IRQn 1 */ - - /* USER CODE END TIM7_IRQn 1 */ -} - -/** - * @brief This function handles DMA2 stream1 global interrupt. - */ -void DMA2_Stream1_IRQHandler(void) -{ - /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */ - - /* USER CODE END DMA2_Stream1_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_usart6_rx); - /* USER CODE BEGIN DMA2_Stream1_IRQn 1 */ - - /* USER CODE END DMA2_Stream1_IRQn 1 */ -} - -/** - * @brief This function handles DMA2 stream2 global interrupt. - */ -void DMA2_Stream2_IRQHandler(void) -{ - /* USER CODE BEGIN DMA2_Stream2_IRQn 0 */ - - /* USER CODE END DMA2_Stream2_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_spi1_rx); - /* USER CODE BEGIN DMA2_Stream2_IRQn 1 */ - - /* USER CODE END DMA2_Stream2_IRQn 1 */ -} - -/** - * @brief This function handles DMA2 stream3 global interrupt. - */ -void DMA2_Stream3_IRQHandler(void) -{ - /* USER CODE BEGIN DMA2_Stream3_IRQn 0 */ - - /* USER CODE END DMA2_Stream3_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_spi1_tx); - /* USER CODE BEGIN DMA2_Stream3_IRQn 1 */ - - /* USER CODE END DMA2_Stream3_IRQn 1 */ -} - -/** - * @brief This function handles CAN2 RX0 interrupts. - */ -void CAN2_RX0_IRQHandler(void) -{ - /* USER CODE BEGIN CAN2_RX0_IRQn 0 */ - - /* USER CODE END CAN2_RX0_IRQn 0 */ - HAL_CAN_IRQHandler(&hcan2); - /* USER CODE BEGIN CAN2_RX0_IRQn 1 */ - - /* USER CODE END CAN2_RX0_IRQn 1 */ -} - -/** - * @brief This function handles CAN2 RX1 interrupt. - */ -void CAN2_RX1_IRQHandler(void) -{ - /* USER CODE BEGIN CAN2_RX1_IRQn 0 */ - - /* USER CODE END CAN2_RX1_IRQn 0 */ - HAL_CAN_IRQHandler(&hcan2); - /* USER CODE BEGIN CAN2_RX1_IRQn 1 */ - - /* USER CODE END CAN2_RX1_IRQn 1 */ -} - -/** - * @brief This function handles USB On The Go FS global interrupt. - */ -void OTG_FS_IRQHandler(void) -{ - /* USER CODE BEGIN OTG_FS_IRQn 0 */ - - /* USER CODE END OTG_FS_IRQn 0 */ - HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS); - /* USER CODE BEGIN OTG_FS_IRQn 1 */ - - /* USER CODE END OTG_FS_IRQn 1 */ -} - -/** - * @brief This function handles DMA2 stream5 global interrupt. - */ -void DMA2_Stream5_IRQHandler(void) -{ - /* USER CODE BEGIN DMA2_Stream5_IRQn 0 */ - - /* USER CODE END DMA2_Stream5_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_usart1_rx); - /* USER CODE BEGIN DMA2_Stream5_IRQn 1 */ - - /* USER CODE END DMA2_Stream5_IRQn 1 */ -} - -/** - * @brief This function handles DMA2 stream6 global interrupt. - */ -void DMA2_Stream6_IRQHandler(void) -{ - /* USER CODE BEGIN DMA2_Stream6_IRQn 0 */ - - /* USER CODE END DMA2_Stream6_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_usart6_tx); - /* USER CODE BEGIN DMA2_Stream6_IRQn 1 */ - - /* USER CODE END DMA2_Stream6_IRQn 1 */ -} - -/** - * @brief This function handles DMA2 stream7 global interrupt. - */ -void DMA2_Stream7_IRQHandler(void) -{ - /* USER CODE BEGIN DMA2_Stream7_IRQn 0 */ - - /* USER CODE END DMA2_Stream7_IRQn 0 */ - HAL_DMA_IRQHandler(&hdma_usart1_tx); - /* USER CODE BEGIN DMA2_Stream7_IRQn 1 */ - - /* USER CODE END DMA2_Stream7_IRQn 1 */ -} - -/** - * @brief This function handles USART6 global interrupt. - */ -void USART6_IRQHandler(void) -{ - /* USER CODE BEGIN USART6_IRQn 0 */ - - /* USER CODE END USART6_IRQn 0 */ - HAL_UART_IRQHandler(&huart6); - /* USER CODE BEGIN USART6_IRQn 1 */ - BSP_UART_IRQHandler(&huart6); - - /* USER CODE END USART6_IRQn 1 */ -} - -/* USER CODE BEGIN 1 */ - -/* USER CODE END 1 */ -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file stm32f4xx_it.c + * @brief Interrupt Service Routines. + ****************************************************************************** + * @attention + * + *

© Copyright (c) 2025 STMicroelectronics. + * All rights reserved.

+ * + * This software component is licensed by ST under Ultimate Liberty license + * SLA0044, the "License"; You may not use this file except in compliance with + * the License. You may obtain a copy of the License at: + * www.st.com/SLA0044 + * + ****************************************************************************** + */ +/* USER CODE END Header */ + +/* Includes ------------------------------------------------------------------*/ +#include "main.h" +#include "stm32f4xx_it.h" +#include "FreeRTOS.h" +#include "task.h" +/* Private includes ----------------------------------------------------------*/ +/* USER CODE BEGIN Includes */ +#include "bsp/uart.h" +/* USER CODE END Includes */ + +/* Private typedef -----------------------------------------------------------*/ +/* USER CODE BEGIN TD */ + +/* USER CODE END TD */ + +/* Private define ------------------------------------------------------------*/ +/* USER CODE BEGIN PD */ + +/* USER CODE END PD */ + +/* Private macro -------------------------------------------------------------*/ +/* USER CODE BEGIN PM */ + +/* USER CODE END PM */ + +/* Private variables ---------------------------------------------------------*/ +/* USER CODE BEGIN PV */ + +/* USER CODE END PV */ + +/* Private function prototypes -----------------------------------------------*/ +/* USER CODE BEGIN PFP */ + +/* USER CODE END PFP */ + +/* Private user code ---------------------------------------------------------*/ +/* USER CODE BEGIN 0 */ + +/* USER CODE END 0 */ + +/* External variables --------------------------------------------------------*/ +extern PCD_HandleTypeDef hpcd_USB_OTG_FS; +extern CAN_HandleTypeDef hcan1; +extern CAN_HandleTypeDef hcan2; +extern DMA_HandleTypeDef hdma_i2c2_tx; +extern DMA_HandleTypeDef hdma_i2c3_rx; +extern DMA_HandleTypeDef hdma_spi1_rx; +extern DMA_HandleTypeDef hdma_spi1_tx; +extern TIM_HandleTypeDef htim1; +extern TIM_HandleTypeDef htim7; +extern DMA_HandleTypeDef hdma_usart1_tx; +extern DMA_HandleTypeDef hdma_usart1_rx; +extern DMA_HandleTypeDef hdma_usart3_rx; +extern DMA_HandleTypeDef hdma_usart6_rx; +extern DMA_HandleTypeDef hdma_usart6_tx; +extern UART_HandleTypeDef huart1; +extern UART_HandleTypeDef huart6; +/* USER CODE BEGIN EV */ + +/* USER CODE END EV */ + +/******************************************************************************/ +/* Cortex-M4 Processor Interruption and Exception Handlers */ +/******************************************************************************/ +/** + * @brief This function handles Non maskable interrupt. + */ +void NMI_Handler(void) +{ + /* USER CODE BEGIN NonMaskableInt_IRQn 0 */ + + /* USER CODE END NonMaskableInt_IRQn 0 */ + /* USER CODE BEGIN NonMaskableInt_IRQn 1 */ + while (1) + { + } + /* USER CODE END NonMaskableInt_IRQn 1 */ +} + +/** + * @brief This function handles Hard fault interrupt. + */ +void HardFault_Handler(void) +{ + /* USER CODE BEGIN HardFault_IRQn 0 */ + + /* USER CODE END HardFault_IRQn 0 */ + while (1) + { + /* USER CODE BEGIN W1_HardFault_IRQn 0 */ + /* USER CODE END W1_HardFault_IRQn 0 */ + } +} + +/** + * @brief This function handles Memory management fault. + */ +void MemManage_Handler(void) +{ + /* USER CODE BEGIN MemoryManagement_IRQn 0 */ + + /* USER CODE END MemoryManagement_IRQn 0 */ + while (1) + { + /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */ + /* USER CODE END W1_MemoryManagement_IRQn 0 */ + } +} + +/** + * @brief This function handles Pre-fetch fault, memory access fault. + */ +void BusFault_Handler(void) +{ + /* USER CODE BEGIN BusFault_IRQn 0 */ + + /* USER CODE END BusFault_IRQn 0 */ + while (1) + { + /* USER CODE BEGIN W1_BusFault_IRQn 0 */ + /* USER CODE END W1_BusFault_IRQn 0 */ + } +} + +/** + * @brief This function handles Undefined instruction or illegal state. + */ +void UsageFault_Handler(void) +{ + /* USER CODE BEGIN UsageFault_IRQn 0 */ + + /* USER CODE END UsageFault_IRQn 0 */ + while (1) + { + /* USER CODE BEGIN W1_UsageFault_IRQn 0 */ + /* USER CODE END W1_UsageFault_IRQn 0 */ + } +} + +/** + * @brief This function handles Debug monitor. + */ +void DebugMon_Handler(void) +{ + /* USER CODE BEGIN DebugMonitor_IRQn 0 */ + + /* USER CODE END DebugMonitor_IRQn 0 */ + /* USER CODE BEGIN DebugMonitor_IRQn 1 */ + + /* USER CODE END DebugMonitor_IRQn 1 */ +} + +/** + * @brief This function handles System tick timer. + */ +void SysTick_Handler(void) +{ + /* USER CODE BEGIN SysTick_IRQn 0 */ + + /* USER CODE END SysTick_IRQn 0 */ + HAL_IncTick(); +#if (INCLUDE_xTaskGetSchedulerState == 1 ) + if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) + { +#endif /* INCLUDE_xTaskGetSchedulerState */ + xPortSysTickHandler(); +#if (INCLUDE_xTaskGetSchedulerState == 1 ) + } +#endif /* INCLUDE_xTaskGetSchedulerState */ + /* USER CODE BEGIN SysTick_IRQn 1 */ + + /* USER CODE END SysTick_IRQn 1 */ +} + +/******************************************************************************/ +/* STM32F4xx Peripheral Interrupt Handlers */ +/* Add here the Interrupt Handlers for the used peripherals. */ +/* For the available peripheral interrupt handler names, */ +/* please refer to the startup file (startup_stm32f4xx.s). */ +/******************************************************************************/ + +/** + * @brief This function handles EXTI line0 interrupt. + */ +void EXTI0_IRQHandler(void) +{ + /* USER CODE BEGIN EXTI0_IRQn 0 */ + + /* USER CODE END EXTI0_IRQn 0 */ + HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_0); + /* USER CODE BEGIN EXTI0_IRQn 1 */ + + /* USER CODE END EXTI0_IRQn 1 */ +} + +/** + * @brief This function handles EXTI line3 interrupt. + */ +void EXTI3_IRQHandler(void) +{ + /* USER CODE BEGIN EXTI3_IRQn 0 */ + + /* USER CODE END EXTI3_IRQn 0 */ + HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_3); + /* USER CODE BEGIN EXTI3_IRQn 1 */ + + /* USER CODE END EXTI3_IRQn 1 */ +} + +/** + * @brief This function handles EXTI line4 interrupt. + */ +void EXTI4_IRQHandler(void) +{ + /* USER CODE BEGIN EXTI4_IRQn 0 */ + + /* USER CODE END EXTI4_IRQn 0 */ + HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_4); + /* USER CODE BEGIN EXTI4_IRQn 1 */ + + /* USER CODE END EXTI4_IRQn 1 */ +} + +/** + * @brief This function handles DMA1 stream1 global interrupt. + */ +void DMA1_Stream1_IRQHandler(void) +{ + /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */ + + /* USER CODE END DMA1_Stream1_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart3_rx); + /* USER CODE BEGIN DMA1_Stream1_IRQn 1 */ + + /* USER CODE END DMA1_Stream1_IRQn 1 */ +} + +/** + * @brief This function handles DMA1 stream2 global interrupt. + */ +void DMA1_Stream2_IRQHandler(void) +{ + /* USER CODE BEGIN DMA1_Stream2_IRQn 0 */ + + /* USER CODE END DMA1_Stream2_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_i2c3_rx); + /* USER CODE BEGIN DMA1_Stream2_IRQn 1 */ + + /* USER CODE END DMA1_Stream2_IRQn 1 */ +} + +/** + * @brief This function handles CAN1 RX0 interrupts. + */ +void CAN1_RX0_IRQHandler(void) +{ + /* USER CODE BEGIN CAN1_RX0_IRQn 0 */ + + /* USER CODE END CAN1_RX0_IRQn 0 */ + HAL_CAN_IRQHandler(&hcan1); + /* USER CODE BEGIN CAN1_RX0_IRQn 1 */ + + /* USER CODE END CAN1_RX0_IRQn 1 */ +} + +/** + * @brief This function handles CAN1 RX1 interrupt. + */ +void CAN1_RX1_IRQHandler(void) +{ + /* USER CODE BEGIN CAN1_RX1_IRQn 0 */ + + /* USER CODE END CAN1_RX1_IRQn 0 */ + HAL_CAN_IRQHandler(&hcan1); + /* USER CODE BEGIN CAN1_RX1_IRQn 1 */ + + /* USER CODE END CAN1_RX1_IRQn 1 */ +} + +/** + * @brief This function handles EXTI line[9:5] interrupts. + */ +void EXTI9_5_IRQHandler(void) +{ + /* USER CODE BEGIN EXTI9_5_IRQn 0 */ + + /* USER CODE END EXTI9_5_IRQn 0 */ + HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_5); + /* USER CODE BEGIN EXTI9_5_IRQn 1 */ + + /* USER CODE END EXTI9_5_IRQn 1 */ +} + +/** + * @brief This function handles TIM1 break interrupt and TIM9 global interrupt. + */ +void TIM1_BRK_TIM9_IRQHandler(void) +{ + /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 0 */ + + /* USER CODE END TIM1_BRK_TIM9_IRQn 0 */ + HAL_TIM_IRQHandler(&htim1); + /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 1 */ + + /* USER CODE END TIM1_BRK_TIM9_IRQn 1 */ +} + +/** + * @brief This function handles USART1 global interrupt. + */ +void USART1_IRQHandler(void) +{ + /* USER CODE BEGIN USART1_IRQn 0 */ + + /* USER CODE END USART1_IRQn 0 */ + HAL_UART_IRQHandler(&huart1); + /* USER CODE BEGIN USART1_IRQn 1 */ + BSP_UART_IRQHandler(&huart1); + + /* USER CODE END USART1_IRQn 1 */ +} + +/** + * @brief This function handles DMA1 stream7 global interrupt. + */ +void DMA1_Stream7_IRQHandler(void) +{ + /* USER CODE BEGIN DMA1_Stream7_IRQn 0 */ + + /* USER CODE END DMA1_Stream7_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_i2c2_tx); + /* USER CODE BEGIN DMA1_Stream7_IRQn 1 */ + + /* USER CODE END DMA1_Stream7_IRQn 1 */ +} + +/** + * @brief This function handles TIM7 global interrupt. + */ +void TIM7_IRQHandler(void) +{ + /* USER CODE BEGIN TIM7_IRQn 0 */ + + /* USER CODE END TIM7_IRQn 0 */ + HAL_TIM_IRQHandler(&htim7); + /* USER CODE BEGIN TIM7_IRQn 1 */ + + /* USER CODE END TIM7_IRQn 1 */ +} + +/** + * @brief This function handles DMA2 stream1 global interrupt. + */ +void DMA2_Stream1_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */ + + /* USER CODE END DMA2_Stream1_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart6_rx); + /* USER CODE BEGIN DMA2_Stream1_IRQn 1 */ + + /* USER CODE END DMA2_Stream1_IRQn 1 */ +} + +/** + * @brief This function handles DMA2 stream2 global interrupt. + */ +void DMA2_Stream2_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream2_IRQn 0 */ + + /* USER CODE END DMA2_Stream2_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_spi1_rx); + /* USER CODE BEGIN DMA2_Stream2_IRQn 1 */ + + /* USER CODE END DMA2_Stream2_IRQn 1 */ +} + +/** + * @brief This function handles DMA2 stream3 global interrupt. + */ +void DMA2_Stream3_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream3_IRQn 0 */ + + /* USER CODE END DMA2_Stream3_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_spi1_tx); + /* USER CODE BEGIN DMA2_Stream3_IRQn 1 */ + + /* USER CODE END DMA2_Stream3_IRQn 1 */ +} + +/** + * @brief This function handles CAN2 RX0 interrupts. + */ +void CAN2_RX0_IRQHandler(void) +{ + /* USER CODE BEGIN CAN2_RX0_IRQn 0 */ + + /* USER CODE END CAN2_RX0_IRQn 0 */ + HAL_CAN_IRQHandler(&hcan2); + /* USER CODE BEGIN CAN2_RX0_IRQn 1 */ + + /* USER CODE END CAN2_RX0_IRQn 1 */ +} + +/** + * @brief This function handles CAN2 RX1 interrupt. + */ +void CAN2_RX1_IRQHandler(void) +{ + /* USER CODE BEGIN CAN2_RX1_IRQn 0 */ + + /* USER CODE END CAN2_RX1_IRQn 0 */ + HAL_CAN_IRQHandler(&hcan2); + /* USER CODE BEGIN CAN2_RX1_IRQn 1 */ + + /* USER CODE END CAN2_RX1_IRQn 1 */ +} + +/** + * @brief This function handles USB On The Go FS global interrupt. + */ +void OTG_FS_IRQHandler(void) +{ + /* USER CODE BEGIN OTG_FS_IRQn 0 */ + + /* USER CODE END OTG_FS_IRQn 0 */ + HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS); + /* USER CODE BEGIN OTG_FS_IRQn 1 */ + + /* USER CODE END OTG_FS_IRQn 1 */ +} + +/** + * @brief This function handles DMA2 stream5 global interrupt. + */ +void DMA2_Stream5_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream5_IRQn 0 */ + + /* USER CODE END DMA2_Stream5_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart1_rx); + /* USER CODE BEGIN DMA2_Stream5_IRQn 1 */ + + /* USER CODE END DMA2_Stream5_IRQn 1 */ +} + +/** + * @brief This function handles DMA2 stream6 global interrupt. + */ +void DMA2_Stream6_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream6_IRQn 0 */ + + /* USER CODE END DMA2_Stream6_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart6_tx); + /* USER CODE BEGIN DMA2_Stream6_IRQn 1 */ + + /* USER CODE END DMA2_Stream6_IRQn 1 */ +} + +/** + * @brief This function handles DMA2 stream7 global interrupt. + */ +void DMA2_Stream7_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream7_IRQn 0 */ + + /* USER CODE END DMA2_Stream7_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart1_tx); + /* USER CODE BEGIN DMA2_Stream7_IRQn 1 */ + + /* USER CODE END DMA2_Stream7_IRQn 1 */ +} + +/** + * @brief This function handles USART6 global interrupt. + */ +void USART6_IRQHandler(void) +{ + /* USER CODE BEGIN USART6_IRQn 0 */ + + /* USER CODE END USART6_IRQn 0 */ + HAL_UART_IRQHandler(&huart6); + /* USER CODE BEGIN USART6_IRQn 1 */ + BSP_UART_IRQHandler(&huart6); + + /* USER CODE END USART6_IRQn 1 */ +} + +/* USER CODE BEGIN 1 */ + +/* USER CODE END 1 */ +/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/User/bsp/bsp_config.yaml b/User/bsp/bsp_config.yaml index cbc057c..d0e0770 100644 --- a/User/bsp/bsp_config.yaml +++ b/User/bsp/bsp_config.yaml @@ -128,7 +128,7 @@ uart: - instance: USART6 name: AI - instance: USART1 - name: DR16 - - instance: USART3 name: REF + - instance: USART3 + name: DR16 enabled: true diff --git a/User/bsp/uart.c b/User/bsp/uart.c index a0eb265..cf096c7 100644 --- a/User/bsp/uart.c +++ b/User/bsp/uart.c @@ -26,9 +26,9 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) { if (huart->Instance == USART6) return BSP_UART_AI; else if (huart->Instance == USART1) - return BSP_UART_DR16; - else if (huart->Instance == USART3) return BSP_UART_REF; + else if (huart->Instance == USART3) + return BSP_UART_DR16; else return BSP_UART_ERR; } @@ -119,9 +119,9 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) { switch (uart) { case BSP_UART_AI: return &huart6; - case BSP_UART_DR16: - return &huart1; case BSP_UART_REF: + return &huart1; + case BSP_UART_DR16: return &huart3; default: return NULL; diff --git a/User/bsp/uart.h b/User/bsp/uart.h index 385c55e..040e3ed 100644 --- a/User/bsp/uart.h +++ b/User/bsp/uart.h @@ -28,8 +28,8 @@ extern "C" { /* UART实体枚举，与设备对应 */ typedef enum { BSP_UART_AI, - BSP_UART_DR16, BSP_UART_REF, + BSP_UART_DR16, BSP_UART_NUM, BSP_UART_ERR, } BSP_UART_t; diff --git a/User/module/config.c b/User/module/config.c new file mode 100644 index 0000000..0d75200 --- /dev/null +++ b/User/module/config.c @@ -0,0 +1,54 @@ +/* + * 配置相关 + */ + +/* Includes ----------------------------------------------------------------- */ +#include "module/config.h" +#include "bsp/can.h" +#include "device/motor_rm.h" +#include "component/pid.h" +#include "component/user_math.h" + +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ + +/* Exported variables ------------------------------------------------------- */ + +// 机器人参数配置 +Config_RobotParam_t robot_config = { + .shoot_param = { + .trig_motor_param = { + .can = BSP_CAN_1, + .id = 0x201, + .module = MOTOR_M2006, + .reverse = false, + .gear = true, + }, + .trig_pid_param = { + .k = 12.0f, + .p = 1.0f, + .i = 0.0f, + .d = 0.0450000018f, + .i_limit = 1.0f, + .out_limit = 1.0f, + .d_cutoff_freq = -1.0f, + .range = M_2PI, + }, + .num_trig_tooth = 8.0f, + .fric_radius = 0.03f, + .min_shoot_delay = (uint32_t)(1000.0f / 10.0f), + } +}; + +/* 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 new file mode 100644 index 0000000..400c3ef --- /dev/null +++ b/User/module/config.h @@ -0,0 +1,30 @@ +/* + * 配置相关 + */ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include "module/shoot.h" +#include "module/gimbal.h" + + +typedef struct { + Shoot_Params_t shoot_param; /* 射击参数 */ +} 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/module/gimbal.c b/User/module/gimbal.c new file mode 100644 index 0000000..e69de29 diff --git a/User/module/gimbal.h b/User/module/gimbal.h new file mode 100644 index 0000000..e69de29 diff --git a/User/module/shoot.c b/User/module/shoot.c new file mode 100644 index 0000000..0c9a585 --- /dev/null +++ b/User/module/shoot.c @@ -0,0 +1,201 @@ +/* + * 射击模组 + */ + +/* Includes ----------------------------------------------------------------- */ +#include "shoot.h" + +#include "bsp/pwm.h" +#include "bsp/time.h" +#include "bsp/can.h" +#include "component/pid.h" +#include "component/limiter.h" +#include "component/user_math.h" +#include "device/motor_rm.h" +#include +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ + +#define BULLET_SPEED_LIMIT_17MM (25.0) + +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +/* Private function -------------------------------------------------------- */ + +/** + * \brief 设置射击模式 + * + * \param c 包含射击数据的结构体 + * \param mode 要设置的模式 + * + * \return 函数运行结果 + */ +static int8_t Shoot_SetMode(Shoot_t *s, CMD_ShootMode_t mode) { + if (s == NULL) return -1; + + if (mode == s->mode) return SHOOT_OK; + + /* 切换模式后重置PID和滤波器 */ +// for (uint8_t i = 0; i < 2; i++) { +// PID_Reset(s->pid.fric + i); +// LowPassFilter2p_Reset(s->filter.in.fric + i, 0.0f); +// LowPassFilter2p_Reset(s->filter.out.fric + i, 0.0f); +// } +// PID_Reset(&(s->pid.trig)); +// LowPassFilter2p_Reset(&(s->filter.in.trig), 0.0f); +// LowPassFilter2p_Reset(&(s->filter.out.trig), 0.0f); + PID_Reset(&(s->pid.fric[0])); + PID_Reset(&(s->pid.fric[1])); + LowPassFilter2p_Reset(&(s->filter.in.fric[0]), 0.0f); + LowPassFilter2p_Reset(&(s->filter.in.fric[1]), 0.0f); + LowPassFilter2p_Reset(&(s->filter.out.fric[0]), 0.0f); + LowPassFilter2p_Reset(&(s->filter.out.fric[1]), 0.0f); + PID_Reset(&(s->pid.trig)); + LowPassFilter2p_Reset(&(s->filter.in.trig), 0.0f); + LowPassFilter2p_Reset(&(s->filter.out.trig), 0.0f); + +// while (fabsf(CircleError(s->setpoint.trig_angle, s->feedback.trig_angle, +// M_2PI)) >= M_2PI / s->param->num_trig_tooth / 2.0f) { +// CircleAdd(&(s->setpoint.trig_angle), M_2PI / s->param->num_trig_tooth, +// M_2PI); +// } + + if (mode == SHOOT_MODE_LOADED) s->fire_ctrl.to_shoot = 0; + s->mode = mode; + return 0; +} + +// static float Shoot_CalcRPMFromSpeed(float speed, float radius, float *rpm) { +// if (rpm == NULL) return -1; +// if (radius <= 0.0f) return -2; + +// /* 限制弹丸速度 */ +// speed = Limit_Abs(speed, BULLET_SPEED_LIMIT_17MM); + +// /* 计算转速 */ +// *rpm = speed / (2.0f * M_PI * radius) * 60.0f; + +// return 0; +// } + +/* Exported functions ------------------------------------------------------- */ + +/** + * \brief 初始化射击 + * + * \param s 包含射击数据的结构体 + * \param param 包含射击参数的结构体指针 + * \param target_freq 任务预期的运行频率 + * + * \return 函数运行结果 + */ +int8_t Shoot_Init(Shoot_t *s, const Shoot_Params_t *param, float target_freq) { + if (s == NULL) return -1; + + s->param = param; /* 初始化参数 */ + s->mode = SHOOT_MODE_RELAX; /* 设置默认模式 */ + + PID_Init(&(s->pid.fric[0]), KPID_MODE_NO_D, target_freq, + &(param->fric_pid_param)); + PID_Init(&(s->pid.fric[1]), KPID_MODE_NO_D, target_freq, + &(param->fric_pid_param)); + PID_Init(&(s->pid.trig), KPID_MODE_CALC_D, target_freq, + &(param->trig_pid_param)); + + LowPassFilter2p_Init(&(s->filter.in.fric[0]), target_freq, + param->low_pass_cutoff_freq.in.fric); + LowPassFilter2p_Init(&(s->filter.in.fric[1]), target_freq, + param->low_pass_cutoff_freq.in.fric); + LowPassFilter2p_Init(&(s->filter.out.fric[0]), target_freq, + param->low_pass_cutoff_freq.out.fric); + LowPassFilter2p_Init(&(s->filter.out.fric[1]), target_freq, + param->low_pass_cutoff_freq.out.fric); + LowPassFilter2p_Init(&(s->filter.in.trig), target_freq, + param->low_pass_cutoff_freq.in.trig); + LowPassFilter2p_Init(&(s->filter.out.trig), target_freq, + param->low_pass_cutoff_freq.out.trig); + + BSP_CAN_Init(); + MOTOR_RM_Register(s->param->fric_motor_param[0]); + MOTOR_RM_Register(s->param->fric_motor_param[1]); + MOTOR_RM_Register(s->param->trig_motor_param); + + return SHOOT_OK; +} + +/** + * \brief 更新射击的反馈信息 + * + * \param s 包含射击数据的结构体 + * + * \return 函数运行结果 + */ +int8_t Shoot_UpdateFeedback(Shoot_t *s) { + if (s == NULL) return -1; + MOTOR_RM_Update(s->param->fric_motor_param[0]); + MOTOR_RM_Update(s->param->fric_motor_param[1]); + MOTOR_RM_Update(s->param->trig_motor_param); + + MOTOR_RM_t *motor; + motor = MOTOR_RM_GetMotor(s->param->fric_motor_param[0]); + s->feedback.fric[0] = motor->feedback; + motor = MOTOR_RM_GetMotor(s->param->fric_motor_param[1]); + s->feedback.fric[1] = motor->feedback; + motor = MOTOR_RM_GetMotor(s->param->trig_motor_param); + s->feedback.trig = motor->feedback; + + return SHOOT_OK; +} + +/** + * \brief 运行射击控制逻辑 + * + * \param s 包含射击数据的结构体 + * \param s_cmd 射击控制指令 + * + * \return 函数运行结果 + */ +int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *s_cmd) { + if (s == NULL) return -1; + if (s_cmd == NULL) return -1; + + Shoot_SetMode(s, s_cmd->mode); /* 设置射击模式 */ + + /* 计算摩擦轮转速的目标值 */ + // 根据弹丸射速计算转速，这里需要实现具体的计算逻辑 + // s->setpoint.fric_rpm[0] = calculate_rpm_from_speed(s_cmd->bullet_speed); + // s->setpoint.fric_rpm[1] = -s->setpoint.fric_rpm[0]; + + switch (s->mode) { + case SHOOT_MODE_RELAX: + MOTOR_RM_SetOutput(s->param->fric_motor_param[0], 0.0f); + MOTOR_RM_SetOutput(s->param->fric_motor_param[1], 0.0f); + MOTOR_RM_SetOutput(s->param->trig_motor_param, 0.0f); + break; + case SHOOT_MODE_SAFE: + /*摩擦轮速度环到0，拨弹位置环到设定位置*/ + s->setpoint.fric_rpm[0] = 0.0f; + s->setpoint.fric_rpm[1] = 0.0f; + + + + break; + + case SHOOT_MODE_LOADED: + // TODO: 实现上膛模式的控制逻辑 + break; + } + return SHOOT_OK; +} + +/** + * \brief 射击输出值 + * + * \param s 包含射击数据的结构体 + */ +void Shoot_Output(Shoot_t *s) { + if (s == NULL) return; + MOTOR_RM_Ctrl(s->param->fric_motor_param[0]); +} + + diff --git a/User/module/shoot.h b/User/module/shoot.h new file mode 100644 index 0000000..a9a82a0 --- /dev/null +++ b/User/module/shoot.h @@ -0,0 +1,176 @@ +/* + * 射击模组 + */ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include + +#include "component/filter.h" +#include "component/pid.h" +#include "device/motor_rm.h" +#include "device/motor.h" + +/* Exported constants ------------------------------------------------------- */ +#define SHOOT_OK (0) /* 运行正常 */ +#define SHOOT_ERR (-1) /* 运行时发现了其他错误 */ +#define SHOOT_ERR_NULL (-2) /* 运行时发现NULL指针 */ +#define SHOOT_ERR_MODE (-3) /* 运行时配置了错误的CMD_ShootMode_t */ + +/* Exported macro ----------------------------------------------------------- */ +/* Exported types ----------------------------------------------------------- */ + +typedef enum { + SHOOT_MODE_RELAX = 0, /* 放松模式，电机不工作 */ + SHOOT_MODE_SAFE = 1, /* 安全模式，电机工作但不允许射击 */ + SHOOT_MODE_LOADED = 2 /* 上膛模式，电机工作并允许射击 */ +}Shoot_Mode_t; + +typedef struct { + Shoot_Mode_t mode; /*射击模式*/ + float bullet_speed; /*弹丸射速*/ + uint32_t bullet_num; /*要发射的弹丸数*/ +}Shoot_CMD_t; + +/* 射击参数的结构体，包含所有初始化用的参数，通常是const，存好几组。*/ +typedef struct { + MOTOR_RM_Param_t fric_motor_param[2]; /* 摩擦轮电机参数 */ + MOTOR_RM_Param_t trig_motor_param; /* 拨弹电机参数 */ + + + KPID_Params_t fric_pid_param; /* 摩擦轮电机控制PID的参数 */ + KPID_Params_t trig_pid_param; /* 扳机电机控制PID的参数 */ + /* 低通滤波器截止频率 */ + struct { + /* 输入 */ + struct { + float fric; /* 摩擦轮电机 */ + float trig; /* 扳机电机 */ + } in; + + /* 输出 */ + struct { + float fric; /* 摩擦轮电机 */ + float trig; /* 扳机电机 */ + } out; + } low_pass_cutoff_freq; + + float num_trig_tooth; /* 拨弹盘中一圈能存储几颗弹丸 */ + float fric_radius; /* 摩擦轮半径，单位：米 */ + float cover_open_duty; /* 弹舱盖打开时舵机PWM占空比 */ + float cover_close_duty; /* 弹舱盖关闭时舵机PWM占空比 */ + float bullet_speed; /* 弹丸初速度 */ + uint32_t min_shoot_delay; /* 通过设置最小射击间隔来设置最大射频 */ +} Shoot_Params_t; + + +typedef struct { + uint32_t last_shoot; /* 上次射击时间 单位：ms */ + bool last_fire; /* 上次开火状态 */ + bool first_fire; /* 第一次收到开火指令 */ + uint32_t shooted; /* 已经发射的弹丸 */ + uint32_t to_shoot; /* 计划发射的弹丸 */ + float bullet_speed; /* 弹丸初速度 */ + uint32_t period_ms; /* 弹丸击发延迟 */ +} Shoot_FireCtrl_t; + +/* + * 运行的主结构体，所有这个文件里的函数都在操作这个结构体。 + * 包含了初始化参数，中间变量，输出变量。 + */ +typedef struct { + uint64_t lask_wakeup; + float dt; + + const Shoot_Params_t *param; /* 射击的参数，用Shoot_Init设定 */ + Shoot_FireCtrl_t fire_ctrl; + /* 模块通用 */ + Shoot_Mode_t mode; /* 当前模式 */ + + /* 反馈信息 */ + struct { + MOTOR_Feedback_t fric[2]; /* 摩擦轮电机反馈 */ + MOTOR_Feedback_t trig; /* 拨弹电机反馈 */ + } feedback; + + /* PID计算的目标值 */ + struct { + float fric_rpm[2]; /* 摩擦轮电机转速，单位：RPM */ + float trig_angle; /* 拨弹电机角度，单位：弧度 */ + } setpoint; + + /* 反馈控制用的PID */ + struct { + KPID_t fric[2]; /* 控制摩擦轮 */ + KPID_t trig; /* 控制拨弹电机 */ + } pid; + + /* 过滤器 */ + struct { + /* 反馈值滤波器 */ + struct { + LowPassFilter2p_t fric[2]; /* 过滤摩擦轮 */ + LowPassFilter2p_t trig; /* 过滤拨弹电机 */ + } in; + + /* 输出值滤波器 */ + struct { + LowPassFilter2p_t fric[2]; /* 过滤摩擦轮 */ + LowPassFilter2p_t trig; /* 过滤拨弹电机 */ + } out; + } filter; + +} Shoot_t; + +/* Exported functions prototypes -------------------------------------------- */ + +/** + * \brief 初始化射击 + * + * \param s 包含射击数据的结构体 + * \param param 包含射击参数的结构体指针 + * \param target_freq 任务预期的运行频率 + * + * \return 函数运行结果 + */ +int8_t Shoot_Init(Shoot_t *s, const Shoot_Params_t *param, float target_freq); + +/** + * \brief 更新射击的反馈信息 + * + * \param s 包含射击数据的结构体 + * \param can CAN设备结构体 + * + * \return 函数运行结果 + */ +int8_t Shoot_UpdateFeedback(Shoot_t *s); + +/** + * \brief 运行射击控制逻辑 + * + * \param s 包含射击数据的结构体 + * \param s_cmd 射击控制指令 + * \param s_ref 裁判系统数据 + * \param dt_sec 两次调用的时间间隔 + * + * \return 函数运行结果 + */ +int8_t Shoot_Control(Shoot_t *s,Shoot_CMD_t *s_cmd); + +/** + * \brief 射击输出值 + * + * \param s 包含射击数据的结构体 + * \param out CAN设备射击输出结构体 + */ +void Shoot_Output(Shoot_t *s); + + +#ifdef __cplusplus +} +#endif diff --git a/User/task/monitor.c b/User/task/monitor.c index 55d5bd3..82302c6 100644 --- a/User/task/monitor.c +++ b/User/task/monitor.c @@ -1,12 +1,14 @@ /* monitor Task - */ /* Includes ----------------------------------------------------------------- */ #include "task/user_task.h" /* USER INCLUDE BEGIN */ - +#include "bsp/time.h" +#include "bsp/pwm.h" +#include "component/user_math.h" +#include /* USER INCLUDE END */ /* Private typedef ---------------------------------------------------------- */ @@ -14,7 +16,7 @@ /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ /* USER STRUCT BEGIN */ - +float led = 0.0f; /* USER STRUCT END */ /* Private function --------------------------------------------------------- */ @@ -30,13 +32,15 @@ void Task_monitor(void *argument) { uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ /* USER CODE INIT BEGIN */ - + BSP_PWM_SetComp(BSP_PWM_LED_G, led); + BSP_PWM_Start(BSP_PWM_LED_G); /* USER CODE INIT END */ while (1) { tick += delay_tick; /* 计算下一个唤醒时刻 */ /* USER CODE BEGIN */ - + led = fAbs(sinf(BSP_TIME_Get_ms()/1000.0f)); + BSP_PWM_SetComp(BSP_PWM_LED_G, led); /* USER CODE END */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ } diff --git a/User/task/rc.c b/User/task/rc.c index 8a154a0..4b40471 100644 --- a/User/task/rc.c +++ b/User/task/rc.c @@ -6,7 +6,7 @@ /* Includes ----------------------------------------------------------------- */ #include "task/user_task.h" /* USER INCLUDE BEGIN */ - +#include "device/dr16.h" /* USER INCLUDE END */ /* Private typedef ---------------------------------------------------------- */ @@ -14,7 +14,7 @@ /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ /* USER STRUCT BEGIN */ - +DR16_t dr16; /* USER STRUCT END */ /* Private function --------------------------------------------------------- */ @@ -26,12 +26,17 @@ void Task_rc(void *argument) { osDelay(RC_INIT_DELAY); /* 延时一段时间再开启任务 */ /* USER CODE INIT BEGIN */ - + DR16_Init(&dr16); /* USER CODE INIT END */ while (1) { /* USER CODE BEGIN */ - + DR16_StartDmaRecv(&dr16); + if (DR16_WaitDmaCplt(20)) { + DR16_ParseData(&dr16); + } else { + DR16_Offline(&dr16); + } /* USER CODE END */ } diff --git a/debug.jdebug b/debug.jdebug new file mode 100644 index 0000000..022f68e --- /dev/null +++ b/debug.jdebug @@ -0,0 +1,361 @@ +/********************************************************************* +* (c) SEGGER Microcontroller GmbH * +* The Embedded Experts * +* www.segger.com * +********************************************************************** + +File : /Users/lvzucheng/Documents/R/balance_infantry/debug.jdebug +Created : 28 Sep 2025 16:36 +Ozone Version : V3.38d +*/ + +/********************************************************************* +* +* OnProjectLoad +* +* Function description +* Project load routine. Required. +* +********************************************************************** +*/ +void OnProjectLoad (void) { + // + // Dialog-generated settings + // + Project.AddPathSubstitute ("/Users/lvzucheng/Documents/R/balance_infantry", "$(ProjectDir)"); + Project.AddPathSubstitute ("/users/lvzucheng/documents/r/balance_infantry", "$(ProjectDir)"); + Project.SetDevice ("STM32F407IG"); + Project.SetHostIF ("USB", "207400620"); + Project.SetTargetIF ("SWD"); + Project.SetTIFSpeed ("4 MHz"); + Project.AddSvdFile ("$(InstallDir)/Config/CPU/Cortex-M4F.svd"); + // + // User settings + // + File.Open ("$(ProjectDir)/build/Debug/DevC.elf"); +} + +/********************************************************************* +* +* OnStartupComplete +* +* Function description +* Called when program execution has reached/passed +* the startup completion point. Optional. +* +********************************************************************** +*/ +//void OnStartupComplete (void) { +//} + +/********************************************************************* +* +* TargetReset +* +* Function description +* Replaces the default target device reset routine. Optional. +* +* Notes +* This example demonstrates the usage when +* debugging an application in RAM on a Cortex-M target device. +* +********************************************************************** +*/ +//void TargetReset (void) { +// +// unsigned int SP; +// unsigned int PC; +// unsigned int VectorTableAddr; +// +// VectorTableAddr = Elf.GetBaseAddr(); +// // +// // Set up initial stack pointer +// // +// if (VectorTableAddr != 0xFFFFFFFF) { +// SP = Target.ReadU32(VectorTableAddr); +// Target.SetReg("SP", SP); +// } +// // +// // Set up entry point PC +// // +// PC = Elf.GetEntryPointPC(); +// +// if (PC != 0xFFFFFFFF) { +// Target.SetReg("PC", PC); +// } else if (VectorTableAddr != 0xFFFFFFFF) { +// PC = Target.ReadU32(VectorTableAddr + 4); +// Target.SetReg("PC", PC); +// } else { +// Util.Error("Project file error: failed to set entry point PC", 1); +// } +//} + +/********************************************************************* +* +* BeforeTargetReset +* +* Function description +* Event handler routine. Optional. +* +********************************************************************** +*/ +//void BeforeTargetReset (void) { +//} + +/********************************************************************* +* +* AfterTargetReset +* +* Function description +* Event handler routine. Optional. +* The default implementation initializes SP and PC to reset values. +** +********************************************************************** +*/ +void AfterTargetReset (void) { + _SetupTarget(); +} + +/********************************************************************* +* +* DebugStart +* +* Function description +* Replaces the default debug session startup routine. Optional. +* +********************************************************************** +*/ +//void DebugStart (void) { +//} + +/********************************************************************* +* +* TargetConnect +* +* Function description +* Replaces the default target IF connection routine. Optional. +* +********************************************************************** +*/ +//void TargetConnect (void) { +//} + +/********************************************************************* +* +* BeforeTargetConnect +* +* Function description +* Event handler routine. Optional. +* +********************************************************************** +*/ +//void BeforeTargetConnect (void) { +//} + +/********************************************************************* +* +* AfterTargetConnect +* +* Function description +* Event handler routine. Optional. +* +********************************************************************** +*/ +//void AfterTargetConnect (void) { +//} + +/********************************************************************* +* +* TargetDownload +* +* Function description +* Replaces the default program download routine. Optional. +* +********************************************************************** +*/ +//void TargetDownload (void) { +//} + +/********************************************************************* +* +* BeforeTargetDownload +* +* Function description +* Event handler routine. Optional. +* +********************************************************************** +*/ +//void BeforeTargetDownload (void) { +//} + +/********************************************************************* +* +* AfterTargetDownload +* +* Function description +* Event handler routine. Optional. +* The default implementation initializes SP and PC to reset values. +* +********************************************************************** +*/ +void AfterTargetDownload (void) { + _SetupTarget(); +} + +/********************************************************************* +* +* BeforeTargetDisconnect +* +* Function description +* Event handler routine. Optional. +* +********************************************************************** +*/ +//void BeforeTargetDisconnect (void) { +//} + +/********************************************************************* +* +* AfterTargetDisconnect +* +* Function description +* Event handler routine. Optional. +* +********************************************************************** +*/ +//void AfterTargetDisconnect (void) { +//} + +/********************************************************************* +* +* AfterTargetHalt +* +* Function description +* Event handler routine. Optional. +* +********************************************************************** +*/ +//void AfterTargetHalt (void) { +//} + +/********************************************************************* +* +* BeforeTargetResume +* +* Function description +* Event handler routine. Optional. +* +********************************************************************** +*/ +//void BeforeTargetResume (void) { +//} + +/********************************************************************* +* +* OnSnapshotLoad +* +* Function description +* Called upon loading a snapshot. Optional. +* +* Additional information +* This function is used to restore the target state in cases +* where values cannot simply be written to the target. +* Typical use: GPIO clock needs to be enabled, before +* GPIO is configured. +* +********************************************************************** +*/ +//void OnSnapshotLoad (void) { +//} + +/********************************************************************* +* +* OnSnapshotSave +* +* Function description +* Called upon saving a snapshot. Optional. +* +* Additional information +* This function is usually used to save values of the target +* state which can either not be trivially read, +* or need to be restored in a specific way or order. +* Typically use: Memory Mapped Registers, +* such as PLL and GPIO configuration. +* +********************************************************************** +*/ +//void OnSnapshotSave (void) { +//} + +/********************************************************************* +* +* OnError +* +* Function description +* Called when an error ocurred. Optional. +* +********************************************************************** +*/ +//void OnError (void) { +//} + +/********************************************************************* +* +* AfterProjectLoad +* +* Function description +* After Project load routine. Optional. +* +********************************************************************** +*/ +//void AfterProjectLoad (void) { +//} + +/********************************************************************* +* +* OnDebugStartBreakSymbolReached +* +* Function description +* Called when program execution has reached/passed +* the symbol to be breaked at during debug start. Optional. +* +********************************************************************** +*/ +//void OnDebugStartBreakSymReached (void) { +//} + +/********************************************************************* +* +* _SetupTarget +* +* Function description +* Setup the target. +* Called by AfterTargetReset() and AfterTargetDownload(). +* +* Auto-generated function. May be overridden by Ozone. +* +********************************************************************** +*/ +void _SetupTarget(void) { + unsigned int SP; + unsigned int PC; + unsigned int VectorTableAddr; + + VectorTableAddr = Elf.GetBaseAddr(); + // + // Set up initial stack pointer + // + SP = Target.ReadU32(VectorTableAddr); + if (SP != 0xFFFFFFFF) { + Target.SetReg("SP", SP); + } + // + // Set up entry point PC + // + PC = Elf.GetEntryPointPC(); + if (PC != 0xFFFFFFFF) { + Target.SetReg("PC", PC); + } else { + Util.Error("Project script error: failed to set up entry point PC", 1); + } +} \ No newline at end of file