修扩展can

Core/Src/fdcan.c

@@ -106,7 +106,7 @@ void MX_FDCAN2_Init(void)
   hfdcan2.Init.ExtFiltersNbr = 0;
   hfdcan2.Init.RxFifo0ElmtsNbr = 32;
   hfdcan2.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
-  hfdcan2.Init.RxFifo1ElmtsNbr = 0;
+  hfdcan2.Init.RxFifo1ElmtsNbr = 32;
   hfdcan2.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
   hfdcan2.Init.RxBuffersNbr = 0;
   hfdcan2.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
@@ -151,10 +151,10 @@ void MX_FDCAN3_Init(void)
   hfdcan3.Init.DataTimeSeg2 = 1;
   hfdcan3.Init.MessageRAMOffset = 0x812;
   hfdcan3.Init.StdFiltersNbr = 1;
-  hfdcan3.Init.ExtFiltersNbr = 0;
+  hfdcan3.Init.ExtFiltersNbr = 1;
   hfdcan3.Init.RxFifo0ElmtsNbr = 32;
   hfdcan3.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
-  hfdcan3.Init.RxFifo1ElmtsNbr = 0;
+  hfdcan3.Init.RxFifo1ElmtsNbr = 32;
   hfdcan3.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
   hfdcan3.Init.RxBuffersNbr = 0;
   hfdcan3.Init.RxBufferSize = FDCAN_DATA_BYTES_8;

CtrBoard-H7_ALL.ioc

@@ -120,22 +120,25 @@ FDCAN2.AutoRetransmission=ENABLE
 FDCAN2.CalculateBaudRateNominal=1000000
 FDCAN2.CalculateTimeBitNominal=1000
 FDCAN2.CalculateTimeQuantumNominal=200.0
-FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1,AutoRetransmission
+FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1,AutoRetransmission,RxFifo1ElmtsNbr
 FDCAN2.MessageRAMOffset=0x406
 FDCAN2.NominalPrescaler=24
 FDCAN2.NominalTimeSeg1=3
 FDCAN2.RxFifo0ElmtsNbr=32
+FDCAN2.RxFifo1ElmtsNbr=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,AutoRetransmission
+FDCAN3.ExtFiltersNbr=1
+FDCAN3.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1,AutoRetransmission,RxFifo1ElmtsNbr,ExtFiltersNbr
 FDCAN3.MessageRAMOffset=0x812
 FDCAN3.NominalPrescaler=24
 FDCAN3.NominalTimeSeg1=3
 FDCAN3.RxFifo0ElmtsNbr=32
+FDCAN3.RxFifo1ElmtsNbr=32
 FDCAN3.StdFiltersNbr=1
 FDCAN3.TxFifoQueueElmtsNbr=32
 FREERTOS.IPParameters=Tasks01,configTOTAL_HEAP_SIZE

MDK-ARM/CtrBoard-H7_ALL.uvoptx

@@ -165,11 +165,6 @@
           <WinNumber>1</WinNumber>
           <ItemText>shoot</ItemText>
         </Ww>
-        <Ww>
-          <count>2</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>dr16</ItemText>
-        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -925,7 +920,7 @@
 
   <Group>
     <GroupName>User/bsp</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

User/bsp/fdcan.c

@@ -27,13 +27,13 @@
   #define FDCAN2_FILTER_CONFIG_TABLE(X) \
     X(0,       FDCAN_STANDARD_ID,   FDCAN_FILTER_MASK,   0x000     ,   0x000     ,   0) \
     X(1,       FDCAN_EXTENDED_ID,   FDCAN_FILTER_MASK,   0x00000000,   0x00000000,   0) 
-    #define FDCAN2_GLOBAL_FILTER FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */
+    #define FDCAN2_GLOBAL_FILTER FDCAN_REJECT, FDCAN_ACCEPT_IN_RX_FIFO1, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */
 #endif
 #ifdef FDCAN3_EN
   #define FDCAN3_FILTER_CONFIG_TABLE(X) \
     X(0,       FDCAN_STANDARD_ID,   FDCAN_FILTER_MASK,   0x000     ,   0x000     ,   0) \
     X(1,       FDCAN_EXTENDED_ID,   FDCAN_FILTER_MASK,   0x00000000,   0x00000000,   0) 
-  #define FDCAN3_GLOBAL_FILTER FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */
+  #define FDCAN3_GLOBAL_FILTER FDCAN_REJECT, FDCAN_ACCEPT_IN_RX_FIFO1, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */
 #endif
 
 /* ====宏展开实现==== */

User/module/balance_chassis.c

@@ -207,7 +207,7 @@ int8_t Chassis_Init(Chassis_t *c, Chassis_Params_t *param, float target_freq) {
                        param->low_pass_cutoff_freq.out);
   LowPassFilter2p_Init(&c->filter.wheel_out[1], target_freq,
                        param->low_pass_cutoff_freq.out);
-
+  Chassis_MotorEnable(c);
   /*初始化机体状态*/
   c->chassis_state.position_x = 0.0f;
   c->chassis_state.velocity_x = 0.0f;
@@ -391,9 +391,19 @@ void Chassis_Output(Chassis_t *c) {
       LowPassFilter2p_Apply(&c->filter.joint_out[2], c->output.joint[2]);
   c->output.joint[3] =
       LowPassFilter2p_Apply(&c->filter.joint_out[3], c->output.joint[3]);
-  float out[4] = {c->output.joint[0], c->output.joint[1], c->output.joint[2],
+  // float out[4] = {c->output.joint[0], c->output.joint[1], c->output.joint[2],
-                  c->output.joint[3]};
+  //                 c->output.joint[3]};
   // Virtual_Chassis_SendJointTorque(&virtual_chassis, out);
+  MOTOR_LZ_MotionParam_t motion_param = {
+    .torque=0.0f,
+    .target_angle=0.0f,
+    .target_velocity=0.0f,
+    .kp=0.0f,
+    .kd=0.0f,
+  };
+  for (int i = 0; i < 4; i++) {
+    MOTOR_LZ_MotionControl(&c->param->joint_param[i],&motion_param);
+  }
   c->output.wheel[0] =
       LowPassFilter2p_Apply(&c->filter.wheel_out[0], c->output.wheel[0]);
   c->output.wheel[1] =

User/module/config.c

@@ -28,14 +28,14 @@ Config_RobotParam_t robot_config = {
                 .can = BSP_CAN_1,
                 .id = 0x201,
                 .module = MOTOR_M3508,
-                .reverse = true,
+                .reverse = false,
                 .gear=false,
             },
             .fric_motor_param[1] = {
                 .can = BSP_CAN_1,
                 .id = 0x202,
                 .module = MOTOR_M3508,
-                .reverse = false,
+                .reverse = true,
                 .gear=false,
             },
             .trig_motor_param = {

User/module/shoot.c

@@ -133,7 +133,7 @@ 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=500.0f;
+    s->target_variable.target_rpm=4000.0f;
 
 	return 0;
 }

User/task/ctrl_chassis.c

@@ -62,8 +62,7 @@ void Task_ctrl_chassis(void *argument) {
  
     Chassis_UpdateFeedback(&chassis);
 
-    Chassis_Control(&chassis, &chassis_cmd);
+    Chassis_Control(&chassis, &chassis_cmd);     
-    
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }

User/task/ctrl_shoot.c

@@ -44,6 +44,7 @@ void Task_ctrl_shoot(void *argument) {
     Shoot_UpdateFeedback(&shoot);
     //  Shoot_Test(&shoot);
     Shoot_Control(&shoot,&shoot_cmd);
+
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }