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修扩展can

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Robofish 2026-01-11 03:49:16 +08:00
parent 22cdb32157
commit 93759801cc
11 changed files with 5806 additions and 5791 deletions
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6
Core/Src/fdcan.c
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@ -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;

7
CtrBoard-H7_ALL.ioc
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@ -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

7
MDK-ARM/CtrBoard-H7_ALL.uvoptx
View File

@ -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>

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

11547
MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex
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File diff suppressed because it is too large Load Diff

4
User/bsp/fdcan.c
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@ -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==== */

16
User/module/balance_chassis.c
View File

@ -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],
c->output.joint[3]};
// float out[4] = {c->output.joint[0], c->output.joint[1], c->output.joint[2],
// 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] =

4
User/module/config.c
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@ -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 = {

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

3
User/task/ctrl_chassis.c
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@ -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 */
}

1
User/task/ctrl_shoot.c
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@ -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 */
}