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This commit is contained in:
Robofish 2025-10-01 17:38:21 +08:00
parent 65571643d6
commit fbeb29513d
12 changed files with 1541 additions and 1504 deletions
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12
.mxproject
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File diff suppressed because one or more lines are too long

2
Core/Inc/stm32f4xx_it.h
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@ -59,6 +59,7 @@ void EXTI3_IRQHandler(void);
void EXTI4_IRQHandler(void);
void DMA1_Stream1_IRQHandler(void);
void DMA1_Stream2_IRQHandler(void);
void CAN1_TX_IRQHandler(void);
void CAN1_RX0_IRQHandler(void);
void CAN1_RX1_IRQHandler(void);
void EXTI9_5_IRQHandler(void);
@ -69,6 +70,7 @@ void TIM7_IRQHandler(void);
void DMA2_Stream1_IRQHandler(void);
void DMA2_Stream2_IRQHandler(void);
void DMA2_Stream3_IRQHandler(void);
void CAN2_TX_IRQHandler(void);
void CAN2_RX0_IRQHandler(void);
void CAN2_RX1_IRQHandler(void);
void OTG_FS_IRQHandler(void);

6
Core/Src/can.c
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@ -122,6 +122,8 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/* CAN1 interrupt Init */
HAL_NVIC_SetPriority(CAN1_TX_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 5, 0);
@ -155,6 +157,8 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* CAN2 interrupt Init */
HAL_NVIC_SetPriority(CAN2_TX_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
@ -186,6 +190,7 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
/* CAN1 interrupt Deinit */
HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
/* USER CODE BEGIN CAN1_MspDeInit 1 */
@ -211,6 +216,7 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6);
/* CAN2 interrupt Deinit */
HAL_NVIC_DisableIRQ(CAN2_TX_IRQn);
HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
/* USER CODE BEGIN CAN2_MspDeInit 1 */

28
Core/Src/stm32f4xx_it.c
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@ -269,6 +269,20 @@ void DMA1_Stream2_IRQHandler(void)
/* USER CODE END DMA1_Stream2_IRQn 1 */
}
/**
* @brief This function handles CAN1 TX interrupts.
*/
void CAN1_TX_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_TX_IRQn 0 */
/* USER CODE END CAN1_TX_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_TX_IRQn 1 */
/* USER CODE END CAN1_TX_IRQn 1 */
}
/**
* @brief This function handles CAN1 RX0 interrupts.
*/
@ -410,6 +424,20 @@ void DMA2_Stream3_IRQHandler(void)
/* USER CODE END DMA2_Stream3_IRQn 1 */
}
/**
* @brief This function handles CAN2 TX interrupts.
*/
void CAN2_TX_IRQHandler(void)
{
/* USER CODE BEGIN CAN2_TX_IRQn 0 */
/* USER CODE END CAN2_TX_IRQn 0 */
HAL_CAN_IRQHandler(&hcan2);
/* USER CODE BEGIN CAN2_TX_IRQn 1 */
/* USER CODE END CAN2_TX_IRQn 1 */
}
/**
* @brief This function handles CAN2 RX0 interrupts.
*/

4
DevC.ioc
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@ -267,8 +267,10 @@ MxDb.Version=DB.6.0.20
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_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.CAN2_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN2_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.DMA1_Stream1_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream7_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
@ -552,7 +554,7 @@ ProjectManager.ProjectName=DevC
ProjectManager.ProjectStructure=
ProjectManager.RegisterCallBack=
ProjectManager.StackSize=0x1000
ProjectManager.TargetToolchain=MDK-ARM V5.32
ProjectManager.TargetToolchain=CMake
ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=

4
Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
View File

@ -1245,8 +1245,8 @@ typedef struct
*/
/* Initialization and de-initialization functions ******************************/
HAL_StatusTypeDef HAL_RCC_DeInit(void);
HAL_StatusTypeDef HAL_RCC_OscConfig(const RCC_OscInitTypeDef *RCC_OscInitStruct);
HAL_StatusTypeDef HAL_RCC_ClockConfig(const RCC_ClkInitTypeDef *RCC_ClkInitStruct, uint32_t FLatency);
HAL_StatusTypeDef HAL_RCC_OscConfig(RCC_OscInitTypeDef *RCC_OscInitStruct);
HAL_StatusTypeDef HAL_RCC_ClockConfig(RCC_ClkInitTypeDef *RCC_ClkInitStruct, uint32_t FLatency);
/**
* @}
*/

4
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c
View File

@ -218,7 +218,7 @@ __weak HAL_StatusTypeDef HAL_RCC_DeInit(void)
* first and then HSE On or HSE Bypass.
* @retval HAL status
*/
__weak HAL_StatusTypeDef HAL_RCC_OscConfig(const RCC_OscInitTypeDef *RCC_OscInitStruct)
__weak HAL_StatusTypeDef HAL_RCC_OscConfig(RCC_OscInitTypeDef *RCC_OscInitStruct)
{
uint32_t tickstart, pll_config;
@ -590,7 +590,7 @@ __weak HAL_StatusTypeDef HAL_RCC_OscConfig(const RCC_OscInitTypeDef *RCC_OscIni
* (for more details refer to section above "Initialization/de-initialization functions")
* @retval None
*/
HAL_StatusTypeDef HAL_RCC_ClockConfig(const RCC_ClkInitTypeDef *RCC_ClkInitStruct, uint32_t FLatency)
HAL_StatusTypeDef HAL_RCC_ClockConfig(RCC_ClkInitTypeDef *RCC_ClkInitStruct, uint32_t FLatency)
{
uint32_t tickstart;

2838
MDK-ARM/DevC.uvoptx
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File diff suppressed because it is too large Load Diff

115
MDK-ARM/DevC.uvprojx
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@ -1,10 +1,7 @@
<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_projx.xsd">
<?xml version="1.0" encoding="UTF-8"?>
<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" noNamespaceSchemaLocation="project_projx.xsd">
<SchemaVersion>2.1</SchemaVersion>
<Header>### uVision Project, (C) Keil Software</Header>
<Targets>
<Target>
<TargetName>DevC</TargetName>
@ -20,28 +17,28 @@
<PackID>Keil.STM32F4xx_DFP.3.0.0</PackID>
<PackURL>https://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000-0x2001BFFF) IRAM2(0x2001C000-0x2001FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4") TZ</Cpu>
<FlashUtilSpec></FlashUtilSpec>
<StartupFile></StartupFile>
<FlashDriverDll></FlashDriverDll>
<FlashUtilSpec />
<StartupFile />
<FlashDriverDll />
<DeviceId>0</DeviceId>
<RegisterFile></RegisterFile>
<MemoryEnv></MemoryEnv>
<Cmp></Cmp>
<Asm></Asm>
<Linker></Linker>
<OHString></OHString>
<InfinionOptionDll></InfinionOptionDll>
<SLE66CMisc></SLE66CMisc>
<SLE66AMisc></SLE66AMisc>
<SLE66LinkerMisc></SLE66LinkerMisc>
<RegisterFile />
<MemoryEnv />
<Cmp />
<Asm />
<Linker />
<OHString />
<InfinionOptionDll />
<SLE66CMisc />
<SLE66AMisc />
<SLE66LinkerMisc />
<SFDFile>$$Device:STM32F407IGHx$CMSIS\SVD\STM32F407.svd</SFDFile>
<bCustSvd>0</bCustSvd>
<UseEnv>0</UseEnv>
<BinPath></BinPath>
<IncludePath></IncludePath>
<LibPath></LibPath>
<RegisterFilePath></RegisterFilePath>
<DBRegisterFilePath></DBRegisterFilePath>
<BinPath />
<IncludePath />
<LibPath />
<RegisterFilePath />
<DBRegisterFilePath />
<TargetStatus>
<Error>0</Error>
<ExitCodeStop>0</ExitCodeStop>
@ -56,15 +53,15 @@
<CreateHexFile>1</CreateHexFile>
<DebugInformation>1</DebugInformation>
<BrowseInformation>1</BrowseInformation>
<ListingPath></ListingPath>
<ListingPath />
<HexFormatSelection>1</HexFormatSelection>
<Merge32K>0</Merge32K>
<CreateBatchFile>0</CreateBatchFile>
<BeforeCompile>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Name />
<UserProg2Name />
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopU1X>0</nStopU1X>
@ -73,8 +70,8 @@
<BeforeMake>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Name />
<UserProg2Name />
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopB1X>0</nStopB1X>
@ -83,15 +80,15 @@
<AfterMake>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>1</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Name />
<UserProg2Name />
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopA1X>0</nStopA1X>
<nStopA2X>0</nStopA2X>
</AfterMake>
<SelectedForBatchBuild>1</SelectedForBatchBuild>
<SVCSIdString></SVCSIdString>
<SVCSIdString />
</TargetCommonOption>
<CommonProperty>
<UseCPPCompiler>0</UseCPPCompiler>
@ -105,8 +102,8 @@
<AssembleAssemblyFile>0</AssembleAssemblyFile>
<PublicsOnly>0</PublicsOnly>
<StopOnExitCode>3</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<CustomArgument />
<IncludeLibraryModules />
<ComprImg>0</ComprImg>
</CommonProperty>
<DllOption>
@ -140,10 +137,10 @@
<bUseTDR>1</bUseTDR>
<Flash2>BIN\UL2CM3.DLL</Flash2>
<Flash3>"" ()</Flash3>
<Flash4></Flash4>
<pFcarmOut></pFcarmOut>
<pFcarmGrp></pFcarmGrp>
<pFcArmRoot></pFcArmRoot>
<Flash4 />
<pFcarmOut />
<pFcarmGrp />
<pFcArmRoot />
<FcArmLst>0</FcArmLst>
</Utilities>
<TargetArmAds>
@ -176,7 +173,7 @@
<RvctClst>0</RvctClst>
<GenPPlst>0</GenPPlst>
<AdsCpuType>"Cortex-M4"</AdsCpuType>
<RvctDeviceName></RvctDeviceName>
<RvctDeviceName />
<mOS>0</mOS>
<uocRom>0</uocRom>
<uocRam>0</uocRam>
@ -310,7 +307,7 @@
<Size>0x4000</Size>
</OCR_RVCT10>
</OnChipMemories>
<RvctStartVector></RvctStartVector>
<RvctStartVector />
</ArmAdsMisc>
<Cads>
<interw>1</interw>
@ -337,9 +334,9 @@
<v6WtE>0</v6WtE>
<v6Rtti>0</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<MiscControls />
<Define>USE_HAL_DRIVER,STM32F407xx</Define>
<Undefine></Undefine>
<Undefine />
<IncludePath>../Core/Inc;../USB_DEVICE/App;../USB_DEVICE/Target;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_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;../Middlewares/ST/STM32_USB_Device_Library/Core/Inc;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../User</IncludePath>
</VariousControls>
</Cads>
@ -355,9 +352,9 @@
<useXO>0</useXO>
<ClangAsOpt>1</ClangAsOpt>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<MiscControls />
<Define />
<Undefine />
<IncludePath>../Core/Inc;../USB_DEVICE/App;../USB_DEVICE/Target;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_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;../Middlewares/ST/STM32_USB_Device_Library/Core/Inc;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include</IncludePath>
</VariousControls>
</Aads>
@ -368,15 +365,15 @@
<noStLib>0</noStLib>
<RepFail>1</RepFail>
<useFile>0</useFile>
<TextAddressRange></TextAddressRange>
<DataAddressRange></DataAddressRange>
<pXoBase></pXoBase>
<ScatterFile></ScatterFile>
<IncludeLibs></IncludeLibs>
<IncludeLibsPath></IncludeLibsPath>
<Misc></Misc>
<LinkerInputFile></LinkerInputFile>
<DisabledWarnings></DisabledWarnings>
<TextAddressRange />
<DataAddressRange />
<pXoBase />
<ScatterFile />
<IncludeLibs />
<IncludeLibsPath />
<Misc />
<LinkerInputFile />
<DisabledWarnings />
</LDads>
</TargetArmAds>
</TargetOption>
@ -922,20 +919,18 @@
</Groups>
</Target>
</Targets>
<RTE>
<apis/>
<apis />
<components>
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="6.1.0" condition="ARMv6_7_8-M Device">
<package name="CMSIS" schemaVersion="1.7.36" url="https://www.keil.com/pack/" vendor="ARM" version="6.1.0"/>
<package name="CMSIS" schemaVersion="1.7.36" url="https://www.keil.com/pack/" vendor="ARM" version="6.1.0" />
<targetInfos>
<targetInfo name="DevC"/>
<targetInfo name="DevC" />
</targetInfos>
</component>
</components>
<files/>
<files />
</RTE>
<LayerInfo>
<Layers>
<Layer>
@ -944,5 +939,5 @@
</Layer>
</Layers>
</LayerInfo>
</Project>

4
User/module/config.c
View File

@ -141,8 +141,8 @@ Config_RobotParam_t robot_config = {
.gyro = 1000.0f,
},
.pit_motor ={
.can = BSP_CAN_2,
.id = 0x209,
.can = BSP_CAN_1,
.id = 0x206,
.gear = false,
.module = MOTOR_GM6020,
.reverse = true,

27
User/module/gimbal.c
View File

@ -6,6 +6,7 @@
#include "gimbal.h"
#include "bsp/can.h"
#include "bsp/time.h"
#include <math.h>
#include "component/filter.h"
#include "component/pid.h"
#include "device/motor_dm.h"
@ -208,24 +209,26 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
break;
case GIMBAL_MODE_ABSOLUTE:
yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
g->feedback.imu.eulr.yaw, 0.0f, g->dt);
g->out.yaw = PID_Calc(&(g->pid.pit_omega), yaw_omega_set_point,
g->feedback.imu.gyro.z, 0.f, g->dt);
// yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
// g->feedback.imu.eulr.yaw, 0.0f, g->dt);
// g->out.yaw = PID_Calc(&(g->pid.pit_omega), yaw_omega_set_point,
// g->feedback.imu.gyro.z, 0.f, g->dt);
pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
g->feedback.imu.eulr.rol, 0.0f, g->dt);
g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
g->feedback.imu.gyro.y, 0.f, g->dt);
// pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
// g->feedback.imu.eulr.rol, 0.0f, g->dt);
// g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
// g->feedback.imu.gyro.y, 0.f, g->dt);
// yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
// g->feedback.motor.yaw.rotor_abs_angle, 0.0f, g->dt);
// g->out.yaw = PID_Calc(&(g->pid.pit_omega), yaw_omega_set_point,
// g->feedback.imu.gyro.z, 0.f, g->dt);
// pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
// g->feedback.motor.pit.rotor_abs_angle, 0.0f, g->dt);
// g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
// g->feedback.imu.gyro.y, 0.f, g->dt);
pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
g->feedback.motor.pit.rotor_abs_angle, 0.0f, g->dt);
g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
g->feedback.imu.gyro.y, 0.f, g->dt);
// g->out.pit = sinf(g->lask_wakeup/300000.0f);
break;
/* 输出滤波 */

1
User/module/shoot.c
View File

@ -161,6 +161,7 @@ int8_t Shoot_Control(Shoot_t *c, const Shoot_CMD_t *cmd)
}
}
MOTOR_RM_Ctrl(&c->param->fric_motor_param[0]);
// BSP_TIME_Delay_us(200);
MOTOR_RM_Ctrl(&c->param->trig_motor_param);
return 0;