From fbeb29513d271eb256500d80894304ebd6872d3e Mon Sep 17 00:00:00 2001 From: Robofish <1683502971@qq.com> Date: Wed, 1 Oct 2025 17:38:21 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E4=BA=91=E5=8F=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .mxproject | 12 +- Core/Inc/stm32f4xx_it.h | 2 + Core/Src/can.c | 6 + Core/Src/stm32f4xx_it.c | 28 + DevC.ioc | 4 +- .../Inc/stm32f4xx_hal_rcc.h | 4 +- .../Src/stm32f4xx_hal_rcc.c | 4 +- MDK-ARM/DevC.uvoptx | 2838 ++++++++--------- MDK-ARM/DevC.uvprojx | 115 +- User/module/config.c | 4 +- User/module/gimbal.c | 27 +- User/module/shoot.c | 1 + 12 files changed, 1541 insertions(+), 1504 deletions(-) diff --git a/.mxproject b/.mxproject index 74bfc3f..822d0b2 100644 --- a/.mxproject +++ b/.mxproject @@ -1,11 +1,16 @@ [PreviousLibFiles] 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[PreviousUsedCMakes] 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ewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Core/Src/system_stm32f4xx.c;;;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c; HeaderPath=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/GCC/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;Core/Inc;USB_DEVICE/App;USB_DEVICE/Target; CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; +[PreviousUsedKeilFiles] +SourceFiles=../Core/Src/main.c;../Core/Src/gpio.c;../Core/Src/freertos.c;../Core/Src/adc.c;../Core/Src/can.c;../Core/Src/crc.c;../Core/Src/dma.c;../Core/Src/i2c.c;../Core/Src/rng.c;../Core/Src/spi.c;../Core/Src/tim.c;../Core/Src/usart.c;../USB_DEVICE/App/usb_device.c;../USB_DEVICE/Target/usbd_conf.c;../USB_DEVICE/App/usbd_desc.c;../USB_DEVICE/App/usbd_cdc_if.c;../Core/Src/stm32f4xx_it.c;../Core/Src/stm32f4xx_hal_msp.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rng.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Middlewares/Third_Party/FreeRTOS/Source/croutine.c;../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;../Middlewares/Third_Party/FreeRTOS/Source/list.c;../Middlewares/Third_Party/FreeRTOS/Source/queue.c;../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;../Middlewares/Third_Party/FreeRTOS/Source/tasks.c;../Middlewares/Third_Party/FreeRTOS/Source/timers.c;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c;../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;../Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;../Core/Src/system_stm32f4xx.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rng.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Middlewares/Third_Party/FreeRTOS/Source/croutine.c;../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;../Middlewares/Third_Party/FreeRTOS/Source/list.c;../Middlewares/Third_Party/FreeRTOS/Source/queue.c;../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;../Middlewares/Third_Party/FreeRTOS/Source/tasks.c;../Middlewares/Third_Party/FreeRTOS/Source/timers.c;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c;../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;../Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;../Core/Src/system_stm32f4xx.c;;;../Middlewares/Third_Party/FreeRTOS/Source/croutine.c;../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;../Middlewares/Third_Party/FreeRTOS/Source/list.c;../Middlewares/Third_Party/FreeRTOS/Source/queue.c;../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;../Middlewares/Third_Party/FreeRTOS/Source/tasks.c;../Middlewares/Third_Party/FreeRTOS/Source/timers.c;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c;../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c; +HeaderPath=../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;../Core/Inc;../USB_DEVICE/App;../USB_DEVICE/Target; +CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; + [PreviousGenFiles] AdvancedFolderStructure=true HeaderFileListSize=18 @@ -57,8 +62,3 @@ SourcePath#1=../USB_DEVICE/App SourcePath#2=../USB_DEVICE/Target SourceFiles=; -[PreviousUsedKeilFiles] -SourceFiles=../Core/Src/main.c;../Core/Src/gpio.c;../Core/Src/freertos.c;../Core/Src/adc.c;../Core/Src/can.c;../Core/Src/crc.c;../Core/Src/dma.c;../Core/Src/i2c.c;../Core/Src/rng.c;../Core/Src/spi.c;../Core/Src/tim.c;../Core/Src/usart.c;../USB_DEVICE/App/usb_device.c;../USB_DEVICE/Target/usbd_conf.c;../USB_DEVICE/App/usbd_desc.c;../USB_DEVICE/App/usbd_cdc_if.c;../Core/Src/stm32f4xx_it.c;../Core/Src/stm32f4xx_hal_msp.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rng.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Middlewares/Third_Party/FreeRTOS/Source/croutine.c;../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;../Middlewares/Third_Party/FreeRTOS/Source/list.c;../Middlewares/Third_Party/FreeRTOS/Source/queue.c;../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;../Middlewares/Third_Party/FreeRTOS/Source/tasks.c;../Middlewares/Third_Party/FreeRTOS/Source/timers.c;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c;../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;../Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;../Core/Src/system_stm32f4xx.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rng.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Middlewares/Third_Party/FreeRTOS/Source/croutine.c;../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;../Middlewares/Third_Party/FreeRTOS/Source/list.c;../Middlewares/Third_Party/FreeRTOS/Source/queue.c;../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;../Middlewares/Third_Party/FreeRTOS/Source/tasks.c;../Middlewares/Third_Party/FreeRTOS/Source/timers.c;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c;../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;../Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;../Core/Src/system_stm32f4xx.c;;;../Middlewares/Third_Party/FreeRTOS/Source/croutine.c;../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;../Middlewares/Third_Party/FreeRTOS/Source/list.c;../Middlewares/Third_Party/FreeRTOS/Source/queue.c;../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;../Middlewares/Third_Party/FreeRTOS/Source/tasks.c;../Middlewares/Third_Party/FreeRTOS/Source/timers.c;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c;../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c; -HeaderPath=../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;../Core/Inc;../USB_DEVICE/App;../USB_DEVICE/Target; -CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; - diff --git a/Core/Inc/stm32f4xx_it.h b/Core/Inc/stm32f4xx_it.h index 6a88099..60a3264 100644 --- a/Core/Inc/stm32f4xx_it.h +++ b/Core/Inc/stm32f4xx_it.h @@ -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); diff --git a/Core/Src/can.c b/Core/Src/can.c index 38f13d2..81ec2ed 100644 --- a/Core/Src/can.c +++ b/Core/Src/can.c @@ -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 */ diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c index 200488b..65d3b51 100644 --- a/Core/Src/stm32f4xx_it.c +++ b/Core/Src/stm32f4xx_it.c @@ -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. */ diff --git a/DevC.ioc b/DevC.ioc index 94215c8..8933d34 100644 --- a/DevC.ioc +++ b/DevC.ioc @@ -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= diff --git a/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h b/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h index 0faf69d..0dba2cf 100644 --- a/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h +++ b/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h @@ -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); /** * @} */ diff --git a/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c b/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c index 98c38ca..4cf59ef 100644 --- a/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c +++ b/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c @@ -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; diff --git a/MDK-ARM/DevC.uvoptx b/MDK-ARM/DevC.uvoptx index 9675a0b..1676b92 100644 --- a/MDK-ARM/DevC.uvoptx +++ b/MDK-ARM/DevC.uvoptx @@ -1,1419 +1,1419 @@ - - - - 1.0 - -
### uVision Project, (C) Keil Software
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### uVision Project, (C) Keil Software
+ + + *.c + *.s*; *.src; *.a* + *.obj; *.o + *.lib + *.txt; *.h; *.inc; *.md + *.plm + *.cpp; *.cc; *.cxx + 0 + + + + 0 + 0 + + + + DevC + 0x4 + ARM-ADS + + 12000000 + + 1 + 1 + 0 + 1 + 0 + + + 1 + 65535 + 0 + 0 + 0 + + + 79 + 66 + 8 + + + + 1 + 1 + 1 + 0 + 1 + 1 + 0 + 1 + 0 + 0 + 0 + 0 + + + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + + + 0 + 0 + 1 + + 18 + + 0 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 1 + 1 + 1 + 1 + 0 + 0 + 1 + 0 + 0 + 3 + + + + + + + + + + + BIN\CMSIS_AGDI.dll + + + + 0 + UL2CM3 + UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)) + + + + + 0 + + + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + 0 + 0 + 0 + + + + + + + + + + 1 + 1 + 0 + 2 + 10000000 + + + + + + Application/MDK-ARM + 0 + 0 + 0 + 0 + + 1 + 1 + 2 + 0 + 0 + 0 + startup_stm32f407xx.s + startup_stm32f407xx.s + 0 + 0 + + + + + Application/User/Core + 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../Core/Src/system_stm32f4xx.c + system_stm32f4xx.c + 0 + 0 + + + + + Middlewares/FreeRTOS + 0 + 0 + 0 + 0 + + 7 + 49 + 1 + 0 + 0 + 0 + ../Middlewares/Third_Party/FreeRTOS/Source/croutine.c + croutine.c + 0 + 0 + + + 7 + 50 + 1 + 0 + 0 + 0 + ../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c + event_groups.c + 0 + 0 + + + 7 + 51 + 1 + 0 + 0 + 0 + ../Middlewares/Third_Party/FreeRTOS/Source/list.c + list.c + 0 + 0 + + + 7 + 52 + 1 + 0 + 0 + 0 + ../Middlewares/Third_Party/FreeRTOS/Source/queue.c + queue.c + 0 + 0 + + + 7 + 53 + 1 + 0 + 0 + 0 + ../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c + stream_buffer.c + 0 + 0 + + + 7 + 54 + 1 + 0 + 0 + 0 + ../Middlewares/Third_Party/FreeRTOS/Source/tasks.c + tasks.c + 0 + 0 + + + 7 + 55 + 1 + 0 + 0 + 0 + ../Middlewares/Third_Party/FreeRTOS/Source/timers.c + timers.c + 0 + 0 + + + 7 + 56 + 1 + 0 + 0 + 0 + ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c + cmsis_os2.c + 0 + 0 + + + 7 + 57 + 1 + 0 + 0 + 0 + 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..\User\bsp\pwm.c + pwm.c + 0 + 0 + + + 9 + 67 + 1 + 0 + 0 + 0 + ..\User\bsp\spi.c + spi.c + 0 + 0 + + + 9 + 68 + 1 + 0 + 0 + 0 + ..\User\bsp\time.c + time.c + 0 + 0 + + + 9 + 69 + 1 + 0 + 0 + 0 + ..\User\bsp\uart.c + uart.c + 0 + 0 + + + + + User/component + 0 + 0 + 0 + 0 + + 10 + 70 + 1 + 0 + 0 + 0 + ..\User\component\ahrs.c + ahrs.c + 0 + 0 + + + 10 + 71 + 1 + 0 + 0 + 0 + ..\User\component\crc8.c + crc8.c + 0 + 0 + + + 10 + 72 + 1 + 0 + 0 + 0 + ..\User\component\crc16.c + crc16.c + 0 + 0 + + + 10 + 73 + 1 + 0 + 0 + 0 + ..\User\component\filter.c + filter.c + 0 + 0 + + + 10 + 74 + 1 + 0 + 0 + 0 + ..\User\component\limiter.c + limiter.c + 0 + 0 + + + 10 + 75 + 1 + 0 + 0 + 0 + ..\User\component\pid.c + pid.c + 0 + 0 + + + 10 + 76 + 1 + 0 + 0 + 0 + ..\User\component\user_math.c + user_math.c + 0 + 0 + + + + + User/device + 0 + 0 + 0 + 0 + + 11 + 77 + 1 + 0 + 0 + 0 + ..\User\device\bmi088.c + bmi088.c + 0 + 0 + + + 11 + 78 + 1 + 0 + 0 + 0 + ..\User\device\buzzer.c + buzzer.c + 0 + 0 + + + 11 + 79 + 1 + 0 + 0 + 0 + ..\User\device\dr16.c + dr16.c + 0 + 0 + + + 11 + 80 + 1 + 0 + 0 + 0 + ..\User\device\motor.c + motor.c + 0 + 0 + + + 11 + 81 + 1 + 0 + 0 + 0 + ..\User\device\motor_rm.c + motor_rm.c + 0 + 0 + + + 11 + 82 + 1 + 0 + 0 + 0 + ..\User\device\rc_can.c + rc_can.c + 0 + 0 + + + + + User/module + 0 + 0 + 0 + 0 + + 12 + 83 + 1 + 0 + 0 + 0 + ..\User\module\config.c + config.c + 0 + 0 + + + 12 + 84 + 1 + 0 + 0 + 0 + ..\User\module\gimbal.c + gimbal.c + 0 + 0 + + + 12 + 85 + 1 + 0 + 0 + 0 + ..\User\module\shoot.c + shoot.c + 0 + 0 + + + + + User/task + 0 + 0 + 0 + 0 + + 13 + 86 + 1 + 0 + 0 + 0 + ..\User\task\ai.c + ai.c + 0 + 0 + + + 13 + 87 + 1 + 0 + 0 + 0 + ..\User\task\atti_esti.c + atti_esti.c + 0 + 0 + + + 13 + 88 + 1 + 0 + 0 + 0 + ..\User\task\ctrl_gimbal.c + ctrl_gimbal.c + 0 + 0 + + + 13 + 89 + 1 + 0 + 0 + 0 + ..\User\task\ctrl_shoot.c + ctrl_shoot.c + 0 + 0 + + + 13 + 90 + 1 + 0 + 0 + 0 + ..\User\task\init.c + init.c + 0 + 0 + + + 13 + 91 + 1 + 0 + 0 + 0 + ..\User\task\monitor.c + monitor.c + 0 + 0 + + + 13 + 92 + 1 + 0 + 0 + 0 + ..\User\task\rc.c + rc.c + 0 + 0 + + + 13 + 93 + 1 + 0 + 0 + 0 + ..\User\task\user_task.c + user_task.c + 0 + 0 + + + 13 + 94 + 5 + 0 + 0 + 0 + ..\User\task\user_task.h + user_task.h + 0 + 0 + + + + + ::CMSIS + 0 + 0 + 0 + 1 + + + diff --git a/MDK-ARM/DevC.uvprojx b/MDK-ARM/DevC.uvprojx index 778995d..00ce771 100644 --- a/MDK-ARM/DevC.uvprojx +++ b/MDK-ARM/DevC.uvprojx @@ -1,10 +1,7 @@ - - - + + 2.1 -
### uVision Project, (C) Keil Software
- DevC @@ -20,28 +17,28 @@ Keil.STM32F4xx_DFP.3.0.0 https://www.keil.com/pack/ IRAM(0x20000000-0x2001BFFF) IRAM2(0x2001C000-0x2001FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4") TZ - - - + + + 0 - - - - - - - - - - + + + + + + + + + + $$Device:STM32F407IGHx$CMSIS\SVD\STM32F407.svd 0 0 - - - - - + + + + + 0 0 @@ -56,15 +53,15 @@ 1 1 1 - + 1 0 0 0 0 - - + + 0 0 0 @@ -73,8 +70,8 @@ 0 0 - - + + 0 0 0 @@ -83,15 +80,15 @@ 0 1 - - + + 0 0 0 0 1 - + 0 @@ -105,8 +102,8 @@ 0 0 3 - - + + 0 @@ -140,10 +137,10 @@ 1 BIN\UL2CM3.DLL "" () - - - - + + + + 0 @@ -176,7 +173,7 @@ 0 0 "Cortex-M4" - + 0 0 0 @@ -310,7 +307,7 @@ 0x4000 - + 1 @@ -337,9 +334,9 @@ 0 0 - + USE_HAL_DRIVER,STM32F407xx - + ../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 @@ -355,9 +352,9 @@ 0 1 - - - + + + ../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 @@ -368,15 +365,15 @@ 0 1 0 - - - - - - - - - + + + + + + + + + @@ -922,20 +919,18 @@ - - + - + - + - + - @@ -944,5 +939,5 @@ - + diff --git a/User/module/config.c b/User/module/config.c index d76d808..ec473ae 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -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, diff --git a/User/module/gimbal.c b/User/module/gimbal.c index 548b694..f96c444 100644 --- a/User/module/gimbal.c +++ b/User/module/gimbal.c @@ -6,6 +6,7 @@ #include "gimbal.h" #include "bsp/can.h" #include "bsp/time.h" +#include #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 */ diff --git a/User/module/shoot.c b/User/module/shoot.c index 8cee167..d152e4a 100644 --- a/User/module/shoot.c +++ b/User/module/shoot.c @@ -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;