From ff2a3c5862e703f3e5c613370d0da04eff5e4844 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Sat, 4 Oct 2025 17:38:10 +0800
Subject: [PATCH] =?UTF-8?q?=E9=87=8D=E6=9E=84=E8=BD=AC=E5=8F=91=E7=94=A8?=
=?UTF-8?q?=E7=9A=84=E5=BA=95=E5=B1=82?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
.mxproject | 10 +-
CMakeLists.txt | 4 +-
Core/Src/can.c | 4 +-
Core/Src/freertos.c | 318 +++++++++++++++++++++---------------------
DevC.ioc | 6 +-
User/device/dm_imu.c | 3 +-
User/module/config.c | 74 ++++++++++
User/module/config.h | 31 ++++
User/task/Task4.c | 44 ------
User/task/config.yaml | 7 -
User/task/ctrl_lz.c | 90 +++++++++++-
User/task/imu.c | 48 ++++++-
User/task/init.c | 1 -
User/task/user_task.c | 5 -
User/task/user_task.h | 8 --
15 files changed, 412 insertions(+), 241 deletions(-)
create mode 100644 User/module/config.c
create mode 100644 User/module/config.h
delete mode 100644 User/task/Task4.c
diff --git a/.mxproject b/.mxproject
index 9bdbf0a..c21a5d3 100644
--- a/.mxproject
+++ b/.mxproject
@@ -6,6 +6,11 @@ SourceFiles=../Core/Src/main.c;../Core/Src/gpio.c;../Core/Src/freertos.c;../Core
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;
+[PreviousUsedCMakes]
+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/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;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/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;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;
+
[PreviousGenFiles]
AdvancedFolderStructure=true
HeaderFileListSize=18
@@ -57,8 +62,3 @@ SourcePath#1=../USB_DEVICE/App
SourcePath#2=../USB_DEVICE/Target
SourceFiles=;
-[PreviousUsedCMakes]
-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/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;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/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;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;
-
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b42e837..c171d6d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -60,8 +60,10 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
User/device/motor_lk.c
User/device/motor_lz.c
+ # User/module sources
+ User/module/config.c
+
# User/task sources
- User/task/Task4.c
User/task/blink.c
User/task/ctrl_lz.c
User/task/imu.c
diff --git a/Core/Src/can.c b/Core/Src/can.c
index 81ec2ed..9f4e0cf 100644
--- a/Core/Src/can.c
+++ b/Core/Src/can.c
@@ -47,7 +47,7 @@ void MX_CAN1_Init(void)
hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.AutoBusOff = DISABLE;
hcan1.Init.AutoWakeUp = DISABLE;
- hcan1.Init.AutoRetransmission = DISABLE;
+ hcan1.Init.AutoRetransmission = ENABLE;
hcan1.Init.ReceiveFifoLocked = DISABLE;
hcan1.Init.TransmitFifoPriority = ENABLE;
if (HAL_CAN_Init(&hcan1) != HAL_OK)
@@ -79,7 +79,7 @@ void MX_CAN2_Init(void)
hcan2.Init.TimeTriggeredMode = DISABLE;
hcan2.Init.AutoBusOff = DISABLE;
hcan2.Init.AutoWakeUp = DISABLE;
- hcan2.Init.AutoRetransmission = DISABLE;
+ hcan2.Init.AutoRetransmission = ENABLE;
hcan2.Init.ReceiveFifoLocked = DISABLE;
hcan2.Init.TransmitFifoPriority = ENABLE;
if (HAL_CAN_Init(&hcan2) != HAL_OK)
diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index 3880224..6938617 100644
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -1,159 +1,159 @@
-/* USER CODE BEGIN Header */
-/**
- ******************************************************************************
- * File Name : freertos.c
- * Description : Code for freertos applications
- ******************************************************************************
- * @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 "FreeRTOS.h"
-#include "task.h"
-#include "main.h"
-#include "cmsis_os.h"
-
-/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
-
-#include "task/user_task.h"
-/* USER CODE END Includes */
-
-/* Private typedef -----------------------------------------------------------*/
-/* USER CODE BEGIN PTD */
-
-/* USER CODE END PTD */
-
-/* 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 Variables */
-
-/* USER CODE END Variables */
-/* Definitions for defaultTask */
-osThreadId_t defaultTaskHandle;
-const osThreadAttr_t defaultTask_attributes = {
- .name = "defaultTask",
- .stack_size = 128 * 4,
- .priority = (osPriority_t) osPriorityNormal,
-};
-
-/* Private function prototypes -----------------------------------------------*/
-/* USER CODE BEGIN FunctionPrototypes */
-
-/* USER CODE END FunctionPrototypes */
-
-void StartDefaultTask(void *argument);
-
-extern void MX_USB_DEVICE_Init(void);
-void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
-
-/* Hook prototypes */
-void configureTimerForRunTimeStats(void);
-unsigned long getRunTimeCounterValue(void);
-void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName);
-
-/* USER CODE BEGIN 1 */
-/* Functions needed when configGENERATE_RUN_TIME_STATS is on */
-__weak void configureTimerForRunTimeStats(void)
-{
-
-}
-
-__weak unsigned long getRunTimeCounterValue(void)
-{
-return 0;
-}
-/* USER CODE END 1 */
-
-/* USER CODE BEGIN 4 */
-void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName)
-{
- /* Run time stack overflow checking is performed if
- configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
- called if a stack overflow is detected. */
-}
-/* USER CODE END 4 */
-
-/**
- * @brief FreeRTOS initialization
- * @param None
- * @retval None
- */
-void MX_FREERTOS_Init(void) {
- /* USER CODE BEGIN Init */
-
- /* USER CODE END Init */
-
- /* USER CODE BEGIN RTOS_MUTEX */
- /* add mutexes, ... */
- /* USER CODE END RTOS_MUTEX */
-
- /* USER CODE BEGIN RTOS_SEMAPHORES */
- /* add semaphores, ... */
- /* USER CODE END RTOS_SEMAPHORES */
-
- /* USER CODE BEGIN RTOS_TIMERS */
- /* start timers, add new ones, ... */
- /* USER CODE END RTOS_TIMERS */
-
- /* USER CODE BEGIN RTOS_QUEUES */
- /* add queues, ... */
- /* USER CODE END RTOS_QUEUES */
-
- /* Create the thread(s) */
- /* creation of defaultTask */
- defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
-
- /* USER CODE BEGIN RTOS_THREADS */
- /* add threads, ... */
- osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务
-/* USER CODE END RTOS_THREADS */
-
- /* USER CODE BEGIN RTOS_EVENTS */
- /* add events, ... */
- /* USER CODE END RTOS_EVENTS */
-
-}
-
-/* USER CODE BEGIN Header_StartDefaultTask */
-/**
- * @brief Function implementing the defaultTask thread.
- * @param argument: Not used
- * @retval None
- */
-/* USER CODE END Header_StartDefaultTask */
-void StartDefaultTask(void *argument)
-{
- /* init code for USB_DEVICE */
- MX_USB_DEVICE_Init();
- /* USER CODE BEGIN StartDefaultTask */
- osThreadTerminate(osThreadGetId());
-/* USER CODE END StartDefaultTask */
-}
-
-/* Private application code --------------------------------------------------*/
-/* USER CODE BEGIN Application */
-
-/* USER CODE END Application */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * File Name : freertos.c
+ * Description : Code for freertos applications
+ ******************************************************************************
+ * @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 "FreeRTOS.h"
+#include "task.h"
+#include "main.h"
+#include "cmsis_os.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+
+#include "task/user_task.h"
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+/* USER CODE END PTD */
+
+/* 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 Variables */
+
+/* USER CODE END Variables */
+/* Definitions for defaultTask */
+osThreadId_t defaultTaskHandle;
+const osThreadAttr_t defaultTask_attributes = {
+ .name = "defaultTask",
+ .stack_size = 128 * 4,
+ .priority = (osPriority_t) osPriorityNormal,
+};
+
+/* Private function prototypes -----------------------------------------------*/
+/* USER CODE BEGIN FunctionPrototypes */
+
+/* USER CODE END FunctionPrototypes */
+
+void StartDefaultTask(void *argument);
+
+extern void MX_USB_DEVICE_Init(void);
+void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
+
+/* Hook prototypes */
+void configureTimerForRunTimeStats(void);
+unsigned long getRunTimeCounterValue(void);
+void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName);
+
+/* USER CODE BEGIN 1 */
+/* Functions needed when configGENERATE_RUN_TIME_STATS is on */
+__weak void configureTimerForRunTimeStats(void)
+{
+
+}
+
+__weak unsigned long getRunTimeCounterValue(void)
+{
+return 0;
+}
+/* USER CODE END 1 */
+
+/* USER CODE BEGIN 4 */
+void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName)
+{
+ /* Run time stack overflow checking is performed if
+ configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
+ called if a stack overflow is detected. */
+}
+/* USER CODE END 4 */
+
+/**
+ * @brief FreeRTOS initialization
+ * @param None
+ * @retval None
+ */
+void MX_FREERTOS_Init(void) {
+ /* USER CODE BEGIN Init */
+
+ /* USER CODE END Init */
+
+ /* USER CODE BEGIN RTOS_MUTEX */
+ /* add mutexes, ... */
+ /* USER CODE END RTOS_MUTEX */
+
+ /* USER CODE BEGIN RTOS_SEMAPHORES */
+ /* add semaphores, ... */
+ /* USER CODE END RTOS_SEMAPHORES */
+
+ /* USER CODE BEGIN RTOS_TIMERS */
+ /* start timers, add new ones, ... */
+ /* USER CODE END RTOS_TIMERS */
+
+ /* USER CODE BEGIN RTOS_QUEUES */
+ /* add queues, ... */
+ /* USER CODE END RTOS_QUEUES */
+
+ /* Create the thread(s) */
+ /* creation of defaultTask */
+ defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
+
+ /* USER CODE BEGIN RTOS_THREADS */
+ /* add threads, ... */
+ osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务
+ /* USER CODE END RTOS_THREADS */
+
+ /* USER CODE BEGIN RTOS_EVENTS */
+ /* add events, ... */
+ /* USER CODE END RTOS_EVENTS */
+
+}
+
+/* USER CODE BEGIN Header_StartDefaultTask */
+/**
+ * @brief Function implementing the defaultTask thread.
+ * @param argument: Not used
+ * @retval None
+ */
+/* USER CODE END Header_StartDefaultTask */
+void StartDefaultTask(void *argument)
+{
+ /* init code for USB_DEVICE */
+ MX_USB_DEVICE_Init();
+ /* USER CODE BEGIN StartDefaultTask */
+ osThreadTerminate(osThreadGetId());
+ /* USER CODE END StartDefaultTask */
+}
+
+/* Private application code --------------------------------------------------*/
+/* USER CODE BEGIN Application */
+
+/* USER CODE END Application */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/DevC.ioc b/DevC.ioc
index 7e7f2b1..503de29 100644
--- a/DevC.ioc
+++ b/DevC.ioc
@@ -21,7 +21,8 @@ CAN1.BS2=CAN_BS2_7TQ
CAN1.CalculateBaudRate=1000000
CAN1.CalculateTimeBit=1000
CAN1.CalculateTimeQuantum=71.42857142857143
-CAN1.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,TXFP,ABOM,CalculateTimeBit,CalculateBaudRate
+CAN1.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,TXFP,ABOM,CalculateTimeBit,CalculateBaudRate,NART
+CAN1.NART=ENABLE
CAN1.Prescaler=3
CAN1.TXFP=ENABLE
CAN2.BS1=CAN_BS1_6TQ
@@ -29,7 +30,8 @@ CAN2.BS2=CAN_BS2_7TQ
CAN2.CalculateBaudRate=1000000
CAN2.CalculateTimeBit=1000
CAN2.CalculateTimeQuantum=71.42857142857143
-CAN2.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,TXFP,CalculateTimeBit,CalculateBaudRate
+CAN2.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,TXFP,CalculateTimeBit,CalculateBaudRate,NART
+CAN2.NART=ENABLE
CAN2.Prescaler=3
CAN2.TXFP=ENABLE
Dma.I2C2_TX.2.Direction=DMA_MEMORY_TO_PERIPH
diff --git a/User/device/dm_imu.c b/User/device/dm_imu.c
index 18b05e5..064abdf 100644
--- a/User/device/dm_imu.c
+++ b/User/device/dm_imu.c
@@ -252,8 +252,9 @@ int8_t DM_IMU_AutoUpdateAll(DM_IMU_t *imu){
count++;
if (count >= 4) {
count = 0; // 重置计数器
+ return DEVICE_OK;
}
- return DEVICE_OK;
+ return DEVICE_ERR; // 未完成一轮更新
}
/**
diff --git a/User/module/config.c b/User/module/config.c
new file mode 100644
index 0000000..2ef4045
--- /dev/null
+++ b/User/module/config.c
@@ -0,0 +1,74 @@
+/*
+ * 配置相关
+ */
+
+/* Includes ----------------------------------------------------------------- */
+#include "module/config.h"
+#include "bsp/can.h"
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+
+/* Exported variables ------------------------------------------------------- */
+
+// 机器人参数配置
+Config_RobotParam_t robot_config = {
+
+ .imu_param =
+ {
+ .can = BSP_CAN_2,
+ .can_id = 0x6FF,
+ .device_id = 0x42,
+ .master_id = 0x43,
+ },
+ .joint_param =
+ {
+ {
+ // 左髋关节
+ .can = BSP_CAN_2,
+ .motor_id = 124,
+ .host_id = 0xFF,
+ .module = MOTOR_LZ_RSO3,
+ .reverse = false,
+ .mode = MOTOR_LZ_MODE_MOTION,
+ },
+ {
+ // 左膝关节
+ .can = BSP_CAN_2,
+ .motor_id = 125,
+ .host_id = 0xFF,
+ .module = MOTOR_LZ_RSO3,
+ .reverse = false,
+ .mode = MOTOR_LZ_MODE_MOTION,
+ },
+ {
+ // 右膝关节
+ .can = BSP_CAN_2,
+ .motor_id = 126,
+ .host_id = 0xFF,
+ .module = MOTOR_LZ_RSO3,
+ .reverse = true,
+ .mode = MOTOR_LZ_MODE_MOTION,
+ },
+ {
+ // 右髋关节
+ .can = BSP_CAN_2,
+ .motor_id = 127,
+ .host_id = 0xFF,
+ .module = MOTOR_LZ_RSO3,
+ .reverse = true,
+ .mode = MOTOR_LZ_MODE_MOTION,
+ },
+ },
+};
+
+/* 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..0fc9560
--- /dev/null
+++ b/User/module/config.h
@@ -0,0 +1,31 @@
+/*
+ * 配置相关
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include
+#include "device/dm_imu.h"
+#include "device/motor_lz.h"
+#include "device/motor_lk.h"
+typedef struct {
+ DM_IMU_Param_t imu_param;
+ MOTOR_LZ_Param_t joint_param[4];
+ MOTOR_LK_Param_t wheel_param[2];
+} 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/task/Task4.c b/User/task/Task4.c
deleted file mode 100644
index 17199e0..0000000
--- a/User/task/Task4.c
+++ /dev/null
@@ -1,44 +0,0 @@
-/*
- Task4 Task
-
-*/
-
-/* Includes ----------------------------------------------------------------- */
-#include "task/user_task.h"
-/* USER INCLUDE BEGIN */
-
-/* USER INCLUDE END */
-
-/* Private typedef ---------------------------------------------------------- */
-/* Private define ----------------------------------------------------------- */
-/* Private macro ------------------------------------------------------------ */
-/* Private variables -------------------------------------------------------- */
-/* USER STRUCT BEGIN */
-
-/* USER STRUCT END */
-
-/* Private function --------------------------------------------------------- */
-/* Exported functions ------------------------------------------------------- */
-void Task_Task4(void *argument) {
- (void)argument; /* 未使用argument，消除警告 */
-
-
- /* 计算任务运行到指定频率需要等待的tick数 */
- const uint32_t delay_tick = osKernelGetTickFreq() / TASK4_FREQ;
-
- osDelay(TASK4_INIT_DELAY); /* 延时一段时间再开启任务 */
-
- uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
- /* USER CODE INIT BEGIN */
-
- /* USER CODE INIT END */
-
- while (1) {
- tick += delay_tick; /* 计算下一个唤醒时刻 */
- /* USER CODE BEGIN */
-
- /* USER CODE END */
- osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
- }
-
-}
\ No newline at end of file
diff --git a/User/task/config.yaml b/User/task/config.yaml
index 2128659..a8274e6 100644
--- a/User/task/config.yaml
+++ b/User/task/config.yaml
@@ -19,10 +19,3 @@
function: Task_ctrl_lz
name: ctrl_lz
stack: 256
-- delay: 0
- description: ''
- freq_control: true
- frequency: 500.0
- function: Task_Task4
- name: Task4
- stack: 256
diff --git a/User/task/ctrl_lz.c b/User/task/ctrl_lz.c
index 2ccd7a1..382696e 100644
--- a/User/task/ctrl_lz.c
+++ b/User/task/ctrl_lz.c
@@ -6,7 +6,11 @@
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
-
+#include "bsp/can.h"
+#include "device/motor_lz.h"
+#include "device/motor_lk.h"
+#include "module/config.h"
+#include
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
@@ -14,7 +18,7 @@
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
-
+static bool command_received = false;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
@@ -30,12 +34,94 @@ void Task_ctrl_lz(void *argument) {
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */
+ BSP_CAN_Init();
+ MOTOR_LZ_Init();
+
+ for (int i = 0; i < 4; i++) {
+ MOTOR_LZ_Register(&Config_GetRobotParam()->joint_param[i]);
+ }
+
+ // 注册CAN接收ID
+ BSP_CAN_RegisterId(BSP_CAN_1, 121, 0); // 使能命令
+ BSP_CAN_RegisterId(BSP_CAN_1, 122, 0); // 力矩控制命令
/* USER CODE INIT END */
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
+ MOTOR_LZ_UpdateAll();
+
+ // 检查CAN接收消息
+ BSP_CAN_Message_t rx_msg;
+ command_received = false; // 重置命令接收标志
+
+ // 检查ID 121 - 使能4个电机
+ if (BSP_CAN_GetMessage(BSP_CAN_1, 121, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
+ command_received = true;
+ for (int i = 0; i < 4; i++) {
+ MOTOR_LZ_Enable(&Config_GetRobotParam()->joint_param[i]);
+ }
+ }
+
+ // 检查ID 122 - 运控模式控制4个电机
+ if (BSP_CAN_GetMessage(BSP_CAN_1, 122, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
+ command_received = true;
+ // 8字节数据分别是4个电机的力矩 (每个电机2字节，有符号整数，精度0.01 Nm)
+ for (int i = 0; i < 4; i++) {
+ int16_t torque_raw;
+ memcpy(&torque_raw, &rx_msg.data[i * 2], sizeof(int16_t));
+ float torque = (float)torque_raw / 100.0f; // 转换为浮点数力矩值
+
+ // 使用运控模式控制电机，只设置力矩，其他参数为0
+ MOTOR_LZ_MotionParam_t motion_param = {
+ .target_angle = 0.0f,
+ .target_velocity = 0.0f,
+ .kp = 0.0f,
+ .kd = 0.0f,
+ .torque = torque
+ };
+ MOTOR_LZ_MotionControl(&Config_GetRobotParam()->joint_param[i], &motion_param);
+ }
+ }
+
+ // 如果没有收到任何控制命令，电机进入relax模式
+ if (!command_received) {
+ for (int i = 0; i < 4; i++) {
+ MOTOR_LZ_Relax(&Config_GetRobotParam()->joint_param[i]);
+ }
+ }
+
+ // 发送4个电机的反馈数据，ID分别为124、125、126、127
+ for (int i = 0; i < 4; i++) {
+ MOTOR_LZ_t* motor = MOTOR_LZ_GetMotor(&Config_GetRobotParam()->joint_param[i]);
+ if (motor != NULL) {
+ BSP_CAN_StdDataFrame_t motor_frame = {
+ .id = 124 + i, // ID: 124, 125, 126, 127
+ .dlc = 8,
+ .data = {0}
+ };
+
+ // 数据重构：转矩电流(2字节) + 位置(3字节) + 速度(3字节) = 8字节
+ // 转矩电流 - 转换为16位整数 (精度0.01 Nm)
+ int16_t torque_int = (int16_t)(motor->lz_feedback.current_torque * 100);
+ memcpy(&motor_frame.data[0], &torque_int, sizeof(int16_t));
+
+ // 位置 - 转换为24位整数，使用3字节 (精度0.0001 rad)
+ int32_t angle_int = (int32_t)(motor->lz_feedback.current_angle * 10000) & 0xFFFFFF;
+ motor_frame.data[2] = (angle_int >> 16) & 0xFF;
+ motor_frame.data[3] = (angle_int >> 8) & 0xFF;
+ motor_frame.data[4] = angle_int & 0xFF;
+
+ // 速度 - 转换为24位整数，使用3字节 (精度0.001 rad/s)
+ int32_t velocity_int = (int32_t)(motor->lz_feedback.current_velocity * 1000) & 0xFFFFFF;
+ motor_frame.data[5] = (velocity_int >> 16) & 0xFF;
+ motor_frame.data[6] = (velocity_int >> 8) & 0xFF;
+ motor_frame.data[7] = velocity_int & 0xFF;
+
+ BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &motor_frame);
+ }
+ }
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
diff --git a/User/task/imu.c b/User/task/imu.c
index 25ac9de..e696a71 100644
--- a/User/task/imu.c
+++ b/User/task/imu.c
@@ -6,7 +6,10 @@
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
-
+#include "bsp/can.h"
+#include "device/dm_imu.h"
+#include "module/config.h"
+#include
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
@@ -14,7 +17,7 @@
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
-
+DM_IMU_t dm_imu;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
@@ -30,13 +33,50 @@ void Task_imu(void *argument) {
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */
-
+ BSP_CAN_Init();
+ DM_IMU_Init(&dm_imu, &Config_GetRobotParam()->imu_param);
/* USER CODE INIT END */
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
-
+ if (DM_IMU_AutoUpdateAll(&dm_imu) == DEVICE_OK) {
+ // 发送加速度计数据 (ID: 0x66) - 前8字节 (x, y)
+ BSP_CAN_StdDataFrame_t accl_frame = {
+ .id = 0x66,
+ .dlc = 8,
+ .data = {0}
+ };
+ memcpy(accl_frame.data, &dm_imu.data.accl, 8);
+ BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &accl_frame);
+
+ // 发送陀螺仪数据 (ID: 0x67) - 前8字节 (x, y)
+ BSP_CAN_StdDataFrame_t gyro_frame = {
+ .id = 0x67,
+ .dlc = 8,
+ .data = {0}
+ };
+ memcpy(gyro_frame.data, &dm_imu.data.gyro, 8);
+ BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &gyro_frame);
+
+ // 发送欧拉角数据 (ID: 0x68) - 前8字节 (yaw, pit)
+ BSP_CAN_StdDataFrame_t euler_frame = {
+ .id = 0x68,
+ .dlc = 8,
+ .data = {0}
+ };
+ memcpy(euler_frame.data, &dm_imu.data.euler, 8);
+ BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &euler_frame);
+
+ // // 发送四元数数据 (ID: 0x69) - 前8字节 (q0, q1)
+ // BSP_CAN_StdDataFrame_t quat_frame = {
+ // .id = 0x69,
+ // .dlc = 8,
+ // .data = {0}
+ // };
+ // memcpy(quat_frame.data, &dm_imu.data.quat, 8);
+ // BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &quat_frame);
+ }
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}
diff --git a/User/task/init.c b/User/task/init.c
index 7f6281e..e261f86 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -33,7 +33,6 @@ void Task_Init(void *argument) {
task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink);
task_runtime.thread.imu = osThreadNew(Task_imu, NULL, &attr_imu);
task_runtime.thread.ctrl_lz = osThreadNew(Task_ctrl_lz, NULL, &attr_ctrl_lz);
- task_runtime.thread.Task4 = osThreadNew(Task_Task4, NULL, &attr_Task4);
// 创建消息队列
/* USER MESSAGE BEGIN */
diff --git a/User/task/user_task.c b/User/task/user_task.c
index 2da5e75..5dde688 100644
--- a/User/task/user_task.c
+++ b/User/task/user_task.c
@@ -23,9 +23,4 @@ const osThreadAttr_t attr_ctrl_lz = {
.name = "ctrl_lz",
.priority = osPriorityNormal,
.stack_size = 256 * 4,
-};
-const osThreadAttr_t attr_Task4 = {
- .name = "Task4",
- .priority = osPriorityNormal,
- .stack_size = 256 * 4,
};
\ No newline at end of file
diff --git a/User/task/user_task.h b/User/task/user_task.h
index af6930c..95c4bc8 100644
--- a/User/task/user_task.h
+++ b/User/task/user_task.h
@@ -16,14 +16,12 @@ extern "C" {
#define BLINK_FREQ (500.0)
#define IMU_FREQ (1000.0)
#define CTRL_LZ_FREQ (500.0)
-#define TASK4_FREQ (500.0)
/* 任务初始化延时ms */
#define TASK_INIT_DELAY (100u)
#define BLINK_INIT_DELAY (0)
#define IMU_INIT_DELAY (0)
#define CTRL_LZ_INIT_DELAY (0)
-#define TASK4_INIT_DELAY (0)
/* Exported defines --------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
@@ -36,7 +34,6 @@ typedef struct {
osThreadId_t blink;
osThreadId_t imu;
osThreadId_t ctrl_lz;
- osThreadId_t Task4;
} thread;
/* USER MESSAGE BEGIN */
@@ -61,7 +58,6 @@ typedef struct {
UBaseType_t blink;
UBaseType_t imu;
UBaseType_t ctrl_lz;
- UBaseType_t Task4;
} stack_water_mark;
/* 各任务运行频率 */
@@ -69,7 +65,6 @@ typedef struct {
float blink;
float imu;
float ctrl_lz;
- float Task4;
} freq;
/* 任务最近运行时间 */
@@ -77,7 +72,6 @@ typedef struct {
float blink;
float imu;
float ctrl_lz;
- float Task4;
} last_up_time;
} Task_Runtime_t;
@@ -90,14 +84,12 @@ extern const osThreadAttr_t attr_init;
extern const osThreadAttr_t attr_blink;
extern const osThreadAttr_t attr_imu;
extern const osThreadAttr_t attr_ctrl_lz;
-extern const osThreadAttr_t attr_Task4;
/* 任务函数声明 */
void Task_Init(void *argument);
void Task_blink(void *argument);
void Task_imu(void *argument);
void Task_ctrl_lz(void *argument);
-void Task_Task4(void *argument);
#ifdef __cplusplus
}