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zxy 2025-10-28 22:03:16 +08:00
parent 17bb7459b6
commit 252ddc04df
20 changed files with 4467 additions and 11551 deletions
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2084
MDK-ARM/zzzzh.uvguix.Ryan
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101
MDK-ARM/zzzzh.uvoptx
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@ -10,7 +10,7 @@
<aExt>*.s*; *.src; *.a*</aExt>
<oExt>*.obj; *.o</oExt>
<lExt>*.lib</lExt>
<tExt>*.txt; *.h; *.inc; *.md</tExt>
<tExt>*.txt; *.h; *.inc</tExt>
<pExt>*.plm</pExt>
<CppX>*.cpp</CppX>
<nMigrate>0</nMigrate>
@ -26,7 +26,7 @@
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<TargetOption>
<CLKADS>12000000</CLKADS>
<CLKADS>25000000</CLKADS>
<OPTTT>
<gFlags>1</gFlags>
<BeepAtEnd>1</BeepAtEnd>
@ -93,7 +93,7 @@
<tRbreak>1</tRbreak>
<tRwatch>1</tRwatch>
<tRmem>1</tRmem>
<tRfunc>1</tRfunc>
<tRfunc>0</tRfunc>
<tRbox>1</tRbox>
<tRtrace>1</tRtrace>
<sRSysVw>1</sRSysVw>
@ -101,7 +101,7 @@
<sRunDeb>0</sRunDeb>
<sLrtime>0</sLrtime>
<bEvRecOn>1</bEvRecOn>
<nTsel>2</nTsel>
<nTsel>5</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@ -112,105 +112,28 @@
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
<pMon>BIN\CMSIS_AGDI.dll</pMon>
<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>DLGDARM</Key>
<Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>ARMRTXEVENTFLAGS</Key>
<Name>-L70 -Z18 -C0 -M0 -T1</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>DLGTARM</Key>
<Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>ARMDBGFLAGS</Key>
<Name>-T0</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>CMSIS_AGDI</Key>
<Name>-X"Any" -UAny -O206 -S8 -C0 -P00 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name></Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>UL2CM3</Key>
<Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM))</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key>
<Name>-U16004A002933353739303541 -O2254 -SF4000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P2 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8004 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
<Breakpoint/>
<WatchWindow1>
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>bmi088,0x0A</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>imu_eulr,0x0A</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>imu_temp_pid_param</ItemText>
</Ww>
</WatchWindow1>
<WatchWindow2>
<Ww>
<count>0</count>
<WinNumber>2</WinNumber>
<ItemText>chassis_fb,0x0A</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>2</WinNumber>
<ItemText>chassis_cmd,0x0A</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>2</WinNumber>
<ItemText>dr16,0x0A</ItemText>
<<<<<<< HEAD
</Ww>
<Ww>
<count>3</count>
<WinNumber>2</WinNumber>
<ItemText>chassis,0x0A</ItemText>
=======
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
</Ww>
</WatchWindow2>
<Tracepoint>
<THDelay>0</THDelay>
</Tracepoint>
<DebugFlag>
<trace>0</trace>
<periodic>1</periodic>
<periodic>0</periodic>
<aLwin>0</aLwin>
<aCover>0</aCover>
<aSer1>0</aSer1>
<aSer2>0</aSer2>
<aPa>0</aPa>
<viewmode>1</viewmode>
<viewmode>0</viewmode>
<vrSel>0</vrSel>
<aSym>0</aSym>
<aTbox>0</aTbox>
@ -223,7 +146,7 @@
<aPa1>0</aPa1>
<AscS4>0</AscS4>
<aSer4>0</aSer4>
<StkLoc>1</StkLoc>
<StkLoc>0</StkLoc>
<TrcWin>0</TrcWin>
<newCpu>0</newCpu>
<uProt>0</uProt>
@ -272,7 +195,7 @@
<Group>
<GroupName>Application/User/Core</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -772,7 +695,7 @@
<Group>
<GroupName>User/bsp</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -888,7 +811,7 @@
<Group>
<GroupName>User/device</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1004,7 +927,7 @@
<Group>
<GroupName>User/component</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

2
MDK-ARM/zzzzh.uvprojx
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@ -137,7 +137,7 @@
<DriverSelection>4101</DriverSelection>
</Flash1>
<bUseTDR>1</bUseTDR>
<Flash2>BIN\UL2V8M.DLL</Flash2>
<Flash2>BIN\UL2CM3.DLL</Flash2>
<Flash3></Flash3>
<Flash4></Flash4>
<pFcarmOut></pFcarmOut>

BIN
MDK-ARM/zzzzh/chassis.o
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MDK-ARM/zzzzh/init.o
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MDK-ARM/zzzzh/test.o
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MDK-ARM/zzzzh/user_task.o
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MDK-ARM/zzzzh/yaokongqi.o
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MDK-ARM/zzzzh/zzzzh.axf
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14
MDK-ARM/zzzzh/zzzzh.build_log.htm
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@ -17,20 +17,20 @@ Library Manager: ArmAr.exe V6.7
Hex Converter: FromElf.exe V6.7
CPU DLL: SARMCM3.DLL V5.24.1
Dialog DLL: DCM.DLL V1.16.0.0
Target DLL: CMSIS_AGDI.dll V1.28.3.0
Target DLL: STLink\ST-LINKIII-KEIL_SWO.dll V3.0.1.0
Dialog DLL: TCM.DLL V1.32.0.0
<h2>Project:</h2>
<<<<<<< HEAD
C:\Users\ÕÅÐÞÒÕ\Desktop\chassis\MDK-ARM\zzzzh.uvprojx
=======
c:\Users\ÕÅÐÞÒÕ\Desktop\chassis\MDK-ARM\zzzzh.uvprojx
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
Project File Date: 10/19/2025
Project File Date: 10/28/2025
<h2>Output:</h2>
*** Using Compiler 'V6.7', folder: 'D:\keil\ARM\ARMCLANG\Bin'
Build target 'zzzzh'
compiling test.c...
linking...
Program Size: Code=37444 RO-data=688 RW-data=156 ZI-data=24380
FromELF: creating hex file...
"zzzzh\zzzzh.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>
@ -54,7 +54,7 @@ Package Vendor: Keil
<h2>Collection of Component Files used:</h2>
* Component: ARM::CMSIS:CORE:5.0.1
Build Time Elapsed: 00:00:05
Build Time Elapsed: 00:00:02
</pre>
</body>
</html>

6599
MDK-ARM/zzzzh/zzzzh.hex
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3628
MDK-ARM/zzzzh/zzzzh.htm
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3229
MDK-ARM/zzzzh/zzzzh.map
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38
MDK-ARM/zzzzh/zzzzh_zzzzh.dep
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@ -131,9 +131,9 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68C65E52)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68C65E52)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68C65D59)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59)
I (..\User\task\user_task.h)(0x68ECF321)
I (..\User\task\user_task.h)(0x6900CBEC)
I (..\User\module\config.h)(0x68DCDCE8)
I (..\User\module\chassis.h)(0x68F49369)
I (..\User\module\chassis.h)(0x6900CBEC)
I (..\User\bsp\can.h)(0x68EE5C62)
I (..\Core\Inc\can.h)(0x68EE5A24)
I (..\User\bsp\bsp.h)(0x68EE5C62)
@ -1963,10 +1963,10 @@ I (D:\keil\ARM\ARMCLANG\include\stdbool.h)(0x588CAFD2)
I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2)
I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2)
I (D:\keil\ARM\ARMCLANG\include\string.h)(0x588CAFD2)
F (..\User\module\config.c)(0x68F78F25)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/config.o -MD)
F (..\User\module\config.c)(0x6900C8BE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/config.o -MD)
I (..\User\module\config.h)(0x68DCDCE8)
I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2)
I (..\User\module\chassis.h)(0x68F49369)
I (..\User\module\chassis.h)(0x6900CBEC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59)
I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2)
I (..\User\bsp\can.h)(0x68EE5C62)
@ -2025,11 +2025,7 @@ I (..\User\component\ahrs.h)(0x68EE5C62)
I (..\User\device\motor_rm.h)(0x68EE5C18)
I (..\User\device\motor.h)(0x68EE5C18)
I (..\User\device\device.h)(0x68EE5C63)
<<<<<<< HEAD
F (..\User\module\chassis.c)(0x68F647A9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/chassis.o -MD)
=======
F (..\User\module\chassis.c)(0x68F4A0FB)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/chassis.o -MD)
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
F (..\User\module\chassis.c)(0x6900CBEC)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/chassis.o -MD)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59)
I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2)
I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2)
@ -2087,12 +2083,12 @@ I (D:\keil\ARM\ARMCLANG\include\math.h)(0x58A47FFE)
I (..\User\device\motor_rm.h)(0x68EE5C18)
I (..\User\device\motor.h)(0x68EE5C18)
I (..\User\device\device.h)(0x68EE5C63)
I (..\User\module\chassis.h)(0x68F49369)
I (..\User\module\chassis.h)(0x6900CBEC)
I (..\User\component\filter.h)(0x68EE5C62)
I (..\User\component\mixer.h)(0x68EE5C62)
I (..\User\component\pid.h)(0x68EE5C62)
F (..\User\task\init.c)(0x68ECF2BD)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/init.o -MD)
I (..\User\task\user_task.h)(0x68ECF321)
F (..\User\task\init.c)(0x6900CC60)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/init.o -MD)
I (..\User\task\user_task.h)(0x6900CBEC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59)
I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2)
I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2)
@ -2106,7 +2102,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59)
I (..\User\module\config.h)(0x68DCDCE8)
I (..\User\module\chassis.h)(0x68F49369)
I (..\User\module\chassis.h)(0x6900CBEC)
I (..\User\bsp\can.h)(0x68EE5C62)
I (..\Core\Inc\can.h)(0x68EE5A24)
I (..\Core\Inc\main.h)(0x68EE5A28)
@ -2156,7 +2152,7 @@ I (..\User\device\motor.h)(0x68EE5C18)
I (..\User\device\device.h)(0x68EE5C63)
I (..\User\device\dr16.h)(0x68EE5C18)
F (..\User\task\user_task.c)(0x68DE4024)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/user_task.o -MD)
I (..\User\task\user_task.h)(0x68ECF321)
I (..\User\task\user_task.h)(0x6900CBEC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59)
I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2)
I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2)
@ -2170,7 +2166,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59)
I (..\User\module\config.h)(0x68DCDCE8)
I (..\User\module\chassis.h)(0x68F49369)
I (..\User\module\chassis.h)(0x6900CBEC)
I (..\User\bsp\can.h)(0x68EE5C62)
I (..\Core\Inc\can.h)(0x68EE5A24)
I (..\Core\Inc\main.h)(0x68EE5A28)
@ -2218,8 +2214,8 @@ I (..\User\component\ahrs.h)(0x68EE5C62)
I (..\User\device\motor_rm.h)(0x68EE5C18)
I (..\User\device\motor.h)(0x68EE5C18)
I (..\User\device\device.h)(0x68EE5C63)
F (..\User\task\test.c)(0x68F4E778)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/test.o -MD)
I (..\User\task\user_task.h)(0x68ECF321)
F (..\User\task\test.c)(0x6900CC8C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/test.o -MD)
I (..\User\task\user_task.h)(0x6900CBEC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59)
I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2)
I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2)
@ -2233,7 +2229,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59)
I (..\User\module\config.h)(0x68DCDCE8)
I (..\User\module\chassis.h)(0x68F49369)
I (..\User\module\chassis.h)(0x6900CBEC)
I (..\User\bsp\can.h)(0x68EE5C62)
I (..\Core\Inc\can.h)(0x68EE5A24)
I (..\Core\Inc\main.h)(0x68EE5A28)
@ -2282,8 +2278,8 @@ I (..\User\device\motor_rm.h)(0x68EE5C18)
I (..\User\device\motor.h)(0x68EE5C18)
I (..\User\device\device.h)(0x68EE5C63)
I (..\User\device\dr16.h)(0x68EE5C18)
F (..\User\task\yaokongqi.c)(0x68E799EC)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/yaokongqi.o -MD)
I (..\User\task\user_task.h)(0x68ECF321)
F (..\User\task\yaokongqi.c)(0x6900CC60)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/yaokongqi.o -MD)
I (..\User\task\user_task.h)(0x6900CBEC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59)
I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2)
I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2)
@ -2297,7 +2293,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59)
I (..\User\module\config.h)(0x68DCDCE8)
I (..\User\module\chassis.h)(0x68F49369)
I (..\User\module\chassis.h)(0x6900CBEC)
I (..\User\bsp\can.h)(0x68EE5C62)
I (..\Core\Inc\can.h)(0x68EE5A24)
I (..\Core\Inc\main.h)(0x68EE5A28)

176
User/module/chassis.c
View File

@ -2,6 +2,10 @@
µ×ÅÌÄ£×é
*/
/*
底盘模组
*/
#include "cmsis_os2.h"
#include <stdlib.h>
#include "bsp/mm.h"
@ -11,24 +15,34 @@
#include "device/motor.h"
#include "module/chassis.h"
#define CHASSIS_ROTOR_WZ_MIN 0.6f
#define CHASSIS_ROTOR_WZ_MAX 0.8f
#define M_7OVER72PI (M_2PI * 7.0f / 72.0f)
#define CHASSIS_ROTOR_OMEGA 0.001f
/**
* @brief 底盘小陀螺模式相关参数
*/
#define CHASSIS_ROTOR_WZ_MIN 0.6f //小陀螺最小速度
#define CHASSIS_ROTOR_WZ_MAX 0.8f //小陀螺最大速度
#define M_7OVER72PI (M_2PI * 7.0f / 72.0f) //角度偏移量（用在跟随云台35°）
#define CHASSIS_ROTOR_OMEGA 0.001f //角速度变化频率
/**
* @brief 设置底盘模式
* @param c 底盘结构体指针
* @param mode 目标控制模式
* @param now 当前时间戳(ms)
* @return CHASSIS_OK:成功 CHASSIS_ERR_NULL:空
*/
static int8_t Chassis_SetMode(Chassis_t *c, Chassis_Mode_t mode, uint32_t now) {
if (!c)
return CHASSIS_ERR_NULL;
if (mode == c->mode)
return CHASSIS_OK;
//随机种子，小陀螺模式随机设置旋转方向
if (mode == CHASSIS_MODE_ROTOR && c->mode != CHASSIS_MODE_ROTOR) {
srand(now);
c->wz_multi = (rand() % 2) ? -1 : 1;
}
//重置PID和滤波
for (uint8_t i = 0; i < c->num_wheel; i++) {
PID_Reset(&c->pid.motor[i]);
LowPassFilter2p_Reset(&c->filter.in[i], 0.0f);
@ -39,39 +53,38 @@ static int8_t Chassis_SetMode(Chassis_t *c, Chassis_Mode_t mode, uint32_t now) {
return CHASSIS_OK;
}
/**
* @brief 小陀螺模式动态角速度
* @param min 最小速度
* @param max 最大速度
* @param now 当前时间戳(ms)
* @return 角速度值
*/
static float Chassis_CalcWz(const float min, const float max, uint32_t now) {
float wz_vary = fabsf(0.2f * sinf(CHASSIS_ROTOR_OMEGA * (float)now)) + min;
return (wz_vary > max) ? max : wz_vary;
}
/**
* @brief 底盘模式初始化
* @param c 底盘结构体指针
* @param param 底盘参数结构体指针
* @param mech_zero 机械零点欧拉角
* @param target_freq 控制频率(Hz)
* @return CHASSIS_OK:成功 CHASSIS_ERR_NULL:空 CHASSIS_ERR_TYPE:不支持的模式
*/
int8_t Chassis_Init(Chassis_t *c, const Chassis_Params_t *param,
AHRS_Eulr_t *mech_zero, float target_freq) {
float target_freq) {
if (!c) return CHASSIS_ERR_NULL;
<<<<<<< HEAD
//初始化CAN通信
BSP_CAN_Init();
=======
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
c->param = param;
c->mode = CHASSIS_MODE_RELAX;
c->mech_zero = *mech_zero;
c->feedback.imu.eulr = *mech_zero;
if (param->reverse.yaw) {
CircleReverse(&(c->mech_zero.yaw));
c->feedback.imu.eulr.yaw = -c->feedback.imu.eulr.yaw + M_2PI;
}
c->limit.vx.max = param->limit.max_vx;
c->limit.vx.min = -param->limit.max_vx;
c->limit.vy.max = param->limit.max_vy;
c->limit.vy.min = -param->limit.max_vy;
c->limit.wz.max = param->limit.max_wz;
c->limit.wz.min = -param->limit.max_wz;
//根据底盘不同设置模式轮子与混合器
Mixer_Mode_t mixer_mode;
switch (param->type) {
case CHASSIS_TYPE_MECANUM:
case CHASSIS_TYPE_MECANUM://麦轮
c->num_wheel = 4;
mixer_mode = MIXER_MECANUM;
break;
@ -87,7 +100,7 @@ if (param->reverse.yaw) {
c->num_wheel = 4;
mixer_mode = MIXER_OMNICROSS;
break;
case CHASSIS_TYPE_OMNI_PLUS:
case CHASSIS_TYPE_OMNI_PLUS: //全向轮（老步兵类型）
c->num_wheel = 4;
mixer_mode = MIXER_OMNIPLUS;
break;
@ -98,26 +111,29 @@ if (param->reverse.yaw) {
default:
return CHASSIS_ERR_TYPE;
}
//初始化时间戳
c->last_wakeup = 0;
c->dt = 0.0f;
//初始化PID和滤波
for (uint8_t i = 0; i < c->num_wheel; i++) {
PID_Init(&c->pid.motor[i], KPID_MODE_NO_D, target_freq, &param->pid.motor_pid_param);
LowPassFilter2p_Init(&c->filter.in[i], target_freq, param->low_pass_cutoff_freq.in);
LowPassFilter2p_Init(&c->filter.out[i], target_freq, param->low_pass_cutoff_freq.out);
//清零电机反馈
c->feedback.motor[i].rotor_speed = 0;
c->feedback.motor[i].torque_current = 0;
c->feedback.motor[i].rotor_abs_angle = 0;
c->feedback.motor[i].temp = 0;
}
//初始化PID和混合器
PID_Init(&c->pid.follow, KPID_MODE_NO_D, target_freq, &param->pid.follow_pid_param);
Mixer_Init(&c->mixer, mixer_mode);
//清零运动向量和输出
c->move_vec.vx = c->move_vec.vy = c->move_vec.wz = 0.0f;
for (uint8_t i = 0; i < c->num_wheel; i++) {
c->out.motor[i] = 0.0f;
}
//注册大疆电机
for (int i = 0; i < c->num_wheel; i++) {
MOTOR_RM_Register(&(c->param->motor_param[i]));
@ -125,19 +141,18 @@ if (param->reverse.yaw) {
return CHASSIS_OK;
}
int8_t Chassis_UpdateFeedback(Chassis_t *c, const Chassis_Feedback_t *feedback) {
if (!c || !feedback) return CHASSIS_ERR_NULL;
float yaw = c->param->reverse.yaw ? -feedback->imu.eulr.yaw : feedback->imu.eulr.yaw;
while (yaw > M_PI) yaw -= M_2PI;
while (yaw < -M_PI) yaw += M_2PI;
c->feedback.imu.eulr.yaw = yaw;
/**
* @brief 更新电机反馈(IMU+电机状态)
* @param c 底盘结构体指针
* @param feedback 底盘反馈指针结构体
* @return CHASSIS_OK:成功 CHASSIS_ERR_NULL:空
*/
int8_t Chassis_UpdateFeedback(Chassis_t *c) {
//更新所有电机反馈
for (uint8_t i = 0; i < c->num_wheel; i++) {
MOTOR_RM_Update(&(c->param->motor_param[i]));
<<<<<<< HEAD
MOTOR_RM_t *rm_motor = MOTOR_RM_GetMotor(&(c->param->motor_param[i]));
c->motors[i] = rm_motor;
MOTOR_RM_t *rm = c->motors[i];
@ -147,41 +162,30 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c, const Chassis_Feedback_t *feedback)
{
return CHASSIS_ERR_NULL;
}
=======
// MOTOR_RM_t *rm_motor = c->motors[i];
// if (rm_motor) {
// c->feedback.motor[i] = rm_motor->feedback;
// }
// else
// {
// return CHASSIS_ERR_NULL;
// }
MOTOR_RM_t *rm_motor = MOTOR_RM_GetMotor(&(c->param->motor_param[i]));
if (rm_motor != NULL) {
c->feedback.motor[i] = rm_motor->feedback;
}
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
}
return CHASSIS_OK;
}
int8_t Chassis_Control(Chassis_t *c, const ChassisCmd_t *c_cmd, uint32_t now) {
/**
* @brief 底盘电机控制
* @param c 底盘结构体指针
* @param c_cmd 控制命令
* @param now 当前时间戳(ms)
* @return CHASSIS_OK:成功 CHASSIS_ERR_NULL:空
*/
int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd, uint32_t now) {
if (!c || !c_cmd) return CHASSIS_ERR_NULL;
//计算控制周期
c->dt = (float)(now - c->last_wakeup) / 1000.0f;
c->last_wakeup = now;
if (!isfinite(c->dt) || c->dt <= 0.0f) {
c->dt = 0.001f;
}
if (c->dt < 0.0005f) c->dt = 0.0005f;
if (c->dt > 0.050f) c->dt = 0.050f;
//设置模式
Chassis_SetMode(c, c_cmd->mode, now);
Clip(&c->move_vec.vx, c->limit.vx.min, c->limit.vx.max);
Clip(&c->move_vec.vy, c->limit.vy.min, c->limit.vy.max);
Clip(&c->move_vec.wz, c->limit.wz.min, c->limit.wz.max);
//不同模式下对应解算（运动向量）
switch (c->mode) {
case CHASSIS_MODE_BREAK:
c->move_vec.vx = c->move_vec.vy = 0.0f;
@ -190,8 +194,8 @@ int8_t Chassis_Control(Chassis_t *c, const ChassisCmd_t *c_cmd, uint32_t now) {
c->move_vec.vx = c_cmd->ctrl_vec.vx;
c->move_vec.vy = c_cmd->ctrl_vec.vy;
break;
default: {
float beta = c->feedback.imu.eulr.yaw - c->mech_zero.yaw;
default: { //遥控器坐标->机体坐标系
float beta = c->feedback.encoder_gimbalYawMotor - c->mech_zero;
float cosb = cosf(beta);
float sinb = sinf(beta);
c->move_vec.vx = cosb * c_cmd->ctrl_vec.vx - sinb * c_cmd->ctrl_vec.vy;
@ -199,6 +203,7 @@ int8_t Chassis_Control(Chassis_t *c, const ChassisCmd_t *c_cmd, uint32_t now) {
break;
}
}
//根据模式计算底盘角速度
switch (c->mode) {
case CHASSIS_MODE_RELAX:
case CHASSIS_MODE_BREAK:
@ -207,33 +212,28 @@ int8_t Chassis_Control(Chassis_t *c, const ChassisCmd_t *c_cmd, uint32_t now) {
break;
case CHASSIS_MODE_OPEN:
c->move_vec.wz = c_cmd->ctrl_vec.wz;
<<<<<<< HEAD
break;
=======
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
//云台跟随
case CHASSIS_MODE_FOLLOW_GIMBAL:
c->move_vec.wz = PID_Calc(&c->pid.follow, c->mech_zero.yaw, c->feedback.imu.eulr.yaw, 0.0f, c->dt);
c->move_vec.wz = PID_Calc(&c->pid.follow, c->mech_zero, c->feedback.encoder_gimbalYawMotor, 0.0f, c->dt);
break;
//云台跟随（偏移）
case CHASSIS_MODE_FOLLOW_GIMBAL_35:
c->move_vec.wz = PID_Calc(&c->pid.follow,c->mech_zero.yaw +M_7OVER72PI, c->feedback.imu.eulr.yaw, 0.0f, c->dt);
c->move_vec.wz = PID_Calc(&c->pid.follow,c->mech_zero +M_7OVER72PI, c->feedback.encoder_gimbalYawMotor, 0.0f, c->dt);
break;
//小陀螺
case CHASSIS_MODE_ROTOR:
c->move_vec.wz = c->wz_multi * Chassis_CalcWz(CHASSIS_ROTOR_WZ_MIN,
CHASSIS_ROTOR_WZ_MAX, now);
c->move_vec.wz = c->wz_multi * Chassis_CalcWz(CHASSIS_ROTOR_WZ_MIN,CHASSIS_ROTOR_WZ_MAX, now);
break;
}
Mixer_Apply(&c->mixer, &c->move_vec, c->setpoint.motor_rpm, c->num_wheel, 3000.0f);
//运动学逆解算，运动向量分解为电机转速
Mixer_Apply(&c->mixer, &c->move_vec, c->setpoint.motor_rpm, c->num_wheel, 500.0f);
for (uint8_t i = 0; i < c->num_wheel; i++) {
float rf = c->setpoint.motor_rpm[i];
float rf = c->setpoint.motor_rpm[i];///目标转速
float fb = LowPassFilter2p_Apply(&c->filter.in[i], (float)c->feedback.motor[i].rotor_speed);
<<<<<<< HEAD
=======
//float out_current = 0.0f;
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
float out_current = PID_Calc(&c->pid.motor[i], rf, fb, 0.0f, c->dt);
float out_current;
switch (c->mode) {
case CHASSIS_MODE_BREAK:
case CHASSIS_MODE_FOLLOW_GIMBAL:
@ -243,18 +243,14 @@ int8_t Chassis_Control(Chassis_t *c, const ChassisCmd_t *c_cmd, uint32_t now) {
out_current = PID_Calc(&c->pid.motor[i], c->setpoint.motor_rpm[i], fb, 0.0f, c->dt);
break;
case CHASSIS_MODE_OPEN:
<<<<<<< HEAD
out_current = c->setpoint.motor_rpm[i] / 3000.0f;
=======
out_current = c->setpoint.motor_rpm[i] / 7000.0f;
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
break;
case CHASSIS_MODE_RELAX:
out_current = 0.0f;
break;
}
//低通滤波和限幅
c->out.motor[i] = LowPassFilter2p_Apply(&c->filter.out[i], out_current);
Clip(&c->out.motor[i], -c->param->limit.max_current, c->param->limit.max_current);
}
@ -263,6 +259,10 @@ int8_t Chassis_Control(Chassis_t *c, const ChassisCmd_t *c_cmd, uint32_t now) {
return CHASSIS_OK;
}
/**
* @brief 电机输出
* @param c 底盘结构体指针
*/
void Chassis_Output(Chassis_t *c) {
if (!c)
return;
@ -283,7 +283,10 @@ void Chassis_Output(Chassis_t *c) {
}
}
/**
* @brief 重置底盘输出
* @param c 底盘结构体指针
*/
void Chassis_ResetOutput(Chassis_t *c) {
if (!c) return;
for (uint8_t i = 0; i < c->num_wheel; i++) {
@ -294,4 +297,3 @@ void Chassis_ResetOutput(Chassis_t *c) {
}
}

12
User/module/chassis.h
View File

@ -47,7 +47,7 @@ typedef struct {
Chassis_Mode_t mode; /* 底盘运行模式 */
Chassis_RotorMode_t mode_rotor; /* 小陀螺转动模式 */
MoveVector_t ctrl_vec; /* 底盘控制向量 */
} ChassisCmd_t;
} Chassis_CMD_t;
/* 限位 */
typedef struct {
@ -98,8 +98,8 @@ typedef struct {
} Chassis_IMU_t;
typedef struct {
Chassis_IMU_t imu; // 底盘 IMU(yaw 用来跟随云台)
MOTOR_Feedback_t motor[4]; // 四个 3508电机 反馈
float encoder_gimbalYawMotor;
} Chassis_Feedback_t;
/* 底盘输出结构体*/
@ -126,7 +126,7 @@ typedef struct {
Mixer_t mixer; /* 混合器,移动向量->电机目标值 */
MoveVector_t move_vec; /* 底盘实际的运动向量 */
MOTOR_RM_t *motors[4];/*指向底盘每个电机参数*/
AHRS_Eulr_t mech_zero;
float mech_zero;
float wz_multi; /* 小陀螺旋转模式 */
/* PID计算目标值 */
@ -167,7 +167,7 @@ typedef struct {
* \return 运行结果
*/
int8_t Chassis_Init(Chassis_t *c, const Chassis_Params_t *param,
AHRS_Eulr_t *mech_zero, float target_freq);
float target_freq);
/**
* \brief 更新底盘反馈信息
@ -177,7 +177,7 @@ int8_t Chassis_Init(Chassis_t *c, const Chassis_Params_t *param,
*
* \return 运行结果
*/
int8_t Chassis_UpdateFeedback(Chassis_t *c, const Chassis_Feedback_t *feedback);
int8_t Chassis_UpdateFeedback(Chassis_t *c);
/**
* \brief 运行底盘控制逻辑
@ -188,7 +188,7 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c, const Chassis_Feedback_t *feedback);
*
* \return 运行结果
*/
int8_t Chassis_Control(Chassis_t *c, const ChassisCmd_t *c_cmd,
int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd,
uint32_t now);

4
User/task/init.c
View File

@ -37,8 +37,8 @@ void Task_Init(void *argument) {
/* USER MESSAGE BEGIN */
task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL);
task_runtime.msgq.dr16_data = osMessageQueueNew(2u, sizeof(DR16_t), NULL);
task_runtime.msgq.Chassis_cmd = osMessageQueueNew(2u, sizeof(ChassisCmd_t), NULL);
task_runtime.msgq.Chassis_imu = osMessageQueueNew(2u, sizeof(Chassis_IMU_t), NULL);
task_runtime.msgq.chassis.cmd = osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL);
task_runtime.msgq.chassis.yaw = osMessageQueueNew(2u, sizeof(float), NULL);
/* USER MESSAGE END */
osKernelUnlock(); // 解锁内核

108
User/task/test.c
View File

@ -18,114 +18,44 @@
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
Chassis_t chassis;
ChassisCmd_t chassis_cmd; // 控制命令
Chassis_CMD_t chassis_cmd; // 控制命令
Chassis_IMU_t chassis_imu;
Chassis_Feedback_t chassis_fb; // 反馈的底盘状态
static AHRS_Eulr_t mech_zero = {0}; // 机械零位（初始 yaw）
#define DR16_CH_VALUE_MID (1024u)
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
//void Task_test(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() / TEST_FREQ;
// osDelay(TEST_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 */
// Config_RobotParam_t *cfg = Config_GetRobotParam();
// Chassis_Init(&chassis, &Config_GetRobotParam()->chassis_param, &mech_zero, TEST_FREQ);
//
// bool mech_zero_locked = false; // 首次 IMU 到来后只锁一次
// // 默认命令：安全状态
// chassis_cmd.mode = CHASSIS_MODE_RELAX;
// chassis_cmd.ctrl_vec.vx = 0.0f;
// chassis_cmd.ctrl_vec.vy = 0.0f;
// chassis_cmd.ctrl_vec.wz = 0.0f;
//// /* USER CODE INIT END */
//
// while (1) {
// tick += delay_tick; /* 计算下一个唤醒时刻 */
// /* USER CODE BEGIN */
// if (osMessageQueueGet(task_runtime.msgq.Chassis_imu, &chassis_imu, NULL, 0) == osOK) {
// chassis_fb.imu = chassis_imu;
// chassis.feedback.imu = chassis_imu;
// if (!mech_zero_locked) {
// mech_zero.yaw = chassis_imu.eulr.yaw; // 只在需要“上电即定零”时保留
// mech_zero_locked = true;
// }
//}
////if(osMessageQueueGet(task_runtime.msgq.Chassis_cmd, &chassis_cmd, NULL, 0) == osOK) {
////
////}
// Chassis_UpdateFeedback(&chassis, &chassis_fb);
// // 构造底盘指令
// chassis_cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
// // 控制计算
// Chassis_Control(&chassis, &chassis_cmd, osKernelGetTickCount());
// // 输出电流到电机
// Chassis_Output(&chassis);
//// /* USER CODE END */
// osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
// }
//
//}
void Task_test(void *argument) {
(void)argument;
(void)argument; /* 未使用argument，消除警告 */
/* 以 TEST_FREQ 定频运行 */
/* 计算任务运行到指定频率需要等待的tick数 */
const uint32_t delay_tick = osKernelGetTickFreq() / TEST_FREQ;
osDelay(TEST_INIT_DELAY);
uint32_t tick = osKernelGetTickCount();
osDelay(TEST_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 */
/* === 初始化底盘 === */
Config_RobotParam_t *cfg = Config_GetRobotParam();
Chassis_Init(&chassis, &cfg->chassis_param, &mech_zero, (float)TEST_FREQ);
Chassis_Init(&chassis, &cfg->chassis_param, (float)TEST_FREQ);
chassis.mech_zero=4.13f;
/* 默认安全命令 */
chassis_cmd.mode = CHASSIS_MODE_RELAX;
chassis_cmd.ctrl_vec.vx = 0.0f;
chassis_cmd.ctrl_vec.vy = 0.0f;
chassis_cmd.ctrl_vec.wz = 0.0f;
bool mech_zero_locked = false;
/* USER CODE INIT END */
while (1) {
tick += delay_tick;
/* 1) 非阻塞取 IMU（如果来了就更新；没来就用上一帧） */
if (osMessageQueueGet(task_runtime.msgq.Chassis_imu, &chassis_imu, NULL, 0) == osOK) {
chassis_fb.imu = chassis_imu;
chassis.feedback.imu = chassis_imu; // 兼容你在其他处直接读 chassis.feedback 的用法
if (!mech_zero_locked) {
mech_zero.yaw = chassis_imu.eulr.yaw; // 首帧锁零（按需保留）
mech_zero_locked = true;
}
}
/* 2) 免遥控：设定固定运动指令（独立模式，不跟随云台） */
chassis_cmd.mode = CHASSIS_MODE_INDEPENDENT;
chassis_cmd.ctrl_vec.vx = 1.0f;
chassis_cmd.ctrl_vec.vy = 0.0f;
chassis_cmd.ctrl_vec.wz = 0.0f;
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
//osMessageQueueGet(task_runtime.msgq.chassis.yaw, &chassis.feedback.encoder_gimbalYawMotor, NULL, 0);从yaw电机反馈得到值
//osMessageQueueGet(task_runtime.msgq.chassis.cmd, &chassis_cmd, NULL, 0);//遥控器
/* 3) 更新反馈 → 控制 → 输出 */
Chassis_UpdateFeedback(&chassis, &chassis_fb);
Chassis_UpdateFeedback(&chassis);
Chassis_Control(&chassis, &chassis_cmd, osKernelGetTickCount());
Chassis_Output(&chassis);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}
osDelayUntil(tick);
}
}

7
User/task/user_task.h
View File

@ -38,8 +38,11 @@ typedef struct {
struct {
osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
osMessageQueueId_t dr16_data; /* dr16遥控器数据 */
osMessageQueueId_t Chassis_cmd;
osMessageQueueId_t Chassis_imu;
struct {
osMessageQueueId_t imu;
osMessageQueueId_t cmd;
osMessageQueueId_t yaw;
}chassis;
} msgq;
/* USER MESSAGE END */

4
User/task/yaokongqi.c
View File

@ -16,7 +16,7 @@
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
DR16_t dr16;
ChassisCmd_t cmd_to_chassis; // 控制命令
Chassis_CMD_t cmd_to_chassis; // 控制命令
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
@ -65,7 +65,7 @@ void Task_yaokongqi(void *argument) {
}
// ChassisCmd_t tmp;
osMessageQueuePut(task_runtime.msgq.Chassis_cmd, &cmd_to_chassis, 0, 0);
osMessageQueuePut(task_runtime.msgq.chassis.cmd, &cmd_to_chassis, 0, 0);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}