ryan/rm_chassis
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减小了p，让set不至于很大

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This commit is contained in:
zxy 2025-10-19 16:43:01 +08:00
parent 7bc41dbeaf
commit f2939c9a46
28 changed files with 5350 additions and 4842 deletions
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1
Core/Inc/stm32f4xx_it.h
View File

@ -56,6 +56,7 @@ void SysTick_Handler(void);
void EXTI0_IRQHandler(void);
void EXTI4_IRQHandler(void);
void DMA1_Stream1_IRQHandler(void);
void CAN1_TX_IRQHandler(void);
void CAN1_RX0_IRQHandler(void);
void CAN1_RX1_IRQHandler(void);
void EXTI9_5_IRQHandler(void);

7
Core/Src/can.c
View File

@ -42,8 +42,8 @@ void MX_CAN1_Init(void)
hcan1.Init.Prescaler = 3;
hcan1.Init.Mode = CAN_MODE_NORMAL;
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_6TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_7TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_10TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_3TQ;
hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.AutoBusOff = DISABLE;
hcan1.Init.AutoWakeUp = DISABLE;
@ -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);
@ -186,6 +188,7 @@ 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 */

8
Core/Src/main.c
View File

@ -149,7 +149,7 @@ void SystemClock_Config(void)
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 6;
RCC_OscInitStruct.PLL.PLLN = 72;
RCC_OscInitStruct.PLL.PLLN = 168;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
@ -163,10 +163,10 @@ void SystemClock_Config(void)
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
{
Error_Handler();
}

16
Core/Src/stm32f4xx_it.c
View File

@ -236,6 +236,20 @@ void DMA1_Stream1_IRQHandler(void)
/* USER CODE END DMA1_Stream1_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.
*/
@ -302,7 +316,7 @@ void USART1_IRQHandler(void)
// /* USER CODE END USART3_IRQn 0 */
// HAL_UART_IRQHandler(&huart3);
// /* USER CODE BEGIN USART3_IRQn 1 */
//////// BSP_UART_IRQHandler(&huart3);
////////// BSP_UART_IRQHandler(&huart3);
// /* USER CODE END USART3_IRQn 1 */
//}

4
MDK-ARM/.vscode/keil-assistant.log vendored
View File

@ -6,3 +6,7 @@
[info] Log at : 2025/10/17|20:08:11|GMT+0800
[info] Log at : 2025/10/19|16:41:15|GMT+0800
[info] Log at : 2025/10/19|16:44:00|GMT+0800

2
MDK-ARM/.vscode/uv4.log vendored
View File

@ -1,4 +1,4 @@
*** Using Compiler 'V6.7', folder: 'D:\keil\ARM\ARMCLANG\Bin'
Build target 'zzzzh'
"zzzzh\zzzzh.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:02
Build Time Elapsed: 00:00:05

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/10/17 20:08:32
2025/10/19 16:41:29

361
MDK-ARM/zzzzh.uvguix.Ryan
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File diff suppressed because one or more lines are too long

28
MDK-ARM/zzzzh.uvoptx
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@ -101,7 +101,7 @@
<sRunDeb>0</sRunDeb>
<sLrtime>0</sLrtime>
<bEvRecOn>1</bEvRecOn>
<nTsel>5</nTsel>
<nTsel>2</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@ -112,7 +112,7 @@
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
<pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
@ -143,7 +143,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name>(105=-1,-1,-1,-1,0)</Name>
<Name></Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@ -161,20 +161,15 @@
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>dr16,0x0A</ItemText>
<ItemText>bmi088,0x0A</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>bmi088,0x0A</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>imu_eulr,0x0A</ItemText>
</Ww>
<Ww>
<count>3</count>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>imu_temp_pid_param</ItemText>
</Ww>
@ -183,27 +178,22 @@
<Ww>
<count>0</count>
<WinNumber>2</WinNumber>
<ItemText>dr16,0x0A</ItemText>
<ItemText>chassis_fb,0x0A</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>2</WinNumber>
<ItemText>chassis_fb</ItemText>
<ItemText>chassis_cmd,0x0A</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>2</WinNumber>
<ItemText>cmd_to_chassis</ItemText>
<ItemText>dr16,0x0A</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>2</WinNumber>
<ItemText>chassis</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>2</WinNumber>
<ItemText>\\zzzzh\../User/task/test.c\chassis.limit</ItemText>
<ItemText>chassis,0x0A</ItemText>
</Ww>
</WatchWindow2>
<Tracepoint>

2
MDK-ARM/zzzzh.uvprojx
View File

@ -81,7 +81,7 @@
</BeforeMake>
<AfterMake>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>1</RunUserProg2>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>

BIN
MDK-ARM/zzzzh/can.o
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BIN
MDK-ARM/zzzzh/chassis.o
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BIN
MDK-ARM/zzzzh/config.o
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BIN
MDK-ARM/zzzzh/main.o
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BIN
MDK-ARM/zzzzh/stm32f4xx_it.o
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BIN
MDK-ARM/zzzzh/test.o
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BIN
MDK-ARM/zzzzh/yaokongqi.o
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BIN
MDK-ARM/zzzzh/zzzzh.axf
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6
MDK-ARM/zzzzh/zzzzh.build_log.htm
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@ -17,12 +17,12 @@ 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: STLink\ST-LINKIII-KEIL_SWO.dll V3.0.1.0
Target DLL: CMSIS_AGDI.dll V1.28.3.0
Dialog DLL: TCM.DLL V1.32.0.0
<h2>Project:</h2>
c:\Users\ÕÅÐÞÒÕ\Desktop\chassis\MDK-ARM\zzzzh.uvprojx
Project File Date: 10/14/2025
C:\Users\ÕÅÐÞÒÕ\Desktop\chassis\MDK-ARM\zzzzh.uvprojx
Project File Date: 10/19/2025
<h2>Output:</h2>
*** Using Compiler 'V6.7', folder: 'D:\keil\ARM\ARMCLANG\Bin'

4486
MDK-ARM/zzzzh/zzzzh.hex
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File diff suppressed because it is too large Load Diff

2471
MDK-ARM/zzzzh/zzzzh.htm
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File diff suppressed because it is too large Load Diff

2445
MDK-ARM/zzzzh/zzzzh.map
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File diff suppressed because it is too large Load Diff

28
MDK-ARM/zzzzh/zzzzh_zzzzh.dep
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@ -1,6 +1,6 @@
Dependencies for Project 'zzzzh', Target 'zzzzh': (DO NOT MODIFY !)
F (startup_stm32f407xx.s)(0x68DDDE44)(--cpu Cortex-M4.fp -g --pd "__MICROLIB SETA 1" -I ../Core/Inc -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 --pd "__UVISION_VERSION SETA 524" --pd "_RTE_ SETA 1" --pd "STM32F407xx SETA 1" --list startup_stm32f407xx.lst --xref -o zzzzh\startup_stm32f407xx.o --depend zzzzh\startup_stm32f407xx.d)
F (../Core/Src/main.c)(0x68EE5A28)(-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/main.o -MD)
F (../Core/Src/main.c)(0x68F4EE3E)(-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/main.o -MD)
I (..\Core\Inc\main.h)(0x68EE5A28)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68C65E52)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68EE5A28)
@ -133,7 +133,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68C65D
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59)
I (..\User\task\user_task.h)(0x68ECF321)
I (..\User\module\config.h)(0x68DCDCE8)
I (..\User\module\chassis.h)(0x68ECF095)
I (..\User\module\chassis.h)(0x68F49369)
I (..\User\bsp\can.h)(0x68EE5C62)
I (..\Core\Inc\can.h)(0x68EE5A24)
I (..\User\bsp\bsp.h)(0x68EE5C62)
@ -149,7 +149,7 @@ 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)
F (../Core/Src/can.c)(0x68EE5A24)(-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/can.o -MD)
F (../Core/Src/can.c)(0x68F4EE3C)(-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/can.o -MD)
I (..\Core\Inc\can.h)(0x68EE5A24)
I (..\Core\Inc\main.h)(0x68EE5A28)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68C65E52)
@ -324,7 +324,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68C65E52)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68C65E52)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68C65E52)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68C65E52)
F (../Core/Src/stm32f4xx_it.c)(0x68EE5D60)(-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/stm32f4xx_it.o -MD)
F (../Core/Src/stm32f4xx_it.c)(0x68F4EEE9)(-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/stm32f4xx_it.o -MD)
I (..\Core\Inc\main.h)(0x68EE5A28)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68C65E52)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68EE5A28)
@ -358,7 +358,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68C65E52)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68C65E52)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68C65E52)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68C65E52)
I (..\Core\Inc\stm32f4xx_it.h)(0x68EE5D60)
I (..\Core\Inc\stm32f4xx_it.h)(0x68F4EEE9)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68C65D59)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68EE5A24)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68C65D59)
@ -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)(0x68DDDFDF)(-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)(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)
I (..\User\module\config.h)(0x68DCDCE8)
I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2)
I (..\User\module\chassis.h)(0x68ECF095)
I (..\User\module\chassis.h)(0x68F49369)
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)
@ -2025,7 +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)
F (..\User\module\chassis.c)(0x68F22AA4)(-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)(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)
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)
@ -2083,7 +2083,7 @@ 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)(0x68ECF095)
I (..\User\module\chassis.h)(0x68F49369)
I (..\User\component\filter.h)(0x68EE5C62)
I (..\User\component\mixer.h)(0x68EE5C62)
I (..\User\component\pid.h)(0x68EE5C62)
@ -2102,7 +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)(0x68ECF095)
I (..\User\module\chassis.h)(0x68F49369)
I (..\User\bsp\can.h)(0x68EE5C62)
I (..\Core\Inc\can.h)(0x68EE5A24)
I (..\Core\Inc\main.h)(0x68EE5A28)
@ -2166,7 +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)(0x68ECF095)
I (..\User\module\chassis.h)(0x68F49369)
I (..\User\bsp\can.h)(0x68EE5C62)
I (..\Core\Inc\can.h)(0x68EE5A24)
I (..\Core\Inc\main.h)(0x68EE5A28)
@ -2214,7 +2214,7 @@ 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)
F (..\User\task\test.c)(0x68EE59B2)(-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)
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)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59)
I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2)
@ -2229,7 +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)(0x68ECF095)
I (..\User\module\chassis.h)(0x68F49369)
I (..\User\bsp\can.h)(0x68EE5C62)
I (..\Core\Inc\can.h)(0x68EE5A24)
I (..\Core\Inc\main.h)(0x68EE5A28)
@ -2293,7 +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)(0x68ECF095)
I (..\User\module\chassis.h)(0x68F49369)
I (..\User\bsp\can.h)(0x68EE5C62)
I (..\Core\Inc\can.h)(0x68EE5A24)
I (..\Core\Inc\main.h)(0x68EE5A28)

79
User/module/chassis.c
View File

@ -19,8 +19,10 @@
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;
if (!c)
return CHASSIS_ERR_NULL;
if (mode == c->mode)
return CHASSIS_OK;
if (mode == CHASSIS_MODE_ROTOR && c->mode != CHASSIS_MODE_ROTOR) {
srand(now);
@ -47,13 +49,11 @@ static float Chassis_CalcWz(const float min, const float max, uint32_t now) {
int8_t Chassis_Init(Chassis_t *c, const Chassis_Params_t *param,
AHRS_Eulr_t *mech_zero, float target_freq) {
if (!c) return CHASSIS_ERR_NULL;
BSP_CAN_Init();
c->param = param;
c->mode = CHASSIS_MODE_RELAX;
c->mech_zero = *mech_zero;
c->feedback.imu.eulr = *mech_zero;
c->mech_zero = *mech_zero;
c->feedback.imu.eulr = *mech_zero;
if (param->reverse.yaw) {
CircleReverse(&(c->mech_zero.yaw));
@ -95,24 +95,23 @@ if (param->reverse.yaw) {
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);
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;
}
PID_Init(&c->pid.follow, KPID_MODE_NO_D, target_freq, &param->pid.follow_pid_param);
Mixer_Init(&c->mixer, mixer_mode);
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->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;
}
for (uint8_t i = 0; i < c->num_wheel; i++) {
c->out.motor[i] = 0.0f;
}
for (int i = 0; i < c->num_wheel; i++) {
MOTOR_RM_Register(&(c->param->motor_param[i]));
c->motors[i] = MOTOR_RM_GetMotor(&(c->param->motor_param[i]));
}
return CHASSIS_OK;
}
@ -120,20 +119,21 @@ if (param->reverse.yaw) {
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;
if (c->param->reverse.yaw) {
c->feedback.imu.eulr.yaw = -feedback->imu.eulr.yaw;
} else {
c->feedback.imu.eulr.yaw = feedback->imu.eulr.yaw;
}
for (uint8_t i = 0; i < c->num_wheel; i++) {
MOTOR_RM_Update(&(c->param->motor_param[i]));
MOTOR_RM_t *rm_motor = c->motors[i];
if (rm_motor) {
c->feedback.motor[i] = rm_motor->feedback;
}
else
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];
if (rm_motor != NULL) {
c->feedback.motor[i] = rm_motor->feedback;
}else
{
return CHASSIS_ERR_NULL;
}
@ -148,11 +148,11 @@ int8_t Chassis_Control(Chassis_t *c, const ChassisCmd_t *c_cmd, uint32_t now) {
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;
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;
Chassis_SetMode(c, c_cmd->mode, now);
@ -180,6 +180,8 @@ if (c->dt > 0.050f) c->dt = 0.050f;
c->move_vec.wz = 0.0f;
break;
case CHASSIS_MODE_OPEN:
c->move_vec.wz = c_cmd->ctrl_vec.wz;
break;
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);
break;
@ -192,13 +194,13 @@ if (c->dt > 0.050f) c->dt = 0.050f;
break;
}
Mixer_Apply(&c->mixer, &c->move_vec, c->setpoint.motor_rpm, c->num_wheel, 7000.0f);
Mixer_Apply(&c->mixer, &c->move_vec, c->setpoint.motor_rpm, c->num_wheel, 3000.0f);
for (uint8_t i = 0; i < c->num_wheel; i++) {
float rf = c->setpoint.motor_rpm[i];
float fb = LowPassFilter2p_Apply(&c->filter.in[i], (float)c->feedback.motor[i].rotor_speed);
float out_current = 0.0f;
float out_current = PID_Calc(&c->pid.motor[i], rf, fb, 0.0f, c->dt);
switch (c->mode) {
case CHASSIS_MODE_BREAK:
case CHASSIS_MODE_FOLLOW_GIMBAL:
@ -208,7 +210,7 @@ if (c->dt > 0.050f) c->dt = 0.050f;
out_current = PID_Calc(&c->pid.motor[i], c->setpoint.motor_rpm[i], fb, 0.0f, c->dt);
break;
case CHASSIS_MODE_OPEN:
out_current = c->setpoint.motor_rpm[i] / 9000.0f;
out_current = c->setpoint.motor_rpm[i] / 3000.0f;
break;
case CHASSIS_MODE_RELAX:
out_current = 0.0f;
@ -216,17 +218,17 @@ if (c->dt > 0.050f) c->dt = 0.050f;
}
out_current = LowPassFilter2p_Apply(&c->filter.out[i], out_current);
c->out.motor[i] = out_current;
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);
}
return CHASSIS_OK;
}
void Chassis_Output(Chassis_t *c) {
if (!c) return;
if (!c)
return;
//ÿ¸öµç»úÄ¿±êÊä³ö
for (uint8_t i = 0; i < c->num_wheel; i++) {
@ -240,7 +242,6 @@ void Chassis_Output(Chassis_t *c) {
MOTOR_RM_t *rm = c->motors[i];
if (rm) {
MOTOR_RM_Ctrl(&rm->param);
break;
}
}
}

17
User/module/chassis.h
View File

@ -23,6 +23,7 @@ extern "C" {
#define CHASSIS_ERR_MODE (-3) /* 运行时出配置了错误的ChassisMode_t */
#define CHASSIS_ERR_TYPE (-4) /* 运行时出配置了错误的Chassis_Type_t */
#define MAX_MOTOR_CURRENT 20.0f
/* 底盘控制模式 */
typedef enum {
CHASSIS_MODE_RELAX, /* 放松模式,电机不输出。一般情况底盘初始化之后的模式 */
@ -52,7 +53,7 @@ typedef struct {
typedef struct {
float max;
float min;
} Chassis_Limit_t;//移植云台的代码
} Chassis_Limit_t;
/* 底盘类型（底盘的物理设计） */
typedef enum {
@ -85,7 +86,10 @@ typedef struct {
struct {
bool yaw;
} reverse;
struct {
float max_vx, max_vy, max_wz;
float max_current;
} limit;
} Chassis_Params_t;
typedef struct {
@ -136,11 +140,9 @@ typedef struct {
KPID_t follow; /* 跟随云台用的PID */
} pid;
// struct {
// Chassis_Limit_t vx; // ??????
// Chassis_Limit_t vy; // ??????
// Chassis_Limit_t wz; // ?z???????
//} limit;
struct {
Chassis_Limit_t vx, vy, wz;
} limit;
/* 滤波器 */
struct {
@ -226,6 +228,7 @@ void Chassis_ResetOutput(Chassis_t *c);
*/
//void Chassis_DumpUI(const Chassis_t *c, Referee_ChassisUI_t *ui);
#ifdef __cplusplus
}
#endif

40
User/module/config.c
View File

@ -26,51 +26,55 @@ Config_RobotParam_t robot_config = {
.can = BSP_CAN_1,
.id = 0x201,
.module = MOTOR_M3508,
.reverse = false
.reverse = false,
.gear = true
},
{
.can = BSP_CAN_1,
.id = 0x202,
.module = MOTOR_M3508,
.reverse = false
.reverse = false,
.gear = true
},
{
.can = BSP_CAN_1,
.id = 0x203,
.module = MOTOR_M3508,
.reverse = false
.reverse = false,
.gear = true
},
{
.can = BSP_CAN_1,
.id = 0x204,
.module = MOTOR_M3508,
.reverse = false
.reverse = false,
.gear = true
},
},
.type = CHASSIS_TYPE_OMNI_PLUS,
/* PID ?? */
.pid = {
/* ????/??? PID */
.motor_pid_param = {
.k = 0.001f,
.p = 8.0f,
.i = 0.1f,
.d = 0.5f,
.i_limit = 2000.0f,
.out_limit = 16000.0f,
.d_cutoff_freq = 100.0f,
.p = 0.01f,
.i = 0.01f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
},
/* ?????????? */
.follow_pid_param = {
.k = 0.5f,
.p = 6.0f,
.p = 1.0f,
.i = 0.0f,
.d = 0.2f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 2.0f,
.d_cutoff_freq = 30.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
},
@ -84,6 +88,12 @@ Config_RobotParam_t robot_config = {
/* ???? */
.reverse = {
.yaw = true,
},
.limit = {
.max_vx = 3.0f, // ?????????????
.max_vy = 3.0f,
.max_wz = 2.0f, // rad/s ???
.max_current = 16000.0f // ???????????(DJI ?? ±16384)
},
},
};

133
User/task/test.c
View File

@ -28,53 +28,104 @@ static AHRS_Eulr_t mech_zero = {0}; // 机械零位（初始 yaw）
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_test(void *argument) {
(void)argument; /* 未使用argument，消除警告 */
//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;
//
// /* 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 */
// 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
// 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
// // 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
// // 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;
/* 以 TEST_FREQ 定频运行 */
const uint32_t delay_tick = osKernelGetTickFreq() / TEST_FREQ;
osDelay(TEST_INIT_DELAY);
uint32_t tick = osKernelGetTickCount();
/* === 初始化底盘 === */
Config_RobotParam_t *cfg = Config_GetRobotParam();
Chassis_Init(&chassis, &cfg->chassis_param, &mech_zero, (float)TEST_FREQ);
/* 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;
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;
/* 3) 更新反馈 → 控制 → 输出 */
Chassis_UpdateFeedback(&chassis, &chassis_fb);
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 */
}
osDelayUntil(tick);
}
}

56
zzzzh.ioc
View File

@ -2,18 +2,18 @@
CAD.formats=
CAD.pinconfig=
CAD.provider=
CAN1.BS1=CAN_BS1_6TQ
CAN1.BS2=CAN_BS2_7TQ
CAN1.CalculateBaudRate=857142
CAN1.CalculateTimeBit=1166
CAN1.CalculateTimeQuantum=83.33333333333334
CAN1.BS1=CAN_BS1_10TQ
CAN1.BS2=CAN_BS2_3TQ
CAN1.CalculateBaudRate=1000000
CAN1.CalculateTimeBit=1000
CAN1.CalculateTimeQuantum=71.42857142857143
CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1,BS2,Prescaler
CAN1.Prescaler=3
CAN2.BS1=CAN_BS1_7TQ
CAN2.BS2=CAN_BS2_6TQ
CAN2.CalculateBaudRate=857142
CAN2.CalculateTimeBit=1166
CAN2.CalculateTimeQuantum=83.33333333333334
CAN2.CalculateBaudRate=1000000
CAN2.CalculateTimeBit=1000
CAN2.CalculateTimeQuantum=71.42857142857143
CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2
CAN2.Prescaler=3
Dma.Request0=USART3_RX
@ -148,6 +148,7 @@ MxDb.Version=DB.6.0.150
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\: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\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
@ -299,37 +300,38 @@ ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_CAN1_Init-CAN1-false-HAL-true,5-MX_CAN2_Init-CAN2-false-HAL-true,6-MX_USART3_UART_Init-USART3-false-HAL-true,7-MX_USART6_UART_Init-USART6-false-HAL-true,8-MX_SPI1_Init-SPI1-false-HAL-true,9-MX_USART1_UART_Init-USART1-false-HAL-true,10-MX_TIM4_Init-TIM4-false-HAL-true,11-MX_TIM7_Init-TIM7-false-HAL-true,12-MX_TIM10_Init-TIM10-false-HAL-true
RCC.48MHZClocksFreq_Value=36000000
RCC.AHBFreq_Value=72000000
RCC.APB1CLKDivider=RCC_HCLK_DIV2
RCC.APB1Freq_Value=36000000
RCC.APB1TimFreq_Value=72000000
RCC.APB2Freq_Value=72000000
RCC.APB2TimFreq_Value=72000000
RCC.CortexFreq_Value=72000000
RCC.EthernetFreq_Value=72000000
RCC.FCLKCortexFreq_Value=72000000
RCC.48MHZClocksFreq_Value=84000000
RCC.AHBFreq_Value=168000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
RCC.APB1Freq_Value=42000000
RCC.APB1TimFreq_Value=84000000
RCC.APB2CLKDivider=RCC_HCLK_DIV2
RCC.APB2Freq_Value=84000000
RCC.APB2TimFreq_Value=168000000
RCC.CortexFreq_Value=168000000
RCC.EthernetFreq_Value=168000000
RCC.FCLKCortexFreq_Value=168000000
RCC.FamilyName=M
RCC.HCLKFreq_Value=72000000
RCC.HCLKFreq_Value=168000000
RCC.HSE_VALUE=12000000
RCC.HSI_VALUE=16000000
RCC.I2SClocksFreq_Value=192000000
RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLSourceVirtual,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLSourceVirtual,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
RCC.LSE_VALUE=32768
RCC.LSI_VALUE=32000
RCC.MCO2PinFreq_Value=72000000
RCC.PLLCLKFreq_Value=72000000
RCC.MCO2PinFreq_Value=168000000
RCC.PLLCLKFreq_Value=168000000
RCC.PLLM=6
RCC.PLLN=72
RCC.PLLQCLKFreq_Value=36000000
RCC.PLLN=168
RCC.PLLQCLKFreq_Value=84000000
RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
RCC.RTCFreq_Value=32000
RCC.RTCHSEDivFreq_Value=6000000
RCC.SYSCLKFreq_VALUE=72000000
RCC.SYSCLKFreq_VALUE=168000000
RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
RCC.VCOI2SOutputFreq_Value=384000000
RCC.VCOInputFreq_Value=2000000
RCC.VCOOutputFreq_Value=144000000
RCC.VCOOutputFreq_Value=336000000
RCC.VcooutputI2S=192000000
SH.GPXTI0.0=GPIO_EXTI0
SH.GPXTI0.ConfNb=1
@ -344,7 +346,7 @@ SH.S_TIM4_CH3.ConfNb=1
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_16
SPI1.CLKPhase=SPI_PHASE_2EDGE
SPI1.CLKPolarity=SPI_POLARITY_LOW
SPI1.CalculateBaudRate=4.5 MBits/s
SPI1.CalculateBaudRate=5.25 MBits/s
SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,CLKPhase,CLKPolarity
SPI1.Mode=SPI_MODE_MASTER