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base: ryan:fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
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ryan:main
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compare: ryan:17bb7459b66faaefaf068d36ce788f51f464d105
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ryan:main

2 Commits
fc2ac5c99d ... 17bb7459b6

Author SHA1 Message Date
zxy
17bb7459b6 新底盘 2025-10-28 21:51:19 +08:00
zxy
f2939c9a46 减小了p，让set不至于很大 2025-10-22 21:22:04 +08:00
23 changed files with 6082 additions and 432 deletions
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1
Core/Inc/stm32f4xx_it.h
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@ -56,6 +56,7 @@ void SysTick_Handler(void);
void EXTI0_IRQHandler(void); void EXTI0_IRQHandler(void);
void EXTI4_IRQHandler(void); void EXTI4_IRQHandler(void);
void DMA1_Stream1_IRQHandler(void); void DMA1_Stream1_IRQHandler(void);
void CAN1_TX_IRQHandler(void);
void CAN1_RX0_IRQHandler(void); void CAN1_RX0_IRQHandler(void);
void CAN1_RX1_IRQHandler(void); void CAN1_RX1_IRQHandler(void);
void EXTI9_5_IRQHandler(void); void EXTI9_5_IRQHandler(void);

7
Core/Src/can.c
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@ -42,8 +42,8 @@ void MX_CAN1_Init(void)
hcan1.Init.Prescaler = 3; hcan1.Init.Prescaler = 3;
hcan1.Init.Mode = CAN_MODE_NORMAL; hcan1.Init.Mode = CAN_MODE_NORMAL;
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ; hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_6TQ; hcan1.Init.TimeSeg1 = CAN_BS1_10TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_7TQ; hcan1.Init.TimeSeg2 = CAN_BS2_3TQ;
hcan1.Init.TimeTriggeredMode = DISABLE; hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.AutoBusOff = DISABLE; hcan1.Init.AutoBusOff = DISABLE;
hcan1.Init.AutoWakeUp = DISABLE; hcan1.Init.AutoWakeUp = DISABLE;
@ -122,6 +122,8 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/* CAN1 interrupt Init */ /* 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_SetPriority(CAN1_RX0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn); HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 5, 0); 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); HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
/* CAN1 interrupt Deinit */ /* CAN1 interrupt Deinit */
HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn); HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn); HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
/* USER CODE BEGIN CAN1_MspDeInit 1 */ /* 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.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 6; 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.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4; RCC_OscInitStruct.PLL.PLLQ = 4;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
@ -163,10 +163,10 @@ void SystemClock_Config(void)
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; 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(); 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 */ /* 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. * @brief This function handles CAN1 RX0 interrupts.
*/ */
@ -302,7 +316,7 @@ void USART1_IRQHandler(void)
// /* USER CODE END USART3_IRQn 0 */ // /* USER CODE END USART3_IRQn 0 */
// HAL_UART_IRQHandler(&huart3); // HAL_UART_IRQHandler(&huart3);
// /* USER CODE BEGIN USART3_IRQn 1 */ // /* USER CODE BEGIN USART3_IRQn 1 */
//////// BSP_UART_IRQHandler(&huart3); ////////// BSP_UART_IRQHandler(&huart3);
// /* USER CODE END USART3_IRQn 1 */ // /* USER CODE END USART3_IRQn 1 */
//} //}

5
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -8,3 +8,8 @@
[info] Log at : 2025/10/19|16:41:15|GMT+0800 [info] Log at : 2025/10/19|16:41:15|GMT+0800
<<<<<<< HEAD
[info] Log at : 2025/10/19|16:44:00|GMT+0800
=======
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac

262
MDK-ARM/zzzzh.uvguix.Ryan
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12
MDK-ARM/zzzzh.uvoptx
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@ -101,7 +101,7 @@
<sRunDeb>0</sRunDeb> <sRunDeb>0</sRunDeb>
<sLrtime>0</sLrtime> <sLrtime>0</sLrtime>
<bEvRecOn>1</bEvRecOn> <bEvRecOn>1</bEvRecOn>
<nTsel>5</nTsel> <nTsel>2</nTsel>
<sDll></sDll> <sDll></sDll>
<sDllPa></sDllPa> <sDllPa></sDllPa>
<sDlgDll></sDlgDll> <sDlgDll></sDlgDll>
@ -112,7 +112,7 @@
<tDlgDll></tDlgDll> <tDlgDll></tDlgDll>
<tDlgPa></tDlgPa> <tDlgPa></tDlgPa>
<tIfile></tIfile> <tIfile></tIfile>
<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon> <pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt> </DebugOpt>
<TargetDriverDllRegistry> <TargetDriverDllRegistry>
<SetRegEntry> <SetRegEntry>
@ -189,6 +189,14 @@
<count>2</count> <count>2</count>
<WinNumber>2</WinNumber> <WinNumber>2</WinNumber>
<ItemText>dr16,0x0A</ItemText> <ItemText>dr16,0x0A</ItemText>
<<<<<<< HEAD
</Ww>
<Ww>
<count>3</count>
<WinNumber>2</WinNumber>
<ItemText>chassis,0x0A</ItemText>
=======
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
</Ww> </Ww>
</WatchWindow2> </WatchWindow2>
<Tracepoint> <Tracepoint>

BIN
MDK-ARM/zzzzh/can.o
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MDK-ARM/zzzzh/chassis.o
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MDK-ARM/zzzzh/config.o
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MDK-ARM/zzzzh/main.o
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MDK-ARM/zzzzh/stm32f4xx_it.o
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MDK-ARM/zzzzh/test.o
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MDK-ARM/zzzzh/zzzzh.axf
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6
MDK-ARM/zzzzh/zzzzh.build_log.htm
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@ -17,11 +17,15 @@ Library Manager: ArmAr.exe V6.7
Hex Converter: FromElf.exe V6.7 Hex Converter: FromElf.exe V6.7
CPU DLL: SARMCM3.DLL V5.24.1 CPU DLL: SARMCM3.DLL V5.24.1
Dialog DLL: DCM.DLL V1.16.0.0 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 Dialog DLL: TCM.DLL V1.32.0.0
<h2>Project:</h2> <h2>Project:</h2>
<<<<<<< HEAD
C:\Users\ÕÅÐÞÒÕ\Desktop\chassis\MDK-ARM\zzzzh.uvprojx
=======
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: 10/19/2025
<h2>Output:</h2> <h2>Output:</h2>

2351
MDK-ARM/zzzzh/zzzzh.hex
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MDK-ARM/zzzzh/zzzzh.htm
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1209
MDK-ARM/zzzzh/zzzzh.map
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16
MDK-ARM/zzzzh/zzzzh_zzzzh.dep
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@ -1,6 +1,6 @@
Dependencies for Project 'zzzzh', Target 'zzzzh': (DO NOT MODIFY !) 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 (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 (..\Core\Inc\main.h)(0x68EE5A28)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68C65E52) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68C65E52)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68EE5A28) I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68EE5A28)
@ -149,7 +149,7 @@ I (..\User\component\ahrs.h)(0x68EE5C62)
I (..\User\device\motor_rm.h)(0x68EE5C18) I (..\User\device\motor_rm.h)(0x68EE5C18)
I (..\User\device\motor.h)(0x68EE5C18) I (..\User\device\motor.h)(0x68EE5C18)
I (..\User\device\device.h)(0x68EE5C63) 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\can.h)(0x68EE5A24)
I (..\Core\Inc\main.h)(0x68EE5A28) I (..\Core\Inc\main.h)(0x68EE5A28)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68C65E52) 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.h)(0x68C65E52)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.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 (..\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 (..\Core\Inc\main.h)(0x68EE5A28)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68C65E52) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68C65E52)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68EE5A28) 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.h)(0x68C65E52)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.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 (..\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 (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68C65D59)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68EE5A24) I (..\Core\Inc\FreeRTOSConfig.h)(0x68EE5A24)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68C65D59) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68C65D59)
@ -1963,7 +1963,7 @@ I (D:\keil\ARM\ARMCLANG\include\stdbool.h)(0x588CAFD2)
I (D:\keil\ARM\ARMCLANG\include\stdint.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\stddef.h)(0x588CAFD2)
I (D:\keil\ARM\ARMCLANG\include\string.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 (..\User\module\config.h)(0x68DCDCE8)
I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2) I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2)
I (..\User\module\chassis.h)(0x68F49369) I (..\User\module\chassis.h)(0x68F49369)
@ -2025,7 +2025,11 @@ I (..\User\component\ahrs.h)(0x68EE5C62)
I (..\User\device\motor_rm.h)(0x68EE5C18) I (..\User\device\motor_rm.h)(0x68EE5C18)
I (..\User\device\motor.h)(0x68EE5C18) I (..\User\device\motor.h)(0x68EE5C18)
I (..\User\device\device.h)(0x68EE5C63) 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) 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
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59) 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\stdint.h)(0x588CAFD2)
I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2) I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2)
@ -2214,7 +2218,7 @@ I (..\User\component\ahrs.h)(0x68EE5C62)
I (..\User\device\motor_rm.h)(0x68EE5C18) I (..\User\device\motor_rm.h)(0x68EE5C18)
I (..\User\device\motor.h)(0x68EE5C18) I (..\User\device\motor.h)(0x68EE5C18)
I (..\User\device\device.h)(0x68EE5C63) 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 (..\User\task\user_task.h)(0x68ECF321)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59) 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\stdint.h)(0x588CAFD2)

29
User/module/chassis.c
View File

@ -49,6 +49,10 @@ 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, int8_t Chassis_Init(Chassis_t *c, const Chassis_Params_t *param,
AHRS_Eulr_t *mech_zero, float target_freq) { AHRS_Eulr_t *mech_zero, float target_freq) {
if (!c) return CHASSIS_ERR_NULL; if (!c) return CHASSIS_ERR_NULL;
<<<<<<< HEAD
BSP_CAN_Init();
=======
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
c->param = param; c->param = param;
c->mode = CHASSIS_MODE_RELAX; c->mode = CHASSIS_MODE_RELAX;
c->mech_zero = *mech_zero; c->mech_zero = *mech_zero;
@ -133,6 +137,17 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c, const Chassis_Feedback_t *feedback)
for (uint8_t i = 0; i < c->num_wheel; i++) { for (uint8_t i = 0; i < c->num_wheel; i++) {
MOTOR_RM_Update(&(c->param->motor_param[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];
if (rm_motor != NULL) {
c->feedback.motor[i] = rm_motor->feedback;
}else
{
return CHASSIS_ERR_NULL;
}
=======
// MOTOR_RM_t *rm_motor = c->motors[i]; // MOTOR_RM_t *rm_motor = c->motors[i];
// if (rm_motor) { // if (rm_motor) {
// c->feedback.motor[i] = rm_motor->feedback; // c->feedback.motor[i] = rm_motor->feedback;
@ -145,6 +160,7 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c, const Chassis_Feedback_t *feedback)
if (rm_motor != NULL) { if (rm_motor != NULL) {
c->feedback.motor[i] = rm_motor->feedback; c->feedback.motor[i] = rm_motor->feedback;
} }
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
} }
return CHASSIS_OK; return CHASSIS_OK;
} }
@ -191,6 +207,10 @@ int8_t Chassis_Control(Chassis_t *c, const ChassisCmd_t *c_cmd, uint32_t now) {
break; break;
case CHASSIS_MODE_OPEN: case CHASSIS_MODE_OPEN:
c->move_vec.wz = c_cmd->ctrl_vec.wz; c->move_vec.wz = c_cmd->ctrl_vec.wz;
<<<<<<< HEAD
break;
=======
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
case CHASSIS_MODE_FOLLOW_GIMBAL: 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.yaw, c->feedback.imu.eulr.yaw, 0.0f, c->dt);
break; break;
@ -203,13 +223,16 @@ int8_t Chassis_Control(Chassis_t *c, const ChassisCmd_t *c_cmd, uint32_t now) {
break; 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++) { for (uint8_t i = 0; i < c->num_wheel; i++) {
float rf = c->setpoint.motor_rpm[i]; float rf = c->setpoint.motor_rpm[i];
float fb = LowPassFilter2p_Apply(&c->filter.in[i], (float)c->feedback.motor[i].rotor_speed); float fb = LowPassFilter2p_Apply(&c->filter.in[i], (float)c->feedback.motor[i].rotor_speed);
<<<<<<< HEAD
=======
//float out_current = 0.0f; //float out_current = 0.0f;
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
float out_current = PID_Calc(&c->pid.motor[i], rf, fb, 0.0f, c->dt); float out_current = PID_Calc(&c->pid.motor[i], rf, fb, 0.0f, c->dt);
switch (c->mode) { switch (c->mode) {
case CHASSIS_MODE_BREAK: case CHASSIS_MODE_BREAK:
@ -220,7 +243,11 @@ 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); out_current = PID_Calc(&c->pid.motor[i], c->setpoint.motor_rpm[i], fb, 0.0f, c->dt);
break; break;
case CHASSIS_MODE_OPEN: case CHASSIS_MODE_OPEN:
<<<<<<< HEAD
out_current = c->setpoint.motor_rpm[i] / 3000.0f;
=======
out_current = c->setpoint.motor_rpm[i] / 7000.0f; out_current = c->setpoint.motor_rpm[i] / 7000.0f;
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
break; break;
case CHASSIS_MODE_RELAX: case CHASSIS_MODE_RELAX:
out_current = 0.0f; out_current = 0.0f;

40
User/module/config.c
View File

@ -26,51 +26,55 @@ Config_RobotParam_t robot_config = {
.can = BSP_CAN_1, .can = BSP_CAN_1,
.id = 0x201, .id = 0x201,
.module = MOTOR_M3508, .module = MOTOR_M3508,
.reverse = false .reverse = false,
.gear = true
}, },
{ {
.can = BSP_CAN_1, .can = BSP_CAN_1,
.id = 0x202, .id = 0x202,
.module = MOTOR_M3508, .module = MOTOR_M3508,
.reverse = false .reverse = false,
.gear = true
}, },
{ {
.can = BSP_CAN_1, .can = BSP_CAN_1,
.id = 0x203, .id = 0x203,
.module = MOTOR_M3508, .module = MOTOR_M3508,
.reverse = false .reverse = false,
.gear = true
}, },
{ {
.can = BSP_CAN_1, .can = BSP_CAN_1,
.id = 0x204, .id = 0x204,
.module = MOTOR_M3508, .module = MOTOR_M3508,
.reverse = false .reverse = false,
.gear = true
}, },
}, },
.type = CHASSIS_TYPE_OMNI_PLUS,
/* PID ?? */ /* PID ?? */
.pid = { .pid = {
/* ????/??? PID */ /* ????/??? PID */
.motor_pid_param = { .motor_pid_param = {
.k = 0.001f, .k = 0.001f,
.p = 8.0f, .p = 0.01f,
.i = 0.1f, .i = 0.01f,
.d = 0.5f, .d = 0.0f,
.i_limit = 2000.0f, .i_limit = 1.0f,
.out_limit = 16000.0f, .out_limit = 1.0f,
.d_cutoff_freq = 100.0f, .d_cutoff_freq = -1.0f,
.range = -1.0f, .range = -1.0f,
}, },
/* ?????????? */ /* ?????????? */
.follow_pid_param = { .follow_pid_param = {
.k = 0.5f, .k = 0.5f,
.p = 6.0f, .p = 1.0f,
.i = 0.0f, .i = 0.0f,
.d = 0.2f, .d = 0.0f,
.i_limit = 1.0f, .i_limit = 1.0f,
.out_limit = 2.0f, .out_limit = 1.0f,
.d_cutoff_freq = 30.0f, .d_cutoff_freq = -1.0f,
.range = M_2PI, .range = M_2PI,
}, },
}, },
@ -84,6 +88,12 @@ Config_RobotParam_t robot_config = {
/* ???? */ /* ???? */
.reverse = { .reverse = {
.yaw = true, .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 --------------------------------------------------------- */ /* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */ /* Exported functions ------------------------------------------------------- */
void Task_test(void *argument) { //void Task_test(void *argument) {
(void)argument; /* 未使用argument，消除警告 */ // (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 */ // /* 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; // 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 */ // uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */ // /* USER CODE INIT BEGIN */
Config_RobotParam_t *cfg = Config_GetRobotParam(); // Config_RobotParam_t *cfg = Config_GetRobotParam();
Chassis_Init(&chassis, &Config_GetRobotParam()->chassis_param, &mech_zero, TEST_FREQ); // 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 // bool mech_zero_locked = false; // 首次 IMU 到来后只锁一次
// 默认命令：安全状态 // // 默认命令：安全状态
chassis_cmd.mode = CHASSIS_MODE_RELAX; // chassis_cmd.mode = CHASSIS_MODE_RELAX;
chassis_cmd.ctrl_vec.vx = 0.0f; // chassis_cmd.ctrl_vec.vx = 0.0f;
chassis_cmd.ctrl_vec.vy = 0.0f; // chassis_cmd.ctrl_vec.vy = 0.0f;
chassis_cmd.ctrl_vec.wz = 0.0f; // chassis_cmd.ctrl_vec.wz = 0.0f;
// /* USER CODE INIT END */ //// /* USER CODE INIT END */
//
while (1) { // while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */ // tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */ // /* USER CODE BEGIN */
if (osMessageQueueGet(task_runtime.msgq.Chassis_imu, &chassis_imu, NULL, 0) == osOK) { // if (osMessageQueueGet(task_runtime.msgq.Chassis_imu, &chassis_imu, NULL, 0) == osOK) {
chassis_fb.imu = chassis_imu; // chassis_fb.imu = chassis_imu;
chassis.feedback.imu = chassis_imu; // chassis.feedback.imu = chassis_imu;
if (!mech_zero_locked) { // 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.yaw = chassis_imu.eulr.yaw; // 只在需要“上电即定零”时保留
mech_zero_locked = true; // mech_zero_locked = true;
} // }
} //}
if(osMessageQueueGet(task_runtime.msgq.Chassis_cmd, &chassis_cmd, NULL, 0) == osOK) { ////if(osMessageQueueGet(task_runtime.msgq.Chassis_cmd, &chassis_cmd, NULL, 0) == osOK) {
////
} ////}
Chassis_UpdateFeedback(&chassis, &chassis_fb); // Chassis_UpdateFeedback(&chassis, &chassis_fb);
// 构造底盘指令 // // 构造底盘指令
// chassis_cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL; // 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()); Chassis_Control(&chassis, &chassis_cmd, osKernelGetTickCount());
// 输出电流到电机
Chassis_Output(&chassis); Chassis_Output(&chassis);
// /* USER CODE END */ osDelayUntil(tick);
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ }
}
} }

56
zzzzh.ioc
View File

@ -2,18 +2,18 @@
CAD.formats= CAD.formats=
CAD.pinconfig= CAD.pinconfig=
CAD.provider= CAD.provider=
CAN1.BS1=CAN_BS1_6TQ CAN1.BS1=CAN_BS1_10TQ
CAN1.BS2=CAN_BS2_7TQ CAN1.BS2=CAN_BS2_3TQ
CAN1.CalculateBaudRate=857142 CAN1.CalculateBaudRate=1000000
CAN1.CalculateTimeBit=1166 CAN1.CalculateTimeBit=1000
CAN1.CalculateTimeQuantum=83.33333333333334 CAN1.CalculateTimeQuantum=71.42857142857143
CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1,BS2,Prescaler CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1,BS2,Prescaler
CAN1.Prescaler=3 CAN1.Prescaler=3
CAN2.BS1=CAN_BS1_7TQ CAN2.BS1=CAN_BS1_7TQ
CAN2.BS2=CAN_BS2_6TQ CAN2.BS2=CAN_BS2_6TQ
CAN2.CalculateBaudRate=857142 CAN2.CalculateBaudRate=1000000
CAN2.CalculateTimeBit=1166 CAN2.CalculateTimeBit=1000
CAN2.CalculateTimeQuantum=83.33333333333334 CAN2.CalculateTimeQuantum=71.42857142857143
CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2 CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2
CAN2.Prescaler=3 CAN2.Prescaler=3
Dma.Request0=USART3_RX 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.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_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_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_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.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 NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
@ -299,37 +300,38 @@ ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath= ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false 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 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.48MHZClocksFreq_Value=84000000
RCC.AHBFreq_Value=72000000 RCC.AHBFreq_Value=168000000
RCC.APB1CLKDivider=RCC_HCLK_DIV2 RCC.APB1CLKDivider=RCC_HCLK_DIV4
RCC.APB1Freq_Value=36000000 RCC.APB1Freq_Value=42000000
RCC.APB1TimFreq_Value=72000000 RCC.APB1TimFreq_Value=84000000
RCC.APB2Freq_Value=72000000 RCC.APB2CLKDivider=RCC_HCLK_DIV2
RCC.APB2TimFreq_Value=72000000 RCC.APB2Freq_Value=84000000
RCC.CortexFreq_Value=72000000 RCC.APB2TimFreq_Value=168000000
RCC.EthernetFreq_Value=72000000 RCC.CortexFreq_Value=168000000
RCC.FCLKCortexFreq_Value=72000000 RCC.EthernetFreq_Value=168000000
RCC.FCLKCortexFreq_Value=168000000
RCC.FamilyName=M RCC.FamilyName=M
RCC.HCLKFreq_Value=72000000 RCC.HCLKFreq_Value=168000000
RCC.HSE_VALUE=12000000 RCC.HSE_VALUE=12000000
RCC.HSI_VALUE=16000000 RCC.HSI_VALUE=16000000
RCC.I2SClocksFreq_Value=192000000 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.LSE_VALUE=32768
RCC.LSI_VALUE=32000 RCC.LSI_VALUE=32000
RCC.MCO2PinFreq_Value=72000000 RCC.MCO2PinFreq_Value=168000000
RCC.PLLCLKFreq_Value=72000000 RCC.PLLCLKFreq_Value=168000000
RCC.PLLM=6 RCC.PLLM=6
RCC.PLLN=72 RCC.PLLN=168
RCC.PLLQCLKFreq_Value=36000000 RCC.PLLQCLKFreq_Value=84000000
RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
RCC.RTCFreq_Value=32000 RCC.RTCFreq_Value=32000
RCC.RTCHSEDivFreq_Value=6000000 RCC.RTCHSEDivFreq_Value=6000000
RCC.SYSCLKFreq_VALUE=72000000 RCC.SYSCLKFreq_VALUE=168000000
RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
RCC.VCOI2SOutputFreq_Value=384000000 RCC.VCOI2SOutputFreq_Value=384000000
RCC.VCOInputFreq_Value=2000000 RCC.VCOInputFreq_Value=2000000
RCC.VCOOutputFreq_Value=144000000 RCC.VCOOutputFreq_Value=336000000
RCC.VcooutputI2S=192000000 RCC.VcooutputI2S=192000000
SH.GPXTI0.0=GPIO_EXTI0 SH.GPXTI0.0=GPIO_EXTI0
SH.GPXTI0.ConfNb=1 SH.GPXTI0.ConfNb=1
@ -344,7 +346,7 @@ SH.S_TIM4_CH3.ConfNb=1
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_16 SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_16
SPI1.CLKPhase=SPI_PHASE_2EDGE SPI1.CLKPhase=SPI_PHASE_2EDGE
SPI1.CLKPolarity=SPI_POLARITY_LOW SPI1.CLKPolarity=SPI_POLARITY_LOW
SPI1.CalculateBaudRate=4.5 MBits/s SPI1.CalculateBaudRate=5.25 MBits/s
SPI1.Direction=SPI_DIRECTION_2LINES SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,CLKPhase,CLKPolarity SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,CLKPhase,CLKPolarity
SPI1.Mode=SPI_MODE_MASTER SPI1.Mode=SPI_MODE_MASTER