From 572342cd4f31f3ed50bd53ae58a32c4df8a67f93 Mon Sep 17 00:00:00 2001 From: yxming66 <2389287465@qq.com> Date: Wed, 31 Dec 2025 10:41:20 +0800 Subject: [PATCH] 123 --- .mxproject | 10 +- Core/Src/tim.c | 52 +++-- DveC.ioc | 10 +- MDK-ARM/DveC.uvguix.yxm23 | 82 +++++--- MDK-ARM/DveC.uvoptx | 8 +- User/module/HeightEstimation.c | 4 +- User/module/cmd.c | 85 ++++++++ User/module/config.c | 26 +-- User/module/xm_quadctrl.c | 22 +- ozone/quadcopterDveC.jdebug | 344 +++++++++++++++++++++++++++++++ ozone/quadcopterDveC.jdebug.user | 37 ++++ 11 files changed, 596 insertions(+), 84 deletions(-) create mode 100644 User/module/cmd.c create mode 100644 ozone/quadcopterDveC.jdebug create mode 100644 ozone/quadcopterDveC.jdebug.user diff --git a/.mxproject b/.mxproject index 68ba97f..0e24683 100644 --- a/.mxproject +++ b/.mxproject @@ -6,6 +6,11 @@ SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\freertos.c;..\Core HeaderPath=..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;..\Middlewares\Third_Party\FreeRTOS\Source\include;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Drivers\CMSIS\Include;..\Core\Inc; CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; +[PreviousUsedCMakes] +SourceFiles=Core\Src\main.c;Core\Src\gpio.c;Core\Src\freertos.c;Core\Src\dma.c;Core\Src\i2c.c;Core\Src\spi.c;Core\Src\tim.c;Core\Src\usart.c;Core\Src\stm32f4xx_it.c;Core\Src\stm32f4xx_hal_msp.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;;;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c; +HeaderPath=Drivers\STM32F4xx_HAL_Driver\Inc;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;Middlewares\Third_Party\FreeRTOS\Source\include;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F;Drivers\CMSIS\Device\ST\STM32F4xx\Include;Drivers\CMSIS\Include;Core\Inc; +CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; + [PreviousGenFiles] AdvancedFolderStructure=true HeaderFileListSize=10 @@ -37,8 +42,3 @@ SourceFolderListSize=1 SourcePath#0=..\Core\Src SourceFiles=; -[PreviousUsedCMakes] -SourceFiles=Core\Src\main.c;Core\Src\gpio.c;Core\Src\freertos.c;Core\Src\dma.c;Core\Src\i2c.c;Core\Src\spi.c;Core\Src\tim.c;Core\Src\usart.c;Core\Src\stm32f4xx_it.c;Core\Src\stm32f4xx_hal_msp.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;;;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c; -HeaderPath=Drivers\STM32F4xx_HAL_Driver\Inc;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;Middlewares\Third_Party\FreeRTOS\Source\include;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F;Drivers\CMSIS\Device\ST\STM32F4xx\Include;Drivers\CMSIS\Include;Core\Inc; -CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; - diff --git a/Core/Src/tim.c b/Core/Src/tim.c index d8288e8..9820c44 100644 --- a/Core/Src/tim.c +++ b/Core/Src/tim.c @@ -109,6 +109,7 @@ void MX_TIM4_Init(void) /* USER CODE END TIM4_Init 0 */ + TIM_ClockConfigTypeDef sClockSourceConfig = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0}; TIM_OC_InitTypeDef sConfigOC = {0}; @@ -121,6 +122,15 @@ void MX_TIM4_Init(void) htim4.Init.Period = 65535; htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim4) != HAL_OK) + { + Error_Handler(); + } + sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; + if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK) + { + Error_Handler(); + } if (HAL_TIM_PWM_Init(&htim4) != HAL_OK) { Error_Handler(); @@ -153,6 +163,7 @@ void MX_TIM5_Init(void) /* USER CODE END TIM5_Init 0 */ + TIM_ClockConfigTypeDef sClockSourceConfig = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0}; TIM_OC_InitTypeDef sConfigOC = {0}; @@ -165,6 +176,15 @@ void MX_TIM5_Init(void) htim5.Init.Period = 65535; htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim5) != HAL_OK) + { + Error_Handler(); + } + sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; + if (HAL_TIM_ConfigClockSource(&htim5, &sClockSourceConfig) != HAL_OK) + { + Error_Handler(); + } if (HAL_TIM_PWM_Init(&htim5) != HAL_OK) { Error_Handler(); @@ -253,7 +273,12 @@ void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle) /* USER CODE END TIM1_MspInit 1 */ } - else if(tim_pwmHandle->Instance==TIM4) +} + +void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle) +{ + + if(tim_baseHandle->Instance==TIM4) { /* USER CODE BEGIN TIM4_MspInit 0 */ @@ -264,7 +289,7 @@ void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle) /* USER CODE END TIM4_MspInit 1 */ } - else if(tim_pwmHandle->Instance==TIM5) + else if(tim_baseHandle->Instance==TIM5) { /* USER CODE BEGIN TIM5_MspInit 0 */ @@ -275,12 +300,7 @@ void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle) /* USER CODE END TIM5_MspInit 1 */ } -} - -void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle) -{ - - if(tim_baseHandle->Instance==TIM10) + else if(tim_baseHandle->Instance==TIM10) { /* USER CODE BEGIN TIM10_MspInit 0 */ @@ -401,7 +421,12 @@ void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle) /* USER CODE END TIM1_MspDeInit 1 */ } - else if(tim_pwmHandle->Instance==TIM4) +} + +void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) +{ + + if(tim_baseHandle->Instance==TIM4) { /* USER CODE BEGIN TIM4_MspDeInit 0 */ @@ -412,7 +437,7 @@ void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle) /* USER CODE END TIM4_MspDeInit 1 */ } - else if(tim_pwmHandle->Instance==TIM5) + else if(tim_baseHandle->Instance==TIM5) { /* USER CODE BEGIN TIM5_MspDeInit 0 */ @@ -423,12 +448,7 @@ void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle) /* USER CODE END TIM5_MspDeInit 1 */ } -} - -void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) -{ - - if(tim_baseHandle->Instance==TIM10) + else if(tim_baseHandle->Instance==TIM10) { /* USER CODE BEGIN TIM10_MspDeInit 0 */ diff --git a/DveC.ioc b/DveC.ioc index 7f886c2..4098add 100644 --- a/DveC.ioc +++ b/DveC.ioc @@ -122,14 +122,16 @@ Mcu.Pin29=PB0 Mcu.Pin3=PA14 Mcu.Pin30=VP_FREERTOS_VS_CMSIS_V2 Mcu.Pin31=VP_SYS_VS_Systick -Mcu.Pin32=VP_TIM10_VS_ClockSourceINT +Mcu.Pin32=VP_TIM4_VS_ClockSourceINT +Mcu.Pin33=VP_TIM5_VS_ClockSourceINT +Mcu.Pin34=VP_TIM10_VS_ClockSourceINT Mcu.Pin4=PA13 Mcu.Pin5=PC11 Mcu.Pin6=PC10 Mcu.Pin7=PG9 Mcu.Pin8=PF0 Mcu.Pin9=PC9 -Mcu.PinsNb=33 +Mcu.PinsNb=35 Mcu.ThirdPartyNb=0 Mcu.UserConstants= Mcu.UserName=STM32F407IGHx @@ -409,5 +411,9 @@ VP_SYS_VS_Systick.Mode=SysTick VP_SYS_VS_Systick.Signal=SYS_VS_Systick VP_TIM10_VS_ClockSourceINT.Mode=Enable_Timer VP_TIM10_VS_ClockSourceINT.Signal=TIM10_VS_ClockSourceINT +VP_TIM4_VS_ClockSourceINT.Mode=Internal +VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT +VP_TIM5_VS_ClockSourceINT.Mode=Internal +VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT board=custom rtos.0.ip=FREERTOS diff --git a/MDK-ARM/DveC.uvguix.yxm23 b/MDK-ARM/DveC.uvguix.yxm23 index 303ff1c..b28c598 100644 --- a/MDK-ARM/DveC.uvguix.yxm23 +++ b/MDK-ARM/DveC.uvguix.yxm23 @@ -112,25 +112,25 @@ 0 1 - -32000 - -32000 + -1 + -1 -1 -1 - 261 - 80 - 1125 - 1062 + 155 + 499 + 1544 + 956 0 - 2136 - 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898 @@ -3622,11 +3622,11 @@ 0 100 - 22 + 26 ..\User\module\at9s_pro_cmd.c - 91 - 27 + 94 + 32 51 1 @@ -3634,9 +3634,9 @@ ..\User\task\quad_ctrl.c - 79 + 0 23 - 36 + 37 1 0 @@ -3653,7 +3653,7 @@ ..\User\component\AltitudeKalman.c 21 - 6 + 8 27 1 @@ -3671,7 +3671,7 @@ ..\User\task\cmd.c 0 - 33 + 34 53 1 @@ -3697,8 +3697,8 @@ ..\User\task\init.c - 69 - 22 + 72 + 24 43 1 @@ -3706,8 +3706,8 @@ ..\User\module\HeightEstimation.c - 19 - 84 + 22 + 93 112 1 @@ -3742,8 +3742,8 @@ ..\User\task\height_cal.c - 92 - 22 + 95 + 26 45 1 @@ -3841,13 +3841,31 @@ ..\User\component\pid.h - 29 + 27 25 38 1 0 + + ..\User\bsp\uart.c + 0 + 25 + 1 + 1 + + 0 + + + ..\User\bsp\uart.h + 0 + 22 + 1 + 1 + + 0 + diff --git a/MDK-ARM/DveC.uvoptx b/MDK-ARM/DveC.uvoptx index 98d7f69..ca946fa 100644 --- a/MDK-ARM/DveC.uvoptx +++ b/MDK-ARM/DveC.uvoptx @@ -271,7 +271,7 @@ Application/User/Core - 1 + 0 0 0 0 @@ -1191,7 +1191,7 @@ User/component - 1 + 0 0 0 0 @@ -1319,7 +1319,7 @@ User/module - 1 + 0 0 0 0 @@ -1423,7 +1423,7 @@ User/task - 1 + 0 0 0 0 diff --git a/User/module/HeightEstimation.c b/User/module/HeightEstimation.c index bcfb390..b43e218 100644 --- a/User/module/HeightEstimation.c +++ b/User/module/HeightEstimation.c @@ -72,8 +72,8 @@ int8_t HeightEstimation_Init(float freq) { SPL06_Init(); BSP_TIME_Delay(100); - LowPassFilter2p_Init(&accl_z_filter, freq, 10.0f); - LowPassFilter2p_Init(&relative_height_filter, freq, 5.0f); + LowPassFilter2p_Init(&accl_z_filter, freq, 30.0f); + LowPassFilter2p_Init(&relative_height_filter, freq, 20.0f); AltKalman_Init(&alt_kf); while(initializeCounter + +/*************************************************************************/ +/*********************************仲裁器**********************************/ +/*************************************************************************/ + + + + +/*************************************************************************/ +/**********************************RC*************************************/ +/*************************************************************************/ + +/* Includes ----------------------------------------------------------------- */ +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +/* Private function -------------------------------------------------------- */ +/* Exported functions ------------------------------------------------------- */ + +#define RC_SELECT_Index 1 + +/* 扩展接口 */ +#if RC_SELECT_Index == 0 +#define FOR_EACH_RC(_) _(dr16, DR16) +#elif RC_SELECT_Index == 1 +#define FOR_EACH_RC(_) _(at9s, AT9S) +#endif + +#if RC_SELECT_Index == 0 +#include "device/dr16.h" +#elif RC_SELECT_Index == 1 +#include "device/at9s_pro.h" +#endif + +#define X_FIELD(name, NAME) DEVICE_##NAME##_t name; +#define X_EXTERN(name, NAME) extern DEVICE_##NAME##_t name##_out; +#define X_COPY(name, NAME) \ + static void copy_##name(rc_u *dst) { dst->name = name##_out; } +#define X_REF(name, NAME) copy_##name, + +union rc_u{ + FOR_EACH_RC(X_FIELD) +}; +FOR_EACH_RC(X_EXTERN) +FOR_EACH_RC(X_COPY) + +/*静态缓冲区，供返回使用*/ +static rc_u rc_buffer; + +CMD_RCInputData_t rc; + +int8_t Cmd_get_rc(CMD_RCInputData_t *dst) +{ + FOR_EACH_RC(X_REF)(&rc_buffer); + dst->rc = &rc_buffer; + dst->rc_type = RC_SELECT_Index; + return CMD_OK; +} + +/*************************************************************************/ +/**********************************PC*************************************/ +/*************************************************************************/ + + + +/*************************************************************************/ +/**********************************NUC*************************************/ +/*************************************************************************/ + + + +/*************************************************************************/ +/**********************************REF*************************************/ +/*************************************************************************/ + + +/*************************************************************************/ +/*********************************分发命令*********************************/ +/*************************************************************************/ diff --git a/User/module/config.c b/User/module/config.c index 0e89b71..bbf35e3 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -23,13 +23,13 @@ Config_RobotParam_t robot_config = { .att_omg=1000 }, - .baseThrottle=0.3, + .baseThrottle=0.25, .pid = { .pit_agl = { .k = 1.0f, - .p = 10.0f, - .i = 3.0f, + .p = 6.5f, + .i = 1.5f, .d = 0.0f, .i_limit = 0.1f, .out_limit = 0.1745f, @@ -38,8 +38,8 @@ Config_RobotParam_t robot_config = { }, .rol_agl = { .k = 1.0f, - .p = 10.0f, - .i = 3.0f, + .p = 6.5f, + .i = 1.5f, .d = 0.0f, .i_limit = 0.1f, .out_limit = 0.1745f, @@ -48,8 +48,8 @@ Config_RobotParam_t robot_config = { }, .yaw_agl = { .k = 1.0f, - .p = 10.0f, - .i = 3.0f, + .p = 6.5f, + .i = 1.5f, .d = 0.0f, .i_limit = 0.1f, .out_limit = 0.1745f, @@ -97,13 +97,13 @@ Config_RobotParam_t robot_config = { .range = 0.0f }, .alt_vel = { - .k = 0.08f, - .p = 2.2f, - .i = 0.0f, - .d = 0.01f, - .i_limit = 0.0f, + .k = 0.2f, + .p = 4.0f, + .i = 0.3f, + .d = 0.02f, + .i_limit = 0.2f, .out_limit = 0.4f, - .d_cutoff_freq = 30.0f, + .d_cutoff_freq = 20.0f, .range = 0.0f }, diff --git a/User/module/xm_quadctrl.c b/User/module/xm_quadctrl.c index 7047c77..7fbb98c 100644 --- a/User/module/xm_quadctrl.c +++ b/User/module/xm_quadctrl.c @@ -197,7 +197,9 @@ int8_t Quad_UpdateStatus(Quad_t *q) { int8_t Quad_SetTargetStates(Quad_t *q, Quad_CMD_t *cmd) { - q->expect_status.vel = cmd->throttle; +// q->expect_status.vel = 0.1*cmd->throttle; + q->output.throttle=q->param->baseThrottle + +0.5*cmd->throttle; q->expect_status.yaw_omg = cmd->yaw; q->expect_status.rol_agl = cmd->rol+q->calibration_status.eulr.rol; q->expect_status.pit_agl = cmd->pit+q->calibration_status.eulr.pit; @@ -222,15 +224,15 @@ int8_t Quad_PosCtrl(Quad_t *q,float dt) { // q->current_status.alt, // 0, // dt); - q->expect_status.thrust=PID_Calc(&q->pid.alt_vel, - q->expect_status.vel, - q->current_status.vel_z, - 0, - dt); - Quad_Math_LimitFloat(&q->expect_status.thrust, -1.0f, 1.0f); - q->output.throttle=q->param->baseThrottle - +q->expect_status.thrust; - return 0; +// q->expect_status.thrust=PID_Calc(&q->pid.alt_vel, +// q->expect_status.vel, +// q->current_status.vel_z, +// 0, +// dt); +// Quad_Math_LimitFloat(&q->expect_status.thrust, -1.0f, 1.0f); +// q->output.throttle=q->param->baseThrottle +// +q->expect_status.thrust; + return 0; } //姿态控制 int8_t Quad_AttCtrl_agl(Quad_t *q, float dt) { diff --git a/ozone/quadcopterDveC.jdebug b/ozone/quadcopterDveC.jdebug new file mode 100644 index 0000000..d23e388 --- /dev/null +++ b/ozone/quadcopterDveC.jdebug @@ -0,0 +1,344 @@ +/********************************************************************* +* (c) SEGGER Microcontroller GmbH * +* The Embedded Experts * +* www.segger.com * +********************************************************************** + +File : +Created : 29. Oct 2025 12:49 +Ozone Version : V3.40b +*/ + +/********************************************************************* +* +* OnProjectLoad +* +* Function description +* Project load routine. Required. +* +********************************************************************** +*/ +void OnProjectLoad (void) { + // + // Dialog-generated settings + // + Project.AddPathSubstitute ("D:/CUBEMX/Quadcopter/DveC/ozone", "$(ProjectDir)"); + Project.AddPathSubstitute ("d:/cubemx/quadcopter/dvec/ozone", "$(ProjectDir)"); + Project.SetDevice ("STM32F407IG"); + Project.SetHostIF ("USB", "20750720"); + Project.SetTargetIF ("SWD"); + Project.SetTIFSpeed ("4 MHz"); + Project.AddSvdFile ("$(InstallDir)/Config/CPU/Cortex-M4F.svd"); + // + // User settings + // + File.Open ("D:/CUBEMX/Quadcopter/DveC/build/Debug/DveC.elf"); +} + +/********************************************************************* +* +* OnStartupComplete +* +* Function description +* Called when program execution has reached/passed +* the startup completion point. Optional. +* +********************************************************************** +*/ +//void OnStartupComplete (void) { +//} + +/********************************************************************* +* +* TargetReset +* +* Function description +* Replaces the default target device reset routine. Optional. +* +* Notes +* This example demonstrates the usage when +* debugging an application in RAM on a Cortex-M target device. +* +********************************************************************** +*/ +//void TargetReset (void) { +// +// unsigned int SP; +// unsigned int PC; +// unsigned int VectorTableAddr; +// +// VectorTableAddr = Elf.GetBaseAddr(); +// // +// // Set up initial stack pointer +// // +// if (VectorTableAddr != 0xFFFFFFFF) { +// SP = Target.ReadU32(VectorTableAddr); +// Target.SetReg("SP", SP); +// } +// // +// // Set up entry point PC +// // +// PC = Elf.GetEntryPointPC(); +// +// if (PC != 0xFFFFFFFF) { +// Target.SetReg("PC", PC); +// } else if (VectorTableAddr != 0xFFFFFFFF) { +// PC = Target.ReadU32(VectorTableAddr + 4); +// Target.SetReg("PC", PC); +// } else { +// Util.Error("Project file error: failed to set entry point PC", 1); +// } +//} + +/********************************************************************* +* +* BeforeTargetReset +* +* Function description +* Event handler routine. Optional. +* +********************************************************************** +*/ +//void BeforeTargetReset (void) { +//} + +/********************************************************************* +* +* AfterTargetReset +* +* Function description +* Event handler routine. Optional. +* The default implementation initializes SP and PC to reset values. +** +********************************************************************** +*/ +void AfterTargetReset (void) { + _SetupTarget(); +} + +/********************************************************************* +* +* DebugStart +* +* Function description +* Replaces the default debug session startup routine. Optional. +* +********************************************************************** +*/ +//void DebugStart (void) { +//} + +/********************************************************************* +* +* TargetConnect +* +* Function description +* Replaces the default target IF connection routine. Optional. +* +********************************************************************** +*/ +//void TargetConnect (void) { +//} + +/********************************************************************* +* +* BeforeTargetConnect +* +* Function description +* Event handler routine. Optional. +* +********************************************************************** +*/ +//void BeforeTargetConnect (void) { +//} + +/********************************************************************* +* +* AfterTargetConnect +* +* Function description +* Event handler routine. Optional. +* +********************************************************************** +*/ +//void AfterTargetConnect (void) { +//} + +/********************************************************************* +* +* TargetDownload +* +* Function description +* Replaces the default program download routine. Optional. +* +********************************************************************** +*/ +//void TargetDownload (void) { +//} + +/********************************************************************* +* +* BeforeTargetDownload +* +* Function description +* Event handler routine. Optional. +* +********************************************************************** +*/ +//void BeforeTargetDownload (void) { +//} + +/********************************************************************* +* +* AfterTargetDownload +* +* Function description +* Event handler routine. Optional. +* The default implementation initializes SP and PC to reset values. +* +********************************************************************** +*/ +void AfterTargetDownload (void) { + _SetupTarget(); +} + +/********************************************************************* +* +* BeforeTargetDisconnect +* +* Function description +* Event handler routine. Optional. +* +********************************************************************** +*/ +//void BeforeTargetDisconnect (void) { +//} + +/********************************************************************* +* +* AfterTargetDisconnect +* +* Function description +* Event handler routine. Optional. +* +********************************************************************** +*/ +//void AfterTargetDisconnect (void) { +//} + +/********************************************************************* +* +* AfterTargetHalt +* +* Function description +* Event handler routine. Optional. +* +********************************************************************** +*/ +//void AfterTargetHalt (void) { +//} + +/********************************************************************* +* +* BeforeTargetResume +* +* Function description +* Event handler routine. Optional. +* +********************************************************************** +*/ +//void BeforeTargetResume (void) { +//} + +/********************************************************************* +* +* OnSnapshotLoad +* +* Function description +* Called upon loading a snapshot. Optional. +* +* Additional information +* This function is used to restore the target state in cases +* where values cannot simply be written to the target. +* Typical use: GPIO clock needs to be enabled, before +* GPIO is configured. +* +********************************************************************** +*/ +//void OnSnapshotLoad (void) { +//} + +/********************************************************************* +* +* OnSnapshotSave +* +* Function description +* Called upon saving a snapshot. Optional. +* +* Additional information +* This function is usually used to save values of the target +* state which can either not be trivially read, +* or need to be restored in a specific way or order. +* Typically use: Memory Mapped Registers, +* such as PLL and GPIO configuration. +* +********************************************************************** +*/ +//void OnSnapshotSave (void) { +//} + +/********************************************************************* +* +* OnError +* +* Function description +* Called when an error ocurred. Optional. +* +********************************************************************** +*/ +//void OnError (void) { +//} + +/********************************************************************* +* +* AfterProjectLoad +* +* Function description +* After Project load routine. Optional. +* +********************************************************************** +*/ +//void AfterProjectLoad (void) { +//} + +/********************************************************************* +* +* OnDebugStartBreakSymbolReached +* +* Function description +* Called when program execution has reached/passed +* the symbol to be breaked at during debug start. Optional. +* +********************************************************************** +*/ +//void OnDebugStartBreakSymReached (void) { +//} + +/********************************************************************* +* +* _SetupTarget +* +* Function description +* Setup the target. +* Called by AfterTargetReset() and AfterTargetDownload(). +* +* Auto-generated function. May be overridden by Ozone. +* +********************************************************************** +*/ +void _SetupTarget(void) { + // + // this function is intentionally empty because both inital PC and + // initial SP were chosen not to be set + // +} \ No newline at end of file diff --git a/ozone/quadcopterDveC.jdebug.user b/ozone/quadcopterDveC.jdebug.user new file mode 100644 index 0000000..e4ac8fd --- /dev/null +++ b/ozone/quadcopterDveC.jdebug.user @@ -0,0 +1,37 @@ + + +GraphedExpression="((q).current_status).vel_z", Color=#e56a6f +GraphedExpression="((q).expect_status).vel", Color=#35792b +GraphedExpression="((((q).pid).alt_vel).last).out", Color=#769dda, Show=0 +GraphedExpression="((((q).pid).alt_vel).out).pout", Color=#b14f0d, Show=0 +GraphedExpression="((((q).pid).alt_vel).out).iout", Color=#b3c38e, Show=0 +GraphedExpression="((((q).pid).alt_vel).out).dout", Color=#ab7b05, Show=0 +OpenDocument="time.c", FilePath="D:/CUBEMX/Quadcopter/DveC/User/bsp/time.c", Line=21 +OpenDocument="stm32f4xx_hal_gpio.c", FilePath="D:/CUBEMX/Quadcopter/DveC/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c", Line=378 +OpenDocument="config.h", FilePath="D:/CUBEMX/Quadcopter/DveC/User/module/config.h", Line=0 +OpenDocument="mpu_wrappers.h", FilePath="D:/CUBEMX/Quadcopter/DveC/Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h", Line=0 +OpenDocument="quad_ctrl.c", FilePath="D:/CUBEMX/Quadcopter/DveC/User/task/quad_ctrl.c", Line=0 +OpenDocument="HeightEstimation.c", FilePath="D:/CUBEMX/Quadcopter/DveC/User/module/HeightEstimation.c", Line=0 +OpenDocument="startup_stm32f407xx.s", FilePath="D:/CUBEMX/Quadcopter/DveC/startup_stm32f407xx.s", Line=48 +OpenDocument="main.c", FilePath="D:/CUBEMX/Quadcopter/DveC/Core/Src/main.c", Line=48 +OpenToolbar="Debug", Floating=0, x=0, y=0 +OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=729, h=713, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1 +OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=729, h=205, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=729, h=713, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Data Sampling", DockArea=BOTTOM, x=1, y=0, w=841, h=536, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 +OpenWindow="Timeline", DockArea=BOTTOM, x=0, y=0, w=1718, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="2 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="0;112", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="2040;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1990;0" +OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=841, h=536, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1" +TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;144;485] +TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1594;104;100;100;100] +TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100] +TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[] +TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[215;100;100;100;1014] +TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[250;282;91;100] +TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" ((q).current_status).vel_z";" ((q).expect_status).vel";" ((((q).pid).alt_vel).last).out";" ((((q).pid).alt_vel).out).pout";" ((((q).pid).alt_vel).out).iout";" ((((q).pid).alt_vel).out).dout"], ColWidths=[100;100;100;100;100;100;100;100] +TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[253;100;144;114;114;144;110;126;126] +TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;366] +WatchedExpression="pressure", RefreshRate=5, Window=Watched Data 1 +WatchedExpression="q", RefreshRate=5, Window=Watched Data 1 \ No newline at end of file