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正在考虑config该咋写

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yxming66 2025-10-08 20:26:49 +08:00
parent 6fad9b04ea
commit 7fbec09276
16 changed files with 5233 additions and 5150 deletions
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3
.vscode/settings.json vendored
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@ -2,6 +2,7 @@
"C_Cpp.errorSquiggles": "disabled", "C_Cpp.errorSquiggles": "disabled",
"files.associations": { "files.associations": {
"pid.h": "c", "pid.h": "c",
"main.h": "c" "main.h": "c",
"motor_rm.h": "c"
} }
} }

227
MDK-ARM/shoot.uvguix.yxm23
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MDK-ARM/shoot/config.o
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MDK-ARM/shoot/shoot.axf
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MDK-ARM/shoot/shoot.build_log.htm
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@ -26,9 +26,109 @@ Project File Date: 10/03/2025
<h2>Output:</h2> <h2>Output:</h2>
*** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin' *** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin'
Build target 'shoot' Rebuild target 'shoot'
Note: source file '..\User\bsp\can.c' - object file renamed from 'shoot\can.o' to 'shoot\can_1.o'. Note: source file '..\User\bsp\can.c' - object file renamed from 'shoot\can.o' to 'shoot\can_1.o'.
"shoot\shoot.axf" - 0 Error(s), 0 Warning(s). assembling startup_stm32f407xx.s...
compiling stm32f4xx_hal_flash_ramfunc.c...
compiling dma.c...
compiling stm32f4xx_hal_msp.c...
compiling stm32f4xx_it.c...
compiling usart.c...
compiling main.c...
compiling can.c...
compiling gpio.c...
compiling event_groups.c...
compiling freertos.c...
compiling stm32f4xx_hal_flash_ex.c...
compiling stm32f4xx_hal_gpio.c...
compiling stm32f4xx_hal_rcc.c...
compiling stm32f4xx_hal_cortex.c...
compiling stm32f4xx_hal_exti.c...
compiling stm32f4xx_hal_rcc_ex.c...
compiling stm32f4xx_hal_can.c...
compiling tasks.c...
compiling list.c...
compiling croutine.c...
compiling cmsis_os2.c...
compiling system_stm32f4xx.c...
compiling mm.c...
compiling stm32f4xx_hal.c...
compiling stm32f4xx_hal_pwr.c...
compiling stream_buffer.c...
compiling heap_4.c...
compiling port.c...
compiling stm32f4xx_hal_dma_ex.c...
compiling motor.c...
compiling stm32f4xx_hal_pwr_ex.c...
compiling stm32f4xx_hal_dma.c...
compiling time.c...
compiling dwt.c...
compiling timers.c...
compiling uart.c...
compiling stm32f4xx_hal_flash.c...
compiling queue.c...
compiling user_math.c...
../User/component/at9s_pro_cmd.c(2): warning: In file included from...
../User/component/at9s_pro_cmd.h(9): warning: In file included from...
../User\device/at9s_pro.h(17): warning: '__packed__' attribute ignored [-Wignored-attributes]
typedef __packed struct
^
../User\component/user_math.h(33): note: expanded from macro '__packed'
#define __packed __attribute__((__packed__))
^
1 warning generated.
compiling at9s_pro_cmd.c...
compiling vofa.c...
../User/device/AT9S_Pro.c(2): warning: In file included from...
../User/device/AT9S_Pro.h(17): warning: '__packed__' attribute ignored [-Wignored-attributes]
typedef __packed struct
^
../User\component/user_math.h(33): note: expanded from macro '__packed'
#define __packed __attribute__((__packed__))
^
1 warning generated.
compiling AT9S_Pro.c...
compiling can.c...
compiling motor_rm.c...
compiling filter.c...
compiling pid.c...
compiling stm32f4xx_hal_uart.c...
../User/task/init.c(10): warning: In file included from...
../User\component/at9s_pro_cmd.h(9): warning: In file included from...
../User\device/at9s_pro.h(17): warning: '__packed__' attribute ignored [-Wignored-attributes]
typedef __packed struct
^
../User\component/user_math.h(33): note: expanded from macro '__packed'
#define __packed __attribute__((__packed__))
^
1 warning generated.
compiling init.c...
../User/task/rc.c(8): warning: In file included from...
../User\device/at9s_pro.h(17): warning: '__packed__' attribute ignored [-Wignored-attributes]
typedef __packed struct
^
../User\component/user_math.h(33): note: expanded from macro '__packed'
#define __packed __attribute__((__packed__))
^
1 warning generated.
compiling rc.c...
compiling config.c...
compiling user_task.c...
../User/task/shoot_ctrl.c(10): warning: In file included from...
../User\component/at9s_pro_cmd.h(9): warning: In file included from...
../User\device/at9s_pro.h(17): warning: '__packed__' attribute ignored [-Wignored-attributes]
typedef __packed struct
^
../User\component/user_math.h(33): note: expanded from macro '__packed'
#define __packed __attribute__((__packed__))
^
1 warning generated.
compiling shoot_ctrl.c...
compiling shoot_control.c...
linking...
Program Size: Code=32128 RO-data=660 RW-data=268 ZI-data=23668
FromELF: creating hex file...
"shoot\shoot.axf" - 0 Error(s), 5 Warning(s).
<h2>Software Packages used:</h2> <h2>Software Packages used:</h2>
@ -52,7 +152,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0 * Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h Include file: CMSIS\Core\Include\tz_context.h
Build Time Elapsed: 00:00:00 Build Time Elapsed: 00:00:02
</pre> </pre>
</body> </body>
</html> </html>

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MDK-ARM/shoot/shoot.htm
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MDK-ARM/shoot/shoot.map
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20
MDK-ARM/shoot/shoot_shoot.dep
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@ -1309,8 +1309,8 @@ I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
F (..\User\component\pid.h)(0x68DFDF27)() F (..\User\component\pid.h)(0x68DFDF27)()
F (..\User\module\shoot_control.c)(0x68E62342)(-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 -gdwarf-3 -O1 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/shoot_control.o -MD) F (..\User\module\shoot_control.c)(0x68E654D6)(-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 -gdwarf-3 -O1 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/shoot_control.o -MD)
I (..\User\module\shoot_control.h)(0x68E621FB) I (..\User\module\shoot_control.h)(0x68E652F9)
I (..\Core\Inc\main.h)(0x68D1384A) I (..\Core\Inc\main.h)(0x68D1384A)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A) I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)
@ -1367,9 +1367,9 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\time.h)(0x68DFDF27) I (..\User\bsp\time.h)(0x68DFDF27)
F (..\User\module\shoot_control.h)(0x68E621FB)() F (..\User\module\shoot_control.h)(0x68E652F9)()
F (..\User\module\config.c)(0x68E142A3)(-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 -gdwarf-3 -O1 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/config.o -MD) F (..\User\module\config.c)(0x68E652F9)(-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 -gdwarf-3 -O1 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/config.o -MD)
I (..\User\module\config.h)(0x68DABE70) I (..\User\module\config.h)(0x68E63334)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\pid.h)(0x68DFDF27) I (..\User\component\pid.h)(0x68DFDF27)
I (..\User\component\filter.h)(0x68DFDF27) I (..\User\component\filter.h)(0x68DFDF27)
@ -1424,8 +1424,8 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (..\User\module\shoot_control.h)(0x68E621FB) I (..\User\module\shoot_control.h)(0x68E652F9)
F (..\User\module\config.h)(0x68DABE70)() F (..\User\module\config.h)(0x68E63334)()
F (..\User\task\init.c)(0x68D4AE2D)(-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 -gdwarf-3 -O1 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/init.o -MD) F (..\User\task\init.c)(0x68D4AE2D)(-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 -gdwarf-3 -O1 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/init.o -MD)
I (..\User\task\user_task.h)(0x68D3E4B9) I (..\User\task\user_task.h)(0x68D3E4B9)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
@ -1468,7 +1468,7 @@ I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68DFDFA7) I (..\User\device\device.h)(0x68DFDFA7)
I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6) I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)
F (..\User\task\shoot_ctrl.c)(0x68DFE330)(-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 -gdwarf-3 -O1 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/shoot_ctrl.o -MD) F (..\User\task\shoot_ctrl.c)(0x68E63334)(-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 -gdwarf-3 -O1 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/shoot_ctrl.o -MD)
I (..\User\task\user_task.h)(0x68D3E4B9) I (..\User\task\user_task.h)(0x68D3E4B9)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
@ -1489,7 +1489,7 @@ I (..\User\component\user_math.h)(0x68DFE123)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68DFDFA7) I (..\User\device\device.h)(0x68DFDFA7)
I (..\User\module\shoot_control.h)(0x68E621FB) I (..\User\module\shoot_control.h)(0x68E652F9)
I (..\Core\Inc\main.h)(0x68D1384A) I (..\Core\Inc\main.h)(0x68D1384A)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A) I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)
@ -1527,7 +1527,7 @@ I (..\Core\Inc\can.h)(0x68D13849)
I (..\User\bsp\bsp.h)(0x68DFDF27) I (..\User\bsp\bsp.h)(0x68DFDF27)
I (..\User\bsp\mm.h)(0x68DFDF27) I (..\User\bsp\mm.h)(0x68DFDF27)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
I (..\User\module\config.h)(0x68DABE70) I (..\User\module\config.h)(0x68E63334)
F (..\User\task\user_task.c)(0x68DCD9EF)(-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 -gdwarf-3 -O1 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/user_task.o -MD) F (..\User\task\user_task.c)(0x68DCD9EF)(-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 -gdwarf-3 -O1 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/user_task.o -MD)
I (..\User\task\user_task.h)(0x68D3E4B9) I (..\User\task\user_task.h)(0x68D3E4B9)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)

78
User/module/config.c
View File

@ -19,55 +19,14 @@ Config_RobotParam_t robot_config = {
.shoot_param = { .shoot_param = {
.fric_num=6,
.num_trig_tooth=8, .num_trig_tooth=8,
.shot_freq=20.0f, .shot_freq=20.0f,
.shot_burst_num=1, .shot_burst_num=1,
.num_multilevel=1,
.jam_enable=true, .jam_enable=true,
.jam_threshold=120.0f, .jam_threshold=120.0f,
.jam_suspected_time=0.5f, .jam_suspected_time=0.5f,
.fric_motor_param[0] = {
.can = BSP_CAN_2,
.id = 0x201,
.module = MOTOR_M3508,
.reverse = true,
.gear=false,
},
.fric_motor_param[1] = {
.can = BSP_CAN_2,
.id = 0x202,
.module = MOTOR_M3508,
.reverse = true,
.gear=false,
},
.fric_motor_param[2] = {
.can = BSP_CAN_2,
.id = 0x203,
.module = MOTOR_M3508,
.reverse = true,
.gear=false,
},
.fric_motor_param[3] = {
.can = BSP_CAN_2,
.id = 0x204,
.module = MOTOR_M3508,
.reverse = true,
.gear=false,
},
.fric_motor_param[4] = {
.can = BSP_CAN_2,
.id = 0x205,
.module = MOTOR_M3508,
.reverse = false,
.gear=false,
},
.fric_motor_param[5] = {
.can = BSP_CAN_2,
.id = 0x206,
.module = MOTOR_M3508,
.reverse = false,
.gear=false,
},
.trig_motor_param = { .trig_motor_param = {
.can = BSP_CAN_2, .can = BSP_CAN_2,
.id = 0x207, .id = 0x207,
@ -155,4 +114,37 @@ Config_RobotParam_t robot_config = {
*/ */
Config_RobotParam_t* Config_GetRobotParam(void) { Config_RobotParam_t* Config_GetRobotParam(void) {
return &robot_config; return &robot_config;
}
/**
* @brief 初始化机器人配置参数
* @return 初始化结果
*/
int8_t Config_ShootInit(void) {
int fric_num = robot_config.shoot_param.fric_num;
int num_multilevel = robot_config.shoot_param.num_multilevel;
robot_config.shoot_param.fric_motor_param = (Shoot_MOTOR_RM_Param_t *)BSP_Malloc(fric_num * sizeof(Shoot_MOTOR_RM_Param_t));
if (robot_config.shoot_param.fric_motor_param == NULL) {
return -1; // 内存分配失败
}
// 初始化摩擦轮参数
for (uint8_t i = 0; i < fric_num; i++) {
robot_config.shoot_param.fric_motor_param[i].param = (MOTOR_RM_Param_t){
.can = BSP_CAN_2,
.id = 0x201 + i,
.module = MOTOR_M3508,
.reverse = (i == 0||1) ? true : false,
.gear = false,
};
}
if(num_multilevel==1){
robot_config.shoot_param.ratio_multilevel[0]=1.0f;
}
else if(num_multilevel>1){
robot_config.shoot_param.ratio_multilevel[0]=1.0f;
robot_config.shoot_param.ratio_multilevel[1]=1.1f;
}
return SHOOT_OK;
} }

2
User/module/config.h
View File

@ -25,7 +25,7 @@ typedef struct {
* @return 机器人配置参数指针 * @return 机器人配置参数指针
*/ */
Config_RobotParam_t* Config_GetRobotParam(void); Config_RobotParam_t* Config_GetRobotParam(void);
int8_t Config_ShootInit(void);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

94
User/module/shoot_control.c
View File

@ -56,7 +56,8 @@ int8_t Shoot_ResetIntegral(Shoot_t *s)
if (s == NULL) { if (s == NULL) {
return SHOOT_ERR_NULL; // 参数错误 return SHOOT_ERR_NULL; // 参数错误
} }
for(int i=0;i<SHOOT_FRIC_NUM;i++) uint8_t fric_num = s->param->fric_num;
for(int i=0;i<fric_num;i++)
{ {
PID_ResetIntegral(&s->pid.fric_follow[i]); PID_ResetIntegral(&s->pid.fric_follow[i]);
PID_ResetIntegral(&s->pid.fric_err[i]); PID_ResetIntegral(&s->pid.fric_err[i]);
@ -78,7 +79,8 @@ int8_t Shoot_ResetCalu(Shoot_t *s)
if (s == NULL) { if (s == NULL) {
return SHOOT_ERR_NULL; // 参数错误 return SHOOT_ERR_NULL; // 参数错误
} }
for(int i=0;i<SHOOT_FRIC_NUM;i++) uint8_t fric_num = s->param->fric_num;
for(int i=0;i<fric_num;i++)
{ {
PID_Reset(&s->pid.fric_follow[i]); PID_Reset(&s->pid.fric_follow[i]);
PID_Reset(&s->pid.fric_err[i]); PID_Reset(&s->pid.fric_err[i]);
@ -104,7 +106,8 @@ int8_t Shoot_ResetOutput(Shoot_t *s)
if (s == NULL) { if (s == NULL) {
return SHOOT_ERR_NULL; // 参数错误 return SHOOT_ERR_NULL; // 参数错误
} }
for(int i=0;i<SHOOT_FRIC_NUM;i++) uint8_t fric_num = s->param->fric_num;
for(int i=0;i<fric_num;i++)
{ {
s->output.out_follow[i]=0.0f; s->output.out_follow[i]=0.0f;
s->output.out_err[i]=0.0f; s->output.out_err[i]=0.0f;
@ -171,10 +174,11 @@ int8_t Chassis_UpdateFeedback(Shoot_t *s)
return SHOOT_ERR_NULL; // 参数错误 return SHOOT_ERR_NULL; // 参数错误
} }
float rpm_sum=0.0f; float rpm_sum=0.0f;
for(int i = 0; i < SHOOT_FRIC_NUM; i++) { uint8_t fric_num = s->param->fric_num;
for(int i = 0; i < fric_num; i++) {
/* 更新摩擦轮电机反馈 */ /* 更新摩擦轮电机反馈 */
MOTOR_RM_Update(&s->param->fric_motor_param[i]); MOTOR_RM_Update(&s->param->fric_motor_param[i].param);
MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->fric_motor_param[i]); MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->fric_motor_param[i].param);
if(motor_fed!=NULL) if(motor_fed!=NULL)
{ {
s->feedback.fric[i]=motor_fed->motor.feedback; s->feedback.fric[i]=motor_fed->motor.feedback;
@ -188,7 +192,7 @@ int8_t Chassis_UpdateFeedback(Shoot_t *s)
/* 计算平均摩擦轮电机转速反馈 */ /* 计算平均摩擦轮电机转速反馈 */
rpm_sum+=s->feedback.fric_rpm[i]; rpm_sum+=s->feedback.fric_rpm[i];
} }
s->feedback.fric_avgrpm=rpm_sum/SHOOT_FRIC_NUM; s->feedback.fric_avgrpm=rpm_sum/fric_num;
/* 更新拨弹电机反馈 */ /* 更新拨弹电机反馈 */
MOTOR_RM_Update(&s->param->trig_motor_param); MOTOR_RM_Update(&s->param->trig_motor_param);
MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->trig_motor_param); MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->trig_motor_param);
@ -218,10 +222,12 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
if (s == NULL || cmd == NULL) { if (s == NULL || cmd == NULL) {
return SHOOT_ERR_NULL; // 参数错误 return SHOOT_ERR_NULL; // 参数错误
} }
uint8_t fric_num = s->param->fric_num;
uint8_t num_multilevel = s->param->num_multilevel;
if(!s->online /*|| s->mode==SHOOT_MODE_SAFE*/){ if(!s->online /*|| s->mode==SHOOT_MODE_SAFE*/){
for(int i=0;i<SHOOT_FRIC_NUM;i++) for(int i=0;i<fric_num;i++)
{ {
MOTOR_RM_Relax(&s->param->fric_motor_param[i]); MOTOR_RM_Relax(&s->param->fric_motor_param[i].param);
} }
MOTOR_RM_Relax(&s->param->trig_motor_param); MOTOR_RM_Relax(&s->param->trig_motor_param);
} }
@ -231,13 +237,13 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
{ {
case SHOOT_STATE_IDLE:/*熄火等待*/ case SHOOT_STATE_IDLE:/*熄火等待*/
for(int i=0;i<SHOOT_FRIC_NUM;i++) for(int i=0;i<fric_num;i++)
{ /* 转速归零 */ { /* 转速归零 */
PID_ResetIntegral(&s->pid.fric_follow[i]); PID_ResetIntegral(&s->pid.fric_follow[i]);
s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],0.0f,s->feedback.fric_rpm[i],0,s->dt); s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],0.0f,s->feedback.fric_rpm[i],0,s->dt);
s->output.out_fric[i]=s->output.out_follow[i]; s->output.out_fric[i]=s->output.out_follow[i];
s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]); s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]); MOTOR_RM_SetOutput(&s->param->fric_motor_param[i].param, s->output.lpfout_fric[i]);
} }
s->output.outagl_trig =PID_Calc(&s->pid.trig,pos,s->feedback.trig.rotor_abs_angle,0,s->dt); s->output.outagl_trig =PID_Calc(&s->pid.trig,pos,s->feedback.trig.rotor_abs_angle,0,s->dt);
@ -256,18 +262,26 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
break; break;
case SHOOT_STATE_READY:/*准备射击*/ case SHOOT_STATE_READY:/*准备射击*/
for(int i=0;i<SHOOT_FRIC_NUM;i++) for(int i=fric_num;i<fric_num/i;i++)
{ /* 计算跟随输出、计算修正输出 */ { /* 计算跟随输出、计算修正输出 */
s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],s->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt); s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],
s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt); s->param->ratio_multilevel[i]*s->target_variable.target_rpm/MAX_FRIC_RPM,
/* 按比例缩放并加和输出 */ s->feedback.fric_rpm[i],
ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]); 0,
s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i]; s->dt);
/* 滤波 */ s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],
s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]); s->feedback.fric_avgrpm,
/* 设置输出 */ s->feedback.fric_rpm[i],
MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]); 0,
} s->dt);
/* 按比例缩放并加和输出 */
ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]);
s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i];
/* 滤波 */
s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
/* 设置输出 */
MOTOR_RM_SetOutput(&s->param->fric_motor_param[i].param, s->output.lpfout_fric[i]);
}
/* 设置拨弹电机输出 */ /* 设置拨弹电机输出 */
s->output.outagl_trig =PID_Calc(&s->pid.trig,pos,s->feedback.trig.rotor_abs_angle,0,s->dt); s->output.outagl_trig =PID_Calc(&s->pid.trig,pos,s->feedback.trig.rotor_abs_angle,0,s->dt);
s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt); s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
@ -305,7 +319,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
case SHOOT_STATE_FIRE:/*射击*/ case SHOOT_STATE_FIRE:/*射击*/
Shoot_CaluTargetAngle(s, cmd); Shoot_CaluTargetAngle(s, cmd);
for(int i=0;i<SHOOT_FRIC_NUM;i++) for(int i=0;i<fric_num;i++)
{ /* 计算跟随输出、计算修正输出 */ { /* 计算跟随输出、计算修正输出 */
s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],s->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt); s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],s->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt);
s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt); s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt);
@ -315,7 +329,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
/* 滤波 */ /* 滤波 */
s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]); s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
/* 设置输出 */ /* 设置输出 */
MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]); MOTOR_RM_SetOutput(&s->param->fric_motor_param[i].param, s->output.lpfout_fric[i]);
} }
/* 设置拨弹电机输出 */ /* 设置拨弹电机输出 */
s->output.outagl_trig =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig.rotor_abs_angle,0,s->dt); s->output.outagl_trig =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig.rotor_abs_angle,0,s->dt);
@ -337,9 +351,9 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
} }
} }
/* 输出 */ /* 输出 */
for(int i=SHOOT_FRIC_NUM-1;i>3;i-=4) for(int i=fric_num-1;i>3;i-=4)
{ {
MOTOR_RM_Ctrl(&s->param->fric_motor_param[i]); MOTOR_RM_Ctrl(&s->param->fric_motor_param[i].param);
} }
MOTOR_RM_Ctrl(&s->param->trig_motor_param); MOTOR_RM_Ctrl(&s->param->trig_motor_param);
last_firecmd = cmd->firecmd; last_firecmd = cmd->firecmd;
@ -428,12 +442,34 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
if (s == NULL || param == NULL || target_freq <= 0.0f) { if (s == NULL || param == NULL || target_freq <= 0.0f) {
return SHOOT_ERR_NULL; // 参数错误 return SHOOT_ERR_NULL; // 参数错误
} }
uint8_t fric_num = param->fric_num;
s->feedback.fric = (MOTOR_Feedback_t *) BSP_Malloc(fric_num * sizeof(MOTOR_Feedback_t));
s->feedback.fil_fric_rpm = (float *) BSP_Malloc(fric_num * sizeof(float));
s->feedback.fric_rpm = (float *) BSP_Malloc(fric_num * sizeof(float));
s->output.out_follow = (float *) BSP_Malloc(fric_num * sizeof(float));
s->output.out_err = (float *) BSP_Malloc(fric_num * sizeof(float));
s->output.out_fric = (float *) BSP_Malloc(fric_num * sizeof(float));
s->output.lpfout_fric = (float *) BSP_Malloc(fric_num * sizeof(float));
s->param->fric_motor_param= (Shoot_MOTOR_RM_Param_t *) BSP_Malloc(fric_num * sizeof(Shoot_MOTOR_RM_Param_t));
s->pid.fric_follow = (KPID_t *) BSP_Malloc(fric_num * sizeof(KPID_t));
s->pid.fric_err = (KPID_t *) BSP_Malloc(fric_num * sizeof(KPID_t));
s->filter.fric.in = (LowPassFilter2p_t *)BSP_Malloc(fric_num * sizeof(LowPassFilter2p_t));
s->filter.fric.out = (LowPassFilter2p_t *)BSP_Malloc(fric_num * sizeof(LowPassFilter2p_t));
if (s->feedback.fric == NULL || s->feedback.fil_fric_rpm == NULL || s->feedback.fric_rpm == NULL ||
s->output.out_follow == NULL || s->output.out_err == NULL || s->output.out_fric == NULL ||
s->output.lpfout_fric == NULL || s->param->fric_motor_param == NULL || s->pid.fric_follow == NULL ||
s->pid.fric_err == NULL || s->filter.fric.in == NULL || s->filter.fric.out == NULL) {
return SHOOT_ERR_MALLOC;}/* 内存分配失败 */
s->param=param; s->param=param;
BSP_CAN_Init(); BSP_CAN_Init();
/* 初始化摩擦轮PID和滤波器 */ /* 初始化摩擦轮PID和滤波器 */
for(int i=0;i<SHOOT_FRIC_NUM;i++){ for(int i=0;i<fric_num;i++){
MOTOR_RM_Register(&param->fric_motor_param[i]); MOTOR_RM_Register(&param->fric_motor_param[i].param);
PID_Init(&s->pid.fric_follow[i], KPID_MODE_CALC_D, target_freq,&param->fric_follow); PID_Init(&s->pid.fric_follow[i], KPID_MODE_CALC_D, target_freq,&param->fric_follow);
PID_Init(&s->pid.fric_err[i], KPID_MODE_CALC_D, target_freq,&param->fric_err); PID_Init(&s->pid.fric_err[i], KPID_MODE_CALC_D, target_freq,&param->fric_err);
LowPassFilter2p_Init(&s->filter.fric.in[i], target_freq, s->param->filter.fric.in); LowPassFilter2p_Init(&s->filter.fric.in[i], target_freq, s->param->filter.fric.in);

39
User/module/shoot_control.h
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@ -18,8 +18,9 @@ extern "C" {
#define SHOOT_OK (0) /* 运行正常 */ #define SHOOT_OK (0) /* 运行正常 */
#define SHOOT_ERR_NULL (-1) /* 运行时发现NULL指针 */ #define SHOOT_ERR_NULL (-1) /* 运行时发现NULL指针 */
#define SHOOT_ERR_ERR (-2) /* 运行时发现了其他错误 */ #define SHOOT_ERR_ERR (-2) /* 运行时发现了其他错误 */
#define SHOOT_ERR_MODE (-3) /* 运行时配置了错误的CMD_ChassisMode_t */ #define SHOOT_ERR_MODE (-3) /* 运行时配置了错误的Mode */
#define SHOOT_ERR_MOTOR (-4) /* 运行时配置了不存在的电机类型 */ #define SHOOT_ERR_MOTOR (-4) /* 运行时配置了不存在的电机类型 */
#define SHOOT_ERR_MALLOC (-5) /* 内存分配失败 */
#define SHOOT_FRIC_NUM (6) /* 摩擦轮数量 */ #define SHOOT_FRIC_NUM (6) /* 摩擦轮数量 */
#define MAX_FRIC_RPM 7000.0f #define MAX_FRIC_RPM 7000.0f
@ -51,14 +52,20 @@ typedef struct {
bool firecmd; /* 射击指令 */ bool firecmd; /* 射击指令 */
} Shoot_CMD_t; } Shoot_CMD_t;
typedef struct{
MOTOR_RM_Param_t param;
uint8_t level; /*电机属于几级发射；1起始；num_multilevel大于1时有效，且不可大于num_multilevel*/
}Shoot_MOTOR_RM_Param_t;
typedef struct { typedef struct {
MOTOR_Feedback_t fric[SHOOT_FRIC_NUM]; /* 摩擦轮电机反馈 */ MOTOR_Feedback_t *fric; /* 摩擦轮电机反馈 */
MOTOR_Feedback_t trig; /* 拨弹电机反馈 */ MOTOR_Feedback_t trig; /* 拨弹电机反馈 */
float fil_fric_rpm[SHOOT_FRIC_NUM]; /* 滤波后的摩擦轮转速 */ float *fil_fric_rpm; /* 滤波后的摩擦轮转速 */
float fil_trig_rpm; /* 滤波后的拨弹电机转速*/ float fil_trig_rpm; /* 滤波后的拨弹电机转速*/
float fric_rpm[SHOOT_FRIC_NUM]; /* 归一化摩擦轮转速 */ float *fric_rpm; /* 归一化摩擦轮转速 */
float fric_avgrpm; /* 归一化摩擦轮平均转速*/ float fric_avgrpm; /* 归一化摩擦轮平均转速*/
float trig_rpm; /* 归一化拨弹电机转速*/ float trig_rpm; /* 归一化拨弹电机转速*/
@ -76,10 +83,10 @@ typedef struct {
Shoot_JamDetectionFSM_State_t jamfsm_state; /* 卡弹检测状态 */ Shoot_JamDetectionFSM_State_t jamfsm_state; /* 卡弹检测状态 */
}Shoot_JamDetection_t; }Shoot_JamDetection_t;
typedef struct { typedef struct {
float out_follow[SHOOT_FRIC_NUM]; float *out_follow;
float out_err[SHOOT_FRIC_NUM]; float *out_err;
float out_fric[SHOOT_FRIC_NUM]; float *out_fric;
float lpfout_fric[SHOOT_FRIC_NUM]; float *lpfout_fric;
float outagl_trig; float outagl_trig;
@ -90,18 +97,20 @@ typedef struct {
/* 底盘参数的结构体，包含所有初始化用的参数，通常是const，存好几组 */ /* 底盘参数的结构体，包含所有初始化用的参数，通常是const，存好几组 */
typedef struct { typedef struct {
uint8_t fric_num; /* 摩擦轮数量 */
float num_trig_tooth; /* 拨弹盘每圈弹丸数量 */ float num_trig_tooth; /* 拨弹盘每圈弹丸数量 */
float shot_freq; /* 射击频率，单位Hz */ float shot_freq; /* 射击频率，单位Hz */
uint8_t shot_burst_num; /* 多发模式一次射击的数量 */ uint8_t shot_burst_num; /* 多发模式一次射击的数量 */
uint8_t num_multilevel; /* 多级发射级数 (默认每级摩擦轮的数量相等)*/ uint8_t num_multilevel; /* 多级发射级数 (默认每级摩擦轮的数量相等)*/
float multilevel_ratio[1]; /* 多级发射各级速度比例 */ float *ratio_multilevel; /* 多级发射各级速度比例 */
bool jam_enable; /* 是否启用卡弹检测 */ //还没加到逻辑里 bool jam_enable; /* 是否启用卡弹检测 */ //还没加到逻辑里
float jam_threshold; /* 卡弹检测阈值，单位A (dji2006建议设置为120A，dji3508建议设置为300A,根据实际测试调整)*/ float jam_threshold; /* 卡弹检测阈值，单位A (dji2006建议设置为120A，dji3508建议设置为300A,根据实际测试调整)*/
float jam_suspected_time; /* 卡弹怀疑时间，单位秒 */ float jam_suspected_time; /* 卡弹怀疑时间，单位秒 */
MOTOR_RM_Param_t fric_motor_param[SHOOT_FRIC_NUM]; Shoot_MOTOR_RM_Param_t *fric_motor_param;
MOTOR_RM_Param_t trig_motor_param; MOTOR_RM_Param_t trig_motor_param;
@ -152,8 +161,8 @@ typedef struct {
/* 反馈控制用的PID */ /* 反馈控制用的PID */
struct { struct {
KPID_t fric_follow[SHOOT_FRIC_NUM]; /* 摩擦轮PID主结构体 */ KPID_t *fric_follow; /* 摩擦轮PID主结构体 */
KPID_t fric_err[SHOOT_FRIC_NUM]; /* 摩擦轮PID主结构体 */ KPID_t *fric_err; /* 摩擦轮PID主结构体 */
KPID_t trig; /* 拨弹PID主结构体 */ KPID_t trig; /* 拨弹PID主结构体 */
KPID_t trig_omg; /* 拨弹PID主结构体 */ KPID_t trig_omg; /* 拨弹PID主结构体 */
} pid; } pid;
@ -161,8 +170,8 @@ typedef struct {
/* 滤波器 */ /* 滤波器 */
struct { struct {
struct{ struct{
LowPassFilter2p_t in[SHOOT_FRIC_NUM]; /* 反馈值滤波器 */ LowPassFilter2p_t *in; /* 反馈值滤波器 */
LowPassFilter2p_t out[SHOOT_FRIC_NUM]; /* 输出值滤波器 */ LowPassFilter2p_t *out; /* 输出值滤波器 */
}fric; }fric;
struct{ struct{
LowPassFilter2p_t in; /* 反馈值滤波器 */ LowPassFilter2p_t in; /* 反馈值滤波器 */

1
User/task/shoot_ctrl.c
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@ -36,6 +36,7 @@ void Task_shoot_ctrl(void *argument) {
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_ShootInit();
Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ); Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ);
Shoot_SetMode(&shoot,SHOOT_MODE_BURST); Shoot_SetMode(&shoot,SHOOT_MODE_BURST);
/* USER CODE INIT END */ /* USER CODE INIT END */