自瞄加完，发射拨弹不行

Core/Inc/stm32f4xx_it.h

@@ -60,15 +60,14 @@ void DMA1_Stream1_IRQHandler(void);
 void CAN1_TX_IRQHandler(void);
 void CAN1_RX0_IRQHandler(void);
 void CAN1_RX1_IRQHandler(void);
-void CAN1_SCE_IRQHandler(void);
 void EXTI9_5_IRQHandler(void);
 void USART1_IRQHandler(void);
 void USART2_IRQHandler(void);
 void DMA2_Stream2_IRQHandler(void);
 void DMA2_Stream3_IRQHandler(void);
 void CAN2_TX_IRQHandler(void);
+void CAN2_RX0_IRQHandler(void);
 void CAN2_RX1_IRQHandler(void);
-void CAN2_SCE_IRQHandler(void);
 void USART6_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 

Core/Src/can.c

@@ -128,8 +128,6 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
     HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
     HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
-    HAL_NVIC_SetPriority(CAN1_SCE_IRQn, 5, 0);
-    HAL_NVIC_EnableIRQ(CAN1_SCE_IRQn);
   /* USER CODE BEGIN CAN1_MspInit 1 */
 
   /* USER CODE END CAN1_MspInit 1 */
@@ -148,10 +146,10 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
 
     __HAL_RCC_GPIOB_CLK_ENABLE();
     /**CAN2 GPIO Configuration
+    PB5     ------> CAN2_RX
     PB6     ------> CAN2_TX
-    PB12     ------> CAN2_RX
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_12;
+    GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
@@ -161,10 +159,10 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
     /* CAN2 interrupt Init */
     HAL_NVIC_SetPriority(CAN2_TX_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
+    HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
     HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
-    HAL_NVIC_SetPriority(CAN2_SCE_IRQn, 5, 0);
-    HAL_NVIC_EnableIRQ(CAN2_SCE_IRQn);
   /* USER CODE BEGIN CAN2_MspInit 1 */
 
   /* USER CODE END CAN2_MspInit 1 */
@@ -195,7 +193,6 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
     HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
     HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
     HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
-    HAL_NVIC_DisableIRQ(CAN1_SCE_IRQn);
   /* USER CODE BEGIN CAN1_MspDeInit 1 */
 
   /* USER CODE END CAN1_MspDeInit 1 */
@@ -213,15 +210,15 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
     }
 
     /**CAN2 GPIO Configuration
+    PB5     ------> CAN2_RX
     PB6     ------> CAN2_TX
-    PB12     ------> CAN2_RX
     */
-    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_6|GPIO_PIN_12);
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6);
 
     /* CAN2 interrupt Deinit */
     HAL_NVIC_DisableIRQ(CAN2_TX_IRQn);
+    HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
     HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
-    HAL_NVIC_DisableIRQ(CAN2_SCE_IRQn);
   /* USER CODE BEGIN CAN2_MspDeInit 1 */
 
   /* USER CODE END CAN2_MspDeInit 1 */

Core/Src/stm32f4xx_it.c

@@ -288,20 +288,6 @@ void CAN1_RX1_IRQHandler(void)
   /* USER CODE END CAN1_RX1_IRQn 1 */
 }
 
-/**
-  * @brief This function handles CAN1 SCE interrupt.
-  */
-void CAN1_SCE_IRQHandler(void)
-{
-  /* USER CODE BEGIN CAN1_SCE_IRQn 0 */
-
-  /* USER CODE END CAN1_SCE_IRQn 0 */
-  HAL_CAN_IRQHandler(&hcan1);
-  /* USER CODE BEGIN CAN1_SCE_IRQn 1 */
-
-  /* USER CODE END CAN1_SCE_IRQn 1 */
-}
-
 /**
   * @brief This function handles EXTI line[9:5] interrupts.
   */
@@ -387,6 +373,20 @@ void CAN2_TX_IRQHandler(void)
   /* USER CODE END CAN2_TX_IRQn 1 */
 }
 
+/**
+  * @brief This function handles CAN2 RX0 interrupts.
+  */
+void CAN2_RX0_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN2_RX0_IRQn 0 */
+
+  /* USER CODE END CAN2_RX0_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan2);
+  /* USER CODE BEGIN CAN2_RX0_IRQn 1 */
+
+  /* USER CODE END CAN2_RX0_IRQn 1 */
+}
+
 /**
   * @brief This function handles CAN2 RX1 interrupt.
   */
@@ -401,20 +401,6 @@ void CAN2_RX1_IRQHandler(void)
   /* USER CODE END CAN2_RX1_IRQn 1 */
 }
 
-/**
-  * @brief This function handles CAN2 SCE interrupt.
-  */
-void CAN2_SCE_IRQHandler(void)
-{
-  /* USER CODE BEGIN CAN2_SCE_IRQn 0 */
-
-  /* USER CODE END CAN2_SCE_IRQn 0 */
-  HAL_CAN_IRQHandler(&hcan2);
-  /* USER CODE BEGIN CAN2_SCE_IRQn 1 */
-
-  /* USER CODE END CAN2_SCE_IRQn 1 */
-}
-
 /**
   * @brief This function handles USART6 global interrupt.
   */

Infantry.ioc

@@ -79,37 +79,37 @@ Mcu.IPNb=14
 Mcu.Name=STM32F407I(E-G)Hx
 Mcu.Package=UFBGA176
 Mcu.Pin0=PB8
-Mcu.Pin1=PG14
+Mcu.Pin1=PB5
-Mcu.Pin10=PC11
+Mcu.Pin10=PD0
-Mcu.Pin11=PC10
+Mcu.Pin11=PC11
-Mcu.Pin12=PG9
+Mcu.Pin12=PC10
-Mcu.Pin13=PD5
+Mcu.Pin13=PG9
-Mcu.Pin14=PD1
+Mcu.Pin14=PD5
-Mcu.Pin15=PF0
+Mcu.Pin15=PD1
-Mcu.Pin16=PA9
+Mcu.Pin16=PF0
-Mcu.Pin17=PH0-OSC_IN
+Mcu.Pin17=PA9
-Mcu.Pin18=PH1-OSC_OUT
+Mcu.Pin18=PH0-OSC_IN
-Mcu.Pin19=PF1
+Mcu.Pin19=PH1-OSC_OUT
-Mcu.Pin2=PB4
+Mcu.Pin2=PG14
-Mcu.Pin20=PG6
+Mcu.Pin20=PF1
-Mcu.Pin21=PG3
+Mcu.Pin21=PG6
-Mcu.Pin22=PA0-WKUP
+Mcu.Pin22=PG3
-Mcu.Pin23=PA4
+Mcu.Pin23=PA0-WKUP
-Mcu.Pin24=PC4
+Mcu.Pin24=PA4
-Mcu.Pin25=PC5
+Mcu.Pin25=PC4
-Mcu.Pin26=PB12
+Mcu.Pin26=PC5
 Mcu.Pin27=PA7
 Mcu.Pin28=PB0
 Mcu.Pin29=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin3=PB3
+Mcu.Pin3=PB4
 Mcu.Pin30=VP_SYS_VS_Systick
 Mcu.Pin31=VP_TIM10_VS_ClockSourceINT
-Mcu.Pin4=PA14
+Mcu.Pin4=PB3
-Mcu.Pin5=PA13
+Mcu.Pin5=PA14
-Mcu.Pin6=PB7
+Mcu.Pin6=PA13
-Mcu.Pin7=PB6
+Mcu.Pin7=PB7
-Mcu.Pin8=PD6
+Mcu.Pin8=PB6
-Mcu.Pin9=PD0
+Mcu.Pin9=PD6
 Mcu.PinsNb=32
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
@@ -119,10 +119,9 @@ MxDb.Version=DB.6.0.161
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.CAN1_SCE_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.CAN2_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.CAN2_SCE_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN2_TX_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.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
@@ -176,13 +175,13 @@ PB0.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM
 PB0.Locked=true
 PB0.PinState=GPIO_PIN_SET
 PB0.Signal=GPIO_Output
-PB12.Locked=true
-PB12.Mode=CAN_Activate
-PB12.Signal=CAN2_RX
 PB3.Mode=Full_Duplex_Master
 PB3.Signal=SPI1_SCK
 PB4.Mode=Full_Duplex_Master
 PB4.Signal=SPI1_MISO
+PB5.Locked=true
+PB5.Mode=CAN_Activate
+PB5.Signal=CAN2_RX
 PB6.Mode=CAN_Activate
 PB6.Signal=CAN2_TX
 PB7.Mode=Asynchronous

MDK-ARM/.vscode/keil-assistant.log

@@ -5,3 +5,9 @@
 [info] project closed: Infantry
 [info] Log at : 2026/1/8|22:21:24|GMT+0800
 
+[info] Log at : 2026/1/9|10:16:50|GMT+0800
+
+[info] Log at : 2026/1/9|10:16:54|GMT+0800
+
+[info] Log at : 2026/1/9|10:26:28|GMT+0800
+

MDK-ARM/.vscode/uv4.log

@@ -1,4 +1,4 @@
 *** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
 Build target 'Infantry'
-Note: source file '..\User\bsp\can.c' - object file renamed from 'Infantry\can.o' to 'Infantry\can_1.o'.Note: source file '..\User\bsp\gpio.c' - object file renamed from 'Infantry\gpio.o' to 'Infantry\gpio_1.o'.Note: source file '..\User\bsp\i2c.c' - object file renamed from 'Infantry\i2c.o' to 'Infantry\i2c_1.o'.Note: source file '..\User\bsp\spi.c' - object file renamed from 'Infantry\spi.o' to 'Infantry\spi_1.o'.Note: source file '..\User\task\ai.c' - object file renamed from 'Infantry\ai.o' to 'Infantry\ai_1.o'.Note: source file '..\User\task\dr16.c' - object file renamed from 'Infantry\dr16.o' to 'Infantry\dr16_1.o'."Infantry\Infantry.axf" - 0 Error(s), 0 Warning(s).
+Note: source file '..\User\bsp\can.c' - object file renamed from 'Infantry\can.o' to 'Infantry\can_1.o'.Note: source file '..\User\bsp\gpio.c' - object file renamed from 'Infantry\gpio.o' to 'Infantry\gpio_1.o'.Note: source file '..\User\bsp\i2c.c' - object file renamed from 'Infantry\i2c.o' to 'Infantry\i2c_1.o'.Note: source file '..\User\bsp\spi.c' - object file renamed from 'Infantry\spi.o' to 'Infantry\spi_1.o'.Note: source file '..\User\task\dr16.c' - object file renamed from 'Infantry\dr16.o' to 'Infantry\dr16_1.o'.Note: source file '..\User\task\ai.c' - object file renamed from 'Infantry\ai.o' to 'Infantry\ai_1.o'."Infantry\Infantry.axf" - 0 Error(s), 0 Warning(s).
 Build Time Elapsed:  00:00:02

MDK-ARM/.vscode/uv4.log.lock

@@ -1 +1 @@
-2026/1/8 22:21:37
+2026/1/9 10:31:55

MDK-ARM/Infantry.uvoptx

@@ -135,7 +135,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"" -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+          <Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -195,6 +195,21 @@
           <WinNumber>1</WinNumber>
           <ItemText>shoot_cmd</ItemText>
         </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>bmi088</ItemText>
+        </Ww>
+        <Ww>
+          <count>9</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>shoot_cmd</ItemText>
+        </Ww>
+        <Ww>
+          <count>10</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>shoot</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>

MDK-ARM/Infantry/Infantry.build_log.htm

@@ -33,17 +33,11 @@ Note: source file '..\User\bsp\i2c.c' - object file renamed from 'Infantry\i2c.o
 Note: source file '..\User\bsp\spi.c' - object file renamed from 'Infantry\spi.o' to 'Infantry\spi_1.o'.
 Note: source file '..\User\task\dr16.c' - object file renamed from 'Infantry\dr16.o' to 'Infantry\dr16_1.o'.
 Note: source file '..\User\task\ai.c' - object file renamed from 'Infantry\ai.o' to 'Infantry\ai_1.o'.
-../User/task/chassis_ctrl.c(7): warning: In file included from...
+compiling config.c...
-../User\task/user_task.h(73): warning: expected ';' at end of declaration list
-            osMessageQueueId_t dr16/* 发射命令队列 */
-                                   ^
-                                   ;
-1 warning generated.
-compiling chassis_ctrl.c...
 linking...
-Program Size: Code=54952 RO-data=1680 RW-data=832 ZI-data=126624  
+Program Size: Code=54672 RO-data=1680 RW-data=832 ZI-data=126624  
 FromELF: creating hex file...
-"Infantry\Infantry.axf" - 0 Error(s), 1 Warning(s).
+"Infantry\Infantry.axf" - 0 Error(s), 0 Warning(s).
 
 <h2>Software Packages used:</h2>
 
@@ -67,7 +61,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
-Build Time Elapsed:  00:00:02
+Build Time Elapsed:  00:00:03
 </pre>
 </body>
 </html>

User/device/bmi088.c

@@ -74,9 +74,9 @@
   BSP_GPIO_WritePin(BSP_GPIO_ACCL_CS, GPIO_PIN_RESET)
 
 #define BMI088_GYRO_NSS_SET() \
-  BSP_GPIO_WritePin(BSP_GPIO_ACCL_CS, GPIO_PIN_SET)
+  BSP_GPIO_WritePin(BSP_GPIO_GYRO_CS, GPIO_PIN_SET)
 #define BMI088_GYRO_NSS_RESET() \
-  BSP_GPIO_WritePin(BSP_GPIO_ACCL_CS, GPIO_PIN_RESET)
+  BSP_GPIO_WritePin(BSP_GPIO_GYRO_CS, GPIO_PIN_RESET)
 
 /* Private typedef ---------------------------------------------------------- */
 typedef enum {
@@ -176,7 +176,7 @@ static void BMI088_RxCpltCallback(void) {
     BMI088_ACCL_NSS_SET();
     osThreadFlagsSet(thread_alert, SIGNAL_BMI088_ACCL_RAW_REDY);
   }
-  if (BSP_GPIO_ReadPin(BSP_GPIO_ACCL_CS) == GPIO_PIN_RESET) {
+  if (BSP_GPIO_ReadPin(BSP_GPIO_GYRO_CS) == GPIO_PIN_RESET) {
     BMI088_GYRO_NSS_SET();
     osThreadFlagsSet(thread_alert, SIGNAL_BMI088_GYRO_RAW_REDY);
   }
@@ -212,13 +212,13 @@ int8_t BMI088_Init(BMI088_t *bmi088, const BMI088_Cali_t *cali) {
   if (BMI_ReadSingle(BMI_GYRO, BMI088_REG_GYRO_CHIP_ID) != BMI088_CHIP_ID_GYRO)
     return DEVICE_ERR_NO_DEV;
 
-  BSP_GPIO_DisableIRQ(BSP_GPIO_USER_KEY);
+  BSP_GPIO_DisableIRQ(BSP_GPIO_ACCL_INT);
-  BSP_GPIO_DisableIRQ(BSP_GPIO_USER_KEY);
+  BSP_GPIO_DisableIRQ(BSP_GPIO_GYRO_INT);
 
   BSP_SPI_RegisterCallback(BSP_SPI_BMI088, BSP_SPI_RX_CPLT_CB,
                            BMI088_RxCpltCallback);
-  BSP_GPIO_RegisterCallback(BSP_GPIO_USER_KEY, BMI088_AcclIntCallback);
+  BSP_GPIO_RegisterCallback(BSP_GPIO_ACCL_INT, BMI088_AcclIntCallback);
-  BSP_GPIO_RegisterCallback(BSP_GPIO_USER_KEY, BMI088_GyroIntCallback);
+  BSP_GPIO_RegisterCallback(BSP_GPIO_GYRO_INT, BMI088_GyroIntCallback);
 
   /* Accl init. */
   /* Filter setting: Normal. */
@@ -259,8 +259,8 @@ int8_t BMI088_Init(BMI088_t *bmi088, const BMI088_Cali_t *cali) {
 
   inited = true;
 
-  BSP_GPIO_EnableIRQ(BSP_GPIO_USER_KEY);
+  BSP_GPIO_EnableIRQ(BSP_GPIO_ACCL_INT);
-  BSP_GPIO_EnableIRQ(BSP_GPIO_USER_KEY);
+  BSP_GPIO_EnableIRQ(BSP_GPIO_GYRO_INT);
   return DEVICE_OK;
 }
 

User/device/device_config.yaml

@@ -1,9 +1,9 @@
 bmi088:
   bsp_config:
     BSP_GPIO_ACCL_CS: BSP_GPIO_ACCL_CS
-    BSP_GPIO_ACCL_INT: BSP_GPIO_USER_KEY
+    BSP_GPIO_ACCL_INT: BSP_GPIO_ACCL_INT
-    BSP_GPIO_GYRO_CS: BSP_GPIO_ACCL_CS
+    BSP_GPIO_GYRO_CS: BSP_GPIO_GYRO_CS
-    BSP_GPIO_GYRO_INT: BSP_GPIO_USER_KEY
+    BSP_GPIO_GYRO_INT: BSP_GPIO_GYRO_INT
     BSP_SPI_BMI088: BSP_SPI_BMI088
   enabled: true
 dr16:

User/module/config.c

@@ -23,7 +23,7 @@ Config_RobotParam_t robot_config = {
 	/* 云台欧拉角与角速度自由选择 */
 	.Direction={
 			.Eulr={
-					.pit=Rol,
+					.pit=Pit,
 					.yaw=Yaw,			
 				},
 			.Gyro={
@@ -35,8 +35,8 @@ Config_RobotParam_t robot_config = {
 	},
 	/*欧拉角限位和电机角度限位*/
 	 .Limit_t= {
-						.pit_max= 0.21,
+						.pit_max= 0.462614686,
-						.pit_min=-0.53,
+						.pit_min=-0.518002629,
 		 			/*零点参数*/
 				.zero={
 					.yaw_encoder=1.26,
@@ -66,32 +66,12 @@ Config_RobotParam_t robot_config = {
 					/*是否开启限位*/
 					.limit_yaw=false,
 					.limit_pit=true,
-					.pit_rm_motor={BSP_CAN_2,0x20A,MOTOR_GM6020,false,true},
+					.pit_rm_motor={BSP_CAN_2,0x20A,MOTOR_GM6020,true,false},
-					.yaw_rm_motor={BSP_CAN_2,0x209,MOTOR_GM6020,false,true},	
+					.yaw_rm_motor={BSP_CAN_2,0x209,MOTOR_GM6020,false,false},	
 						/*达妙电机参数自己配*/
-					.major_yaw_dm_motor={
+
-					    .can=BSP_CAN_2,
-							.can_id = 0x1,
-							.master_id=0x11,
-							.module = MOTOR_DM_J4310,
-							.reverse=false
-					},
-					.pit_dm_motor={
-					    .can=BSP_CAN_2,
-							.can_id = 0x2,
-							.master_id=0x12,
-							.module = MOTOR_DM_J4310,
-							.reverse=true,					
-					},
-//					.yaw_dm_motor={},
 				},
 			.dm_Params_t={
-//			.yaw_dm={.kd=0.1,},
-//			.yaw_dm_Reduction_ratio=1.0f,//减速比
-			.pit_dm={.kd=0.2,},
-			.pit_dm_Reduction_ratio=1.0f,
-			.major_yaw_dm={.kd=0.2,},
-			.major_yaw_dm_Reduction_ratio=1.0f,//减速比
 		},
 			
     .low_pass_cutoff_freq = {
@@ -99,74 +79,49 @@ Config_RobotParam_t robot_config = {
       .gyro = 1000.0f,
     },
 
-        .pid = {
+       .pid = {
-					/* 大yaw参数 */
-						.major_yaw_omega={
-								.k = 0.0f,
-								.p = 0.08f,
-								.i = 0.1f,
-								.d = 0.0f,
-								.i_limit = 0.0f,
-								.out_limit = 12.0f,
-								.d_cutoff_freq = -1.0f,
-								.range = -1.0f						
-						},
-						.major_yaw_angle={
-								.k = 1.0f,
-								.p = 75.0f,//36.5
-								.i = 20.0f,
-								.d = 0.2f,
-								.i_limit =5.0f,
-								.out_limit = 12.0f,
-								.d_cutoff_freq = 20.0f,
-								.range = M_2PI							
-						},					
-					
 					/*欧拉角控制参数*/
-			
              .yaw_omega = {
-							.k = 0.24f,
+                .k = 0.45f,
-							.p = 1.0f,
+                .p = 1.0f,
-							.i = 0.5f,
+                .i = 6.0f,
-							.d = 0.0f,
+                .d = 0.0008f,//0
-							.i_limit = 1.0f,
+                .i_limit = 1.0f,
-							.out_limit = 1.0f,
+                .out_limit = 1.0f,
-							.d_cutoff_freq = -1.0f,
+                .d_cutoff_freq = -1.0f,
-							.range = -1.0f,
+                .range = -1.0f,
             },
             .yaw_angle = {
-							.k = 10.0f,
+                .k = 10.0f,
-							.p = 1.0f,
+                .p =	2.0f ,
-							.i = 0.0f,
+                .i =	0.0f,
-							.d = 0.05f,
+                .d = 0.0f,
-							.i_limit = 0.0f,
+                .i_limit = 0.0f,
-							.out_limit = 10.0f,
+                .out_limit = 10.0f,
-							.d_cutoff_freq = -1.0f,
+                .d_cutoff_freq = -1.0f,
-							.range = M_2PI,
+                .range = M_2PI,
             },
             .pit_omega = {
-							.k = 0.25f,
+                .k = 0.25f,
-							.p = 1.0f,
+                .p = 1.0f,
-							.i = 0.0f,
+                .i = 0.0f,
-							.d = 0.0f,
+                .d = 0.001901f,
-							.i_limit = 1.0f,
+                .i_limit = 1.0f,
-							.out_limit = 1.0f,
+                .out_limit = 1.0f,
-							.d_cutoff_freq = -1.0f,
+                .d_cutoff_freq = -1.0f,
-							.range = -1.0f,
+                .range = -1.0f,
             },
             .pit_angle = {
-							.k = 2.0f,
+								.k = 2.0f,
-							.p = 5.0f,
+								.p = 5.0f,
-							.i = 2.5f,
+								.i = 2.5f,
-							.d = 0.0f,
+								.d = 0.0f,
-							.i_limit = 0.0f,
+								.i_limit = 0.0f,
-							.out_limit = 10.0f,
+								.out_limit = 10.0f,
-							.d_cutoff_freq = -1.0f,
+								.d_cutoff_freq = -1.0f,
-							.range = M_2PI,
+								.range = M_2PI,
             },		
-
+					}        
-						
-					}       
 		},
 
 		.shoot_param = {
@@ -189,7 +144,7 @@ Config_RobotParam_t robot_config = {
                 {
                     .param = {
                         .can = BSP_CAN_2,
-                        .id = 0x201,
+                        .id = 0x205,
                         .module = MOTOR_M2006,
                         .reverse = false,
                         .gear = false,
@@ -199,7 +154,7 @@ Config_RobotParam_t robot_config = {
                 {
                     .param = {
                         .can = BSP_CAN_2,
-                        .id = 0x202,
+                        .id = 0x206,
                         .module = MOTOR_M2006,
                         .reverse = true,
                         .gear = false,
@@ -210,7 +165,7 @@ Config_RobotParam_t robot_config = {
             },
             .trig = {
                 .can = BSP_CAN_2,
-                .id = 0x203,
+                .id = 0x207,
                 .module = MOTOR_M2006,
                 .reverse = false,
                 .gear=true,
@@ -218,13 +173,14 @@ Config_RobotParam_t robot_config = {
         },
         .pid={      
             .fric_follow = {
-								.k = 0.001f,
+                .k=1.0f,
-								.p = 1.0f,
+                .p=1.5f,
-								.i = 0.2f,
+                .i=0.3f,
-								.d = 0.01f,
+                .d=0.0f,
-								.i_limit = 0.5f,
+                .i_limit=0.2f,
-								.out_limit = 0.5f,
+                .out_limit=0.9f, 
-								.d_cutoff_freq = -1.0f,
+                .d_cutoff_freq=-1.0f,
+                .range=-1.0f,
             },
             .fric_err = {
                 .k=0.0f,
@@ -237,18 +193,18 @@ Config_RobotParam_t robot_config = {
                 .range=-1.0f, 
             },
             .trig_2006 = {
-									.k = 12.0f,
+								.k = 12.0f,
-									.p = 1.0f,
+								.p = 1.0f,
-									.i = 0.0f,
+								.i = 0.0f,
-									.d = 0.0450000018f,
+								.d = 0.0450000018f,
-									.i_limit = 1.0f,
+								.i_limit = 1.0f,
-									.out_limit = 1.0f,
+								.out_limit = 1.0f,
-									.d_cutoff_freq = -1.0f,
+								.d_cutoff_freq = -1.0f,
-									.range = M_2PI,
+								.range = M_2PI,
             },
             .trig_omg_2006 = {
-                .k=2.0f,
+                .k=0.f,
-                .p=1.5f,
+                .p=1.0f,
                 .i=0.3f,
                 .d=0.5f,
                 .i_limit=0.2f,
@@ -256,26 +212,7 @@ Config_RobotParam_t robot_config = {
                 .d_cutoff_freq=-1.0f,
                 .range=-1.0f,
             },
-//            .trig_3508 = {
+
-//                .k=0.5f,
-//                .p=1.8f,
-//                .i=0.3f,
-//                .d=0.1f,
-//                .i_limit=0.15f,
-//                .out_limit=1.0f,
-//                .d_cutoff_freq=-1.0f,
-//                .range=M_2PI,
-//            },
-//            .trig_omg_3508 = {
-//                .k=1.0f,
-//                .p=1.0f,
-//                .i=0.0f,
-//                .d=0.0f,
-//                .i_limit=0.0f,
-//                .out_limit=1.0f,
-//                .d_cutoff_freq=-1.0f,
-//                .range=-1.0f,
-//            },
         },
 		.filter={
             .fric = {

User/module/gimbal.c

@@ -428,7 +428,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
 		pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
                                    g->direction.Eulr.pit, 0.0f, g->dt);
 		g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
-													g->feedback.imu.gyro.y, 0.f, g->dt);
+													g->direction.Gyro.pit, 0.f, g->dt);
 
 		/*前馈添加*/
 		if(g->param->feedforward.imu.yaw==true)

User/module/remote_cmd.c

@@ -12,8 +12,8 @@ int8_t Gimbal_Cmd( Gimbal_CMD_t *g_cmd, DR16_t *dr16)
       case DR16_SW_MID:
         g_cmd->ctrl_mode=  GIMBAL_MODE_REMOTE;   /* 遥控器模式 */
         g_cmd->mode=  GIMBAL_MODE_ABSOLUTE;    
-        g_cmd->delta_yaw=0.8*(dr16->raw_data.ch_r_x-1024)/660; /* 云台Yaw速度设定 */
+        g_cmd->delta_yaw=1.5*dr16->data.ch_r_x; /* 云台Yaw速度设定 */			
-        g_cmd->delta_pit=0.6*(dr16->raw_data.ch_r_y-16)/640; /* 云台Pitch速度设定 */
+        g_cmd->delta_pit=0.4*dr16->data.ch_r_y; /* 云台Pitch速度设定 */
         break;  
      case DR16_SW_UP:
        g_cmd->ctrl_mode=  GIMBAL_MODE_AI;   /* 遥控器模式 */

User/module/shoot.c

@@ -376,12 +376,12 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
 													s->var_trig.trig_agl,
 													0,
 													s->timer.dt);
-                s->output.outomg_trig   =PID_Calc(&s->pid.trig_omg,
+//                s->output.outomg_trig   =PID_Calc(&s->pid.trig_omg,
-													s->output.outagl_trig,
+//													s->output.outagl_trig,
-													s->var_trig.trig_rpm,
+//													s->var_trig.trig_rpm,
-													0,
+//													0,
-													s->timer.dt);
+//													s->timer.dt);
-                s->output.outlpf_trig   =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
+                s->output.outlpf_trig   =LowPassFilter2p_Apply(&s->filter.trig.out,s->output.outagl_trig);
                 MOTOR_RM_SetOutput(&s->param->motor.trig, s->output.outlpf_trig);
                 
                 /* 检查状态机 */

User/task/shoot_ctrl.c

@@ -41,7 +41,10 @@ void Task_shoot_ctrl(void *argument) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
 	  osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0);
-		shoot_cmd.mode=SHOOT_MODE_SINGLE;
+//	  shoot_cmd.ready	=shoot_cmd.ready;
+//	  shoot_cmd.firecmd	=shoot_cmd.firecmd;	
+//		shoot.target_variable.fric_rpm=4000;	
+//		shoot_cmd.mode=SHOOT_MODE_SINGLE;
 	  Shoot_UpdateFeedback(&shoot);
 	  Shoot_Control(&shoot,&shoot_cmd);
     /* USER CODE END */