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自瞄加完，发射拨弹不行

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This commit is contained in:
yunhai8432 2026-01-09 14:27:42 +08:00
parent 23db044e59
commit 6019116451
30 changed files with 7366 additions and 7268 deletions
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3
Core/Inc/stm32f4xx_it.h
View File

@ -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 */

17
Core/Src/can.c
View File

@ -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 */

42
Core/Src/stm32f4xx_it.c
View File

@ -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.
*/

61
Infantry.ioc
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@ -79,37 +79,37 @@ Mcu.IPNb=14
Mcu.Name=STM32F407I(E-G)Hx
Mcu.Package=UFBGA176
Mcu.Pin0=PB8
Mcu.Pin1=PG14
Mcu.Pin10=PC11
Mcu.Pin11=PC10
Mcu.Pin12=PG9
Mcu.Pin13=PD5
Mcu.Pin14=PD1
Mcu.Pin15=PF0
Mcu.Pin16=PA9
Mcu.Pin17=PH0-OSC_IN
Mcu.Pin18=PH1-OSC_OUT
Mcu.Pin19=PF1
Mcu.Pin2=PB4
Mcu.Pin20=PG6
Mcu.Pin21=PG3
Mcu.Pin22=PA0-WKUP
Mcu.Pin23=PA4
Mcu.Pin24=PC4
Mcu.Pin25=PC5
Mcu.Pin26=PB12
Mcu.Pin1=PB5
Mcu.Pin10=PD0
Mcu.Pin11=PC11
Mcu.Pin12=PC10
Mcu.Pin13=PG9
Mcu.Pin14=PD5
Mcu.Pin15=PD1
Mcu.Pin16=PF0
Mcu.Pin17=PA9
Mcu.Pin18=PH0-OSC_IN
Mcu.Pin19=PH1-OSC_OUT
Mcu.Pin2=PG14
Mcu.Pin20=PF1
Mcu.Pin21=PG6
Mcu.Pin22=PG3
Mcu.Pin23=PA0-WKUP
Mcu.Pin24=PA4
Mcu.Pin25=PC4
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.Pin5=PA13
Mcu.Pin6=PB7
Mcu.Pin7=PB6
Mcu.Pin8=PD6
Mcu.Pin9=PD0
Mcu.Pin4=PB3
Mcu.Pin5=PA14
Mcu.Pin6=PA13
Mcu.Pin7=PB7
Mcu.Pin8=PB6
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

6
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -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

2
MDK-ARM/.vscode/uv4.log vendored
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@ -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

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2026/1/8 22:21:37
2026/1/9 10:31:55

305
MDK-ARM/Infantry.uvguix.yunha
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File diff suppressed because one or more lines are too long

17
MDK-ARM/Infantry.uvoptx
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@ -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>

BIN
MDK-ARM/Infantry/Infantry.axf
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Binary file not shown.

14
MDK-ARM/Infantry/Infantry.build_log.htm
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@ -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...
../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...
compiling config.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>

6563
MDK-ARM/Infantry/Infantry.hex
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3050
MDK-ARM/Infantry/Infantry.htm
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3722
MDK-ARM/Infantry/Infantry.map
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596
MDK-ARM/Infantry/Infantry_Infantry.dep
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File diff suppressed because it is too large Load Diff

BIN
MDK-ARM/Infantry/bmi088.o
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BIN
MDK-ARM/Infantry/can.o
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BIN
MDK-ARM/Infantry/config.o
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BIN
MDK-ARM/Infantry/gimbal.o
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BIN
MDK-ARM/Infantry/remote_cmd.o
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BIN
MDK-ARM/Infantry/shoot.o
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BIN
MDK-ARM/Infantry/shoot_ctrl.o
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BIN
MDK-ARM/Infantry/stm32f4xx_it.o
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18
User/device/bmi088.c
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@ -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_USER_KEY);
BSP_GPIO_DisableIRQ(BSP_GPIO_ACCL_INT);
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_USER_KEY, BMI088_GyroIntCallback);
BSP_GPIO_RegisterCallback(BSP_GPIO_ACCL_INT, BMI088_AcclIntCallback);
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_USER_KEY);
BSP_GPIO_EnableIRQ(BSP_GPIO_ACCL_INT);
BSP_GPIO_EnableIRQ(BSP_GPIO_GYRO_INT);
return DEVICE_OK;
}

6
User/device/device_config.yaml
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@ -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_GYRO_CS: BSP_GPIO_ACCL_CS
BSP_GPIO_GYRO_INT: BSP_GPIO_USER_KEY
BSP_GPIO_ACCL_INT: BSP_GPIO_ACCL_INT
BSP_GPIO_GYRO_CS: BSP_GPIO_GYRO_CS
BSP_GPIO_GYRO_INT: BSP_GPIO_GYRO_INT
BSP_SPI_BMI088: BSP_SPI_BMI088
enabled: true
dr16:

185
User/module/config.c
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@ -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_min=-0.53,
.pit_max= 0.462614686,
.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},
.yaw_rm_motor={BSP_CAN_2,0x209,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,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 = {
@ -99,73 +79,48 @@ Config_RobotParam_t robot_config = {
.gyro = 1000.0f,
},
.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
},
.pid = {
/*欧拉角控制参数*/
.yaw_omega = {
.k = 0.24f,
.p = 1.0f,
.i = 0.5f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
.k = 0.45f,
.p = 1.0f,
.i = 6.0f,
.d = 0.0008f,//0
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
},
.yaw_angle = {
.k = 10.0f,
.p = 1.0f,
.i = 0.0f,
.d = 0.05f,
.i_limit = 0.0f,
.out_limit = 10.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
.k = 10.0f,
.p = 2.0f ,
.i = 0.0f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit = 10.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
.pit_omega = {
.k = 0.25f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
.k = 0.25f,
.p = 1.0f,
.i = 0.0f,
.d = 0.001901f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
},
.pit_angle = {
.k = 2.0f,
.p = 5.0f,
.i = 2.5f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit = 10.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
.k = 2.0f,
.p = 5.0f,
.i = 2.5f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit = 10.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
}
},
@ -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,
.p = 1.0f,
.i = 0.2f,
.d = 0.01f,
.i_limit = 0.5f,
.out_limit = 0.5f,
.d_cutoff_freq = -1.0f,
.k=1.0f,
.p=1.5f,
.i=0.3f,
.d=0.0f,
.i_limit=0.2f,
.out_limit=0.9f,
.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,
.p = 1.0f,
.i = 0.0f,
.d = 0.0450000018f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
.k = 12.0f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0450000018f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
.trig_omg_2006 = {
.k=2.0f,
.p=1.5f,
.k=0.f,
.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 = {

2
User/module/gimbal.c
View File

@ -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)

4
User/module/remote_cmd.c
View File

@ -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_pit=0.6*(dr16->raw_data.ch_r_y-16)/640; /* 云台Pitch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=0.4*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 */

12
User/module/shoot.c
View File

@ -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.outagl_trig,
s->var_trig.trig_rpm,
0,
s->timer.dt);
s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
// s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,
// s->output.outagl_trig,
// s->var_trig.trig_rpm,
// 0,
// s->timer.dt);
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 */

5
User/task/shoot_ctrl.c
View File

@ -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 */