yunhai/Steering_Wheel_Infatry
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拨弹频率修改

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This commit is contained in:
yunhai8432 2026-01-28 11:48:09 +08:00
parent 7a7e29cd7f
commit 539ded2a62
53 changed files with 20280 additions and 20034 deletions
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2
Core/Inc/main.h
View File

@ -68,8 +68,6 @@ void Error_Handler(void);
#define LED_Green_GPIO_Port GPIOH
#define LED_Blue_Pin GPIO_PIN_10
#define LED_Blue_GPIO_Port GPIOH
#define PUL_P_Pin GPIO_PIN_1
#define PUL_P_GPIO_Port GPIOC
#define PUL_N_Pin GPIO_PIN_2
#define PUL_N_GPIO_Port GPIOC
#define DIR_N_Pin GPIO_PIN_2

3
Core/Inc/tim.h
View File

@ -32,12 +32,15 @@ extern "C" {
/* USER CODE END Includes */
extern TIM_HandleTypeDef htim8;
extern TIM_HandleTypeDef htim10;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_TIM8_Init(void);
void MX_TIM10_Init(void);
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);

9
Core/Src/gpio.c
View File

@ -59,9 +59,6 @@ void MX_GPIO_Init(void)
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOH, LED_Red_Pin|LED_Green_Pin|LED_Blue_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(PUL_P_GPIO_Port, PUL_P_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(PUL_N_GPIO_Port, PUL_N_Pin, GPIO_PIN_RESET);
@ -94,12 +91,12 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(CMPS_INT_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : PUL_P_Pin PUL_N_Pin */
GPIO_InitStruct.Pin = PUL_P_Pin|PUL_N_Pin;
/*Configure GPIO pin : PUL_N_Pin */
GPIO_InitStruct.Pin = PUL_N_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
HAL_GPIO_Init(PUL_N_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : DIR_N_Pin DIR_P_Pin */
GPIO_InitStruct.Pin = DIR_N_Pin|DIR_P_Pin;

1
Core/Src/main.c
View File

@ -105,6 +105,7 @@ int main(void)
MX_USART3_UART_Init();
MX_TIM10_Init();
MX_USART6_UART_Init();
MX_TIM8_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */

119
Core/Src/tim.c
View File

@ -24,8 +24,79 @@
/* USER CODE END 0 */
TIM_HandleTypeDef htim8;
TIM_HandleTypeDef htim10;
/* TIM8 init function */
void MX_TIM8_Init(void)
{
/* USER CODE BEGIN TIM8_Init 0 */
/* USER CODE END TIM8_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
/* USER CODE BEGIN TIM8_Init 1 */
/* USER CODE END TIM8_Init 1 */
htim8.Instance = TIM8;
htim8.Init.Prescaler = 167;
htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
htim8.Init.Period = 19999;
htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim8.Init.RepetitionCounter = 0;
htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim8) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = 0;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM8_Init 2 */
/* USER CODE END TIM8_Init 2 */
HAL_TIM_MspPostInit(&htim8);
}
/* TIM10 init function */
void MX_TIM10_Init(void)
{
@ -71,7 +142,18 @@ void MX_TIM10_Init(void)
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{
if(tim_baseHandle->Instance==TIM10)
if(tim_baseHandle->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspInit 0 */
/* USER CODE END TIM8_MspInit 0 */
/* TIM8 clock enable */
__HAL_RCC_TIM8_CLK_ENABLE();
/* USER CODE BEGIN TIM8_MspInit 1 */
/* USER CODE END TIM8_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM10)
{
/* USER CODE BEGIN TIM10_MspInit 0 */
@ -91,7 +173,27 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(timHandle->Instance==TIM10)
if(timHandle->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspPostInit 0 */
/* USER CODE END TIM8_MspPostInit 0 */
__HAL_RCC_GPIOC_CLK_ENABLE();
/**TIM8 GPIO Configuration
PC7 ------> TIM8_CH2
*/
GPIO_InitStruct.Pin = GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* USER CODE BEGIN TIM8_MspPostInit 1 */
/* USER CODE END TIM8_MspPostInit 1 */
}
else if(timHandle->Instance==TIM10)
{
/* USER CODE BEGIN TIM10_MspPostInit 0 */
@ -118,7 +220,18 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
{
if(tim_baseHandle->Instance==TIM10)
if(tim_baseHandle->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspDeInit 0 */
/* USER CODE END TIM8_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM8_CLK_DISABLE();
/* USER CODE BEGIN TIM8_MspDeInit 1 */
/* USER CODE END TIM8_MspDeInit 1 */
}
else if(tim_baseHandle->Instance==TIM10)
{
/* USER CODE BEGIN TIM10_MspDeInit 0 */

19298
MDK-ARM/JLinkLog.txt
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382
MDK-ARM/Steering Wheel_Infatry.uvguix.yunha
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80
MDK-ARM/Steering Wheel_Infatry.uvoptx
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@ -120,7 +120,6 @@
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name>???</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@ -225,6 +224,21 @@
<WinNumber>1</WinNumber>
<ItemText>cmd_chassis</ItemText>
</Ww>
<Ww>
<count>13</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_for_shoot</ItemText>
</Ww>
<Ww>
<count>14</count>
<WinNumber>1</WinNumber>
<ItemText>shoot_cmd</ItemText>
</Ww>
<Ww>
<count>15</count>
<WinNumber>1</WinNumber>
<ItemText>shoot</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
<THDelay>0</THDelay>
@ -952,7 +966,7 @@
<Group>
<GroupName>component</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1139,18 +1153,6 @@
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\device\motor_rm.c</PathWithFileName>
<FilenameWithoutPath>motor_rm.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>68</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\device\bmi088.c</PathWithFileName>
<FilenameWithoutPath>bmi088.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
@ -1158,7 +1160,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>69</FileNumber>
<FileNumber>68</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1170,7 +1172,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>70</FileNumber>
<FileNumber>69</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1180,6 +1182,18 @@
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>70</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\device\motor_rm.c</PathWithFileName>
<FilenameWithoutPath>motor_rm.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>71</FileNumber>
@ -1199,6 +1213,18 @@
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\device\motor_step.c</PathWithFileName>
<FilenameWithoutPath>motor_step.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>73</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\device\motor_lz.c</PathWithFileName>
<FilenameWithoutPath>motor_lz.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
@ -1206,7 +1232,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>73</FileNumber>
<FileNumber>74</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1218,7 +1244,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>74</FileNumber>
<FileNumber>75</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1230,7 +1256,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>75</FileNumber>
<FileNumber>76</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1242,7 +1268,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>76</FileNumber>
<FileNumber>77</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1254,7 +1280,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>77</FileNumber>
<FileNumber>78</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1264,18 +1290,6 @@
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>78</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\device\step_motor.c</PathWithFileName>
<FilenameWithoutPath>step_motor.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>79</FileNumber>

20
MDK-ARM/Steering Wheel_Infatry.uvprojx
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@ -1838,11 +1838,6 @@
<Group>
<GroupName>device</GroupName>
<Files>
<File>
<FileName>motor_rm.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\device\motor_rm.c</FilePath>
</File>
<File>
<FileName>bmi088.c</FileName>
<FileType>1</FileType>
@ -1858,11 +1853,21 @@
<FileType>1</FileType>
<FilePath>..\User\device\motor.c</FilePath>
</File>
<File>
<FileName>motor_rm.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\device\motor_rm.c</FilePath>
</File>
<File>
<FileName>motor_dm.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\device\motor_dm.c</FilePath>
</File>
<File>
<FileName>motor_step.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\device\motor_step.c</FilePath>
</File>
<File>
<FileName>motor_lz.c</FileName>
<FileType>1</FileType>
@ -1893,11 +1898,6 @@
<FileType>1</FileType>
<FilePath>..\User\device\motor_lk.c</FilePath>
</File>
<File>
<FileName>step_motor.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\device\step_motor.c</FilePath>
</File>
<File>
<FileName>led.c</FileName>
<FileType>1</FileType>

BIN
MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.axf
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8
MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.build_log.htm
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@ -22,7 +22,7 @@ Dialog DLL: TCM.DLL V1.48.0.0
<h2>Project:</h2>
D:\yunha\git_gimbal\RM\Steering Wheel_Infatry\MDK-ARM\Steering Wheel_Infatry.uvprojx
Project File Date: 01/26/2026
Project File Date: 01/28/2026
<h2>Output:</h2>
*** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
@ -37,10 +37,6 @@ Note: source file '..\User\task\ET16s.c' - object file renamed from 'Steering Wh
Note: source file '..\User\task\step_motor.c' - object file renamed from 'Steering Wheel_Infatry\step_motor.o' to 'Steering Wheel_Infatry\step_motor_1.o'.
Note: source file '..\User\task\vofa.c' - object file renamed from 'Steering Wheel_Infatry\vofa.o' to 'Steering Wheel_Infatry\vofa_1.o'.
Note: source file '..\User\module\cmd\cmd.c' - object file renamed from 'Steering Wheel_Infatry\cmd.o' to 'Steering Wheel_Infatry\cmd_1.o'.
compiling config.c...
linking...
Program Size: Code=67504 RO-data=1720 RW-data=1224 ZI-data=119880
FromELF: creating hex file...
"Steering Wheel_Infatry\Steering Wheel_Infatry.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>
@ -65,7 +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: 00:00:01
</pre>
</body>
</html>

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MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.hex
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5072
MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.htm
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4
MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.lnp
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@ -65,18 +65,18 @@
"steering wheel_infatry\bsp_rc.o"
"steering wheel_infatry\calc_lib.o"
"steering wheel_infatry\crc8.o"
"steering wheel_infatry\motor_rm.o"
"steering wheel_infatry\bmi088.o"
"steering wheel_infatry\ist8310.o"
"steering wheel_infatry\motor.o"
"steering wheel_infatry\motor_rm.o"
"steering wheel_infatry\motor_dm.o"
"steering wheel_infatry\motor_step.o"
"steering wheel_infatry\motor_lz.o"
"steering wheel_infatry\ai.o"
"steering wheel_infatry\et16s.o"
"steering wheel_infatry\dr16.o"
"steering wheel_infatry\oid.o"
"steering wheel_infatry\motor_lk.o"
"steering wheel_infatry\step_motor.o"
"steering wheel_infatry\led.o"
"steering wheel_infatry\vofa.o"
"steering wheel_infatry\config.o"

5586
MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.map
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967
MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry_Steering Wheel_Infatry.dep
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MDK-ARM/Steering Wheel_Infatry/atti_esti.o
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MDK-ARM/Steering Wheel_Infatry/bmi088.o
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MDK-ARM/Steering Wheel_Infatry/chassis_ctrl.o
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MDK-ARM/Steering Wheel_Infatry/cmd_1.o
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MDK-ARM/Steering Wheel_Infatry/config.o
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MDK-ARM/Steering Wheel_Infatry/gpio.o
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MDK-ARM/Steering Wheel_Infatry/gpio_1.o
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5
MDK-ARM/Steering Wheel_Infatry/init.d
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@ -59,5 +59,6 @@ steering\ wheel_infatry/init.o: ..\User\task\init.c \
..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\module\chassis.h ..\User\module\struct_typedef.h \
..\User\device\bmi088.h ..\User\component\user_math.h \
..\User\device\dr16.h ..\User\device\device.h ..\User\device\et16s.h \
..\User\device\step_motor.h
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\device\dr16.h \
..\User\device\device.h ..\User\device\et16s.h \
..\User\device\motor_step.h

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MDK-ARM/Steering Wheel_Infatry/init.o
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MDK-ARM/Steering Wheel_Infatry/ist8310.o
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MDK-ARM/Steering Wheel_Infatry/main.o
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MDK-ARM/Steering Wheel_Infatry/motor_step.d Normal file
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@ -0,0 +1,40 @@
steering\ wheel_infatry/motor_step.o: ..\User\device\motor_step.c \
..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\Core\Inc\stm32f4xx_hal_conf.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
..\Drivers\CMSIS\Include\core_cm4.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
..\Drivers\CMSIS\Include\cmsis_version.h \
..\Drivers\CMSIS\Include\cmsis_compiler.h \
..\Drivers\CMSIS\Include\cmsis_armclang.h \
..\Drivers\CMSIS\Include\mpu_armv7.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
..\User\bsp\pwm.h ..\Core\Inc\tim.h ..\Core\Inc\main.h \
..\User\bsp\bsp.h ..\User\device\motor_step.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h ..\User\bsp\gpio.h \
..\User\bsp\bsp.h

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MDK-ARM/Steering Wheel_Infatry/motor_step.o Normal file
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MDK-ARM/Steering Wheel_Infatry/pwm.o
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MDK-ARM/Steering Wheel_Infatry/shoot_ctrl.o
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MDK-ARM/Steering Wheel_Infatry/startup_stm32f407xx.o
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3
MDK-ARM/Steering Wheel_Infatry/step_motor.d
View File

@ -33,7 +33,8 @@ steering\ wheel_infatry/step_motor.o: ..\User\device\step_motor.c \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
..\User\device\step_motor.h \
..\User\bsp\pwm.h ..\Core\Inc\tim.h ..\Core\Inc\main.h \
..\User\bsp\bsp.h ..\User\device\step_motor.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h ..\User\bsp\gpio.h \
..\User\bsp\bsp.h

BIN
MDK-ARM/Steering Wheel_Infatry/step_motor.o
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2
MDK-ARM/Steering Wheel_Infatry/step_motor_1.d
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@ -12,7 +12,7 @@ steering\ wheel_infatry/step_motor_1.o: ..\User\task\step_motor.c \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\User\device\step_motor.h \
..\User\device\motor_step.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\User\device\ET16s.h ..\User\device\device.h ..\User\bsp\gpio.h \
..\User\bsp\bsp.h

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MDK-ARM/Steering Wheel_Infatry/step_motor_1.o
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MDK-ARM/Steering Wheel_Infatry/tim.o
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4
MDK-ARM/startup_stm32f407xx.s
View File

@ -29,7 +29,7 @@
; <o> Stack Size (in Bytes) <0x0-0xFFFFFFFF:8>
; </h>
Stack_Size EQU 0x400
Stack_Size EQU 0x800
AREA STACK, NOINIT, READWRITE, ALIGN=3
Stack_Mem SPACE Stack_Size
@ -40,7 +40,7 @@ __initial_sp
; <o> Heap Size (in Bytes) <0x0-0xFFFFFFFF:8>
; </h>
Heap_Size EQU 0x200
Heap_Size EQU 0x500
AREA HEAP, NOINIT, READWRITE, ALIGN=3
__heap_base

58
Steering Wheel_Infatry.ioc
View File

@ -91,11 +91,12 @@ Mcu.CPN=STM32F407IGH6
Mcu.Family=STM32F4
Mcu.IP0=CAN1
Mcu.IP1=CAN2
Mcu.IP10=TIM10
Mcu.IP11=USART1
Mcu.IP12=USART2
Mcu.IP13=USART3
Mcu.IP14=USART6
Mcu.IP10=TIM8
Mcu.IP11=TIM10
Mcu.IP12=USART1
Mcu.IP13=USART2
Mcu.IP14=USART3
Mcu.IP15=USART6
Mcu.IP2=DMA
Mcu.IP3=FREERTOS
Mcu.IP4=I2C1
@ -104,7 +105,7 @@ Mcu.IP6=NVIC
Mcu.IP7=RCC
Mcu.IP8=SPI1
Mcu.IP9=SYS
Mcu.IPNb=15
Mcu.IPNb=16
Mcu.Name=STM32F407I(E-G)Hx
Mcu.Package=UFBGA176
Mcu.Pin0=PB8
@ -121,15 +122,15 @@ Mcu.Pin18=PA9
Mcu.Pin19=PC15-OSC32_OUT
Mcu.Pin2=PB4
Mcu.Pin20=PH0-OSC_IN
Mcu.Pin21=PH1-OSC_OUT
Mcu.Pin22=PF1
Mcu.Pin23=PG6
Mcu.Pin24=PF6
Mcu.Pin25=PH12
Mcu.Pin26=PG3
Mcu.Pin27=PH11
Mcu.Pin28=PH10
Mcu.Pin29=PC1
Mcu.Pin21=PC7
Mcu.Pin22=PH1-OSC_OUT
Mcu.Pin23=PF1
Mcu.Pin24=PG6
Mcu.Pin25=PF6
Mcu.Pin26=PH12
Mcu.Pin27=PG3
Mcu.Pin28=PH11
Mcu.Pin29=PH10
Mcu.Pin3=PB3
Mcu.Pin30=PC2
Mcu.Pin31=PB2
@ -144,13 +145,14 @@ Mcu.Pin39=PB0
Mcu.Pin4=PA14
Mcu.Pin40=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin41=VP_SYS_VS_Systick
Mcu.Pin42=VP_TIM10_VS_ClockSourceINT
Mcu.Pin42=VP_TIM8_VS_ClockSourceINT
Mcu.Pin43=VP_TIM10_VS_ClockSourceINT
Mcu.Pin5=PA13
Mcu.Pin6=PB9
Mcu.Pin7=PB7
Mcu.Pin8=PB6
Mcu.Pin9=PD6
Mcu.PinsNb=43
Mcu.PinsNb=44
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F407IGHx
@ -243,12 +245,6 @@ PB8.Mode=I2C
PB8.Signal=I2C1_SCL
PB9.Mode=I2C
PB9.Signal=I2C1_SDA
PC1.GPIOParameters=PinState,GPIO_PuPd,GPIO_Label
PC1.GPIO_Label=PUL_P
PC1.GPIO_PuPd=GPIO_PULLUP
PC1.Locked=true
PC1.PinState=GPIO_PIN_SET
PC1.Signal=GPIO_Output
PC10.Mode=Asynchronous
PC10.Signal=USART3_TX
PC11.Mode=Asynchronous
@ -274,6 +270,8 @@ PC5.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
PC5.GPIO_PuPd=GPIO_PULLUP
PC5.Locked=true
PC5.Signal=GPXTI5
PC7.Locked=true
PC7.Signal=S_TIM8_CH2
PCC.Checker=false
PCC.Line=STM32F407/417
PCC.MCU=STM32F407I(E-G)Hx
@ -347,7 +345,7 @@ ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.28.3
ProjectManager.FreePins=false
ProjectManager.FreePinsContext=
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x200
ProjectManager.HeapSize=0x500
ProjectManager.KeepUserCode=true
ProjectManager.LastFirmware=true
ProjectManager.LibraryCopy=1
@ -359,13 +357,13 @@ ProjectManager.ProjectFileName=Steering Wheel_Infatry.ioc
ProjectManager.ProjectName=Steering Wheel_Infatry
ProjectManager.ProjectStructure=
ProjectManager.RegisterCallBack=
ProjectManager.StackSize=0x400
ProjectManager.StackSize=0x800
ProjectManager.TargetToolchain=MDK-ARM V5.32
ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_CAN1_Init-CAN1-false-HAL-true,5-MX_CAN2_Init-CAN2-false-HAL-true,6-MX_I2C1_Init-I2C1-false-HAL-true,7-MX_I2C2_Init-I2C2-false-HAL-true,8-MX_SPI1_Init-SPI1-false-HAL-true,9-MX_USART1_UART_Init-USART1-false-HAL-true,10-MX_USART2_UART_Init-USART2-false-HAL-true,11-MX_USART3_UART_Init-USART3-false-HAL-true,12-MX_TIM10_Init-TIM10-false-HAL-true,13-MX_USART6_UART_Init-USART6-false-HAL-true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_CAN1_Init-CAN1-false-HAL-true,5-MX_CAN2_Init-CAN2-false-HAL-true,6-MX_I2C1_Init-I2C1-false-HAL-true,7-MX_I2C2_Init-I2C2-false-HAL-true,8-MX_SPI1_Init-SPI1-false-HAL-true,9-MX_USART1_UART_Init-USART1-false-HAL-true,10-MX_USART2_UART_Init-USART2-false-HAL-true,11-MX_USART3_UART_Init-USART3-false-HAL-true,12-MX_TIM10_Init-TIM10-false-HAL-true,13-MX_USART6_UART_Init-USART6-false-HAL-true,14-MX_TIM8_Init-TIM8-false-HAL-true
RCC.48MHZClocksFreq_Value=84000000
RCC.AHBFreq_Value=168000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
@ -408,6 +406,8 @@ SH.GPXTI5.0=GPIO_EXTI5
SH.GPXTI5.ConfNb=1
SH.S_TIM10_CH1.0=TIM10_CH1,PWM Generation1 CH1
SH.S_TIM10_CH1.ConfNb=1
SH.S_TIM8_CH2.0=TIM8_CH2,PWM Generation2 CH2
SH.S_TIM8_CH2.ConfNb=1
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_16
SPI1.CLKPhase=SPI_PHASE_2EDGE
SPI1.CLKPolarity=SPI_POLARITY_HIGH
@ -419,6 +419,10 @@ SPI1.VirtualType=VM_MASTER
TIM10.Channel=TIM_CHANNEL_1
TIM10.IPParameters=Channel,Period
TIM10.Period=5000
TIM8.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM8.IPParameters=Channel-PWM Generation2 CH2,Prescaler,Period
TIM8.Period=19999
TIM8.Prescaler=167
USART1.IPParameters=VirtualMode
USART1.VirtualMode=VM_ASYNC
USART2.IPParameters=VirtualMode
@ -437,5 +441,7 @@ 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_TIM8_VS_ClockSourceINT.Mode=Internal
VP_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT
board=custom
rtos.0.ip=FREERTOS

9
User/bsp/bsp_config.yaml
View File

@ -34,11 +34,6 @@ gpio:
ioc_label: DIR_N
pin: PB2
type: OUTPUT
- custom_name: PUL_P
has_exti: false
ioc_label: PUL_P
pin: PC1
type: OUTPUT
- custom_name: PUL_N
has_exti: false
ioc_label: PUL_N
@ -91,6 +86,10 @@ mm:
enabled: true
pwm:
configs:
- channel: TIM_CHANNEL_2
custom_name: MOTOR_STEP
label: TIM8_CH2
timer: TIM8
- channel: TIM_CHANNEL_1
custom_name: IMU_HEAT
label: TIM10_CH1

1
User/bsp/gpio.c
View File

@ -31,7 +31,6 @@ static const BSP_GPIO_MAP_t GPIO_Map[BSP_GPIO_NUM] = {
{GYRO_CS_Pin, GYRO_CS_GPIO_Port},
{DIR_P_Pin, DIR_P_GPIO_Port},
{DIR_N_Pin, DIR_N_GPIO_Port},
{PUL_P_Pin, PUL_P_GPIO_Port},
{PUL_N_Pin, PUL_N_GPIO_Port},
{ACCL_INT_Pin, ACCL_INT_GPIO_Port},
{GYRO_INT_Pin, GYRO_INT_GPIO_Port},

1
User/bsp/gpio.h
View File

@ -27,7 +27,6 @@ typedef enum {
BSP_GPIO_GYRO_CS,
BSP_GPIO_DIR_P,
BSP_GPIO_DIR_N,
BSP_GPIO_PUL_P,
BSP_GPIO_PUL_N,
BSP_GPIO_ACCL_INT,
BSP_GPIO_GYRO_INT,

1
User/bsp/pwm.c
View File

@ -25,6 +25,7 @@ typedef struct {
/* Private variables -------------------------------------------------------- */
static const BSP_PWM_Config_t PWM_Map[BSP_PWM_NUM] = {
{&htim8, TIM_CHANNEL_2},
{&htim10, TIM_CHANNEL_1},
};

1
User/bsp/pwm.h
View File

@ -23,6 +23,7 @@ extern "C" {
/* Exported types ----------------------------------------------------------- */
/* PWM通道 */
typedef enum {
BSP_PWM_MOTOR_STEP,
BSP_PWM_IMU_HEAT,
BSP_PWM_NUM,
BSP_PWM_ERR,

30
User/device/motor_step.c Normal file
View File

@ -0,0 +1,30 @@
/* 底盘固定模组,用步进 */
#include "main.h"
#include "bsp/pwm.h"
#include "motor_step.h"
#include "bsp/gpio.h"
#include "cmsis_os2.h"
int8_t Motor_Step_Init(STEP_MOTOR *param){
BSP_PWM_Start(BSP_PWM_MOTOR_STEP);
return 0;
}
int8_t Motor_Step_Ctrl(STEP_MOTOR *param){
// if(param->state==1){
/* 控制方向 */
BSP_GPIO_WritePin(BSP_GPIO_DIR_P, param->direction);
osDelay(10); // 方向稳定时间
// for(int i;i<10000;i++){
BSP_PWM_SetComp(BSP_PWM_MOTOR_STEP,19999);
// osDelay(200);
// BSP_PWM_SetComp(BSP_PWM_STEP_MOTOR,0);
// osDelay(200);
// }
return 0;
}

4
User/device/step_motor.h → User/device/motor_step.h
View File

@ -29,7 +29,9 @@ typedef struct{
int state;
}STEP_MOTOR;
int8_t Step_Motor_Ctrl(STEP_MOTOR *param);
int8_t Motor_Step_Init(STEP_MOTOR *param);
int8_t Motor_Step_Ctrl(STEP_MOTOR *param);
#ifdef __cplusplus
}
#endif

32
User/device/step_motor.c
View File

@ -1,32 +0,0 @@
/* 底盘固定模组,用步进 */
#include "main.h"
#include "step_motor.h"
#include "bsp/gpio.h"
#include "cmsis_os2.h"
int8_t Step_Motor_Ctrl(STEP_MOTOR *param){
// if(param->state==1){
/* 控制方向 */
BSP_GPIO_WritePin(BSP_GPIO_DIR_P, param->direction);
osDelay(10); // 方向稳定时间
// for(int i;i >= param->pulse;i++){
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_1, 1);
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_2, 0);
// BSP_GPIO_WritePin(BSP_GPIO_PUL_P,true);
// BSP_GPIO_WritePin(BSP_GPIO_PUL_N,false);
osDelay(param->time);
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_1, 1);
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_2, 0);
// BSP_GPIO_WritePin(BSP_GPIO_PUL_P,true);
// BSP_GPIO_WritePin(BSP_GPIO_PUL_N,false);
osDelay(param->time);
// }
// param->state=1;
//}
return 0;
}

17
User/module/cmd/cmd.c
View File

@ -67,7 +67,22 @@ static void CMD_RC_BuildShootCmd(CMD_t *ctx) {
} else {
ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
}
/* 根据c拨杆控制射击 */
switch (ctx->input.rc.sw[2]) {
case CMD_SW_DOWN:
ctx->output.shoot.cmd.mode = SHOOT_MODE_CONTINUE;
break;
case CMD_SW_MID:
ctx->output.shoot.cmd.mode = SHOOT_MODE_SINGLE;
break;
case CMD_SW_UP:
ctx->output.shoot.cmd.ready = SHOOT_MODE_SAFE;
// default:
// ctx->output.shoot.cmd.ready = false;
// ctx->output.shoot.cmd.firecmd = false;
break;
}
/* 根据D拨杆控制射击 */
switch (ctx->input.rc.sw[3]) {
case CMD_SW_DOWN:

22
User/module/config.c
View File

@ -28,7 +28,7 @@ Config_RobotParam_t robot_config = {
.motor_6020_param[1]={BSP_CAN_1,0x207,MOTOR_GM6020,false,false},
.motor_6020_param[2]={BSP_CAN_1,0x208,MOTOR_GM6020,false,false},
.motor_6020_param[3]={BSP_CAN_1,0x209,MOTOR_GM6020,false,false},
.chassis2006_setangle=-190,
.chassis2006_setangle=195,
.chassis_2006_angle_param={
.k=1.0f,
.p=1.0f,
@ -143,8 +143,6 @@ Config_RobotParam_t robot_config = {
/*是否开启限位*/
.limit_yaw=false,
.limit_pit=true,
.pit_rm_motor={},
.yaw_rm_motor={BSP_CAN_2,0x209,MOTOR_GM6020,false,false},
/*达妙电机参数自己配*/
.yaw_dm_motor={
.can=BSP_CAN_1,
@ -163,12 +161,12 @@ Config_RobotParam_t robot_config = {
// .yaw_dm_motor={},
},
.dm_Params_t={
// .yaw_dm={.kd=0.1,},
// .yaw_dm_Reduction_ratio=1.0f,//减速比
.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=0.1,},
.major_yaw_dm_Reduction_ratio=1.0f,//减速比
},
.low_pass_cutoff_freq = {
@ -229,14 +227,14 @@ Config_RobotParam_t robot_config = {
.projectileType=SHOOT_PROJECTILE_17MM,
.fric_num=6,
.extra_deceleration_ratio=1.0f,
.num_trig_tooth=5,
.shot_freq=1.0f,
.num_trig_tooth=8,
.shot_freq=10.0f,
.shot_burst_num=3,
.ratio_multilevel = {0.8f, 1.0f},
},
.jamDetection={
.enable=true,
.threshold=310.0f,
.enable=false,
.threshold=110.0f,
.suspectedTime=0.5f,
},
.motor={
@ -264,7 +262,7 @@ Config_RobotParam_t robot_config = {
},
.trig = {
.can = BSP_CAN_2,
.can = BSP_CAN_1,
.id = 0x205,
.module = MOTOR_M2006,
.reverse = false,
@ -349,7 +347,7 @@ Config_RobotParam_t robot_config = {
.shoot_sw_up = SHOOT_MODE_SAFE,
.shoot_sw_mid = SHOOT_MODE_SINGLE,
.shoot_sw_down = SHOOT_MODE_BURST,
.shoot_sw_down = SHOOT_MODE_CONTINUE,
},
},

6
User/task/chassis_ctrl.c
View File

@ -41,9 +41,9 @@ void Task_chassis_ctrl(void *argument) {
/*接受cmd任务数据*/
if(osMessageQueueGet(task_runtime.msgq.chassis.cmd, &cmd_chassis, NULL, 0)==osOK);
Chassis_update(&chassis);
Chassis_Control(&chassis, &cmd_chassis,tick);
Chassis_Setoutput(&chassis);
// Chassis_update(&chassis);
// Chassis_Control(&chassis, &cmd_chassis,tick);
// Chassis_Setoutput(&chassis);
////{
// // 如果没有收到命令，可以执行一个安全停止的逻辑
// // 或者什么都不做，让底盘保持上一帧的状态（取决于你的设计）

6
User/task/init.c
View File

@ -9,9 +9,10 @@
/* USER INCLUDE BEGIN */
#include "module/gimbal.h"
#include "module/chassis.h"
#include "module/shoot.h"
#include "device/dr16.h"
#include "device/et16s.h"
#include "device/step_motor.h"
#include "device/motor_step.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
@ -50,7 +51,8 @@ void Task_Init(void *argument) {
task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL);
task_runtime.msgq.gimbal.imu= osMessageQueueNew(2u, sizeof(Gimbal_IMU_t), NULL);
task_runtime.msgq.gimbal.cmd= osMessageQueueNew(2u, sizeof(Gimbal_CMD_t), NULL);
task_runtime.msgq.chassis.cmd= osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL);
task_runtime.msgq.chassis.cmd= osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL);
task_runtime.msgq.shoot.cmd= osMessageQueueNew(2u, sizeof(Shoot_CMD_t), NULL);
task_runtime.msgq.rc.dr16= osMessageQueueNew(2u, sizeof(DR16_t), NULL);
task_runtime.msgq.rc.et16s= osMessageQueueNew(2u, sizeof(ET16s_t), NULL);
/* USER MESSAGE END */

4
User/task/shoot_ctrl.c
View File

@ -34,13 +34,13 @@ void Task_shoot_ctrl(void *argument) {
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */
Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ);
Shoot_SetMode(&shoot,SHOOT_MODE_BURST);
Shoot_SetMode(&shoot,SHOOT_MODE_CONTINUE);
/* USER CODE INIT END */
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_ctrl_cmd_rc, NULL, 0);
osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0);
// shoot_cmd.mode=true;
// shoot.target_variable.target_rpm=4000;
// shoot.mode=shoot_ctrl_cmd_rc.mode;

16
User/task/step_motor.c
View File

@ -6,7 +6,7 @@
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "device/step_motor.h"
#include "device/motor_step.h"
#include "device/ET16s.h"
#include "bsp/gpio.h"
/* USER INCLUDE END */
@ -41,7 +41,7 @@ void Task_step_motor(void *argument) {
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */
/* 当前状态变量 */
Motor_Step_Init(&StepMotor_param);
// StepMotor_param.state = 0; // 初始状态为停止
/* USER CODE INIT END */
@ -49,17 +49,7 @@ void Task_step_motor(void *argument) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
if(osMessageQueueGet(task_runtime.msgq.chassis.SetpMotor, &Key_A, NULL, 0)==osOK);
// /* 监听和更新拨杆状态 */
if (key1 == 0) {
} else if (key1 == 1) {
Step_Motor_Ctrl(&StepMotor_param);
}
Motor_Step_Ctrl(&StepMotor_param);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}