chassis修改（有个舵反馈有问题）

Core/Inc/main.h

@@ -68,10 +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_N_Pin GPIO_PIN_2
-#define PUL_N_GPIO_Port GPIOC
-#define DIR_N_Pin GPIO_PIN_2
-#define DIR_N_GPIO_Port GPIOB
 #define USER_KEY_Pin GPIO_PIN_0
 #define USER_KEY_GPIO_Port GPIOA
 #define USER_KEY_EXTI_IRQn EXTI0_IRQn
@@ -83,8 +79,8 @@ void Error_Handler(void);
 #define GYRO_INT_Pin GPIO_PIN_5
 #define GYRO_INT_GPIO_Port GPIOC
 #define GYRO_INT_EXTI_IRQn EXTI9_5_IRQn
-#define DIR_P_Pin GPIO_PIN_1
+#define DIR_P_Pin GPIO_PIN_11
-#define DIR_P_GPIO_Port GPIOB
+#define DIR_P_GPIO_Port GPIOE
 #define GYRO_CS_Pin GPIO_PIN_0
 #define GYRO_CS_GPIO_Port GPIOB
 

Core/Inc/stm32f4xx_it.h

@@ -61,7 +61,7 @@ void CAN1_TX_IRQHandler(void);
 void CAN1_RX0_IRQHandler(void);
 void CAN1_RX1_IRQHandler(void);
 void EXTI9_5_IRQHandler(void);
-void TIM1_UP_TIM10_IRQHandler(void);
+void TIM1_BRK_TIM9_IRQHandler(void);
 void USART1_IRQHandler(void);
 void USART3_IRQHandler(void);
 void DMA2_Stream1_IRQHandler(void);

Core/Inc/tim.h

@@ -32,7 +32,7 @@ extern "C" {
 
 /* USER CODE END Includes */
 
-extern TIM_HandleTypeDef htim8;
+extern TIM_HandleTypeDef htim1;
 
 extern TIM_HandleTypeDef htim10;
 
@@ -40,7 +40,7 @@ extern TIM_HandleTypeDef htim10;
 
 /* USER CODE END Private defines */
 
-void MX_TIM8_Init(void);
+void MX_TIM1_Init(void);
 void MX_TIM10_Init(void);
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);

Core/Src/can.c

@@ -49,7 +49,7 @@ void MX_CAN1_Init(void)
   hcan1.Init.AutoWakeUp = DISABLE;
   hcan1.Init.AutoRetransmission = ENABLE;
   hcan1.Init.ReceiveFifoLocked = DISABLE;
-  hcan1.Init.TransmitFifoPriority = DISABLE;
+  hcan1.Init.TransmitFifoPriority = ENABLE;
   if (HAL_CAN_Init(&hcan1) != HAL_OK)
   {
     Error_Handler();
@@ -81,7 +81,7 @@ void MX_CAN2_Init(void)
   hcan2.Init.AutoWakeUp = DISABLE;
   hcan2.Init.AutoRetransmission = ENABLE;
   hcan2.Init.ReceiveFifoLocked = DISABLE;
-  hcan2.Init.TransmitFifoPriority = DISABLE;
+  hcan2.Init.TransmitFifoPriority = ENABLE;
   if (HAL_CAN_Init(&hcan2) != HAL_OK)
   {
     Error_Handler();
@@ -146,10 +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;
@@ -210,10 +210,10 @@ 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);

Core/Src/gpio.c

@@ -38,6 +38,7 @@
         * Output
         * EVENT_OUT
         * EXTI
+     PC7   ------> S_TIM8_CH2
 */
 void MX_GPIO_Init(void)
 {
@@ -52,6 +53,7 @@ void MX_GPIO_Init(void)
   __HAL_RCC_GPIOC_CLK_ENABLE();
   __HAL_RCC_GPIOF_CLK_ENABLE();
   __HAL_RCC_GPIOH_CLK_ENABLE();
+  __HAL_RCC_GPIOE_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(CMPS_RST_GPIO_Port, CMPS_RST_Pin, GPIO_PIN_RESET);
@@ -59,18 +61,23 @@ 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_N_GPIO_Port, PUL_N_Pin, GPIO_PIN_RESET);
-
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOB, DIR_N_Pin|DIR_P_Pin, GPIO_PIN_RESET);
-
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(ACCL_CS_GPIO_Port, ACCL_CS_Pin, GPIO_PIN_SET);
 
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(DIR_P_GPIO_Port, DIR_P_Pin, GPIO_PIN_SET);
+
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GYRO_CS_GPIO_Port, GYRO_CS_Pin, GPIO_PIN_SET);
 
+  /*Configure GPIO pin : PC7 */
+  GPIO_InitStruct.Pin = GPIO_PIN_7;
+  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+  GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
   /*Configure GPIO pin : CMPS_RST_Pin */
   GPIO_InitStruct.Pin = CMPS_RST_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@@ -91,20 +98,6 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Pull = GPIO_PULLUP;
   HAL_GPIO_Init(CMPS_INT_GPIO_Port, &GPIO_InitStruct);
 
-  /*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(PUL_N_GPIO_Port, &GPIO_InitStruct);
-
-  /*Configure GPIO pins : DIR_N_Pin DIR_P_Pin */
-  GPIO_InitStruct.Pin = DIR_N_Pin|DIR_P_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_PULLUP;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
   /*Configure GPIO pin : USER_KEY_Pin */
   GPIO_InitStruct.Pin = USER_KEY_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
@@ -124,6 +117,13 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Pull = GPIO_PULLUP;
   HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
+  /*Configure GPIO pin : DIR_P_Pin */
+  GPIO_InitStruct.Pin = DIR_P_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+  HAL_GPIO_Init(DIR_P_GPIO_Port, &GPIO_InitStruct);
+
   /*Configure GPIO pin : GYRO_CS_Pin */
   GPIO_InitStruct.Pin = GYRO_CS_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;

Core/Src/main.c

@@ -105,7 +105,7 @@ int main(void)
   MX_USART3_UART_Init();
   MX_TIM10_Init();
   MX_USART6_UART_Init();
-  MX_TIM8_Init();
+  MX_TIM1_Init();
   /* USER CODE BEGIN 2 */
 
   /* USER CODE END 2 */

Core/Src/stm32f4xx_it.c

@@ -62,7 +62,7 @@ extern CAN_HandleTypeDef hcan1;
 extern CAN_HandleTypeDef hcan2;
 extern DMA_HandleTypeDef hdma_spi1_rx;
 extern DMA_HandleTypeDef hdma_spi1_tx;
-extern TIM_HandleTypeDef htim10;
+extern TIM_HandleTypeDef htim1;
 extern DMA_HandleTypeDef hdma_usart3_rx;
 extern DMA_HandleTypeDef hdma_usart6_rx;
 extern DMA_HandleTypeDef hdma_usart6_tx;
@@ -306,17 +306,17 @@ void EXTI9_5_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles TIM1 update interrupt and TIM10 global interrupt.
+  * @brief This function handles TIM1 break interrupt and TIM9 global interrupt.
   */
-void TIM1_UP_TIM10_IRQHandler(void)
+void TIM1_BRK_TIM9_IRQHandler(void)
 {
-  /* USER CODE BEGIN TIM1_UP_TIM10_IRQn 0 */
+  /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 0 */
 
-  /* USER CODE END TIM1_UP_TIM10_IRQn 0 */
+  /* USER CODE END TIM1_BRK_TIM9_IRQn 0 */
-  HAL_TIM_IRQHandler(&htim10);
+  HAL_TIM_IRQHandler(&htim1);
-  /* USER CODE BEGIN TIM1_UP_TIM10_IRQn 1 */
+  /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 1 */
 
-  /* USER CODE END TIM1_UP_TIM10_IRQn 1 */
+  /* USER CODE END TIM1_BRK_TIM9_IRQn 1 */
 }
 
 /**

Core/Src/tim.c

@@ -24,48 +24,48 @@
 
 /* USER CODE END 0 */
 
-TIM_HandleTypeDef htim8;
+TIM_HandleTypeDef htim1;
 TIM_HandleTypeDef htim10;
 
-/* TIM8 init function */
+/* TIM1 init function */
-void MX_TIM8_Init(void)
+void MX_TIM1_Init(void)
 {
 
-  /* USER CODE BEGIN TIM8_Init 0 */
+  /* USER CODE BEGIN TIM1_Init 0 */
 
-  /* USER CODE END TIM8_Init 0 */
+  /* USER CODE END TIM1_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 BEGIN TIM1_Init 1 */
 
-  /* USER CODE END TIM8_Init 1 */
+  /* USER CODE END TIM1_Init 1 */
-  htim8.Instance = TIM8;
+  htim1.Instance = TIM1;
-  htim8.Init.Prescaler = 167;
+  htim1.Init.Prescaler = 167;
-  htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim8.Init.Period = 19999;
+  htim1.Init.Period = 19999;
-  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim8.Init.RepetitionCounter = 0;
+  htim1.Init.RepetitionCounter = 0;
-  htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  if (HAL_TIM_Base_Init(&htim8) != HAL_OK)
+  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
   {
     Error_Handler();
   }
   sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
-  if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK)
+  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
   {
     Error_Handler();
   }
-  if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
+  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
   {
     Error_Handler();
   }
   sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
   {
     Error_Handler();
   }
@@ -76,7 +76,7 @@ void MX_TIM8_Init(void)
   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)
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
   {
     Error_Handler();
   }
@@ -87,14 +87,14 @@ void MX_TIM8_Init(void)
   sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
   sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
   sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
-  if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
   {
     Error_Handler();
   }
-  /* USER CODE BEGIN TIM8_Init 2 */
+  /* USER CODE BEGIN TIM1_Init 2 */
 
-  /* USER CODE END TIM8_Init 2 */
+  /* USER CODE END TIM1_Init 2 */
-  HAL_TIM_MspPostInit(&htim8);
+  HAL_TIM_MspPostInit(&htim1);
 
 }
 /* TIM10 init function */
@@ -142,16 +142,33 @@ void MX_TIM10_Init(void)
 void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
 {
 
-  if(tim_baseHandle->Instance==TIM8)
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(tim_baseHandle->Instance==TIM1)
   {
-  /* USER CODE BEGIN TIM8_MspInit 0 */
+  /* USER CODE BEGIN TIM1_MspInit 0 */
 
-  /* USER CODE END TIM8_MspInit 0 */
+  /* USER CODE END TIM1_MspInit 0 */
-    /* TIM8 clock enable */
+    /* TIM1 clock enable */
-    __HAL_RCC_TIM8_CLK_ENABLE();
+    __HAL_RCC_TIM1_CLK_ENABLE();
-  /* USER CODE BEGIN TIM8_MspInit 1 */
 
-  /* USER CODE END TIM8_MspInit 1 */
+    __HAL_RCC_GPIOE_CLK_ENABLE();
+    /**TIM1 GPIO Configuration
+    PE13     ------> TIM1_CH3
+    PE14     ------> TIM1_CH4
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_PULLUP;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
+    HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
+
+    /* TIM1 interrupt Init */
+    HAL_NVIC_SetPriority(TIM1_BRK_TIM9_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
+  /* USER CODE BEGIN TIM1_MspInit 1 */
+
+  /* USER CODE END TIM1_MspInit 1 */
   }
   else if(tim_baseHandle->Instance==TIM10)
   {
@@ -160,10 +177,6 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
   /* USER CODE END TIM10_MspInit 0 */
     /* TIM10 clock enable */
     __HAL_RCC_TIM10_CLK_ENABLE();
-
-    /* TIM10 interrupt Init */
-    HAL_NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 5, 0);
-    HAL_NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
   /* USER CODE BEGIN TIM10_MspInit 1 */
 
   /* USER CODE END TIM10_MspInit 1 */
@@ -173,25 +186,25 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 {
 
   GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(timHandle->Instance==TIM8)
+  if(timHandle->Instance==TIM1)
   {
-  /* USER CODE BEGIN TIM8_MspPostInit 0 */
+  /* USER CODE BEGIN TIM1_MspPostInit 0 */
 
-  /* USER CODE END TIM8_MspPostInit 0 */
+  /* USER CODE END TIM1_MspPostInit 0 */
-    __HAL_RCC_GPIOC_CLK_ENABLE();
+    __HAL_RCC_GPIOE_CLK_ENABLE();
-    /**TIM8 GPIO Configuration
+    /**TIM1 GPIO Configuration
-    PC7     ------> TIM8_CH2
+    PE9     ------> TIM1_CH1
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_7;
+    GPIO_InitStruct.Pin = GPIO_PIN_9;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Pull = GPIO_PULLUP;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
-    GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
+    GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
-    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+    HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
-  /* USER CODE BEGIN TIM8_MspPostInit 1 */
+  /* USER CODE BEGIN TIM1_MspPostInit 1 */
 
-  /* USER CODE END TIM8_MspPostInit 1 */
+  /* USER CODE END TIM1_MspPostInit 1 */
   }
   else if(timHandle->Instance==TIM10)
   {
@@ -220,16 +233,26 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
 {
 
-  if(tim_baseHandle->Instance==TIM8)
+  if(tim_baseHandle->Instance==TIM1)
   {
-  /* USER CODE BEGIN TIM8_MspDeInit 0 */
+  /* USER CODE BEGIN TIM1_MspDeInit 0 */
 
-  /* USER CODE END TIM8_MspDeInit 0 */
+  /* USER CODE END TIM1_MspDeInit 0 */
     /* Peripheral clock disable */
-    __HAL_RCC_TIM8_CLK_DISABLE();
+    __HAL_RCC_TIM1_CLK_DISABLE();
-  /* USER CODE BEGIN TIM8_MspDeInit 1 */
 
-  /* USER CODE END TIM8_MspDeInit 1 */
+    /**TIM1 GPIO Configuration
+    PE13     ------> TIM1_CH3
+    PE9     ------> TIM1_CH1
+    PE14     ------> TIM1_CH4
+    */
+    HAL_GPIO_DeInit(GPIOE, GPIO_PIN_13|GPIO_PIN_9|GPIO_PIN_14);
+
+    /* TIM1 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(TIM1_BRK_TIM9_IRQn);
+  /* USER CODE BEGIN TIM1_MspDeInit 1 */
+
+  /* USER CODE END TIM1_MspDeInit 1 */
   }
   else if(tim_baseHandle->Instance==TIM10)
   {
@@ -238,9 +261,6 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
   /* USER CODE END TIM10_MspDeInit 0 */
     /* Peripheral clock disable */
     __HAL_RCC_TIM10_CLK_DISABLE();
-
-    /* TIM10 interrupt Deinit */
-    HAL_NVIC_DisableIRQ(TIM1_UP_TIM10_IRQn);
   /* USER CODE BEGIN TIM10_MspDeInit 1 */
 
   /* USER CODE END TIM10_MspDeInit 1 */

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

@@ -44,3 +44,7 @@
 
 [info] Log at : 2026/1/21|22:02:02|GMT+0800
 
+[info] Log at : 2026/2/4|15:19:28|GMT+0800
+
+[info] Log at : 2026/2/4|15:19:33|GMT+0800
+

MDK-ARM/.vscode/uv4.log

@@ -1,16 +1 @@
-*** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
+Load "Steering Wheel_Infatry\\Steering Wheel_Infatry.axf" 
-Build target 'Steering Wheel_Infatry'
-Note: source file '..\User\bsp\can.c' - object file renamed from 'Steering Wheel_Infatry\can.o' to 'Steering Wheel_Infatry\can_1.o'.Note: source file '..\User\bsp\gpio.c' - object file renamed from 'Steering Wheel_Infatry\gpio.o' to 'Steering Wheel_Infatry\gpio_1.o'.Note: source file '..\User\bsp\i2c.c' - object file renamed from 'Steering Wheel_Infatry\i2c.o' to 'Steering Wheel_Infatry\i2c_1.o'.Note: source file '..\User\bsp\spi.c' - object file renamed from 'Steering Wheel_Infatry\spi.o' to 'Steering Wheel_Infatry\spi_1.o'.Note: source file '..\User\task\ai.c' - object file renamed from 'Steering Wheel_Infatry\ai.o' to 'Steering Wheel_Infatry\ai_1.o'.Note: source file '..\User\task\ET16s.c' - object file renamed from 'Steering Wheel_Infatry\ET16s.o' to 'Steering Wheel_Infatry\et16s_1.o'.Note: source file '..\User\task\dr16.c' - object file renamed from 'Steering Wheel_Infatry\dr16.o' to 'Steering Wheel_Infatry\dr16_1.o'.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\module\cmd\cmd.c' - object file renamed from 'Steering Wheel_Infatry\cmd.o' to 'Steering Wheel_Infatry\cmd_1.o'.../User/module/cmd/cmd_adapter.c(12): warning: 'CMD_RC_DEVICE_TYPE' macro redefined [-Wmacro-redefined]
-#define CMD_RC_DEVICE_TYPE 2
-        ^
-../User/module/cmd/cmd_adapter.h(73): note: previous definition is here
-#define CMD_RC_DEVICE_TYPE  3   /* 0:DR16, 1:AT9S, 2:VT13 */
-        ^
-../User/module/cmd/cmd_adapter.c(157): error: use of undeclared identifier 'g_adapter_ET916s'
-    CMD_Adapter_Register(&g_adapter_ET916s);    
-                          ^
-1 warning and 1 error generated.
-compiling cmd_adapter.c...
-"Steering Wheel_Infatry\Steering Wheel_Infatry.axf" - 1 Error(s), 1 Warning(s).
-Target not created.
-Build Time Elapsed:  00:00:03

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

@@ -1 +1 @@
-2026/1/21 23:45:46
+2026/2/4 15:19:52

MDK-ARM/Steering Wheel_Infatry.uvoptx

@@ -120,11 +120,12 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
+          <Name>榶?p</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>JL2CM3</Key>
-          <Name>-U20760100 -O78 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+          <Name>-U20760100 -O78 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -239,6 +240,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>shoot</ItemText>
         </Ww>
+        <Ww>
+          <count>16</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cmd_et16s1</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -1142,7 +1148,7 @@
 
   <Group>
     <GroupName>device</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.build_log.htm

@@ -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:  01/28/2026
+Project File Date:  02/07/2026
 
 <h2>Output:</h2>
 *** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'

MDK-ARM/Steering Wheel_Infatry/init.d

@@ -61,4 +61,5 @@ steering\ wheel_infatry/init.o: ..\User\task\init.c \
   ..\User\device\bmi088.h ..\User\component\user_math.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
+  ..\User\device\motor_step.h ..\User\bsp\pwm.h ..\Core\Inc\tim.h \
+  ..\User\bsp\bsp.h

MDK-ARM/Steering Wheel_Infatry/step_motor_1.d

@@ -13,6 +13,39 @@ steering\ wheel_infatry/step_motor_1.o: ..\User\task\step_motor.c \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
   ..\User\device\motor_step.h \
-  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h ..\User\bsp\pwm.h \
-  ..\User\device\ET16s.h ..\User\device\device.h ..\User\bsp\gpio.h \
+  ..\Core\Inc\tim.h ..\Core\Inc\main.h \
-  ..\User\bsp\bsp.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 \
+  ..\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 \
+  ..\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\bsp.h ..\User\device\ET16s.h ..\User\device\device.h \
+  ..\User\bsp\gpio.h ..\User\bsp\bsp.h

Steering Wheel_Infatry.ioc

@@ -7,18 +7,20 @@ CAN1.BS2=CAN_BS2_3TQ
 CAN1.CalculateBaudRate=1000000
 CAN1.CalculateTimeBit=1000
 CAN1.CalculateTimeQuantum=71.42857142857143
-CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1,Prescaler,BS2,NART,SJW
+CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1,Prescaler,BS2,NART,SJW,TXFP
 CAN1.NART=ENABLE
 CAN1.Prescaler=3
 CAN1.SJW=CAN_SJW_1TQ
+CAN1.TXFP=ENABLE
 CAN2.BS1=CAN_BS1_10TQ
 CAN2.BS2=CAN_BS2_3TQ
 CAN2.CalculateBaudRate=1000000
 CAN2.CalculateTimeBit=1000
 CAN2.CalculateTimeQuantum=71.42857142857143
-CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1,BS2,Prescaler,NART
+CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1,BS2,Prescaler,NART,TXFP
 CAN2.NART=ENABLE
 CAN2.Prescaler=3
+CAN2.TXFP=ENABLE
 Dma.Request0=USART3_RX
 Dma.Request1=SPI1_RX
 Dma.Request2=SPI1_TX
@@ -91,7 +93,7 @@ Mcu.CPN=STM32F407IGH6
 Mcu.Family=STM32F4
 Mcu.IP0=CAN1
 Mcu.IP1=CAN2
-Mcu.IP10=TIM8
+Mcu.IP10=TIM1
 Mcu.IP11=TIM10
 Mcu.IP12=USART1
 Mcu.IP13=USART2
@@ -109,50 +111,51 @@ Mcu.IPNb=16
 Mcu.Name=STM32F407I(E-G)Hx
 Mcu.Package=UFBGA176
 Mcu.Pin0=PB8
-Mcu.Pin1=PG14
+Mcu.Pin1=PB5
-Mcu.Pin10=PD0
+Mcu.Pin10=PD6
-Mcu.Pin11=PC11
+Mcu.Pin11=PD0
-Mcu.Pin12=PC10
+Mcu.Pin12=PC11
-Mcu.Pin13=PG9
+Mcu.Pin13=PC10
-Mcu.Pin14=PD5
+Mcu.Pin14=PG9
-Mcu.Pin15=PD1
+Mcu.Pin15=PD5
-Mcu.Pin16=PC14-OSC32_IN
+Mcu.Pin16=PD1
-Mcu.Pin17=PF0
+Mcu.Pin17=PC14-OSC32_IN
-Mcu.Pin18=PA9
+Mcu.Pin18=PF0
-Mcu.Pin19=PC15-OSC32_OUT
+Mcu.Pin19=PA9
-Mcu.Pin2=PB4
+Mcu.Pin2=PG14
-Mcu.Pin20=PH0-OSC_IN
+Mcu.Pin20=PC15-OSC32_OUT
-Mcu.Pin21=PC7
+Mcu.Pin21=PH0-OSC_IN
-Mcu.Pin22=PH1-OSC_OUT
+Mcu.Pin22=PC7
-Mcu.Pin23=PF1
+Mcu.Pin23=PH1-OSC_OUT
-Mcu.Pin24=PG6
+Mcu.Pin24=PF1
-Mcu.Pin25=PF6
+Mcu.Pin25=PG6
-Mcu.Pin26=PH12
+Mcu.Pin26=PF6
-Mcu.Pin27=PG3
+Mcu.Pin27=PH12
-Mcu.Pin28=PH11
+Mcu.Pin28=PG3
-Mcu.Pin29=PH10
+Mcu.Pin29=PH11
-Mcu.Pin3=PB3
+Mcu.Pin3=PB4
-Mcu.Pin30=PC2
+Mcu.Pin30=PH10
-Mcu.Pin31=PB2
+Mcu.Pin31=PA0-WKUP
-Mcu.Pin32=PA0-WKUP
+Mcu.Pin32=PA4
-Mcu.Pin33=PA4
+Mcu.Pin33=PC4
-Mcu.Pin34=PC4
+Mcu.Pin34=PE13
 Mcu.Pin35=PC5
-Mcu.Pin36=PB12
+Mcu.Pin36=PE9
-Mcu.Pin37=PA7
+Mcu.Pin37=PE11
-Mcu.Pin38=PB1
+Mcu.Pin38=PE14
-Mcu.Pin39=PB0
+Mcu.Pin39=PA7
-Mcu.Pin4=PA14
+Mcu.Pin4=PB3
-Mcu.Pin40=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin40=PB0
-Mcu.Pin41=VP_SYS_VS_Systick
+Mcu.Pin41=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin42=VP_TIM8_VS_ClockSourceINT
+Mcu.Pin42=VP_SYS_VS_Systick
-Mcu.Pin43=VP_TIM10_VS_ClockSourceINT
+Mcu.Pin43=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin5=PA13
+Mcu.Pin44=VP_TIM10_VS_ClockSourceINT
-Mcu.Pin6=PB9
+Mcu.Pin5=PA14
-Mcu.Pin7=PB7
+Mcu.Pin6=PA13
-Mcu.Pin8=PB6
+Mcu.Pin7=PB9
-Mcu.Pin9=PD6
+Mcu.Pin8=PB7
-Mcu.PinsNb=44
+Mcu.Pin9=PB6
+Mcu.PinsNb=45
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407IGHx
@@ -186,7 +189,7 @@ NVIC.SavedPendsvIrqHandlerGenerated=true
 NVIC.SavedSvcallIrqHandlerGenerated=true
 NVIC.SavedSystickIrqHandlerGenerated=true
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:true\:false\:true\:false
-NVIC.TIM1_UP_TIM10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.TIM1_BRK_TIM9_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.USART1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.USART3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.USART6_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
@@ -220,23 +223,13 @@ PB0.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM
 PB0.Locked=true
 PB0.PinState=GPIO_PIN_SET
 PB0.Signal=GPIO_Output
-PB1.GPIOParameters=GPIO_PuPd,GPIO_Label
-PB1.GPIO_Label=DIR_P
-PB1.GPIO_PuPd=GPIO_PULLUP
-PB1.Locked=true
-PB1.Signal=GPIO_Output
-PB12.Locked=true
-PB12.Mode=CAN_Activate
-PB12.Signal=CAN2_RX
-PB2.GPIOParameters=GPIO_PuPd,GPIO_Label
-PB2.GPIO_Label=DIR_N
-PB2.GPIO_PuPd=GPIO_PULLUP
-PB2.Locked=true
-PB2.Signal=GPIO_Output
 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
@@ -253,11 +246,6 @@ PC14-OSC32_IN.Mode=LSE-External-Oscillator
 PC14-OSC32_IN.Signal=RCC_OSC32_IN
 PC15-OSC32_OUT.Mode=LSE-External-Oscillator
 PC15-OSC32_OUT.Signal=RCC_OSC32_OUT
-PC2.GPIOParameters=GPIO_PuPd,GPIO_Label
-PC2.GPIO_Label=PUL_N
-PC2.GPIO_PuPd=GPIO_PULLUP
-PC2.Locked=true
-PC2.Signal=GPIO_Output
 PC4.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
 PC4.GPIO_Label=ACCL_INT
 PC4.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
@@ -270,6 +258,9 @@ PC5.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
 PC5.GPIO_PuPd=GPIO_PULLUP
 PC5.Locked=true
 PC5.Signal=GPXTI5
+PC7.GPIOParameters=GPIO_Speed,GPIO_PuPd
+PC7.GPIO_PuPd=GPIO_PULLUP
+PC7.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
 PC7.Locked=true
 PC7.Signal=S_TIM8_CH2
 PCC.Checker=false
@@ -289,6 +280,29 @@ PD5.Mode=Asynchronous
 PD5.Signal=USART2_TX
 PD6.Mode=Asynchronous
 PD6.Signal=USART2_RX
+PE11.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultOutputPP
+PE11.GPIO_Label=DIR_P
+PE11.GPIO_ModeDefaultOutputPP=GPIO_MODE_OUTPUT_PP
+PE11.GPIO_PuPd=GPIO_PULLUP
+PE11.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
+PE11.Locked=true
+PE11.PinState=GPIO_PIN_SET
+PE11.Signal=GPIO_Output
+PE13.GPIOParameters=GPIO_Speed,GPIO_PuPd
+PE13.GPIO_PuPd=GPIO_PULLUP
+PE13.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
+PE13.Locked=true
+PE13.Signal=S_TIM1_CH3
+PE14.GPIOParameters=GPIO_Speed,GPIO_PuPd
+PE14.GPIO_PuPd=GPIO_PULLUP
+PE14.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
+PE14.Locked=true
+PE14.Signal=S_TIM1_CH4
+PE9.GPIOParameters=GPIO_Speed,GPIO_PuPd
+PE9.GPIO_PuPd=GPIO_PULLUP
+PE9.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
+PE9.Locked=true
+PE9.Signal=S_TIM1_CH1
 PF0.Mode=I2C
 PF0.Signal=I2C2_SDA
 PF1.Mode=I2C
@@ -363,7 +377,7 @@ 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,14-MX_TIM8_Init-TIM8-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_TIM1_Init-TIM1-false-HAL-true
 RCC.48MHZClocksFreq_Value=84000000
 RCC.AHBFreq_Value=168000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -406,7 +420,13 @@ 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_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
+SH.S_TIM1_CH1.ConfNb=1
+SH.S_TIM1_CH3.0=TIM1_CH3
+SH.S_TIM1_CH3.ConfNb=1
+SH.S_TIM1_CH4.0=TIM1_CH4
+SH.S_TIM1_CH4.ConfNb=1
+SH.S_TIM8_CH2.0=TIM8_CH2
 SH.S_TIM8_CH2.ConfNb=1
 SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_16
 SPI1.CLKPhase=SPI_PHASE_2EDGE
@@ -416,13 +436,13 @@ SPI1.Direction=SPI_DIRECTION_2LINES
 SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,CLKPhase,CLKPolarity
 SPI1.Mode=SPI_MODE_MASTER
 SPI1.VirtualType=VM_MASTER
+TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM1.IPParameters=Channel-PWM Generation1 CH1,Prescaler,Period
+TIM1.Period=19999
+TIM1.Prescaler=167
 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
@@ -441,7 +461,7 @@ 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_TIM1_VS_ClockSourceINT.Mode=Internal
-VP_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT
+VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
 board=custom
 rtos.0.ip=FREERTOS

User/bsp/bsp_config.yaml

@@ -24,21 +24,6 @@ gpio:
     ioc_label: GYRO_CS
     pin: PB0
     type: OUTPUT
-  - custom_name: DIR_P
-    has_exti: false
-    ioc_label: DIR_P
-    pin: PB1
-    type: OUTPUT
-  - custom_name: DIR_N
-    has_exti: false
-    ioc_label: DIR_N
-    pin: PB2
-    type: OUTPUT
-  - custom_name: PUL_N
-    has_exti: false
-    ioc_label: PUL_N
-    pin: PC2
-    type: OUTPUT
   - custom_name: ACCL_INT
     has_exti: true
     ioc_label: ACCL_INT
@@ -49,6 +34,11 @@ gpio:
     ioc_label: GYRO_INT
     pin: PC5
     type: EXTI
+  - custom_name: DIR_P
+    has_exti: false
+    ioc_label: DIR_P
+    pin: PE11
+    type: OUTPUT
   - custom_name: CMPS_INT
     has_exti: true
     ioc_label: CMPS_INT
@@ -86,10 +76,10 @@ mm:
   enabled: true
 pwm:
   configs:
-  - channel: TIM_CHANNEL_2
+  - channel: TIM_CHANNEL_1
-    custom_name: MOTOR_STEP
+    custom_name: TIM1_CH1
-    label: TIM8_CH2
+    label: TIM1_CH1
-    timer: TIM8
+    timer: TIM1
   - channel: TIM_CHANNEL_1
     custom_name: IMU_HEAT
     label: TIM10_CH1

User/bsp/gpio.c

@@ -29,11 +29,9 @@ static const BSP_GPIO_MAP_t GPIO_Map[BSP_GPIO_NUM] = {
     {USER_KEY_Pin, USER_KEY_GPIO_Port},
     {ACCL_CS_Pin, ACCL_CS_GPIO_Port},
     {GYRO_CS_Pin, GYRO_CS_GPIO_Port},
-    {DIR_P_Pin, DIR_P_GPIO_Port},
-    {DIR_N_Pin, DIR_N_GPIO_Port},
-    {PUL_N_Pin, PUL_N_GPIO_Port},
     {ACCL_INT_Pin, ACCL_INT_GPIO_Port},
     {GYRO_INT_Pin, GYRO_INT_GPIO_Port},
+    {DIR_P_Pin, DIR_P_GPIO_Port},
     {CMPS_INT_Pin, CMPS_INT_GPIO_Port},
     {CMPS_RST_Pin, CMPS_RST_GPIO_Port},
     {LED_Blue_Pin, LED_Blue_GPIO_Port},

User/bsp/gpio.h

@@ -25,11 +25,9 @@ typedef enum {
   BSP_GPIO_USER_KEY,
   BSP_GPIO_ACCL_CS,
   BSP_GPIO_GYRO_CS,
-  BSP_GPIO_DIR_P,
-  BSP_GPIO_DIR_N,
-  BSP_GPIO_PUL_N,
   BSP_GPIO_ACCL_INT,
   BSP_GPIO_GYRO_INT,
+  BSP_GPIO_DIR_P,
   BSP_GPIO_CMPS_INT,
   BSP_GPIO_CMPS_RST,
   BSP_GPIO_LED_BLUE,

User/bsp/pwm.c

@@ -25,7 +25,7 @@ typedef struct {
 
 /* Private variables -------------------------------------------------------- */
 static const BSP_PWM_Config_t PWM_Map[BSP_PWM_NUM] = {
-  {&htim8, TIM_CHANNEL_2},
+  {&htim1, TIM_CHANNEL_1},
   {&htim10, TIM_CHANNEL_1},
 };
 

User/bsp/pwm.h

@@ -23,7 +23,7 @@ extern "C" {
 /* Exported types ----------------------------------------------------------- */
 /* PWM通道 */
 typedef enum {
-  BSP_PWM_MOTOR_STEP,
+  BSP_PWM_TIM1_CH1,
   BSP_PWM_IMU_HEAT,
   BSP_PWM_NUM,
   BSP_PWM_ERR,

User/device/motor_step.c

@@ -5,26 +5,33 @@
 #include "bsp/gpio.h"
 #include "cmsis_os2.h"     
 
-int8_t Motor_Step_Init(STEP_MOTOR *param){
+int8_t Motor_Step_Init(MOTOR_STEP_t *motor_step){
-
-	BSP_PWM_Start(BSP_PWM_MOTOR_STEP);
 
+	BSP_PWM_Start(motor_step->param.channel);
 	return 0;
 }
 
-int8_t Motor_Step_Ctrl(STEP_MOTOR *param){
+int8_t Motor_Step_Ctrl(MOTOR_STEP_t *motor_step){
 
-//	if(param->state==1){
 	/* 控制方向 */
-	BSP_GPIO_WritePin(BSP_GPIO_DIR_P, param->direction);
+	if(motor_step->param.reverse==true){
-	osDelay(10); // 方向稳定时间
+	BSP_GPIO_WritePin(BSP_GPIO_DIR_P, true);
-//	for(int i;i<10000;i++){
+	BSP_PWM_SetComp(motor_step->param.channel,0.5);		
-	BSP_PWM_SetComp(BSP_PWM_MOTOR_STEP,19999);
+	}
-//	osDelay(200);
+	
-//	BSP_PWM_SetComp(BSP_PWM_STEP_MOTOR,0);	
+	if(motor_step->param.reverse==false){
-//	osDelay(200);
+	BSP_GPIO_WritePin(BSP_GPIO_DIR_P, true);
-//	}
+		
+	BSP_PWM_SetComp(motor_step->param.channel,0.9);		
+//	osDelay(100);
+//	BSP_PWM_SetComp(motor_step->param.channel,0);
+	}
 	return 0;
 }
 
+int8_t Motor_Step_Stop(MOTOR_STEP_t *motor_step){
+
+	BSP_PWM_Stop(motor_step->param.channel) ;
+	return 0;
+}
 

User/device/motor_step.h

@@ -11,27 +11,32 @@ extern "C" {
 /* Includes ----------------------------------------------------------------- */
 #include "cmsis_os2.h"   
 #include <stdbool.h>  
+#include "bsp/pwm.h"  
 /* Exported constants ------------------------------------------------------- */
 
 
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
+
+	
+	/*每个电机需要的参数*/
+typedef struct {
+    BSP_PWM_Channel_t channel;
+    bool reverse;
+    bool gear;
+} MOTOR_STEP_Param_t;
+	
 typedef struct{
 	
+	MOTOR_STEP_Param_t param;
 	/* 脉冲个数 */
 	int pulse;
-	/* 脉冲间隔 */
-	float time;
 	
-	/* 方向 */
+}MOTOR_STEP_t;
-	bool direction;
-	/* 状态 */
-	int state;
 
-}STEP_MOTOR;
+int8_t Motor_Step_Init(MOTOR_STEP_t *param);
-
+int8_t Motor_Step_Ctrl(MOTOR_STEP_t *param);
-int8_t Motor_Step_Init(STEP_MOTOR *param);
+int8_t Motor_Step_Stop(MOTOR_STEP_t *motor_step);
-int8_t Motor_Step_Ctrl(STEP_MOTOR *param);
 #ifdef __cplusplus
 }
 #endif

User/module/chassis.c

@@ -40,7 +40,6 @@ chassis_init(&chassis,&Config_GetRobotParam()->chassis,CHASSIS_FREQ);
 #include "math.h"
 #include "component/pid.h"
 #include "component/filter.h"
-
 #include "stdlib.h"
 
 /*舵轮舵向校准方法：注释掉关于6020反馈角度的处理以及6020数据的发送这两处(define.h里有快捷方法)，
@@ -64,6 +63,7 @@ fp32 vofa_send[8];                //vofa输出数据
 #define CHASSIS_ROTOR_OMEGA 0.001
 #define CHASSIS_ROTOR_WZ_MIN 0.6f          /* 小陀螺旋转位移下界 */
 #define CHASSIS_ROTOR_WZ_MAX 0.8f          /* 小陀螺旋转位移上界 */
+#define ONE_MINUTE 60.0f          /* 一分钟时间 */
 
 float motor_add_anagle(float current_angle){
 	static int cirle;
@@ -80,7 +80,40 @@ float motor_add_anagle(float current_angle){
 	return current_angle;
 }
 
-static int8_t Chassis_SetMode(Chassis_t *c, Chassis_mode_t mode ,uint32_t now)
+
+static int8_t Set_Chassis_Attitude(Chassis_t *c,CHASSIS_ATTITUDE_MODE_t mode){
+		float	Telescope_omega_set_point;
+		switch(mode)
+    {
+      case STOP_MODE:
+        c->out.Telescope = 0.0f;
+      break;
+      case EXPAND_MODE:
+
+			Telescope_omega_set_point = PID_Calc(&(c->pid.Telescope_angle), c->param->Set_TelescopeAngle,
+                                   c->feedback.motor.Telescope_SuperiorAngle, 0.0f, c->dt);
+		  c->out.Telescope = PID_Calc(&(c->pid.Telescope_omega), Telescope_omega_set_point,
+													c->feedback.motor.Telescope_Omega, 0.f, c->dt);
+      break;
+      case REDUCE_MODE:
+			
+			Telescope_omega_set_point = PID_Calc(&(c->pid.Telescope_angle), 0,
+                                   c->feedback.motor.Telescope_SuperiorAngle, 0.0f, c->dt);
+		  c->out.Telescope = PID_Calc(&(c->pid.Telescope_omega), Telescope_omega_set_point,
+													c->feedback.motor.Telescope_Omega, 0.f, c->dt);   
+      break;
+      default:
+				  c->out.Telescope = 0.0f;
+      break;
+    }
+		return CHASSIS_OK;
+}
+
+
+
+
+
+static int8_t Chassis_SetMode(Chassis_t *c, Chassis_Mode_t mode ,uint32_t now)
 {
   if (c == NULL)
     return CHASSIS_ERR_NULL; /* 主结构体不能为空 */
@@ -88,15 +121,19 @@ static int8_t Chassis_SetMode(Chassis_t *c, Chassis_mode_t mode ,uint32_t now)
 
  if (mode == CHASSIS_MODE_ROTOR && c->mode != CHASSIS_MODE_ROTOR) {
     srand(now);
-    c->wz_multi = (rand() % 2) ? -1 : 1;
+    c->wz_multi =1;
+    // c->wz_multi = (rand() % 2) ? -1 : 1;
   }
   for (int i = 0; i < 4; i++)
   {
-    PID_Reset(&c->pid.chassis_3508VPID[i]);
+    PID_Reset(&c->pid.Radder_DIR_omega[i]);
-    PID_Reset(&c->pid.chassis_6020OmegaPid[i]);
+    PID_Reset(&c->pid.Radder_DIR_angle[i]);
-    PID_Reset(&c->pid.chassis_6020anglePid[i]);
+    PID_Reset(&c->pid.Wheel_DIR_omega[i]);
+    PID_Reset(&c->pid.Radder_DIR_omega[i]);		
   }
-
+		/* 丝杆伸缩 */
+    PID_Reset(&c->pid.Telescope_omega);
+    PID_Reset(&c->pid.Telescope_angle);		
   c->mode = mode;
   return CHASSIS_OK;
 }
@@ -127,46 +164,40 @@ int8_t chassis_init(Chassis_t *c, Chassis_Param_t *param, float target_freq)
   c->mode = CHASSIS_MODE_RELAX; // 默认模式为停止锁死底盘
   c->mech_zero = c->param->mech_zero;/*云台6020的机械中点*/
   c->travel = c->param->travel ;/*云台6020的机械行程*/
-//  c->chassis2006_setangle = c->param->chassis2006_setangle; // 变形舵轮2006目标角度  大概是48圈
+//  c->mech_zero_4310 = c->param->mech_zero_4310;/*云台4310的机械中点*/
-//  c->chassis3508_setangle = c->param->chassis3508_setangle; // 变形舵轮3508目标角度  大概是60度左右
   /*初始化can*/
   BSP_CAN_Init();
-  /*注册3508电机*/
+  /*注册轮向电机*/
   for (int i = 0; i < 4; i++)
   {
-    MOTOR_RM_Register(&(c->param->motor_3508_param[i]));
+    MOTOR_RM_Register(&(c->param->motor.Wheel_DIR[i]));
   }
-  /*注册6020电机*/
+  /*注册舵向电机*/
   for (int i = 0; i < 4; i++)
   {
-    MOTOR_RM_Register(&(c->param->motor_6020_param[i]));
+    MOTOR_RM_Register(&(c->param->motor.Radder_DIR[i]));
   }
- MOTOR_RM_Register(&(c->param->motor_2006_param)); // 注册2006电机
+  /*注册伸缩电机*/
-
+	  MOTOR_RM_Register(&(c->param->motor.Telescope_motor));
   // 舵轮安装时的6020机械误差，机械校准时1号轮在左前方，所有轮的编码器朝向右面
-  MotorOffset_t motor_offset = {{2.09311676 / M_PI * 180.0f, 0.50467968 / M_PI * 180.0f, 3.63706851 / M_PI * 180.0f, 5.26232147 / M_PI * 180.0f}}; // 右右右右
+  MotorOffset_t motor_offset = {{2.12916541 / M_PI * 180.0f, 5.23470974/ M_PI * 180.0f, 
+                                 1.60531092 / M_PI * 180.0f, 4.16322374/ M_PI * 180.0f}}; // 右右右右
   
   c->motoroffset = motor_offset;
   /*对3508的速度环和6020的角速度以及位置环pid进行初始化*/
   for (int i = 0; i < 4; i++)
   {
-    PID_Init(&c->pid.chassis_3508VPID[i], KPID_MODE_NO_D, target_freq, &c->param->M3508v_param);
+    PID_Init(&c->pid.Wheel_DIR_omega[i], KPID_MODE_NO_D, target_freq, &c->param->pid.Wheel_DIR_Omega);
   }
   for (int i = 0; i < 4; i++)
   {
-    PID_Init(&c->pid.chassis_6020OmegaPid[i], KPID_MODE_CALC_D, target_freq, &c->param->C6020Omega_param);
+    PID_Init(&c->pid.Radder_DIR_omega[i], KPID_MODE_CALC_D, target_freq, &c->param->pid.Radder_DIR_Omega);
-    PID_Init(&c->pid.chassis_6020anglePid[i], KPID_MODE_CALC_D, target_freq, &c->param->C6020Angle_param);
+    PID_Init(&c->pid.Radder_DIR_angle[i], KPID_MODE_CALC_D, target_freq, &c->param->pid.Radder_DIR_Angle);
-  }
-  PID_Init(&c->pid.chassis_follow_gimbal_pid, KPID_MODE_CALC_D, target_freq, &c->param->chassis_follow_gimbalPID); 
-  /*2006位置环pid*/
-  PID_Init(&c->pid.chassis_2006_anglepid,KPID_MODE_NO_D,target_freq , &c->param->chassis_2006_angle_param);
-  PID_Init(&c->pid.chassis_2006_OmegaPid,KPID_MODE_CALC_D,target_freq , &c->param->chassis_2006_Omega_param);
-/*底盘轮向3508在控制展开时的位置双环pid*/
-  for(int i=0;i<4;i++)
-  {
-    PID_Init(&c->pid.chassis_3508_anglepid[i],KPID_MODE_NO_D,target_freq , &c->param->chassis_3508_angle_param);
-    PID_Init(&c->pid.chassis_3508_OmegaPid[i],KPID_MODE_CALC_D,target_freq , &c->param->chassis_3508_Omega_param);
   }
+		PID_Init(&c->pid.chassis_follow_gimbal_pid, 
+						 KPID_MODE_CALC_D, 
+						 target_freq,
+						 &c->param->pid.chassis_follow_gimbal); 
 
   LowPassFilter2p_Init(&c->filled[0], target_freq, 20.0f); // vx
   LowPassFilter2p_Init(&c->filled[1], target_freq, 20.0f); // vy
@@ -180,9 +211,7 @@ int8_t chassis_init(Chassis_t *c, Chassis_Param_t *param, float target_freq)
   LowPassFilter2p_Init(&c->filled[7], target_freq, 20.0f); // 6020-1
   LowPassFilter2p_Init(&c->filled[8], target_freq, 20.0f); // 6020-2
   LowPassFilter2p_Init(&c->filled[9], target_freq, 20.0f); // 6020-3
-  LowPassFilter2p_Init(&c->filled[10],target_freq, 20.0f); // 6020-4 
+  LowPassFilter2p_Init(&c->filled[10], target_freq, 20.0f); // 6020-4 
-
-  LowPassFilter2p_Init(&c->filled[11], target_freq, 10.0f); // 2006角度
 
   
   return CHASSIS_OK;
@@ -205,13 +234,13 @@ void Chassis_speed_calculate(Chassis_t *c, Chassis_CMD_t *c_cmd)
     // 使用保持的角度，而不是实时反馈值,速度为0
     for (uint8_t i = 0; i < 4; i++)
     {
-      c->hopemotorout.rotor6020_jiesuan_1[i] = c->keep_angle[i];
+      c->hopemotorout.Radder_DIR_Solving_1[i] = c->keep_angle[i];
-      c->hopemotorout.rotor3508_jiesuan_1[i] = 0;
+      c->hopemotorout.Wheel_DIR_Solving_1[i] = 0;
     }
-      // c->hopemotorout.rotor6020_jiesuan_1[0] = 315;
+      // c->hopemotorout.Radder_DIR_Solving_1[0] = 315;
-      // c->hopemotorout.rotor6020_jiesuan_1[1] = 45;
+      // c->hopemotorout.Radder_DIR_Solving_1[1] = 45;
-      // c->hopemotorout.rotor6020_jiesuan_1[2] = 315;
+      // c->hopemotorout.Radder_DIR_Solving_1[2] = 315;
-      // c->hopemotorout.rotor6020_jiesuan_1[3] = 45;
+      // c->hopemotorout.Radder_DIR_Solving_1[3] = 45;
   }
   else
   {
@@ -220,42 +249,44 @@ void Chassis_speed_calculate(Chassis_t *c, Chassis_CMD_t *c_cmd)
     // 让保持角度实时等于进入保持阈值前的最后一次角度值
     for (uint8_t i = 0; i < 4; i++)
     {
-      c->keep_angle[i] = c->hopemotorout.rotor6020_jiesuan_1[i];
+      c->keep_angle[i] = c->hopemotorout.Radder_DIR_Solving_1[i];
     }
+		
     switch (c->mode)
     {
     case RC:
+
+
     case CHASSIS_MODE_ROTOR:
     case CHASSIS_MODE_FOLLOW_GIMBAL:
       
 
       // const double radians = atan(1.0f * 330 / 330);
 
-      c->hopemotorout.rotor3508_jiesuan_1[0] = sqrt(
+      c->hopemotorout.Wheel_DIR_Solving_1[0] = sqrt(
           (c->move_vec.Vx + c->move_vec.Vw * sin(radians)) * (c->move_vec.Vx + c->move_vec.Vw * sin(radians)) + (c->move_vec.Vy + c->move_vec.Vw * cos(radians)) * (c->move_vec.Vy + c->move_vec.Vw * cos(radians)));
 
-      c->hopemotorout.rotor3508_jiesuan_1[1] = sqrt(
+      c->hopemotorout.Wheel_DIR_Solving_1[1] = sqrt(
           (c->move_vec.Vx + c->move_vec.Vw * sin(radians)) * (c->move_vec.Vx + c->move_vec.Vw * sin(radians)) + (c->move_vec.Vy - c->move_vec.Vw * cos(radians)) * (c->move_vec.Vy - c->move_vec.Vw * cos(radians)));
 
-      c->hopemotorout.rotor3508_jiesuan_1[2] = sqrt(
+      c->hopemotorout.Wheel_DIR_Solving_1[2] = sqrt(
           (c->move_vec.Vx - c->move_vec.Vw * sin(radians)) * (c->move_vec.Vx - c->move_vec.Vw * sin(radians)) + (c->move_vec.Vy - c->move_vec.Vw * cos(radians)) * (c->move_vec.Vy - c->move_vec.Vw * cos(radians)));
 
-      c->hopemotorout.rotor3508_jiesuan_1[3] = sqrt(
+      c->hopemotorout.Wheel_DIR_Solving_1[3] = sqrt(
           (c->move_vec.Vx - c->move_vec.Vw * sin(radians)) * (c->move_vec.Vx - c->move_vec.Vw * sin(radians)) + (c->move_vec.Vy + c->move_vec.Vw * cos(radians)) * (c->move_vec.Vy + c->move_vec.Vw * cos(radians)));
 
-      c->hopemotorout.rotor6020_jiesuan_1[0] = atan2((c->move_vec.Vy + c->move_vec.Vw * cos(radians)),
+      c->hopemotorout.Radder_DIR_Solving_1[0] = atan2((c->move_vec.Vy + c->move_vec.Vw * cos(radians)),
                                                      (c->move_vec.Vx + c->move_vec.Vw * sin(radians))) *
                                                (180.0f / M_PI);
-      c->hopemotorout.rotor6020_jiesuan_1[1] = atan2((c->move_vec.Vy - c->move_vec.Vw * cos(radians)),
+      c->hopemotorout.Radder_DIR_Solving_1[1] = atan2((c->move_vec.Vy - c->move_vec.Vw * cos(radians)),
                                                      (c->move_vec.Vx + c->move_vec.Vw * sin(radians))) *
                                                (180.0f / M_PI);
-      c->hopemotorout.rotor6020_jiesuan_1[2] = atan2((c->move_vec.Vy - c->move_vec.Vw * cos(radians)),
+      c->hopemotorout.Radder_DIR_Solving_1[2] = atan2((c->move_vec.Vy - c->move_vec.Vw * cos(radians)),
                                                      (c->move_vec.Vx - c->move_vec.Vw * sin(radians))) *
                                                (180.0f / M_PI);
-      c->hopemotorout.rotor6020_jiesuan_1[3] = atan2((c->move_vec.Vy + c->move_vec.Vw * cos(radians)),
+      c->hopemotorout.Radder_DIR_Solving_1[3] = atan2((c->move_vec.Vy + c->move_vec.Vw * cos(radians)),
                                                      (c->move_vec.Vx - c->move_vec.Vw * sin(radians))) *
                                                (180.0f / M_PI);
-			c->chassis2006_setangle=c->param->chassis2006_setangle;
       break;
 
     case CHASSIS_MODE_BREAK:
@@ -264,82 +295,61 @@ void Chassis_speed_calculate(Chassis_t *c, Chassis_CMD_t *c_cmd)
 
       for (int i = 0; i < 4; i++)
       {
-        c->hopemotorout.rotor3508_jiesuan_1[i] = 0.0f;
+        c->hopemotorout.Wheel_DIR_Solving_1[i] = 0.0f;
       }
-      //      c->hopemotorout.rotor6020_jiesuan_1[0] = 6.26554489/M_PI*180.0f;
+      //      c->hopemotorout.Radder_DIR_Solving_1[0] = 6.26554489/M_PI*180.0f;
-      //      c->hopemotorout.rotor6020_jiesuan_1[1] = 2.1099906/M_PI*180.0f;
+      //      c->hopemotorout.Radder_DIR_Solving_1[1] = 2.1099906/M_PI*180.0f;
-      //      c->hopemotorout.rotor6020_jiesuan_1[2] = 2.08391285/M_PI*180.0f;
+      //      c->hopemotorout.Radder_DIR_Solving_1[2] = 2.08391285/M_PI*180.0f;
-      //      c->hopemotorout.rotor6020_jiesuan_1[3] = 5.26845694/M_PI*180.0f;
+      //      c->hopemotorout.Radder_DIR_Solving_1[3] = 5.26845694/M_PI*180.0f;
-      c->hopemotorout.rotor6020_jiesuan_1[0] = 315;
+      // c->hopemotorout.Radder_DIR_Solving_1[0] = 315;
-      c->hopemotorout.rotor6020_jiesuan_1[1] = 45;
+      // c->hopemotorout.Radder_DIR_Solving_1[1] = 45;
-      c->hopemotorout.rotor6020_jiesuan_1[2] = 315;
+      // c->hopemotorout.Radder_DIR_Solving_1[2] = 315;
-      c->hopemotorout.rotor6020_jiesuan_1[3] = 45;
+      // c->hopemotorout.Radder_DIR_Solving_1[3] = 45;
 
-			
+      c->hopemotorout.Radder_DIR_Solving_1[0] = 0;
-			c->chassis2006_setangle=0;
+      c->hopemotorout.Radder_DIR_Solving_1[1] = 0;
+      c->hopemotorout.Radder_DIR_Solving_1[2] = 0;
+      c->hopemotorout.Radder_DIR_Solving_1[3] = 0;
       break;
 
-      case HUIHANG_BIANXING_DUOLUN:
-      c->hopemotorout.rotor6020_jiesuan_1[0] = 90;
-      c->hopemotorout.rotor6020_jiesuan_1[1] = 90;
-      c->hopemotorout.rotor6020_jiesuan_1[2] = 270;
-      c->hopemotorout.rotor6020_jiesuan_1[3] = 270;
-			c->chassis2006_setangle = c->param->chassis2006_setangle; 
-      for (int i = 0; i < 4; i++)
-      {
-        c->hopemotorout.rotor3508_jiesuan_1[i] = 0.0f;
-      }
-     break;
-      // c->hopemotorout.rotor3508_jiesuan_1[0] = PID_Calc(&c->pid.chassis_3508_anglepid[0],c->chassis3508_setangle,c->motorfeedback.rotor_angle3508[0],0.0f,c->dt);
-      // c->hopemotorout.rotor3508_jiesuan_1[1] = PID_Calc(&c->pid.chassis_3508_anglepid[1],c->chassis3508_setangle,c->motorfeedback.rotor_angle3508[1],0.0f,c->dt);
-      // c->hopemotorout.rotor3508_jiesuan_1[2] = PID_Calc(&c->pid.chassis_3508_anglepid[2],-c->chassis3508_setangle,c->motorfeedback.rotor_angle3508[2],0.0f,c->dt);
-      // c->hopemotorout.rotor3508_jiesuan_1[3] = PID_Calc(&c->pid.chassis_3508_anglepid[3],-c->chassis3508_setangle,c->motorfeedback.rotor_angle3508[3],0.0f,c->dt);
-
-      // c->out.rotor3508_out[0]=PID_Calc(&c->pid.chassis_3508_OmegaPid[0],c->hopemotorout.rotor3508_jiesuan_1[0],c->motorfeedback.rotor_rpm3508[0],0.0f,c->dt);
-      // c->out.rotor3508_out[1]=PID_Calc(&c->pid.chassis_3508_OmegaPid[1],c->hopemotorout.rotor3508_jiesuan_1[1],c->motorfeedback.rotor_rpm3508[1],0.0f,c->dt);
-      // c->out.rotor3508_out[2]=PID_Calc(&c->pid.chassis_3508_OmegaPid[2],c->hopemotorout.rotor3508_jiesuan_1[2],c->motorfeedback.rotor_rpm3508[2],0.0f,c->dt);
-      // c->out.rotor3508_out[3]=PID_Calc(&c->pid.chassis_3508_OmegaPid[3],c->hopemotorout.rotor3508_jiesuan_1[3],c->motorfeedback.rotor_rpm3508[3],0.0f,c->dt);
   
     }
-      float motor_2006omega = PID_Calc(&c->pid.chassis_2006_anglepid,c->chassis2006_setangle,c->motorfeedback.motor2006_add_angle,0.0f,c->dt);
+  }
-      c->final_out.final_2006out=PID_Calc(&c->pid.chassis_2006_OmegaPid,motor_2006omega,c->motorfeedback.motor2006_omega,0.0f,c->dt);
-		
-}
   // 角度归化到0°——360°
 
   for (uint8_t i = 0; i < 4; i++)
   {
-    if (c->hopemotorout.rotor6020_jiesuan_1[i] < 0)
+    if (c->hopemotorout.Radder_DIR_Solving_1[i] < 0)
     {
-      c->hopemotorout.rotor6020_jiesuan_1[i] += 360;
+      c->hopemotorout.Radder_DIR_Solving_1[i] += 360;
     }
   }
 
   for (uint8_t i = 0; i < 4; i++)
   {
     float angle_error[4]; // 角度误差
-     angle_error[i] = c->hopemotorout.rotor6020_jiesuan_1[i] - c->motorfeedback.rotor_angle6020[i];
+     angle_error[i] = c->hopemotorout.Radder_DIR_Solving_1[i] - c->feedback.motor.Radder_DIR_Angle[i];
     // 误差角度归化到-180°——+180°
     while (angle_error[i] > 180)
       angle_error[i] -= 360;
     while (angle_error[i] < -180)
       angle_error[i] += 360;
     /*这里发现如果下面的c->motorfeedback.rotor_angle6020[i]+angle_error[i]变为
-        c->hopemotorout.rotor6020_jiesuan_1[i]会导致6020出现故障*/
+        c->hopemotorout.Radder_DIR_Solving_1[i]会导致6020出现故障*/
     if (angle_error[i] > 90 && angle_error[i] <= 180)
     {
-      c->hopemotorout.rotor3508_jiesuan_2[i] = c->hopemotorout.rotor3508_jiesuan_1[i];
+      c->hopemotorout.Wheel_DIR_Solving_2[i] = c->hopemotorout.Wheel_DIR_Solving_1[i];
-      c->hopemotorout.rotor6020_jiesuan_2[i] = c->motorfeedback.rotor_angle6020[i] + angle_error[i] - 180;
+      c->hopemotorout.Radder_DIR_Solving_2[i] = c->feedback.motor.Radder_DIR_Angle[i] + angle_error[i] - 180;
     }
     else if (angle_error[i] < -90 && angle_error[i] >= -180)
     {
-      c->hopemotorout.rotor3508_jiesuan_2[i] = c->hopemotorout.rotor3508_jiesuan_1[i];
+      c->hopemotorout.Wheel_DIR_Solving_2[i] = c->hopemotorout.Wheel_DIR_Solving_1[i];
-      c->hopemotorout.rotor6020_jiesuan_2[i] = c->motorfeedback.rotor_angle6020[i] + angle_error[i] + 180;
+      c->hopemotorout.Radder_DIR_Solving_2[i] = c->feedback.motor.Radder_DIR_Angle[i] + angle_error[i] + 180;
     }
     else
     {
-      c->hopemotorout.rotor3508_jiesuan_2[i] = -c->hopemotorout.rotor3508_jiesuan_1[i];
+      c->hopemotorout.Wheel_DIR_Solving_2[i] = -c->hopemotorout.Wheel_DIR_Solving_1[i];
-      c->hopemotorout.rotor6020_jiesuan_2[i] = c->motorfeedback.rotor_angle6020[i] + angle_error[i];
+      c->hopemotorout.Radder_DIR_Solving_2[i] = c->feedback.motor.Radder_DIR_Angle[i] + angle_error[i];
     }
   }
 }
@@ -355,31 +365,39 @@ int8_t Chassis_update(Chassis_t *c)
   {
     return CHASSIS_ERR_NULL; // 参数错误
   }
-  /*更新所有电机数据*/
+
-  MOTOR_RM_UpdateAll();
+	MOTOR_RM_t *Wheel_DIR_MOTOR[4];
+	MOTOR_RM_t *Radder_DIR_MOTOR[4];
 	
   /*更新电机反馈*/
-  // for (int i = 0; i < 4; i++)
+  for (int i = 0; i < 4; i++)
-  // {
+  {
-  //   // c->motorfeedback.rotor_angle6020[i] = (MOTOR_GetRotorAbsAngle(&(MOTOR_RM_GetMotor(&c->param->motor_6020_param[i])->motor)) );
+		/* 轮向电机更新 */		
-  //   c->motorfeedback.rotor_angle6020[i] = (MOTOR_GetRotorAbsAngle(&(MOTOR_RM_GetMotor(&c->param->motor_6020_param[i])->motor)) / M_PI * 180.0f) ;
+	MOTOR_RM_Update(&(c->param->motor.Wheel_DIR[i]));
-  //   c->motorfeedback.rotor_rpm6020[i] = (MOTOR_GetRotorSpeed(&(MOTOR_RM_GetMotor(&c->param->motor_6020_param[i])->motor)) / 320);
+	Wheel_DIR_MOTOR[i]= MOTOR_RM_GetMotor(&(c->param->motor.Wheel_DIR[i]));
-  //   c->motorfeedback.rotor_rpm3508[i] = MOTOR_GetRotorSpeed(&(MOTOR_RM_GetMotor(&c->param->motor_3508_param[i])->motor)) /10000;
+		c->feedback.motor.Wheel_DIR[i] = Wheel_DIR_MOTOR[i]->feedback;
-  //   c->motorfeedback.rotor_angle3508[i] = MOTOR_GetRotorAbsAngle(&(MOTOR_RM_GetMotor(&c->param->motor_3508_param[i])->motor)) ;
-  //   //      c->motorfeedback.rotor_angle6020[i] = MOTOR_GetRotorAbsAngle(&(MOTOR_RM_GetMotor(&c->param->motor_6020_param[i])->motor));
 
-  //   // 角度归化到0°——360°并且进行偏移校准
+		/* 舵向电机 */		
-  //   c->motorfeedback.rotor_angle6020[i] = fmod(c->motorfeedback.rotor_angle6020[i] - c->motoroffset.MOTOR_OFFSET[i], 360.0);
+	MOTOR_RM_Update(&(c->param->motor.Radder_DIR[i]));
-  //   if (c->motorfeedback.rotor_angle6020[i] < 0)
+	Radder_DIR_MOTOR[i]= MOTOR_RM_GetMotor(&(c->param->motor.Radder_DIR[i]));
-  //   {
+	c->feedback.motor.Radder_DIR[i] = Radder_DIR_MOTOR[i]->feedback;
-  //     c->motorfeedback.rotor_angle6020[i] += 360;
+		/* 单位转换 */
-  //   }
+		c->feedback.motor.Radder_DIR_Angle[i]=c->feedback.motor.Radder_DIR[i].rotor_abs_angle/ M_PI * 180.0f;
-  // }
+		c->feedback.motor.Radder_DIR_Rpm[i]=	c->feedback.motor.Radder_DIR[i].rotor_speed/320;	
-    c->motorfeedback.motor2006_angle = MOTOR_GetRotorAbsAngle(&(MOTOR_RM_GetMotor(&c->param->motor_2006_param)->motor)) ;
+		c->feedback.motor.Wheel_DIR_Angle[i]=	c->feedback.motor.Wheel_DIR[i].rotor_speed/10000;
-    c->motorfeedback.motor2006_rpm = MOTOR_GetRotorSpeed(&(MOTOR_RM_GetMotor(&c->param->motor_2006_param)->motor)) ;
 		
-		c->motorfeedback.motor2006_add_angle=	motor_add_anagle(c->motorfeedback.motor2006_angle);
+    c->feedback.motor.Radder_DIR_Angle[i] = fmod(c->feedback.motor.Radder_DIR_Angle[i] - c->motoroffset.MOTOR_OFFSET[i], 360.0);
-		c->motorfeedback.motor2006_omega=c->motorfeedback.motor2006_rpm*M_2PI/60;
+    if (c->feedback.motor.Radder_DIR_Angle[i] < 0)
+    {
+      c->feedback.motor.Radder_DIR_Angle[i] += 360;
+    }
+  }
+		MOTOR_RM_Update(&(c->param->motor.Telescope_motor));
+		MOTOR_RM_t *Telescope_RM = MOTOR_RM_GetMotor(&(c->param->motor.Telescope_motor));
+		if (Telescope_RM != NULL)
+		c->feedback.motor.Telescope = Telescope_RM->feedback;
+		c->feedback.motor.Telescope_Omega=c->feedback.motor.Telescope.rotor_speed*M_2PI/ONE_MINUTE;
+		c->feedback.motor.Telescope_SuperiorAngle=motor_add_anagle(c->feedback.motor.Telescope.rotor_abs_angle);		 
   return CHASSIS_OK;
 }
 
@@ -407,7 +425,7 @@ int8_t Chassis_Control(Chassis_t *c, Chassis_CMD_t *c_cmd,uint32_t now)
   {
     return CHASSIS_ERR_MODE; /* 设置模式失败 */
   }
-
+	float beta;
   
   /*根据底盘模式进行不同的控制*/
   switch (c->mode)
@@ -419,7 +437,6 @@ int8_t Chassis_Control(Chassis_t *c, Chassis_CMD_t *c_cmd,uint32_t now)
     c->move_vec.Vx = 0.0f;
     c->move_vec.Vy = 0.0f;
     c->move_vec.Vw = 0.0f;
-		c->final_out.final_2006out=0.0f;
     break;
 
   case RC:
@@ -434,24 +451,25 @@ int8_t Chassis_Control(Chassis_t *c, Chassis_CMD_t *c_cmd,uint32_t now)
 
     case CHASSIS_MODE_ROTOR:
     // 小陀螺模式
-    c->move_vec.Vx =c_cmd->y_l;
+
-    c->move_vec.Vy =c_cmd->x_l;
+    beta =  (c->feedback.motor.gimbal_yaw.rotor_abs_angle / 180.0f * M_PI) - c->mech_zero; // 云台当前角度转弧度
+    float cos_beta = cosf(beta);
+    float sin_beta = sinf(beta);
+
+    c->move_vec.Vx =cos_beta * c_cmd->x_l - sin_beta * c_cmd->y_l;
+    c->move_vec.Vy =sin_beta* c_cmd->x_l + cos_beta * c_cmd->y_l;
     c->move_vec.Vw =c->wz_multi* Chassis_CalcWz(CHASSIS_ROTOR_WZ_MIN,CHASSIS_ROTOR_WZ_MAX, now);
     break;
 
     case CHASSIS_MODE_FOLLOW_GIMBAL:
     // 跟随云台模式
-    c->move_vec.Vx =c_cmd->y_l;
+    c->move_vec.Vx =-c_cmd->y_l;
-    c->move_vec.Vy =c_cmd->x_l;
+    c->move_vec.Vy =-c_cmd->x_l;
-    c->move_vec.Vw = -PID_Calc(&c->pid.chassis_follow_gimbal_pid, 2.0f ,c->motorfeedback.gimbal_yaw_encoder, 0.0f, c->dt);
+    c->move_vec.Vw = PID_Calc(&c->pid.chassis_follow_gimbal_pid, 2.06f ,c->feedback.motor.gimbal_yaw.rotor_abs_angle, 0.0f, c->dt);
+
+    // c->move_vec.Vw = -PID_Calc(&c->pid.chassis_follow_gimbal_pid, c->motorfeedback.gimbal_yaw_encoder-2.07694483f ,c->motorfeedback.gimbal_yaw_encoder, 0.0f, c->dt);
     break;
 
-    case HUIHANG_BIANXING_DUOLUN:
-    // 会航变形舵轮模式
-    c->move_vec.Vx = 0.0f;
-    c->move_vec.Vy = 0.0f;
-    c->move_vec.Vw = 0.0f;
-    break;
 
 
   default:
@@ -468,21 +486,20 @@ int8_t Chassis_Control(Chassis_t *c, Chassis_CMD_t *c_cmd,uint32_t now)
   for (int i = 0; i < 4; i++)
   {
     float chassis6020_detangle[4]; // 6020解算出的角度                  
-    c->hopemotorout.motor6020_target[i] = c->hopemotorout.rotor6020_jiesuan_2[i];
+    c->hopemotorout.Radder_DIR_target[i] = c->hopemotorout.Radder_DIR_Solving_2[i];
-    chassis6020_detangle[i] = PID_Calc(&(c->pid.chassis_6020anglePid[i]), c->hopemotorout.motor6020_target[i],
+    chassis6020_detangle[i] = PID_Calc(&(c->pid.Radder_DIR_angle[i]), c->hopemotorout.Radder_DIR_target[i],
-                                       c->motorfeedback.rotor_angle6020[i], 0.0f, c->dt);
+																				c->feedback.motor.Radder_DIR_Angle[i], 0.0f, c->dt);
     // c->final_out.final_6020out[i] = chassis6020_detangle[i] ; //单环控制就用这个
-    c->final_out.final_6020out[i] = PID_Calc(&(c->pid.chassis_6020OmegaPid[i]), chassis6020_detangle[i],
+		c->chassis6020_detangle[i]=chassis6020_detangle[i];
-                                             c->motorfeedback.rotor_rpm6020[i], 0.0f, c->dt);
+    c->final_out.final_Radder_DIR[i] = PID_Calc(&(c->pid.Radder_DIR_omega[i]), chassis6020_detangle[i],
+                                             c->feedback.motor.Radder_DIR_Rpm[i], 0.0f, c->dt);
 
-    c->out.rotor6020_out[i] = LowPassFilter2p_Apply(&c->filled[7+i], c->final_out.final_6020out[i]);
+    c->out.Radder_DIR[i] = LowPassFilter2p_Apply(&c->filled[7+i], c->final_out.final_Radder_DIR[i]);
-
+//		c->out.Radder_DIR[i]= c->final_out.final_Radder_DIR[i];
-    c->hopemotorout.motor3508_target[i] = c->hopemotorout.rotor3508_jiesuan_2[i];
+    c->hopemotorout.Wheel_DIR_target[i] = c->hopemotorout.Wheel_DIR_Solving_2[i];
-    c->final_out.final_3508out[i] = PID_Calc(&(c->pid.chassis_3508VPID[i]), c->hopemotorout.motor3508_target[i],
+    c->final_out.final_Wheel_DIR[i] = PID_Calc(&(c->pid.Wheel_DIR_omega[i]), c->hopemotorout.Wheel_DIR_target[i],
-                                             c->motorfeedback.rotor_rpm3508[i], 0.0f, c->dt);
+                                             c->feedback.motor.Wheel_DIR_Rpm[i], 0.0f, c->dt);
-    c->out.rotor3508_out[i] = LowPassFilter2p_Apply(&c->filled[3+i], c->final_out.final_3508out[i]);
+    c->out.Wheel_DIR[i] = LowPassFilter2p_Apply(&c->filled[3+i], c->final_out.final_Wheel_DIR[i]);
-
-    c->out.motor2006_out=c->final_out.final_2006out;
   }
   return CHASSIS_OK;
 }
@@ -490,15 +507,19 @@ int8_t Chassis_Control(Chassis_t *c, Chassis_CMD_t *c_cmd,uint32_t now)
 /*电机输出设定和发送*/
 void Chassis_Setoutput(Chassis_t *c)
 {
-   for (int i = 0; i < 4; i++)
+	   
-   {
+    for (uint8_t i = 0; i < 4; i++) {
-     MOTOR_RM_SetOutput(&(c->param->motor_3508_param[i]), c->out.rotor3508_out[i]);
+		MOTOR_RM_SetOutput(&(c->param->motor.Wheel_DIR[i]), c->out.Wheel_DIR[i]);	
-     MOTOR_RM_SetOutput(&(c->param->motor_6020_param[i]), c->out.rotor6020_out[i]);
+		MOTOR_RM_SetOutput(&(c->param->motor.Radder_DIR[i]), c->out.Radder_DIR[i]);	
     }
-  MOTOR_RM_SetOutput(&(c->param->motor_2006_param), c->out.motor2006_out);
+		MOTOR_RM_Ctrl(&(c->param->motor.Wheel_DIR[0]));	
-   MOTOR_RM_SetOutput(&(c->param->motor_3508_param[0]), 1.0f);
+		MOTOR_RM_Ctrl(&(c->param->motor.Wheel_DIR[1]));					
-   MOTOR_RM_Ctrl(&(c->param->motor_3508_param[0]));
+		MOTOR_RM_Ctrl(&(c->param->motor.Wheel_DIR[2]));	
-   MOTOR_RM_Ctrl(&(c->param->motor_6020_param[0]));
+		MOTOR_RM_Ctrl(&(c->param->motor.Wheel_DIR[3]));			
-  MOTOR_RM_Ctrl(&(c->param->motor_2006_param));
+//		MOTOR_RM_Ctrl(&(c->param->motor.Radder_DIR[0]));			
+//		MOTOR_RM_Ctrl(&(c->param->motor.Radder_DIR[1]));	
+//		MOTOR_RM_Ctrl(&(c->param->motor.Radder_DIR[2]));			
+		MOTOR_RM_Ctrl(&(c->param->motor.Radder_DIR[3]));			
 
 }
+

User/module/chassis.h

@@ -22,6 +22,26 @@ extern "C"
 #define CHASSIS_ERR_TYPE (-4) /*Chassis_Type_t */
 
 
+//     纵向/横向
+#define radians atan(1.0f * 390 /390) // 角度制
+
+
+/*底盘姿态模式*/
+typedef enum
+{
+	STOP_MODE,/* 急停模式 */
+	EXPAND_MODE,/* 展开模式 */
+  REDUCE_MODE,/* 收缩模式 */
+} CHASSIS_ATTITUDE_MODE_t;
+
+/*底盘状态*/
+typedef enum
+{
+	STOP_STATE,/* 急停状态 */
+	EXPAND_STATE,/* 展开状态 */
+  REDUCE_STATE,/* 收缩状态 */
+} CHASSIS_STATE_t;
+
 /*底盘模式*/
 typedef enum
 {
@@ -32,15 +52,13 @@ typedef enum
      CHASSIS_MODE_FOLLOW_GIMBAL, /* 通过闭环控制使车头方向跟随云台 */
      CHASSIS_MODE_ROTOR, /* 小陀螺模式，通过闭环控制使底盘不停旋转 */
     
-     HUIHANG_BIANXING_DUOLUN, /*会航将军变形舵轮底盘*/
+} Chassis_Mode_t;
-} Chassis_mode_t;
 
 typedef struct
 {
     int cmd_power_on_safe; // 上电安全标志
-
+    Chassis_Mode_t mode;
-    Chassis_mode_t mode;
+	CHASSIS_ATTITUDE_MODE_t attitude_mode;
-
     // 遥控器输出值
     fp32 Vx;
     fp32 Vy;
@@ -51,9 +69,6 @@ typedef struct
     fp32 y_l;
 } Chassis_CMD_t;
 
-//     纵向/横向
-#define radians atan(1.0f * 390 /390) // 角度制
-
 	// 四个舵轮的安装误差
 	typedef struct
 	{
@@ -63,7 +78,7 @@ typedef struct
 	typedef struct
 	{
 
-		BMI088_t bmi088;
+
 
 		/*可通过该枚举类型来决定Imu的数据量纲*/
 		enum
@@ -72,36 +87,34 @@ typedef struct
 			IMU_RADIAN	// 弧度制（0-2pi)
 		} angle_mode;
 
-		AHRS_Eulr_t imu_eulr; // 解算后存放欧拉角（弧度制）
+//		AHRS_Eulr_t imu_eulr; // 解算后存放欧拉角（弧度制）
 	} ChassisImu_t;
 
 	/*底盘参数结构体*/
 	typedef struct
 	{
-
+		/* 改变角度 */
+		float Set_TelescopeAngle;
+		struct{
 		/*该部分决定PID的参数整定在config中修改*/
-		KPID_Params_t C6020Omega_param;
+		KPID_Params_t Telescope_Omega;
-		KPID_Params_t C6020Angle_param;
+		KPID_Params_t Telescope_Angle;
-		KPID_Params_t M3508v_param;
+		KPID_Params_t Radder_DIR_Omega;
-		KPID_Params_t chassis_follow_gimbalPID;
+		KPID_Params_t Radder_DIR_Angle;
+		KPID_Params_t Wheel_DIR_Omega;
+		KPID_Params_t chassis_follow_gimbal;
+		}pid;
 		
-		KPID_Params_t chassis_2006_angle_param;
+		struct{
-		KPID_Params_t chassis_2006_Omega_param;
+		MOTOR_RM_Param_t Wheel_DIR[4]; // 四个轮向电机
-		KPID_Params_t chassis_3508_angle_param;
+		MOTOR_RM_Param_t Radder_DIR[4]; // 四个舵向电机
-		KPID_Params_t chassis_3508_Omega_param;
+		MOTOR_RM_Param_t chassis_follow_gimbal; // 底盘跟随云台
+		MOTOR_RM_Param_t Telescope_motor; //2006电机	
 
-		MOTOR_RM_Param_t motor_3508_param[4]; // 四个3508电机
+		}motor;
-		MOTOR_RM_Param_t motor_6020_param[4]; // 四个6020电机
-		MOTOR_RM_Param_t motor_2006_param;	// 一个2006电机
-
-		// MOTOR_RM_Param_t chassis_follow_gimbal_param; // 底盘跟随云台
 		float mech_zero;/*云台6020的机械中点*/
 		float travel ;/*云台6020的机械行程*/
-
+		float mech_zero_4310;/*云台4310的机械中点*/
-		float chassis2006_setangle; // 变形舵轮2006目标角度  大概是48圈
-		float chassis3508_setangle; // 变形舵轮3508目标角度  大概是60度左右
-
-
 	} Chassis_Param_t;
 
 	typedef struct
@@ -114,71 +127,64 @@ typedef struct
 
 	typedef struct
 	{
-		float rotor3508_out[4];
+		float Telescope;
-		float rotor6020_out[4];
+		float Wheel_DIR[4];
-		float motor2006_out;
+		float Radder_DIR[4];
 	} Chassis_out_t;
 
 	typedef struct
 	{
 		uint32_t last_wakeup;
 		float dt;
-
+		float chassis6020_detangle[4];
-		Chassis_mode_t mode;
+		Chassis_Mode_t mode;
 		ChassisMove_Vec move_vec; // 最终输入速度
 
 		/*期望的底盘输出值(此处为舵轮解算出的各个电机的期望输出值)ֵ*/
 		struct
 		{
-			fp32 rotor3508_jiesuan_1[4];
+			fp32 Wheel_DIR_Solving_1[4];
-			fp32 rotor3508_jiesuan_2[4];
+			fp32 Wheel_DIR_Solving_2[4];
-			fp32 rotor6020_jiesuan_1[4];
+			fp32 Radder_DIR_Solving_1[4];
-			fp32 rotor6020_jiesuan_2[4];
+			fp32 Radder_DIR_Solving_2[4];
 			// fp32 rotor6020_elur_yaw;
 
-			fp32 motor6020_target[4];
+			fp32 Radder_DIR_target[4];
-			fp32 motor3508_target[4];
+			fp32 Wheel_DIR_target[4];
 
 		} hopemotorout;
 
 		struct
 		{
-			fp32 final_6020out[4];
+			fp32 final_Telescope;
-			fp32 final_3508out[4];
+			fp32 final_Radder_DIR[4];
-			fp32 final_2006out;
+			fp32 final_Wheel_DIR[4];
-			// fp32 final_pitchout;
 		} final_out;
 
 		struct
 		{
-			fp32 rotor_rpm3508[4];
+			struct{
-			fp32 rotor_current3508[4];
+			float Telescope_SuperiorAngle;				
-			fp32 rotor_angle3508[4];
+			float Telescope_Omega;
-			fp32 rotor_rpm6020[4];
+			float Radder_DIR_Angle[4];				
-			fp32 rotor_angle6020[4];
+			float Radder_DIR_Rpm[4];				
-			fp32 rotor_current6020[4];
+			float Wheel_DIR_Angle[4];				
-			fp32 rotor_temp6020[4];
+			float Wheel_DIR_Rpm[4];				
-			fp32 motor2006_rpm;
+			MOTOR_Feedback_t Telescope; // 四个轮向电机	
-			fp32 motor2006_omega;			
+			MOTOR_Feedback_t Wheel_DIR[4]; // 四个轮向电机
-			fp32 motor2006_current;
+			MOTOR_Feedback_t Radder_DIR[4];
-			fp32 motor2006_temp;
+			MOTOR_Feedback_t gimbal_yaw;
-			fp32 motor2006_angle;
+			}motor;
-			fp32 motor2006_add_angle;
+		} feedback;
-			fp32 gimbal_yaw_encoder;
-		} motorfeedback;
 
 		struct
 		{
-			KPID_t chassis_6020anglePid[4];
+			KPID_t Telescope_angle;
-			KPID_t chassis_6020OmegaPid[4];
+			KPID_t Telescope_omega;			
-			KPID_t chassis_3508VPID[4];
+			KPID_t Radder_DIR_angle[4];
+			KPID_t Radder_DIR_omega[4];
+			KPID_t Wheel_DIR_omega[4];
 			KPID_t chassis_follow_gimbal_pid;
-
-			KPID_t chassis_2006_anglepid;
-			KPID_t chassis_2006_OmegaPid;
-			KPID_t chassis_3508_anglepid[4];
-			KPID_t chassis_3508_OmegaPid[4];
-
 		} pid;
 
 		uint8_t keeping_angle_flag; // 是否处于保持角度模式
@@ -191,18 +197,15 @@ typedef struct
 		ChassisImu_t pos088;		 // 088的实时姿态
 		MotorOffset_t motoroffset;	 // 5065校准数据
 		Chassis_Param_t *param;		 // 一些固定的参数
-		fp32 vofa_send[8];			 // vofa输出数据
 		LowPassFilter2p_t filled[11]; // 低通滤波器
-		float keep_angle[4];		 // 保持的 6020 角度
+		float keep_angle[4];		 // 保持的 舵向 角度
 
 		Chassis_out_t out;
 
 		float wz_multi; /* 小陀螺模式旋转方向 */
 		float mech_zero;/*云台6020的机械中点*/
 		float travel ;/*云台6020的机械行程*/
-
+//		float mech_zero_4310;/*云台4310的机械中点*/
-		float chassis2006_setangle; // 变形舵轮2006目标角度  大概是48圈
-		float chassis3508_setangle; // 变形舵轮3508目标角度  大概是60度左右
 	} Chassis_t;
 
 

User/module/cmd/cmd.c

@@ -21,6 +21,7 @@ static void CMD_RC_BuildChassisCmd(CMD_t *ctx) {
           break;
       case CMD_SW_MID:
           ctx->output.chassis.cmd.mode = map->sw_left_mid;
+          ctx->output.chassis.cmd.throttle = ctx->config->sensitivity.move_slow_mult;
           break;
       case CMD_SW_DOWN:
           ctx->output.chassis.cmd.mode = map->sw_left_down;
@@ -77,10 +78,9 @@ static void CMD_RC_BuildShootCmd(CMD_t *ctx) {
           break;
       case CMD_SW_UP:
 				  ctx->output.shoot.cmd.ready = SHOOT_MODE_SAFE;
-
+      default:
-//      default:
+          ctx->output.shoot.cmd.ready = false;
-//          ctx->output.shoot.cmd.ready = false;
+          ctx->output.shoot.cmd.firecmd = false;
-//          ctx->output.shoot.cmd.firecmd = false;
           break;
   }
   /* 根据D拨杆控制射击 */
@@ -96,9 +96,9 @@ static void CMD_RC_BuildShootCmd(CMD_t *ctx) {
       case CMD_SW_UP:
 				  ctx->output.shoot.cmd.ready = false;
           ctx->output.shoot.cmd.firecmd = false;
-//      default:
+      default:
-//          ctx->output.shoot.cmd.ready = false;
+          ctx->output.shoot.cmd.ready = false;
-//          ctx->output.shoot.cmd.firecmd = false;
+          ctx->output.shoot.cmd.firecmd = false;
           break;
   }
 }

User/module/cmd/cmd.h

@@ -53,9 +53,9 @@ typedef struct {
 /* RC模式映射配置 - 定义开关位置到模式的映射 */
 typedef struct {
     /* 左拨杆映射 - 底盘模式 */
-    Chassis_mode_t sw_left_up;
+    Chassis_Mode_t sw_left_up;
-    Chassis_mode_t sw_left_mid;
+    Chassis_Mode_t sw_left_mid;
-    Chassis_mode_t sw_left_down;
+    Chassis_Mode_t sw_left_down;
     
     /* 右拨杆映射 - 云台/射击模式 */
     Gimbal_Mode_t gimbal_sw_up;

User/module/config.c

@@ -18,18 +18,19 @@
 // 机器人参数配置
 Config_RobotParam_t robot_config = {
 .chassis={
-    
+		.Set_TelescopeAngle=195,
-    .motor_3508_param[0]={BSP_CAN_1,0x201,MOTOR_M3508,false,false},
+    .pid={
-    .motor_3508_param[1]={BSP_CAN_1,0x202,MOTOR_M3508,false,false},
+		.Telescope_Omega={
-    .motor_3508_param[2]={BSP_CAN_1,0x203,MOTOR_M3508,false,false},
+        .k=1.0f,
-    .motor_3508_param[3]={BSP_CAN_1,0x204,MOTOR_M3508,false,false},
+        .p=0.3f,
-		.motor_2006_param   ={BSP_CAN_1,0x205,MOTOR_M2006,false,true},
+        .i=0.0f,
-    .motor_6020_param[0]={BSP_CAN_1,0x206,MOTOR_GM6020,false,false},
+        .d=0.001f,
-    .motor_6020_param[1]={BSP_CAN_1,0x207,MOTOR_GM6020,false,false},
+        .i_limit=1.0f,
-    .motor_6020_param[2]={BSP_CAN_1,0x208,MOTOR_GM6020,false,false},
+        .out_limit=1.0f,
-    .motor_6020_param[3]={BSP_CAN_1,0x209,MOTOR_GM6020,false,false},
+        .d_cutoff_freq= -1.0f,
-    .chassis2006_setangle=195,
+        .range=-1.0f		
-		.chassis_2006_angle_param={
+		},
+		.Telescope_Angle={
 		    .k=1.0f,
         .p=1.0f,
         .i=0.2f,
@@ -39,52 +40,48 @@ Config_RobotParam_t robot_config = {
         .d_cutoff_freq= -1.0f,
         .range=-M_2PI,
 		},
-		.chassis_2006_Omega_param={
+		.Radder_DIR_Omega={
 		    .k=1.0f,
-        .p=0.3f,
+        .p=0.4f,
-        .i=0.0f,
+        .i=0.15f,
+        .d=0.0f,
+        .i_limit=1.0f,
+        .out_limit=1.0f,
+        .d_cutoff_freq= -1.0f,
+        .range=-1.0f
+		},
+		.Radder_DIR_Angle={
+        .k=0.15f,
+        .p=0.20f,
+        .i=0.1f,
         .d=0.001f,
         .i_limit=1.0f,
-        .out_limit=1.0f,
-        .d_cutoff_freq= -1.0f,
-        .range=-1.0f		
-		
-		},
-		
-		
-    .C6020Omega_param={
-        .k=1.0f,
-        .p=0.5f,
-        .i=0.1f,
-        .d=0.0f,
-        .i_limit=1.0f,
-        .out_limit=1.0f,
-        .d_cutoff_freq= -1.0f,
-        .range=-1.0f
-    },
-
-    .C6020Angle_param={
-        .k=0.2f,
-        .p=0.21f,
-        .i=0.1f,
-        .d=0.0f,
-        .i_limit=1.0f,
         .out_limit=30.0f,
         .d_cutoff_freq= -1.0f,
         .range=360
 		},
-
+		.Wheel_DIR_Omega={
-    .M3508v_param={
         .k=0.2f,
         .p=0.25f,
         .i=0.1f,
-        .d=0.0f,
+        .d=0.001f,
         .i_limit=1.0f,
         .out_limit=1.0f,
         .d_cutoff_freq= -1.0f,
         .range=-1.0f
 		},
-
+    },
+    .motor={
+    .Wheel_DIR[0]={BSP_CAN_2,0x201,MOTOR_M3508,true,false},
+    .Wheel_DIR[1]={BSP_CAN_2,0x202,MOTOR_M3508,true,false},
+    .Wheel_DIR[2]={BSP_CAN_2,0x203,MOTOR_M3508,false,false},
+    .Wheel_DIR[3]={BSP_CAN_2,0x204,MOTOR_M3508,false,false},
+		.Telescope_motor={BSP_CAN_1,0x205,MOTOR_M2006,false,true},
+    .Radder_DIR[0]={BSP_CAN_2,0x206,MOTOR_GM6020,false,false},
+    .Radder_DIR[1]={BSP_CAN_2,0x207,MOTOR_GM6020,false,false},
+    .Radder_DIR[2]={BSP_CAN_2,0x208,MOTOR_GM6020,false,false},
+    .Radder_DIR[3]={BSP_CAN_1,0x209,MOTOR_GM6020,false,false},
+    },
 },
 
 
@@ -152,7 +149,7 @@ Config_RobotParam_t robot_config = {
 							.reverse=false
 					},
 					.pit_dm_motor={
-					    .can=BSP_CAN_2,
+					    .can=BSP_CAN_1,
 							.can_id = 0x02,
 							.master_id=0x12,
 							.module = MOTOR_DM_J4310,
@@ -178,7 +175,7 @@ Config_RobotParam_t robot_config = {
 			
 					/*欧拉角控制参数*/
              .yaw_omega = {
-								.k = 0.30f,
+								.k = 0.0f,
 								.p = 0.4f,
 								.i = 0.01f,
 								.d = 0.0f,
@@ -198,7 +195,7 @@ Config_RobotParam_t robot_config = {
 								.range = M_2PI
             },
             .pit_omega = {
-                .k = 0.3f,
+                .k = 0.0f,
                 .p = 0.3f,
                 .i = 0.0f,
                 .d = 0.0,
@@ -241,7 +238,7 @@ Config_RobotParam_t robot_config = {
             .fric = {
                 {
                     .param = {
-                        .can = BSP_CAN_2,
+                        .can = BSP_CAN_1,
                         .id = 0x201,
                         .module = MOTOR_M3508,
                         .reverse = false,
@@ -251,7 +248,7 @@ Config_RobotParam_t robot_config = {
                 },
                 {
                     .param = {
-                        .can = BSP_CAN_2,
+                        .can = BSP_CAN_1,
                         .id = 0x202,
                         .module = MOTOR_M3508,
                         .reverse = true,
@@ -263,7 +260,7 @@ Config_RobotParam_t robot_config = {
             },
             .trig = {
                 .can = BSP_CAN_1,
-                .id = 0x205,
+                .id = 0x203,
                 .module = MOTOR_M2006,
                 .reverse = false,
                 .gear=true,
@@ -338,7 +335,7 @@ Config_RobotParam_t robot_config = {
         },
         .rc_mode_map = {
             .sw_left_up   = CHASSIS_MODE_RELAX,
-            .sw_left_mid  = HUIHANG_BIANXING_DUOLUN,
+            .sw_left_mid  = RC,
             .sw_left_down = CHASSIS_MODE_FOLLOW_GIMBAL,
 					
             .gimbal_sw_up   = GIMBAL_MODE_RELAX,

User/task/chassis_ctrl.c

@@ -41,16 +41,10 @@ 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_update(&chassis);
-//      Chassis_Control(&chassis, &cmd_chassis,tick);
+      Chassis_Control(&chassis, &cmd_chassis,tick);
-//      Chassis_Setoutput(&chassis);	
+		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）
-//    // 一个安全的选择是让底盘停止
-//	 Chassis_CMD_t safe_cmd = {.mode = STOP, .Vx = 0, .Vy = 0, .Vw = 0};
-//    Chassis_Control(&chassis, &safe_cmd,tick);
-////}
 
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */

User/task/init.c

@@ -55,6 +55,7 @@ void Task_Init(void *argument) {
   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);	
+	task_runtime.msgq.rc.et16s= osMessageQueueNew(2u, sizeof(ET16s_t), NULL);		
   /* USER MESSAGE END */
 
   osKernelUnlock(); // 解锁内核

User/task/shoot_ctrl.c

@@ -45,7 +45,7 @@ void Task_shoot_ctrl(void *argument) {
 //	  shoot.target_variable.target_rpm=4000;
 //	  shoot.mode=shoot_ctrl_cmd_rc.mode;
 		Shoot_UpdateFeedback(&shoot);
-	  Shoot_Control(&shoot,&shoot_cmd);
+//	  Shoot_Control(&shoot,&shoot_cmd);
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }

User/task/step_motor.c

@@ -16,14 +16,17 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
-STEP_MOTOR StepMotor_param={
+MOTOR_STEP_t StepMotor_param={
-	.direction=true,
+	
+	.param={
+		.channel=BSP_PWM_TIM1_CH1,
+		.reverse=false,
+		.gear=false,
+	},
 	.pulse=900,
-	.time=500,
 
 };
 int key1=1;
-ET16S_SwitchPos_t Key_A;
 int prev_state ; // 初始为无状态
 /* USER STRUCT END */
 
@@ -48,8 +51,12 @@ void Task_step_motor(void *argument) {
   while (1) {
     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);
+
-	Motor_Step_Ctrl(&StepMotor_param);	
+
+//			Motor_Step_Ctrl(&StepMotor_param);	
+//		
+
+//					Motor_Step_Ctrl(&StepMotor_param);	
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }

User/task/user_task.h

@@ -20,7 +20,7 @@ extern "C" {
 #define ATTI_ESTI_FREQ (500.0)
 #define DR16_FREQ (500.0)
 #define CMD_FREQ (500.0)
-#define STEP_MOTOR_FREQ (500.0)
+#define STEP_MOTOR_FREQ (600.0)
 #define ET16S_FREQ (500.0)
 #define VOFA_FREQ (500.0)