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chassis修改（有个舵反馈有问题）

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This commit is contained in:
yunhai8432 2026-02-07 12:34:42 +08:00
parent a21e807ba6
commit d678da76b0
60 changed files with 19917 additions and 37222 deletions
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8
Core/Inc/main.h
View File

@ -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_GPIO_Port GPIOB
#define DIR_P_Pin GPIO_PIN_11
#define DIR_P_GPIO_Port GPIOE
#define GYRO_CS_Pin GPIO_PIN_0
#define GYRO_CS_GPIO_Port GPIOB

2
Core/Inc/stm32f4xx_it.h
View File

@ -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);

4
Core/Inc/tim.h
View File

@ -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);

12
Core/Src/can.c
View File

@ -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);

40
Core/Src/gpio.c
View File

@ -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;

2
Core/Src/main.c
View File

@ -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 */

16
Core/Src/stm32f4xx_it.c
View File

@ -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 */
HAL_TIM_IRQHandler(&htim10);
/* USER CODE BEGIN TIM1_UP_TIM10_IRQn 1 */
/* USER CODE END TIM1_BRK_TIM9_IRQn 0 */
HAL_TIM_IRQHandler(&htim1);
/* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 1 */
/* USER CODE END TIM1_UP_TIM10_IRQn 1 */
/* USER CODE END TIM1_BRK_TIM9_IRQn 1 */
}
/**

132
Core/Src/tim.c
View File

@ -24,48 +24,48 @@
/* USER CODE END 0 */
TIM_HandleTypeDef htim8;
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim10;
/* TIM8 init function */
void MX_TIM8_Init(void)
/* TIM1 init function */
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 */
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)
/* USER CODE END TIM1_Init 1 */
htim1.Instance = TIM1;
htim1.Init.Prescaler = 167;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 19999;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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 */
HAL_TIM_MspPostInit(&htim8);
/* USER CODE END TIM1_Init 2 */
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 */
/* TIM8 clock enable */
__HAL_RCC_TIM8_CLK_ENABLE();
/* USER CODE BEGIN TIM8_MspInit 1 */
/* USER CODE END TIM1_MspInit 0 */
/* TIM1 clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
/* 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 */
__HAL_RCC_GPIOC_CLK_ENABLE();
/**TIM8 GPIO Configuration
PC7 ------> TIM8_CH2
/* USER CODE END TIM1_MspPostInit 0 */
__HAL_RCC_GPIOE_CLK_ENABLE();
/**TIM1 GPIO Configuration
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.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
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();
/* USER CODE BEGIN TIM8_MspDeInit 1 */
__HAL_RCC_TIM1_CLK_DISABLE();
/* 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 */

4
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -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

17
MDK-ARM/.vscode/uv4.log vendored
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@ -1,16 +1 @@
*** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
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
Load "Steering Wheel_Infatry\\Steering Wheel_Infatry.axf"

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2026/1/21 23:45:46
2026/2/4 15:19:52

35471
MDK-ARM/JLinkLog.txt
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551
MDK-ARM/Steering Wheel_Infatry.uvguix.yunha
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10
MDK-ARM/Steering Wheel_Infatry.uvoptx
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@ -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>

BIN
MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.axf
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2
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: 01/28/2026
Project File Date: 02/07/2026
<h2>Output:</h2>
*** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'

8474
MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.hex
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5058
MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.htm
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5484
MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.map
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907
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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3
MDK-ARM/Steering Wheel_Infatry/init.d
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@ -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

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MDK-ARM/Steering Wheel_Infatry/motor_step.o
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MDK-ARM/Steering Wheel_Infatry/shoot_ctrl.o
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39
MDK-ARM/Steering Wheel_Infatry/step_motor_1.d
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@ -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 \
..\User\device\ET16s.h ..\User\device\device.h ..\User\bsp\gpio.h \
..\User\bsp\bsp.h
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h ..\User\bsp\pwm.h \
..\Core\Inc\tim.h ..\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 \
..\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

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166
Steering Wheel_Infatry.ioc
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@ -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.Pin10=PD0
Mcu.Pin11=PC11
Mcu.Pin12=PC10
Mcu.Pin13=PG9
Mcu.Pin14=PD5
Mcu.Pin15=PD1
Mcu.Pin16=PC14-OSC32_IN
Mcu.Pin17=PF0
Mcu.Pin18=PA9
Mcu.Pin19=PC15-OSC32_OUT
Mcu.Pin2=PB4
Mcu.Pin20=PH0-OSC_IN
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
Mcu.Pin32=PA0-WKUP
Mcu.Pin33=PA4
Mcu.Pin34=PC4
Mcu.Pin1=PB5
Mcu.Pin10=PD6
Mcu.Pin11=PD0
Mcu.Pin12=PC11
Mcu.Pin13=PC10
Mcu.Pin14=PG9
Mcu.Pin15=PD5
Mcu.Pin16=PD1
Mcu.Pin17=PC14-OSC32_IN
Mcu.Pin18=PF0
Mcu.Pin19=PA9
Mcu.Pin2=PG14
Mcu.Pin20=PC15-OSC32_OUT
Mcu.Pin21=PH0-OSC_IN
Mcu.Pin22=PC7
Mcu.Pin23=PH1-OSC_OUT
Mcu.Pin24=PF1
Mcu.Pin25=PG6
Mcu.Pin26=PF6
Mcu.Pin27=PH12
Mcu.Pin28=PG3
Mcu.Pin29=PH11
Mcu.Pin3=PB4
Mcu.Pin30=PH10
Mcu.Pin31=PA0-WKUP
Mcu.Pin32=PA4
Mcu.Pin33=PC4
Mcu.Pin34=PE13
Mcu.Pin35=PC5
Mcu.Pin36=PB12
Mcu.Pin37=PA7
Mcu.Pin38=PB1
Mcu.Pin39=PB0
Mcu.Pin4=PA14
Mcu.Pin40=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin41=VP_SYS_VS_Systick
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=44
Mcu.Pin36=PE9
Mcu.Pin37=PE11
Mcu.Pin38=PE14
Mcu.Pin39=PA7
Mcu.Pin4=PB3
Mcu.Pin40=PB0
Mcu.Pin41=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin42=VP_SYS_VS_Systick
Mcu.Pin43=VP_TIM1_VS_ClockSourceINT
Mcu.Pin44=VP_TIM10_VS_ClockSourceINT
Mcu.Pin5=PA14
Mcu.Pin6=PA13
Mcu.Pin7=PB9
Mcu.Pin8=PB7
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_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT
VP_TIM1_VS_ClockSourceINT.Mode=Internal
VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
board=custom
rtos.0.ip=FREERTOS

28
User/bsp/bsp_config.yaml
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@ -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
custom_name: MOTOR_STEP
label: TIM8_CH2
timer: TIM8
- channel: TIM_CHANNEL_1
custom_name: TIM1_CH1
label: TIM1_CH1
timer: TIM1
- channel: TIM_CHANNEL_1
custom_name: IMU_HEAT
label: TIM10_CH1

4
User/bsp/gpio.c
View File

@ -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},

4
User/bsp/gpio.h
View File

@ -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,

2
User/bsp/pwm.c
View File

@ -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},
};

2
User/bsp/pwm.h
View File

@ -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,

33
User/device/motor_step.c
View File

@ -5,26 +5,33 @@
#include "bsp/gpio.h"
#include "cmsis_os2.h"
int8_t Motor_Step_Init(STEP_MOTOR *param){
BSP_PWM_Start(BSP_PWM_MOTOR_STEP);
int8_t Motor_Step_Init(MOTOR_STEP_t *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);
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);
// }
if(motor_step->param.reverse==true){
BSP_GPIO_WritePin(BSP_GPIO_DIR_P, true);
BSP_PWM_SetComp(motor_step->param.channel,0.5);
}
if(motor_step->param.reverse==false){
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;
}

25
User/device/motor_step.h
View File

@ -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 */
bool direction;
/* 状态 */
int state;
}MOTOR_STEP_t;
}STEP_MOTOR;
int8_t Motor_Step_Init(STEP_MOTOR *param);
int8_t Motor_Step_Ctrl(STEP_MOTOR *param);
int8_t Motor_Step_Init(MOTOR_STEP_t *param);
int8_t Motor_Step_Ctrl(MOTOR_STEP_t *param);
int8_t Motor_Step_Stop(MOTOR_STEP_t *motor_step);
#ifdef __cplusplus
}
#endif

319
User/module/chassis.c
View File

@ -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.chassis_6020OmegaPid[i]);
PID_Reset(&c->pid.chassis_6020anglePid[i]);
PID_Reset(&c->pid.Radder_DIR_omega[i]);
PID_Reset(&c->pid.Radder_DIR_angle[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->chassis3508_setangle = c->param->chassis3508_setangle; // 变形舵轮3508目标角度 大概是60度左右
// c->mech_zero_4310 = c->param->mech_zero_4310;/*云台4310的机械中点*/
/*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.chassis_6020anglePid[i], KPID_MODE_CALC_D, target_freq, &c->param->C6020Angle_param);
}
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.Radder_DIR_omega[i], KPID_MODE_CALC_D, target_freq, &c->param->pid.Radder_DIR_Omega);
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->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[11], target_freq, 10.0f); // 2006角度
LowPassFilter2p_Init(&c->filled[10], target_freq, 20.0f); // 6020-4
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.rotor3508_jiesuan_1[i] = 0;
c->hopemotorout.Radder_DIR_Solving_1[i] = c->keep_angle[i];
c->hopemotorout.Wheel_DIR_Solving_1[i] = 0;
}
// c->hopemotorout.rotor6020_jiesuan_1[0] = 315;
// c->hopemotorout.rotor6020_jiesuan_1[1] = 45;
// c->hopemotorout.rotor6020_jiesuan_1[2] = 315;
// c->hopemotorout.rotor6020_jiesuan_1[3] = 45;
// c->hopemotorout.Radder_DIR_Solving_1[0] = 315;
// c->hopemotorout.Radder_DIR_Solving_1[1] = 45;
// c->hopemotorout.Radder_DIR_Solving_1[2] = 315;
// 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.rotor6020_jiesuan_1[1] = 2.1099906/M_PI*180.0f;
// c->hopemotorout.rotor6020_jiesuan_1[2] = 2.08391285/M_PI*180.0f;
// c->hopemotorout.rotor6020_jiesuan_1[3] = 5.26845694/M_PI*180.0f;
c->hopemotorout.rotor6020_jiesuan_1[0] = 315;
c->hopemotorout.rotor6020_jiesuan_1[1] = 45;
c->hopemotorout.rotor6020_jiesuan_1[2] = 315;
c->hopemotorout.rotor6020_jiesuan_1[3] = 45;
// c->hopemotorout.Radder_DIR_Solving_1[0] = 6.26554489/M_PI*180.0f;
// c->hopemotorout.Radder_DIR_Solving_1[1] = 2.1099906/M_PI*180.0f;
// c->hopemotorout.Radder_DIR_Solving_1[2] = 2.08391285/M_PI*180.0f;
// c->hopemotorout.Radder_DIR_Solving_1[3] = 5.26845694/M_PI*180.0f;
// c->hopemotorout.Radder_DIR_Solving_1[0] = 315;
// c->hopemotorout.Radder_DIR_Solving_1[1] = 45;
// c->hopemotorout.Radder_DIR_Solving_1[2] = 315;
// c->hopemotorout.Radder_DIR_Solving_1[3] = 45;
c->chassis2006_setangle=0;
c->hopemotorout.Radder_DIR_Solving_1[0] = 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.rotor6020_jiesuan_2[i] = c->motorfeedback.rotor_angle6020[i] + angle_error[i] - 180;
c->hopemotorout.Wheel_DIR_Solving_2[i] = c->hopemotorout.Wheel_DIR_Solving_1[i];
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.rotor6020_jiesuan_2[i] = c->motorfeedback.rotor_angle6020[i] + angle_error[i] + 180;
c->hopemotorout.Wheel_DIR_Solving_2[i] = c->hopemotorout.Wheel_DIR_Solving_1[i];
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.rotor6020_jiesuan_2[i] = c->motorfeedback.rotor_angle6020[i] + angle_error[i];
c->hopemotorout.Wheel_DIR_Solving_2[i] = -c->hopemotorout.Wheel_DIR_Solving_1[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++)
// {
// // c->motorfeedback.rotor_angle6020[i] = (MOTOR_GetRotorAbsAngle(&(MOTOR_RM_GetMotor(&c->param->motor_6020_param[i])->motor)) );
// c->motorfeedback.rotor_angle6020[i] = (MOTOR_GetRotorAbsAngle(&(MOTOR_RM_GetMotor(&c->param->motor_6020_param[i])->motor)) / M_PI * 180.0f) ;
// c->motorfeedback.rotor_rpm6020[i] = (MOTOR_GetRotorSpeed(&(MOTOR_RM_GetMotor(&c->param->motor_6020_param[i])->motor)) / 320);
// c->motorfeedback.rotor_rpm3508[i] = MOTOR_GetRotorSpeed(&(MOTOR_RM_GetMotor(&c->param->motor_3508_param[i])->motor)) /10000;
// 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));
for (int i = 0; i < 4; i++)
{
/* 轮向电机更新 */
MOTOR_RM_Update(&(c->param->motor.Wheel_DIR[i]));
Wheel_DIR_MOTOR[i]= MOTOR_RM_GetMotor(&(c->param->motor.Wheel_DIR[i]));
c->feedback.motor.Wheel_DIR[i] = Wheel_DIR_MOTOR[i]->feedback;
// // 角度归化到0°——360°并且进行偏移校准
// c->motorfeedback.rotor_angle6020[i] = fmod(c->motorfeedback.rotor_angle6020[i] - c->motoroffset.MOTOR_OFFSET[i], 360.0);
// if (c->motorfeedback.rotor_angle6020[i] < 0)
// {
// c->motorfeedback.rotor_angle6020[i] += 360;
// }
// }
c->motorfeedback.motor2006_angle = MOTOR_GetRotorAbsAngle(&(MOTOR_RM_GetMotor(&c->param->motor_2006_param)->motor)) ;
c->motorfeedback.motor2006_rpm = MOTOR_GetRotorSpeed(&(MOTOR_RM_GetMotor(&c->param->motor_2006_param)->motor)) ;
/* 舵向电机 */
MOTOR_RM_Update(&(c->param->motor.Radder_DIR[i]));
Radder_DIR_MOTOR[i]= MOTOR_RM_GetMotor(&(c->param->motor.Radder_DIR[i]));
c->feedback.motor.Radder_DIR[i] = Radder_DIR_MOTOR[i]->feedback;
/* 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->feedback.motor.Wheel_DIR_Angle[i]= c->feedback.motor.Wheel_DIR[i].rotor_speed/10000;
c->motorfeedback.motor2006_add_angle= motor_add_anagle(c->motorfeedback.motor2006_angle);
c->motorfeedback.motor2006_omega=c->motorfeedback.motor2006_rpm*M_2PI/60;
c->feedback.motor.Radder_DIR_Angle[i] = fmod(c->feedback.motor.Radder_DIR_Angle[i] - c->motoroffset.MOTOR_OFFSET[i], 360.0);
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.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.Vx =-c_cmd->y_l;
c->move_vec.Vy =-c_cmd->x_l;
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];
chassis6020_detangle[i] = PID_Calc(&(c->pid.chassis_6020anglePid[i]), c->hopemotorout.motor6020_target[i],
c->motorfeedback.rotor_angle6020[i], 0.0f, c->dt);
c->hopemotorout.Radder_DIR_target[i] = c->hopemotorout.Radder_DIR_Solving_2[i];
chassis6020_detangle[i] = PID_Calc(&(c->pid.Radder_DIR_angle[i]), c->hopemotorout.Radder_DIR_target[i],
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->motorfeedback.rotor_rpm6020[i], 0.0f, c->dt);
c->chassis6020_detangle[i]=chassis6020_detangle[i];
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->hopemotorout.motor3508_target[i] = c->hopemotorout.rotor3508_jiesuan_2[i];
c->final_out.final_3508out[i] = PID_Calc(&(c->pid.chassis_3508VPID[i]), c->hopemotorout.motor3508_target[i],
c->motorfeedback.rotor_rpm3508[i], 0.0f, c->dt);
c->out.rotor3508_out[i] = LowPassFilter2p_Apply(&c->filled[3+i], c->final_out.final_3508out[i]);
c->out.motor2006_out=c->final_out.final_2006out;
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.Wheel_DIR_target[i] = c->hopemotorout.Wheel_DIR_Solving_2[i];
c->final_out.final_Wheel_DIR[i] = PID_Calc(&(c->pid.Wheel_DIR_omega[i]), c->hopemotorout.Wheel_DIR_target[i],
c->feedback.motor.Wheel_DIR_Rpm[i], 0.0f, c->dt);
c->out.Wheel_DIR[i] = LowPassFilter2p_Apply(&c->filled[3+i], c->final_out.final_Wheel_DIR[i]);
}
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++)
{
MOTOR_RM_SetOutput(&(c->param->motor_3508_param[i]), c->out.rotor3508_out[i]);
MOTOR_RM_SetOutput(&(c->param->motor_6020_param[i]), c->out.rotor6020_out[i]);
for (uint8_t i = 0; i < 4; i++) {
MOTOR_RM_SetOutput(&(c->param->motor.Wheel_DIR[i]), c->out.Wheel_DIR[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_SetOutput(&(c->param->motor_3508_param[0]), 1.0f);
MOTOR_RM_Ctrl(&(c->param->motor_3508_param[0]));
MOTOR_RM_Ctrl(&(c->param->motor_6020_param[0]));
MOTOR_RM_Ctrl(&(c->param->motor_2006_param));
MOTOR_RM_Ctrl(&(c->param->motor.Wheel_DIR[0]));
MOTOR_RM_Ctrl(&(c->param->motor.Wheel_DIR[1]));
MOTOR_RM_Ctrl(&(c->param->motor.Wheel_DIR[2]));
MOTOR_RM_Ctrl(&(c->param->motor.Wheel_DIR[3]));
// 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]));
}

149
User/module/chassis.h
View File

@ -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 C6020Angle_param;
KPID_Params_t M3508v_param;
KPID_Params_t chassis_follow_gimbalPID;
KPID_Params_t Telescope_Omega;
KPID_Params_t Telescope_Angle;
KPID_Params_t Radder_DIR_Omega;
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;
KPID_Params_t chassis_2006_Omega_param;
KPID_Params_t chassis_3508_angle_param;
KPID_Params_t chassis_3508_Omega_param;
struct{
MOTOR_RM_Param_t Wheel_DIR[4]; // 四个轮向电机
MOTOR_RM_Param_t Radder_DIR[4]; // 四个舵向电机
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_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
}motor;
float mech_zero;/*云台6020的机械中点*/
float travel ;/*云台6020的机械行程*/
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
float mech_zero_4310;/*云台4310的机械中点*/
} Chassis_Param_t;
typedef struct
@ -114,71 +127,64 @@ typedef struct
typedef struct
{
float rotor3508_out[4];
float rotor6020_out[4];
float motor2006_out;
float Telescope;
float Wheel_DIR[4];
float Radder_DIR[4];
} Chassis_out_t;
typedef struct
{
uint32_t last_wakeup;
float dt;
Chassis_mode_t mode;
float chassis6020_detangle[4];
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 rotor3508_jiesuan_2[4];
fp32 rotor6020_jiesuan_1[4];
fp32 rotor6020_jiesuan_2[4];
fp32 Wheel_DIR_Solving_1[4];
fp32 Wheel_DIR_Solving_2[4];
fp32 Radder_DIR_Solving_1[4];
fp32 Radder_DIR_Solving_2[4];
// fp32 rotor6020_elur_yaw;
fp32 motor6020_target[4];
fp32 motor3508_target[4];
fp32 Radder_DIR_target[4];
fp32 Wheel_DIR_target[4];
} hopemotorout;
struct
{
fp32 final_6020out[4];
fp32 final_3508out[4];
fp32 final_2006out;
// fp32 final_pitchout;
fp32 final_Telescope;
fp32 final_Radder_DIR[4];
fp32 final_Wheel_DIR[4];
} final_out;
struct
{
fp32 rotor_rpm3508[4];
fp32 rotor_current3508[4];
fp32 rotor_angle3508[4];
fp32 rotor_rpm6020[4];
fp32 rotor_angle6020[4];
fp32 rotor_current6020[4];
fp32 rotor_temp6020[4];
fp32 motor2006_rpm;
fp32 motor2006_omega;
fp32 motor2006_current;
fp32 motor2006_temp;
fp32 motor2006_angle;
fp32 motor2006_add_angle;
fp32 gimbal_yaw_encoder;
} motorfeedback;
struct{
float Telescope_SuperiorAngle;
float Telescope_Omega;
float Radder_DIR_Angle[4];
float Radder_DIR_Rpm[4];
float Wheel_DIR_Angle[4];
float Wheel_DIR_Rpm[4];
MOTOR_Feedback_t Telescope; // 四个轮向电机
MOTOR_Feedback_t Wheel_DIR[4]; // 四个轮向电机
MOTOR_Feedback_t Radder_DIR[4];
MOTOR_Feedback_t gimbal_yaw;
}motor;
} feedback;
struct
{
KPID_t chassis_6020anglePid[4];
KPID_t chassis_6020OmegaPid[4];
KPID_t chassis_3508VPID[4];
KPID_t Telescope_angle;
KPID_t Telescope_omega;
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 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
// float mech_zero_4310;/*云台4310的机械中点*/
} Chassis_t;

14
User/module/cmd/cmd.c
View File

@ -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:
// ctx->output.shoot.cmd.ready = false;
// ctx->output.shoot.cmd.firecmd = false;
default:
ctx->output.shoot.cmd.ready = 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:
// ctx->output.shoot.cmd.ready = false;
// ctx->output.shoot.cmd.firecmd = false;
default:
ctx->output.shoot.cmd.ready = false;
ctx->output.shoot.cmd.firecmd = false;
break;
}
}

6
User/module/cmd/cmd.h
View File

@ -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_mid;
Chassis_mode_t sw_left_down;
Chassis_Mode_t sw_left_up;
Chassis_Mode_t sw_left_mid;
Chassis_Mode_t sw_left_down;
/* 右拨杆映射 - 云台/射击模式 */
Gimbal_Mode_t gimbal_sw_up;

97
User/module/config.c
View File

@ -18,18 +18,19 @@
// 机器人参数配置
Config_RobotParam_t robot_config = {
.chassis={
.motor_3508_param[0]={BSP_CAN_1,0x201,MOTOR_M3508,false,false},
.motor_3508_param[1]={BSP_CAN_1,0x202,MOTOR_M3508,false,false},
.motor_3508_param[2]={BSP_CAN_1,0x203,MOTOR_M3508,false,false},
.motor_3508_param[3]={BSP_CAN_1,0x204,MOTOR_M3508,false,false},
.motor_2006_param ={BSP_CAN_1,0x205,MOTOR_M2006,false,true},
.motor_6020_param[0]={BSP_CAN_1,0x206,MOTOR_GM6020,false,false},
.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=195,
.chassis_2006_angle_param={
.Set_TelescopeAngle=195,
.pid={
.Telescope_Omega={
.k=1.0f,
.p=0.3f,
.i=0.0f,
.d=0.001f,
.i_limit=1.0f,
.out_limit=1.0f,
.d_cutoff_freq= -1.0f,
.range=-1.0f
},
.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,
.i=0.0f,
.p=0.4f,
.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
},
.M3508v_param={
.Wheel_DIR_Omega={
.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,

14
User/task/chassis_ctrl.c
View File

@ -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_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）
// // 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);
////}
Chassis_update(&chassis);
Chassis_Control(&chassis, &cmd_chassis,tick);
Chassis_Setoutput(&chassis);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */

1
User/task/init.c
View File

@ -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

2
User/task/shoot_ctrl.c
View File

@ -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 */
}

19
User/task/step_motor.c
View File

@ -16,14 +16,17 @@
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
STEP_MOTOR StepMotor_param={
.direction=true,
MOTOR_STEP_t StepMotor_param={
.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 */
}

2
User/task/user_task.h
View File

@ -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)