完善了电机相对控制模式

Core/Inc/stm32f4xx_it.h

@@ -67,6 +67,7 @@ void USART3_IRQHandler(void);
 void TIM7_IRQHandler(void);
 void DMA2_Stream2_IRQHandler(void);
 void DMA2_Stream3_IRQHandler(void);
+void CAN2_TX_IRQHandler(void);
 void CAN2_RX0_IRQHandler(void);
 void CAN2_RX1_IRQHandler(void);
 /* USER CODE BEGIN EFP */

Core/Src/can.c

@@ -79,7 +79,7 @@ void MX_CAN2_Init(void)
   hcan2.Init.TimeTriggeredMode = DISABLE;
   hcan2.Init.AutoBusOff = DISABLE;
   hcan2.Init.AutoWakeUp = DISABLE;
-  hcan2.Init.AutoRetransmission = DISABLE;
+  hcan2.Init.AutoRetransmission = ENABLE;
   hcan2.Init.ReceiveFifoLocked = DISABLE;
   hcan2.Init.TransmitFifoPriority = DISABLE;
   if (HAL_CAN_Init(&hcan2) != HAL_OK)
@@ -157,6 +157,8 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
     /* CAN2 interrupt Init */
+    HAL_NVIC_SetPriority(CAN2_TX_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
     HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
     HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
@@ -214,6 +216,7 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
     HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6);
 
     /* CAN2 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(CAN2_TX_IRQn);
     HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
     HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
   /* USER CODE BEGIN CAN2_MspDeInit 1 */

Core/Src/stm32f4xx_it.c

@@ -388,6 +388,20 @@ void DMA2_Stream3_IRQHandler(void)
   /* USER CODE END DMA2_Stream3_IRQn 1 */
 }
 
+/**
+  * @brief This function handles CAN2 TX interrupts.
+  */
+void CAN2_TX_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN2_TX_IRQn 0 */
+
+  /* USER CODE END CAN2_TX_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan2);
+  /* USER CODE BEGIN CAN2_TX_IRQn 1 */
+
+  /* USER CODE END CAN2_TX_IRQn 1 */
+}
+
 /**
   * @brief This function handles CAN2 RX0 interrupts.
   */

MDK-ARM/gimbal/gimbal.build_log.htm

@@ -22,7 +22,7 @@ Dialog DLL:      TCM.DLL V1.48.0.0
  
 <h2>Project:</h2>
 D:\yunha\ÔÆ̨\´ó½®µç»ú\gimbal\MDK-ARM\gimbal.uvprojx
-Project File Date:  10/12/2025
+Project File Date:  10/16/2025
 
 <h2>Output:</h2>
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\KEIL_MDK\ARM\ARMCC\Bin'
@@ -31,6 +31,10 @@ Note: source file '..\User\bsp\can.c' - object file renamed from 'gimbal\can.o'
 Note: source file '..\User\bsp\gpio.c' - object file renamed from 'gimbal\gpio.o' to 'gimbal\gpio_1.o'.
 Note: source file '..\User\bsp\i2c.c' - object file renamed from 'gimbal\i2c.o' to 'gimbal\i2c_1.o'.
 Note: source file '..\User\bsp\spi.c' - object file renamed from 'gimbal\spi.o' to 'gimbal\spi_1.o'.
+compiling gimbal.c...
+linking...
+Program Size: Code=60476 RO-data=980 RW-data=544 ZI-data=34064  
+FromELF: creating hex file...
 "gimbal\gimbal.axf" - 0 Error(s), 0 Warning(s).
 
 <h2>Software Packages used:</h2>
@@ -54,7 +58,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
-Build Time Elapsed:  00:00:01
+Build Time Elapsed:  00:00:04
 </pre>
 </body>
 </html>

MDK-ARM/gimbal/gimbal_gimbal.dep

@@ -1,6 +1,6 @@
 Dependencies for Project 'gimbal', Target 'gimbal': (DO NOT MODIFY !)
 CompilerVersion: 5060960::V5.06 update 7 (build 960)::.\ARMCC
-F (startup_stm32f407xx.s)(0x68E500AB)(--cpu Cortex-M4.fp.sp -g --apcs=interwork -I ../Core/Inc

-I.\RTE\_gimbal

-ID:\KEIL_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include

--pd "__UVISION_VERSION SETA 534" --pd "_RTE_ SETA 1" --pd "STM32F407xx SETA 1" --pd "_RTE_ SETA 1"

--list startup_stm32f407xx.lst --xref -o gimbal\startup_stm32f407xx.o --depend gimbal\startup_stm32f407xx.d)
+F (startup_stm32f407xx.s)(0x68F0F9C8)(--cpu Cortex-M4.fp.sp -g --apcs=interwork -I ../Core/Inc

-I.\RTE\_gimbal

-ID:\KEIL_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include

--pd "__UVISION_VERSION SETA 534" --pd "_RTE_ SETA 1" --pd "STM32F407xx SETA 1" --pd "_RTE_ SETA 1"

--list startup_stm32f407xx.lst --xref -o gimbal\startup_stm32f407xx.o --depend gimbal\startup_stm32f407xx.d)
 F (../Core/Src/main.c)(0x68E500A8)(--c99 -c --cpu Cortex-M4.fp.sp -g -W -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module

-I.\RTE\_gimbal

-ID:\KEIL_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o gimbal\main.o --omf_browse gimbal\main.crf --depend gimbal\main.d)
 I (../Core/Inc/main.h)(0x68DCA53F)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
@@ -140,7 +140,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h)(0x68B055DB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x68B055DB)
 I (../User/task/user_task.h)(0x68DCD971)
-F (../Core/Src/can.c)(0x68E39F9C)(--c99 -c --cpu Cortex-M4.fp.sp -g -W -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module

-I.\RTE\_gimbal

-ID:\KEIL_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o gimbal\can.o --omf_browse gimbal\can.crf --depend gimbal\can.d)
+F (../Core/Src/can.c)(0x68F0F9C4)(--c99 -c --cpu Cortex-M4.fp.sp -g -W -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module

-I.\RTE\_gimbal

-ID:\KEIL_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o gimbal\can.o --omf_browse gimbal\can.crf --depend gimbal\can.d)
 I (../Core/Inc/can.h)(0x68DCA124)
 I (../Core/Inc/main.h)(0x68DCA53F)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
@@ -362,7 +362,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h)(0x68B05645)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
-F (../Core/Src/stm32f4xx_it.c)(0x68E90EBF)(--c99 -c --cpu Cortex-M4.fp.sp -g -W -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module

-I.\RTE\_gimbal

-ID:\KEIL_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o gimbal\stm32f4xx_it.o --omf_browse gimbal\stm32f4xx_it.crf --depend gimbal\stm32f4xx_it.d)
+F (../Core/Src/stm32f4xx_it.c)(0x68F0F9C6)(--c99 -c --cpu Cortex-M4.fp.sp -g -W -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module

-I.\RTE\_gimbal

-ID:\KEIL_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o gimbal\stm32f4xx_it.o --omf_browse gimbal\stm32f4xx_it.crf --depend gimbal\stm32f4xx_it.d)
 I (../Core/Inc/main.h)(0x68DCA53F)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
 I (../Core/Inc/stm32f4xx_hal_conf.h)(0x68DCA1AB)
@@ -398,7 +398,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h)(0x68B05645)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
-I (../Core/Inc/stm32f4xx_it.h)(0x68DD2538)
+I (../Core/Inc/stm32f4xx_it.h)(0x68F0F9C6)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x68B055DB)
 I (../Core/Inc/FreeRTOSConfig.h)(0x68DF391E)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h)(0x68B055DB)
@@ -2469,7 +2469,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x68B055DB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x68B055DB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x68B055DB)
-F (..\User\module\gimbal.c)(0x68EFA454)(--c99 -c --cpu Cortex-M4.fp.sp -g -W -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module

-I.\RTE\_gimbal

-ID:\KEIL_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o gimbal\gimbal.o --omf_browse gimbal\gimbal.crf --depend gimbal\gimbal.d)
+F (..\User\module\gimbal.c)(0x68F0FB56)(--c99 -c --cpu Cortex-M4.fp.sp -g -W -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module

-I.\RTE\_gimbal

-ID:\KEIL_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o gimbal\gimbal.o --omf_browse gimbal\gimbal.crf --depend gimbal\gimbal.d)
 I (..\User\module\gimbal.h)(0x68EF9D8A)
 I (../User/component/ahrs.h)(0x68E90EBF)
 I (../User/component/user_math.h)(0x68E90EBF)

User/module/gimbal.c

@@ -192,11 +192,11 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
 	float yaw_velocity_set_point, pit_velocity_set_point,delta_ecd_yaw;
 	
   switch (g->mode) {
-  case GIMBAL_MODE_RELAX:
+  case GIMBAL_MODE_RELAX:/*放松模式*/
     g->out.yaw = 0.0f;
     g->out.pit = 0.0f;
     break;
-  case GIMBAL_MODE_ABSOLUTE:
+  case GIMBAL_MODE_ABSOLUTE:/*绝对模式*/
 		delta_yaw = g_cmd->delta_yaw*g->dt;
 		g->setpoint.eulr.yaw+=delta_yaw;	
 	
@@ -230,8 +230,20 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
                           g->feedback.imu.gyro.x, 0.f, g->dt);
     break;
 		case GIMBAL_MODE_RELATIVE:
+			/*将它的角度控制再-3.14~3.14*/
+		if(g->feedback.motor.yaw.rotor_abs_angle>M_2PI)
+		g->feedback.motor.yaw.rotor_abs_angle-=M_2PI;
+		g->setpoint.eulr.yaw = g->feedback.motor.yaw.rotor_abs_angle; 
 		
+    yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
+                                   g->feedback.imu.eulr.yaw, 0.0f, g->dt);
+    g->out.yaw = PID_Calc(&(g->pid.yaw_omega), yaw_omega_set_point,
+                          g->feedback.imu.gyro.z, 0.f, g->dt);
 
+		pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
+                                   g->feedback.imu.eulr.pit, 0.0f, g->dt);
+    g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
+                          g->feedback.imu.gyro.x, 0.f, g->dt);
 		
 		break;
 	case GIMBAL_MODE_MOTOR:

gimbal.ioc

@@ -15,7 +15,8 @@ CAN2.BS2=CAN_BS2_3TQ
 CAN2.CalculateBaudRate=1000000
 CAN2.CalculateTimeBit=1000
 CAN2.CalculateTimeQuantum=71.42857142857143
-CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1,BS2,Prescaler
+CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1,BS2,Prescaler,NART
+CAN2.NART=ENABLE
 CAN2.Prescaler=3
 Dma.Request0=USART3_RX
 Dma.Request1=SPI1_RX
@@ -134,6 +135,7 @@ NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN2_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.CAN2_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.DMA1_Stream1_IRQn=true\:7\:0\:true\:false\:true\:true\:false\:true\:true
 NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true\:true
 NVIC.DMA2_Stream3_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true\:true
@@ -294,7 +296,7 @@ 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_SPI1_Init-SPI1-false-HAL-true,7-MX_SPI2_Init-SPI2-false-HAL-true,8-MX_TIM7_Init-TIM7-false-HAL-true,9-MX_USART3_UART_Init-USART3-false-HAL-true,10-MX_TIM10_Init-TIM10-false-HAL-true,11-MX_I2C1_Init-I2C1-false-HAL-true,12-MX_I2C2_Init-I2C2-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_SPI1_Init-SPI1-false-HAL-true,7-MX_SPI2_Init-SPI2-false-HAL-true,8-MX_TIM7_Init-TIM7-false-HAL-true,9-MX_USART3_UART_Init-USART3-false-HAL-true,10-MX_TIM10_Init-TIM10-false-HAL-true,11-MX_I2C1_Init-I2C1-false-HAL-true,12-MX_I2C2_Init-I2C2-false-HAL-true,13-MX_USART1_UART_Init-USART1-false-HAL-true
 RCC.48MHZClocksFreq_Value=84000000
 RCC.AHBFreq_Value=168000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4