TuxMonkey/bf_original_balance_chassis
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增加了一键下载(不调试)的支持,并更新了makefile,添加了make clean支持

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This commit is contained in:
NeoZeng
2022-11-29 20:00:46 +08:00
parent a539072052
commit 6dd2f9c504
8 changed files with 114 additions and 69 deletions
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7
HAL_N_Middlewares/Src/main.c
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@@ -42,6 +42,8 @@
#include "ins_task.h"
#include "can_comm.h"
#include "master_process.h"
#include "led_task.h"
#include "bsp_led.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -127,6 +129,7 @@ int main(void)
/* USER CODE BEGIN 2 */
RC_init(&huart3);
DWT_Init(168);
Motor_Init_Config_s config = {
.motor_type = GM6020,
.can_init_config = {
@@ -146,6 +149,7 @@ int main(void)
RefereeInit(&huart6);
Vision_Recv_s* recv=VisionInit(&huart1);
Vision_Send_s send={.pitch=1,.roll=2,.yaw=3};
LED_init();
/* USER CODE END 2 */
/* Call init function for freertos objects (in freertos.c) */
@@ -164,11 +168,12 @@ int main(void)
/* USER CODE END WHILE */
DJIMotorSetRef(djimotor, 10);
MotorControlTask();
HAL_Delay(10);
HAL_Delay(1);
CANCommSend(in, (uint8_t*)&tx);
tx+=1;
rx=(sdf*)CANCommGet(in);
VisionSend(&send);
led_RGB_flow_task();
// INS_Task();
/* USER CODE BEGIN 3 */
}