diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json index 559f45e..09e1c67 100644 --- a/.vscode/c_cpp_properties.json +++ b/.vscode/c_cpp_properties.json @@ -1,21 +1,86 @@ { - "configurations": [ - { - "name": "Win32", - "includePath": [ - "${workspaceFolder}/**" - ], - "defines": [ - "_DEBUG", - "UNICODE", - "_UNICODE" - ], - "compilerPath": "D:\\MinGW\\bin\\gcc.exe", - "cStandard": "c17", - "cppStandard": "gnu++14", - "intelliSenseMode": "windows-gcc-x86", - "configurationProvider": "ms-vscode.makefile-tools" - } - ], - "version": 4 + "configurations": [ + { + "name": "Win32", + "includePath": [ + "${workspaceFolder}/**" + ], + "defines": [ + "_DEBUG", + "UNICODE", + "_UNICODE" + ], + "compilerPath": "D:\\MinGW\\bin\\gcc.exe", + "cStandard": "c17", + "cppStandard": "gnu++14", + "intelliSenseMode": "windows-gcc-x86", + "configurationProvider": "ms-vscode.makefile-tools" + }, + { + "name": "STM32", + "includePath": [ + "Drivers/CMSIS/Device/ST/STM32F4xx/Include", + "Drivers/CMSIS/Include", + "Drivers/STM32F4xx_HAL_Driver/Inc", + "Drivers/STM32F4xx_HAL_Driver/Inc/Legacy", + "Inc", + "Middlewares/ST/ARM/DSP/Inc", + "Middlewares/ST/ARM/DSP/Include", + "Middlewares/ST/ARM/DSP/Include/dsp", + "Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc", + "Middlewares/ST/STM32_USB_Device_Library/Core/Inc", + "Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS", + "Middlewares/Third_Party/FreeRTOS/Source/include", + "Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F", + "Middlewares/Third_Party/SEGGER/Config", + "Middlewares/Third_Party/SEGGER/RTT", + "application", + "application/chassis", + "application/cmd", + "application/gimbal", + "application/shoot", + "bsp", + "bsp/can", + "bsp/dwt", + "bsp/flash", + "bsp/gpio", + "bsp/iic", + "bsp/log", + "bsp/pwm", + "bsp/spi", + "bsp/usart", + "bsp/usb", + "modules", + "modules/BMI088", + "modules/alarm", + "modules/algorithm", + "modules/bluetooth", + "modules/can_comm", + "modules/daemon", + "modules/imu", + "modules/ist8310", + "modules/master_machine", + "modules/message_center", + "modules/motor", + "modules/motor/DJImotor", + "modules/motor/DMmotor", + "modules/motor/HTmotor", + "modules/motor/LKmotor", + "modules/motor/servo_motor", + "modules/motor/step_motor", + "modules/oled", + "modules/referee", + "modules/remote", + "modules/super_cap" + ], + "defines": [ + "ARM_MATH_CM4", + "STM32F407xx", + "USE_HAL_DRIVER", + "__FPU_PRESENT=1U" + ], + "compilerPath": "c:\\Users\\ASUS\\AppData\\Roaming\\Code - Insiders\\User\\globalStorage\\bmd.stm32-for-vscode\\@xpack-dev-tools\\arm-none-eabi-gcc\\13.2.1-1.1.1\\.content\\bin\\arm-none-eabi-gcc.EXE" + } + ], + "version": 4 } \ No newline at end of file diff --git a/.vscode/launch.json b/.vscode/launch.json index 036e9d4..41da23a 100644 --- a/.vscode/launch.json +++ b/.vscode/launch.json @@ -2,34 +2,26 @@ // 启动调试的快捷键是F5 "version": "0.2.0", "configurations": [ - // 使用dap-link(如无线调试器时的参考配置) { "name": "DAPlink", "cwd": "${workspaceRoot}", - "executable": "${workspaceRoot}\\build\\basic_framework.elf", // 要下载到调试器的文件,花括号中的是vscode两个预定义的参数 + "executable": "${workspaceRoot}\\build\\basic_framework.elf", "request": "launch", "type": "cortex-debug", - //使用J-link GDB Server时必须;其他GBD Server时可选（有可能帮助自动选择SVD文件） - //支持的设备见 https://www.segger.com/downloads/supported-devices.php "device": "STM32F407IG", - //svd文件，有这个文件才能查看寄存器的值，每个单片机都不同。可以在以下地址找到 https://github.com/posborne/cmsis-svd - //该项目的根目录已经提供了C型开发板使用的外设svd文件 "svdFile": "STM32F407.svd", - "servertype": "openocd", //使用的GDB Server + "servertype": "openocd", "configFiles": [ - "openocd_dap.cfg", // 配置文件已经在根目录提供,若要修改以此类推,openocd的路径下的share/scripts中有各种写好的配置文件 + "openocd_dap.cfg" ], - "runToEntryPoint": "main", // 调试时在main函数入口停下 + "runToEntryPoint": "main", "rtos": "FreeRTOS", - "preLaunchTask": "build task",//先运行Build任务编译项目,取消注释即可使用 + "preLaunchTask": "build task", "liveWatch": { "enabled": true, "samplesPerSecond": 4 } - // dap若要使用log,请使用Jlink调试任务启动,之后再打开log任务 - // 若想要在调试前编译并且打开log,可只使用log的prelaunch task并为log任务添加depends on依赖 }, - // 使用j-link进行调试时的参考配置 { "name": "Jlink", "cwd": "${workspaceFolder}", @@ -43,26 +35,23 @@ "interface": "swd", "svdFile": "STM32F407.svd", "rtos": "FreeRTOS", - //"preLaunchTask": "build task",//先运行Build任务,取消注释即可使用 "liveWatch": { "enabled": true, "samplesPerSecond": 4 - }, - // "preLaunchTask": "log", // 调试时同时开启RTT viewer窗口,若daplink使用jlinkGDBserver启动,需要先开始调试再打开log - // 若想要在调试前编译并且打开log,可只使用log的prelaunch task并为log任务添加depends on依赖 + } }, { "name": "DAP-attach", "cwd": "${workspaceRoot}", - "executable": "${workspaceRoot}\\build\\basic_framework.elf", // 要下载到调试器的文件,花括号中的是vscode两个预定义的参数 + "executable": "${workspaceRoot}\\build\\basic_framework.elf", "request": "attach", "type": "cortex-debug", "device": "STM32F407IG", "svdFile": "STM32F407.svd", "servertype": "openocd", "configFiles": [ - "openocd_dap.cfg", - ], + "openocd_dap.cfg" + ] }, { "name": "Jlink-attach", @@ -75,7 +64,35 @@ "servertype": "jlink", "interface": "swd", "svdFile": "STM32F407.svd", - "rtos": "FreeRTOS", + "rtos": "FreeRTOS" }, + { + "showDevDebugOutput": "parsed", + "cwd": "${workspaceRoot}", + "executable": "./build/debug/basic_framework.elf", + "name": "Debug STM32", + "request": "launch", + "type": "cortex-debug", + "servertype": "openocd", + "preLaunchTask": "Build STM", + "device": "stm32f407", + "configFiles": [ + "openocd.cfg" + ] + }, + { + "showDevDebugOutput": "parsed", + "cwd": "${workspaceRoot}", + "executable": "./build/debug/basic_framework.elf", + "name": "Attach STM32", + "request": "attach", + "type": "cortex-debug", + "servertype": "openocd", + "preLaunchTask": "Build STM", + "device": "stm32f407", + "configFiles": [ + "openocd.cfg" + ] + } ], } \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json index 1f0ff55..016b171 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -14,5 +14,7 @@ "bsp_usart.h": "c", "memory.h": "c" }, - "C_Cpp.errorSquiggles": "disabled" + "C_Cpp.errorSquiggles": "disabled", + "cortex-debug.armToolchainPath": "c:\\Users\\ASUS\\AppData\\Roaming\\Code - Insiders\\User\\globalStorage\\bmd.stm32-for-vscode\\@xpack-dev-tools\\arm-none-eabi-gcc\\13.2.1-1.1.1\\.content\\bin", + "cortex-debug.openocdPath": "C:\\USERS\\ASUS\\APPDATA\\ROAMING\\CODE - INSIDERS\\USER\\GLOBALSTORAGE\\BMD.STM32-FOR-VSCODE\\@XPACK-DEV-TOOLS\\OPENOCD\\0.12.0-3.1\\.CONTENT\\BIN\\OPENOCD.EXE" } \ No newline at end of file diff --git a/.vscode/tasks.json b/.vscode/tasks.json index e483241..c8a5277 100644 --- a/.vscode/tasks.json +++ b/.vscode/tasks.json @@ -3,10 +3,10 @@ "version": "2.0.0", "tasks": [ { - "label": "build task", // 任务标签 - "type": "shell", // 任务类型,因为要调用mingw32-make,是在终端(CMD)里运行的,所以是shell任务 - "command": "mingw32-make -j24",// 任务命令,线程数可以根据自己的电脑修改,建议与cpu核数相同 - "problemMatcher": [], + "label": "build task", + "type": "shell", + "command": "mingw32-make -j24", + "problemMatcher": [], "group": { "kind": "build", "isDefault": true @@ -14,32 +14,76 @@ }, { "label": "download dap", - "type": "shell", // 如果希望在下载前编译,可以把command换成下面的命令 - "command":"mingw32-make -j24 ; mingw32-make download_dap", // "mingw32-make -j24 ; mingw32-make download_dap", - "group": { // 如果没有修改代码,编译任务不会消耗时间,因此推荐使用上面的替换. - "kind": "build", - "isDefault": false, - }, - }, - { - "label": "download jlink", // 要使用此任务,需添加jlink的环境变量 "type": "shell", - "command":" download_jlink", // "mingw32-make -j24 ; mingw32-make download_jlink" + "command": "mingw32-make -j24 ; mingw32-make download_dap", "group": { "kind": "build", - "isDefault": false, + "isDefault": false + } + }, + { + "label": "download jlink", + "type": "shell", + "command": " download_jlink", + "group": { + "kind": "build", + "isDefault": false } }, { "label": "log", "type": "shell", - "command":"JlinkRTTClient", + "command": "JlinkRTTClient", "args": [], "problemMatcher": [], - "dependsOn":[ - "build task", // 可以添加多个. + "dependsOn": [ + "build task" + ] + }, + { + "label": "Build STM", + "type": "process", + "command": "${command:stm32-for-vscode.build}", + "options": { + "cwd": "${workspaceRoot}" + }, + "group": { + "kind": "build", + "isDefault": true + }, + "problemMatcher": [ + "$gcc" + ] + }, + { + "label": "Build Clean STM", + "type": "process", + "command": "${command:stm32-for-vscode.cleanBuild}", + "options": { + "cwd": "${workspaceRoot}" + }, + "group": { + "kind": "build", + "isDefault": true + }, + "problemMatcher": [ + "$gcc" + ] + }, + { + "label": "Flash STM", + "type": "process", + "command": "${command:stm32-for-vscode.flash}", + "options": { + "cwd": "${workspaceRoot}" + }, + "group": { + "kind": "build", + "isDefault": true + }, + "problemMatcher": [ + "$gcc" ] - // 若使用daplink,则将log任务设置为依赖于jlink launch任务,保证jlink launch任务先于log任务执行 } ] } \ No newline at end of file diff --git a/application/chassis/lqr_calc.h b/application/chassis/lqr_calc.h index e4fb297..ce05c24 100644 --- a/application/chassis/lqr_calc.h +++ b/application/chassis/lqr_calc.h @@ -9,18 +9,18 @@ */ static void CalcLQR(LinkNPodParam *p, ChassisParam *chassis) { - static float k[12][3] = {152.073959,-322.787113,4.602472, - -18.091924,-50.039341,3.160226, - 124.677598,-113.871572,-13.279757, - 86.314525,-98.184173,-8.140564, - 162.907111,-185.705008,74.114015, - 14.280240,-18.420891,8.593112, - -148.548074,99.259778,48.506697, - -37.972970,41.871624,3.715364, - 192.255883,-224.641960,95.484838, - 93.227296,-117.550338,60.336158, - -343.472953,311.036102,57.349362, - -41.609057,38.668058,-0.809331,}; + static float k[12][3] = {91.443258,-113.149301,-8.780431, + 2.186397,-6.908826,-0.171192, + 47.943203,-39.423913,-13.297140, + 30.671413,-28.308799,-9.363969, + 231.778706,-224.742110,68.974495, + 18.910995,-20.079072,7.490403, + 50.114072,-58.670210,23.856863, + 3.273746,-3.321150,1.267603, + 140.969395,-137.481822,42.507159, + 93.859327,-90.754295,27.811839, + -283.581279,232.017305,87.865897, + -28.193619,23.802666,3.963794,}; float T[2] = {0}; // 0 T_wheel 1 T_hip float l = p->leg_len; float lsqr = l * l;