TuxMonkey/bf_original_balance_chassis
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1.初版can comm已经实现; 2.修改了电机\bsp_can\usart的初始化实现

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This commit is contained in:
NeoZeng
2022-11-28 16:17:30 +08:00
parent cb3f5d92d1
commit 8332422eac
17 changed files with 615 additions and 552 deletions
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37
HAL_N_Middlewares/Src/main.c
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@@ -40,6 +40,7 @@
#include "motor_task.h"
#include "referee.h"
#include "ins_task.h"
#include "can_comm.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -71,14 +72,21 @@ void MX_FREERTOS_Init(void);
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
typedef struct
{
float a;
float b;
float c;
}sdf;
volatile sdf* rx;
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void){
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
@@ -125,9 +133,17 @@ int main(void){
.tx_id = 6},
.controller_setting_init_config = {.angle_feedback_source = MOTOR_FEED, .close_loop_type = SPEED_LOOP | ANGLE_LOOP, .speed_feedback_source = MOTOR_FEED, .reverse_flag = MOTOR_DIRECTION_NORMAL},
.controller_param_init_config = {.angle_PID = {.Improve = 0, .Kp = 1, .Ki = 0, .Kd = 0, .DeadBand = 0, .MaxOut = 4000}, .speed_PID = {.Improve = 0, .Kp = 1, .Ki = 0, .Kd = 0, .DeadBand = 0, .MaxOut = 4000}}};
dji_motor_instance *djimotor = DJIMotorInit(config);
dji_motor_instance *djimotor = DJIMotorInit(&config);
CANComm_Init_Config_s cconfig = {
.can_config = {.can_handle=&hcan1,.tx_id=0x02,.rx_id=0x03},
.send_data_len = 4,
.recv_data_len = 12};
CANCommInstance* in = CANCommInit(&cconfig);
volatile float tx = 32;
RefereeInit(&huart6);
/* USER CODE END 2 */
/* Call init function for freertos objects (in freertos.c) */
@@ -139,15 +155,20 @@ int main(void){
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
INS_Init();
// INS_Init();
while (1)
{
/* USER CODE END WHILE */
DJIMotorSetRef(djimotor, 10);
MotorControlTask();
HAL_Delay(1);
INS_Task();
// DJIMotorSetRef(djimotor, 10);
// MotorControlTask();
HAL_Delay(10);
CANCommSend(in, (uint8_t*)&tx);
tx+=1;
rx=(sdf*)CANCommGet(in);
// INS_Task();
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */