TuxMonkey/bf_original_balance_chassis
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增加了电机前馈控制,更新readme，加快ins速度，删除了工程和平衡底盘相关的app

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NeoZng
2023-05-19 14:45:48 +08:00
parent ecb56ef935
commit a18a5091f4
27 changed files with 97 additions and 97 deletions
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43
bsp/can/bsp_can.c
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@@ -3,6 +3,7 @@
#include "memory.h"
#include "stdlib.h"
#include "bsp_dwt.h"
#include "bsp_log.h"
/* can instance ptrs storage, used for recv callback */
// 在CAN产生接收中断会遍历数组,选出hcan和rxid与发生中断的实例相同的那个,调用其回调函数
@@ -30,14 +31,14 @@ static void CANAddFilter(CANInstance *_instance)
CAN_FilterTypeDef can_filter_conf;
static uint8_t can1_filter_idx = 0, can2_filter_idx = 14; // 0-13给can1用,14-27给can2用
can_filter_conf.FilterMode = CAN_FILTERMODE_IDLIST; //使用id list模式,即只有将rxid添加到过滤器中才会接收到,其他报文会被过滤
can_filter_conf.FilterScale = CAN_FILTERSCALE_16BIT; //使用16位id模式,即只有低16位有效
can_filter_conf.FilterFIFOAssignment = (_instance->tx_id & 1) ? CAN_RX_FIFO0 : CAN_RX_FIFO1; //奇数id的模块会被分配到FIFO0,偶数id的模块会被分配到FIFO1
can_filter_conf.SlaveStartFilterBank = 14; // 从第14个过滤器开始配置从机过滤器(在STM32的BxCAN控制器中CAN2是CAN1的从机)
can_filter_conf.FilterIdLow = _instance->rx_id << 5; // 过滤器寄存器的低16位,因为使用STDID,所以只有低11位有效,高5位要填0
can_filter_conf.FilterMode = CAN_FILTERMODE_IDLIST; // 使用id list模式,即只有将rxid添加到过滤器中才会接收到,其他报文会被过滤
can_filter_conf.FilterScale = CAN_FILTERSCALE_16BIT; // 使用16位id模式,即只有低16位有效
can_filter_conf.FilterFIFOAssignment = (_instance->tx_id & 1) ? CAN_RX_FIFO0 : CAN_RX_FIFO1; // 奇数id的模块会被分配到FIFO0,偶数id的模块会被分配到FIFO1
can_filter_conf.SlaveStartFilterBank = 14; // 从第14个过滤器开始配置从机过滤器(在STM32的BxCAN控制器中CAN2是CAN1的从机)
can_filter_conf.FilterIdLow = _instance->rx_id << 5; // 过滤器寄存器的低16位,因为使用STDID,所以只有低11位有效,高5位要填0
can_filter_conf.FilterBank = _instance->can_handle == &hcan1 ? (can1_filter_idx++) : (can2_filter_idx++); // 根据can_handle判断是CAN1还是CAN2,然后自增
can_filter_conf.FilterActivation = CAN_FILTER_ENABLE; // 启用过滤器
can_filter_conf.FilterActivation = CAN_FILTER_ENABLE; // 启用过滤器
HAL_CAN_ConfigFilter(_instance->can_handle, &can_filter_conf);
}
@@ -69,12 +70,12 @@ CANInstance *CANRegister(CAN_Init_Config_s *config)
while (1)
;
for (size_t i = 0; i < idx; i++)
{ // 重复注册 | id重复
if (can_instance[i]->rx_id == config->rx_id && can_instance[i]->can_handle == config->can_handle)
{ // 重复注册 | id重复
if (can_instance[i]->rx_id == config->rx_id && can_instance[i]->can_handle == config->can_handle)
while (1)
;
}
CANInstance *instance = (CANInstance *)malloc(sizeof(CANInstance)); // 分配空间
memset(instance, 0, sizeof(CANInstance)); // 分配的空间未必是0,所以要先清空
// 进行发送报文的配置
@@ -97,18 +98,28 @@ CANInstance *CANRegister(CAN_Init_Config_s *config)
/* @todo 目前似乎封装过度,应该添加一个指向tx_buff的指针,tx_buff不应该由CAN instance保存 */
/* 如果让CANinstance保存txbuff,会增加一次复制的开销 */
uint8_t CANTransmit(CANInstance *_instance,uint8_t timeout)
uint8_t CANTransmit(CANInstance *_instance, float timeout)
{
static uint32_t busy_count;
static float wait_time;
float dwt_start = DWT_GetTimeline_ms();
while (HAL_CAN_GetTxMailboxesFreeLevel(_instance->can_handle) == 0) // 等待邮箱空闲
{
{
if (DWT_GetTimeline_ms() - dwt_start > timeout) // 超时
{
LOGWARNING("CAN BUSY sending! cnt:%d", busy_count);
busy_count++;
return 0;
}
}
wait_time = DWT_GetTimeline_ms() - dwt_start;
// tx_mailbox会保存实际填入了这一帧消息的邮箱,但是知道是哪个邮箱发的似乎也没啥用
HAL_CAN_AddTxMessage(_instance->can_handle, &_instance->txconf, _instance->tx_buff, &_instance->tx_mailbox);
if (HAL_CAN_AddTxMessage(_instance->can_handle, &_instance->txconf, _instance->tx_buff, &_instance->tx_mailbox))
{
LOGWARNING("CAN BUSY bus! cnt:%d", busy_count);
busy_count++;
return 0;
}
return 1; // 发送成功
}
@@ -132,8 +143,8 @@ void CANSetDLC(CANInstance *_instance, uint8_t length)
static void CANFIFOxCallback(CAN_HandleTypeDef *_hcan, uint32_t fifox)
{
static CAN_RxHeaderTypeDef rxconf; // 同上
uint8_t can_rx_buff[8];
uint8_t can_rx_buff[8];
HAL_CAN_GetRxMessage(_hcan, fifox, &rxconf, can_rx_buff); // 从FIFO中获取数据
for (size_t i = 0; i < idx; ++i)
{ // 两者相等说明这是要找的实例
@@ -177,6 +188,4 @@ void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
CANFIFOxCallback(hcan, CAN_RX_FIFO1); // 调用我们自己写的函数来处理消息
}
// 人工智能会毁灭人类吗？请在补全回答

2
bsp/can/bsp_can.h
View File

@@ -63,6 +63,6 @@ void CANSetDLC(CANInstance *_instance, uint8_t length);
* @param timeout 超时时间,单位为ms;后续改为us,获得更精确的控制
* @param _instance* can instance owned by module
*/
uint8_t CANTransmit(CANInstance *_instance,uint8_t timeout);
uint8_t CANTransmit(CANInstance *_instance,float timeout);
#endif