mirror of
https://gitee.com/dlmu-cone/bf_original_balance_chassis
synced 2026-07-24 03:27:45 +08:00
finish all bsp utilities
This commit is contained in:
NeoZng
230
Src/main.c
230
Src/main.c
@@ -79,90 +79,90 @@ void MX_FREERTOS_Init(void);
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*/
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int main(void)
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{
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/* USER CODE BEGIN 1 */
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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/* USER CODE BEGIN SysInit */
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/* USER CODE END SysInit */
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_ADC1_Init();
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MX_CAN1_Init();
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MX_CAN2_Init();
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MX_SPI1_Init();
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MX_TIM4_Init();
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MX_TIM5_Init();
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MX_USART3_UART_Init();
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MX_RNG_Init();
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MX_RTC_Init();
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MX_TIM1_Init();
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MX_TIM10_Init();
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MX_USART1_UART_Init();
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MX_USART6_UART_Init();
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/* USER CODE BEGIN 2 */
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RC_init(&huart3);
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can_instance_config can_config = {.can_handle = &hcan1,
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.tx_id = 1};
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Motor_Control_Setting_s motor_config = {.angle_feedback_source = MOTOR_FEED,
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.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
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.speed_feedback_source = MOTOR_FEED,
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.reverse_flag = MOTOR_DIRECTION_NORMAL};
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Motor_Controller_Init_s controller_init = {.current_PID = {
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.Improve = 0,
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.Kp = 1,
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.Ki = 0,
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.Kd = 0,
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.DeadBand = 0,
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.MaxOut = 4000,
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},
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.speed_PID = {
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.Improve = 0,
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.Kp = 1,
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.Ki = 0,
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.Kd = 0,
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.DeadBand = 0,
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.MaxOut = 4000,
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}};
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Motor_Type_e type = M3508;
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DWT_Init(168);
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dji_motor_instance *djimotor = DJIMotorInit(can_config, motor_config, controller_init, type);
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/* USER CODE END 2 */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_ADC1_Init();
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MX_CAN1_Init();
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MX_CAN2_Init();
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MX_SPI1_Init();
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MX_TIM4_Init();
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MX_TIM5_Init();
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MX_USART3_UART_Init();
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MX_RNG_Init();
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MX_RTC_Init();
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MX_TIM1_Init();
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MX_TIM10_Init();
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MX_USART1_UART_Init();
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MX_USART6_UART_Init();
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/* USER CODE BEGIN 2 */
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RC_init(&huart3);
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can_instance_config can_config = {.can_handle = &hcan1,
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.tx_id = 1};
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Motor_Control_Setting_s motor_config = {.angle_feedback_source = MOTOR_FEED,
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.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
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.speed_feedback_source = MOTOR_FEED,
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.reverse_flag = MOTOR_DIRECTION_NORMAL};
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Motor_Controller_Init_s controller_init = {.current_PID = {
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.Improve = 0,
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.Kp = 1,
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.Ki = 0,
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.Kd = 0,
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.DeadBand = 0,
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.MaxOut = 4000,
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},
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.speed_PID = {
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.Improve = 0,
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.Kp = 1,
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.Ki = 0,
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.Kd = 0,
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.DeadBand = 0,
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.MaxOut = 4000,
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}};
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Motor_Type_e type = M3508;
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DWT_Init(168);
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dji_motor_instance *djimotor = DJIMotorInit(can_config, motor_config, controller_init, type);
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/* USER CODE END 2 */
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/* Call init function for freertos objects (in freertos.c) */
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// MX_FREERTOS_Init();
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/* Call init function for freertos objects (in freertos.c) */
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// MX_FREERTOS_Init();
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// /* Start scheduler */
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// osKernelStart();
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// /* Start scheduler */
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// osKernelStart();
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/* We should never get here as control is now taken by the scheduler */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1)
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{
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/* USER CODE END WHILE */
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DJIMotorSetRef(djimotor, get_remote_control_point()->rc.ch[0]);
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MotorControlTask();
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HAL_Delay(20);
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/* USER CODE BEGIN 3 */
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}
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/* USER CODE END 3 */
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/* We should never get here as control is now taken by the scheduler */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1)
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{
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/* USER CODE END WHILE */
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DJIMotorSetRef(djimotor, get_remote_control_point()->rc.ch[0]);
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MotorControlTask();
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HAL_Delay(20);
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/* USER CODE BEGIN 3 */
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}
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/* USER CODE END 3 */
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}
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/**
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@@ -171,42 +171,42 @@ int main(void)
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/** Configure the main internal regulator output voltage
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*/
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__HAL_RCC_PWR_CLK_ENABLE();
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__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
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/** Configure the main internal regulator output voltage
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*/
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__HAL_RCC_PWR_CLK_ENABLE();
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__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLM = 6;
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RCC_OscInitStruct.PLL.PLLN = 168;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
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RCC_OscInitStruct.PLL.PLLQ = 7;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLM = 6;
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RCC_OscInitStruct.PLL.PLLN = 168;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
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RCC_OscInitStruct.PLL.PLLQ = 7;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
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{
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Error_Handler();
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}
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}
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/* USER CODE BEGIN 4 */
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@@ -219,13 +219,13 @@ void SystemClock_Config(void)
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*/
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void Error_Handler(void)
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{
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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while (1)
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{
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}
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/* USER CODE END Error_Handler_Debug */
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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while (1)
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{
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}
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/* USER CODE END Error_Handler_Debug */
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}
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#ifdef USE_FULL_ASSERT
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@@ -238,9 +238,9 @@ void Error_Handler(void)
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*/
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void assert_failed(uint8_t *file, uint32_t line)
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{
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/* USER CODE BEGIN 6 */
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/* User can add his own implementation to report the file name and line number,
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ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
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/* USER CODE END 6 */
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/* USER CODE BEGIN 6 */
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/* User can add his own implementation to report the file name and line number,
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ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
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/* USER CODE END 6 */
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}
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#endif /* USE_FULL_ASSERT */
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