ELCT/25-sentry-chassis
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bc5bd0c72ebbc682c43c3b567d17cb6344898b1f
25-sentry-chassis/Core/Src/main.c
HelixCopex bc5bd0c72e 首次提交
2026-05-17 21:07:34 +08:00

285 lines
7.7 KiB
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2026 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "dma.h"
#include "iwdg.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdint.h>
#include <math.h>
#include "BSP_USART.h"
#include "Remote.h"
//===============临时测试用
#include "Classis_Wheels.h"
#include "BMI088.h"
#include "BMI088driver.h"
#include "BSP_CAN.h"
#include "Motor.h"
//===============临时测试用
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
extern PID_PositionInitTypedef Wheels_SpeedPID[4];
extern M3508_Motor Can1_M3508_MotorStatus[8];
extern M3508_Motor Can2_M3508_MotorStatus[8];
extern M6020_Motor Can1_M6020_MotorStatus[7];//GM6020电机状态数组
extern M6020_Motor Can2_M6020_MotorStatus[7];//GM6020电机状态数组
extern Remote_Data Remote_RxData;//遥控器接收数据
extern RC_ctrl_t *local_rc_ctrl;
extern BMI088_Init_typedef BMI088_Data;
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_TIM6_Init();
MX_CAN1_Init();
MX_CAN2_Init();
MX_USART1_UART_Init();
MX_USART3_UART_Init();
// MX_IWDG_Init();
MX_SPI1_Init();
MX_TIM10_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start_IT(&htim6);
Can_Filter_Init();
while(BMI088_init());
Remote_Init();
Classis_Wheels_Init();
UART2_SendString ("RM GOOOO!!!");
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
// UART2_SendFloat_Sign(-123.456f, 3); // 输出: "-123.456"
// UART2_SendNumber(Remote_RxData.Remote_R_UD+1024,4);//右摇杆左右
// UART2_SendByte(',');
// UART2_SendNumber(Remote_RxData.Remote_R_RL+1024,4);//右摇杆上下
// UART2_SendByte(',');
// UART2_SendByte(',');
// UART2_SendNumber(local_rc_ctrl->rc.ch[2]+1024,4);//左摇杆左右
// UART2_SendByte(',');
// UART2_SendNumber(local_rc_ctrl->rc.ch[3]+1024,4);//左摇杆上下
// UART2_SendByte(',');
// UART2_SendNumber(local_rc_ctrl->rc.ch[4]+1024,4);
// UART2_SendByte(',');
// UART2_SendNumber(local_rc_ctrl->rc.s[0],4);
// UART2_SendByte(',');
// UART2_SendNumber(local_rc_ctrl->rc.s[1],4);
// UART2_SendByte(',');
// ============陀螺仪数据============
BMI088_GetData(&BMI088_Data);
// UART2_SendFloat_Sign(BMI088_Data.Yaw,4);
// UART2_SendByte(',');
// UART2_SendFloat_Sign(BMI088_Data.Pitch,4);
// UART2_SendByte(',');
// UART2_SendFloat_Sign(BMI088_Data.Roll,4);
// UART2_SendByte(',');
// UART2_SendFloat_Sign(BMI088_Data.Accel[0],4);
// UART2_SendByte(',');
// UART2_SendFloat_Sign(BMI088_Data.Accel[1],4);
// UART2_SendByte(',');
// UART2_SendFloat_Sign(BMI088_Data.Accel[2],4);
// UART2_SendByte(',');
// UART2_SendFloat_Sign(BMI088_Data.Gyro[0],4);
// UART2_SendByte(',');
// UART2_SendFloat_Sign(BMI088_Data.Gyro[1],4);
// UART2_SendByte(',');
// UART2_SendFloat_Sign(BMI088_Data.Gyro[2],4);
// UART2_SendByte(',');
// UART2_SendFloat_Sign(atan2(1,1)/3.1415926535897932384626f*180,4);
// ============电机数据============
UART2_SendFloat_Sign(Can2_M6020_MotorStatus[0].ANgle,4);
//===============测试区
//===============测试区
//
UART2_SendByte('\n');
// HAL_Delay(10);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.LSIState = RCC_LSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = 8;
RCC_OscInitStruct.PLL.PLLN = 168;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
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