同步步兵代码，暂时关闭底盘跟随
This commit is contained in:
37
云台/云台-old/User/Parameter.h
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37
云台/云台-old/User/Parameter.h
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#ifndef __PARAMETER_H
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#define __PARAMETER_H
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/*=============================================结构参数=============================================*/
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#define Yaw_GM6020PositionValue 4050//Yaw轴编码器值4050
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#define Pitch_GM6020PositionValue 3245//Pitch轴编码器值
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#define Pitch_GM6020PositionLowerLinit 3000//Pitch轴编码器值下限
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#define Pitch_GM6020PositionUpperLinit 2900//Pitch轴编码器值上限
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#define Pitch_GM6020AngleLowerLinit 15.0f//Pitch轴编码器值下限
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#define Pitch_GM6020AngleUpperLinit -10.0f//Pitch轴编码器值上限
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/*=============================================云台参数=============================================*/
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#define Gimbal_FrictionWheelSpeed 500//摩擦轮转速,弹速限制30m/s
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#define Gimbal_RammerSpeed -1500//拨弹盘转速,射频为7时大概冷却和热量相抵,5400是射频20的最低下限
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#define Gimbal_LeverSpeedMapRate 3.0f//云台俯仰拨杆速度映射比例
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#define Gimbal_YawPitchSpeedRate 2.0f//云台偏航俯仰速度比
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/*=============================================操作手参数=============================================*/
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#define PC_Go (Remote_RxData.Remote_Key_W)//前
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#define PC_Back (Remote_RxData.Remote_Key_S)//后
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#define PC_Left (Remote_RxData.Remote_Key_A)//左
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#define PC_Right (Remote_RxData.Remote_Key_D)//右
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#define PC_Spin (Remote_RxData.Remote_Mouse_RL)//视角水平移动
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#define PC_Pitch (Remote_RxData.Remote_Mouse_DU)//视角垂直移动
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#define PC_Mouse_RLSensitivity 3.0f//鼠标左右灵敏度
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#define PC_Mouse_DUSensitivity 8.0f//鼠标上下灵敏度
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#define PC_FrictionWheel (Remote_RxData.Remote_KeyPush_Q)//摩擦轮
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#define PC_Fire (Remote_RxData.Remote_Mouse_KeyL)//发射
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#define PC_Ejection (Remote_RxData.Remote_Key_E)//退弹
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#define PC_GyroScope (Remote_RxData.Remote_KeyPush_Ctrl)//小陀螺
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#define PC_SpeedUp (Remote_RxData.Remote_Key_Shift)//加速
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#endif
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42
云台/云台-old/User/RM_C.h
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42
云台/云台-old/User/RM_C.h
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#ifndef __RM_C_H
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#define __RM_C_H
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/*==========延时==========*/
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#include "Delay.h" //延时
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/*==========硬件驱动==========*/
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#include "TIM.h" //定时器
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#include "LED.h" //LED
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#include "Buzzer.h" //蜂鸣器
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#include "Remote.h" //遥控器
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#include "BMI088.h" //陀螺仪
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#include "IST8310.h" //磁力计
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#include "Laser.h" //激光
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#include "M3508.h" //M3508
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#include "GM6020.h" //GM6020
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#include "M2006.h" //M2006
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/*==========通讯协议==========*/
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#include "UART.h" //串口
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#include "MyI2C.h" //软件I2C
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#include "CAN.h" //CAN
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/*==========控制算法==========*/
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#include "PID.h" //PID
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/*==========功能==========*/
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#include "LinkCheck.h" //CAN连接检测
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#include "CloseLoopControl.h" //闭环控制
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#include "CToC.h" //板间通讯
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#include "IMUTemperatureControl.h" //陀螺仪恒温控制
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#include "AttitudeAlgorithms.h" //姿态解算
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#include "Warming.h" //报警
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/*==========车体=========*/
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#include "Parameter.h" //参数
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#include "Gimbal.h" //云台
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#include "Visual.h" //视觉
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#include "RefereeSystem.h" //裁判系统
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#include "Keyboard.h" //键盘
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#endif
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34
云台/云台-old/User/main.c
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34
云台/云台-old/User/main.c
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#include "stm32f4xx.h" // Device header
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#include "stm32f4xx_conf.h"
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#include <stdio.h>
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#include "RM_C.h"
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#include "AttitudeAlgorithms.h"
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#include "Gimbal.h"
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#include "visual.h"
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int main(void)
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{
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Warming_Init();//报警初始化
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LED_BON();//蓝灯点亮表示代码在运行
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AttitudeAlgorithms_Init();//姿态解算初始化
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Delay_s(1);//延时,等待校准和模块启动
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LinkCheck_Init();//连接检测初始化
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RefereeSystem_Init();//图传链路初始化
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Visual_Init();//视觉初始化
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CloseLoopControl_Init();//闭环控制初始化
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Remote_Init();//遥控器初始化
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UART2_SendInit();//串口2初始化
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//UART2_Init();
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while(1)
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{
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IWDG_ReloadCounter();//喂狗
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CToC_MasterSendControl();//CToC发送遥控器控制数据
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CToC_MasterSendData();//CToC发送遥控器摇杆数据
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//Debug();
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//UART2_Printf("%d\n",AttitudeAlgorithms_DegYaw);
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//Visual_SendData();
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Delay_us(1);//延时1usCToC周期1.5ms
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}
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}
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164
云台/云台-old/User/stm32f4xx_conf.h
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164
云台/云台-old/User/stm32f4xx_conf.h
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/**
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******************************************************************************
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* @file Project/STM32F4xx_StdPeriph_Templates/stm32f4xx_conf.h
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* @author MCD Application Team
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* @version V1.8.1
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* @date 27-January-2022
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* @brief Library configuration file.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2016 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef __STM32F4xx_CONF_H
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#define __STM32F4xx_CONF_H
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/* Includes ------------------------------------------------------------------*/
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/* Uncomment the line below to enable peripheral header file inclusion */
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#include "stm32f4xx_adc.h"
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#include "stm32f4xx_crc.h"
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#include "stm32f4xx_dbgmcu.h"
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#include "stm32f4xx_dma.h"
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#include "stm32f4xx_exti.h"
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#include "stm32f4xx_flash.h"
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#include "stm32f4xx_gpio.h"
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#include "stm32f4xx_i2c.h"
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#include "stm32f4xx_iwdg.h"
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#include "stm32f4xx_pwr.h"
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#include "stm32f4xx_rcc.h"
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#include "stm32f4xx_rtc.h"
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#include "stm32f4xx_sdio.h"
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#include "stm32f4xx_spi.h"
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#include "stm32f4xx_syscfg.h"
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#include "stm32f4xx_tim.h"
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#include "stm32f4xx_usart.h"
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#include "stm32f4xx_wwdg.h"
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#include "misc.h" /* High level functions for NVIC and SysTick (add-on to CMSIS functions) */
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#if defined(STM32F429_439xx) || defined(STM32F446xx) || defined(STM32F469_479xx)
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#include "stm32f4xx_cryp.h"
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#include "stm32f4xx_hash.h"
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#include "stm32f4xx_rng.h"
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#include "stm32f4xx_can.h"
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#include "stm32f4xx_dac.h"
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#include "stm32f4xx_dcmi.h"
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#include "stm32f4xx_dma2d.h"
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#include "stm32f4xx_fmc.h"
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#include "stm32f4xx_ltdc.h"
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#include "stm32f4xx_sai.h"
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#endif /* STM32F429_439xx || STM32F446xx || STM32F469_479xx */
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#if defined(STM32F427_437xx)
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#include "stm32f4xx_cryp.h"
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#include "stm32f4xx_hash.h"
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#include "stm32f4xx_rng.h"
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#include "stm32f4xx_can.h"
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#include "stm32f4xx_dac.h"
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#include "stm32f4xx_dcmi.h"
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#include "stm32f4xx_dma2d.h"
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#include "stm32f4xx_fmc.h"
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#include "stm32f4xx_sai.h"
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#endif /* STM32F427_437xx */
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#if defined(STM32F40_41xxx)
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#include "stm32f4xx_cryp.h"
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#include "stm32f4xx_hash.h"
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#include "stm32f4xx_rng.h"
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#include "stm32f4xx_can.h"
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#include "stm32f4xx_dac.h"
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#include "stm32f4xx_dcmi.h"
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#include "stm32f4xx_fsmc.h"
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#endif /* STM32F40_41xxx */
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#if defined(STM32F410xx)
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#include "stm32f4xx_rng.h"
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#include "stm32f4xx_dac.h"
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#endif /* STM32F410xx */
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#if defined(STM32F411xE)
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#include "stm32f4xx_flash_ramfunc.h"
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#endif /* STM32F411xE */
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#if defined(STM32F446xx) || defined(STM32F469_479xx)
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#include "stm32f4xx_qspi.h"
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#endif /* STM32F446xx || STM32F469_479xx */
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#if defined(STM32F410xx) || defined(STM32F446xx)
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#include "stm32f4xx_fmpi2c.h"
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#endif /* STM32F410xx || STM32F446xx */
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#if defined(STM32F446xx)
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#include "stm32f4xx_spdifrx.h"
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#include "stm32f4xx_cec.h"
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#endif /* STM32F446xx */
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#if defined(STM32F469_479xx)
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#include "stm32f4xx_dsi.h"
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#endif /* STM32F469_479xx */
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#if defined(STM32F410xx)
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#include "stm32f4xx_lptim.h"
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#endif /* STM32F410xx */
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#if defined(STM32F412xG)
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#include "stm32f4xx_rng.h"
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#include "stm32f4xx_can.h"
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#include "stm32f4xx_qspi.h"
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#include "stm32f4xx_rng.h"
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#include "stm32f4xx_fsmc.h"
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#include "stm32f4xx_dfsdm.h"
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#endif /* STM32F412xG */
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#if defined(STM32F413_423xx)
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#include "stm32f4xx_cryp.h"
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#include "stm32f4xx_fmpi2c.h"
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#include "stm32f4xx_rng.h"
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#include "stm32f4xx_can.h"
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#include "stm32f4xx_qspi.h"
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#include "stm32f4xx_rng.h"
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#include "stm32f4xx_fsmc.h"
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#include "stm32f4xx_dfsdm.h"
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#endif /* STM32F413_423xx */
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/* Exported types ------------------------------------------------------------*/
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/* Exported constants --------------------------------------------------------*/
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/* If an external clock source is used, then the value of the following define
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should be set to the value of the external clock source, else, if no external
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clock is used, keep this define commented */
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/*#define I2S_EXTERNAL_CLOCK_VAL 12288000 */ /* Value of the external clock in Hz */
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/* Uncomment the line below to expanse the "assert_param" macro in the
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Standard Peripheral Library drivers code */
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/* #define USE_FULL_ASSERT 1 */
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/* Exported macro ------------------------------------------------------------*/
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#ifdef USE_FULL_ASSERT
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/**
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* @brief The assert_param macro is used for function's parameters check.
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* @param expr: If expr is false, it calls assert_failed function
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* which reports the name of the source file and the source
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* line number of the call that failed.
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* If expr is true, it returns no value.
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* @retval None
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*/
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#define assert_param(expr) ((expr) ? (void)0 : assert_failed((uint8_t *)__FILE__, __LINE__))
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/* Exported functions ------------------------------------------------------- */
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void assert_failed(uint8_t* file, uint32_t line);
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#else
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#define assert_param(expr) ((void)0)
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#endif /* USE_FULL_ASSERT */
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#endif /* __STM32F4xx_CONF_H */
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158
云台/云台-old/User/stm32f4xx_it.c
Normal file
158
云台/云台-old/User/stm32f4xx_it.c
Normal file
@@ -0,0 +1,158 @@
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/**
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******************************************************************************
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* @file Project/STM32F4xx_StdPeriph_Templates/stm32f4xx_it.c
|
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* @author MCD Application Team
|
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* @version V1.8.1
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* @date 27-January-2022
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* @brief Main Interrupt Service Routines.
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* This file provides template for all exceptions handler and
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* peripherals interrupt service routine.
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******************************************************************************
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* @attention
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*
|
||||
* Copyright (c) 2016 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.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
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|
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/* Includes ------------------------------------------------------------------*/
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#include "stm32f4xx_it.h"
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|
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/** @addtogroup Template_Project
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* @{
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*/
|
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|
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/* Private typedef -----------------------------------------------------------*/
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* Private macro -------------------------------------------------------------*/
|
||||
/* Private variables ---------------------------------------------------------*/
|
||||
/* Private function prototypes -----------------------------------------------*/
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/* Private functions ---------------------------------------------------------*/
|
||||
|
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/******************************************************************************/
|
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/* Cortex-M4 Processor Exceptions Handlers */
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/******************************************************************************/
|
||||
|
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/**
|
||||
* @brief This function handles NMI exception.
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||||
* @param None
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||||
* @retval None
|
||||
*/
|
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void NMI_Handler(void)
|
||||
{
|
||||
}
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|
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/**
|
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* @brief This function handles Hard Fault exception.
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
void HardFault_Handler(void)
|
||||
{
|
||||
/* Go to infinite loop when Hard Fault exception occurs */
|
||||
while (1)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles Memory Manage exception.
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
void MemManage_Handler(void)
|
||||
{
|
||||
/* Go to infinite loop when Memory Manage exception occurs */
|
||||
while (1)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles Bus Fault exception.
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
void BusFault_Handler(void)
|
||||
{
|
||||
/* Go to infinite loop when Bus Fault exception occurs */
|
||||
while (1)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
/**
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||||
* @brief This function handles Usage Fault exception.
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
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||||
void UsageFault_Handler(void)
|
||||
{
|
||||
/* Go to infinite loop when Usage Fault exception occurs */
|
||||
while (1)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles SVCall exception.
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||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
void SVC_Handler(void)
|
||||
{
|
||||
}
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||||
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/**
|
||||
* @brief This function handles Debug Monitor exception.
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
void DebugMon_Handler(void)
|
||||
{
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles PendSVC exception.
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
void PendSV_Handler(void)
|
||||
{
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles SysTick Handler.
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
void SysTick_Handler(void)
|
||||
{
|
||||
}
|
||||
|
||||
/******************************************************************************/
|
||||
/* STM32F4xx Peripherals Interrupt Handlers */
|
||||
/* Add here the Interrupt Handler for the used peripheral(s) (PPP), for the */
|
||||
/* available peripheral interrupt handler's name please refer to the startup */
|
||||
/* file (startup_stm32f4xx.s). */
|
||||
/******************************************************************************/
|
||||
|
||||
/**
|
||||
* @brief This function handles PPP interrupt request.
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
/*void PPP_IRQHandler(void)
|
||||
{
|
||||
}*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
|
||||
52
云台/云台-old/User/stm32f4xx_it.h
Normal file
52
云台/云台-old/User/stm32f4xx_it.h
Normal file
@@ -0,0 +1,52 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file Project/STM32F4xx_StdPeriph_Templates/stm32f4xx_it.h
|
||||
* @author MCD Application Team
|
||||
* @version V1.8.1
|
||||
* @date 27-January-2022
|
||||
* @brief This file contains the headers of the interrupt handlers.
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* Copyright (c) 2016 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.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef __STM32F4xx_IT_H
|
||||
#define __STM32F4xx_IT_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "stm32f4xx.h"
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
/* Exported macro ------------------------------------------------------------*/
|
||||
/* Exported functions ------------------------------------------------------- */
|
||||
|
||||
void NMI_Handler(void);
|
||||
void HardFault_Handler(void);
|
||||
void MemManage_Handler(void);
|
||||
void BusFault_Handler(void);
|
||||
void UsageFault_Handler(void);
|
||||
void SVC_Handler(void);
|
||||
void DebugMon_Handler(void);
|
||||
void PendSV_Handler(void);
|
||||
void SysTick_Handler(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __STM32F4xx_IT_H */
|
||||
|
||||
Reference in New Issue
Block a user