同步最新代码
This commit is contained in:
96
底盘独立控制器/code/Function/CloseLoopControl.c
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96
底盘独立控制器/code/Function/CloseLoopControl.c
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@@ -0,0 +1,96 @@
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#include "stm32f4xx.h" // Device header
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#include "stm32f4xx_conf.h"
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#include "Remote.h"
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#include "Mecanum.h"
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#include "Warming.h"
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#include "LinkCheck.h"
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#include "UI.h"
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uint8_t CloseLoopControl_ErrorFlag;//闭环控制CAN设备故障标志位
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/*
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*函数简介:闭环控制初始化
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*参数说明:无
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*返回类型:无
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*备注:使用定时器TIM6进行闭环,闭环周期2ms
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*/
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void CloseLoopControl_Init(void)
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{
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6,ENABLE);//开启时钟
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TIM_InternalClockConfig(TIM6);//选择时基单元的时钟(TIM6)
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TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;//配置时基单元（配置参数）
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TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;//配置时钟分频为1分频
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TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up;//配置计数器模式为向上计数
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TIM_TimeBaseInitStructure.TIM_Period=500-1;//配置自动重装值ARR
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TIM_TimeBaseInitStructure.TIM_Prescaler=336-1;//配置分频值PSC,默认定时2ms
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TIM_TimeBaseInitStructure.TIM_RepetitionCounter=0;//配置重复计数单元的置为0
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TIM_TimeBaseInit(TIM6,&TIM_TimeBaseInitStructure);//初始化TIM7
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TIM_ClearFlag(TIM6,TIM_FLAG_Update);//清除配置时基单元产生的中断标志位
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TIM_ITConfig(TIM6,TIM_IT_Update,ENABLE);//使能更新中断
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//选择NVIC分组
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NVIC_InitTypeDef NVIC_InitStructure;//配置NVIC（配置参数）
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NVIC_InitStructure.NVIC_IRQChannel=TIM6_DAC_IRQn;//选择中断通道为TIM6
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NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;//使能中断通道
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3;//TIM2的抢占优先级
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NVIC_InitStructure.NVIC_IRQChannelSubPriority=3;//TIM2的响应优先级
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NVIC_Init(&NVIC_InitStructure);//初始化NVIC
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TIM_Cmd(TIM6,ENABLE);//启动定时器
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Mecanum_Init();//麦轮初始化
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}
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/*
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*函数简介:TIM6定时器更新中断函数
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*参数说明:无
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*返回类型:无
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*备注:无
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*/
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void TIM6_DAC_IRQHandler(void)
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{
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static uint8_t Remote_LastStatus,Remote_ThisStatus=0;
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static uint8_t Count=0;
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if(TIM_GetITStatus(TIM6,TIM_IT_Update)==SET)//检测TIM6更新
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{
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TIM_ClearITPendingBit(TIM6,TIM_IT_Update);//清除标志位
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/*===============麦轮闭环控制===============*/
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Remote_LastStatus=Remote_ThisStatus;//遥控器上一次连接状态
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Remote_ThisStatus=Remote_Status;//遥控器本次连接状态
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if(LinkCheck_Error==0)//CAN设备正常连接
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{
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if(Remote_Status==1)//遥控器处于连接状态
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{
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if(Remote_LastStatus==0 && Remote_ThisStatus==1)UI_Init();//遥控器连接瞬间,初始化UI界面
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Mecanum_PowerMoveControl();//底盘功率控制
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if(Count==50){Count=0;UI_Updata();}//每100ms更新一次UI界面
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else Count++;
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}
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else
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{
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Warming_MotorControl();//电机报警状态
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if(Count==50){Count=0;UI_RemoteNoCheck();}//每100ms更新一次UI界面,显示遥控器未连接
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else Count++;
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}
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}
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else//CAN设备异常连接
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{
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Warming_LinkError();//CAN设备连接错误报警
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Warming_MotorControl();//电机报警状态
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CloseLoopControl_ErrorFlag=1;//置闭环控制CAN设备故障标志位
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if(Count==50){Count=0;Warming_UIShow();}//每100ms更新一次UI界面,显示CAN设备异常连接
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else Count++;
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}
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}
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}
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8
底盘独立控制器/code/Function/CloseLoopControl.h
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8
底盘独立控制器/code/Function/CloseLoopControl.h
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@@ -0,0 +1,8 @@
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#ifndef __CLOSELOOPCONTROL_H
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#define __CLOSELOOPCONTROL_H
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extern uint8_t CloseLoopControl_ErrorFlag;//闭环控制CAN设备故障标志位
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void CloseLoopControl_Init(void);//闭环控制初始化
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#endif
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94
底盘独立控制器/code/Function/LinkCheck.c
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94
底盘独立控制器/code/Function/LinkCheck.c
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@@ -0,0 +1,94 @@
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/*
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连接检查初始化 --->定时器超时--->连接错误,关闭遥控器---
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开启定时器 --->等待CAN接收---| |
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^ --->关闭定时器,更改ID<---等待恢复连接<--
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---开启定时器-------
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*/
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#include "stm32f4xx.h" // Device header
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#include "stm32f4xx_conf.h"
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#include "TIM.h"
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#include "Remote.h"
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#include "CAN.h"
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uint8_t LinkCheck_Error=0;//连接错误标志位
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/*
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*函数简介:CAN设备连接检测初始化
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*参数说明:无
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*返回类型:无
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*备注:Freq=Sys_APB1TIM/(PSC+1)/(ARR+1)=84MHz/(PSC+1)/(ARR+1),T=1/Freq=(ARR+1)*(PSC+1)/84MHz
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*备注:默认定时2.5ms
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*/
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void LinkCheck_Init(void)
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{
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM13,ENABLE);//开启时钟
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TIM_InternalClockConfig(TIM13);//选择时基单元的时钟
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TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;//配置时基单元（配置参数）
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TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;//配置时钟分频为1分频
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TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up;//配置计数器模式为向上计数
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TIM_TimeBaseInitStructure.TIM_Period=210-1;//配置自动重装值ARR
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TIM_TimeBaseInitStructure.TIM_Prescaler=1000-1;//配置分频值PSC
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TIM_TimeBaseInitStructure.TIM_RepetitionCounter=0;//配置重复计数单元的置为0
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TIM_TimeBaseInit(TIM13,&TIM_TimeBaseInitStructure);//初始化TIM13
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TIM_ClearFlag(TIM13,TIM_FLAG_Update);//清除配置时基单元产生的中断标志位
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TIM_ITConfig(TIM13,TIM_IT_Update,ENABLE);//使能更新中断
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//选择NVIC分组
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NVIC_InitTypeDef NVIC_InitStructure;//配置NVIC（配置参数）
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NVIC_InitStructure.NVIC_IRQChannel=TIM8_UP_TIM13_IRQn;//选择中断通道为TIM13
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NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;//使能中断通道
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1;//TIM13的抢占优先级
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NVIC_InitStructure.NVIC_IRQChannelSubPriority=2;//TIM13的响应优先级
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NVIC_Init(&NVIC_InitStructure);//初始化NVIC
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TIM_Cmd(TIM13,ENABLE);//启动定时器
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CAN_CANInit();//CAN通讯初始化
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}
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/*
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*函数简介:开启掉线检查
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*参数说明:无
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*返回类型:无
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*备注:无
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*/
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void LinkCheck_ON(void)
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{
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TIM_SetCounter(TIM13,0);//复位计数器
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TIM_Cmd(TIM13,ENABLE);
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}
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/*
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*函数简介:关闭掉线检测
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*参数说明:无
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*返回类型:无
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*备注:无
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*/
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void LinkCheck_OFF(void)
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{
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TIM_Cmd(TIM13,DISABLE);
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}
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/*
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*函数简介:TIM13定时器更新中断函数
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*参数说明:无
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*返回类型:无
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*备注:进入中断即发生CAN设备掉线
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*/
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void TIM8_UP_TIM13_IRQHandler(void)
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{
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if(TIM_GetITStatus(TIM13,TIM_IT_Update)==SET)//检测TIM2更新
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{
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TIM_ClearITPendingBit(TIM13,TIM_IT_Update);//清除标志位
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LinkCheck_Error=1;//连接错误
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}
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}
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10
底盘独立控制器/code/Function/LinkCheck.h
Normal file
10
底盘独立控制器/code/Function/LinkCheck.h
Normal file
@@ -0,0 +1,10 @@
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#ifndef __LINKCHECK_H
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#define __LINKCHECK_H
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extern uint8_t LinkCheck_Error;//连接错误标志位
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void LinkCheck_Init(void);//CAN设备连接检测初始化
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void LinkCheck_ON(void);//开启掉线检查
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void LinkCheck_OFF(void);//关闭掉线检测
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#endif
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187
底盘独立控制器/code/Function/Warming.c
Normal file
187
底盘独立控制器/code/Function/Warming.c
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@@ -0,0 +1,187 @@
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#include "stm32f4xx.h" // Device header
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#include "stm32f4xx_conf.h"
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#include "LED.h"
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#include "Buzzer.h"
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#include "CAN.h"
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#include "Delay.h"
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#include "M3508.h"
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#include "UI_Library.h"
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/*==================== 报警列表 ====================
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遥控器未连接 ················1s里红灯连闪两下
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遥控器数据错误报警 ············红灯常亮
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CAN总线设备连接异常············2s内蜂鸣器以高音6响n下,n为CAN.c文件里ID列表的索引
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IST8310连接错误 ················绿灯以1s为周期闪烁
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BMI088连接错误 ················1s里绿灯连闪两下
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陀螺仪温度过高报警 ············绿灯常亮
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电机报警状态 ················电机静止
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自定义UI显示警告 ············所有状态指示灯变成红或蓝
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======================================================*/
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/*
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*函数简介:报警初始化
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*参数说明:无
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*返回类型:无
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*备注:报警功能用于各种错误的提示
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*备注:报警有两种方式-LED和蜂鸣器
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*/
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void Warming_Init(void)
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{
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LED_Init();
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Buzzer_Init();
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}
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/*
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*函数简介:报警关闭
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*参数说明:无
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*返回类型:无
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*备注:无
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*/
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void Warming_Stop(void)
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{
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TIM_SetCompare1(TIM10,0);
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}
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/*
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*函数简介:报警LED清理
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*参数说明:无
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*返回类型:无
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*备注:关闭所有灯
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*/
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void Warming_LEDClean(void)
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{
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LED_BOFF();LED_GOFF();LED_ROFF();
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}
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/*
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*函数简介:报警蜂鸣器清理
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*参数说明:无
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*返回类型:无
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*备注:关闭所有蜂鸣器
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*/
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void Warming_BuzzerClean(void)
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{
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Buzzer_ON(P);
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}
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/*
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*函数简介:遥控器未连接报警
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*参数说明:无
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*返回类型:无
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*备注:遥控器连接检测TIM7定时更新中断调用,定时25ms
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*报警现象:1s里红灯连闪两下
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*/
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void Warming_RemoteNoCheck(void)
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{
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static uint8_t Counter=0;
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Counter++;
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if(Counter==1)LED_RON();
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else if(Counter==5)LED_ROFF();
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else if(Counter==13)LED_RON();
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else if(Counter==17)LED_ROFF();
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else if(Counter==40)Counter=0;
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}
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/*
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*函数简介:遥控器数据错误报警
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*参数说明:无
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*返回类型:无
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*报警现象:红灯常量
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*/
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void Warming_RemoteDataERROR(void)
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{
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LED_RON();
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}
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/*
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*函数简介:CAN总线设备连接异常报警
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*参数说明:无
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*返回类型:无
|
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*备注:闭环控制TIM6定时更新中断调用,定时2ms
|
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*报警现象:2s内蜂鸣器以高音6响n下,n为连接异常的设备在ID列表的索引(CAN.h文件中CAN_IDSelect变量)
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*/
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void Warming_LinkError(void)
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{
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static uint8_t i=0;
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static uint16_t Counter=0;
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Counter++;
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if(i<CAN_IDSelect+1)//高音6响CAN_IDSelect下
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{
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if(Counter==100*i+1)Buzzer_ON(H6);
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else if(Counter==100*i+51)Buzzer_ON(P);
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else if(Counter==100*i+100)i++;
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}
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if(Counter==1000){Counter=0;i=0;}
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}
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/*
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*函数简介:IST8310连接错误
|
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*参数说明:无
|
||||
*返回类型:无
|
||||
*备注:IST8310初始化调用,周期25ms
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*报警现象:绿灯以1s为周期闪烁
|
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*/
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void Warming_IST8310LinkError(void)
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{
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static uint8_t Counter=0;
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Counter++;
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if(Counter==1)LED_GON();
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else if(Counter==5)LED_GOFF();
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else if(Counter==40)Counter=0;
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}
|
||||
|
||||
/*
|
||||
*函数简介:BMI088连接错误
|
||||
*参数说明:无
|
||||
*返回类型:无
|
||||
*备注:BMI088初始化调用,周期25ms
|
||||
*报警现象:1s里绿灯连闪两下
|
||||
*/
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void Warming_BMI088LinkError(void)
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{
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static uint8_t Counter=0;
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Counter++;
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if(Counter==1)LED_GON();
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else if(Counter==5)LED_GOFF();
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else if(Counter==13)LED_GON();
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else if(Counter==17)LED_GOFF();
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else if(Counter==40)Counter=0;
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}
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/*
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*函数简介:陀螺仪温度过高报警
|
||||
*参数说明:无
|
||||
*返回类型:无
|
||||
*备注:IMU恒温控制调用,温度警戒50℃
|
||||
*报警现象:绿灯常亮
|
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*/
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void Warming_IMUTemperatureTooHigh(void)
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{
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LED_GON();
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}
|
||||
|
||||
/*
|
||||
*函数简介:电机报警状态
|
||||
*参数说明:无
|
||||
*返回类型:无
|
||||
*报警现象:电机静止
|
||||
*/
|
||||
void Warming_MotorControl(void)
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||||
{
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M3508_CANSetLIDCurrent(0,0,0,0);
|
||||
}
|
||||
|
||||
/*
|
||||
*函数简介:自定义UI显示警告
|
||||
*参数说明:无
|
||||
*返回类型:无
|
||||
*报警现象:所有状态指示灯变成红或蓝
|
||||
*/
|
||||
void Warming_UIShow(void)
|
||||
{
|
||||
_ui_update_default_Ungroup_2_ERROR();
|
||||
}
|
||||
28
底盘独立控制器/code/Function/Warming.h
Normal file
28
底盘独立控制器/code/Function/Warming.h
Normal file
@@ -0,0 +1,28 @@
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||||
#ifndef __WARMING_H
|
||||
#define __WARMING_H
|
||||
|
||||
/*==================== 报警列表 ====================
|
||||
遥控器未连接 ················1s里红灯连闪两下
|
||||
遥控器数据错误报警 ············红灯常亮
|
||||
CAN总线设备连接异常············2s内蜂鸣器以高音6响n下,n为CAN.c文件里ID列表的索引
|
||||
IST8310连接错误 ················绿灯以1s为周期闪烁
|
||||
BMI088连接错误 ················1s里绿灯连闪两下
|
||||
陀螺仪温度过高报警 ············绿灯常亮
|
||||
电机报警状态 ················电机静止
|
||||
自定义UI显示警告 ············所有状态指示灯变成红或蓝
|
||||
======================================================*/
|
||||
|
||||
void Warming_Init(void);//报警初始化
|
||||
void Warming_Stop(void);//报警关闭
|
||||
void Warming_LEDClean(void);//报警LED清理
|
||||
void Warming_BuzzerClean(void);//报警蜂鸣器清理
|
||||
void Warming_RemoteNoCheck(void);//遥控器未连接报警
|
||||
void Warming_RemoteDataERROR(void);//遥控器数据错误报警
|
||||
void Warming_LinkError(void);//CAN总线设备连接异常报警
|
||||
void Warming_IST8310LinkError(void);//IST8310连接错误
|
||||
void Warming_BMI088LinkError(void);//BMI088连接错误
|
||||
void Warming_IMUTemperatureTooHigh(void);//陀螺仪温度过高报警
|
||||
void Warming_MotorControl(void);//电机报警状态
|
||||
void Warming_UIShow(void);//自定义UI显示警告
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user