diff --git a/Application/Task/Inc/CAN_Task.h b/Application/Task/Inc/CAN_Task.h deleted file mode 100644 index aaac36b..0000000 --- a/Application/Task/Inc/CAN_Task.h +++ /dev/null @@ -1,10 +0,0 @@ -#ifndef CAN_TASK_H -#define CAN_TASK_H - - - - - - - -#endif \ No newline at end of file diff --git a/Application/Task/Inc/Config.h b/Application/Task/Inc/Config.h deleted file mode 100644 index a595d2e..0000000 --- a/Application/Task/Inc/Config.h +++ /dev/null @@ -1,141 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file : Config.c - * @brief : Configuare the Robot Functions - * @author : Yan Yuanbin - * @date : 2023/05/21 - * @version : v1.0 - ****************************************************************************** - * @attention : To be perfected - ****************************************************************************** - */ -/* USER CODE END Header */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef ROBOT_CONFIG_H -#define ROBOT_CONFIG_H - -/* Includes ------------------------------------------------------------------*/ -#include "stdint.h" -#include "stdbool.h" -#include "stdlib.h" -#include "string.h" -#include "math.h" - -/* General physics and mathematics constants ---------------------------------*/ - -/** - * @brief the value of local gravity acceleration - */ - - #define VAL_LIMIT(x,min,max) do{ \ - if ((x) > (max)) {(x) = (max);} \ - else if ((x) < (min)) {(x) = (min);} \ - }while(0U) - -#define GravityAccel 9.718f - -#define Angle_to_rad 0.01745329f - -#define Rad_to_angle 57.2957732f - -/** - * @brief Euler's Number - */ -#define Euler_Number 2.718281828459045f - -/** - * @brief radian system rotation degrees system , 180.f/PI - */ -#define RadiansToDegrees 57.295779513f - -/** - * @brief degrees system rotation radian system , PI/180.f - */ -#define DegreesToRadians 0.01745329251f - -/* Vision reslove constants -------------------------------------------------*/ - -/** - * @brief Decision Marking mode - * 0: select the minimum yaw armor - * 1: select the minimum distance armor - */ -#define Yaw_Distance_Decision 0 - -/** - * @brief ballistic coefficient - * @note 17mm: 0.038 - * 42mm: 0.019 - */ -#define Bullet_Coefficient 0.038f - -/** - * @brief the half width of little armor - */ -#define LittleArmor_HalfWidth 0.07f - -/** - * @brief the half width of Large armor - */ -#define LargeArmor_HalfWidth 0.1175f - -/* IMU reslove constants ---------------------------------------------------*/ -/** - * @brief the flag of bmi088 Calibration - * 0: DISABLE - * 1: ENABLE - */ -#define IMU_Calibration_ENABLE 0U - -/** - * @brief the index of pitch angle update - */ -#define IMU_ANGLE_INDEX_PITCH 2U -/** - * @brief the index of yaw angle update - */ -#define IMU_ANGLE_INDEX_YAW 0U -/** - * @brief the index of roll angle update - */ -#define IMU_ANGLE_INDEX_ROLL 1U - -/** - * @brief the index of pitch gyro update - */ -#define IMU_GYRO_INDEX_PITCH 0U -/** - * @brief the index of yaw gyro update - */ -#define IMU_GYRO_INDEX_YAW 2U -/** - * @brief the index of roll gyro update - */ -#define IMU_GYRO_INDEX_ROLL 1U - -/** - * @brief the index of pitch accel update - */ -#define IMU_ACCEL_INDEX_PITCH 0U -/** - * @brief the index of yaw accel update - */ -#define IMU_ACCEL_INDEX_YAW 2U -/** - * @brief the index of roll accel update - */ -#define IMU_ACCEL_INDEX_ROLL 1U - -/* Remote reslove constants -----------------------------------------------*/ -/** - * @brief the flag of remote control receive frame data - * @note 0: CAN - * 1: USART - */ -#define REMOTE_FRAME_USART_CAN 0U - -#endif //ROBOT_CONFIG_H - - diff --git a/Application/Task/Inc/Control_Task.h b/Application/Task/Inc/Control_Task.h deleted file mode 100644 index 98ad2f9..0000000 --- a/Application/Task/Inc/Control_Task.h +++ /dev/null @@ -1,50 +0,0 @@ -/** - ****************************************************************************** - * @file : Control_Task.c - * @brief : Control task - * @author : Yan Yuanbin - * @date : 2023/04/27 - * @version : v1.0 - ****************************************************************************** - * @attention : None - ****************************************************************************** - */ -/* USER CODE END Header */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef CONTROL_TASK_H -#define CONTROL_TASK_H - -/* Includes ------------------------------------------------------------------*/ -#include "stdint.h" -#include "stdbool.h" - - -/** - * @brief typedef structure that contains the information of chassis control -*/ - -typedef struct -{ - - struct{ - - float Chassis_Velocity; - - - }Target; - - struct{ - - float Chassis_Velocity; - - - }Measure; - - int16_t SendValue[4]; - -}Control_Info_Typedef; - - -extern Control_Info_Typedef Control_Info; -#endif //CONTROL_TASK_H \ No newline at end of file diff --git a/Application/Task/Src/CAN_Task.c b/Application/Task/Src/CAN_Task.c deleted file mode 100644 index 4a59d16..0000000 --- a/Application/Task/Src/CAN_Task.c +++ /dev/null @@ -1,52 +0,0 @@ -/** - ****************************************************************************** - * @file : CAN_Task.c - * @brief : CAN task - * @author : GrassFam Wang - * @date : 2025/1/22 - * @version : v1.1 - ****************************************************************************** - * @attention : None - ****************************************************************************** - */ -/* USER CODE END Header */ - -/* Includes ------------------------------------------------------------------*/ -#include "cmsis_os.h" -#include "CAN_Task.h" -#include "Control_Task.h" -#include "INS_Task.h" -#include "Motor.h" -#include "bsp_can.h" -#include "Remote_Control.h" -#include "Control_Task.h" - -/* USER CODE BEGIN Header_CAN_Task */ -/** -* @brief Function implementing the StartCANTask thread. -* @param argument: Not used -* @retval None -*/ -/* USER CODE END Header_CAN_Task */ - - void CAN_Task(void const * argument) -{ - - TickType_t CAN_Task_SysTick = 0; - - for(;;) - { - - CAN_Task_SysTick = osKernelSysTick(); - - if(CAN_Task_SysTick % 2 == 0){ - - //500Hz���� �뱣֤��������osDelay(1) - - } - osDelay(1); - } - -} - - diff --git a/Application/Task/Src/Control_Task.c b/Application/Task/Src/Control_Task.c deleted file mode 100644 index f2cead2..0000000 --- a/Application/Task/Src/Control_Task.c +++ /dev/null @@ -1,84 +0,0 @@ -/** - ****************************************************************************** - * @file : Control_Task.c - * @brief : Control task - * @author : GrassFan Wang - * @date : 2025/01/22 - * @version : v1.1 - ****************************************************************************** - * @attention : None - ****************************************************************************** - */ -/* USER CODE END Header */ - -/* Includes ------------------------------------------------------------------*/ -#include "Control_Task.h" -#include "cmsis_os.h" -#include "Control_Task.h" -#include "bsp_uart.h" -#include "Remote_Control.h" -#include "PID.h" -#include "Motor.h" - -static void Control_Init(Control_Info_Typedef *Control_Info); -static void Control_Measure_Update(Control_Info_Typedef *Control_Info); -static void Control_Target_Update(Control_Info_Typedef *Control_Info); -static void Control_Info_Update(Control_Info_Typedef *Control_Info); - -Control_Info_Typedef Control_Info; -// KP KI KD Alpha Deadband I_MAX Output_MAX -static float Chassis_PID_Param[7] = {13.f,0.1f,0.f,0.f, 0.f, 5000.f, 12000.f}; - -PID_Info_TypeDef Chassis_PID; - -void Control_Task(void const * argument) -{ - /* USER CODE BEGIN Control_Task */ - TickType_t Control_Task_SysTick = 0; - - Control_Init(&Control_Info); - /* Infinite loop */ - for(;;) - { - Control_Task_SysTick = osKernelSysTick(); - - - Control_Measure_Update(&Control_Info); - Control_Target_Update(&Control_Info); - Control_Info_Update(&Control_Info); - USART_Vofa_Justfloat_Transmit(Control_Info.Measure.Chassis_Velocity,0.f,0.f); - - osDelay(1); - } -} - /* USER CODE END Control_Task */ - -static void Control_Init(Control_Info_Typedef *Control_Info){ - - PID_Init(&Chassis_PID,PID_POSITION,Chassis_PID_Param); - -} - -static void Control_Measure_Update(Control_Info_Typedef *Control_Info){ - - Control_Info->Measure.Chassis_Velocity = Chassis_Motor[0].Data.Velocity; - -} - -static void Control_Target_Update(Control_Info_Typedef *Control_Info){ - - Control_Info->Target.Chassis_Velocity = remote_ctrl.rc.ch[3] * 5.f; - - -} - -static void Control_Info_Update(Control_Info_Typedef *Control_Info){ - - PID_Calculate(&Chassis_PID, Control_Info->Target.Chassis_Velocity, Control_Info->Measure.Chassis_Velocity); - - Control_Info->SendValue[0] = (int16_t)(Chassis_PID.Output); - -} - - - \ No newline at end of file diff --git a/Bsp/Inc/bsp_can.h b/Bsp/Inc/bsp_can.h new file mode 100644 index 0000000..7dd19fa --- /dev/null +++ b/Bsp/Inc/bsp_can.h @@ -0,0 +1,82 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file : bsp_can.h + * @brief : The header file of bsp_can.c + * @author : YueLu + * @date : 2026/04/28 + * @version : v1.0 + ****************************************************************************** + * @attention : 复制自跃鹿战队,Testing...... + ****************************************************************************** + */ +/* USER CODE END Header */ + +#ifndef BSP_CAN_H +#define BSP_CAN_H + +#include +#include "can.h" + +// 最多能够支持的CAN设备数 +#define CAN_MX_REGISTER_CNT 12 // 这个数量取决于CAN总线的负载 +#define MX_CAN_FILTER_CNT (2 * 14) // 最多可以使用的CAN过滤器数量,目前远不会用到这么多 +#define DEVICE_CAN_CNT 2 // 根据板子设定,F407IG有CAN1,CAN2,因此为2;F334只有一个,则设为1 +// 如果只有1个CAN,还需要把bsp_can.c中所有的hcan2变量改为hcan1(别担心,主要是总线和FIFO的负载均衡,不影响功能) + +/* can instance typedef, every module registered to CAN should have this variable */ +#pragma pack(1) +typedef struct +{ + CAN_HandleTypeDef *can_handle; // can句柄 + CAN_TxHeaderTypeDef txconf; // CAN报文发送配置 + uint32_t tx_id; // 发送id + uint32_t tx_mailbox; // CAN消息填入的邮箱号 + uint8_t tx_buff[8]; // 发送缓存,发送消息长度可以通过CANSetDLC()设定,最大为8 + uint8_t rx_buff[8]; // 接收缓存,最大消息长度为8 + uint32_t rx_id; // 接收id + uint8_t rx_len; // 接收长度,可能为0-8 + // 接收的回调函数,用于解析接收到的数据 + void (*can_module_callback)(struct _ *); // callback needs an instance to tell among registered ones + void *id; // 使用can外设的模块指针(即id指向的模块拥有此can实例,是父子关系) +} CANInstance; +#pragma pack() + +/* CAN实例初始化结构体,将此结构体指针传入注册函数 */ +typedef struct +{ + CAN_HandleTypeDef *can_handle; // can句柄 + uint32_t tx_id; // 发送id + uint32_t rx_id; // 接收id + void (*can_module_callback)(CANInstance *); // 处理接收数据的回调函数 + void *id; // 拥有can实例的模块地址,用于区分不同的模块(如果有需要的话),如果不需要可以不传入 +} CAN_Init_Config_s; + +/** + * @brief Register a module to CAN service,remember to call this before using a CAN device + * 注册(初始化)一个can实例,需要传入初始化配置的指针. + * @param config init config + * @return CANInstance* can instance owned by module + */ +CANInstance *CANRegister(CAN_Init_Config_s *config); + +/** + * @brief 修改CAN发送报文的数据帧长度;注意最大长度为8,在没有进行修改的时候,默认长度为8 + * + * @param _instance 要修改长度的can实例 + * @param length 设定长度 + */ +void CANSetDLC(CANInstance *_instance, uint8_t length); + +/** + * @brief transmit mesg through CAN device,通过can实例发送消息 + * 发送前需要向CAN实例的tx_buff写入发送数据 + * + * @attention 超时时间不应该超过调用此函数的任务的周期,否则会导致任务阻塞 + * + * @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,float timeout); + +#endif diff --git a/Bsp/Src/bsp_can.c b/Bsp/Src/bsp_can.c new file mode 100644 index 0000000..1d83659 --- /dev/null +++ b/Bsp/Src/bsp_can.c @@ -0,0 +1,214 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file : bsp_can.c + * @brief : bsp can functions + * @author : YueLu + * @date : 2026/04/28 + * @version : v1.0 + ****************************************************************************** + * @attention : 复制自跃鹿战队,进行了部分修改,Testing...... + ****************************************************************************** + */ +/* USER CODE END Header */ + +/* Includes ------------------------------------------------------------------*/ +#include "bsp_can.h" +#include "main.h" + +/** + * @brief 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 + * @todo: 后续为每个CAN总线单独添加一个can_instance指针数组,提高回调查找的性能 + */ + +static CANInstance *can_instance[CAN_MX_REGISTER_CNT] = {NULL}; +static uint8_t idx; // 全局CAN实例索引,每次有新的模块注册会自增 + +/* ----------------two static function called by CANRegister()-------------------- */ + +/** + * @brief 添加过滤器以实现对特定id的报文的接收,会被CANRegister()调用 + * 给CAN添加过滤器后,BxCAN会根据接收到的报文的id进行消息过滤,符合规则的id会被填入FIFO触发中断 + * + * @note f407的bxCAN有28个过滤器,这里将其配置为前14个过滤器给CAN1使用,后14个被CAN2使用 + * 初始化时,奇数id的模块会被分配到FIFO0,偶数id的模块会被分配到FIFO1 + * 注册到CAN1的模块使用过滤器0-13,CAN2使用过滤器14-27 + * + * @attention 你不需要完全理解这个函数的作用,因为它主要是用于初始化,在开发过程中不需要关心底层的实现 + * 享受开发的乐趣吧!如果你真的想知道这个函数在干什么,请联系作者或自己查阅资料(请直接查阅官方的reference manual) + * + * @param _instance can instance owned by specific module + */ + + 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.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 + + HAL_CAN_ConfigFilter(_instance->can_handle, &can_filter_conf); +} + +/** + * @brief 在第一个CAN实例初始化的时候会自动调用此函数,启动CAN服务 + * + * @note 此函数会启动CAN1和CAN2,开启CAN1和CAN2的FIFO0 & FIFO1溢出通知 + * + */ +static void CANServiceInit() +{ + HAL_CAN_Start(&hcan1); + HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING); + HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO1_MSG_PENDING); + HAL_CAN_Start(&hcan2); + HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING); + HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING); +} + +/* ----------------------- two extern callable function -----------------------*/ + +CANInstance *CANRegister(CAN_Init_Config_s *config) +{ + if (!idx) + { + CANServiceInit(); // 第一次注册,先进行硬件初始化 + //LOGINFO("[bsp_can] CAN Service Init"); + //跃鹿的Log输出使用了SEGGER_RTT，需要配合Ozone使用（虽然Ozone很好用)，考虑到我们使用keil5进行开发，后续将会修改为UART输出或USB-CDC输出 + } + if (idx >= CAN_MX_REGISTER_CNT) // 超过最大实例数 + { + while (1) + //LOGERROR("[bsp_can] CAN instance exceeded MAX num, consider balance the load of CAN bus"); + } + 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) + { + while (1) + //LOGERROR("[}bsp_can] CAN id crash ,tx [%d] or rx [%d] already registered", &config->tx_id, &config->rx_id); + } + } + + 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 + instance->txconf.StdId = config->tx_id; // 发送id + instance->txconf.IDE = CAN_ID_STD; // 使用标准id,扩展id则使用CAN_ID_EXT(目前没有需求) + instance->txconf.RTR = CAN_RTR_DATA; // 发送数据帧 + instance->txconf.DLC = 0x08; // 默认发送长度为8 + // 设置回调函数和接收发送id + instance->can_handle = config->can_handle; + instance->tx_id = config->tx_id; // 好像没用,可以删掉 + instance->rx_id = config->rx_id; + instance->can_module_callback = config->can_module_callback; + instance->id = config->id; + + CANAddFilter(instance); // 添加CAN过滤器规则 + can_instance[idx++] = instance; // 将实例保存到can_instance中 + + return instance; // 返回can实例指针 +} + +/* @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, float timeout) +{ + static uint32_t busy_count; + static volatile float wait_time __attribute__((unused)); // for cancel warning + 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("[bsp_can] CAN MAILbox full! failed to add msg to mailbox. 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 + if (HAL_CAN_AddTxMessage(_instance->can_handle, &_instance->txconf, _instance->tx_buff, &_instance->tx_mailbox)) + { + //LOGWARNING("[bsp_can] CAN bus BUS! cnt:%d", busy_count); + busy_count++; + return 0; + } + return 1; // 发送成功 +} + +void CANSetDLC(CANInstance *_instance, uint8_t length) +{ + // 发送长度错误!检查调用参数是否出错,或出现野指针/越界访问 + if (length > 8 || length == 0) // 安全检查 + while (1) + //LOGERROR("[bsp_can] CAN DLC error! check your code or wild pointer"); + _instance->txconf.DLC = length; +} + +/* -----------------------belows are callback definitions--------------------------*/ + +/** + * @brief 此函数会被下面两个函数调用,用于处理FIFO0和FIFO1溢出中断(说明收到了新的数据) + * 所有的实例都会被遍历,找到can_handle和rx_id相等的实例时,调用该实例的回调函数 + * + * @param _hcan + * @param fifox passed to HAL_CAN_GetRxMessage() to get mesg from a specific fifo + */ +static void CANFIFOxCallback(CAN_HandleTypeDef *_hcan, uint32_t fifox) +{ + static CAN_RxHeaderTypeDef rxconf; // 同上 + uint8_t can_rx_buff[8]; + while (HAL_CAN_GetRxFifoFillLevel(_hcan, fifox)) // FIFO不为空,有可能在其他中断时有多帧数据进入 + { + 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 + if (_hcan == can_instance[i]->can_handle && rxconf.StdId == can_instance[i]->rx_id) + { + if (can_instance[i]->can_module_callback != NULL) // 回调函数不为空就调用 + { + can_instance[i]->rx_len = rxconf.DLC; // 保存接收到的数据长度 + memcpy(can_instance[i]->rx_buff, can_rx_buff, rxconf.DLC); // 消息拷贝到对应实例 + can_instance[i]->can_module_callback(can_instance[i]); // 触发回调进行数据解析和处理 + } + return; + } + } + } +} + +/** + * @brief 注意,STM32的两个CAN设备共享两个FIFO + * 下面两个函数是HAL库中的回调函数,他们被HAL声明为__weak,这里对他们进行重载(重写) + * 当FIFO0或FIFO1溢出时会调用这两个函数 + */ +// 下面的函数会调用CANFIFOxCallback()来进一步处理来自特定CAN设备的消息 + +/** + * @brief rx fifo callback. Once FIFO_0 is full,this func would be called + * + * @param hcan CAN handle indicate which device the oddest mesg in FIFO_0 comes from + */ +void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) +{ + CANFIFOxCallback(hcan, CAN_RX_FIFO0); // 调用我们自己写的函数来处理消息 +} + +/** + * @brief rx fifo callback. Once FIFO_1 is full,this func would be called + * + * @param hcan CAN handle indicate which device the oddest mesg in FIFO_1 comes from + */ +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 +} + diff --git a/MDK-ARM/Simba-ELCT-FrameWork.uvguix.LSMushui b/MDK-ARM/Simba-ELCT-FrameWork.uvguix.LSMushui index 7e9d776..ecc5308 100644 --- a/MDK-ARM/Simba-ELCT-FrameWork.uvguix.LSMushui +++ b/MDK-ARM/Simba-ELCT-FrameWork.uvguix.LSMushui @@ -6,7 +6,7 @@
### uVision Project, (C) Keil Software
- C:\Users\LSMushui\Desktop\Simba-RMUL-2027\Simba-ELCT-FrameWork\bsp\boards + C:\Users\LSMushui\Documents @@ -15,7 +15,7 @@ 38003 Registers - 140 138 + 140 139 346 @@ -93,25 +93,25 @@ 2 3 - -1 - -1 + -32000 + -32000 -1 -1 - 49 - 102 - 1382 - 710 + 53 + 403 + 1843 + 971 0 - 60 - 010000000400000001000000010000000100000001000000000000000200000000000000010000000100000000000000280000002800000000000000 + 274 + 0100000004000000010000000100000001000000010000000000000002000000000000000100000001000000000000002800000028000000010000000100000000000000010000004E433A5C55736572735C4C534D75736875695C4465736B746F705C526F626F6D617374657220323032375C53696D62612D454C43542D4672616D65576F726B5C436F72655C5372635C6D61696E2E6300000000066D61696E2E6300000000C5D4F200FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD50001000000000000000200000025010000660000008007000099020000 @@ -134,7 +134,7 @@ 16 - 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898 @@ -3598,4 +3598,22 @@ + + 1 + 0 + + 100 + 0 + + ../Core/Src/main.c + 0 + 52 + 1 + 1 + + 0 + + + + diff --git a/MDK-ARM/Simba-ELCT-FrameWork.uvoptx b/MDK-ARM/Simba-ELCT-FrameWork.uvoptx index f1659ed..5507282 100644 --- a/MDK-ARM/Simba-ELCT-FrameWork.uvoptx +++ b/MDK-ARM/Simba-ELCT-FrameWork.uvoptx @@ -208,7 +208,7 @@ Application/User/Core - 0 + 1 0 0 0 @@ -964,7 +964,7 @@ Middlewares/USB_Device_Library - 1 + 0 0 0 0 diff --git a/doc/reference.md b/doc/reference.md index 0a6880b..b94f077 100644 --- a/doc/reference.md +++ b/doc/reference.md @@ -4,3 +4,4 @@ - 深圳北理莫斯科大学 `北极熊` 战队 [StandardRobot++](https://gitee.com/SMBU-POLARBEAR/StandardRobotpp) - 辽宁科技大学 `COD` 战队 [COD战队电控通用控制系统](https://gitee.com/wangcaofan/cod-h7-template) +- 湖南大学 `跃鹿` 战队 \ No newline at end of file diff --git a/doc/注意事项.md b/doc/注意事项.md index d0ce9c9..bc1546d 100644 --- a/doc/注意事项.md +++ b/doc/注意事项.md @@ -5,11 +5,11 @@ 本项目采取Google的开源代码风格 ### 编译要求 -最终编译结果要做到 `0-error,0-warning` ，本项目启用了 `--diag_error=warning` 在编译时将 `warning` 视作 `error`。 +最终编译结果要做到 `0-error,0-warning` ，~~本项目启用了 `--diag_error=warning` 在编译时将 `warning` 视作 `error`。~~（开发中，暂时没有启用） ### 提交要求 禁止将自己的 **开发插件** 夹带私货上传！ -如EIDE WorkSpace 等 +如 `EIDE WorkSpace` 等 ## 硬件上的 **禁止在DJI电机工作时开启调试！！！！** \ No newline at end of file diff --git a/doc/碎碎念.md b/doc/碎碎念.md index fa89109..08cc5d4 100644 --- a/doc/碎碎念.md +++ b/doc/碎碎念.md @@ -13,4 +13,6 @@ > （COD的代码框架是给达妙H7的，得自己移植） +> (跃鹿战队的框架各种内存越界) + > 综上，我受不了了，代码框架一定要自己的！