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加入Bsp_can

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Qi Bin
2026-04-28 21:12:41 +08:00
parent 16883c5704
commit a6864bbe28
12 changed files with 348 additions and 368 deletions
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52
Application/Task/Src/CAN_Task.c
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@@ -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<48><7A><EFBFBD><EFBFBD> <20>뱣֤<EBB1A3><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>osDelay(1)
}
osDelay(1);
}
}

84
Application/Task/Src/Control_Task.c
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@@ -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);
}