加入大疆C板例程bsp

Application/Task/Inc/CAN_Task.h

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+#ifndef CAN_TASK_H
+#define CAN_TASK_H
+
+
+
+
+
+
+
+#endif

Application/Task/Inc/Config.h

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+/* 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
+
+

Application/Task/Inc/Control_Task.h

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+/**
+  ******************************************************************************
+  * @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

Application/Task/Inc/INS_Task.h

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+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : INS_Task.h
+  * @brief          : INS task
+  * @author         : Yan Yuanbin
+  * @date           : 2023/04/27
+  * @version        : v1.0
+  ******************************************************************************
+  * @attention      : None
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef INS_TASK_H
+#define INS_TASK_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "stdint.h"
+
+/* Exported types ------------------------------------------------------------*/
+/**
+ * @brief typedef structure that contains the information for the INS.
+ */
+typedef struct 
+{
+	float Pitch_Angle;
+	float Yaw_Angle;
+	float Yaw_TolAngle;
+	float Roll_Angle;
+
+  float Pitch_Gyro;
+  float Yaw_Gyro;
+  float Roll_Gyro;
+
+  float Angle[3];
+	float Gyro[3];	
+	float Accel[3];
+	
+	float Last_Yaw_Angle;
+	int16_t YawRoundCount;
+
+}INS_Info_Typedef;
+
+/* Externs---------------------------------------------------------*/
+extern INS_Info_Typedef INS_Info; 
+
+#endif //INS_TASK_H