添加文件1和文件2
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@@ -0,0 +1,33 @@
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#ifndef __CToC_H
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#define __CToC_H
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#include "main.h"
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#include "M3508.h"
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#define CToC_MasterID1 0x019//ID1
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#define CToC_SlaveID1 0x149//ID1
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#define CToC_SlaveID2 0x189//ID2
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//中断回调函数
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//判断接受对象的ID-符合条件-完成解码-发送数据包
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//motor_chassis：motor_measure_t 类型的数组，其中装有电机转子角度，电机转子转速，控制电流，温度
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//定义函数
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#define get_motor_measure(ptr, data) \
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{ \
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(ptr)->last_ecd = (ptr)->ecd; \
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(ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]); \
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(ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]); \
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(ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]); \
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(ptr)->temperate = (data)[6]; \
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}
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extern uint8_t CToC_SlaveSendRefereeSystemData(void);
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extern void can_filter_init(void);
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extern void CToC_CANDataProcess(uint32_t ID,uint8_t *Data);
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extern void Update_Motor_Measure(uint8_t motor_id, motor_measure_t* measure);
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extern void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
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#endif
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@@ -0,0 +1,42 @@
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#ifndef __M3508_H
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#define __M3508_H
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#include "main.h"
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#include "PID.h"
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// 底盘参数（根据实际机械结构调整）
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#define WHEEL_RADIUS 0.075f// 轮子半径 (米)
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#define WHEELBASE_WIDTH 0.21f // 轮距宽度/2 (米)
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#define WHEELBASE_LENGTH 0.17f // 轮距长度/2 (米)
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typedef struct
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{
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uint16_t ecd;//编码器值 -16384--+16384
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int16_t speed_rpm;//转速 转每分钟
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int16_t given_current;//输出电流值
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uint8_t temperate;//电机温度
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int16_t last_ecd;//上次编码器值
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} motor_measure_t;
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// 电机控制结构体
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typedef struct {
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motor_measure_t measure; // 电机测量值（速度单位：RPM）
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PID_Controller_t speed_pid; // 速度环PID
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float target_speed; // 目标速度 (rad/s)
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} Motor_Controller_t;
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extern motor_measure_t motor_chassis[4];
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extern Motor_Controller_t motor_controller[4];
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extern int16_t motor_commands[4];
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extern void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4);
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extern float RPM_To_RadPerSec(int16_t rpm);
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extern int16_t RadPerSec_To_RPM(float rad_per_sec);
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extern void Set_Motor_Target_Speed(uint8_t motor_id, float target_speed_rad_s);
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extern void Motor_Speed_Control_Task(float dt);
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extern void Drive_Motor(float vx, float vy, float vz);
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extern float Map_Remote_to_Speed(int16_t input, float max_speed);
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extern void Process_Remote_Control(void);
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#endif
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@@ -0,0 +1,9 @@
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#ifndef __RefreeSystem_H
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#define __RefreeSystem_H
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#include "main.h"
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extern uint8_t RefereeSystem_Status;
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extern uint8_t RefereeSystem_ShooterStatus;
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#endif
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@@ -0,0 +1,39 @@
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#ifndef __Remote_H
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#define __Remote_H
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#include "main.h"
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typedef struct
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{
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uint16_t Remote_R_RL;
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uint16_t Remote_R_UD;
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uint16_t Remote_L_RL;
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uint16_t Remote_L_UD;
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uint8_t Remote_LS;
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uint8_t Remote_RS;
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int16_t Remote_Mouse_RL;
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int16_t Remote_Mouse_DU;
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int16_t Remote_Mouse_Wheel;
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uint8_t Remote_Mouse_KeyL;
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uint8_t Remote_Mouse_KeyR;
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uint8_t Remote_Key_W;
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uint8_t Remote_Key_S;
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uint8_t Remote_Key_A;
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uint8_t Remote_Key_D;
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uint8_t Remote_Key_Q;
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uint8_t Remote_Key_E;
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uint8_t Remote_Key_Shift;
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uint8_t Remote_Key_Ctrl;
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uint8_t Remote_KeyPush_Ctrl;
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uint8_t Remote_KeyPush_Shift;
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int16_t Remote_ThumbWheel;
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}Remote_Data;
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extern Remote_Data Remote_RxData;
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extern uint8_t Remote_Status;
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extern uint8_t Remote_StartFlag;
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#endif
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@@ -34,11 +34,14 @@ extern "C" {
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extern CAN_HandleTypeDef hcan1;
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extern CAN_HandleTypeDef hcan2;
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/* USER CODE BEGIN Private defines */
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/* USER CODE END Private defines */
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void MX_CAN1_Init(void);
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void MX_CAN2_Init(void);
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/* USER CODE BEGIN Prototypes */
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@@ -1,52 +0,0 @@
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file dma.h
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* @brief This file contains all the function prototypes for
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* the dma.c file
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2025 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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/* USER CODE END Header */
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef __DMA_H__
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#define __DMA_H__
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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/* DMA memory to memory transfer handles -------------------------------------*/
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/* USER CODE BEGIN Includes */
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/* USER CODE END Includes */
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/* USER CODE BEGIN Private defines */
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/* USER CODE END Private defines */
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void MX_DMA_Init(void);
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/* USER CODE BEGIN Prototypes */
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/* USER CODE END Prototypes */
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#ifdef __cplusplus
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}
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#endif
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#endif /* __DMA_H__ */
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@@ -60,33 +60,8 @@ void Error_Handler(void);
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/* Private defines -----------------------------------------------------------*/
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/* USER CODE BEGIN Private defines */
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#define DBUS_MAX_LEN (50)
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#define DBUS_BUFLEN (18)
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#define DBUS_HUART huart3
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typedef __packed struct
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{
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int16_t ch0;
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int16_t ch1;
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int16_t ch2;
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int16_t ch3;
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int16_t roll;
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uint8_t sw1;
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uint8_t sw2;
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} rc_info_t;
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#define rc_Init \
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{ \
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0, \
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0, \
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0, \
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0, \
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0, \
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0, \
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0, \
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}
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void uart_receive_handler(UART_HandleTypeDef *huart);
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void dbus_uart_init(void);
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void rc_callback_handler(rc_info_t *rc, uint8_t *buff);
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/* USER CODE END Private defines */
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@@ -0,0 +1,22 @@
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#ifndef __PID_H
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#define __PID_H
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#include "main.h"
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typedef struct {
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float kp; // ????
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float ki; // ????
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float kd; // ????
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float integral; // ???
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float prev_error; // ?????
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float output; // ???
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float integral_limit; // ????
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float output_limit; // ????
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} PID_Controller_t;
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extern void PID_Init(PID_Controller_t* pid, float kp, float ki, float kd, float integral_limit, float output_limit);
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extern float PID_Calculate(PID_Controller_t* pid, float error, float dt);
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extern void Motor_PID_Init();
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extern void PID_PositionClean(PID_Controller_t* pid);
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#endif
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@@ -64,7 +64,7 @@
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/* #define HAL_MMC_MODULE_ENABLED */
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/* #define HAL_SPI_MODULE_ENABLED */
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/* #define HAL_TIM_MODULE_ENABLED */
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#define HAL_UART_MODULE_ENABLED
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/* #define HAL_UART_MODULE_ENABLED */
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/* #define HAL_USART_MODULE_ENABLED */
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/* #define HAL_IRDA_MODULE_ENABLED */
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/* #define HAL_SMARTCARD_MODULE_ENABLED */
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@@ -55,9 +55,8 @@ void SVC_Handler(void);
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void DebugMon_Handler(void);
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void PendSV_Handler(void);
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void SysTick_Handler(void);
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void DMA1_Stream1_IRQHandler(void);
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void CAN1_RX0_IRQHandler(void);
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void USART3_IRQHandler(void);
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void CAN2_RX0_IRQHandler(void);
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/* USER CODE BEGIN EFP */
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/* USER CODE END EFP */
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@@ -1,52 +0,0 @@
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file usart.h
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* @brief This file contains all the function prototypes for
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* the usart.c file
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2025 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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/* USER CODE END Header */
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef __USART_H__
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#define __USART_H__
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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/* USER CODE BEGIN Includes */
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/* USER CODE END Includes */
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extern UART_HandleTypeDef huart3;
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/* USER CODE BEGIN Private defines */
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/* USER CODE END Private defines */
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void MX_USART3_UART_Init(void);
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/* USER CODE BEGIN Prototypes */
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/* USER CODE END Prototypes */
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#ifdef __cplusplus
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}
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#endif
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#endif /* __USART_H__ */
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