asd/Infantry_new
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

遥控器控制电机转动，队列用法还没实现

Browse Source
This commit is contained in:
Wei Zitong
2026-07-17 20:37:55 +08:00
parent 8b24a3da19
commit 15c5074a0a
23 changed files with 8065 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files

55
Infantry_chassis.ioc
View File

@@ -9,31 +9,48 @@ CAN1.CalculateTimeBit=1000
CAN1.CalculateTimeQuantum=71.42857142857143
CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2
CAN1.Prescaler=3
Dma.Request0=USART3_RX
Dma.RequestsNb=1
Dma.USART3_RX.0.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART3_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.USART3_RX.0.Instance=DMA1_Stream1
Dma.USART3_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART3_RX.0.MemInc=DMA_MINC_ENABLE
Dma.USART3_RX.0.Mode=DMA_CIRCULAR
Dma.USART3_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART3_RX.0.PeriphInc=DMA_PINC_DISABLE
Dma.USART3_RX.0.Priority=DMA_PRIORITY_VERY_HIGH
Dma.USART3_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
FREERTOS.FootprintOK=true
FREERTOS.IPParameters=Tasks01,FootprintOK
FREERTOS.Tasks01=CAN_Receive_Tas,40,128,StartCAN_Receive_Task,Default,NULL,Dynamic,NULL,NULL;Chassis_Control,24,128,StartChassis_Control_Task,Default,NULL,Dynamic,NULL,NULL
FREERTOS.IPParameters=Tasks01,FootprintOK,Queues01
FREERTOS.Queues01=chassis_speed_queue,5,uint16_t,0,Static,chassis_speed_queueBuffer,chassis_speed_queueControlBlock
FREERTOS.Tasks01=CAN_Receive_Tas,40,128,StartCAN_Receive_Task,Default,NULL,Dynamic,NULL,NULL;Chassis_Control,24,128,StartChassis_Control_Task,Default,NULL,Dynamic,NULL,NULL;Command_Task,24,128,StartCommand_Task,Default,NULL,Dynamic,NULL,NULL
File.Version=6
GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false
Mcu.CPN=STM32F407IGH6TR
Mcu.Family=STM32F4
Mcu.IP0=CAN1
Mcu.IP1=FREERTOS
Mcu.IP2=NVIC
Mcu.IP3=RCC
Mcu.IP4=SYS
Mcu.IPNb=5
Mcu.IP1=DMA
Mcu.IP2=FREERTOS
Mcu.IP3=NVIC
Mcu.IP4=RCC
Mcu.IP5=SYS
Mcu.IP6=USART3
Mcu.IPNb=7
Mcu.Name=STM32F407I(E-G)Hx
Mcu.Package=UFBGA176
Mcu.Pin0=PA14
Mcu.Pin1=PA13
Mcu.Pin2=PD0
Mcu.Pin3=PD1
Mcu.Pin4=PH0-OSC_IN
Mcu.Pin5=PH1-OSC_OUT
Mcu.Pin6=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin7=VP_SYS_VS_tim6
Mcu.PinsNb=8
Mcu.Pin3=PC11
Mcu.Pin4=PC10
Mcu.Pin5=PD1
Mcu.Pin6=PH0-OSC_IN
Mcu.Pin7=PH1-OSC_OUT
Mcu.Pin8=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin9=VP_SYS_VS_tim6
Mcu.PinsNb=10
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F407IGHx
@@ -41,6 +58,7 @@ MxCube.Version=6.15.0
MxDb.Version=DB.6.0.150
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -56,11 +74,16 @@ NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
NVIC.TIM6_DAC_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.TimeBase=TIM6_DAC_IRQn
NVIC.TimeBaseIP=TIM6
NVIC.USART3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
PA13.Mode=Serial_Wire
PA13.Signal=SYS_JTMS-SWDIO
PA14.Mode=Serial_Wire
PA14.Signal=SYS_JTCK-SWCLK
PC10.Mode=Asynchronous
PC10.Signal=USART3_TX
PC11.Mode=Asynchronous
PC11.Signal=USART3_RX
PD0.Locked=true
PD0.Mode=CAN_Activate
PD0.Signal=CAN1_RX
@@ -104,7 +127,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_CAN1_Init-CAN1-false-HAL-true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_CAN1_Init-CAN1-false-HAL-true,5-MX_USART3_UART_Init-USART3-false-HAL-true
RCC.48MHZClocksFreq_Value=84000000
RCC.AHBFreq_Value=168000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -138,6 +161,10 @@ RCC.VCOI2SOutputFreq_Value=384000000
RCC.VCOInputFreq_Value=2000000
RCC.VCOOutputFreq_Value=336000000
RCC.VcooutputI2S=192000000
USART3.BaudRate=100000
USART3.IPParameters=VirtualMode,BaudRate,Parity
USART3.Parity=PARITY_EVEN
USART3.VirtualMode=VM_ASYNC
VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
VP_SYS_VS_tim6.Mode=TIM6