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

加入C板样例的bsp_can和CAN_receive函数库

Browse Source
This commit is contained in:
Wei Zitong
2026-07-14 19:57:46 +08:00
parent c4e1ed7a3d
commit cbef3e6fc4
18 changed files with 13010 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files

92
Core/Inc/CAN_receive.h Normal file
View File

@@ -0,0 +1,92 @@
/**
****************************(C) COPYRIGHT 2019 DJI****************************
* @file can_receive.c/h
* @brief there is CAN interrupt function to receive motor data,
* and CAN send function to send motor current to control motor.
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>CAN<41>жϽ<D0B6><CFBD>պ<EFBFBD><D5BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,CAN<41><4E><EFBFBD>ͺ<EFBFBD><CDBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><CDB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>.
* @note
* @history
* Version Date Author Modification
* V1.0.0 Dec-26-2018 RM 1. done
*
@verbatim
==============================================================================
==============================================================================
@endverbatim
****************************(C) COPYRIGHT 2019 DJI****************************
*/
#ifndef CAN_RECEIVE_H
#define CAN_RECEIVE_H
#include "main.h"
#define CHASSIS_CAN hcan1
/* CAN send and receive ID */
typedef enum
{
CAN_CHASSIS_ALL_ID = 0x200,
CAN_3508_M1_ID = 0x201,
CAN_3508_M2_ID = 0x202,
CAN_3508_M3_ID = 0x203,
CAN_3508_M4_ID = 0x204,
} can_msg_id_e;
//rm motor data
typedef struct
{
uint16_t ecd;
int16_t speed_rpm;
int16_t given_current;
uint8_t temperate;
int16_t last_ecd;
} motor_measure_t;
/**
* @brief send CAN packet of ID 0x700, it will set chassis motor 3508 to quick ID setting
* @param[in] none
* @retval none
*/
/**
* @brief <20><><EFBFBD><EFBFBD>IDΪ0x700<30><30>CAN<41><4E>,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3508<30><38><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ID
* @param[in] none
* @retval none
*/
extern void CAN_cmd_chassis_reset_ID(void);
/**
* @brief send control current of motor (0x201, 0x202, 0x203, 0x204)
* @param[in] motor1: (0x201) 3508 motor control current, range [-16384,16384]
* @param[in] motor2: (0x202) 3508 motor control current, range [-16384,16384]
* @param[in] motor3: (0x203) 3508 motor control current, range [-16384,16384]
* @param[in] motor4: (0x204) 3508 motor control current, range [-16384,16384]
* @retval none
*/
/**
* @brief <20><><EFBFBD>͵<EFBFBD><CDB5><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD>(0x201,0x202,0x203,0x204)
* @param[in] motor1: (0x201) 3508<30><38><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD>, <20><>Χ [-16384,16384]
* @param[in] motor2: (0x202) 3508<30><38><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD>, <20><>Χ [-16384,16384]
* @param[in] motor3: (0x203) 3508<30><38><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD>, <20><>Χ [-16384,16384]
* @param[in] motor4: (0x204) 3508<30><38><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD>, <20><>Χ [-16384,16384]
* @retval none
*/
extern void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4);
/**
* @brief return the chassis 3508 motor data point
* @param[in] i: motor number,range [0,3]
* @retval motor data point
*/
/**
* @brief <20><><EFBFBD>ص<EFBFBD><D8B5>̵<EFBFBD><CCB5> 3508<30><38><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
* @param[in] i: <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><>Χ[0,3]
* @retval <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
*/
extern const motor_measure_t *get_chassis_motor_measure_point(uint8_t i);
#endif

3
Core/Inc/FreeRTOSConfig.h
View File

@@ -51,7 +51,6 @@
#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
#include <stdint.h>
extern uint32_t SystemCoreClock;
void xPortSysTickHandler(void);
#endif
#ifndef CMSIS_device_header
#define CMSIS_device_header "stm32f4xx.h"
@@ -162,7 +161,7 @@ standard names. */
/* IMPORTANT: After 10.3.1 update, Systick_Handler comes from NVIC (if SYS timebase = systick), otherwise from cmsis_os2.c */
#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 1
#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 0
/* USER CODE BEGIN Defines */
/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */

8
Core/Inc/bsp_can.h Normal file
View File

@@ -0,0 +1,8 @@
#ifndef BSP_CAN_H
#define BSP_CAN_H
#include "main.h"
extern void can_filter_init(void);
#endif

2
Core/Inc/stm32f4xx_hal_conf.h
View File

@@ -63,7 +63,7 @@
/* #define HAL_SD_MODULE_ENABLED */
/* #define HAL_MMC_MODULE_ENABLED */
/* #define HAL_SPI_MODULE_ENABLED */
/* #define HAL_TIM_MODULE_ENABLED */
#define HAL_TIM_MODULE_ENABLED
/* #define HAL_UART_MODULE_ENABLED */
/* #define HAL_USART_MODULE_ENABLED */
/* #define HAL_IRDA_MODULE_ENABLED */

2
Core/Inc/stm32f4xx_it.h
View File

@@ -52,7 +52,7 @@ void MemManage_Handler(void);
void BusFault_Handler(void);
void UsageFault_Handler(void);
void DebugMon_Handler(void);
void SysTick_Handler(void);
void TIM6_DAC_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */

137
Core/Src/CAN_receive.c Normal file
View File

@@ -0,0 +1,137 @@
/**
****************************(C) COPYRIGHT 2019 DJI****************************
* @file can_receive.c/h
* @brief there is CAN interrupt function to receive motor data,
* and CAN send function to send motor current to control motor.
* @note
* @history
* Version Date Author Modification
* V1.0.0 Dec-26-2018 RM 1. done
*
@verbatim
==============================================================================
==============================================================================
@endverbatim
****************************(C) COPYRIGHT 2019 DJI****************************
*/
#include "CAN_receive.h"
#include "main.h"
extern CAN_HandleTypeDef hcan1;
//motor data read
#define get_motor_measure(ptr, data) \
{ \
(ptr)->last_ecd = (ptr)->ecd; \
(ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]); \
(ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]); \
(ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]); \
(ptr)->temperate = (data)[6]; \
}
/*
motor data, 0:chassis motor1 3508;1:chassis motor2 3508;2:chassis motor3 3508;3:chassis motor4 3508;
*/
static motor_measure_t motor_chassis[4];
static CAN_TxHeaderTypeDef chassis_tx_message;
static uint8_t chassis_can_send_data[8];
/**
* @brief hal CAN fifo call back, receive motor data
* @param[in] hcan, the point to CAN handle
* @retval none
*/
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
CAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[8];
HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data);
switch (rx_header.StdId)
{
case CAN_3508_M1_ID:
case CAN_3508_M2_ID:
case CAN_3508_M3_ID:
case CAN_3508_M4_ID:
{
static uint8_t i = 0;
//get motor id
i = rx_header.StdId - CAN_3508_M1_ID;
get_motor_measure(&motor_chassis[i], rx_data);
break;
}
default:
{
break;
}
}
}
/**
* @brief send CAN packet of ID 0x700, it will set chassis motor 3508 to quick ID setting
* @param[in] none
* @retval none
*/
void CAN_cmd_chassis_reset_ID(void)
{
uint32_t send_mail_box;
chassis_tx_message.StdId = 0x700;
chassis_tx_message.IDE = CAN_ID_STD;
chassis_tx_message.RTR = CAN_RTR_DATA;
chassis_tx_message.DLC = 0x08;
chassis_can_send_data[0] = 0;
chassis_can_send_data[1] = 0;
chassis_can_send_data[2] = 0;
chassis_can_send_data[3] = 0;
chassis_can_send_data[4] = 0;
chassis_can_send_data[5] = 0;
chassis_can_send_data[6] = 0;
chassis_can_send_data[7] = 0;
HAL_CAN_AddTxMessage(&CHASSIS_CAN, &chassis_tx_message, chassis_can_send_data, &send_mail_box);
}
/**
* @brief send control current of motor (0x201, 0x202, 0x203, 0x204)
* @param[in] motor1: (0x201) 3508 motor control current, range [-16384,16384]
* @param[in] motor2: (0x202) 3508 motor control current, range [-16384,16384]
* @param[in] motor3: (0x203) 3508 motor control current, range [-16384,16384]
* @param[in] motor4: (0x204) 3508 motor control current, range [-16384,16384]
* @retval none
*/
void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4)
{
uint32_t send_mail_box;
chassis_tx_message.StdId = CAN_CHASSIS_ALL_ID;
chassis_tx_message.IDE = CAN_ID_STD;
chassis_tx_message.RTR = CAN_RTR_DATA;
chassis_tx_message.DLC = 0x08;
chassis_can_send_data[0] = motor1 >> 8;
chassis_can_send_data[1] = motor1;
chassis_can_send_data[2] = motor2 >> 8;
chassis_can_send_data[3] = motor2;
chassis_can_send_data[4] = motor3 >> 8;
chassis_can_send_data[5] = motor3;
chassis_can_send_data[6] = motor4 >> 8;
chassis_can_send_data[7] = motor4;
HAL_CAN_AddTxMessage(&CHASSIS_CAN, &chassis_tx_message, chassis_can_send_data, &send_mail_box);
}
/**
* @brief return the chassis 3508 motor data point
* @param[in] i: motor number,range [0,3]
* @retval motor data point
*/
const motor_measure_t *get_chassis_motor_measure_point(uint8_t i)
{
return &motor_chassis[(i & 0x03)];
}

24
Core/Src/bsp_can.c Normal file
View File

@@ -0,0 +1,24 @@
#include "bsp_can.h"
#include "main.h"
extern CAN_HandleTypeDef hcan1;
void can_filter_init(void)
{
CAN_FilterTypeDef can_filter_st;
can_filter_st.FilterActivation = ENABLE;
can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK;
can_filter_st.FilterScale = CAN_FILTERSCALE_32BIT;
can_filter_st.FilterIdHigh = 0x0000;
can_filter_st.FilterIdLow = 0x0000;
can_filter_st.FilterMaskIdHigh = 0x0000;
can_filter_st.FilterMaskIdLow = 0x0000;
can_filter_st.FilterBank = 0;
can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;
HAL_CAN_ConfigFilter(&hcan1, &can_filter_st);
HAL_CAN_Start(&hcan1);
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
}

22
Core/Src/main.c
View File

@@ -163,6 +163,28 @@ void SystemClock_Config(void)
/* USER CODE END 4 */
/**
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM6 interrupt took place, inside
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
* a global variable "uwTick" used as application time base.
* @param htim : TIM handle
* @retval None
*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
/* USER CODE BEGIN Callback 0 */
/* USER CODE END Callback 0 */
if (htim->Instance == TIM6)
{
HAL_IncTick();
}
/* USER CODE BEGIN Callback 1 */
/* USER CODE END Callback 1 */
}
/**
* @brief This function is executed in case of error occurrence.
* @retval None

137
Core/Src/stm32f4xx_hal_timebase_tim.c Normal file
View File

@@ -0,0 +1,137 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f4xx_hal_timebase_tim.c
* @brief HAL time base based on the hardware TIM.
******************************************************************************
* @attention
*
* Copyright (c) 2026 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "stm32f4xx_hal_tim.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim6;
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/**
* @brief This function configures the TIM6 as a time base source.
* The time source is configured to have 1ms time base with a dedicated
* Tick interrupt priority.
* @note This function is called automatically at the beginning of program after
* reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
* @param TickPriority: Tick interrupt priority.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
{
RCC_ClkInitTypeDef clkconfig;
uint32_t uwTimclock, uwAPB1Prescaler = 0U;
uint32_t uwPrescalerValue = 0U;
uint32_t pFLatency;
HAL_StatusTypeDef status;
/* Enable TIM6 clock */
__HAL_RCC_TIM6_CLK_ENABLE();
/* Get clock configuration */
HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
/* Get APB1 prescaler */
uwAPB1Prescaler = clkconfig.APB1CLKDivider;
/* Compute TIM6 clock */
if (uwAPB1Prescaler == RCC_HCLK_DIV1)
{
uwTimclock = HAL_RCC_GetPCLK1Freq();
}
else
{
uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
}
/* Compute the prescaler value to have TIM6 counter clock equal to 1MHz */
uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
/* Initialize TIM6 */
htim6.Instance = TIM6;
/* Initialize TIMx peripheral as follow:
* Period = [(TIM6CLK/1000) - 1]. to have a (1/1000) s time base.
* Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
* ClockDivision = 0
* Counter direction = Up
*/
htim6.Init.Period = (1000000U / 1000U) - 1U;
htim6.Init.Prescaler = uwPrescalerValue;
htim6.Init.ClockDivision = 0;
htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
status = HAL_TIM_Base_Init(&htim6);
if (status == HAL_OK)
{
/* Start the TIM time Base generation in interrupt mode */
status = HAL_TIM_Base_Start_IT(&htim6);
if (status == HAL_OK)
{
/* Enable the TIM6 global Interrupt */
HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
/* Configure the SysTick IRQ priority */
if (TickPriority < (1UL << __NVIC_PRIO_BITS))
{
/* Configure the TIM IRQ priority */
HAL_NVIC_SetPriority(TIM6_DAC_IRQn, TickPriority, 0U);
uwTickPrio = TickPriority;
}
else
{
status = HAL_ERROR;
}
}
}
/* Return function status */
return status;
}
/**
* @brief Suspend Tick increment.
* @note Disable the tick increment by disabling TIM6 update interrupt.
* @param None
* @retval None
*/
void HAL_SuspendTick(void)
{
/* Disable TIM6 update Interrupt */
__HAL_TIM_DISABLE_IT(&htim6, TIM_IT_UPDATE);
}
/**
* @brief Resume Tick increment.
* @note Enable the tick increment by Enabling TIM6 update interrupt.
* @param None
* @retval None
*/
void HAL_ResumeTick(void)
{
/* Enable TIM6 Update interrupt */
__HAL_TIM_ENABLE_IT(&htim6, TIM_IT_UPDATE);
}

39
Core/Src/stm32f4xx_it.c
View File

@@ -20,8 +20,6 @@
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f4xx_it.h"
#include "FreeRTOS.h"
#include "task.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
@@ -57,6 +55,7 @@
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern TIM_HandleTypeDef htim6;
/* USER CODE BEGIN EV */
@@ -153,28 +152,6 @@ void DebugMon_Handler(void)
/* USER CODE END DebugMonitor_IRQn 1 */
}
/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */
HAL_IncTick();
#if (INCLUDE_xTaskGetSchedulerState == 1 )
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
{
#endif /* INCLUDE_xTaskGetSchedulerState */
xPortSysTickHandler();
#if (INCLUDE_xTaskGetSchedulerState == 1 )
}
#endif /* INCLUDE_xTaskGetSchedulerState */
/* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */
}
/******************************************************************************/
/* STM32F4xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */
@@ -182,6 +159,20 @@ void SysTick_Handler(void)
/* please refer to the startup file (startup_stm32f4xx.s). */
/******************************************************************************/
/**
* @brief This function handles TIM6 global interrupt, DAC1 and DAC2 underrun error interrupts.
*/
void TIM6_DAC_IRQHandler(void)
{
/* USER CODE BEGIN TIM6_DAC_IRQn 0 */
/* USER CODE END TIM6_DAC_IRQn 0 */
HAL_TIM_IRQHandler(&htim6);
/* USER CODE BEGIN TIM6_DAC_IRQn 1 */
/* USER CODE END TIM6_DAC_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */