加入C板样例的bsp_can和CAN_receive函数库

Core/Inc/CAN_receive.h

@@ -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.
+  *             ������CAN�жϽ��պ��������յ������,CAN���ͺ������͵���������Ƶ��.
+  * @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          ����IDΪ0x700��CAN��,��������3508��������������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          ���͵�����Ƶ���(0x201,0x202,0x203,0x204)
+  * @param[in]      motor1: (0x201) 3508������Ƶ���, ��Χ [-16384,16384]
+  * @param[in]      motor2: (0x202) 3508������Ƶ���, ��Χ [-16384,16384]
+  * @param[in]      motor3: (0x203) 3508������Ƶ���, ��Χ [-16384,16384]
+  * @param[in]      motor4: (0x204) 3508������Ƶ���, ��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          ���ص��̵�� 3508�������ָ��
+  * @param[in]      i: ������,��Χ[0,3]
+  * @retval         �������ָ��
+  */
+extern const motor_measure_t *get_chassis_motor_measure_point(uint8_t i);
+
+
+#endif

Core/Inc/FreeRTOSConfig.h

@@ -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) */

Core/Inc/bsp_can.h

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

Core/Inc/stm32f4xx_hal_conf.h

@@ -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 */

Core/Inc/stm32f4xx_it.h

@@ -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 */