HFUT_Firmament_EC
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sentry_chassis_hzz
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Merge branch 'develop'，rebase to next generation

This commit is contained in:
NeoZng 2022-12-30 23:49:22 +08:00
parent a3631a5ca5 390e168b46
commit 08440ce116
5 changed files with 373 additions and 1 deletions
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3
Makefile
View File

@ -40,6 +40,7 @@ C_SOURCES = \
HAL_N_Middlewares/Src/main.c \
HAL_N_Middlewares/Src/gpio.c \
HAL_N_Middlewares/Src/i2c.c \
HAL_N_Middlewares/Src/i2c.c \
HAL_N_Middlewares/Src/adc.c \
HAL_N_Middlewares/Src/can.c \
HAL_N_Middlewares/Src/dma.c \
@ -67,6 +68,8 @@ HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c \

93
basic_framework.ioc
View File

@ -9,6 +9,9 @@ ADC1.master=1
CAD.formats=
CAD.pinconfig=
CAD.provider=
CAD.formats=
CAD.pinconfig=
CAD.provider=
CAN1.BS1=CAN_BS1_10TQ
CAN1.BS2=CAN_BS2_3TQ
CAN1.CalculateBaudRate=1000000
@ -21,6 +24,19 @@ CAN2.CalculateBaudRate=1000000
CAN2.CalculateTimeQuantum=71.42857142857143
CAN2.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,CalculateBaudRate
CAN2.Prescaler=3
Dma.MEMTOMEM.5.Direction=DMA_MEMORY_TO_MEMORY
Dma.MEMTOMEM.5.FIFOMode=DMA_FIFOMODE_ENABLE
Dma.MEMTOMEM.5.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.MEMTOMEM.5.Instance=DMA2_Stream3
Dma.MEMTOMEM.5.MemBurst=DMA_MBURST_SINGLE
Dma.MEMTOMEM.5.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.MEMTOMEM.5.MemInc=DMA_MINC_ENABLE
Dma.MEMTOMEM.5.Mode=DMA_NORMAL
Dma.MEMTOMEM.5.PeriphBurst=DMA_PBURST_SINGLE
Dma.MEMTOMEM.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.MEMTOMEM.5.PeriphInc=DMA_PINC_ENABLE
Dma.MEMTOMEM.5.Priority=DMA_PRIORITY_HIGH
Dma.MEMTOMEM.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
Dma.ADC1.12.Direction=DMA_PERIPH_TO_MEMORY
Dma.ADC1.12.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.ADC1.12.Instance=DMA2_Stream4
@ -84,6 +100,11 @@ Dma.SPI1_RX.4.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.SPI1_RX.4.Instance=DMA2_Stream0
Dma.SPI1_RX.4.MemBurst=DMA_MBURST_SINGLE
Dma.SPI1_RX.4.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.Request5=MEMTOMEM
Dma.Request6=SPI1_RX
Dma.Request7=SPI1_TX
Dma.Request8=SPI2_RX
Dma.Request9=SPI2_TX
Dma.SPI1_RX.4.MemInc=DMA_MINC_ENABLE
Dma.SPI1_RX.4.Mode=DMA_NORMAL
Dma.SPI1_RX.4.PeriphBurst=DMA_PBURST_SINGLE
@ -93,8 +114,60 @@ Dma.SPI1_RX.4.Priority=DMA_PRIORITY_LOW
Dma.SPI1_RX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
Dma.SPI1_TX.5.Direction=DMA_MEMORY_TO_PERIPH
Dma.SPI1_TX.5.FIFOMode=DMA_FIFOMODE_ENABLE
Dma.SPI1_TX.5.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.SPI1_TX.5.FIFOThreshold=10
Dma.SPI1_RX.6.Direction=DMA_PERIPH_TO_MEMORY
Dma.SPI1_RX.6.FIFOMode=DMA_FIFOMODE_ENABLE
Dma.SPI1_RX.6.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.SPI1_RX.6.Instance=DMA2_Stream0
Dma.SPI1_RX.6.MemBurst=DMA_MBURST_SINGLE
Dma.SPI1_RX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI1_RX.6.MemInc=DMA_MINC_ENABLE
Dma.SPI1_RX.6.Mode=DMA_NORMAL
Dma.SPI1_RX.6.PeriphBurst=DMA_PBURST_SINGLE
Dma.SPI1_RX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI1_RX.6.PeriphInc=DMA_PINC_DISABLE
Dma.SPI1_RX.6.Priority=DMA_PRIORITY_LOW
Dma.SPI1_RX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
Dma.SPI1_TX.7.Direction=DMA_MEMORY_TO_PERIPH
Dma.SPI1_TX.7.FIFOMode=DMA_FIFOMODE_ENABLE
Dma.SPI1_TX.7.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.SPI1_TX.7.Instance=DMA2_StreamDMA_FIFO_THRESHOLD_FULL
Dma.SPI1_TX.5.Instance=DMA2_Stream3
Dma.SPI1_TX.7.MemBurst=DMA_MBURST_SINGLE
Dma.SPI1_TX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI1_TX.7.MemInc=DMA_MINC_ENABLE
Dma.SPI1_TX.7.Mode=DMA_NORMAL
Dma.SPI1_TX.7.PeriphBurst=DMA_PBURST_SINGLE
Dma.SPI1_TX.7.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI1_TX.7.PeriphInc=DMA_PINC_DISABLE
Dma.SPI1_TX.7.Priority=DMA_PRIORITY_LOW
Dma.SPI1_TX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
Dma.SPI2_RX.8.Direction=DMA_PERIPH_TO_MEMORY
Dma.SPI2_RX.8.FIFOMode=DMA_FIFOMODE_ENABLE
Dma.SPI2_RX.8.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.SPI2_RX.8.Instance=DMA1_Stream3
Dma.SPI2_RX.8.MemBurst=DMA_MBURST_SINGLE
Dma.SPI2_RX.8.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI2_RX.8.MemInc=DMA_MINC_ENABLE
Dma.SPI2_RX.8.Mode=DMA_NORMAL
Dma.SPI2_RX.8.PeriphBurst=DMA_PBURST_SINGLE
Dma.SPI2_RX.8.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI2_RX.8.PeriphInc=DMA_PINC_DISABLE
Dma.SPI2_RX.8.Priority=DMA_PRIORITY_LOW
Dma.SPI2_RX.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
Dma.SPI2_TX.9.Direction=DMA_MEMORY_TO_PERIPH
Dma.SPI2_TX.9.FIFOMode=DMA_FIFOMODE_ENABLE
Dma.SPI2_TX.9.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
Dma.SPI2_TX.9.Instance=DMA1_Stream4
Dma.SPI2_TX.9.MemBurst=DMA_MBURST_SINGLE
Dma.SPI2_TX.9.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI2_TX.9.MemInc=DMA_MINC_ENABLE
Dma.SPI2_TX.9.Mode=DMA_NORMAL
Dma.SPI2_TX.9.PeriphBurst=DMA_PBURST_SINGLE
Dma.SPI2_TX.9.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.SPI2_TX.9.PeriphInc=DMA_PINC_DISABLE
Dma.SPI2_TX.9.Priority=DMA_PRIORITY_LOW
Dma.SPI2_TX.9.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
Dma.SPI1_TX.5.MemBurst=DMA_MBURST_SINGLE
Dma.SPI1_TX.5.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.SPI1_TX.5.MemInc=DMA_MINC_ENABLE
@ -192,6 +265,10 @@ I2C2.I2C_Mode=I2C_Fast
I2C2.IPParameters=I2C_Mode
I2C3.I2C_Mode=I2C_Fast
I2C3.IPParameters=I2C_Mode
I2C2.I2C_Mode=I2C_Fast
I2C2.IPParameters=I2C_Mode
I2C3.I2C_Mode=I2C_Fast
I2C3.IPParameters=I2C_Mode
KeepUserPlacement=false
Mcu.CPN=STM32F407IGH6
Mcu.Family=STM32F4
@ -236,6 +313,8 @@ Mcu.Pin16=PD1
Mcu.Pin17=PA11
Mcu.Pin18=PF0
Mcu.Pin19=PA9
Mcu.Pin18=PF0
Mcu.Pin19=PA9
Mcu.Pin2=PG14
Mcu.Pin20=PC9
Mcu.Pin21=PA8
@ -247,6 +326,16 @@ Mcu.Pin26=PG6
Mcu.Pin27=PH12
Mcu.Pin28=PG3
Mcu.Pin29=PH11
Mcu.Pin20=PC9
Mcu.Pin21=PA8
Mcu.Pin22=PH0-OSC_IN
Mcu.Pin23=PH1-OSC_OUT
Mcu.Pin24=PF1
Mcu.Pin25=PC6
Mcu.Pin26=PG6
Mcu.Pin27=PH12
Mcu.Pin28=PG3
Mcu.Pin29=PH11
Mcu.Pin3=PB4
Mcu.Pin30=PH10
Mcu.Pin31=PD14
@ -323,6 +412,8 @@ NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SPI1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.SPI2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.SPI1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.SPI2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
NVIC.SavedPendsvIrqHandlerGenerated=true
NVIC.SavedSvcallIrqHandlerGenerated=true

122
modules/motor/servo_motor.c
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@ -0,0 +1,122 @@
#include "servo_motor.h"
extern TIM_HandleTypeDef htim1;
/*第二版*/
static ServoInstance *servo_motor[SERVO_MOTOR_CNT] = {NULL};
static int16_t compare_value[SERVO_MOTOR_CNT]={0};
static uint8_t servo_idx = 0; // register servo_idx,是该文件的全局舵机索引,在注册时使用
// 通过此函数注册一个舵机
ServoInstance *ServoInit(Servo_Init_Config_s *Servo_Init_Config)
{
servo_motor[servo_idx] = (ServoInstance *)malloc(sizeof(ServoInstance));
memset(servo_motor[servo_idx], 0, sizeof(ServoInstance));
servo_motor[servo_idx]->Servo_type = Servo_Init_Config->Servo_type;
servo_motor[servo_idx]->htim = Servo_Init_Config->htim;
servo_motor[servo_idx]->Channel = Servo_Init_Config->Channel;
HAL_TIM_Base_Start(Servo_Init_Config->htim);
HAL_TIM_PWM_Start(Servo_Init_Config->htim, Servo_Init_Config->Channel);
return servo_motor[servo_idx++];
}
/**
* @brief 写入自由角度数值
*
* @param Servo_Motor 注册的舵机实例
* @param S_angle 改变自由模式设定的角度
*/
void Servo_Motor_FreeAngle_Set(ServoInstance *Servo_Motor, int16_t S_angle)
{
switch (Servo_Motor->Servo_type)
{
case Servo180:
if (S_angle > 180)
S_angle = 180;
break;
case Servo270:
if (S_angle > 270)
S_angle = 270;
break;
case Servo360:
if (S_angle > 100)
S_angle = 100;
break;
default:
break;
}
if (S_angle < 0)
S_angle = 0;
Servo_Motor->Servo_Angle.free_angle = S_angle;
}
/**
* @brief 写入起始，终止角度数值
*
* @param Servo_Motor 注册的舵机实例
* @param Start_angle 起始角度
* @param Final_angle 终止角度
*/
void Servo_Motor_StartSTOP_Angle_Set(ServoInstance *Servo_Motor, int16_t Start_angle, int16_t Final_angle)
{
Servo_Motor->Servo_Angle.Init_angle = Start_angle;
Servo_Motor->Servo_Angle.Final_angle = Final_angle;
}
/**
* @brief 舵机模式选择
*
* @param Servo_Motor 注册的舵机实例
* @param mode 需要选择的模式
*/
void Servo_Motor_Type_Select(ServoInstance *Servo_Motor,int16_t mode)
{
Servo_Motor->Servo_Angle_Type = mode;
}
/**
* @brief 舵机输出控制
*
*/
void Servo_Motor_Control()
{
static ServoInstance *Servo_Motor;
static Servo_Type_e Servo_type;
for (size_t i = 0; i < servo_idx; i++)
{
if (servo_motor[i])
{
Servo_Motor = servo_motor[i];
Servo_type = Servo_Motor->Servo_type;
switch (Servo_type)
{
case Servo180:
if (Servo_Motor->Servo_type == Start_mode)
compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.Init_angle * 20000 / 20 / 90;
if (Servo_Motor->Servo_type == Final_mode)
compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.Final_angle * 20000 / 20 / 90;
if (Servo_Motor->Servo_type == Free_Angle_mode)
compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.free_angle * 20000 / 20 / 90;
__HAL_TIM_SET_COMPARE(Servo_Motor->htim, Servo_Motor->Channel, compare_value[i]);
break;
case Servo270:
if (Servo_Motor->Servo_type == Start_mode)
compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.Init_angle * 20000 / 20 / 135;
if (Servo_Motor->Servo_type == Final_mode)
compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.Final_angle * 20000 / 20 / 135;
if (Servo_Motor->Servo_type == Free_Angle_mode)
compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.free_angle * 20000 / 20 / 135;
__HAL_TIM_SET_COMPARE(Servo_Motor->htim, Servo_Motor->Channel, compare_value[i]);
break;
case Servo360:
/*500-2500的占空比 500-1500对应正向转速 1500-2500对于反向转速*/
compare_value[i] = 500 + 20 * Servo_Motor->Servo_Angle.servo360speed;
__HAL_TIM_SET_COMPARE(Servo_Motor->htim, Servo_Motor->Channel, compare_value[i]);
break;
default:
break;
}
}
}
}

90
modules/motor/servo_motor.h
View File

@ -0,0 +1,90 @@
/**
* @file servo_motor.h
* @author panrui
* @brief 舵机控制头文件
* @version 0.1
* @date 2022-12-12
*
* @copyright Copyright (c) 2022
*
*/
#ifndef SERVO_MOTOR_H
#define SERVO_MOTOR_H
#include "main.h"
#include "tim.h"
#include <stdint-gcc.h>
#define SERVO_MOTOR_CNT 7
/*各种舵机类型*/
typedef enum
{
Servo180 = 0,
Servo270 = 1,
Servo360 = 2,
} Servo_Type_e;
/*舵机模式选择*/
typedef enum
{
Free_Angle_mode, // 任意角度模式
Start_mode, // 起始角度模式
Final_mode, // 终止角度模式
} Servo_Angle_Type_e;
/*角度设置*/
typedef struct
{
/*起止角度模式设置值*/
int16_t Init_angle;
int16_t Final_angle;
/*任意角度模式设置值*/
int16_t free_angle;
/*下述值仅仅适用于360°舵机
*设定值为0-100 为速度值百分比
*0-50为正转 速度由快到慢
*51-100为反转 速度由慢到快
*/
int16_t servo360speed;
} Servo_Angle_s;
/* 用于初始化不同舵机的结构体,各类舵机通用 */
typedef struct
{
Servo_Type_e Servo_type;
Servo_Angle_Type_e Servo_Angle_Type;
// 使用的定时器类型及通道
TIM_HandleTypeDef *htim;
/*Channel值设定
*TIM_CHANNEL_1
*TIM_CHANNEL_2
*TIM_CHANNEL_3
*TIM_CHANNEL_4
*TIM_CHANNEL_ALL
*/
uint32_t Channel;
} Servo_Init_Config_s;
typedef struct
{
Servo_Angle_Type_e Servo_Angle_Type;
Servo_Angle_s Servo_Angle;
Servo_Type_e Servo_type;
// 使用的定时器类型及通道
TIM_HandleTypeDef *htim;
/*Channel值设定
*TIM_CHANNEL_1
*TIM_CHANNEL_2
*TIM_CHANNEL_3
*TIM_CHANNEL_4
*TIM_CHANNEL_ALL
*/
uint32_t Channel;
} ServoInstance;
ServoInstance *ServoInit(Servo_Init_Config_s *Servo_Init_Config);
void Servo_Motor_FreeAngle_Set(ServoInstance *Servo_Motor, int16_t S_angle);
void Servo_Motor_Type_Select(ServoInstance *Servo_Motor,int16_t mode);
void Servo_Motor_Control();
#endif // SERVO_MOTOR_H

66
modules/motor/servo_motor.md
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@ -0,0 +1,66 @@
##舵机的使用
<p align='left' >panrui@hnu.edu.cn</p>
### 舵机基础知识
已最常见的SG90舵机为例，SG90舵机要求工作在频率为50HZ——周期为20ms的PWM波，且对应信号的高低电平在0.5ms - 2.5ms之间，对应的舵机转动角度如下表所示（当然也可以按照这个线性的对应关系去达到转动自己想要的角度，如想要转动60°，则高电平脉宽为大概为1.2ms，具体能不能转到特定的角度还和舵机的精度有关）
>0.5ms-------------0度； 2.5%
>1.0ms------------45度； 5.0%
>1.5ms------------90度； 7.5%
>2.0ms-----------135度； 10.0%
>2.5ms-----------180度； 12.5%
根据`<font color=black size=3>Tout = (PSC+1)* (ARR+1)/Tclk</font>`公式
则我们需要产生50Hz的PWM波，则预分频的系数为 Prescaler = 168-1，自动重装载值 Counter Period = 20000-1，此时定时器产生的频率为 168Mhz/168/20000 = 50Hz。 当然这个值也可以自己设置，只要满足产生的频率为50Hz即可.
`__HAL_TIM_SET_COMPARE(htim, Channel, compare_value);`
这是设置占空比的函数
eg：当初始占空比为1200/20000则为6%，根据20*6%=1.2ms （1.2-0.5）/(2.5-0.5)*180=63° 故舵机会转动63°
为了方便通过上述eg我们将所需要的角度与PWM计数值对应关系封装成函数。需要在初始化的時候输入我们所需要的角度和相关定时器参数即可。这样我们就可以设置SG90为参数范围内(0~180°)任意度数。
---
## 如何注册一个舵机实例
!!!
**注意！由于舵机为开环控制，无论选择舵机为何种类型，舵机都能够正常运行，但是运行的角度可能会与设定不同，请务必正确选择舵机型号！且最多添加7个舵机！**
我们可以像这样注册一个舵机实例
```c
static ServoInstance *leftservomoto;
//初始化参数
Servo_Init_Config_s config={
//舵机安装选择的定时器及通道
//C板有常用的7路PWM输出:TIM1-1,2,3,4 TIM8-1,2,3
.htim=&htim1,
.Channel=TIM_CHANNEL_1,
//舵机的初始化模式和类型
.Servo_Angle_Type=Start_mode,
.Servo_type=Servo180,
};
// 设置好参数后进行初始化并保留返回的指针
leftservomoto = ServoInit(&config);
```
>要控制一个舵机 我们提供了以下三个接口
```c
//自由模式下，写入自由角度数值
void Servo_Motor_FreeAngle_Set(ServoInstance *Servo_Motor, int16_t S_angle);
//起止模式下，写入起始，终止角度数值(防止反复写入起始和终止角度)
void Servo_Motor_StartSTOP_Angle_Set(ServoInstance *Servo_Motor, int16_t Start_angle, int16_t Final_angle);
/*
Free_Angle_mode, // 任意角度模式
Start_mode, // 起始角度模式
Final_mode, // 终止角度模式
*/
void Servo_Motor_Type_Select(ServoInstance *Servo_Motor,int16_t mode);
//比如我们要使用舵机，并更改一个舵机的模式
void ServoTask()
{
//更改leftservomoto为Free_Angle_mode模式
Servo_Motor_Type_Select(leftservomoto,Free_Angle_mode);
//设置转到0角度
Servo_Motor_FreeAngle_Set(leftservomoto, 0);
//调用函数，控制电机
Servo_Motor_Control();
}
```