HFUT_Firmament_EC
/
sentry_chassis_hzz
11
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

修复CAN的消息丢失问题，修复robot_def处宏定义错误

This commit is contained in:
NeoZng 2023-04-13 18:23:01 +08:00
parent ec005f163c
commit 681dce3c90
5 changed files with 8 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Makefile
View File

@ -1,5 +1,5 @@
########################################################################################################################## ##########################################################################################################################
# File automatically-generated by tool: [projectgenerator] version: [3.18.0-B7] date: [Thu Apr 13 11:37:21 CST 2023] # File automatically-generated by tool: [projectgenerator] version: [3.18.0-B7] date: [Thu Apr 13 18:20:17 CST 2023]
########################################################################################################################## ##########################################################################################################################
# ------------------------------------------------ # ------------------------------------------------

4
Src/can.c
View File

@ -47,7 +47,7 @@ void MX_CAN1_Init(void)
hcan1.Init.TimeTriggeredMode = DISABLE; hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.AutoBusOff = DISABLE; hcan1.Init.AutoBusOff = DISABLE;
hcan1.Init.AutoWakeUp = DISABLE; hcan1.Init.AutoWakeUp = DISABLE;
hcan1.Init.AutoRetransmission = DISABLE; hcan1.Init.AutoRetransmission = ENABLE;
hcan1.Init.ReceiveFifoLocked = DISABLE; hcan1.Init.ReceiveFifoLocked = DISABLE;
hcan1.Init.TransmitFifoPriority = ENABLE; hcan1.Init.TransmitFifoPriority = ENABLE;
if (HAL_CAN_Init(&hcan1) != HAL_OK) if (HAL_CAN_Init(&hcan1) != HAL_OK)
@ -79,7 +79,7 @@ void MX_CAN2_Init(void)
hcan2.Init.TimeTriggeredMode = DISABLE; hcan2.Init.TimeTriggeredMode = DISABLE;
hcan2.Init.AutoBusOff = DISABLE; hcan2.Init.AutoBusOff = DISABLE;
hcan2.Init.AutoWakeUp = DISABLE; hcan2.Init.AutoWakeUp = DISABLE;
hcan2.Init.AutoRetransmission = DISABLE; hcan2.Init.AutoRetransmission = ENABLE;
hcan2.Init.ReceiveFifoLocked = DISABLE; hcan2.Init.ReceiveFifoLocked = DISABLE;
hcan2.Init.TransmitFifoPriority = ENABLE; hcan2.Init.TransmitFifoPriority = ENABLE;
if (HAL_CAN_Init(&hcan2) != HAL_OK) if (HAL_CAN_Init(&hcan2) != HAL_OK)

3
application/robot_def.h
View File

@ -188,10 +188,7 @@ typedef struct
/* @todo : 对于平衡底盘,需要新增控制模式和控制数据 */ /* @todo : 对于平衡底盘,需要新增控制模式和控制数据 */
typedef struct typedef struct
{ {
#ifdef CHASSIS_BOARD
attitude_t chassis_imu_data; attitude_t chassis_imu_data;
#endif // CHASSIS_BOARD
// 后续增加底盘的真实速度 // 后续增加底盘的真实速度
// float real_vx; // float real_vx;
// float real_vy; // float real_vy;

6
basic_framework.ioc
View File

@ -13,14 +13,16 @@ CAN1.BS1=CAN_BS1_10TQ
CAN1.BS2=CAN_BS2_3TQ CAN1.BS2=CAN_BS2_3TQ
CAN1.CalculateBaudRate=1000000 CAN1.CalculateBaudRate=1000000
CAN1.CalculateTimeQuantum=71.42857142857143 CAN1.CalculateTimeQuantum=71.42857142857143
CAN1.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,CalculateBaudRate,TXFP CAN1.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,CalculateBaudRate,TXFP,NART
CAN1.NART=ENABLE
CAN1.Prescaler=3 CAN1.Prescaler=3
CAN1.TXFP=ENABLE CAN1.TXFP=ENABLE
CAN2.BS1=CAN_BS1_10TQ CAN2.BS1=CAN_BS1_10TQ
CAN2.BS2=CAN_BS2_3TQ CAN2.BS2=CAN_BS2_3TQ
CAN2.CalculateBaudRate=1000000 CAN2.CalculateBaudRate=1000000
CAN2.CalculateTimeQuantum=71.42857142857143 CAN2.CalculateTimeQuantum=71.42857142857143
CAN2.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,CalculateBaudRate,TXFP CAN2.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,CalculateBaudRate,TXFP,NART
CAN2.NART=ENABLE
CAN2.Prescaler=3 CAN2.Prescaler=3
CAN2.TXFP=ENABLE CAN2.TXFP=ENABLE
Dma.ADC1.8.Direction=DMA_PERIPH_TO_MEMORY Dma.ADC1.8.Direction=DMA_PERIPH_TO_MEMORY

4
bsp/can/bsp_can.md
View File

@ -2,9 +2,7 @@
<p align='right'>neozng1@hnu.edu.cn</p> <p align='right'>neozng1@hnu.edu.cn</p>
> TODO: # 请注意使用CAN设备的时候务必保证总线只接入了2个终端电阻！开发板一般都有一个，6020电机和HT、LK电机也都有终端电阻，注意把多于2个的全部断开（通过拨码）
>
> 1. 增加自动检测ID冲突的log输出。
## 使用说明 ## 使用说明