257 lines
6.8 KiB
C
257 lines
6.8 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2022 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "cmsis_os.h"
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#include "adc.h"
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#include "can.h"
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#include "dma.h"
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#include "rng.h"
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#include "rtc.h"
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#include "spi.h"
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#include "tim.h"
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#include "usart.h"
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#include "usb_device.h"
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#include "gpio.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "remote_control.h"
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#include "bsp_usart.h"
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#include "bsp_can.h"
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#include "can.h"
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#include "dji_motor.h"
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#include "motor_task.h"
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#include "referee.h"
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#include "ins_task.h"
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#include "can_comm.h"
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#include "master_process.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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void MX_FREERTOS_Init(void);
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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typedef struct
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{
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float a;
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float b;
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float c;
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}sdf;
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volatile sdf* rx;
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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int main(void)
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{
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_ADC1_Init();
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MX_CAN1_Init();
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MX_CAN2_Init();
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MX_SPI1_Init();
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MX_TIM4_Init();
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MX_TIM5_Init();
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MX_USART3_UART_Init();
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MX_RNG_Init();
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MX_RTC_Init();
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MX_TIM1_Init();
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MX_TIM10_Init();
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MX_USART1_UART_Init();
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MX_USART6_UART_Init();
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/* USER CODE BEGIN 2 */
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RC_init(&huart3);
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DWT_Init(168);
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Motor_Init_Config_s config = {
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.motor_type = GM6020,
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.can_init_config = {
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.can_handle = &hcan1,
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.tx_id = 6},
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.controller_setting_init_config = {.angle_feedback_source = MOTOR_FEED, .close_loop_type = SPEED_LOOP | ANGLE_LOOP, .speed_feedback_source = MOTOR_FEED, .reverse_flag = MOTOR_DIRECTION_NORMAL},
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.controller_param_init_config = {.angle_PID = {.Improve = 0, .Kp = 1, .Ki = 0, .Kd = 0, .DeadBand = 0, .MaxOut = 4000}, .speed_PID = {.Improve = 0, .Kp = 1, .Ki = 0, .Kd = 0, .DeadBand = 0, .MaxOut = 4000}}};
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dji_motor_instance *djimotor = DJIMotorInit(&config);
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CANComm_Init_Config_s cconfig = {
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.can_config = {.can_handle=&hcan1,.tx_id=0x02,.rx_id=0x03},
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.send_data_len = 4,
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.recv_data_len = 12};
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CANCommInstance* in = CANCommInit(&cconfig);
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volatile float tx = 32;
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RefereeInit(&huart6);
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Vision_Recv_s* recv=VisionInit(&huart1);
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Vision_Send_s send={.pitch=1,.roll=2,.yaw=3};
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/* USER CODE END 2 */
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/* Call init function for freertos objects (in freertos.c) */
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// MX_FREERTOS_Init();
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// /* Start scheduler */
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// osKernelStart();
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/* We should never get here as control is now taken by the scheduler */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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// INS_Init();
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while (1)
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{
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/* USER CODE END WHILE */
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DJIMotorSetRef(djimotor, 10);
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MotorControlTask();
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HAL_Delay(10);
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CANCommSend(in, (uint8_t*)&tx);
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tx+=1;
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rx=(sdf*)CANCommGet(in);
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VisionSend(&send);
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// INS_Task();
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/* USER CODE BEGIN 3 */
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/** Configure the main internal regulator output voltage
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*/
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__HAL_RCC_PWR_CLK_ENABLE();
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__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLM = 6;
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RCC_OscInitStruct.PLL.PLLN = 168;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
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RCC_OscInitStruct.PLL.PLLQ = 7;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
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{
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Error_Handler();
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}
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}
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/* USER CODE BEGIN 4 */
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/* USER CODE END 4 */
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/**
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* @brief This function is executed in case of error occurrence.
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* @retval None
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*/
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void Error_Handler(void)
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{
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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while (1)
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{
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}
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/* USER CODE END Error_Handler_Debug */
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}
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#ifdef USE_FULL_ASSERT
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/**
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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* @retval None
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*/
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void assert_failed(uint8_t *file, uint32_t line)
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{
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/* USER CODE BEGIN 6 */
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/* User can add his own implementation to report the file name and line number,
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ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
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/* USER CODE END 6 */
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}
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#endif /* USE_FULL_ASSERT */
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