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infantry_gimbal
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拨盘参数校准，超级电容代码，RGB

This commit is contained in:
zyxxj 2024-04-22 19:51:02 +08:00
parent 1fd8961204
commit 353e54589e
301 changed files with 23887 additions and 28444 deletions
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1
.idea/vcs.xml
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@ -1,7 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="$PROJECT_DIR$/.." vcs="Git" />
<mapping directory="$PROJECT_DIR$" vcs="Git" />
</component>
</project>

2
CMakeLists.txt
View File

@ -52,7 +52,7 @@ endif ()
include_directories(Inc Drivers/STM32F4xx_HAL_Driver/Inc Drivers/STM32F4xx_HAL_Driver/Inc/Legacy Middlewares/Third_Party/FreeRTOS/Source/include Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F Middlewares/ST/STM32_USB_Device_Library/Core/Inc Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc Drivers/CMSIS/Device/ST/STM32F4xx/Include Drivers/CMSIS/Include Middlewares/ST/ARM/DSP/Inc
bsp bsp/adc bsp/can bsp/dwt bsp/flash bsp/gpio bsp/iic bsp/log bsp/pwm bsp/spi bsp/usart bsp/usb
modules modules/alarm modules/algorithm modules/BMI088 modules/can_comm modules/daemon modules/encoder modules/imu modules/ist8310
modules/led modules/master_machine modules/message_center modules/motor modules/oled modules/referee modules/remote modules/standard_cmd
modules/led modules/master_machine modules/message_center modules/motor modules/oled modules/referee modules/remote modules/RGB modules/standard_cmd
modules/super_cap modules/TFminiPlus modules/unicomm modules/vofa modules/auto_aim
modules/motor/DJImotor modules/motor/HTmotor modules/motor/LKmotor modules/motor/servo_motor modules/motor/step_motor
application application/chassis application/cmd application/gimbal application/shoot

2
Src/spi.c
View File

@ -85,7 +85,7 @@ void MX_SPI2_Init(void)
hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi2.Init.CRCPolynomial = 10;
hspi2.Init.CRCPolynomial = 7;
if (HAL_SPI_Init(&hspi2) != HAL_OK)
{
Error_Handler();

9
application/chassis/chassis.c
View File

@ -75,7 +75,7 @@ void ChassisInit() {
.Kd = 0.01f, // 0.01
.IntegralLimit = 3000,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.MaxOut = 12000,
.MaxOut = 30000,
},
.current_PID = {
.Kp = 2.2f, // 2.5
@ -112,13 +112,12 @@ void ChassisInit() {
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
motor_rb = DJIMotorInit(&chassis_motor_config);
//超级电容
SuperCap_Init_Config_s cap_conf = {
.can_config = {
.can_handle = &hcan2,
.tx_id = 0x302, // 超级电容默认接收id
.rx_id = 0x301, // 超级电容默认发送id,注意tx和rx在其他人看来是反的
.tx_id = 0x210,
.rx_id = 0x211,
}};
cap = SuperCapInit(&cap_conf); // 超级电容初始化

2
application/cmd/robot_cmd.c
View File

@ -367,7 +367,7 @@ static void MouseKeySet() {
break;
}
shoot_cmd_send.shoot_rate = 8;
shoot_cmd_send.shoot_rate = 25;//8
if(shoot_fetch_data.stalled_flag ==1)
shoot_cmd_send.load_mode = LOAD_REVERSE;

1
application/robot.c
View File

@ -29,6 +29,7 @@ void RobotInit()
BSPInit();
#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
RobotCMDInit();
GimbalInit();

18
application/shoot/shoot.c
View File

@ -74,7 +74,7 @@ void ShootInit()
.MaxOut = 200,
},
.speed_PID = {
.Kp = 3, // 10
.Kp = 2, // 3
.Ki = 0, // 1
.Kd = 0,
.Improve = PID_Integral_Limit,
@ -111,6 +111,15 @@ void ShootInit()
};
lid = ServoInit(&lid_config);
// SPI_Init_Config_s rgb_config = {
// .spi_handle = ;
// .GPIOx = GPIOx;
// .cs_pin = cs_pin;
// .spi_work_mode = spi_work_mode;
// .callback = callback;
// .id = 1;
// }
}
//卡弹检测
void stalled_detect()
@ -161,6 +170,13 @@ void ShootTask()
DJIMotorEnable(friction_r);
DJIMotorEnable(loader);
}
//单独测试波胆
// DJIMotorEnable(loader);
//
// shoot_cmd_recv.load_mode = LOAD_BURSTFIRE;
// shoot_cmd_recv.shoot_rate = 20;
// if(shoot_feedback_data.stalled_flag ==1)
// shoot_cmd_recv.load_mode = LOAD_REVERSE;
// 如果上一次触发单发或3发指令的时间加上不应期仍然大于当前时间(尚未休眠完毕),直接返回即可
// 单发模式主要提供给能量机关激活使用(以及英雄的射击大部分处于单发)

1
bsp/bsp_init.h
View File

@ -5,6 +5,7 @@
#include "bsp_log.h"
#include "bsp_dwt.h"
#include "bsp_usb.h"
#include "bsp_spi.h"
/**
* @brief bsp层初始化统一入口,这里仅初始化必须的bsp组件,其他组件的初始化在各自的模块中进行

2
bsp/pwm/bsp_pwm.c
View File

@ -48,7 +48,7 @@ PWMInstance *PWMRegister(PWM_Init_Config_s *config)
}
/* 只是对HAL的函数进行了形式上的封装 */
void PWMStart(PWMInstance *pwm)
void PWMStart(PWMInstance *pwm, unsigned int i)
{
HAL_TIM_PWM_Start(pwm->htim, pwm->channel);
}

2
bsp/pwm/bsp_pwm.h
View File

@ -53,7 +53,7 @@ PWMInstance *PWMRegister(PWM_Init_Config_s *config);
*
* @param pwm pwm实例
*/
void PWMStart(PWMInstance *pwm);
void PWMStart(PWMInstance *pwm, unsigned int i);
/**
* @brief 设置pwm占空比
*

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