From bb37061e2ec5e6ec95f52fc802c44e495cb38af0 Mon Sep 17 00:00:00 2001 From: zyx Date: Fri, 27 Dec 2024 15:11:13 +0800 Subject: [PATCH] =?UTF-8?q?=E7=AC=AC=E4=B8=80=E6=AC=A1=E8=B0=83=E8=AF=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Src/tim.c | 914 +- application/cmd/robot_cmd.c | 42 +- application/gimbal/gimbal.c | 43 +- application/shoot/shoot.c | 98 +- .../CMakeFiles/uav.elf.dir/Src/tim.c.obj | Bin 25192 -> 25192 bytes .../application/cmd/robot_cmd.c.obj | Bin 36136 -> 35908 bytes .../application/gimbal/gimbal.c.obj | Bin 18968 -> 19564 bytes .../uav.elf.dir/application/shoot/shoot.c.obj | Bin 26628 -> 25968 bytes cmake-build-debug/uav.bin | Bin 127348 -> 128012 bytes cmake-build-debug/uav.elf | Bin 1205332 -> 1218620 bytes cmake-build-debug/uav.hex | 13501 ++++++++-------- cmake-build-debug/uav.map | 4489 ++--- modules/motor/pwmmotor/snail.c | 4 +- modules/motor/pwmmotor/snail.h | 2 + 14 files changed, 9567 insertions(+), 9526 deletions(-) diff --git a/Src/tim.c b/Src/tim.c index 713cc37..a1d1ff1 100644 --- a/Src/tim.c +++ b/Src/tim.c @@ -34,570 +34,570 @@ TIM_HandleTypeDef htim10; void MX_TIM1_Init(void) { - /* USER CODE BEGIN TIM1_Init 0 */ + /* USER CODE BEGIN TIM1_Init 0 */ - /* USER CODE END TIM1_Init 0 */ + /* USER CODE END TIM1_Init 0 */ - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; + TIM_ClockConfigTypeDef sClockSourceConfig = {0}; + TIM_MasterConfigTypeDef sMasterConfig = {0}; + TIM_OC_InitTypeDef sConfigOC = {0}; + TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - /* USER CODE BEGIN TIM1_Init 1 */ + /* USER CODE BEGIN TIM1_Init 1 */ - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 167; - htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 19999; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ + /* USER CODE END TIM1_Init 1 */ + htim1.Instance = TIM1; + htim1.Init.Prescaler = 167; + htim1.Init.CounterMode = TIM_COUNTERMODE_UP; + htim1.Init.Period = 19999; + htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim1.Init.RepetitionCounter = 0; + htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim1) != HAL_OK) + { + Error_Handler(); + } + sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; + if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) + { + Error_Handler(); + } + sConfigOC.OCMode = TIM_OCMODE_PWM1; + sConfigOC.Pulse = 0; + sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; + sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; + sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; + sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; + sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; + if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK) + { + Error_Handler(); + } + sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; + sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; + sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; + sBreakDeadTimeConfig.DeadTime = 0; + sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; + sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; + sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; + if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM1_Init 2 */ - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); + /* USER CODE END TIM1_Init 2 */ + HAL_TIM_MspPostInit(&htim1); } /* TIM4 init function */ void MX_TIM4_Init(void) { - /* USER CODE BEGIN TIM4_Init 0 */ + /* USER CODE BEGIN TIM4_Init 0 */ - /* USER CODE END TIM4_Init 0 */ + /* USER CODE END TIM4_Init 0 */ - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; + TIM_ClockConfigTypeDef sClockSourceConfig = {0}; + TIM_MasterConfigTypeDef sMasterConfig = {0}; + TIM_OC_InitTypeDef sConfigOC = {0}; - /* USER CODE BEGIN TIM4_Init 1 */ + /* USER CODE BEGIN TIM4_Init 1 */ - /* USER CODE END TIM4_Init 1 */ - htim4.Instance = TIM4; - htim4.Init.Prescaler = 167; - htim4.Init.CounterMode = TIM_COUNTERMODE_UP; - htim4.Init.Period = 65535; - htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim4) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim4) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM4_Init 2 */ + /* USER CODE END TIM4_Init 1 */ + htim4.Instance = TIM4; + htim4.Init.Prescaler = 167; + htim4.Init.CounterMode = TIM_COUNTERMODE_UP; + htim4.Init.Period = 65535; + htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim4) != HAL_OK) + { + Error_Handler(); + } + sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; + if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_Init(&htim4) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK) + { + Error_Handler(); + } + sConfigOC.OCMode = TIM_OCMODE_PWM1; + sConfigOC.Pulse = 0; + sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; + sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; + if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM4_Init 2 */ - /* USER CODE END TIM4_Init 2 */ - HAL_TIM_MspPostInit(&htim4); + /* USER CODE END TIM4_Init 2 */ + HAL_TIM_MspPostInit(&htim4); } /* TIM5 init function */ void MX_TIM5_Init(void) { - /* USER CODE BEGIN TIM5_Init 0 */ + /* USER CODE BEGIN TIM5_Init 0 */ - /* USER CODE END TIM5_Init 0 */ + /* USER CODE END TIM5_Init 0 */ - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; + TIM_ClockConfigTypeDef sClockSourceConfig = {0}; + TIM_MasterConfigTypeDef sMasterConfig = {0}; + TIM_OC_InitTypeDef sConfigOC = {0}; - /* USER CODE BEGIN TIM5_Init 1 */ + /* USER CODE BEGIN TIM5_Init 1 */ - /* USER CODE END TIM5_Init 1 */ - htim5.Instance = TIM5; - htim5.Init.Prescaler = 0; - htim5.Init.CounterMode = TIM_COUNTERMODE_UP; - htim5.Init.Period = 65535; - htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim5) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim5, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim5) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM5_Init 2 */ + /* USER CODE END TIM5_Init 1 */ + htim5.Instance = TIM5; + htim5.Init.Prescaler = 0; + htim5.Init.CounterMode = TIM_COUNTERMODE_UP; + htim5.Init.Period = 65535; + htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim5) != HAL_OK) + { + Error_Handler(); + } + sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; + if (HAL_TIM_ConfigClockSource(&htim5, &sClockSourceConfig) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_Init(&htim5) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK) + { + Error_Handler(); + } + sConfigOC.OCMode = TIM_OCMODE_PWM1; + sConfigOC.Pulse = 0; + sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; + sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; + if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM5_Init 2 */ - /* USER CODE END TIM5_Init 2 */ - HAL_TIM_MspPostInit(&htim5); + /* USER CODE END TIM5_Init 2 */ + HAL_TIM_MspPostInit(&htim5); } /* TIM8 init function */ void MX_TIM8_Init(void) { - /* USER CODE BEGIN TIM8_Init 0 */ + /* USER CODE BEGIN TIM8_Init 0 */ - /* USER CODE END TIM8_Init 0 */ + /* USER CODE END TIM8_Init 0 */ - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; + TIM_ClockConfigTypeDef sClockSourceConfig = {0}; + TIM_MasterConfigTypeDef sMasterConfig = {0}; + TIM_OC_InitTypeDef sConfigOC = {0}; + TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - /* USER CODE BEGIN TIM8_Init 1 */ + /* USER CODE BEGIN TIM8_Init 1 */ - /* USER CODE END TIM8_Init 1 */ - htim8.Instance = TIM8; - htim8.Init.Prescaler = 167; - htim8.Init.CounterMode = TIM_COUNTERMODE_UP; - htim8.Init.Period = 19999; - htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim8.Init.RepetitionCounter = 0; - htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim8) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_OC_Init(&htim8) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 2000; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_OC_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_OC_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_OC_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM8_Init 2 */ + /* USER CODE END TIM8_Init 1 */ + htim8.Instance = TIM8; + htim8.Init.Prescaler = 167; + htim8.Init.CounterMode = TIM_COUNTERMODE_UP; + htim8.Init.Period = 19999; + htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim8.Init.RepetitionCounter = 0; + htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim8) != HAL_OK) + { + Error_Handler(); + } + sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; + if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_OC_Init(&htim8) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK) + { + Error_Handler(); + } + sConfigOC.OCMode = TIM_OCMODE_PWM1; + sConfigOC.Pulse = 2000; + sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; + sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; + sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; + sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; + sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; + if (HAL_TIM_OC_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_OC_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_OC_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) + { + Error_Handler(); + } + sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; + sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; + sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; + sBreakDeadTimeConfig.DeadTime = 0; + sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; + sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; + sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; + if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM8_Init 2 */ - /* USER CODE END TIM8_Init 2 */ - HAL_TIM_MspPostInit(&htim8); + /* USER CODE END TIM8_Init 2 */ + HAL_TIM_MspPostInit(&htim8); } /* TIM10 init function */ void MX_TIM10_Init(void) { - /* USER CODE BEGIN TIM10_Init 0 */ + /* USER CODE BEGIN TIM10_Init 0 */ - /* USER CODE END TIM10_Init 0 */ + /* USER CODE END TIM10_Init 0 */ - TIM_OC_InitTypeDef sConfigOC = {0}; + TIM_OC_InitTypeDef sConfigOC = {0}; - /* USER CODE BEGIN TIM10_Init 1 */ + /* USER CODE BEGIN TIM10_Init 1 */ - /* USER CODE END TIM10_Init 1 */ - htim10.Instance = TIM10; - htim10.Init.Prescaler = 167; - htim10.Init.CounterMode = TIM_COUNTERMODE_UP; - htim10.Init.Period = 5000-1; - htim10.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim10.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim10) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim10) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - if (HAL_TIM_PWM_ConfigChannel(&htim10, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM10_Init 2 */ + /* USER CODE END TIM10_Init 1 */ + htim10.Instance = TIM10; + htim10.Init.Prescaler = 167; + htim10.Init.CounterMode = TIM_COUNTERMODE_UP; + htim10.Init.Period = 5000-1; + htim10.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim10.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim10) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_Init(&htim10) != HAL_OK) + { + Error_Handler(); + } + sConfigOC.OCMode = TIM_OCMODE_PWM1; + sConfigOC.Pulse = 0; + sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; + sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; + if (HAL_TIM_PWM_ConfigChannel(&htim10, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM10_Init 2 */ - /* USER CODE END TIM10_Init 2 */ - HAL_TIM_MspPostInit(&htim10); + /* USER CODE END TIM10_Init 2 */ + HAL_TIM_MspPostInit(&htim10); } void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle) { - if(tim_baseHandle->Instance==TIM1) - { - /* USER CODE BEGIN TIM1_MspInit 0 */ + if(tim_baseHandle->Instance==TIM1) + { + /* USER CODE BEGIN TIM1_MspInit 0 */ - /* USER CODE END TIM1_MspInit 0 */ - /* TIM1 clock enable */ - __HAL_RCC_TIM1_CLK_ENABLE(); - /* USER CODE BEGIN TIM1_MspInit 1 */ + /* USER CODE END TIM1_MspInit 0 */ + /* TIM1 clock enable */ + __HAL_RCC_TIM1_CLK_ENABLE(); + /* USER CODE BEGIN TIM1_MspInit 1 */ - /* USER CODE END TIM1_MspInit 1 */ - } - else if(tim_baseHandle->Instance==TIM4) - { - /* USER CODE BEGIN TIM4_MspInit 0 */ + /* USER CODE END TIM1_MspInit 1 */ + } + else if(tim_baseHandle->Instance==TIM4) + { + /* USER CODE BEGIN TIM4_MspInit 0 */ - /* USER CODE END TIM4_MspInit 0 */ - /* TIM4 clock enable */ - __HAL_RCC_TIM4_CLK_ENABLE(); - /* USER CODE BEGIN TIM4_MspInit 1 */ + /* USER CODE END TIM4_MspInit 0 */ + /* TIM4 clock enable */ + __HAL_RCC_TIM4_CLK_ENABLE(); + /* USER CODE BEGIN TIM4_MspInit 1 */ - /* USER CODE END TIM4_MspInit 1 */ - } - else if(tim_baseHandle->Instance==TIM5) - { - /* USER CODE BEGIN TIM5_MspInit 0 */ + /* USER CODE END TIM4_MspInit 1 */ + } + else if(tim_baseHandle->Instance==TIM5) + { + /* USER CODE BEGIN TIM5_MspInit 0 */ - /* USER CODE END TIM5_MspInit 0 */ - /* TIM5 clock enable */ - __HAL_RCC_TIM5_CLK_ENABLE(); - /* USER CODE BEGIN TIM5_MspInit 1 */ + /* USER CODE END TIM5_MspInit 0 */ + /* TIM5 clock enable */ + __HAL_RCC_TIM5_CLK_ENABLE(); + /* USER CODE BEGIN TIM5_MspInit 1 */ - /* USER CODE END TIM5_MspInit 1 */ - } - else if(tim_baseHandle->Instance==TIM8) - { - /* USER CODE BEGIN TIM8_MspInit 0 */ + /* USER CODE END TIM5_MspInit 1 */ + } + else if(tim_baseHandle->Instance==TIM8) + { + /* USER CODE BEGIN TIM8_MspInit 0 */ - /* USER CODE END TIM8_MspInit 0 */ - /* TIM8 clock enable */ - __HAL_RCC_TIM8_CLK_ENABLE(); + /* USER CODE END TIM8_MspInit 0 */ + /* TIM8 clock enable */ + __HAL_RCC_TIM8_CLK_ENABLE(); - /* TIM8 interrupt Init */ - HAL_NVIC_SetPriority(TIM8_TRG_COM_TIM14_IRQn, 15, 0); - HAL_NVIC_EnableIRQ(TIM8_TRG_COM_TIM14_IRQn); - /* USER CODE BEGIN TIM8_MspInit 1 */ + /* TIM8 interrupt Init */ + HAL_NVIC_SetPriority(TIM8_TRG_COM_TIM14_IRQn, 15, 0); + HAL_NVIC_EnableIRQ(TIM8_TRG_COM_TIM14_IRQn); + /* USER CODE BEGIN TIM8_MspInit 1 */ - /* USER CODE END TIM8_MspInit 1 */ - } - else if(tim_baseHandle->Instance==TIM10) - { - /* USER CODE BEGIN TIM10_MspInit 0 */ + /* USER CODE END TIM8_MspInit 1 */ + } + else if(tim_baseHandle->Instance==TIM10) + { + /* USER CODE BEGIN TIM10_MspInit 0 */ - /* USER CODE END TIM10_MspInit 0 */ - /* TIM10 clock enable */ - __HAL_RCC_TIM10_CLK_ENABLE(); - /* USER CODE BEGIN TIM10_MspInit 1 */ + /* USER CODE END TIM10_MspInit 0 */ + /* TIM10 clock enable */ + __HAL_RCC_TIM10_CLK_ENABLE(); + /* USER CODE BEGIN TIM10_MspInit 1 */ - /* USER CODE END TIM10_MspInit 1 */ - } + /* USER CODE END TIM10_MspInit 1 */ + } } void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle) { - GPIO_InitTypeDef GPIO_InitStruct = {0}; - if(timHandle->Instance==TIM1) - { - /* USER CODE BEGIN TIM1_MspPostInit 0 */ + GPIO_InitTypeDef GPIO_InitStruct = {0}; + if(timHandle->Instance==TIM1) + { + /* USER CODE BEGIN TIM1_MspPostInit 0 */ - /* USER CODE END TIM1_MspPostInit 0 */ - __HAL_RCC_GPIOE_CLK_ENABLE(); - /**TIM1 GPIO Configuration - PE13 ------> TIM1_CH3 - PE9 ------> TIM1_CH1 - PE11 ------> TIM1_CH2 - PE14 ------> TIM1_CH4 - */ - GPIO_InitStruct.Pin = GPIO_PIN_13|SERVO_Pin|GPIO_PIN_11|GPIO_PIN_14; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - GPIO_InitStruct.Alternate = GPIO_AF1_TIM1; - HAL_GPIO_Init(GPIOE, &GPIO_InitStruct); + /* USER CODE END TIM1_MspPostInit 0 */ + __HAL_RCC_GPIOE_CLK_ENABLE(); + /**TIM1 GPIO Configuration + PE13 ------> TIM1_CH3 + PE9 ------> TIM1_CH1 + PE11 ------> TIM1_CH2 + PE14 ------> TIM1_CH4 + */ + GPIO_InitStruct.Pin = GPIO_PIN_13|SERVO_Pin|GPIO_PIN_11|GPIO_PIN_14; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + GPIO_InitStruct.Alternate = GPIO_AF1_TIM1; + HAL_GPIO_Init(GPIOE, &GPIO_InitStruct); - /* USER CODE BEGIN TIM1_MspPostInit 1 */ + /* USER CODE BEGIN TIM1_MspPostInit 1 */ - /* USER CODE END TIM1_MspPostInit 1 */ - } - else if(timHandle->Instance==TIM4) - { - /* USER CODE BEGIN TIM4_MspPostInit 0 */ + /* USER CODE END TIM1_MspPostInit 1 */ + } + else if(timHandle->Instance==TIM4) + { + /* USER CODE BEGIN TIM4_MspPostInit 0 */ - /* USER CODE END TIM4_MspPostInit 0 */ + /* USER CODE END TIM4_MspPostInit 0 */ - __HAL_RCC_GPIOD_CLK_ENABLE(); - /**TIM4 GPIO Configuration - PD14 ------> TIM4_CH3 - */ - GPIO_InitStruct.Pin = BUZZER_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_PULLUP; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; - GPIO_InitStruct.Alternate = GPIO_AF2_TIM4; - HAL_GPIO_Init(BUZZER_GPIO_Port, &GPIO_InitStruct); + __HAL_RCC_GPIOD_CLK_ENABLE(); + /**TIM4 GPIO Configuration + PD14 ------> TIM4_CH3 + */ + GPIO_InitStruct.Pin = BUZZER_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_PULLUP; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF2_TIM4; + HAL_GPIO_Init(BUZZER_GPIO_Port, &GPIO_InitStruct); - /* USER CODE BEGIN TIM4_MspPostInit 1 */ + /* USER CODE BEGIN TIM4_MspPostInit 1 */ - /* USER CODE END TIM4_MspPostInit 1 */ - } - else if(timHandle->Instance==TIM5) - { - /* USER CODE BEGIN TIM5_MspPostInit 0 */ + /* USER CODE END TIM4_MspPostInit 1 */ + } + else if(timHandle->Instance==TIM5) + { + /* USER CODE BEGIN TIM5_MspPostInit 0 */ - /* USER CODE END TIM5_MspPostInit 0 */ + /* USER CODE END TIM5_MspPostInit 0 */ - __HAL_RCC_GPIOH_CLK_ENABLE(); - /**TIM5 GPIO Configuration - PH12 ------> TIM5_CH3 - PH11 ------> TIM5_CH2 - PH10 ------> TIM5_CH1 - */ - GPIO_InitStruct.Pin = LED_R_Pin|LED_G_Pin|LED_B_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_PULLUP; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - GPIO_InitStruct.Alternate = GPIO_AF2_TIM5; - HAL_GPIO_Init(GPIOH, &GPIO_InitStruct); + __HAL_RCC_GPIOH_CLK_ENABLE(); + /**TIM5 GPIO Configuration + PH12 ------> TIM5_CH3 + PH11 ------> TIM5_CH2 + PH10 ------> TIM5_CH1 + */ + GPIO_InitStruct.Pin = LED_R_Pin|LED_G_Pin|LED_B_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_PULLUP; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF2_TIM5; + HAL_GPIO_Init(GPIOH, &GPIO_InitStruct); - /* USER CODE BEGIN TIM5_MspPostInit 1 */ + /* USER CODE BEGIN TIM5_MspPostInit 1 */ - /* USER CODE END TIM5_MspPostInit 1 */ - } - else if(timHandle->Instance==TIM8) - { - /* USER CODE BEGIN TIM8_MspPostInit 0 */ + /* USER CODE END TIM5_MspPostInit 1 */ + } + else if(timHandle->Instance==TIM8) + { + /* USER CODE BEGIN TIM8_MspPostInit 0 */ - /* USER CODE END TIM8_MspPostInit 0 */ + /* USER CODE END TIM8_MspPostInit 0 */ - __HAL_RCC_GPIOI_CLK_ENABLE(); - __HAL_RCC_GPIOC_CLK_ENABLE(); - /**TIM8 GPIO Configuration - PI7 ------> TIM8_CH3 - PI6 ------> TIM8_CH2 - PC6 ------> TIM8_CH1 - */ - GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_6; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - GPIO_InitStruct.Alternate = GPIO_AF3_TIM8; - HAL_GPIO_Init(GPIOI, &GPIO_InitStruct); + __HAL_RCC_GPIOI_CLK_ENABLE(); + __HAL_RCC_GPIOC_CLK_ENABLE(); + /**TIM8 GPIO Configuration + PI7 ------> TIM8_CH3 + PI6 ------> TIM8_CH2 + PC6 ------> TIM8_CH1 + */ + GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_6; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + GPIO_InitStruct.Alternate = GPIO_AF3_TIM8; + HAL_GPIO_Init(GPIOI, &GPIO_InitStruct); - GPIO_InitStruct.Pin = GPIO_PIN_6; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - GPIO_InitStruct.Alternate = GPIO_AF3_TIM8; - HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); + GPIO_InitStruct.Pin = GPIO_PIN_6; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + GPIO_InitStruct.Alternate = GPIO_AF3_TIM8; + HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); - /* USER CODE BEGIN TIM8_MspPostInit 1 */ + /* USER CODE BEGIN TIM8_MspPostInit 1 */ - /* USER CODE END TIM8_MspPostInit 1 */ - } - else if(timHandle->Instance==TIM10) - { - /* USER CODE BEGIN TIM10_MspPostInit 0 */ + /* USER CODE END TIM8_MspPostInit 1 */ + } + else if(timHandle->Instance==TIM10) + { + /* USER CODE BEGIN TIM10_MspPostInit 0 */ - /* USER CODE END TIM10_MspPostInit 0 */ + /* USER CODE END TIM10_MspPostInit 0 */ - __HAL_RCC_GPIOF_CLK_ENABLE(); - /**TIM10 GPIO Configuration - PF6 ------> TIM10_CH1 - */ - GPIO_InitStruct.Pin = IMU_TEMP_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_PULLUP; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; - GPIO_InitStruct.Alternate = GPIO_AF3_TIM10; - HAL_GPIO_Init(IMU_TEMP_GPIO_Port, &GPIO_InitStruct); + __HAL_RCC_GPIOF_CLK_ENABLE(); + /**TIM10 GPIO Configuration + PF6 ------> TIM10_CH1 + */ + GPIO_InitStruct.Pin = IMU_TEMP_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_PULLUP; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF3_TIM10; + HAL_GPIO_Init(IMU_TEMP_GPIO_Port, &GPIO_InitStruct); - /* USER CODE BEGIN TIM10_MspPostInit 1 */ + /* USER CODE BEGIN TIM10_MspPostInit 1 */ - /* USER CODE END TIM10_MspPostInit 1 */ - } + /* USER CODE END TIM10_MspPostInit 1 */ + } } void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) { - if(tim_baseHandle->Instance==TIM1) - { - /* USER CODE BEGIN TIM1_MspDeInit 0 */ + if(tim_baseHandle->Instance==TIM1) + { + /* USER CODE BEGIN TIM1_MspDeInit 0 */ - /* USER CODE END TIM1_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_TIM1_CLK_DISABLE(); - /* USER CODE BEGIN TIM1_MspDeInit 1 */ + /* USER CODE END TIM1_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_TIM1_CLK_DISABLE(); + /* USER CODE BEGIN TIM1_MspDeInit 1 */ - /* USER CODE END TIM1_MspDeInit 1 */ - } - else if(tim_baseHandle->Instance==TIM4) - { - /* USER CODE BEGIN TIM4_MspDeInit 0 */ + /* USER CODE END TIM1_MspDeInit 1 */ + } + else if(tim_baseHandle->Instance==TIM4) + { + /* USER CODE BEGIN TIM4_MspDeInit 0 */ - /* USER CODE END TIM4_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_TIM4_CLK_DISABLE(); - /* USER CODE BEGIN TIM4_MspDeInit 1 */ + /* USER CODE END TIM4_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_TIM4_CLK_DISABLE(); + /* USER CODE BEGIN TIM4_MspDeInit 1 */ - /* USER CODE END TIM4_MspDeInit 1 */ - } - else if(tim_baseHandle->Instance==TIM5) - { - /* USER CODE BEGIN TIM5_MspDeInit 0 */ + /* USER CODE END TIM4_MspDeInit 1 */ + } + else if(tim_baseHandle->Instance==TIM5) + { + /* USER CODE BEGIN TIM5_MspDeInit 0 */ - /* USER CODE END TIM5_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_TIM5_CLK_DISABLE(); - /* USER CODE BEGIN TIM5_MspDeInit 1 */ + /* USER CODE END TIM5_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_TIM5_CLK_DISABLE(); + /* USER CODE BEGIN TIM5_MspDeInit 1 */ - /* USER CODE END TIM5_MspDeInit 1 */ - } - else if(tim_baseHandle->Instance==TIM8) - { - /* USER CODE BEGIN TIM8_MspDeInit 0 */ + /* USER CODE END TIM5_MspDeInit 1 */ + } + else if(tim_baseHandle->Instance==TIM8) + { + /* USER CODE BEGIN TIM8_MspDeInit 0 */ - /* USER CODE END TIM8_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_TIM8_CLK_DISABLE(); + /* USER CODE END TIM8_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_TIM8_CLK_DISABLE(); - /* TIM8 interrupt Deinit */ - HAL_NVIC_DisableIRQ(TIM8_TRG_COM_TIM14_IRQn); - /* USER CODE BEGIN TIM8_MspDeInit 1 */ + /* TIM8 interrupt Deinit */ + HAL_NVIC_DisableIRQ(TIM8_TRG_COM_TIM14_IRQn); + /* USER CODE BEGIN TIM8_MspDeInit 1 */ - /* USER CODE END TIM8_MspDeInit 1 */ - } - else if(tim_baseHandle->Instance==TIM10) - { - /* USER CODE BEGIN TIM10_MspDeInit 0 */ + /* USER CODE END TIM8_MspDeInit 1 */ + } + else if(tim_baseHandle->Instance==TIM10) + { + /* USER CODE BEGIN TIM10_MspDeInit 0 */ - /* USER CODE END TIM10_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_TIM10_CLK_DISABLE(); - /* USER CODE BEGIN TIM10_MspDeInit 1 */ + /* USER CODE END TIM10_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_TIM10_CLK_DISABLE(); + /* USER CODE BEGIN TIM10_MspDeInit 1 */ - /* USER CODE END TIM10_MspDeInit 1 */ - } + /* USER CODE END TIM10_MspDeInit 1 */ + } } /* USER CODE BEGIN 1 */ diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 4ef7ac0..7fc92b3 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -183,16 +183,13 @@ static void auto_aim_mode() { */ static void RemoteControlSet() { // 控制底盘和云台运行模式,云台待添加,云台是否始终使用IMU数据? - if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],小陀螺 + if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下], { - chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; - } else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],,底盘跟随云台 + } else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中], { - chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; - shoot_cmd_send.lid_mode = LID_CLOSE; } else if (switch_is_up(rc_data[TEMP].rc.switch_right))// 右侧开关状态[上] { shoot_cmd_send.lid_mode = LID_OPEN; @@ -224,21 +221,18 @@ static void RemoteControlSet() { } // 云台软件限位 - // 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整,遥控器输入灵敏度 - chassis_cmd_send.vx = 0.001f * (float) rc_data[TEMP].rc.rocker_r_; // _水平方向 - chassis_cmd_send.vy = 0.001f * (float) rc_data[TEMP].rc.rocker_r1; // 1数值方向 - - // 发射参数 - if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开 - ; // 弹舱舵机控制,待添加servo_motor模块,开启 - else; // 弹舱舵机控制,待添加servo_motor模块,关闭 // 摩擦轮控制,拨轮向上打为负,向下为正 if (rc_data[TEMP].rc.dial < -100) // 向上超过100,打开摩擦轮 + { + shoot_cmd_send.shoot_mode = SHOOT_ON; shoot_cmd_send.friction_mode = FRICTION_ON; - else + } + else{ + shoot_cmd_send.shoot_mode = SHOOT_OFF; shoot_cmd_send.friction_mode = FRICTION_OFF; + } // 拨弹控制,遥控器固定为一种拨弹模式,可自行选择 if (rc_data[TEMP].rc.dial < -500)// @@ -493,8 +487,8 @@ static void EmergencyHandler() { robot_state = ROBOT_READY; gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE; - shoot_cmd_send.shoot_mode = SHOOT_ON; - shoot_cmd_send.friction_mode = FRICTION_ON; + shoot_cmd_send.shoot_mode = SHOOT_OFF; + shoot_cmd_send.friction_mode = FRICTION_OFF; shoot_cmd_send.loader_mode = LOAD_STOP; LOGERROR("[CMD] emergency stop!"); } @@ -538,21 +532,17 @@ void RobotCMDTask() { // 设置视觉发送数据,还需增加加速度和角速度数据 VisionSetFlag(!referee_data->referee_id.Robot_Color); - //根据裁判系统反馈确定底盘功率上限 - chassis_cmd_send.chassis_power_limit = referee_data->GameRobotState.chassis_power_limit; - //根据裁判系统反馈确定缓冲功率 - chassis_cmd_send.buffer_energy = referee_data->PowerHeatData.buffer_energy; //根据裁判系统反馈确定枪管热量控制 shoot_cmd_send.heat = referee_data->PowerHeatData.shooter_17mm_1_barrel_heat; shoot_cmd_send.heat_limit = referee_data->GameRobotState.shooter_barrel_heat_limit; shoot_cmd_send.heat_cool = referee_data->GameRobotState.shooter_barrel_cooling_value; - if (referee_data->GameRobotState.power_management_chassis_output == 0) { - chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE; - } - if (referee_data->GameRobotState.power_management_gimbal_output == 0) { - gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; - } +// if (referee_data->GameRobotState.power_management_chassis_output == 0) { +// chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE; +// } +// if (referee_data->GameRobotState.power_management_gimbal_output == 0) { +// gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; +// } // if (referee_data->GameRobotState.power_management_shooter_output == 0) { // shoot_cmd_send.shoot_mode = SHOOT_ON; // } diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c index b02b6a1..c779d47 100644 --- a/application/gimbal/gimbal.c +++ b/application/gimbal/gimbal.c @@ -9,7 +9,8 @@ #include "vofa.h" static attitude_t *gimba_IMU_data; // 云台IMU数据 -static DJIMotorInstance *yaw_motor, *pitch_motor; +static DJIMotorInstance *yaw_motor; +static DMMotorInstance *pitch_motor; static Publisher_t *gimbal_pub; // 云台应用消息发布者(云台反馈给cmd) static Subscriber_t *gimbal_sub; // cmd控制消息订阅者 @@ -28,18 +29,18 @@ void GimbalInit() { }, .controller_param_init_config = { .angle_PID = { - .Kp = 0.8f,//1.2 + .Kp = 0.0f,//1.2 .Ki = 0.0f,//0 - .Kd = 0.04f,//0.05 + .Kd = 0.0f,//0.05 .DeadBand = 0.0f, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .IntegralLimit = 100, .MaxOut = 500, }, .speed_PID = { - .Kp = 5000, //4000 - .Ki = 100.0f, //100 - .Kd = 0.03f, //0 + .Kp = 0, //4000 + .Ki = 0.0f, //100 + .Kd = 0.0f, //0 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .IntegralLimit = 10000, .MaxOut = 15000, @@ -61,22 +62,22 @@ void GimbalInit() { // PITCH Motor_Init_Config_s pitch_config = { .can_init_config = { - .can_handle = &hcan2, - .tx_id = 1, - .rx_id = 3, + .can_handle = &hcan1, + .tx_id = 0x04, + .rx_id = 0x02, }, .controller_param_init_config = { .angle_PID = { - .Kp = 1.0f, + .Kp = 0.0f, .Ki = 0.0f, - .Kd = 0.02f, + .Kd = 0.0f, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .IntegralLimit = 100, .MaxOut = 500, }, .speed_PID = { - .Kp = 6000.0f, - .Ki = 900.0f, + .Kp = 0.0f, + .Ki = 0.0f, .Kd = 0.0f, // 0 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .IntegralLimit = 10000, @@ -101,7 +102,7 @@ void GimbalInit() { }; // 电机对total_angle闭环,上电时为零,会保持静止,收到遥控器数据再动 yaw_motor = DJIMotorInit(&yaw_config); - pitch_motor = DJIMotorInit(&pitch_config); + pitch_motor = DMMotorInit(&pitch_config); gimbal_pub = PubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s)); gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s)); @@ -121,30 +122,26 @@ void GimbalTask() { // 停止 case GIMBAL_ZERO_FORCE: DJIMotorStop(yaw_motor); - DJIMotorStop(pitch_motor); + DMMotorStop(pitch_motor); break; // 使用陀螺仪的反馈,底盘根据yaw电机的offset跟随云台或视觉模式采用 case GIMBAL_GYRO_MODE: // 后续只保留此模式 DJIMotorEnable(yaw_motor); - DJIMotorEnable(pitch_motor); + DMMotorEnable(pitch_motor); DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED); DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED); - DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED); - DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED); DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈 - DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch); + DMMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch); //LimitPitchAngleAuto(); break; // 云台自由模式,使用编码器反馈,底盘和云台分离,仅云台旋转,一般用于调整云台姿态(英雄吊射等)/能量机关 case GIMBAL_FREE_MODE: // 后续删除,或加入云台追地盘的跟随模式(响应速度更快) DJIMotorEnable(yaw_motor); - DJIMotorEnable(pitch_motor); + DMMotorEnable(pitch_motor); DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED); DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED); - DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED); - DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED); DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈 - DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch); + DMMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch); break; default: break; diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c index f42b111..45714c7 100644 --- a/application/shoot/shoot.c +++ b/application/shoot/shoot.c @@ -24,49 +24,49 @@ static float hibernate_time = 0,last_hibernate_time = 0, dead_time = 0; void ShootInit() { - // 左摩擦轮 - Motor_Init_Config_s friction_config = { - .can_init_config = { - .can_handle = &hcan2, - }, - .controller_param_init_config = { - .speed_PID = { - .Kp = 1.5f, - .Ki = 0.2f, - .Kd = 0, - .Improve = PID_Integral_Limit, - .IntegralLimit = 10000, - .MaxOut = 15000, - }, - .current_PID = { - .Kp = 0, - .Ki = 0, - .Kd = 0, - .Improve = PID_Integral_Limit, - .IntegralLimit = 10000, - .MaxOut = 15000, - }, - }, - .controller_setting_init_config = { - .angle_feedback_source = MOTOR_FEED, - .speed_feedback_source = MOTOR_FEED, - .outer_loop_type = SPEED_LOOP, - .close_loop_type = SPEED_LOOP, - }, - .motor_type = M3508}; - friction_config.can_init_config.tx_id = 2, - friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL; - friction_l = DJIMotorInit(&friction_config); - - friction_config.can_init_config.tx_id = 3; // 右摩擦轮,改txid和方向就行 - friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE; - friction_r = DJIMotorInit(&friction_config); +// // 左摩擦轮 +// Motor_Init_Config_s friction_config = { +// .can_init_config = { +// .can_handle = &hcan2, +// }, +// .controller_param_init_config = { +// .speed_PID = { +// .Kp = 1.5f, +// .Ki = 0.2f, +// .Kd = 0, +// .Improve = PID_Integral_Limit, +// .IntegralLimit = 10000, +// .MaxOut = 15000, +// }, +// .current_PID = { +// .Kp = 0, +// .Ki = 0, +// .Kd = 0, +// .Improve = PID_Integral_Limit, +// .IntegralLimit = 10000, +// .MaxOut = 15000, +// }, +// }, +// .controller_setting_init_config = { +// .angle_feedback_source = MOTOR_FEED, +// .speed_feedback_source = MOTOR_FEED, +// .outer_loop_type = SPEED_LOOP, +// .close_loop_type = SPEED_LOOP, +// }, +// .motor_type = M3508}; +// friction_config.can_init_config.tx_id = 2, +// friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL; +// friction_l = DJIMotorInit(&friction_config); +// +// friction_config.can_init_config.tx_id = 3; // 右摩擦轮,改txid和方向就行 +// friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE; +// friction_r = DJIMotorInit(&friction_config); // 拨盘电机 Motor_Init_Config_s loader_config = { .can_init_config = { .can_handle = &hcan1, - .tx_id = 2 + .tx_id = 3 }, .controller_param_init_config = { .angle_PID = { @@ -105,13 +105,11 @@ void ShootInit() }; loader = DJIMotorInit(&loader_config); - shoot_pub = PubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s)); - shoot_sub = SubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s)); - Pwmmotor_Init_Config_s friction_l1_config = { .htim = &htim8, .Channel = TIM_CHANNEL_1, .Pwmmotor_type = 0, + .Initial_value = 1000, }; friction_l1 = PwmmotorInit(&friction_l1_config); @@ -119,9 +117,12 @@ void ShootInit() .htim = &htim8, .Channel = TIM_CHANNEL_2, .Pwmmotor_type = 0, + .Initial_value = 1000, }; friction_r1 = PwmmotorInit(&friction_r1_config); + shoot_pub = PubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s)); + shoot_sub = SubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s)); // SPI_Init_Config_s rgb_config = { // .spi_handle = ; // .GPIOx = GPIOx; @@ -164,7 +165,6 @@ void stalled_detect() /* 机器人发射机构控制核心任务 */ void ShootTask() { - //WS2812_Number_4(0x000018,0x000018,0x000018,0x000018); //从cmd获取控制数据 SubGetMessage(shoot_sub, &shoot_cmd_recv); @@ -173,15 +173,19 @@ void ShootTask() { //DJIMotorSetRef(friction_l, 0); //DJIMotorSetRef(friction_r, 0); + Pwm_Motor_Stop(friction_l1, 1000); + Pwm_Motor_Stop(friction_r1, 1000); DJIMotorEnable(loader); } else // 恢复运行 { //DJIMotorEnable(friction_l); //DJIMotorEnable(friction_r); + Pwm_MotorControl(friction_l1, 2000); + Pwm_MotorControl(friction_r1, 2000); DJIMotorEnable(loader); } - DJIMotorEnable(loader); + // 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) if (hibernate_time + dead_time > DWT_GetTimeline_ms()) @@ -250,8 +254,8 @@ void ShootTask() // DJIMotorSetRef(friction_r, 0); // break; //default: // 当前为了调试设定的默认值4000,因为还没有加入裁判系统无法读取弹速. - DJIMotorSetRef(friction_l, 39000); - DJIMotorSetRef(friction_r, 39000); + //DJIMotorSetRef(friction_l, 39000); + //DJIMotorSetRef(friction_r, 39000); // break; // } @@ -260,8 +264,8 @@ void ShootTask() } else // 关闭摩擦轮 { - DJIMotorSetRef(friction_l, 0); - DJIMotorSetRef(friction_r, 0); + //DJIMotorSetRef(friction_l, 0); + //DJIMotorSetRef(friction_r, 0); Pwm_Motor_Stop(friction_l1, 1000); Pwm_Motor_Stop(friction_r1, 1000); diff --git a/cmake-build-debug/CMakeFiles/uav.elf.dir/Src/tim.c.obj b/cmake-build-debug/CMakeFiles/uav.elf.dir/Src/tim.c.obj index f12f6416edd87b80d56e898b8e8ef152e0c72401..398521dac83518a24667df968e4fc4cb136c04d9 100644 GIT binary patch delta 2078 zcmcIlL2DC16rRcQrr9)2mD=>O=Um)>ms1ld0f~tcbzpns>ZH0 zzx%p)DtQ^$95{@^Pzh4Z8g4T3=Z%0cBaRnRTJ0RjWzC?s(HDLk$b; z4jhi)vl0AwH0!NR$~9^^Edl!?tRrp?iX6aZZJ0nAjE%vRoUuBy(k=9I46jQz3$!~- 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