Merge pull request #64 from xrobot-org/dev

添加无人机云台和舵步代码
xrobot-org · Mar 31, 2024 · cf1bd57 · cf1bd57
2 parents 73f563b + 879aac6
commit cf1bd57
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Showing 25 changed files with 2,110 additions and 188 deletions.
diff --git a/hw/bsp/rm-c/config/drone_gimbal.config b/hw/bsp/rm-c/config/drone_gimbal.config
@@ -0,0 +1,155 @@
+# CONFIG_auto_generated_config_prefix_board-c-mini is not set
+# CONFIG_auto_generated_config_prefix_board-dual_canfd is not set
+# CONFIG_auto_generated_config_prefix_board-esp32-c3-arduino is not set
+# CONFIG_auto_generated_config_prefix_board-esp32-c3-idf is not set
+# CONFIG_auto_generated_config_prefix_board-f103_can is not set
+# CONFIG_auto_generated_config_prefix_board-mangopi_r818 is not set
+# CONFIG_auto_generated_config_prefix_board-microswitch is not set
+# CONFIG_auto_generated_config_prefix_board-MiniPC is not set
+# CONFIG_auto_generated_config_prefix_board-MiniPC_with_canfd is not set
+# CONFIG_auto_generated_config_prefix_board-node_imu is not set
+CONFIG_auto_generated_config_prefix_board-rm-c=y
+# CONFIG_auto_generated_config_prefix_board-Webots is not set
+# CONFIG_auto_generated_config_prefix_system-Bootloader is not set
+CONFIG_auto_generated_config_prefix_system-FreeRTOS=y
+# CONFIG_auto_generated_config_prefix_system-Linux is not set
+# CONFIG_auto_generated_config_prefix_system-Linux_Webots is not set
+# CONFIG_auto_generated_config_prefix_system-None is not set
+
+#
+# FreeRTOS
+#
+CONFIG_INIT_TASK_STACK_DEPTH=2048
+CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=512
+CONFIG_FREERTOS_USB_TASK_STACK_DEPTH=256
+CONFIG_FREERTOS_TERM_TASK_STACK_DEPTH=512
+# end of FreeRTOS
+
+# CONFIG_auto_generated_config_prefix_robot-balance_infantry is not set
+# CONFIG_auto_generated_config_prefix_robot-ble_net_config is not set
+# CONFIG_auto_generated_config_prefix_robot-blink is not set
+# CONFIG_auto_generated_config_prefix_robot-bootloader is not set
+# CONFIG_auto_generated_config_prefix_robot-canfd_to_uart is not set
+# CONFIG_auto_generated_config_prefix_robot-can_to_uart is not set
+# CONFIG_auto_generated_config_prefix_robot-custom_controller is not set
+# CONFIG_auto_generated_config_prefix_robot-dart is not set
+CONFIG_auto_generated_config_prefix_robot-drone_gimbal=y
+# CONFIG_auto_generated_config_prefix_robot-engineer is not set
+# CONFIG_auto_generated_config_prefix_robot-helm_infantry is not set
+# CONFIG_auto_generated_config_prefix_robot-hero is not set
+# CONFIG_auto_generated_config_prefix_robot-infantry is not set
+# CONFIG_auto_generated_config_prefix_robot-microswitch is not set
+# CONFIG_auto_generated_config_prefix_robot-sentry is not set
+# CONFIG_auto_generated_config_prefix_robot-sim_balance is not set
+# CONFIG_auto_generated_config_prefix_robot-sim_mecanum is not set
+# CONFIG_auto_generated_config_prefix_robot-uart_net_config is not set
+# CONFIG_auto_generated_config_prefix_robot-udp_to_uart is not set
+# CONFIG_auto_generated_config_prefix_robot-wearlab_imu is not set
+
+#
+# 组件
+#
+
+#
+# 设备
+#
+CONFIG_auto_generated_config_prefix_device-ahrs=y
+CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256
+# CONFIG_auto_generated_config_prefix_device-ahrs-9 is not set
+CONFIG_auto_generated_config_prefix_device-ai=y
+CONFIG_DEVICE_AI_TASK_STACK_DEPTH=384
+
+#
+# 上位机
+#
+# CONFIG_HOST_CTRL_PRIORITY is not set
+# end of 上位机
+
+# CONFIG_auto_generated_config_prefix_device-blink_led is not set
+CONFIG_auto_generated_config_prefix_device-bmi088=y
+CONFIG_DEVICE_BMI088_TASK_STACK_DEPTH=256
+# CONFIG_auto_generated_config_prefix_device-bq27220 is not set
+# CONFIG_auto_generated_config_prefix_device-buzzer is not set
+CONFIG_auto_generated_config_prefix_device-can=y
+# CONFIG_auto_generated_config_prefix_device-canfd is not set
+CONFIG_auto_generated_config_prefix_device-cap=y
+CONFIG_DEVICE_CAP_TASK_STACK_DEPTH=256
+
+#
+# 超级电容
+#
+CONFIG_CAP_PERCENT_NO_LIM=80
+CONFIG_CAP_PERCENT_WORK=30
+CONFIG_CAP_MAX_LOAD=100
+# end of 超级电容
+
+# CONFIG_auto_generated_config_prefix_device-custom_controller is not set
+CONFIG_auto_generated_config_prefix_device-dr16=y
+CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384
+# CONFIG_auto_generated_config_prefix_device-icm42688 is not set
+CONFIG_auto_generated_config_prefix_device-imu=y
+CONFIG_DEVICE_CAN_IMU_TASK_STACK_DEPTH=256
+# CONFIG_auto_generated_config_prefix_device-ina226 is not set
+# CONFIG_auto_generated_config_prefix_device-laser is not set
+CONFIG_auto_generated_config_prefix_device-led_rgb=y
+CONFIG_DEVICE_LED_RGB_TASK_STACK_DEPTH=128
+# CONFIG_auto_generated_config_prefix_device-mech is not set
+# CONFIG_auto_generated_config_prefix_device-microswitch is not set
+# CONFIG_auto_generated_config_prefix_device-mmc5603 is not set
+CONFIG_auto_generated_config_prefix_device-motor=y
+# CONFIG_auto_generated_config_prefix_device-net_config is not set
+CONFIG_auto_generated_config_prefix_device-referee=y
+CONFIG_DEVICE_REF_TRANS_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_REF_RECV_TASK_STACK_DEPTH=256
+
+#
+# 裁判系统
+#
+# CONFIG_REF_VIRTUAL is not set
+CONFIG_REF_LAUNCH_SPEED=30
+CONFIG_REF_HEAT_LIMIT_17=100
+CONFIG_REF_HEAT_LIMIT_42=100
+CONFIG_REF_POWER_LIMIT=200
+CONFIG_REF_POWER_BUFF=100
+# end of 裁判系统
+
+#
+# 操作手UI
+#
+CONFIG_UI_DYNAMIC_CYCLE=20
+CONFIG_UI_STATIC_CYCLE=1000
+# end of 操作手UI
+
+CONFIG_auto_generated_config_prefix_device-servo=y
+# CONFIG_auto_generated_config_prefix_device-simulator is not set
+# CONFIG_auto_generated_config_prefix_device-spl06_001 is not set
+# CONFIG_auto_generated_config_prefix_device-tof is not set
+# end of 设备
+
+#
+# 模块
+#
+# CONFIG_auto_generated_config_prefix_module-balance is not set
+# CONFIG_auto_generated_config_prefix_module-ble_net_config is not set
+# CONFIG_auto_generated_config_prefix_module-canfd_to_uart is not set
+# CONFIG_auto_generated_config_prefix_module-can_imu is not set
+# CONFIG_auto_generated_config_prefix_module-can_imu_wearlab is not set
+# CONFIG_auto_generated_config_prefix_module-can_usart is not set
+CONFIG_auto_generated_config_prefix_module-chassis=y
+CONFIG_MODULE_CHASSIS_TASK_STACK_DEPTH=384
+# CONFIG_auto_generated_config_prefix_module-custom_controller is not set
+# CONFIG_auto_generated_config_prefix_module-dart_gimbal is not set
+# CONFIG_auto_generated_config_prefix_module-dart_launcher is not set
+# CONFIG_auto_generated_config_prefix_module-engineer_chassis is not set
+CONFIG_auto_generated_config_prefix_module-gimbal=y
+CONFIG_MODULE_GIMBAL_TASK_STACK_DEPTH=512
+# CONFIG_auto_generated_config_prefix_module-helm_chassis is not set
+# CONFIG_auto_generated_config_prefix_module-launcher is not set
+CONFIG_auto_generated_config_prefix_module-launcher_drone=y
+# CONFIG_auto_generated_config_prefix_module-microswitch is not set
+# CONFIG_auto_generated_config_prefix_module-ore_collect is not set
+# CONFIG_auto_generated_config_prefix_module-performance is not set
+# CONFIG_auto_generated_config_prefix_module-topic_share_uart is not set
+# CONFIG_auto_generated_config_prefix_module-uart_update is not set
+# CONFIG_auto_generated_config_prefix_module-wheel_leg is not set
+# end of 模块
diff --git a/hw/bsp/rm-c/config/helm_infantry.config b/hw/bsp/rm-c/config/helm_infantry.config
@@ -0,0 +1,155 @@
+# CONFIG_auto_generated_config_prefix_board-c-mini is not set
+# CONFIG_auto_generated_config_prefix_board-dual_canfd is not set
+# CONFIG_auto_generated_config_prefix_board-esp32-c3-arduino is not set
+# CONFIG_auto_generated_config_prefix_board-esp32-c3-idf is not set
+# CONFIG_auto_generated_config_prefix_board-f103_can is not set
+# CONFIG_auto_generated_config_prefix_board-mangopi_r818 is not set
+# CONFIG_auto_generated_config_prefix_board-microswitch is not set
+# CONFIG_auto_generated_config_prefix_board-MiniPC is not set
+# CONFIG_auto_generated_config_prefix_board-MiniPC_with_canfd is not set
+# CONFIG_auto_generated_config_prefix_board-node_imu is not set
+CONFIG_auto_generated_config_prefix_board-rm-c=y
+# CONFIG_auto_generated_config_prefix_board-Webots is not set
+# CONFIG_auto_generated_config_prefix_system-Bootloader is not set
+CONFIG_auto_generated_config_prefix_system-FreeRTOS=y
+# CONFIG_auto_generated_config_prefix_system-Linux is not set
+# CONFIG_auto_generated_config_prefix_system-Linux_Webots is not set
+# CONFIG_auto_generated_config_prefix_system-None is not set
+
+#
+# FreeRTOS
+#
+CONFIG_INIT_TASK_STACK_DEPTH=2048
+CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=512
+CONFIG_FREERTOS_USB_TASK_STACK_DEPTH=256
+CONFIG_FREERTOS_TERM_TASK_STACK_DEPTH=512
+# end of FreeRTOS
+
+# CONFIG_auto_generated_config_prefix_robot-balance_infantry is not set
+# CONFIG_auto_generated_config_prefix_robot-ble_net_config is not set
+# CONFIG_auto_generated_config_prefix_robot-blink is not set
+# CONFIG_auto_generated_config_prefix_robot-bootloader is not set
+# CONFIG_auto_generated_config_prefix_robot-canfd_to_uart is not set
+# CONFIG_auto_generated_config_prefix_robot-can_to_uart is not set
+# CONFIG_auto_generated_config_prefix_robot-custom_controller is not set
+# CONFIG_auto_generated_config_prefix_robot-dart is not set
+# CONFIG_auto_generated_config_prefix_robot-drone_gimbal is not set
+# CONFIG_auto_generated_config_prefix_robot-engineer is not set
+CONFIG_auto_generated_config_prefix_robot-helm_infantry=y
+# CONFIG_auto_generated_config_prefix_robot-hero is not set
+# CONFIG_auto_generated_config_prefix_robot-infantry is not set
+# CONFIG_auto_generated_config_prefix_robot-microswitch is not set
+# CONFIG_auto_generated_config_prefix_robot-sentry is not set
+# CONFIG_auto_generated_config_prefix_robot-sim_balance is not set
+# CONFIG_auto_generated_config_prefix_robot-sim_mecanum is not set
+# CONFIG_auto_generated_config_prefix_robot-uart_net_config is not set
+# CONFIG_auto_generated_config_prefix_robot-udp_to_uart is not set
+# CONFIG_auto_generated_config_prefix_robot-wearlab_imu is not set
+
+#
+# 组件
+#
+
+#
+# 设备
+#
+CONFIG_auto_generated_config_prefix_device-ahrs=y
+CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256
+# CONFIG_auto_generated_config_prefix_device-ahrs-9 is not set
+CONFIG_auto_generated_config_prefix_device-ai=y
+CONFIG_DEVICE_AI_TASK_STACK_DEPTH=384
+
+#
+# 上位机
+#
+# CONFIG_HOST_CTRL_PRIORITY is not set
+# end of 上位机
+
+# CONFIG_auto_generated_config_prefix_device-blink_led is not set
+CONFIG_auto_generated_config_prefix_device-bmi088=y
+CONFIG_DEVICE_BMI088_TASK_STACK_DEPTH=256
+# CONFIG_auto_generated_config_prefix_device-bq27220 is not set
+# CONFIG_auto_generated_config_prefix_device-buzzer is not set
+CONFIG_auto_generated_config_prefix_device-can=y
+# CONFIG_auto_generated_config_prefix_device-canfd is not set
+CONFIG_auto_generated_config_prefix_device-cap=y
+CONFIG_DEVICE_CAP_TASK_STACK_DEPTH=256
+
+#
+# 超级电容
+#
+CONFIG_CAP_PERCENT_NO_LIM=80
+CONFIG_CAP_PERCENT_WORK=30
+CONFIG_CAP_MAX_LOAD=100
+# end of 超级电容
+
+# CONFIG_auto_generated_config_prefix_device-custom_controller is not set
+CONFIG_auto_generated_config_prefix_device-dr16=y
+CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384
+# CONFIG_auto_generated_config_prefix_device-icm42688 is not set
+CONFIG_auto_generated_config_prefix_device-imu=y
+CONFIG_DEVICE_CAN_IMU_TASK_STACK_DEPTH=256
+# CONFIG_auto_generated_config_prefix_device-ina226 is not set
+# CONFIG_auto_generated_config_prefix_device-laser is not set
+CONFIG_auto_generated_config_prefix_device-led_rgb=y
+CONFIG_DEVICE_LED_RGB_TASK_STACK_DEPTH=128
+# CONFIG_auto_generated_config_prefix_device-mech is not set
+# CONFIG_auto_generated_config_prefix_device-microswitch is not set
+# CONFIG_auto_generated_config_prefix_device-mmc5603 is not set
+CONFIG_auto_generated_config_prefix_device-motor=y
+# CONFIG_auto_generated_config_prefix_device-net_config is not set
+CONFIG_auto_generated_config_prefix_device-referee=y
+CONFIG_DEVICE_REF_TRANS_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_REF_RECV_TASK_STACK_DEPTH=256
+
+#
+# 裁判系统
+#
+# CONFIG_REF_VIRTUAL is not set
+CONFIG_REF_LAUNCH_SPEED=30
+CONFIG_REF_HEAT_LIMIT_17=100
+CONFIG_REF_HEAT_LIMIT_42=100
+CONFIG_REF_POWER_LIMIT=200
+CONFIG_REF_POWER_BUFF=100
+# end of 裁判系统
+
+#
+# 操作手UI
+#
+CONFIG_UI_DYNAMIC_CYCLE=20
+CONFIG_UI_STATIC_CYCLE=1000
+# end of 操作手UI
+
+CONFIG_auto_generated_config_prefix_device-servo=y
+# CONFIG_auto_generated_config_prefix_device-simulator is not set
+# CONFIG_auto_generated_config_prefix_device-spl06_001 is not set
+# CONFIG_auto_generated_config_prefix_device-tof is not set
+# end of 设备
+
+#
+# 模块
+#
+# CONFIG_auto_generated_config_prefix_module-balance is not set
+# CONFIG_auto_generated_config_prefix_module-ble_net_config is not set
+# CONFIG_auto_generated_config_prefix_module-canfd_to_uart is not set
+# CONFIG_auto_generated_config_prefix_module-can_imu is not set
+# CONFIG_auto_generated_config_prefix_module-can_imu_wearlab is not set
+# CONFIG_auto_generated_config_prefix_module-can_usart is not set
+# CONFIG_auto_generated_config_prefix_module-chassis is not set
+# CONFIG_auto_generated_config_prefix_module-custom_controller is not set
+# CONFIG_auto_generated_config_prefix_module-dart_gimbal is not set
+# CONFIG_auto_generated_config_prefix_module-dart_launcher is not set
+# CONFIG_auto_generated_config_prefix_module-engineer_chassis is not set
+CONFIG_auto_generated_config_prefix_module-gimbal=y
+CONFIG_MODULE_GIMBAL_TASK_STACK_DEPTH=512
+CONFIG_auto_generated_config_prefix_module-helm_chassis=y
+CONFIG_MODULE_LAUNCHER_TASK_STACK_DEPTH=384
+CONFIG_auto_generated_config_prefix_module-launcher=y
+# CONFIG_auto_generated_config_prefix_module-launcher_drone is not set
+# CONFIG_auto_generated_config_prefix_module-microswitch is not set
+# CONFIG_auto_generated_config_prefix_module-ore_collect is not set
+# CONFIG_auto_generated_config_prefix_module-performance is not set
+# CONFIG_auto_generated_config_prefix_module-topic_share_uart is not set
+# CONFIG_auto_generated_config_prefix_module-uart_update is not set
+# CONFIG_auto_generated_config_prefix_module-wheel_leg is not set
+# end of 模块
diff --git a/hw/bsp/rm-c/drivers/hal/Core/Inc/stm32f4xx_hal_conf.h b/hw/bsp/rm-c/drivers/hal/Core/Inc/stm32f4xx_hal_conf.h
@@ -222,7 +222,7 @@
 /* Section 2: PHY configuration section */
 
 /* DP83848_PHY_ADDRESS Address*/
-#define DP83848_PHY_ADDRESS           0x01U
+#define DP83848_PHY_ADDRESS
 /* PHY Reset delay these values are based on a 1 ms Systick interrupt*/
 #define PHY_RESET_DELAY                 0x000000FFU
 /* PHY Configuration delay */
@@ -252,10 +252,10 @@
 #define PHY_JABBER_DETECTION            ((uint16_t)0x0002U)  /*!< Jabber condition detected            */
 
 /* Section 4: Extended PHY Registers */
-#define PHY_SR                          ((uint16_t)0x10U)    /*!< PHY status register Offset                      */
+#define PHY_SR                          ((uint16_t))    /*!< PHY status register Offset                      */
 
-#define PHY_SPEED_STATUS                ((uint16_t)0x0002U)  /*!< PHY Speed mask                                  */
-#define PHY_DUPLEX_STATUS               ((uint16_t)0x0004U)  /*!< PHY Duplex mask                                 */
+#define PHY_SPEED_STATUS                ((uint16_t))  /*!< PHY Speed mask                                  */
+#define PHY_DUPLEX_STATUS               ((uint16_t))  /*!< PHY Duplex mask                                 */
 
 /* ################## SPI peripheral configuration ########################## */
 

diff --git a/hw/bsp/rm-c/drivers/hal/Core/Src/main.c b/hw/bsp/rm-c/drivers/hal/Core/Src/main.c
@@ -272,7 +272,7 @@ void MX_CAN1_Init(void)
   hcan1.Init.TimeTriggeredMode = DISABLE;
   hcan1.Init.AutoBusOff = ENABLE;
   hcan1.Init.AutoWakeUp = ENABLE;
-  hcan1.Init.AutoRetransmission = DISABLE;
+  hcan1.Init.AutoRetransmission = ENABLE;
   hcan1.Init.ReceiveFifoLocked = DISABLE;
   hcan1.Init.TransmitFifoPriority = DISABLE;
   if (HAL_CAN_Init(&hcan1) != HAL_OK)
@@ -309,7 +309,7 @@ void MX_CAN2_Init(void)
   hcan2.Init.TimeTriggeredMode = DISABLE;
   hcan2.Init.AutoBusOff = ENABLE;
   hcan2.Init.AutoWakeUp = ENABLE;
-  hcan2.Init.AutoRetransmission = DISABLE;
+  hcan2.Init.AutoRetransmission = ENABLE;
   hcan2.Init.ReceiveFifoLocked = DISABLE;
   hcan2.Init.TransmitFifoPriority = DISABLE;
   if (HAL_CAN_Init(&hcan2) != HAL_OK)

diff --git a/hw/bsp/rm-c/drivers/hal/Core/Src/stm32f4xx_hal_msp.c b/hw/bsp/rm-c/drivers/hal/Core/Src/stm32f4xx_hal_msp.c
@@ -20,6 +20,7 @@
 
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
+
 /* USER CODE BEGIN Includes */
 
 /* USER CODE END Includes */

diff --git a/hw/bsp/rm-c/drivers/hal/DevC.ioc b/hw/bsp/rm-c/drivers/hal/DevC.ioc
@@ -23,7 +23,7 @@ CAN1.CalculateBaudRate=1000000
 CAN1.CalculateTimeBit=1000
 CAN1.CalculateTimeQuantum=71.42857142857143
 CAN1.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,TXFP,ABOM,CalculateTimeBit,CalculateBaudRate,NART,AWUM
-CAN1.NART=DISABLE
+CAN1.NART=ENABLE
 CAN1.Prescaler=3
 CAN1.TXFP=DISABLE
 CAN2.ABOM=ENABLE
@@ -34,7 +34,7 @@ CAN2.CalculateBaudRate=1000000
 CAN2.CalculateTimeBit=1000
 CAN2.CalculateTimeQuantum=71.42857142857143
 CAN2.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,TXFP,CalculateTimeBit,CalculateBaudRate,ABOM,AWUM,NART
-CAN2.NART=DISABLE
+CAN2.NART=ENABLE
 CAN2.Prescaler=3
 CAN2.TXFP=DISABLE
 Dma.I2C2_TX.2.Direction=DMA_MEMORY_TO_PERIPH
@@ -246,8 +246,8 @@ Mcu.PinsNb=64
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407IGHx
-MxCube.Version=6.8.1
-MxDb.Version=DB.6.0.81
+MxCube.Version=6.10.0
+MxDb.Version=DB.6.0.100
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.CAN1_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true
 NVIC.CAN1_RX1_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true