310 lines
8.5 KiB
C
310 lines
8.5 KiB
C
/* USER CODE BEGIN Header */
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#include <stdio.h>
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#include "ladrc.h"
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#include "usbd_cdc_if.h" // USB 虚拟串口发送头文件
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#include "f4_can_app.h"
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#include "usart.h"
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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) 2026 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 "can.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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/* 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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#define TELEMETRY_TX_PERIOD_MS 20U
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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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extern USBD_HandleTypeDef hUsbDeviceFS;
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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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/* 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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int _write(int file, char *ptr, int len)
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{
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uint32_t start_tick;
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uint8_t result;
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(void)file;
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if ((ptr == NULL) || (len <= 0))
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{
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return 0;
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}
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if (hUsbDeviceFS.dev_state != USBD_STATE_CONFIGURED)
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{
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return 0;
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}
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start_tick = HAL_GetTick();
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do
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{
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result = CDC_Transmit_FS((uint8_t *)ptr, (uint16_t)len);
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if (result == USBD_OK)
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{
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return len;
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}
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} while ((result == USBD_BUSY) && ((HAL_GetTick() - start_tick) < 2U));
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return 0;
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}
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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_TIM1_Init();
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MX_TIM2_Init();
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MX_TIM3_Init();
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MX_TIM4_Init();
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MX_TIM5_Init();
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MX_TIM8_Init();
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MX_USB_DEVICE_Init();
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MX_TIM9_Init();
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MX_TIM6_Init();
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MX_CAN1_Init();
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MX_UART4_Init();
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MX_TIM7_Init();
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/* USER CODE BEGIN 2 */
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CAN_App_Init();
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FourWheel_LADRC_Init();
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/* 启动 10ms 慢速/诊断节拍 */
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if (HAL_TIM_Base_Start_IT(&htim6) != HAL_OK)
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{
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Error_Handler();
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}
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/* 启动 5ms 硬实时底盘控制节拍 */
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if (HAL_TIM_Base_Start_IT(&htim7) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1)
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{
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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/*
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* 20ms 周期发送的“无漂移（driftless）”调度器：
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*
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* 之前版本用 last = now 的写法：
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* if (now - last >= period) { last = now; ... }
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* 在主循环存在抖动/阻塞时会把“相位”带着一起漂移，表现为 20ms 周期不再对齐。
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*
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* 这里改成 next_deadline += period 的写法，让发送时刻尽量锁在固定相位上；
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* 若主循环被阻塞太久（落后 >= 1 个周期），则做一次“软重同步”，避免一口气补发多次造成总线突发。
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*/
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static uint32_t next_telemetry_deadline = 0U;
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uint32_t now = HAL_GetTick();
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if (next_telemetry_deadline == 0U)
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{
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next_telemetry_deadline = now + TELEMETRY_TX_PERIOD_MS;
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}
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if ((int32_t)(now - next_telemetry_deadline) >= 0)
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{
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next_telemetry_deadline += TELEMETRY_TX_PERIOD_MS;
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CAN_Send_Telemetry_20ms();
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/* 如果主循环太慢导致仍然落后（>= 1 周期），重同步，避免连发突刺。 */
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if ((int32_t)(now - next_telemetry_deadline) >= 0)
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{
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next_telemetry_deadline = now + TELEMETRY_TX_PERIOD_MS;
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/* 可选：在这里置一个诊断位，提示“Telemetry Late”。 */
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/* CAN_Report_TelemetryLate(); */
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}
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}
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/*
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* 主循环保持轻量。
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* 如果后续要加 LED、串口 shell、参数配置等慢任务，尽量都放这里。
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*/
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/* USER CODE END WHILE */
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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 = 4;
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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
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|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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void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
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{
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/* ==================================================
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* [快循环] TIM7: 5ms 专用于底盘高频硬实时控制
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* ================================================== */
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if (htim->Instance == TIM7)
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{
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/* 1. 运动学逆解算：根据上层下发的底盘 vx,vy,w 计算四个轮子的目标 RPM */
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Kinematics_Update_LADRC();
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/* 2. 四轮 LADRC 闭环：获取编码器 -> 滤波 -> 运算 -> 输出 PWM */
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FourWheel_LADRC_Control_Loop();
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}
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/* ==================================================
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* [慢循环] TIM6: 10ms 专用于状态机、看门狗与故障诊断
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* ================================================== */
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else if (htim->Instance == TIM6)
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{
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/* 1. 检查上位机/遥控器指令是否超时 */
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CAN_Safety_Watchdog_Tick();
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/* 2. 基于快循环更新的状态（如超调、堵转、离线等）做诊断 */
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Chassis_Diagnostics_10ms_Tick();
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}
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}
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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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