Merge branch 'main' of http://git.brisky.space/btl143/BC1C-firmware

BC1C.ATWP

@@ -155,6 +155,24 @@
         <CAN2_RX1_IRQHandler>0;0;0</CAN2_RX1_IRQHandler>
         <CAN2_SE_IRQHandler>0;0;0</CAN2_SE_IRQHandler>
     </NVIC>
+    <GPIO>
+        <Signal SignalName="GPIO_Output" PinName="PC0">
+            <Parameters name="GPIO_Outputlevel" value="GPIO_OUTPUTLEVEL_HIGH"/>
+            <Parameters name="GPIO_DriverCapability" value="GPIO_DRIVE_STRENGTH_STRONGER"/>
+        </Signal>
+        <Signal SignalName="GPIO_Output" PinName="PC1">
+            <Parameters name="GPIO_Outputlevel" value="GPIO_OUTPUTLEVEL_HIGH"/>
+            <Parameters name="GPIO_DriverCapability" value="GPIO_DRIVE_STRENGTH_STRONGER"/>
+        </Signal>
+        <Signal SignalName="GPIO_Output" PinName="PC2">
+            <Parameters name="GPIO_Outputlevel" value="GPIO_OUTPUTLEVEL_HIGH"/>
+            <Parameters name="GPIO_DriverCapability" value="GPIO_DRIVE_STRENGTH_STRONGER"/>
+        </Signal>
+        <Signal SignalName="GPIO_Output" PinName="PC3">
+            <Parameters name="GPIO_Outputlevel" value="GPIO_OUTPUTLEVEL_HIGH"/>
+            <Parameters name="GPIO_DriverCapability" value="GPIO_DRIVE_STRENGTH_STRONGER"/>
+        </Signal>
+    </GPIO>
     <ClockConfiguration>
         <rtcsel>0</rtcsel>
         <hext>8.000000</hext>
@@ -214,7 +232,7 @@
     </PINInfo>
     <ProjectInfomation>
         <ProjectName>BC1C</ProjectName>
-        <ProjectLocation>C:/Users/ForgotDoge/Desktop/BC2024/firmware</ProjectLocation>
+        <ProjectLocation>C:/Users/evan/Desktop/BC2024</ProjectLocation>
         <ToolchainIDE>MDK_V5</ToolchainIDE>
         <KeepUserCode>true</KeepUserCode>
         <MinHeapSize>0x200</MinHeapSize>

BC1C.code-workspace

@@ -25,13 +25,13 @@
             "editor.tabSize": 4,
             "editor.autoIndent": "advanced"
         },
-        "EIDE.OpenOCD.ExePath": "D:/Program Files (x86)/at32_OpenOCD_V2.0.2/bin/openocd.exe",
+        "EIDE.OpenOCD.ExePath": "C:/toolchains/openocd-arterytek/bin/openocd.exe",
         "workbench.colorCustomizations": {
             "activityBar.background": "#4B2301",
             "titleBar.activeBackground": "#693002",
             "titleBar.activeForeground": "#FFF9F4"
         },
-        "cortex-debug.variableUseNaturalFormat": true
+        "cortex-debug.variableUseNaturalFormat": false
     },
     "extensions": {
     }

app/by_messy.c

@@ -3,6 +3,7 @@
 #include "lwprintf.h"
 #include "by_frame.h"
 #include "by_motion.h"
+#include "by_can.h"
 
 void by_messy_init(void)
 {
@@ -12,6 +13,9 @@ void by_messy_init(void)
 void by_messy_loop(void)
 {
   uint8_t cmd                      = 0;
+  uint8_t buff_t_u8[8]             = {0};
+  uint16_t buff_t_u16[4]           = {0};
+  float buff_t_f[2]                = {0};
   uint32_t buff[BY_FRAME_DATA_NUM] = {0};
 
   if (!by_frame_parse(&cmd, buff)) {
@@ -57,48 +61,82 @@ void by_messy_loop(void)
 
       case 0x41:                  // 设置转台 x 轴复位
         by_frame_send(cmd, buff); // 正确接收后直接返回原文
+        buff_t_u8[0] = 0;
+        buff_t_u8[1] = 1; // 复位模式下速度设置无效
+        buff_t_f[0]  = 0.0;
+        memcpy(&buff_t_u8[2], &buff_t_f[0], sizeof(buff_t_f[0]));
+        by_can_send_stdd(0x008, buff_t_u8, 1, 100);
         break;
 
       case 0x42:                  // 设置转台 z 轴复位
         by_frame_send(cmd, buff); // 正确接收后直接返回原文
+        buff_t_u8[0] = 0;
+        buff_t_u8[1] = 5; // 设置复位速度 5
+        by_can_send_stdd(0x008, buff_t_u8, 1, 100);
         break;
-
       case 0x43:                  // 设置转台末端执行器复位
         by_frame_send(cmd, buff); // 正确接收后直接返回原文
+        buff_t_u8[0] = 0;
+        by_can_send_stdd(0x009, buff_t_u8, 1, 100);
         break;
-
+      case 0x44: // 设置x轴位置 (增量)
-      case 0x44:                  // 设置云台 x 轴相对位置
+        by_frame_send(cmd, buff);
-        by_frame_send(cmd, buff); // 正确接收后直接返回原文
+        buff_t_u8[0] = 1;                               // 增量模式
+        buff_t_u8[1] = buff[0];                         // 拷贝设置速度
+        memcpy(&buff_t_u8[2], &buff[1], sizeof(float)); // 拷贝设置距离
+        by_can_send_stdd(0x006, buff_t_u8, 8, 100);
         break;
-
+      case 0x46: // 设置z轴位置 (增量)
-      case 0x46:                  // 设置云台 z 轴相对位置
+        by_frame_send(cmd, buff);
-        by_frame_send(cmd, buff); // 正确接收后直接返回原文
+        buff_t_u8[0] = 1;                               // 增量模式
+        buff_t_u8[1] = buff[0];                         // 拷贝设置速度
+        memcpy(&buff_t_u8[2], &buff[1], sizeof(float)); // 拷贝设置距离
+        by_can_send_stdd(0x008, buff_t_u8, 8, 100);
         break;
-
+      case 0x47: // 设置x轴位置 (绝对)
-      case 0x47:                  // 设置云台 x 轴绝对位置
+        by_frame_send(cmd, buff);
-        by_frame_send(cmd, buff); // 正确接收后直接返回原文
+        buff_t_u8[0] = 0;                               // 位置模式
+        buff_t_u8[1] = buff[0];                         // 拷贝设置速度
+        memcpy(&buff_t_u8[2], &buff[1], sizeof(float)); // 拷贝设置距离
+        by_can_send_stdd(0x006, buff_t_u8, 8, 100);
         break;
-
+      case 0x49: // 设置z轴位置 (绝对)
-      case 0x49:                  // 设置云台 z 轴绝对位置
+        by_frame_send(cmd, buff);
-        by_frame_send(cmd, buff); // 正确接收后直接返回原文
+        buff_t_u8[0] = 0;                               // 增量模式
+        buff_t_u8[1] = buff[0];                         // 拷贝设置速度
+        memcpy(&buff_t_u8[2], &buff[1], sizeof(float)); // 拷贝设置距离
+        by_can_send_stdd(0x008, buff_t_u8, 8, 100);
         break;
-
+      case 0x50: // 设置夹爪摇臂角度
-      case 0x50:                  // 设置云台夹爪摇臂位置
+        by_frame_send(cmd, buff);
-        by_frame_send(cmd, buff); // 正确接收后直接返回原文
+        memcpy(buff_t_f, buff, sizeof(float));
+        buff_t_u16[0] = (int16_t)(buff_t_f[0]);
+        by_can_send_stdd(0x009, (uint8_t *)&buff_t_u16, 2, 100);
         break;
-
+      case 0x51: // 设置夹爪角度
-      case 0x51:                  // 设置云台夹爪位置
+        by_frame_send(cmd, buff);
-        by_frame_send(cmd, buff); // 正确接收后直接返回原文
+        memcpy(buff_t_f, buff, sizeof(float));
+        buff_t_u16[0] = (int16_t)(buff_t_f[0]);
+        by_can_send_stdd(0x00A, (uint8_t *)&buff_t_u16, 2, 100);
         break;
-
+      case 0x52: // 设置摄像头角度
-      case 0x55:                  // 设置启动测距 (reserve)
+        by_frame_send(cmd, buff);
-        by_frame_send(cmd, buff); // 正确接收后直接返回原文
+        memcpy(buff_t_f, buff, sizeof(float));
+        buff_t_u16[0] = (int16_t)(buff_t_f[0]);
+        by_can_send_stdd(0x00B, (uint8_t *)&buff_t_u16, 2, 100);
         break;
-
+      case 0x53: // 设置顶端抓取机构角度
-      case 0x56:                  // 设置返回测距值 (reserve)
+        by_frame_send(cmd, buff);
-        by_frame_send(cmd, buff); // 正确接收后直接返回原文
+        memcpy(buff_t_f, buff, sizeof(float));
+        buff_t_u16[0] = (int16_t)(buff_t_f[0]);
+        by_can_send_stdd(0x00C, (uint8_t *)&buff_t_u16, 2, 100);
+        break;
+      case 0x54: // 设置托盘角度
+        by_frame_send(cmd, buff);
+        memcpy(buff_t_f, buff, sizeof(float));
+        buff_t_u16[0] = (int16_t)(buff_t_f[0]);
+        by_can_send_stdd(0x00D, (uint8_t *)&buff_t_u16, 2, 100);
         break;
-
       default:
         break;
     }

project/inc/at32f403a_407_wk_config.h

@@ -55,6 +55,65 @@ extern "C" {
 
 /* add user code end exported macro */
 
+/* add user code begin dma define */
+/* user can only modify the dma define value */
+//#define DMA1_CHANNEL1_BUFFER_SIZE   0
+//#define DMA1_CHANNEL1_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL1_PERIPHERAL_BASE_ADDR  0
+
+//#define DMA1_CHANNEL2_BUFFER_SIZE   0
+//#define DMA1_CHANNEL2_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL2_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA1_CHANNEL3_BUFFER_SIZE   0
+//#define DMA1_CHANNEL3_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL3_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA1_CHANNEL4_BUFFER_SIZE   0
+//#define DMA1_CHANNEL4_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL4_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA1_CHANNEL5_BUFFER_SIZE   0
+//#define DMA1_CHANNEL5_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL5_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA1_CHANNEL6_BUFFER_SIZE   0
+//#define DMA1_CHANNEL6_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL6_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA1_CHANNEL7_BUFFER_SIZE   0
+//#define DMA1_CHANNEL7_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL7_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL1_BUFFER_SIZE   0
+//#define DMA2_CHANNEL1_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL1_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL2_BUFFER_SIZE   0
+//#define DMA2_CHANNEL2_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL2_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL3_BUFFER_SIZE   0
+//#define DMA2_CHANNEL3_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL3_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL4_BUFFER_SIZE   0
+//#define DMA2_CHANNEL4_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL4_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL5_BUFFER_SIZE   0
+//#define DMA2_CHANNEL5_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL5_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL6_BUFFER_SIZE   0
+//#define DMA2_CHANNEL6_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL6_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL7_BUFFER_SIZE   0
+//#define DMA2_CHANNEL7_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL7_PERIPHERAL_BASE_ADDR   0
+/* add user code end dma define */
+
 /* exported functions ------------------------------------------------------- */
   /* system clock config. */
   void wk_system_clock_config(void);

project/src/at32f403a_407_int.c

@@ -96,7 +96,8 @@ void HardFault_Handler(void)
 
   /* add user code end HardFault_IRQ 0 */
   /* go to infinite loop when hard fault exception occurs */
-  while (1) {
+  while (1)
+  {
     /* add user code begin W1_HardFault_IRQ 0 */
 
     /* add user code end W1_HardFault_IRQ 0 */
@@ -114,7 +115,8 @@ void MemManage_Handler(void)
 
   /* add user code end MemoryManagement_IRQ 0 */
   /* go to infinite loop when memory manage exception occurs */
-  while (1) {
+  while (1)
+  {
     /* add user code begin W1_MemoryManagement_IRQ 0 */
 
     /* add user code end W1_MemoryManagement_IRQ 0 */
@@ -132,7 +134,8 @@ void BusFault_Handler(void)
 
   /* add user code end BusFault_IRQ 0 */
   /* go to infinite loop when bus fault exception occurs */
-  while (1) {
+  while (1)
+  {
     /* add user code begin W1_BusFault_IRQ 0 */
 
     /* add user code end W1_BusFault_IRQ 0 */
@@ -150,7 +153,8 @@ void UsageFault_Handler(void)
 
   /* add user code end UsageFault_IRQ 0 */
   /* go to infinite loop when usage fault exception occurs */
-  while (1) {
+  while (1)
+  {
     /* add user code begin W1_UsageFault_IRQ 0 */
 
     /* add user code end W1_UsageFault_IRQ 0 */

project/src/at32f403a_407_wk_config.c

@@ -268,9 +268,9 @@ void wk_gpio_config(void)
   gpio_init(GPIOB, &gpio_init_struct);
 
   /* gpio output config */
-  gpio_bits_reset(GPIOC, GPIO_PINS_0 | GPIO_PINS_1 | GPIO_PINS_2 | GPIO_PINS_3);
+  gpio_bits_set(GPIOC, GPIO_PINS_0 | GPIO_PINS_1 | GPIO_PINS_2 | GPIO_PINS_3);
 
-  gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
+  gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_STRONGER;
   gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
   gpio_init_struct.gpio_mode = GPIO_MODE_OUTPUT;
   gpio_init_struct.gpio_pins = GPIO_PINS_0 | GPIO_PINS_1 | GPIO_PINS_2 | GPIO_PINS_3;

project/src/main.c

@@ -152,8 +152,12 @@ int main(void)
 
   /* add user code end 2 */
 
-  while (1) {
+  while(1)
+  {
     /* add user code begin 3 */
+    // gpio_bits_write(GPIOC, GPIO_PINS_3, !gpio_output_data_bit_read(GPIOC, GPIO_PINS_3));
+    // gpio_bits_write(GPIOC, GPIO_PINS_2, !gpio_output_data_bit_read(GPIOC, GPIO_PINS_2));
+    // DWT_Delay(1000000);
     by_messy_loop();
     by_motion_loop();
     /* add user code end 3 */