From 0a446b888a3470d6475f4fdda2d8f008f6215e64 Mon Sep 17 00:00:00 2001 From: 16623070030 <1579810731@qq.com> Date: Tue, 10 Oct 2023 17:02:24 +0800 Subject: [PATCH] aadd --- HARDWARE/ADC/adc.c | 22 +++--- USER/USER.uvguix.jiangke1 | 38 +++++----- USER/USER.uvoptx | 147 +++++++++++++++++++++++++++++++++----- USER/USER.uvprojx | 66 +++++++++++------ USER/paxing_ctrl.c | 64 +++++++---------- 5 files changed, 229 insertions(+), 108 deletions(-) diff --git a/HARDWARE/ADC/adc.c b/HARDWARE/ADC/adc.c index 0833967..69c4b2f 100644 --- a/HARDWARE/ADC/adc.c +++ b/HARDWARE/ADC/adc.c @@ -166,7 +166,7 @@ stof, set_offset_data, void airPress_LED_task(void* pp) { uint16_t data[ADC_CHANNELS_NUM]; - + int a=0; //VALVE_FIXED=1; //关断气阀 //VALVE_FLOAT=1; vTaskDelay(900); @@ -198,11 +198,12 @@ void airPress_LED_task(void* pp) for(;;){ memset(data,0,sizeof data); - int ret=Get_Adc_Val(data); if(0!=ret){ vTaskDelay(pres_get_t); continue; + }else{ + a++; } if(data[0]-x_data[0] < AIR_DELDA_P+offset[0]){ @@ -237,9 +238,10 @@ void airPress_LED_task(void* pp) AirLED6=0; } x_data[6]=data[6]; //保存温度值 - - send_adc_val(data); - + if(5==a){ + send_adc_val(data); + a=0; + } vTaskDelay(pres_get_t); } } @@ -249,11 +251,11 @@ int manual_update_xdata(int sample_num, int doWrite) { uint16_t data[ADC_CHANNELS_NUM]; VALVE_FIXED1=1; //关断气阀 - VALVE_FIXED3=1; - VALVE_FIXED5=1; + VALVE_FIXED3=1; + VALVE_FIXED5=1; VALVE_FLOAT2=1; - VALVE_FLOAT4=1; - VALVE_FLOAT6=1; + VALVE_FLOAT4=1; + VALVE_FLOAT6=1; vTaskDelay(600); for(int i=0; i-1 - 50 - 110 - 1704 - 1107 + 38 + 60 + 1654 + 1095 0 1351 - 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898 @@ -1344,7 +1344,7 @@ 0 100 - 9 + 2 ..\SYSTEM\usart\usart4.c 0 @@ -1356,18 +1356,18 @@ .\paxing_ctrl.c - 6 - 290 - 319 + 31 + 1 + 302 1 0 ..\HARDWARE\ADC\adc.c - 12 - 1 - 275 + 1 + 189 + 247 1 0 @@ -1375,7 +1375,7 @@ ..\HARDWARE\LED\led.c 12 - 1 + 2 3 1 @@ -1384,7 +1384,7 @@ .\main.c 24 - 51 + 52 60 1 @@ -1402,7 +1402,7 @@ ..\HARDWARE\ANO\usartlink.c 43 - 1 + 89 118 1 @@ -1420,7 +1420,7 @@ ..\HARDWARE\ANO\ano_protocol.h 0 - 33 + 51 80 1 diff --git a/USER/USER.uvoptx b/USER/USER.uvoptx index ec4a1c0..ff29f1f 100644 --- a/USER/USER.uvoptx +++ b/USER/USER.uvoptx @@ -78,6 +78,53 @@ 1 18 + + + 0 + Getting Started (STM32F4-Discovery) + D:\LenovoSoftstore\Install\mdk5\ARM\PACK\Keil\STM32F4xx_DFP\1.0.8\Documents\DM00037368.pdf + + + 1 + User Manual (STM32F4-Discovery) + D:\LenovoSoftstore\Install\mdk5\ARM\PACK\Keil\STM32F4xx_DFP\1.0.8\Documents\DM00039084.pdf + + + 2 + User Manual (MCBSTM32F400) + D:\LenovoSoftstore\Install\mdk5\ARM\PACK\Keil\STM32F4xx_DFP\1.0.8\Documents\mcbstm32f200.chm + + + 3 + Schematics (MCBSTM32F400) + D:\LenovoSoftstore\Install\mdk5\ARM\PACK\Keil\STM32F4xx_DFP\1.0.8\Documents\mcbstm32f400-schematics.pdf + + + 4 + Bill of Materials (STM32F4-Discovery) + D:\LenovoSoftstore\Install\mdk5\ARM\PACK\Keil\STM32F4xx_DFP\1.0.8\Documents\stm32f4discovery_bom.zip + + + 5 + Gerber Files (STM32F4-Discovery) + D:\LenovoSoftstore\Install\mdk5\ARM\PACK\Keil\STM32F4xx_DFP\1.0.8\Documents\stm32f4discovery_gerber.zip + + + 6 + Schematics (STM32F4-Discovery) + D:\LenovoSoftstore\Install\mdk5\ARM\PACK\Keil\STM32F4xx_DFP\1.0.8\Documents\stm32f4discovery_sch.zip + + + 7 + MCBSTM32F400 Evaluation Board Web Page (MCBSTM32F400) + http://www.keil.com/mcbstm32f400/ + + + 8 + STM32F4-Discovery Web Page (STM32F4-Discovery) + http://www.st.com/web/catalog/tools/FM116/SC959/SS1532/LN1199/PF252419 + + 0 1 @@ -100,10 +147,7 @@ 1 0 0 - 1 - 0 - 0 - 6 + 11 @@ -165,20 +209,8 @@ - 0 - 0 - 0 - - - - - - - - 1 - 0 0 2 10000000 @@ -197,6 +229,7 @@ 1 2 0 + 0 0 0 ..\CORE\startup_stm32f40_41xxx.s @@ -217,6 +250,7 @@ 2 1 0 + 0 0 0 ..\FWLIB\src\misc.c @@ -229,6 +263,7 @@ 3 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_adc.c @@ -241,6 +276,7 @@ 4 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_can.c @@ -253,6 +289,7 @@ 5 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_crc.c @@ -265,6 +302,7 @@ 6 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_cryp.c @@ -277,6 +315,7 @@ 7 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_cryp_aes.c @@ -289,6 +328,7 @@ 8 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_cryp_des.c @@ -301,6 +341,7 @@ 9 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_cryp_tdes.c @@ -313,6 +354,7 @@ 10 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_dac.c @@ -325,6 +367,7 @@ 11 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_dbgmcu.c @@ -337,6 +380,7 @@ 12 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_dcmi.c @@ -349,6 +393,7 @@ 13 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_dma.c @@ -361,6 +406,7 @@ 14 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_dma2d.c @@ -373,6 +419,7 @@ 15 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_exti.c @@ -385,6 +432,7 @@ 16 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_flash.c @@ -397,6 +445,7 @@ 17 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_flash_ramfunc.c @@ -409,6 +458,7 @@ 18 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_fsmc.c @@ -421,6 +471,7 @@ 19 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_gpio.c @@ -433,6 +484,7 @@ 20 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_hash.c @@ -445,6 +497,7 @@ 21 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_hash_md5.c @@ -457,6 +510,7 @@ 22 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_hash_sha1.c @@ -469,6 +523,7 @@ 23 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_i2c.c @@ -481,6 +536,7 @@ 24 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_iwdg.c @@ -493,6 +549,7 @@ 25 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_ltdc.c @@ -505,6 +562,7 @@ 26 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_pwr.c @@ -517,6 +575,7 @@ 27 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_rcc.c @@ -529,6 +588,7 @@ 28 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_rng.c @@ -541,6 +601,7 @@ 29 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_rtc.c @@ -553,6 +614,7 @@ 30 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_sai.c @@ -565,6 +627,7 @@ 31 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_sdio.c @@ -577,6 +640,7 @@ 32 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_spi.c @@ -589,6 +653,7 @@ 33 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_syscfg.c @@ -601,6 +666,7 @@ 34 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_tim.c @@ -613,6 +679,7 @@ 35 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_usart.c @@ -625,6 +692,7 @@ 36 1 0 + 0 0 0 ..\FWLIB\src\stm32f4xx_wwdg.c @@ -645,6 +713,7 @@ 37 1 0 + 0 0 0 .\main.c @@ -657,6 +726,7 @@ 38 1 0 + 0 0 0 .\stm32f4xx_it.c @@ -669,6 +739,7 @@ 39 1 0 + 0 0 0 .\system_stm32f4xx.c @@ -681,6 +752,7 @@ 40 1 0 + 0 0 0 .\paxing_ctrl.c @@ -701,6 +773,7 @@ 41 1 0 + 0 0 0 ..\SYSTEM\delay\delay.c @@ -713,6 +786,7 @@ 42 1 0 + 0 0 0 ..\SYSTEM\sys\sys.c @@ -725,6 +799,7 @@ 43 1 0 + 0 0 0 ..\SYSTEM\usart\usart.c @@ -737,6 +812,7 @@ 44 1 0 + 0 0 0 ..\SYSTEM\usart\usart2.c @@ -749,6 +825,7 @@ 45 1 0 + 0 0 0 ..\SYSTEM\usart\usart3.c @@ -761,6 +838,7 @@ 46 1 0 + 0 0 0 ..\SYSTEM\usart\usart4.c @@ -781,6 +859,7 @@ 47 1 0 + 0 0 0 ..\HARDWARE\LED\led.c @@ -793,6 +872,7 @@ 48 1 0 + 0 0 0 ..\HARDWARE\KEY\key.c @@ -805,6 +885,7 @@ 49 1 0 + 0 0 0 ..\HARDWARE\BEEP\beep.c @@ -817,6 +898,7 @@ 50 1 0 + 0 0 0 ..\HARDWARE\EXTI\exti.c @@ -829,6 +911,7 @@ 51 1 0 + 0 0 0 ..\HARDWARE\IWDG\iwdg.c @@ -841,6 +924,7 @@ 52 1 0 + 0 0 0 ..\HARDWARE\TIMER\timer.c @@ -853,6 +937,7 @@ 53 1 0 + 0 0 0 ..\HARDWARE\PWM\pwm.c @@ -865,6 +950,7 @@ 54 1 0 + 0 0 0 ..\HARDWARE\TPAD\tpad.c @@ -877,6 +963,7 @@ 55 1 0 + 0 0 0 ..\HARDWARE\ADC\adc.c @@ -889,6 +976,7 @@ 56 1 0 + 0 0 0 ..\HARDWARE\DAC\dac.c @@ -901,6 +989,7 @@ 57 1 0 + 0 0 0 ..\HARDWARE\DMA\dma.c @@ -913,6 +1002,7 @@ 58 1 0 + 0 0 0 ..\HARDWARE\24CXX\24cxx.c @@ -925,6 +1015,7 @@ 59 1 0 + 0 0 0 ..\HARDWARE\IIC\iic.c @@ -937,6 +1028,7 @@ 60 1 0 + 0 0 0 ..\HARDWARE\SPI\spi.c @@ -949,6 +1041,7 @@ 61 1 0 + 0 0 0 ..\HARDWARE\W25QXX\w25qxx.c @@ -961,6 +1054,7 @@ 62 1 0 + 0 0 0 ..\LobotSerialServo\LobotSerialServo.c @@ -973,6 +1067,7 @@ 63 1 0 + 0 0 0 ..\HARDWARE\ANO\ano_protocol.c @@ -985,6 +1080,7 @@ 64 1 0 + 0 0 0 ..\HARDWARE\ANO\usartlink.c @@ -1005,6 +1101,7 @@ 65 1 0 + 0 0 0 ..\FreeRTOS\croutine.c @@ -1017,6 +1114,7 @@ 66 1 0 + 0 0 0 ..\FreeRTOS\event_groups.c @@ -1029,6 +1127,7 @@ 67 1 0 + 0 0 0 ..\FreeRTOS\list.c @@ -1041,6 +1140,7 @@ 68 1 0 + 0 0 0 ..\FreeRTOS\queue.c @@ -1053,6 +1153,7 @@ 69 1 0 + 0 0 0 ..\FreeRTOS\stream_buffer.c @@ -1065,6 +1166,7 @@ 70 1 0 + 0 0 0 ..\FreeRTOS\tasks.c @@ -1077,6 +1179,7 @@ 71 1 0 + 0 0 0 ..\FreeRTOS\timers.c @@ -1097,6 +1200,7 @@ 72 1 0 + 0 0 0 ..\FreeRTOS\portable\MemMang\heap_4.c @@ -1109,6 +1213,7 @@ 73 1 0 + 0 0 0 ..\FreeRTOS\portable\RVDS\ARM_CM4F\port.c @@ -1121,6 +1226,7 @@ 74 2 0 + 0 0 0 ..\FreeRTOS\HardFault_proc.S @@ -1133,6 +1239,7 @@ 75 1 0 + 0 0 0 ..\FreeRTOS\HFault_exception.c @@ -1153,6 +1260,7 @@ 76 1 0 + 0 0 0 ..\SYSTEM\LetterShell\log.c @@ -1165,6 +1273,7 @@ 77 1 0 + 0 0 0 ..\SYSTEM\LetterShell\shell.c @@ -1177,6 +1286,7 @@ 78 1 0 + 0 0 0 ..\SYSTEM\LetterShell\shell_cmd_group.c @@ -1189,6 +1299,7 @@ 79 1 0 + 0 0 0 ..\SYSTEM\LetterShell\shell_cmd_list.c @@ -1201,6 +1312,7 @@ 80 1 0 + 0 0 0 ..\SYSTEM\LetterShell\shell_companion.c @@ -1213,6 +1325,7 @@ 81 1 0 + 0 0 0 ..\SYSTEM\LetterShell\shell_ext.c @@ -1225,6 +1338,7 @@ 82 1 0 + 0 0 0 ..\SYSTEM\LetterShell\shell_port.c @@ -1237,6 +1351,7 @@ 83 1 0 + 0 0 0 ..\SYSTEM\LetterShell\shell_ps.c diff --git a/USER/USER.uvprojx b/USER/USER.uvprojx index b5b4d61..ca5f690 100644 --- a/USER/USER.uvprojx +++ b/USER/USER.uvprojx @@ -10,14 +10,12 @@ Template 0x4 ARM-ADS - 5060750::V5.06 update 6 (build 750)::ARMCC - 0 STM32F407ZG STMicroelectronics - Keil.STM32F4xx_DFP.2.14.0 - http://www.keil.com/pack/ + Keil.STM32F4xx_DFP.1.0.8 + http://www.keil.com/pack IROM(0x08000000,0x100000) IRAM(0x20000000,0x20000) IRAM2(0x10000000,0x10000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE @@ -86,8 +84,6 @@ 0 0 - 0 - 0 0 @@ -126,6 +122,47 @@ 0 16 + + 0 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 1 + + + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 1 + 1 + 1 + + 0 + 11 + + + + + + + + + + + + + + STLink\ST-LINKIII-KEIL_SWO.dll + @@ -184,14 +221,12 @@ 0 0 2 - 0 1 0 8 0 0 0 - 0 3 3 0 @@ -325,15 +360,7 @@ 0 0 1 - 0 0 - 1 - 1 - 1 - 1 - 0 - 0 - 0 STM32F40_41xxx,USE_STDPERIPH_DRIVER @@ -351,7 +378,6 @@ 0 0 0 - 0 @@ -838,10 +864,4 @@ - - - - - - diff --git a/USER/paxing_ctrl.c b/USER/paxing_ctrl.c index c906f38..bbcdf12 100755 --- a/USER/paxing_ctrl.c +++ b/USER/paxing_ctrl.c @@ -155,9 +155,7 @@ void paxing_ctrl_task(void* pp) int dir= (evt==FLOAT_LEGS_GO ? 2 : 1); VALVE_FLOAT2=1; - vTaskDelay(700); VALVE_FLOAT4=1; - vTaskDelay(700); VALVE_FLOAT6=1; while(AirLED2==1 || AirLED4==1 || AirLED6==1){ vTaskDelay(30);} GiveJointCtrlTaskCmd(FLOAT_LEGS_NEI_JOINT_UP); @@ -185,17 +183,13 @@ void paxing_ctrl_task(void* pp) uint32_t doj_evt =xEventGroupWaitBits(doj_mov_end_evgp,0x828,pdTRUE,pdTRUE,2000); //等待所有比特位 if(doj_evt & 0x828){ // bit 12,6,4号舵机到位了 - VALVE_FLOAT2=0; - vTaskDelay(700); - VALVE_FLOAT4=0; - vTaskDelay(700); - VALVE_FLOAT6=0; + } VALVE_FLOAT2=0; - vTaskDelay(700); - VALVE_FLOAT4=0; - vTaskDelay(700); - VALVE_FLOAT6=0; + vTaskDelay(400); + VALVE_FLOAT4=0; + vTaskDelay(400); + VALVE_FLOAT6=0; tt = wait_help_xipan_ok(Float_legs, 6500); last_step_ret=tt; @@ -206,10 +200,8 @@ void paxing_ctrl_task(void* pp) int dir =(evt==FIXED_LEGS_GO ? 1 : 2); VALVE_FIXED1=1; - vTaskDelay(700); - VALVE_FIXED3=1; - vTaskDelay(700); - VALVE_FIXED5=1; + VALVE_FIXED3=1; + VALVE_FIXED5=1; while(AirLED1==1 || AirLED3==1 || AirLED5==1){ vTaskDelay(30);} GiveJointCtrlTaskCmd(FIXED_LEGS_NEI_JOINT_UP); vTaskDelay(850); @@ -235,17 +227,13 @@ void paxing_ctrl_task(void* pp) uint32_t doj_evt =xEventGroupWaitBits(doj_mov_end_evgp,0x282,pdTRUE,pdTRUE,2000); //等待所有比特位 if(doj_evt & 0x282){ // bit 10,8,2号舵机到位了 - VALVE_FIXED1=0; - vTaskDelay(700); - VALVE_FIXED3=0; - vTaskDelay(700); - VALVE_FIXED5=0; + } VALVE_FIXED1=0; - vTaskDelay(700); - VALVE_FIXED3=0; - vTaskDelay(700); - VALVE_FIXED5=0; + vTaskDelay(400); + VALVE_FIXED3=0; + vTaskDelay(400); + VALVE_FIXED5=0; tt = wait_help_xipan_ok(Fixed_legs, 6500); @@ -255,10 +243,8 @@ void paxing_ctrl_task(void* pp) if(ANTI_CLOCK_TURN== evt){ VALVE_FLOAT2=1; // step 0 关断气阀准备抬吸盘 - vTaskDelay(700); - VALVE_FLOAT4=1; - vTaskDelay(700); - VALVE_FLOAT6=1; + VALVE_FLOAT4=1; + VALVE_FLOAT6=1; while(AirLED2==1 || AirLED4==1 || AirLED6==1){ vTaskDelay(30);} GiveJointCtrlTaskCmd(FLOAT_LEGS_NEI_JOINT_UP); // step 1 抬足关节 @@ -279,19 +265,17 @@ void paxing_ctrl_task(void* pp) } VALVE_FLOAT2=0; // step 4 打开气阀 吸附 - vTaskDelay(700); - VALVE_FLOAT4=0; - vTaskDelay(700); - VALVE_FLOAT6=0; + vTaskDelay(400); + VALVE_FLOAT4=0; + vTaskDelay(400); + VALVE_FLOAT6=0; int ret = wait_help_xipan_ok(Float_legs, 5500); // step 5 等待吸附完成或失败 if(0==ret){ //未超时说明吸住了 VALVE_FIXED1=1; - vTaskDelay(700); - VALVE_FIXED3=1; - vTaskDelay(700); - VALVE_FIXED5=1; + VALVE_FIXED3=1; + VALVE_FIXED5=1; while(AirLED1==1 || AirLED3==1 || AirLED5==1){ vTaskDelay(30);} GiveJointCtrlTaskCmd(FIXED_LEGS_NEI_JOINT_UP); @@ -312,10 +296,10 @@ void paxing_ctrl_task(void* pp) } VALVE_FIXED1=0; - vTaskDelay(700); - VALVE_FIXED3=0; - vTaskDelay(700); - VALVE_FIXED5=0; + vTaskDelay(400); + VALVE_FIXED3=0; + vTaskDelay(400); + VALVE_FIXED5=0; ret = wait_help_xipan_ok(Fixed_legs, 5500); } -- Gitee