93ca37e36c
- 校正舵机中位、转向符号和阿克曼后轮差速模型\n- 增加航向角速度辅助及遥控通道调试开关\n- 将速度环提升至 200Hz，并按实际 dt 计算 PI 积分\n- 将 IMU 启动校准缩短为 2 秒\n- 为 USART3 增加 DMA 发送和 MCU 采样时间戳
127 lines
3.7 KiB
C
127 lines
3.7 KiB
C
#ifndef __SYSTEM_H
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#define __SYSTEM_H
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// Refer to all header files you need
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//引用所有需要用到的头文件
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#include "FreeRTOSConfig.h"
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//FreeRTOS相关头文件
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//FreeRTOS related header files
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#include "FreeRTOS.h"
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#include "stm32f4xx.h"
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#include "task.h"
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#include "queue.h"
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#include "timers.h"
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#include "semphr.h"
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//The associated header file for the peripheral
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//外设的相关头文件
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#include "sys.h"
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#include "delay.h"
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#include "usart.h"
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#include "balance.h"
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#include "led.h"
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#include "oled.h"
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#include "usart.h"
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#include "usartx.h"
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#include "adc.h"
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#include "can.h"
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#include "motor.h"
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#include "timer.h"
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#include "encoder.h"
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#include "show.h"
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#include "pstwo.h"
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#include "key.h"
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#include "robot_select_init.h"
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#include "I2C.h"
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#include "MPU6050.h"
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// Enumeration of car types
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//小车型号的枚举定义
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typedef enum
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{
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Mec_Car = 0,
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Omni_Car,
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Akm_Car,
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Diff_Car,
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FourWheel_Car,
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Tank_Car
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} CarMode;
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//Motor speed control related parameters of the structure
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//电机速度控制相关参数结构体
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typedef struct
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{
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float Encoder; //Read the real time speed of the motor by encoder //编码器数值，读取电机实时速度
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float Motor_Pwm; //Motor PWM value, control the real-time speed of the motor //电机PWM数值，控制电机实时速度
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float Target; //Control the target speed of the motor //电机目标速度值，控制电机目标速度
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float Velocity_KP; //Speed control PID parameters //速度控制PID参数
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float Velocity_KI; //Speed control PID parameters //速度控制PID参数
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}Motor_parameter;
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//Smoothed the speed of the three axes
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//平滑处理后的三轴速度
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typedef struct
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{
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float VX;
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float VY;
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float VZ;
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}Smooth_Control;
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/****** external variable definition. When system.h is referenced in other C files,
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other C files can also use the variable defined by system.c ******/
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/****** 外部变量定义，当其它c文件引用system.h时，也可以使用system.c定义的变量 ******/
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extern u8 Flag_Stop;
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extern int Divisor_Mode;
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extern u8 Car_Mode;
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extern int Servo;
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extern float RC_Velocity;
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extern float Move_X, Move_Y, Move_Z;
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extern float Velocity_KP, Velocity_KI;
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extern Smooth_Control smooth_control;
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extern Motor_parameter MOTOR_A, MOTOR_B, MOTOR_C, MOTOR_D;
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extern float Encoder_precision;
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extern float Wheel_perimeter;
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extern float Wheel_spacing;
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extern float Axle_spacing;
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extern float Omni_turn_radiaus;
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extern u8 PS2_ON_Flag, APP_ON_Flag, Remote_ON_Flag, CAN_ON_Flag, Usart1_ON_Flag, Usart5_ON_Flag;
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extern u8 Flag_Left, Flag_Right, Flag_Direction, Turn_Flag;
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extern u8 PID_Send;
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extern float PS2_LX,PS2_LY,PS2_RX,PS2_RY,PS2_KEY;
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extern int Check, Checking, Checked, CheckCount, CheckPhrase1, CheckPhrase2;
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extern long int ErrorCode;
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void systemInit(void);
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/***Macros define***/ /***宏定义***/
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//Collect IMU zero-bias samples for 2 seconds at 100 Hz before enabling control.
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//开机后以100Hz采集2秒IMU零偏，再允许控制小车运动
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#define CONTROL_DELAY 200
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//Balance_task counter needed to represent the same 2 second startup delay.
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#define CONTROL_STARTUP_DELAY_COUNT (2 * CONTROL_FREQUENCY)
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//The number of robot types to determine the value of Divisor_Mode. There are currently 6 car types
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//机器人型号数量，决定Divisor_Mode的值，目前有6种小车类型
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#define CAR_NUMBER 6
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#define RATE_1_HZ 1
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#define RATE_5_HZ 5
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#define RATE_10_HZ 10
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#define RATE_20_HZ 20
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#define RATE_25_HZ 25
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#define RATE_50_HZ 50
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#define RATE_100_HZ 100
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#define RATE_200_HZ 200
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#define RATE_250_HZ 250
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#define RATE_500_HZ 500
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#define RATE_1000_HZ 1000
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/***Macros define***/ /***宏定义***/
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//C library function related header file
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//C库函数的相关头文件
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#include <stdio.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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#include "stdarg.h"
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#endif
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