diff --git a/.cproject b/.cproject
index 7fba672..ed3874b 100644
--- a/.cproject
+++ b/.cproject
@@ -23,7 +23,7 @@
-
+
@@ -130,7 +130,7 @@
-
+
diff --git a/BHBF_NewFiveWheel2.5.ioc b/BHBF_NewFiveWheel2.5.ioc
index 3aeeea3..6a7e315 100644
--- a/BHBF_NewFiveWheel2.5.ioc
+++ b/BHBF_NewFiveWheel2.5.ioc
@@ -8,9 +8,6 @@ ADC2.OffsetNumber-0\#ChannelRegularConversion=ADC_OFFSET_NONE
ADC2.OffsetSignedSaturation-0\#ChannelRegularConversion=DISABLE
ADC2.Rank-0\#ChannelRegularConversion=1
ADC2.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_1CYCLE_5
-CAD.formats=
-CAD.pinconfig=
-CAD.provider=
CORTEX_M7.AccessPermission-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_REGION_FULL_ACCESS
CORTEX_M7.AccessPermission-Cortex_Memory_Protection_Unit_Region1_Settings=MPU_REGION_FULL_ACCESS
CORTEX_M7.AccessPermission-Cortex_Memory_Protection_Unit_Region2_Settings=MPU_REGION_FULL_ACCESS
@@ -728,15 +725,12 @@ ProjectManager.MainLocation=Core/Src
ProjectManager.NoMain=false
ProjectManager.PreviousToolchain=STM32CubeIDE
ProjectManager.ProjectBuild=false
-ProjectManager.ProjectFileName=BHBF_NewFiveWheel3.1.ioc
-ProjectManager.ProjectName=BHBF_NewFiveWheel3.1
-ProjectManager.ProjectStructure=
+ProjectManager.ProjectFileName=BHBF_NewFiveWheel2.5.ioc
+ProjectManager.ProjectName=BHBF_NewFiveWheel2.5
ProjectManager.RegisterCallBack=
ProjectManager.StackSize=0x1000
ProjectManager.TargetToolchain=STM32CubeIDE
ProjectManager.ToolChainLocation=
-ProjectManager.UAScriptAfterPath=
-ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_FDCAN2_Init-FDCAN2-false-HAL-true,6-MX_I2C4_Init-I2C4-false-HAL-true,7-MX_TIM1_Init-TIM1-false-HAL-true,8-MX_UART4_Init-UART4-false-HAL-true,9-MX_UART5_Init-UART5-false-HAL-true,10-MX_UART7_Init-UART7-false-HAL-true,11-MX_USART1_UART_Init-USART1-false-HAL-true,12-MX_USART3_UART_Init-USART3-false-HAL-true,13-MX_USART2_UART_Init-USART2-false-HAL-true,14-MX_USART6_UART_Init-USART6-false-HAL-true,15-MX_TIM8_Init-TIM8-false-HAL-true,16-MX_LWIP_Init-LWIP-false-HAL-false,17-MX_QUADSPI_Init-QUADSPI-false-HAL-true,18-MX_LPUART1_UART_Init-LPUART1-false-HAL-true,19-MX_ADC2_Init-ADC2-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
QUADSPI.ChipSelectHighTime=QSPI_CS_HIGH_TIME_2_CYCLE
@@ -877,7 +871,7 @@ USART3.FIFOMode=FIFOMODE_ENABLE
USART3.IPParameters=VirtualMode-Asynchronous,DMADisableonRxErrorParam,OverrunDisableParam,FIFOMode,BaudRate
USART3.OverrunDisableParam=ADVFEATURE_OVERRUN_DISABLE
USART3.VirtualMode-Asynchronous=VM_ASYNC
-USART6.BaudRate=19200
+USART6.BaudRate=9600
USART6.DMADisableonRxErrorParam=ADVFEATURE_DMA_ENABLEONRXERROR
USART6.FIFOMode=FIFOMODE_ENABLE
USART6.IPParameters=VirtualMode,OverrunDisableParam,FIFOMode,DMADisableonRxErrorParam,BaudRate,SwapParam
diff --git a/Core/Src/FSM.c b/Core/Src/FSM.c
index cddd7ad..89fba7b 100644
--- a/Core/Src/FSM.c
+++ b/Core/Src/FSM.c
@@ -214,6 +214,7 @@ void Robot_Move()
Polish_Count++;
}
Robot_Halt(Move_Emergency);
+
return;
}
else if(DHRougheningContrller.Emergency_Stop == 0)
@@ -434,7 +435,6 @@ void GF_Dispatch()//2ms调用一次 给车体速度等赋值
Robot_Move();
default:
break;
-
}
IV.Robot_CurrentState = CurrentMoveState;
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 74b6dba..aeae461 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -249,7 +249,7 @@ void CV_GV_Init()
- Motor[1] = &GV.LeftFrontMotor; //Motor[1]指向GV的电机参�??????????
+ Motor[1] = &GV.LeftFrontMotor; //Motor[1]指向GV的电机参???????????
Motor[2] = &GV.RightFrontMotor;
@@ -327,11 +327,11 @@ void GF_Robot_Init()
//setSteeringRobotProtectionMode();
- Fsm_Init();//把遥控器指令绑定定时�??????????
+ Fsm_Init();//把遥控器指令绑定定时???????????
uint8_t _state = 1;
- _state = _state & GF_BSP_TIMER_Init(); //定时器最后启�???????????????
+ _state = _state & GF_BSP_TIMER_Init(); //定时器最后启????????????????
}
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index e9185ab..6908084 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -372,7 +372,7 @@ void MX_USART6_UART_Init(void)
/* USER CODE END USART6_Init 1 */
huart6.Instance = USART6;
- huart6.Init.BaudRate = 19200;
+ huart6.Init.BaudRate = 9600;
huart6.Init.WordLength = UART_WORDLENGTH_8B;
huart6.Init.StopBits = UART_STOPBITS_1;
huart6.Init.Parity = UART_PARITY_NONE;