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修改485-3的波特率为9600（接收压力传感器）

FW2.5
LIN\54376 1 month ago
parent
4d259f5c7b
commit
47db0b9433
5 changed files with 10 additions and 16 deletions
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  1. 4
      .cproject
  2. 12
      BHBF_NewFiveWheel2.5.ioc
  3. 2
      Core/Src/FSM.c
  4. 6
      Core/Src/main.c
  5. 2
      Core/Src/usart.c

4
.cproject
View File

@ -23,7 +23,7 @@
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<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1099763806" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32H743VGTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/LwIP/src/include/netif/ppp | ../Middlewares/Third_Party/LwIP/src/include/lwip/priv | ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/LwIP/src/include/compat/stdc | ../Middlewares/Third_Party/LwIP/src/include/lwip/prot | ../Middlewares/Third_Party/LwIP/src/include/lwip/apps | ../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys | ../Middlewares/Third_Party/LwIP/system/arch | ../Middlewares/Third_Party/LwIP/src/include | ../LWIP/App | ../Middlewares/Third_Party/LwIP/src/include/compat/posix | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../LWIP/Target | ../Middlewares/Third_Party/LwIP/src/include/lwip | ../Middlewares/Third_Party/LwIP/src/include/compat/posix/net | ../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa | ../Drivers/STM32H7xx_HAL_Driver/Inc | ../Middlewares/Third_Party/LwIP/system | ../Drivers/BSP/Components/lan8742 | ../Middlewares/Third_Party/LwIP/src/include/netif || || || USE_HAL_DRIVER | STM32H743xx || || LWIP | Drivers | Core/Startup | Middlewares | Core || || || ${workspace_loc:/${ProjName}/STM32H743VGTX_FLASH.ld} || true || NonSecure || || secure_nsclib.o || || None || " valueType="string"/>
<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.566417622" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="200" valueType="string"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary.1144694120" name="Convert to binary file (-O binary)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary" useByScannerDiscovery="false" value="true" valueType="boolean"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex.148962052" name="Convert to Intel Hex file (-O ihex)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex" useByScannerDiscovery="false" value="true" valueType="boolean"/>
@ -130,7 +130,7 @@
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.992567197" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv5-d16" valueType="enumerated"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.1144232392" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.194020544" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.2100472703" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32H743VGTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/LwIP/src/include/netif/ppp | ../Middlewares/Third_Party/LwIP/src/include/lwip/priv | ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/LwIP/src/include/compat/stdc | ../Middlewares/Third_Party/LwIP/src/include/lwip/prot | ../Middlewares/Third_Party/LwIP/src/include/lwip/apps | ../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys | ../Middlewares/Third_Party/LwIP/system/arch | ../Middlewares/Third_Party/LwIP/src/include | ../LWIP/App | ../Middlewares/Third_Party/LwIP/src/include/compat/posix | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../LWIP/Target | ../Middlewares/Third_Party/LwIP/src/include/lwip | ../Middlewares/Third_Party/LwIP/src/include/compat/posix/net | ../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa | ../Drivers/STM32H7xx_HAL_Driver/Inc | ../Middlewares/Third_Party/LwIP/system | ../Drivers/BSP/Components/lan8742 | ../Middlewares/Third_Party/LwIP/src/include/netif || || || USE_HAL_DRIVER | STM32H743xx || || LWIP | Drivers | Core/Startup | Middlewares | Core || || || ${workspace_loc:/${ProjName}/STM32H743VGTX_FLASH.ld} || true || NonSecure || || secure_nsclib.o || || None || || || " valueType="string"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.2100472703" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32H743VGTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/LwIP/src/include/netif/ppp | ../Middlewares/Third_Party/LwIP/src/include/lwip/priv | ../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/LwIP/src/include/compat/stdc | ../Middlewares/Third_Party/LwIP/src/include/lwip/prot | ../Middlewares/Third_Party/LwIP/src/include/lwip/apps | ../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys | ../Middlewares/Third_Party/LwIP/system/arch | ../Middlewares/Third_Party/LwIP/src/include | ../LWIP/App | ../Middlewares/Third_Party/LwIP/src/include/compat/posix | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../LWIP/Target | ../Middlewares/Third_Party/LwIP/src/include/lwip | ../Middlewares/Third_Party/LwIP/src/include/compat/posix/net | ../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa | ../Drivers/STM32H7xx_HAL_Driver/Inc | ../Middlewares/Third_Party/LwIP/system | ../Drivers/BSP/Components/lan8742 | ../Middlewares/Third_Party/LwIP/src/include/netif || || || USE_HAL_DRIVER | STM32H743xx || || LWIP | Drivers | Core/Startup | Middlewares | Core || || || ${workspace_loc:/${ProjName}/STM32H743VGTX_FLASH.ld} || true || NonSecure || || secure_nsclib.o || || None || " valueType="string"/>
<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.349585402" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="200" valueType="string"/>
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.504050356" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
<builder buildPath="${workspace_loc:/BHBF_Robot_Detect}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1435115632" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>

12
BHBF_NewFiveWheel2.5.ioc
View File

@ -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

2
Core/Src/FSM.c
View File

@ -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;

6
Core/Src/main.c
View File

@ -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�GV的电机��??????????
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�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���???????????????
}

2
Core/Src/usart.c
View File

@ -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;

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