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更新验证后Pibot驱动

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詹力 2023-12-26 18:40:22 +08:00
parent 313a5b8231
commit 60ddce89b5
10 changed files with 54 additions and 24 deletions
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2
Hardware/Firmware/PiRobot_Firmware v1.0/README.md
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@ -1,6 +1,6 @@
# 固件使用说明 # 固件使用说明
> zhanli : 更新 2023-12-12 > zhanli : 更新 2023-12-26 ：小车驱动经过验证更新
## 一、注意事项以及环境安装 ## 一、注意事项以及环境安装

3
Hardware/Firmware/PiRobot_Firmware v1.0/STM32/Lib/IMU/GY87.cpp
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@ -12,6 +12,9 @@
bool GY87::init() bool GY87::init()
{ {
delay_ms(500); delay_ms(500);
#if IMU_DEBUG_ENABLE
pb_printf("GY87::init");
#endif
Board::get()->i2c_init(); Board::get()->i2c_init();
if (!mpu6050.testConnection()) { if (!mpu6050.testConnection()) {

21
Hardware/Firmware/PiRobot_Firmware v1.0/STM32/RTE/_Target_1/RTE_Components.h Normal file
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@ -0,0 +1,21 @@
/*
* Auto generated Run-Time-Environment Configuration File
* *** Do not modify ! ***
*
* Project: 'pibot'
* Target: 'Target 1'
*/
#ifndef RTE_COMPONENTS_H
#define RTE_COMPONENTS_H
/*
* Define the Device Header File:
*/
#define CMSIS_device_header "stm32f10x.h"
#endif /* RTE_COMPONENTS_H */

2
Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/robot.cpp
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@ -114,7 +114,7 @@ void Robot::init_imu()
static GY87 gy87; static GY87 gy87;
imu = &gy87; imu = &gy87;
} else { } else {
pb_printf("imu default"); pb_printf("imu default null driver");
imu = NULL; imu = NULL;
} }

2
Hardware/Firmware/PiRobot_Firmware v1.0/STM32/User/stm32f10x_it.cpp
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@ -156,10 +156,8 @@ void USART3_IRQHandler(void)
if (!Board::get()->usart_getDataQueue(USART_3)->put(data)){ if (!Board::get()->usart_getDataQueue(USART_3)->put(data)){
//err //err
} }
USART_ClearITPendingBit(USART3,USART_IT_RXNE); //clear interrupt flag USART_ClearITPendingBit(USART3,USART_IT_RXNE); //clear interrupt flag
} }
} }
/******************************************************************************/ /******************************************************************************/

4
Hardware/Firmware/PiRobot_Firmware v1.0/STM32/params.mk
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@ -20,7 +20,7 @@
-DMOTOR_DRIVER_TB6612=1 -DMOTOR_DRIVER_TB6612=1
-DMOTOR_DRIVER_DRV8870=2 -DMOTOR_DRIVER_DRV8870=2
-DMOTOR_DRIVER=MOTOR_DRIVER_TB6612 -DMOTOR_DRIVER=MOTOR_DRIVER_DRV8870
#uart #uart
-DMASTER_USART=3 -DMASTER_USART=3
@ -42,7 +42,7 @@
#imu #imu
-DIMU_ENABLE=1 -DIMU_ENABLE=1
-DIMU_DEBUG_ENABLE=0 -DIMU_DEBUG_ENABLE=1
# intervel # intervel
-DCALC_ODOM_INTERVAL=10 -DCALC_ODOM_INTERVAL=10

28
Hardware/Firmware/PiRobot_Firmware v1.0/STM32/pibot.uvoptx
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@ -81,26 +81,21 @@
<Books> <Books>
<Book> <Book>
<Number>0</Number> <Number>0</Number>
<Title>Quick Start Guide (MCBSTM32E)</Title> <Title>Base Board Schematics (MCBSTM32E)</Title>
<Path>C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\STM32E_QSG.pdf</Path> <Path>D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e-base-board-schematics.pdf</Path>
</Book> </Book>
<Book> <Book>
<Number>1</Number> <Number>1</Number>
<Title>Base Board Schematics (MCBSTM32E)</Title> <Title>Display Board Schematics (MCBSTM32E)</Title>
<Path>C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\mcbstm32e-base-board-schematics.pdf</Path> <Path>D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e-display-board-schematics.pdf</Path>
</Book> </Book>
<Book> <Book>
<Number>2</Number> <Number>2</Number>
<Title>Display Board Schematics (MCBSTM32E)</Title> <Title>User Manual (MCBSTM32E)</Title>
<Path>C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\mcbstm32e-display-board-schematics.pdf</Path> <Path>D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e.chm</Path>
</Book> </Book>
<Book> <Book>
<Number>3</Number> <Number>3</Number>
<Title>User Manual (MCBSTM32E)</Title>
<Path>C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\mcbstm32e.chm</Path>
</Book>
<Book>
<Number>4</Number>
<Title>MCBSTM32E Evaluation Board Web Page (MCBSTM32E)</Title> <Title>MCBSTM32E Evaluation Board Web Page (MCBSTM32E)</Title>
<Path>http://www.keil.com/mcbstm32e/</Path> <Path>http://www.keil.com/mcbstm32e/</Path>
</Book> </Book>
@ -127,7 +122,7 @@
<tRSysVw>1</tRSysVw> <tRSysVw>1</tRSysVw>
<sRunDeb>0</sRunDeb> <sRunDeb>0</sRunDeb>
<sLrtime>0</sLrtime> <sLrtime>0</sLrtime>
<nTsel>3</nTsel> <nTsel>5</nTsel>
<sDll></sDll> <sDll></sDll>
<sDllPa></sDllPa> <sDllPa></sDllPa>
<sDlgDll></sDlgDll> <sDlgDll></sDlgDll>
@ -138,13 +133,18 @@
<tDlgDll></tDlgDll> <tDlgDll></tDlgDll>
<tDlgPa></tDlgPa> <tDlgPa></tDlgPa>
<tIfile></tIfile> <tIfile></tIfile>
<pMon>Segger\JL2CM3.dll</pMon> <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
</DebugOpt> </DebugOpt>
<TargetDriverDllRegistry> <TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key>
<Name>-U303030303030303030303031 -I0 -O206 -S1 -C0 -A0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
</SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>JL2CM3</Key> <Key>JL2CM3</Key>
<Name>-U20090928 -O78 -S8 -ZTIFSpeedSel50000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name> <Name>-U69408076 -O78 -S5 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
</SetRegEntry> </SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>

6
Hardware/Firmware/PiRobot_Firmware v1.0/STM32/pibot.uvprojx
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@ -10,12 +10,12 @@
<TargetName>Target 1</TargetName> <TargetName>Target 1</TargetName>
<ToolsetNumber>0x4</ToolsetNumber> <ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName> <ToolsetName>ARM-ADS</ToolsetName>
<pCCUsed>5060183::V5.06 update 2 (build 183)::ARMCC</pCCUsed> <pCCUsed>5060300::V5.06 update 3 (build 300)::ARMCC</pCCUsed>
<TargetOption> <TargetOption>
<TargetCommonOption> <TargetCommonOption>
<Device>STM32F103C8</Device> <Device>STM32F103C8</Device>
<Vendor>STMicroelectronics</Vendor> <Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32F1xx_DFP.2.2.0</PackID> <PackID>Keil.STM32F1xx_DFP.1.1.0</PackID>
<PackURL>http://www.keil.com/pack/</PackURL> <PackURL>http://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000,0x5000) IROM(0x08000000,0x10000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu> <Cpu>IRAM(0x20000000,0x5000) IROM(0x08000000,0x10000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu>
<FlashUtilSpec></FlashUtilSpec> <FlashUtilSpec></FlashUtilSpec>
@ -330,6 +330,7 @@
<vShortWch>1</vShortWch> <vShortWch>1</vShortWch>
<v6Lto>0</v6Lto> <v6Lto>0</v6Lto>
<v6WtE>0</v6WtE> <v6WtE>0</v6WtE>
<v6Rtti>0</v6Rtti>
<VariousControls> <VariousControls>
<MiscControls>--via .\params.mk</MiscControls> <MiscControls>--via .\params.mk</MiscControls>
<Define>USE_STDPERIPH_DRIVER,STM32F10X_MD</Define> <Define>USE_STDPERIPH_DRIVER,STM32F10X_MD</Define>
@ -347,6 +348,7 @@
<NoWarn>0</NoWarn> <NoWarn>0</NoWarn>
<uSurpInc>0</uSurpInc> <uSurpInc>0</uSurpInc>
<useXO>0</useXO> <useXO>0</useXO>
<uClangAs>0</uClangAs>
<VariousControls> <VariousControls>
<MiscControls></MiscControls> <MiscControls></MiscControls>
<Define></Define> <Define></Define>

6
Hardware/Firmware/PiRobot_Firmware v1.0/驱动固件的配置与使用.md Normal file
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@ -0,0 +1,6 @@
# 驱动固件的配置与使用
#### 一、下位机驱动板的通信
​ 小车驱动底板主要采用是串口通信，接口上支持`USB`通信。小车与`ROS`交互使用的是`uart3`(小车底板上的`micro usb`接口)，小车打印log采用是`uart1`(小车底板上的排针)。

4
Hardware/Firmware/README.md
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@ -1,4 +1,4 @@
# 目录说明 # 目录说明
1. GeekRobotTiny_Firmware : 詹力开发的机器人地盘固件 1. `GeekRobotTiny_Firmware` : 詹力开发的机器人地盘固件
2. PiRobot : 目前实验室使用的扫地机器人和割草机器人的固件 2. `PiRobot` : 目前实验室使用的扫地机器人和割草机器人的固件