基于cubemx +stm32F407ZGT6 +freertos开发全向轮小车

目录

文章目录

前言

一、全向轮小车姿态解算以及说明

原理图+PCB板

二、cubemx配置

整体引脚图：

cubemx配置：

RCC时钟源

系统时钟源

窗口看门狗

RTC:

定时器3（编码器模式）

定时器2（编码器模式）

定时器4（编码器模式）

定时器5（PWM输出模式）频率10Khz

定时器8（PWM输出模式）频率10Khz

定时器9，10（输入捕获）超声波功能

定时器11，13,14（PWM输出）舵机功能

FSMC LCD屏幕

串口1~6

freertos配置

三、代码

freertos代码：

PID控制核心代码

需要全套工程文件请私聊我！！！

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使用正点原子核心板，24V电机（带编码器），超声波加舵机避障

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前言

1

全向轮小车

---

一、全向轮小车姿态解算以及说明

详细代码在下面，只看姿态解算的到此结束。

原理图+PCB板

二、cubemx配置

整体引脚图：

cubemx配置：

RCC时钟源

系统时钟源

窗口看门狗

RTC:

定时器3（编码器模式）

定时器2（编码器模式）

定时器4（编码器模式）

定时器5（PWM输出模式）频率10Khz

定时器8（PWM输出模式）频率10Khz

定时器9，10（输入捕获）超声波功能

定时器11，13,14（PWM输出）舵机功能

FSMC LCD屏幕

串口1~6

freertos配置

三、代码

freertos代码：

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2016 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "rtc.h"
#include "stdio.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */


/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
RTC_TimeTypeDef sTime;
RTC_DateTypeDef sDate;
uint8_t ID;
uint8_t key;
Uart_Tpye_t Uart2;
Uart_Tpye_t Uart3;

extern DMA_HandleTypeDef hdma_usart3_rx;
extern uint16_t ADC_Value[1];
extern struct Supersonic supersonic1;
extern struct Supersonic supersonic2;
extern struct Supersonic supersonic3;

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
/* Definitions for LED_Task */
osThreadId_t LED_TaskHandle;
const osThreadAttr_t LED_Task_attributes = {
  .name = "LED_Task",
  .stack_size = 256 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for Serial_esp32 */
osThreadId_t Serial_esp32Handle;
const osThreadAttr_t Serial_esp32_attributes = {
  .name = "Serial_esp32",
  .stack_size = 512 * 4,
  .priority = (osPriority_t) osPriorityNormal1,
};
/* Definitions for LCD */
osThreadId_t LCDHandle;
const osThreadAttr_t LCD_attributes = {
  .name = "LCD",
  .stack_size = 512 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for Control_A4950 */
osThreadId_t Control_A4950Handle;
const osThreadAttr_t Control_A4950_attributes = {
  .name = "Control_A4950",
  .stack_size = 1024 * 4,
  .priority = (osPriority_t) osPriorityNormal1,
};
/* Definitions for SG90_Ware */
osThreadId_t SG90_WareHandle;
const osThreadAttr_t SG90_Ware_attributes = {
  .name = "SG90_Ware",
  .stack_size = 512 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for send_Serial */
osThreadId_t send_SerialHandle;
const osThreadAttr_t send_Serial_attributes = {
  .name = "send_Serial",
  .stack_size = 256 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for myQueue01 */
osMessageQueueId_t myQueue01Handle;
const osMessageQueueAttr_t myQueue01_attributes = {
  .name = "myQueue01"
};
/* Definitions for myQueue02 */
osMessageQueueId_t myQueue02Handle;
const osMessageQueueAttr_t myQueue02_attributes = {
  .name = "myQueue02"
};
/* Definitions for myQueue03 */
osMessageQueueId_t myQueue03Handle;
const osMessageQueueAttr_t myQueue03_attributes = {
  .name = "myQueue03"
};
/* Definitions for myQueue04 */
osMessageQueueId_t myQueue04Handle;
const osMessageQueueAttr_t myQueue04_attributes = {
  .name = "myQueue04"
};
/* Definitions for myQueue05 */
osMessageQueueId_t myQueue05Handle;
const osMessageQueueAttr_t myQueue05_attributes = {
  .name = "myQueue05"
};
/* Definitions for myQueue06 */
osMessageQueueId_t myQueue06Handle;
const osMessageQueueAttr_t myQueue06_attributes = {
  .name = "myQueue06"
};
/* Definitions for speed */
osMessageQueueId_t speedHandle;
const osMessageQueueAttr_t speed_attributes = {
  .name = "speed"
};
/* Definitions for Angle */
osMessageQueueId_t AngleHandle;
const osMessageQueueAttr_t Angle_attributes = {
  .name = "Angle"
};
/* Definitions for rotate */
osMessageQueueId_t rotateHandle;
const osMessageQueueAttr_t rotate_attributes = {
  .name = "rotate"
};
/* Definitions for Switch */
osMessageQueueId_t SwitchHandle;
const osMessageQueueAttr_t Switch_attributes = {
  .name = "Switch"
};
/* Definitions for myMutex01 */
osMutexId_t myMutex01Handle;
const osMutexAttr_t myMutex01_attributes = {
  .name = "myMutex01"
};
/* Definitions for myMutex02 */
osMutexId_t myMutex02Handle;
const osMutexAttr_t myMutex02_attributes = {
  .name = "myMutex02"
};
/* Definitions for myMutex03 */
osMutexId_t myMutex03Handle;
const osMutexAttr_t myMutex03_attributes = {
  .name = "myMutex03"
};
/* Definitions for myBinarySem01 */
osSemaphoreId_t myBinarySem01Handle;
const osSemaphoreAttr_t myBinarySem01_attributes = {
  .name = "myBinarySem01"
};
/* Definitions for myEvent01 */
osEventFlagsId_t myEvent01Handle;
const osEventFlagsAttr_t myEvent01_attributes = {
  .name = "myEvent01"
};

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */

/* USER CODE END FunctionPrototypes */

void APP_LED_Task(void *argument);
void APP_Serial_esp32(void *argument);
void APP_LCD(void *argument);
void APP_Control_A4950(void *argument);
void APP_SG90_Ware(void *argument);
void APP_send_Serial(void *argument);

extern void MX_USB_DEVICE_Init(void);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */
  /* Create the mutex(es) */
  /* creation of myMutex01 */
  myMutex01Handle = osMutexNew(&myMutex01_attributes);

  /* creation of myMutex02 */
  myMutex02Handle = osMutexNew(&myMutex02_attributes);

  /* creation of myMutex03 */
  myMutex03Handle = osMutexNew(&myMutex03_attributes);

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* Create the semaphores(s) */
  /* creation of myBinarySem01 */
  myBinarySem01Handle = osSemaphoreNew(1, 0, &myBinarySem01_attributes);

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* Create the queue(s) */
  /* creation of myQueue01 */
  myQueue01Handle = osMessageQueueNew (1, sizeof(uint16_t), &myQueue01_attributes);

  /* creation of myQueue02 */
  myQueue02Handle = osMessageQueueNew (1, sizeof(uint16_t), &myQueue02_attributes);

  /* creation of myQueue03 */
  myQueue03Handle = osMessageQueueNew (1, sizeof(uint16_t), &myQueue03_attributes);

  /* creation of myQueue04 */
  myQueue04Handle = osMessageQueueNew (1, sizeof(uint16_t), &myQueue04_attributes);

  /* creation of myQueue05 */
  myQueue05Handle = osMessageQueueNew (1, sizeof(uint16_t), &myQueue05_attributes);

  /* creation of myQueue06 */
  myQueue06Handle = osMessageQueueNew (1, sizeof(uint16_t), &myQueue06_attributes);

  /* creation of speed */
  speedHandle = osMessageQueueNew (1, sizeof(float), &speed_attributes);

  /* creation of Angle */
  AngleHandle = osMessageQueueNew (1, sizeof(float), &Angle_attributes);

  /* creation of rotate */
  rotateHandle = osMessageQueueNew (1, sizeof(int), &rotate_attributes);

  /* creation of Switch */
  SwitchHandle = osMessageQueueNew (1, sizeof(uint8_t), &Switch_attributes);

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* creation of LED_Task */
  LED_TaskHandle = osThreadNew(APP_LED_Task, NULL, &LED_Task_attributes);

  /* creation of Serial_esp32 */
  Serial_esp32Handle = osThreadNew(APP_Serial_esp32, NULL, &Serial_esp32_attributes);

  /* creation of LCD */
  LCDHandle = osTh