MADAO/ManGoWalk_STM32
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add Encoder and PID control and Abstacle control

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MADAO
2025-07-03 00:29:57 +08:00
parent 0361cd17af
commit a635b6d5eb
49 changed files with 9072 additions and 7610 deletions
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76
AutoGuideStick.ioc
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@@ -34,10 +34,11 @@ Mcu.IP10=TIM1
Mcu.IP11=TIM2
Mcu.IP12=TIM3
Mcu.IP13=TIM4
Mcu.IP14=TIM8
Mcu.IP15=UART4
Mcu.IP16=USART2
Mcu.IP17=USART3
Mcu.IP14=TIM5
Mcu.IP15=TIM8
Mcu.IP16=UART4
Mcu.IP17=USART2
Mcu.IP18=USART3
Mcu.IP2=DEBUG
Mcu.IP3=GPDMA1
Mcu.IP4=MEMORYMAP
@@ -46,15 +47,15 @@ Mcu.IP6=PWR
Mcu.IP7=RCC
Mcu.IP8=SYS
Mcu.IP9=THREADX
Mcu.IPNb=18
Mcu.IPNb=19
Mcu.Name=STM32H563ZITx
Mcu.Package=LQFP144
Mcu.Pin0=PH0-OSC_IN(PH0)
Mcu.Pin1=PH1-OSC_OUT(PH1)
Mcu.Pin10=PG3
Mcu.Pin11=PC6
Mcu.Pin12=PC7
Mcu.Pin13=PC8
Mcu.Pin10=PG2
Mcu.Pin11=PG3
Mcu.Pin12=PC6
Mcu.Pin13=PC7
Mcu.Pin14=PC9
Mcu.Pin15=PA13(JTMS/SWDIO)
Mcu.Pin16=PA14(JTCK/SWCLK)
@@ -72,21 +73,22 @@ Mcu.Pin26=VP_GPDMA1_VS_GPDMACH4
Mcu.Pin27=VP_GPDMA1_VS_GPDMACH5
Mcu.Pin28=VP_PWR_VS_SECSignals
Mcu.Pin29=VP_PWR_VS_LPOM
Mcu.Pin3=PB1
Mcu.Pin3=PA0
Mcu.Pin30=VP_SYS_VS_tim6
Mcu.Pin31=VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault
Mcu.Pin32=VP_TIM2_VS_ClockSourceINT
Mcu.Pin33=VP_TIM3_VS_ClockSourceINT
Mcu.Pin34=VP_TIM4_VS_ClockSourceINT
Mcu.Pin35=VP_BOOTPATH_VS_BOOTPATH
Mcu.Pin36=VP_MEMORYMAP_VS_MEMORYMAP
Mcu.Pin4=PG0
Mcu.Pin5=PG1
Mcu.Pin6=PE9
Mcu.Pin7=PE11
Mcu.Pin8=PB10
Mcu.Pin9=PG2
Mcu.PinsNb=37
Mcu.Pin35=VP_TIM5_VS_ClockSourceINT
Mcu.Pin36=VP_BOOTPATH_VS_BOOTPATH
Mcu.Pin37=VP_MEMORYMAP_VS_MEMORYMAP
Mcu.Pin4=PB1
Mcu.Pin5=PG0
Mcu.Pin6=PG1
Mcu.Pin7=PE9
Mcu.Pin8=PE11
Mcu.Pin9=PB10
Mcu.PinsNb=38
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32H563ZITx
@@ -110,6 +112,7 @@ NVIC.SavedSystickIrqHandlerGenerated=true
NVIC.SysTick_IRQn=true\:14\:0\:false\:false\:false\:false\:false\:true\:false
NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
NVIC.TIM3_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
NVIC.TIM5_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
NVIC.TIM6_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.TimeBase=TIM6_IRQn
NVIC.TimeBaseIP=TIM6
@@ -117,6 +120,9 @@ NVIC.UART4_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
NVIC.USART2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
NVIC.USART3_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
PA0.GPIOParameters=GPIO_Label
PA0.GPIO_Label=HC_Echo
PA0.Signal=S_TIM5_CH1
PA13(JTMS/SWDIO).Mode=Serial_Wire
PA13(JTMS/SWDIO).Signal=DEBUG_JTMS-SWDIO
PA14(JTCK/SWCLK).Mode=Serial_Wire
@@ -146,18 +152,16 @@ PC2.GPIOParameters=GPIO_Label
PC2.GPIO_Label=PWMA
PC2.Locked=true
PC2.Signal=S_TIM4_CH4
PC6.GPIOParameters=GPIO_Label
PC6.GPIOParameters=GPIO_PuPd,GPIO_Label
PC6.GPIO_Label=E2A
PC6.GPIO_PuPd=GPIO_PULLUP
PC6.Locked=true
PC6.Signal=S_TIM8_CH1
PC7.GPIOParameters=GPIO_Label
PC7.GPIOParameters=GPIO_PuPd,GPIO_Label
PC7.GPIO_Label=E2B
PC7.GPIO_PuPd=GPIO_PULLUP
PC7.Locked=true
PC7.Signal=S_TIM8_CH2
PC8.GPIOParameters=GPIO_Label
PC8.GPIO_Label=HC_Echo
PC8.Locked=true
PC8.Signal=S_TIM3_CH3
PC9.GPIOParameters=GPIO_PuPd,GPIO_Label
PC9.GPIO_Label=HC_Trig
PC9.GPIO_PuPd=GPIO_NOPULL
@@ -174,12 +178,14 @@ PD5.Signal=USART2_TX
PD6.Locked=true
PD6.Mode=Asynchronous
PD6.Signal=USART2_RX
PE11.GPIOParameters=GPIO_Label
PE11.GPIOParameters=GPIO_PuPd,GPIO_Label
PE11.GPIO_Label=E1B
PE11.GPIO_PuPd=GPIO_PULLUP
PE11.Locked=true
PE11.Signal=S_TIM1_CH2
PE9.GPIOParameters=GPIO_Label
PE9.GPIOParameters=GPIO_PuPd,GPIO_Label
PE9.GPIO_Label=E1A
PE9.GPIO_PuPd=GPIO_PULLUP
PE9.Locked=true
PE9.Signal=S_TIM1_CH1
PG0.GPIOParameters=GPIO_Label
@@ -324,12 +330,12 @@ SH.S_TIM1_CH1.0=TIM1_CH1,Encoder_Interface
SH.S_TIM1_CH1.ConfNb=1
SH.S_TIM1_CH2.0=TIM1_CH2,Encoder_Interface
SH.S_TIM1_CH2.ConfNb=1
SH.S_TIM3_CH3.0=TIM3_CH3,Input_Capture3_from_TI3
SH.S_TIM3_CH3.ConfNb=1
SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4
SH.S_TIM3_CH4.ConfNb=1
SH.S_TIM4_CH4.0=TIM4_CH4,PWM Generation4 CH4
SH.S_TIM4_CH4.ConfNb=1
SH.S_TIM5_CH1.0=TIM5_CH1,Input_Capture1_from_TI1
SH.S_TIM5_CH1.ConfNb=1
SH.S_TIM8_CH1.0=TIM8_CH1,Encoder_Interface
SH.S_TIM8_CH1.ConfNb=1
SH.S_TIM8_CH2.0=TIM8_CH2,Encoder_Interface
@@ -337,17 +343,23 @@ SH.S_TIM8_CH2.ConfNb=1
THREADX.IPParameters=TX_APP_GENERATE_INIT_CODE,TX_MINIMUM_STACK
THREADX.TX_APP_GENERATE_INIT_CODE=false
THREADX.TX_MINIMUM_STACK=400
TIM1.EncoderMode=TIM_ENCODERMODE_TI12
TIM1.IPParameters=EncoderMode
TIM2.IPParameters=Prescaler
TIM2.Prescaler=250 - 1
TIM3.Channel-Input_Capture3_from_TI3=TIM_CHANNEL_3
TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM3.IPParameters=Prescaler,Channel-PWM Generation4 CH4,Channel-Input_Capture3_from_TI3,PeriodNoDither
TIM3.IPParameters=Prescaler,Channel-PWM Generation4 CH4,PeriodNoDither
TIM3.PeriodNoDither=255
TIM3.Prescaler=48
TIM4.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM4.IPParameters=Channel-PWM Generation4 CH4,Prescaler,PeriodNoDither
TIM4.PeriodNoDither=255
TIM4.Prescaler=48
TIM5.Channel-Input_Capture1_from_TI1=TIM_CHANNEL_1
TIM5.IPParameters=Channel-Input_Capture1_from_TI1,Prescaler
TIM5.Prescaler=250-1
TIM8.EncoderMode=TIM_ENCODERMODE_TI12
TIM8.IPParameters=EncoderMode
UART4.BaudRate=9600
UART4.IPParameters=BaudRate
USART2.BaudRate=9600
@@ -382,4 +394,6 @@ VP_TIM3_VS_ClockSourceINT.Mode=Internal
VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
VP_TIM4_VS_ClockSourceINT.Mode=Internal
VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
VP_TIM5_VS_ClockSourceINT.Mode=Internal
VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT
board=custom