MADAO/ManGoWalk_STM32
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add Encoder and PID control and Abstacle control

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This commit is contained in:
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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1
Core/Inc/app_threadx.h
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@@ -58,6 +58,7 @@ extern "C" {
extern TX_QUEUE ble_tx_queue;
extern TX_EVENT_FLAGS_GROUP system_events;
extern TX_EVENT_FLAGS_GROUP sensor_events; //传感器事件组
extern TX_EVENT_FLAGS_GROUP response_events; //避障
//typedef struct
//{
//// uint32_t msg_type; // 应该使用 int --- 4字节

4
Core/Inc/main.h
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@@ -59,6 +59,8 @@ void Error_Handler(void);
/* Private defines -----------------------------------------------------------*/
#define PWMA_Pin GPIO_PIN_2
#define PWMA_GPIO_Port GPIOC
#define HC_Echo_Pin GPIO_PIN_0
#define HC_Echo_GPIO_Port GPIOA
#define PWMB_Pin GPIO_PIN_1
#define PWMB_GPIO_Port GPIOB
#define AIN1_Pin GPIO_PIN_0
@@ -77,8 +79,6 @@ void Error_Handler(void);
#define E2A_GPIO_Port GPIOC
#define E2B_Pin GPIO_PIN_7
#define E2B_GPIO_Port GPIOC
#define HC_Echo_Pin GPIO_PIN_8
#define HC_Echo_GPIO_Port GPIOC
#define HC_Trig_Pin GPIO_PIN_9
#define HC_Trig_GPIO_Port GPIOC
#define Shake_Motor_Pin GPIO_PIN_12

1
Core/Inc/stm32h5xx_it.h
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@@ -57,6 +57,7 @@ void GPDMA1_Channel4_IRQHandler(void);
void GPDMA1_Channel5_IRQHandler(void);
void TIM2_IRQHandler(void);
void TIM3_IRQHandler(void);
void TIM5_IRQHandler(void);
void TIM6_IRQHandler(void);
void USART2_IRQHandler(void);
void USART3_IRQHandler(void);

3
Core/Inc/tim.h
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@@ -40,6 +40,8 @@ extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
extern TIM_HandleTypeDef htim5;
extern TIM_HandleTypeDef htim8;
/* USER CODE BEGIN Private defines */
@@ -50,6 +52,7 @@ void MX_TIM1_Init(void);
void MX_TIM2_Init(void);
void MX_TIM3_Init(void);
void MX_TIM4_Init(void);
void MX_TIM5_Init(void);
void MX_TIM8_Init(void);
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);