完成上报速度

firmware/build/MDK/project.uvprojx

@@ -16,7 +16,7 @@
         <TargetCommonOption>
           <Device>STM32F103C8</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F1xx_DFP.2.2.0</PackID>
+          <PackID>Keil.STM32F1xx_DFP.2.3.0</PackID>
           <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IROM(0x08000000,0x10000) IRAM(0x20000000,0x5000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>

firmware/src/Driver/adc.c

@@ -63,11 +63,8 @@ void ADC_Config(void)
 *******************************************************************************/
 void ADC1_2_IRQHandler(void)
 {
-    static u8 i = 0, x = 0, y = 0;
-
     if (ADC1->SR & ADC_FLAG_JEOC)
     {
-        //		LED_GR = !LED_GR;
         ADC1->SR &= ~(ADC_FLAG_JEOC);
         Cur_ADC = (short int)ADC1->JDR1;
         Temp_ADC = (short int)ADC1->JDR2;

firmware/src/Driver/can.c

@@ -8,8 +8,14 @@
   * @attention
 *******************************************************************************/
 /* Includes ------------------------------------------------------------------*/
-#include "adc.h"
+#include "can.h"
+#include "motor.h"
 /* Definition ----------------------------------------------------------------*/
+// can_message_t can_tx_message;
+// can_message_t can_rx_message;
+CanTxMsg TxMessage = {0};
+CanRxMsg RxMessage;
+
 extern short int Cur_ADC;
 extern short int Temp_ADC;
 /* Functions -----------------------------------------------------------------*/
@@ -17,16 +23,16 @@ extern short int Temp_ADC;
   * @brief  CAN1初始化            
   * @param  None              
   * @retval None              
-  * @note   None              
+  * @note   波特率=APB1Clock/(1+CAN_BS1+CAN_BS2)/CAN_Prescaler              
 *******************************************************************************/
-void CAN1_Config(u16 bound)
+void CAN1_Config(void)
 {
-    u8 brp = 3000 / bound;
-
   GPIO_InitTypeDef GPIO_InitStructure;
   CAN_InitTypeDef CAN_InitStructure;
   CAN_FilterInitTypeDef CAN_FilterInitStructure;
 
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //使能PORTA时钟
+
   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
@@ -35,18 +41,20 @@ void CAN1_Config(u16 bound)
   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
   GPIO_Init(GPIOA, &GPIO_InitStructure);
+
+  RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); //使能CAN1时钟
   //CAN单元设置
   CAN_InitStructure.CAN_TTCM = DISABLE;         //ENABLE:时间触发通信模式          DISABLE:非时间触发通信模式
   CAN_InitStructure.CAN_ABOM = ENABLE;          //软件自动离线管理
   CAN_InitStructure.CAN_AWUM = DISABLE;         //ENABLE:监测到can消息退出休眠模式 DISABLE:清除CAN->MCR的SLEEP位退出休眠模式
-    CAN_InitStructure.CAN_NART = DISABLE;         //ENABLE:无论发送成功与否只法一次  DISABLE:发送不成功一直重发
+  CAN_InitStructure.CAN_NART = DISABLE;         //ENABLE:无论发送成功与否只发一次  DISABLE:发送不成功一直重发
   CAN_InitStructure.CAN_RFLM = DISABLE;         //ENABLE:FIFO溢出后丢弃后面的报文  DISABLE:溢出后新的覆盖旧的
   CAN_InitStructure.CAN_TXFP = ENABLE;          //ENABLE:优先级由请求顺序决定      DISABLE:优先级由报文标识符决定
   CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; //模式设置
   CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;      //重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1tq~CAN_SJW_4tq
   CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;      //Tbs1范围CAN_BS1_1tq ~ CAN_BS1_16tq
   CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq;      //Tbs2范围CAN_BS2_1tq ~	CAN_BS2_8tq
-    CAN_InitStructure.CAN_Prescaler = brp;        //分频系数(Fdiv)为brp+1
+  CAN_InitStructure.CAN_Prescaler = 6;          //分频系数(Fdiv)为CAN_Prescaler+1
   CAN_Init(CAN1, &CAN_InitStructure);           //初始化CAN1
 
   //配置过滤器
@@ -61,79 +69,77 @@ void CAN1_Config(u16 bound)
   CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;               //激活过滤器0
   CAN_FilterInit(&CAN_FilterInitStructure);                            //滤波器初始化
 
-    //	Motor_Cmd(Addr_Left,DISABLE);
+#ifdef CAN_RX0_INT_ENABLE
-    //	Motor_Cmd(Addr_Right,DISABLE);
+  NVIC_InitTypeDef NVIC_InitStructure;
-    //	delay_ms(20);//CAN命令包发送完成
+  NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
+  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // 主优先级为1
+  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;        // 次优先级为0
+  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+  NVIC_Init(&NVIC_InitStructure);
+
   CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); //FIFO0消息挂号中断允许.
+#endif
 }
 
+#ifdef CAN_RX0_INT_ENABLE
 /*******************************************************************************
   * @brief  CAN1中断
   * @param  None              
   * @retval None              
   * @note   速度模式s顺时针n逆时针   定位模式S顺时针N逆时针              
 *******************************************************************************/
-CanRxMsg BLcanbuf;
-FlagStatus BL_Deal_Flag = RESET;
 void USB_LP_CAN1_RX0_IRQHandler(void)
 {
-    CanRxMsg RxMessagebuf;
+  CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
-    CAN_Receive(CAN1, CAN_FIFO0, &RxMessagebuf);
+  if (RxMessage.StdId == 0x7df)
-    // CanRx_TimeOut_Cnt = 3000; //500ms
-
-    if (RxMessagebuf.StdId == 0x7df)
   {
-        // if ((RxMessagebuf.Data[0] == 'S') || (RxMessagebuf.Data[0] == 'P') || (RxMessagebuf.Data[0] == 'X') || (RxMessagebuf.Data[0] == 'D'))
+    u16 speed = (RxMessage.Data[6] << 8) | RxMessage.Data[7];
-        // {
+    motor_set_speed(speed);
-        //     Com_No_T1 = RxMessagebuf.Data[7];
+    if (motor_info.state != MOTOR_STATE_RUNNING)
-        //     if (Com_No_T1 != Com_No_OLD_T1)
+    {
-        //     {
+      // motor_start();
-        //         if (RecDone_T1 == RESET)
-        //             RecDone_T1 = SET;
-        //         else
-        //             return;
-        //         memcpy(&uComRx_T1, RxMessagebuf.Data, 8);
-        //         Com_No_OLD_T1 = Com_No_T1;
-        //     }
-        //     else
-        //     {
-        //         if (Say_Hello_T1 == 0)
-        //             Say_Hello_T1 = 1;
-        //         else
-        //             return;
-        //         uComTx_T1.mode = RxMessagebuf.Data[0];
-        //     }
-        // }
     }
   }
+}
+#endif
 
-int CanTx_TimeOut_Cnt = 0;
+/*******************************************************************************
-/**********************************************************************
+  * @brief  can发送消息            
-* Description    : None
+  * @param  None              
-* Input          : None
+  * @retval None              
-* Output         : None
+  * @note   None              
-* Return         : None
+*******************************************************************************/
-* Attention      : None
+u8 can_send_message(u32 id, u8 dlc, u8 *data)
-**********************************************************************/
-u8 can_send_message(u8 index, u32 id, u8 dlc, u8 *data)
 {
+  u8 i;
   u8 mbox;
-    CanTxMsg TxMessage;
+  u32 timeout = 0xffff;
   TxMessage.StdId = id; // 标准标识符
   TxMessage.ExtId = id; // 设置扩展标示符
   TxMessage.IDE = 0;    // 标准帧
   TxMessage.RTR = 0;    // 数据帧
   TxMessage.DLC = dlc;  // 要发送的数据长度
-    CanTx_TimeOut_Cnt = 50; //25ms
+  for (i = 0; i < dlc; i++)
-    memcpy(TxMessage.Data, data, 8);
+  {
+    TxMessage.Data[i] = data[i];
+  }
+
   do
   {
     mbox = CAN_Transmit(CAN1, &TxMessage);
-    } while ((mbox == CAN_TxStatus_NoMailBox) && (CanTx_TimeOut_Cnt != 0));
+    timeout--;
+  } while ((mbox == CAN_TxStatus_NoMailBox) && (timeout > 0));
 
-    while ((CAN_TransmitStatus(CAN1, mbox) != CAN_TxStatus_Ok) && (CanTx_TimeOut_Cnt != 0))
+  while ((CAN_TransmitStatus(CAN1, mbox) != CAN_TxStatus_Ok) && (timeout > 0))
     ;
-    CanTx_TimeOut_Cnt = 0;
   return 1;
 }
+
+u8 can_receive_message(CanRxMsg *message)
+{
+  if (CAN_MessagePending(CAN1, CAN_FIFO0) == 0)
+    return 0;                            //没有接收到数据,直接退出
+  CAN_Receive(CAN1, CAN_FIFO0, message); //读取数据
+  return message->DLC;
+}
 /*********************************END OF FILE**********************************/

firmware/src/Driver/hall.c

@@ -11,8 +11,9 @@
 #include "hall.h"
 #include "motor.h"
 /* Definition ----------------------------------------------------------------*/
-/* Functions -----------------------------------------------------------------*/
+u32 hall_last_interval = 0; //记录上次霍尔触发间隔,即电机转动1/6圈所花费的时间
 
+/* Functions -----------------------------------------------------------------*/
 /*******************************************************************************
   * @brief  霍尔传感器初始化            
   * @param  None              
@@ -33,7 +34,7 @@ void HALL_Config(void)
   TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
   TIM_TimeBaseStructure.TIM_Prescaler = 71;
   TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
-    TIM_TimeBaseStructure.TIM_Period = 1000;
+  TIM_TimeBaseStructure.TIM_Period = 10000;
   TIM_TimeBaseStructure.TIM_ClockDivision = 0;
   TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
   TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
@@ -41,9 +42,9 @@ void HALL_Config(void)
   //输入捕获
   TIM_ICInitTypeDef TIM_ICInitStructure;
 
-    TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;            //监听T1霍尔事件
+  TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;            //监听CH1霍尔事件
   TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //捕获上升沿
-    TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_TRC;
+  TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_TRC;  //选择IC1,IC2，IC3通道亦或捕获
   TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;       //捕获分频
   TIM_ICInitStructure.TIM_ICFilter = 0xF;                     //输入滤波
   TIM_ICInit(TIM2, &TIM_ICInitStructure);
@@ -78,20 +79,28 @@ void HALL_Config(void)
   NVIC_Init(&NVIC_InitStructure);
 }
 
+/*******************************************************************************
+  * @brief  TIM2定时器中断            
+  * @param  None              
+  * @retval None              
+  * @note   None              
+*******************************************************************************/
 void TIM2_IRQHandler(void)
 {
+  //通道1捕获中断，霍尔中断
   if (TIM_GetITStatus(TIM2, TIM_IT_CC1) != RESET)
   {
     TIM_ClearITPendingBit(TIM2, TIM_IT_CC1);
-        motor_info.hall_position = get_hall_position();
+    motor_info.hall_position = hall_position_detect();
     motor_step();
+    hall_last_interval = TIM2->CCR1; //获取电机实际速度(rps)=(TIM2时钟频率*TIM2->CCR1)/6，这里避免中断中复杂计算，只缓存了电机转1/6圈的时间
+    TIM_SetCounter(TIM2, 0);
   }
   else if (TIM_GetITStatus(TIM2, TIM_IT_CC2) != RESET)
   {
     TIM_ClearITPendingBit(TIM2, TIM_IT_CC2);
-        //换相
-        // pwm_Commute(hallpos);
   }
+  //TODO:此处考虑TIM2溢出中断判断电机堵转
 }
 
 /*******************************************************************************
@@ -100,7 +109,7 @@ void TIM2_IRQHandler(void)
   * @retval None              
   * @note   采用定时器4的捕获功能捕获霍尔信号变化              
 *******************************************************************************/
-int get_hall_position(void)
+int hall_position_detect(void)
 {
   return (GPIO_ReadInputData(GPIOA) & 0x0007);
 }

firmware/src/Driver/inc/can.h

@@ -12,10 +12,25 @@
 /* Includes ------------------------------------------------------------------*/
 #include "stm32f10x_conf.h"
 /* Definition ----------------------------------------------------------------*/
+#define CAN_RX0_INT_ENABLE //使能CAN接收中断
+
+typedef struct
+{
+  u32 id;
+  u8 dlc;
+  u8 extend; //0：标准帧 1：拓展帧
+  u8 remote; //0：数据帧 1：远程帧
+  u8 data[8];
+} can_message_t;
 
 /* Exported Functions --------------------------------------------------------*/
-void CAN1_Config(u16 bound);
+// extern can_message_t can_tx_message;
-u8 can_send_message(u8 index, u32 id, u8 dlc, u8 *data);
+// extern can_message_t can_rx_message;
+extern CanTxMsg TxMessage;
+extern CanRxMsg RxMessage;
+
+void CAN1_Config(void);
+u8 can_send_message(u32 id, u8 dlc, u8 *data);
 
 #endif
 /*********************************END OF FILE**********************************/

firmware/src/Driver/inc/hall.h

@@ -14,8 +14,10 @@
 /* Definition ----------------------------------------------------------------*/
 
 /* Exported Functions --------------------------------------------------------*/
+extern u32 hall_last_interval;
+
 void HALL_Config(void);
-int get_hall_position(void);
+int hall_position_detect(void);
 
 #endif
 /*********************************END OF FILE**********************************/

firmware/src/Driver/inc/led.h

@@ -14,7 +14,7 @@
 /* Definition ----------------------------------------------------------------*/
 
 /* Exported Functions --------------------------------------------------------*/
-void LED_Config();
+void LED_Config(void);
 void LED_ON(uint8_t index);
 void LED_OFF(uint8_t index);
 

firmware/src/Driver/inc/motor.h

@@ -12,6 +12,8 @@
 /* Includes ------------------------------------------------------------------*/
 #include "stm32f10x_conf.h"
 /* Definition ----------------------------------------------------------------*/
+#define MOTOR_TRANSMITTING_RATIO 58
+
 enum motor_mode
 {
   MOTOR_MODE_SPEED,    //速度模式
@@ -27,7 +29,9 @@ enum motor_dir
 
 enum motor_state
 {
-  MOTOR_STATE_STOP //停止状态
+  MOTOR_STATE_STOP,    //停止状态
+  MOTOR_STATE_RUNNING, //运行状态
+  MOTOR_STATE_ERROR,   //故障状态
 };
 
 typedef struct _motor
@@ -36,8 +40,8 @@ typedef struct _motor
   u8 dir;
   u8 state;         //运行状态
   u8 hall_position; //霍尔位置
-  s16 speed;        //转速
+  float speed;      //转速(r/min)
-  u32 step;
+  s32 step;
 
 } motor_t;
 

firmware/src/Driver/led.c

@@ -18,7 +18,7 @@
   * @retval None              
   * @note   None              
 *******************************************************************************/
-void LED_Config()
+void LED_Config(void)
 {
     GPIO_InitTypeDef GPIO_InitStructure;
     RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
@@ -39,12 +39,12 @@ void LED_ON(uint8_t index)
 {
     if (index == 0)
     {
-        GPIO_WriteBit(GPIOB, GPIO_Pin_5, SET);
+        GPIO_WriteBit(GPIOB, GPIO_Pin_5, Bit_SET);
     }
 
     if (index == 1)
     {
-        GPIO_WriteBit(GPIOB, GPIO_Pin_6, SET);
+        GPIO_WriteBit(GPIOB, GPIO_Pin_6, Bit_SET);
     }
 }
 
@@ -58,12 +58,12 @@ void LED_OFF(uint8_t index)
 {
     if (index == 0)
     {
-        GPIO_WriteBit(GPIOB, GPIO_Pin_5, RESET);
+        GPIO_WriteBit(GPIOB, GPIO_Pin_5, Bit_RESET);
     }
 
     if (index == 1)
     {
-        GPIO_WriteBit(GPIOB, GPIO_Pin_6, RESET);
+        GPIO_WriteBit(GPIOB, GPIO_Pin_6, Bit_RESET);
     }
 }
 /*********************************END OF FILE**********************************/

firmware/src/Driver/motor.c

@@ -9,9 +9,21 @@
 *******************************************************************************/
 /* Includes ------------------------------------------------------------------*/
 #include "motor.h"
+#include "hall.h"
 /* Definition ----------------------------------------------------------------*/
 motor_t motor_info;
 /* Functions -----------------------------------------------------------------*/
+/*******************************************************************************
+  * @brief  电机驱动MOS管输出            
+  * @param  None              
+  * @retval None              
+  * @note   None              
+*******************************************************************************/
+void motor_mos_enable(FunctionalState state)
+{
+  GPIO_WriteBit(GPIOB, GPIO_Pin_12, state); //关闭MOS输出
+}
+
 /*******************************************************************************
   * @brief  电机初始化            
   * @param  None              
@@ -25,8 +37,7 @@ void motor_init(void)
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
   GPIO_Init(GPIOB, &GPIO_InitStructure);
-  GPIO_WriteBit(GPIOB, GPIO_Pin_12, RESET); //关闭MOS输出
+
-  motor_info.dir = MOTOR_DIR_CCW;
 }
 
 /*******************************************************************************
@@ -37,10 +48,10 @@ void motor_init(void)
 *******************************************************************************/
 void motor_start(void)
 {
-  motor_info.state = 1;
+  motor_info.state = MOTOR_STATE_RUNNING;
-  GPIO_WriteBit(GPIOB, GPIO_Pin_12, SET);
+  motor_mos_enable(ENABLE);
   //TODO:开启霍尔捕捉中断
-  motor_info.hall_position = get_hall_position();
+  motor_info.hall_position = hall_position_detect();
   motor_step();
 }
 
@@ -53,6 +64,8 @@ void motor_start(void)
 void motor_stop(void)
 {
   motor_info.state = MOTOR_STATE_STOP;
+  hall_last_interval = 0;
+  motor_mos_enable(DISABLE);
   TIM1->CCR1 = 0;
   TIM1->CCR2 = 0;
   TIM1->CCR3 = 0;
@@ -140,8 +153,9 @@ void motor_step(void)
     break;
   default:
     motor_stop();
-    break;
+    return;
   }
+  motor_info.dir == MOTOR_DIR_CCW ? motor_info.step-- : motor_info.step++;
   TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
 }
 
@@ -153,9 +167,16 @@ void motor_step(void)
 *******************************************************************************/
 void motor_set_speed(s16 speed)
 {
+  if (speed == 0)
+  {
+    motor_stop();
+    return;
+  }
+
   TIM1->CCR1 = speed;
   TIM1->CCR2 = speed;
   TIM1->CCR3 = speed;
+  motor_start();
 }
 
 /*********************************END OF FILE**********************************/

firmware/src/Driver/pwm.c

@@ -39,16 +39,9 @@ void PWM_Config(void)
   GPIO_ResetBits(GPIOB, GPIO_Pin_13);
   GPIO_ResetBits(GPIOB, GPIO_Pin_14);
   GPIO_ResetBits(GPIOB, GPIO_Pin_15);
-  // GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
-  // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
-  // GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
-  // GPIO_Init(GPIOB, &GPIO_InitStructure);
 
-  // GPIO_SetBits(GPIOB, GPIO_Pin_12);
-
-  //PWM频率:12k
   TIM_DeInit(TIM1);
-
+  //PWM频率:12k
   TIM_TimeBaseStructure.TIM_Prescaler = 1;                                //2分频
   TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned2; //中央对齐计数模式,输出比较标志位只有在比较器向上计算被设置
   TIM_TimeBaseStructure.TIM_Period = 1500 - 1;                            //PWM频率计算:72000000/TIM_Period+1/TIM_Prescaler+1,如果是中央对齐计数模式再除以2
@@ -56,13 +49,13 @@ void PWM_Config(void)
   TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
   TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
 
-  TIM_OCInitStructure.TIM_OCMode = TIM_ForcedAction_InActive; //PWM2:递增计数时CNT<CCRx,OC输出无效电平;递减计数时CNT>CCRx,OC输出有效电平 TIM_ForcedAction_InActive
+  TIM_OCInitStructure.TIM_OCMode = TIM_ForcedAction_InActive; //默认初始化为无效电平
   TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
   TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
-  TIM_OCInitStructure.TIM_Pulse = 0;
+  TIM_OCInitStructure.TIM_Pulse = 0;                        //默认占空比0
-  TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
+  TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //起始波形为高电平
   TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCPolarity_High;
-  TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset; //TIM_OCIdleState_Set;TIM_OCIdleState_Reset
+  TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset; //空闲状态下输出低电平，仅TIM1,TIM8有效
   TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
   TIM_OC1Init(TIM1, &TIM_OCInitStructure);
   TIM_OC2Init(TIM1, &TIM_OCInitStructure);
@@ -79,7 +72,7 @@ void PWM_Config(void)
   TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
   TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_1;
   TIM_BDTRInitStructure.TIM_DeadTime = 100;
-  TIM_BDTRInitStructure.TIM_Break = TIM_Break_Disable; //如打开，开机无输出且状态紊乱？？？？
+  TIM_BDTRInitStructure.TIM_Break = TIM_Break_Disable;
   TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_Low;
   TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;
   TIM_BDTRConfig(TIM1, &TIM_BDTRInitStructure);
@@ -89,18 +82,12 @@ void PWM_Config(void)
   TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable); //使能捕获比较寄存器预装载（通道3）
   TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable); //使能捕获比较寄存器预装载（通道4）
 
-  TIM_SelectInputTrigger(TIM1, TIM_TS_ITR1); //输入触发源选择内部触发3:ITR3(TIM1->TIM4,TIM8->TIM5)
+  TIM_SelectInputTrigger(TIM1, TIM_TS_ITR1); //输入触发源选择内部触发
-
   TIM_CCPreloadControl(TIM1, ENABLE);        //CCER预装载
-
   TIM_SelectCOM(TIM1, ENABLE);               //软件触发和TRGI触发更新
-
+  TIM_CtrlPWMOutputs(TIM1, ENABLE);          //使能PWM输出
-  TIM_CtrlPWMOutputs(TIM1, ENABLE);
-
   TIM_ClearITPendingBit(TIM1, TIM_IT_COM);
-
   TIM_ITConfig(TIM1, TIM_IT_COM, ENABLE); //开启COM中断,意图:6路互补PWM设置被更改后不是立即生效,需要等待其它关联定时器触发更改,或者通过COM中断来立即执行更改
-
   TIM_Cmd(TIM1, ENABLE);
 }
 

firmware/src/User/inc/main.h

@@ -15,6 +15,7 @@
 #include "led.h"
 #include "hall.h"
 #include "pwm.h"
+#include "can.h"
 #include "motor.h"
 /* Definition ----------------------------------------------------------------*/
 

firmware/src/User/main.c

@@ -34,7 +34,6 @@ void RCC_Config()
 *******************************************************************************/
 void test(void)
 {
-  motor_init();
   motor_start();
   delay_ms(5000);
   motor_set_speed(100);
@@ -84,16 +83,23 @@ int main(void)
   NVIC_Config();
   GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); //关闭jtag，保留swd。
   SysTick_init();
+  LED_Config();
   HALL_Config();
   PWM_Config();
   CAN1_Config();
-  test();
+  motor_init();
+
+  // test();
   while (1)
   {
-    LED_ON(1);
-    delay_ms(500);
-    LED_OFF(1);
     delay_ms(500);
+    TxMessage.StdId = 0x111;
+    TxMessage.DLC = 8;
+    TxMessage.Data[0] = motor_info.state;
+    motor_info.speed = 1000000.0f * 60 / (hall_last_interval * 6 * MOTOR_TRANSMITTING_RATIO);
+    TxMessage.Data[6] = (u32)motor_info.speed >> 8;
+    TxMessage.Data[7] = (u32)motor_info.speed;
+    CAN_Transmit(CAN1, &TxMessage);
   }
 }