FOC开环调试成功

Robot_V2/main.cpp

@@ -3,11 +3,11 @@
 #include "Filter.h"
 #include "Timer.h"
 #include "adc.h"
+#include "core_cm4.h"
 #include "device/tle5012b.h"
 #include "initial.h"
 #include "sys/initial.h"
 #include "systick.h"
-#include "core_cm4.h"
 #include "tle5012b.h"
 #include <cinttypes>
 #include <cstdio>
@@ -15,45 +15,26 @@
 
 // 全局变量定义
 CurrentKalman kalman(0.0f, 0.0026f, 4.8f, 0.0001f, 1e-6f, 0.02f);
-CircularBuffer buffer;
 CAN_transmiter CAN0_transmiter;
-
 int main(void) {
-	systick_config();	// 系统时钟初始化
-	USART0_init();		// 调试串口初始化
-	User_timer_init();	// Timer初始化
-	adc_config();		// ADC初始化
-	dma_config();		// DMA采样ADC初始化
-
-	tle5012b_gpio_init();	// TLI5012B初始化
+	systick_config();  // 系统时钟初始化
+	USART0_init();	   // 调试串口初始化
+	User_timer_init(); // Timer初始化
+	adc_config();	   // ADC初始化
+	dma_config();	   // DMA采样ADC初始化
+	
+	tle5012b_gpio_init(); // TLI5012B初始化
 	tle5012b_spi_init();
-	cdd_TLI5012_Init();     // 初始化TLE5012B传感器
-
-	watchdog_init(1000);
-	// 初始化CAN回环测试
-	// can_loopback_init();
+	// cdd_TLI5012_Init();     // 初始化TLE5012B传感器
+	
+	watchdog_init(5000);
 	while (1) {
-        /* clear the FWDGT reset flag */
-        fwdgt_counter_reload();
+		/* clear the FWDGT reset flag */
+		fwdgt_counter_reload();
 
-		// can_loopback_test();
-		/* value print */
-		// printf(" the temperature data is %2.2f degrees Celsius\r\n",
-		// 	   get_mcu_temp());
-		// printf(" the drv_temperature data is %2.2f degrees Celsius\r\n",
-		// 	   get_drv_temp());
-		// printf(" the U current data is %2.2f mA\r\n",get_current('U'));
-		// printf(" the V current data is %2.2f mA\r\n",get_current('V'));
-		// printf(" the W current data is %2.2f mA\r\n",get_current('W'));
-		// printf(" the VBUS is %2.2f V\r\n",get_vbus_voltage());
-		// printf(" the angle is %2.2f\r\n", tle5012b_read());
-
-		printf("\n----------------------------------------------------\n");
+		CAN0_transmiter.communication_check();
+		// delay_1ms(2);
 		
-		delay_1ms(700);
-		// TLI5012B测试
-		Test_TLI5012B();
-
 		Set_Pwm(0, 1500);
 	}
-}
+}