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本项目是全国大学生智能车竞赛GDUT 2022年极速越野组的项目文件。采用了LQR控制器和多速率卡尔曼融合算法,并在单片机上实现。This project is the project document for the GDUT 2022 Extreme Off-Road Category of the National Student Intelligent Vehicle Competition.

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ZhuYanzhen1/MM32_CLion

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MM32_CLion

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    This project is a Windows CLion IDE file for the MM32F3277G9 chip and a circuit design for the main control board based on the MM32F3277G9 chip. The software code contains the link files required for GCC, CMake files, clang-format files, Doxygen configuration files, etc. to ensure that this package is ready to use when it arrives. The hardware mainly contains the schematic and PCB files, and the Gerber files will be released in the form of Releases.The adapted tuning tool is developed using Qt, and the repository contains the Qt source code files for the tool. Some Python scripting tools are also provided for easy development, such as scripts for calculating filter parameters.


Develop Environment

  • Integrated Development Environment: CLion CL-213.6461.75
  • OS: Windows_NT x64 10.0.19041
  • Make tool: GNU Make 4.2.1 x86_64-w64-mingw32
  • Compiler tool chain: gcc-arm-none-eabi 10.3.1 20210824
  • Burning tool: OpenOCD 0.11.0+dev-00449-gb2ab2241f-dirty
  • Documentation tool: Doxygen GUI 1.9.3 (Qt version 5.15.2)
  • EDA tool: KiCAD 6.0.1 (VC++ 1929, 64bit)
  • Qt environment: Qt 5.14.1 (MSVC 2017, 32bit)
  • Python version: Python 3.8.10 [MSC v.1928 64 bit (AMD64)] on win32

Directory Structure

  • .github: used to store the configuration file for the continuous integration of Github Actions.
  • circuit: schematic and PCB of the main control board designed based on MM32F3277G9P chip.
  • docs: html documents and related images generated by Doxygen.
  • mechanical: 3D model files of non-standard mechanical parts.
  • program: main controller program source file and configuration file.
    • hardware: initialization and read/write code related to MM32F3277G9P chip peripherals.
    • library: HAL library code of MM32F3277G9P chip provided by MindMotion.
    • system: initialization and operation code related to MM32F3277G9P system.
    • user: user level code, main logic implementation.
    • math: code and functions related to mathematical calculations, such as checksum calculations, FFT, etc.
    • debug: Transmission layer code and CMBackTrace program files for serial port debugging.
    • device: Device specific data link layer protocols to implement device level register reading and writing.
    • protocol: Data link layer transfer protocol for sdtp, mdtp.
    • gui: code implementation of the relevant drawing functions for the display.
  • scripts: Python script files used to facilitate program testing and design.
  • testbench: CUnit library-based unit test code for testing functions.
  • tools: Qt tuning upper source code for tuning references.

License

Affiliation:AcmeTech
Author: Zhu Yanzhen
Maintainer:YanzhenZhu, 2208213223@qq.com

    The source code is released under a AGPL-3.0 License.The product has been tested under Windows 10 and Ubuntu 18.04 and 20.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

About

本项目是全国大学生智能车竞赛GDUT 2022年极速越野组的项目文件。采用了LQR控制器和多速率卡尔曼融合算法,并在单片机上实现。This project is the project document for the GDUT 2022 Extreme Off-Road Category of the National Student Intelligent Vehicle Competition.

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