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乐迪遥控器，急停，已测试

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This commit is contained in:
ZHAISHUI04 2025-03-21 22:47:50 +08:00
parent 0ce8941b04
commit 6039db40c5
9 changed files with 58 additions and 43 deletions

16
MDK-ARM/AUTO_CHASSIS.uvoptx
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@ -163,17 +163,27 @@
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>rc_ctrl,0x0A</ItemText>
<ItemText>aaaaaaa,0x0A</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>cmd,0x0A</ItemText>
<ItemText>cmd_rc,0x0A</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>chassis,0x0A</ItemText>
<ItemText>cmd,0x0A</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>rc_ctrl,0x0A</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>buf0ready,0x0A</ItemText>
</Ww>
</WatchWindow1>
<WatchWindow2>

BIN
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
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Binary file not shown.

25
User/device/cmd.c
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@ -38,10 +38,12 @@ return 0;
static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd) {
/* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */
// RC_dr16 ,
// RC_r12ds
//
#ifdef r12ds_t
/*乐迪反馈值转换(-1 -- 1 )范围*/
if(rc->ch_x<0) cmd->Vx =map_fp32(rc->ch_x,-337,0,-1,0);
else cmd->Vx =map_fp32(rc->ch_x,0,310,0,1);
@ -55,7 +57,10 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd) {
cmd->key_ctrl_l = rc->key [0];
cmd->key_ctrl_r = rc->key [1];
#elif defined(dr16_t)
cmd->Vx = rc->ch_r_x;
cmd->Vy = -rc->ch_r_y;
@ -66,14 +71,14 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd) {
cmd->key_ctrl_l = rc->sw_l;
cmd->key_ctrl_r = rc->sw_r ;
#endif
}
@ -90,15 +95,15 @@ static void CMD_RcLostLogic(CMD_t *cmd){
int8_t CMD_ParseRc(CMD_t *cmd,CMD_RC_t *rc){
if (cmd == NULL) return -1;
if (rc == NULL) return -1;
#ifdef dr16_t
//#ifdef dr16_t
/*c当rc丢控时，恢复机器人至默认状态 */
if ((rc->ch_w == CMD_SW_ERR) || (rc->ch_y == CMD_SW_ERR)) {
CMD_RcLostLogic(cmd);
} else {
// if ((rc->ch_w == CMD_SW_ERR) || (rc->ch_y == CMD_SW_ERR)) {
// CMD_RcLostLogic(cmd);
// } else {
CMD_RcLogic(rc, cmd);
}
// }
#endif
//#endif
return 0;
}

6
User/device/cmd.h
View File

@ -71,16 +71,10 @@ typedef enum {
CMD_SW_DOWN = 2,
} CMD_SwitchPos_t;
typedef enum
{
RC_dr16 ,
RC_r12ds
}remote_type;
/*遥控器值，使用CMD_RcLogic函数传入CMD_t结构体*/
typedef struct {
remote_type RC_type;
#ifdef dr16_t
float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */

4
User/device/dr16.c
View File

@ -60,7 +60,7 @@ static bool DR16_DataCorrupted(const DR16_t *dr16) {
int8_t DR16_Init(DR16_t *dr16) {
if (dr16 == NULL) return DEVICE_ERR_NULL;
if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
BSP_UART_RegisterCallback(BSP_UART_REMOTE, BSP_UART_IDLE_LINE_CB,
DR16_RxCpltCallback);
return DEVICE_OK;
@ -106,7 +106,7 @@ int8_t DR16_ParseRC(const DR16_t *dr16, CMD_RC_t *rc) {
} else {
memset(rc, 0, sizeof(*rc));
}
rc->RC_type = RC_dr16;
float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN);
rc->ch_r_x = 2 * ((float)dr16->data.ch_r_x - DR16_CH_VALUE_MID) / full_range;

3
User/device/dr16.h
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@ -49,4 +49,5 @@ int8_t DR16_HandleOffline(const DR16_t *dr16, CMD_RC_t *rc);
#endif
#endif
#endif

15
User/device/r12ds.c
View File

@ -21,7 +21,7 @@ extern DMA_HandleTypeDef hdma_usart3_rx;
osThreadId_t thread_alert;
int buf0ready =0;
int buf0ready =0; /*不起作用*/
int buf1ready =0;
/* Private function -------------------------------------------------------- */
@ -124,6 +124,7 @@ int8_t R12ds_DMA_Init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num)
}
int8_t sbus_to_rc(volatile const uint8_t *sbus_buf, CMD_RC_t *rc_ctrl)
{
if (sbus_buf == NULL || rc_ctrl == NULL)
@ -131,6 +132,7 @@ int8_t sbus_to_rc(volatile const uint8_t *sbus_buf, CMD_RC_t *rc_ctrl)
return 0;
}
rc_ctrl->ch_x = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff; //Channel 1 x
rc_ctrl->ch_y = ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //Channel 2 mul
rc_ctrl->mul= ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) | //Channel 3 y
@ -172,10 +174,19 @@ int8_t sbus_to_rc(volatile const uint8_t *sbus_buf, CMD_RC_t *rc_ctrl)
if(rc_ctrl->ch_y>-15&&rc_ctrl->ch_y<15) rc_ctrl->ch_y=0;
if(rc_ctrl->ch_x>-15&&rc_ctrl->ch_x<15) rc_ctrl->ch_x=0;
if(rc_ctrl->mul>=0&&rc_ctrl->mul<=3) rc_ctrl->mul=0;
if(rc_ctrl->ch_w>-15&&rc_ctrl->ch_w<15) rc_ctrl->ch_w=0;
if(rc_ctrl->ch_w>-15&&rc_ctrl->ch_w<15) rc_ctrl->ch_w=0;
if( (((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF )<380) rc_ctrl->offline =1; //遥控器掉线
else rc_ctrl->offline =0;
return 0;
}
#endif

2
User/device/r12ds.h
View File

@ -21,8 +21,6 @@ int8_t R12ds_DMA_Init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num);
int8_t sbus_to_rc(volatile const uint8_t *sbus_buf,CMD_RC_t *rc_ctrl);
//void R12ds_HandleOffline(void);

30
User/task/r12ds_task.c
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@ -25,13 +25,11 @@ CMD_RC_t *R12ds_DataGet(){
}
//void R12ds_HandleOffline(void) {
// CMD_RC_t *rc;
// rc = R12ds_DataGet();
// memset(rc, 0, sizeof(*rc));
// rc->offline = 1;//用作遥控器断电后急停使用
//}
void R12ds_HandleOffline(void) {
CMD_RC_t *rc;
rc = R12ds_DataGet();
memset(rc, 0, sizeof(rc->ch_x) + sizeof(rc->mul) + sizeof(rc->ch_y) + sizeof(rc->ch_w) + sizeof(rc->key));
}
#endif
@ -54,19 +52,17 @@ void Task_r12ds(void *argument)
#endif
// if(R12Buf0_WaitDmaCplt(1))
// {
sbus_to_rc(sbus_rx_buf[0],&cmd_rc);
// R12ds_HandleOffline();
// }
// else if(R12Buf1_WaitDmaCplt(1))
// {
// sbus_to_rc(sbus_rx_buf[1],&cmd_rc);
// }
sbus_to_rc(sbus_rx_buf[0],&cmd_rc);
if(cmd_rc.offline ==1)
{
R12ds_HandleOffline();
}
osMessageQueueReset(task_runtime.msgq.cmd.raw.rc);
osMessageQueuePut(task_runtime.msgq.cmd.raw.rc,(&cmd_rc),0,0);
tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/
tick += delay_tick; /* 计算下一个唤醒时*/
osDelay(10);
}