diff --git a/Core/Src/main.c b/Core/Src/main.c
index 8fca7f2..f48044b 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -32,7 +32,6 @@
/* USER CODE BEGIN Includes */
#include "bsp_delay.h"
#include "bsp_can.h"
-#include "Action.h"
//#include "bsp_dwt.h"
/* USER CODE END Includes */
diff --git a/MDK-ARM/AUTO_CHASSIS.uvoptx b/MDK-ARM/AUTO_CHASSIS.uvoptx
index 773efef..528face 100644
--- a/MDK-ARM/AUTO_CHASSIS.uvoptx
+++ b/MDK-ARM/AUTO_CHASSIS.uvoptx
@@ -1144,30 +1144,6 @@
0
0
0
- ..\User\task\action_task.c
- action_task.c
- 0
- 0
-
-
- 8
- 72
- 1
- 0
- 0
- 0
- ..\User\task\navi_task.c
- navi_task.c
- 0
- 0
-
-
- 8
- 73
- 1
- 0
- 0
- 0
..\User\task\r12ds_task.c
r12ds_task.c
0
@@ -1183,7 +1159,7 @@
0
9
- 74
+ 72
1
0
0
@@ -1195,7 +1171,7 @@
9
- 75
+ 73
1
0
0
@@ -1207,7 +1183,7 @@
9
- 76
+ 74
1
0
0
@@ -1219,7 +1195,7 @@
9
- 77
+ 75
1
0
0
@@ -1231,7 +1207,7 @@
9
- 78
+ 76
1
0
0
@@ -1243,7 +1219,7 @@
9
- 79
+ 77
1
0
0
@@ -1253,18 +1229,6 @@
0
0
-
- 9
- 80
- 1
- 0
- 0
- 0
- ..\User\Algorithm\navi.c
- navi.c
- 0
- 0
-
@@ -1275,7 +1239,7 @@
0
10
- 81
+ 78
1
0
0
@@ -1287,7 +1251,7 @@
10
- 82
+ 79
1
0
0
@@ -1299,7 +1263,7 @@
10
- 83
+ 80
1
0
0
@@ -1311,7 +1275,7 @@
10
- 84
+ 81
1
0
0
@@ -1323,7 +1287,7 @@
10
- 85
+ 82
1
0
0
@@ -1335,7 +1299,7 @@
10
- 86
+ 83
1
0
0
@@ -1347,19 +1311,7 @@
10
- 87
- 1
- 0
- 0
- 0
- ..\User\device\Action.c
- Action.c
- 0
- 0
-
-
- 10
- 88
+ 84
1
0
0
@@ -1379,7 +1331,7 @@
0
11
- 89
+ 85
1
0
0
@@ -1391,7 +1343,7 @@
11
- 90
+ 86
1
0
0
@@ -1403,7 +1355,7 @@
11
- 91
+ 87
1
0
0
@@ -1423,7 +1375,7 @@
0
12
- 92
+ 88
1
0
0
@@ -1443,7 +1395,7 @@
0
13
- 93
+ 89
1
0
0
@@ -1455,7 +1407,7 @@
13
- 94
+ 90
1
0
0
@@ -1467,7 +1419,7 @@
13
- 95
+ 91
1
0
0
@@ -1479,7 +1431,7 @@
13
- 96
+ 92
1
0
0
diff --git a/MDK-ARM/AUTO_CHASSIS.uvprojx b/MDK-ARM/AUTO_CHASSIS.uvprojx
index 80c2dc2..77e8f73 100644
--- a/MDK-ARM/AUTO_CHASSIS.uvprojx
+++ b/MDK-ARM/AUTO_CHASSIS.uvprojx
@@ -1228,16 +1228,6 @@
1
..\User\task\dr16_task.c
-
- action_task.c
- 1
- ..\User\task\action_task.c
-
-
- navi_task.c
- 1
- ..\User\task\navi_task.c
-
r12ds_task.c
1
@@ -1278,11 +1268,6 @@
1
..\User\Algorithm\pid.c
-
- navi.c
- 1
- ..\User\Algorithm\navi.c
-
@@ -1318,11 +1303,6 @@
1
..\User\device\dr16.c
-
- Action.c
- 1
- ..\User\device\Action.c
-
r12ds.c
1
diff --git a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
index 56467b5..4ba7c53 100644
Binary files a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf and b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf differ
diff --git a/User/Algorithm/navi.c b/User/Algorithm/navi.c
deleted file mode 100644
index 4b898d1..0000000
--- a/User/Algorithm/navi.c
+++ /dev/null
@@ -1,216 +0,0 @@
-#include "navi.h"
-
-
-//导航初始化一系列参数
-int8_t Action_init(ops_t *o , const ops_param_t *param , Action_POS_t *pos)
-{
- if(o ==NULL) return DEVICE_ERR;
- if(param == NULL) return DEVICE_ERR;
-// while(!Action_ready)
-// {
-// TIM4->CCR3 = 9999;//等待全场定位初始化
-// }
-
-// TIM4->CCR3 = 0;
- HAL_GPIO_WritePin(LED_G_GPIO_Port,LED_G_Pin,GPIO_PIN_SET);//接收到码盘数据后亮灯指示
-//
-
-// osDelay(5);
-
- o->param = param;
- /*全场定位pid初始化*/
- //全场定位跑路径的xy方向速度环pid
- PID_init(&o->pid_PosSpeed_x, PID_POSITION,(&o->param->ops_pid.pid_PosSpeed_x_param));
- PID_init(&o->pid_PosSpeed_y, PID_POSITION,(&o->param->ops_pid.pid_PosSpeed_y_param));
- /* 初始化角度纠正PID */
- PID_init(&o->pid_OutAngle,PID_POSITION,(&o->param->ops_pid.pid_OutAngle_param));//外环
- PID_init(&o->pid_InnerAngle,PID_POSITION,(&o->param->ops_pid.pid_InnerAngle_param));//内环
- //底盘xy方向位置环pid初始化
- //内环
- PID_init(&o->pid_pos_x_inner,PID_POSITION,(&o->param->ops_pid.pid_pos_x_inner_param));
- PID_init(&o->pid_pos_y_inner,PID_POSITION,(&o->param->ops_pid.pid_pos_y_inner_param));
- //外环
- PID_init(&o->pid_pos_x_out,PID_POSITION,(&o->param->ops_pid.pid_pos_x_out_param));
- PID_init(&o->pid_pos_y_out,PID_POSITION,(&o->param->ops_pid.pid_pos_y_out_param));
-
-
-
- //底盘路径速度pid初始化
- PID_init(&o->path_speed_pid,PID_POSITION,(&o->param->ops_pid.path_speed_pid_param));
- //全场定位底盘坐标初始化
- o->chassis_pos->pos_x=0;
- o->chassis_pos->pos_y=0;
- o->chassis_pos->pos_lastX=0;
- o->chassis_pos->pos_lastY=0;
- o->chassis_map =param->path ;
- o->chassis_pos = pos;
-
-
- //设置全场定位允许的误差范围
- o->state.mistake = POS_ALLOW_MISTAKE;
- o->state .angle_mistake =POS_ALLOW_ANGLE_MISTAKE ;
- o->state.moveState = START;
- o->state.points_num = param->path_num;
- //标志位初始化
- o->POS_IS_CPT = NO;
-
-
-
-
- return DEVICE_OK;
-}
-//利用C板imu纠正角度
-fp32 ops9_AngleCorr(ops_t *o,fp32 hope_angle)
-{
- fp32 delta_angle,delta_w;
- //外环角度纠正
- delta_angle = PID_calc(&o->pid_OutAngle,o->ops_imu_pos.yaw,hope_angle);
- //内环速度纠正
- delta_w = -PID_calc(&o->pid_InnerAngle,o->ops_gyro.z,delta_angle);
- return delta_w;
-}
-
-//底盘xy速度计算(全场定位)
-void POS_chassis_set(ops_t *o,fp32 vx_set, fp32 vy_set, fp32 yaw_angle_set){
-
-
- o->final_out.vx = (PID_calc(&o->pid_PosSpeed_x, o->chassis_pos->pos_Vx,vx_set));//根据遥控器的方向选择正负
- o->final_out.vy = PID_calc(&o->pid_PosSpeed_y, o->chassis_pos->pos_Vy,vy_set);
- o->final_out.yaw_angle = ops9_AngleCorr(o,yaw_angle_set);
-
-
-}
-
-
-//定点控制
-void hold_point(ops_t *o,point_t p,fp32 yaw_angle_set)
-{
- fp32 delta_x,delta_y;
- fp32 delta_vx,delta_vy;
- fp32 vx_set,vy_set;//x,y,w目标速度
-
- //x
- delta_x = PID_calc(&o->pid_pos_x_out,o->chassis_pos->pos_x,p.x);
- delta_vx = PID_calc(&o->pid_pos_x_inner,o->chassis_pos->pos_Vx,delta_x);
-
- //y
- delta_y = PID_calc(&o->pid_pos_y_out,o->chassis_pos->pos_y,p.y);
- delta_vy = PID_calc(&o->pid_pos_y_inner,o->chassis_pos->pos_Vy,delta_y);
-
-
-
-
- vx_set = delta_vx;
- vy_set = delta_vy;
-
- POS_chassis_set(o,vx_set,vy_set,yaw_angle_set);
-}
-
-
-
-
-//判断是否到达函数(全场定位)，最最后判断
-bool isArrive(point_t p,ops_t *o)
-{
- uint16_t xArrive = 0, yArrive = 0, zArrive=0;
-
- xArrive = abs_float_double(p.x,o->chassis_pos->pos_x) < o->state.mistake ? 1:0;
- yArrive = abs_float_double(p.y,o->chassis_pos->pos_y) < o->state.mistake ? 1:0;
-
- if(xArrive && yArrive) return true;
- else return false;
-}
-
-
-
-
-//寻迹，跑点函数
-int8_t go_path(ops_t *o,CMD_ACTION_t *ops_out)
-{
- static fp32 distance;//两点之间的距离差
- static fp32 chassis_speed_set;//底盘速度设置
- static fp32 SIN,COS;//方向解算
- static fp32 world_vx,world_vy;//x,y方向分解速度
- static fp32 chassis_vx,chassis_vy;//底盘xy分速度
- static int cnt =0 ;//计数标志位
-
- static int flag_update_num;//记录flag更新，防止cnt一直变化
-
- /*数据同步*/
- o->current_x =o->chassis_pos ->pos_x ;
- o->current_y =o->chassis_pos ->pos_y ;
- o->next_mapx = o->chassis_map[cnt].x;
- o->next_mapy =o->chassis_map[cnt].y;
-
-
- o->Navi_Mode .Trig_flag = ops_out ->flag ;
-
- if(o == NULL) return DEVICE_ERR;
- if (ops_out == NULL) return DEVICE_ERR;
-
-// static fp32 yaw_angle_set = 0;
- if(o->POS_IS_CPT == NO)//路径未跑完
- {
- if(o->state.moveState ==START)
- {
- //更新路径状态
- o->state.moveState =MOVING;
- }
-
-
- distance = sqrt((o->chassis_map[cnt].x - o->chassis_pos->pos_x)*(o->chassis_map[cnt].x - o->chassis_pos->pos_x)
- +(o->chassis_map[cnt].y - o->chassis_pos->pos_y)*(o->chassis_map[cnt].y - o->chassis_pos->pos_y));
-
- chassis_speed_set = PID_calc(&o->path_speed_pid,-distance,0);//此处由pid计算距离得出相应的速度
- //速度分解
- SIN = (o->chassis_map[cnt].y - o->chassis_pos->pos_y)/distance;
- COS = (o->chassis_map[cnt].x - o->chassis_pos->pos_x)/distance;
-
- world_vx = chassis_speed_set * COS;
- world_vy = chassis_speed_set * SIN;
-
-// chassis_vx = world_vx;
-// chassis_vy = world_vy;
- //世界坐标转机器坐标系转换
-
- chassis_vx = -world_vy*sin(o->ops_imu_pos.yaw) + world_vx*cos(o->ops_imu_pos.yaw);
- chassis_vy = world_vy*cos(o->ops_imu_pos.yaw) + world_vx*sin(o->ops_imu_pos.yaw);
-
- }
-
-/*下面的逻辑按需更改，根据cnt计数器自动跑点，遥控器触发跑点等等*/
-
-
- if(isArrive(o->chassis_map[cnt],o)) //判断是否到达(全场定位)，只涉及xy的判断
- {
- /*到达点后，这里应该增加cnt增加或减小的触发方式*/
-
- if (o->Navi_Mode .Trig_flag != flag_update_num) { // 只有flag发生变化时才更新cnt
- if (o->Navi_Mode .Trig_flag==1) cnt++; }
- else if (o->Navi_Mode .Trig_flag == -1) cnt--;
- flag_update_num = o->Navi_Mode .Trig_flag; // 更新prev_flag为当前的flag状态
- }
- else
- {
- o->POS_IS_CPT = NO;
- hold_point(o,o->chassis_map[cnt],o->chassis_map[cnt].angle); //调用该函数使临近误差值快速响应
- }
- if(cnt>3)//根据点数更改
- {
- o->POS_IS_CPT =YES;
- //到达目的地
- o->final_out .vx =0;
- o->final_out .vy =0;
- o->final_out.yaw_angle=0;
- }
-
-
-
-
-
- ops_out->out.Vx= o->final_out .vx ;
- ops_out->out.Vy = o->final_out .vy ;
- ops_out->out.Vw = o->final_out.yaw_angle;
-
- return DEVICE_OK;
-}
diff --git a/User/Algorithm/navi.h b/User/Algorithm/navi.h
deleted file mode 100644
index 5b313b0..0000000
--- a/User/Algorithm/navi.h
+++ /dev/null
@@ -1,108 +0,0 @@
-#ifndef NAVI_H
-#define NAVI_H
-
-
-#include "Action.h"
-#include "pid.h"
-#include "ahrs.h"
-#include "bmi088.h"
-#include "map.h"
-
-typedef enum {
- AUTO_MODE, // Զܵģʽ
- MANUAL_MODE , // ģʽ
- NO_MODE
-} Navi_Mode_t;
-
-typedef struct {
-
- Navi_Mode_t mode;
-
- int Trig_flag;//أʼֵΪ㣬ֿģʽ£ֵΪ1ʹcnt+1Ϊ-1ʹcnt-1
-
-} Navi_COT_MODE_t;
-
-
-typedef struct{
- float pos_x;
- float pos_y;
- float last_pos_x;
- float last_pos_y;
-}chassis_position_t;
-
-typedef enum{
- YES,
- NO,
- NEXT1,
- NEXT2
-}is_cpt_e;
-typedef struct{
- pid_param_t pid_PosSpeed_x_param;
- pid_param_t pid_PosSpeed_y_param;
- pid_param_t pid_pos_x_out_param;
- pid_param_t pid_pos_x_inner_param;
- pid_param_t pid_pos_y_out_param;
- pid_param_t pid_pos_y_inner_param;
- pid_param_t pid_OutAngle_param;
- pid_param_t pid_InnerAngle_param;
- pid_param_t path_speed_pid_param;
-
-}ops_pid_param_t;
-
-typedef struct {
- ops_pid_param_t ops_pid;
- const point_t *path;
- int8_t path_num;
-}ops_param_t;
-
-/**
- * @brief
- *
-*/
-typedef struct {
- Action_POS_t *chassis_pos;
- fp32 current_x;
- fp32 current_y;
-
- fp32 next_mapx;
- fp32 next_mapy;
- const point_t *chassis_map;
- const ops_param_t *param;
- PathState_t state;
- Navi_COT_MODE_t Navi_Mode;
-
- AHRS_Eulr_t ops_imu_pos;
- AHRS_Gyro_t ops_gyro;
-
-
-
- pid_type_def pid_PosSpeed_x;
- pid_type_def pid_PosSpeed_y;
- pid_type_def pid_pos_x_out;
- pid_type_def pid_pos_x_inner;
- pid_type_def pid_pos_y_out;
- pid_type_def pid_pos_y_inner;
- pid_type_def pid_OutAngle;
- pid_type_def pid_InnerAngle;
- pid_type_def path_speed_pid;
-
-
- is_cpt_e POS_IS_CPT;
-
- struct
- {
- fp32 vx;
- fp32 vy;
- fp32 yaw_angle;
- }final_out;
-
-}ops_t;
-
-
-
-
-int8_t Action_init(ops_t *o,const ops_param_t *param,Action_POS_t *pos);
-
-int8_t go_path(ops_t *o,CMD_ACTION_t *ops_out);
-#endif
-
diff --git a/User/Module/Chassis.c b/User/Module/Chassis.c
index 3acc87d..03246ce 100644
--- a/User/Module/Chassis.c
+++ b/User/Module/Chassis.c
@@ -1,6 +1,5 @@
#include "Chassis.h"
#include "gpio.h"
-#include "Action.h"
#include "user_math.h"
#include "bsp_buzzer.h"
#include "bsp_delay.h"
@@ -113,16 +112,11 @@ int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
void Chassis_speed_calculate(Chassis_t *c,fp32 Vx,fp32 Vy,fp32 Vw) //底盘逆运动学的解算
{
c->hopemotorout.OmniSpeedOut[3] = -Vx+Vy+Vw;//右前
- c->hopemotorout.OmniSpeedOut[2] = -Vx-Vy+Vw;//右后
- c->hopemotorout.OmniSpeedOut[1] = Vx-Vy+Vw;//左后
+ c->hopemotorout.OmniSpeedOut[1] = -Vx-Vy+Vw;//右后
+ c->hopemotorout.OmniSpeedOut[2] = Vx-Vy+Vw;//左后
c->hopemotorout.OmniSpeedOut[0] = Vx+Vy+Vw;//左前
}
-// v[0] = (vx_set+vy_set+vw_set)*mul + gyro_z;//左前
-// v[1] = (-vx_set+vy_set+vw_set)*mul + gyro_z;//右前
-// v[2] = (-vx_set-vy_set+vw_set)*mul + gyro_z;//右后
-// v[3] = (vx_set-vy_set+vw_set)*mul + gyro_z;//左后
-
//bool isArrive(fp32 real_pos,fp32 target_pos,fp32 mistake)
//{
// uint16_t xArrive = 0, yArrive = 0;
diff --git a/User/Module/Chassis.h b/User/Module/Chassis.h
index d3f15ad..e906470 100644
--- a/User/Module/Chassis.h
+++ b/User/Module/Chassis.h
@@ -31,7 +31,6 @@
#include "can_use.h"
#include "cmd.h"
#include "filter.h"
-#include "Action.h"
#define CHASSIS_OK (0)
#define CHASSIS_ERR (-1)
@@ -125,7 +124,6 @@ typedef struct{
const Chassis_Param_t *param; //一些固定的参数
ChassisImu_t pos088; //088的实时姿态
- Action_POS_t Action_pos;
CMD_Chassis_CtrlType_e ctrl;
CMD_Chassis_mode_e mode;
diff --git a/User/Module/config.c b/User/Module/config.c
index 5a04df7..909b2ab 100644
--- a/User/Module/config.c
+++ b/User/Module/config.c
@@ -193,93 +193,7 @@ static const ConfigParam_t param_chassis ={
},
-
-
- /*码盘导航*/
-
- .ops={
-
- /*导航点*/
- .path=map_point,
- .path_num = point_num ,
- .ops_pid={
- /*路径速度*/
- .path_speed_pid_param=
- {
- .p = 15.1f,
- .i = 0.02f,
- .d = 3.2f,
- .i_limit = 200.0f,
- .out_limit =6000.0f,
-
-
- },
- .pid_PosSpeed_x_param={
- .p =1.0f,
- .i =0.001f,
- .d =0.0f,
- .i_limit =15.0f,
- .out_limit =4000.0f,
- },
- .pid_PosSpeed_y_param={
- .p =1.0f,
- .i =0.001f,
- .d =0.0f,
- .i_limit =15.0f,
- .out_limit =4000.0f,
- },
- .pid_pos_x_out_param={
- .p =1.0f,
- .i =0.001f,
- .d =0.0f,
- .i_limit =15.0f,
- .out_limit =4000.0f,
- },
- .pid_pos_x_inner_param={
- .p =2.0f,
- .i =0.001f,
- .d =0.0f,
- .i_limit =15.0f,
- .out_limit =4000.0f,
- },
- .pid_pos_y_out_param={
- .p =1.0f,
- .i =0.001f,
- .d =0.0f,
- .i_limit =15.0f,
- .out_limit =4000.0f,
- },
- .pid_pos_y_inner_param={
- .p =2.0f,
- .i =0.001f,
- .d =0.0f,
- .i_limit =15.0f,
- .out_limit =4000.0f,
- },
- /*码盘导航陀螺仪角度纠正内外环*/
- .pid_OutAngle_param={
- .p = 5.0f,
- .i = 0.0f,
- .d = 0.0f,
- .i_limit = 0.0f,
- .out_limit =100.0f,
- },
- .pid_InnerAngle_param={
- .p = 100.0f,
- .i = 0.0f,
- .d = 0.0f,
- .i_limit = 0.0f,
- .out_limit =1000.0f,
- },
-
-
-
-
- },
-
-
- },
-
+
.can = {
.pitch6020 = BSP_CAN_1,
.motor3508 = BSP_CAN_1,
@@ -293,11 +207,7 @@ const ConfigParam_t *Config_ChassisGet(void)
return ¶m_chassis;
}
-///*获取导航地图*/
-//void set_ops_path(ConfigParam_t *config, const point_t *path, int8_t path_num) {
-// config->ops.path = path;
-// config->ops.path_num = path_num;
-//}
+
/**
* \brief 从Flash读取配置信息
*
diff --git a/User/Module/config.h b/User/Module/config.h
index 4cd4a72..9ba1c14 100644
--- a/User/Module/config.h
+++ b/User/Module/config.h
@@ -4,13 +4,11 @@
#include "Chassis.h"
#include "can_use.h"
#include "ahrs.h"
-#include "navi.h"
#include "map.h"
typedef struct{
Chassis_Param_t chassis; /**/
-ops_param_t ops;
CAN_Params_t can;
AHRS_Eulr_t mech_zero[4];
diff --git a/User/bsp/bsp_action.c b/User/bsp/bsp_action.c
deleted file mode 100644
index 7e024e3..0000000
--- a/User/bsp/bsp_action.c
+++ /dev/null
@@ -1,53 +0,0 @@
-#include "bsp_action.h"
-#include "main.h"
-
-
-extern UART_HandleTypeDef huart1;
-extern DMA_HandleTypeDef hdma_usart1_rx;
-void RS232_init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num)
-{
-
- //enable the dma transfer for the receiver request
- SET_BIT(huart1.Instance->CR3, USART_CR3_DMAR);
-
- //enable idle interrupt
- __HAL_UART_ENABLE_IT(&huart1, UART_IT_IDLE);
-
- //disable dma, to change the dma register
- __HAL_DMA_DISABLE(&hdma_usart1_rx);
-
- //disable dma again but why?
- //what's the condition?
- while(hdma_usart1_rx.Instance->CR & DMA_SxCR_EN)
- {
- __HAL_DMA_DISABLE(&hdma_usart1_rx);
- }
-
- //??
- hdma_usart1_rx.Instance->PAR = (uint32_t) & (USART1->DR);
-
- //memory buffer 1
- hdma_usart1_rx.Instance->M0AR = (uint32_t)(rx1_buf);
-
- //momory buffer 2
- hdma_usart1_rx.Instance->M1AR = (uint32_t)(rx2_buf);
-
- //data length
- hdma_usart1_rx.Instance->NDTR = dma_buf_num;
-
- //enable double memory buffer
- SET_BIT(hdma_usart1_rx.Instance->CR, DMA_SxCR_DBM);
-
-
- //enable dma
- __HAL_DMA_ENABLE(&hdma_usart1_rx);
-
-}
-
-
-
-
-
-
-
-
diff --git a/User/bsp/bsp_action.h b/User/bsp/bsp_action.h
deleted file mode 100644
index b72a94f..0000000
--- a/User/bsp/bsp_action.h
+++ /dev/null
@@ -1,8 +0,0 @@
-#ifndef BSP_ACTION_H
-#define BSP_ACTION_H
-#include "struct_typedef.h"
-
-void RS232_init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num);
-
-#endif
-
diff --git a/User/device/Action.c b/User/device/Action.c
deleted file mode 100644
index c576405..0000000
--- a/User/device/Action.c
+++ /dev/null
@@ -1,203 +0,0 @@
-
-/**
- * 东北大学ACTION码盘驱动
- *
- * 本驱动采用ops_9定位系统，负责收发码盘的原始数据，并在任务中解析出相应的位置坐标。
- * 解析后的位置坐标将被交给导航处理模块，生成期望的运动向量。
- *
- * 使用手册：
- * 请参阅相关文档了解如何使用本驱动。
- *
- * 注意：
- * 本驱动仅适用于东北大学ACTION码盘。
-
- *删去Action_HandleOffline错误处理函数中对结构体清0的函数
-
- */
-
-/* Includes ----------------------------------------------------------------- */
-#include "tim.h"
-#include "Action.h"
-#include
-
-static osThreadId_t thread_alert;
-
-
-uint8_t rxbuf[RS232_FRAME_LENGTH];
-
-static void Ops10msTimerCallback(void *arg){
- (void)arg;
- osThreadFlagsSet(thread_alert,SIGNAL_OPSTIMER_REDY);
-}
-
-/* Private function -------------------------------------------------------- */
-static void ACTION_IdleCallback(void) {
- osThreadFlagsSet(thread_alert,SIGNAL_ACTION_RAW_REDY);
-}
-
-/* Exported functions ------------------------------------------------------- */
-int8_t ACTIONRECV_Init(Action_POS_t *pos){
- if(pos == NULL) return DEVICE_ERR_NULL;
-
- pos->Action_ready =0;//码盘校准标志位初始化
-
- if((thread_alert = osThreadGetId()) == NULL ) return DEVICE_ERR_NULL;
- pos->action_timer_Id =
- osTimerNew(Ops10msTimerCallback, osTimerPeriodic,NULL,NULL);
-
- osTimerStart(pos->action_timer_Id,10);//此处ticks 理解为1个tick为1ms 此处为每10ms触发一次回调函数
-
- BSP_UART_RegisterCallback(BSP_UART_ACTION,BSP_UART_IDLE_LINE_CB,
- ACTION_IdleCallback);
-
- return DEVICE_OK;
-}
-
-int8_t ACTION_StartReceiving() {
- if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_ACTION),
- (uint8_t *)rxbuf,
- sizeof(rxbuf)) == HAL_OK)
- return DEVICE_OK;
- return DEVICE_ERR;
-}
-
-bool_t ACTION_WaitDmaCplt(void) {
- return(osThreadFlagsWait(SIGNAL_ACTION_RAW_REDY, osFlagsWaitAll,400) ==
- SIGNAL_ACTION_RAW_REDY);
-}
-
-
-/* *
-
-
-*/
-int8_t ACTION_Parse(Action_POS_t *pos)
-{
- if (pos == NULL) return DEVICE_ERR_NULL;
-
- static union
- {
- fp32 pos_data[3];
- char rxbuff[12];
- } pos_rxbuf;
-
-
- if (rxbuf[0] == 0x0D && rxbuf[1] == 0x0A)
- {
- if (rxbuf[26] == 0x0A && rxbuf[27] == 0x0D)
- {
-
- pos_rxbuf.rxbuff[0]=rxbuf[2];
- pos_rxbuf.rxbuff[1]=rxbuf[3];
- pos_rxbuf.rxbuff[2]=rxbuf[4];
- pos_rxbuf.rxbuff[3]=rxbuf[5];
-
-
- pos_rxbuf.rxbuff[4]=rxbuf[14];
- pos_rxbuf.rxbuff[5]=rxbuf[15];
- pos_rxbuf.rxbuff[6]=rxbuf[16];
- pos_rxbuf.rxbuff[7]=rxbuf[17];
-
-
- pos_rxbuf.rxbuff[8]=rxbuf[18];
- pos_rxbuf.rxbuff[9]=rxbuf[19];
- pos_rxbuf.rxbuff[10]=rxbuf[20];
- pos_rxbuf.rxbuff[11]=rxbuf[21];
-
-
-
- // 数据解析
- pos->pos_yaw = pos_rxbuf.pos_data[0];
- // 按照安装方向决定正负号
- pos->pos_x = pos_rxbuf.pos_data[1];
- pos->pos_y = pos_rxbuf.pos_data[2];
-
- pos ->Action_ready =1;//码盘校准完成
- }
- }
- else
- {
- return -1;
- }
- return DEVICE_OK;
-}
-
-//该函数用来计算速度度(利用获取的位置来计算相应的速度)
-//此处获取的是真实的位置(mm)后每10ms做一次微分处理
-int8_t ACTION_DataRefresh(Action_POS_t *pos){
- if (pos == NULL) return DEVICE_ERR_NULL;
-
- if (osThreadFlagsGet() & SIGNAL_OPSTIMER_REDY){
- osThreadFlagsClear(SIGNAL_OPSTIMER_REDY);
- //计算每毫秒的速度 该函数每10ms调用
- pos->pos_Vx = (pos->pos_x - pos->pos_lastX) / 10;
- pos->pos_Vy = (pos->pos_y - pos->pos_lastY) / 10;
-
- pos->pos_lastX = pos->pos_x;
- pos->pos_lastY = pos->pos_y;
- }
- return DEVICE_OK;
-}
-
-
-
-int8_t Action_HandleOffline(Action_POS_t *pos) {
- if (pos == NULL) return DEVICE_ERR_NULL;
-
- (void)pos;
-
-// memset(pos, 0, sizeof(*pos));
- return 0;
-}
-
-/* 将字符串拼接 */
-void Strcat(char str1[], char str2[], uint8_t num)
-{
- int i = 0, j = 0;
-
- while (str1[i] != '\0')
- i++;
-
- for (j = 0; j < num; j++)
- {
- str1[i++] = str2[j];
- }
-}
-
-/* 该部分函数用于码盘的重定位系统 */
-/* ----------------------------- */
-
-/* 手动标定，用于校正 */
-void ACT_Calibration(void)
-{
- HAL_UART_Transmit(&huart1, (uint8_t *)"ACTR", 4, 100);
-}
-
-/* 清零 */
-/* 将当前位置设置为 (0, 0) */
-void ACT_ZeroClear(void)
-{
- HAL_UART_Transmit(&huart1, (uint8_t *)"ACT0", 4, 100);
-}
-
-/* 更新 XY 坐标 */
-/* 将当前位置更新为指定的 X 和 Y */
-void ACT_UpdateXY(float pos_x, float pos_y)
-{
- char update_xy[12] = "ACTD"; // 命令前缀为 "ACTD"
- static union
- {
- float XY[2]; // 两个浮点数表示 X 和 Y 坐标
- char data[8]; // 将浮点数视为字节数据
- } set;
-
- set.XY[0] = pos_x;
- set.XY[1] = pos_y;
-
- Strcat(update_xy, set.data, 8);
-
- HAL_UART_Transmit(&huart1, (uint8_t *)update_xy, sizeof(update_xy), 100);
-}
-
-
-
diff --git a/User/device/Action.h b/User/device/Action.h
deleted file mode 100644
index c0b8186..0000000
--- a/User/device/Action.h
+++ /dev/null
@@ -1,59 +0,0 @@
-#ifndef _ACTION_H_
-#define _ACTION_H_
-
-#define RS232_FRAME_LENGTH 28u
-#define REF_LEN_RX_BUFF 0xFF
-
-#include
-#include "device.h"
-#include "bsp_usart.h"
-#include "cmd.h"
-
-
-typedef struct
-{
- osTimerId_t action_timer_Id;
- /*原始数据*/
- fp32 pos_x;
- fp32 pos_y;
- fp32 pos_yaw; // 航向角速度
- /*处理数据*/
- fp32 pos_Vx;
- fp32 pos_Vy;
- fp32 pos_lastX;
- fp32 pos_lastY;
-
- int Action_ready;//码盘校准标志位
-
-
-}Action_POS_t;
-
-
-
-
-
-int8_t ACTIONRECV_Init(Action_POS_t*pos);
-
-int8_t ACTION_StartReceiving(void);
-
-bool_t ACTION_WaitDmaCplt(void);
-
-int8_t ACTION_Parse(Action_POS_t*pos);
-
-int8_t ACTION_DataRefresh(Action_POS_t*pos);
-
-int8_t Action_HandleOffline(Action_POS_t *pos);
-
-void ACT_UpdateXY(float pos_x,float pos_y);
-
-void ACT_ZeroClear(void);
-
-
-
-
-
-
-
-
-#endif
-
diff --git a/User/device/cmd.c b/User/device/cmd.c
index f0f8654..bc481bc 100644
--- a/User/device/cmd.c
+++ b/User/device/cmd.c
@@ -13,6 +13,17 @@
/* Private function -------------------------------------------------------- */
/*Export function --------------------------------------------------------------*/
+
+
+
+
+#ifdef dr16_t
+
+
+#else
+
+
+#endif
int8_t CMD_Init(CMD_t *cmd){
/*若主结构体为空 自动返回错误 */
if(cmd == NULL) return-1;
@@ -23,12 +34,14 @@ int8_t CMD_Init(CMD_t *cmd){
return 0;
}
-float aaaa;
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 */
+
+#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);
@@ -42,7 +55,25 @@ 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;
+ cmd->Vw = rc->ch_l_x;
+
+ cmd->poscamear = rc->ch_l_y;
+
+ cmd->key_ctrl_l = rc->sw_l;
+ cmd->key_ctrl_r = rc->sw_r ;
+
+
+#endif
+
+
+
+
+
}
@@ -59,12 +90,15 @@ 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
/*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
return 0;
}
@@ -174,27 +208,4 @@ int8_t CMD_CtrlSet(CMD_t *cmd) {
}
return 0;
}
-int8_t CMD_ParseAction(CMD_t *cmd,CMD_ACTION_t *act)
-{
- if(cmd == NULL) return -1;
- if(act == NULL) return -1;
-
- if(cmd->key_ctrl_l ==CMD_SW_MID )
- {
- if(cmd->key_ctrl_r == CMD_SW_UP)
- act->flag =1;
-
- if(cmd->key_ctrl_r == CMD_SW_DOWN )
- act->flag =-1;
-
- }
-
- cmd->C_navi .vx =act ->out .Vx ;
- cmd ->C_navi .vy =act ->out .Vy ;
- cmd ->C_navi .wz =act ->out .Vw ;
-
-
- return 0;
-
-}
diff --git a/User/device/cmd.h b/User/device/cmd.h
index eecc6a4..d4d80c3 100644
--- a/User/device/cmd.h
+++ b/User/device/cmd.h
@@ -24,6 +24,14 @@
#define MID (0x09)
+
+/*选择遥控器，else为r12ds*/
+//#define dr16_t
+#define r12ds_t
+
+
+
+
typedef enum{
RC,//遥控器控制，左按键上
MID_NAVI,//雷达导航
@@ -63,54 +71,46 @@ 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 {
-// float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
-// float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
-// float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
-// float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
+
+ remote_type RC_type;
+#ifdef dr16_t
+
+ float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
+ float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
+ float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
+ float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
-// float ch_res; /* 第五通道值 */
+ float ch_res; /* 第五通道值 */
-// CMD_SwitchPos_t sw_r; /* 右侧拨杆位置 */
-// CMD_SwitchPos_t sw_l; /* 左侧拨杆位置 */
+ CMD_SwitchPos_t sw_r; /* 右侧拨杆位置 */
+ CMD_SwitchPos_t sw_l; /* 左侧拨杆位置 */
-// uint16_t key; /* 按键值 */
+ uint16_t key; /* 按键值 */
-// uint16_t res; /* 保留，未启用 */
+ uint16_t res; /* 保留，未启用 */
+
+#else
int16_t ch_x; // X轴（Channel 1）
int16_t mul; // MUL（Channel 2）
int16_t ch_y; // Y轴（Channel 3）
int16_t ch_w; // W轴（Channel 4）
int16_t key[8]; // 按键通道（Channel 5-12）
+
int16_t offline;
+#endif
} __attribute__((packed))CMD_RC_t;
-typedef struct
- {
- fp32 Vx;
- fp32 Vy;
- fp32 Vw;
- }OpsHopeVector_t;
-typedef struct
- {
- fp32 x;
- fp32 y;
- fp32 z;
- int cnt_point;//计数点
- }ops_point;
-
-
-typedef struct {
-
- OpsHopeVector_t out;
-
- int flag;//传递flag触发标志位
-
-} CMD_ACTION_t;
typedef struct {
uint8_t status_fromnuc;
@@ -121,12 +121,7 @@ typedef struct {
fp32 vy;
fp32 wz;
}navi;
- struct
- {
- fp32 posx;
- fp32 posy;
- fp32 posw;
- }pick;
+
struct
{
fp32 angle;
@@ -175,11 +170,8 @@ int8_t CMD_Init(CMD_t *cmd);
int8_t CMD_ParseRc(CMD_t *cmd,CMD_RC_t *rc);
-int8_t CMD_ParseAction(CMD_t *cmd,CMD_ACTION_t *act);
-
int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n);
-
int8_t CMD_SwitchStatus(CMD_t *cmd);
int8_t CMD_CtrlSet(CMD_t *cmd);
diff --git a/User/device/dr16.c b/User/device/dr16.c
index 20704b5..e6d316b 100644
--- a/User/device/dr16.c
+++ b/User/device/dr16.c
@@ -1,135 +1,137 @@
-///*
-// DR16接收机
+/*
+ DR16接收机
-//*/
+*/
-///* Includes ----------------------------------------------------------------- */
-//#include "dr16.h"
-
-//#include
-
-//#include "bsp_usart.h"
-//#include "error_detect.h"
-///* Private define ----------------------------------------------------------- */
-//#define DR16_CH_VALUE_MIN (364u)
-//#define DR16_CH_VALUE_MID (1024u)
-//#define DR16_CH_VALUE_MAX (1684u)
-
-///* Private macro ------------------------------------------------------------ */
-///* Private typedef ---------------------------------------------------------- */
-///* Private variables -------------------------------------------------------- */
-
-//static osThreadId_t thread_alert;
-//uint8_t cbuf[36]; //此处设置为两帧字节的长度 若为一帧会出现乱码的情况
-///* Private function -------------------------------------------------------- */
-//static void DR16_RxCpltCallback(void) {
-// osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
-//// detect_hook(DR16_TOE);
-//}
-
-//static bool DR16_DataCorrupted(const DR16_t *dr16) {
-// if (dr16 == NULL) return DEVICE_ERR_NULL;
-
-// if ((dr16->data.ch_r_x < DR16_CH_VALUE_MIN) ||
-// (dr16->data.ch_r_x > DR16_CH_VALUE_MAX))
-// return true;
-
-// if ((dr16->data.ch_r_y < DR16_CH_VALUE_MIN) ||
-// (dr16->data.ch_r_y > DR16_CH_VALUE_MAX))
-// return true;
-
-// if ((dr16->data.ch_l_x < DR16_CH_VALUE_MIN) ||
-// (dr16->data.ch_l_x > DR16_CH_VALUE_MAX))
-// return true;
-
-// if ((dr16->data.ch_l_y < 1000u) ||
-// (dr16->data.ch_l_y > DR16_CH_VALUE_MAX))
-// return true;
-
-// if (dr16->data.sw_l == 0) return true;
-
-// if (dr16->data.sw_r == 0) return true;
-
-// return false;
-//}
-///* Exported functions ------------------------------------------------------- */
-//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;
-//}
-
-//int8_t DR16_Restart(void) {
-// __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_REMOTE));
-// __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_REMOTE));
-// return DEVICE_OK;
-//}
-
-//int8_t DR16_StartDmaRecv(DR16_t *dr16) {
-// if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_REMOTE),
-// (uint8_t *)cbuf,
-// sizeof(cbuf)) == HAL_OK)
-// return DEVICE_OK;
-// return DEVICE_ERR;
-//}
-
-//bool DR16_WaitDmaCplt(uint32_t timeout) {
-// return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) ==
-// SIGNAL_DR16_RAW_REDY);
-//}
-
-//int8_t DR16_ParseRaw(DR16_t *dr16)
-//{
-// if(dr16 ==NULL) return DEVICE_ERR_NULL;
-// dr16->data.ch_r_x = (cbuf[0] | (cbuf[1] <<8));
-// dr16->data.ch_r_y = ((cbuf[1] >> 3)| (cbuf[2] << 5));
-// dr16->data.ch_l_x = ((cbuf[2] >>6) | (cbuf[3] << 2) | (cbuf[4] <<10));
-// dr16->data.ch_l_y = ((cbuf[4] >>1) | (cbuf[5] <<7));
-// dr16->data.sw_r = ((cbuf[5] >>4));
-// dr16->data.sw_l = ((cbuf[5] >> 4) & 0x000C) >> 2;
-//
-// return 1;
-//}
-//int8_t DR16_ParseRC(const DR16_t *dr16, CMD_RC_t *rc) {
-// if (dr16 == NULL) return DEVICE_ERR_NULL;
-//
-// if (DR16_DataCorrupted(dr16)) {
-// return DEVICE_ERR;
-// } else {
-// memset(rc, 0, sizeof(*rc));
-// }
-
-// 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;
-// rc->ch_r_y = 2 * ((float)dr16->data.ch_r_y - DR16_CH_VALUE_MID) / full_range;
-// rc->ch_l_x = 2 * ((float)dr16->data.ch_l_x - DR16_CH_VALUE_MID) / full_range;
-// rc->ch_l_y = 2 * ((float)dr16->data.ch_l_y - DR16_CH_VALUE_MID) / full_range;
-
-// rc->sw_l = (CMD_SwitchPos_t)dr16->data.sw_l;
-// rc->sw_r = (CMD_SwitchPos_t)dr16->data.sw_r;
-
-// rc->key = dr16->data.key;
-
-//// rc->ch_res = ((float)dr16->data.res - DR16_CH_VALUE_MID) / full_range;
-// return DEVICE_OK;
-//}
-
-//int8_t DR16_HandleOffline(const DR16_t *dr16, CMD_RC_t *rc) {
-// if (dr16 == NULL) return DEVICE_ERR_NULL;
-// if (rc == NULL) return DEVICE_ERR_NULL;
-
-// (void)dr16;
-// memset(rc, 0, sizeof(*rc));
-// return 0;
-//}
+/* Includes ----------------------------------------------------------------- */
+#include "dr16.h"
+#include
+#include "bsp_usart.h"
+#include "error_detect.h"
+#ifdef dr16_t
+
+/* Private define ----------------------------------------------------------- */
+#define DR16_CH_VALUE_MIN (364u)
+#define DR16_CH_VALUE_MID (1024u)
+#define DR16_CH_VALUE_MAX (1684u)
+
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+
+static osThreadId_t thread_alert;
+uint8_t cbuf[36]; //此处设置为两帧字节的长度 若为一帧会出现乱码的情况
+/* Private function -------------------------------------------------------- */
+static void DR16_RxCpltCallback(void) {
+ osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
+// detect_hook(DR16_TOE);
+}
+
+static bool DR16_DataCorrupted(const DR16_t *dr16) {
+ if (dr16 == NULL) return DEVICE_ERR_NULL;
+
+ if ((dr16->data.ch_r_x < DR16_CH_VALUE_MIN) ||
+ (dr16->data.ch_r_x > DR16_CH_VALUE_MAX))
+ return true;
+
+ if ((dr16->data.ch_r_y < DR16_CH_VALUE_MIN) ||
+ (dr16->data.ch_r_y > DR16_CH_VALUE_MAX))
+ return true;
+
+ if ((dr16->data.ch_l_x < DR16_CH_VALUE_MIN) ||
+ (dr16->data.ch_l_x > DR16_CH_VALUE_MAX))
+ return true;
+
+ if ((dr16->data.ch_l_y < 1000u) ||
+ (dr16->data.ch_l_y > DR16_CH_VALUE_MAX))
+ return true;
+
+ if (dr16->data.sw_l == 0) return true;
+
+ if (dr16->data.sw_r == 0) return true;
+
+ return false;
+}
+/* Exported functions ------------------------------------------------------- */
+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;
+}
+
+int8_t DR16_Restart(void) {
+ __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_REMOTE));
+ __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_REMOTE));
+ return DEVICE_OK;
+}
+
+int8_t DR16_StartDmaRecv(DR16_t *dr16) {
+ if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_REMOTE),
+ (uint8_t *)cbuf,
+ sizeof(cbuf)) == HAL_OK)
+ return DEVICE_OK;
+ return DEVICE_ERR;
+}
+
+bool DR16_WaitDmaCplt(uint32_t timeout) {
+ return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) ==
+ SIGNAL_DR16_RAW_REDY);
+}
+
+int8_t DR16_ParseRaw(DR16_t *dr16)
+{
+ if(dr16 ==NULL) return DEVICE_ERR_NULL;
+ dr16->data.ch_r_x = (cbuf[0] | (cbuf[1] <<8));
+ dr16->data.ch_r_y = ((cbuf[1] >> 3)| (cbuf[2] << 5));
+ dr16->data.ch_l_x = ((cbuf[2] >>6) | (cbuf[3] << 2) | (cbuf[4] <<10));
+ dr16->data.ch_l_y = ((cbuf[4] >>1) | (cbuf[5] <<7));
+ dr16->data.sw_r = ((cbuf[5] >>4));
+ dr16->data.sw_l = ((cbuf[5] >> 4) & 0x000C) >> 2;
+
+ return 1;
+}
+
+int8_t DR16_ParseRC(const DR16_t *dr16, CMD_RC_t *rc) {
+ if (dr16 == NULL) return DEVICE_ERR_NULL;
+
+ if (DR16_DataCorrupted(dr16)) {
+ return DEVICE_ERR;
+ } else {
+ memset(rc, 0, sizeof(*rc));
+ }
+
+ 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;
+ rc->ch_r_y = 2 * ((float)dr16->data.ch_r_y - DR16_CH_VALUE_MID) / full_range;
+ rc->ch_l_x = 2 * ((float)dr16->data.ch_l_x - DR16_CH_VALUE_MID) / full_range;
+ rc->ch_l_y = 2 * ((float)dr16->data.ch_l_y - DR16_CH_VALUE_MID) / full_range;
+
+ rc->sw_l = (CMD_SwitchPos_t)dr16->data.sw_l;
+ rc->sw_r = (CMD_SwitchPos_t)dr16->data.sw_r;
+
+ rc->key = dr16->data.key;
+
+// rc->ch_res = ((float)dr16->data.res - DR16_CH_VALUE_MID) / full_range;
+ return DEVICE_OK;
+}
+
+int8_t DR16_HandleOffline(const DR16_t *dr16, CMD_RC_t *rc) {
+ if (dr16 == NULL) return DEVICE_ERR_NULL;
+ if (rc == NULL) return DEVICE_ERR_NULL;
+
+ (void)dr16;
+ memset(rc, 0, sizeof(*rc));
+ return 0;
+}
+#endif
diff --git a/User/device/dr16.h b/User/device/dr16.h
index b8cb98d..db37183 100644
--- a/User/device/dr16.h
+++ b/User/device/dr16.h
@@ -11,6 +11,11 @@
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
+
+#ifdef dr16_t
+
+
+#define dr16_t
typedef __packed struct
{
uint16_t ch_r_x : 11;
@@ -44,3 +49,4 @@ int8_t DR16_HandleOffline(const DR16_t *dr16, CMD_RC_t *rc);
#endif
+#endif
\ No newline at end of file
diff --git a/User/device/r12ds.c b/User/device/r12ds.c
index adffdba..3bc7b8e 100644
--- a/User/device/r12ds.c
+++ b/User/device/r12ds.c
@@ -12,6 +12,8 @@
#include
#include "cmd.h"
#include "user_math.h"
+
+#ifdef r12ds_t
extern UART_HandleTypeDef huart3;
extern DMA_HandleTypeDef hdma_usart3_rx;
@@ -121,11 +123,6 @@ int8_t R12ds_DMA_Init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num)
return 1;
}
-//int map(int x, int in_min, int in_max, int out_min, int out_max) //ӳʤگ˽
-//{
-// return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
-//}
-
int8_t sbus_to_rc(volatile const uint8_t *sbus_buf, CMD_RC_t *rc_ctrl)
{
@@ -180,5 +177,5 @@ int8_t sbus_to_rc(volatile const uint8_t *sbus_buf, CMD_RC_t *rc_ctrl)
return 0;
}
-
+#endif
diff --git a/User/device/r12ds.h b/User/device/r12ds.h
index a035e4e..389aa59 100644
--- a/User/device/r12ds.h
+++ b/User/device/r12ds.h
@@ -6,6 +6,9 @@
#include "bsp_usart.h"
#include "cmd.h"
+
+#ifdef r12ds_t
+
#define RC_FRAME_LENGTH 25u
@@ -21,8 +24,8 @@ int8_t sbus_to_rc(volatile const uint8_t *sbus_buf,CMD_RC_t *rc_ctrl);
//void R12ds_HandleOffline(void);
-// int map_int(int x, int in_min, int in_max, int out_min, int out_max) ;
#endif
+#endif
diff --git a/User/task/action_task.c b/User/task/action_task.c
deleted file mode 100644
index cae95a2..0000000
--- a/User/task/action_task.c
+++ /dev/null
@@ -1,75 +0,0 @@
-/*
- 码盘解析任务
-
- 处理码盘测量的实际距离
-
- 将需要的数据共享给其他的线程
-
-*/
-#include "action_task.h"
-#include "Action.h"
-#include "user_task.h"
-
-
-#ifdef DEBUG
-
-Action_POS_t pos;
-#else
-
-static Action_POS pos;
-
-#endif
-
-void Task_action(void *argument)
-{
- (void)argument;
-// osDelay(TASK_INIT_DELAY_ACTION);
-
- const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_ACTION;
-
-
- ACTIONRECV_Init(&pos);
-
-
- uint32_t tick = osKernelGetTickCount(); /* 获取当前控制任务运行频率的tick*/
-
- while (1)
- {
-#ifdef DEBUG
- /* 记录任务使用的的栈空闄*/
- task_runtime.stack_water_mark.action =
- osThreadGetStackSpace(osThreadGetId());
-#endif
- ACTION_StartReceiving();
- ACTION_DataRefresh(&pos);
-
-
-
- /* 使用下面的错误处理函数遇到一些问题
- 每10ms置标志位， ACTION_WaitDmaCplt 判断此标志位，通过后会执行速度计算
- 根据计算，任务运行频率大于中断产生频率，每一次运行判断标志位不通过，会导致结构体内数据清0的操作
- 目前的处理方法：注释掉Action_HandleOffline函数中，对结构体数据清零的函数memset
-
-
- */
-
- if(ACTION_WaitDmaCplt()){
-
- ACTION_Parse(&pos);
-
- }
- else{
- Action_HandleOffline(&pos);
- }
-
-
- //将解算后的码盘位置值放入消息队列供其他任务使用
- osMessageQueueReset(task_runtime.msgq.cmd.raw.Action);
- osMessageQueuePut(task_runtime.msgq.cmd.raw.Action,(&pos),0,0);
-
-
- tick += delay_tick; /* 计算下一个唤醒时刻*/
- osDelayUntil(tick);
- }
-}
-
diff --git a/User/task/action_task.h b/User/task/action_task.h
deleted file mode 100644
index 8b13789..0000000
--- a/User/task/action_task.h
+++ /dev/null
@@ -1 +0,0 @@
-
diff --git a/User/task/chassis_task.c b/User/task/chassis_task.c
index 7a4603b..f3b6f7c 100644
--- a/User/task/chassis_task.c
+++ b/User/task/chassis_task.c
@@ -13,8 +13,6 @@
static CAN_t can;
-#define remote_mode dr16 //遥控器选择
-
#ifdef DEBUG
CAN_Output_t out;
@@ -70,9 +68,7 @@ void Task_Chassis(void *argument)
osMessageQueueGet(task_runtime.msgq.imu.accl, &chassis.pos088.bmi088.accl,NULL, 0);
/*can上设备数据获取*/
osMessageQueueGet(task_runtime.msgq.can.feedback.CAN_feedback, &can, NULL, 0);
-
- osMessageQueueGet(task_runtime.msgq.cmd.raw.Action, &chassis.Action_pos , NULL, 0);
-
+
/*底盘控制信息获取,目前dji遥控器*/
osMessageQueueGet(task_runtime.msgq.cmd.chassis,&ctrl, NULL, 0);
diff --git a/User/task/cmd_task.c b/User/task/cmd_task.c
index 83bd681..d155116 100644
--- a/User/task/cmd_task.c
+++ b/User/task/cmd_task.c
@@ -6,7 +6,6 @@
CMD_t cmd;
CMD_RC_t rc_ctrl;
CMD_NUC_t Nuc;
-CMD_ACTION_t cmd_ops_out;
#else
@@ -52,8 +51,6 @@ void Task_cmd(void *argument){
if(osMessageQueueGet(task_runtime.msgq.cmd.raw.rc, &rc_ctrl, 0, 0) == osOK)//遥控器
CMD_ParseRc(&cmd, &rc_ctrl);
- if(osMessageQueueGet(task_runtime.msgq.cmd.raw .ops_9_out , &cmd_ops_out, 0, 0) == osOK)//码盘
- CMD_ParseAction (&cmd ,&cmd_ops_out);
osKernelUnlock(); /* 同上 解锁RTOS内核 */
/*将需要与其他任务共享的数据放到消息队列里 此处主要分享给底盘 后续会添加和上层机构的通信 */
diff --git a/User/task/dr16_task.c b/User/task/dr16_task.c
index c9351a1..6e4e59a 100644
--- a/User/task/dr16_task.c
+++ b/User/task/dr16_task.c
@@ -1,104 +1,62 @@
-///*
-// DR16接收机通信任务（支持DR16和SBUS双协议）
-//*/
+/*
+ DR16接收机通信任务
+*/
-///* Includes ----------------------------------------------------------------- */
-//#include
-//#include "dr16.h"
-//#include "LD_remote.h" // 新增 SBUS 支持
-//#include "user_task.h"
+/* Includes ----------------------------------------------------------------- */
+#include
-///* Private typedef ---------------------------------------------------------- */
-///* Private define ----------------------------------------------------------- */
-//#define PROTOCOL_DR16 0
-//#define PROTOCOL_SBUS 1
+#include "dr16.h"
+#include "user_task.h"
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
-///* Private variables -------------------------------------------------------- */
-//#ifdef DEBUG
-//DR16_t dr16;
-//CMD_RC_t cmd_rc;
-//#else
-//static DR16_t dr16;
-//static CMD_RC_t cmd_rc;
-//#endif
+/* Private variables -------------------------------------------------------- */
-//static uint8_t protocol_type = PROTOCOL_DR16; // 当前协议类型
-// uint8_t sbus_rx_buf[36]; // SBUS 数据缓冲区
+#ifdef dr16
-///* Private function --------------------------------------------------------- */
-///**
-// * \brief 协议识别函数
-// *
-// * \param buf 接收到的数据缓冲区
-// * \return uint8_t 协议类型：PROTOCOL_DR16 或 PROTOCOL_SBUS
-// */
-//static uint8_t Detect_Protocol(const uint8_t *buf) {
-// if (buf[0] == 0x0F && buf[24] == 0x00) { // SBUS 协议特征
-// return PROTOCOL_SBUS;
-// }
-// return PROTOCOL_DR16; // 默认 DR16
-//}
+#ifdef DEBUG
+DR16_t dr16;
+CMD_RC_t cmd_rc;
+#else
+static DR16_t dr16;
+static CMD_RC_t cmd_rc;
+#endif
-///**
-// * \brief 统一回调函数
-// */
-//static void UART_RxCpltCallback(void) {
-// if (Detect_Protocol(sbus_rx_buf) == PROTOCOL_SBUS) {
-// protocol_type = PROTOCOL_SBUS;
-// } else {
-// protocol_type = PROTOCOL_DR16;
-// }
-// osThreadFlagsSet(osThreadGetId(), SIGNAL_DR16_RAW_REDY);
-//}
+#endif
-///* Exported functions ------------------------------------------------------- */
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
-///**
-// * \brief dr16接收机任务（支持DR16和SBUS双协议）
-// *
-// * \param argument 未使用
-// */
-//void Task_dr16(void *argument) {
-// (void)argument; /* 未使用，消除警告 */
+/**
+ * \brief dr16接收机
+ *
+ * \param argument 未使用
+ */
+void Task_dr16(void *argument) {
+ (void)argument; /* 未使用，消除警告 */
+#ifdef dr16
-// DR16_Init(&dr16); /* 初始化 DR16 */
-// RC_New_Init(); /* 初始化 SBUS */
+ DR16_Init(&dr16); /* 初始化dr16 */
-// while (1) {
-//#ifdef DEBUG
-// /* 调试信息：堆栈水位 */
-// task_runtime.stack_water_mark.dr16 = osThreadGetStackSpace(osThreadGetId());
-//#endif
+ while (1) {
+#ifdef DEBUG
+ /* */
+ task_runtime.stack_water_mark.dr16 = osThreadGetStackSpace(osThreadGetId());
+#endif
+ /* 开启DMA */
+ DR16_StartDmaRecv(&dr16);
-// /* 开启 DMA 接收 */
-// if (protocol_type == PROTOCOL_DR16) {
-// DR16_StartDmaRecv(&dr16);
-// } else {
-// HAL_UARTEx_ReceiveToIdle_DMA(&huart3, sbus_rx_buf, sizeof(sbus_rx_buf));
-// }
-
-// /* 等待 DMA 完成 */
-// if (DR16_WaitDmaCplt(30)) {
-// if (protocol_type == PROTOCOL_DR16) {
-// /* DR16 数据处理 */
-// DR16_ParseRaw(&dr16);
-// DR16_ParseRC(&dr16, &cmd_rc);
-// } else {
-// /* SBUS 数据处理 */
-// const RC_Ctrl_New_t *sbus_data = RC_New_GetData();
-// cmd_rc.ch_r_x = sbus_data->ch[0] / 1000.0f; // 映射到 [-1, 1]
-// cmd_rc.ch_r_y = sbus_data->ch[1] / 1000.0f;
-// cmd_rc.ch_l_x = sbus_data->ch[2] / 1000.0f;
-// cmd_rc.ch_l_y = sbus_data->ch[3] / 1000.0f;
-// }
-// } else {
-// /* 处理遥控器离线 */
-// DR16_HandleOffline(&dr16, &cmd_rc);
-// }
-
-// /* 发送数据到消息队列 */
-// osMessageQueueReset(task_runtime.msgq.cmd.raw.rc);
-// osMessageQueuePut(task_runtime.msgq.cmd.raw.rc, &cmd_rc, 0, 0);
-// }
-//}
\ No newline at end of file
+ if (DR16_WaitDmaCplt(30)) {
+ /* 转换 */
+ DR16_ParseRaw(&dr16);
+ DR16_ParseRC(&dr16, &cmd_rc);
+ } else {
+ /* 处理遥控器离线 */
+ DR16_HandleOffline(&dr16, &cmd_rc);
+ }
+ osMessageQueueReset(task_runtime.msgq.cmd.raw.rc);
+ osMessageQueuePut(task_runtime.msgq.cmd.raw.rc, &cmd_rc, 0, 0);
+ }
+#endif
+}
diff --git a/User/task/init.c b/User/task/init.c
index 0dffbec..c540de2 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -11,7 +11,6 @@
#include "task\user_task.h"
#include "can_use.h"
#include "cmd.h"
-#include "Action.h"
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
@@ -36,8 +35,6 @@ void Task_Init(void *argument) {
osThreadNew(Task_AttiEsti, NULL, &attr_atti_esti);
task_runtime.thread.chassis =
osThreadNew(Task_Chassis, NULL, &attr_chassis);
-// task_runtime.thread.dr16 =
-// osThreadNew(Task_dr16,NULL,&attr_dr16);
task_runtime.thread.r12ds =
osThreadNew(Task_r12ds,NULL,&attr_r12ds);
@@ -47,13 +44,7 @@ void Task_Init(void *argument) {
osThreadNew(Task_cmd,NULL,&attr_cmd);
task_runtime.thread.nuc =
osThreadNew(Task_nuc,NULL,&attr_nuc);
-
- task_runtime.thread.navi =
- osThreadNew(Task_Navi,NULL,&attr_navi);
- task_runtime.thread.action_ops=
- osThreadNew(Task_action,NULL,&attr_ops_9pos);
-
task_runtime.thread.error_detect =
osThreadNew(Task_error_detect,NULL,&attr_error_detect);
@@ -88,13 +79,6 @@ void Task_Init(void *argument) {
osMessageQueueNew(3u, sizeof(CMD_t), NULL);
task_runtime.msgq.cmd.raw.nuc =
osMessageQueueNew(3u,sizeof(CMD_NUC_t), NULL);
- task_runtime.msgq.cmd.raw.Action =
- osMessageQueueNew(3u,sizeof(Action_POS_t), NULL);
- task_runtime.msgq.cmd.raw.ops_9_out =
- osMessageQueueNew(3u,sizeof(CMD_ACTION_t), NULL);
-
-// task_runtime.mutex.imu_eulr =
-// xSemaphoreCreateMutex();
osKernelUnlock();
osThreadTerminate(osThreadGetId()); /* 结束自身 */
diff --git a/User/task/navi_task.c b/User/task/navi_task.c
deleted file mode 100644
index 78dba44..0000000
--- a/User/task/navi_task.c
+++ /dev/null
@@ -1,68 +0,0 @@
-#include "user_task.h"
-#include "navi.h"
-#include "map.h"
-
-#ifdef DEBUG
-ops_t o;
-Action_POS_t pos_get;
-CMD_ACTION_t ops_out;//经过导航算法解算后输出的期望控制值
-
-#else
-
-static ops_t o;
-static Action_POS_t pos_get;
-static CMD_ACTION_t ops_out;
-
-
-#endif
-
-
-void Task_Navi(void *argument){
-
- (void)argument;
-
- const uint32_t delay_tick = osKernelGetTickFreq() /TASK_FREQ_NAVI;
-
- Action_init(&o,&(task_runtime.config.chassis_config->ops),&pos_get);
-
-
- uint32_t tick = osKernelGetTickCount(); /* 获取当前控制任务运行频率的tick*/
-
- while (1)
- {
-#ifdef DEBUG
- /* 记录任务使用的的栈空间 */
- task_runtime.stack_water_mark.action =
- osThreadGetStackSpace(osThreadGetId());
-#endif
- osMessageQueueGet(task_runtime.msgq.imu.gyro,&o.ops_gyro,NULL,0);
-
- osMessageQueueGet(task_runtime.msgq.imu.eulr,&o.ops_imu_pos,NULL,0);
-
- osMessageQueueGet(task_runtime.msgq.cmd .raw .Action ,&pos_get,NULL,0);
-
- go_path(&o,&ops_out);
-
- //将解算后的导航期望运动值放入消息队列供其他任务使用
- osMessageQueueReset(task_runtime.msgq.cmd.raw.ops_9_out);
- osMessageQueuePut(task_runtime.msgq.cmd.raw.ops_9_out,(&ops_out),0,0);
-
- tick += delay_tick; /* 计算下一个唤醒时刻*/
- osDelayUntil(tick);
- }
-
-}
-
-
-
-
-//
-//
-//
-//
-//
-//
-//
-
-
-
diff --git a/User/task/navi_task.h b/User/task/navi_task.h
deleted file mode 100644
index 6f01d09..0000000
--- a/User/task/navi_task.h
+++ /dev/null
@@ -1 +0,0 @@
-#include "navi.h"
\ No newline at end of file
diff --git a/User/task/r12ds_task.c b/User/task/r12ds_task.c
index d073462..d12f02c 100644
--- a/User/task/r12ds_task.c
+++ b/User/task/r12ds_task.c
@@ -3,6 +3,9 @@
#include "user_task.h"
#include
+
+#ifdef r12ds_t
+
#ifdef DEBUG
CMD_RC_t cmd_rc;
@@ -20,6 +23,8 @@ static CMD_RC_t cmd_rc;
CMD_RC_t *R12ds_DataGet(){
return &cmd_rc;
}
+
+
//void R12ds_HandleOffline(void) {
// CMD_RC_t *rc;
// rc = R12ds_DataGet();
@@ -27,10 +32,15 @@ CMD_RC_t *R12ds_DataGet(){
// memset(rc, 0, sizeof(*rc));
// rc->offline = 1;//用作遥控器断电后急停使用
//}
+
+#endif
void Task_r12ds(void *argument)
{
(void)argument;
+
+#ifdef r12ds_t
+
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_R12DS;
R12ds_DMA_Init(sbus_rx_buf[0],sbus_rx_buf[1],50);
@@ -61,6 +71,7 @@ void Task_r12ds(void *argument)
}
+#endif
}
diff --git a/User/task/user_task.c b/User/task/user_task.c
index e2496e4..f6c9ae8 100644
--- a/User/task/user_task.c
+++ b/User/task/user_task.c
@@ -25,11 +25,6 @@ const osThreadAttr_t attr_atti_esti = {
.priority = osPriorityRealtime,
.stack_size = 256 * 4,
};
-const osThreadAttr_t attr_ops_9pos = {
- .name = "action",
- .priority = osPriorityRealtime,
- .stack_size = 256 *4,
-};
const osThreadAttr_t attr_chassis = {
.name = "chassis",
.priority = osPriorityAboveNormal,
@@ -65,14 +60,10 @@ const osThreadAttr_t attr_error_detect = {
.stack_size = 128 *4,
};
-//const osThreadAttr_t attr_dr16 = {
-// .name = "dr16",
-// .priority = osPriorityRealtime,
-// .stack_size = 128 *4,
-//};
-
-const osThreadAttr_t attr_navi = {
- .name = "navi",
+const osThreadAttr_t attr_dr16 = {
+ .name = "dr16",
.priority = osPriorityRealtime,
.stack_size = 128 *4,
};
+
+
diff --git a/User/task/user_task.h b/User/task/user_task.h
index 4c2c9b7..9317486 100644
--- a/User/task/user_task.h
+++ b/User/task/user_task.h
@@ -18,17 +18,13 @@
#define TASK_FREQ_CTRL_CMD (500u)
#define TASK_FREQ_NUC (500u)
#define TASK_FREQ_CAN (1000u)
-#define TASK_FREQ_NAVI (500u)
#define TASK_FREQ_R12DS (1000u)
-#define TASK_FREQ_ACTION (500u)
+#define TASK_FREQ_dr16 (1000u)
#define TASK_FREQ_ERROR_DTC (3u)
#define DEBUG
-
-#define TASK_INIT_DELAY_ACTION (400u)
-
#define TASK_INIT_DELAY_NUC (500u)
/* Exported defines --------------------------------------------------------- */
@@ -40,17 +36,14 @@ typedef struct {
struct {
osThreadId_t atti_esti;
osThreadId_t chassis;
-// osThreadId_t dr16;
+ osThreadId_t dr16;
osThreadId_t r12ds;
-
- osThreadId_t action_ops;
osThreadId_t ai;
osThreadId_t can;
osThreadId_t cmd;
osThreadId_t nuc;
- osThreadId_t navi;
osThreadId_t error_detect;
} thread;
@@ -67,8 +60,6 @@ typedef struct {
osMessageQueueId_t rc;
osMessageQueueId_t nuc;
osMessageQueueId_t eulr;/*姿态结算得到的欧拉角*/
- osMessageQueueId_t Action;
- osMessageQueueId_t ops_9_out;
}raw;
@@ -105,13 +96,11 @@ typedef struct {
UBaseType_t chassis;
UBaseType_t can;
UBaseType_t atti_esti;
-// UBaseType_t dr16;
+ UBaseType_t dr16;
UBaseType_t r12ds;
- UBaseType_t action;
UBaseType_t cmd;
UBaseType_t nuc;
- UBaseType_t navi;
UBaseType_t error_detect;
} stack_water_mark; /* stack使用 */
@@ -123,8 +112,6 @@ typedef struct {
float r12ds;
float cmd;
float nuc;
- float action;
- float navi;
float error_detect;
} freq; /* 任务运行频率 */
@@ -132,12 +119,9 @@ typedef struct {
float chassis;
float can;
float atti_esti;
- float ai;
float r12ds;
float cmd;
float nuc;
- float navi;
- float action;
float error_detect;
} last_up_time; /* 任务上一次运行的时间 */
#endif
@@ -155,8 +139,6 @@ extern const osThreadAttr_t attr_can;
extern const osThreadAttr_t attr_cmd;
-extern const osThreadAttr_t attr_ops_9pos;
-
extern const osThreadAttr_t attr_nuc;
extern const osThreadAttr_t attr_error_detect;
@@ -164,7 +146,6 @@ extern const osThreadAttr_t attr_error_detect;
//extern const osThreadAttr_t attr_dr16;
extern const osThreadAttr_t attr_r12ds;
-extern const osThreadAttr_t attr_navi;
/* Exported functions prototypes -------------------------------------------- */
void Task_Init(void *argument);
@@ -179,14 +160,10 @@ void Task_cmd(void *argument);
void Task_nuc(void *argument);
-void Task_action(void *argument);
-
-void Task_Navi(void *argument);
-
-
void Task_error_detect(void *argument);
+
void Task_r12ds(void *argument);
-//void Task_dr16(void *argument);
+void Task_dr16(void *argument);
#endif