3.30，测的底盘，雷达串口数据有问题，但视觉数据接收没问题

MDK-ARM/.vscode/c_cpp_properties.json

@@ -307,6 +307,114 @@
                 "__vfp_status(x,y)=0"
             ],
             "intelliSenseMode": "${default}"
+        },
+        {
+            "name": "R2_CHASSIS",
+            "includePath": [
+                "d:\\Desktop\\r2\\R2_CHASSIS\\Core\\Inc",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\Drivers\\CMSIS\\Include",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\User",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\User\\bsp",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\User\\device",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\User\\task",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\User\\Algorithm",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\User\\Module",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\MDK-ARM",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\USB_DEVICE\\App",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\USB_DEVICE\\Target",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\Middlewares\\ST\\STM32_USB_Device_Library\\Core\\Inc",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\Middlewares\\ST\\STM32_USB_Device_Library\\Class\\CDC\\Inc",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\Drivers\\CMSIS\\Lib\\ARM",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\Core\\Src",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\Drivers\\STM32F4xx_HAL_Driver\\Src",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\Middlewares\\Third_Party\\FreeRTOS\\Source",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\Middlewares\\ST\\STM32_USB_Device_Library\\Core\\Src",
+                "d:\\Desktop\\r2\\R2_CHASSIS\\Middlewares\\ST\\STM32_USB_Device_Library\\Class\\CDC\\Src"
+            ],
+            "defines": [
+                "USE_HAL_DRIVER",
+                "STM32F407xx",
+                "__CC_ARM",
+                "__arm__",
+                "__align(x)=",
+                "__ALIGNOF__(x)=",
+                "__alignof__(x)=",
+                "__asm(x)=",
+                "__forceinline=",
+                "__restrict=",
+                "__global_reg(n)=",
+                "__inline=",
+                "__int64=long long",
+                "__INTADDR__(expr)=0",
+                "__irq=",
+                "__packed=",
+                "__pure=",
+                "__smc(n)=",
+                "__svc(n)=",
+                "__svc_indirect(n)=",
+                "__svc_indirect_r7(n)=",
+                "__value_in_regs=",
+                "__weak=",
+                "__writeonly=",
+                "__declspec(x)=",
+                "__attribute__(x)=",
+                "__nonnull__(x)=",
+                "__register=",
+                "__breakpoint(x)=",
+                "__cdp(x,y,z)=",
+                "__clrex()=",
+                "__clz(x)=0U",
+                "__current_pc()=0U",
+                "__current_sp()=0U",
+                "__disable_fiq()=",
+                "__disable_irq()=",
+                "__dmb(x)=",
+                "__dsb(x)=",
+                "__enable_fiq()=",
+                "__enable_irq()=",
+                "__fabs(x)=0.0",
+                "__fabsf(x)=0.0f",
+                "__force_loads()=",
+                "__force_stores()=",
+                "__isb(x)=",
+                "__ldrex(x)=0U",
+                "__ldrexd(x)=0U",
+                "__ldrt(x)=0U",
+                "__memory_changed()=",
+                "__nop()=",
+                "__pld(...)=",
+                "__pli(...)=",
+                "__qadd(x,y)=0",
+                "__qdbl(x)=0",
+                "__qsub(x,y)=0",
+                "__rbit(x)=0U",
+                "__rev(x)=0U",
+                "__return_address()=0U",
+                "__ror(x,y)=0U",
+                "__schedule_barrier()=",
+                "__semihost(x,y)=0",
+                "__sev()=",
+                "__sqrt(x)=0.0",
+                "__sqrtf(x)=0.0f",
+                "__ssat(x,y)=0",
+                "__strex(x,y)=0U",
+                "__strexd(x,y)=0",
+                "__strt(x,y)=",
+                "__swp(x,y)=0U",
+                "__usat(x,y)=0U",
+                "__wfe()=",
+                "__wfi()=",
+                "__yield()=",
+                "__vfp_status(x,y)=0"
+            ],
+            "intelliSenseMode": "${default}"
         }
     ],
     "version": 4

MDK-ARM/.vscode/keil-assistant.log

@@ -449,3 +449,5 @@
 
 [info] Log at : 2025/1/13|22:53:23|GMT+0800
 
+[info] Log at : 2025/3/28|21:46:16|GMT+0800
+

MDK-ARM/R2_CHASSIS.uvoptx

@@ -135,7 +135,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>ST-LINKIII-KEIL_SWO</Key>
-          <Name>-U-O206 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+          <Name>-U00260035480000034E575152 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8000 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -160,13 +160,63 @@
           <WinNumber>1</WinNumber>
           <ItemText>dr16,0x0A</ItemText>
         </Ww>
+        <Ww>
+          <count>2</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>chassis,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>3</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>nuc_raw,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>nucbuf</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dr16,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cmd_fromnuc,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ctrl,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>can,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>9</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>out,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>10</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>can_out,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>11</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cmd_fromnuc,0x0A</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
       <DebugFlag>
         <trace>0</trace>
-        <periodic>0</periodic>
+        <periodic>1</periodic>
         <aLwin>1</aLwin>
         <aCover>0</aCover>
         <aSer1>0</aSer1>
@@ -247,7 +297,7 @@
 
   <Group>
     <GroupName>Application/User/Core</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -659,7 +709,7 @@
 
   <Group>
     <GroupName>Drivers/CMSIS</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -679,7 +729,7 @@
 
   <Group>
     <GroupName>Middlewares/FreeRTOS</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -839,7 +889,7 @@
 
   <Group>
     <GroupName>User/bsp</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1131,7 +1181,7 @@
 
   <Group>
     <GroupName>User/Algorithm</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1211,7 +1261,7 @@
 
   <Group>
     <GroupName>User/Device</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1303,7 +1353,7 @@
 
   <Group>
     <GroupName>Application/User/USB_DEVICE/App</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1347,7 +1397,7 @@
 
   <Group>
     <GroupName>Application/User/USB_DEVICE/Target</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1367,7 +1417,7 @@
 
   <Group>
     <GroupName>Middlewares/USB_Device_Library</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

MDK-ARM/R2_CHASSIS.uvprojx

@@ -10,6 +10,7 @@
       <TargetName>R2_CHASSIS</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
+      <pArmCC>5060960::V5.06 update 7 (build 960)::.\ARMCC</pArmCC>
       <pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
       <uAC6>0</uAC6>
       <TargetOption>
@@ -81,7 +82,7 @@
           </BeforeMake>
           <AfterMake>
             <RunUserProg1>0</RunUserProg1>
-            <RunUserProg2>1</RunUserProg2>
+            <RunUserProg2>0</RunUserProg2>
             <UserProg1Name></UserProg1Name>
             <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>

User/Algorithm/user_math.c

@@ -309,3 +309,12 @@ uint8_t average(uint8_t arr[], uint8_t n) {
     }
     return (float) sum / n;
 }
+
+
+int abs_value(int num) {
+    if (num >= 0) {
+        return num;  // 如果数是非负的，直接返回该数
+    } else {
+        return -num; // 如果数是负的，返回它的相反数
+    }
+}

User/Algorithm/user_math.h

@@ -157,4 +157,7 @@ PolarCoordinate_t addPolarVectors(PolarCoordinate_t v1, PolarCoordinate_t v2);
 /// @param n 元素数
 /// @return 平均值
 uint8_t average(uint8_t arr[], uint8_t n);
+
+int abs_value(int num);
+
 #endif

User/Module/Chassis.c

@@ -71,23 +71,11 @@ int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
 		   PID_init(&(c->pid.chassis_3508VecPID[i]),PID_POSITION_D,&(c->param->M3508_param));  //带D项滤波
 	}
   
-	    PID_init((&c->pid.chassis_pitAngle6020),PID_POSITION,&(c->param->C6020pitAngle_param));//尝试位置控制角度
 	
-	    PID_init((&c->pid.chassis_pitOmega6020),PID_POSITION,&(c->param->C6020pitOmega_param));
+	    PID_init(&(c->pid.chassis_PICKWzPID_IN),PID_POSITION,&(c->param->chassis_PICKWzPIDIN_param));
 	
-	    PID_init((&c->pid.chassis_gimbal_yawAnglePID),PID_POSITION,&(c->param->Gimbal_yawAngle_param));//尝试位置控制角度
+		    PID_init(&(c->pid.chassis_PICKWzPID_OUT),PID_POSITION,&(c->param->chassis_PICKWzPIDOUT_param));
 
-	    PID_init((&c->pid.chassis_gimbal_yawOmegaPID),PID_POSITION,&(c->param->Gimbal_yawOmega_param));
-
-	    PID_init((&c->pid.chassis_gimbal_pitchAnglePID),PID_POSITION,&(c->param->Gimbal_pitchAngle_param));//尝试位置控制角度
-	
-	    PID_init((&c->pid.chassis_gimbal_pitchOmegaPID),PID_POSITION,&(c->param->Gimbal_pitchOmega_param));
-		
-	    PID_init(&(c->pid.chassis_NaviVxPID),PID_POSITION,&(c->param->NaviVx_param));
-	    
-	    PID_init(&(c->pid.chassis_NaviVyPID),PID_POSITION,&(c->param->NaviVy_param));
-	
-	    PID_init(&(c->pid.chassis_NaviWzPID),PID_POSITION,&(c->param->NaviVw_param));
 	
 	    PID_init(&(c->pid.sick_CaliforYPID),PID_POSITION,&(c->param->Sick_CaliYparam));
 	  
@@ -180,10 +168,24 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out)
 	    break;
 		 
 		 
-	case PICK:  
+	case PICK_t:  
-	    c->move_vec.Vw =ctrl->C_navi.wz ;
+	    
-	    c->move_vec.Vx =ctrl->C_navi.vy ;
+	    c->move_vec.Vx =ctrl->Vx*6000 ;
-	    c->move_vec.Vy =ctrl->C_navi.vx ;
+	    c->move_vec.Vy =ctrl->Vy *6000;	
+	    c->move_vec .Vw = ctrl->C_pick .posx   ;
+//		  c->move_vec.Vw =LowPassFilter2p_Apply(&(c->filled[1]),c->move_vec.Vw);
+      if(abs_value(ctrl ->C_pick .posx )>10)
+			{
+			  c->move_vec.Vw =PID_calc(&(c->pid.chassis_PICKWzPID_IN),-(ctrl ->C_pick .posx) ,0);
+			
+			}
+			else if(abs_value(ctrl ->C_pick .posx )<0.2)
+			{c->move_vec.Vw =0;
+			}
+			else 
+				c->move_vec.Vw =PID_calc(&(c->pid.chassis_PICKWzPID_OUT),-(ctrl ->C_pick .posx) ,0);
+
+       
 	
 	
      

User/Module/Chassis.h

@@ -82,16 +82,10 @@ typedef struct
 	
 	/*该部分决定PID的参数整定在config中修改*/
   pid_param_t M3508_param;	
-  pid_param_t AngleCor_param;
+
-  pid_param_t OmegaCor_param; 
+	pid_param_t chassis_PICKWzPIDIN_param;
-  pid_param_t DisCamera_param;    
+	pid_param_t chassis_PICKWzPIDOUT_param;
-  pid_param_t ImuCor_param;
+	
-  pid_param_t C6020pitAngle_param;
-  pid_param_t C6020pitOmega_param;	
-  pid_param_t Gimbal_yawAngle_param;
-  pid_param_t Gimbal_yawOmega_param;	
-  pid_param_t Gimbal_pitchAngle_param;
-  pid_param_t Gimbal_pitchOmega_param;	
   pid_param_t NaviVx_param;
   pid_param_t NaviVy_param;
   pid_param_t NaviVw_param;	
@@ -166,21 +160,19 @@ typedef struct{
 	struct{                
 
 	pid_type_def chassis_3508VecPID[4];
-	pid_type_def chassis_pitAngle6020;
+	pid_type_def chassis_PICKWzPID_IN;
-	pid_type_def chassis_pitOmega6020;
+		pid_type_def chassis_PICKWzPID_OUT;
-	pid_type_def chassis_gimbal_yawAnglePID;
+	
-	pid_type_def chassis_gimbal_yawOmegaPID;
+	pid_type_def	chassis_NaviWzPID;
-	pid_type_def chassis_gimbal_pitchAnglePID;
-	pid_type_def chassis_gimbal_pitchOmegaPID;
 		pid_type_def chassis_NaviVxPID;
 		pid_type_def chassis_NaviVyPID;
-	pid_type_def chassis_NaviWzPID;
+		
 	pid_type_def sick_CaliforYPID;
 	pid_type_def sick_CaliforXPID;
 		
-		pid_type_def Action_VxPID;
+//		pid_type_def Action_VxPID;
-		pid_type_def Action_VyPID;
+//		pid_type_def Action_VyPID;
-		pid_type_def Action_WzPID;
+//		pid_type_def Action_WzPID;
 	}pid;
 
    fp32 vofa_send[8];

User/Module/config.c

@@ -8,21 +8,6 @@
 #define DEG_TO_RAD(x) ((x) * (3.141592653 / 180.0)) //角度转弧度
 
 
-/*导航地图*/
-#define point_num 4
- 
-point_t map_point[point_num] ={
-
- 	  {0.0, 0, DEG_TO_RAD(90.0), 5.0},
-		
-    {0,  0, DEG_TO_RAD(180.0), 5.0},
-//		
-    {0.0, 0.0, DEG_TO_RAD(270.0), 5.0},
-		
-    {0.0, 0.0, DEG_TO_RAD(360.0), 5.0},
-		
-		
-};
 
 
 #ifdef DEBUG
@@ -36,83 +21,7 @@ static const ConfigParam_t param_chassis ={
 #endif
 
    .chassis = {/**/
-    .C6020pitAngle_param = {
-			.p = 15.0f,
-			.i = 0.3f,
-			.d =0.0f,
-			.i_limit = 200.0f,
-			.out_limit = 3000.0f,
-		},
-		.C6020pitOmega_param = {
-			.p =30.0f,
-			.i =0.3f,
-			.d =0.0f,
-			.i_limit = 200.0f,
-			.out_limit = 3000.0f				
-		},
 		
-		.Gimbal_yawAngle_param = {
-			.p =8.0f,
-			.i =0.0f,
-			.d =0.0f,
-			.i_limit = 200.0f,
-			.out_limit = 3000.0f
-		},
-		
-		.Gimbal_yawOmega_param = {
-			.p =18.0f,
-			.i =0.0f,
-			.d =0.0f,
-			.i_limit = 200.0f,
-			.out_limit = 3000.0f
-		},
-		
-		.Gimbal_pitchAngle_param = {
-			.p =8.0f,
-			.i =0.0f,
-			.d =0.0f,
-			.i_limit = 200.0f,
-			.out_limit = 3000.0f
-		},
-		
-		.Gimbal_pitchOmega_param = {
-			.p =18.0f,
-			.i =0.0f,
-			.d =0.0f,
-			.i_limit = 200.0f,
-			.out_limit = 3000.0f
-		},
-     .AngleCor_param = {
-			.p =0.8f,
-			.i =0.0f,
-			.d =1.0f,
-			.i_limit = 0.0f,
-			.out_limit =5000.0f,
-     },
-		 
-     .OmegaCor_param = {
-			.p =23.5f,
-			.i =0.0f,
-			.d =0.05f,
-			.i_limit = 0.0f,
-			.out_limit =5000.0f,
-     },
-		 
-   .ImuCor_param = {
-	    .p =95.0f,
-	 		.i =0.0f,
-			.d =0.0f,
-			.i_limit = 0.0f,
-			.out_limit =200.0f,
-    }, 
-	 
-	 .DisCamera_param = {
-       .p =80.0f,
-		   .i =0.1f,
-		   .d =0.0f,
-		   .i_limit = 0.0f,
-		   .out_limit =5000.0f,
-	 },
 	 
 	 	 .M3508_param = {
 		 .p = 15.1f,
@@ -121,6 +30,20 @@ static const ConfigParam_t param_chassis ={
 		 .i_limit = 200.0f,
 		 .out_limit =6000.0f,
 	 },	
+		 .chassis_PICKWzPIDIN_param ={
+			.p = 5.0f,
+			.i = 0.0f,
+			.d = 0.15f,
+			.i_limit = 0.0f,
+			.out_limit =5000.0f,	 
+		 },
+		 	.chassis_PICKWzPIDOUT_param ={
+			.p = 10.0f,
+			.i = 0.02f,
+			.d = 0.00f,
+			.i_limit = 0.0f,
+			.out_limit =5000.0f,	 
+		 },
 //	 	 .M3508_param = {
 //		 .p = 10.0f,
 //		 .i = 0.0f,

User/device/cmd.c

@@ -187,7 +187,7 @@ int8_t CMD_CtrlSet(CMD_t *cmd) {
 	{
 		if(cmd->key_ctrl_r==CMD_SW_UP)
 		{
-		     cmd->C_cmd.type = RC;
+		     cmd->C_cmd.type = PICK_t;
 		     cmd->C_cmd.mode = RC_MODE3;			
 		}
 		if(cmd->key_ctrl_r==CMD_SW_MID)

User/device/nuc.c

@@ -6,7 +6,7 @@ static volatile uint32_t drop_message = 0;
 
 static osThreadId_t thread_alert;
 
-uint8_t nucbuf[32];
+uint8_t nucbuf[31];
 
 static void NUC_IdleCallback(void) {	
 	osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY);
@@ -54,7 +54,7 @@ int8_t NUC_RawParse(CMD_NUC_t *n){
 		case MID://控制帧0x09
 				/* 协议格式 
 		   0xFF  HEAD
-		   0x0X  控制帧
+		   0x09  控制帧
 		   0x01  相机帧
 		   vx    fp32
 		   vy    fp32