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base: LYL:c264f1d2b19ff24546d2444e0a2efd79c8adc0f7
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LYL:update
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compare: LYL:b15da29a16927feb00094ddc5baae065d1d1f9ad
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LYL:update

2 Commits
c264f1d2b1 ... b15da29a16

Author SHA1 Message Date
ZHAISHUI04
b15da29a16 Merge branch 'main' of ssh://gitea.qutrobot.top:222/LYL/R2_CHASSIS 2025-03-27 00:56:22 +08:00
ZHAISHUI04
2162c27f22 遥控可切换，雷达相机通信方面已测 2025-03-27 00:56:17 +08:00
18 changed files with 151 additions and 914 deletions
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MDK-ARM/IMU.uvoptx
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@ -1,736 +0,0 @@
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<FilenameWithoutPath>system_stm32f4xx.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group>
<Group>
<GroupName>Middlewares/FreeRTOS</GroupName>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>33</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/croutine.c</PathWithFileName>
<FilenameWithoutPath>croutine.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>34</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c</PathWithFileName>
<FilenameWithoutPath>event_groups.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>35</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/list.c</PathWithFileName>
<FilenameWithoutPath>list.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>36</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/queue.c</PathWithFileName>
<FilenameWithoutPath>queue.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>37</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c</PathWithFileName>
<FilenameWithoutPath>stream_buffer.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>38</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/tasks.c</PathWithFileName>
<FilenameWithoutPath>tasks.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>39</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/timers.c</PathWithFileName>
<FilenameWithoutPath>timers.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>40</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c</PathWithFileName>
<FilenameWithoutPath>cmsis_os2.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>41</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c</PathWithFileName>
<FilenameWithoutPath>heap_4.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>42</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c</PathWithFileName>
<FilenameWithoutPath>port.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group>
<Group>
<GroupName>::CMSIS</GroupName>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>1</RteFlg>
</Group>
</ProjectOpt>

113
MDK-ARM/AUTO_CHASSIS.uvoptx → MDK-ARM/R2_CHASSIS.uvoptx
View File

@ -12,7 +12,7 @@
<lExt>*.lib</lExt>
<tExt>*.txt; *.h; *.inc; *.md</tExt>
<pExt>*.plm</pExt>
<CppX>*.cpp</CppX>
<CppX>*.cpp; *.cc; *.cxx</CppX>
<nMigrate>0</nMigrate>
</Extensions>
@ -22,11 +22,11 @@
</DaveTm>
<Target>
<TargetName>AUTO_CHASSIS</TargetName>
<TargetName>R2_CHASSIS</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<TargetOption>
<CLKADS>12000000</CLKADS>
<CLKADS>25000000</CLKADS>
<OPTTT>
<gFlags>1</gFlags>
<BeepAtEnd>1</BeepAtEnd>
@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>3</nTsel>
<nTsel>0</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@ -114,39 +114,9 @@
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
<pMon>BIN\CMSIS_AGDI.dll</pMon>
<pMon>BIN\UL2CM3.DLL</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key>
<Name>-U00160029510000164E574E32 -O206 -SF5000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131091 -TC12000000 -TT12000000 -TP21 -TDS8005 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>ARMRTXEVENTFLAGS</Key>
<Name>-L70 -Z18 -C0 -M0 -T1</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>DLGTARM</Key>
<Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>ARMDBGFLAGS</Key>
<Name></Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>CMSIS_AGDI</Key>
<Name>-X"Horco CMSIS-DAP" -U8626380832 -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC168000000 -TT168000000 -TP20 -TDS8010 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name></Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>UL2CM3</Key>
@ -154,57 +124,18 @@
</SetRegEntry>
</TargetDriverDllRegistry>
<Breakpoint/>
<WatchWindow1>
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>CAN_data,0x0A</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>aaaaaaa,0x0A</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_rc,0x0A</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<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>
<Ww>
<count>0</count>
<WinNumber>2</WinNumber>
<ItemText>a</ItemText>
</Ww>
</WatchWindow2>
<Tracepoint>
<THDelay>0</THDelay>
</Tracepoint>
<DebugFlag>
<trace>0</trace>
<periodic>1</periodic>
<aLwin>1</aLwin>
<periodic>0</periodic>
<aLwin>0</aLwin>
<aCover>0</aCover>
<aSer1>0</aSer1>
<aSer2>0</aSer2>
<aPa>0</aPa>
<viewmode>1</viewmode>
<viewmode>0</viewmode>
<vrSel>0</vrSel>
<aSym>0</aSym>
<aTbox>0</aTbox>
@ -236,18 +167,18 @@
<pSingCmdsp></pSingCmdsp>
<pMultCmdsp></pMultCmdsp>
<DebugDescription>
<Enable>0</Enable>
<EnableFlashSeq>0</EnableFlashSeq>
<Enable>1</Enable>
<EnableFlashSeq>1</EnableFlashSeq>
<EnableLog>0</EnableLog>
<Protocol>2</Protocol>
<DbgClock>5000000</DbgClock>
<DbgClock>10000000</DbgClock>
</DebugDescription>
</TargetOption>
</Target>
<Group>
<GroupName>Application/MDK-ARM</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -279,7 +210,7 @@
<Group>
<GroupName>Application/User/Core</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -711,7 +642,7 @@
<Group>
<GroupName>Middlewares/FreeRTOS</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -839,7 +770,7 @@
<Group>
<GroupName>User/Module</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -871,7 +802,7 @@
<Group>
<GroupName>User/bsp</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1035,7 +966,7 @@
<Group>
<GroupName>User/Task</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1163,7 +1094,7 @@
<Group>
<GroupName>User/Algorithm</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1243,7 +1174,7 @@
<Group>
<GroupName>User/Device</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1335,7 +1266,7 @@
<Group>
<GroupName>Application/User/USB_DEVICE/App</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1379,7 +1310,7 @@
<Group>
<GroupName>Application/User/USB_DEVICE/Target</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1399,7 +1330,7 @@
<Group>
<GroupName>Middlewares/USB_Device_Library</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

11
MDK-ARM/AUTO_CHASSIS.uvprojx → MDK-ARM/R2_CHASSIS.uvprojx
View File

@ -7,10 +7,9 @@
<Targets>
<Target>
<TargetName>AUTO_CHASSIS</TargetName>
<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>
@ -49,8 +48,8 @@
<NotGenerated>0</NotGenerated>
<InvalidFlash>1</InvalidFlash>
</TargetStatus>
<OutputDirectory>ELE_CHASSIS\</OutputDirectory>
<OutputName>AUTO_CHASSIS</OutputName>
<OutputDirectory>.\R2_CHASSIS\</OutputDirectory>
<OutputName>R2_CHASSIS</OutputName>
<CreateExecutable>1</CreateExecutable>
<CreateLib>0</CreateLib>
<CreateHexFile>0</CreateHexFile>
@ -82,7 +81,7 @@
</BeforeMake>
<AfterMake>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>1</RunUserProg2>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
@ -1993,7 +1992,7 @@
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.3.0" condition="ARMv6_7_8-M Device">
<package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.6.0"/>
<targetInfos>
<targetInfo name="AUTO_CHASSIS"/>
<targetInfo name="R2_CHASSIS"/>
</targetInfos>
</component>
</components>

0
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.hex → MDK-ARM/R2_CHASSIS/AUTO_CHASSIS.hex
View File

0
MDK-ARM/ELE_CHASSIS/ELE_CHASSIS.hex → MDK-ARM/R2_CHASSIS/ELE_CHASSIS.hex
View File

BIN
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf → MDK-ARM/R2_CHASSIS/R2_CHASSIS.axf
View File

Binary file not shown.

37
User/Module/Chassis.c
View File

@ -51,11 +51,11 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) {
c->motorfeedback.rotor_gimbal_pitchangle = can->motor.chassis6020.as_array[1].rotor_angle;
c->motorfeedback.rotor_gimbal_pitchrpm = can->motor.chassis6020.as_array[1].rotor_speed;
c->sick_dis[0] = can->sickfed.raw_dis[0];
c->sick_dis[1] = can->sickfed.raw_dis[1];
c->sick_dis[2] = can->sickfed.raw_dis[2];
c->sick_dis[3] = can->sickfed.raw_dis[3];
// c->sick_dis[0] = can->sickfed.raw_dis[0];
// c->sick_dis[1] = can->sickfed.raw_dis[1];
// c->sick_dis[2] = can->sickfed.raw_dis[2];
// c->sick_dis[3] = can->sickfed.raw_dis[3];
return CHASSIS_OK;
}
@ -156,7 +156,7 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out)
break;
case MID_NAVI:
case MID_NAVI: //雷达
// //这套是全向轮的方向,一定要注意这里的xy方向
c->move_vec.Vw =ctrl->C_navi.wz ;
c->move_vec.Vx =ctrl->C_navi.vy ;
@ -178,22 +178,19 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out)
}
break;
case PICK:
c->move_vec.Vw =ctrl->C_navi.wz ;
c->move_vec.Vx =ctrl->C_navi.vy ;
c->move_vec.Vy =ctrl->C_navi.vx ;
break ;
}
/*怎么用*/
switch (c->mode)
{
case RELAXED:
c->move_vec.Vx =0;
c->move_vec.Vy =0;
c->move_vec.Vw =0;
break;
case NORMAL:
break;
case GYRO_STAY://陀螺仪yaw修正
c->move_vec.Vw = c->move_vec.Vw +c->pos088.bmi088.gyro.z *2000;
break;
}

2
User/bsp/bsp_usart.c
View File

@ -9,7 +9,7 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
if (huart->Instance == USART3)
return BSP_UART_REMOTE;
else if (huart->Instance == USART1)
return BSP_UART_ACTION;
return BSP_UART_NUC;
else if (huart->Instance == USART6)
return BSP_UART_NUC;
/*

20
User/device/cmd.c
View File

@ -95,15 +95,14 @@ 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->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) {
CMD_RcLostLogic(cmd);
} else {
CMD_RcLogic(rc, cmd);
// }
//#endif
}
#endif
return 0;
}
@ -128,6 +127,13 @@ int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
cmd->C_navi.wz = n->navi.wz;
break;
case PICK :
cmd ->C_pick .posx =n->pick .posx ;
cmd ->C_pick .posy =n->pick .posy ;
cmd ->C_pick .posw =n->pick .posw ;
break;
}
return 0;

23
User/device/cmd.h
View File

@ -23,11 +23,16 @@
#define MID (0x09)
#define PICK (0x06)
/*选择遥控器，else为r12ds*/
//#define dr16_t
#define r12ds_t
/*选择遥控器，else为r12ds
更改遥控器时，建议取消相应的task
*/
#define dr16_t
//#define r12ds_t
@ -35,6 +40,7 @@
typedef enum{
RC,//遥控器控制，左按键上
MID_NAVI,//雷达导航
PICK_t,
}CMD_Chassis_CtrlType_e;
typedef enum{
@ -91,6 +97,7 @@ typedef struct {
uint16_t key; /* 按键值 */
uint16_t res; /* 保留，未启用 */
#else
int16_t ch_x; // X轴（Channel 1）
@ -115,11 +122,17 @@ typedef struct {
fp32 vy;
fp32 wz;
}navi;
struct
{
fp32 posx;
fp32 posy;
fp32 posw;
}pick;
struct
{
fp32 angle;
}sick_cali;
} CMD_NUC_t;
typedef struct{
@ -156,7 +169,7 @@ typedef struct {
CMD_Chassis_Ctrl_t C_cmd;
CMD_FOR_NAVI C_navi;
CMD_FOR_PICK C_pick;
} CMD_t;

3
User/device/dr16.c
View File

@ -13,7 +13,7 @@
#ifdef dr16_t
//#define
/* Private define ----------------------------------------------------------- */
#define DR16_CH_VALUE_MIN (364u)
#define DR16_CH_VALUE_MID (1024u)
@ -106,7 +106,6 @@ 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;

56
User/device/nuc.c
View File

@ -36,6 +36,8 @@ bool_t NUC_WaitDmaCplt(void) {
return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,500) ==
SIGNAL_NUC_RAW_REDY);
}
int8_t NUC_RawParse(CMD_NUC_t *n){
if(n ==NULL) return DEVICE_ERR_NULL;
union
@ -76,34 +78,34 @@ int8_t NUC_RawParse(CMD_NUC_t *n){
instance.data[8] = nucbuf[11];
n->navi.wz = instance.x[2];//
break;
// case PICK:
// /* 协议格式
// 0xFF HEAD
// 0x0X 控制帧
// 0x01 相机帧
// cmd 8位
// dis 相机深度值
// posx 相机yaw轴值
// posy 相机pitch轴值
// 0xFE TAIL
// */
case PICK:
/* 协议格式
0xFF HEAD
0x0X 控制帧
0x01 相机帧
cmd 8位
dis 相机深度值
posx 相机yaw轴值
posy 相机pitch轴值
0xFE TAIL
*/
// if(nucbuf[15]!=TAIL)goto error;
// instance.data[3] = nucbuf[6];
// instance.data[2] = nucbuf[5];
// instance.data[1] = nucbuf[4];
// instance.data[0] = nucbuf[3];
// n->pick.posx = instance.x[0]; //距离球中心的角度值
// instance.data[7] = nucbuf[10];
// instance.data[6] = nucbuf[9];
// instance.data[5] = nucbuf[8];
// instance.data[4] = nucbuf[7];
// n->pick.posy = instance.x[1];// 相机yaw轴
// instance.data[11] = nucbuf[14];
// instance.data[10] = nucbuf[13];
// instance.data[9] = nucbuf[12];
// instance.data[8] = nucbuf[11];
// n->pick.posw= instance.x[2];// 暂未用到
// break;
instance.data[3] = nucbuf[6];
instance.data[2] = nucbuf[5];
instance.data[1] = nucbuf[4];
instance.data[0] = nucbuf[3];
n->pick.posx = instance.x[0]; //距离球中心的角度值
instance.data[7] = nucbuf[10];
instance.data[6] = nucbuf[9];
instance.data[5] = nucbuf[8];
instance.data[4] = nucbuf[7];
n->pick.posy = instance.x[1];// 相机yaw轴
instance.data[11] = nucbuf[14];
instance.data[10] = nucbuf[13];
instance.data[9] = nucbuf[12];
instance.data[8] = nucbuf[11];
n->pick.posw= instance.x[2];// 暂未用到
break;
// case SICK_CAIL:
// if(nucbuf[15]!=TAIL)goto error;
// instance.data[3] = nucbuf[14];

16
User/task/dr16_task.c
View File

@ -13,7 +13,7 @@
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
#ifdef dr16
#ifdef dr16_t
#ifdef DEBUG
DR16_t dr16;
@ -35,15 +35,22 @@ static CMD_RC_t cmd_rc;
*/
void Task_dr16(void *argument) {
(void)argument; /* 未使用，消除警告 */
#ifdef dr16
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_DR16;
uint32_t tick = osKernelGetTickCount();
#ifdef dr16_t
DR16_Init(&dr16); /* 初始化dr16 */
#endif
while (1) {
#ifdef dr16_t
#ifdef DEBUG
/* */
task_runtime.stack_water_mark.dr16 = osThreadGetStackSpace(osThreadGetId());
#endif
/* 开启DMA */
DR16_StartDmaRecv(&dr16);
@ -59,4 +66,9 @@ void Task_dr16(void *argument) {
osMessageQueuePut(task_runtime.msgq.cmd.raw.rc, &cmd_rc, 0, 0);
}
#endif
tick += delay_tick; /* 计算下一个唤醒时*/
osDelay(10);
}

6
User/task/init.c
View File

@ -35,8 +35,10 @@ 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.r12ds =
osThreadNew(Task_r12ds,NULL,&attr_r12ds);
// task_runtime.thread.r12ds =
// osThreadNew(Task_r12ds,NULL,&attr_r12ds);
task_runtime.thread.dr16 =
osThreadNew(Task_dr16,NULL,&attr_dr16);
task_runtime.thread.can =
osThreadNew(Task_can,NULL,&attr_can);

2
User/task/nuc_task.c
View File

@ -6,6 +6,8 @@
NUC_t nuc_raw;
CMD_NUC_t cmd_fromnuc;
#else
static NUC_t nuc_raw;
static CMD_NUC_t cmd_fromnuc;
#endif

13
User/task/r12ds_task.c
View File

@ -37,14 +37,21 @@ void Task_r12ds(void *argument)
{
(void)argument;
#ifdef r12ds_t
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_R12DS;
#ifdef r12ds_t
R12ds_DMA_Init(sbus_rx_buf[0],sbus_rx_buf[1],50);
#endif
uint32_t tick = osKernelGetTickCount();
while (1)
{
#ifdef r12ds_t
#ifdef DEBUG
task_runtime.stack_water_mark.r12ds =
@ -61,13 +68,15 @@ void Task_r12ds(void *argument)
osMessageQueueReset(task_runtime.msgq.cmd.raw.rc);
osMessageQueuePut(task_runtime.msgq.cmd.raw.rc,(&cmd_rc),0,0);
#endif
tick += delay_tick; /* 计算下一个唤醒时*/
osDelay(10);
}
#endif
}

10
User/task/user_task.c
View File

@ -30,11 +30,11 @@ const osThreadAttr_t attr_chassis = {
.priority = osPriorityAboveNormal,
.stack_size = 512 * 4,
};
const osThreadAttr_t attr_r12ds = {
.name = "r12ds",
.priority = osPriorityRealtime,
.stack_size = 128 * 4,
};
//const osThreadAttr_t attr_r12ds = {
// .name = "r12ds",
// .priority = osPriorityRealtime,
// .stack_size = 128 * 4,
//};
const osThreadAttr_t attr_can = {
.name = "can",

17
User/task/user_task.h
View File

@ -19,7 +19,7 @@
#define TASK_FREQ_NUC (500u)
#define TASK_FREQ_CAN (1000u)
#define TASK_FREQ_R12DS (1000u)
#define TASK_FREQ_dr16 (1000u)
#define TASK_FREQ_DR16 (1000u)
#define TASK_FREQ_ERROR_DTC (3u)
@ -36,11 +36,8 @@ typedef struct {
struct {
osThreadId_t atti_esti;
osThreadId_t chassis;
osThreadId_t dr16;
osThreadId_t r12ds;
osThreadId_t ai;
osThreadId_t dr16;
osThreadId_t r12ds;
osThreadId_t can;
osThreadId_t cmd;
osThreadId_t nuc;
@ -110,6 +107,8 @@ typedef struct {
float can;
float atti_esti;
float r12ds;
float dr16;
float cmd;
float nuc;
float error_detect;
@ -120,6 +119,8 @@ typedef struct {
float can;
float atti_esti;
float r12ds;
float dr16;
float cmd;
float nuc;
float error_detect;
@ -143,9 +144,9 @@ extern const osThreadAttr_t attr_nuc;
extern const osThreadAttr_t attr_error_detect;
//extern const osThreadAttr_t attr_dr16;
extern const osThreadAttr_t attr_dr16;
extern const osThreadAttr_t attr_r12ds;
//extern const osThreadAttr_t attr_r12ds;
/* Exported functions prototypes -------------------------------------------- */
void Task_Init(void *argument);