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解决nuc控制数据不清空问题

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This commit is contained in:
ZHAISHUI04 2025-07-07 23:41:32 +08:00
parent bd16e41962
commit 2e854ade02
14 changed files with 140 additions and 42 deletions
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2
.gitignore vendored
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@ -17,7 +17,7 @@
*.dbg* *.dbg*
*.uvguix.* *.uvguix.*
.mxproject .mxproject
*.axf
RTE/ RTE/
Templates/ Templates/
Examples/ Examples/

85
MDK-ARM/R2.uvoptx
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@ -28,7 +28,7 @@
<TargetOption> <TargetOption>
<CLKADS>25000000</CLKADS> <CLKADS>25000000</CLKADS>
<OPTTT> <OPTTT>
<gFlags>0</gFlags> <gFlags>1</gFlags>
<BeepAtEnd>1</BeepAtEnd> <BeepAtEnd>1</BeepAtEnd>
<RunSim>0</RunSim> <RunSim>0</RunSim>
<RunTarget>1</RunTarget> <RunTarget>1</RunTarget>
@ -77,7 +77,7 @@
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<IsCurrentTarget>1</IsCurrentTarget> <IsCurrentTarget>1</IsCurrentTarget>
</OPTFL> </OPTFL>
<CpuCode>0</CpuCode> <CpuCode>18</CpuCode>
<DebugOpt> <DebugOpt>
<uSim>0</uSim> <uSim>0</uSim>
<uTrg>1</uTrg> <uTrg>1</uTrg>
@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn> <bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf> <bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf> <bTchkAxf>0</bTchkAxf>
<nTsel>0</nTsel> <nTsel>3</nTsel>
<sDll></sDll> <sDll></sDll>
<sDllPa></sDllPa> <sDllPa></sDllPa>
<sDlgDll></sDlgDll> <sDlgDll></sDlgDll>
@ -114,9 +114,34 @@
<tDlgDll></tDlgDll> <tDlgDll></tDlgDll>
<tDlgPa></tDlgPa> <tDlgPa></tDlgPa>
<tIfile></tIfile> <tIfile></tIfile>
<pMon>BIN\UL2CM3.DLL</pMon> <pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt> </DebugOpt>
<TargetDriverDllRegistry> <TargetDriverDllRegistry>
<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>DLGUARM</Key>
<Name></Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>CMSIS_AGDI</Key>
<Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>UL2CM3</Key> <Key>UL2CM3</Key>
@ -170,19 +195,59 @@
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>NUC_send,0x0A</ItemText> <ItemText>NUC_send,0x0A</ItemText>
</Ww> </Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>NUC_send</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>1</WinNumber>
<ItemText>nuc_raw,0x0A</ItemText>
</Ww>
<Ww>
<count>11</count>
<WinNumber>1</WinNumber>
<ItemText>ang_58</ItemText>
</Ww>
<Ww>
<count>12</count>
<WinNumber>1</WinNumber>
<ItemText>ang_66</ItemText>
</Ww>
<Ww>
<count>13</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_fromnuc,0x0A</ItemText>
</Ww>
<Ww>
<count>14</count>
<WinNumber>1</WinNumber>
<ItemText>Nuc,0x0A</ItemText>
</Ww>
<Ww>
<count>15</count>
<WinNumber>1</WinNumber>
<ItemText>rec_flag</ItemText>
</Ww>
<Ww>
<count>16</count>
<WinNumber>1</WinNumber>
<ItemText>ctrl</ItemText>
</Ww>
</WatchWindow1> </WatchWindow1>
<Tracepoint> <Tracepoint>
<THDelay>0</THDelay> <THDelay>0</THDelay>
</Tracepoint> </Tracepoint>
<DebugFlag> <DebugFlag>
<trace>0</trace> <trace>0</trace>
<periodic>0</periodic> <periodic>1</periodic>
<aLwin>0</aLwin> <aLwin>1</aLwin>
<aCover>0</aCover> <aCover>0</aCover>
<aSer1>0</aSer1> <aSer1>0</aSer1>
<aSer2>0</aSer2> <aSer2>0</aSer2>
<aPa>0</aPa> <aPa>0</aPa>
<viewmode>0</viewmode> <viewmode>1</viewmode>
<vrSel>0</vrSel> <vrSel>0</vrSel>
<aSym>0</aSym> <aSym>0</aSym>
<aTbox>0</aTbox> <aTbox>0</aTbox>
@ -817,7 +882,7 @@
<Group> <Group>
<GroupName>User/Module</GroupName> <GroupName>User/Module</GroupName>
<tvExp>0</tvExp> <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -1025,7 +1090,7 @@
<Group> <Group>
<GroupName>User/Task</GroupName> <GroupName>User/Task</GroupName>
<tvExp>0</tvExp> <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -1233,7 +1298,7 @@
<Group> <Group>
<GroupName>User/Device</GroupName> <GroupName>User/Device</GroupName>
<tvExp>0</tvExp> <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>

4
MDK-ARM/R2.uvprojx
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@ -17,8 +17,8 @@
<TargetCommonOption> <TargetCommonOption>
<Device>STM32F407IGHx</Device> <Device>STM32F407IGHx</Device>
<Vendor>STMicroelectronics</Vendor> <Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32F4xx_DFP.2.15.0</PackID> <PackID>Keil.STM32F4xx_DFP.3.0.0</PackID>
<PackURL>http://www.keil.com/pack/</PackURL> <PackURL>https://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000-0x2001BFFF) IRAM2(0x2001C000-0x2001FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4") TZ</Cpu> <Cpu>IRAM(0x20000000-0x2001BFFF) IRAM2(0x2001C000-0x2001FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4") TZ</Cpu>
<FlashUtilSpec></FlashUtilSpec> <FlashUtilSpec></FlashUtilSpec>
<StartupFile></StartupFile> <StartupFile></StartupFile>

BIN
MDK-ARM/R2/R2.axf
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Binary file not shown.

24
User/Module/Chassis.c
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@ -98,7 +98,9 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
c->pos088.bmi088.filtered_gyro.z = LowPassFilter2p_Apply(&(c->filled[0]), c->pos088.bmi088.gyro.z); c->pos088.bmi088.filtered_gyro.z = LowPassFilter2p_Apply(&(c->filled[0]), c->pos088.bmi088.gyro.z);
/*初始数据*/ /*初始数据*/
c->move_vec.Vx = 0;
c->move_vec.Vy = 0;
c->move_vec.Vw = 0;
c->to_nuc.send = 0; c->to_nuc.send = 0;
c->sick_cali.is_reach = 0; c->sick_cali.is_reach = 0;
@ -129,7 +131,7 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
break; break;
case Chassis_Adjust_Sick: case Chassis_Adjust_Sick:
sick_calibration(c, ctrl, out); // sick_calibration(c, ctrl, out);
// c->to_nuc.send = (c->sick_cali.is_reach == 1) ? 1 : 0; // c->to_nuc.send = (c->sick_cali.is_reach == 1) ? 1 : 0;
break; break;
@ -139,18 +141,20 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
case AUTO: case AUTO:
switch (c->chassis_ctrl.mode) { switch (c->chassis_ctrl.mode) {
case AUTO_MID360: case AUTO_MID360:
// c->move_vec.Vw = ctrl->cmd_MID360.posw * 1000; // c->move_vec.Vw = -ctrl->cmd_MID360.posw * 1000;
// c->move_vec.Vy = -ctrl->cmd_MID360.posy * 1000; // c->move_vec.Vy = ctrl->cmd_MID360.posy * 1000;
// c->move_vec.Vx = -ctrl->cmd_MID360.posx * 1000; // c->move_vec.Vx = -ctrl->cmd_MID360.posx * 1000;
// abs_limit_fp(&c->move_vec.Vx, 5000.0f); c->move_vec.Vw =-ctrl->cmd_MID360.posw * 3000;
// abs_limit_fp(&c->move_vec.Vy, 5000.0f);
// abs_limit_fp(&c->move_vec.Vw, 5000.0f); abs_limit_fp(&c->move_vec.Vx, 5000.0f);
abs_limit_fp(&c->move_vec.Vy, 5000.0f);
abs_limit_fp(&c->move_vec.Vw, 5000.0f);
break; break;
case AUTO_MID360_Pitch: case AUTO_MID360_Pitch:
c->move_vec.Vw = -ctrl->cmd_MID360.posw * 1000; // c->move_vec.Vw = -ctrl->cmd_MID360.posw * 1000;
c->move_vec.Vy = ctrl->cmd_MID360.posy * 1000; // c->move_vec.Vy = ctrl->cmd_MID360.posy * 1000;
c->move_vec.Vx = -ctrl->cmd_MID360.posx * 1000; // c->move_vec.Vx = -ctrl->cmd_MID360.posx * 1000;
abs_limit_fp(&c->move_vec.Vx, 5000.0f); abs_limit_fp(&c->move_vec.Vx, 5000.0f);
abs_limit_fp(&c->move_vec.Vy, 5000.0f); abs_limit_fp(&c->move_vec.Vy, 5000.0f);
abs_limit_fp(&c->move_vec.Vw, 5000.0f); abs_limit_fp(&c->move_vec.Vw, 5000.0f);

2
User/Module/config.c
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@ -75,7 +75,7 @@ static const ConfigParam_t param ={
/*投球*/ /*投球*/
.LaunchCfg = { .LaunchCfg = {
.m2006_init = -150.0f, // M2006初始角度 .m2006_init = -130.0f, // M2006初始角度
.m2006_trig = 0.0f, // M2006触发角度 .m2006_trig = 0.0f, // M2006触发角度
.go_pull_pos = -214.0f, // go上升去合并扳机，扳机位置 .go_pull_pos = -214.0f, // go上升去合并扳机，扳机位置
.go_up_speed = 12.0f, // 上升速度 .go_up_speed = 12.0f, // 上升速度

7
User/Module/up.c
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@ -403,7 +403,14 @@ int8_t UP_AUTO_Control(UP_t *u,CAN_Output_t *out,CMD_t *c){
LaunchContext_t *LaunchContext = &u->LaunchContext; LaunchContext_t *LaunchContext = &u->LaunchContext;
MID360Context_t *MID360Context=&u->MID360Context; MID360Context_t *MID360Context=&u->MID360Context;
MID360Cfg_t *MID360Cfg = &u->MID360Context.MID360Cfg; MID360Cfg_t *MID360Cfg = &u->MID360Context.MID360Cfg;
if(u->MID360Context.Curve==CURVE_58){
MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos)-0.25,3.2,4.3,&u->MID360Context.Curve);
}
else {
MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos)-0.05,3.2,4.3,&u->MID360Context.Curve); MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos)-0.05,3.2,4.3,&u->MID360Context.Curve);
}
if (u->MID360Context.Curve == CURVE_58) { if (u->MID360Context.Curve == CURVE_58) {
target->Pitch_angle = 58; target->Pitch_angle = 58;
} else { } else {

6
User/Module/up_utils.c
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@ -70,7 +70,6 @@ int8_t GO_SendData( GO_MotorData_t *go_data,GO_MotorCmd_t *go_cmd,float pos, flo
static float curve_66(float d) { static float curve_66(float d) {
return 3.7028f * d * d + 11.2126f * d -142.9446f; return 3.7028f * d * d + 11.2126f * d -142.9446f;
} }
// 计算58度曲线（偏下） // 计算58度曲线（偏下）
// 计算58度曲线（偏下） // 计算58度曲线（偏下）
static float curve_58(float d) { static float curve_58(float d) {
@ -83,6 +82,9 @@ static float curve_58(float d) {
曲线x重合区，根据当前函数和变化方向切换 曲线x重合区，根据当前函数和变化方向切换
*/ */
int abdddd=0; int abdddd=0;
fp32 ang_58;
fp32 ang_66;
float CurveChange(float d, float x, float y, CurveType *cs) float CurveChange(float d, float x, float y, CurveType *cs)
{ {
if (d<3.2) abdddd++; if (d<3.2) abdddd++;
@ -98,8 +100,10 @@ float CurveChange(float d, float x, float y, CurveType *cs)
// 根据当前曲线返回结果 // 根据当前曲线返回结果
if (*cs == CURVE_58) { if (*cs == CURVE_58) {
ang_58=d;
return curve_58(d); return curve_58(d);
} else { } else {
ang_66=d;
return curve_66(d); return curve_66(d);
} }
} }

2
User/bsp/protocol.h
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@ -83,7 +83,7 @@ typedef struct __attribute__((packed)) {
typedef struct __attribute__((packed)) typedef struct __attribute__((packed))
{ {
uint8_t status; fp32 status;
} Protocol_UpDataCMD_t; } Protocol_UpDataCMD_t;
/* 视觉 -> 电控 上层机构数据结构体*/ /* 视觉 -> 电控 上层机构数据结构体*/

10
User/device/cmd.c
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@ -113,6 +113,16 @@ int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
break; break;
default:
cmd->cmd_MID360.posx = 0;
cmd->cmd_MID360.posy = 0;
cmd->cmd_MID360.posw = 0;
cmd->pos =0 ;
break ;
} }
return 0; return 0;

1
User/device/cmd.h
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@ -44,6 +44,7 @@ typedef enum{
typedef struct { typedef struct {
uint8_t status_fromnuc; uint8_t status_fromnuc;
uint8_t ctrl_status; uint8_t ctrl_status;
struct struct
{ {
fp32 vx; fp32 vx;

12
User/task/cmd_task.c
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@ -16,7 +16,7 @@ static CMD_NUC_t Nuc;
#endif #endif
int rec_flag=0;
void Task_cmd(void *argument){ void Task_cmd(void *argument){
(void)argument; /*未使用传递参数 消除警告*/ (void)argument; /*未使用传递参数 消除警告*/
@ -40,12 +40,14 @@ void Task_cmd(void *argument){
/*将各任务接收到的原始数据解析为通用的控制命令*/ /*将各任务接收到的原始数据解析为通用的控制命令*/
/*注意，不能将nuc和码盘导航一块使用*/ if((osMessageQueueGet(task_runtime.msgq.cmd.raw.nuc, &Nuc,0 ,0) ==osOK)){ //nuc
}
if(osMessageQueueGet(task_runtime.msgq.cmd.raw.nuc, &Nuc,0 ,0) ==osOK) //nuc else
{
memset(&Nuc, 0, sizeof(CMD_NUC_t));
}
CMD_ParseNuc(&cmd,&Nuc); CMD_ParseNuc(&cmd,&Nuc);
if(osMessageQueueGet(task_runtime.msgq.cmd.raw.rc, &rc_ctrl, 0, 0) == osOK)//遥控器 if(osMessageQueueGet(task_runtime.msgq.cmd.raw.rc, &rc_ctrl, 0, 0) == osOK)//遥控器
CMD_ParseRc(&cmd, &rc_ctrl); CMD_ParseRc(&cmd, &rc_ctrl);

9
User/task/nuc_task.c
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@ -47,19 +47,23 @@ void Task_nuc(void *argument){
last_online_tick = tick; last_online_tick = tick;
} }
else{ else{
if (tick - last_online_tick > 300) NUC_HandleOffline(&cmd_fromnuc, &nuc_raw); if (tick - last_online_tick > 300)
NUC_HandleOffline(&cmd_fromnuc, &nuc_raw);
} }
if (nuc_raw.unc_online) { if (nuc_raw.unc_online) {
osMessageQueueReset(task_runtime.msgq.cmd.raw.nuc); osMessageQueueReset(task_runtime.msgq.cmd.raw.nuc);
osMessageQueuePut(task_runtime.msgq.cmd.raw.nuc,&(cmd_fromnuc),0,0); osMessageQueuePut(task_runtime.msgq.cmd.raw.nuc,&(cmd_fromnuc),0,0);
} }
else
osMessageQueueReset(task_runtime.msgq.cmd.raw.nuc);
osMessageQueueGet(task_runtime.msgq.nuc.quat, &(quat), NULL, 0); osMessageQueueGet(task_runtime.msgq.nuc.quat, &(quat), NULL, 0);
osMessageQueueGet(task_runtime.msgq.nuc.accl, &(accl), NULL, 0); osMessageQueueGet(task_runtime.msgq.nuc.accl, &(accl), NULL, 0);
osMessageQueueGet(task_runtime.msgq.nuc.gyro, &(gyro), NULL, 0); osMessageQueueGet(task_runtime.msgq.nuc.gyro, &(gyro), NULL, 0);
//osMessageQueueGet(task_runtime.msgq.cmd.raw.nuc_send, &NUC_send, NULL, 0);
bool cmd_update = (osMessageQueueGet(task_runtime.msgq.cmd.raw.nuc_send, bool cmd_update = (osMessageQueueGet(task_runtime.msgq.cmd.raw.nuc_send,
&(NUC_send), NULL, 0) == osOK); &(NUC_send), NULL, 0) == osOK);
@ -73,6 +77,7 @@ void Task_nuc(void *argument){
} }
// NUC_StartSend(&nuc_raw, cmd_update); // NUC_StartSend(&nuc_raw, cmd_update);
tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/ tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/

2
User/task/user_task.h
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@ -18,7 +18,7 @@
#define TASK_FREQ_UP (900u) #define TASK_FREQ_UP (900u)
#define TASK_FREQ_CTRL_CMD (500u) #define TASK_FREQ_CTRL_CMD (500u)
#define TASK_FREQ_NUC (250u) #define TASK_FREQ_NUC (500u)
#define TASK_FREQ_CAN (1000u) #define TASK_FREQ_CAN (1000u)
#define TASK_FREQ_RC (1000u) #define TASK_FREQ_RC (1000u)