diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx
index 612ed0e..71503df 100644
--- a/MDK-ARM/R2.uvoptx
+++ b/MDK-ARM/R2.uvoptx
@@ -183,22 +183,22 @@
5
1
- \\R2\../User/task/chassis_task.c\chassis.sick_cali.sickparam
+ cmd,0x0A
6
1
- cmd,0x0A
+ nucbuf,0x0A
7
1
- nucbuf,0x0A
+ cmd_fromnuc
8
1
- cmd_fromnuc
+ NUC_send,0x0A
diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf
index 40d3460..ec604b4 100644
Binary files a/MDK-ARM/R2/R2.axf and b/MDK-ARM/R2/R2.axf differ
diff --git a/User/Module/Chassis.c b/User/Module/Chassis.c
index 0747bdd..3469010 100644
--- a/User/Module/Chassis.c
+++ b/User/Module/Chassis.c
@@ -99,7 +99,7 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
/*初始数据*/
- c->NUC_send.send[0] = 0;
+ c->to_nuc.send = 0;
c->sick_cali.is_reach = 0;
c->vofa_send[0]= KalmanFilter(&c->extKalman[0] , c->sick_cali.sick_dis[0]);
@@ -111,6 +111,7 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
switch (c->chassis_ctrl.ctrl) {
case RCcontrol:
+ c->to_nuc.send = 0;
switch (c->chassis_ctrl.mode) {
case Normal:
c->move_vec.Vw = ctrl->Vw * 8000;
@@ -129,7 +130,7 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
case Chassis_Adjust_Sick:
sick_calibration(c, ctrl, out);
- c->NUC_send.send[0] = (c->sick_cali.is_reach == 1) ? 1 : 0;
+// c->to_nuc.send = (c->sick_cali.is_reach == 1) ? 1 : 0;
break;
}
@@ -138,13 +139,13 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
case AUTO:
switch (c->chassis_ctrl.mode) {
case AUTO_MID360:
- c->move_vec.Vw = ctrl->cmd_MID360.posw * 1000;
- c->move_vec.Vy = -ctrl->cmd_MID360.posy * 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.Vy, 5000.0f);
- abs_limit_fp(&c->move_vec.Vw, 5000.0f);
- // c->NUC_send.send[0] = 1;
+// c->move_vec.Vw = ctrl->cmd_MID360.posw * 1000;
+// c->move_vec.Vy = -ctrl->cmd_MID360.posy * 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.Vy, 5000.0f);
+// abs_limit_fp(&c->move_vec.Vw, 5000.0f);
+
break;
case AUTO_MID360_Pitch:
c->move_vec.Vw = ctrl->cmd_MID360.posw * 1000;
@@ -154,10 +155,8 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
abs_limit_fp(&c->move_vec.Vy, 5000.0f);
abs_limit_fp(&c->move_vec.Vw, 5000.0f);
break;
- case AUTO_MID360_Adjust:
- c->move_vec.Vw = ctrl->Vw * 6000;
- c->move_vec.Vx = ctrl->Vy * 6000;
- c->move_vec.Vy = ctrl->Vx * 6000;
+ case REPOSITION:
+ c->to_nuc.send = 1;
break;
diff --git a/User/Module/Chassis.h b/User/Module/Chassis.h
index 90930c5..8a5c3ec 100644
--- a/User/Module/Chassis.h
+++ b/User/Module/Chassis.h
@@ -103,12 +103,6 @@ typedef struct
fp32 Vw;
fp32 mul;//油门倍率
}ChassisMove_Vec;
-typedef struct
-{
-
- fp32 send[4];
-
-}NUC_send_t;
/**
* @brief
@@ -184,9 +178,12 @@ typedef struct{
int is_reach;
}sick_cali;
- NUC_send_t NUC_send;
+ struct {
+ fp32 send;
+ }to_nuc;
+
}Chassis_t;
int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq);
diff --git a/User/Module/config.c b/User/Module/config.c
index 91ea5a6..2d56cc7 100644
--- a/User/Module/config.c
+++ b/User/Module/config.c
@@ -88,14 +88,15 @@ static const ConfigParam_t param ={
.go_init = -50, //仅用在go上电，初始位置
.go_release_pos=-200,
.Pitch_angle =66,
-
+ .go_up_speed =12,
+ .go_down_speed =6,
},
.PassCfg={
.go_wait =-10,
.go_release_pos =-150,
.Pitch_angle=66,
.go_up_speed =12,
- .go_down_speed =5,
+ .go_down_speed =6,
},
.MID360Cfg={
diff --git a/User/Module/up.c b/User/Module/up.c
index f514f97..752a80f 100644
--- a/User/Module/up.c
+++ b/User/Module/up.c
@@ -313,6 +313,10 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c)
up_motor_target_t *target=&u->motor_target ;
LaunchContext_t *LaunchContext = &u->LaunchContext;
// 可根据实际需要传入不同的起始和末位置,起始：当前位置
+ LaunchContext->LaunchCfg.go_up_speed= cfg->go_up_speed;
+ LaunchContext->LaunchCfg.go_down_speed= cfg->go_down_speed
+ ;
+
Pitch_Launch_Sequence(u, LaunchContext, u->motorfeedback.go_data.Pos, cfg->go_release_pos, out);
diff --git a/User/Module/up.h b/User/Module/up.h
index d5c6fd9..898692c 100644
--- a/User/Module/up.h
+++ b/User/Module/up.h
@@ -73,6 +73,8 @@ typedef struct {
fp32 go_init; // GO电机触发位置,初始位置，后续更改用于发射的位置
fp32 Pitch_angle; //俯仰角度，以oid为准
fp32 go_release_pos;//go松开，发射位置
+ fp32 go_up_speed;
+ fp32 go_down_speed;
} PitchCfg_t;
diff --git a/User/device/cmd.c b/User/device/cmd.c
index c8d6c43..d28e009 100644
--- a/User/device/cmd.c
+++ b/User/device/cmd.c
@@ -159,7 +159,7 @@ int8_t CMD_DR16(CMD_t *cmd,const CMD_RC_t *rc) {
if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode =AUTO_MID360; //左中，右中，无模式
- if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Normal; //左中，右下，视觉
+ if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =REPOSITION; //左中，右下，视觉
}
else if(rc->dr16.sw_l==CMD_SW_DOWN)
@@ -193,7 +193,7 @@ int8_t CMD_LD(CMD_t *cmd,const CMD_RC_t *rc){
if(cmd ->CMD_CtrlType ==AUTO){
/*自动下的*/
- if (rc->LD.key_C ==CMD_SW_UP) cmd ->CMD_mode =AUTO_MID360_Adjust;
+ if (rc->LD.key_C ==CMD_SW_UP) cmd ->CMD_mode =Normal;
else {
if(rc->LD.key_E ==CMD_SW_DOWN ) cmd ->CMD_mode =Normal;
diff --git a/User/device/cmd.h b/User/device/cmd.h
index fba1fb8..a7835da 100644
--- a/User/device/cmd.h
+++ b/User/device/cmd.h
@@ -26,7 +26,7 @@ typedef enum{
AUTO_MID360,
AUTO_MID360_Pitch,
- AUTO_MID360_Adjust,//雷达调整
+ REPOSITION,//雷达调整
UP_Adjust,//上层调整
Chassis_Adjust_Sick,
diff --git a/User/device/nuc.c b/User/device/nuc.c
index 0685a15..da602d9 100644
--- a/User/device/nuc.c
+++ b/User/device/nuc.c
@@ -40,33 +40,6 @@ int8_t NUC_StartReceiving()
return DEVICE_OK;
return DEVICE_ERR;
}
-int8_t NUC_StartSending(fp32 *data)
-{
-
- union
- {
- float x[1];
- char data[4];
- } instance;
-
- // for (int i = 0; i < 1; i++) {
- instance.x[0] = data[0];
- // }
-
- SendBuffer[0] = 0xFC; // 帧头
- SendBuffer[1] = 0x01; // 控制帧
- for (int i = 2; i < 6; i++)
- {
- SendBuffer[i] = instance.data[i - 2];
- }
- SendBuffer[6] = 0xFD; // 帧尾
-
- if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_NUC),
- (uint8_t *)SendBuffer,
- sizeof(SendBuffer)) == HAL_OK)
- return DEVICE_OK;
- return DEVICE_ERR;
-}
int8_t NUC_Restart(void)
{
__HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_NUC));
@@ -179,7 +152,7 @@ int8_t NUC_HandleOffline(CMD_NUC_t *cmd, NUC_t *nuc)
if (cmd == NULL)
return DEVICE_ERR_NULL;
nuc->unc_online = false; // 设置为离线状态
- // memset(cmd, 0, sizeof(*cmd));
+ memset(cmd, 0, sizeof(*cmd));
return 0;
}
@@ -197,28 +170,34 @@ int8_t NUC_PackIMU(NUC_t *nuc, const AHRS_Quaternion_t *quat, const AHRS_Accl_t
int8_t NUC_PackCMD(NUC_t *nuc, const NUC_send_t *send){
nuc->to_nuc.cmd.head = HEAD;
nuc->to_nuc.cmd.id = IMU_ID;
- nuc->to_nuc.cmd.type = TYPE;
nuc->to_nuc.cmd.end = TAIL;
- // memcpy((void *)&(nuc->to_nuc.cmd.package.status), (const void *)send,sizeof(*send));
+ memcpy((void *)&(nuc->to_nuc.cmd.package.status), (const void *)send,sizeof(*send));
/*在这里添加你们的控制命令*/
return DEVICE_OK;
}
int8_t NUC_StartSend(NUC_t *nuc, bool cmd_update){
if (cmd_update) {
+// if (HAL_UART_Transmit_DMA(
+// BSP_UART_GetHandle(BSP_UART_NUC), (uint8_t *)&(nuc->to_nuc.cmd),
+// sizeof(nuc->to_nuc.cmd) + sizeof(nuc->to_nuc.imu)) == HAL_OK)
+/*仅发送cmd数据*/
if (HAL_UART_Transmit_DMA(
BSP_UART_GetHandle(BSP_UART_NUC), (uint8_t *)&(nuc->to_nuc.cmd),
- sizeof(nuc->to_nuc.cmd) + sizeof(nuc->to_nuc.imu)) == HAL_OK)
+ sizeof(nuc->to_nuc.cmd) ) == HAL_OK)
+
+
return DEVICE_OK;
else
return DEVICE_ERR;
- } else {
- if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_NUC),
- (uint8_t *)&(nuc->to_nuc.imu),
- sizeof(nuc->to_nuc.imu)) == HAL_OK)
- return DEVICE_OK;
- else
- return DEVICE_ERR;
- }
+ }
+// else {
+// if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_NUC),
+// (uint8_t *)&(nuc->to_nuc.imu),
+// sizeof(nuc->to_nuc.imu)) == HAL_OK)
+// return DEVICE_OK;
+// else
+// return DEVICE_ERR;
+// }
}
diff --git a/User/device/nuc.h b/User/device/nuc.h
index 866483a..70dda34 100644
--- a/User/device/nuc.h
+++ b/User/device/nuc.h
@@ -9,6 +9,11 @@
#include "Algorithm/ahrs.h"
#include "Module/Chassis.h"
+typedef struct
+{
+ fp32 send;
+
+}NUC_send_t;
typedef struct {
uint8_t id;
@@ -25,7 +30,6 @@ typedef struct {
typedef struct {
uint8_t head;
- uint8_t type; // 0x01 控制帧
uint8_t id;
Protocol_UpDataCMD_t package;
uint8_t end;
@@ -51,7 +55,6 @@ typedef struct {
int8_t NUC_Init(NUC_t *nuc);
int8_t NUC_StartReceiving(void);
-int8_t NUC_StartSending(fp32 *data) ;
bool_t NUC_WaitDmaCplt(void);
int8_t NUC_RawParse(CMD_NUC_t *n, NUC_t *nuc);
int8_t NUC_HandleOffline(CMD_NUC_t *cmd, NUC_t *nuc);
diff --git a/User/task/chassis_task.c b/User/task/chassis_task.c
index 5a09e1f..8997ce1 100644
--- a/User/task/chassis_task.c
+++ b/User/task/chassis_task.c
@@ -88,7 +88,7 @@ void Task_Chassis(void *argument)
osMessageQueueReset(task_runtime.msgq.can.output.chassis3508);//清空队列
osMessageQueuePut(task_runtime.msgq.can.output.chassis3508, &out.motor_CHASSIS3508, 0, 0); //发送数据
osMessageQueueReset(task_runtime.msgq.cmd.raw.nuc_send);//清空队列
- osMessageQueuePut(task_runtime.msgq.cmd.raw.nuc_send, &chassis.NUC_send, 0, 0); //发送数据
+ osMessageQueuePut(task_runtime.msgq.cmd.raw.nuc_send, &chassis.to_nuc, 0, 0); //发送数据
vofa_send[0] = chassis.vofa_send[0];
vofa_send[1] = chassis.vofa_send[1];
vofa_send[2] = chassis.vofa_send[2];
diff --git a/User/task/init.c b/User/task/init.c
index ff67827..f5a7fcf 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -11,7 +11,7 @@
#include "task\user_task.h"
#include "can_use.h"
#include "cmd.h"
-
+#include "nuc.h"
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
diff --git a/User/task/nuc_task.c b/User/task/nuc_task.c
index 9be52b0..3167ddb 100644
--- a/User/task/nuc_task.c
+++ b/User/task/nuc_task.c
@@ -21,6 +21,8 @@ NUC_send_t NUC_send;
#endif
fp32 send[4]={11.0f,45.0,1.f,4.0f};
int a=0;
+
+
void Task_nuc(void *argument){
(void)argument; /**/
@@ -34,10 +36,7 @@ void Task_nuc(void *argument){
while (1)
{
#ifdef DEBUG
- task_runtime.stack_water_mark.nuc= osThreadGetStackSpace(osThreadGetId());
- task_runtime .freq.nuc = TASK_FREQ_NUC;
- task_runtime.last_up_time.nuc= tick;
-
+ task_runtime.stack_water_mark.nuc= osThreadGetStackSpace(osThreadGetId());
#endif
a++;
NUC_StartReceiving();
@@ -58,19 +57,19 @@ void Task_nuc(void *argument){
osMessageQueueGet(task_runtime.msgq.nuc.accl, &(accl), NULL, 0);
osMessageQueueGet(task_runtime.msgq.nuc.gyro, &(gyro), NULL, 0);
- // osMessageQueueGet(task_runtime.msgq.cmd.raw.nuc_send, &NUC_send, 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,
&(NUC_send), NULL, 0) == osOK);
- NUC_PackIMU(&nuc_raw, &quat, &accl, &gyro);
+// NUC_PackIMU(&nuc_raw, &quat, &accl, &gyro);
if (cmd_update) {
NUC_PackCMD(&nuc_raw,&NUC_send);
+
+ 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*/
osDelayUntil(tick);
}