7.6nuc通信正常

MDK-ARM/R2.uvoptx

@@ -183,22 +183,22 @@
         <Ww>
           <count>5</count>
           <WinNumber>1</WinNumber>
-          <ItemText>\\R2\../User/task/chassis_task.c\chassis.sick_cali.sickparam</ItemText>
+          <ItemText>cmd,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>6</count>
           <WinNumber>1</WinNumber>
-          <ItemText>cmd,0x0A</ItemText>
+          <ItemText>nucbuf,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>7</count>
           <WinNumber>1</WinNumber>
-          <ItemText>nucbuf,0x0A</ItemText>
+          <ItemText>cmd_fromnuc</ItemText>
         </Ww>
         <Ww>
           <count>8</count>
           <WinNumber>1</WinNumber>
-          <ItemText>cmd_fromnuc</ItemText>
+          <ItemText>NUC_send,0x0A</ItemText>
         </Ww>
       </WatchWindow1>
       <Tracepoint>

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.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);
-								   // c->NUC_send.send[0] = 1;
+								   
                     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:
+                case REPOSITION:
-                    c->move_vec.Vw = ctrl->Vw * 6000;
+                    c->to_nuc.send = 1;
-                    c->move_vec.Vx = ctrl->Vy * 6000;
-                    c->move_vec.Vy = ctrl->Vx * 6000;
                     
                     break;
 

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);

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={
 			

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);
 
     

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;
 

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; 

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,

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),
+//	else {
-                              (uint8_t *)&(nuc->to_nuc.imu),
+//    if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_NUC),
-                              sizeof(nuc->to_nuc.imu)) == HAL_OK)
+//                              (uint8_t *)&(nuc->to_nuc.imu),
-      return DEVICE_OK;
+//                              sizeof(nuc->to_nuc.imu)) == HAL_OK)
-    else
+//      return DEVICE_OK;
-      return DEVICE_ERR;
+//    else
-  }
+//      return DEVICE_ERR;
+//  }
 }
 

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);

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];

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 ------------------------------------------------------------ */

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.stack_water_mark.nuc= osThreadGetStackSpace(osThreadGetId());    
-		task_runtime .freq.nuc = TASK_FREQ_NUC;
-		task_runtime.last_up_time.nuc=	tick;
-    
 #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);
 		 }