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7.6nuc通信正常

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This commit is contained in:
ZHAISHUI04 2025-07-06 23:04:45 +08:00
parent b7e4d04550
commit 4bc5997670
14 changed files with 65 additions and 81 deletions
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8
MDK-ARM/R2.uvoptx
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@ -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>

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

25
User/Module/Chassis.c
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@ -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;

11
User/Module/Chassis.h
View File

@ -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);

5
User/Module/config.c
View File

@ -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={

4
User/Module/up.c
View File

@ -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);

2
User/Module/up.h
View File

@ -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;

4
User/device/cmd.c
View File

@ -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;

2
User/device/cmd.h
View File

@ -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,

57
User/device/nuc.c
View File

@ -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;
// }
}

7
User/device/nuc.h
View File

@ -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);

2
User/task/chassis_task.c
View File

@ -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];

2
User/task/init.c
View File

@ -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 ------------------------------------------------------------ */

17
User/task/nuc_task.c
View File

@ -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);
}