diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx
index 58ce169..54c15c6 100644
--- a/MDK-ARM/R2.uvoptx
+++ b/MDK-ARM/R2.uvoptx
@@ -103,7 +103,7 @@
1
0
0
- 3
+ 6
@@ -114,7 +114,7 @@
- BIN\CMSIS_AGDI.dll
+ STLink\ST-LINKIII-KEIL_SWO.dll
@@ -140,7 +140,7 @@
0
DLGUARM
-
+ (105=-1,-1,-1,-1,0)
0
@@ -310,6 +310,26 @@
1
imu_temp
+
+ 31
+ 1
+ cmd
+
+
+ 32
+ 1
+ NUC_send
+
+
+ 33
+ 1
+ BMI088_t
+
+
+ 34
+ 1
+ bmi088
+
0
diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf
index 8272b1a..acddb4c 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 d1ea42d..98b30d9 100644
--- a/User/Module/Chassis.c
+++ b/User/Module/Chassis.c
@@ -4,294 +4,180 @@
#include "bsp_buzzer.h"
#include "bsp_delay.h"
-
-
-
-
-
-/*机器人坐标系，向前x，右y，上yaw
- 不同于nuc (前x，左y，上yaw) */
-/*
- x
- |
- --y
-
-
+/*
+机器人坐标系，向前x，右y，上yaw
+不同于nuc (前x，左y，上yaw)
+ x
+ |
+ --y
*/
-static int8_t Chassis_SetCtrl(Chassis_t *c,CMD_t *ctrl){
- if (c == NULL) return CHASSIS_ERR_NULL; /*主结构体不能为空 */
- if (ctrl->CMD_CtrlType== c->chassis_ctrl.ctrl && ctrl->CMD_mode == c->chassis_ctrl.mode) return CHASSIS_OK; /*模式未改变直接返回*/
- c->chassis_ctrl.ctrl =ctrl->CMD_CtrlType ;
- c->chassis_ctrl.mode =ctrl->CMD_mode ;
-
- return CHASSIS_OK;
-} //设置控制模式
-
-
-/*该函数用来更新can任务获得的电机反馈值*/
+static int8_t Chassis_SetCtrl(Chassis_t *c, CMD_t *ctrl) {
+ if (c == NULL) return CHASSIS_ERR_NULL;
+ if (ctrl->CMD_CtrlType == c->chassis_ctrl.ctrl && ctrl->CMD_mode == c->chassis_ctrl.mode)
+ return CHASSIS_OK;
+ c->chassis_ctrl.ctrl = ctrl->CMD_CtrlType;
+ c->chassis_ctrl.mode = ctrl->CMD_mode;
+ return CHASSIS_OK;
+}
int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) {
- if (c == NULL) return CHASSIS_ERR_NULL;
- if (can == NULL) return CHASSIS_ERR_NULL;
- for (uint8_t i = 0; i < 4; i++)
- {
- c->motorfeedback.rotor_rpm3508[i] = can->motor.chassis_motor3508.as_array[i].rotor_speed;
- c->motorfeedback.rotor_current3508[i] = can->motor.chassis_motor3508.as_array[i].torque_current;
- }
-
-
+ if (c == NULL) return CHASSIS_ERR_NULL;
+ if (can == NULL) return CHASSIS_ERR_NULL;
+ for (uint8_t i = 0; i < 4; i++) {
+ c->motorfeedback.rotor_rpm3508[i] = can->motor.chassis_motor3508.as_array[i].rotor_speed;
+ c->motorfeedback.rotor_current3508[i] = can->motor.chassis_motor3508.as_array[i].torque_current;
+ }
+ return CHASSIS_OK;
+}
- return CHASSIS_OK;
+int8_t Chassis_init(Chassis_t *c, const Chassis_Param_t *param, float target_freq) {
+ if (c == NULL) return CHASSIS_ERR_NULL;
+ c->param = param;
+
+ for (int i = 0; i < 4; i++) {
+ PID_init(&(c->pid.chassis_3508VecPID[i]), PID_POSITION_D, &(c->param->M3508_param));
+ }
+ PID_init(&(c->pid.chassis_PICKWzPID_HIGN), PID_POSITION, &(c->param->chassis_PICKWzPID_HIGN_param));
+ PID_init(&(c->pid.chassis_PICKWzPID_LOW), PID_POSITION, &(c->param->chassis_PICKWzPID_LOW_param));
+ PID_init(&(c->pid.sick_CaliforYPID), PID_POSITION, &(c->param->Sick_CaliYparam));
+ PID_init(&(c->pid.sick_CaliforXPID), PID_POSITION, &(c->param->Sick_CaliXparam));
+
+ LowPassFilter2p_Init(&(c->filled[0]), target_freq, 80.0f); // 角加速度滤波
+ LowPassFilter2p_Init(&(c->filled[1]), target_freq, 80.0f); // w滤波
+ LowPassFilter2p_Init(&(c->filled[2]), target_freq, 80.0f); // y滤波
+ LowPassFilter2p_Init(&(c->filled[3]), target_freq, 80.0f); // x滤波
+
+ return CHASSIS_OK;
+}
+
+fp32 gyro_kp = 1.0f;
+fp32 PIAN = 0;
+
+void Chassis_speed_calculate(Chassis_t *c, fp32 Vx, fp32 Vy, fp32 Vw) {
+ fp64 Nor_Vx, Nor_Vy;
+ normalize_vector(Vx, Vy, &Nor_Vx, &Nor_Vy);
+
+ c->hopemotorout.OmniSpeedOut[0] = -Nor_Vx + Nor_Vy + Vw; // 右前
+ c->hopemotorout.OmniSpeedOut[1] = -Nor_Vx - Nor_Vy + Vw; // 右后
+ c->hopemotorout.OmniSpeedOut[2] = Nor_Vx - Nor_Vy + Vw; // 左后
+ c->hopemotorout.OmniSpeedOut[3] = Nor_Vx + Nor_Vy + Vw; // 左前
+}
+
+int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
+ if (c == NULL) return CHASSIS_ERR_NULL;
+ if (ctrl == NULL) return CHASSIS_ERR_NULL;
+
+ Chassis_SetCtrl(c, ctrl);
+
+ // IMU加滤波修正
+ c->pos088.bmi088.filtered_gyro.z = LowPassFilter2p_Apply(&(c->filled[0]), c->pos088.bmi088.gyro.z);
+
+ switch (c->chassis_ctrl.ctrl) {
+ case RCcontrol: // 手动控制
+ /*
+ 在cmd里对数据进行处理 包括方向和油门
+ 6000为全向轮的倍率,遥控器坐标系和机器人坐标系不同
+ */
+ c->NUC_send .send [0]=0;
+ c->NUC_send .send [1]=0;
+ c->NUC_send .send [2]=10;
+ c->NUC_send .send [3]=100;
+
+ switch (c->chassis_ctrl.mode) {
+ case Normal:
+ c->move_vec.Vw = ctrl->Vw * 6000;
+ c->move_vec.Vx = ctrl->Vy * 6000;
+ c->move_vec.Vy = ctrl->Vx * 6000;
+ break;
+ case Pitch:
+ c->move_vec.Vw = 0;
+ c->move_vec.Vx = 0;
+ c->move_vec.Vy = 0;
+ break;
+ case UP_Adjust:
+ c->move_vec.Vw = ctrl->Vw * 6000;
+ c->move_vec.Vx = 0;
+ c->move_vec.Vy = 0;
+ break;
+ default:
+ c->move_vec.Vw = 0;
+ c->move_vec.Vx = 0;
+ c->move_vec.Vy = 0;
+ break;
+ }
+ break;
+
+ case AUTO: // 自动模式
+ switch (c->chassis_ctrl.mode) {
+
+ case AUTO_NAVI: // 自动雷达
+ // 全向轮方向, 注意xy方向
+ 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, 2000.0f);
+ abs_limit_fp(&c->move_vec.Vy, 2000.0f);
+ abs_limit_fp(&c->move_vec.Vw, 2000.0f);
+
+ c->NUC_send .send [0]=0;
+ break;
+
+ case AUTO_NAVI_Pitch:
+ c->move_vec.Vw = 0;
+ c->move_vec.Vy = 0;
+ c->move_vec.Vx = 0;
+
+ c->NUC_send .send [0]=1;
+ break;
+ case AUTO_NAVI_Adjust:
+ c->move_vec.Vw = ctrl->Vw * 6000;
+ c->move_vec.Vx = ctrl->Vy * 6000;
+ c->move_vec.Vy = ctrl->Vx * 6000;
+
+ c->NUC_send .send [0]=1;
+ break;
+ default:
+ c->move_vec.Vw = 0;
+ c->move_vec.Vx = 0;
+ c->move_vec.Vy = 0;
+ c->NUC_send .send [0]=0;
+
+ break;
+ }
+ break;
+
+ default:
+ c->move_vec.Vw = 0;
+ c->move_vec.Vx = 0;
+ c->move_vec.Vy = 0;
+ break;
+ }
+
+ // 电机速度限幅
+ abs_limit_fp(&c->move_vec.Vx, 6000.0f);
+ abs_limit_fp(&c->move_vec.Vy, 6000.0f);
+ abs_limit_fp(&c->move_vec.Vw, 6000.0f);
+
+ Chassis_speed_calculate(c, c->move_vec.Vx, c->move_vec.Vy, c->move_vec.Vw);
+
+ for (uint8_t i = 0; i < 4; i++) {
+ c->final_out.final_3508out[i] = PID_calc(&(c->pid.chassis_3508VecPID[i]),
+ c->motorfeedback.rotor_rpm3508[i],
+ c->hopemotorout.OmniSpeedOut[i]);
+ out->motor_CHASSIS3508.as_array[i] = c->final_out.final_3508out[i];
+ }
+c->NUC_send .send [1]=1;
+ return CHASSIS_OK;
}
-int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
-{
- if (c == NULL) return CHASSIS_ERR_NULL;
-
- c->param = param; /*初始化参数 */
-
- for(int i =0 ; i < 4 ; i++)
- {
- PID_init(&(c->pid.chassis_3508VecPID[i]),PID_POSITION_D,&(c->param->M3508_param)); //带D项滤波
- }
-
- PID_init(&(c->pid.chassis_PICKWzPID_HIGN),PID_POSITION,&(c->param->chassis_PICKWzPID_HIGN_param));
-
- PID_init(&(c->pid.chassis_PICKWzPID_LOW),PID_POSITION,&(c->param->chassis_PICKWzPID_LOW_param));
-
-
- PID_init(&(c->pid.sick_CaliforYPID),PID_POSITION,&(c->param->Sick_CaliYparam));
-
- PID_init(&(c->pid.sick_CaliforXPID),PID_POSITION,&(c->param->Sick_CaliXparam));
-
- LowPassFilter2p_Init(&(c->filled[0]),target_freq,80.0f); //给角加速度做滤波
-
-
- LowPassFilter2p_Init(&(c->filled[1]),target_freq,80.0f); //给w 做滤波
-
- LowPassFilter2p_Init(&(c->filled[2]),target_freq,80.0f); //给y做滤波
-
- LowPassFilter2p_Init(&(c->filled[3]),target_freq,80.0f); //给x 做滤波
-
- //
-
-
- return CHASSIS_OK;
-}
-
-fp32 gyro_kp=1.0f;
-fp32 PIAN=0;
-void Chassis_speed_calculate(Chassis_t *c,fp32 Vx,fp32 Vy,fp32 Vw) //底盘逆运动学的解算,
-{
- fp64 Nor_Vx,Nor_Vy;//归一化后的数据
- normalize_vector(Vx,Vy,&Nor_Vx,&Nor_Vy);
-
-// c->hopemotorout.OmniSpeedOut[0] = -Vx+Vy+Vw;//右前
-// c->hopemotorout.OmniSpeedOut[1] = -Vx-Vy+Vw;//右后
-// c->hopemotorout.OmniSpeedOut[2] = Vx-Vy+Vw;//左后
-// c->hopemotorout.OmniSpeedOut[3] = Vx+Vy+Vw;//左前
-// c->hopemotorout.OmniSpeedOut[0] = -Nor_Vx+Nor_Vy+Vw + c->pos088 .bmi088.gyro.z;//右前
-// c->hopemotorout.OmniSpeedOut[1] = -Nor_Vx-Nor_Vy+Vw + c->pos088 .bmi088.gyro.z;//右后
-// c->hopemotorout.OmniSpeedOut[2] = Nor_Vx-Nor_Vy+Vw + c->pos088 .bmi088.gyro.z;//左后
-// c->hopemotorout.OmniSpeedOut[3] = Nor_Vx+Nor_Vy+Vw + c->pos088 .bmi088.gyro.z;//左前
- c->hopemotorout.OmniSpeedOut[0] = -Nor_Vx+Nor_Vy+Vw ;//右前
- c->hopemotorout.OmniSpeedOut[1] = -Nor_Vx-Nor_Vy+Vw ;//右后
- c->hopemotorout.OmniSpeedOut[2] = Nor_Vx-Nor_Vy+Vw ;//左后
- c->hopemotorout.OmniSpeedOut[3] = Nor_Vx+Nor_Vy+Vw ;//左前
-
-// if(!Vw){
-// PIAN = jiuzheng(c->pos088 .imu_eulr .yaw );
-// }
-// c->hopemotorout.OmniSpeedOut[0] += PIAN ;//右前
-// c->hopemotorout.OmniSpeedOut[1] += PIAN ;//右后
-// c->hopemotorout.OmniSpeedOut[2] += PIAN ;//左后
-// c->hopemotorout.OmniSpeedOut[3] += PIAN ;//左前
-
-}
-int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out)
-{
- if(c ==NULL) return CHASSIS_ERR_NULL;
- if(ctrl ==NULL) return CHASSIS_ERR_NULL;
-
-
- Chassis_SetCtrl(c,ctrl);
-
- //此处对imu加滤波做修正
- c->pos088.bmi088.filtered_gyro.z =LowPassFilter2p_Apply(&(c->filled[0]),c->pos088.bmi088.gyro.z);
-
- switch (c->chassis_ctrl .ctrl)
- {
- case RCcontrol: //手动控制
-
-/*
- 在cmd里对数据进行处理 包括方向和油门
- 6000为全向轮的倍率,遥控器坐标系和机器人坐标系不同*/
- if(c->chassis_ctrl .mode == Pitch){
- c->move_vec.Vw = 0;
- c->move_vec.Vx = 0;
- c->move_vec.Vy = 0;
- }
- else if(c->chassis_ctrl .mode == UP_Adjust)
- {
- c->move_vec.Vw = ctrl->Vw*6000;
- c->move_vec.Vx = 0;
- c->move_vec.Vy = 0;
- }
- else {
- c->move_vec.Vw = ctrl->Vw*6000;
- c->move_vec.Vx = ctrl->Vy*6000;
- c->move_vec.Vy = ctrl->Vx*6000;
- }
-
-
-
- break;
-
- case AUTO : //在自动模式下
-
- switch(c->chassis_ctrl.mode ){
-
-
- case AUTO_NAVI: //自动雷达
-// //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->cmd_MID360 .posw *1000 ;
- c->move_vec.Vy =-ctrl->cmd_MID360.posy *1000 ;
- c->move_vec.Vx =-ctrl->cmd_MID360.posx *1000 ;
-// c->move_vec.Vw =LowPassFilter2p_Apply(&(c->filled[1]),c->move_vec.Vw);
-// c->move_vec.Vy =LowPassFilter2p_Apply(&(c->filled[2]),c->move_vec.Vy);
-// c->move_vec.Vx =LowPassFilter2p_Apply(&(c->filled[3]),c->move_vec.Vx);
-//
-// c->move_vec.Vw =PID_calc(&(c->pid.chassis_NaviWzPID),c->pos088.bmi088.gyro.z,c->move_vec.Vw);
-// c->move_vec.Vx =PID_calc(&(c->pid.chassis_NaviVxPID),c->pos088.bmi088.accl.y,c->move_vec.Vx);
-// c->move_vec.Vy =PID_calc(&(c->pid.chassis_NaviVyPID),c->pos088.bmi088.accl.x,c->move_vec.Vy);
-// //电机速度限幅
-
- abs_limit_fp(&c->move_vec.Vx,2000.0f);
-
- abs_limit_fp(&c->move_vec.Vy,2000.0f);
-
- abs_limit_fp(&c->move_vec.Vw,2000.0f);
-
- if(ctrl->status[5] ==1)
- {
- c->move_vec.Vw = c->move_vec.Vw * 0.8f;
- c->move_vec.Vx = c->move_vec.Vx * 0.5f;
- c->move_vec.Vy = c->move_vec.Vy * 0.5f;
- }
-
- break;
-
- case AUTO_NAVI_Pitch: //自动视觉
-
- c->move_vec.Vw =0;
- c->move_vec.Vy =0;
- c->move_vec.Vx =0 ;
-
-
-
-// if(abs_value(ctrl ->cmd_pick .posx )>20)
-// {
-// c->move_vec.Vw =PID_calc(&(c->pid.chassis_PICKWzPID_HIGN),(c->move_vec .Vw) ,0);
-//
-// }
-// else if(abs_value(ctrl ->cmd_pick .posx )<0.1)
-// {
-// c->move_vec.Vw =0;
-// }
-// else
-// c->move_vec.Vw =PID_calc(&(c->pid.chassis_PICKWzPID_LOW),(c->move_vec .Vw) ,0);
-
-// c->move_vec.Vw =LowPassFilter2p_Apply(&(c->filled[1]),c->move_vec.Vw);
-
-//
-// c->vofa_send[0]=c->move_vec.Vw;
-// c->vofa_send[1]=-ctrl->cmd_pick .posx;
-//
-
-
- break ;
-
- }
- break ;
-
-}
-
-
- //电机速度限幅
-
- abs_limit_fp(&c->move_vec.Vx,6000.0f);
-
- abs_limit_fp(&c->move_vec.Vy,6000.0f);
-
- abs_limit_fp(&c->move_vec.Vw,6000.0f);
-
- Chassis_speed_calculate(c,c->move_vec.Vx,c->move_vec.Vy,c->move_vec.Vw);
-
-
- for (uint8_t i = 0 ; i <4 ; i++)
- {
- c->final_out.final_3508out[i] = PID_calc(&(c->pid.chassis_3508VecPID[i]),c->motorfeedback.rotor_rpm3508[i],c->hopemotorout.OmniSpeedOut[i]);
-
- out->motor_CHASSIS3508 .as_array[i] = c->final_out.final_3508out[i];
- }
-
-// c->vofa_send[0]=c->pos088.bmi088.gyro.z;
-
-// c->vofa_send[1]=c->motorfeedback .rotor_rpm3508 [0];
-// c->vofa_send[2]=c->motorfeedback .rotor_rpm3508 [1];
-// c->vofa_send[3]=c->motorfeedback .rotor_rpm3508 [2];
-// c->vofa_send[4]=c->motorfeedback .rotor_rpm3508 [3];
-//
-// c->vofa_send[0]=c->hopemotorout .OmniSpeedOut [0];
-// c->vofa_send[1]=c->hopemotorout .OmniSpeedOut [0];
-//// c->vofa_send[2]=c->hopemotorout .OmniSpeedOut [2];
-// c->vofa_send[3]=c->hopemotorout .OmniSpeedOut [3];
-
-//// c->vofa_send[4]=c->motorfeedback .rotor_rpm3508 [0];
-// c->vofa_send[0]=c->motorfeedback .rotor_rpm3508 [0];
-//// c->vofa_send[6]=c->motorfeedback .rotor_rpm3508 [2];
-// c->vofa_send[2]=c->motorfeedback .rotor_rpm3508 [3];
-//
-// c->vofa_send[5]=c->pos088 .imu_eulr .yaw ;
-
- return CHASSIS_OK;
-
-}
- pid_type_def pid;
-
- pid_param_t pid_param={
- .p = 0.50f,
- .i = 0.0f,
- .d = 0.0f,
- .i_limit = 50.0f,
- .out_limit = 100.0f
- };
-fp32 jiuzheng(fp32 yaw)
-{
- static fp32 pian_yaw=0;
- static fp32 shang_yaw=0;
- static int is=0;
-
-
- if(is==0)
- {
- PID_init (&pid,PID_POSITION ,&pid_param);
- is=1;
- }
-
- pian_yaw+= (yaw - shang_yaw);
- shang_yaw=yaw ;
-
- return PID_calc(&pid,pian_yaw,0);
-}
-
diff --git a/User/Module/Chassis.h b/User/Module/Chassis.h
index 919bb3e..bdc6868 100644
--- a/User/Module/Chassis.h
+++ b/User/Module/Chassis.h
@@ -90,7 +90,11 @@ typedef struct
fp32 Vw;
fp32 mul;//油门倍率
}ChassisMove_Vec;
-
+typedef struct
+{
+ fp32 send[4];
+
+}NUC_send_t;
/**
* @brief
@@ -160,6 +164,7 @@ typedef struct{
int32_t sick_dis[4]; //获取到的sick激光值
+ NUC_send_t NUC_send;
}Chassis_t;
diff --git a/User/device/cmd.c b/User/device/cmd.c
index eec5297..036881e 100644
--- a/User/device/cmd.c
+++ b/User/device/cmd.c
@@ -191,11 +191,14 @@ 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_NAVI_Adjust;
+ else {
+
if(rc->LD.key_E ==CMD_SW_DOWN ) cmd ->CMD_mode =Normal;
else if(rc->LD.key_E ==CMD_SW_UP) cmd ->CMD_mode =AUTO_NAVI_Pitch;
- else if(rc->LD .key_E ==CMD_SW_MID ) cmd ->CMD_mode =AUTO_NAVI;
+ else if(rc->LD .key_E ==CMD_SW_MID ) cmd ->CMD_mode =AUTO_NAVI;
else cmd ->CMD_mode =Normal ;
-
+ }
}
else if(cmd ->CMD_CtrlType ==RCcontrol){
/*手动下的*/
diff --git a/User/device/cmd.h b/User/device/cmd.h
index 52d5703..bfb7904 100644
--- a/User/device/cmd.h
+++ b/User/device/cmd.h
@@ -25,6 +25,7 @@ typedef enum{
AUTO_NAVI,
AUTO_NAVI_Pitch,
+ AUTO_NAVI_Adjust,//雷达调整
UP_Adjust,//上层调整
diff --git a/User/task/chassis_task.c b/User/task/chassis_task.c
index 28549a0..c5bdfe5 100644
--- a/User/task/chassis_task.c
+++ b/User/task/chassis_task.c
@@ -85,13 +85,14 @@ 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
vofa_send[0] = chassis.vofa_send[0];
- vofa_send[1] = chassis.vofa_send[1];
+ vofa_send[1] = chassis.vofa_send[1];
vofa_send[2] = chassis.vofa_send[2];
vofa_send[3] = chassis.vofa_send[3];
vofa_send[4] = chassis.vofa_send[4];
- vofa_send[5] = chassis.vofa_send[5];
+ vofa_send[5] = chassis.vofa_send[5];
vofa_send[6] = chassis.vofa_send[6];
vofa_send[7] = chassis.vofa_send[7];
diff --git a/User/task/init.c b/User/task/init.c
index 4f20970..9b3e7af 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -85,7 +85,9 @@ void Task_Init(void *argument) {
task_runtime.msgq.cmd.raw.nuc =
osMessageQueueNew(3u,sizeof(CMD_NUC_t), NULL);
-
+ task_runtime.msgq.cmd.raw.nuc_send =
+ osMessageQueueNew(3u,sizeof(NUC_send_t), NULL);
+
osKernelUnlock();
osThreadTerminate(osThreadGetId()); /* 结束自身 */
}
diff --git a/User/task/nuc_task.c b/User/task/nuc_task.c
index cbe6d3d..4060af7 100644
--- a/User/task/nuc_task.c
+++ b/User/task/nuc_task.c
@@ -5,13 +5,15 @@
NUC_t nuc_raw;
CMD_NUC_t cmd_fromnuc;
+
+NUC_send_t NUC_send;
#else
static NUC_t nuc_raw;
static CMD_NUC_t cmd_fromnuc;
-
+NUC_send_t NUC_send;
#endif
-fp32 send[4]={11.0f,45.0,1.f,4.0f};
+//fp32 send[4]={11.0f,45.0,1.f,4.0f};
void Task_nuc(void *argument){
(void)argument; /**/
@@ -29,7 +31,7 @@ void Task_nuc(void *argument){
task_runtime.stack_water_mark.nuc= osThreadGetStackSpace(osThreadGetId());
#endif
NUC_StartReceiving();
- NUC_StartSending(send);
+ NUC_StartSending(NUC_send.send);
if (NUC_WaitDmaCplt()){
NUC_RawParse(&cmd_fromnuc);
}
@@ -38,7 +40,8 @@ void Task_nuc(void *argument){
}
osMessageQueueReset(task_runtime.msgq.cmd.raw.nuc);
osMessageQueuePut(task_runtime.msgq.cmd.raw.nuc,&(cmd_fromnuc),0,0);
-
+ osMessageQueueGet(task_runtime.msgq.cmd.raw.nuc_send, &NUC_send, NULL, 0);
+
tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/
osDelayUntil(tick);
diff --git a/User/task/user_task.h b/User/task/user_task.h
index 928f2ef..958b2c3 100644
--- a/User/task/user_task.h
+++ b/User/task/user_task.h
@@ -58,17 +58,15 @@ typedef struct {
struct {
struct {
osMessageQueueId_t rc;
- osMessageQueueId_t nuc;
+ osMessageQueueId_t nuc; //
osMessageQueueId_t eulr;/*姿态结算得到的欧拉角*/
-
+ osMessageQueueId_t nuc_send; //给nuc发
}raw;
/*控制分离*/
osMessageQueueId_t UP_cmd_ctrl_t;
osMessageQueueId_t CHASSIS_cmd_ctrl_t;
-
-
osMessageQueueId_t status;
} cmd;