给nuc发数据

MDK-ARM/R2.uvoptx

@@ -103,7 +103,7 @@
         <bEvRecOn>1</bEvRecOn>
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
-        <nTsel>3</nTsel>
+        <nTsel>6</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -114,7 +114,7 @@
         <tDlgDll></tDlgDll>
         <tDlgPa></tDlgPa>
         <tIfile></tIfile>
-        <pMon>BIN\CMSIS_AGDI.dll</pMon>
+        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
         <SetRegEntry>
@@ -140,7 +140,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name></Name>
+          <Name>(105=-1,-1,-1,-1,0)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -310,6 +310,26 @@
           <WinNumber>1</WinNumber>
           <ItemText>imu_temp</ItemText>
         </Ww>
+        <Ww>
+          <count>31</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cmd</ItemText>
+        </Ww>
+        <Ww>
+          <count>32</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>NUC_send</ItemText>
+        </Ww>
+        <Ww>
+          <count>33</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>BMI088_t</ItemText>
+        </Ww>
+        <Ww>
+          <count>34</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>bmi088</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>

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
-
+            |
-/*机器人坐标系，向前x，右y，上yaw
+              --y
-   不同于nuc (前x，左y，上yaw)                          */
-/*          
-               x
-               |
-                 --y
-
-
 */
 
-static int8_t Chassis_SetCtrl(Chassis_t *c,CMD_t *ctrl){
+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 (c == NULL) return CHASSIS_ERR_NULL;
-  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*/
+    if (ctrl->CMD_CtrlType == c->chassis_ctrl.ctrl && ctrl->CMD_mode == c->chassis_ctrl.mode)
-   c->chassis_ctrl.ctrl =ctrl->CMD_CtrlType ;
+        return CHASSIS_OK;
-   c->chassis_ctrl.mode =ctrl->CMD_mode ;
+    c->chassis_ctrl.ctrl = ctrl->CMD_CtrlType;
-   
+    c->chassis_ctrl.mode = ctrl->CMD_mode;
-   return CHASSIS_OK;
+    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*/
 
 int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) {
-  if (c == NULL) return CHASSIS_ERR_NULL;
+    if (c == NULL) return CHASSIS_ERR_NULL;
-  if (can == NULL) return CHASSIS_ERR_NULL;
+    if (can == NULL) return CHASSIS_ERR_NULL;
-  for (uint8_t i = 0; i < 4; i++) 
+    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_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;
-	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);
-}
-

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;

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*/	

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
 

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];
 		 

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 */
 }

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);

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;