From 67960d28051aa6f58a95b3085f7f2cb43834b992 Mon Sep 17 00:00:00 2001 From: ZHAISHUI04 <3150778793@qq.com> Date: Sun, 29 Jun 2025 01:48:25 +0800 Subject: [PATCH] =?UTF-8?q?=E6=AF=94=E8=BE=83=E5=AE=8C=E5=96=84=E7=9A=84?= =?UTF-8?q?=EF=BC=8C=E6=89=8B=E5=8A=A8=EF=BC=8C=E9=9B=B7=E8=BE=BE=EF=BC=8C?= =?UTF-8?q?=E8=BF=90=E7=90=83?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/.vscode/keil-assistant.log | 2 + MDK-ARM/.vscode/settings.json | 3 +- MDK-ARM/R2.uvoptx | 36 +--- MDK-ARM/R2/R2.axf | Bin 2864024 -> 2868232 bytes User/Module/Chassis.c | 75 +++++--- User/Module/Chassis.h | 2 +- User/Module/config.c | 38 ++-- User/Module/up.c | 98 +++++----- User/Module/up.h | 32 +++- User/Module/up_utils.c | 18 +- User/device/nuc.c | 276 +++++++++++++++-------------- User/device/nuc.h | 2 + User/task/nuc_task.c | 6 +- User/task/user_task.h | 2 +- 14 files changed, 314 insertions(+), 276 deletions(-) diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index 6c4a5e0..7382f29 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -479,3 +479,5 @@ [info] Log at : 2025/6/27|16:40:58|GMT+0800 +[info] Log at : 2025/6/28|01:22:24|GMT+0800 + diff --git a/MDK-ARM/.vscode/settings.json b/MDK-ARM/.vscode/settings.json index 681d6c0..81c2fdd 100644 --- a/MDK-ARM/.vscode/settings.json +++ b/MDK-ARM/.vscode/settings.json @@ -97,6 +97,7 @@ "gimbal_task.h": "c", "gimgal.h": "c", "navi.h": "c", - "up.h": "c" + "up.h": "c", + "bsp_usart.h": "c" } } \ No newline at end of file diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx index ce2b613..eb773dd 100644 --- a/MDK-ARM/R2.uvoptx +++ b/MDK-ARM/R2.uvoptx @@ -158,47 +158,17 @@ 0 1 - NUC_send,0x0A + tar_angle 1 1 - SendBuffer,0x10 + huart->ErrorCode 2 1 - chassis,0x0A - - - 3 - 1 - cmd_fromnuc,0x0A - - - 4 - 1 - nucbuf,0x10 - - - 5 - 1 - UP,0x0A - - - 6 - 1 - tar_angle - - - 7 - 1 - up_cmd - - - 8 - 1 - a,0x0A + error_code diff 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zS7MplWM{vXjK|vG&&Hgao?aNXUB74l516T#b$(sn1_m-paQ4#ktgFOr=1d~`mJ z2jMO9|K<7fJ6n&0PfM|G--IJSPOOl3RaCsQyJPtNj}yxl9MC1+sk(;uRxr0;2>1Fp r@t(X3Z^ksick_cali.sick_dis[i]=can->sickfed.raw_dis[i] / 10; //没使用原值 // } - c->sick_cali.sick_dis[0]=can->sickfed.raw_dis[0] ; - c->sick_cali.sick_dis[1]=can->sickfed.raw_dis[1]+50 ; //有点误差,手动补偿 - c->sick_cali.sick_dis[2]=can->sickfed.raw_dis[2] ; + c->sick_cali.sick_dis[0]=(fp32)(can->sickfed.raw_dis[0]) ; + c->sick_cali.sick_dis[1]=(fp32)(can->sickfed.raw_dis[1]+26) ; //有点误差,手动补偿 + c->sick_cali.sick_dis[2]=(fp32)(can->sickfed.raw_dis[2] ); + +// c->vofa_send[7] =c->sick_cali.sick_dis[0]-c->sick_cali.sick_dis[1]; +// c->vofa_send[6] = c->sick_cali.sick_dis[0]; +// c->vofa_send[5] =c->sick_cali.sick_dis[1]; +// c->vofa_send[4] =c->sick_cali.sick_dis[2]; return CHASSIS_OK; } @@ -60,7 +65,11 @@ int8_t Chassis_init(Chassis_t *c, const Chassis_Param_t *param, float target_fre 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 + LowPassFilter2p_Init(&(c->filled[3]), target_freq, 80.0f); + LowPassFilter2p_Init(&(c->filled[4]), target_freq, 80.0f); + LowPassFilter2p_Init(&(c->filled[5]), target_freq, 80.0f); + LowPassFilter2p_Init(&(c->filled[6]), target_freq, 80.0f); + LowPassFilter2p_Init(&(c->filled[7]), target_freq, 80.0f); c->sick_cali .sickparam=c->param ->sickparam ; @@ -89,9 +98,7 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { c->pos088.bmi088.filtered_gyro.z = LowPassFilter2p_Apply(&(c->filled[0]), c->pos088.bmi088.gyro.z); /*初始数据*/ - c->move_vec.Vw = 0; - c->move_vec.Vx = 0; - c->move_vec.Vy = 0; + c->NUC_send.send[0] = 0; c->sick_cali.is_reach = 0; @@ -118,7 +125,9 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { c->NUC_send.send[0] = (c->sick_cali.is_reach == 1) ? 1 : 0; break; default: - + c->move_vec.Vw = 0; + c->move_vec.Vx = 0; + c->move_vec.Vy = 0; break; } break; @@ -135,7 +144,12 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { // c->NUC_send.send[0] = 1; break; case AUTO_MID360_Pitch: - + 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_Adjust: c->move_vec.Vw = ctrl->Vw * 6000; @@ -154,9 +168,9 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { case PB_UP: case PB_MID: case PB_DOWN: - 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 = ctrl->Vw * 6000; + c->move_vec.Vx = ctrl->Vy * 6000; + c->move_vec.Vy = ctrl->Vx * 6000; 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); @@ -171,7 +185,7 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { break; default: - + break; } @@ -189,7 +203,7 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { out->motor_CHASSIS3508.as_array[i] = c->final_out.final_3508out[i]; } -// c->vofa_send[0] = (fp32)c->sick_cali.sick_dis[1] - c->sick_cali.sick_dis[2]; + return CHASSIS_OK; @@ -206,32 +220,41 @@ sick2,左1 */ - +fp32 diff_yaw,diff_y,diff_x; int8_t sick_calibration(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { if (c == NULL) return CHASSIS_ERR_NULL; if (ctrl == NULL) return CHASSIS_ERR_NULL; fp32 delta_w,delta_x,delta_y; - fp32 sick0 = c->sick_cali.sick_dis[0] ; - fp32 sick1 = c->sick_cali.sick_dis[1]; - fp32 sick2 = c->sick_cali.sick_dis[2]; + fp32 sick0 =LowPassFilter2p_Apply( &(c->filled[5]),c->sick_cali.sick_dis[0]) ; + fp32 sick1 =LowPassFilter2p_Apply( &(c->filled[6]), c->sick_cali.sick_dis[1]) ; + fp32 sick2 = LowPassFilter2p_Apply( &(c->filled[7]),c->sick_cali.sick_dis[2] ); const sickparam_t *param = &c->sick_cali.sickparam; - fp32 diff_yaw = -(fp32)(sick1 - sick2); - fp32 diff_y = -(fp32)(sick1 - c->sick_cali.sickparam.y_set); - fp32 diff_x = (fp32)(sick0 - c->sick_cali.sickparam.x_set); + diff_yaw = -(fp32)(sick1 - sick2); + diff_y = -(fp32)(sick1 - c->sick_cali.sickparam.y_set); + diff_x = (fp32)(sick0 - c->sick_cali.sickparam.x_set); - delta_w=(&c->pid.SickCaliWzInPID, diff_yaw, 0); - delta_x=(&c->pid.SickCaliVxInPID, diff_x, 0); - delta_y=(&c->pid.SickCaliVyInPID, diff_y,0); + delta_w=PID_calc(&c->pid.SickCaliWzOutPID, diff_yaw, 0); + delta_x=PID_calc(&c->pid.SickCaliVxOutPID, diff_x, 0); + delta_y=PID_calc(&c->pid.SickCaliVyOutPID, diff_y,0); + + if(fabs(diff_yaw)>5){ + c->move_vec.Vw=PID_calc(&c->pid.SickCaliWzInPID,-delta_w,0); +// c->move_vec.Vw=delta_w; +// c->move_vec.Vx=PID_calc(&c->pid.SickCaliVxInPID,delta_x,0); +// c->move_vec.Vx=PID_calc(&c->pid.SickCaliVyInPID,delta_y,0); + } + + static uint16_t reach_cnt = 0; if (fabsf(diff_yaw) <= param->w_error && fabsf(diff_x) <= param->xy_error && fabsf(diff_y) <= param->xy_error) { reach_cnt++; - if (reach_cnt >= 50) { + if (reach_cnt >= 20) { c->sick_cali.is_reach = 1; @@ -252,7 +275,7 @@ int8_t Chassis_AngleCompensate(Chassis_t *c) { pian_angel=cur_angle-AngleChange(DEGREE,c->pos088.imu_eulr.yaw); } - + else { cur_angle=AngleChange(DEGREE,c->pos088.imu_eulr.yaw); pian_angel=0; diff --git a/User/Module/Chassis.h b/User/Module/Chassis.h index 810a826..b2e31af 100644 --- a/User/Module/Chassis.h +++ b/User/Module/Chassis.h @@ -173,7 +173,7 @@ typedef struct{ fp32 vofa_send[8]; - LowPassFilter2p_t filled[6]; /* 输出滤波器滤波器数组 */ + LowPassFilter2p_t filled[8]; /* 输出滤波器滤波器数组 */ struct { int32_t sick_dis[4]; //获取到的sick激光值 diff --git a/User/Module/config.c b/User/Module/config.c index 889ed2d..0ddc597 100644 --- a/User/Module/config.c +++ b/User/Module/config.c @@ -96,6 +96,14 @@ static const ConfigParam_t param ={ .Pitch_angle=66, .go_up_speed =12, .go_down_speed =5, + }, + .MID360Cfg={ + + .go_release_pos=-200, // GO电机发射位置 + .go_up_speed=20, // GO电机上升速度 + .go_down_speed=10, // GO电机下降速度 + + }, }, .chassis = {/**/ @@ -123,19 +131,21 @@ static const ConfigParam_t param ={ .i_limit = 50.0f, .out_limit =1000.0f, }, + + .SickCali_WInparam = { - .p = 0.0f, - .i = 0.0f, + .p = 3.0f, + .i = 0.005f, .d = 0.0f, - .i_limit = 0.0f, - .out_limit = 0.0f, + .i_limit = 500.0f, + .out_limit = 2000.0f, }, .SickCali_WOutparam = { - .p = 0.0f, + .p = 18.0f, .i = 0.0f, .d = 0.0f, .i_limit = 0.0f, - .out_limit = 0.0f, + .out_limit = 1000.0f, }, .SickCali_YInparam = { .p = 0.0f, @@ -145,11 +155,11 @@ static const ConfigParam_t param ={ .out_limit = 0.0f, }, .SickCali_YOutparam = { - .p = 0.0f, - .i = 0.0f, + .p = 2.9f, + .i = 0.005f, .d = 0.0f, - .i_limit = 0.0f, - .out_limit = 0.0f, + .i_limit = 500.0f, + .out_limit = 1000.0f, }, .SickCali_XInparam = { .p = 0.0f, @@ -159,11 +169,11 @@ static const ConfigParam_t param ={ .out_limit = 0.0f, }, .SickCali_XOutparam = { - .p = 0.0f, - .i = 0.0f, + .p = 2.9f, + .i = 0.0065f, .d = 0.0f, - .i_limit = 0.0f, - .out_limit = 0.0f, + .i_limit = 500.0f, + .out_limit = 3000.0f, }, .Chassis_AngleAdjust_param={ .p = 10.0f, diff --git a/User/Module/up.c b/User/Module/up.c index 888ea41..922e03a 100644 --- a/User/Module/up.c +++ b/User/Module/up.c @@ -54,7 +54,7 @@ int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq) u->PassContext .is_init = 1; } u->LaunchContext.LaunchCfg = u->param->LaunchCfg; - + u->MID360Context.MID360Cfg = u->param->MID360Cfg; BSP_UART_RegisterCallback(BSP_UART_RS485, BSP_UART_RX_CPLT_CB, USART6_RxCompleteCallback);//注册串口回调函数,bsp层 } @@ -181,13 +181,16 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) /*部分数据更新*/ static int is_pitch=1; - posss=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos),3,4,&u->PitchContext.Curve); + posss=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos),3.4,4.2,&u->MID360Context.Curve); // if (u->PitchContext.Curve == CURVE_58) { // target->Pitch_angle = 58; // } else { // target->Pitch_angle = 66; // } - + u->vofa_send [2] = c->pos; + u->vofa_send [3] = LowPassFilter2p_Apply(&u->filled[0],c->pos); + u->vofa_send [4] =1; + switch (c->CMD_CtrlType ) { case RCcontrol: //在手动模式下 @@ -205,8 +208,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) } //初始上电 //LaunchCfg->go_up_speed=15; target->Pitch_angle =LaunchCfg->Pitch_angle; - - + target->go_pull_speed=LaunchCfg->go_up_speed; target->Shoot_M2006_angle=LaunchCfg->m2006_init; u->PitchContext .PitchState = PITCH_PREPARE; //状态更新 u->LaunchContext.LaunchState = Launch_Stop; @@ -235,54 +237,15 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) } break; case AUTO: - /*自动下数据更新,根据距离切换俯仰角,如需自动调整,放在*/ -// if (u->PitchContext.Curve == CURVE_58) { -// target->Pitch_angle = 58; -// } else { -// target->Pitch_angle = 66; -// } - - switch(c-> CMD_mode) - { - case AUTO_MID360_Pitch: - - if (u->PitchContext .PitchState ==PITCH_PREPARE || u->PitchContext .PitchState ==PITCH_COMPLETE) - { - u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮 - } - /*根据距离实时计算所需pos*/ - if(c->pos){ - pitch_cfg ->go_release_pos= - CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos),3,4,&u->PitchContext.Curve); - } - else pitch_cfg ->go_release_pos=0 ; - Pitch_Process(u,out,c); - break ; - - case AUTO_MID360: - target->Shoot_M2006_angle =LaunchCfg ->m2006_init ; - - - - break ; - default: - break; - - } - + UP_AUTO_Control(u,out,c); break ; case PASS_BALL: -// if (u->PitchContext.Curve == CURVE_58) { -// target->Pitch_angle = 58; -// } else { -// target->Pitch_angle = 66; -// } Pass_Process(u,out,c); break; case RELAXED: // target->go_shoot= pitch_cfg . target->Pitch_angle = 58; - target->go_shoot = -210.0f; + target->go_shoot = -190.0f; // target->Pitch_angle = 58; @@ -385,14 +348,14 @@ int8_t Pass_Process(UP_t *u,CAN_Output_t *out,CMD_t *c) PassCfg_t *PassCfg = &u->PassContext.PassCfg; PassState_t *state = &u->PassContext.PassState; up_motor_target_t *target=&u->motor_target ; - LaunchContext_t *LaunchContext = &u->LaunchContext; + LaunchContext_t *LaunchContext = &u->LaunchContext; Pass_Sequence_Check(u,c); if(c->pos) // { PassCfg ->go_release_pos = - CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos),3,4,&u->PitchContext.Curve); + CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos),3,4,&u->PassContext.Curve); } switch (*state) { //遥控器按键进行状态切换 @@ -426,3 +389,42 @@ int8_t Pass_Process(UP_t *u,CAN_Output_t *out,CMD_t *c) return 0; } +int8_t UP_AUTO_Control(UP_t *u,CAN_Output_t *out,CMD_t *c){ + /*自动下数据更新,根据距离切换俯仰角,如需自动调整,放在*/ + up_motor_target_t *target=&u->motor_target ; + LaunchContext_t *LaunchContext = &u->LaunchContext; + MID360Context_t *MID360Context=&u->MID360Context; + MID360Cfg_t *MID360Cfg = &u->MID360Context.MID360Cfg; + MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos)+0.15,3.2,4.3,&u->MID360Context.Curve); + if (u->MID360Context.Curve == CURVE_58) { + target->Pitch_angle = 58; + } else { + target->Pitch_angle = 66; + } + + LaunchContext->LaunchCfg.go_up_speed=MID360Cfg->go_up_speed; + LaunchContext->LaunchCfg.go_down_speed=MID360Cfg->go_down_speed; + + + switch(c-> CMD_mode) + { + + case AUTO_MID360_Pitch: + if(MID360Context->IsLaunch==0){ + MID360Context->IsLaunch=1; + LaunchContext->LaunchState = Launch_PREPARE; + } + Pitch_Launch_Sequence(u,LaunchContext,u->motorfeedback.go_data.Pos,MID360Cfg->go_release_pos,out); + + break ; + + case AUTO_MID360: + target->Shoot_M2006_angle= LaunchContext->LaunchCfg.m2006_init; + MID360Context->IsLaunch=0; + break ; + default: + break; + + } + + } \ No newline at end of file diff --git a/User/Module/up.h b/User/Module/up.h index 599c0f8..d5c6fd9 100644 --- a/User/Module/up.h +++ b/User/Module/up.h @@ -51,6 +51,7 @@ typedef enum { }LaunchState_t; typedef struct { + LaunchCfg_t LaunchCfg; LaunchState_t LaunchState; } LaunchContext_t; @@ -60,8 +61,7 @@ typedef struct { typedef enum { PITCH_PREPARE, // 准备阶段 - PITCH_START, //启动,拉扳机 - + PITCH_START, //启动,拉扳机 PITCH_WAIT, // 发射等待 PITCH_COMPLETE // 完成 @@ -79,7 +79,6 @@ typedef struct { typedef struct { PitchState_t PitchState; PitchCfg_t PitchConfig; - CurveType Curve; //当前函数,雷达距离->pos uint8_t is_init ; } PitchContext_t; @@ -108,6 +107,26 @@ typedef struct { uint8_t is_init ; } PassContext_t; +/*雷达自动*/ + +typedef struct { + + fp32 go_release_pos; // GO电机发射位置 + fp32 go_up_speed; // GO电机上升速度 + fp32 go_down_speed; // GO电机下降速度 + +} MID360Cfg_t; + +typedef struct { + MID360Cfg_t MID360Cfg; + + CurveType Curve; //当前函数,雷达距离->pos + int IsLaunch; //是否在发射过程 +} MID360Context_t; + + + + typedef struct { BMI088_t bmi088; @@ -133,7 +152,7 @@ typedef struct LaunchCfg_t LaunchCfg; PitchCfg_t PitchCfg; PassCfg_t PassCfg; - + MID360Cfg_t MID360Cfg; GO_MotorCmd_t go_cmd; }UP_Param_t; @@ -175,7 +194,9 @@ typedef struct{ /*投篮过程*/ PitchContext_t PitchContext; /*传球过程*/ - PassContext_t PassContext; + PassContext_t PassContext; + /*自动过程*/ + MID360Context_t MID360Context; CMD_t *cmd; struct{ @@ -232,6 +253,7 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c); int8_t Pass_Sequence_Check(UP_t *u,CMD_t *c); int8_t Pass_Process(UP_t *u,CAN_Output_t *out,CMD_t *c); int8_t Pitch_Launch_Sequence(UP_t *u, LaunchContext_t *LaunchContext,fp32 StartPos,fp32 EndPos,CAN_Output_t *out); +int8_t UP_AUTO_Control(UP_t *u,CAN_Output_t *out,CMD_t *c); #endif diff --git a/User/Module/up_utils.c b/User/Module/up_utils.c index 9faeae8..b493bb4 100644 --- a/User/Module/up_utils.c +++ b/User/Module/up_utils.c @@ -62,25 +62,27 @@ int8_t GO_SendData( GO_MotorData_t *go_data,GO_MotorCmd_t *go_cmd,float pos, flo } -// 计算58度曲线 -static float curve_58(float d) { - return 0.448f * d * d + 24.8604f * d - 177.99552f; -} - -// 计算66度曲线 +// 计算66度曲线(偏上) +// 计算66度曲线(偏上) static float curve_66(float d) { - return 8.84935f * d * d - 10.5424f * d - 126.791f; + return 4.0310f * d * d + 8.9026f * d -139.5156; } +// 计算58度曲线(偏下) +// 计算58度曲线(偏下) +static float curve_58(float d) { + return -1.9776f * d * d + 42.8499f * d - 204.2442f; +} /* 曲线切换,用于距离和pos拟合 迟滞区x-y 曲线x重合区,根据当前函数和变化方向切换 */ +int abdddd=0; float CurveChange(float d, float x, float y, CurveType *cs) { - + if (d<3.2) abdddd++; if (*cs == CURVE_66) { if (d > y) { *cs = CURVE_58; diff --git a/User/device/nuc.c b/User/device/nuc.c index c093310..f7eb9f2 100644 --- a/User/device/nuc.c +++ b/User/device/nuc.c @@ -2,177 +2,181 @@ #include "crc16.h" #include #include "error_detect.h" -static volatile uint32_t drop_message = 0; +volatile uint32_t drop_message = 0; static osThreadId_t thread_alert; - uint8_t nucbuf[31]; - char SendBuffer[7]; +uint8_t nucbuf[25]; +char SendBuffer[7]; - -static void NUC_IdleCallback(void) { - osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY); - detect_hook(NUC_TOE); +static void NUC_CBLTCallback(void) +{ + osThreadFlagsSet(thread_alert, SIGNAL_NUC_RAW_REDY); + // detect_hook(NUC_TOE); } -int8_t NUC_Init(NUC_t *nuc){ - if(nuc == NULL) return DEVICE_ERR_NULL; - if((thread_alert = osThreadGetId()) == NULL ) return DEVICE_ERR_NULL; - BSP_UART_RegisterCallback(BSP_UART_NUC,BSP_UART_IDLE_LINE_CB, - NUC_IdleCallback); - - return DEVICE_OK; +static void NUC_ERRORCALLBACK(void) +{ + NUC_Restart(); + uint32_t error_code = HAL_UART_GetError(BSP_UART_GetHandle(BSP_UART_NUC)); + // osThreadFlagsSet(thread_alert, SIGNAL_NUC_ERROR); } -int8_t NUC_StartReceiving() { - if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_NUC), +int8_t NUC_Init(NUC_t *nuc) +{ + if (nuc == NULL) + return DEVICE_ERR_NULL; + if ((thread_alert = osThreadGetId()) == NULL) + return DEVICE_ERR_NULL; + BSP_UART_RegisterCallback(BSP_UART_NUC, BSP_UART_RX_CPLT_CB, + NUC_CBLTCallback); + BSP_UART_RegisterCallback(BSP_UART_NUC, BSP_UART_ERROR_CB, + NUC_ERRORCALLBACK); + return DEVICE_OK; +} +int8_t NUC_StartReceiving() +{ + if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_NUC), (uint8_t *)nucbuf, sizeof(nucbuf)) == HAL_OK) return DEVICE_OK; return DEVICE_ERR; } -int8_t NUC_StartSending(fp32 *data) { +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++) + union { - SendBuffer[i] = instance.data[i-2]; - } - SendBuffer[6] = 0xFD; //帧尾 + float x[1]; + char data[4]; + } instance; - if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_NUC), - (uint8_t *)SendBuffer, - sizeof(SendBuffer)) == HAL_OK) + // 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) { +int8_t NUC_Restart(void) +{ __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_NUC)); __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_NUC)); return DEVICE_OK; } -bool_t NUC_WaitDmaCplt(void) { - - return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,50) == +bool_t NUC_WaitDmaCplt(void) +{ + return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll, 20) == SIGNAL_NUC_RAW_REDY); } - -int8_t NUC_RawParse(CMD_NUC_t *n){ - if(n ==NULL) return DEVICE_ERR_NULL; - union - { - float x[5]; - char data[20]; - }instance; - if(nucbuf[0]!=HEAD) goto error; //发送ID不是底盘 - else{ - n->status_fromnuc =nucbuf[1]; - n->ctrl_status =nucbuf[2]; +int8_t NUC_RawParse(CMD_NUC_t *n) +{ + if (n == NULL) + return DEVICE_ERR_NULL; + union + { + float x[5]; + char data[20]; + } instance; + if (nucbuf[0] != HEAD) + goto error; // 发送ID不是底盘 + else + { + n->status_fromnuc = nucbuf[1]; + n->ctrl_status = nucbuf[2]; switch (n->status_fromnuc) { - case VISION://控制帧0x02 - /* 协议格式 - 0xFF HEAD - 0x02 控制帧 - 0x01 相机帧 - vx fp32 - vy fp32 - wz fp32 - 0xFE TAIL - */ + case VISION: // 控制帧0x02 + /* 协议格式 + 0xFF HEAD + 0x02 控制帧 + 0x01 相机帧 + vx fp32 + vy fp32 + wz fp32 + 0xFE TAIL + */ - - instance.data[3] = nucbuf[3]; - instance.data[2] = nucbuf[4]; - instance.data[1] = nucbuf[5]; - instance.data[0] = nucbuf[6]; - n->camera .data1 = instance.x[0]; // - instance.data[7] = nucbuf[7]; - instance.data[6] = nucbuf[8]; - instance.data[5] = nucbuf[9]; - instance.data[4] = nucbuf[10]; - n->camera .data2 = instance.x[1];// - instance.data[11] = nucbuf[11]; - instance.data[10] = nucbuf[12]; - instance.data[9] = nucbuf[13]; - instance.data[8] = nucbuf[14]; - n->camera .data3 = instance.x[2];// + instance.data[3] = nucbuf[3]; + instance.data[2] = nucbuf[4]; + instance.data[1] = nucbuf[5]; + instance.data[0] = nucbuf[6]; + n->camera.data1 = instance.x[0]; // + instance.data[7] = nucbuf[7]; + instance.data[6] = nucbuf[8]; + instance.data[5] = nucbuf[9]; + instance.data[4] = nucbuf[10]; + n->camera.data2 = instance.x[1]; // + instance.data[11] = nucbuf[11]; + instance.data[10] = nucbuf[12]; + instance.data[9] = nucbuf[13]; + instance.data[8] = nucbuf[14]; + n->camera.data3 = instance.x[2]; // break; - case MID ://控制帧0x08 - /* 协议格式 - 0xFF HEAD - 0x09 控制帧 - 0x01 相机帧 - vx fp32 - vy fp32 - wz fp32 - 0xFE TAIL - */ - if(nucbuf[24]!=TAIL)goto error; - instance.data[3] = nucbuf[6]; - instance.data[2] = nucbuf[5]; - instance.data[1] = nucbuf[4]; - instance.data[0] = nucbuf[3]; + case MID: // 控制帧0x08 + /* 协议格式 + 0xFF HEAD + 0x09 控制帧 + 0x01 相机帧 + vx fp32 + vy fp32 + wz fp32 + 0xFE TAIL + */ + if (nucbuf[24] != TAIL) + goto error; + instance.data[3] = nucbuf[6]; + instance.data[2] = nucbuf[5]; + instance.data[1] = nucbuf[4]; + instance.data[0] = nucbuf[3]; n->MID360.vx = instance.x[0]; // - instance.data[7] = nucbuf[10]; - instance.data[6] = nucbuf[9]; - instance.data[5] = nucbuf[8]; - instance.data[4] = nucbuf[7]; - n->MID360.vy = instance.x[1];// - instance.data[11] = nucbuf[14]; - instance.data[10] = nucbuf[13]; - instance.data[9] = nucbuf[12]; - instance.data[8] = nucbuf[11]; - n->MID360.wz = instance.x[2];// - instance.data[15] = nucbuf[18]; - instance.data[14] = nucbuf[17]; - instance.data[13] = nucbuf[16]; - instance.data[12] = nucbuf[15]; - n->MID360.pos = instance.x[3];// - instance.data[19] = nucbuf[22]; - instance.data[18] = nucbuf[21]; - instance.data[17] = nucbuf[20]; - instance.data[16] = nucbuf[19]; - n->MID360.angle = instance.x[4];// + instance.data[7] = nucbuf[10]; + instance.data[6] = nucbuf[9]; + instance.data[5] = nucbuf[8]; + instance.data[4] = nucbuf[7]; + n->MID360.vy = instance.x[1]; // + instance.data[11] = nucbuf[14]; + instance.data[10] = nucbuf[13]; + instance.data[9] = nucbuf[12]; + instance.data[8] = nucbuf[11]; + n->MID360.wz = instance.x[2]; // + instance.data[15] = nucbuf[18]; + instance.data[14] = nucbuf[17]; + instance.data[13] = nucbuf[16]; + instance.data[12] = nucbuf[15]; + n->MID360.pos = instance.x[3]; // + instance.data[19] = nucbuf[22]; + instance.data[18] = nucbuf[21]; + instance.data[17] = nucbuf[20]; + instance.data[16] = nucbuf[19]; + n->MID360.angle = instance.x[4]; // + + n->MID360.flag = nucbuf[23]; // - n->MID360.flag = nucbuf[23];// - - - - - - - - - break; - - } - return DEVICE_OK; + return DEVICE_OK; } - error: - drop_message++; - return DEVICE_ERR; +error: + drop_message++; + NUC_Restart(); + return DEVICE_ERR; } int8_t NUC_HandleOffline(CMD_NUC_t *cmd) { - if(cmd == NULL) return DEVICE_ERR_NULL; -// memset(cmd, 0, sizeof(*cmd)); - return 0; + if (cmd == NULL) + return DEVICE_ERR_NULL; + // memset(cmd, 0, sizeof(*cmd)); + return 0; } - - - diff --git a/User/device/nuc.h b/User/device/nuc.h index 3f7c0d1..fad848d 100644 --- a/User/device/nuc.h +++ b/User/device/nuc.h @@ -33,5 +33,7 @@ int8_t NUC_StartSending(fp32 *data) ; bool_t NUC_WaitDmaCplt(void); int8_t NUC_RawParse(CMD_NUC_t *n); int8_t NUC_HandleOffline(CMD_NUC_t *cmd); +int8_t NUC_Restart(void); + #endif diff --git a/User/task/nuc_task.c b/User/task/nuc_task.c index 3249396..29feee1 100644 --- a/User/task/nuc_task.c +++ b/User/task/nuc_task.c @@ -18,7 +18,7 @@ int a=0; void Task_nuc(void *argument){ (void)argument; /**/ -// osDelay(TASK_INIT_DELAY_NUC); + osDelay(TASK_INIT_DELAY_NUC); const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_NUC; NUC_Init(&nuc_raw); @@ -35,8 +35,8 @@ void Task_nuc(void *argument){ #endif a++; NUC_StartReceiving(); - NUC_StartSending(NUC_send.send); - NUC_StartSending (send); + // NUC_StartSending(NUC_send.send); + // NUC_StartSending (send); if (NUC_WaitDmaCplt()){ NUC_RawParse(&cmd_fromnuc); } diff --git a/User/task/user_task.h b/User/task/user_task.h index c24ab3b..81c836e 100644 --- a/User/task/user_task.h +++ b/User/task/user_task.h @@ -18,7 +18,7 @@ #define TASK_FREQ_UP (900u) #define TASK_FREQ_CTRL_CMD (500u) -#define TASK_FREQ_NUC (200u) +#define TASK_FREQ_NUC (500u) #define TASK_FREQ_CAN (1000u) #define TASK_FREQ_RC (1000u)