From 6913f1f34228d4bf67f2572513f2ed188e74128e Mon Sep 17 00:00:00 2001 From: ZHAISHUI04 <3150778793@qq.com> Date: Sat, 21 Jun 2025 15:53:18 +0800 Subject: [PATCH] =?UTF-8?q?sick=E6=94=B9can2=E7=AD=89?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/.vscode/keil-assistant.log | 4 ++ MDK-ARM/R2.uvoptx | 90 +++++++++++++++++++++++++++-- MDK-ARM/R2.uvprojx | 10 ++-- MDK-ARM/R2/R2.axf | Bin 2851340 -> 2850364 bytes User/Module/Chassis.c | 56 ++++++++++++++---- User/Module/Chassis.h | 1 + User/Module/config.c | 2 +- User/device/can_use.c | 8 +-- User/device/cmd.c | 10 ++-- User/device/device.h | 3 +- User/device/nuc.c | 2 +- User/device/rc.c | 26 ++++----- User/device/rc.h | 12 ++-- User/task/rc_task.c | 29 +++++++--- User/task/user_task.h | 1 - 15 files changed, 196 insertions(+), 58 deletions(-) diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index 4555934..19d8611 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -463,3 +463,7 @@ [info] Log at : 2025/6/14|15:14:16|GMT+0800 +[info] Log at : 2025/6/16|23:35:32|GMT+0800 + +[info] Log at : 2025/6/18|17:47:04|GMT+0800 + diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx index b1b816f..8aacd56 100644 --- a/MDK-ARM/R2.uvoptx +++ b/MDK-ARM/R2.uvoptx @@ -175,6 +175,86 @@ 1 NUC_send,0x0A + + 4 + 1 + pid,0x0A + + + 5 + 1 + pid_param,0x0A + + + 6 + 1 + cmd_rc,0x0A + + + 7 + 1 + cbuf,0x10 + + + 8 + 1 + cmd + + + 9 + 1 + rc_ctrl,0x0A + + + 10 + 1 + valid_check,0x0A + + + 11 + 1 + nuc_raw,0x0A + + + 12 + 1 + cmd_fromnuc,0x0A + + + 13 + 1 + nucbuf,0x0A + + + 14 + 1 + LD_raw,0x0A + + + 15 + 1 + aeeaa,0x0A + + + 16 + 1 + aaaaaaaaaaaa,0x0A + + + 17 + 1 + valid_check,0x0A + + + 18 + 1 + aaaaaaaaaaaaaaaaaaaaaaaaaa,0x0A + + + 19 + 1 + aaaaaaaaaaaaaaaaaaa,0x0A + 0 @@ -182,7 +262,7 @@ 0 1 - 1 + 0 0 0 0 @@ -1181,8 +1261,8 @@ 0 0 0 - ..\User\Algorithm\kalman.c - kalman.c + 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JKLPo#{{yAU+u;BJ diff --git a/User/Module/Chassis.c b/User/Module/Chassis.c index 1924905..529a6e1 100644 --- a/User/Module/Chassis.c +++ b/User/Module/Chassis.c @@ -62,22 +62,24 @@ int8_t Chassis_init(Chassis_t *c, const Chassis_Param_t *param, float target_fre fp32 gyro_kp = 1.0f; fp32 PIAN = 0; - +fp32 pian_yaw; 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 + c->hopemotorout.OmniSpeedOut[0] = -Nor_Vx + Nor_Vy + Vw+pian_yaw; // 右前 + c->hopemotorout.OmniSpeedOut[1] = -Nor_Vx - Nor_Vy + Vw+pian_yaw; // 右后 + c->hopemotorout.OmniSpeedOut[2] = Nor_Vx - Nor_Vy + Vw +pian_yaw; // 左后 + c->hopemotorout.OmniSpeedOut[3] = Nor_Vx + Nor_Vy + Vw +pian_yaw; // 左前 + + Chassis_AngleCompensate(c); + } 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); @@ -92,12 +94,14 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { case RCcontrol: 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; + c->move_vec.Vw = ctrl->Vw * 8000; + c->move_vec.Vx = ctrl->Vy * 8000; + c->move_vec.Vy = ctrl->Vx * 8000; break; case Pitch: - + c->move_vec.Vw = ctrl->Vw * 6000; + c->move_vec.Vx = ctrl->Vy * 6000; + c->move_vec.Vy = ctrl->Vx * 6000; break; case UP_Adjust: c->move_vec.Vw = ctrl->Vw * 6000; @@ -159,6 +163,7 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { } c->vofa_send[0] = (fp32)c->sick_cali.sick_dis[1] - c->sick_cali.sick_dis[2]; + return CHASSIS_OK; @@ -214,5 +219,36 @@ int8_t sick_calibration(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) } +pid_type_def pid; +pid_param_t pid_param={ + .p = 10.0f, + .i = 0.00f, + .d = 0.00f, + .i_limit = 2000.0f, + .out_limit =5000.0f, +}; + fp32 cur_angle,pian_angel; +int8_t Chassis_AngleCompensate(Chassis_t *c) +{ + if (c == NULL) return CHASSIS_ERR_NULL; +// int is_in;//是否初始化 +// if(is_in==0){ + PID_init(&pid,PID_POSITION,&pid_param); +// is_in=1; +// } + + + + if((c->move_vec.Vx || c->move_vec.Vy) && (c->move_vec.Vw== 0)) + { + pian_angel=cur_angle-AngleChange(DEGREE,c->pos088.imu_eulr.yaw); + } + + else { + cur_angle=AngleChange(DEGREE,c->pos088.imu_eulr.yaw); + pian_angel=0; + } + pian_yaw = PID_calc(&pid,pian_angel,0); +} diff --git a/User/Module/Chassis.h b/User/Module/Chassis.h index dd09723..e2e2e4a 100644 --- a/User/Module/Chassis.h +++ b/User/Module/Chassis.h @@ -189,6 +189,7 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out); int8_t sick_calibration(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) ; +int8_t Chassis_AngleCompensate(Chassis_t *c) ; #endif diff --git a/User/Module/config.c b/User/Module/config.c index 134e59f..54bbfa0 100644 --- a/User/Module/config.c +++ b/User/Module/config.c @@ -110,7 +110,7 @@ static const ConfigParam_t param ={ }, /*投球*/ .PitchCfg = { - .m2006_init =-100, //释放的角度 + .m2006_init =-150, //释放的角度 .m2006_trig =0, //可以拉住发射的角度 .go_init = -50, //仅用在go上电,初始位置 .go_pull_pos =-210, diff --git a/User/device/can_use.c b/User/device/can_use.c index 0f2730c..eb86332 100644 --- a/User/device/can_use.c +++ b/User/device/can_use.c @@ -374,9 +374,7 @@ int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx) { CAN_DJIMotor_Decode(&(can->motor.chassis_motor3508.as_array[index]), can_rx->rx_data); detect_hook(CHASSIS3508M1_TOE + index); break; - case CAN_SICK_ID: - CAN_Sick_Receive(&(can->sickfed), can_rx->rx_data); - break; + default: break; @@ -407,7 +405,9 @@ int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx) { CAN_DJIMotor_Decode(&(can->motor.up_shoot_motor3508.as_array[index]), can_rx->rx_data); break; - + case CAN_SICK_ID: + CAN_Sick_Receive(&(can->sickfed), can_rx->rx_data); + break; case CAN_Encoder_ID: CAN_Encoder_Decode(&(can->Oid),can_rx->rx_data); can->recive_flag |= 1 << 10; diff --git a/User/device/cmd.c b/User/device/cmd.c index f5fa1bf..7b9d47c 100644 --- a/User/device/cmd.c +++ b/User/device/cmd.c @@ -146,18 +146,20 @@ int8_t CMD_DR16(CMD_t *cmd,const CMD_RC_t *rc) { if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode =Normal; //左上,右中,无模式 - if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Normal; //左上,右上,手动调整 + if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Chassis_Adjust; //左上,右上,手动调整 + + if(rc->dr16.res > 3000) cmd ->CMD_mode =UP_Adjust; } else if(rc->dr16.sw_l==CMD_SW_MID) { cmd ->CMD_CtrlType =AUTO; - if(rc->dr16.sw_r ==CMD_SW_UP) cmd ->CMD_mode =AUTO_MID360; //左中,右中,雷达 + if(rc->dr16.sw_r ==CMD_SW_UP) cmd ->CMD_mode =AUTO_MID360_Pitch; //左中,右中,雷达 - if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode =Normal; //左中,右中,无模式 + 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 =AUTO_MID360_Pitch; //左中,右下,视觉 + if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Normal; //左中,右下,视觉 } else if(rc->dr16.sw_l==CMD_SW_DOWN) diff --git a/User/device/device.h b/User/device/device.h index 86a547a..897ba4f 100644 --- a/User/device/device.h +++ b/User/device/device.h @@ -28,8 +28,7 @@ extern "C" { #define SIGNAL_IST8310_MAGN_RAW_REDY (1u << 9) #define SIGNAL_ACTION_RAW_REDY (1u << 10) #define SIGNAL_OPSTIMER_REDY (1u << 11) -#define SIGNAL_R12DS_BUF1_REDY (1u << 12) -#define SIGNAL_DR16_RAW_REDY (1u <<13) +#define SIGNAL_RC_RAW_REDY (1u <<13) #define SIGNAL_AI_RAW_REDY (1u << 15) #define SIGNAL_KEY_REDY (1u << 16) diff --git a/User/device/nuc.c b/User/device/nuc.c index e309f3f..a1c723f 100644 --- a/User/device/nuc.c +++ b/User/device/nuc.c @@ -6,7 +6,7 @@ static volatile uint32_t drop_message = 0; static osThreadId_t thread_alert; -static uint8_t nucbuf[31]; + uint8_t nucbuf[31]; static char SendBuffer[19]; diff --git a/User/device/rc.c b/User/device/rc.c index bebd452..84c5658 100644 --- a/User/device/rc.c +++ b/User/device/rc.c @@ -12,8 +12,8 @@ #include "error_detect.h" -//#define DR16 -#define LD_t +#define DR16 +//#define LD_t #ifdef DR16 #define FRAME_LEN 36 @@ -38,14 +38,14 @@ int8_t RC_SBUS_Init(void ) if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; BSP_UART_RegisterCallback(BSP_UART_REMOTE, BSP_UART_IDLE_LINE_CB, - RC_SBUS_RxCpltCallback); + RC_RxCpltCallback); memset(cbuf, 0, sizeof(cbuf));//初始化清空数据包 return DEVICE_OK; } -static void RC_SBUS_RxCpltCallback(void) { - osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY); +static void RC_RxCpltCallback(void) { + osThreadFlagsSet(thread_alert, SIGNAL_RC_RAW_REDY); // detect_hook(DR16_TOE); } int8_t RC_SBUS_Restart(void) { @@ -53,7 +53,7 @@ int8_t RC_SBUS_Restart(void) { __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_REMOTE)); return DEVICE_OK; } -int8_t RC_SBUS_StartDmaRecv(void) { +int8_t RC_StartDmaRecv(void) { if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_REMOTE), (uint8_t *)cbuf, @@ -61,9 +61,9 @@ int8_t RC_SBUS_StartDmaRecv(void) { return DEVICE_OK; return DEVICE_ERR; } -bool RC_SBUS_WaitDmaCplt(uint32_t timeout) { - return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) == - SIGNAL_DR16_RAW_REDY); +bool RC_WaitDmaCplt(uint32_t timeout) { + return (osThreadFlagsWait(SIGNAL_RC_RAW_REDY, osFlagsWaitAll, timeout) == + SIGNAL_RC_RAW_REDY); } /*乐迪数据解析 */ int8_t LD_ParseRaw( LD_raw_t *raw, LD_Data_t *LD) @@ -197,7 +197,7 @@ int8_t DR16_ParseRaw(DR16_t *dr16) dr16->data.ch_l_y = ((cbuf[4] >>1) | (cbuf[5] <<7)); dr16->data.sw_r = ((cbuf[5] >>4)); dr16->data.sw_l = ((cbuf[5] >> 4) & 0x000C) >> 2; - + dr16->data.res= (fp32)((cbuf[16]|cbuf[17] << 8)); return 1; } int8_t RC_ParseRC( DR16_t *dr16,LD_raw_t *LD_raw, LD_Data_t *LD, CMD_RC_t *rc) { @@ -220,11 +220,11 @@ int8_t RC_ParseRC( DR16_t *dr16,LD_raw_t *LD_raw, LD_Data_t *LD, CMD_RC_t *rc) { rc->dr16.ch_l_x = 2 * ((float)dr16->data.ch_l_x - RC_CH_VALUE_MID) / full_range; rc->dr16.ch_l_y = 2 * ((float)dr16->data.ch_l_y - RC_CH_VALUE_MID) / full_range; - rc->dr16.sw_l = (CMD_SwitchPos_DR16_t)dr16->data.sw_l; - rc->dr16.sw_r = (CMD_SwitchPos_DR16_t)dr16->data.sw_r; + rc->dr16.sw_l = (CMD_SwitchPos_t)dr16->data.sw_l; + rc->dr16.sw_r = (CMD_SwitchPos_t)dr16->data.sw_r; rc->dr16.key = dr16->data.key; - + rc->dr16.res = ((float)dr16->data.res - RC_CH_VALUE_MID) ; // rc->ch_res = ((float)dr16->data.res - DR16_CH_VALUE_MID) / full_range; diff --git a/User/device/rc.h b/User/device/rc.h index e21aaa5..86adf4b 100644 --- a/User/device/rc.h +++ b/User/device/rc.h @@ -11,6 +11,10 @@ /* Exported constants ------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */ /* Exported types ----------------------------------------------------------- */ + + + + typedef __packed struct { uint16_t ch_r_x : 11; @@ -69,10 +73,10 @@ typedef __packed struct int8_t RC_SBUS_Init(void ); -static void RC_SBUS_RxCpltCallback(void) ; -int8_t RC_SBUS_Restart(void) ; -int8_t RC_SBUS_StartDmaRecv(void) ; -bool RC_SBUS_WaitDmaCplt(uint32_t timeout) ; +static void RC_RxCpltCallback(void) ; +int8_t RC_Restart(void) ; +int8_t RC_StartDmaRecv(void) ; +bool RC_WaitDmaCplt(uint32_t timeout) ; int8_t LD_ParseRaw( LD_raw_t *raw, LD_Data_t *LD); static bool DR16_DataCorrupted(const DR16_t *dr16) ; int8_t DR16_ParseRaw(DR16_t *dr16); diff --git a/User/task/rc_task.c b/User/task/rc_task.c index b34b109..15586ef 100644 --- a/User/task/rc_task.c +++ b/User/task/rc_task.c @@ -20,7 +20,9 @@ LD_Data_t LD; #else static DR16_t dr16; static CMD_RC_t cmd_rc; - static RC_ctrl_t cc; +static LD_raw_t LD_raw; +static LD_Data_t LD; + #endif @@ -31,10 +33,12 @@ static CMD_RC_t cmd_rc; * \brief dr16接收机 * * \param argument 未使用 - */ + */int aaaaaaaaaaaaaaaaaaa=0; void Task_rc(void *argument) { (void)argument; /* 未使用,消除警告 */ + const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_RC; + uint32_t tick = osKernelGetTickCount(); RC_SBUS_Init(); /* 初始化 */ while (1) { @@ -43,17 +47,26 @@ void Task_rc(void *argument) { task_runtime.stack_water_mark.rc = osThreadGetStackSpace(osThreadGetId()); #endif /* 开启DMA */ - RC_SBUS_StartDmaRecv(); - - if (RC_SBUS_WaitDmaCplt(30)) { + RC_StartDmaRecv(); +aaaaaaaaaaaaaaaaaaa++; + if (RC_WaitDmaCplt(30)) { RC_ParseRC(&dr16,&LD_raw,&LD, &cmd_rc); } else { - /* 处理dr16遥控器离线 ,乐迪不可用*/ - DR16_HandleOffline(&dr16, &cmd_rc); - LD_HandleOffline(&LD,&cmd_rc); + /* 处理遥控器离线*/ + + + + DR16_HandleOffline(&dr16, &cmd_rc); + LD_HandleOffline(&LD,&cmd_rc); + + + } osMessageQueueReset(task_runtime.msgq.cmd.raw.rc); osMessageQueuePut(task_runtime.msgq.cmd.raw.rc, &cmd_rc, 0, 0); + tick += delay_tick; + osDelayUntil(tick); + } } diff --git a/User/task/user_task.h b/User/task/user_task.h index 958b2c3..81c836e 100644 --- a/User/task/user_task.h +++ b/User/task/user_task.h @@ -20,7 +20,6 @@ #define TASK_FREQ_CTRL_CMD (500u) #define TASK_FREQ_NUC (500u) #define TASK_FREQ_CAN (1000u) -#define TASK_FREQ_R12DS (1000u) #define TASK_FREQ_RC (1000u) #define TASK_FREQ_ERROR_DTC (3u)