diff --git a/MDK-ARM/.vscode/c_cpp_properties.json b/MDK-ARM/.vscode/c_cpp_properties.json index fb4b89f..1efa7c0 100644 --- a/MDK-ARM/.vscode/c_cpp_properties.json +++ b/MDK-ARM/.vscode/c_cpp_properties.json @@ -415,6 +415,114 @@ "__vfp_status(x,y)=0" ], "intelliSenseMode": "${default}" + }, + { + "name": "R2", + "includePath": [ + "d:\\Desktop\\r2\\R2_NEW\\R2\\Core\\Inc", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Drivers\\STM32F4xx_HAL_Driver\\Inc", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Drivers\\CMSIS\\Include", + "d:\\Desktop\\r2\\R2_NEW\\R2\\User", + "d:\\Desktop\\r2\\R2_NEW\\R2\\User\\bsp", + "d:\\Desktop\\r2\\R2_NEW\\R2\\User\\device", + "d:\\Desktop\\r2\\R2_NEW\\R2\\User\\task", + "d:\\Desktop\\r2\\R2_NEW\\R2\\User\\Algorithm", + "d:\\Desktop\\r2\\R2_NEW\\R2\\User\\Module", + "d:\\Desktop\\r2\\R2_NEW\\R2\\MDK-ARM", + "d:\\Desktop\\r2\\R2_NEW\\R2\\USB_DEVICE\\App", + "d:\\Desktop\\r2\\R2_NEW\\R2\\USB_DEVICE\\Target", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\ST\\STM32_USB_Device_Library\\Core\\Inc", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\ST\\STM32_USB_Device_Library\\Class\\CDC\\Inc", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Drivers\\CMSIS\\Lib\\ARM", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Core\\Src", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Drivers\\STM32F4xx_HAL_Driver\\Src", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\Third_Party\\FreeRTOS\\Source", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\ST\\STM32_USB_Device_Library\\Core\\Src", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\ST\\STM32_USB_Device_Library\\Class\\CDC\\Src" + ], + "defines": [ + "USE_HAL_DRIVER", + "STM32F407xx", + "__CC_ARM", + "__arm__", + "__align(x)=", + "__ALIGNOF__(x)=", + "__alignof__(x)=", + "__asm(x)=", + "__forceinline=", + "__restrict=", + "__global_reg(n)=", + "__inline=", + "__int64=long long", + "__INTADDR__(expr)=0", + "__irq=", + "__packed=", + "__pure=", + "__smc(n)=", + "__svc(n)=", + "__svc_indirect(n)=", + "__svc_indirect_r7(n)=", + "__value_in_regs=", + "__weak=", + "__writeonly=", + "__declspec(x)=", + "__attribute__(x)=", + "__nonnull__(x)=", + "__register=", + "__breakpoint(x)=", + "__cdp(x,y,z)=", + "__clrex()=", + "__clz(x)=0U", + "__current_pc()=0U", + "__current_sp()=0U", + "__disable_fiq()=", + "__disable_irq()=", + "__dmb(x)=", + "__dsb(x)=", + "__enable_fiq()=", + "__enable_irq()=", + "__fabs(x)=0.0", + "__fabsf(x)=0.0f", + "__force_loads()=", + "__force_stores()=", + "__isb(x)=", + "__ldrex(x)=0U", + "__ldrexd(x)=0U", + "__ldrt(x)=0U", + "__memory_changed()=", + "__nop()=", + "__pld(...)=", + "__pli(...)=", + "__qadd(x,y)=0", + "__qdbl(x)=0", + "__qsub(x,y)=0", + "__rbit(x)=0U", + "__rev(x)=0U", + "__return_address()=0U", + "__ror(x,y)=0U", + "__schedule_barrier()=", + "__semihost(x,y)=0", + "__sev()=", + "__sqrt(x)=0.0", + "__sqrtf(x)=0.0f", + "__ssat(x,y)=0", + "__strex(x,y)=0U", + "__strexd(x,y)=0", + "__strt(x,y)=", + "__swp(x,y)=0U", + "__usat(x,y)=0U", + "__wfe()=", + "__wfi()=", + "__yield()=", + "__vfp_status(x,y)=0" + ], + "intelliSenseMode": "${default}" } ], "version": 4 diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index fa42cdc..2caa556 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -451,3 +451,11 @@ [info] Log at : 2025/3/28|21:46:16|GMT+0800 +[info] Log at : 2025/6/6|21:51:18|GMT+0800 + +[info] Log at : 2025/6/7|17:45:08|GMT+0800 + +[info] Log at : 2025/6/7|21:03:23|GMT+0800 + +[info] Log at : 2025/6/12|16:54:50|GMT+0800 + diff --git a/MDK-ARM/.vscode/settings.json b/MDK-ARM/.vscode/settings.json index e9743cc..681d6c0 100644 --- a/MDK-ARM/.vscode/settings.json +++ b/MDK-ARM/.vscode/settings.json @@ -96,6 +96,7 @@ "limits": "c", "gimbal_task.h": "c", "gimgal.h": "c", - "navi.h": "c" + "navi.h": "c", + "up.h": "c" } } \ No newline at end of file diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx index 440962d..403d151 100644 --- a/MDK-ARM/R2.uvoptx +++ b/MDK-ARM/R2.uvoptx @@ -158,197 +158,102 @@ 0 1 - rc_ctrl,0x0A + Nor_Vx 1 1 - LD_raw,0x0A + Nor_Vy 2 1 - can,0x0A + count,0x0A 3 1 - UP,0x0A + count 4 1 - cmd_rc,0x0A + pid 5 1 - chassis + BMI088_t 6 1 - nuc_raw,0x0A + up,0x0A 7 1 - nucbuf + low,0x0A 8 1 - cmd_fromnuc + UP,0x0A 9 1 - up_cmd,0x0A + send,0x0A 10 1 - can_out + cmd,0x0A 11 1 - Nor_Vx + rc_ctrl,0x0A 12 1 - Nor_Vy + a,0x0A 13 1 - b + delay_aa,0x0A 14 1 - count,0x0A + aaaaaaaaaaa,0x0A 15 1 - count + task_runtime,0x0A 16 1 - raw_rx1,0x0A + last_tick,0x0A 17 1 - gyro_kp,0x0A + chassis,0x0A 18 1 - nucbuf,0x0A + can,0x0A 19 1 - vofa_send,0x0A - - - 20 - 1 - SendBuffer,0x10 - - - 21 - 1 - NUC_StartSending,0x0A - - - 22 - 1 - PIAN - - - 23 - 1 - pid - - - 24 - 1 - bmi088 - - - 25 - 1 - ist8310 - - - 26 - 1 - imu_eulr,0x0A - - - 27 - 1 - imu_temp,0x0A - - - 28 - 1 - htim10,0x0A - - - 29 - 1 - pulse - - - 30 - 1 - imu_temp - - - 31 - 1 - cmd - - - 32 - 1 - NUC_send - - - 33 - 1 - BMI088_t - - - 34 - 1 - bmi088 - - - 35 - 1 - up,0x0A - - - 36 - 1 - low,0x0A - - - 37 - 1 - NUC_send - - - 38 - 1 - cmd_fromnuc + can_rx,0x0A diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf index f383ca8..07eaeff 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 a49c187..75040b9 100644 --- a/User/Module/Chassis.c +++ b/User/Module/Chassis.c @@ -190,40 +190,48 @@ c->NUC_send .send [1]=1; /* -sick0,左1 +sick0,下 sick1,左2 -sick2,下1 +sick2,左1 */ -//int8_t sick_calibration(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) -//{ -//// int32_t x_set; -//// int32_t y_set; -// if (c == NULL) return CHASSIS_ERR_NULL; -// if (ctrl == NULL) return CHASSIS_ERR_NULL; -// -// //yaw修正 -// if(fabs((fp32)c->sick_cali .sick_dis [0]-c->sick_cali .sick_dis [1])>(fp32)c->sick_cali .sickparam.w_error){ -// c->move_vec .Vw = PID_calc(&(c->pid .chassis_SickVxPID ),c->sick_cali .sick_dis [0],c->sick_cali .sick_dis [1]); -// } +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; -// else { //大于误差 -// if(fabs((fp32)c->sick_cali .sick_dis[0]-c->sick_cali .sick_dis[1])>c->sick_cali .sickparam .xy_error) -// {//xy修正 -// c->move_vec .Vx =PID_calc (&(c->pid .chassis_SickVxPID ),c->sick_cali .sick_dis [0], c->sick_cali .sickparam.x_set); -// c->move_vec .Vy =PID_calc (&(c->pid .chassis_SickVyPID),c->sick_cali .sick_dis [2], c->sick_cali .sickparam.y_set); -// } -// else {//修正OK后，给nuc返回值 -// -// -// } -// -// -// } -// -//} + + fp32 sick0 = c->sick_cali.sick_dis[0]; + fp32 sick1 = c->sick_cali.sick_dis[1]; + fp32 sick2 = c->sick_cali.sick_dis[2]; + const sickparam_t *param = &c->sick_cali.sickparam; + + fp32 diff = fabsf(sick0 - sick1); + + // 1. yaw修正 + if (diff > param->w_error) { + c->move_vec.Vw = PID_calc(&(c->pid.chassis_SickVxPID), diff, 0); + c->move_vec.Vx = 0; + c->move_vec.Vy = 0; + } + // 2. xy修正 + else if (diff > param->xy_error) { + c->move_vec.Vw = 0; + c->move_vec.Vx = PID_calc(&(c->pid.chassis_SickVxPID), sick0, param->x_set); + c->move_vec.Vy = PID_calc(&(c->pid.chassis_SickVyPID), sick2, param->y_set); + } + // 3. 修正完成 + else { + c->move_vec.Vw = 0; + c->move_vec.Vx = 0; + c->move_vec.Vy = 0; + + } + + return CHASSIS_OK; +} diff --git a/User/Module/config.c b/User/Module/config.c index 9753e55..0de4e36 100644 --- a/User/Module/config.c +++ b/User/Module/config.c @@ -95,13 +95,13 @@ static const ConfigParam_t param ={ /*上层其他参数*/ /*运球*/ - .DribbleConfig_Config = { + .DribbleCfg = { .dribble_flag=0, - .m3508_init_angle = -5, + .m3508_init_ang = -5, .m3508_translate_angle = 1000, - .m3508_dribble_Reverse_speed=-3500, - .m3508_dribble_speed= 4000, // 转动速度 - .m3508_dribble_init_speed=0, + .rev_spd=-1500, + .spd= 4000, // 转动速度 + .init_spd=0, .light_3508_flag=0,//3508平移处的光电，0初始，1到位置 .light_ball_flag=0,//检测球的flag @@ -109,21 +109,17 @@ static const ConfigParam_t param ={ }, /*投球*/ - .PitchConfig_Config = { - .m2006_init_angle =-100, - .m2006_trigger_angle =0, - .go1_init_position = -50, - .go1_Receive_ball = -5, //偏下 - .go1_release_threshold =-210, - .m2006_Screw_init=0, + .PitchCfg = { + .m2006_init =-100, //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, .Pitch_angle =58, .pull_speed =5, - }, - - + }, .chassis = {/**/ @@ -172,8 +168,8 @@ static const ConfigParam_t param ={ .out_limit =0.0f, }, .sickparam={ - .w_error=1000, - .xy_error=1000, + .w_error=5000, + .xy_error=5000, .x_set=1000, .y_set=1000, diff --git a/User/Module/up.c b/User/Module/up.c index 27c43cc..54d8964 100644 --- a/User/Module/up.c +++ b/User/Module/up.c @@ -53,17 +53,17 @@ int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq) // 初始化上层状态机 - if (!u->DribbleContext .is_initialized) { //检查是否为第一次运行状态机，运球 - u->DribbleContext .DribbleConfig = u->param ->DribbleConfig_Config ;//赋值 - u->DribbleContext .DribbleState = DRIBBLE_PREPARE; - u->DribbleContext .is_initialized = 1; + if (!u->DribbleCont .is_init) { //检查是否为第一次运行状态机，运球 + u->DribbleCont .DribbleConfig = u->param ->DribbleCfg ;//赋值 + u->DribbleCont .DribbleState = DRIBBLE_PREPARE; + u->DribbleCont .is_init = 1; } - if (!u->PitchContext .is_initialized) { - u->PitchContext .PitchConfig = u->param ->PitchConfig_Config ;//赋值 - u->PitchContext .PitchState = PITCH_PREPARE; //状态更新,开始夹球 - u->PitchContext .is_initialized = 1; + if (!u->Pitch_Cfg .is_init) { + u->Pitch_Cfg .PitchConfig = u->param ->PitchCfg ;//赋值 + u->Pitch_Cfg .PitchState = PITCH_PREPARE; //状态更新,开始夹球 + u->Pitch_Cfg .is_init = 1; } BSP_UART_RegisterCallback(BSP_UART_RS485, BSP_UART_RX_CPLT_CB, USART6_RxCompleteCallback);//注册串口回调函数，bsp层 @@ -96,8 +96,8 @@ int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can, CMD_t *c) { u->cmd =c; /*光电状态更新*/ - u->DribbleContext .DribbleConfig .light_ball_flag =HAL_GPIO_ReadPin(LIGHT_C_GPIO_Port ,LIGHT_C_Pin); - u->DribbleContext .DribbleConfig .light_3508_flag =HAL_GPIO_ReadPin(LIGHT_B_GPIO_Port ,LIGHT_B_Pin); + u->DribbleCont .DribbleConfig .light_ball_flag =HAL_GPIO_ReadPin(LIGHT_C_GPIO_Port ,LIGHT_C_Pin); + u->DribbleCont .DribbleConfig .light_3508_flag =HAL_GPIO_ReadPin(LIGHT_B_GPIO_Port ,LIGHT_B_Pin); return 0; @@ -168,17 +168,8 @@ int8_t GO_SendData(UP_t *u, float pos, float limit) static int is_calibration=0; static fp32 error=0; //误差量 -// GO_MotorData_t *GO_calibration;//校准前，原始数据 u->motorfeedback .go_data = get_GO_measure_point() ; -// if(is_calibration==0) -// { -// is_calibration=HAL_GPIO_ReadPin (GPIOE ,GPIO_PIN_9 ); -// u->go_cmd.Pos = -50; //上电之后跑 -// error= GO_calibration->Pos ; -// } -// u->motorfeedback .go_data = GO_calibration; -// u->motorfeedback .go_data ->Pos= error ; -// u->go_cmd.Pos = pos; + // 读取参数 float tff = u->go_cmd.T; // 前馈力矩 @@ -214,7 +205,7 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out) DJ_Speed_Control(u,0x201,&u->motorfeedback .DJmotor_feedback[0] ,&u->pid .Dribble_M3508_speed[0],u->motor_target .Dribble_M3508_speed[0]); DJ_Speed_Control(u,0x202,&u->motorfeedback .DJmotor_feedback[1] ,&u->pid .Dribble_M3508_speed[1],u->motor_target .Dribble_M3508_speed[1]); DJ_Speed_Control(u,0x203,&u->motorfeedback .DJmotor_feedback[2] ,&u->pid .Dribble_M3508_speed[2],u->motor_target .Dribble_M3508_speed[2]); - DJ_Angle_Control(u,0x204,&u->motorfeedback .DJmotor_feedback[3] , + DJ_Angle_Control(u,0x204,&u->motorfeedback .DJmotor_feedback[3] , &u->pid .Dribble_translate_M3508_angle , &u->pid .Dribble_translate_M3508_speed , u->motor_target .Dribble_translate_M3508_angle ); @@ -233,7 +224,7 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out) GO_SendData(u, u->motor_target .go_shoot, - u->PitchContext .PitchConfig .pull_speed );//对应的拉动速度 + u->Pitch_Cfg .PitchConfig .pull_speed );//对应的拉动速度 for(int i=0;i<4;i++){ @@ -251,18 +242,23 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out) } -int a=0; -int b=0; - int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) { if(u ==NULL) return 0; + if(out ==NULL) return 0; + if(c ==NULL) return 0; + + /*指针简化*/ + PitchCfg_t *pitch_cfg = &u->Pitch_Cfg.PitchConfig; + DribbleCfg_t *DribbleCont = &u->DribbleCont.DribbleConfig; + + up_motor_target_t *target=&u->motor_target ; static int is_pitch=1; /*config值限位*/ - abs_limit_min_max_fp(&u->PitchContext.PitchConfig.go1_Receive_ball ,-208.0f,2.0f); + abs_limit_min_max_fp(&u->Pitch_Cfg.PitchConfig.go_release_pos ,-208.0f,2.0f); switch (c->CMD_CtrlType ) @@ -275,53 +271,49 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) case Normal : /*投篮*/ if(is_pitch){ - u->motor_target .go_shoot =u->PitchContext .PitchConfig .go1_init_position ; - u->motor_target .Shoot_Pitch_angle=u->PitchContext.PitchConfig.Pitch_angle; + target->go_shoot =pitch_cfg->go_init ; + target->Shoot_Pitch_angle=pitch_cfg->Pitch_angle; is_pitch=0; } //让初始go位置只读一次，后面按调整模式更改的来,后面稳定了之后，可以跟随调整模式下一块删 - u->motor_target .Shoot_M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ; - u->PitchContext .PitchState = PITCH_PREPARE; //状态更新,开始夹球 + target->Shoot_M2006_angle =u->Pitch_Cfg .PitchConfig .m2006_init ; + u->Pitch_Cfg .PitchState = PITCH_PREPARE; //状态更新,开始夹球 /*运球*/ RELAY1_TOGGLE(0);//关闭气缸 for(int i=0;i<3;i++){ - u->motor_target.Dribble_M3508_speed[i]=0; + target->Dribble_M3508_speed[i]=0; } - u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig .m3508_translate_angle; - u->DribbleContext .DribbleState = DRIBBLE_PREPARE; //重置最初状态 + target->Dribble_translate_M3508_angle =u->DribbleCont .DribbleConfig .m3508_translate_angle; + u->DribbleCont .DribbleState = DRIBBLE_PREPARE; //重置最初状态 break; case Pitch : -// if (u->PitchContext .PitchState ==PITCH_PREPARE) -// { -// u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮 -// } - -// Pitch_Process(u,out); - if (u->PitchContext .PitchState ==PITCH_PREPARE) + if (u->Pitch_Cfg .PitchState ==PITCH_PREPARE) { - u->CoContext .CoState =CoTRANSLATE_OUT; - } - Co_Process(u,out); + u->Pitch_Cfg .PitchState=PITCH_START;//置标志位用于启动投篮 + } + + Pitch_Process(u,out); + break ; case UP_Adjust: //测试用 - u->PitchContext .PitchConfig .pull_speed=5; - u->PitchContext.PitchConfig.go1_Receive_ball += c->Vx ; - u->PitchContext.PitchConfig.Pitch_angle += c->Vy/100; + pitch_cfg ->pull_speed=5; + pitch_cfg ->go_release_pos += c->Vx ; + pitch_cfg->Pitch_angle += c->Vy/100; - u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_Receive_ball; - u->motor_target .Shoot_Pitch_angle=u->PitchContext.PitchConfig.Pitch_angle; + target->go_shoot=u->Pitch_Cfg.PitchConfig.go_release_pos; + target->Shoot_Pitch_angle=u->Pitch_Cfg.PitchConfig.Pitch_angle; break ; case Dribble: { - if(u->DribbleContext.DribbleState== DRIBBLE_PREPARE){ - u->DribbleContext .DribbleState=DRIBBLE_PROCESS_DOWN; + if(u->DribbleCont.DribbleState== DRIBBLE_PREPARE){ + u->DribbleCont .DribbleState=DRIBBLE_PROCESS_DOWN; } //光电状态更新 Dribble_Process(u,out); @@ -336,28 +328,28 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) switch(c-> CMD_mode) { case AUTO_MID360_Pitch: - u->PitchContext .PitchConfig .go1_Receive_ball=LowPassFilter2p_Apply(&u->filled[0],c->pos); + pitch_cfg ->go_init=LowPassFilter2p_Apply(&u->filled[0],c->pos); - if (u->PitchContext .PitchState ==PITCH_PREPARE) + if (u->Pitch_Cfg .PitchState ==PITCH_PREPARE) { - u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮 + u->Pitch_Cfg .PitchState=PITCH_START;//置标志位用于启动投篮 } /*根据距离实时计算所需pos*/ - u->PitchContext .PitchConfig .go1_init_position=c->pos; - if(u->CoContext .CoState == CoPITCH){ - u->CoContext.CoState=CoPITCH_MID360; - } - Co_Process(u,out); + pitch_cfg ->go_release_pos=c->pos; +// if(u->CoContext .CoState == CoPITCH){ +// u->CoContext.CoState=CoPITCH_MID360; +// } +// Co_Process(u,out); -// Pitch_Process(u,out); + Pitch_Process(u,out); break ; case AUTO_MID360: - u->motor_target .Shoot_M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ; + target->Shoot_M2006_angle =pitch_cfg ->m2006_init ; - u->PitchContext .PitchState = PITCH_PREPARE; - u->DribbleContext .DribbleState = DRIBBLE_PREPARE; + u->Pitch_Cfg .PitchState = PITCH_PREPARE; + u->DribbleCont .DribbleState = DRIBBLE_PREPARE; break ; @@ -383,18 +375,22 @@ return 0; int8_t Pitch_Process(UP_t *u, CAN_Output_t *out) { - - switch(u->PitchContext .PitchState){ + + PitchCfg_t *cfg = &u->Pitch_Cfg.PitchConfig; + PitchState_t *state =&u->Pitch_Cfg .PitchState; + up_motor_target_t *target=&u->motor_target ; + + switch(*state){ case PITCH_START: - u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 - u->PitchContext .PitchConfig .pull_speed=10; - u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_release_threshold; +// u->motor_target .Dribble_translate_M3508_angle =u->DribbleCont .DribbleConfig.m3508_translate_angle;//平行移动 + cfg->pull_speed=10; + target->go_shoot = cfg->go_pull_pos; if(u->motorfeedback .go_data ->Pos < -209){ //检测go位置到达最上面，这里的检测条件可以更改 - u->motor_target .Shoot_M2006_angle = u->PitchContext .PitchConfig .m2006_trigger_angle ;//设置2006角度，0 - u->PitchContext .PitchConfig .pull_speed=6; - u->PitchContext .PitchState=PITCH_PULL_TRIGGER; + target->Shoot_M2006_angle = cfg->m2006_trig ;//设置2006角度，0 + u->Pitch_Cfg .PitchConfig .pull_speed=6; + *state=PITCH_PULL_TRIGGER; }//更改标志位 break ; @@ -403,16 +399,16 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out) if( u->motorfeedback .DJmotor_feedback [4].total_angle>-1) //当2006的总角度小于1，可以认为已经勾上,误差为1 { - u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_Receive_ball; - if(is_reached (u->motorfeedback .go_data ->Pos ,u->motor_target .go_shoot ,1.0f)) + target->go_shoot=cfg->go_release_pos; + if(is_reached (u->motorfeedback .go_data ->Pos ,target->go_shoot ,1.0f)) { - u->PitchContext .PitchState=PITCH_LAUNCHING; + *state=PITCH_LAUNCHING; } } break ; case PITCH_LAUNCHING: //等待发射 -// u->PitchContext .PitchState=PITCH_COMPLETE; +// *state=PITCH_COMPLETE; break ; case PITCH_COMPLETE: //发射完成 @@ -439,41 +435,43 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) static int common_speed_flag=0;//是否共速 static int common_speed_reverse_flag=0;//是否共速 + DribbleCfg_t *DribbleCfg = &u->DribbleCont.DribbleConfig; + up_motor_target_t *target=&u->motor_target ; + DribbleState_t *DribbleState=&u->DribbleCont.DribbleState; - switch (u->DribbleContext.DribbleState) { + switch (u->DribbleCont.DribbleState) { case DRIBBLE_TRANSLATE: - u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 + target->Dribble_translate_M3508_angle =DribbleCfg->m3508_translate_angle;//平行移动 if(u->motorfeedback.DJmotor_feedback[3].rpm==0 && u->motorfeedback.DJmotor_feedback[3].total_angle < -500)//速度为0认为卡主 { - u->DribbleContext .DribbleState=DRIBBLE_PROCESS_DOWN;//到达位置后，转移状态 + u->DribbleCont .DribbleState=DRIBBLE_PROCESS_DOWN;//到达位置后，转移状态 } break; case DRIBBLE_PROCESS_DOWN: - u->motor_target.Dribble_M3508_speed[0]=u->DribbleContext .DribbleConfig.m3508_dribble_speed; - u->motor_target.Dribble_M3508_speed[1]=u->DribbleContext .DribbleConfig.m3508_dribble_speed; - u->motor_target.Dribble_M3508_speed[2]=u->DribbleContext .DribbleConfig.m3508_dribble_speed; + target->Dribble_M3508_speed[0]=DribbleCfg->spd; + target->Dribble_M3508_speed[1]=DribbleCfg->spd; + target->Dribble_M3508_speed[2]=DribbleCfg->spd; if(is_reached_multiple(u->motorfeedback .DJmotor_feedback [0].rpm, - u->motorfeedback .DJmotor_feedback [1].rpm, - u->motorfeedback .DJmotor_feedback [2].rpm, - u->motor_target.Dribble_M3508_speed [0], - u->motor_target.Dribble_M3508_speed [1], - u->motor_target.Dribble_M3508_speed[2], - 50.0f,50) + u->motorfeedback .DJmotor_feedback [1].rpm, + u->motorfeedback .DJmotor_feedback [2].rpm, + DribbleCfg->spd, + DribbleCfg->spd, + DribbleCfg->spd, 50.0f,50) ) { RELAY1_TOGGLE(1); //速度达到后打开气缸 common_speed_flag =1; } if(common_speed_flag){ - if(u->DribbleContext .DribbleConfig .light_ball_flag == 0){//球下落检测，反转 - u->motor_target.Dribble_M3508_speed[0]=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; - u->motor_target.Dribble_M3508_speed[1]=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; - u->motor_target.Dribble_M3508_speed[2]=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; + if(u->DribbleCont .DribbleConfig .light_ball_flag == 0){//球下落检测，反转 + target->Dribble_M3508_speed[0]=DribbleCfg->rev_spd; + target->Dribble_M3508_speed[1]=DribbleCfg->rev_spd; + target->Dribble_M3508_speed[2]=DribbleCfg->rev_spd; - u->DribbleContext .DribbleState=DRIBBLE_PROCESS_UP; + *DribbleState=DRIBBLE_PROCESS_UP; } @@ -492,21 +490,21 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) } if(common_speed_reverse_flag){ - if(u->DribbleContext .DribbleConfig .light_ball_flag == 1){ - u->DribbleContext .DribbleState=DRIBBLE_DONE; - RELAY1_TOGGLE(0); //关闭气缸 + if(DribbleCfg->light_ball_flag == 1){ + *DribbleState=DRIBBLE_DONE; + RELAY1_TOGGLE(0); //关闭气缸 } } break ; case DRIBBLE_DONE: common_speed_reverse_flag=0; for(int i=0;i<3;i++){ - u->motor_target.Dribble_M3508_speed[i]=u->DribbleContext .DribbleConfig.m3508_dribble_init_speed ;//三摩擦速度归0 + target->Dribble_M3508_speed[i]=DribbleCfg->init_spd ;//三摩擦速度归0 } /*标志位清零*/ - u->DribbleContext.DribbleConfig.light_ball_flag=0; - u->DribbleContext.DribbleConfig.light_3508_flag=0; + DribbleCfg->light_ball_flag=0; + DribbleCfg->light_3508_flag=0; break; @@ -531,12 +529,12 @@ int8_t Co_Process(UP_t *u, CAN_Output_t *out) break ; case CoTRANSLATE_OUT: - u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 + u->motor_target .Dribble_translate_M3508_angle =u->DribbleCont .DribbleConfig.m3508_translate_angle;//平行移动 - if(u->motorfeedback.DJmotor_feedback[3].rpm==0 && u->motorfeedback.DJmotor_feedback[3].total_angle > 900)//速度为0认为卡主 + if(u->motorfeedback.DJmotor_feedback[3].rpm==0 && u->motorfeedback.DJmotor_feedback[3].total_angle > 500)//速度为0认为卡主 { - u->DribbleContext .DribbleState=DRIBBLE_PROCESS_DOWN;//到达位置后，运球转移状态 - u->PitchContext .PitchState = PITCH_START; + u->DribbleCont .DribbleState=DRIBBLE_PROCESS_DOWN;//到达位置后，运球转移状态 + u->Pitch_Cfg .PitchState = PITCH_START; u->CoContext .CoState =CoDRIBBLE; } @@ -546,11 +544,11 @@ int8_t Co_Process(UP_t *u, CAN_Output_t *out) Dribble_Process(u,out); //状态停在DRIBBLE_DONE Pitch_Process(u,out); //状态停在PITCH_LAUNCHING //状态停在对应位置时,平移去给发射送球 - if(u->DribbleContext .DribbleState ==DRIBBLE_DONE && u->PitchContext.PitchState ==PITCH_LAUNCHING) + if(u->DribbleCont .DribbleState ==DRIBBLE_DONE && u->Pitch_Cfg.PitchState ==PITCH_LAUNCHING) { - u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig .m3508_init_angle; + u->motor_target .Dribble_translate_M3508_angle =u->DribbleCont .DribbleConfig .m3508_init_ang; } - if(is_reached(u->motorfeedback.DJmotor_feedback[3].total_angle ,u->DribbleContext .DribbleConfig.m3508_init_angle,1.0f)) + if(is_reached(u->motorfeedback.DJmotor_feedback[3].total_angle ,u->DribbleCont .DribbleConfig.m3508_init_ang,1.0f)) { u->motor_target.Dribble_M3508_speed[0]=1000; u->motor_target.Dribble_M3508_speed[1]=1000; @@ -572,12 +570,12 @@ int8_t Co_Process(UP_t *u, CAN_Output_t *out) ) { RELAY1_TOGGLE(1); //速度达到后打开气缸,送给发射 } - if(u->DribbleContext .DribbleConfig.light_ball_flag == 0) + if(u->DribbleCont .DribbleConfig.light_ball_flag == 0) { u->motor_target.Dribble_M3508_speed[0]=0; u->motor_target.Dribble_M3508_speed[1]=0; u->motor_target.Dribble_M3508_speed[2]=0; - u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 + u->motor_target .Dribble_translate_M3508_angle =u->DribbleCont .DribbleConfig.m3508_translate_angle;//平行移动 } @@ -595,7 +593,7 @@ int8_t Co_Process(UP_t *u, CAN_Output_t *out) case CoPITCH_MID360: - u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_init_position; + u->motor_target .go_shoot=u->Pitch_Cfg.PitchConfig.go_init; break ; break ; diff --git a/User/Module/up.h b/User/Module/up.h index 76859d7..b3265cc 100644 --- a/User/Module/up.h +++ b/User/Module/up.h @@ -27,7 +27,7 @@ */ -/*配合过程状态,co是合作的意思*/ +/*配合过程状态*/ typedef enum { CoPREPARE, // 准备阶段 CoTRANSLATE_OUT,//上方平移,去运球 @@ -43,8 +43,8 @@ typedef enum { typedef struct { CoState_t CoState; - uint8_t is_initialized ; -} CoContext_t; + uint8_t is_init ; +} CoCon_t; @@ -62,32 +62,32 @@ typedef enum { /* 投球参数配置 */ typedef struct { - fp32 m2006_init_angle; // M2006初始角度-140 - fp32 m2006_trigger_angle; // M2006触发角度0,用来合并扳机 - fp32 go1_init_position; // GO电机触发位置,初始位置，后续更改用于发射的位置 - fp32 go1_release_threshold; // go上升去合并扳机，扳机位置 - fp32 go1_Receive_ball; //用在配合过程，用来接平移后的球 - fp32 m2006_Screw_init; + fp32 m2006_init; // M2006初始角度 + fp32 m2006_trig; // M2006触发角度0,用来合并扳机 + 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 go_pull_pos; // go上升去合并扳机，扳机位置 fp32 Pitch_angle; - fp32 pull_speed; + fp32 pull_speed;//go速度 + fp32 go_release_pos;//go松开，发射位置 -} PitchConfig_t; - +} PitchCfg_t; +//fp32 go_pull_pos; +// fp32 m2006_init; // M2006初始角度 +// fp32 m2006_trig; // M2006触发角度 +// fp32 go_init; // GO初始位置 +// fp32 go_release; // GO释放阈值 +// fp32 go_recv; // GO接球位置 +// fp32 screw_init; // 螺杆初始值 +// fp32 pitch_ang; // 投球角度 +// fp32 pull_spd; // 拉动速度 /* 投球控制上下文 */ typedef struct { PitchState_t PitchState; - PitchConfig_t PitchConfig; - - uint8_t is_initialized ; -} PitchContext_t; - - - - - - + PitchCfg_t PitchConfig; + uint8_t is_init ; +} Pitch_Cfg_t; /*运球*/ typedef enum { @@ -103,27 +103,27 @@ typedef enum { typedef struct { int8_t dribble_flag;//当移动三摩擦后为1，否则为0，防止发射撞到 - fp32 m3508_init_angle; // 平移前位置 + fp32 m3508_init_ang; // 3508平移前位置 fp32 m3508_translate_angle; // 平移后位置 - fp32 m3508_dribble_init_speed; - fp32 m3508_dribble_speed; // 转动速度 - fp32 m3508_dribble_Reverse_speed; + fp32 init_spd; + fp32 spd; // 转动速度 + fp32 rev_spd; /*光电标志位，初始值均为0，触发为1*/ int light_3508_flag;//3508平移处的光电，0初始，1到位置 int light_ball_flag;//检测球的flag -} DribbleConfig_t; +} DribbleCfg_t; /* 状态机上下文 */ typedef struct { DribbleState_t DribbleState; - DribbleConfig_t DribbleConfig; + DribbleCfg_t DribbleConfig; - uint8_t is_initialized; + uint8_t is_init; -} DribbleContext_t; +} DribbleCont_t; typedef struct { @@ -154,57 +154,12 @@ typedef struct pid_param_t Dribble_translate_M3508_angle_param;//平移用的角度环 - DribbleConfig_t DribbleConfig_Config; - PitchConfig_t PitchConfig_Config; + DribbleCfg_t DribbleCfg; + PitchCfg_t PitchCfg; GO_MotorCmd_t go_cmd; }UP_Param_t; - -typedef struct -{ - fp32 ecd; - fp32 rpm; - uint8_t id; - fp32 orig_angle; - fp32 last_angle; - int32_t round_cnt; - int init_cnt; - fp32 total_angle; -}DJmotor_feedback_t; - - typedef struct{ - - uint8_t up_task_run; - const UP_Param_t *param; - CoContext_t CoContext; - /*运球过程*/ - DribbleContext_t DribbleContext; - /*投篮过程*/ - PitchContext_t PitchContext; - - CMD_t *cmd; - - struct{ - - struct{ - fp32 VESC_5065_M1_rpm; - fp32 VESC_5065_M2_rpm; - }VESC; - - GO_MotorData_t *go_data;//存放go电机数据 - - DJmotor_feedback_t DJmotor_feedback[6]; - - struct { - uint32_t ecd; - float angle; - }Encoder; - }motorfeedback; - - - - struct{ fp32 VESC_5065_M1_rpm; fp32 VESC_5065_M2_rpm; @@ -218,9 +173,9 @@ typedef struct{ fp32 Shoot_Pitch_angle; - }motor_target; - - struct{ + }up_motor_target_t; + +typedef struct{ pid_type_def VESC_5065_M1; @@ -240,11 +195,55 @@ typedef struct{ pid_type_def Dribble_translate_M3508_angle;//平移用的角度环 - }pid; - GO_MotorCmd_t go_cmd; + }up_pid_t; +typedef struct +{ + fp32 ecd; + fp32 rpm; + uint8_t id; + fp32 orig_angle; + fp32 last_angle; + int32_t round_cnt; + int init_cnt; + fp32 total_angle; +}DJmotor_feedback_t; + +typedef struct{ + + uint8_t up_task_run; + const UP_Param_t *param; + CoCon_t CoContext; + /*运球过程*/ + DribbleCont_t DribbleCont; + /*投篮过程*/ + Pitch_Cfg_t Pitch_Cfg; + + CMD_t *cmd; + + struct{ + struct{ + fp32 VESC_5065_M1_rpm; + fp32 VESC_5065_M2_rpm; + }VESC; + GO_MotorData_t *go_data;//存放go电机数据 + DJmotor_feedback_t DJmotor_feedback[6]; + + struct { + uint32_t ecd; + float angle; + }Encoder; + }motorfeedback; + + + + + up_pid_t pid; + up_motor_target_t motor_target; + + GO_MotorCmd_t go_cmd; /*经PID计算后的实际发送给电机的实时输出值*/ struct @@ -260,8 +259,6 @@ typedef struct{ fp32 vofa_send[8]; - - } UP_t; diff --git a/User/device/can_use.c b/User/device/can_use.c index 90e9dd2..bb02319 100644 --- a/User/device/can_use.c +++ b/User/device/can_use.c @@ -56,31 +56,20 @@ static void CAN_DJIMotor_Decode(CAN_MotorFeedback_t *feedback, feedback->torque_current = raw_current * CAN_GM6020_MAX_ABS_CUR / (float)CAN_MOTOR_CUR_RES; } -static void CAN_Sick_Receive(CAN_SickFeedback_t *feedback,uint16_t id, +static void CAN_Sick_Receive(CAN_SickFeedback_t *feedback, const uint8_t *raw) { if (feedback == NULL || raw == NULL) return; - switch (id) - { - case CAN_SICK_ID_1: - feedback->raw_dis[0] = (uint16_t)(raw[0] << 8| raw[1]); + static uint16_t sick_rec[4]; - break ; - - case CAN_SICK_ID_2: - feedback->raw_dis[1] = (uint16_t)(raw[0] << 8| raw[1]); - - break ; - - case CAN_SICK_ID_3: - feedback->raw_dis[2] = (uint16_t)(raw[0] << 8| raw[1]); - - break ; - - case CAN_SICK_ID_4: - feedback->raw_dis[3] = (uint16_t)(raw[0] << 8| raw[1]); - - break ; - } + sick_rec[0] = (uint16_t)(raw[0] << 8 | raw[1]); + sick_rec[1] = (uint16_t)(raw[2] << 8 | raw[3]); + sick_rec[2] = (uint16_t)(raw[4] << 8 | raw[5]); + sick_rec[3] = (uint16_t)(raw[6] << 8 | raw[7]); + + feedback ->raw_dis [0]= sick_rec[0]; + feedback ->raw_dis [1]= sick_rec[1]; + feedback ->raw_dis [2]= sick_rec[2]; + feedback ->raw_dis [3]= sick_rec[3]; } void CAN_Encoder_Decode(CAN_EncoderFeedback_t *feedback, const uint8_t *raw) { @@ -384,19 +373,10 @@ 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_1: - CAN_Sick_Receive(&(can->sickfed),CAN_SICK_ID_1, can_rx->rx_data); - break; - case CAN_SICK_ID_2: - CAN_Sick_Receive(&(can->sickfed),CAN_SICK_ID_2, can_rx->rx_data); - break; - case CAN_SICK_ID_3: - CAN_Sick_Receive(&(can->sickfed),CAN_SICK_ID_3, can_rx->rx_data); - break; - case CAN_SICK_ID_4: - CAN_Sick_Receive(&(can->sickfed),CAN_SICK_ID_4, can_rx->rx_data); - + case CAN_SICK_ID: + CAN_Sick_Receive(&(can->sickfed), can_rx->rx_data); break; + default: break; } diff --git a/User/device/can_use.h b/User/device/can_use.h index 066ded2..9339e47 100644 --- a/User/device/can_use.h +++ b/User/device/can_use.h @@ -18,10 +18,8 @@ typedef enum { CAN_UP_M3508_M5_ID = 0x205, /* 1 */ CAN_UP_M3508_M6_ID = 0x206, /* 2 */ - CAN_SICK_ID_1=0x301, - CAN_SICK_ID_2=0x302, - CAN_SICK_ID_3=0x303, - CAN_SICK_ID_4=0x304, + CAN_SICK_ID=0x305, + CAN_Encoder_ID=0x01, @@ -200,6 +198,6 @@ void CAN_Encoder_Control(CAN_t *can); void CAN_Encoder_Decode(CAN_EncoderFeedback_t *feedback, const uint8_t *raw) ; -static void CAN_Sick_Receive(CAN_SickFeedback_t *feedback,uint16_t id, +static void CAN_Sick_Receive(CAN_SickFeedback_t *feedback, const uint8_t *raw) ; #endif diff --git a/User/device/nuc.c b/User/device/nuc.c index 49435ba..e309f3f 100644 --- a/User/device/nuc.c +++ b/User/device/nuc.c @@ -6,7 +6,8 @@ static volatile uint32_t drop_message = 0; static osThreadId_t thread_alert; -uint8_t nucbuf[31]; +static uint8_t nucbuf[31]; +static char SendBuffer[19]; static void NUC_IdleCallback(void) { @@ -28,11 +29,8 @@ int8_t NUC_StartReceiving() { return DEVICE_OK; return DEVICE_ERR; } - char SendBuffer[19]; - int8_t NUC_StartSending(fp32 *data) { - union { float x[4]; @@ -64,7 +62,7 @@ int8_t NUC_Restart(void) { return DEVICE_OK; } bool_t NUC_WaitDmaCplt(void) { - return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,500) == + return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,100) == SIGNAL_NUC_RAW_REDY); } diff --git a/User/task/can_task.c b/User/task/can_task.c index fcfc4ca..dabf5a4 100644 --- a/User/task/can_task.c +++ b/User/task/can_task.c @@ -47,7 +47,6 @@ const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN; //一问一答sick数据指令 -// CAN_Sick_Control(&can); CAN_Encoder_Control(&can); /*can设备数据存入队列*/ diff --git a/User/task/chassis_task.c b/User/task/chassis_task.c index c5bdfe5..58d3938 100644 --- a/User/task/chassis_task.c +++ b/User/task/chassis_task.c @@ -56,6 +56,8 @@ void Task_Chassis(void *argument) { #ifdef DEBUG task_runtime.stack_water_mark.chassis = osThreadGetStackSpace(osThreadGetId()); + task_runtime.freq.chassis=TASK_FREQ_CHASSIS; + task_runtime.last_up_time.chassis=tick; #endif /*imu数据获取*/ diff --git a/User/task/cmd_task.c b/User/task/cmd_task.c index a1f64de..8bf0203 100644 --- a/User/task/cmd_task.c +++ b/User/task/cmd_task.c @@ -30,8 +30,9 @@ void Task_cmd(void *argument){ while(1){ #ifdef DEBUG /*记录任务所需要的栈空间*/ - task_runtime.stack_water_mark.cmd = - osThreadGetStackSpace(osThreadGetId()); + task_runtime.stack_water_mark.cmd =osThreadGetStackSpace(osThreadGetId()); + task_runtime.last_up_time.cmd=tick; + task_runtime.freq.cmd=TASK_FREQ_CTRL_CMD; #endif osKernelLock(); /*锁住RTOS内核调度*/ diff --git a/User/task/nuc_task.c b/User/task/nuc_task.c index d9b83f7..94de5f9 100644 --- a/User/task/nuc_task.c +++ b/User/task/nuc_task.c @@ -13,26 +13,30 @@ 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; /**/ // osDelay(TASK_INIT_DELAY_NUC); - const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_NUC; NUC_Init(&nuc_raw); uint32_t tick = osKernelGetTickCount(); - + 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; + #endif NUC_StartReceiving(); -// NUC_StartSending(NUC_send.send); - if (NUC_WaitDmaCplt()){ + NUC_StartSending(NUC_send.send); +// NUC_StartSending (send); + if (NUC_WaitDmaCplt()){ NUC_RawParse(&cmd_fromnuc); } else{