From de7321138f2203bf4394b200bf8d06c9e1d64af2 Mon Sep 17 00:00:00 2001 From: ZHAISHUI04 <3150778793@qq.com> Date: Tue, 8 Jul 2025 07:44:04 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8D=8F=E8=AE=AE=E4=BF=AE=E6=94=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/.vscode/keil-assistant.log | 2 + MDK-ARM/R2.uvoptx | 55 ++++-------------- MDK-ARM/R2/R2.axf | Bin 2874460 -> 4043764 bytes README.md | 1 + User/Module/Chassis.c | 48 ++++++---------- User/Module/Chassis.h | 10 ++++ User/Module/config.c | 21 +++++++ User/Module/up.c | 16 +----- User/Module/up_utils.c | 12 +--- User/bsp/protocol.h | 21 +++---- User/device/cmd.c | 31 ++-------- User/device/cmd.h | 19 ++---- User/device/nuc.c | 89 ++++++----------------------- User/task/cmd_task.c | 18 +++--- User/task/nuc_task.c | 1 - User/task/user_task.h | 4 +- 16 files changed, 114 insertions(+), 234 deletions(-) diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index 80658bb..4d6a436 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -485,3 +485,5 @@ [info] Log at : 2025/7/1|14:01:22|GMT+0800 +[info] Log at : 2025/7/7|02:36:22|GMT+0800 + diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx index 63ca8c3..ffaf9a7 100644 --- a/MDK-ARM/R2.uvoptx +++ b/MDK-ARM/R2.uvoptx @@ -134,13 +134,13 @@ 0 - DLGUARM - + CMSIS_AGDI + -X"" -O206 -S8 -C0 -P00000000 -N00("") -D00(00000000) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM) 0 - CMSIS_AGDI - -X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM) + DLGUARM + 0 @@ -198,42 +198,7 @@ 9 1 - NUC_send - - - 10 - 1 - nuc_raw,0x0A - - - 11 - 1 - ang_58 - - - 12 - 1 - ang_66 - - - 13 - 1 - cmd_fromnuc,0x0A - - - 14 - 1 - Nuc,0x0A - - - 15 - 1 - rec_flag - - - 16 - 1 - ctrl + \\R2\../User/task/up_task.c\UP.MID360Context.IsLaunch @@ -242,7 +207,7 @@ 0 1 - 1 + 0 0 0 0 @@ -938,7 +903,7 @@ User/bsp - 0 + 1 0 0 0 @@ -1218,7 +1183,7 @@ User/Algorithm - 0 + 1 0 0 0 @@ -1390,7 +1355,7 @@ Application/User/USB_DEVICE/App - 0 + 1 0 0 0 @@ -1434,7 +1399,7 @@ Application/User/USB_DEVICE/Target - 0 + 1 0 0 0 diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf index 824d23e706f7dd25451c4d3fc8a25209fee3c8cb..178b9e3fa3646c1880fe62f187ce622ed78b61f6 100644 GIT binary patch delta 197831 zcmbTe34ByV5fU|0RjXF2$+ju0tp$CaL6JA1PymkRAiAvjfj96 zeCQJv1r!w#H5f49f<#3Z&kf2d?y?wmRRjq>6qqA({J;H&=LOFCc^i6i10`7 zo|;DZ0q3_&iH~?OpYR0#eZUd^?j2jsB`3cOOfl%S=YR?y7_sG?C4L$>7vf>He^qOy 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b/User/Module/Chassis.c index a354b11..b0a0331 100644 --- a/User/Module/Chassis.c +++ b/User/Module/Chassis.c @@ -35,10 +35,6 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) { c->sick_cali.sick_dis[1]=(fp32)(can->sickfed.raw_dis[1]+30) ; //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[1]-c->sick_cali.sick_dis[2]; - 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; } @@ -58,6 +54,12 @@ int8_t Chassis_init(Chassis_t *c, const Chassis_Param_t *param, float target_fre PID_init(&(c->pid.SickCaliVxOutPID), PID_POSITION, &(c->param->SickCali_XOutparam)); PID_init(&(c->pid.SickCaliVyInPID), PID_POSITION, &(c->param->SickCali_YInparam)); PID_init(&(c->pid.SickCaliVyOutPID), PID_POSITION, &(c->param->SickCali_YOutparam)); + + PID_init(&(c->pid.Mid360AngleInPID), PID_POSITION, &(c->param->Mid360AngleInPID_param)); + PID_init(&(c->pid.Mid360AngleOutPID), PID_POSITION, &(c->param->Mid360AngleOutPID_param)); + + + /*修正 */ PID_init(&(c->pid.Chassis_AngleAdjust), PID_POSITION, &(c->param->Chassis_AngleAdjust_param)); @@ -98,16 +100,14 @@ 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.Vx = 0; - c->move_vec.Vy = 0; - c->move_vec.Vw = 0; + c->to_nuc.send = 0; c->sick_cali.is_reach = 0; - - c->vofa_send[0]= KalmanFilter(&c->extKalman[0] , c->sick_cali.sick_dis[0]); - c->vofa_send[1]= KalmanFilter(&c->extKalman[1] , c->sick_cali.sick_dis[1]); - c->vofa_send[2]= KalmanFilter(&c->extKalman[2] , c->sick_cali.sick_dis[2]); + c->move_vec.Vw=0; + c->move_vec.Vx = 0; + c->move_vec.Vy = 0; + @@ -131,9 +131,9 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { break; case Chassis_Adjust_Sick: -// sick_calibration(c, ctrl, out); + sick_calibration(c, ctrl, out); // c->to_nuc.send = (c->sick_cali.is_reach == 1) ? 1 : 0; - break; + break; } break; @@ -141,22 +141,13 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { case AUTO: switch (c->chassis_ctrl.mode) { case AUTO_MID360: -// 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->cmd_MID360.posw * 3000; - - 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); + + c->move_vec.Vw = -ctrl->cmd_MID360.angle * 3000; + abs_limit_fp(&c->move_vec.Vw, 5000.0f); 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); + c->move_vec.Vw = -ctrl->cmd_MID360.angle * 3000; abs_limit_fp(&c->move_vec.Vw, 5000.0f); break; case REPOSITION: @@ -178,9 +169,7 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { break ; 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->cmd_MID360.angle * 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); @@ -314,3 +303,4 @@ int8_t Chassis_AngleCompensate(Chassis_t *c) } + diff --git a/User/Module/Chassis.h b/User/Module/Chassis.h index a5e410b..30e89b1 100644 --- a/User/Module/Chassis.h +++ b/User/Module/Chassis.h @@ -90,6 +90,12 @@ typedef struct pid_param_t Chassis_AngleAdjust_param; + + pid_param_t Mid360AngleInPID_param; + pid_param_t Mid360AngleOutPID_param; + + + sickparam_t sickparam; }Chassis_Param_t; @@ -163,6 +169,10 @@ typedef struct{ pid_type_def SickCaliVyInPID; pid_type_def SickCaliVyOutPID; + pid_type_def Mid360AngleInPID; + pid_type_def Mid360AngleOutPID; + + }pid; diff --git a/User/Module/config.c b/User/Module/config.c index 24a3a08..e1e4a53 100644 --- a/User/Module/config.c +++ b/User/Module/config.c @@ -235,6 +235,27 @@ static const ConfigParam_t param ={ .out_limit =1000.0f, }, + + .Mid360AngleInPID_param={ + .p = 0.0f, + .i = 0.0f, + .d = 0.0f, + .i_limit = 0.0f, + .out_limit =1000.0f, + + }, + .Mid360AngleOutPID_param={ + .p = 10.0f, + .i = 0.0f, + .d = 0.0f, + .i_limit = 0.0f, + .out_limit =1000.0f, + + }, + + + + .sickparam={ .w_error=2, .xy_error=3, diff --git a/User/Module/up.c b/User/Module/up.c index 4f048a1..bf8da88 100644 --- a/User/Module/up.c +++ b/User/Module/up.c @@ -181,10 +181,7 @@ 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),3.4,4.2,&u->MID360Context.Curve); - u->vofa_send[0] = u->MID360Context.MID360Cfg.go_release_pos; - u->vofa_send[1] = u->motorfeedback.go_data.Pos; - u->vofa_send[2] = c->pos; + posss=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->cmd_MID360.dis),3.4,4.2,&u->MID360Context.Curve); switch (c->CMD_CtrlType ) { @@ -364,7 +361,7 @@ int8_t Pass_Process(UP_t *u,CAN_Output_t *out,CMD_t *c) PassCfg ->go_release_pos = - CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos),3,4,&u->PassContext.Curve); + CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->cmd_MID360.dis),3,4,&u->PassContext.Curve); switch (*state) { //遥控器按键进行状态切换 case PASS_STOP: @@ -403,14 +400,7 @@ int8_t UP_AUTO_Control(UP_t *u,CAN_Output_t *out,CMD_t *c){ LaunchContext_t *LaunchContext = &u->LaunchContext; MID360Context_t *MID360Context=&u->MID360Context; MID360Cfg_t *MID360Cfg = &u->MID360Context.MID360Cfg; - if(u->MID360Context.Curve==CURVE_58){ - MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos)-0.25,3.2,4.3,&u->MID360Context.Curve); - } - else { - MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos)-0.05,3.2,4.3,&u->MID360Context.Curve); - - } - + MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->cmd_MID360.dis),3.2,4.3,&u->MID360Context.Curve); if (u->MID360Context.Curve == CURVE_58) { target->Pitch_angle = 58; } else { diff --git a/User/Module/up_utils.c b/User/Module/up_utils.c index 212d1cc..ea889d5 100644 --- a/User/Module/up_utils.c +++ b/User/Module/up_utils.c @@ -65,7 +65,7 @@ int8_t GO_SendData( GO_MotorData_t *go_data,GO_MotorCmd_t *go_cmd,float pos, flo } -// 计算66度曲线(偏上) + // 计算66度曲线(偏上) static float curve_66(float d) { return 3.7028f * d * d + 11.2126f * d -142.9446f; @@ -81,16 +81,12 @@ static float curve_58(float d) { 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; -fp32 ang_58; -fp32 ang_66; - 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; + + *cs = CURVE_58; } } else { // CURVE_58 if (d < x) { @@ -100,10 +96,8 @@ float CurveChange(float d, float x, float y, CurveType *cs) // 根据当前曲线返回结果 if (*cs == CURVE_58) { - ang_58=d; return curve_58(d); } else { - ang_66=d; return curve_66(d); } } diff --git a/User/bsp/protocol.h b/User/bsp/protocol.h index 41bd713..501bb77 100644 --- a/User/bsp/protocol.h +++ b/User/bsp/protocol.h @@ -37,19 +37,11 @@ typedef struct __attribute__((packed)) { typedef struct __attribute__((packed)) { Protocol_ID_t recv_id;//作为帧头使用确认通信ID正确 - uint8_t status; /* 控制命令 */ struct __attribute__((packed)) { - float posy; /*pitch轴*/ - float posx; /*yaw轴*/ - char cmd; - float dis; /*距离*/ - }pick; - struct __attribute__((packed)) { - float vx; /* x轴移动速度 */ - float vy; /* y轴移动速度 */ float wz; /* z轴转动速度 */ + float dis; }navi; } Protocol_DownDataChassis_t; @@ -83,17 +75,17 @@ typedef struct __attribute__((packed)) { typedef struct __attribute__((packed)) { - fp32 status; + uint8_t status; + + } Protocol_UpDataCMD_t; /* 视觉 -> 电控 上层机构数据结构体*/ typedef struct __attribute__((packed)) { - - uint8_t status; /* 控制命令 */ - + float angle; // 角度信息 + float dis; // 位移信息 } Protocol_DownDataUpper_t; - typedef struct __attribute__((packed)) { Protocol_UpDataMCU_t data; } Protocol_UpPackageMCU_t; @@ -106,6 +98,7 @@ typedef struct __attribute__((packed)) { typedef struct __attribute__((packed)) { Protocol_DownDataUpper_t data; } Protocol_DownPackageUpper_t; + #ifdef __cplusplus } #endif diff --git a/User/device/cmd.c b/User/device/cmd.c index 73bd548..28ba857 100644 --- a/User/device/cmd.c +++ b/User/device/cmd.c @@ -87,44 +87,25 @@ return 0; int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){ if(cmd == NULL) return -1; - if(n == NULL) return -1; + if(n == NULL) return -1; - cmd->cmd_status = n->status_fromnuc; - cmd->raw_status = n->ctrl_status; for (int i = 0; i < 7; ++i) { // 从最低位到最高位遍历 cmd->status[i] = ((cmd->raw_status) & (1 << i)) ? 1 : 0; } - switch(cmd->cmd_status){ + - case MID: - cmd->cmd_MID360.posx = n->MID360.vx; - cmd->cmd_MID360.posy = n->MID360.vy; - cmd->cmd_MID360.posw = n->MID360.wz; - cmd->pos =n->MID360 .pos ; - break; - - case VISION : - cmd ->cmd_pick .posx =n->camera.data1 ; - cmd ->cmd_pick .posy =n->camera.data2 ; - cmd ->cmd_pick .posw =n->camera.data3 ; + cmd->cmd_MID360.angle = n->MID360.angle; + cmd->cmd_MID360.dis = n->MID360.dis; - break; - default: - cmd->cmd_MID360.posx = 0; - cmd->cmd_MID360.posy = 0; - cmd->cmd_MID360.posw = 0; + - cmd->pos =0 ; - - - break ; - } + return 0; } diff --git a/User/device/cmd.h b/User/device/cmd.h index de48449..fa9f532 100644 --- a/User/device/cmd.h +++ b/User/device/cmd.h @@ -42,19 +42,12 @@ typedef enum{ Dribbl_transfer }CMD_mode_t; typedef struct { - uint8_t status_fromnuc; - uint8_t ctrl_status; - + struct { - fp32 vx; - fp32 vy; - fp32 wz; - - fp32 pos; + fp32 angle; - - char flag; + fp32 dis; }MID360; struct @@ -149,9 +142,9 @@ typedef struct { }cmd_pick; struct { - fp32 posx; - fp32 posy; - fp32 posw; + fp32 angle; + fp32 dis; + }cmd_MID360; diff --git a/User/device/nuc.c b/User/device/nuc.c index da602d9..ef6ef4c 100644 --- a/User/device/nuc.c +++ b/User/device/nuc.c @@ -6,7 +6,7 @@ volatile uint32_t drop_message = 0; static osThreadId_t thread_alert; -uint8_t nucbuf[25]; +uint8_t nucbuf[10]; char SendBuffer[7]; static void NUC_CBLTCallback(void) @@ -58,86 +58,29 @@ int8_t NUC_RawParse(CMD_NUC_t *n, NUC_t *nuc) return DEVICE_ERR_NULL; union { - float x[5]; - char data[20]; + float x[2]; + char data[8]; } 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 - */ - - 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) + if (nucbuf[9] != 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[3] = nucbuf[4]; + instance.data[2] = nucbuf[3]; + instance.data[1] = nucbuf[2]; + instance.data[0] = nucbuf[1]; + n->MID360.angle = instance.x[0]; // + instance.data[7] = nucbuf[8]; + instance.data[6] = nucbuf[7]; + instance.data[5] = nucbuf[6]; + instance.data[4] = nucbuf[5]; + n->MID360.dis = instance.x[1]; // - n->MID360.flag = nucbuf[23]; // - break; - } nuc->unc_online = true; // 设置为在线状态 return DEVICE_OK; } diff --git a/User/task/cmd_task.c b/User/task/cmd_task.c index ad1c765..8bf0203 100644 --- a/User/task/cmd_task.c +++ b/User/task/cmd_task.c @@ -16,7 +16,7 @@ static CMD_NUC_t Nuc; #endif -int rec_flag=0; + void Task_cmd(void *argument){ (void)argument; /*未使用传递参数 消除警告*/ @@ -38,16 +38,14 @@ void Task_cmd(void *argument){ osKernelLock(); /*锁住RTOS内核调度*/ /*将各任务接收到的原始数据解析为通用的控制命令*/ - - if((osMessageQueueGet(task_runtime.msgq.cmd.raw.nuc, &Nuc,0 ,0) ==osOK)){ //nuc - } - else - { - memset(&Nuc, 0, sizeof(CMD_NUC_t)); - } - CMD_ParseNuc(&cmd,&Nuc); - + + /*注意,不能将nuc和码盘导航一块使用*/ + + if(osMessageQueueGet(task_runtime.msgq.cmd.raw.nuc, &Nuc,0 ,0) ==osOK) //nuc + CMD_ParseNuc(&cmd,&Nuc); + + if(osMessageQueueGet(task_runtime.msgq.cmd.raw.rc, &rc_ctrl, 0, 0) == osOK)//遥控器 CMD_ParseRc(&cmd, &rc_ctrl); diff --git a/User/task/nuc_task.c b/User/task/nuc_task.c index e0ad619..5be2f44 100644 --- a/User/task/nuc_task.c +++ b/User/task/nuc_task.c @@ -40,7 +40,6 @@ void Task_nuc(void *argument){ #ifdef DEBUG task_runtime.stack_water_mark.nuc= osThreadGetStackSpace(osThreadGetId()); #endif - a++; NUC_StartReceiving(); if (NUC_WaitDmaCplt()){ NUC_RawParse(&cmd_fromnuc, &nuc_raw); diff --git a/User/task/user_task.h b/User/task/user_task.h index cf5f0d0..5587be0 100644 --- a/User/task/user_task.h +++ b/User/task/user_task.h @@ -17,10 +17,10 @@ #define TASK_FREQ_CHASSIS (900u) #define TASK_FREQ_UP (900u) -#define TASK_FREQ_CTRL_CMD (100u) +#define TASK_FREQ_CTRL_CMD (500u) #define TASK_FREQ_NUC (100u) #define TASK_FREQ_CAN (1000u) -#define TASK_FREQ_RC (1000u) +#define TASK_FREQ_RC (100u) #define TASK_FREQ_ERROR_DTC (3u)