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base: LYL:6179339e825b4ae2426bb0f01b6f5ac18572a549
Branches Tags
LYL:main
LYL:ballgame
LYL:maingame
LYL:mid360_plan2
LYL:6.23
LYL:Cooperation
LYL:chassis
...
compare: LYL:2e854ade02ce7e616e1f1029bfa438c3759bae73
Branches Tags
LYL:ballgame
LYL:main
LYL:maingame
LYL:mid360_plan2
LYL:6.23
LYL:Cooperation
LYL:chassis

3 Commits
6179339e82 ... 2e854ade02

Author SHA1 Message Date
ZHAISHUI04
2e854ade02 解决nuc控制数据不清空问题 2025-07-07 23:41:32 +08:00
ZHAISHUI04
bd16e41962 Merge branch 'main' of ssh://gitea.qutrobot.top:222/LYL/R2_NEW 2025-07-06 23:16:29 +08:00
ZHAISHUI04
4bc5997670 7.6nuc通信正常 2025-07-06 23:04:45 +08:00
20 changed files with 191 additions and 85 deletions
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2
.gitignore vendored
View File

@ -17,7 +17,7 @@
*.dbg*
*.uvguix.*
.mxproject
*.axf
RTE/
Templates/
Examples/

95
MDK-ARM/R2.uvoptx
View File

@ -26,7 +26,7 @@
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<TargetOption>
<CLKADS>12000000</CLKADS>
<CLKADS>25000000</CLKADS>
<OPTTT>
<gFlags>1</gFlags>
<BeepAtEnd>1</BeepAtEnd>
@ -117,11 +117,6 @@
<pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key>
<Name>-U00160029510000164E574E32 -O206 -SF1000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>ARMRTXEVENTFLAGS</Key>
@ -145,7 +140,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>CMSIS_AGDI</Key>
<Name>-X"Any" -UAny -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
<Name>-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)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@ -173,12 +168,72 @@
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>huart-&gt;ErrorCode</ItemText>
<ItemText>UP,0x0A</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>UP,0x0A</ItemText>
<ItemText>chassis,0x0A</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>cmd,0x0A</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>nucbuf,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_fromnuc</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>NUC_send,0x0A</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>NUC_send</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>1</WinNumber>
<ItemText>nuc_raw,0x0A</ItemText>
</Ww>
<Ww>
<count>11</count>
<WinNumber>1</WinNumber>
<ItemText>ang_58</ItemText>
</Ww>
<Ww>
<count>12</count>
<WinNumber>1</WinNumber>
<ItemText>ang_66</ItemText>
</Ww>
<Ww>
<count>13</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_fromnuc,0x0A</ItemText>
</Ww>
<Ww>
<count>14</count>
<WinNumber>1</WinNumber>
<ItemText>Nuc,0x0A</ItemText>
</Ww>
<Ww>
<count>15</count>
<WinNumber>1</WinNumber>
<ItemText>rec_flag</ItemText>
</Ww>
<Ww>
<count>16</count>
<WinNumber>1</WinNumber>
<ItemText>ctrl</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
@ -225,10 +280,10 @@
<pMultCmdsp></pMultCmdsp>
<DebugDescription>
<Enable>1</Enable>
<EnableFlashSeq>0</EnableFlashSeq>
<EnableFlashSeq>1</EnableFlashSeq>
<EnableLog>0</EnableLog>
<Protocol>2</Protocol>
<DbgClock>1000000</DbgClock>
<DbgClock>10000000</DbgClock>
</DebugDescription>
</TargetOption>
</Target>
@ -267,7 +322,7 @@
<Group>
<GroupName>Application/User/Core</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -407,7 +462,7 @@
<Group>
<GroupName>Drivers/STM32F4xx_HAL_Driver</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -679,7 +734,7 @@
<Group>
<GroupName>Drivers/CMSIS</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -699,7 +754,7 @@
<Group>
<GroupName>Middlewares/FreeRTOS</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -883,7 +938,7 @@
<Group>
<GroupName>User/bsp</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1163,7 +1218,7 @@
<Group>
<GroupName>User/Algorithm</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1335,7 +1390,7 @@
<Group>
<GroupName>Application/User/USB_DEVICE/App</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1379,7 +1434,7 @@
<Group>
<GroupName>Application/User/USB_DEVICE/Target</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1399,7 +1454,7 @@
<Group>
<GroupName>Middlewares/USB_Device_Library</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

4
MDK-ARM/R2.uvprojx
View File

@ -17,8 +17,8 @@
<TargetCommonOption>
<Device>STM32F407IGHx</Device>
<Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
<PackURL>http://www.keil.com/pack/</PackURL>
<PackID>Keil.STM32F4xx_DFP.3.0.0</PackID>
<PackURL>https://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000-0x2001BFFF) IRAM2(0x2001C000-0x2001FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4") TZ</Cpu>
<FlashUtilSpec></FlashUtilSpec>
<StartupFile></StartupFile>

BIN
MDK-ARM/R2/R2.axf
View File

Binary file not shown.

39
User/Module/Chassis.c
View File

@ -98,12 +98,14 @@ 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->NUC_send.send[0] = 0;
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[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]);
@ -111,6 +113,7 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
switch (c->chassis_ctrl.ctrl) {
case RCcontrol:
c->to_nuc.send = 0;
switch (c->chassis_ctrl.mode) {
case Normal:
c->move_vec.Vw = ctrl->Vw * 8000;
@ -128,9 +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);
c->NUC_send.send[0] = (c->sick_cali.is_reach == 1) ? 1 : 0;
break;
// sick_calibration(c, ctrl, out);
// c->to_nuc.send = (c->sick_cali.is_reach == 1) ? 1 : 0;
break;
}
break;
@ -138,26 +141,26 @@ 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;
abs_limit_fp(&c->move_vec.Vx, 5000.0f);
// 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->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;
// 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;
c->move_vec.Vx = ctrl->Vy * 6000;
c->move_vec.Vy = ctrl->Vx * 6000;
case REPOSITION:
c->to_nuc.send = 1;
break;

11
User/Module/Chassis.h
View File

@ -103,12 +103,6 @@ typedef struct
fp32 Vw;
fp32 mul;//油门倍率
}ChassisMove_Vec;
typedef struct
{
fp32 send[4];
}NUC_send_t;
/**
* @brief
@ -194,9 +188,12 @@ typedef struct{
int is_reach;
}sick_cali;
NUC_send_t NUC_send;
struct {
fp32 send;
}to_nuc;
}Chassis_t;
int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq);

7
User/Module/config.c
View File

@ -75,7 +75,7 @@ static const ConfigParam_t param ={
/*投球*/
.LaunchCfg = {
.m2006_init = -150.0f, // M2006初始角度
.m2006_init = -130.0f, // M2006初始角度
.m2006_trig = 0.0f, // M2006触发角度
.go_pull_pos = -214.0f, // go上升去合并扳机，扳机位置
.go_up_speed = 12.0f, // 上升速度
@ -88,14 +88,15 @@ static const ConfigParam_t param ={
.go_init = -50, //仅用在go上电，初始位置
.go_release_pos=-200,
.Pitch_angle =66,
.go_up_speed =12,
.go_down_speed =6,
},
.PassCfg={
.go_wait =-10,
.go_release_pos =-150,
.Pitch_angle=66,
.go_up_speed =12,
.go_down_speed =5,
.go_down_speed =6,
},
.MID360Cfg={

11
User/Module/up.c
View File

@ -317,6 +317,10 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c)
up_motor_target_t *target=&u->motor_target ;
LaunchContext_t *LaunchContext = &u->LaunchContext;
// 可根据实际需要传入不同的起始和末位置,起始：当前位置
LaunchContext->LaunchCfg.go_up_speed= cfg->go_up_speed;
LaunchContext->LaunchCfg.go_down_speed= cfg->go_down_speed
;
Pitch_Launch_Sequence(u, LaunchContext, u->motorfeedback.go_data.Pos, cfg->go_release_pos, out);
@ -399,7 +403,14 @@ 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);
}
if (u->MID360Context.Curve == CURVE_58) {
target->Pitch_angle = 58;
} else {

2
User/Module/up.h
View File

@ -73,6 +73,8 @@ typedef struct {
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 Pitch_angle; //俯仰角度，以oid为准
fp32 go_release_pos;//go松开，发射位置
fp32 go_up_speed;
fp32 go_down_speed;
} PitchCfg_t;

8
User/Module/up_utils.c
View File

@ -67,10 +67,9 @@ 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) {
static float curve_66(float d) {
return 3.7028f * d * d + 11.2126f * d -142.9446f;
}
// 计算58度曲线（偏下）
// 计算58度曲线（偏下）
static float curve_58(float d) {
@ -83,6 +82,9 @@ static float curve_58(float d) {
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++;
@ -98,8 +100,10 @@ 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);
}
}

2
User/bsp/protocol.h
View File

@ -83,7 +83,7 @@ typedef struct __attribute__((packed)) {
typedef struct __attribute__((packed))
{
uint8_t status;
fp32 status;
} Protocol_UpDataCMD_t;
/* 视觉 -> 电控 上层机构数据结构体*/

16
User/device/cmd.c
View File

@ -87,7 +87,7 @@ 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;
@ -112,6 +112,16 @@ int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
cmd ->cmd_pick .posw =n->camera.data3 ;
break;
default:
cmd->cmd_MID360.posx = 0;
cmd->cmd_MID360.posy = 0;
cmd->cmd_MID360.posw = 0;
cmd->pos =0 ;
break ;
}
@ -159,7 +169,7 @@ int8_t CMD_DR16(CMD_t *cmd,const CMD_RC_t *rc) {
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 =Normal; //左中，右下，视觉
if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =REPOSITION; //左中，右下，视觉
}
else if(rc->dr16.sw_l==CMD_SW_DOWN)
@ -193,7 +203,7 @@ 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_MID360_Adjust;
if (rc->LD.key_C ==CMD_SW_UP) cmd ->CMD_mode =Normal;
else {
if(rc->LD.key_E ==CMD_SW_DOWN ) cmd ->CMD_mode =Normal;

5
User/device/cmd.h
View File

@ -26,7 +26,7 @@ typedef enum{
AUTO_MID360,
AUTO_MID360_Pitch,
AUTO_MID360_Adjust,//雷达调整
REPOSITION,//雷达调整
UP_Adjust,//上层调整
Chassis_Adjust_Sick,
@ -43,7 +43,8 @@ typedef enum{
}CMD_mode_t;
typedef struct {
uint8_t status_fromnuc;
uint8_t ctrl_status;
uint8_t ctrl_status;
struct
{
fp32 vx;

28
User/device/nuc.c
View File

@ -170,28 +170,34 @@ int8_t NUC_PackIMU(NUC_t *nuc, const AHRS_Quaternion_t *quat, const AHRS_Accl_t
int8_t NUC_PackCMD(NUC_t *nuc, const NUC_send_t *send){
nuc->to_nuc.cmd.head = HEAD;
nuc->to_nuc.cmd.id = IMU_ID;
nuc->to_nuc.cmd.type = TYPE;
nuc->to_nuc.cmd.end = TAIL;
// memcpy((void *)&(nuc->to_nuc.cmd.package.status), (const void *)send,sizeof(*send));
memcpy((void *)&(nuc->to_nuc.cmd.package.status), (const void *)send,sizeof(*send));
/*在这里添加你们的控制命令*/
return DEVICE_OK;
}
int8_t NUC_StartSend(NUC_t *nuc, bool cmd_update){
if (cmd_update) {
// if (HAL_UART_Transmit_DMA(
// BSP_UART_GetHandle(BSP_UART_NUC), (uint8_t *)&(nuc->to_nuc.cmd),
// sizeof(nuc->to_nuc.cmd) + sizeof(nuc->to_nuc.imu)) == HAL_OK)
/*仅发送cmd数据*/
if (HAL_UART_Transmit_DMA(
BSP_UART_GetHandle(BSP_UART_NUC), (uint8_t *)&(nuc->to_nuc.cmd),
sizeof(nuc->to_nuc.cmd) + sizeof(nuc->to_nuc.imu)) == HAL_OK)
sizeof(nuc->to_nuc.cmd) ) == HAL_OK)
return DEVICE_OK;
else
return DEVICE_ERR;
} else {
if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_NUC),
(uint8_t *)&(nuc->to_nuc.imu),
sizeof(nuc->to_nuc.imu)) == HAL_OK)
return DEVICE_OK;
else
return DEVICE_ERR;
}
}
// else {
// if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_NUC),
// (uint8_t *)&(nuc->to_nuc.imu),
// sizeof(nuc->to_nuc.imu)) == HAL_OK)
// return DEVICE_OK;
// else
// return DEVICE_ERR;
// }
}

6
User/device/nuc.h
View File

@ -9,6 +9,11 @@
#include "Algorithm/ahrs.h"
#include "Module/Chassis.h"
typedef struct
{
fp32 send;
}NUC_send_t;
typedef struct {
uint8_t id;
@ -25,7 +30,6 @@ typedef struct {
typedef struct {
uint8_t head;
uint8_t type; // 0x01 控制帧
uint8_t id;
Protocol_UpDataCMD_t package;
uint8_t end;

2
User/task/chassis_task.c
View File

@ -88,7 +88,7 @@ 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
osMessageQueuePut(task_runtime.msgq.cmd.raw.nuc_send, &chassis.to_nuc, 0, 0); //发送数据
vofa_send[0] = chassis.vofa_send[0];
vofa_send[1] = chassis.vofa_send[1];
vofa_send[2] = chassis.vofa_send[2];

18
User/task/cmd_task.c
View File

@ -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*/
@ -38,14 +38,16 @@ 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*/
/*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.nuc, &Nuc,0 ,0) ==osOK)){ //nuc
}
else
{
memset(&Nuc, 0, sizeof(CMD_NUC_t));
}
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);

2
User/task/init.c
View File

@ -11,7 +11,7 @@
#include "task\user_task.h"
#include "can_use.h"
#include "cmd.h"
#include "nuc.h"
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */

16
User/task/nuc_task.c
View File

@ -23,6 +23,8 @@ fp32 send[4]={11.0f,45.0,1.f,4.0f};
int a=0;
void Task_nuc(void *argument){
(void)argument; /**/
@ -45,29 +47,37 @@ void Task_nuc(void *argument){
last_online_tick = tick;
}
else{
if (tick - last_online_tick > 300) NUC_HandleOffline(&cmd_fromnuc, &nuc_raw);
if (tick - last_online_tick > 300)
NUC_HandleOffline(&cmd_fromnuc, &nuc_raw);
}
if (nuc_raw.unc_online) {
osMessageQueueReset(task_runtime.msgq.cmd.raw.nuc);
osMessageQueuePut(task_runtime.msgq.cmd.raw.nuc,&(cmd_fromnuc),0,0);
}
else
osMessageQueueReset(task_runtime.msgq.cmd.raw.nuc);
osMessageQueueGet(task_runtime.msgq.nuc.quat, &(quat), NULL, 0);
osMessageQueueGet(task_runtime.msgq.nuc.accl, &(accl), NULL, 0);
osMessageQueueGet(task_runtime.msgq.nuc.gyro, &(gyro), NULL, 0);
// osMessageQueueGet(task_runtime.msgq.cmd.raw.nuc_send, &NUC_send, NULL, 0);
bool cmd_update = (osMessageQueueGet(task_runtime.msgq.cmd.raw.nuc_send,
&(NUC_send), NULL, 0) == osOK);
NUC_PackIMU(&nuc_raw, &quat, &accl, &gyro);
// NUC_PackIMU(&nuc_raw, &quat, &accl, &gyro);
if (cmd_update) {
NUC_PackCMD(&nuc_raw,&NUC_send);
NUC_StartSend(&nuc_raw,cmd_update);
}
// NUC_StartSend(&nuc_raw, cmd_update);
tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/

2
User/task/user_task.h
View File

@ -18,7 +18,7 @@
#define TASK_FREQ_UP (900u)
#define TASK_FREQ_CTRL_CMD (500u)
#define TASK_FREQ_NUC (250u)
#define TASK_FREQ_NUC (500u)
#define TASK_FREQ_CAN (1000u)
#define TASK_FREQ_RC (1000u)