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base: LYL:c4bc8288c71bcb391feaf3fe22a63fe75148730c
Branches Tags
LYL:main
LYL:ballgame
LYL:maingame
LYL:mid360_plan2
LYL:6.23
LYL:Cooperation
LYL:chassis
..
compare: LYL:2403b3bf52d4360758affff59a740cb5472e0447
Branches Tags
LYL:ballgame
LYL:main
LYL:maingame
LYL:mid360_plan2
LYL:6.23
LYL:Cooperation
LYL:chassis

No commits in common. "c4bc8288c71bcb391feaf3fe22a63fe75148730c" and "2403b3bf52d4360758affff59a740cb5472e0447" have entirely different histories.
c4bc8288c7 ... 2403b3bf52

16 changed files with 222 additions and 129 deletions
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2
MDK-ARM/.vscode/keil-assistant.log vendored
View File

@ -485,5 +485,3 @@
[info] Log at : 2025/7/1|14:01:22|GMT+0800
[info] Log at : 2025/7/7|02:36:22|GMT+0800

47
MDK-ARM/R2.uvoptx
View File

@ -134,13 +134,13 @@
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>CMSIS_AGDI</Key>
<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($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
<Key>DLGUARM</Key>
<Name></Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name></Name>
<Key>CMSIS_AGDI</Key>
<Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@ -198,17 +198,42 @@
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>\\R2\../User/task/up_task.c\UP.MID360Context.IsLaunch</ItemText>
<ItemText>NUC_send</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>1</WinNumber>
<ItemText>ang_58,0x0A</ItemText>
<ItemText>nuc_raw,0x0A</ItemText>
</Ww>
<Ww>
<count>11</count>
<WinNumber>1</WinNumber>
<ItemText>ang_66,0x0A</ItemText>
<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>
@ -913,7 +938,7 @@
<Group>
<GroupName>User/bsp</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1193,7 +1218,7 @@
<Group>
<GroupName>User/Algorithm</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1365,7 +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>
@ -1409,7 +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>

BIN
MDK-ARM/R2/R2.axf
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Binary file not shown.

1
README.md
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@ -1 +0,0 @@
4.16 把整车用一个c板控制，添加主要代码，后续增加上层

48
User/Module/Chassis.c
View File

@ -35,6 +35,10 @@ 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;
}
@ -54,12 +58,6 @@ 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));
@ -100,14 +98,16 @@ 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->move_vec.Vw=0;
c->move_vec.Vx = 0;
c->move_vec.Vy = 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]);
@ -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;
@ -141,13 +141,22 @@ 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.angle * 3000;
abs_limit_fp(&c->move_vec.Vw, 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);
break;
case AUTO_MID360_Pitch:
c->move_vec.Vw = -ctrl->cmd_MID360.angle * 3000;
// 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 REPOSITION:
@ -169,7 +178,9 @@ 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.angle * 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);
@ -303,4 +314,3 @@ int8_t Chassis_AngleCompensate(Chassis_t *c)
}

10
User/Module/Chassis.h
View File

@ -90,12 +90,6 @@ typedef struct
pid_param_t Chassis_AngleAdjust_param;
pid_param_t Mid360AngleInPID_param;
pid_param_t Mid360AngleOutPID_param;
sickparam_t sickparam;
}Chassis_Param_t;
@ -169,10 +163,6 @@ typedef struct{
pid_type_def SickCaliVyInPID;
pid_type_def SickCaliVyOutPID;
pid_type_def Mid360AngleInPID;
pid_type_def Mid360AngleOutPID;
}pid;

31
User/Module/config.c
View File

@ -75,11 +75,11 @@ static const ConfigParam_t param ={
/*投球*/
.LaunchCfg = {
.m2006_init = -125.0f, // 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 = -210.0f, // go上升去合并扳机，扳机位置
.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
.go_down_speed = 10.0f, // 下降速度
.go_down_speed = 6.0f, // 下降速度
.Pitch_angle = 58, //俯仰角
.go_init = -50
},
@ -89,14 +89,14 @@ static const ConfigParam_t param ={
.go_release_pos=-200,
.Pitch_angle =66,
.go_up_speed =12,
.go_down_speed =10,
.go_down_speed =6,
},
.PassCfg={
.go_wait =-10,
.go_release_pos =-150,
.Pitch_angle=66,
.go_up_speed =12,
.go_down_speed =10,
.go_down_speed =6,
},
.MID360Cfg={
@ -235,27 +235,6 @@ 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,

29
User/Module/up.c
View File

@ -181,7 +181,10 @@ 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->cmd_MID360.dis),3.4,4.2,&u->MID360Context.Curve);
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;
switch (c->CMD_CtrlType )
{
@ -199,7 +202,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
is_pitch=0;
} //初始上电
//LaunchCfg->go_up_speed=15;
// target->Pitch_angle =LaunchCfg->Pitch_angle;
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
@ -260,7 +263,7 @@ int8_t Pitch_Launch_Sequence(UP_t *u, LaunchContext_t *LaunchContext,fp32 StartP
bool is_GoStartReach=is_reached(u->motorfeedback.go_data.Pos,StartPos,1.0f); //go开始位置
bool is_GoSpeedReach=is_reached(u->motorfeedback.go_data.W,0,1.0f) ; //go速度归零判断
bool is_GoEndReach =(u->motorfeedback .go_data .Pos < -209); //go去上拉钩子位置，判断到达
bool is_HookDone=(u->motorfeedback .DJmotor_feedback [4].total_angle>-5.0f); //2006钩子放下判断
bool is_HookDone=(u->motorfeedback .DJmotor_feedback [4].total_angle>-10); //2006钩子放下判断
bool is_Shoot=(u->motorfeedback.DJmotor_feedback[4].total_angle<-10);//是否发射判断
@ -361,7 +364,7 @@ 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->cmd_MID360.dis),3,4,&u->PassContext.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
case PASS_STOP:
@ -400,20 +403,20 @@ 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;
// 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){
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){
MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->cmd_MID360.dis),3.3,4.3,&u->MID360Context.Curve);
}
else {
MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->cmd_MID360.dis)-0.05f,3.3,4.3,&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;

13
User/Module/up_utils.c
View File

@ -65,15 +65,15 @@ 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 2.9851104*pow(d,4) -36.164382*pow(d,3) + 159.54844*pow(d,2) -273.62856*d + 43.092452; }
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) {
// return 0.9242f * d * d + 19.4246f * d - 154.9055f;
return 2.638517*pow(d,4) -47.996138*pow(d,3) + 325.38515*pow(d,2) -950.18155*d + 919.86543;
return 0.9242f * d * d + 19.4246f * d - 154.9055f;
}
/*
@ -81,12 +81,13 @@ 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
*/
fp32 ang_58;
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;

21
User/bsp/protocol.h
View File

@ -37,11 +37,19 @@ 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;
@ -75,17 +83,17 @@ 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*/
typedef struct __attribute__((packed)) {
float angle; // 角度信息
float dis; // 位移信息
uint8_t status; /* 控制命令 */
} Protocol_DownDataUpper_t;
typedef struct __attribute__((packed)) {
Protocol_UpDataMCU_t data;
} Protocol_UpPackageMCU_t;
@ -98,7 +106,6 @@ typedef struct __attribute__((packed)) {
typedef struct __attribute__((packed)) {
Protocol_DownDataUpper_t data;
} Protocol_DownPackageUpper_t;
#ifdef __cplusplus
}
#endif

31
User/device/cmd.c
View File

@ -87,25 +87,44 @@ 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->cmd_MID360.angle = n->MID360.angle;
cmd->cmd_MID360.dis = n->MID360.dis;
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 ;
break;
default:
cmd->cmd_MID360.posx = 0;
cmd->cmd_MID360.posy = 0;
cmd->cmd_MID360.posw = 0;
cmd->pos =0 ;
break ;
}
return 0;
}

19
User/device/cmd.h
View File

@ -42,12 +42,19 @@ 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;
fp32 dis;
char flag;
}MID360;
struct
@ -142,9 +149,9 @@ typedef struct {
}cmd_pick;
struct
{
fp32 angle;
fp32 dis;
fp32 posx;
fp32 posy;
fp32 posw;
}cmd_MID360;

89
User/device/nuc.c
View File

@ -6,7 +6,7 @@ volatile uint32_t drop_message = 0;
static osThreadId_t thread_alert;
uint8_t nucbuf[10];
uint8_t nucbuf[25];
char SendBuffer[7];
static void NUC_CBLTCallback(void)
@ -58,29 +58,86 @@ int8_t NUC_RawParse(CMD_NUC_t *n, NUC_t *nuc)
return DEVICE_ERR_NULL;
union
{
float x[2];
char data[8];
float x[5];
char data[20];
} instance;
if (nucbuf[0] != HEAD)
goto error; // 发送ID不是底盘
else
{
if (nucbuf[9] != TAIL)
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)
goto error;
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]; //
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]; //
n->MID360.flag = nucbuf[23]; //
break;
}
nuc->unc_online = true; // 设置为在线状态
return DEVICE_OK;
}

7
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*/
@ -38,8 +38,6 @@ 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
@ -49,8 +47,7 @@ void Task_cmd(void *argument){
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);

1
User/task/nuc_task.c
View File

@ -40,6 +40,7 @@ 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);

2
User/task/user_task.h
View File

@ -20,7 +20,7 @@
#define TASK_FREQ_CTRL_CMD (100u)
#define TASK_FREQ_NUC (100u)
#define TASK_FREQ_CAN (1000u)
#define TASK_FREQ_RC (100u)
#define TASK_FREQ_RC (1000u)
#define TASK_FREQ_ERROR_DTC (3u)