diff --git a/AUTO_CHASSIS.ioc b/AUTO_CHASSIS.ioc
index f608f02..b7f3c37 100644
--- a/AUTO_CHASSIS.ioc
+++ b/AUTO_CHASSIS.ioc
@@ -145,23 +145,24 @@ Mcu.Pin24=PA4
Mcu.Pin25=PC4
Mcu.Pin26=PC5
Mcu.Pin27=PE9
-Mcu.Pin28=PA7
-Mcu.Pin29=PB0
+Mcu.Pin28=PE11
+Mcu.Pin29=PA7
Mcu.Pin3=PB3
-Mcu.Pin30=VP_CRC_VS_CRC
-Mcu.Pin31=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin32=VP_SYS_VS_Systick
-Mcu.Pin33=VP_TIM4_VS_ClockSourceINT
-Mcu.Pin34=VP_TIM7_VS_ClockSourceINT
-Mcu.Pin35=VP_TIM10_VS_ClockSourceINT
-Mcu.Pin36=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
+Mcu.Pin30=PB0
+Mcu.Pin31=VP_CRC_VS_CRC
+Mcu.Pin32=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin33=VP_SYS_VS_Systick
+Mcu.Pin34=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin35=VP_TIM7_VS_ClockSourceINT
+Mcu.Pin36=VP_TIM10_VS_ClockSourceINT
+Mcu.Pin37=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
Mcu.Pin4=PA14
Mcu.Pin5=PA13
Mcu.Pin6=PB7
Mcu.Pin7=PB6
Mcu.Pin8=PD0
Mcu.Pin9=PC11
-Mcu.PinsNb=37
+Mcu.PinsNb=38
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F407IGHx
@@ -272,6 +273,8 @@ PD14.GPIOParameters=GPIO_Label
PD14.GPIO_Label=Buzzer
PD14.Locked=true
PD14.Signal=S_TIM4_CH3
+PE11.Locked=true
+PE11.Signal=GPIO_Output
PE9.GPIOParameters=PinState,GPIO_PuPd,GPIO_Label
PE9.GPIO_Label=FlagForUpper
PE9.GPIO_PuPd=GPIO_PULLUP
diff --git a/Core/Inc/stm32f4xx_hal_conf.h b/Core/Inc/stm32f4xx_hal_conf.h
index cf0bc67..8495479 100644
--- a/Core/Inc/stm32f4xx_hal_conf.h
+++ b/Core/Inc/stm32f4xx_hal_conf.h
@@ -190,7 +190,7 @@
#define USE_HAL_SMBUS_REGISTER_CALLBACKS 0U /* SMBUS register callback disabled */
#define USE_HAL_SPI_REGISTER_CALLBACKS 0U /* SPI register callback disabled */
#define USE_HAL_TIM_REGISTER_CALLBACKS 0U /* TIM register callback disabled */
-#define USE_HAL_UART_REGISTER_CALLBACKS 1U /* UART register callback disabled */
+#define USE_HAL_UART_REGISTER_CALLBACKS 0U /* UART register callback disabled */
#define USE_HAL_USART_REGISTER_CALLBACKS 0U /* USART register callback disabled */
#define USE_HAL_WWDG_REGISTER_CALLBACKS 0U /* WWDG register callback disabled */
diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c
index 7b59a61..5803556 100644
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -63,6 +63,9 @@ void MX_GPIO_Init(void)
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(FlagForUpper_GPIO_Port, FlagForUpper_Pin, GPIO_PIN_SET);
+ /*Configure GPIO pin Output Level */
+ HAL_GPIO_WritePin(GPIOE, GPIO_PIN_11, GPIO_PIN_RESET);
+
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GYRO_CS_GPIO_Port, GYRO_CS_Pin, GPIO_PIN_SET);
@@ -99,6 +102,13 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(FlagForUpper_GPIO_Port, &GPIO_InitStruct);
+ /*Configure GPIO pin : PE11 */
+ GPIO_InitStruct.Pin = GPIO_PIN_11;
+ GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
+
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = GYRO_CS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 244ccf3..2372718 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -32,7 +32,6 @@
/* USER CODE BEGIN Includes */
#include "bsp_delay.h"
#include "bsp_can.h"
-#include "Action.h"
//#include "bsp_dwt.h"
/* USER CODE END Includes */
@@ -80,7 +79,9 @@ int main(void)
/* MCU Configuration--------------------------------------------------------*/
- /* Reset of all peripherals, Initializes the Flash interface and the Systick. * HAL_Init();
+ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+
+ HAL_Init();
/* USER CODE BEGIN Init */
@@ -95,7 +96,6 @@ int main(void)
/* Initialize all configured peripherals */
MX_GPIO_Init();
-
MX_DMA_Init();
MX_SPI1_Init();
MX_TIM4_Init();
diff --git a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.hex b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.hex
deleted file mode 100644
index 5c8b503..0000000
--- a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.hex
+++ /dev/null
@@ -1,3618 +0,0 @@
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diff --git a/MDK-ARM/ELE_CHASSIS/ELE_CHASSIS.hex b/MDK-ARM/ELE_CHASSIS/ELE_CHASSIS.hex
deleted file mode 100644
index 9a99b3f..0000000
--- a/MDK-ARM/ELE_CHASSIS/ELE_CHASSIS.hex
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diff --git a/MDK-ARM/AUTO_CHASSIS.uvoptx b/MDK-ARM/R2_UP.uvoptx
similarity index 94%
rename from MDK-ARM/AUTO_CHASSIS.uvoptx
rename to MDK-ARM/R2_UP.uvoptx
index a88a95b..9f52ce8 100644
--- a/MDK-ARM/AUTO_CHASSIS.uvoptx
+++ b/MDK-ARM/R2_UP.uvoptx
@@ -12,7 +12,7 @@
*.lib
*.txt; *.h; *.inc; *.md
*.plm
- *.cpp
+ *.cpp; *.cc; *.cxx
0
@@ -22,11 +22,11 @@
- AUTO_CHASSIS
+ R2_UP
0x4
ARM-ADS
- 12000000
+ 25000000
1
1
@@ -117,11 +117,6 @@
STLink\ST-LINKIII-KEIL_SWO.dll
-
- 0
- ST-LINKIII-KEIL_SWO
- -U00160029510000164E574E32 -O206 -SF5000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131091 -TC12000000 -TT12000000 -TP21 -TDS8005 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)
-
0
ARMRTXEVENTFLAGS
@@ -139,13 +134,13 @@
0
- CMSIS_AGDI
- -X"Horco CMSIS-DAP" -U8626380832 -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC168000000 -TT168000000 -TP20 -TDS8010 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)
+ ST-LINKIII-KEIL_SWO
+ -U-O206 -O206 -SF10000 -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 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)
0
DLGUARM
-
+ (105=-1,-1,-1,-1,0)
0
@@ -158,57 +153,20 @@
0
1
- raw,0x0A
+ aaa,0x0A
1
1
- UP,0x0A
-
-
- 2
- 1
- can,0x0A
-
-
- 3
- 1
- can_out,0x0A
-
-
- 4
- 1
bbb,0x0A
-
- 5
- 1
- aaa,0x0A
-
-
- 6
- 1
- CCC
-
-
- 7
- 1
- GO_motor_info
-
-
-
- 0
- 2
- a
-
-
0
0
- 1
+ 0
1
0
0
@@ -246,18 +204,18 @@
- 0
+ 1
0
0
2
- 5000000
+ 10000000
Application/MDK-ARM
- 1
+ 0
0
0
0
@@ -289,7 +247,7 @@
Application/User/Core
- 1
+ 0
0
0
0
@@ -721,7 +679,7 @@
Middlewares/FreeRTOS
- 1
+ 0
0
0
0
@@ -928,30 +886,6 @@
0
0
0
- ..\User\bsp\gpio.c
- gpio.c
- 0
- 0
-
-
- 7
- 53
- 1
- 0
- 0
- 0
- ..\User\bsp\spi.c
- spi.c
- 0
- 0
-
-
- 7
- 54
- 1
- 0
- 0
- 0
..\User\bsp\pwm.c
pwm.c
0
@@ -959,7 +893,7 @@
7
- 55
+ 53
1
0
0
@@ -971,7 +905,7 @@
7
- 56
+ 54
1
0
0
@@ -983,7 +917,7 @@
7
- 57
+ 55
1
0
0
@@ -995,7 +929,7 @@
7
- 58
+ 56
1
0
0
@@ -1007,7 +941,7 @@
7
- 59
+ 57
5
0
0
@@ -1019,7 +953,7 @@
7
- 60
+ 58
1
0
0
@@ -1031,7 +965,7 @@
7
- 61
+ 59
1
0
0
@@ -1043,7 +977,7 @@
7
- 62
+ 60
1
0
0
@@ -1053,6 +987,30 @@
0
0
+
+ 7
+ 61
+ 1
+ 0
+ 0
+ 0
+ ..\User\bsp\bsp_spi.c
+ bsp_spi.c
+ 0
+ 0
+
+
+ 7
+ 62
+ 1
+ 0
+ 0
+ 0
+ ..\User\bsp\bsp_gpio.c
+ bsp_gpio.c
+ 0
+ 0
+
@@ -1140,8 +1098,8 @@
0
0
0
- ..\User\task\dr16_task.c
- dr16_task.c
+ ..\User\task\up_task.c
+ up_task.c
0
0
@@ -1152,8 +1110,20 @@
0
0
0
- ..\User\task\up_task.c
- up_task.c
+ ..\User\task\cmd_task.c
+ cmd_task.c
+ 0
+ 0
+
+
+ 8
+ 71
+ 1
+ 0
+ 0
+ 0
+ ..\User\task\dr16_task.c
+ dr16_task.c
0
0
@@ -1167,7 +1137,7 @@
0
9
- 71
+ 72
1
0
0
@@ -1177,18 +1147,6 @@
0
0
-
- 9
- 72
- 1
- 0
- 0
- 0
- ..\User\task\cmd_task.c
- cmd_task.c
- 0
- 0
-
9
73
@@ -1249,18 +1207,6 @@
0
0
-
- 9
- 78
- 1
- 0
- 0
- 0
- ..\User\Algorithm\navi.c
- navi.c
- 0
- 0
-
@@ -1271,7 +1217,7 @@
0
10
- 79
+ 78
1
0
0
@@ -1283,7 +1229,7 @@
10
- 80
+ 79
1
0
0
@@ -1295,7 +1241,7 @@
10
- 81
+ 80
1
0
0
@@ -1307,7 +1253,7 @@
10
- 82
+ 81
1
0
0
@@ -1319,7 +1265,7 @@
10
- 83
+ 82
1
0
0
@@ -1329,6 +1275,18 @@
0
0
+
+ 10
+ 83
+ 1
+ 0
+ 0
+ 0
+ ..\User\device\GO_M8010_6_Driver.c
+ GO_M8010_6_Driver.c
+ 0
+ 0
+
10
84
@@ -1341,18 +1299,6 @@
0
0
-
- 10
- 85
- 1
- 0
- 0
- 0
- ..\User\device\GO_M8010_6_Driver.c
- GO_M8010_6_Driver.c
- 0
- 0
-
@@ -1363,7 +1309,7 @@
0
11
- 86
+ 85
1
0
0
@@ -1375,7 +1321,7 @@
11
- 87
+ 86
1
0
0
@@ -1387,7 +1333,7 @@
11
- 88
+ 87
1
0
0
@@ -1401,13 +1347,13 @@
Application/User/USB_DEVICE/Target
- 1
+ 0
0
0
0
12
- 89
+ 88
1
0
0
@@ -1421,13 +1367,13 @@
Middlewares/USB_Device_Library
- 1
+ 0
0
0
0
13
- 90
+ 89
1
0
0
@@ -1439,7 +1385,7 @@
13
- 91
+ 90
1
0
0
@@ -1451,7 +1397,7 @@
13
- 92
+ 91
1
0
0
@@ -1463,7 +1409,7 @@
13
- 93
+ 92
1
0
0
diff --git a/MDK-ARM/AUTO_CHASSIS.uvprojx b/MDK-ARM/R2_UP.uvprojx
similarity index 96%
rename from MDK-ARM/AUTO_CHASSIS.uvprojx
rename to MDK-ARM/R2_UP.uvprojx
index eee0eb5..29a57d0 100644
--- a/MDK-ARM/AUTO_CHASSIS.uvprojx
+++ b/MDK-ARM/R2_UP.uvprojx
@@ -7,7 +7,7 @@
- AUTO_CHASSIS
+ R2_UP
0x4
ARM-ADS
5060960::V5.06 update 7 (build 960)::.\ARMCC
@@ -49,8 +49,8 @@
0
1
- ELE_CHASSIS\
- AUTO_CHASSIS
+ .\R2_UP\
+ R2_UP
1
0
0
@@ -82,7 +82,7 @@
0
- 1
+ 0
0
@@ -1128,16 +1128,6 @@
1
..\User\bsp\delay.c
-
- gpio.c
- 1
- ..\User\bsp\gpio.c
-
-
- spi.c
- 1
- ..\User\bsp\spi.c
-
pwm.c
1
@@ -1183,6 +1173,16 @@
1
..\User\bsp\bsp_buzzer.c
+
+ bsp_spi.c
+ 1
+ ..\User\bsp\bsp_spi.c
+
+
+ bsp_gpio.c
+ 1
+ ..\User\bsp\bsp_gpio.c
+
@@ -1218,16 +1218,72 @@
1
..\User\task\error_detect_task.c
-
- dr16_task.c
- 1
- ..\User\task\dr16_task.c
-
up_task.c
1
..\User\task\up_task.c
+
+ cmd_task.c
+ 1
+ ..\User\task\cmd_task.c
+
+
+ 2
+ 0
+ 0
+ 0
+ 0
+ 1
+ 2
+ 2
+ 2
+ 2
+ 11
+
+
+ 1
+
+
+
+ 2
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+ 0
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+
+
+
+
+
+
+
+
+
+
+
+ dr16_task.c
+ 1
+ ..\User\task\dr16_task.c
+
@@ -1238,11 +1294,6 @@
1
..\User\Algorithm\filter.c
-
- cmd_task.c
- 1
- ..\User\task\cmd_task.c
-
ahrs.c
1
@@ -1268,11 +1319,6 @@
1
..\User\Algorithm\pid.c
-
- navi.c
- 1
- ..\User\Algorithm\navi.c
-
@@ -1303,16 +1349,16 @@
1
..\User\device\vofa.c
-
- dr16.c
- 1
- ..\User\device\dr16.c
-
GO_M8010_6_Driver.c
1
..\User\device\GO_M8010_6_Driver.c
+
+ dr16.c
+ 1
+ ..\User\device\dr16.c
+
@@ -1998,7 +2044,7 @@
-
+
diff --git a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf b/MDK-ARM/R2_UP/R2_UP.axf
similarity index 66%
rename from MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
rename to MDK-ARM/R2_UP/R2_UP.axf
index 5253c10..64a99a3 100644
Binary files a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf and b/MDK-ARM/R2_UP/R2_UP.axf differ
diff --git a/User/Algorithm/navi.c b/User/Algorithm/navi.c
deleted file mode 100644
index 1264fe1..0000000
--- a/User/Algorithm/navi.c
+++ /dev/null
@@ -1,216 +0,0 @@
-#include "navi.h"
-
-
-//导航初始化一系列参数
-int8_t Action_init(ops_t *o , const ops_param_t *param , Action_POS_t *pos)
-{
- if(o ==NULL) return DEVICE_ERR;
- if(param == NULL) return DEVICE_ERR;
-// while(!Action_ready)
-// {
-// TIM4->CCR3 = 9999;//等待全场定位初始化
-// }
-
-// TIM4->CCR3 = 0;
-// HAL_GPIO_WritePin(LED_G_GPIO_Port,LED_G_Pin,GPIO_PIN_SET);//接收到码盘数据后亮灯指示
-//
-
-// osDelay(5);
-
- o->param = param;
- /*全场定位pid初始化*/
- //全场定位跑路径的xy方向速度环pid
- PID_init(&o->pid_PosSpeed_x, PID_POSITION,(&o->param->ops_pid.pid_PosSpeed_x_param));
- PID_init(&o->pid_PosSpeed_y, PID_POSITION,(&o->param->ops_pid.pid_PosSpeed_y_param));
- /* 初始化角度纠正PID */
- PID_init(&o->pid_OutAngle,PID_POSITION,(&o->param->ops_pid.pid_OutAngle_param));//外环
- PID_init(&o->pid_InnerAngle,PID_POSITION,(&o->param->ops_pid.pid_InnerAngle_param));//内环
- //底盘xy方向位置环pid初始化
- //内环
- PID_init(&o->pid_pos_x_inner,PID_POSITION,(&o->param->ops_pid.pid_pos_x_inner_param));
- PID_init(&o->pid_pos_y_inner,PID_POSITION,(&o->param->ops_pid.pid_pos_y_inner_param));
- //外环
- PID_init(&o->pid_pos_x_out,PID_POSITION,(&o->param->ops_pid.pid_pos_x_out_param));
- PID_init(&o->pid_pos_y_out,PID_POSITION,(&o->param->ops_pid.pid_pos_y_out_param));
-
-
-
- //底盘路径速度pid初始化
- PID_init(&o->path_speed_pid,PID_POSITION,(&o->param->ops_pid.path_speed_pid_param));
- //全场定位底盘坐标初始化
- o->chassis_pos->pos_x=0;
- o->chassis_pos->pos_y=0;
- o->chassis_pos->pos_lastX=0;
- o->chassis_pos->pos_lastY=0;
- o->chassis_map =param->path ;
- o->chassis_pos = pos;
-
-
- //设置全场定位允许的误差范围
- o->state.mistake = POS_ALLOW_MISTAKE;
- o->state .angle_mistake =POS_ALLOW_ANGLE_MISTAKE ;
- o->state.moveState = START;
- o->state.points_num = param->path_num;
- //标志位初始化
- o->POS_IS_CPT = NO;
-
-
-
-
- return DEVICE_OK;
-}
-//利用C板imu纠正角度
-fp32 ops9_AngleCorr(ops_t *o,fp32 hope_angle)
-{
- fp32 delta_angle,delta_w;
- //外环角度纠正
- delta_angle = PID_calc(&o->pid_OutAngle,o->ops_imu_pos.yaw,hope_angle);
- //内环速度纠正
- delta_w = -PID_calc(&o->pid_InnerAngle,o->ops_gyro.z,delta_angle);
- return delta_w;
-}
-
-//底盘xy速度计算(全场定位)
-void POS_chassis_set(ops_t *o,fp32 vx_set, fp32 vy_set, fp32 yaw_angle_set){
- o->final_out.vx = (PID_calc(&o->pid_PosSpeed_x, o->chassis_pos->pos_Vx,vx_set));//根据遥控器的方向选择正负
- o->final_out.vy = PID_calc(&o->pid_PosSpeed_y, o->chassis_pos->pos_Vy,vy_set);
- o->final_out.yaw_angle = ops9_AngleCorr(o,yaw_angle_set);
-}
-
-
-//定点控制
-void hold_point(ops_t *o,point_t p,fp32 yaw_angle_set)
-{
- fp32 delta_x,delta_y;
- fp32 delta_vx,delta_vy;
- fp32 vx_set,vy_set;//x,y,w目标速度
-
- //x
- delta_x = PID_calc(&o->pid_pos_x_out,o->chassis_pos->pos_x,p.x);
- delta_vx = PID_calc(&o->pid_pos_x_inner,o->chassis_pos->pos_Vx,delta_x);
-
- //y
- delta_y = PID_calc(&o->pid_pos_y_out,o->chassis_pos->pos_y,p.y);
- delta_vy = PID_calc(&o->pid_pos_y_inner,o->chassis_pos->pos_Vy,delta_y);
-
-
-
-
- vx_set = delta_vx;
- vy_set = delta_vy;
-
- POS_chassis_set(o,vx_set,vy_set,yaw_angle_set);
-}
-
-
-
-
-//判断是否到达函数(全场定位)，最最后判断
-bool isArrive(point_t p,ops_t *o)
-{
- uint16_t xArrive = 0, yArrive = 0, zArrive=0;
-
- xArrive = abs_float_double(p.x,o->chassis_pos->pos_x) < o->state.mistake ? 1:0;
- yArrive = abs_float_double(p.y,o->chassis_pos->pos_y) < o->state.mistake ? 1:0;
-
- if(xArrive && yArrive) return true;
- else return false;
-}
-
-
-
-
-//寻迹，跑点函数
-int8_t go_path(ops_t *o,CMD_ACTION_t *ops_out)
-{
- static fp32 distance;//两点之间的距离差
- static fp32 chassis_speed_set;//底盘速度设置
- static fp32 SIN,COS;//方向解算
- static fp32 world_vx,world_vy;//x,y方向分解速度
- static fp32 chassis_vx,chassis_vy;//底盘xy分速度
- static int cnt =0 ;//计数标志位
-
- static int flag_update_num;//记录flag更新，防止cnt一直变化
-
- /*数据同步*/
- o->current_x =o->chassis_pos ->pos_x ;
- o->current_y =o->chassis_pos ->pos_y ;
- o->next_mapx = o->chassis_map[cnt].x;
- o->next_mapy =o->chassis_map[cnt].y;
- o->Navi_Mode .Trig_flag = ops_out ->flag ;
-
- if(o == NULL) return DEVICE_ERR;
- if (ops_out == NULL) return DEVICE_ERR;
-
-// static fp32 yaw_angle_set = 0;
- if(o->POS_IS_CPT == NO)//路径未跑完
- {
- if(o->state.moveState ==START)
- {
- //更新路径状态
- o->state.moveState =MOVING;
- }
-
-
- distance = sqrt((o->chassis_map[cnt].x - o->chassis_pos->pos_x)*(o->chassis_map[cnt].x - o->chassis_pos->pos_x)
- +(o->chassis_map[cnt].y - o->chassis_pos->pos_y)*(o->chassis_map[cnt].y - o->chassis_pos->pos_y));
-
- chassis_speed_set = PID_calc(&o->path_speed_pid,-distance,0);//此处由pid计算距离得出相应的速度
- //速度分解
- SIN = (o->chassis_map[cnt].y - o->chassis_pos->pos_y)/distance;
- COS = (o->chassis_map[cnt].x - o->chassis_pos->pos_x)/distance;
-
- world_vx = chassis_speed_set * COS;
- world_vy = chassis_speed_set * SIN;
-
-// chassis_vx = world_vx;
-// chassis_vy = world_vy;
- //世界坐标转机器坐标系转换
-
- chassis_vx = -world_vy*sin(o->ops_imu_pos.yaw) + world_vx*cos(o->ops_imu_pos.yaw);
- chassis_vy = world_vy*cos(o->ops_imu_pos.yaw) + world_vx*sin(o->ops_imu_pos.yaw);
-
- }
-
-/*下面的逻辑按需更改，根据cnt计数器自动跑点，遥控器触发跑点等等*/
-
-
- if(isArrive(o->chassis_map[cnt],o)) //判断是否到达(全场定位)，只涉及xy的判断
- {
- /*到达点后，这里应该增加cnt增加或减小的触发方式*/
-
- if (o->Navi_Mode .Trig_flag != flag_update_num) { // 只有flag发生变化时才更新cnt
-
- if (o->Navi_Mode .Trig_flag==1){
- cnt++;
- }
- }
- else if (o->Navi_Mode .Trig_flag == -1) {
- cnt--;
- }
- flag_update_num = o->Navi_Mode .Trig_flag; // 更新prev_flag为当前的flag状态
- }
- else
- {
- o->POS_IS_CPT = NO;
- hold_point(o,o->chassis_map[cnt],o->chassis_map[cnt].angle); //调用该函数使临近误差值快速响应
- }
- if(cnt>3)//根据点数更改
- {
- o->POS_IS_CPT =YES;
- //到达目的地
- o->final_out .vx =0;
- o->final_out .vy =0;
- o->final_out.yaw_angle=0;
- }
-
-
-
-
-
- ops_out->out.Vx= o->final_out .vx ;
- ops_out->out.Vy = o->final_out .vy ;
- ops_out->out.Vw = o->final_out.yaw_angle;
-
- return DEVICE_OK;
-}
diff --git a/User/Algorithm/navi.h b/User/Algorithm/navi.h
deleted file mode 100644
index 5b313b0..0000000
--- a/User/Algorithm/navi.h
+++ /dev/null
@@ -1,108 +0,0 @@
-#ifndef NAVI_H
-#define NAVI_H
-
-
-#include "Action.h"
-#include "pid.h"
-#include "ahrs.h"
-#include "bmi088.h"
-#include "map.h"
-
-typedef enum {
- AUTO_MODE, // Զܵģʽ
- MANUAL_MODE , // ģʽ
- NO_MODE
-} Navi_Mode_t;
-
-typedef struct {
-
- Navi_Mode_t mode;
-
- int Trig_flag;//أʼֵΪ㣬ֿģʽ£ֵΪ1ʹcnt+1Ϊ-1ʹcnt-1
-
-} Navi_COT_MODE_t;
-
-
-typedef struct{
- float pos_x;
- float pos_y;
- float last_pos_x;
- float last_pos_y;
-}chassis_position_t;
-
-typedef enum{
- YES,
- NO,
- NEXT1,
- NEXT2
-}is_cpt_e;
-typedef struct{
- pid_param_t pid_PosSpeed_x_param;
- pid_param_t pid_PosSpeed_y_param;
- pid_param_t pid_pos_x_out_param;
- pid_param_t pid_pos_x_inner_param;
- pid_param_t pid_pos_y_out_param;
- pid_param_t pid_pos_y_inner_param;
- pid_param_t pid_OutAngle_param;
- pid_param_t pid_InnerAngle_param;
- pid_param_t path_speed_pid_param;
-
-}ops_pid_param_t;
-
-typedef struct {
- ops_pid_param_t ops_pid;
- const point_t *path;
- int8_t path_num;
-}ops_param_t;
-
-/**
- * @brief
- *
-*/
-typedef struct {
- Action_POS_t *chassis_pos;
- fp32 current_x;
- fp32 current_y;
-
- fp32 next_mapx;
- fp32 next_mapy;
- const point_t *chassis_map;
- const ops_param_t *param;
- PathState_t state;
- Navi_COT_MODE_t Navi_Mode;
-
- AHRS_Eulr_t ops_imu_pos;
- AHRS_Gyro_t ops_gyro;
-
-
-
- pid_type_def pid_PosSpeed_x;
- pid_type_def pid_PosSpeed_y;
- pid_type_def pid_pos_x_out;
- pid_type_def pid_pos_x_inner;
- pid_type_def pid_pos_y_out;
- pid_type_def pid_pos_y_inner;
- pid_type_def pid_OutAngle;
- pid_type_def pid_InnerAngle;
- pid_type_def path_speed_pid;
-
-
- is_cpt_e POS_IS_CPT;
-
- struct
- {
- fp32 vx;
- fp32 vy;
- fp32 yaw_angle;
- }final_out;
-
-}ops_t;
-
-
-
-
-int8_t Action_init(ops_t *o,const ops_param_t *param,Action_POS_t *pos);
-
-int8_t go_path(ops_t *o,CMD_ACTION_t *ops_out);
-#endif
-
diff --git a/User/Module/Chassis.c b/User/Module/Chassis.c
deleted file mode 100644
index 5f738e6..0000000
--- a/User/Module/Chassis.c
+++ /dev/null
@@ -1,231 +0,0 @@
-#include "Chassis.h"
-#include "gpio.h"
-#include "Action.h"
-#include "user_math.h"
-#include "bsp_buzzer.h"
-#include "bsp_delay.h"
-
-
-
-
-
-
-/*机器人坐标系，向前x，右y，上yaw
- 不同于nuc (前x，左y，上yaw) */
-/*
- x
- |
- --y
-
-
-*/
-
-static int8_t Chassis_SetCtrl(Chassis_t *c,CMD_t *ctrl){
- if (c == NULL) return CHASSIS_ERR_NULL; /*主结构体不能为空 */
- if (ctrl->C_cmd.type== c->ctrl && ctrl->C_cmd.mode== c->mode) return CHASSIS_OK; /*模式未改变直接返回*/
- //此处源代码处做了pid的reset 待添加
- c->ctrl =ctrl->C_cmd.type;
- c->mode =ctrl->C_cmd.mode;
-
- return CHASSIS_OK;
-} //设置控制模式
-
-
-/*该函数用来更新can任务获得的电机反馈值*/
-
-int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) {
- if (c == NULL) return CHASSIS_ERR_NULL;
- if (can == NULL) return CHASSIS_ERR_NULL;
- for (uint8_t i = 0; i < 4; i++)
- {
- c->motorfeedback.rotor_rpm3508[i] = can->motor.motor3508.as_array[i].rotor_speed;
- c->motorfeedback.rotor_current3508[i] = can->motor.motor3508.as_array[i].torque_current;
- }
-
-
- c->motorfeedback.rotor_pit6020angle = can->motor.pit6020.as_array[0].rotor_ecd;
- c->motorfeedback.rotor_pit6020rpm = can->motor.pit6020.as_array[0].rotor_speed;
-
- c->motorfeedback.rotor_gimbal_yawangle = can->motor.chassis6020.as_array[0].rotor_ecd;
- c->motorfeedback.rotor_gimbal_yawrpm = can->motor.chassis6020.as_array[0].rotor_speed;
-
- c->motorfeedback.rotor_gimbal_pitchangle = can->motor.chassis6020.as_array[1].rotor_ecd;
- c->motorfeedback.rotor_gimbal_pitchrpm = can->motor.chassis6020.as_array[1].rotor_speed;
-
- c->sick_dis[0] = can->sickfed.raw_dis[0];
- c->sick_dis[1] = can->sickfed.raw_dis[1];
- c->sick_dis[2] = can->sickfed.raw_dis[2];
- c->sick_dis[3] = can->sickfed.raw_dis[3];
-
- return CHASSIS_OK;
-}
-
-
-int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
-{
- if (c == NULL) return CHASSIS_ERR_NULL;
-
- c->param = param; /*初始化参数 */
-
- for(int i =0 ; i < 4 ; i++)
- {
- PID_init(&(c->pid.chassis_3508VecPID[i]),PID_POSITION_D,&(c->param->M3508_param)); //带D项滤波
- }
-
- PID_init((&c->pid.chassis_pitAngle6020),PID_POSITION,&(c->param->C6020pitAngle_param));//尝试位置控制角度
-
- PID_init((&c->pid.chassis_pitOmega6020),PID_POSITION,&(c->param->C6020pitOmega_param));
-
- PID_init((&c->pid.chassis_gimbal_yawAnglePID),PID_POSITION,&(c->param->Gimbal_yawAngle_param));//尝试位置控制角度
-
- PID_init((&c->pid.chassis_gimbal_yawOmegaPID),PID_POSITION,&(c->param->Gimbal_yawOmega_param));
-
- PID_init((&c->pid.chassis_gimbal_pitchAnglePID),PID_POSITION,&(c->param->Gimbal_pitchAngle_param));//尝试位置控制角度
-
- PID_init((&c->pid.chassis_gimbal_pitchOmegaPID),PID_POSITION,&(c->param->Gimbal_pitchOmega_param));
-
- PID_init(&(c->pid.chassis_NaviVxPID),PID_POSITION,&(c->param->NaviVx_param));
-
- PID_init(&(c->pid.chassis_NaviVyPID),PID_POSITION,&(c->param->NaviVy_param));
-
- PID_init(&(c->pid.chassis_NaviWzPID),PID_POSITION,&(c->param->NaviVw_param));
-
- PID_init(&(c->pid.sick_CaliforYPID),PID_POSITION,&(c->param->Sick_CaliYparam));
-
- PID_init(&(c->pid.sick_CaliforXPID),PID_POSITION,&(c->param->Sick_CaliXparam));
-
- LowPassFilter2p_Init(&(c->filled[0]),target_freq,80.0f); //给角加速度做滤波
-
-
- LowPassFilter2p_Init(&(c->filled[1]),target_freq,80.0f); //给w 做滤波
-
- LowPassFilter2p_Init(&(c->filled[2]),target_freq,80.0f); //给y做滤波
-
- LowPassFilter2p_Init(&(c->filled[3]),target_freq,80.0f); //给x 做滤波
-
- //
-
-
- return CHASSIS_OK;
-}
-
-
-void Chassis_speed_calculate(Chassis_t *c,fp32 Vx,fp32 Vy,fp32 Vw) //底盘逆运动学的解算
-{
- c->hopemotorout.OmniSpeedOut[3] = -Vx+Vy+Vw;//右前
- c->hopemotorout.OmniSpeedOut[0] = -Vx-Vy+Vw;//右后
- c->hopemotorout.OmniSpeedOut[1] = Vx-Vy+Vw;//左后
- c->hopemotorout.OmniSpeedOut[2] = Vx+Vy+Vw;//左前
-}
-
-
-//bool isArrive(fp32 real_pos,fp32 target_pos,fp32 mistake)
-//{
-// uint16_t xArrive = 0, yArrive = 0;
-// xArrive = abs_float_double(real_pos,target_pos) < mistake ? 1:0;
-// yArrive = abs_float_double(real_pos,target_pos) < mistake ? 1:0;
-// if(xArrive && yArrive) return true;
-// else return false;
-//}
-
-
-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);
-
- //此处对imu加滤波做修正
- c->pos088.bmi088.filtered_gyro.z =LowPassFilter2p_Apply(&(c->filled[0]),c->pos088.bmi088.gyro.z);
-
- switch (c->ctrl)
- {
- case RC:
-
-/*
- 在cmd里对数据进行处理 包括方向和油门
- 6000为全向轮的倍率,遥控器坐标系和机器人坐标系不同*/
- c->move_vec.Vw = ctrl->Vw*6000;
- c->move_vec.Vx = -ctrl->Vy*6000;
- c->move_vec.Vy = ctrl->Vx*6000;
- if(c->mode == RC_MODE1 ){
- }
-
-
- break;
-
- case MID_NAVI:
-// //这套是全向轮的方向,一定要注意这里的xy方向
- c->move_vec.Vw =ctrl->C_navi.wz ;
- c->move_vec.Vx =ctrl->C_navi.vy ;
- c->move_vec.Vy =ctrl->C_navi.vx ;
-
- c->move_vec.Vw =LowPassFilter2p_Apply(&(c->filled[1]),c->move_vec.Vw);
- c->move_vec.Vy =LowPassFilter2p_Apply(&(c->filled[2]),c->move_vec.Vy);
- c->move_vec.Vx =LowPassFilter2p_Apply(&(c->filled[3]),c->move_vec.Vx);
-
- c->move_vec.Vw =PID_calc(&(c->pid.chassis_NaviWzPID),c->pos088.bmi088.gyro.z,c->move_vec.Vw);
- c->move_vec.Vx =PID_calc(&(c->pid.chassis_NaviVxPID),c->pos088.bmi088.accl.y,c->move_vec.Vx);
- c->move_vec.Vy =PID_calc(&(c->pid.chassis_NaviVyPID),c->pos088.bmi088.accl.x,c->move_vec.Vy);
-
- if(ctrl->status[5] ==1)
- {
- c->move_vec.Vw = c->move_vec.Vw * 0.8f;
- c->move_vec.Vx = c->move_vec.Vx * 0.5f;
- c->move_vec.Vy = c->move_vec.Vy * 0.5f;
- }
-
- break;
-
- }
-/*怎么用*/
- switch (c->mode)
- {
- case RELAXED:
- c->move_vec.Vx =0;
- c->move_vec.Vy =0;
- c->move_vec.Vw =0;
- break;
- case NORMAL:
- break;
-
- case GYRO_STAY://陀螺仪yaw修正
- c->move_vec.Vw = c->move_vec.Vw +c->pos088.bmi088.gyro.z *2000;
- break;
-
-}
-
- //电机速度限幅
-
-// abs_limit_fp(&c->move_vec.Vx,2000.0f);
-
-// abs_limit_fp(&c->move_vec.Vy,2000.0f);
-
-// abs_limit_fp(&c->move_vec.Vw,2000.0f);
- Chassis_speed_calculate(c,c->move_vec.Vx,c->move_vec.Vy,c->move_vec.Vw);
-
-
- for (uint8_t i = 0 ; i <4 ; i++)
- {
- c->final_out.final_3508out[i] = PID_calc(&(c->pid.chassis_3508VecPID[i]),c->motorfeedback.rotor_rpm3508[i],c->hopemotorout.OmniSpeedOut[i]);
-
- out->motor3508.as_array[i] = c->final_out.final_3508out[i];
- }
-
-
-// c->vofa_send[0]=c->pos088.bmi088.gyro.x;
-// c->vofa_send[1]=c->pos088.bmi088.gyro.y;
-// c->vofa_send[2]=c->pos088.bmi088.gyro.z;
-// c->vofa_send[3]=c->pos088.bmi088.accl.x;
-// c->vofa_send[4]=c->pos088.bmi088.accl.y;
-// c->vofa_send[5]=c->pos088.bmi088.accl.z;
-
- return CHASSIS_OK;
-
-}
-
-
-
-
diff --git a/User/Module/Chassis.h b/User/Module/Chassis.h
deleted file mode 100644
index d3f15ad..0000000
--- a/User/Module/Chassis.h
+++ /dev/null
@@ -1,232 +0,0 @@
-#ifndef CHASSIS_H
-
-/**
- * @brief 底盘控制类头文件
- *
- * 本头文件定义了底盘控制类的接口和数据结构，用于控制车辆的底盘。
- *
- * @param ChassisImu_t 底盘的 IMU 数据结构体
- * @param ops_t 操作数据结构体
- * @param Chassis_t 底盘数据结构体
- *
- * @brief 底盘控制类的功能包括：
- * 速度控制
- * 方向控制
- * PID 控制
- * 速度和方向的综合控制
- *
- * @attention PID 控制器的配置需要在 config 文件中设置
- *
- */
-
-
-#define CHASSIS_H
-
-#include "struct_typedef.h"
-#include "pid.h"
-#include "bmi088.h"
-#include "map.h"
-#include "user_math.h"
-#include "ahrs.h"
-#include "can_use.h"
-#include "cmd.h"
-#include "filter.h"
-#include "Action.h"
-
-#define CHASSIS_OK (0)
-#define CHASSIS_ERR (-1)
-#define CHASSIS_ERR_NULL (-2)
-#define CHASSIS_ERR_MODE (-3) /*CMD_ChassisMode_t */
-#define CHASSIS_ERR_TYPE (-4) /*Chassis_Type_t */
-
-//m3508的电机转速转换为底盘的实际速度
-#define M3508_MOTOR_RPM_TO_VECTOR 0.0008809748903494517209f
-
-
-#define M6020_MOTOR_RPM_TO_VECTOR 0.003664f
-#define PI 3.1415926535f
-
-typedef struct {
-
- BMI088_t bmi088;
-
- /*可通过该枚举类型来决定Imu的数据量纲*/
- enum {
- IMU_DEGREE,//角度值（0-360）
- IMU_RADIAN//弧度制（0-2pi)
- }angle_mode;
-
- AHRS_Eulr_t imu_eulr;//解算后存放欧拉角（弧度制）
-}ChassisImu_t;
-
-/*底盘的类型*/
-typedef enum {
- CHASSIS_TYPE_MECANUM, /* 麦轮 */
- CHASSIS_TYPE_OMNI_CROSS, /* 全向轮*/
- CHASSIS_TYPE_AGV, /* AGV舵轮 */
-} Chassis_Type_e;
-
-/*底盘的电机轮组*/
-typedef enum {
- DJI_M3508,
- DJI_G6020,
- AGV_Group,
-}Chassis_Motortype_e;
-
-
-/* 该结构体用于存取固定的一些参数 在config.c中更改后不再变化 */
-typedef struct
-{
- Chassis_Type_e chassis_type; /* */
- Chassis_Motortype_e motor_type; /**/
-
-
- /*该部分决定PID的参数整定在config中修改*/
- pid_param_t M3508_param;
- pid_param_t AngleCor_param;
- pid_param_t OmegaCor_param;
- pid_param_t DisCamera_param;
- pid_param_t ImuCor_param;
- pid_param_t C6020pitAngle_param;
- pid_param_t C6020pitOmega_param;
- pid_param_t Gimbal_yawAngle_param;
- pid_param_t Gimbal_yawOmega_param;
- pid_param_t Gimbal_pitchAngle_param;
- pid_param_t Gimbal_pitchOmega_param;
- pid_param_t NaviVx_param;
- pid_param_t NaviVy_param;
- pid_param_t NaviVw_param;
- pid_param_t Sick_CaliYparam;
- pid_param_t Sick_CaliXparam;
-
-
-
-}Chassis_Param_t;
-
-
-/*该结构体用于底盘的期望运动向量*/
-typedef struct
-{
- fp32 Vx;
- fp32 Vy;
- fp32 Vw;
- fp32 mul;//油门倍率
-}ChassisMove_Vec;
-
-
-/**
- * @brief
- *
- */
-typedef struct{
-
- uint8_t chassis_task_run; //线程的运行
-
- const Chassis_Param_t *param; //一些固定的参数
-
- ChassisImu_t pos088; //088的实时姿态
- Action_POS_t Action_pos;
- CMD_Chassis_CtrlType_e ctrl;
- CMD_Chassis_mode_e mode;
-
- ChassisMove_Vec move_vec; //由控制任务决定
-
- struct{
-
- fp32 rotor_rpm3508[4];
- fp32 rotor_current3508[4];
-
- fp32 rotor_pit6020angle;
- fp32 rotor_pit6020rpm;
-
- fp32 rotor_gimbal_yawangle;
- fp32 rotor_gimbal_yawrpm;
-
- fp32 rotor_gimbal_pitchangle;
- fp32 rotor_gimbal_pitchrpm;
-
- }motorfeedback;
-
-
- /*期望的底盘输出值*/
- struct{
- fp32 OmniSpeedOut[4];
-
- }hopemotorout;
-
-
- /*经PID计算后的实际发送给电机的实时输出值*/
- struct
- {
- fp32 final_3508out[4];
- fp32 final_pitchout;
- fp32 final_gimbal_yawout;
- fp32 final_gimbal_pitchout;
-
- }final_out;
-
- struct{
-
- pid_type_def chassis_3508VecPID[4];
- pid_type_def chassis_pitAngle6020;
- pid_type_def chassis_pitOmega6020;
- pid_type_def chassis_gimbal_yawAnglePID;
- pid_type_def chassis_gimbal_yawOmegaPID;
- pid_type_def chassis_gimbal_pitchAnglePID;
- pid_type_def chassis_gimbal_pitchOmegaPID;
- pid_type_def chassis_NaviVxPID;
- pid_type_def chassis_NaviVyPID;
- pid_type_def chassis_NaviWzPID;
- pid_type_def sick_CaliforYPID;
- pid_type_def sick_CaliforXPID;
-
- pid_type_def Action_VxPID;
- pid_type_def Action_VyPID;
- pid_type_def Action_WzPID;
- }pid;
-
- fp32 vofa_send[8];
-
- LowPassFilter2p_t filled[6]; /* 输出滤波器滤波器数组 */
-
-
- int32_t sick_dis[4]; //获取到的sick激光值
-
-
-
-}Chassis_t;
-
-/**
- * @brief
- *
- * @param c
- * @param param
- * @param mech_zero
- * @param wheelPolar
- * @return
- */
- int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq);
-
-
-/**
- * \brief
-
- */
-int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can);
-
-
-/**
- * \brief
-
- */
-int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out);
-
-
-
-
-
-
-/// @brief
-/// @param c
-void vesc_current_detection(Chassis_t *c);
-#endif
diff --git a/User/Module/config.c b/User/Module/config.c
index cf74443..14d2396 100644
--- a/User/Module/config.c
+++ b/User/Module/config.c
@@ -46,6 +46,20 @@ static const ConfigParam_t param_chassis ={
.i_limit = 2000.0f,
.out_limit = 3000.0f,
},
+.M3508_angle_param = {
+ .p = 30.0f,
+ .i = 0.0f,
+ .d = 1.5f,
+ .i_limit = 1000.0f,
+ .out_limit = 3000.0f,
+},
+.M3508_speed_param = {
+ .p = 5.0f,
+ .i = 0.3f,
+ .d = 0.0f,
+ .i_limit = 2000.0f,
+ .out_limit = 3000.0f,
+},
.UP_GM6020_angle_param={
.p = 30.0f,
.i = 20.0f,
@@ -71,102 +85,13 @@ static const ConfigParam_t param_chassis ={
.rev = 0,
.T=0.1,
.W=0.1,
- .K_P=0.1,
- .K_W=0.1,
+ .K_P=0.2,
+ .K_W=0.05,
}
},
-// .chassis = {/**/
-// .C6020pitAngle_param = {
-// .p = 15.0f,
-// .i = 0.3f,
-// .d =0.0f,
-// .i_limit = 200.0f,
-// .out_limit = 3000.0f,
-// },
-// .C6020pitOmega_param = {
-// .p =30.0f,
-// .i =0.3f,
-// .d =0.0f,
-// .i_limit = 200.0f,
-// .out_limit = 3000.0f
-// },
-//
-// .Gimbal_yawAngle_param = {
-// .p =8.0f,
-// .i =0.0f,
-// .d =0.0f,
-// .i_limit = 200.0f,
-// .out_limit = 3000.0f
-// },
-//
-// .Gimbal_yawOmega_param = {
-// .p =18.0f,
-// .i =0.0f,
-// .d =0.0f,
-// .i_limit = 200.0f,
-// .out_limit = 3000.0f
-// },
-//
-// .Gimbal_pitchAngle_param = {
-// .p =8.0f,
-// .i =0.0f,
-// .d =0.0f,
-// .i_limit = 200.0f,
-// .out_limit = 3000.0f
-// },
-//
-// .Gimbal_pitchOmega_param = {
-// .p =18.0f,
-// .i =0.0f,
-// .d =0.0f,
-// .i_limit = 200.0f,
-// .out_limit = 3000.0f
-// },
-// .AngleCor_param = {
-// .p =0.8f,
-// .i =0.0f,
-// .d =1.0f,
-// .i_limit = 0.0f,
-// .out_limit =5000.0f,
-// },
-//
-// .OmegaCor_param = {
-// .p =23.5f,
-// .i =0.0f,
-// .d =0.05f,
-// .i_limit = 0.0f,
-// .out_limit =5000.0f,
-// },
-//
-// .ImuCor_param = {
-// .p =95.0f,
-// .i =0.0f,
-// .d =0.0f,
-// .i_limit = 0.0f,
-// .out_limit =200.0f,
-// },
-//
-// .DisCamera_param = {
-// .p =80.0f,
-// .i =0.1f,
-// .d =0.0f,
-// .i_limit = 0.0f,
-// .out_limit =5000.0f,
-// },
-
-// .M3508_param = {
-// .p = 15.1f,
-// .i = 0.02f,
-// .d = 3.2f,
-// .i_limit = 200.0f,
-// .out_limit =6000.0f,
-// }
-//
-
-// },
.can = {
diff --git a/User/Module/config.h b/User/Module/config.h
index dd2b1aa..646be89 100644
--- a/User/Module/config.h
+++ b/User/Module/config.h
@@ -1,14 +1,12 @@
#ifndef _CONFIG_H
#define _CONFIG_H
-#include "Chassis.h"
#include "can_use.h"
#include "ahrs.h"
#include "map.h"
#include "up.h"
typedef struct{
-Chassis_Param_t chassis; /**/
UP_Param_t up;
CAN_Params_t can;
AHRS_Eulr_t mech_zero[4];
@@ -27,8 +25,6 @@ void Config_Get(Config_t *cfg);
void Config_Set(Config_t *cfg);
-//void set_ops_path(ConfigParam_t *config, const point_t *path, int8_t path_num) ;
-
extern const ConfigParam_t *Config_ChassisGet(void);
diff --git a/User/Module/up.c b/User/Module/up.c
index 70c51ce..1c379fe 100644
--- a/User/Module/up.c
+++ b/User/Module/up.c
@@ -4,102 +4,150 @@
#include "bsp_buzzer.h"
#include "bsp_delay.h"
-#define GEAR_RATIO (36) // 2006减速比
+#define GEAR_RATIO_2006 (36) // 2006减速比
+#define GEAR_RATIO_3508 (19)
+
#define CAN_MOTOR_ENC_RES 8191 // 编码器分辨率
-#define MOTOR2006_ECD_TO_ANGLE (360.0 / 8191.0 / (GEAR_RATIO)) //2006编码值转轴角度
+#define MOTOR2006_ECD_TO_ANGLE (360.0 / 8191.0 / (GEAR_RATIO_2006)) //2006编码值转轴角度
+#define MOTOR3508_ECD_TO_ANGLE (360.0 / 8191.0 / (GEAR_RATIO_3508)) //3508编码值转轴角度
int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq)
{
- u->param = param; /*初始化参数 */
-
+ u->param = param; /*初始化参数 */
+ /*go电机初始化*/
GO_M8010_init();
+ /*pid初始化*/
PID_init (&u->pid.VESC_5065_M1 ,PID_POSITION ,&(u->param ->VESC_5065_M1_param ));
PID_init (&u->pid.VESC_5065_M2 ,PID_POSITION ,&(u->param ->VESC_5065_M2_param ));
PID_init (&u->pid .M2006_angle ,PID_POSITION ,&(u->param->M2006_angle_param ));
PID_init (&u->pid .M2006_speed ,PID_POSITION ,&(u->param->M2006_speed_param ));
+ PID_init (&u->pid .M3508_angle ,PID_POSITION ,&(u->param->M3508_angle_param ));
+ PID_init (&u->pid .M3508_speed ,PID_POSITION ,&(u->param->M3508_speed_param ));
+
PID_init (&u->pid .GM6020_speed,PID_POSITION ,&(u->param ->UP_GM6020_speed_param ));
PID_init (&u->pid .GM6020_angle,PID_POSITION ,&(u->param ->UP_GM6020_angle_param ));
-
- u->M2006 .motor =M2006 ;
- u->M3508 .motor =M3508 ;
-
- for(int i=0;i<3;i++){
- PID_init (&u->pid .M3508_speed[i] ,PID_POSITION ,&(u->param ->M3508_speed_param ));
- }
-
- for(int i=0;i<2;i++){ //go初始位置设置为0
- u->GO_motor_info[i] = getGoPoint(i);
+
+
+ for(int i=0;i<2;i++){ //go初始位置设置为0
GO_M8010_send_data(BSP_UART_GetHandle(BSP_UART_RS485), i,u->param->go_param .rev ,u->param->go_param .T ,u->param->go_param .W ,0,u->param->go_param .K_P ,u->param->go_param .K_W );
}
+ /**/
+ u->state .Dribble_flag =Not_started_dri;
+ u->state. Pitch_flag=Not_started_Pit;
+ u->state .last_state = Not_started_dri;
+
}
-
-int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can) {
-
- u->motorfeedback .M2006_angle=can ->motor .motor3508 .as_array [0].rotor_ecd ;
- u->motorfeedback .M2006_rpm =can ->motor .motor3508 . as_array [0].rotor_speed ;
+/*can，上层状态更新*/
+int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can, CMD_t *c) {
+ for(int i=0;i<2;i++){ //go初始位置设置为0
+ u->motorfeedback .GO_motor_info [i] = getGoPoint(i);
+ }
+ u->motorfeedback .M2006 .motor =M2006;
+ u->motorfeedback .M3508 .motor =M3508;
+
u->motorfeedback .VESC_5065_M1_rpm =can ->motor .chassis5065 .as_array [0].rotor_speed ;
u->motorfeedback .VESC_5065_M2_rpm =can ->motor .chassis5065 .as_array [1].rotor_speed ;
u->motorfeedback .rotor_pit6020ecd =can ->motor .chassis6020.as_array [2].rotor_ecd ;
u->motorfeedback .rotor_pit6020rpm =can ->motor .chassis6020.as_array [2].rotor_speed ;
- for(int i=0;i<3;i++){
- u->motorfeedback .M3508_speed[i] =can ->motor .motor3508 .as_array [i+1].rotor_speed ;
+
+ for(int i=0;i<4;i++){
+ u->motorfeedback .M3508_rpm[i] =can ->motor .motor3508 .as_array [i].rotor_speed ;
+ u->motorfeedback .M3508_angle [i]=can ->motor .motor3508 .as_array [i].rotor_ecd ;
}
+
+ u->cmd =c;
+
+ return 0;
}
+
int8_t cnt=0;
-/*上层电机控制*/
-int8_t UP_angle(UP_t *u, fp32 target_angle) {
+/*上层电机控制,使用can1的id1和2*/
+int8_t UP_angle_control(UP_t *u, fp32 target_angle,MotorType_t motor) {
// 获取当前编码器角度
-
-// switch (u->)
- float angle = u->motorfeedback.M2006_angle;
- // 初始化阶段：前50次循环记录初始值
- if (u->M2006.init_cnt < 50) {
- u->M2006.orig_angle = angle; // 记录初始编码器值
- u->M2006.last_angle = angle;
+ fp32 angle ,delta;
+ switch(motor)
+ {
+ case M2006 :
+ angle = u->motorfeedback.M3508_angle[0];
+ if (u->motorfeedback .M2006 .init_cnt < 50) {
+ u->motorfeedback .M2006.orig_angle = angle; // 记录初始编码器值
+ u->motorfeedback .M2006.last_angle = angle;
- u->M2006.init_cnt++; // 初始化计数器递增
+ u->motorfeedback .M2006.init_cnt++; // 初始化计数器递增
return 0;
}
-
-
- float delta = angle - u->M2006.last_angle;
+
+ delta = angle - u->motorfeedback .M2006.last_angle;
+ delta = angle - u->motorfeedback .M2006.last_angle;
if (delta > 4096) {
- u->M2006.round_cnt--; // 逆时针跨圈
+ u->motorfeedback .M2006.round_cnt--; // 逆时针跨圈
} else if (delta < -4096) {
- u->M2006.round_cnt++; // 顺时针跨圈
+ u->motorfeedback .M2006.round_cnt++; // 顺时针跨圈
}
-
- u->M2006.last_angle = angle;
-
- // 计算总角度
- float total_angle = (u->M2006.round_cnt * 8191 + (angle - u->M2006.orig_angle)) * MOTOR2006_ECD_TO_ANGLE;
- u->M2006 .total_angle =total_angle;
+ u->motorfeedback.M2006.last_angle = angle;
+ // 计算总角度
+ float total_angle = (u->motorfeedback.M2006 .round_cnt * 8191 + (angle - u->motorfeedback.M2006.orig_angle)) * MOTOR2006_ECD_TO_ANGLE;
+ u->motorfeedback.M2006.total_angle =total_angle;
float delta_angle = PID_calc(&u->pid.M2006_angle, total_angle, target_angle);
- float delta_speed = PID_calc(&u->pid.M2006_speed, u->motorfeedback.M2006_rpm, delta_angle);
+ float delta_speed = PID_calc(&u->pid.M2006_speed, u->motorfeedback.M3508_rpm [0], delta_angle);
u->motor_target.M2006_angle = target_angle;
- u->final_out .final_2006out =delta_speed;
+ u->final_out .final_3508out [0] =delta_speed;
+
+ break ;
+
+ case M3508 :
+
+ angle = u->motorfeedback.M3508_angle[1];
+ if (u->motorfeedback .M3508 .init_cnt < 50) {
+ u->motorfeedback .M3508.orig_angle = angle; // 记录初始编码器值
+ u->motorfeedback .M3508.last_angle = angle;
+
+ u->motorfeedback .M3508.init_cnt++; // 初始化计数器递增
+ return 0;
+ }
+
+ delta = angle - u->motorfeedback .M3508.last_angle;
+ delta = angle - u->motorfeedback .M3508.last_angle;
+ if (delta > 4096) {
+ u->motorfeedback .M3508.round_cnt--; // 逆时针跨圈
+ } else if (delta < -4096) {
+ u->motorfeedback .M3508.round_cnt++; // 顺时针跨圈
+ }
+ u->motorfeedback.M3508.last_angle = angle;
+ // 计算总角度
+ total_angle = (u->motorfeedback.M3508 .round_cnt * 8191 + (angle - u->motorfeedback.M3508.orig_angle)) * MOTOR2006_ECD_TO_ANGLE;
+ u->motorfeedback.M3508.total_angle =total_angle;
+ delta_angle = PID_calc(&u->pid.M3508_angle , total_angle, target_angle);
+ delta_speed = PID_calc(&u->pid.M3508_speed , u->motorfeedback.M3508_rpm [1], delta_angle);
+
+ u->motor_target.M3508_angle = target_angle;
+ u->final_out .final_3508out[1] =delta_speed;
+
+ break ;
+
+ }
return 0;
}
-int8_t UP_M3508_speed(UP_t *u,fp32 speed)
-{
- u->motor_target .M3508_speed =speed;
- for(int i=0;i<3;i++){
- u->final_out .final_3508out [i] =
- PID_calc (&(u->pid .M3508_speed[i] ),u->motorfeedback .M3508_speed [i],speed );
- }
-
-}
+//int8_t UP_M3508_speed(UP_t *u,fp32 speed)
+//{
+// u->motor_target .M3508_speed [] =speed;
+// for(int i=0;i<3;i++){
+// u->final_out .final_3508out [i] =
+// PID_calc (&(u->pid .M3508_speed[i] ),u->motorfeedback .M3508_speed [i],speed );
+// }
+//
+//}
int8_t VESC_M5065_Control(UP_t *u,fp32 speed)
@@ -107,16 +155,17 @@ int8_t VESC_M5065_Control(UP_t *u,fp32 speed)
u->motor_target .VESC_5065_M1_rpm =speed;
u->motor_target .VESC_5065_M2_rpm =speed;
- u->final_out .final_VESC_5065_M1out =u->motor_target .VESC_5065_M1_rpm;
- u->final_out .final_VESC_5065_M2out =-u->motor_target .VESC_5065_M2_rpm;
+ u->final_out .final_VESC_5065_M1out =-u->motor_target .VESC_5065_M1_rpm;
+ u->final_out .final_VESC_5065_M2out =u->motor_target .VESC_5065_M2_rpm;
}
+
int8_t GM6020_control(UP_t *u,fp32 angle)
{
fp32 delat_speed;
- Clip(&angle,90,270);
+// Clip(&angle,90,270);
delat_speed =
PID_calc (&(u->pid .GM6020_angle ),u->motorfeedback .rotor_pit6020ecd ,(angle /360*8191));
@@ -124,6 +173,7 @@ int8_t GM6020_control(UP_t *u,fp32 angle)
PID_calc (&(u->pid .GM6020_speed ),u->motorfeedback.rotor_pit6020rpm ,delat_speed);
u->motor_target .rotor_pit6020angle =angle ;
}
+
/*go电机控制*/
int8_t GO_SendData(UP_t *u,int id,float pos)
{
@@ -133,35 +183,71 @@ int8_t GO_SendData(UP_t *u,int id,float pos)
}
+
+
+
int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
{
//电机控制 ，传进can
- out ->motor3508 .as_array [0]=u->final_out .final_2006out ;
- for(int i=1;i<4;i++){
- out ->motor3508 .as_array[i]=u->final_out.final_3508out [i-1] ;
+ for(int i=0;i<4;i++){
+ out ->motor3508 .as_array[i]=u->final_out.final_3508out [i] ;
}
- out ->chassis5065 .erpm [0]=u->final_out .final_VESC_5065_M1out ;
- out ->chassis5065 .erpm [1]=u->final_out .final_VESC_5065_M2out ;
+ out ->chassis5065 .erpm [0]= u->final_out .final_VESC_5065_M1out ;
+ out ->chassis5065 .erpm [1]= -u->final_out .final_VESC_5065_M2out ;
+
+
out ->chassis6020 .as_array [2]=u->final_out .final_pitchout ;
}
+
int8_t UP_control(UP_t *u,CAN_Output_t *out)
{
-// if(u ==NULL) return 0;
-// if(u ==NULL) return 0;
-// UP_M2006_angle(u,2500);
- switch (u->ctrl)
- {
- case STATE_IDLE : break ;
- case STATE_PRE_DRIBBLE : break ;
- case STATE_POST_DRIBBLE : break ;
- case STATE_PRE_LAUNCH : break ;
- case STATE_POST_LAUNCH : break ;
- }
+
+ if(u ==NULL) return 0;
+ if(u ==NULL) return 0;
+
+
+
+// switch(u->flag ){
+// case 0 :
+// GO_SendData(u, 0,0);
+// UP_angle_control(u, 0,M2006 );
+
+//
+// /*发射过程*/
+// case 1 :
+// UP_angle_control(u, -130,M2006 );
+//
+// GO_SendData(u, 0,-1950);
+
+
+
+// break ;
+// case 2 :
+// UP_angle_control(u, 0,M2006 );
+//
+// if((u->motorfeedback .M2006 .total_angle )<10)
+//
+// GO_SendData(u, 0,0);
+
+
+
+// break ;
+//
+
+
+//
+// }
+
+
+
+
}
+
+
diff --git a/User/Module/up.h b/User/Module/up.h
index afc21a6..1c06ce7 100644
--- a/User/Module/up.h
+++ b/User/Module/up.h
@@ -5,26 +5,47 @@
#include "struct_typedef.h"
#include "pid.h"
#include "bmi088.h"
-#include "map.h"
#include "user_math.h"
#include "ahrs.h"
#include "can_use.h"
#include "cmd.h"
#include "filter.h"
-#include "Action.h"
-#include "chassis.h"
#include "vofa.h"
#include "GO_M8010_6_Driver.h"
-
-typedef enum {
- STATE_IDLE, // 空闲状态
- STATE_PRE_DRIBBLE, // 运球前
- STATE_POST_DRIBBLE, // 运球后
- STATE_PRE_LAUNCH, // 发射前
- STATE_POST_LAUNCH // 发射后
-} OperationState;
+#include "bsp_usart.h"
+
+typedef enum
+{
+ Not_started_Pit=0,//未开始
+ Launch_Ready=1, //准备发射
+ Launch_complete=2,//发射完成
+ Done_Pit=3 //已完成
+
+}Pitch_flag_t;
+
+typedef enum{
+
+ Not_started_dri=0,//未开始
+ No_ball =1, //抓上无球
+ Have_ball_F=2, //刚开始有球
+ Have_ball_S=3, //中途有球
+ Done_dri =4 //已完成
+
+}Dribble_flag_t;
+
+/*运行控制中的控制*/
+typedef struct{
+
+ /*投球过程*/
+ Pitch_flag_t Pitch_flag;
+ /*运球过程*/
+ Dribble_flag_t Dribble_flag;
+
+ int last_state;
+
+} Oper_control_state_t;
typedef struct {
@@ -52,17 +73,18 @@ typedef struct {
float K_W;
}GO_param_t;
-
+/*角度环控制电机类型*/
typedef enum {
M2006 = 1,
M3508
+
} MotorType_t;
typedef struct
{
- /*该部分决定PID的参数整定在config中修改*/
+
pid_param_t VESC_5065_M1_param;
pid_param_t VESC_5065_M2_param;
@@ -73,6 +95,8 @@ typedef struct
pid_param_t M2006_angle_param;
pid_param_t M3508_speed_param;
+ pid_param_t M3508_angle_param;
+
GO_param_t go_param;
}UP_Param_t;
@@ -80,6 +104,7 @@ typedef struct
typedef struct
{
MotorType_t motor;
+
float orig_angle;
float last_angle;
int32_t round_cnt;
@@ -93,26 +118,30 @@ typedef struct{
uint8_t up_task_run;
const UP_Param_t *param;
- UP_Imu_t pos088;
- OperationState ctrl;
- motor_angle_data M2006;
- motor_angle_data M3508;
- GO_Motorfield *GO_motor_info[GO_NUM];//存放go电机数据
-
- struct{
-
+ UP_Imu_t pos088;
+
+ /*控制及状态*/
+ CMD_t *cmd;
+ Oper_control_state_t state;//上层机构的运行状态
+
+ struct{
fp32 rotor_pit6020ecd;
fp32 rotor_pit6020rpm;
fp32 VESC_5065_M1_rpm;
fp32 VESC_5065_M2_rpm;
- fp32 M2006_rpm;
- fp32 M2006_angle;
+ motor_angle_data M2006;
+ motor_angle_data M3508;
- fp32 M3508_speed[3];
+ GO_Motorfield *GO_motor_info[GO_NUM];//存放go电机数据
+ fp32 M3508_angle[4];
+ fp32 M3508_rpm [4];
+
+ int flag;
+
}motorfeedback;
@@ -125,7 +154,10 @@ typedef struct{
fp32 VESC_5065_M2_rpm;
fp32 M2006_angle;
- fp32 M3508_speed;
+ fp32 M3508_angle;
+
+ fp32 go_shoot;
+ fp32 go_spin;
}motor_target;
@@ -133,33 +165,35 @@ typedef struct{
pid_type_def GM6020_speed;
pid_type_def GM6020_angle;
+
pid_type_def VESC_5065_M1;
pid_type_def VESC_5065_M2;
+
pid_type_def M2006_angle;
pid_type_def M2006_speed;
- pid_type_def M3508_speed[3];
+
+ pid_type_def M3508_angle;
+ pid_type_def M3508_speed;
}pid;
-
-
-
/*经PID计算后的实际发送给电机的实时输出值*/
struct
{
- fp32 final_2006out;
- fp32 final_3508out[3];
+ fp32 final_3508out[4];
fp32 final_pitchout;
fp32 final_VESC_5065_M1out;
fp32 final_VESC_5065_M2out;
+
}final_out;
LowPassFilter2p_t filled[6]; /* 输出滤波器滤波器数组 */
fp32 vofa_send[8];
+
} UP_t;
@@ -167,11 +201,11 @@ typedef struct{
int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq);
-int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can) ;
+int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can, CMD_t *c) ;
int8_t GM6020_control(UP_t *u,fp32 angle);
int8_t VESC_M5065_Control(UP_t *u,fp32 speed);
int8_t GO_SendData(UP_t *u,int id,float pos);
-int8_t UP_angle(UP_t *u, fp32 target_angle) ;
+int8_t UP_angle_control(UP_t *u, fp32 target_angle,MotorType_t motor);
int8_t UP_control(UP_t *u,CAN_Output_t *out);
int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out);
int8_t UP_M2006_angle(UP_t *u,fp32 target_angle);
diff --git a/User/bsp/gpio.c b/User/bsp/bsp_gpio.c
similarity index 98%
rename from User/bsp/gpio.c
rename to User/bsp/bsp_gpio.c
index 711dc62..deb7950 100644
--- a/User/bsp/gpio.c
+++ b/User/bsp/bsp_gpio.c
@@ -1,5 +1,5 @@
/* Includes ----------------------------------------------------------------- */
-#include "bsp\gpio.h"
+#include "bsp\bsp_gpio.h"
#include
#include
diff --git a/User/bsp/gpio.h b/User/bsp/bsp_gpio.h
similarity index 100%
rename from User/bsp/gpio.h
rename to User/bsp/bsp_gpio.h
diff --git a/User/bsp/spi.c b/User/bsp/bsp_spi.c
similarity index 99%
rename from User/bsp/spi.c
rename to User/bsp/bsp_spi.c
index 26a28ca..c1c162b 100644
--- a/User/bsp/spi.c
+++ b/User/bsp/bsp_spi.c
@@ -1,5 +1,5 @@
/* Includes ----------------------------------------------------------------- */
-#include "bsp\spi.h"
+#include "bsp\bsp_spi.h"
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
diff --git a/User/bsp/spi.h b/User/bsp/bsp_spi.h
similarity index 100%
rename from User/bsp/spi.h
rename to User/bsp/bsp_spi.h
diff --git a/User/bsp/bsp_usart.c b/User/bsp/bsp_usart.c
index 267768c..965fae5 100644
--- a/User/bsp/bsp_usart.c
+++ b/User/bsp/bsp_usart.c
@@ -8,8 +8,8 @@ static void (*UART_Callback[BSP_UART_NUM][BSP_UART_CB_NUM])(void);
static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
if (huart->Instance == USART3)
return BSP_UART_REMOTE;
- else if (huart->Instance == USART1)
- return BSP_UART_NUC;
+// else if (huart->Instance == USART1)
+// return BSP_UART_RS485;
else if (huart->Instance == USART6)
return BSP_UART_RS485;
/*
diff --git a/User/bsp/protocol.h b/User/bsp/protocol.h
index da06407..7cbc090 100644
--- a/User/bsp/protocol.h
+++ b/User/bsp/protocol.h
@@ -28,7 +28,7 @@ typedef struct __attribute__((packed)) {
int remain;
} Protocol_UpDataMCU_t;
-/* 视觉 -> 电控 底盘数据结构体*/
+/* 视觉 -> 电控 数据结构体*/
typedef struct __attribute__((packed)) {
Protocol_ID_t recv_id;//作为帧头使用确认通信ID正确
diff --git a/User/device/Action.c b/User/device/Action.c
deleted file mode 100644
index 0277d8a..0000000
--- a/User/device/Action.c
+++ /dev/null
@@ -1,203 +0,0 @@
-
-/**
- * 东北大学ACTION码盘驱动
- *
- * 本驱动采用ops_9定位系统，负责收发码盘的原始数据，并在任务中解析出相应的位置坐标。
- * 解析后的位置坐标将被交给导航处理模块，生成期望的运动向量。
- *
- * 使用手册：
- * 请参阅相关文档了解如何使用本驱动。
- *
- * 注意：
- * 本驱动仅适用于东北大学ACTION码盘。
-
- *删去Action_HandleOffline错误处理函数中对结构体清0的函数
-
- */
-
-/* Includes ----------------------------------------------------------------- */
-#include "tim.h"
-#include "Action.h"
-#include
-
-static osThreadId_t thread_alert;
-
-
-uint8_t rxbuf[RS232_FRAME_LENGTH];
-
-static void Ops10msTimerCallback(void *arg){
- (void)arg;
- osThreadFlagsSet(thread_alert,SIGNAL_OPSTIMER_REDY);
-}
-
-/* Private function -------------------------------------------------------- */
-static void ACTION_IdleCallback(void) {
- osThreadFlagsSet(thread_alert,SIGNAL_ACTION_RAW_REDY);
-}
-
-/* Exported functions ------------------------------------------------------- */
-int8_t ACTIONRECV_Init(Action_POS_t *pos){
- if(pos == NULL) return DEVICE_ERR_NULL;
-
- pos->Action_ready =0;//码盘校准标志位初始化
-
- if((thread_alert = osThreadGetId()) == NULL ) return DEVICE_ERR_NULL;
- pos->action_timer_Id =
- osTimerNew(Ops10msTimerCallback, osTimerPeriodic,NULL,NULL);
-
- osTimerStart(pos->action_timer_Id,10);//此处ticks 理解为1个tick为1ms 此处为每10ms触发一次回调函数
-
- BSP_UART_RegisterCallback(BSP_UART_ACTION,BSP_UART_IDLE_LINE_CB,
- ACTION_IdleCallback);
-
- return DEVICE_OK;
-}
-
-int8_t ACTION_StartReceiving() {
- if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_ACTION),
- (uint8_t *)rxbuf,
- sizeof(rxbuf)) == HAL_OK)
- return DEVICE_OK;
- return DEVICE_ERR;
-}
-
-bool_t ACTION_WaitDmaCplt(void) {
- return(osThreadFlagsWait(SIGNAL_ACTION_RAW_REDY, osFlagsWaitAll,400) ==
- SIGNAL_ACTION_RAW_REDY);
-}
-
-
-/* *
-
-
-*/
-int8_t ACTION_Parse(Action_POS_t *pos)
-{
- if (pos == NULL) return DEVICE_ERR_NULL;
-
- static union
- {
- fp32 pos_data[3];
- char rxbuff[12];
- } pos_rxbuf;
-
-
- if (rxbuf[0] == 0x0D && rxbuf[1] == 0x0A)
- {
- if (rxbuf[26] == 0x0A && rxbuf[27] == 0x0D)
- {
-
- pos_rxbuf.rxbuff[0]=rxbuf[2];
- pos_rxbuf.rxbuff[1]=rxbuf[3];
- pos_rxbuf.rxbuff[2]=rxbuf[4];
- pos_rxbuf.rxbuff[3]=rxbuf[5];
-
-
- pos_rxbuf.rxbuff[4]=rxbuf[14];
- pos_rxbuf.rxbuff[5]=rxbuf[15];
- pos_rxbuf.rxbuff[6]=rxbuf[16];
- pos_rxbuf.rxbuff[7]=rxbuf[17];
-
-
- pos_rxbuf.rxbuff[8]=rxbuf[18];
- pos_rxbuf.rxbuff[9]=rxbuf[19];
- pos_rxbuf.rxbuff[10]=rxbuf[20];
- pos_rxbuf.rxbuff[11]=rxbuf[21];
-
-
-
- // 数据解析
- pos->pos_yaw = pos_rxbuf.pos_data[0];
- // 按照安装方向决定正负号
- pos->pos_x = pos_rxbuf.pos_data[1];
- pos->pos_y = pos_rxbuf.pos_data[2];
-
- pos ->Action_ready =1;//码盘校准完成
- }
- }
- else
- {
- return -1;
- }
- return DEVICE_OK;
-}
-
-//该函数用来计算速度(利用获取的位置来计算相应的速度)
-//此处获取的是真实的位置(mm)后每10ms做一次微分处理
-int8_t ACTION_DataRefresh(Action_POS_t *pos){
- if (pos == NULL) return DEVICE_ERR_NULL;
-
- if (osThreadFlagsGet() & SIGNAL_OPSTIMER_REDY){
- osThreadFlagsClear(SIGNAL_OPSTIMER_REDY);
- //计算每毫秒的速度 该函数每10ms调用
- pos->pos_Vx = (pos->pos_x - pos->pos_lastX) / 10;
- pos->pos_Vy = (pos->pos_y - pos->pos_lastY) / 10;
-
- pos->pos_lastX = pos->pos_x;
- pos->pos_lastY = pos->pos_y;
- }
- return DEVICE_OK;
-}
-
-
-
-int8_t Action_HandleOffline(Action_POS_t *pos) {
- if (pos == NULL) return DEVICE_ERR_NULL;
-
- (void)pos;
-
-// memset(pos, 0, sizeof(*pos));
- return 0;
-}
-
-/* 将字符串拼接 */
-void Strcat(char str1[], char str2[], uint8_t num)
-{
- int i = 0, j = 0;
-
- while (str1[i] != '\0')
- i++;
-
- for (j = 0; j < num; j++)
- {
- str1[i++] = str2[j];
- }
-}
-
-/* 该部分函数用于码盘的重定位系统 */
-/* ----------------------------- */
-
-/* 手动标定，用于校正 */
-void ACT_Calibration(void)
-{
- HAL_UART_Transmit(&huart1, (uint8_t *)"ACTR", 4, 100);
-}
-
-/* 清零 */
-/* 将当前位置设置为 (0, 0) */
-void ACT_ZeroClear(void)
-{
- HAL_UART_Transmit(&huart1, (uint8_t *)"ACT0", 4, 100);
-}
-
-/* 更新 XY 坐标 */
-/* 将当前位置更新为指定的 X 和 Y */
-void ACT_UpdateXY(float pos_x, float pos_y)
-{
- char update_xy[12] = "ACTD"; // 命令前缀为 "ACTD"
- static union
- {
- float XY[2]; // 两个浮点数表示 X 和 Y 坐标
- char data[8]; // 将浮点数视为字节数据
- } set;
-
- set.XY[0] = pos_x;
- set.XY[1] = pos_y;
-
- Strcat(update_xy, set.data, 8);
-
- HAL_UART_Transmit(&huart1, (uint8_t *)update_xy, sizeof(update_xy), 100);
-}
-
-
-
diff --git a/User/device/Action.h b/User/device/Action.h
deleted file mode 100644
index c0b8186..0000000
--- a/User/device/Action.h
+++ /dev/null
@@ -1,59 +0,0 @@
-#ifndef _ACTION_H_
-#define _ACTION_H_
-
-#define RS232_FRAME_LENGTH 28u
-#define REF_LEN_RX_BUFF 0xFF
-
-#include
-#include "device.h"
-#include "bsp_usart.h"
-#include "cmd.h"
-
-
-typedef struct
-{
- osTimerId_t action_timer_Id;
- /*原始数据*/
- fp32 pos_x;
- fp32 pos_y;
- fp32 pos_yaw; // 航向角速度
- /*处理数据*/
- fp32 pos_Vx;
- fp32 pos_Vy;
- fp32 pos_lastX;
- fp32 pos_lastY;
-
- int Action_ready;//码盘校准标志位
-
-
-}Action_POS_t;
-
-
-
-
-
-int8_t ACTIONRECV_Init(Action_POS_t*pos);
-
-int8_t ACTION_StartReceiving(void);
-
-bool_t ACTION_WaitDmaCplt(void);
-
-int8_t ACTION_Parse(Action_POS_t*pos);
-
-int8_t ACTION_DataRefresh(Action_POS_t*pos);
-
-int8_t Action_HandleOffline(Action_POS_t *pos);
-
-void ACT_UpdateXY(float pos_x,float pos_y);
-
-void ACT_ZeroClear(void);
-
-
-
-
-
-
-
-
-#endif
-
diff --git a/User/device/GO_M8010_6_Driver.c b/User/device/GO_M8010_6_Driver.c
index e65f115..68af5b8 100644
--- a/User/device/GO_M8010_6_Driver.c
+++ b/User/device/GO_M8010_6_Driver.c
@@ -38,21 +38,13 @@ void GO_M8010_init (void){
//暂存接收数据
-uint8_t Temp_buffer[16];
+static uint8_t Temp_buffer[16];
void USART6_RxCompleteCallback(void )
{
UART_HandleTypeDef *huart6 = BSP_UART_GetHandle(BSP_UART_RS485);
uint16_t crc = CRC16_Calc(Temp_buffer,sizeof(Temp_buffer)-2,0x0000);
- if ((Temp_buffer[14] != (crc&0xFF)) || (Temp_buffer[15] != ((crc>>8) & 0xFF)))
- {
-// HAL_GPIO_WritePin(LED_B_GPIO_Port, LED_B_Pin, GPIO_PIN_SET); //蓝色灯亮
-// HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_RESET); //红色灯灭
- return;
- }
-// HAL_GPIO_WritePin(GPIOH, GPIO_PIN_11, GPIO_PIN_SET); // indicate CRC correct
-// HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_RESET); //红色灯灭
GO_M8010_recv_data(Temp_buffer);
}
diff --git a/User/device/LD_remote.c b/User/device/LD_remote.c
deleted file mode 100644
index e442100..0000000
--- a/User/device/LD_remote.c
+++ /dev/null
@@ -1,176 +0,0 @@
-/*
-
- 乐迪遥控器
-
-*/
-/* Includes ----------------------------------------------------------------- */
-#include "LD_remote.h"
-
-#include
-
-#include "bsp_usart.h"
-#include "error_detect.h"
-#include "LD_remote.h"
-
-
-
-
-
-
-
-//static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);
-
-//RC_ctrl_t rc_ctrl;
-//static uint8_t sbus_rx_buf[2][RC_FRAME_LENGTH];
-//uint8_t remote_ready = 0;//Ò£¿ØÆ÷×¼±¸Íê³É
-
-//void remote_control_init(void)
-//{
-// RC_init(sbus_rx_buf[0], sbus_rx_buf[1], RC_FRAME_LENGTH);
-//}
-
-// int map_int(int x, int in_min, int in_max, int out_min, int out_max)
-//{
-// return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
-//}
-////´®¿ÚÖжÏ
-//void USART3_IRQHandler(void)
-//{
-// //have received data ???
-// if(huart3.Instance->SR & UART_FLAG_RXNE)
-// {
-// __HAL_UART_CLEAR_FEFLAG(&huart3);
-// }
-// else if(USART3->SR & UART_FLAG_IDLE)
-// {
-//
-// static uint16_t this_time_rx_len = 0;
-// __HAL_UART_CLEAR_PEFLAG(&huart3);
-//
-// if( (hdma_usart3_rx.Instance->CR & DMA_SxCR_CT) == RESET)
-// {
-// //current memory buffer used is memory0
-//
-// //disable dma to change dma register
-// __HAL_DMA_DISABLE(&hdma_usart3_rx);
-//
-// //get received data length, length = set_data_length - remain_length
-// this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
-
-// //reset set_data_length
-// hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
-//
-// //change memory0 to memory1
-// hdma_usart3_rx.Instance->CR |= DMA_SxCR_CT;
-//
-// //enable dma
-// __HAL_DMA_ENABLE(&hdma_usart3_rx);
-//
-// //1 frame length is correct data
-// if(this_time_rx_len == RC_FRAME_LENGTH)
-// {
-// sbus_to_rc(sbus_rx_buf[0], &rc_ctrl);
-// }
-// }
-// else
-// {
-// __HAL_DMA_DISABLE(&hdma_usart3_rx);
-//
-// this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
-//
-// hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
-//
-// //change memory1 to memory0
-// DMA1_Stream1->CR &= ~(DMA_SxCR_CT);
-//
-// __HAL_DMA_ENABLE(&hdma_usart3_rx);
-//
-// if(this_time_rx_len == RC_FRAME_LENGTH)
-// {
-// sbus_to_rc(sbus_rx_buf[1], &rc_ctrl);
-// }
-// }
-// }
-//}
-
-//static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl)
-//{
-// if (sbus_buf == NULL || rc_ctrl == NULL)
-// {
-// return;
-// }
-//
-// rc_ctrl->ch[0] = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff; //!< Channel 0
-// rc_ctrl->ch[1] = ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //!< Channel 1
-// rc_ctrl->ch[2] = ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) | //!< Channel 2
-// (sbus_buf[5] << 10)) &0x07ff;
-// rc_ctrl->ch[3] = ((sbus_buf[5] >> 1) | (sbus_buf[6] << 7)) & 0x07ff; //!< Channel 3
-//
-// rc_ctrl->sw[0] = ((int16_t)sbus_buf[6] >> 4 | ((int16_t)sbus_buf[7] << 4 )) & 0x07FF; //!< Switch left
-// rc_ctrl->sw[1] = ((int16_t)sbus_buf[7] >> 7 | ((int16_t)sbus_buf[8] << 1 ) | (int16_t)sbus_buf[9] << 9 ) & 0x07FF; //!< Switch right
-// rc_ctrl->sw[2] = ((int16_t)sbus_buf[9] >> 2 | ((int16_t)sbus_buf[10] << 6 )) & 0x07FF;; //!< Mouse X axis
-// rc_ctrl->sw[3] = ((int16_t)sbus_buf[10] >> 5 | ((int16_t)sbus_buf[11] << 3 )) & 0x07FF; //!< Mouse Y axis
-// rc_ctrl->sw[4] = ((int16_t)sbus_buf[12] << 0 | ((int16_t)sbus_buf[13] << 8 )) & 0x07FF; //!< Mouse Z axis
-// rc_ctrl->sw[5] = ((int16_t)sbus_buf[13] >> 3 | ((int16_t)sbus_buf[14] << 5 )) & 0x07FF; //!< Mouse Left Is Press ?
-// rc_ctrl->sw[6] = ((int16_t)sbus_buf[14] >> 6 | ((int16_t)sbus_buf[15] << 2 ) | (int16_t)sbus_buf[16] << 10 ) & 0x07FF; //!< Mouse Right Is Press ?
-// rc_ctrl->sw[7] = ((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF; //!< KeyBoard value
-
-// rc_ctrl->ch[0] -= RC_CH_VALUE_OFFSET;
-// rc_ctrl->ch[1] -= RC_CH_VALUE_OFFSET;
-// rc_ctrl->ch[2] -= RC_CH_VALUE_OFFSET;
-// rc_ctrl->ch[3] -= RC_CH_VALUE_OFFSET;
-//
-// //µ÷ÕûÒ¡¸ËÖÐֵʹң¿ØÆ÷΢µ÷Á¿Îª0ʱҡ¸ËÖÐÖµ½Ó½ü0£¬ÓÍÃųýÍâ
-// //µÚÒ»´Îµ÷³µÇ°ÏÈÈ·ÈÏͨµÀÖµÊÇ·ñÕýÈ·£¡£¡Èç²»·ûºÏ¸ù¾Ýʵ¼ÊͨµÀÖµ½øÐÐÐÞ¸Ä
-// //Ð޸Ĵ˴¦¼°omni_chassis.cÖÐͨµÀÖµ²¿·Ö
-// rc_ctrl->ch[0] += 24; //y(-694,693)×óÓÒ
-// rc_ctrl->ch[1] = -rc_ctrl->ch[1]-24; //x(-693,694)Ç°ºó
-// rc_ctrl->ch[2] = -rc_ctrl->ch[2]+764; //m(95,1482)ÓÍÃÅ
-// rc_ctrl->ch[3] += 24; //w(-694,693)Ðýת
-//
-// rc_ctrl->ch[1] = map_int(rc_ctrl->ch[1],-693,694,-700,700); //xÓ³Éäµ½(-700,700)
-// rc_ctrl->ch[0] = map_int(rc_ctrl->ch[0],-694,693,-700,700); //yÓ³Éäµ½(-700,700)
-// rc_ctrl->ch[3] = 0.5*(rc_ctrl->ch[3]); //w
-//
-// //ËÀÇø(-30,30)
-// if(rc_ctrl->ch[0]>-30&&rc_ctrl->ch[0]<30) rc_ctrl->ch[0]=0;
-// if(rc_ctrl->ch[1]>-30&&rc_ctrl->ch[1]<30) rc_ctrl->ch[1]=0;
-// if(rc_ctrl->ch[2]>-30&&rc_ctrl->ch[2]<30) rc_ctrl->ch[2]=0;
-// if(rc_ctrl->ch[3]>-30&&rc_ctrl->ch[3]<30) rc_ctrl->ch[3]=0;
-// remote_ready = 1;
-//}
-
-
-
-//int map(int x, int in_min, int in_max, int out_min, int out_max) //Ó³É亯Êý
-//{
-// return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
-//}
-
-
-///*
-
-
-
-//
-//306 306
-// sw[] sw[7]
-//1694 1694
-//
-//306 306
-//sw[6] sw[4]
-//1694 1694
-
-//306 306 306 306
-//sw[0] sw[2] sw[1]:306-1694 sw[5]:306-1694 sw[]1000 sw[3]
-//1694 1694 1694 1694
-// 710
-// 688 1425
-// | |
-// | |
-// 54 -616------ch[3]770 -354---------ch[0] 339 0
-// | |
-// | |
-// ch[2] ch[1]
-// _699 38
-//*/
diff --git a/User/device/LD_remote.h b/User/device/LD_remote.h
deleted file mode 100644
index ae54a06..0000000
--- a/User/device/LD_remote.h
+++ /dev/null
@@ -1,31 +0,0 @@
-#ifndef LD_H
-#define LD_H
-#include "user_math.h"
-
-#define SBUS_RX_BUF_NUM 50u
-
-#define RC_FRAME_LENGTH 25u
-
-#define RC_CH_VALUE_OFFSET ((uint16_t)1024)
-
-typedef struct
-{
- int16_t ch[4];
- int16_t sw[8];
-
-}__attribute__((packed)) RC_ctrl_t;
-
-
-int map_int(int x, int in_min, int in_max, int out_min, int out_max) ;
-
-void remote_control_init(void);
-static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);
-int map(int x, int in_min, int in_max, int out_min, int out_max);
-
-
-
-
-
-
-#endif
-
diff --git a/User/device/bmi088.c b/User/device/bmi088.c
index 469b99d..65a8a53 100644
--- a/User/device/bmi088.c
+++ b/User/device/bmi088.c
@@ -12,8 +12,8 @@
#include
#include "user_math.h"
#include "bsp\delay.h"
-#include "bsp\gpio.h"
-#include "bsp\spi.h"
+#include "bsp\bsp_gpio.h"
+#include "bsp\bsp_spi.h"
#include "device\device.h"
#include "bsp\pwm.h"
#include "pid.h"
diff --git a/User/device/can_use.c b/User/device/can_use.c
index 45ed941..8ac2e94 100644
--- a/User/device/can_use.c
+++ b/User/device/can_use.c
@@ -378,7 +378,8 @@ int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx) {
// case CAN_VSEC5065_M4_MSG1:
// // 存储消息到对应的电机结构体中
// CAN_VescMotor_Decode_1(&(can->motor.chassis5065.as_array[3]), can_rx->rx_data);
- break;
+
+ break;
diff --git a/User/device/cmd.c b/User/device/cmd.c
index 997135f..61f9f35 100644
--- a/User/device/cmd.c
+++ b/User/device/cmd.c
@@ -8,79 +8,32 @@
/* Includes ----------------------------------------------------------------- */
#include "cmd.h"
#include "gpio.h"
-
+
#include
/* Private function -------------------------------------------------------- */
/*Export function --------------------------------------------------------------*/
-int8_t CMD_Init(CMD_t *cmd){
- /*若主结构体为空 自动返回错误 */
- if(cmd == NULL) return-1;
- /**/
- cmd->C_cmd.type =RC;
- cmd->C_cmd.mode =NORMAL;
-
-return 0;
-}
-
-
-static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd) {
-
- /* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */
-
- cmd->Vx = rc->ch_r_x;
- cmd->Vy = -rc->ch_r_y;
- cmd->Vw = rc->ch_l_x;
-
- cmd->poscamear = rc->ch_l_y;
-
- cmd->key_ctrl_l = rc->sw_l;
- cmd->key_ctrl_r = rc->sw_r ;
-
-}
-
-
-
-/**
- * @brief rc失控时机器人恢复放松模式
- *
- * @param cmd 主结构体
- */
-static void CMD_RcLostLogic(CMD_t *cmd){
- /* 机器人底盘运行模式恢复至放松模式 */
- cmd->C_cmd.mode = RELAXED;
-}
-int8_t CMD_ParseRc(CMD_t *cmd,CMD_RC_t *rc){
- if (cmd == NULL) return -1;
- if (rc == NULL) return -1;
- /*c当rc丢控时，恢复机器人至默认状态 */
- if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) {
- CMD_RcLostLogic(cmd);
- } else {
- CMD_RcLogic(rc, cmd);
- }
-return 0;
-}
-
+/*nuc数据统一到cmd*/
int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
if(cmd == NULL) return -1;
if(n == NULL) return -1;
- cmd->cmd_status = n->status_fromnuc;
- cmd->raw_status = n->ctrl_status;
+ cmd->NAVI_t .cmd_status = n->status_fromnuc;
+ cmd->NAVI_t .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;
+ cmd->NAVI_t .status[i] = ((cmd->NAVI_t .raw_status) & (1 << i)) ? 1 : 0;
}
- switch(cmd->cmd_status){
+ switch(cmd->NAVI_t .cmd_status){
+
+ case PICK :
+ cmd ->NAVI_t .pick .posx =n->pick .posx ;
+ cmd ->NAVI_t .pick .posy =n->pick .posy ;
+ cmd ->NAVI_t .pick .posw =n->pick .posw ;
- case MID:
- cmd->C_navi.vx = n->navi.vx;
- cmd->C_navi.vy = n->navi.vy;
- cmd->C_navi.wz = n->navi.wz;
break;
@@ -88,108 +41,37 @@ int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
return 0;
}
-
-
-/*
- 遥控器模式重新分配
-
- 这一部分没有设置具体的模式名，后期根据需要修改
- 遥控器模式(RC):
- 左按键 --- 右按键
- mode1
- up no_mode
- mode2
-
-
- mode3
- down no_mode
- mode4
-
- mid auto_navi(0x09)雷达导航
-
-*/
-int8_t CMD_CtrlSet(CMD_t *cmd) {
+/*遥控器，上下层通用，按键控制，统一到cmd*/
+int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) {
if(cmd == NULL) return -1;
- if(cmd->key_ctrl_l == CMD_SW_UP)//当左拨杆打到最上面时 强制使用遥控器控制
- {
- /*遥控器模式下，右按键三种状态分配*/
- if(cmd->key_ctrl_r==CMD_SW_UP)
- {
- cmd->C_cmd.type = RC;
- cmd->C_cmd.mode = RC_MODE1;
- }
- if(cmd->key_ctrl_r==CMD_SW_MID)
- {
- cmd->C_cmd.type = RC;
- cmd->C_cmd.mode = RC_NO_MODE;
- }
- if(cmd->key_ctrl_r==CMD_SW_DOWN)//遥控器控制模式下，右拨杆上时启动
- {
- cmd->C_cmd.type = RC;
- cmd->C_cmd.mode =RC_MODE2;
- }
-
- }
- else if(cmd->key_ctrl_l ==CMD_SW_DOWN)
+ if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) {
+ cmd->CMD_CtrlType =RELAXED;
+ }
+ else if(rc->sw_l==CMD_SW_UP)
{
- if(cmd->key_ctrl_r==CMD_SW_UP)
- {
- cmd->C_cmd.type = RC;
- cmd->C_cmd.mode = RC_MODE3;
- }
- if(cmd->key_ctrl_r==CMD_SW_MID)
- {
- cmd->C_cmd.type = RC;
- cmd->C_cmd.mode = RC_NO_MODE;
- }
- if(cmd->key_ctrl_r==CMD_SW_DOWN)//遥控器控制模式下，右拨杆上时启动
- {
- cmd->C_cmd.type = RC;
- cmd->C_cmd.mode = RC_MODE4;
- }
-
- }
- else //左按键打到中间，自动模式
- {
- if( cmd->key_ctrl_l==CMD_SW_MID ){
- cmd->C_cmd.type = MID_NAVI;
- cmd->C_cmd.mode = RC_NO_MODE;
-
- switch(cmd->cmd_status)
-{
- case MID://雷达，视觉导航
- cmd->C_cmd.type = MID_NAVI;
- break;
- }
- }
-
- }
-return 0;
-}
-//接收码盘导航的返回数据，传入cmd_t结构体
-int8_t CMD_ParseAction(CMD_t *cmd,CMD_ACTION_t *act)
-{
- if(cmd == NULL) return -1;
- if(act == NULL) return -1;
-
- if(cmd->key_ctrl_l ==CMD_SW_MID )
- {
- if(cmd->key_ctrl_r == CMD_SW_UP)
- act->flag =1;
-
- if(cmd->key_ctrl_r == CMD_SW_DOWN )
- act->flag =-1;
-
+ cmd ->CMD_CtrlType =UP_RCcontrol;
+ if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Pitch; //左上，右上，投篮
+ if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Normal; //左上，右中，无模式
+ if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Dribble; //左上，右上，投篮
}
- cmd->C_navi .vx =act ->out .Vx ;
- cmd ->C_navi .vy =act ->out .Vy ;
- cmd ->C_navi .wz =act ->out .Vw ;
+ else if(rc->sw_l==CMD_SW_MID)
+ {
+ cmd ->CMD_CtrlType =MID_NAVI;
-
- return 0;
+ }
+ else if(rc->sw_l==CMD_SW_DOWN)
+ {
+ cmd ->CMD_CtrlType =PICK_t;
+ if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Pitch; //左下，右上，投篮
+ if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Normal; //左下，右中，无模式
+ if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Dribble; //左下，右上，投篮
+ }
+
+ return 0;
}
+
diff --git a/User/device/cmd.h b/User/device/cmd.h
index a412f6e..85fe780 100644
--- a/User/device/cmd.h
+++ b/User/device/cmd.h
@@ -1,19 +1,3 @@
-/*
-
-该任务用于接收来自各个不同的控制方式所期望的控制指令 将其集中统一化后分发给各个模块
-
-*/
-
-
-/*
- 按键控制逻辑
- RC模式，左按键打到最上，右按键启用，中间无状态，上下各代表模式1、模式2
- 雷达导航，左按键打到中间，右按键禁用
- 左按键打到下面，保留，未启用
-
-*/
-
-
#ifndef _CMD_H
@@ -23,38 +7,44 @@
#define MID (0x09)
+#define PICK (0x06)
typedef enum{
- RC,//遥控器控制，左按键上
+ UP_RCcontrol,//遥控器控制，左按键上，控制上层
MID_NAVI,//雷达导航
- }CMD_Chassis_CtrlType_e;
+ PICK_t,
+ RELAXED,//异常模式
+
+ }CMD_CtrlType_t;
typedef enum{
- RELAXED,//异常模式
- NORMAL,
- GYRO_STAY,
-
- RC_MODE1,
- RC_NO_MODE,
- RC_MODE2,
-
- RC_MODE3,
- RC_MODE4,
-
- AUTO_NAVI
- }CMD_Chassis_mode_e;
-/*该结构体负责接收和解析地盘模块所需要的控制指令*/
-typedef struct{
-
- CMD_Chassis_CtrlType_e type;
-
- CMD_Chassis_mode_e mode;
-
-
-}CMD_Chassis_Ctrl_t;
-
+
+ Normal, //无模式
+ Dribble , //运球
+ Pitch , //投篮
+ }CMD_UP_mode_t;
+typedef struct {
+ uint8_t status_fromnuc;
+ uint8_t ctrl_status; //取其中每一个二进制位用作通信
+ struct
+ {
+ fp32 vx;
+ fp32 vy;
+ fp32 wz;
+ }navi;
+ struct
+ {
+ fp32 posx;
+ fp32 posy;
+ fp32 posw;
+ }pick;
+ struct
+ {
+ fp32 angle;
+ }sick_cali;
+} CMD_NUC_t;
/* 拨杆位置 */
typedef enum {
CMD_SW_ERR = 0,
@@ -82,102 +72,38 @@ typedef struct {
} __attribute__((packed))CMD_RC_t;
-typedef struct
- {
- fp32 Vx;
- fp32 Vy;
- fp32 Vw;
- }OpsHopeVector_t;
-
-
-typedef struct
- {
- fp32 x;
- fp32 y;
- fp32 z;
- int cnt_point;//计数点
- }ops_point;
-
-
typedef struct {
-
- OpsHopeVector_t out;
-
- int flag;//传递flag触发标志位
-
-} CMD_ACTION_t;
-
-typedef struct {
- uint8_t status_fromnuc;
- uint8_t ctrl_status; //取其中每一个二进制位用作通信
- struct
- {
- fp32 vx;
- fp32 vy;
- fp32 wz;
- }navi;
- struct
- {
- fp32 posx;
- fp32 posy;
- fp32 posw;
- }pick;
- struct
- {
- fp32 angle;
- }sick_cali;
-} CMD_NUC_t;
-
-typedef struct{
- fp32 posy;
- fp32 posx;
- fp32 posw;
-}CMD_FOR_PICK;
-typedef struct {
- fp32 vx;
- fp32 vy;
- fp32 wz;
-
-
-}CMD_FOR_NAVI;
-
-typedef struct {
- uint8_t cmd_status;
- uint8_t raw_status;
-
- uint8_t status[7];
-
- fp32 Vx;
- fp32 Vy;
- fp32 Vw;
-
- fp32 poscamear;
-
fp32 key_ctrl_l;
fp32 key_ctrl_r;
-
- fp32 forsick_wz;
- CMD_Chassis_Ctrl_t C_cmd;
- CMD_FOR_NAVI C_navi;
+ /*视觉*/
+ struct {
+ uint8_t cmd_status;
+ uint8_t raw_status;
+ uint8_t status[7];
+ struct
+ {
+ fp32 posx;
+ fp32 posy;
+ fp32 posw;
+ }pick;
+
+ }NAVI_t;
+
+
+ CMD_UP_mode_t CMD_UP_mode;
+ CMD_CtrlType_t CMD_CtrlType;
+
} CMD_t;
-int8_t CMD_Init(CMD_t *cmd);
-
-int8_t CMD_ParseRc(CMD_t *cmd,CMD_RC_t *rc);
-
-int8_t CMD_ParseAction(CMD_t *cmd,CMD_ACTION_t *act);
-
+/*nuc数据统一到cmd*/
int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n);
-
-int8_t CMD_SwitchStatus(CMD_t *cmd);
-
-int8_t CMD_CtrlSet(CMD_t *cmd);
+int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) ;
#endif
diff --git a/User/device/nuc.c b/User/device/nuc.c
index 65cf752..512c073 100644
--- a/User/device/nuc.c
+++ b/User/device/nuc.c
@@ -45,13 +45,13 @@ bool_t NUC_WaitDmaCplt(void) {
int8_t NUC_RawParse(CMD_NUC_t *n){
if(n ==NULL) return DEVICE_ERR_NULL;
-// if(nucbuf[0]!=HEAD) goto error;
-// else{
+ if(nucbuf[0]!=HEAD) goto error;
+ else{
n->status_fromnuc =nucbuf[1];
n->ctrl_status =nucbuf[2];
-// switch (n->status_fromnuc)
-// {
-// case MID://控制帧0x09
+ switch (n->status_fromnuc)
+ {
+ case MID://控制帧0x09
/* 协议格式
0xFF HEAD
0x0X 控制帧
@@ -62,7 +62,7 @@ int8_t NUC_RawParse(CMD_NUC_t *n){
0xFE TAIL
使用的是串口1
*/
-// if(nucbuf[15]!=TAIL)goto error;
+ if(nucbuf[15]!=TAIL)goto error;
instance.data[3] = nucbuf[6];
instance.data[2] = nucbuf[5];
instance.data[1] = nucbuf[4];
@@ -78,59 +78,42 @@ int8_t NUC_RawParse(CMD_NUC_t *n){
instance.data[9] = nucbuf[12];
instance.data[8] = nucbuf[11];
n->navi.wz = instance.x[2];//
-// break;
-// case PICK:
-// /* 协议格式
-// 0xFF HEAD
-// 0x0X 控制帧
-// 0x01 相机帧
-// cmd 8位
-// dis 相机深度值
-// posx 相机yaw轴值
-// posy 相机pitch轴值
-// 0xFE TAIL
-// */
-// if(nucbuf[15]!=TAIL)goto error;
-// instance.data[3] = nucbuf[6];
-// instance.data[2] = nucbuf[5];
-// instance.data[1] = nucbuf[4];
-// instance.data[0] = nucbuf[3];
-// n->pick.posx = instance.x[0]; //距离球中心的角度值
-// instance.data[7] = nucbuf[10];
-// instance.data[6] = nucbuf[9];
-// instance.data[5] = nucbuf[8];
-// instance.data[4] = nucbuf[7];
-// n->pick.posy = instance.x[1];// 相机yaw轴
-// instance.data[11] = nucbuf[14];
-// instance.data[10] = nucbuf[13];
-// instance.data[9] = nucbuf[12];
-// instance.data[8] = nucbuf[11];
-// n->pick.posw= instance.x[2];// 暂未用到
-// break;
-// case SICK_CAIL:
-// if(nucbuf[15]!=TAIL)goto error;
-// instance.data[3] = nucbuf[14];
-// instance.data[2] = nucbuf[13];
-// instance.data[1] = nucbuf[12];
-// instance.data[0] = nucbuf[11];
-// n->sick_cali.angle = instance.x[0]; //
-// instance.data[7] = nucbuf[10];
-// instance.data[6] = nucbuf[9];
-// instance.data[5] = nucbuf[8];
-// instance.data[4] = nucbuf[7];
-// n->sick_cali.isleft = instance.x[1];//
-// instance.data[11] = nucbuf[14];
-// instance.data[10] = nucbuf[13];
-// instance.data[9] = nucbuf[12];
-// instance.data[8] = nucbuf[11];
-// n->pick.posw= instance.x[2];// 暂未用到
-// break;
-// }
-// return DEVICE_OK;
-// }
-// error:
-// drop_message++;
-// return DEVICE_ERR;
+ break;
+ case PICK:
+ /* 协议格式
+ 0xFF HEAD
+ 0x06 控制帧
+ 0x01 相机帧
+ cmd 8位
+ dis 相机深度值
+ posx 相机yaw轴值
+ posy 相机pitch轴值
+ 0xFE TAIL
+ */
+ if(nucbuf[15]!=TAIL)goto error;
+ instance.data[3] = nucbuf[6];
+ instance.data[2] = nucbuf[5];
+ instance.data[1] = nucbuf[4];
+ instance.data[0] = nucbuf[3];
+ n->pick.posx = instance.x[0]; //距离球中心的角度值
+ instance.data[7] = nucbuf[10];
+ instance.data[6] = nucbuf[9];
+ instance.data[5] = nucbuf[8];
+ instance.data[4] = nucbuf[7];
+ n->pick.posy = instance.x[1];// 相机yaw轴
+ instance.data[11] = nucbuf[14];
+ instance.data[10] = nucbuf[13];
+ instance.data[9] = nucbuf[12];
+ instance.data[8] = nucbuf[11];
+ n->pick.posw= instance.x[2];// 暂未用到
+ break;
+
+ }
+ return DEVICE_OK;
+ }
+ error:
+ drop_message++;
+ return DEVICE_ERR;
}
int8_t NUC_HandleOffline(CMD_NUC_t *cmd)
diff --git a/User/device/r12ds.c b/User/device/r12ds.c
deleted file mode 100644
index 277d375..0000000
--- a/User/device/r12ds.c
+++ /dev/null
@@ -1,216 +0,0 @@
-/*
- 乐迪r12ds遥控器。
- 需要根据实际的遥控器通道修改解析的函数 该遥控器采用sbus 用的uart3
-
-*/
-
-
-///* Includes ----------------------------------------------------------------- */
-//#include "r12ds.h"
-//#include "main.h"
-//#include "error_detect.h"
-//#include
-
-
-//extern UART_HandleTypeDef huart3;
-//extern DMA_HandleTypeDef hdma_usart3_rx;
-
-
-
-//osThreadId_t thread_alert;
-
-//int buf0ready =0;
-//int buf1ready =0;
-
-///* Private function -------------------------------------------------------- */
-//static void R12DS_IdleCallback(void) {
-// static uint16_t this_time_rx_len = 0;
-// if( (hdma_usart3_rx.Instance->CR & DMA_SxCR_CT) == RESET)
-// {
-// //current memory buffer used is memory0
-//
-// //disable dma to change dma register
-// __HAL_DMA_DISABLE(&hdma_usart3_rx);
-//
-// //get received data length, length = set_data_length - remain_length
-// this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
-
-// //reset set_data_length
-// hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
-//
-// //change memory0 to memory1
-// hdma_usart3_rx.Instance->CR |= DMA_SxCR_CT;
-//
-// //enable dma
-// __HAL_DMA_ENABLE(&hdma_usart3_rx);
-//
-// //1 frame length is correct data
-// if(this_time_rx_len == RC_FRAME_LENGTH)
-// {
-//// osThreadFlagsSet(thread_alert,SIGNAL_R12DS_BUF0_REDY);
-// buf0ready = 1;
-// detect_hook(R12DS_TOE);
-// }
-// }
-// else
-// {
-// __HAL_DMA_DISABLE(&hdma_usart3_rx);
-//
-// this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
-//
-// hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
-//
-// //change memory1 to memory0
-// DMA1_Stream1->CR &= ~(DMA_SxCR_CT);
-//
-// __HAL_DMA_ENABLE(&hdma_usart3_rx);
-//
-// if(this_time_rx_len == RC_FRAME_LENGTH)
-// {
-//// osThreadFlagsSet(thread_alert,SIGNAL_R12DS_BUF1_REDY);
-// buf1ready = 1;
-// detect_hook(R12DS_TOE);
-// }
-// }
-//}
-
-///* Exported functions ------------------------------------------------------- */
-
-
-//int8_t R12ds_DMA_Init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num)
-//{
-// if((thread_alert = osThreadGetId()) == NULL ) return DEVICE_ERR_NULL;
-// //enable the dma transfer for the receiver request
-// SET_BIT(huart3.Instance->CR3, USART_CR3_DMAR);
-//
-// //enable idle interrupt
-// __HAL_UART_ENABLE_IT(&huart3, UART_IT_IDLE);
-//
-// //disable dma, to change the dma register
-// __HAL_DMA_DISABLE(&hdma_usart3_rx);
-//
-// //disable dma again but why?
-// //what's the condition?
-// while(hdma_usart3_rx.Instance->CR & DMA_SxCR_EN)
-// {
-// __HAL_DMA_DISABLE(&hdma_usart3_rx);
-// }
-//
-// //??
-// hdma_usart3_rx.Instance->PAR = (uint32_t) & (USART3->DR);
-//
-// //memory buffer 1
-// hdma_usart3_rx.Instance->M0AR = (uint32_t)(rx1_buf);
-//
-// //momory buffer 2
-// hdma_usart3_rx.Instance->M1AR = (uint32_t)(rx2_buf);
-//
-// //data length
-// hdma_usart3_rx.Instance->NDTR = dma_buf_num;
-//
-// //enable double memory buffer
-// SET_BIT(hdma_usart3_rx.Instance->CR, DMA_SxCR_DBM);
-//
-//
-// //enable dma
-// __HAL_DMA_ENABLE(&hdma_usart3_rx);
-//
-// BSP_UART_RegisterCallback(BSP_UART_R12DS, BSP_UART_IDLE_LINE_CB,
-// R12DS_IdleCallback);
-
-// return 1;
-//}
-
-//int map(int x, int in_min, int in_max, int out_min, int out_max) //ӳʤگ˽
-//{
-// return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
-//}
-
-
-//int8_t sbus_to_rc(volatile const uint8_t *sbus_buf, CMD_RC_t *rc_ctrl)
-//{
-// if (sbus_buf == NULL || rc_ctrl == NULL)
-// {
-// return 0;
-// }
-//
-// rc_ctrl->ch_x = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff; //Channel 1 x
-// rc_ctrl->mul= ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //Channel 2 mul
-// rc_ctrl->ch_y= ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) | //Channel 3 y
-// (sbus_buf[5] << 10)) &0x07ff;
-// rc_ctrl->ch_w = ((sbus_buf[5] >> 1) | (sbus_buf[6] << 7)) & 0x07ff; //Channel 4 w
-//
-// rc_ctrl->key[0] = ((int16_t)sbus_buf[6] >> 4 | ((int16_t)sbus_buf[7] << 4 )) & 0x07FF; //Channel 5
-// rc_ctrl->key[1] = ((int16_t)sbus_buf[7] >> 7 | ((int16_t)sbus_buf[8] << 1 ) | (int16_t)sbus_buf[9] << 9 ) & 0x07FF; //Channel 6
-// rc_ctrl->key[2] = ((int16_t)sbus_buf[9] >> 2 | ((int16_t)sbus_buf[10] << 6 )) & 0x07FF;; //Channel 7
-// rc_ctrl->key[3] = ((int16_t)sbus_buf[10] >> 5 | ((int16_t)sbus_buf[11] << 3 )) & 0x07FF; //Channel 8
-// rc_ctrl->key[4] = ((int16_t)sbus_buf[12] << 0 | ((int16_t)sbus_buf[13] << 8 )) & 0x07FF; //Channel 9
-// rc_ctrl->key[5] = ((int16_t)sbus_buf[13] >> 3 | ((int16_t)sbus_buf[14] << 5 )) & 0x07FF; //Channel 10
-// rc_ctrl->key[6] = ((int16_t)sbus_buf[14] >> 6 | ((int16_t)sbus_buf[15] << 2 ) | (int16_t)sbus_buf[16] << 10 ) & 0x07FF; //Channel 11
-// rc_ctrl->key[7] = ((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF; //Channel 12
-
-// rc_ctrl->ch_y -= RC_CH_VALUE_OFFSET;
-// rc_ctrl->ch_x -= RC_CH_VALUE_OFFSET;
-// rc_ctrl->mul -= RC_CH_VALUE_OFFSET;
-// rc_ctrl->ch_w -= RC_CH_VALUE_OFFSET;
-//
-
-
-// rc_ctrl->ch_y -= 4; //y(-694,693)
-// rc_ctrl->ch_x += 3; //x(-693,694)
-// rc_ctrl->mul = rc_ctrl->mul; //m(-518,843)
-// rc_ctrl->ch_w += 4; //w(-694,693)
-//
-// rc_ctrl->key[2] = map(rc_ctrl->key[2],306,1694,1694,306);
-// rc_ctrl->key[3] = map(rc_ctrl->key[3],306,1694,1694,306);
-// rc_ctrl->ch_x = map(rc_ctrl->ch_x,700,-800,-700,700); //x
-// rc_ctrl->ch_y = map(rc_ctrl->ch_y,-900,796,700,-700); //y
-// rc_ctrl->mul = map(rc_ctrl->mul,-632,901,25,0); //m
-// rc_ctrl->ch_w = map(rc_ctrl->ch_w,-820,780,-700,700);
-// rc_ctrl->ch_w = 0.5f*(rc_ctrl->ch_w);
-// rc_ctrl->ch_x = -0.5f*(rc_ctrl->ch_x);
-// rc_ctrl->ch_y = -0.5f*(rc_ctrl->ch_y);
-////
-////̀死区(-5,5)
-// if(rc_ctrl->ch_y>-15&&rc_ctrl->ch_y<15) rc_ctrl->ch_y=0;
-// if(rc_ctrl->ch_x>-15&&rc_ctrl->ch_x<15) rc_ctrl->ch_x=0;
-// if(rc_ctrl->mul>=0&&rc_ctrl->mul<=3) rc_ctrl->mul=0;
-// if(rc_ctrl->ch_w>-15&&rc_ctrl->ch_w<15) rc_ctrl->ch_w=0;
-
-// return 0;
-//}
-
-//bool_t R12Buf0_WaitDmaCplt(int32_t timeout) {
-//
-// if(buf0ready == 1)
-// {
-// buf0ready =0;
-// return 1;
-// }
-// else
-// return 0;
-//// return(osThreadFlagsWait(SIGNAL_R12DS_BUF0_REDY, osFlagsWaitAll,timeout) ==
-//// SIGNAL_R12DS_BUF0_REDY);
-//}
-
-//bool_t R12Buf1_WaitDmaCplt(int32_t timeout) {
-// if(buf1ready == 1)
-// {
-// buf1ready =0;
-// return 1;
-// }
-// else
-// return 0;
-//// return(osThreadFlagsWait(SIGNAL_R12DS_BUF1_REDY, osFlagsWaitAll,timeout) ==
-//// SIGNAL_R12DS_BUF1_REDY);
-//
-//}
-
-//void R12ds_HandleOffline(void) {
-// CMD_RC_t *rc;
-// rc = R12ds_DataGet();
-
-// memset(rc, 0, sizeof(*rc));
-// rc->key[3] = 2000;//用作遥控器断电后急停使用
-//}
-
diff --git a/User/device/r12ds.h b/User/device/r12ds.h
deleted file mode 100644
index f38a772..0000000
--- a/User/device/r12ds.h
+++ /dev/null
@@ -1,32 +0,0 @@
-#ifndef _R12DS_H
-#define _R12DS_H
-
-#include
-#include "device.h"
-#include "bsp_usart.h"
-#include "cmd.h"
-
-#define RC_FRAME_LENGTH 25u
-
-
-#define RC_CH_VALUE_OFFSET ((uint16_t)1024)
-
-
-
-int8_t R12ds_DMA_Init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num);
-
-int8_t sbus_to_rc(volatile const uint8_t *sbus_buf,CMD_RC_t *rc_ctrl);
-
-
-bool_t R12Buf0_WaitDmaCplt(int32_t timeout);
-
-
-bool_t R12Buf1_WaitDmaCplt(int32_t timeout);
-
-void R12ds_HandleOffline(void);
-
-
-
-
-#endif
-
diff --git a/User/device/remote_control.c b/User/device/remote_control.c
deleted file mode 100644
index aa5e3ed..0000000
--- a/User/device/remote_control.c
+++ /dev/null
@@ -1,185 +0,0 @@
-/**
- ****************************(C) COPYRIGHT 2019 DJI****************************
- * @file remote_control.c/h
- * @brief ңңͨSBUSЭ鴫䣬DMA䷽ʽԼCPU
- * ԴôڿжͬʱṩһЩDMA
- * ķʽ֤Ȳεȶԡ
- * @note ͨжfreeRTOS
- * @history
- * Version Date Author Modification
- * V1.0.0 Dec-01-2019 RM 1.
- *
- @verbatim
- ==============================================================================
-
- ==============================================================================
- @endverbatim
- ****************************(C) COPYRIGHT 2019 DJI****************************
- */
-
-#include "remote_control.h"
-#include "main.h"
-
-
-extern UART_HandleTypeDef huart3;
-extern DMA_HandleTypeDef hdma_usart3_rx;
-
-static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);
-
-RC_ctrl_t rc_ctrl;
-static uint8_t sbus_rx_buf[2][RC_FRAME_LENGTH];
-uint8_t remote_ready = 0;//ң
-
-void remote_control_init(void)
-{
- RC_init(sbus_rx_buf[0], sbus_rx_buf[1], RC_FRAME_LENGTH);
-}
-
-
-//ж
-void USART3_IRQHandler(void)
-{
- //have received data ???
- if(huart3.Instance->SR & UART_FLAG_RXNE)
- {
- __HAL_UART_CLEAR_FEFLAG(&huart3);
- }
- else if(USART3->SR & UART_FLAG_IDLE)
- {
-
- static uint16_t this_time_rx_len = 0;
- __HAL_UART_CLEAR_PEFLAG(&huart3);
-
- if( (hdma_usart3_rx.Instance->CR & DMA_SxCR_CT) == RESET)
- {
- //current memory buffer used is memory0
-
- //disable dma to change dma register
- __HAL_DMA_DISABLE(&hdma_usart3_rx);
-
- //get received data length, length = set_data_length - remain_length
- this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
-
- //reset set_data_length
- hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
-
- //change memory0 to memory1
- hdma_usart3_rx.Instance->CR |= DMA_SxCR_CT;
-
- //enable dma
- __HAL_DMA_ENABLE(&hdma_usart3_rx);
-
- //1 frame length is correct data
- if(this_time_rx_len == RC_FRAME_LENGTH)
- {
- sbus_to_rc(sbus_rx_buf[0], &rc_ctrl);
- }
- }
- else
- {
- __HAL_DMA_DISABLE(&hdma_usart3_rx);
-
- this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
-
- hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
-
- //change memory1 to memory0
- DMA1_Stream1->CR &= ~(DMA_SxCR_CT);
-
- __HAL_DMA_ENABLE(&hdma_usart3_rx);
-
- if(this_time_rx_len == RC_FRAME_LENGTH)
- {
- sbus_to_rc(sbus_rx_buf[1], &rc_ctrl);
- }
- }
- }
-}
-
-static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl)
-{
- if (sbus_buf == NULL || rc_ctrl == NULL)
- {
- return;
- }
-
- rc_ctrl->ch[1] = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff; //Channel 1
- rc_ctrl->ch[2] = ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //Channel 2
- rc_ctrl->ch[0] = ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) | //Channel 3
- (sbus_buf[5] << 10)) &0x07ff;
- rc_ctrl->ch[3] = ((sbus_buf[5] >> 1) | (sbus_buf[6] << 7)) & 0x07ff; //Channel 4
-
- rc_ctrl->sw[0] = ((int16_t)sbus_buf[6] >> 4 | ((int16_t)sbus_buf[7] << 4 )) & 0x07FF; //Channel 5
- rc_ctrl->sw[1] = ((int16_t)sbus_buf[7] >> 7 | ((int16_t)sbus_buf[8] << 1 ) | (int16_t)sbus_buf[9] << 9 ) & 0x07FF; //Channel 6
- rc_ctrl->sw[2] = ((int16_t)sbus_buf[9] >> 2 | ((int16_t)sbus_buf[10] << 6 )) & 0x07FF;; //Channel 7
- rc_ctrl->sw[3] = ((int16_t)sbus_buf[10] >> 5 | ((int16_t)sbus_buf[11] << 3 )) & 0x07FF; //Channel 8
- rc_ctrl->sw[4] = ((int16_t)sbus_buf[12] << 0 | ((int16_t)sbus_buf[13] << 8 )) & 0x07FF; //Channel 9
- rc_ctrl->sw[5] = ((int16_t)sbus_buf[13] >> 3 | ((int16_t)sbus_buf[14] << 5 )) & 0x07FF; //Channel 10
- rc_ctrl->sw[6] = ((int16_t)sbus_buf[14] >> 6 | ((int16_t)sbus_buf[15] << 2 ) | (int16_t)sbus_buf[16] << 10 ) & 0x07FF; //Channel 11
- rc_ctrl->sw[7] = ((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF; //Channel 12
-
- rc_ctrl->ch[0] -= RC_CH_VALUE_OFFSET;
- rc_ctrl->ch[1] -= RC_CH_VALUE_OFFSET;
- rc_ctrl->ch[2] -= RC_CH_VALUE_OFFSET;
- rc_ctrl->ch[3] -= RC_CH_VALUE_OFFSET;
-
-
-// //ң
- rc_ctrl->ch[0] += 20; //y(-694,693)
- rc_ctrl->ch[1] += 20; //x(-693,694)
- rc_ctrl->ch[2] = -rc_ctrl->ch[2]+144; //m(-518,843)
- rc_ctrl->ch[3] += 4; //w(-694,693)
-
- rc_ctrl->sw[2] = map(rc_ctrl->sw[2],306,1694,1694,306);
- rc_ctrl->sw[3] = map(rc_ctrl->sw[3],306,1694,1694,306);
-// rc_ctrl->ch[1] = map(rc_ctrl->ch[1],656,-656,-700,700); //x
- rc_ctrl->ch[0] = map(rc_ctrl->ch[0],-800,796,700,-700); //y
- rc_ctrl->ch[2] = map(rc_ctrl->ch[2],-632,901,25,0); //m
- rc_ctrl->ch[3] = map(rc_ctrl->ch[3],-820,780,-700,700);
- rc_ctrl->ch[3] = 0.5*(rc_ctrl->ch[3]);
- rc_ctrl->ch[1] = 0.5*(rc_ctrl->ch[1]);
- rc_ctrl->ch[0] = 0.5*(rc_ctrl->ch[0]);
-//
- //(-30,30)
- if(rc_ctrl->ch[0]>-14&&rc_ctrl->ch[0]<10) rc_ctrl->ch[0]=0;
- if(rc_ctrl->ch[1]>-30&&rc_ctrl->ch[1]<20) rc_ctrl->ch[1]=0;
- if(rc_ctrl->ch[2]>=0&&rc_ctrl->ch[2]<=3) rc_ctrl->ch[2]=0;
- if(rc_ctrl->ch[3]>-22&&rc_ctrl->ch[3]<22) rc_ctrl->ch[3]=0;
-
- remote_ready = 1;
-}
-
-
-
-int map(int x, int in_min, int in_max, int out_min, int out_max) //ӳ亯
-{
- return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
-}
-
-
-/*
-
-
-
-
-306 306
- sw[] sw[7]
-1694 1694
-
-306 306
-sw[6] sw[4]
-1694 1694
-
-306 306 306 306
-sw[0] sw[2] sw[1]:306-1694 sw[5]:306-1694 sw[]1000 sw[3]
-1694 1694 1694 1694
- 710
- 688 1425
- | |
- | |
- 54 -616------ch[3]770 -354---------ch[0] 339 0
- | |
- | |
- ch[2] ch[1]
- _699 38
-*/
diff --git a/User/device/remote_control.h b/User/device/remote_control.h
deleted file mode 100644
index 5971266..0000000
--- a/User/device/remote_control.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/**
- ****************************(C) COPYRIGHT 2016 DJI****************************
- * @file remote_control.c/h
- * @brief ңңͨSBUSЭ鴫䣬DMA䷽ʽԼCPU
- * ԴôڿжͬʱṩһЩDMA
- * ķʽ֤Ȳεȶԡ
- * @note
- * @history
- * Version Date Author Modification
- * V1.0.0 Dec-26-2018 RM 1.
- *
- @verbatim
- ==============================================================================
-
- ==============================================================================
- @endverbatim
- ****************************(C) COPYRIGHT 2016 DJI****************************
- */
-#ifndef REMOTE_CONTROL_H
-#define REMOTE_CONTROL_H
-#include "struct_typedef.h"
-#include "bsp_rc.h"
-
-#define SBUS_RX_BUF_NUM 50u
-
-#define RC_FRAME_LENGTH 25u
-
-#define RC_CH_VALUE_OFFSET ((uint16_t)1024)
-
-typedef struct
-{
- int16_t ch[4];
- int16_t sw[8];
-
-}__attribute__((packed)) RC_ctrl_t;
-
-extern void remote_control_init(void);
-static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);
-int map(int x, int in_min, int in_max, int out_min, int out_max); //ӳ亯
-
-
-#endif
diff --git a/User/task/action_task.c b/User/task/action_task.c
deleted file mode 100644
index cae95a2..0000000
--- a/User/task/action_task.c
+++ /dev/null
@@ -1,75 +0,0 @@
-/*
- 码盘解析任务
-
- 处理码盘测量的实际距离
-
- 将需要的数据共享给其他的线程
-
-*/
-#include "action_task.h"
-#include "Action.h"
-#include "user_task.h"
-
-
-#ifdef DEBUG
-
-Action_POS_t pos;
-#else
-
-static Action_POS pos;
-
-#endif
-
-void Task_action(void *argument)
-{
- (void)argument;
-// osDelay(TASK_INIT_DELAY_ACTION);
-
- const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_ACTION;
-
-
- ACTIONRECV_Init(&pos);
-
-
- uint32_t tick = osKernelGetTickCount(); /* 获取当前控制任务运行频率的tick*/
-
- while (1)
- {
-#ifdef DEBUG
- /* 记录任务使用的的栈空闄*/
- task_runtime.stack_water_mark.action =
- osThreadGetStackSpace(osThreadGetId());
-#endif
- ACTION_StartReceiving();
- ACTION_DataRefresh(&pos);
-
-
-
- /* 使用下面的错误处理函数遇到一些问题
- 每10ms置标志位， ACTION_WaitDmaCplt 判断此标志位，通过后会执行速度计算
- 根据计算，任务运行频率大于中断产生频率，每一次运行判断标志位不通过，会导致结构体内数据清0的操作
- 目前的处理方法：注释掉Action_HandleOffline函数中，对结构体数据清零的函数memset
-
-
- */
-
- if(ACTION_WaitDmaCplt()){
-
- ACTION_Parse(&pos);
-
- }
- else{
- Action_HandleOffline(&pos);
- }
-
-
- //将解算后的码盘位置值放入消息队列供其他任务使用
- osMessageQueueReset(task_runtime.msgq.cmd.raw.Action);
- osMessageQueuePut(task_runtime.msgq.cmd.raw.Action,(&pos),0,0);
-
-
- tick += delay_tick; /* 计算下一个唤醒时刻*/
- osDelayUntil(tick);
- }
-}
-
diff --git a/User/task/action_task.h b/User/task/action_task.h
deleted file mode 100644
index 8b13789..0000000
--- a/User/task/action_task.h
+++ /dev/null
@@ -1 +0,0 @@
-
diff --git a/User/task/chassis_task.c b/User/task/chassis_task.c
deleted file mode 100644
index e5ee151..0000000
--- a/User/task/chassis_task.c
+++ /dev/null
@@ -1,94 +0,0 @@
-/*
- 底盘控制任务
-*/
-/* Includes ----------------------------------------------------------------- */
-
-#include "Chassis.h"
-#include "user_task.h"
-#include "can_use.h"
-#include
-#include "up.h"
-#include "vofa.h"
-
-static CAN_t can;
-
-
-
-#ifdef DEBUG
-
-CAN_Output_t out;
-
-Chassis_t chassis ;
-
-CMD_t ctrl;
-
-UP_t upp;
-#else
-
-static CAN_Output_t out;
-
-static Chassis_t chassis;
-
-static Chassis_Ctrl_t ctrl;
-
-static UP_t upp;
-
-
-#endif
-
-
-
-/**
- * \brief 底盘任务
- *
- * \param argument
- */
-void Task_Chassis(void *argument)
-{
-
- (void)argument; /* 未使用argument，消除警告*/
- const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_UP;
-
-
- uint32_t tick = osKernelGetTickCount();
-//
-//
-//// HAL_GPIO_WritePin(FlagForUpper_GPIO_Port,FlagForUpper_Pin,GPIO_PIN_RESET); //拉低电平 避免未清除
-//
- while(1)
- {
-#ifdef DEBUG
- task_runtime.stack_water_mark.chassis = osThreadGetStackSpace(osThreadGetId());
-#endif
-
-// /*imu数据获取*/
-// osMessageQueueGet(task_runtime.msgq.imu.eulr, &chassis.pos088.imu_eulr, NULL, 0);
-//
-// osMessageQueueGet(task_runtime.msgq.imu.gyro, &chassis.pos088.bmi088.gyro,NULL, 0);
-//
-// osMessageQueueGet(task_runtime.msgq.imu.accl, &chassis.pos088.bmi088.accl,NULL, 0);
-// /*can上设备数据获取*/
-// osMessageQueueGet(task_runtime.msgq.can.feedback.CAN_feedback, &can, NULL, 0);
-//
-// osMessageQueueGet(task_runtime.msgq.cmd.raw.Action, &chassis.Action_pos , NULL, 0);
-
- /*底盘控制信息获取,目前dji遥控器*/
- osMessageQueueGet(task_runtime.msgq.cmd.chassis,&ctrl, NULL, 0);
-
- /*锁定RTOS（实时操作系统）内核，防止任务切换，直到 osKernelUnlock() 被调用*/
-// osKernelLock();
-
- /*更新电机反馈 */
- Chassis_UpdateFeedback(&chassis, &can);
-
- /*底盘控制*/
- Chassis_Control(&chassis,&ctrl,&out);
-
- /*解锁*/
-// osKernelUnlock();
-
- tick += delay_tick;
- osDelayUntil(tick);
- }
-
-}
diff --git a/User/task/chassis_task.h b/User/task/chassis_task.h
deleted file mode 100644
index 98ed1de..0000000
--- a/User/task/chassis_task.h
+++ /dev/null
@@ -1,23 +0,0 @@
-#ifndef CHASSIS_TASK_H
-
-
-#define CHASSIS_TASK_H
-
-
-
-
-
-
-
-
-
-extern void Task_Chassis(void *argument);
-
-
-
-
-
-
-
-#endif
-
diff --git a/User/task/cmd_task.c b/User/task/cmd_task.c
index 83bd681..94730ad 100644
--- a/User/task/cmd_task.c
+++ b/User/task/cmd_task.c
@@ -4,16 +4,14 @@
#ifdef DEBUG
CMD_t cmd;
-CMD_RC_t rc_ctrl;
CMD_NUC_t Nuc;
-CMD_ACTION_t cmd_ops_out;
+CMD_RC_t rc_ctrl;
#else
static CMD_t cmd;
-static CMD_RC_t rc_ctrl;
static CMD_NUC_t Nuc;
-static CMD_ACTION_t cmd_ops_out;
+static CMD_RC_t rc_ctrl;
#endif
@@ -26,7 +24,6 @@ void Task_cmd(void *argument){
/* 计算到下一次调度任务所需要的tick数 */
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_CMD;
/**/
- CMD_Init(&cmd);
uint32_t tick = osKernelGetTickCount(); /*控制任务运行频率的计时 */
while(1){
@@ -40,25 +37,17 @@ void Task_cmd(void *argument){
/*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.rc, &rc_ctrl, 0, 0) == osOK)//遥控器
+ CMD_ParseRC(&cmd, &rc_ctrl);
if(osMessageQueueGet(task_runtime.msgq.cmd.raw.nuc, &Nuc,0 ,0) ==osOK) //nuc
CMD_ParseNuc(&cmd,&Nuc);
-
- CMD_CtrlSet(&cmd);
-
- if(osMessageQueueGet(task_runtime.msgq.cmd.raw.rc, &rc_ctrl, 0, 0) == osOK)//遥控器
- CMD_ParseRc(&cmd, &rc_ctrl);
-
- if(osMessageQueueGet(task_runtime.msgq.cmd.raw .ops_9_out , &cmd_ops_out, 0, 0) == osOK)//码盘
- CMD_ParseAction (&cmd ,&cmd_ops_out);
+
osKernelUnlock(); /* 同上 解锁RTOS内核 */
- /*将需要与其他任务共享的数据放到消息队列里 此处主要分享给底盘 后续会添加和上层机构的通信 */
- osMessageQueueReset(task_runtime.msgq.cmd.chassis);
- osMessageQueuePut(task_runtime.msgq.cmd.chassis,&cmd,0,0);
+ osMessageQueueReset(task_runtime.msgq.cmd.up_ctrl);
+
+ osMessageQueuePut(task_runtime.msgq.cmd.up_ctrl,&cmd,0,0);
tick += delay_tick; /*计算下一个唤醒时刻*/
osDelayUntil(tick); /*绝对延时 等待下一个唤醒时刻 */
diff --git a/User/task/error_detect_task.c b/User/task/error_detect_task.c
index bebb4fc..7a2f7f1 100644
--- a/User/task/error_detect_task.c
+++ b/User/task/error_detect_task.c
@@ -51,7 +51,6 @@
*/
#include "error_detect.h"
#include "user_task.h"
-#include "r12ds.h"
#include "nuc.h"
/**
* @brief init error_list, assign offline_time, online_time, priority.
diff --git a/User/task/init.c b/User/task/init.c
index 54d4c71..6baaf63 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -11,7 +11,6 @@
#include "task\user_task.h"
#include "can_use.h"
#include "cmd.h"
-#include "Action.h"
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
@@ -34,8 +33,6 @@ void Task_Init(void *argument) {
/* 任务*/
task_runtime.thread.atti_esti =
osThreadNew(Task_AttiEsti, NULL, &attr_atti_esti);
- task_runtime.thread.dr16 =
- osThreadNew(Task_dr16,NULL,&attr_dr16);
task_runtime.thread.can =
osThreadNew(Task_can,NULL,&attr_can);
task_runtime.thread.cmd =
@@ -45,6 +42,8 @@ void Task_Init(void *argument) {
task_runtime.thread.up=
osThreadNew(Task_up,NULL,&attr_up);
+ task_runtime.thread.dr16 =
+ osThreadNew(Task_dr16,NULL,&attr_dr16);
task_runtime.thread.error_detect =
@@ -82,8 +81,7 @@ void Task_Init(void *argument) {
osMessageQueueNew(2u, sizeof(AHRS_Gyro_t), NULL);
/*cmd */
- task_runtime.msgq.cmd.raw.rc =
- osMessageQueueNew(3u, sizeof(CMD_RC_t), NULL);
+
task_runtime.msgq.cmd.raw.nuc =
osMessageQueueNew(3u,sizeof(CMD_NUC_t), NULL);
diff --git a/User/task/navi_task.c b/User/task/navi_task.c
deleted file mode 100644
index 78dba44..0000000
--- a/User/task/navi_task.c
+++ /dev/null
@@ -1,68 +0,0 @@
-#include "user_task.h"
-#include "navi.h"
-#include "map.h"
-
-#ifdef DEBUG
-ops_t o;
-Action_POS_t pos_get;
-CMD_ACTION_t ops_out;//经过导航算法解算后输出的期望控制值
-
-#else
-
-static ops_t o;
-static Action_POS_t pos_get;
-static CMD_ACTION_t ops_out;
-
-
-#endif
-
-
-void Task_Navi(void *argument){
-
- (void)argument;
-
- const uint32_t delay_tick = osKernelGetTickFreq() /TASK_FREQ_NAVI;
-
- Action_init(&o,&(task_runtime.config.chassis_config->ops),&pos_get);
-
-
- uint32_t tick = osKernelGetTickCount(); /* 获取当前控制任务运行频率的tick*/
-
- while (1)
- {
-#ifdef DEBUG
- /* 记录任务使用的的栈空间 */
- task_runtime.stack_water_mark.action =
- osThreadGetStackSpace(osThreadGetId());
-#endif
- osMessageQueueGet(task_runtime.msgq.imu.gyro,&o.ops_gyro,NULL,0);
-
- osMessageQueueGet(task_runtime.msgq.imu.eulr,&o.ops_imu_pos,NULL,0);
-
- osMessageQueueGet(task_runtime.msgq.cmd .raw .Action ,&pos_get,NULL,0);
-
- go_path(&o,&ops_out);
-
- //将解算后的导航期望运动值放入消息队列供其他任务使用
- osMessageQueueReset(task_runtime.msgq.cmd.raw.ops_9_out);
- osMessageQueuePut(task_runtime.msgq.cmd.raw.ops_9_out,(&ops_out),0,0);
-
- tick += delay_tick; /* 计算下一个唤醒时刻*/
- osDelayUntil(tick);
- }
-
-}
-
-
-
-
-//
-//
-//
-//
-//
-//
-//
-
-
-
diff --git a/User/task/navi_task.h b/User/task/navi_task.h
deleted file mode 100644
index 6f01d09..0000000
--- a/User/task/navi_task.h
+++ /dev/null
@@ -1 +0,0 @@
-#include "navi.h"
\ No newline at end of file
diff --git a/User/task/r12ds_task.c b/User/task/r12ds_task.c
deleted file mode 100644
index e2f8d24..0000000
--- a/User/task/r12ds_task.c
+++ /dev/null
@@ -1,56 +0,0 @@
-
-#include "r12ds.h"
-#include "cmsis_os.h"
-#include "user_task.h"
-
-//#ifdef DEBUG
-
-//CMD_RC_t cmd_rc;
-
-//uint8_t sbus_rx_buf[2][RC_FRAME_LENGTH];
-
-//#else
-
-//static CMD_RC_t cmd_rc;
-
-//#endif
-
-
-
-//CMD_RC_t *R12ds_DataGet(){
-// return &cmd_rc;
-//}
-//
-//void Task_r12ds(void *argument)
-//{
-// (void)argument;
-// const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_R12DS;
-// R12ds_DMA_Init(sbus_rx_buf[0],sbus_rx_buf[1],50);
-//
-// uint32_t tick = osKernelGetTickCount();
-// while (1)
-// {
-//#ifdef DEBUG
-// task_runtime.stack_water_mark.rs12ds =
-// osThreadGetStackSpace(osThreadGetId());
-//#endif
-//
-// if(R12Buf0_WaitDmaCplt(1))
-// {
-// sbus_to_rc(sbus_rx_buf[0],&cmd_rc);
-// }
-// else if(R12Buf1_WaitDmaCplt(1))
-// {
-// sbus_to_rc(sbus_rx_buf[1],&cmd_rc);
-// }
-// osMessageQueueReset(task_runtime.msgq.cmd.raw.rc);
-// osMessageQueuePut(task_runtime.msgq.cmd.raw.rc,(&cmd_rc),0,0);
-//
-// tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/
-// osDelay(10);
-// }
-
-
-
-//
-// }
diff --git a/User/task/r12ds_task.h b/User/task/r12ds_task.h
deleted file mode 100644
index ebf5d49..0000000
--- a/User/task/r12ds_task.h
+++ /dev/null
@@ -1,16 +0,0 @@
-#ifndef _R12DS_TASK_H
-#define _R12DS_TASK_H
-
-
-
-
-
-
-
-
-
-
-
-
-
-#endif
\ No newline at end of file
diff --git a/User/task/up_task.c b/User/task/up_task.c
index 7634fe9..bf2677b 100644
--- a/User/task/up_task.c
+++ b/User/task/up_task.c
@@ -19,6 +19,7 @@ CAN_Output_t UP_CAN_out;
UP_t UP ;
+CMD_t up_cmd;
#else
@@ -27,11 +28,13 @@ static CAN_Output_t up_can_out;
static UP_t UP;
+static CMD_t up_cmd;
#endif
float aaa=0;
float bbb=0;
float CCC=0;
+float DDD=0;
/**
@@ -48,26 +51,32 @@ void Task_up(void *argument)
uint32_t tick = osKernelGetTickCount();
up_init(&UP,&(task_runtime.config.chassis_config->up ),TASK_FREQ_UP);
+
while(1)
{
#ifdef DEBUG
task_runtime.stack_water_mark.up = osThreadGetStackSpace(osThreadGetId());
#endif
- UP_UpdateFeedback(&UP, &can) ;
+ UP_UpdateFeedback(&UP, &can,&up_cmd) ;
// GM6020_control(&UP, 100) ;
- UP_angle(&UP, bbb);
+// UP_angle_control(&UP, bbb,M3508 );
+ UP_angle_control(&UP, bbb,M2006 );
+
// UP_M3508_speed(&UP, 500);
-// VESC_M5065_Control(&UP, 20000);
+ VESC_M5065_Control(&UP, 000);
+//
+// HAL_GPIO_WritePin (GPIOE ,GPIO_PIN_9 ,GPIO_PIN_SET );
+//
+// HAL_GPIO_WritePin (GPIOE ,GPIO_PIN_11 ,GPIO_PIN_SET );
-
-
- GO_SendData(&UP, 1,CCC);
+// GO_SendData(&UP, 1,CCC);
GO_SendData(&UP, 0,aaa);
ALL_Motor_Control(&UP,&UP_CAN_out);
+// UP_control(&UP,&UP_CAN_out);
osDelay(1);
@@ -80,8 +89,10 @@ void Task_up(void *argument)
osMessageQueueGet(task_runtime.msgq.imu.accl, &UP.pos088.bmi088.accl,NULL, 0);
/*can上设备数据获取*/
osMessageQueueGet(task_runtime.msgq.can.feedback.CAN_feedback, &can, NULL, 0);
-
-
+
+
+ osMessageQueueGet(task_runtime.msgq.cmd.up_ctrl, &up_cmd, NULL, 0);
+
/*锁定RTOS（实时操作系统）内核，防止任务切换，直到 osKernelUnlock() 被调用*/
osKernelLock();
diff --git a/User/task/user_task.c b/User/task/user_task.c
index 109ace2..63dfe25 100644
--- a/User/task/user_task.c
+++ b/User/task/user_task.c
@@ -25,21 +25,6 @@ const osThreadAttr_t attr_atti_esti = {
.priority = osPriorityRealtime,
.stack_size = 256 * 4,
};
-//const osThreadAttr_t attr_ops_9pos = {
-// .name = "action",
-// .priority = osPriorityRealtime,
-// .stack_size = 256 *4,
-//};
-//const osThreadAttr_t attr_chassis = {
-// .name = "chassis",
-// .priority = osPriorityAboveNormal,
-// .stack_size = 512 * 4,
-//};
-const osThreadAttr_t attr_r12ds = {
- .name = "r12ds",
- .priority = osPriorityRealtime,
- .stack_size = 128 * 4,
-};
const osThreadAttr_t attr_can = {
.name = "can",
@@ -65,20 +50,13 @@ const osThreadAttr_t attr_error_detect = {
.stack_size = 128 *4,
};
-const osThreadAttr_t attr_dr16 = {
- .name = "dr16",
- .priority = osPriorityRealtime,
- .stack_size = 128 *4,
-};
-
-//const osThreadAttr_t attr_navi = {
-// .name = "navi",
-// .priority = osPriorityRealtime,
-// .stack_size = 128 *4,
-//};
-
const osThreadAttr_t attr_up = {
.name = "up",
.priority = osPriorityRealtime,
.stack_size = 512 * 4,
};
+const osThreadAttr_t attr_dr16 = {
+ .name = "dr16",
+ .priority = osPriorityRealtime,
+ .stack_size = 128 *4,
+};
diff --git a/User/task/user_task.h b/User/task/user_task.h
index c045325..c431e02 100644
--- a/User/task/user_task.h
+++ b/User/task/user_task.h
@@ -19,7 +19,7 @@
#define TASK_FREQ_NUC (500u)
#define TASK_FREQ_CAN (1000u)
#define TASK_FREQ_NAVI (500u)
-#define TASK_FREQ_R12DS (1000u)
+#define TASK_FREQ_DR16 (1000u)
#define TASK_FREQ_ACTION (500u)
#define TASK_FREQ_UP (500u) //新加的上层
@@ -42,16 +42,12 @@ typedef struct {
/* 任务 */
struct {
osThreadId_t atti_esti;
-// osThreadId_t chassis;
osThreadId_t dr16;
-// osThreadId_t action_ops;
osThreadId_t up;
-// osThreadId_t ai;
osThreadId_t can;
osThreadId_t cmd;
osThreadId_t nuc;
-// osThreadId_t navi;
osThreadId_t error_detect;
} thread;
@@ -73,7 +69,7 @@ typedef struct {
}raw;
- osMessageQueueId_t chassis;
+ osMessageQueueId_t up_ctrl;
osMessageQueueId_t status;
} cmd;
/* can任务放入、读取，电机或电容的输入输出 */
@@ -119,29 +115,22 @@ typedef struct {
} stack_water_mark; /* stack使用 */
struct {
-// float chassis;
float can;
float atti_esti;
- float r12ds;
+ float dr16;
float cmd;
float nuc;
-// float action;
-// float navi;
float error_detect;
float up;
} freq; /* 任务运行频率 */
struct {
-// float chassis;
float can;
float atti_esti;
-// float ai;
- float r12ds;
+ float dr16;
float cmd;
float nuc;
-// float navi;
-// float action;
float error_detect;
float up;
@@ -156,43 +145,32 @@ extern const osThreadAttr_t attr_init;
extern const osThreadAttr_t attr_atti_esti;
-//extern const osThreadAttr_t attr_chassis;
-
extern const osThreadAttr_t attr_can;
extern const osThreadAttr_t attr_cmd;
-//extern const osThreadAttr_t attr_ops_9pos;
-
extern const osThreadAttr_t attr_nuc;
extern const osThreadAttr_t attr_error_detect;
extern const osThreadAttr_t attr_dr16;
-//extern const osThreadAttr_t attr_navi;
-
extern const osThreadAttr_t attr_up;
/* Exported functions prototypes -------------------------------------------- */
void Task_Init(void *argument);
void Task_AttiEsti(void *argument);
-//void Task_Chassis(void *argument);
-
void Task_can(void *argument);
void Task_cmd(void *argument);
void Task_nuc(void *argument);
-//void Task_action(void *argument);
-
-//void Task_Navi(void *argument);
-
void Task_up(void *argument);
+void Task_dr16(void *argument);
+
void Task_error_detect(void *argument);
-void Task_dr16(void *argument);
#endif
diff --git a/keilkill.bat b/keilkill.bat
new file mode 100644
index 0000000..accc110
--- /dev/null
+++ b/keilkill.bat
@@ -0,0 +1,27 @@
+del *.bak /s
+del *.ddk /s
+del *.edk /s
+del *.lst /s
+del *.lnp /s
+del *.mpf /s
+del *.mpj /s
+del *.obj /s
+del *.omf /s
+::del *.opt /s ::ɾJLINK
+del *.plg /s
+del *.rpt /s
+del *.tmp /s
+del *.__i /s
+del *.crf /s
+del *.o /s
+del *.d /s
+del *.axf /s
+del *.tra /s
+del *.dep /s
+del JLinkLog.txt /s
+
+del *.iex /s
+del *.htm /s
+del *.sct /s
+del *.map /s
+exit