LYL/R2_UP
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LYL:xiaomi

2 Commits
main ... JIAXING_UP

Author SHA1 Message Date
ZHAISHUI04
008ceaddf1 遥控器控制，光电停止已测，看情况加vesc急停 2025-03-29 17:35:53 +08:00
ZHAISHUI04
5de502c448 只提交测试后的，遥控器投篮完成 2025-03-29 14:16:44 +08:00
45 changed files with 8908 additions and 298 deletions
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10
AUTO_CHASSIS.ioc
View File

@ -273,14 +273,14 @@ PD14.GPIOParameters=GPIO_Label
PD14.GPIO_Label=Buzzer
PD14.Locked=true
PD14.Signal=S_TIM4_CH3
PE11.GPIOParameters=GPIO_PuPd
PE11.GPIO_PuPd=GPIO_PULLUP
PE11.Locked=true
PE11.Signal=GPIO_Output
PE9.GPIOParameters=PinState,GPIO_PuPd,GPIO_Label
PE9.GPIO_Label=FlagForUpper
PE11.Signal=GPIO_Input
PE9.GPIOParameters=GPIO_PuPd
PE9.GPIO_PuPd=GPIO_PULLUP
PE9.Locked=true
PE9.PinState=GPIO_PIN_SET
PE9.Signal=GPIO_Output
PE9.Signal=GPIO_Input
PF6.GPIOParameters=GPIO_Speed,GPIO_Label
PF6.GPIO_Label=IMU_HEAT_PWM
PF6.GPIO_Speed=GPIO_SPEED_FREQ_HIGH

2
Core/Inc/main.h
View File

@ -78,8 +78,6 @@ void Error_Handler(void);
#define GYRO_INT_Pin GPIO_PIN_5
#define GYRO_INT_GPIO_Port GPIOC
#define GYRO_INT_EXTI_IRQn EXTI9_5_IRQn
#define FlagForUpper_Pin GPIO_PIN_9
#define FlagForUpper_GPIO_Port GPIOE
#define GYRO_CS_Pin GPIO_PIN_0
#define GYRO_CS_GPIO_Port GPIOB

20
Core/Src/gpio.c
View File

@ -60,12 +60,6 @@ void MX_GPIO_Init(void)
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(ACCL_CS_GPIO_Port, ACCL_CS_Pin, GPIO_PIN_SET);
/*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);
@ -95,18 +89,10 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = FlagForUpper_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
/*Configure GPIO pins : PE9 PE11 */
GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
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 */

1
Core/Src/main.c
View File

@ -80,7 +80,6 @@ int main(void)
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */

2
MDK-ARM/.vscode/keil-assistant.log vendored
View File

@ -475,3 +475,5 @@ Log at : 2025/2/23|14:39:36|GMT+0800
[info] Log at : 2025/3/11|21:09:29|GMT+0800
[info] Log at : 2025/3/28|21:47:12|GMT+0800

209
MDK-ARM/R2_UP.uvoptx → MDK-ARM/AUTO_CHASSIS.uvoptx
View File

@ -12,7 +12,7 @@
<lExt>*.lib</lExt>
<tExt>*.txt; *.h; *.inc; *.md</tExt>
<pExt>*.plm</pExt>
<CppX>*.cpp; *.cc; *.cxx</CppX>
<CppX>*.cpp</CppX>
<nMigrate>0</nMigrate>
</Extensions>
@ -22,11 +22,11 @@
</DaveTm>
<Target>
<TargetName>R2_UP</TargetName>
<TargetName>AUTO_CHASSIS</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<TargetOption>
<CLKADS>25000000</CLKADS>
<CLKADS>12000000</CLKADS>
<OPTTT>
<gFlags>1</gFlags>
<BeepAtEnd>1</BeepAtEnd>
@ -117,6 +117,11 @@
<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key>
<Name>-U00260035480000034E575152 -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($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>ARMRTXEVENTFLAGS</Key>
@ -134,8 +139,8 @@
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key>
<Name>-U-O206 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
<Key>CMSIS_AGDI</Key>
<Name>-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)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@ -153,20 +158,112 @@
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>aaa,0x0A</ItemText>
<ItemText>raw,0x0A</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>UP,0x0A</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>can,0x0A</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>can_out,0x0A</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>bbb,0x0A</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>aaa,0x0A</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>CCC</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>GO_motor_info</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>cbuf[36]</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>dr16,0x0A</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>1</WinNumber>
<ItemText>cmd,0x0A</ItemText>
</Ww>
<Ww>
<count>11</count>
<WinNumber>1</WinNumber>
<ItemText>rc_ctrl,0x0A</ItemText>
</Ww>
<Ww>
<count>12</count>
<WinNumber>1</WinNumber>
<ItemText>up_cmd,0x0A</ItemText>
</Ww>
<Ww>
<count>13</count>
<WinNumber>1</WinNumber>
<ItemText>angle</ItemText>
</Ww>
<Ww>
<count>14</count>
<WinNumber>1</WinNumber>
<ItemText>can_ZZ</ItemText>
</Ww>
<Ww>
<count>15</count>
<WinNumber>1</WinNumber>
<ItemText>flaggg,0x0A</ItemText>
</Ww>
<Ww>
<count>16</count>
<WinNumber>1</WinNumber>
<ItemText>aaaa,0x0A</ItemText>
</Ww>
<Ww>
<count>17</count>
<WinNumber>1</WinNumber>
<ItemText>imu_temp_pid_param,0x0A</ItemText>
</Ww>
<Ww>
<count>18</count>
<WinNumber>1</WinNumber>
<ItemText>imu_temp,0x0A</ItemText>
</Ww>
</WatchWindow1>
<WatchWindow2>
<Ww>
<count>0</count>
<WinNumber>2</WinNumber>
<ItemText>a</ItemText>
</Ww>
</WatchWindow2>
<Tracepoint>
<THDelay>0</THDelay>
</Tracepoint>
<DebugFlag>
<trace>0</trace>
<periodic>0</periodic>
<periodic>1</periodic>
<aLwin>1</aLwin>
<aCover>0</aCover>
<aSer1>0</aSer1>
@ -204,18 +301,18 @@
<pSingCmdsp></pSingCmdsp>
<pMultCmdsp></pMultCmdsp>
<DebugDescription>
<Enable>1</Enable>
<Enable>0</Enable>
<EnableFlashSeq>0</EnableFlashSeq>
<EnableLog>0</EnableLog>
<Protocol>2</Protocol>
<DbgClock>10000000</DbgClock>
<DbgClock>5000000</DbgClock>
</DebugDescription>
</TargetOption>
</Target>
<Group>
<GroupName>Application/MDK-ARM</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -247,7 +344,7 @@
<Group>
<GroupName>Application/User/Core</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -679,7 +776,7 @@
<Group>
<GroupName>Middlewares/FreeRTOS</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -886,6 +983,30 @@
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\bsp\gpio.c</PathWithFileName>
<FilenameWithoutPath>gpio.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>53</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\bsp\spi.c</PathWithFileName>
<FilenameWithoutPath>spi.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>54</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\bsp\pwm.c</PathWithFileName>
<FilenameWithoutPath>pwm.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
@ -893,7 +1014,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>53</FileNumber>
<FileNumber>55</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -905,7 +1026,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>54</FileNumber>
<FileNumber>56</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -917,7 +1038,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>55</FileNumber>
<FileNumber>57</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -929,7 +1050,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>56</FileNumber>
<FileNumber>58</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -941,7 +1062,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>57</FileNumber>
<FileNumber>59</FileNumber>
<FileType>5</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -953,7 +1074,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>58</FileNumber>
<FileNumber>60</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -965,7 +1086,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>59</FileNumber>
<FileNumber>61</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -977,7 +1098,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>60</FileNumber>
<FileNumber>62</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -987,30 +1108,6 @@
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>61</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\bsp\bsp_spi.c</PathWithFileName>
<FilenameWithoutPath>bsp_spi.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>62</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\bsp\bsp_gpio.c</PathWithFileName>
<FilenameWithoutPath>bsp_gpio.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group>
<Group>
@ -1074,8 +1171,8 @@
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\task\nuc_task.c</PathWithFileName>
<FilenameWithoutPath>nuc_task.c</FilenameWithoutPath>
<PathWithFileName>..\User\task\error_detect_task.c</PathWithFileName>
<FilenameWithoutPath>error_detect_task.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
@ -1086,8 +1183,8 @@
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\task\error_detect_task.c</PathWithFileName>
<FilenameWithoutPath>error_detect_task.c</FilenameWithoutPath>
<PathWithFileName>..\User\task\dr16_task.c</PathWithFileName>
<FilenameWithoutPath>dr16_task.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
@ -1122,8 +1219,8 @@
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\task\dr16_task.c</PathWithFileName>
<FilenameWithoutPath>dr16_task.c</FilenameWithoutPath>
<PathWithFileName>..\User\task\nuc_task.c</PathWithFileName>
<FilenameWithoutPath>nuc_task.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
@ -1282,8 +1379,8 @@
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\device\GO_M8010_6_Driver.c</PathWithFileName>
<FilenameWithoutPath>GO_M8010_6_Driver.c</FilenameWithoutPath>
<PathWithFileName>..\User\device\dr16.c</PathWithFileName>
<FilenameWithoutPath>dr16.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
@ -1294,8 +1391,8 @@
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\device\dr16.c</PathWithFileName>
<FilenameWithoutPath>dr16.c</FilenameWithoutPath>
<PathWithFileName>..\User\device\GO_M8010_6_Driver.c</PathWithFileName>
<FilenameWithoutPath>GO_M8010_6_Driver.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
@ -1347,7 +1444,7 @@
<Group>
<GroupName>Application/User/USB_DEVICE/Target</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1367,7 +1464,7 @@
<Group>
<GroupName>Middlewares/USB_Device_Library</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

54
MDK-ARM/R2_UP.uvprojx → MDK-ARM/AUTO_CHASSIS.uvprojx
View File

@ -7,7 +7,7 @@
<Targets>
<Target>
<TargetName>R2_UP</TargetName>
<TargetName>AUTO_CHASSIS</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<pArmCC>5060960::V5.06 update 7 (build 960)::.\ARMCC</pArmCC>
@ -49,8 +49,8 @@
<NotGenerated>0</NotGenerated>
<InvalidFlash>1</InvalidFlash>
</TargetStatus>
<OutputDirectory>.\R2_UP\</OutputDirectory>
<OutputName>R2_UP</OutputName>
<OutputDirectory>ELE_CHASSIS\</OutputDirectory>
<OutputName>AUTO_CHASSIS</OutputName>
<CreateExecutable>1</CreateExecutable>
<CreateLib>0</CreateLib>
<CreateHexFile>0</CreateHexFile>
@ -82,7 +82,7 @@
</BeforeMake>
<AfterMake>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<RunUserProg2>1</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
@ -1128,6 +1128,16 @@
<FileType>1</FileType>
<FilePath>..\User\bsp\delay.c</FilePath>
</File>
<File>
<FileName>gpio.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\bsp\gpio.c</FilePath>
</File>
<File>
<FileName>spi.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\bsp\spi.c</FilePath>
</File>
<File>
<FileName>pwm.c</FileName>
<FileType>1</FileType>
@ -1173,16 +1183,6 @@
<FileType>1</FileType>
<FilePath>..\User\bsp\bsp_buzzer.c</FilePath>
</File>
<File>
<FileName>bsp_spi.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\bsp\bsp_spi.c</FilePath>
</File>
<File>
<FileName>bsp_gpio.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\bsp\bsp_gpio.c</FilePath>
</File>
</Files>
</Group>
<Group>
@ -1208,16 +1208,16 @@
<FileType>1</FileType>
<FilePath>..\User\task\can_task.c</FilePath>
</File>
<File>
<FileName>nuc_task.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\task\nuc_task.c</FilePath>
</File>
<File>
<FileName>error_detect_task.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\task\error_detect_task.c</FilePath>
</File>
<File>
<FileName>dr16_task.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\task\dr16_task.c</FilePath>
</File>
<File>
<FileName>up_task.c</FileName>
<FileType>1</FileType>
@ -1280,9 +1280,9 @@
</FileOption>
</File>
<File>
<FileName>dr16_task.c</FileName>
<FileName>nuc_task.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\task\dr16_task.c</FilePath>
<FilePath>..\User\task\nuc_task.c</FilePath>
</File>
</Files>
</Group>
@ -1349,16 +1349,16 @@
<FileType>1</FileType>
<FilePath>..\User\device\vofa.c</FilePath>
</File>
<File>
<FileName>GO_M8010_6_Driver.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\device\GO_M8010_6_Driver.c</FilePath>
</File>
<File>
<FileName>dr16.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\device\dr16.c</FilePath>
</File>
<File>
<FileName>GO_M8010_6_Driver.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\device\GO_M8010_6_Driver.c</FilePath>
</File>
</Files>
</Group>
<Group>
@ -2044,7 +2044,7 @@
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.3.0" condition="ARMv6_7_8-M Device">
<package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.6.0"/>
<targetInfos>
<targetInfo name="R2_UP"/>
<targetInfo name="AUTO_CHASSIS"/>
</targetInfos>
</component>
</components>

BIN
MDK-ARM/R2_UP/R2_UP.axf → MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
View File

Binary file not shown.

3618
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.hex Normal file
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File diff suppressed because it is too large Load Diff

3643
MDK-ARM/ELE_CHASSIS/ELE_CHASSIS.hex Normal file
View File

File diff suppressed because it is too large Load Diff

1
README.md
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@ -9,4 +9,3 @@ r2上层代码
3.16 up.c里3508需增加位置环，id1，2分别为2006，3508位置环，适应升降机构。
go电机需换rs485模块测试，目前存在可控但收不到反馈数据的情况
3.26 遥控器控制修改

216
User/Algorithm/navi.c Normal file
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@ -0,0 +1,216 @@
#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;
}

108
User/Algorithm/navi.h Normal file
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@ -0,0 +1,108 @@
#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, // 自动跑点模式
MANUAL_MODE , // 控制模式
NO_MODE
} Navi_Mode_t;
typedef struct {
Navi_Mode_t mode;
int Trig_flag;//触发沿，初始值为零，两种控制模式下，这个值变为1，会使cnt+1，为-1，使cnt-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

107
User/Module/config.c
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@ -46,20 +46,6 @@ 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,
@ -85,13 +71,102 @@ static const ConfigParam_t param_chassis ={
.rev = 0,
.T=0.1,
.W=0.1,
.K_P=0.2,
.K_W=0.05,
.K_P=0.1,
.K_W=0.1,
}
},
// .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 = {

2
User/Module/config.h
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@ -25,6 +25,8 @@ 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);

148
User/Module/up.c
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@ -12,6 +12,11 @@
#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 */
@ -34,7 +39,9 @@ int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq)
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;
@ -63,16 +70,21 @@ int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can, CMD_t *c) {
u->cmd =c;
if(HAL_GPIO_ReadPin (GPIOE,GPIO_PIN_9)==GPIO_PIN_RESET) u->Light_Flag =1;
else u->Light_Flag =0;
return 0;
}
int8_t cnt=0;
/*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
int8_t cnt=0;
fp32 angle ,delta;
switch(motor)
{
case M2006 :
@ -184,12 +196,21 @@ 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
UP_angle_control(u,u->motor_target .M2006_angle ,M2006);
UP_angle_control(u,u->motor_target .M3508_angle ,M3508 );
GO_SendData(u,0 ,u->motor_target .go_shoot );
GO_SendData(u,1 ,u->motor_target .go_spin);
VESC_M5065_Control(u, u->motor_target .VESC_5065_M1_rpm );
for(int i=0;i<4;i++){
out ->motor3508 .as_array[i]=u->final_out.final_3508out [i] ;
}
@ -197,51 +218,124 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
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)
int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
{
if(u ==NULL) return 0;
if(u ==NULL) return 0;
switch (c->CMD_CtrlType )
{
case UP_RCcontrol: //在手动模式下
switch (c->CMD_UP_mode )
{
case Normal :
u->state .Pitch_flag =Not_started_Pit;
u->state .last_state = Not_started_Pit;
// switch(u->flag ){
// case 0 :
// GO_SendData(u, 0,0);
// UP_angle_control(u, 0,M2006 );
break;
//
// /*发射过程*/
// case 1 :
// UP_angle_control(u, -130,M2006 );
//
// GO_SendData(u, 0,-1950);
case Pitch_pull :
if(u->state .last_state == Not_started_Pit)
{
u->motor_target .VESC_5065_M1_rpm = 40000;
u->motor_target .VESC_5065_M2_rpm = 40000;
u->state .Pitch_flag = Launch_Ready ;
u->state .last_state = Launch_Ready;
// break ;
// case 2 :
// UP_angle_control(u, 0,M2006 );
//
// if((u->motorfeedback .M2006 .total_angle )<10)
//
// GO_SendData(u, 0,0);
}
break ;
case Pitch_shoot :
if (u->state .last_state == Launch_Ready)
{
u->motor_target .M2006_angle =-140;
if((u->Light_Flag) ==1){
u->motor_target .VESC_5065_M1_rpm = 0;
u->motor_target .VESC_5065_M2_rpm = 0;
u->motor_target .M2006_angle =0;
u->state .Pitch_flag = Done_Pit ;
u->state .last_state = Done_Pit;
}
}
{
}
break;
// break ;
//
}
break;
case MID_NAVI :
{
}
break ;
case PICK_t :
{
}
break;
default:
break;
}
//
// }

5
User/Module/up.h
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@ -117,6 +117,7 @@ typedef struct
typedef struct{
uint8_t up_task_run;
const UP_Param_t *param;
UP_Imu_t pos088;
@ -125,6 +126,8 @@ typedef struct{
CMD_t *cmd;
Oper_control_state_t state;//上层机构的运行状态
int Light_Flag;
struct{
fp32 rotor_pit6020ecd;
fp32 rotor_pit6020rpm;
@ -206,7 +209,7 @@ 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_control(UP_t *u, fp32 target_angle,MotorType_t motor);
int8_t UP_control(UP_t *u,CAN_Output_t *out);
int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c);
int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out);
int8_t UP_M2006_angle(UP_t *u,fp32 target_angle);
int8_t UP_M3508_speed(UP_t *u,fp32 speed);

4
User/bsp/bsp_usart.c
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@ -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_RS485;
else if (huart->Instance == USART1)
return BSP_UART_NUC;
else if (huart->Instance == USART6)
return BSP_UART_RS485;
/*

2
User/bsp/bsp_gpio.c → User/bsp/gpio.c
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@ -1,5 +1,5 @@
/* Includes ----------------------------------------------------------------- */
#include "bsp\bsp_gpio.h"
#include "bsp\gpio.h"
#include <gpio.h>
#include <main.h>

0
User/bsp/bsp_gpio.h → User/bsp/gpio.h
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2
User/bsp/protocol.h
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@ -28,7 +28,7 @@ typedef struct __attribute__((packed)) {
int remain;
} Protocol_UpDataMCU_t;
/* 视觉 -> 电控 数据结构体*/
/* 视觉 -> 电控 底盘数据结构体*/
typedef struct __attribute__((packed)) {
Protocol_ID_t recv_id;//作为帧头使用确认通信ID正确

2
User/bsp/bsp_spi.c → User/bsp/spi.c
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@ -1,5 +1,5 @@
/* Includes ----------------------------------------------------------------- */
#include "bsp\bsp_spi.h"
#include "bsp\spi.h"
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */

0
User/bsp/bsp_spi.h → User/bsp/spi.h
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10
User/device/GO_M8010_6_Driver.c
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@ -38,13 +38,21 @@ void GO_M8010_init (void){
//暂存接收数据
static uint8_t Temp_buffer[16];
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);
}

2
User/device/GO_M8010_6_Driver.h
View File

@ -8,6 +8,7 @@ extern "C"{
#include "usart.h"
#include "string.h"
#include <math.h>
#include "user_math.h"
#define GO_NUM 2
/**
* @brief
@ -63,6 +64,7 @@ typedef struct {
float T;
float W;
float Pos;
int footForce;
uint8_t buffer[17];
uint8_t Rec_buffer[16];

176
User/device/LD_remote.c Normal file
View File

@ -0,0 +1,176 @@
/*
乐迪遥控器
*/
/* Includes ----------------------------------------------------------------- */
#include "LD_remote.h"
#include <string.h>
#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
//*/

31
User/device/LD_remote.h Normal file
View File

@ -0,0 +1,31 @@
#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

4
User/device/bmi088.c
View File

@ -12,8 +12,8 @@
#include <string.h>
#include "user_math.h"
#include "bsp\delay.h"
#include "bsp\bsp_gpio.h"
#include "bsp\bsp_spi.h"
#include "bsp\gpio.h"
#include "bsp\spi.h"
#include "device\device.h"
#include "bsp\pwm.h"
#include "pid.h"

1
User/device/can_use.c
View File

@ -378,7 +378,6 @@ 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;

15
User/device/cmd.c
View File

@ -52,22 +52,25 @@ int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) {
else if(rc->sw_l==CMD_SW_UP)
{
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
if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Normal; //左上，右上，投篮
if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Pitch_pull; //左上，右中，无模式
if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Pitch_shoot; //左上，右上，投篮
}
else if(rc->sw_l==CMD_SW_MID)
{
cmd ->CMD_CtrlType =MID_NAVI;
if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_CtrlType =MID_NAVI;; //左中，右上，雷达
if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Normal; //左中，右中，无模式
if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Dribble; //左中，右上，运球
}
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_UP) cmd ->CMD_UP_mode =Normal; //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
if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Normal; //左下，右上，投篮
}

3
User/device/cmd.h
View File

@ -22,7 +22,8 @@ typedef enum{
Normal, //无模式
Dribble , //运球
Pitch , //投篮
Pitch_pull , //投篮
Pitch_shoot , //投篮
}CMD_UP_mode_t;
typedef struct {

101
User/device/nuc.c
View File

@ -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];
@ -78,42 +78,59 @@ 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
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;
// 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;
}
int8_t NUC_HandleOffline(CMD_NUC_t *cmd)

216
User/device/r12ds.c Normal file
View File

@ -0,0 +1,216 @@
/*
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 <string.h>
//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
//}

32
User/device/r12ds.h Normal file
View File

@ -0,0 +1,32 @@
#ifndef _R12DS_H
#define _R12DS_H
#include <cmsis_os2.h>
#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

185
User/device/remote_control.c Normal file
View File

@ -0,0 +1,185 @@
/**
****************************(C) COPYRIGHT 2019 DJI****************************
* @file remote_control.c/h
* @brief 遥控器处理，遥控器是通过类似SBUS的协议传输，利用DMA传输方式节约CPU
* 资源，利用串口空闲中断来拉起处理函数，同时提供一些掉线重启DMA，串口
* 的方式保证热插拔的稳定性。
* @note 该任务是通过串口中断启动，不是freeRTOS任务
* @history
* Version Date Author Modification
* V1.0.0 Dec-01-2019 RM 1. 完成
*
@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;//遥控器准备完成
void remote_control_init(void)
{
RC_init(sbus_rx_buf[0], sbus_rx_buf[1], RC_FRAME_LENGTH);
}
//串口中断
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;
// //新遥控器
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]);
//
//死区(-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) //映射函数
{
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
*/

42
User/device/remote_control.h Normal file
View File

@ -0,0 +1,42 @@
/**
****************************(C) COPYRIGHT 2016 DJI****************************
* @file remote_control.c/h
* @brief 遥控器处理，遥控器是通过类似SBUS的协议传输，利用DMA传输方式节约CPU
* 资源，利用串口空闲中断来拉起处理函数，同时提供一些掉线重启DMA，串口
* 的方式保证热插拔的稳定性。
* @note
* @history
* Version Date Author Modification
* V1.0.0 Dec-26-2018 RM 1. 完成
*
@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); //映射函数
#endif

1
User/task/error_detect_task.c
View File

@ -51,6 +51,7 @@
*/
#include "error_detect.h"
#include "user_task.h"
#include "r12ds.h"
#include "nuc.h"
/**
* @brief init error_list, assign offline_time, online_time, priority.

9
User/task/init.c
View File

@ -33,6 +33,8 @@ 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 =
@ -42,8 +44,6 @@ 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 =
@ -81,9 +81,12 @@ 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);
task_runtime.msgq.cmd.up_ctrl =
osMessageQueueNew(3u,sizeof(CMD_t), NULL);
osKernelUnlock();
osThreadTerminate(osThreadGetId()); /* 结束自身 */

2
User/task/nuc_task.c
View File

@ -6,6 +6,8 @@
NUC_t nuc_raw;
CMD_NUC_t cmd_fromnuc;
#else
static NUC_t nuc_raw;
static CMD_NUC_t cmd_fromnuc;
#endif

56
User/task/r12ds_task.c Normal file
View File

@ -0,0 +1,56 @@
#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);
// }
//
// }

16
User/task/r12ds_task.h Normal file
View File

@ -0,0 +1,16 @@
#ifndef _R12DS_TASK_H
#define _R12DS_TASK_H
#endif

22
User/task/up_task.c
View File

@ -34,9 +34,8 @@ static CMD_t up_cmd;
float aaa=0;
float bbb=0;
float CCC=0;
float DDD=0;
int aaaa;
/**
* \brief
*
@ -51,7 +50,6 @@ 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
@ -59,24 +57,19 @@ void Task_up(void *argument)
#endif
UP_UpdateFeedback(&UP, &can,&up_cmd) ;
// GM6020_control(&UP, 100) ;
// UP_angle_control(&UP, bbb,M3508 );
UP_angle_control(&UP, bbb,M2006 );
// UP_M3508_speed(&UP, 500);
VESC_M5065_Control(&UP, 000);
// UP_angle_control(&UP,bbb,M2006);
//
// HAL_GPIO_WritePin (GPIOE ,GPIO_PIN_9 ,GPIO_PIN_SET );
//
// HAL_GPIO_WritePin (GPIOE ,GPIO_PIN_11 ,GPIO_PIN_SET );
// VESC_M5065_Control(&UP, 2000);
//
// GO_SendData(&UP, 1,CCC);
GO_SendData(&UP, 0,aaa);
// GO_SendData(&UP, 0,aaa);
UP_control(&UP,&UP_CAN_out,&up_cmd);
ALL_Motor_Control(&UP,&UP_CAN_out);
// UP_control(&UP,&UP_CAN_out);
osDelay(1);
@ -90,7 +83,6 @@ void Task_up(void *argument)
/*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*/

32
User/task/user_task.c
View File

@ -25,6 +25,21 @@ 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",
@ -50,13 +65,20 @@ const osThreadAttr_t attr_error_detect = {
.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,
};
//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,
};

27
User/task/user_task.h
View File

@ -19,7 +19,7 @@
#define TASK_FREQ_NUC (500u)
#define TASK_FREQ_CAN (1000u)
#define TASK_FREQ_NAVI (500u)
#define TASK_FREQ_DR16 (1000u)
#define TASK_FREQ_R12DS (1000u)
#define TASK_FREQ_ACTION (500u)
#define TASK_FREQ_UP (500u) //新加的上层
@ -44,10 +44,10 @@ typedef struct {
osThreadId_t atti_esti;
osThreadId_t dr16;
osThreadId_t up;
osThreadId_t nuc;
osThreadId_t can;
osThreadId_t cmd;
osThreadId_t nuc;
osThreadId_t error_detect;
} thread;
@ -63,10 +63,8 @@ typedef struct {
struct {
osMessageQueueId_t rc;
osMessageQueueId_t nuc;
osMessageQueueId_t eulr;/*姿态结算得到的欧拉角*/
osMessageQueueId_t Action;
osMessageQueueId_t ops_9_out;
osMessageQueueId_t eulr;/*姿态结算得到的欧拉角*/
}raw;
osMessageQueueId_t up_ctrl;
@ -104,11 +102,9 @@ typedef struct {
UBaseType_t can;
UBaseType_t atti_esti;
UBaseType_t dr16;
UBaseType_t action;
UBaseType_t cmd;
UBaseType_t nuc;
UBaseType_t navi;
UBaseType_t error_detect;
UBaseType_t nuc;
UBaseType_t up;
@ -117,9 +113,8 @@ typedef struct {
struct {
float can;
float atti_esti;
float dr16;
float r12ds;
float cmd;
float nuc;
float error_detect;
float up;
@ -128,9 +123,8 @@ typedef struct {
struct {
float can;
float atti_esti;
float dr16;
float r12ds;
float cmd;
float nuc;
float error_detect;
float up;
@ -149,12 +143,12 @@ extern const osThreadAttr_t attr_can;
extern const osThreadAttr_t attr_cmd;
extern const osThreadAttr_t attr_nuc;
extern const osThreadAttr_t attr_error_detect;
extern const osThreadAttr_t attr_dr16;
extern const osThreadAttr_t attr_nuc;
extern const osThreadAttr_t attr_up;
/* Exported functions prototypes -------------------------------------------- */
void Task_Init(void *argument);
@ -165,12 +159,11 @@ void Task_can(void *argument);
void Task_cmd(void *argument);
void Task_nuc(void *argument);
void Task_up(void *argument);
void Task_dr16(void *argument);
void Task_nuc(void *argument);
void Task_error_detect(void *argument);
void Task_dr16(void *argument);
#endif

27
keilkill.bat
View File

@ -1,27 +0,0 @@
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 ::不允许删除JLINK的设置
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