RoboDuoduo/R1_up
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

串口收数提示

Browse Source
This commit is contained in:
ws 2025-07-04 13:18:57 +08:00
parent a056dbcb8a
commit 1cb37c4dac
8 changed files with 62 additions and 44 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

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

@ -100,3 +100,5 @@
[info] Log at : 2025/7/2|17:15:33|GMT+0800
[info] Log at : 2025/7/4|09:10:46|GMT+0800

3
MDK-ARM/.vscode/settings.json vendored
View File

@ -5,6 +5,7 @@
"buzzer.h": "c",
"calc_lib.h": "c",
"usertask.h": "c",
"detect.h": "c"
"detect.h": "c",
"nuc.h": "c"
}
}

9
MDK-ARM/.vscode/uv4.log vendored
View File

@ -1,12 +1,13 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1'
compiling nuc.c...
compiling shootTask.cpp...
compiling nuc.c...
compiling initTask.c...
compiling ball.cpp...
compiling ballTask.cpp...
compiling nucTask.cpp...
compiling shoot.cpp...
linking...
Program Size: Code=32916 RO-data=1832 RW-data=268 ZI-data=32220
Program Size: Code=32960 RO-data=1832 RW-data=268 ZI-data=32220
FromELF: creating hex file...
"R1\R1.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:08
Build Time Elapsed: 00:02:09

2
MDK-ARM/.vscode/uv4.log.lock vendored
View File

@ -1 +1 @@
2025/7/2 19:36:56
2025/7/4 9:21:52

10
MDK-ARM/R1.uvoptx
View File

@ -180,6 +180,16 @@
<WinNumber>1</WinNumber>
<ItemText>cmd_fromnuc</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>drop_message,0x0A</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>error_code,0x0A</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow4>
<Mm>

15
User/device/nuc.c
View File

@ -4,7 +4,7 @@
static osThreadId_t thread_alert;
static volatile uint32_t drop_message = 0;
volatile uint32_t drop_message = 0;
uint8_t nucbuf[16];
uint8_t packet[32]; // 假设最大数据包长度为 32 字节
@ -13,10 +13,11 @@ static void NUC_CBLTCallback(void)
{
osThreadFlagsSet(thread_alert, SIGNAL_NUC_RAW_REDY);
}
uint32_t error_code;
static void NUC_ERRORCALLBACK(void)
{
NUC_Restart();
uint32_t error_code = HAL_UART_GetError(BSP_UART_GetHandle(BSP_UART_AI));
NUC_Restart();
error_code = HAL_UART_GetError(BSP_UART_GetHandle(BSP_UART_AI));
}
@ -80,7 +81,7 @@ int8_t NUC_SendPacket(void *data, uint16_t length) {
return DEVICE_OK; // 发送成功
}
int wzcsb=0;
int8_t NUC_RawParse(NUC_t *n) {
if (n == NULL) return DEVICE_ERR_NULL;
union {
@ -98,12 +99,10 @@ int8_t NUC_RawParse(NUC_t *n) {
case VISION:
/* 协议格式
0xFF HEAD
0x09
0x07
控制帧
0x01 相机帧
x fp32
y fp32
z fp32
0xFE TAIL
*/
if (nucbuf[7] != TAIL) goto error;
@ -132,7 +131,7 @@ int8_t NUC_RawParse(NUC_t *n) {
error:
wzcsb++;
drop_message++;
return DEVICE_ERR;
}

3
User/device/nuc.h
View File

@ -8,6 +8,7 @@ extern "C" {
#include "struct_typedef.h"
#include "device.h"
#include "uart_it.h"
#include "main.h"
// 帧头针尾
#define HEAD (0xFF)
@ -15,7 +16,7 @@ extern "C" {
#define ODOM (0x04)
#define PICK (0x06)
#define VISION (0x09)
#define VISION (0x07)
#define SEND (0X07)
// 写结构体存入视觉信息

62
User/task/nucTask.cpp
View File

@ -1,10 +1,11 @@
#include "nucTask.hpp"
#include "nuc.h"
#include "userTask.h"
#include "TopDefine.h"//事件组的一些东西
#include "TopDefine.h" //事件组的一些东西
#include "FreeRTOS.h"
#include <cmsis_os2.h>
#include <stdio.h>
#include "bsp_buzzer.h"
#ifdef DEBUG
@ -14,50 +15,53 @@ NUC_t cmd_fromnuc;
void Function_nuc(void *argument)
{
(void)argument; /* 未使用argument，消除警告 */
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_AI;
(void)argument; /* 未使用argument，消除警告 */
NUC_Init(&cmd_fromnuc);
HAL_GPIO_WritePin(LED_G_GPIO_Port,LED_G_Pin,GPIO_PIN_SET);
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_AI;
uint32_t tick = osKernelGetTickCount();
NUC_Init(&cmd_fromnuc);
while(1)
{
uint32_t tick = osKernelGetTickCount();
while (1)
{
#ifdef DEBUG
task_struct.stack_water_mark.nuc = osThreadGetStackSpace(osThreadGetId());
#endif
task_struct.stack_water_mark.nuc = osThreadGetStackSpace(osThreadGetId());
#endif
NUC_StartReceiving();
//NUC_RawParse(&cmd_fromnuc);
//NUC_SendPacket(&send, sizeof(send)); // 发送数据包
//掉线处理有空写
// if(NUC_WaitDmaCplt())
// {
// NUC_RawParse(&cmd_fromnuc);
// NUC_RawParse(&cmd_fromnuc);
// NUC_SendPacket(&send, sizeof(send)); // 发送数据包
// 掉线处理有空写
// if(NUC_WaitDmaCplt())
// {
// NUC_RawParse(&cmd_fromnuc);
// }
// else
// {
// NUC_HandleOffline(&cmd_fromnuc);
// }
// 假设你在主循环或任务里这样用
if (NUC_RawParse(&cmd_fromnuc) == DEVICE_OK)
{
osMessageQueueReset(task_struct.msgq.nuc); // 清空消息队列
osMessageQueuePut(task_struct.msgq.nuc,&(cmd_fromnuc),0,0);
//BSP_Buzzer_Stop();
HAL_GPIO_WritePin(LED_G_GPIO_Port, LED_G_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_RESET);
osMessageQueueReset(task_struct.msgq.nuc); // 清空消息队列
osMessageQueuePut(task_struct.msgq.nuc, &(cmd_fromnuc), 0, 0);
}
else
{
NUC_HandleOffline(&cmd_fromnuc);
}
osDelay(2);
tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/
osDelayUntil(tick);
}
// BSP_Buzzer_Start();
// BSP_Buzzer_Set(1, 5000);
HAL_GPIO_WritePin(LED_G_GPIO_Port, LED_G_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_SET);
NUC_HandleOffline(&cmd_fromnuc);
}
tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/
osDelayUntil(tick);
}
}