diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index 646e173..8d5c96e 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -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 + diff --git a/MDK-ARM/.vscode/settings.json b/MDK-ARM/.vscode/settings.json index e5a3724..ceea9fd 100644 --- a/MDK-ARM/.vscode/settings.json +++ b/MDK-ARM/.vscode/settings.json @@ -5,6 +5,7 @@ "buzzer.h": "c", "calc_lib.h": "c", "usertask.h": "c", - "detect.h": "c" + "detect.h": "c", + "nuc.h": "c" } } \ No newline at end of file diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log index e27e2d8..001bdc4 100644 --- a/MDK-ARM/.vscode/uv4.log +++ b/MDK-ARM/.vscode/uv4.log @@ -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 diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock index c647268..397b7bf 100644 --- a/MDK-ARM/.vscode/uv4.log.lock +++ b/MDK-ARM/.vscode/uv4.log.lock @@ -1 +1 @@ -2025/7/2 19:36:56 \ No newline at end of file +2025/7/4 9:21:52 \ No newline at end of file diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx index 73eea2c..09e32bf 100644 --- a/MDK-ARM/R1.uvoptx +++ b/MDK-ARM/R1.uvoptx @@ -180,6 +180,16 @@ 1 cmd_fromnuc + + 5 + 1 + drop_message,0x0A + + + 6 + 1 + error_code,0x0A + diff --git a/User/device/nuc.c b/User/device/nuc.c index 130b3ac..0cf5add 100644 --- a/User/device/nuc.c +++ b/User/device/nuc.c @@ -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; } diff --git a/User/device/nuc.h b/User/device/nuc.h index 6c8ff79..02a0bac 100644 --- a/User/device/nuc.h +++ b/User/device/nuc.h @@ -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 diff --git a/User/task/nucTask.cpp b/User/task/nucTask.cpp index f622aaf..8895412 100644 --- a/User/task/nucTask.cpp +++ b/User/task/nucTask.cpp @@ -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 #include +#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); + } }