From 1cb37c4daca10a167dc62cd6d5d205050d7af545 Mon Sep 17 00:00:00 2001
From: ws <1621320660@qq.com>
Date: Fri, 4 Jul 2025 13:18:57 +0800
Subject: [PATCH] =?UTF-8?q?=E4=B8=B2=E5=8F=A3=E6=94=B6=E6=95=B0=E6=8F=90?=
=?UTF-8?q?=E7=A4=BA?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
MDK-ARM/.vscode/keil-assistant.log | 2 +
MDK-ARM/.vscode/settings.json | 3 +-
MDK-ARM/.vscode/uv4.log | 9 +++--
MDK-ARM/.vscode/uv4.log.lock | 2 +-
MDK-ARM/R1.uvoptx | 10 +++++
User/device/nuc.c | 15 ++++----
User/device/nuc.h | 3 +-
User/task/nucTask.cpp | 62 ++++++++++++++++--------------
8 files changed, 62 insertions(+), 44 deletions(-)
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);
+ }
}