串口收数提示

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
+

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"
     }
 }

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

MDK-ARM/.vscode/uv4.log.lock

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

MDK-ARM/R1.uvoptx

@@ -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>

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));
+   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;
 }
 

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

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 <cmsis_os2.h>
 #include <stdio.h>
+#include "bsp_buzzer.h"
 
 #ifdef DEBUG
 
@@ -20,20 +21,18 @@ void Function_nuc(void *argument)
 
         NUC_Init(&cmd_fromnuc);
 
-    HAL_GPIO_WritePin(LED_G_GPIO_Port,LED_G_Pin,GPIO_PIN_SET);
-
         uint32_t tick = osKernelGetTickCount();
 
-    while(1)
+        while (1)
         {
 #ifdef DEBUG
         task_struct.stack_water_mark.nuc = osThreadGetStackSpace(osThreadGetId());
 #endif
         NUC_StartReceiving();
 
-        //NUC_RawParse(&cmd_fromnuc);
+        // NUC_RawParse(&cmd_fromnuc);
-        //NUC_SendPacket(&send, sizeof(send)); // 发送数据包
+        // NUC_SendPacket(&send, sizeof(send)); // 发送数据包
-//掉线处理有空写 
+        // 掉线处理有空写
         //  if(NUC_WaitDmaCplt())
         //  {
         //      NUC_RawParse(&cmd_fromnuc);
@@ -44,20 +43,25 @@ void Function_nuc(void *argument)
         //     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)
         {
+                //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);
+                osMessageQueuePut(task_struct.msgq.nuc, &(cmd_fromnuc), 0, 0);
         }
         else
         {
+
+                // 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);
         }
-        osDelay(2);
 
         tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/
         osDelayUntil(tick);
-        
         }
 }