不用空闲中断

MDK-ARM/.vscode/keil-assistant.log

@@ -96,3 +96,7 @@
 
 [info] Log at : 2025/7/1|10:57:51|GMT+0800
 
+[info] Log at : 2025/7/2|02:59:15|GMT+0800
+
+[info] Log at : 2025/7/2|17:15:33|GMT+0800
+

MDK-ARM/.vscode/uv4.log

@@ -1,10 +1,8 @@
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
 Build target 'R1'
-compiling shoot.cpp...
 compiling ball.cpp...
-compiling shootTask.cpp...
 linking...
-Program Size: Code=32968 RO-data=1832 RW-data=268 ZI-data=32220  
+Program Size: Code=32904 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:  00:00:06
+Build Time Elapsed:  00:00:05

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

@@ -1 +1 @@
-2025/7/1 14:54:30
+2025/7/2 14:06:43

MDK-ARM/R1.uvoptx

@@ -153,47 +153,49 @@
           <Name>-U00160029510000164E574E32 -O2254 -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 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint/>
+      <Breakpoint>
+        <Bp>
+          <Number>0</Number>
+          <Type>0</Type>
+          <LineNumber>94</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>0</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>0</BreakIfRCount>
+          <Filename>../Core/Src/main.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression></Expression>
+        </Bp>
+      </Breakpoint>
       <WatchWindow1>
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>shoot,0x0A</ItemText>
+          <ItemText>rc_ctrl,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
-          <ItemText>nucData,0x0A</ItemText>
+          <ItemText>shoot,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>2</count>
           <WinNumber>1</WinNumber>
-          <ItemText>nucbuf</ItemText>
+          <ItemText>ball,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>3</count>
           <WinNumber>1</WinNumber>
-          <ItemText>wzcsb,0x0A</ItemText>
+          <ItemText>nucbuf</ItemText>
         </Ww>
         <Ww>
           <count>4</count>
           <WinNumber>1</WinNumber>
-          <ItemText>nuc_v</ItemText>
+          <ItemText>cmd_fromnuc</ItemText>
-        </Ww>
-        <Ww>
-          <count>5</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>abc,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>6</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>shoot_wait,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>7</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>error_code</ItemText>
         </Ww>
       </WatchWindow1>
       <MemoryWindow4>
@@ -962,7 +964,7 @@
 
   <Group>
     <GroupName>User/device</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1054,7 +1056,7 @@
 
   <Group>
     <GroupName>User/module</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1086,7 +1088,7 @@
 
   <Group>
     <GroupName>User/task</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

User/device/nuc.c

@@ -33,22 +33,8 @@ int8_t NUC_Init(NUC_t *nuc)
   return DEVICE_OK;
 }
 
-// static void NUC_IdleCallback(void) {	
-// 	osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY);
-
-// }
-
-// int8_t NUC_Init(NUC_t *nuc){
-//     if(nuc == NULL) return DEVICE_ERR_NULL;
-//     if((thread_alert = osThreadGetId()) == NULL ) return DEVICE_ERR_NULL;
-//    BSP_UART_RegisterCallback(BSP_UART_AI,BSP_UART_IDLE_LINE_CB,
-//                             NUC_IdleCallback);
-	
-//    return DEVICE_OK;
-// }
-
 int8_t NUC_StartReceiving(void) {
-  if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_AI),
+  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI),
                            (uint8_t *)nucbuf,
                            sizeof(nucbuf)) == HAL_OK)
     return DEVICE_OK;
@@ -63,7 +49,7 @@ int8_t NUC_Restart(void) {
 
 
 bool_t NUC_WaitDmaCplt(void) {
-  return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,500) ==
+  return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,20) ==
           SIGNAL_NUC_RAW_REDY);
 
 }

User/module/ball.cpp

@@ -356,6 +356,7 @@ void Ball::ballHadling(void)
         break;
 
     case BALL_FORWARD:
+        osDelay(300); // 不放太快
         HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸爪子
         osDelay(5);
         HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET); // 打开下气缸

User/module/shoot.cpp

@@ -58,7 +58,7 @@ Shoot::Shoot()
     go1.K_P = 1.0f,
     go1.K_W = 0.05,
     go1.Pos = 0, // 上电先到一个舒服的位置
-        go1.W = 0,
+    go1.W = 0,
     go1.T = 0,
 
     limit_speed = TO_TOP; // 快速上去
@@ -162,8 +162,6 @@ void Shoot::rc_mode()
         {
             is_ready = true;
             BSP_Buzzer_Stop();
-
-           
         }
         else
         {
@@ -392,7 +390,6 @@ void Shoot::RemoveError()
 
 #if ONE_CONTROL
 
-
 void Shoot::shoot_control()
 {
 
@@ -436,11 +433,11 @@ void Shoot::shoot_control()
                     t_posSet = Tigger_ZERO;
                     if (feedback.fd_tpos >= Tigger_ZERO - 20)
                     {
-                        
+
                         BSP_Buzzer_Stop();
                         currentState = SHOOT_IDLE;
                         osThreadFlagsClear(EXTEND_OK);
-                        osThreadFlagsClear(READY_TELL); //蓄力标志位
+                        osThreadFlagsClear(READY_TELL); // 蓄力标志位
                         shoot_wait = 0;
                     }
                 }
@@ -484,7 +481,7 @@ void Shoot::shoot_control()
                 break;
 
             case DOWN1:
-                if (shoot_thread & EXTEND_OK )
+                if (shoot_thread & EXTEND_OK)
                 {
                     if (shoot_wait == 1)
                     {
@@ -495,7 +492,7 @@ void Shoot::shoot_control()
                             BSP_Buzzer_Stop();
                             currentState = SHOOT_IDLE;
                             osThreadFlagsClear(EXTEND_OK);
-                            osThreadFlagsClear(READY_TELL); //蓄力标志位
+                            osThreadFlagsClear(READY_TELL); // 蓄力标志位
                             shoot_wait = 0;
                         }
                     }

User/task/ballTask.cpp

@@ -22,7 +22,7 @@ void FunctionBall(void *argument)
 
     const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_BALL;
 	
-		osDelay(6000);//等待极致控制板启动
+	osDelay(6000);//等待极致控制板启动
     XiaomiWait_init(1,&hcan2); //小米电机初始化
     
     uint32_t tick = osKernelGetTickCount();
@@ -34,15 +34,12 @@ void FunctionBall(void *argument)
 #endif          
 
     //abc=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);
-    abc=HAL_GPIO_ReadPin(BALL_GPIO_Port, BALL_Pin); // 0为到位
+     abc=HAL_GPIO_ReadPin(BALL_GPIO_Port, BALL_Pin); // 0为到位
 
      ball.rc_mode(); // 遥控器模式  
     
      ball.ball_control(); // 控制球的动作    
 
-//        HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 确保气缸爪子闭合
-//        HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET);   // 确保下气缸关闭
-
     // ball.xiaomi.position = aaaa; 
     // CAN_XiaoMi(1,&ball.xiaomi,&hcan2);