diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index 67e4303..8d5c96e 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -94,3 +94,11 @@ [info] Log at : 2025/6/30|10:24:59|GMT+0800 +[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 + +[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 8ed7e1c..001bdc4 100644 --- a/MDK-ARM/.vscode/uv4.log +++ b/MDK-ARM/.vscode/uv4.log @@ -1,76 +1,13 @@ *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin' -Rebuild target 'R1' -assembling startup_stm32f407xx.s... -compiling dma.c... -compiling spi.c... -compiling gpio.c... -compiling stm32f4xx_hal_msp.c... -compiling tim.c... -compiling stm32f4xx_it.c... -compiling stm32f4xx_hal_rcc.c... -compiling freertos.c... -compiling main.c... -compiling usart.c... -compiling stm32f4xx_hal_can.c... -compiling crc.c... -compiling can.c... -compiling stm32f4xx_hal_gpio.c... -compiling stm32f4xx_hal_flash_ramfunc.c... -compiling stm32f4xx_hal_flash_ex.c... -compiling stm32f4xx_hal_flash.c... -compiling stm32f4xx_hal_rcc_ex.c... -compiling stm32f4xx_hal_cortex.c... -compiling stm32f4xx_hal_pwr_ex.c... -compiling stm32f4xx_hal_dma.c... -compiling stm32f4xx_hal_crc.c... -compiling stm32f4xx_hal.c... -compiling stm32f4xx_hal_pwr.c... -compiling croutine.c... -compiling stm32f4xx_hal_exti.c... -compiling event_groups.c... -compiling list.c... -compiling stm32f4xx_hal_dma_ex.c... -compiling queue.c... -compiling stream_buffer.c... -compiling timers.c... -compiling tasks.c... -compiling heap_4.c... -compiling system_stm32f4xx.c... -compiling port.c... -compiling stm32f4xx_hal_spi.c... -compiling stm32f4xx_hal_uart.c... -compiling stm32f4xx_hal_tim_ex.c... -compiling stm32f4xx_hal_tim.c... -compiling calc_lib.c... -compiling crc_ccitt.c... -compiling kalman.c... -compiling cmsis_os2.c... -compiling bsp_buzzer.c... -compiling bsp_delay.c... -compiling can_init.c... -compiling can_it.c... -compiling gpio_it.c... -compiling uart_it.c... -compiling filter.c... -compiling pid.c... -compiling user_math.c... -compiling buzzer.c... -compiling userTask.c... -compiling detect.c... -compiling shoot.cpp... -compiling vofa.c... -compiling remote_control.c... -compiling djiMotor.c... -compiling GO_M8010_6_Driver.c... -compiling nuc.c... -compiling ball.cpp... -compiling initTask.c... -compiling ballTask.cpp... -compiling encodeCan.cpp... -compiling nucTask.cpp... +Build target 'R1' compiling shootTask.cpp... +compiling nuc.c... +compiling initTask.c... +compiling ball.cpp... +compiling nucTask.cpp... +compiling shoot.cpp... linking... -Program Size: Code=32916 RO-data=1832 RW-data=276 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: 00:04:01 +Build Time Elapsed: 00:02:09 diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock index 4fb6d15..397b7bf 100644 --- a/MDK-ARM/.vscode/uv4.log.lock +++ b/MDK-ARM/.vscode/uv4.log.lock @@ -1 +1 @@ -2025/6/30 14:27:15 \ 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..1e93deb 100644 --- a/MDK-ARM/R1.uvoptx +++ b/MDK-ARM/R1.uvoptx @@ -178,7 +178,22 @@ 4 1 - cmd_fromnuc + nuc_v + + + 5 + 1 + abc,0x0A + + + 6 + 1 + shoot_wait,0x0A + + + 7 + 1 + error_code diff --git a/User/device/nuc.c b/User/device/nuc.c index 1fbcaaa..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)); } @@ -33,22 +34,8 @@ 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 +50,7 @@ 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); } @@ -94,7 +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 { @@ -112,12 +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; @@ -146,7 +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/module/ball.cpp b/User/module/ball.cpp index cce6747..b004a4d 100644 --- a/User/module/ball.cpp +++ b/User/module/ball.cpp @@ -11,6 +11,7 @@ extern int ball_exit; // 外死点168 外163 中150 内127 限位124.8 // 伸缩 +//外死点168 外163 中150 内127 限位124.8 #define I_ANGLE 127 #define O_ANGLE 163 #define WAIT_POS 150 @@ -78,7 +79,7 @@ void Ball::rc_mode() } if (rc_ctrl.sw[5] == 200) { - ready_key = DE; // 默认不准备 + ready_key = DEF; // 默认不准备 } } @@ -237,14 +238,16 @@ void Ball::ball_control() ballHadling(); break; } + Send_control(); } // 防守 - if(ready_key == DEFENSE) + else if(ready_key == DEF) { xiaomi.position = I_ANGLE; // 保持收回 HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭 HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭 + Send_control(); } @@ -286,6 +289,7 @@ void Ball::ballDown(void) break; case EXTEND_FINISH: + HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); xiaomi.position = O_ANGLE; // 一直保持伸出 // 等待拨杆复位（如切到MIDDLE2），Idle_control会负责回位 break; @@ -358,6 +362,7 @@ 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 diff --git a/User/module/ball.hpp b/User/module/ball.hpp index 4a0a678..8595c5f 100644 --- a/User/module/ball.hpp +++ b/User/module/ball.hpp @@ -40,7 +40,7 @@ typedef enum IN, OUT, SIDE, - DE + DEF }ball_rc_mode; // 定义光电传感器检测宏 diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp index 36474ea..62765dd 100644 --- a/User/module/shoot.cpp +++ b/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 @@ -148,71 +148,6 @@ int Shoot::GO_SendData(float pos, float limit) // B键 sw[3]👆 200 开 中 1000 👇1800 关 // sw[5] 👆 200 👇1800 // 左旋 sw[7] 200 --1800 -// void Shoot::rc_mode() -// { -// if (rc_ctrl.sw[1] == 200) -// { -// rc_key = UP1; -// } -// if (rc_ctrl.sw[1] == 1800 && rc_ctrl.sw[2] == 200) -// { -// rc_key = MIDDLE1; -// } -// if (rc_ctrl.sw[2] == 1800 && rc_ctrl.sw[1] == 1800) -// { -// rc_key = DOWN1; -// } -// if (rc_ctrl.sw[0] == 1800) -// { -// mode_key = PASS; -// } -// if (rc_ctrl.sw[0] == 200) -// { -// mode_key = VSION; -// } -// // if(rc_ctrl.sw[5]==200) -// // { -// // mode_key=OUT; -// // } -// if (rc_ctrl.sw[5] == 1800) -// { -// ready_key = OFFENSIVE; -// } -// else if (rc_ctrl.sw[5] == 200) -// { -// ready_key = DEFENSE; -// } - -// // //旋钮增量 -// // static int last_knob_value = 0; // 记录旋钮的上一次值 -// // int current_knob_value = rc_ctrl.sw[7]; // 获取当前旋钮值 - -// // // 计算旋钮增量 -// // if (current_knob_value >= 200 && current_knob_value <= 1800) { -// // knob_increment = (current_knob_value - last_knob_value) / 15.0f; // 每80单位对应一个增量 -// // } else { -// // knob_increment = 0; // 如果旋钮值超出范围，不产生增量 -// // } - -// // 旋钮物理范围 -// const int knob_min = 200; -// const int knob_max = 1800; - -// // 目标映射范围 -// const float map_min = 130.0f; -// const float map_max = -60.0f; - -// int current_knob_value = rc_ctrl.sw[7]; - -// // 限制范围 -// if (current_knob_value < knob_min) -// current_knob_value = knob_min; -// if (current_knob_value > knob_max) -// current_knob_value = knob_max; - -// // 线性映射 -// knob_increment = map_min + (map_max - map_min) * (current_knob_value - knob_min) / (knob_max - knob_min); -// } void Shoot::rc_mode() { @@ -226,12 +161,12 @@ void Shoot::rc_mode() if (bottom_sensor == 0) { is_ready = true; - - // 可选：蜂鸣器提示“归零成功” + BSP_Buzzer_Stop(); } else { - // 未到位，所有按键无效，直接返回 + BSP_Buzzer_Start(); + BSP_Buzzer_Set(1, 5000); return; } } @@ -455,7 +390,6 @@ void Shoot::RemoveError() #if ONE_CONTROL -int shoot_wait = 0; void Shoot::shoot_control() { @@ -499,10 +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 shoot_wait = 0; } } @@ -546,7 +481,7 @@ void Shoot::shoot_control() break; case DOWN1: - if (shoot_thread & EXTEND_OK ) + if (shoot_thread & EXTEND_OK) { if (shoot_wait == 1) { @@ -557,6 +492,7 @@ void Shoot::shoot_control() BSP_Buzzer_Stop(); currentState = SHOOT_IDLE; osThreadFlagsClear(EXTEND_OK); + osThreadFlagsClear(READY_TELL); // 蓄力标志位 shoot_wait = 0; } } diff --git a/User/module/shoot.hpp b/User/module/shoot.hpp index a008caf..54d1f7d 100644 --- a/User/module/shoot.hpp +++ b/User/module/shoot.hpp @@ -112,6 +112,8 @@ private: float limit_speed;//go电机限速 + int shoot_wait; + }; diff --git a/User/task/ballTask.cpp b/User/task/ballTask.cpp index c50162a..6408282 100644 --- a/User/task/ballTask.cpp +++ b/User/task/ballTask.cpp @@ -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); 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); + } }