From 57a3838e385427ac3549f36a6eea12edc76e3dfb Mon Sep 17 00:00:00 2001 From: ws <1621320660@qq.com> Date: Tue, 1 Jul 2025 14:55:11 +0800 Subject: [PATCH 1/4] =?UTF-8?q?=E5=B0=8F=E4=BF=AE=E6=94=B9?= 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/uv4.log | 72 ++-------------------------- MDK-ARM/.vscode/uv4.log.lock | 2 +- User/module/ball.cpp | 1 + User/module/shoot.cpp | 75 +++--------------------------- User/module/shoot.hpp | 2 + 6 files changed, 16 insertions(+), 138 deletions(-) diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index 67e4303..3f8afd7 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -94,3 +94,5 @@ [info] Log at : 2025/6/30|10:24:59|GMT+0800 +[info] Log at : 2025/7/1|10:57:51|GMT+0800 + diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log index 8ed7e1c..fc45d57 100644 --- a/MDK-ARM/.vscode/uv4.log +++ b/MDK-ARM/.vscode/uv4.log @@ -1,76 +1,10 @@ *** 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... +Build target 'R1' 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... compiling shootTask.cpp... linking... -Program Size: Code=32916 RO-data=1832 RW-data=276 ZI-data=32220 +Program Size: Code=32968 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: 00:00:06 diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock index 4fb6d15..76228fa 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 +2025/7/1 14:54:30 \ No newline at end of file diff --git a/User/module/ball.cpp b/User/module/ball.cpp index 3911d37..af89813 100644 --- a/User/module/ball.cpp +++ b/User/module/ball.cpp @@ -283,6 +283,7 @@ 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; diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp index 36474ea..a3680bc 100644 --- a/User/module/shoot.cpp +++ b/User/module/shoot.cpp @@ -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 +161,14 @@ void Shoot::rc_mode() if (bottom_sensor == 0) { is_ready = true; + BSP_Buzzer_Stop(); - // 可选：蜂鸣器提示“归零成功” + } 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 +392,7 @@ void Shoot::RemoveError() #if ONE_CONTROL -int shoot_wait = 0; + void Shoot::shoot_control() { @@ -503,6 +440,7 @@ void Shoot::shoot_control() BSP_Buzzer_Stop(); currentState = SHOOT_IDLE; osThreadFlagsClear(EXTEND_OK); + osThreadFlagsClear(READY_TELL); //蓄力标志位 shoot_wait = 0; } } @@ -557,6 +495,7 @@ 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; + }; From b022b46730b38536f07ff4445647889599eb9c4e Mon Sep 17 00:00:00 2001 From: ws <1621320660@qq.com> Date: Wed, 2 Jul 2025 17:48:50 +0800 Subject: [PATCH 2/4] =?UTF-8?q?=E4=B8=8D=E7=94=A8=E7=A9=BA=E9=97=B2?= =?UTF-8?q?=E4=B8=AD=E6=96=AD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/.vscode/keil-assistant.log | 4 +++ MDK-ARM/.vscode/uv4.log | 6 ++-- MDK-ARM/.vscode/uv4.log.lock | 2 +- MDK-ARM/R1.uvoptx | 50 ++++++++++++++++-------------- User/device/nuc.c | 18 ++--------- User/module/ball.cpp | 1 + User/module/shoot.cpp | 13 +++----- User/task/ballTask.cpp | 7 ++--- 8 files changed, 43 insertions(+), 58 deletions(-) diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index 3f8afd7..646e173 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/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 + diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log index fc45d57..f5e09e6 100644 --- a/MDK-ARM/.vscode/uv4.log +++ b/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 diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock index 76228fa..287f658 100644 --- a/MDK-ARM/.vscode/uv4.log.lock +++ b/MDK-ARM/.vscode/uv4.log.lock @@ -1 +1 @@ -2025/7/1 14:54:30 \ No newline at end of file +2025/7/2 14:06:43 \ No newline at end of file diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx index 53306b8..4f9d677 100644 --- a/MDK-ARM/R1.uvoptx +++ b/MDK-ARM/R1.uvoptx @@ -153,47 +153,49 @@ -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) - + + + 0 + 0 + 94 + 1 +
0
+ 0 + 0 + 0 + 0 + 0 + 0 + ../Core/Src/main.c + + + + 0 1 - shoot,0x0A + rc_ctrl,0x0A 1 1 - nucData,0x0A + shoot,0x0A 2 1 - nucbuf + ball,0x0A 3 1 - wzcsb,0x0A + nucbuf 4 1 - nuc_v - - - 5 - 1 - abc,0x0A - - - 6 - 1 - shoot_wait,0x0A - - - 7 - 1 - error_code + cmd_fromnuc @@ -962,7 +964,7 @@ User/device - 1 + 0 0 0 0 @@ -1054,7 +1056,7 @@ User/module - 0 + 1 0 0 0 @@ -1086,7 +1088,7 @@ User/task - 0 + 1 0 0 0 diff --git a/User/device/nuc.c b/User/device/nuc.c index 1fbcaaa..130b3ac 100644 --- a/User/device/nuc.c +++ b/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); } diff --git a/User/module/ball.cpp b/User/module/ball.cpp index af89813..411937d 100644 --- a/User/module/ball.cpp +++ b/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 diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp index a3680bc..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 @@ -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; } } diff --git a/User/task/ballTask.cpp b/User/task/ballTask.cpp index 168d0c1..6408282 100644 --- a/User/task/ballTask.cpp +++ b/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); From a056dbcb8aace3071fdd1c6e66de451a5a7208fb Mon Sep 17 00:00:00 2001 From: ws <1621320660@qq.com> Date: Wed, 2 Jul 2025 19:47:00 +0800 Subject: [PATCH 3/4] =?UTF-8?q?=E7=A3=81=E7=8E=AF=E6=9D=BE=E4=BA=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/.vscode/uv4.log | 8 ++++++-- MDK-ARM/.vscode/uv4.log.lock | 2 +- MDK-ARM/R1.uvoptx | 19 +------------------ User/module/ball.cpp | 19 ++++++++++++------- User/module/ball.hpp | 3 ++- 5 files changed, 22 insertions(+), 29 deletions(-) diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log index f5e09e6..e27e2d8 100644 --- a/MDK-ARM/.vscode/uv4.log +++ b/MDK-ARM/.vscode/uv4.log @@ -1,8 +1,12 @@ *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin' Build target 'R1' +compiling nuc.c... +compiling shootTask.cpp... compiling ball.cpp... +compiling ballTask.cpp... +compiling shoot.cpp... linking... -Program Size: Code=32904 RO-data=1832 RW-data=268 ZI-data=32220 +Program Size: Code=32916 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: 00:00:05 +Build Time Elapsed: 00:00:08 diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock index 287f658..c647268 100644 --- a/MDK-ARM/.vscode/uv4.log.lock +++ b/MDK-ARM/.vscode/uv4.log.lock @@ -1 +1 @@ -2025/7/2 14:06:43 \ No newline at end of file +2025/7/2 19:36:56 \ No newline at end of file diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx index 4f9d677..73eea2c 100644 --- a/MDK-ARM/R1.uvoptx +++ b/MDK-ARM/R1.uvoptx @@ -153,24 +153,7 @@ -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) - - - 0 - 0 - 94 - 1 -
0
- 0 - 0 - 0 - 0 - 0 - 0 - ../Core/Src/main.c - - - - + 0 diff --git a/User/module/ball.cpp b/User/module/ball.cpp index 411937d..9136a96 100644 --- a/User/module/ball.cpp +++ b/User/module/ball.cpp @@ -10,9 +10,12 @@ extern RC_ctrl_t rc_ctrl; extern int ball_exit; // 伸缩 -#define I_ANGLE 147 -#define O_ANGLE 187 -#define WAIT_POS 170 +//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 +#define IN 124.8 +#define OUT 168 // PE11 气缸 @@ -75,7 +78,7 @@ void Ball::rc_mode() } if (rc_ctrl.sw[5] == 200) { - ready_key = 0; // 默认不准备 + ready_key = DEF; // 默认不准备 } } @@ -234,17 +237,19 @@ void Ball::ball_control() ballHadling(); break; } + + Send_control(); } // 防守 - else + 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(); } - // 发送小米电机控制数据 - Send_control(); } // 任务通知来作全过程 diff --git a/User/module/ball.hpp b/User/module/ball.hpp index f92b606..8595c5f 100644 --- a/User/module/ball.hpp +++ b/User/module/ball.hpp @@ -39,7 +39,8 @@ typedef enum DOWN2, IN, OUT, - SIDE + SIDE, + DEF }ball_rc_mode; // 定义光电传感器检测宏 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 4/4] =?UTF-8?q?=E4=B8=B2=E5=8F=A3=E6=94=B6=E6=95=B0?= =?UTF-8?q?=E6=8F=90=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); + } }