串口收数提示

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
+

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

@@ -1,76 +1,13 @@
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
-Rebuild target 'R1'
+Build 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...
 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

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

@@ -1 +1 @@
-2025/6/30 14:27:15
+2025/7/4 9:21:52

MDK-ARM/R1.uvoptx

@@ -178,7 +178,22 @@
         <Ww>
           <count>4</count>
           <WinNumber>1</WinNumber>
-          <ItemText>cmd_fromnuc</ItemText>
+          <ItemText>nuc_v</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>

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));
  
 }
 
@@ -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;
 }
 

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/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

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

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 +161,12 @@ 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 +390,6 @@ void Shoot::RemoveError()
 
 #if ONE_CONTROL
 
-int shoot_wait = 0;
 void Shoot::shoot_control()
 {
 
@@ -503,6 +437,7 @@ 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 +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;
                         }
                     }

User/module/shoot.hpp

@@ -112,6 +112,8 @@ private:
     
     float limit_speed;//go电机限速
 
+    int shoot_wait;
+
 
 };
 

User/task/ballTask.cpp

@@ -40,9 +40,6 @@ void FunctionBall(void *argument)
     
      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);
 

User/task/nucTask.cpp

@@ -5,6 +5,7 @@
 #include "FreeRTOS.h"
 #include <cmsis_os2.h>
 #include <stdio.h>
+#include "bsp_buzzer.h"
 
 #ifdef DEBUG
 
@@ -20,8 +21,6 @@ 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)
@@ -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);
         }
         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);
-        
         }
 }