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No commits in common. "1cb37c4daca10a167dc62cd6d5d205050d7af545" and "b022b46730b38536f07ff4445647889599eb9c4e" have entirely different histories.
1cb37c4dac
...
b022b46730
2
MDK-ARM/.vscode/keil-assistant.log
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2
MDK-ARM/.vscode/keil-assistant.log
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@ -100,5 +100,3 @@
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[info] Log at : 2025/7/2|17:15:33|GMT+0800
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[info] Log at : 2025/7/4|09:10:46|GMT+0800
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3
MDK-ARM/.vscode/settings.json
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3
MDK-ARM/.vscode/settings.json
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@ -5,7 +5,6 @@
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"buzzer.h": "c",
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"calc_lib.h": "c",
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"usertask.h": "c",
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"detect.h": "c",
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"nuc.h": "c"
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"detect.h": "c"
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}
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}
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9
MDK-ARM/.vscode/uv4.log
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9
MDK-ARM/.vscode/uv4.log
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@ -1,13 +1,8 @@
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*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
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Build target 'R1'
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compiling shootTask.cpp...
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compiling nuc.c...
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compiling initTask.c...
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compiling ball.cpp...
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compiling nucTask.cpp...
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compiling shoot.cpp...
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linking...
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Program Size: Code=32960 RO-data=1832 RW-data=268 ZI-data=32220
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Program Size: Code=32904 RO-data=1832 RW-data=268 ZI-data=32220
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FromELF: creating hex file...
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"R1\R1.axf" - 0 Error(s), 0 Warning(s).
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Build Time Elapsed: 00:02:09
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Build Time Elapsed: 00:00:05
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2
MDK-ARM/.vscode/uv4.log.lock
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2
MDK-ARM/.vscode/uv4.log.lock
vendored
@ -1 +1 @@
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2025/7/4 9:21:52
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2025/7/2 14:06:43
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@ -153,7 +153,24 @@
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<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>
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</SetRegEntry>
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</TargetDriverDllRegistry>
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<Breakpoint/>
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<Breakpoint>
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<Bp>
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<Number>0</Number>
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<Type>0</Type>
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<LineNumber>94</LineNumber>
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<EnabledFlag>1</EnabledFlag>
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<Address>0</Address>
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<ByteObject>0</ByteObject>
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<HtxType>0</HtxType>
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<ManyObjects>0</ManyObjects>
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<SizeOfObject>0</SizeOfObject>
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>0</BreakIfRCount>
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<Filename>../Core/Src/main.c</Filename>
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<ExecCommand></ExecCommand>
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<Expression></Expression>
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</Bp>
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</Breakpoint>
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<WatchWindow1>
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<Ww>
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<count>0</count>
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@ -180,16 +197,6 @@
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<WinNumber>1</WinNumber>
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<ItemText>cmd_fromnuc</ItemText>
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</Ww>
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<Ww>
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<count>5</count>
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<WinNumber>1</WinNumber>
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<ItemText>drop_message,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>6</count>
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<WinNumber>1</WinNumber>
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<ItemText>error_code,0x0A</ItemText>
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</Ww>
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</WatchWindow1>
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<MemoryWindow4>
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<Mm>
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@ -4,7 +4,7 @@
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static osThreadId_t thread_alert;
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volatile uint32_t drop_message = 0;
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static volatile uint32_t drop_message = 0;
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uint8_t nucbuf[16];
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uint8_t packet[32]; // 假设最大数据包长度为 32 字节
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@ -13,11 +13,10 @@ static void NUC_CBLTCallback(void)
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{
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osThreadFlagsSet(thread_alert, SIGNAL_NUC_RAW_REDY);
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}
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uint32_t error_code;
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static void NUC_ERRORCALLBACK(void)
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{
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NUC_Restart();
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error_code = HAL_UART_GetError(BSP_UART_GetHandle(BSP_UART_AI));
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NUC_Restart();
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uint32_t error_code = HAL_UART_GetError(BSP_UART_GetHandle(BSP_UART_AI));
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}
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@ -81,7 +80,7 @@ int8_t NUC_SendPacket(void *data, uint16_t length) {
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return DEVICE_OK; // 发送成功
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}
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int wzcsb=0;
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int8_t NUC_RawParse(NUC_t *n) {
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if (n == NULL) return DEVICE_ERR_NULL;
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union {
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@ -99,10 +98,12 @@ int8_t NUC_RawParse(NUC_t *n) {
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case VISION:
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/* 协议格式
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0xFF HEAD
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0x07
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0x09
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控制帧
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0x01 相机帧
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x fp32
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y fp32
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z fp32
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0xFE TAIL
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*/
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if (nucbuf[7] != TAIL) goto error;
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@ -131,7 +132,7 @@ int8_t NUC_RawParse(NUC_t *n) {
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error:
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drop_message++;
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wzcsb++;
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return DEVICE_ERR;
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}
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@ -8,7 +8,6 @@ extern "C" {
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#include "struct_typedef.h"
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#include "device.h"
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#include "uart_it.h"
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#include "main.h"
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// 帧头针尾
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#define HEAD (0xFF)
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@ -16,7 +15,7 @@ extern "C" {
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#define ODOM (0x04)
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#define PICK (0x06)
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#define VISION (0x07)
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#define VISION (0x09)
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#define SEND (0X07)
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// 写结构体存入视觉信息
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@ -10,12 +10,9 @@ extern RC_ctrl_t rc_ctrl;
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extern int ball_exit;
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// 伸缩
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//外死点168 外163 中150 内127 限位124.8
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#define I_ANGLE 127
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#define O_ANGLE 163
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#define WAIT_POS 150
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#define IN 124.8
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#define OUT 168
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#define I_ANGLE 147
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#define O_ANGLE 187
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#define WAIT_POS 170
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// PE11 气缸
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@ -78,7 +75,7 @@ void Ball::rc_mode()
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}
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if (rc_ctrl.sw[5] == 200)
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{
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ready_key = DEF; // 默认不准备
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ready_key = 0; // 默认不准备
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}
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}
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@ -237,19 +234,17 @@ void Ball::ball_control()
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ballHadling();
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break;
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}
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Send_control();
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}
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// 防守
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else if(ready_key == DEF)
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else
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{
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xiaomi.position = I_ANGLE; // 保持收回
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HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭
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HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
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Send_control();
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}
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// 发送小米电机控制数据
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Send_control();
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}
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// 任务通知来作全过程
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@ -39,8 +39,7 @@ typedef enum
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DOWN2,
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IN,
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OUT,
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SIDE,
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DEF
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SIDE
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}ball_rc_mode;
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// 定义光电传感器检测宏
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@ -1,11 +1,10 @@
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#include "nucTask.hpp"
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#include "nuc.h"
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#include "userTask.h"
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#include "TopDefine.h" //事件组的一些东西
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#include "TopDefine.h"//事件组的一些东西
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#include "FreeRTOS.h"
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#include <cmsis_os2.h>
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#include <stdio.h>
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#include "bsp_buzzer.h"
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#ifdef DEBUG
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@ -15,53 +14,50 @@ NUC_t cmd_fromnuc;
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void Function_nuc(void *argument)
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{
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(void)argument; /* 未使用argument，消除警告 */
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(void)argument; /* 未使用argument，消除警告 */
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_AI;
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_AI;
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NUC_Init(&cmd_fromnuc);
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HAL_GPIO_WritePin(LED_G_GPIO_Port,LED_G_Pin,GPIO_PIN_SET);
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NUC_Init(&cmd_fromnuc);
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uint32_t tick = osKernelGetTickCount();
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uint32_t tick = osKernelGetTickCount();
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while (1)
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{
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while(1)
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{
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#ifdef DEBUG
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task_struct.stack_water_mark.nuc = osThreadGetStackSpace(osThreadGetId());
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#endif
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task_struct.stack_water_mark.nuc = osThreadGetStackSpace(osThreadGetId());
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#endif
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NUC_StartReceiving();
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// NUC_RawParse(&cmd_fromnuc);
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// NUC_SendPacket(&send, sizeof(send)); // 发送数据包
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// 掉线处理有空写
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// if(NUC_WaitDmaCplt())
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// {
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// NUC_RawParse(&cmd_fromnuc);
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//NUC_RawParse(&cmd_fromnuc);
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//NUC_SendPacket(&send, sizeof(send)); // 发送数据包
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//掉线处理有空写
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// if(NUC_WaitDmaCplt())
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// {
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// NUC_RawParse(&cmd_fromnuc);
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// }
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// else
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// {
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// NUC_HandleOffline(&cmd_fromnuc);
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// }
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// 假设你在主循环或任务里这样用
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if (NUC_RawParse(&cmd_fromnuc) == DEVICE_OK)
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{
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//BSP_Buzzer_Stop();
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HAL_GPIO_WritePin(LED_G_GPIO_Port, LED_G_Pin, GPIO_PIN_SET);
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HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_RESET);
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osMessageQueueReset(task_struct.msgq.nuc); // 清空消息队列
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osMessageQueuePut(task_struct.msgq.nuc, &(cmd_fromnuc), 0, 0);
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osMessageQueueReset(task_struct.msgq.nuc); // 清空消息队列
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osMessageQueuePut(task_struct.msgq.nuc,&(cmd_fromnuc),0,0);
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}
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else
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{
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// BSP_Buzzer_Start();
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// BSP_Buzzer_Set(1, 5000);
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HAL_GPIO_WritePin(LED_G_GPIO_Port, LED_G_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_SET);
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NUC_HandleOffline(&cmd_fromnuc);
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NUC_HandleOffline(&cmd_fromnuc);
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}
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osDelay(2);
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tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/
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osDelayUntil(tick);
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}
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tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/
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osDelayUntil(tick);
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}
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}
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