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

@@ -100,5 +100,3 @@
 
 [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

@@ -5,7 +5,6 @@
         "buzzer.h": "c",
         "calc_lib.h": "c",
         "usertask.h": "c",
-        "detect.h": "c",
+        "detect.h": "c"
-        "nuc.h": "c"
     }
 }

MDK-ARM/.vscode/uv4.log

@@ -1,13 +1,8 @@
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
 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=32960 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:  00:02:09
+Build Time Elapsed:  00:00:05

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

@@ -1 +1 @@
-2025/7/4 9:21:52
+2025/7/2 14:06:43

MDK-ARM/R1.uvoptx

@@ -153,7 +153,24 @@
           <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>
@@ -180,16 +197,6 @@
           <WinNumber>1</WinNumber>
           <ItemText>cmd_fromnuc</ItemText>
         </Ww>
-        <Ww>
-          <count>5</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>drop_message,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>6</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>error_code,0x0A</ItemText>
-        </Ww>
       </WatchWindow1>
       <MemoryWindow4>
         <Mm>

User/device/nuc.c

@@ -4,7 +4,7 @@
 
 static osThreadId_t thread_alert;
 
-volatile uint32_t drop_message = 0;
+static 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
@@ -13,11 +13,10 @@ static void NUC_CBLTCallback(void)
 {
   osThreadFlagsSet(thread_alert, SIGNAL_NUC_RAW_REDY);
 }
-uint32_t error_code;
 static void NUC_ERRORCALLBACK(void)
 {
-   NUC_Restart();
+  NUC_Restart();
-   error_code = HAL_UART_GetError(BSP_UART_GetHandle(BSP_UART_AI));
+  uint32_t error_code = HAL_UART_GetError(BSP_UART_GetHandle(BSP_UART_AI));
  
 }
 
@@ -81,7 +80,7 @@ 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 {
@@ -99,10 +98,12 @@ int8_t NUC_RawParse(NUC_t *n) {
       case VISION:
           /* 协议格式 
              0xFF  HEAD
-             0x07
+             0x09
                控制帧
              0x01  相机帧
              x    fp32
+             y    fp32
+             z    fp32
              0xFE  TAIL
           */
       if (nucbuf[7] != TAIL) goto error;
@@ -131,7 +132,7 @@ int8_t NUC_RawParse(NUC_t *n) {
 
 
 error:
-  drop_message++;
+  wzcsb++;
   return DEVICE_ERR;
 }
 

User/device/nuc.h

@@ -8,7 +8,6 @@ extern "C" {
 #include "struct_typedef.h"
 #include "device.h"
 #include "uart_it.h"
-#include "main.h"
 
 // 帧头针尾
 #define HEAD (0xFF)
@@ -16,7 +15,7 @@ extern "C" {
 
 #define ODOM (0x04)
 #define PICK (0x06)
-#define VISION (0x07)
+#define VISION (0x09)
 #define SEND (0X07)
 
 // 写结构体存入视觉信息

User/module/ball.cpp

@@ -10,12 +10,9 @@ extern RC_ctrl_t rc_ctrl;
 extern int ball_exit;
 
 // 伸缩
-//外死点168  外163 中150  内127  限位124.8
+#define I_ANGLE 147
-#define I_ANGLE 127
+#define O_ANGLE 187
-#define O_ANGLE 163
+#define WAIT_POS 170
-#define WAIT_POS 150
-#define IN 124.8
-#define OUT 168
 
 // PE11 气缸
 
@@ -78,7 +75,7 @@ void Ball::rc_mode()
     }
     if (rc_ctrl.sw[5] == 200)
     {
-        ready_key = DEF; // 默认不准备
+        ready_key = 0; // 默认不准备
     }
 }
 
@@ -237,19 +234,17 @@ void Ball::ball_control()
             ballHadling();
             break;
         }
-
-        Send_control();
     }
     // 防守
-    else if(ready_key == DEF)
+    else
     {
         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

User/module/ball.hpp

@@ -39,8 +39,7 @@ typedef enum
     DOWN2,
     IN,
     OUT,
-    SIDE,
+    SIDE
-    DEF
 }ball_rc_mode;
 
 // 定义光电传感器检测宏

User/task/nucTask.cpp

@@ -1,11 +1,10 @@
 #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 <cmsis_os2.h>
 #include <stdio.h>
-#include "bsp_buzzer.h"
 
 #ifdef DEBUG
 
@@ -15,27 +14,29 @@ NUC_t cmd_fromnuc;
 
 void Function_nuc(void *argument)
 {
-        (void)argument; /* 未使用argument，消除警告 */
+    (void)argument; /* 未使用argument，消除警告 */
     
-        const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_AI;
+   const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_AI;
 
-        NUC_Init(&cmd_fromnuc);
+    NUC_Init(&cmd_fromnuc);
   
-        uint32_t tick = osKernelGetTickCount();
+    HAL_GPIO_WritePin(LED_G_GPIO_Port,LED_G_Pin,GPIO_PIN_SET);
 
-        while (1)
+   uint32_t tick = osKernelGetTickCount();
-        {
+
+    while(1)
+    {
 #ifdef DEBUG
         task_struct.stack_water_mark.nuc = osThreadGetStackSpace(osThreadGetId());  
 #endif         
         NUC_StartReceiving();
 
-        // NUC_RawParse(&cmd_fromnuc);
+        //NUC_RawParse(&cmd_fromnuc);
-        // NUC_SendPacket(&send, sizeof(send)); // 发送数据包
+        //NUC_SendPacket(&send, sizeof(send)); // 发送数据包
-        // 掉线处理有空写
+//掉线处理有空写 
-        //  if(NUC_WaitDmaCplt())
+        // if(NUC_WaitDmaCplt())
-        //  {
+        // {
-        //      NUC_RawParse(&cmd_fromnuc);
+        //     NUC_RawParse(&cmd_fromnuc);
             
         // }
         // else
@@ -43,25 +44,20 @@ 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();
+         osMessageQueueReset(task_struct.msgq.nuc); // 清空消息队列
-                HAL_GPIO_WritePin(LED_G_GPIO_Port, LED_G_Pin, GPIO_PIN_SET);   
+         osMessageQueuePut(task_struct.msgq.nuc,&(cmd_fromnuc),0,0);
-                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);
-                // 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*/
+       tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/
-        osDelayUntil(tick);
+       osDelayUntil(tick);
-        }
+        
+    }
 }