串口收数提示

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
+

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

@@ -1,8 +1,13 @@
 *** 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=32904 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:  00:00:05
+Build Time Elapsed:  00:02:09

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

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

MDK-ARM/R1.uvoptx

@@ -153,24 +153,7 @@
           <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>
-        <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>
+      <Breakpoint/>
       <WatchWindow1>
         <Ww>
           <count>0</count>
@@ -197,6 +180,16 @@
           <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;
 
-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;
 }
 

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

@@ -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

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

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 <cmsis_os2.h>
 #include <stdio.h>
+#include "bsp_buzzer.h"
 
 #ifdef DEBUG
 
@@ -14,29 +15,27 @@ 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);
 
-    HAL_GPIO_WritePin(LED_G_GPIO_Port,LED_G_Pin,GPIO_PIN_SET);
+        uint32_t tick = osKernelGetTickCount();
 
-   uint32_t tick = osKernelGetTickCount();
-
-    while(1)
-    {
+        while (1)
+        {
 #ifdef DEBUG
         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
@@ -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)
         {
-         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);
+
+                // 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);
-        
-    }
+        tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/
+        osDelayUntil(tick);
+        }
 }