From 8689fdaea7e8d4821d5b78407402cd4416b08055 Mon Sep 17 00:00:00 2001
From: ws <1621320660@qq.com>
Date: Fri, 23 May 2025 20:59:23 +0800
Subject: [PATCH] =?UTF-8?q?=E5=B0=8F=E7=B1=B3=E7=A7=BB=E6=A4=8D=E5=8F=AF?=
=?UTF-8?q?=E7=94=A8?=
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-shooter.uvoptx | 35 ++++++++--
User/device/djiMotor.c | 104 +++++++++++++++++++++++++++--
User/device/djiMotor.h | 35 +++++++++-
User/module/shoot.cpp | 8 +++
User/module/shoot.hpp | 1 +
User/task/shootTask.cpp | 61 ++++++++++-------
9 files changed, 218 insertions(+), 38 deletions(-)
diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index 1ea276a..a8648ec 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -96,3 +96,7 @@
[info] Log at : 2025/5/22|16:11:31|GMT+0800
+[info] Log at : 2025/5/22|19:37:30|GMT+0800
+
+[info] Log at : 2025/5/23|20:58:39|GMT+0800
+
diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log
index 8ba7939..6f66c5a 100644
--- a/MDK-ARM/.vscode/uv4.log
+++ b/MDK-ARM/.vscode/uv4.log
@@ -1,8 +1,8 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1-shooter'
-compiling ball.cpp...
+compiling shootTask.cpp...
linking...
-Program Size: Code=28460 RO-data=1824 RW-data=256 ZI-data=23936
+Program Size: Code=28164 RO-data=1824 RW-data=264 ZI-data=23976
FromELF: creating hex file...
"R1-shooter\R1-shooter.axf" - 0 Error(s), 0 Warning(s).
-Build Time Elapsed: 00:00:02
+Build Time Elapsed: 00:00:05
diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock
index ea230dc..ce9fb9a 100644
--- a/MDK-ARM/.vscode/uv4.log.lock
+++ b/MDK-ARM/.vscode/uv4.log.lock
@@ -1 +1 @@
-2025/5/20 23:55:49
\ No newline at end of file
+2025/5/22 20:12:51
\ No newline at end of file
diff --git a/MDK-ARM/R1-shooter.uvoptx b/MDK-ARM/R1-shooter.uvoptx
index e401a6a..21c9a64 100644
--- a/MDK-ARM/R1-shooter.uvoptx
+++ b/MDK-ARM/R1-shooter.uvoptx
@@ -103,7 +103,7 @@
1
0
0
- 3
+ 6
@@ -114,7 +114,7 @@
- BIN\CMSIS_AGDI.dll
+ STLink\ST-LINKIII-KEIL_SWO.dll
@@ -140,7 +140,7 @@
0
DLGUARM
-
+ (105=-1,-1,-1,-1,0)
0
@@ -255,6 +255,31 @@
1
angle1,0x0A
+
+ 20
+ 1
+ speed5,0x0A
+
+
+ 21
+ 1
+ xxxxx,0x0A
+
+
+ 22
+ 1
+ rx_header
+
+
+ 23
+ 1
+ rx_data
+
+
+ 24
+ 1
+ motor_5065
+
@@ -985,7 +1010,7 @@
User/device
- 0
+ 1
0
0
0
@@ -1065,7 +1090,7 @@
User/module
- 1
+ 0
0
0
0
diff --git a/User/device/djiMotor.c b/User/device/djiMotor.c
index f92fe83..2b42bc5 100644
--- a/User/device/djiMotor.c
+++ b/User/device/djiMotor.c
@@ -78,11 +78,18 @@
}
+//小米
+#define ID_xiaomi 1
+#define Pmax 1
+#define speed_full_scale 200.0f
+#define current_full_scale 4.0f
+
+
#if DEBUG == 1
//电机回传数据结构体
motor_measure_t motor_chassis[10];
-CAN_MotorFeedback_t motor_5065[2];
+CAN_MotorFeedback_t motor_5065[3];
#else
static motor_measure_t motor_chassis[5];
#endif
@@ -93,16 +100,25 @@ static uint8_t can_send_data_2ff[8];
static CAN_TxHeaderTypeDef tx_message_200;
static uint8_t can_send_data_200[8];
+//can1 dji
CAN_RxHeaderTypeDef dji_rx_header;
uint8_t dji_rx_data[8];
+CAN_RawTx_t raw_tx;
+
+//can2 vesc xiaomi
CAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[8];
static CAN_TxHeaderTypeDef vesc_tx_message;
static uint8_t vesc_send_data[4];
+//小米
+uint8_t can_send_data[8];
+// 定义 CAN 传输头部信息
+static CAN_TxHeaderTypeDef tx_message;
+
+MotorFeedback_t MotorFeedback;
-CAN_RawTx_t raw_tx;
/**
* @brief 数据处理函数
* @param[in] none
@@ -168,15 +184,28 @@ void can2MotorEncode()
// 存储消息到对应的电机结构体中
VescMotor_Decode(&motor_5065[0], &rx_header,rx_data);
break;
-
case CAN_VESC5065_M2_MSG1:
// 存储消息到对应的电机结构体中
VescMotor_Decode(&motor_5065[1], &rx_header,rx_data);
+ case CAN_VESC5065_M3_MSG1:
+ // 存储消息到对应的电机结构体中
+ VescMotor_Decode(&motor_5065[2], &rx_header,rx_data);
break;
-
+
default:
break;
}
+
+ switch (rx_data[0])
+ {
+ case ID_xiaomi:
+ Parse_CAN_Response (rx_data,&MotorFeedback);
+ break ;
+
+ default:
+ break;
+ }
+
}
#if FREERTOS_DJI == 0
@@ -437,3 +466,70 @@ return DEVICE_OK;
{
return &motor_5065[i];
}
+
+
+ //小米
+ void Parse_CAN_Response(uint8_t* rx_data, MotorFeedback_t* feedback) {
+ // 1. 解析位置
+ int16_t pos_code = (rx_data[1] << 8) | rx_data[2];
+ feedback->position_deg = ((int16_t)(pos_code - 0x8000) / 32768.0f) * 360.0f * Pmax;
+
+ // 2. 解析速度
+ int16_t speed_code = ((rx_data[3] << 4) | (rx_data[4] >> 4)) - 0x800;
+ feedback->speed_rads = (speed_code / 2048.0f) * speed_full_scale;
+
+ // 3. 解析电流
+ int16_t current_code = (((rx_data[4] & 0x0F) << 8) | rx_data[5]) - 0x800;
+ feedback->current_A = (current_code / 2048.0f) * current_full_scale;
+
+ // 记录电机ID
+ feedback->can_id = rx_data[0];
+}
+
+
+void CAN_cmd(int id,JZ_xiaomi_t *JZ_xiaomi)
+{
+ uint32_t send_mail_box;
+ static int is_open=0; //是否开启电机，根据手册，第一次使用需要ff开启
+ tx_message.StdId = id;
+ tx_message.IDE = CAN_ID_STD;
+ tx_message.RTR = CAN_RTR_DATA;
+ tx_message.DLC = 0x08;
+ if(is_open){
+
+ uint16_t pos_code = (uint16_t)((JZ_xiaomi->position / (Pmax * 360.0f)) * 32768.0f + 32768.0f);
+ uint16_t speed_code = (uint16_t)((JZ_xiaomi->speed / 200.0f) * 2048.0f + 2048.0f);
+ uint16_t current_code = (uint16_t)((JZ_xiaomi->K_C / 4.0f) * 2048.0f + 2048.0f);
+
+
+ can_send_data[0] = (pos_code >> 8) & 0xFF; // 位置高8位
+ can_send_data[1] = pos_code & 0xFF; // 位置低8位
+
+ can_send_data[2] = (speed_code >> 4) & 0xFF; // 速度高8位（取12位中的高8）
+ can_send_data[3] = ((speed_code & 0x0F) << 4) | ((JZ_xiaomi->K_P >> 8) & 0x0F); // 速度低4位 + Kp高4位
+
+ can_send_data[4] = JZ_xiaomi->K_P & 0xFF; // Kp低8位
+
+ can_send_data[5] = (JZ_xiaomi->K_D >> 4) & 0xFF; // Kd高8位（取12位中的高8）
+ can_send_data[6] = ((JZ_xiaomi->K_D & 0x0F) << 4) | ((current_code >> 8) & 0x0F); // Kd低4位 + 电流高4位
+
+ can_send_data[7] = current_code & 0xFF; // 电流低8位
+
+ }
+ else
+ {
+ can_send_data[0] = 0xFF;
+ can_send_data[1] = 0xFF;
+ can_send_data[2] = 0xFF;
+ can_send_data[3] = 0xFF;
+ can_send_data[4] = 0xFF;
+ can_send_data[5] = 0xFF;
+ can_send_data[6] = 0xFF;
+ can_send_data[7] = 0xFC;
+ is_open=1;
+ }
+
+
+ HAL_CAN_AddTxMessage(&hcan2, &tx_message, can_send_data, &send_mail_box);
+}
+
diff --git a/User/device/djiMotor.h b/User/device/djiMotor.h
index 5b91458..ecd06d4 100644
--- a/User/device/djiMotor.h
+++ b/User/device/djiMotor.h
@@ -10,7 +10,7 @@ extern "C"{
#include "device.h"
#include "can.h"
#include
-
+#include "string.h"
typedef enum{
GM6020 = 0,
@@ -44,6 +44,7 @@ enum{
GM6020_2 = 0x208,
CAN_VESC5065_M1_MSG1 =0x901, //vesc的数据回传使用了扩展id，[0:7]为驱动器id，[8:15]为帧类型
CAN_VESC5065_M2_MSG1 =0x902,
+ CAN_VESC5065_M3_MSG1 =0x903,
};
//vesc指令
@@ -170,6 +171,38 @@ void CAN_VESC_HEAD(uint8_t controller_id);
int8_t CAN_VESC_Control(int id,int speed ,CAN_HandleTypeDef*hcan);
+
+//小米
+
+typedef struct
+{
+ int16_t position;
+ int16_t speed;
+ int16_t K_P;
+ int16_t K_D;
+ int16_t K_C;
+
+ int16_t Pmax;//决定最大角度值，+-1 -> 最大+-360°
+
+}JZ_xiaomi_t;
+
+typedef struct {
+
+ uint8_t can_id;
+ float position_deg;
+ float speed_rads;
+ float current_A;
+
+} MotorFeedback_t;
+
+
+
+void Parse_CAN_Response(uint8_t* rx_data, MotorFeedback_t* feedback) ;
+
+
+void CAN_cmd(int id,JZ_xiaomi_t *JZ_xiaomi);
+
+
#ifdef __cplusplus
}
#endif
diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp
index fde279c..109dec8 100644
--- a/User/module/shoot.cpp
+++ b/User/module/shoot.cpp
@@ -40,6 +40,14 @@ Shoot::Shoot()
motor_5065[1] = get_vesc_point(1);//获取电机数据指针
speed_5065=0;
currentState= SHOOT_IDLE;
+
+ JZ_xiaomi.position = 270; //
+ JZ_xiaomi.speed = 20; //
+ JZ_xiaomi.K_P = 100; //
+ JZ_xiaomi.K_D =20; //
+ JZ_xiaomi.K_C = 2 ;
+ JZ_xiaomi.Pmax =1;
+
}
void Shoot::trigger_control()
diff --git a/User/module/shoot.hpp b/User/module/shoot.hpp
index 361c0ba..c88c3e7 100644
--- a/User/module/shoot.hpp
+++ b/User/module/shoot.hpp
@@ -44,6 +44,7 @@ public:
volatile BallState_t ballStatus;//是否有球
volatile uint32_t flag_thread;//接收传回的线程通知
+ JZ_xiaomi_t JZ_xiaomi;
private:
//扳机2006
diff --git a/User/task/shootTask.cpp b/User/task/shootTask.cpp
index ea16fe1..180da8e 100644
--- a/User/task/shootTask.cpp
+++ b/User/task/shootTask.cpp
@@ -11,8 +11,13 @@ Shoot shoot;
int shoot_flag = 0;
+int anglexiaomi = 0;
+int xxxxx;
+int speed5 = 0;
int a2;
+
+
// sw[0]2 下306上1694 sw[5]3前306后1694 sw[4]4前1694后306 sw[1]xuan1 sw[3]xuan2
//F键 sw[0]👆 1800 中 1000 👇200
@@ -22,6 +27,8 @@ void FunctionShoot(void *argument)
{
(void)argument; /* 未使用argument，消除警告 */
+ HAL_Delay(500); //一定时间延时 等待电机初始化完成
+
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_SHOOT;
uint32_t tick = osKernelGetTickCount();
@@ -35,34 +42,40 @@ while(1)
//我放的任务通知 运球成功放置过来后
shoot.flag_thread=osThreadFlagsGet();
- if(shoot.flag_thread & BALL_OK)
- {
- a2=2;
- // shoot.shootThree();
- }
+ CAN_VESC_Control(2,speed5,&hcan2);
+ xxxxx++;
- shoot_flag=HAL_GPIO_ReadPin(STOP_GPIO_Port, STOP_Pin);
+ CAN_cmd(1,&shoot.JZ_xiaomi);
+ HAL_Delay (100);
- if(rc_ctrl.sw[1]>1000)
- {
- shoot.shootStateMachine();
- if(rc_ctrl.sw[0]==200)
- {
- shoot.shootBack();
- }
- if(rc_ctrl.sw[0]==1000)
- {
- shoot.shootStop();
- }
- }
- if(rc_ctrl.sw[1]==200)
- {
- shoot.shootStop();
+ // if(shoot.flag_thread & BALL_OK)
+ // {
+ // a2=2;
+ // // shoot.shootThree();
+ // }
- }
+ // shoot_flag=HAL_GPIO_ReadPin(STOP_GPIO_Port, STOP_Pin);
- shoot.trigger_control();
- osDelay(2);
+ // if(rc_ctrl.sw[1]>1000)
+ // {
+ // shoot.shootStateMachine();
+ // if(rc_ctrl.sw[0]==200)
+ // {
+ // shoot.shootBack();
+ // }
+ // if(rc_ctrl.sw[0]==1000)
+ // {
+ // shoot.shootStop();
+ // }
+ // }
+ // if(rc_ctrl.sw[1]==200)
+ // {
+ // shoot.shootStop();
+
+ // }
+
+ // shoot.trigger_control();
+ // osDelay(2);
tick += delay_tick; /* 计算下一个唤醒时刻 */
osDelayUntil(tick);