小米移植可用

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
+

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

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

@@ -1 +1 @@
-2025/5/20 23:55:49
+2025/5/22 20:12:51

MDK-ARM/R1-shooter.uvoptx

@@ -103,7 +103,7 @@
         <bEvRecOn>1</bEvRecOn>
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
-        <nTsel>3</nTsel>
+        <nTsel>6</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -114,7 +114,7 @@
         <tDlgDll></tDlgDll>
         <tDlgPa></tDlgPa>
         <tIfile></tIfile>
-        <pMon>BIN\CMSIS_AGDI.dll</pMon>
+        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
         <SetRegEntry>
@@ -140,7 +140,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name></Name>
+          <Name>(105=-1,-1,-1,-1,0)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -255,6 +255,31 @@
           <WinNumber>1</WinNumber>
           <ItemText>angle1,0x0A</ItemText>
         </Ww>
+        <Ww>
+          <count>20</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>speed5,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>21</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>xxxxx,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>22</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>rx_header</ItemText>
+        </Ww>
+        <Ww>
+          <count>23</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>rx_data</ItemText>
+        </Ww>
+        <Ww>
+          <count>24</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>motor_5065</ItemText>
+        </Ww>
       </WatchWindow1>
       <WatchWindow2>
         <Ww>
@@ -985,7 +1010,7 @@
 
   <Group>
     <GroupName>User/device</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1065,7 +1090,7 @@
 
   <Group>
     <GroupName>User/module</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

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);
+}
+

User/device/djiMotor.h

@@ -10,7 +10,7 @@ extern "C"{
 #include "device.h"
 #include "can.h"
 #include <math.h>
-
+#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

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()

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

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)
+	CAN_VESC_Control(2,speed5,&hcan2);
-	{
+	xxxxx++;
-		a2=2;
-	//  shoot.shootThree();
-	}
 
-	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)
+	// if(shoot.flag_thread & BALL_OK)
-	{
+	// {
-		shoot.shootStateMachine();
+	// 	a2=2;
-		if(rc_ctrl.sw[0]==200)
+	// //  shoot.shootThree();
-		{
+	// }
-			shoot.shootBack();
-		}
-		if(rc_ctrl.sw[0]==1000)
-		{
-			shoot.shootStop();
-		}
-	}
-	if(rc_ctrl.sw[1]==200)
-	{
-		shoot.shootStop();
 
-	}
+	// shoot_flag=HAL_GPIO_ReadPin(STOP_GPIO_Port, STOP_Pin);
 
-	 shoot.trigger_control();
+	// if(rc_ctrl.sw[1]>1000)
-	osDelay(2);
+	// {
+	// 	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);