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初试三摩擦

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This commit is contained in:
ws 2025-04-16 16:24:23 +08:00
parent 9d073a0da2
commit f0931e76d2
19 changed files with 193 additions and 71 deletions
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16
.mxproject
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File diff suppressed because one or more lines are too long

2
Core/Src/dma.c
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@ -57,7 +57,7 @@ void MX_DMA_Init(void)
HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
/* DMA2_Stream5_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream5_IRQn, 0, 0);
HAL_NVIC_SetPriority(DMA2_Stream5_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream5_IRQn);
}

2
Core/Src/gpio.c
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@ -69,7 +69,7 @@ void MX_GPIO_Init(void)
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = ext_up_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(ext_up_GPIO_Port, &GPIO_InitStruct);

16
Core/Src/stm32f4xx_it.c
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@ -279,16 +279,16 @@ void USART1_IRQHandler(void)
/**
* @brief This function handles USART3 global interrupt.
*/
// void USART3_IRQHandler(void)
// {
// /* USER CODE BEGIN USART3_IRQn 0 */
//void USART3_IRQHandler(void)
//{
// /* USER CODE BEGIN USART3_IRQn 0 */
// /* USER CODE END USART3_IRQn 0 */
// HAL_UART_IRQHandler(&huart3);
// /* USER CODE BEGIN USART3_IRQn 1 */
// /* USER CODE END USART3_IRQn 0 */
// HAL_UART_IRQHandler(&huart3);
// /* USER CODE BEGIN USART3_IRQn 1 */
// /* USER CODE END USART3_IRQn 1 */
// }
// /* USER CODE END USART3_IRQn 1 */
//}
/**
* @brief This function handles DMA2 stream1 global interrupt.

36
MDK-ARM/.vscode/c_cpp_properties.json vendored
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@ -3,26 +3,26 @@
{
"name": "R1-shooter",
"includePath": [
"d:\\Desktop\\r1\\Core\\Inc",
"d:\\Desktop\\r1\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
"d:\\Desktop\\r1\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
"d:\\Desktop\\r1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
"d:\\Desktop\\r1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
"d:\\Desktop\\r1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
"d:\\Desktop\\r1\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
"d:\\Desktop\\r1\\Drivers\\CMSIS\\Include",
"d:\\Desktop\\r1\\User\\bsp",
"d:\\Desktop\\r1\\User\\module",
"d:\\Desktop\\r1\\User\\task",
"d:\\Desktop\\r1\\User\\lib",
"d:\\Desktop\\r1\\User\\device",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Core\\Inc",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\CMSIS\\Include",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\bsp",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\module",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\task",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\lib",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\device",
"D:\\keil\\ARM\\ARMCC\\include",
"D:\\keil\\ARM\\ARMCC\\include\\rw",
"d:\\Desktop\\r1\\MDK-ARM",
"d:\\Desktop\\r1\\Core\\Src",
"d:\\Desktop\\r1\\Drivers\\STM32F4xx_HAL_Driver\\Src",
"d:\\Desktop\\r1\\Middlewares\\Third_Party\\FreeRTOS\\Source",
"d:\\Desktop\\r1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\MDK-ARM",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Core\\Src",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Src",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source",
"d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
],
"defines": [
"USE_HAL_DRIVER",

16
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -6,3 +6,19 @@
[info] Log at : 2025/4/11|11:30:04|GMT+0800
[info] Log at : 2025/4/12|15:24:41|GMT+0800
[info] Log at : 2025/4/12|16:54:05|GMT+0800
[info] Log at : 2025/4/12|20:08:54|GMT+0800
[info] Log at : 2025/4/13|14:54:26|GMT+0800
[info] Log at : 2025/4/13|20:47:22|GMT+0800
[info] Log at : 2025/4/14|21:15:31|GMT+0800
[info] Log at : 2025/4/14|22:54:52|GMT+0800
[info] Log at : 2025/4/16|16:20:32|GMT+0800

4
MDK-ARM/.vscode/settings.json vendored
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@ -7,6 +7,8 @@
"detect.h": "c",
"usertask.h": "c",
"task.h": "c",
"djimotor.h": "c"
"djimotor.h": "c",
"nuc.h": "c",
"crc_ccitt.h": "c"
}
}

6
MDK-ARM/.vscode/uv4.log vendored
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@ -1,8 +1,4 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1-shooter'
compiling encodeCan.cpp...
linking...
Program Size: Code=27336 RO-data=1776 RW-data=244 ZI-data=22764
FromELF: creating hex file...
"R1-shooter\R1-shooter.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:03
Build Time Elapsed: 00:00:01

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/4/11 17:42:35
2025/4/13 22:09:19

62
MDK-ARM/R1-shooter.uvoptx
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@ -153,27 +153,77 @@
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>abc,0x0A</ItemText>
<ItemText>rc_ctrl,0x0A</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>rc_ctrl,0x0A</ItemText>
<ItemText>aaa,0x0A</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>aaa,0x0A</ItemText>
<ItemText>key,0x0A</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>key,0x0A</ItemText>
<ItemText>task_struct,0x0A</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>task_struct,0x0A</ItemText>
<ItemText>gimbal,0x0A</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>angle1,0x0A</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>k,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>ball,0x0A</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>cnt1,0x0A</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_fromnuc</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>1</WinNumber>
<ItemText>nucbuf</ItemText>
</Ww>
<Ww>
<count>11</count>
<WinNumber>1</WinNumber>
<ItemText>nucData</ItemText>
</Ww>
<Ww>
<count>12</count>
<WinNumber>1</WinNumber>
<ItemText>send,0x0A</ItemText>
</Ww>
<Ww>
<count>13</count>
<WinNumber>1</WinNumber>
<ItemText>speed1,0x0A</ItemText>
</Ww>
<Ww>
<count>14</count>
<WinNumber>1</WinNumber>
<ItemText>abc,0x0A</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
@ -1010,7 +1060,7 @@
<Group>
<GroupName>User/task</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

5
R1-shooter.ioc
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@ -154,7 +154,7 @@ NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream5_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.DMA2_Stream5_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.EXTI0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.EXTI4_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
@ -291,8 +291,9 @@ PI6.GPIOParameters=GPIO_Label
PI6.GPIO_Label=up-ball
PI6.Locked=true
PI6.Signal=GPIO_Input
PI7.GPIOParameters=GPIO_Label
PI7.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
PI7.GPIO_Label=ext-up
PI7.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING_FALLING
PI7.Locked=true
PI7.Signal=GPXTI7
PinOutPanel.CurrentBGAView=Top

2
User/bsp/uart_it.c
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@ -13,7 +13,7 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
return BSP_UART_DR16;
else if (huart->Instance == USART1)
return BSP_UART_REF;
else if (huart->Instance == USART6)
else if (huart->Instance == USART1)
return BSP_UART_AI;
/*
else if (huart->Instance == USARTX)

2
User/device/detect.c
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@ -7,7 +7,7 @@ int key=0;
void detect_exit(void)
{
delay_ms(10); // 延时10ms
delay_ms(100); // 延时10ms
key++; // 按键按下时变量自增
__HAL_GPIO_EXTI_CLEAR_IT(KEY_Pin); // 清除中断标志位
}

3
User/device/device.h
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@ -9,7 +9,8 @@ DEVICE_OK = 0,
DEVICE_ERR = -1,
DEVICE_ERR_NULL = -2,
DEVICE_ERR_INITED = -3,
DEVICE_ERR_NO_DEV = -4
DEVICE_ERR_NO_DEV = -4,
DEVICE_ERR_OVERFLOW = -5,
}device_status_e;
/*
SIGNAL是有bit位置区分的，一个SIGNAL只能包含一个高bit位。

28
User/device/nuc.c
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@ -3,6 +3,7 @@
#include "crc_ccitt.h"
uint8_t nucbuf[32];
uint8_t packet[32]; // 假设最大数据包长度为 32 字节
static void NUC_IdleCallback(void) {
// osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY);
@ -39,6 +40,33 @@ bool_t NUC_WaitDmaCplt(void) {
return 1;
}
int8_t NUC_SendPacket(void *data, uint16_t length) {
if (data == NULL || length == 0) {
return DEVICE_ERR_NULL; // 数据为空或长度为 0
}
uint8_t packet[32]; // 假设最大数据包长度为 32 字节
if (length + 5 > sizeof(packet)) { // 帧头 + 帧类型 + 数据 + CRC + 帧尾
return DEVICE_ERR_OVERFLOW; // 数据包长度超出限制
}
// 构建数据包
packet[0] = HEAD; // 帧头
packet[1] = SEND; // 发送帧类型
memcpy(&packet[2], data, length); // 数据内容
uint16_t crc = do_crc_table(data, length); // 计算 CRC 校验
packet[length + 2] = (crc >> 8) & 0xFF; // CRC 高字节
packet[length + 3] = crc & 0xFF; // CRC 低字节
packet[length + 4] = TAIL; // 帧尾
// 发送数据包
if (HAL_UART_Transmit(BSP_UART_GetHandle(BSP_UART_AI), packet, length + 5, HAL_MAX_DELAY) != HAL_OK) {
return DEVICE_ERR; // 发送失败
}
return DEVICE_OK; // 发送成功
}
int8_t NUC_RawParse(NUC_t *n) {
if (n == NULL) return DEVICE_ERR_NULL;
union {

2
User/device/nuc.h
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@ -15,6 +15,7 @@ extern "C" {
#define ODOM (0x04)
#define PICK (0x06)
#define VISION (0x09)
#define SEND (0X07)
// 写结构体存入视觉信息
typedef struct {
@ -38,6 +39,7 @@ int8_t NUC_Restart(void);
bool_t NUC_WaitDmaCplt(void);
int8_t NUC_RawParse(NUC_t *n);
int8_t NUC_HandleOffline(NUC_t *cmd);
int8_t NUC_SendPacket(void *data, uint16_t length);
#ifdef __cplusplus
}

51
User/module/ball.cpp
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@ -9,7 +9,7 @@ extern int key;
// 定义状态机变量
BallState_t currentBallState = BALL_IDLE;
#define MOTOR_SPEED 5000
#define MOTOR_SPEED 1000
const fp32 Ball:: M3508_speed_PID[3] = {5, 0, 0};
@ -34,12 +34,17 @@ Ball ::Ball()
void Ball ::Spin(float speed)
{
for(int i = 0;i < MOTOR_NUM;i ++)
speedSet[MOTOR_1] = -speed;
result[MOTOR_1] = PID_calc(&speed_pid[MOTOR_1],hand_Motor[MOTOR_1]->speed_rpm,speedSet[MOTOR_1]);
for(int i = 1;i < MOTOR_NUM;i ++)
{
speedSet[i] = speed;
result[i] = PID_calc(&speed_pid[i],hand_Motor[i]->speed_rpm,speedSet[i]);
}
CAN_cmd_200(result[MOTOR_1],result[MOTOR_2],result[MOTOR_3],0,&hcan1);
osDelay(1);
@ -47,23 +52,39 @@ void Ball ::Spin(float speed)
void Ball::ballHadling(void)
{
static bool isReversed = false; // 静态变量，记录当前摩擦轮状态，初始为正转
if (key > 0) // 检测按键是否被按下
if (key > 0) // 检测按键是否被按下
{
key = 0; // 重置按键状态，防止重复触发
if (isReversed)
if (key % 2 == 1) // key 为奇数，摩擦轮正转
{
// 当前为反转，切换为正转
Spin(MOTOR_SPEED); // 正转
isReversed = false;
Spin(5000); // 正转
}
else
else if (key % 2 == 0) // key 为偶数，摩擦轮反转
{
// 当前为正转，切换为反转
Spin(-MOTOR_SPEED); // 反转
isReversed = true;
Spin(-5000); // 反转
}
}
}
// void Ball::ballHadling(void)
// {
// static bool isReversed = false; // 静态变量，记录当前摩擦轮状态，初始为正转
// if (key > 0) // 检测按键是否被按下
// {
// key = 0; // 重置按键状态，防止重复触发
// if (isReversed)
// {
// // 当前为反转，切换为正转
// Spin(MOTOR_SPEED); // 正转
// isReversed = false;
// }
// else
// {
// // 当前为正转，切换为反转
// Spin(-MOTOR_SPEED); // 反转
// isReversed = true;
// }
// }
// }

6
User/task/ballTask.cpp
View File

@ -9,6 +9,7 @@ extern RC_ctrl_t rc_ctrl;
Ball ball;
int abc=0;
int c30=0;
int speed1=500;
void FunctionBall(void *argument)
{
@ -22,8 +23,9 @@ void FunctionBall(void *argument)
#ifdef DEBUG
task_struct.stack_water_mark.ball = osThreadGetStackSpace(osThreadGetId());
#endif
//ball.ballHadling(); // 处理摩擦轮转动
abc=HAL_GPIO_ReadPin(STOP_GPIO_Port, STOP_Pin);
ball.ballHadling(); // 处理摩擦轮转动
// ball.Spin(speed1);
osDelay(3);
tick += delay_tick; /* 计算下一个唤醒时刻 */

3
User/task/nucTask.cpp
View File

@ -8,6 +8,8 @@
#ifdef DEBUG
NUC_t cmd_fromnuc;
//int send[3]={1,2,3};
float send[3]={1,2,3};
#endif
@ -30,6 +32,7 @@ void Function_nuc(void *argument)
NUC_RawParse(&cmd_fromnuc);
NUC_SendPacket(&send, sizeof(send)); // 发送数据包
//掉线处理有空写
// if(NUC_WaitDmaCplt())
// {