初试三摩擦

2025-04-16 16:24:23 +08:00 · 2025-04-16 16:24:23 +08:00 · f0931e76d2
commit f0931e76d2
parent 9d073a0da2
19 changed files with 193 additions and 71 deletions
--- a/.mxproject
+++ b/.mxproject
--- a/Core/Src/dma.c
+++ b/Core/Src/dma.c
@ -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);

 }
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@ -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);

--- a/Core/Src/stm32f4xx_it.c
+++ b/Core/Src/stm32f4xx_it.c
@ -279,8 +279,8 @@ void USART1_IRQHandler(void)
 /**
  * @brief This function handles USART3 global interrupt.
  */
-// void USART3_IRQHandler(void)
-// {
+//void USART3_IRQHandler(void)
+//{
 //  /* USER CODE BEGIN USART3_IRQn 0 */

 //  /* USER CODE END USART3_IRQn 0 */
@ -288,7 +288,7 @@ void USART1_IRQHandler(void)
 //  /* USER CODE BEGIN USART3_IRQn 1 */

 //  /* USER CODE END USART3_IRQn 1 */
-// }
+//}

 /**
  * @brief This function handles DMA2 stream1 global interrupt.
--- a/MDK-ARM/.vscode/c_cpp_properties.json
+++ b/MDK-ARM/.vscode/c_cpp_properties.json
@ -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",
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@ -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
+
--- a/MDK-ARM/.vscode/settings.json
+++ b/MDK-ARM/.vscode/settings.json
@ -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"
    }
 }
--- a/MDK-ARM/.vscode/uv4.log
+++ b/MDK-ARM/.vscode/uv4.log
@ -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
--- a/MDK-ARM/.vscode/uv4.log.lock
+++ b/MDK-ARM/.vscode/uv4.log.lock
@ -1 +1 @@
-2025/4/11 17:42:35
+2025/4/13 22:09:19
--- a/MDK-ARM/R1-shooter.uvoptx
+++ b/MDK-ARM/R1-shooter.uvoptx
@ -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>
--- a/R1-shooter.ioc
+++ b/R1-shooter.ioc
@ -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
--- a/User/bsp/uart_it.c
+++ b/User/bsp/uart_it.c
@ -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)
--- a/User/device/detect.c
+++ b/User/device/detect.c
@ -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
 }
--- a/User/device/device.h
+++ b/User/device/device.h
@ -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。
--- a/User/device/nuc.c
+++ b/User/device/nuc.c
@ -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 {
--- a/User/device/nuc.h
+++ b/User/device/nuc.h
@ -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
 }
--- a/User/module/ball.cpp
+++ b/User/module/ball.cpp
@ -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
    {
-        key = 0; // 重置按键状态，防止重复触发
+        if (key % 2 == 1) // key 为奇数，摩擦轮正转
+        {
+            Spin(5000); // 正转
+        }
+        else if (key % 2 == 0) // key 为偶数，摩擦轮反转
+        {
+            Spin(-5000); // 反转
+        }
+    }

-        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;
-        }
-    }
 }
+
+// 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;
+//         }
+//     }
+// }
--- a/User/task/ballTask.cpp
+++ b/User/task/ballTask.cpp
@ -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 */
--- a/User/task/nucTask.cpp
+++ b/User/task/nucTask.cpp
@ -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())
        // {