From d56405a1bacc3a81acc6c0a988de7dd89433c4bb Mon Sep 17 00:00:00 2001
From: ws <1621320660@qq.com>
Date: Fri, 14 Mar 2025 20:44:39 +0800
Subject: [PATCH] =?UTF-8?q?=E8=BF=99=E4=B8=AAspi=E8=AF=BB=E7=BC=96?=
=?UTF-8?q?=E7=A0=81=E5=99=A8=E7=BB=9D=E5=AF=B9=E5=A5=BD=E4=BD=BF?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
Core/Src/usart.c | 2 +-
MDK-ARM/.vscode/keil-assistant.log | 10 +++++
MDK-ARM/.vscode/settings.json | 3 +-
MDK-ARM/.vscode/uv4.log | 13 ++++--
MDK-ARM/.vscode/uv4.log.lock | 2 +-
MDK-ARM/mycode1.uvoptx | 39 +++++++++++++++++-
User/device/read_spi.c | 64 +++++++++++++-----------------
User/device/read_spi.h | 15 ++++++-
User/module/odrive_shoot.c | 28 ++++++-------
User/module/shoot.c | 39 ++++++++++++------
User/module/shoot.h | 1 +
User/task/go_task.c | 4 +-
User/task/led_task.c | 2 +-
User/task/shoot_task.c | 18 ++++++---
14 files changed, 160 insertions(+), 80 deletions(-)
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index 48ece78..cee4f04 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -102,7 +102,7 @@ void MX_USART6_UART_Init(void)
/* USER CODE END USART6_Init 1 */
huart6.Instance = USART6;
- huart6.Init.BaudRate = 4000000;
+ huart6.Init.BaudRate = 115200;
huart6.Init.WordLength = UART_WORDLENGTH_8B;
huart6.Init.StopBits = UART_STOPBITS_1;
huart6.Init.Parity = UART_PARITY_NONE;
diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index f82290b..6fc5bab 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -48,3 +48,13 @@
[info] Log at : 2025/3/13|14:46:01|GMT+0800
+[info] Log at : 2025/3/13|19:24:02|GMT+0800
+
+[info] Log at : 2025/3/13|21:58:39|GMT+0800
+
+[info] Log at : 2025/3/14|16:14:48|GMT+0800
+
+[info] Log at : 2025/3/14|16:14:59|GMT+0800
+
+[info] Log at : 2025/3/14|20:12:19|GMT+0800
+
diff --git a/MDK-ARM/.vscode/settings.json b/MDK-ARM/.vscode/settings.json
index 3e1fb17..c5bcc85 100644
--- a/MDK-ARM/.vscode/settings.json
+++ b/MDK-ARM/.vscode/settings.json
@@ -16,6 +16,7 @@
"ball.h": "c",
"shoot.h": "c",
"dji.h": "c",
- "calc_lib.h": "c"
+ "calc_lib.h": "c",
+ "odrive_shoot.h": "c"
}
}
\ No newline at end of file
diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log
index 2a2628d..202c86c 100644
--- a/MDK-ARM/.vscode/uv4.log
+++ b/MDK-ARM/.vscode/uv4.log
@@ -1,3 +1,10 @@
-Load "mycode1\\mycode1.axf"
-Erase Done.Programming Done.Verify OK.Application running ...
-Flash Load finished at 19:18:06
+*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
+Build target 'mycode1'
+compiling read_spi.c...
+compiling odrive_shoot.c...
+compiling shoot_task.c...
+linking...
+Program Size: Code=26528 RO-data=1904 RW-data=280 ZI-data=22496
+FromELF: creating hex file...
+"mycode1\mycode1.axf" - 0 Error(s), 0 Warning(s).
+Build Time Elapsed: 00:00:03
diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock
index 13666e4..f7c9ebe 100644
--- a/MDK-ARM/.vscode/uv4.log.lock
+++ b/MDK-ARM/.vscode/uv4.log.lock
@@ -1 +1 @@
-2025/3/13 19:18:07
\ No newline at end of file
+2025/3/14 20:41:26
\ No newline at end of file
diff --git a/MDK-ARM/mycode1.uvoptx b/MDK-ARM/mycode1.uvoptx
index b4bc059..84f2bfa 100644
--- a/MDK-ARM/mycode1.uvoptx
+++ b/MDK-ARM/mycode1.uvoptx
@@ -205,6 +205,41 @@
1
basketball,0x0A
+
+ 11
+ 1
+ angleo,0x0A
+
+
+ 12
+ 1
+ shoot
+
+
+ 13
+ 1
+ multi_turn_angle,0x0A
+
+
+ 14
+ 1
+ angle_encoder
+
+
+ 15
+ 1
+ back_angle,0x0A
+
+
+ 16
+ 1
+ encoder,0x0A
+
+
+ 17
+ 1
+ angles
+
@@ -287,7 +322,7 @@
Application/User/Core
- 0
+ 1
0
0
0
@@ -1083,7 +1118,7 @@
User/task
- 0
+ 1
0
0
0
diff --git a/User/device/read_spi.c b/User/device/read_spi.c
index e52e0ae..c4beb10 100644
--- a/User/device/read_spi.c
+++ b/User/device/read_spi.c
@@ -40,41 +40,31 @@ uint16_t AS5047_read(uint16_t add)
return data;
}
-// void Update_MultiTurn_Angle(void)
-// {
-// uint16_t current_angle = AS5047_read(ANGLEUNC);
-// int16_t angle_diff = current_angle - last_angle;
-
-// // 检测角度跳变
-// if (angle_diff > 8192) // 角度从低到高跳变
-// {
-// multi_turn_angle -= (16384 - angle_diff);
-// }
-// else if (angle_diff < -8192) // 角度从高到低跳变
-// {
-// multi_turn_angle += (16384 + angle_diff);
-// }
-// else
-// {
-// multi_turn_angle += angle_diff;
-// }
-
-// last_angle = current_angle;
-// }
-void Update_MultiTurn_Angle(void)
-{
- uint16_t current_angle = AS5047_read(ANGLEUNC);
- int16_t angle_diff = current_angle - last_angle;
-
- // 检测角度跳变
- if (angle_diff > 8192) // 角度从低到高跳变
- {
- multi_turn_angle -= 1;
- }
- else if (angle_diff < -8192) // 角度从高到低跳变
- {
- multi_turn_angle += 1;
- }
-
- last_angle = current_angle;
+void Encoder_Init(Encoder_t *ptr) {
+ ptr->round_cnt = 0;
+ ptr->ecd = AS5047_read(ANGLEUNC);
+ ptr->last_ecd = ptr->ecd;
+ ptr->offset_ecd = ptr->ecd;
+ ptr->total_angle = 0.0;
+}
+
+void Update_Encoder(Encoder_t *ptr) {
+ ptr->ecd = AS5047_read(ANGLEUNC);
+
+ if (ptr->ecd - ptr->last_ecd > 4096) {
+ ptr->round_cnt--;
+ } else if (ptr->ecd - ptr->last_ecd < -4096) {
+ ptr->round_cnt++;
+ }
+
+ ptr->total_angle = (double)((ptr->round_cnt * 8192 + ptr->ecd - ptr->offset_ecd) );
+ ptr->last_ecd = ptr->ecd;
+}
+
+int32_t Get_Encoder_Rounds(Encoder_t *ptr) {
+ return ptr->round_cnt;
+}
+
+double Get_Encoder_Angle(Encoder_t *ptr) {
+ return ptr->total_angle;
}
diff --git a/User/device/read_spi.h b/User/device/read_spi.h
index 6ddab85..1f3674a 100644
--- a/User/device/read_spi.h
+++ b/User/device/read_spi.h
@@ -18,6 +18,14 @@
#define SETTINGS1 0x0018
#define SETTINGS2 0x0019
+typedef struct {
+ int32_t round_cnt;
+ uint16_t ecd;
+ uint16_t last_ecd;
+ uint16_t offset_ecd;
+ double total_angle;
+} Encoder_t;
+
#define AS5407P_CS_H() \
HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_SET)
#define AS5407P_CS_L() \
@@ -26,6 +34,11 @@
uint16_t Parity_bit_Calculate(uint16_t data_2_cal);
uint16_t SPI_ReadWrite_OneByte(uint16_t _txdata);
uint16_t AS5047_read(uint16_t add);
- void Update_MultiTurn_Angle(void);
+
+
+ void Encoder_Init(Encoder_t *ptr);
+ void Update_Encoder(Encoder_t *ptr);
+ int32_t Get_Encoder_Rounds(Encoder_t *ptr);
+ double Get_Encoder_Angle(Encoder_t *ptr);
#endif
diff --git a/User/module/odrive_shoot.c b/User/module/odrive_shoot.c
index d9a3b68..59b3c0f 100644
--- a/User/module/odrive_shoot.c
+++ b/User/module/odrive_shoot.c
@@ -4,6 +4,8 @@
#include
#include "read_spi.h"
+#include "vofa.h"
+
extern RC_mess_t RC_mess;
extern float angle_encoder;
@@ -12,31 +14,28 @@ extern volatile uint16_t last_angle ;
#define POS_SET -10.6
#define POS_ZERO 2.705
-#define ACCEL_SEND 10//梯形加速度
-#define ACCEL_BACK 5//返回时的加速度
+#define ACCEL_SEND 100//梯形加速度
+#define ACCEL_BACK 100//返回时的加速度
#define DELAY 1000
-fp32 shoot = 10;
-
+fp32 shoot = 0;
+fp32 back_angle = 0;
+float vofa_spi[8];
void shootStep(void)
{
-
- angle_encoder=AS5047_read(ANGLEUNC);
- Update_MultiTurn_Angle();
+ // back_angle=Get_Angle();
+ // angle_encoder=AS5047_read(ANGLEUNC);
+ // Update_MultiTurn_Angle();
odrive_accel_cmd(AXIS0_NODE,ACCEL_SEND,ACCEL_SEND);
// osDelay(2);//不知道为什么要延时
odrive_pos_cmd(AXIS0_NODE,shoot);
-
-// osDelay(5000);
-// odrive_accel_cmd(AXIS0_NODE,5,5);
-// odrive_pos_cmd(AXIS0_NODE,10);
- // osDelay(DELAY);
-// odrive_accel_cmd(AXIS1_NODE,ACCEL_BACK,ACCEL_BACK);
-// odrive_pos_cmd(AXIS1_NODE,POS_ZERO);
+ // vofa_spi[0]=shoot;
+ // vofa_spi[0]=multi_turn_angle;
+ // vofa_tx_main(vofa_spi);
}
@@ -45,5 +44,6 @@ void shootBack(void)
odrive_accel_cmd(AXIS0_NODE,ACCEL_BACK,ACCEL_BACK);
osDelay(2);
odrive_pos_cmd(AXIS0_NODE,POS_ZERO);
+
}
diff --git a/User/module/shoot.c b/User/module/shoot.c
index 02dc1ca..c2c01d4 100644
--- a/User/module/shoot.c
+++ b/User/module/shoot.c
@@ -5,8 +5,8 @@ extern RC_mess_t RC_mess;
extern motor_measure_t *trigger_motor_data;//3508电机数据
-#define GO1_SHOOT 1
-#define ODRIVE_SHOOT 0
+#define GO1_SHOOT 0
+#define ODRIVE_SHOOT 1
#define KP 0.12
#define KD 0.008
@@ -59,18 +59,33 @@ void shoot_ball(int key)
#elif ODRIVE_SHOOT == 1
+//初始位置在最上面, 有球放过来, 电机转动到最下面等待发射
+//发射指令,当到最高点时,扳机离合
+//返回扳机,远动到最下面
-void shoot_odrive(void)
+extern float angle_encoder;
+extern volatile int32_t multi_turn_angle ;
+extern volatile uint16_t last_angle ;
+
+void shoot_odrive(int angle)
{
- //扳机
- if(trigger_motor_data->real_angle == 60)
- {
- trigger_pos(0);
- }
- else
- {
- trigger_pos(60);
- }
+ // if(ball)
+ // {
+ // if(multi_turn_angle==8)
+ // {
+ // //di
+ // odrive_accel_cmd(AXIS0_NODE,200,200);
+ // odrive_pos_cmd(AXIS0_NODE,0);
+ // }
+ // else if(multi_turn_angle==0)
+ // {
+
+ // }
+ // }
+ odrive_accel_cmd(AXIS0_NODE,200,200);
+ osDelay(2);
+ odrive_pos_cmd(AXIS0_NODE,angle);
+
}
#endif
diff --git a/User/module/shoot.h b/User/module/shoot.h
index 497a4ca..707140d 100644
--- a/User/module/shoot.h
+++ b/User/module/shoot.h
@@ -22,5 +22,6 @@ typedef struct
void shooterInit(void);
void shoot_ball(int key);
+void shoot_odrive(int angle);
#endif
diff --git a/User/task/go_task.c b/User/task/go_task.c
index ed508f7..5137263 100644
--- a/User/task/go_task.c
+++ b/User/task/go_task.c
@@ -16,14 +16,14 @@ void Task_Go(void *argument)
#if GOUSE==1
//HAL_Delay(2000);
- gimbalInit();
+// gimbalInit();
//HAL_GPIO_WritePin(ledGreen_GPIO_Port,ledGreen_Pin,GPIO_PIN_RESET);
while(1)
{
LED_green();
- gimbalFlow();
+ // gimbalFlow();
osDelay(1);
}
#else
diff --git a/User/task/led_task.c b/User/task/led_task.c
index 4cf90ba..bc26e8c 100644
--- a/User/task/led_task.c
+++ b/User/task/led_task.c
@@ -12,7 +12,7 @@ void Task_Led(void *argument) {
// LED_red();
// LED_bule();
- see_you_again();
+ // see_you_again();
// LED_green();
// osDelay(500);
diff --git a/User/task/shoot_task.c b/User/task/shoot_task.c
index 4ad88fa..cc70c62 100644
--- a/User/task/shoot_task.c
+++ b/User/task/shoot_task.c
@@ -5,16 +5,22 @@
#include
#include "remote_control.h"
#include "shoot.h"
+#include "odrive_shoot.h"
+#include "read_spi.h"
extern RC_mess_t RC_mess;
-
-#define GO1_SHOOT 1
-#define ODRIVE_SHOOT 0
+Encoder_t encoder;
+double angles;
+int32_t rounds;
+int angleo = 0; //发射角度
+#define GO1_SHOOT 0
+#define ODRIVE_SHOOT 1
void Task_Shoot(void *argument)
{
(void)argument; /* 未使用argument，消除警告 */
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN;
+ Encoder_Init(&encoder);
#if GO1_SHOOT == 1
shooterInit();
#endif
@@ -28,9 +34,11 @@ void Task_Shoot(void *argument)
shoot_ball(0);
#elif ODRIVE_SHOOT == 1
- shootStep();
+ shootStep();
+ //shoot_odrive(angleo);
#endif
-
+ // 更新编码器数据
+ Update_Encoder(&encoder);
tick += delay_tick; /* 计算下一个唤醒时刻 */
osDelayUntil(tick); /* 运行结束，等待下一个周期唤醒 */