DJI解析

MDK-ARM/.vscode/settings.json

@@ -17,6 +17,8 @@
         "shoot.h": "c",
         "dji.h": "c",
         "calc_lib.h": "c",
-        "odrive_shoot.h": "c"
+        "odrive_shoot.h": "c",
+        "remote_control.h": "c",
+        "dji_task.h": "c"
     }
 }

MDK-ARM/.vscode/uv4.log

@@ -1,10 +1,3 @@
-*** 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
+Load "mycode1\\mycode1.axf" 
+Erase Done.Programming Done.Verify OK.Application running ...
+Flash Load finished at 22:03:22

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

@@ -1 +1 @@
-2025/3/14 20:41:26
+2025/3/14 22:03:23

MDK-ARM/mycode1.uvoptx

@@ -208,37 +208,27 @@
         <Ww>
           <count>11</count>
           <WinNumber>1</WinNumber>
-          <ItemText>angleo,0x0A</ItemText>
+          <ItemText>encoder,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>12</count>
           <WinNumber>1</WinNumber>
-          <ItemText>shoot</ItemText>
+          <ItemText>mode,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>13</count>
           <WinNumber>1</WinNumber>
-          <ItemText>multi_turn_angle,0x0A</ItemText>
+          <ItemText>m</ItemText>
         </Ww>
         <Ww>
           <count>14</count>
           <WinNumber>1</WinNumber>
-          <ItemText>angle_encoder</ItemText>
+          <ItemText>trigger_motor_data,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>15</count>
           <WinNumber>1</WinNumber>
-          <ItemText>back_angle,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>16</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>encoder,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>17</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>angles</ItemText>
+          <ItemText>trigger_angle_o</ItemText>
         </Ww>
       </WatchWindow1>
       <WatchWindow2>
@@ -322,7 +312,7 @@
 
   <Group>
     <GroupName>Application/User/Core</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

User/device/djiMotor.c

@@ -37,7 +37,7 @@
         (ptr)->temperate = (data)[6]; 																	\
 				(ptr)->ecd - (ptr)->last_ecd > 4096 ? ((ptr)->round_cnt--) : ((ptr)->round_cnt=(ptr)->round_cnt);																	\
 				(ptr)->ecd - (ptr)->last_ecd < -4096 ? ((ptr)->round_cnt++) : ((ptr)->round_cnt=(ptr)->round_cnt);																\
-				(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE;														\
+				(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_3508;														\
     }//ptr指向电机测量数据结构体的指针，data包含电机测量数据的数组.
 /*(ptr)->real_angle = (ptr)->real_angle % 360;	*/
 #define get_motor_offset(ptr, data)														\
@@ -55,6 +55,17 @@
 				(ptr)->ecd - (ptr)->last_ecd > 4096 ? ((ptr)->round_cnt--) : ((ptr)->round_cnt=(ptr)->round_cnt);																	\
 				(ptr)->ecd - (ptr)->last_ecd < -4096 ? ((ptr)->round_cnt++) : ((ptr)->round_cnt=(ptr)->round_cnt);																\
 				(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_6020;														\
+    }                       
+#define get_2006_motor_measure(ptr, data)                     								\
+    {                                                                 	\
+        (ptr)->last_ecd = (ptr)->ecd;                              			\
+        (ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]);            \
+        (ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]);      \
+        (ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]);  \
+        (ptr)->temperate = (data)[6]; 																	\
+				(ptr)->ecd - (ptr)->last_ecd > 4096 ? ((ptr)->round_cnt--) : ((ptr)->round_cnt=(ptr)->round_cnt);																	\
+				(ptr)->ecd - (ptr)->last_ecd < -4096 ? ((ptr)->round_cnt++) : ((ptr)->round_cnt=(ptr)->round_cnt);																\
+				(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_2006;														\
     }     
 		//		解析出初始编码器值			
 // #define get_5065motor_measure(ptr, data)                                    \
@@ -132,7 +143,7 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
     
 }
 #else
-static osEventFlagsId_t eventReceive;
+static osEventFlagsId_t eventReceive;//事件标志
 /**
   * @brief          自定义大疆电机回调函数
   * @param[in]      none

User/device/djiMotor.h

@@ -47,7 +47,8 @@ typedef struct
 
 //motor calc ecd to angle 
 
-#define MOTOR_ECD_TO_ANGLE  (360.0 / 8191.0 / (3591.0/187.0))
+#define MOTOR_ECD_TO_ANGLE_3508  (360.0 / 8191.0 / (3591.0/187.0))
+#define MOTOR_ECD_TO_ANGLE_2006 (360.0 / 8191.0 / 36)
 #define MOTOR_ECD_TO_RAD 0.000766990394f
 #define MOTOR_ECD_TO_ANGLE_6020  (360.0 / 8191.0 )
 

User/task/dji_task.c

@@ -5,22 +5,26 @@
 #include <cmsis_os2.h>
 #include "remote_control.h"
 #include "dji.h"
+#include "read_spi.h"
 #include "vofa.h"
 
+
 extern RC_mess_t RC_mess;
 extern int16_t result;
 extern int16_t t_result;
-extern motor_measure_t *motor_3508_data;
+extern motor_measure_t *trigger_motor_data;
+Encoder_t encoder;
 float vofa[8];
+
+int speed=0;
+float m=0;
+float trigger_angle_o=0;
+int mode=0;
 /**
  * \brief 电机任务
  *
  * \param argument 未使用
  */
-
-int speed=0;
-float angle=0;
-float m;
 void Task_Motor(void *argument)
 {
    (void)argument; /* 未使用argument，消除警告 */
@@ -28,6 +32,7 @@ void Task_Motor(void *argument)
   const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_CHASSIS;
 
    motor_init();
+   Encoder_Init(&encoder);
    
   uint32_t tick = osKernelGetTickCount();
 
@@ -35,12 +40,28 @@ void Task_Motor(void *argument)
   {
     //收到消息队列新数据
   
-    //电机控制
-    //motor_speed(speed);
-		m=angle*(8191/360);
-   //  motor_pos(m);
+    // 更新编码器数据
+    Update_Encoder(&encoder);
+		m=trigger_angle_o*(8191/360);
+    if( mode == THREE )
+    {
+      //当最高点时进入离合
+      if(encoder.round_cnt>=8)
+      {
+        trigger_angle_o=2;
         trigger_pos(m);
-    //CAN_cmd_200(result[MOTOR_UP],result[MOTOR_UP],result[MOTOR_UP],result[MOTOR_UP],&hcan1);
+      }
+
+    }
+  else if( mode == DZ )
+    {
+      //退出离合
+      trigger_angle_o=0;
+      trigger_pos(m);
+
+    }
+ 
+
     CAN_cmd_200(t_result,0,0,0,&hcan1);
     osDelay(2);
 

User/task/dji_task.h

@@ -2,4 +2,7 @@
 #define _DJI_TASK_H_
 
 
+#define THREE 3
+#define DZ 0
+
 #endif

User/task/shoot_task.c

@@ -7,20 +7,27 @@
 #include "shoot.h"
 #include "odrive_shoot.h"
 #include "read_spi.h"
+#include "dji_task.h"
 
 extern RC_mess_t RC_mess;
-Encoder_t encoder;
-double angles;
-int32_t rounds;
-int angleo = 0;  //发射角度
+extern Encoder_t encoder;
+extern motor_measure_t *trigger_motor_data;//3508电机数据
+extern int mode;
+
 #define GO1_SHOOT 0
 #define ODRIVE_SHOOT 1
 
+//odrive发射
+#define SHOOT3 12
+#define TOP 6
+#define MIDDLE 3
+#define BOTTOM 0
+
 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
@@ -34,12 +41,20 @@ void Task_Shoot(void *argument)
     shoot_ball(0);
 
      #elif ODRIVE_SHOOT == 1
-			shootStep();
-    //shoot_odrive(angleo);
-     #endif
-  // 更新编码器数据
-  Update_Encoder(&encoder);
+    if(mode == THREE)
+    {
+      shoot_odrive(SHOOT3);    
+    }	
+    else if(mode == DZ)
+    {
+      if(trigger_motor_data->total_angle ==0)//扳机已闭合
+      {
+        shoot_odrive(BOTTOM);   
+      }
      
+    }
+
+     #endif
      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 */
     }