Yodel/25_R1_chassis
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改进了雷达校准

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Yodel 2025-06-15 01:12:15 +08:00
parent 0d6fa76fc9
commit 45205d1545
43 changed files with 4374 additions and 4331 deletions
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41
MDK-ARM/AUTO_CHASSIS.uvguix.Yodel
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18
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm
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@ -29,13 +29,17 @@ Project File Date: 06/04/2025
Build target 'AUTO_CHASSIS'
Note: source file '..\User\bsp\gpio.c' - object file renamed from 'ELE_CHASSIS\gpio.o' to 'ELE_CHASSIS\gpio_1.o'.
Note: source file '..\User\bsp\spi.c' - object file renamed from 'ELE_CHASSIS\spi.o' to 'ELE_CHASSIS\spi_1.o'.
compiling Chassis.c...
..\User\Module\Chassis.c(242): error: #40: expected an identifier
}
..\User\Module\Chassis.c(242): error: #65: expected a ";"
}
..\User\Module\Chassis.c: 0 warnings, 2 errors
"ELE_CHASSIS\AUTO_CHASSIS.axf" - 2 Error(s), 0 Warning(s).
compiling nuc_task.c...
..\User\task\nuc_task.c(34): error: #136: struct "<unnamed>" has no field "chassis_nuc"
osMessageQueueGet(task_runtime.msgq.chassis_nuc,&chassis_nuc, NULL, 0);
..\User\task\nuc_task.c: 0 warnings, 1 error
compiling chassis_task.c...
..\User\task\chassis_task.c(92): error: #136: struct "<unnamed>" has no field "chassis_nuc"
osMessageQueueReset(task_runtime.msgq.chassis_nuc);
..\User\task\chassis_task.c(93): error: #136: struct "<unnamed>" has no field "chassis_nuc"
osMessageQueuePut(task_runtime.msgq.chassis_nuc, &chassis.SICK_FALG, 0, 0);
..\User\task\chassis_task.c: 0 warnings, 2 errors
"ELE_CHASSIS\AUTO_CHASSIS.axf" - 3 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>

4176
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.htm
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4387
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.map
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40
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS_AUTO_CHASSIS.dep
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@ -165,7 +165,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x
I (../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Module/Chassis.h)(0x684DA9E0)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -1540,8 +1540,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
F (..\User\Module\Chassis.c)(0x684DA1EE)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\chassis.o --omf_browse ele_chassis\chassis.crf --depend ele_chassis\chassis.d)
I (..\User\Module\Chassis.h)(0x68366454)
F (..\User\Module\Chassis.c)(0x684DAB89)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\chassis.o --omf_browse ele_chassis\chassis.crf --depend ele_chassis\chassis.d)
I (..\User\Module\Chassis.h)(0x684DA9E0)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -1599,9 +1599,9 @@ I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620)
I (..\User\Module\define.h)(0x684AC4D8)
F (..\User\Module\config.c)(0x684D6430)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\config.o --omf_browse ele_chassis\config.crf --depend ele_chassis\config.d)
F (..\User\Module\config.c)(0x684DA98D)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\config.o --omf_browse ele_chassis\config.crf --depend ele_chassis\config.d)
I (..\User\Module\config.h)(0x683FAE78)
I (..\User\Module\Chassis.h)(0x68366454)
I (..\User\Module\Chassis.h)(0x684DA9E0)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2137,7 +2137,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Module/Chassis.h)(0x684DA9E0)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/bsp/bsp_can.h)(0x663B6621)
@ -2170,7 +2170,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Module/Chassis.h)(0x684DA9E0)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2227,8 +2227,8 @@ I (../User/Algorithm/filter.h)(0x663B6620)
I (../User/device/navi.h)(0x683FFEC6)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
F (..\User\task\chassis_task.c)(0x684DA1A9)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\chassis_task.o --omf_browse ele_chassis\chassis_task.crf --depend ele_chassis\chassis_task.d)
I (../User/Module/Chassis.h)(0x68366454)
F (..\User\task\chassis_task.c)(0x684DAD55)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\chassis_task.o --omf_browse ele_chassis\chassis_task.crf --depend ele_chassis\chassis_task.d)
I (../User/Module/Chassis.h)(0x684DA9E0)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2322,7 +2322,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Module/Chassis.h)(0x684DA9E0)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2442,7 +2442,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Module/Chassis.h)(0x684DA9E0)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2477,7 +2477,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Module/Chassis.h)(0x684DA9E0)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2534,7 +2534,7 @@ I (../User/Algorithm/filter.h)(0x663B6620)
I (../User/device/navi.h)(0x683FFEC6)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
F (..\User\task\nuc_task.c)(0x68459875)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\nuc_task.o --omf_browse ele_chassis\nuc_task.crf --depend ele_chassis\nuc_task.d)
F (..\User\task\nuc_task.c)(0x684DAD2B)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\nuc_task.o --omf_browse ele_chassis\nuc_task.crf --depend ele_chassis\nuc_task.d)
I (..\User\task\user_task.h)(0x684DA0F3)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@ -2552,7 +2552,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Module/Chassis.h)(0x684DA9E0)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2631,7 +2631,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Module/Chassis.h)(0x684DA9E0)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2750,7 +2750,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Module/Chassis.h)(0x684DA9E0)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2783,7 +2783,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Module/Chassis.h)(0x684DA9E0)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2858,7 +2858,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Module/Chassis.h)(0x684DA9E0)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2981,7 +2981,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Module/Chassis.h)(0x684DA9E0)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
I (../User/Algorithm/ahrs.h)(0x663B6620)
@ -3275,7 +3275,7 @@ I (../Core/Inc/spi.h)(0x664876DC)
I (../User/bsp\pwm.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Module/Chassis.h)(0x684DA9E0)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)

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19
User/Module/Chassis.c
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@ -248,20 +248,21 @@ void carmera_angle_correct(Chassis_t *c,CMD_t *ctrl){
c->chassis_yaw_pid = PID_calc(&(c->pid.chassis_CameraspeedPID),c->pos088.bmi088.gyro.z,camera_detangle);
}
//雷达运用sick来校准
void radar_sick_correct(Chassis_t *c){
fp32 diff_x = c->sick[2] - c->sick_set[2];
fp32 diff_y = c->sick[0] - c->sick_set[0];
fp32 diff_w = c->sick[0] - c->sick_set[1];
c->move_vec.Vx = (fabsf(diff_x)>SICKXY_ERROR)(diff_x) ? PID_calc(&(c->pid.chassis_SickVxy),diff_x,0): 0;
c->move_vec.Vy = (fabsf(diff_y)>SICKXY_ERROR)(diff_y) ? PID_calc(&(c->pid.chassis_SickVxy),diff_y,0): 0;
c->move_vec.Vw = (fabsf(diff_w)>SICKW_ERROR)(diff_w) ? PID_calc(&(c->pid.chassis_SickVw),diff_w,0): 0;
c->move_vec.Vx = (fabsf(diff_x)>SICKXY_ERROR) ? PID_calc(&(c->pid.chassis_SickVxy),diff_x,0): 0;
c->move_vec.Vy = (fabsf(diff_y)>SICKXY_ERROR) ? PID_calc(&(c->pid.chassis_SickVxy),diff_y,0): 0;
c->move_vec.Vw = (fabsf(diff_w)>SICKW_ERROR) ? PID_calc(&(c->pid.chassis_SickVw),diff_w,0): 0;
static uint8_t reach_cnt = 0;
if (fabsf(diff_x) <= SICKXY_ERROR && fabsf(diff_y x) <= SICKXY_ERROR &&fabsf(diff_w)<= SICKW_ERROR) {
if (fabsf(diff_x) <= SICKXY_ERROR && fabsf(diff_y) <= SICKXY_ERROR &&fabsf(diff_w)<= SICKW_ERROR) {
reach_cnt++;
if (reach_cnt >= 50) {
c->SICK_FALG = l;
c->SICK_FALG = 1;
}
}
else {
@ -269,6 +270,7 @@ void radar_sick_correct(Chassis_t *c){
c->SICK_FALG = 0;
}
}
//底盘控制
int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*pos){
@ -309,11 +311,8 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
c->move_vec.Vy = ctrl->nuc.vy*2500;
c->move_vec.Vw = ctrl->nuc.vw*4000;
}
else if(ctrl->C_cmd.nuc_radar == RADAR_RESET){
c->move_vec.Vx = ctrl->nuc.vx*2500;
c->move_vec.Vy = ctrl->nuc.vy*2500;
c->move_vec.Vw = ctrl->nuc.vw*4000;
else if(ctrl->C_cmd.nuc_radar == RADAR_RESET){
radar_sick_correct(c);
}
#elif defined(action_sick)|| defined(camera_angle_static)
c->move_vec.Vx =ctrl->C_navi.vx ;

4
User/Module/Chassis.h
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@ -24,8 +24,8 @@
#define PI 3.1415926535f
//小量程sick1分米大概变30，大量程sick1分米大概变60
#define SICKXY_ERROR = 15;
#define SICKW_ERROR = 5;
#define SICKXY_ERROR 15
#define SICKW_ERROR 5
//纵向/横向
#define radians atan(1.0*422/440)//角度制

1
User/device/nuc.h
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@ -5,6 +5,7 @@
#include "device.h"
#include "bsp_usart.h"
#include "cmd.h"
#include "chassis.h"
#include "protocol.h"
typedef struct {

5
User/task/chassis_task.c
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@ -88,7 +88,10 @@ void Task_Chassis(void *argument)
// osMessageQueueReset(task_runtime.msgq.can.output.pitch6020);
// osMessageQueuePut(task_runtime.msgq.can.output.pitch6020, &out.pitch6020, 0, 0);
osMessageQueueReset(task_runtime.msgq.chassis_nuc);
osMessageQueuePut(task_runtime.msgq.chassis_nuc, &chassis.SICK_FALG, 0, 0);
vofa_send[0] = chassis.vofa_send[0];
vofa_send[1] = chassis.vofa_send[1];
vofa_send[2] = chassis.vofa_send[2];

6
User/task/init.c
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@ -105,7 +105,11 @@ void Task_Init(void *argument) {
task_runtime.msgq.action.Calc =
osMessageQueueNew(3u,sizeof(Action_POS_t), NULL);
task_runtime.msgq.action.Navi =
osMessageQueueNew(3u,sizeof(Action_POS_t), NULL);
osMessageQueueNew(3u,sizeof(Action_POS_t), NULL);
/*nuc */
task_runtime.msgq.chassis_nuc =
osMessageQueueNew(3u,sizeof(Chassis_t), NULL);
osKernelUnlock();
osThreadTerminate(osThreadGetId()); /* 结束自身 */
}

6
User/task/nuc_task.c
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@ -5,10 +5,12 @@
NUC_t nuc_raw;
CMD_NUC_t cmd_fromnuc;
CMD_t cmd_nuc;
Chassis_t chassis_nuc;
#else
static NUC_t nuc_raw;
static CMD_NUC_t cmd_fromnuc;
static CMD_t cmd_nuc;
static Chassis_t chassis_nuc;
#endif
int a = 0;
fp32 send_data[4]={1,2,3,4};
@ -29,9 +31,9 @@ void Task_nuc(void *argument){
task_runtime.stack_water_mark.nuc= osThreadGetStackSpace(osThreadGetId());
#endif
osMessageQueueGet(task_runtime.msgq.cmd.nuc,&cmd_nuc, NULL, 0);
osMessageQueueGet(task_runtime.msgq.chassis_nuc,&chassis_nuc, NULL, 0);
// static bool has_sent = false;
if(cmd_nuc.C_cmd.nuc_radar == RADAR_RESET){
if(chassis_nuc.SICK_FALG == 1){
// if (!has_sent){ //发送数据给nuc
if(NUC_Send(send_data) == DEVICE_OK){
// has_sent = true;

2
User/task/user_task.h
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@ -95,6 +95,8 @@ typedef struct {
osMessageQueueId_t Calc;
osMessageQueueId_t Navi;
} action;
osMessageQueueId_t chassis_nuc;
} msgq;
/*互斥釄1<E98784>7*/