diff --git a/CMakeLists.txt b/CMakeLists.txt
index 19746f0..07fc2fd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -79,6 +79,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
User/device/motor_lz.c
User/device/motor_rm.c
User/device/vision_bridge.c
+ User/device/vofa.c
# User/module sources
User/module/balance_chassis.c
diff --git a/Core/Inc/stm32h7xx_it.h b/Core/Inc/stm32h7xx_it.h
index 8616f22..7b34bcf 100644
--- a/Core/Inc/stm32h7xx_it.h
+++ b/Core/Inc/stm32h7xx_it.h
@@ -56,6 +56,8 @@ void DMA1_Stream0_IRQHandler(void);
void DMA1_Stream1_IRQHandler(void);
void DMA1_Stream2_IRQHandler(void);
void DMA1_Stream3_IRQHandler(void);
+void DMA1_Stream4_IRQHandler(void);
+void DMA1_Stream5_IRQHandler(void);
void FDCAN1_IT0_IRQHandler(void);
void FDCAN2_IT0_IRQHandler(void);
void FDCAN1_IT1_IRQHandler(void);
diff --git a/Core/Src/dma.c b/Core/Src/dma.c
index f793c82..a079425 100644
--- a/Core/Src/dma.c
+++ b/Core/Src/dma.c
@@ -55,6 +55,12 @@ void MX_DMA_Init(void)
/* DMA1_Stream3_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn);
+ /* DMA1_Stream4_IRQn interrupt configuration */
+ HAL_NVIC_SetPriority(DMA1_Stream4_IRQn, 5, 0);
+ HAL_NVIC_EnableIRQ(DMA1_Stream4_IRQn);
+ /* DMA1_Stream5_IRQn interrupt configuration */
+ HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 5, 0);
+ HAL_NVIC_EnableIRQ(DMA1_Stream5_IRQn);
}
diff --git a/Core/Src/stm32h7xx_it.c b/Core/Src/stm32h7xx_it.c
index 8633010..ae12122 100644
--- a/Core/Src/stm32h7xx_it.c
+++ b/Core/Src/stm32h7xx_it.c
@@ -63,6 +63,8 @@ extern DMA_HandleTypeDef hdma_spi2_rx;
extern DMA_HandleTypeDef hdma_spi2_tx;
extern SPI_HandleTypeDef hspi2;
extern DMA_HandleTypeDef hdma_uart5_rx;
+extern DMA_HandleTypeDef hdma_usart1_tx;
+extern DMA_HandleTypeDef hdma_usart1_rx;
extern UART_HandleTypeDef huart5;
extern UART_HandleTypeDef huart7;
extern UART_HandleTypeDef huart1;
@@ -229,6 +231,34 @@ void DMA1_Stream3_IRQHandler(void)
/* USER CODE END DMA1_Stream3_IRQn 1 */
}
+/**
+ * @brief This function handles DMA1 stream4 global interrupt.
+ */
+void DMA1_Stream4_IRQHandler(void)
+{
+ /* USER CODE BEGIN DMA1_Stream4_IRQn 0 */
+
+ /* USER CODE END DMA1_Stream4_IRQn 0 */
+ HAL_DMA_IRQHandler(&hdma_usart1_tx);
+ /* USER CODE BEGIN DMA1_Stream4_IRQn 1 */
+
+ /* USER CODE END DMA1_Stream4_IRQn 1 */
+}
+
+/**
+ * @brief This function handles DMA1 stream5 global interrupt.
+ */
+void DMA1_Stream5_IRQHandler(void)
+{
+ /* USER CODE BEGIN DMA1_Stream5_IRQn 0 */
+
+ /* USER CODE END DMA1_Stream5_IRQn 0 */
+ HAL_DMA_IRQHandler(&hdma_usart1_rx);
+ /* USER CODE BEGIN DMA1_Stream5_IRQn 1 */
+
+ /* USER CODE END DMA1_Stream5_IRQn 1 */
+}
+
/**
* @brief This function handles FDCAN1 interrupt 0.
*/
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index af0ce00..fbdc0af 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -31,6 +31,8 @@ UART_HandleTypeDef huart2;
UART_HandleTypeDef huart3;
UART_HandleTypeDef huart10;
DMA_HandleTypeDef hdma_uart5_rx;
+DMA_HandleTypeDef hdma_usart1_tx;
+DMA_HandleTypeDef hdma_usart1_rx;
/* UART5 init function */
void MX_UART5_Init(void)
@@ -431,6 +433,43 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+ /* USART1 DMA Init */
+ /* USART1_TX Init */
+ hdma_usart1_tx.Instance = DMA1_Stream4;
+ hdma_usart1_tx.Init.Request = DMA_REQUEST_USART1_TX;
+ hdma_usart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+ hdma_usart1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+ hdma_usart1_tx.Init.MemInc = DMA_MINC_ENABLE;
+ hdma_usart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+ hdma_usart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+ hdma_usart1_tx.Init.Mode = DMA_NORMAL;
+ hdma_usart1_tx.Init.Priority = DMA_PRIORITY_LOW;
+ hdma_usart1_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+ if (HAL_DMA_Init(&hdma_usart1_tx) != HAL_OK)
+ {
+ Error_Handler();
+ }
+
+ __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart1_tx);
+
+ /* USART1_RX Init */
+ hdma_usart1_rx.Instance = DMA1_Stream5;
+ hdma_usart1_rx.Init.Request = DMA_REQUEST_USART1_RX;
+ hdma_usart1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+ hdma_usart1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+ hdma_usart1_rx.Init.MemInc = DMA_MINC_ENABLE;
+ hdma_usart1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+ hdma_usart1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+ hdma_usart1_rx.Init.Mode = DMA_NORMAL;
+ hdma_usart1_rx.Init.Priority = DMA_PRIORITY_LOW;
+ hdma_usart1_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+ if (HAL_DMA_Init(&hdma_usart1_rx) != HAL_OK)
+ {
+ Error_Handler();
+ }
+
+ __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart1_rx);
+
/* USART1 interrupt Init */
HAL_NVIC_SetPriority(USART1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(USART1_IRQn);
@@ -630,6 +669,10 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
+ /* USART1 DMA DeInit */
+ HAL_DMA_DeInit(uartHandle->hdmatx);
+ HAL_DMA_DeInit(uartHandle->hdmarx);
+
/* USART1 interrupt Deinit */
HAL_NVIC_DisableIRQ(USART1_IRQn);
/* USER CODE BEGIN USART1_MspDeInit 1 */
diff --git a/CtrBoard-H7_ALL.ioc b/CtrBoard-H7_ALL.ioc
index 13166ec..3cfe353 100644
--- a/CtrBoard-H7_ALL.ioc
+++ b/CtrBoard-H7_ALL.ioc
@@ -51,7 +51,9 @@ Dma.Request0=ADC1
Dma.Request1=SPI2_RX
Dma.Request2=SPI2_TX
Dma.Request3=UART5_RX
-Dma.RequestsNb=4
+Dma.Request4=USART1_TX
+Dma.Request5=USART1_RX
+Dma.RequestsNb=6
Dma.SPI2_RX.1.Direction=DMA_PERIPH_TO_MEMORY
Dma.SPI2_RX.1.EventEnable=DISABLE
Dma.SPI2_RX.1.FIFOMode=DMA_FIFOMODE_DISABLE
@@ -106,6 +108,42 @@ Dma.UART5_RX.3.SyncEnable=DISABLE
Dma.UART5_RX.3.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
Dma.UART5_RX.3.SyncRequestNumber=1
Dma.UART5_RX.3.SyncSignalID=NONE
+Dma.USART1_RX.5.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART1_RX.5.EventEnable=DISABLE
+Dma.USART1_RX.5.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART1_RX.5.Instance=DMA1_Stream5
+Dma.USART1_RX.5.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART1_RX.5.MemInc=DMA_MINC_ENABLE
+Dma.USART1_RX.5.Mode=DMA_NORMAL
+Dma.USART1_RX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART1_RX.5.PeriphInc=DMA_PINC_DISABLE
+Dma.USART1_RX.5.Polarity=HAL_DMAMUX_REQ_GEN_RISING
+Dma.USART1_RX.5.Priority=DMA_PRIORITY_LOW
+Dma.USART1_RX.5.RequestNumber=1
+Dma.USART1_RX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
+Dma.USART1_RX.5.SignalID=NONE
+Dma.USART1_RX.5.SyncEnable=DISABLE
+Dma.USART1_RX.5.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
+Dma.USART1_RX.5.SyncRequestNumber=1
+Dma.USART1_RX.5.SyncSignalID=NONE
+Dma.USART1_TX.4.Direction=DMA_MEMORY_TO_PERIPH
+Dma.USART1_TX.4.EventEnable=DISABLE
+Dma.USART1_TX.4.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART1_TX.4.Instance=DMA1_Stream4
+Dma.USART1_TX.4.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART1_TX.4.MemInc=DMA_MINC_ENABLE
+Dma.USART1_TX.4.Mode=DMA_NORMAL
+Dma.USART1_TX.4.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART1_TX.4.PeriphInc=DMA_PINC_DISABLE
+Dma.USART1_TX.4.Polarity=HAL_DMAMUX_REQ_GEN_RISING
+Dma.USART1_TX.4.Priority=DMA_PRIORITY_LOW
+Dma.USART1_TX.4.RequestNumber=1
+Dma.USART1_TX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
+Dma.USART1_TX.4.SignalID=NONE
+Dma.USART1_TX.4.SyncEnable=DISABLE
+Dma.USART1_TX.4.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
+Dma.USART1_TX.4.SyncRequestNumber=1
+Dma.USART1_TX.4.SyncSignalID=NONE
FDCAN1.AutoRetransmission=ENABLE
FDCAN1.CalculateBaudRateNominal=1000000
FDCAN1.CalculateTimeBitNominal=1000
@@ -256,6 +294,8 @@ NVIC.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA1_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.EXTI15_10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.FDCAN1_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
diff --git a/MDK-ARM/CtrBoard-H7_ALL.uvoptx b/MDK-ARM/CtrBoard-H7_ALL.uvoptx
index 2b3537a..a916a1c 100644
--- a/MDK-ARM/CtrBoard-H7_ALL.uvoptx
+++ b/MDK-ARM/CtrBoard-H7_ALL.uvoptx
@@ -1323,6 +1323,18 @@
0
0
+
+ 8
+ 85
+ 1
+ 0
+ 0
+ 0
+ ..\User\device\vofa.c
+ vofa.c
+ 0
+ 0
+
@@ -1333,7 +1345,7 @@
0
9
- 85
+ 86
1
0
0
@@ -1345,7 +1357,7 @@
9
- 86
+ 87
1
0
0
@@ -1357,7 +1369,7 @@
9
- 87
+ 88
1
0
0
@@ -1369,7 +1381,7 @@
9
- 88
+ 89
1
0
0
@@ -1389,7 +1401,7 @@
0
10
- 89
+ 90
1
0
0
@@ -1401,7 +1413,7 @@
10
- 90
+ 91
1
0
0
@@ -1413,7 +1425,7 @@
10
- 91
+ 92
1
0
0
@@ -1425,7 +1437,7 @@
10
- 92
+ 93
1
0
0
@@ -1437,7 +1449,7 @@
10
- 93
+ 94
1
0
0
@@ -1449,7 +1461,7 @@
10
- 94
+ 95
1
0
0
@@ -1461,7 +1473,7 @@
10
- 95
+ 96
1
0
0
@@ -1473,7 +1485,7 @@
10
- 96
+ 97
1
0
0
@@ -1485,7 +1497,7 @@
10
- 97
+ 98
1
0
0
@@ -1497,7 +1509,7 @@
10
- 98
+ 99
5
0
0
@@ -1509,7 +1521,7 @@
10
- 99
+ 100
1
0
0
@@ -1519,6 +1531,18 @@
0
0
+
+ 10
+ 101
+ 1
+ 0
+ 0
+ 0
+ ..\User\task\vofa.c
+ vofa.c
+ 0
+ 0
+
diff --git a/MDK-ARM/CtrBoard-H7_ALL.uvprojx b/MDK-ARM/CtrBoard-H7_ALL.uvprojx
index e0907d0..ea1c1a5 100644
--- a/MDK-ARM/CtrBoard-H7_ALL.uvprojx
+++ b/MDK-ARM/CtrBoard-H7_ALL.uvprojx
@@ -839,6 +839,11 @@
1
..\User\device\vision_bridge.c
+
+ vofa.c
+ 1
+ ..\User\device\vofa.c
+
@@ -924,6 +929,11 @@
1
..\User\task\ai.c
+
+ vofa.c
+ 1
+ ..\User\task\vofa.c
+
diff --git a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf
index 777adce..0c436c4 100644
Binary files a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf and b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf differ
diff --git a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex
index bee39e3..e095792 100644
--- a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex
+++ b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex
@@ -1,53 +1,53 @@
:020000040800F2
-:10000000E8850124AD030008A9980108195E0108DC
-:1000100089960108893D0008A9E401080000000054
-:1000200000000000000000000000000061A70108BF
-:10003000816700080000000031A0010829B4010810
-:10004000CB030008CB030008CB030008CB03000858
-:10005000CB030008CB030008CB030008CB03000848
-:10006000CB030008CB030008CB030008E1580008CD
-:10007000F15800080159000811590008CB03000885
-:10008000CB030008CB030008CB030008D9670008A6
-:10009000F9670008E967000809680008CB03000851
-:1000A000CB030008CB030008CB030008CB030008F8
-:1000B000CB030008CB030008CB030008CB030008E8
-:1000C000CB030008CB030008CB030008CB030008D8
-:1000D00039A4010829DE010839DE010849DE0108DA
-:1000E00089670008CB03000800000000CB0300086C
-:1000F000CB030008CB030008CB030008CB030008A8
-:10010000CB030008CB030008CB030008CB03000897
-:10011000CB03000809CB0108CB030008CB03000880
-:10012000CB030008CB030008CB030008CB03000877
-:10013000CB030008CB030008CB030008CB03000867
+:10000000008F01245904000879AE0108C973010862
+:1000100059AC0108F14F000819FF01080000000069
+:1000200000000000000000000000000031BD0108D9
+:10003000097A00080000000001B60108F9C90108AA
+:1000400077040008770400087704000877040008A4
+:100050007704000877040008770400087704000894
+:10006000770400087704000877040008496B00084B
+:10007000596B0008696B0008796B0008896B0008F0
+:10008000996B00087704000877040008617A00087B
+:10009000817A0008717A0008917A000877040008D4
+:1000A0007704000877040008770400087704000844
+:1000B0007704000877040008770400087704000834
+:1000C0007704000877040008770400087704000824
+:1000D00009BA010899F80108A9F80108B9F8010856
+:1000E000117A000877040008000000007704000877
+:1000F00077040008770400087704000877040008F4
+:1001000077040008770400087704000877040008E3
+:100110007704000809E20108770400087704000862
+:1001200077040008770400087704000877040008C3
+:1001300077040008770400087704000877040008B3
:1001400000000000000000000000000000000000AF
-:10015000CB030008CB030008CB030008CB03000847
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-:10017000CB030008CB030008CB03000800000000FD
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-:10019000CB030008CB030008CB030008CB03000807
-:1001A000CB030008CB030008CB03000800000000CD
-:1001B000CB030008CB030008CB030008CB030008E7
-:1001C000CB030008CB030008000000000000000083
-:1001D0000000000000000000CB0300080000000049
+:100150007704000877040008770400087704000893
+:100160007704000877040008770400087704000883
+:1001700077040008770400087704000800000000F6
+:10018000770400087704000819E2010877040008E2
+:100190007704000877040008770400087704000853
+:1001A00077040008770400087704000800000000C6
+:1001B0007704000877040008770400087704000833
+:1001C0007704000877040008000000000000000029
+:1001D000000000000000000077040008000000009C
:1001E000000000000000000000000000000000000F
-:1001F0000000000000000000CB030008CB03000853
-:10020000CB030008CB03000800000000CB0300086C
-:10021000CB030008CB030008CB030008CB03000886
-:10022000CB03000800000000CB0300080000000022
-:10023000CB030008CB03000800000000CB0300083C
-:10024000CB030008CB030008CB030008CB03000856
-:10025000CB030008CB030008CB030008CB03000846
-:10026000CB030008CB030008CB030008CB03000836
-:10027000CB030008CB030008CB03000800000000FC
-:10028000CB030008CB030008CB030008CB03000816
-:1002900000000000CB030008CB03000800000000B2
-:1002A00000000000CB030008CB030008CB030008CC
-:1002B00019DE0108CB030008CB0300081968000809
-:1002C0002968000899B60108CB03000800F002F87D
-:1002D00000F05CF80AA090E8000C82448344AAF184
-:1002E0000107DA4501D100F051F8AFF2090EBAE882
+:1001F00000000000000000007704000877040008F9
+:100200007704000877040008000000007704000865
+:1002100077040008770400087704000877040008D2
+:1002200077040008000000007704000800000000C8
+:100230007704000877040008000000007704000835
+:1002400077040008770400087704000877040008A2
+:100250007704000877040008770400087704000892
+:100260007704000877040008770400087704000882
+:1002700077040008770400087704000800000000F5
+:100280007704000877040008770400087704000862
+:100290000000000077040008770400080000000058
+:1002A00000000000770400087704000877040008C5
+:1002B00089F801087704000877040008A17A00088B
+:1002C000B17A000869CC01087704000800F002F850
+:1002D00000F0B2F80AA090E8000C82448344AAF12E
+:1002E0000107DA4501D100F0A7F8AFF2090EBAE82C
:1002F0000F0013F0010F18BFFB1A43F0010318475A
-:10030000D8540200F85402000A444FF0000C10F8D0
+:10030000507B0200707B02000A444FF0000C10F892
:10031000013B13F0070408BF10F8014B1D1108BF83
:1003200010F8015B641E05D010F8016B641E01F823
:10033000016BF9D113F0080F1EBF10F8014BAD1C73
@@ -55,9586 +55,10221 @@
:1003500014F8016B01F8016B6D1EF9D59142D6D3EB
:10036000704700000023002400250026103A28BF13
:1003700078C1FBD8520728BF30C148BF0B60704717
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-:1003E000CD020008E8550124E8850124E8650124D0
-:1003F000E865012453EA020C00F069802DE9F04B16
-:100400004FF00006002B1FBFB3FA83F503FA05F483
-:1004100024FA05F65E4012BF1643B2FA82F502FADC
-:1004200005F4C5F120051EBF22FA05FC44EA0C04C0
-:10043000203556EA044C4FEA144418BF641C4FF0B0
-:1004400000084FF00009904271EB030C39D30029EA
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-:10048000CBF120062CFA06F60CFA0BFB44BFB34660
-:100490000026202FA4BF5E464FF0000B5BEA060C3F
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-:1004D000084318BF4FF0FF300146AFF30080BDE87E
-:1004E0001C407047032A40F2308010F0030C00F0EB
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-:1005000001CB00F8013B38BF11F8013BA2F1040216
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-:1005300051F804CBA0E80810F5E7121D5CBF51F894
-:10054000043B40F8043BAFF30080D20724BF11F80E
-:10055000013B11F801CB48BF11F8012B24BF00F873
-:10056000013B00F801CB48BF00F8012B704710B5E4
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diff --git a/User/component/vmc.c b/User/component/vmc.c
index d09841b..2943b89 100644
--- a/User/component/vmc.c
+++ b/User/component/vmc.c
@@ -61,6 +61,9 @@ int8_t VMC_Init(VMC_t *vmc, const VMC_Param_t *param, float sample_freq) {
// 重置状态
VMC_Reset(vmc);
+ // 初始化dd_theta低通滤波器 (截止频率50Hz)
+ LowPassFilter2p_Init(&vmc->dd_theta_filter, sample_freq, 50.0f);
+
vmc->initialized = true;
return 0;
@@ -124,8 +127,9 @@ int8_t VMC_ForwardSolve(VMC_t *vmc, float phi1, float phi4, float body_pitch, fl
leg->d_theta = body_pitch_rate + leg->d_phi0;
leg->d_L0 = VMC_ComputeNumericDerivative(leg->L0, leg->last_L0, vmc->dt);
- // 计算角加速度
- leg->dd_theta = VMC_ComputeNumericDerivative(leg->d_theta, leg->last_d_theta, vmc->dt);
+ // 计算角加速度并滤波
+ float dd_theta_raw = VMC_ComputeNumericDerivative(leg->d_theta, leg->last_d_theta, vmc->dt);
+ leg->dd_theta = LowPassFilter2p_Apply(&vmc->dd_theta_filter, dd_theta_raw);
VMC_GroundContactDetection(vmc); // 更新地面接触状态
return 0;
diff --git a/User/component/vmc.h b/User/component/vmc.h
index c0e5ba1..b46d538 100644
--- a/User/component/vmc.h
+++ b/User/component/vmc.h
@@ -8,6 +8,7 @@ extern "C" {
#include
#include
#include
+#include "filter.h"
/* Exported types ----------------------------------------------------------- */
/**
@@ -83,6 +84,7 @@ typedef struct {
VMC_Leg_t leg; // 腿部状态
float dt; // 控制周期
bool initialized; // 初始化标志
+ LowPassFilter2p_t dd_theta_filter; // dd_theta低通滤波器
} VMC_t;
/* Exported constants ------------------------------------------------------- */
diff --git a/User/device/device_config.yaml b/User/device/device_config.yaml
index 33b643d..b07f920 100644
--- a/User/device/device_config.yaml
+++ b/User/device/device_config.yaml
@@ -29,3 +29,7 @@ motor_lz:
motor_rm:
bsp_config: {}
enabled: true
+vofa:
+ bsp_config:
+ BSP_UART_VOFA: BSP_UART_VOFA
+ enabled: true
diff --git a/User/device/vofa.c b/User/device/vofa.c
new file mode 100644
index 0000000..8049d34
--- /dev/null
+++ b/User/device/vofa.c
@@ -0,0 +1,106 @@
+/* Includes ----------------------------------------------------------------- */
+#include
+#include
+#include "device/vofa.h"
+#include "bsp/uart.h"
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* Private define ----------------------------------------------------------- */
+
+#define MAX_CHANNEL 64u // 根据实际最大通道数调整
+
+#define JUSTFLOAT_TAIL 0x7F800000
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
+/* Private variables -------------------------------------------------------- */
+static uint8_t vofa_tx_buf[sizeof(float) * MAX_CHANNEL + sizeof(uint32_t)];
+static VOFA_Protocol_t current_protocol = VOFA_PROTOCOL_FIREWATER; // 默认协议
+
+/* Private function -------------------------------------------------------- */
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
+/************************ RawData *************************/
+void VOFA_RawData_Send(const char* data, bool dma) {
+ BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t*)data, strlen(data), dma);
+}
+
+/************************ FireWater *************************/
+void VOFA_FireWater_Send(float *channels, uint8_t channel_count, bool dma)
+{
+ if (channel_count == 0 || channel_count > MAX_CHANNEL)
+ return;
+
+ char *buf = (char *)vofa_tx_buf;
+ size_t len = 0;
+
+ for (uint8_t i = 0; i < channel_count; ++i) {
+ len += snprintf(buf + len,
+ sizeof(vofa_tx_buf) - len,
+ "%s%.2f",
+ (i ? "," : ""),
+ channels[i]);
+ }
+ snprintf(buf + len, sizeof(vofa_tx_buf) - len, "\n");
+
+ BSP_UART_Transmit(BSP_UART_VOFA, vofa_tx_buf, strlen(buf), dma);
+}
+
+/************************ JustFloat *************************/
+void VOFA_JustFloat_Send(float *channels, uint8_t channel_count, bool dma)
+{
+ if (channel_count == 0 || channel_count > MAX_CHANNEL)
+ return;
+ memcpy(vofa_tx_buf, channels, channel_count * sizeof(float));
+
+ uint32_t tail = JUSTFLOAT_TAIL; // 0x7F800000
+ memcpy(vofa_tx_buf + channel_count * sizeof(float), &tail, sizeof(tail));
+
+ BSP_UART_Transmit(BSP_UART_VOFA, vofa_tx_buf, channel_count * sizeof(float) + sizeof(tail), dma);
+}
+
+/* Exported functions ------------------------------------------------------- */
+int8_t VOFA_init(VOFA_Protocol_t protocol) {
+ current_protocol = protocol;
+ return DEVICE_OK;
+}
+
+int8_t VOFA_Send(float* channels, uint8_t channel_count, bool dma) {
+ switch (current_protocol) {
+ case VOFA_PROTOCOL_RAWDATA:
+ {
+ char data[256];
+ if (channel_count >= 1) {
+ sprintf(data, "Channel1: %.2f", channels[0]);
+ if (channel_count >= 2) {
+ sprintf(data + strlen(data), ", Channel2: %.2f", channels[1]);
+ }
+ strcat(data, "\n");
+ VOFA_RawData_Send(data, dma);
+ }
+ }
+ break;
+ case VOFA_PROTOCOL_FIREWATER:
+ VOFA_FireWater_Send(channels, channel_count, dma);
+ break;
+ case VOFA_PROTOCOL_JUSTFLOAT:
+ VOFA_JustFloat_Send(channels, channel_count, dma);
+ break;
+ default:
+ return DEVICE_ERR;
+ }
+ return DEVICE_OK;
+}
diff --git a/User/device/vofa.h b/User/device/vofa.h
new file mode 100644
index 0000000..732e9c4
--- /dev/null
+++ b/User/device/vofa.h
@@ -0,0 +1,39 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "bsp/uart.h"
+#include "device/device.h"
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+/* Exported functions prototypes -------------------------------------------- */
+
+typedef enum {
+ VOFA_PROTOCOL_RAWDATA,
+ VOFA_PROTOCOL_FIREWATER,
+ VOFA_PROTOCOL_JUSTFLOAT,
+} VOFA_Protocol_t;
+
+/**
+ * @brief 初始化VOFA设备
+ * @param protocol 设置通信协议
+ * @return
+ */
+int8_t VOFA_init(VOFA_Protocol_t protocol);
+
+/**
+ * @brief 发送数据到VOFA
+ * @param channels 要发送的通道数据
+ * @param channel_count 通道数量
+ * @param dma 是否使用DMA发送
+ * @return
+ */
+int8_t VOFA_Send(float* channels, uint8_t channel_count, bool dma);
+
+#ifdef __cplusplus
+}
+#endif
\ No newline at end of file
diff --git a/User/task/ctrl_chassis.c b/User/task/ctrl_chassis.c
index 5bc32d6..41a2f7b 100644
--- a/User/task/ctrl_chassis.c
+++ b/User/task/ctrl_chassis.c
@@ -68,7 +68,9 @@ void Task_ctrl_chassis(void *argument) {
chassis_cmd.jump_trigger = false; /* 清除触发标志 */
}
- Chassis_Control(&chassis, &chassis_cmd);
+ Chassis_Control(&chassis, &chassis_cmd);
+ osMessageQueueReset(task_runtime.msgq.chassis.vofa); // 重置消息队列，防止阻塞
+ osMessageQueuePut(task_runtime.msgq.chassis.vofa, &chassis, 0, 0);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}
diff --git a/User/task/init.c b/User/task/init.c
index 6651c54..9d045ff 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -49,8 +49,10 @@ void Task_Init(void *argument) {
task_runtime.msgq.chassis.imu = osMessageQueueNew(2u, sizeof(Chassis_IMU_t), NULL);
task_runtime.msgq.chassis.cmd = osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL);
task_runtime.msgq.chassis.yaw = osMessageQueueNew(2u, sizeof(MOTOR_Feedback_t), NULL);
+ task_runtime.msgq.chassis.vofa = osMessageQueueNew(2u, sizeof(Chassis_t), NULL);
task_runtime.msgq.gimbal.cmd = osMessageQueueNew(2u, sizeof(Gimbal_CMD_t), NULL);
task_runtime.msgq.gimbal.ai_cmd = osMessageQueueNew(2u, sizeof(Gimbal_AI_t), NULL);
+
/* USER MESSAGE END */
osKernelUnlock(); // 解锁内核
diff --git a/User/task/rc.c b/User/task/rc.c
index cc70232..e881f88 100644
--- a/User/task/rc.c
+++ b/User/task/rc.c
@@ -132,13 +132,13 @@ switch (dr16.data.sw_l) {
cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
break;
case DR16_SW_MID:
- cmd_for_chassis.mode = CHASSIS_MODE_RECOVER;
- // cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
+ // cmd_for_chassis.mode = CHASSIS_MODE_RECOVER;
+ cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
break;
case DR16_SW_DOWN:
// cmd_for_chassis.mode = CHASSIS_MODE_RECOVER;
- // cmd_for_chassis.mode = CHASSIS_MODE_BALANCE_ROTOR;
- cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
+ cmd_for_chassis.mode = CHASSIS_MODE_BALANCE_ROTOR;
+ // cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
// cmd_for_chassis.mode = CHASSIS_MODE_CALIBRATE;
break;
default:
diff --git a/User/task/user_task.h b/User/task/user_task.h
index 7ec4e92..ffe18d2 100644
--- a/User/task/user_task.h
+++ b/User/task/user_task.h
@@ -60,6 +60,7 @@ typedef struct {
osMessageQueueId_t imu;
osMessageQueueId_t cmd;
osMessageQueueId_t yaw;
+ osMessageQueueId_t vofa;
}chassis;
struct {
osMessageQueueId_t imu;
diff --git a/User/task/vofa.c b/User/task/vofa.c
index 99438a9..c9e01a3 100644
--- a/User/task/vofa.c
+++ b/User/task/vofa.c
@@ -6,7 +6,8 @@
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
-
+#include "module/balance_chassis.h"
+#include "device/vofa.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
@@ -14,7 +15,7 @@
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
-
+Chassis_t chassis_vofa;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
@@ -30,13 +31,52 @@ void Task_vofa(void *argument) {
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */
-
+ VOFA_init(VOFA_PROTOCOL_JUSTFLOAT);
/* USER CODE INIT END */
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
-
+ // 从消息队列获取chassis数据
+ if (osMessageQueueGet(task_runtime.msgq.chassis.vofa, &chassis_vofa, NULL, 0) == osOK) {
+ // 准备要发送的数据通道
+ float channels[16];
+
+ // 通道0-1: 左右腿的VMC腿长
+ channels[0] = chassis_vofa.vmc_[0].leg.L0;
+ channels[1] = chassis_vofa.vmc_[1].leg.L0;
+
+ // 通道2-3: 左右腿的VMC角度
+ channels[2] = chassis_vofa.vmc_[0].leg.theta;
+ channels[3] = chassis_vofa.vmc_[1].leg.theta;
+
+ // 通道4-6: IMU欧拉角 (pitch, roll, yaw)
+ channels[4] = chassis_vofa.feedback.imu.euler.pit;
+ channels[5] = chassis_vofa.feedback.imu.euler.rol;
+ channels[6] = chassis_vofa.feedback.imu.euler.yaw;
+
+ // 通道7-8: 左右轮速度
+ channels[7] = chassis_vofa.vmc_[0].leg.d_theta;
+ channels[8] = chassis_vofa.vmc_[0].leg.dd_theta;
+
+ // 通道9-10: 机体位置和速度
+ channels[9] = chassis_vofa.chassis_state.position_x;
+ channels[10] = chassis_vofa.chassis_state.velocity_x;
+
+ // 通道11-12: 左右腿的虚拟支撑力
+ channels[11] = chassis_vofa.vmc_[0].leg.F_virtual;
+ channels[12] = chassis_vofa.vmc_[1].leg.F_virtual;
+
+ // 通道13-14: 左右腿的虚拟摆力矩
+ channels[13] = chassis_vofa.vmc_[0].leg.T_virtual;
+ channels[14] = chassis_vofa.vmc_[1].leg.T_virtual;
+
+ // 通道15: yaw控制力矩
+ channels[15] = chassis_vofa.yaw_control.yaw_force;
+
+ // 使用JustFloat协议和DMA发送
+ VOFA_Send(channels, 16, true);
+ }
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}