From 5f06fe477bed96bd5ac7f8a8b104306afe2f21e6 Mon Sep 17 00:00:00 2001 From: Xiaocheng <2544262366@qq.com> Date: Tue, 10 Mar 2026 14:21:21 +0800 Subject: [PATCH] =?UTF-8?q?=E7=A1=AE=E8=AE=A4=E4=BA=86=E5=AF=BC=E8=88=AA?= =?UTF-8?q?=E6=96=B9=E5=90=91=EF=BC=8C=E6=B7=BB=E5=8A=A0=E4=BA=86=E8=87=AA?= =?UTF-8?q?=E7=9E=84?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Core/Inc/stm32f4xx_it.h | 1 + Core/Src/dma.c | 3 + Core/Src/stm32f4xx_it.c | 15 ++++ Core/Src/usart.c | 20 +++++ User/device/ai.c | 183 +++++++++------------------------------ User/device/ai.h | 187 +++++++++++++++++++++++++++++----------- User/device/dr16.h | 6 +- User/module/chassis.c | 13 ++- User/module/cmd.c | 4 + User/module/cmd.h | 9 +- User/module/config.c | 24 ++++-- User/module/gimbal.c | 21 +++-- User/module/gimbal.h | 12 +++ User/task/ai.c | 19 ++-- User/task/chassis.c | 9 ++ User/task/gimbal.c | 32 ++++--- User/task/init.c | 9 +- User/task/shoot.c | 45 ++++++---- User/task/user_task.h | 5 +- lll0121.ioc | 14 ++- 20 files changed, 380 insertions(+), 251 deletions(-) diff --git a/Core/Inc/stm32f4xx_it.h b/Core/Inc/stm32f4xx_it.h index f525dea..fff10f1 100644 --- a/Core/Inc/stm32f4xx_it.h +++ b/Core/Inc/stm32f4xx_it.h @@ -68,6 +68,7 @@ void CAN2_RX0_IRQHandler(void); void CAN2_RX1_IRQHandler(void); void DMA2_Stream5_IRQHandler(void); void DMA2_Stream6_IRQHandler(void); +void DMA2_Stream7_IRQHandler(void); void USART6_IRQHandler(void); /* USER CODE BEGIN EFP */ diff --git a/Core/Src/dma.c b/Core/Src/dma.c index d5169fd..61bb94a 100644 --- a/Core/Src/dma.c +++ b/Core/Src/dma.c @@ -62,6 +62,9 @@ void MX_DMA_Init(void) /* DMA2_Stream6_IRQn interrupt configuration */ HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn); + /* DMA2_Stream7_IRQn interrupt configuration */ + HAL_NVIC_SetPriority(DMA2_Stream7_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(DMA2_Stream7_IRQn); } diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c index ae4298e..b558c46 100644 --- a/Core/Src/stm32f4xx_it.c +++ b/Core/Src/stm32f4xx_it.c @@ -63,6 +63,7 @@ extern CAN_HandleTypeDef hcan2; extern DMA_HandleTypeDef hdma_spi1_rx; extern DMA_HandleTypeDef hdma_spi1_tx; extern DMA_HandleTypeDef hdma_usart1_rx; +extern DMA_HandleTypeDef hdma_usart1_tx; extern DMA_HandleTypeDef hdma_usart3_rx; extern DMA_HandleTypeDef hdma_usart6_rx; extern DMA_HandleTypeDef hdma_usart6_tx; @@ -405,6 +406,20 @@ void DMA2_Stream6_IRQHandler(void) /* USER CODE END DMA2_Stream6_IRQn 1 */ } +/** + * @brief This function handles DMA2 stream7 global interrupt. + */ +void DMA2_Stream7_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream7_IRQn 0 */ + + /* USER CODE END DMA2_Stream7_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart1_tx); + /* USER CODE BEGIN DMA2_Stream7_IRQn 1 */ + + /* USER CODE END DMA2_Stream7_IRQn 1 */ +} + /** * @brief This function handles USART6 global interrupt. */ diff --git a/Core/Src/usart.c b/Core/Src/usart.c index b992829..3dd0986 100644 --- a/Core/Src/usart.c +++ b/Core/Src/usart.c @@ -28,6 +28,7 @@ UART_HandleTypeDef huart1; UART_HandleTypeDef huart3; UART_HandleTypeDef huart6; DMA_HandleTypeDef hdma_usart1_rx; +DMA_HandleTypeDef hdma_usart1_tx; DMA_HandleTypeDef hdma_usart3_rx; DMA_HandleTypeDef hdma_usart6_rx; DMA_HandleTypeDef hdma_usart6_tx; @@ -171,6 +172,24 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart1_rx); + /* USART1_TX Init */ + hdma_usart1_tx.Instance = DMA2_Stream7; + hdma_usart1_tx.Init.Channel = DMA_CHANNEL_4; + 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 interrupt Init */ HAL_NVIC_SetPriority(USART1_IRQn, 5, 0); HAL_NVIC_EnableIRQ(USART1_IRQn); @@ -311,6 +330,7 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) /* USART1 DMA DeInit */ HAL_DMA_DeInit(uartHandle->hdmarx); + HAL_DMA_DeInit(uartHandle->hdmatx); /* USART1 interrupt Deinit */ HAL_NVIC_DisableIRQ(USART1_IRQn); diff --git a/User/device/ai.c b/User/device/ai.c index dbcf473..b689b74 100644 --- a/User/device/ai.c +++ b/User/device/ai.c @@ -4,162 +4,63 @@ #include "component/crc16.h" -int8_t AI_Init(AI_t *ai) { - if (ai == NULL) return DEVICE_ERR_NULL; -// if (inited) return DEVICE_ERR_INITED; -// if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; - - BSP_UART_RegisterCallback(BSP_UART_NUC, BSP_UART_NUC, - BSP_UART_RX_CPLT_CB); -// inited = true; - return 0; -} - - -int8_t AI_StartReceiving(AI_t *ai) { - if (BSP_UART_Receive(BSP_UART_NUC,&ai->RX,sizeof(ai->RX), true)==HAL_OK) { +int8_t AI_StartReceiving(PackageAI_t *ai) { + if (BSP_UART_Receive(BSP_UART_1,(uint8_t *)ai,sizeof(*ai), true)==HAL_OK) { return DEVICE_OK;} return DEVICE_ERR; } -int8_t AI_Get_NUC(AI_t *ai,AI_cmd_t* ai_cmd) { - if(ai->RX.head[0]!='M'&&ai->RX.head[1]!='R'){ - return DEVICE_ERR; - } -// CRC16_Calc(&ai->RX,sizeof(ai->RX),ai->RX.crc16); - if(CRC16_Verify((const uint8_t*)&(ai->RX), sizeof(ai->RX))!=true){ - return DEVICE_ERR; - } - ai_cmd->gimbal_t.setpoint.pit=ai->RX.pitch; - ai_cmd->gimbal_t.setpoint.yaw=ai->RX.yaw; - ai_cmd->mode=ai->RX.mode; - ai_cmd->gimbal_t.accl.pit=ai->RX.pitch_acc; - ai_cmd->gimbal_t.vel.pit=ai->RX.pitch_vel; - ai_cmd->gimbal_t.accl.yaw=ai->RX.yaw_acc; - ai_cmd->gimbal_t.vel.yaw=ai->RX.yaw_vel; - return DEVICE_OK; +int8_t AI_Get_NUC(PackageAI_t *ai,AI_result_t* result) { + + if(ai->id==ID_AI){ + // if(CRC16_Verify((const uint8_t*)&(ai), sizeof(&ai))==true) + // { + result->mode=ai->data.mode; + result->gimbal_t.setpoint.yaw=ai->data.yaw; + result->gimbal_t.vel.yaw=ai->data.yaw_vel; + result->gimbal_t.accl.yaw=ai->data.yaw_acc; + result->gimbal_t.setpoint.pit=ai->data.pitch; + result->gimbal_t.vel.pit=ai->data.pitch_vel; + result->gimbal_t.accl.pit=ai->data.pitch_acc; + + result->chassis_t.Vx=ai->data.vx; + result->chassis_t.Vy=ai->data.vy; + result->chassis_t.Vw=ai->data.wz; + // } + + return DEVICE_OK; + } } -int8_t AI_ParseHost(AI_t* ai,Gimbal_feedback_t* motor,AHRS_Quaternion_t* quat) { - ai->TX.head[0]='M'; - ai->TX.head[1]='R'; -// ai->TX.mode=2; +int8_t MCU_Send(PackageMCU_t* mcu,Gimbal_feedback_t* motor,AHRS_Quaternion_t* quat) { - ai->TX.pitch=motor->motor.pitch_4310_motor_feedback.rotor_abs_angle; - ai->TX.yaw=motor->motor.yaw_4310_motor_feedback.rotor_abs_angle; - ai->TX.pitch_vel=motor->motor.pitch_4310_motor_feedback.rotor_speed; - ai->TX.yaw_vel=motor->motor.yaw_4310_motor_feedback.rotor_speed; - ai->TX.q[0]=motor->imu.quat.q0; - ai->TX.q[1]=motor->imu.quat.q1; - ai->TX.q[2]=motor->imu.quat.q2; - ai->TX.q[3]=motor->imu.quat.q3; - - ai->TX.bullet_count=10; - ai->TX.bullet_speed=22; + mcu->id=ID_MCU; + mcu->data.mode=0; + mcu->data.q[0]=motor->imu.quat.q0; + mcu->data.q[1]=motor->imu.quat.q1; + mcu->data.q[2]=motor->imu.quat.q2; + mcu->data.q[3]=motor->imu.quat.q3; + mcu->data.yaw=motor->imu.eulr.yaw; + mcu->data.yaw_vel=motor->imu.gyro.z; + mcu->data.pitch=motor->imu.eulr.rol; + mcu->data.pitch_vel=motor->imu.gyro.x; + mcu->data.bullet_count=0; + mcu->data.bullet_speed=22; - ai->TX.crc16=CRC16_Calc(((const uint8_t*)&(ai->TX)),sizeof(ai->TX)-sizeof(uint16_t), CRC16_INIT ); - if(CRC16_Verify(((const uint8_t*)&(ai->TX)), sizeof(ai->TX))!=true){ + mcu->crc16=CRC16_Calc(((const uint8_t*)&(mcu)),sizeof(&mcu)-sizeof(uint16_t), CRC16_INIT ); + if(CRC16_Verify(((const uint8_t*)&(mcu)), sizeof(&mcu))!=true){ return DEVICE_ERR; } return DEVICE_OK; } -int8_t AI_StartSend(AI_t *ai) { +int8_t MCU_StartSend(PackageMCU_t *mcu) { + if(BSP_UART_Transmit(BSP_UART_1, (uint8_t *)mcu, sizeof(*mcu), true)==HAL_OK) + return DEVICE_OK; - if (BSP_UART_Transmit(BSP_UART_NUC,&ai->TX,sizeof(ai->TX), true)==HAL_OK) - return DEVICE_OK; -// else -// return DEVICE_ERR; -// } else { -// if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_AI), -// (uint8_t *)&(ai->TX), -// sizeof(ai->TX)) == HAL_OK) -// return DEVICE_OK; -// else -// return DEVICE_ERR; -// } } -// #include "ai.h" -// #include "bsp/uart.h" -// #include "component/crc16.h" - - - -// // void ai_init(AI_t* ai){ -// // ai->RX.head[0]="M"; -// // ai->RX.head[0]="R"; -// // ai->TX.head[0]="M"; -// // ai->TX.head[0]="R"; -// // } - - - - - -// int8_t AI_StartReceiving(AI_t *ai) { -// if (BSP_UART_Receive(BSP_UART_NUC,&ai->RX,sizeof(ai->RX), false)) -// return DEVICE_OK; -// return DEVICE_ERR; -// } - -// int8_t AI_Get_NUC(AI_t *ai,AI_cmd_t* ai_cmd) { -// if(ai->RX.head[0]!='M'&&ai->RX.head[1]!='R'){ -// return DEVICE_ERR; -// } -// // CRC16_Calc(&ai->RX,sizeof(ai->RX),ai->RX.crc16); -// // if(CRC16_Verify((const uint8_t*)&(ai->RX), sizeof(ai->RX.crc16))!=true){ -// // return DEVICE_ERR; -// // } -// ai_cmd->gimbal_t.setpoint.pit=ai->RX.pitch; -// ai_cmd->gimbal_t.setpoint.yaw=ai->RX.yaw; -// ai_cmd->mode=ai->RX.mode; -// ai_cmd->gimbal_t.accl.pit=ai->RX.pitch_acc; -// ai_cmd->gimbal_t.vel.pit=ai->RX.pitch_vel; -// ai_cmd->gimbal_t.accl.yaw=ai->RX.yaw_acc; -// ai_cmd->gimbal_t.vel.yaw=ai->RX.yaw_vel; -// return DEVICE_OK; -// } - - -// int8_t AI_ParseHost(AI_t *ai,Gimbal_feedback_t* motor,AHRS_Quaternion_t* quat) { - -// ai->TX.head[0]='M'; -// ai->TX.head[1]='R'; -// // ai->TX.mode=2; -// ai->TX.pitch=motor->motor.pitch_4310_motor_feedback.rotor_abs_angle; -// ai->TX.yaw=motor->motor.yaw_4310_motor_feedback.rotor_abs_angle; -// ai->TX.pitch_vel=motor->motor.pitch_4310_motor_feedback.rotor_speed; -// ai->TX.yaw_vel=motor->motor.yaw_4310_motor_feedback.rotor_speed; -// ai->TX.q[0]=motor->imu.quat.q1; -// ai->TX.q[1]=motor->imu.quat.q2; -// ai->TX.q[2]=motor->imu.quat.q3; -// ai->TX.q[3]=motor->imu.quat.q0; - -// ai->TX.bullet_count=10; -// ai->TX.bullet_speed=10; - -// ai->TX.crc16=CRC16_Calc(((const uint8_t*)&(ai->TX)),sizeof(ai->TX)-sizeof(uint16_t),ai->TX.crc16); -// if(CRC16_Verify(((const uint8_t*)&(ai->TX)), sizeof(ai->TX))!=true){ -// return DEVICE_ERR; -// } -// return DEVICE_OK; -// } - -// int8_t AI_StartSend(AI_t *ai) { -// // if (ref_update) { -// if (BSP_UART_Transmit(BSP_UART_NUC,&ai->TX,sizeof(ai->TX), false)) -// return DEVICE_OK; -// // else -// // return DEVICE_ERR; -// // } else { -// // if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_AI), -// // (uint8_t *)&(ai->TX), -// // sizeof(ai->TX)) == HAL_OK) -// // return DEVICE_OK; -// // else -// // return DEVICE_ERR; -// // } -// } + + \ No newline at end of file diff --git a/User/device/ai.h b/User/device/ai.h index acb2fa9..427e935 100644 --- a/User/device/ai.h +++ b/User/device/ai.h @@ -9,73 +9,162 @@ extern "C" { #include "component\user_math.h" #include "remote_control.h" #include "module/gimbal.h" +#include "stdint.h" +// struct __attribute__((packed)) GimbalToVision +// { +// uint8_t head[2]; +// uint8_t mode; // 0: 空闲, 1: 自瞄, 2: 小符, 3: 大符 +// float q[4]; // wxyz顺序 /q4,q0,q1,q2/ +// float yaw; +// float yaw_vel; +// float pitch; +// float pitch_vel; +// float bullet_speed; +// uint16_t bullet_count; // 子弹累计发送次数 +// uint16_t crc16; +// }; -struct __attribute__((packed)) GimbalToVision -{ - uint8_t head[2]; - uint8_t mode; // 0: 空闲, 1: 自瞄, 2: 小符, 3: 大符 - float q[4]; // wxyz顺序 /q4,q0,q1,q2/ - float yaw; - float yaw_vel; - float pitch; - float pitch_vel; - float bullet_speed; - uint16_t bullet_count; // 子弹累计发送次数 - uint16_t crc16; -}; +// struct __attribute__((packed)) VisionToGimbal +// { +// uint8_t head[2]; +// uint8_t mode; // 0: 不控制, 1: 控制云台但不开火，2: 控制云台且开火 +// float yaw; +// float yaw_vel; +// float yaw_acc; +// float pitch; +// float pitch_vel; +// float pitch_acc; +// uint16_t crc16; +// }; -struct __attribute__((packed)) VisionToGimbal +// typedef struct __attribute__((packed)) { +// uint8_t mode; +// struct{ +// // Gimbal_CMD_t g_cmd; +// struct{ +// float yaw; +// float pit; +// }setpoint; + + +// struct{ +// float pit; +// float yaw; +// }accl; +// struct{ +// float pit; +// float yaw; +// }vel; +// }gimbal_t; + +// }AI_cmd_t; + + +// typedef struct __attribute__((packed)) { +// struct GimbalToVision TX; +// struct VisionToGimbal RX; +// }AI_t; + + + + + +// 数据包 ID 定义 +#define ID_MCU (0xC4) // MCU 数据包 +#define ID_REF (0xA8) // 裁判系统数据包 +#define ID_AI (0xB5) // AI 控制数据包 + +// MCU 数据结构（MCU -> 上位机） +typedef struct __attribute__((packed)) { - uint8_t head[2]; - uint8_t mode; // 0: 不控制, 1: 控制云台但不开火，2: 控制云台且开火 - float yaw; - float yaw_vel; - float yaw_acc; - float pitch; - float pitch_vel; - float pitch_acc; - uint16_t crc16; -}; + uint8_t mode; // 0: 空闲, 1: 自瞄, 2: 小符, 3: 大符 + float q[4]; // 四元数 wxyz 顺序 + float yaw; // 偏航角 + float yaw_vel; // 偏航角速度 + float pitch; // 俯仰角 + float pitch_vel; // 俯仰角速度 + float bullet_speed; // 弹速 + uint16_t bullet_count; // 子弹累计发送次数 +} DataMCU_t; + +typedef struct __attribute__((packed)) +{ + uint8_t id; // 数据包 ID: 0xC4 + DataMCU_t data; + uint16_t crc16; +} PackageMCU_t; + +// 裁判系统数据结构 +typedef struct __attribute__((packed)) +{ + uint16_t remain_hp; // 剩余血量 + uint8_t game_progress : 4; // 比赛进度 + uint16_t stage_remain_time; // 比赛剩余时间 +} DataReferee_t; + +typedef struct __attribute__((packed)) +{ + uint8_t id; // 数据包 ID: 0xA8 + DataReferee_t data; + uint16_t crc16; +} PackageReferee_t; + +// AI 控制数据结构（上位机 -> MCU） +typedef struct __attribute__((packed)) +{ + uint8_t mode; // 0: 不控制, 1: 控制云台但不开火, 2: 控制云台且开火 + float yaw; // 目标偏航角 + float yaw_vel; // 偏航角速度 + float yaw_acc; // 偏航角加速度 + float pitch; // 目标俯仰角 + float pitch_vel; // 俯仰角速度 + float pitch_acc; // 俯仰角加速度 + float vx; // X 方向速度 + float vy; // Y 方向速度 + float wz; // Z 方向角速度 + uint8_t reserved; // 预留字段 +} DataAI_t; + +typedef struct __attribute__((packed)) +{ + uint8_t id; // 数据包 ID: 0xB5 + DataAI_t data; + uint16_t crc16; +} PackageAI_t; typedef struct __attribute__((packed)) { - uint8_t mode; + uint8_t mode; // 0: 不控制, 1: 控制云台但不开火, 2: 控制云台且开火 struct{ // Gimbal_CMD_t g_cmd; struct{ - float yaw; - float pit; + float yaw; // 目标偏航角 + float pit; // 目标俯仰角 }setpoint; - struct{ - float pit; - float yaw; + float pit; // 俯仰角加速度 + float yaw; // 偏航角加速度 }accl; struct{ - float pit; - float yaw; + float pit; // 俯仰角速度 + float yaw; // 偏航角速度 }vel; }gimbal_t; + + struct{ + float Vx; // X 方向速度 + float Vy; // Y 方向速度 + float Vw; // Z 方向角速度 + }chassis_t; -}AI_cmd_t; + uint8_t reserved; // 预留字段 +}AI_result_t; //接收到的所有数据，来自NUC -typedef struct __attribute__((packed)) { - struct GimbalToVision TX; - struct VisionToGimbal RX; -}AI_t; - - - -int8_t AI_StartReceiving(AI_t *ai) ; - -int8_t AI_Get_NUC(AI_t * ai,AI_cmd_t* ai_cmd) ; - - -int8_t AI_ParseHost(AI_t * ai,Gimbal_feedback_t* motor,AHRS_Quaternion_t* quat) ; - -int8_t AI_StartSend(AI_t *ai) ; - +int8_t MCU_Send(PackageMCU_t* mcu,Gimbal_feedback_t* motor,AHRS_Quaternion_t* quat); +int8_t MCU_StartSend(PackageMCU_t *mcu); +int8_t AI_Get_NUC(PackageAI_t *ai,AI_result_t* result); +int8_t AI_StartReceiving(PackageAI_t *ai); #ifdef __cplusplus } #endif diff --git a/User/device/dr16.h b/User/device/dr16.h index 0148f43..8c54aac 100644 --- a/User/device/dr16.h +++ b/User/device/dr16.h @@ -12,11 +12,11 @@ // /* USER INCLUDE BEGIN */ -// ///* USER INCLUDE END */ +// // ///* USER INCLUDE END */ // /* USER DEFINE BEGIN */ -// ///* USER DEFINE END */ +// // ///* USER DEFINE END */ // /* Exported constants ------------------------------------------------------- */ // /* Exported macro ----------------------------------------------------------- */ @@ -110,7 +110,7 @@ // /* USER FUNCTION BEGIN */ -// ///* USER FUNCTION END */ +// // ///* USER FUNCTION END */ // #ifdef __cplusplus // } diff --git a/User/module/chassis.c b/User/module/chassis.c index b4b135d..012a5af 100644 --- a/User/module/chassis.c +++ b/User/module/chassis.c @@ -73,7 +73,7 @@ static int8_t Chassis_SetMode(Chassis_t *c, Chassis_mode_t mode ,uint32_t now) if (mode == CHASSIS_MODE_ROTOR && c->mode != CHASSIS_MODE_ROTOR) { srand(now); - c->wz_multi =1; + c->wz_multi =0.1; // c->wz_multi = (rand() % 2) ? -1 : 1; } for (int i = 0; i < 4; i++) @@ -203,7 +203,7 @@ void Chassis_speed_calculate(Chassis_t *c, Chassis_CMD_t *c_cmd) case CHASSIS_MODE_ROTOR: case CHASSIS_MODE_FOLLOW_GIMBAL: - + case CHASSIS_MODE_DAOHANG: // const double radians = atan(1.0f * 330 / 330); @@ -397,12 +397,17 @@ int8_t Chassis_Control(Chassis_t *c, Chassis_CMD_t *c_cmd,uint32_t now) // 跟随云台模式 c->move_vec.Vx =-c_cmd->y_l; c->move_vec.Vy =-c_cmd->x_l; - c->move_vec.Vw = PID_Calc(&c->pid.chassis_follow_gimbal_pid, 0.0627f ,c->motorfeedback.gimbal_yaw_encoder.rotor_abs_angle, 0.0f, c->dt); + c->move_vec.Vw = PID_Calc(&c->pid.chassis_follow_gimbal_pid, 1.44215584f ,c->motorfeedback.gimbal_yaw_encoder.rotor_abs_angle, 0.0f, c->dt); // c->move_vec.Vw = -PID_Calc(&c->pid.chassis_follow_gimbal_pid, c->motorfeedback.gimbal_yaw_encoder-2.07694483f ,c->motorfeedback.gimbal_yaw_encoder, 0.0f, c->dt); break; - +case CHASSIS_MODE_DAOHANG: + // 导航模式 + c->move_vec.Vx = -c_cmd->Vx/10; + c->move_vec.Vy = c_cmd->Vy/10; + c->move_vec.Vw = c_cmd->Vw/10; + break; default: return CHASSIS_ERR_MODE; /* 未知模式 */ diff --git a/User/module/cmd.c b/User/module/cmd.c index a8ec393..5bd3d36 100644 --- a/User/module/cmd.c +++ b/User/module/cmd.c @@ -147,18 +147,22 @@ int8_t CMD_CtrlSet(Chassis_CMD_t *c_cmd, const CMD_RC_t *rc, Gimbal_CMD_t *g_cmd case CMD_SW_UP: g_cmd->ctrl_mode = GIMBAL_MODE_REMOTE; s_cmd->control_mode = SHOOT_REMOTE; + // c_cmd->mode = CHASSIS_MODE_FOLLOW_GIMBAL; break; case CMD_SW_MID: g_cmd->ctrl_mode = GIMBAL_MODE_AI; s_cmd->control_mode = SHOOT_AI; + // c_cmd->mode = CHASSIS_MODE_FOLLOW_GIMBAL; break; case CMD_SW_DOWN: g_cmd->ctrl_mode = GIMBAL_MODE_AI; s_cmd->control_mode = SHOOT_AI; + c_cmd->mode = CHASSIS_MODE_DAOHANG; break; case CMD_SW_ERR: g_cmd->ctrl_mode = GIMBAL_MODE_REMOTE; s_cmd->control_mode = SHOOT_REMOTE; + c_cmd->mode = CHASSIS_MODE_FOLLOW_GIMBAL; break; } diff --git a/User/module/cmd.h b/User/module/cmd.h index 71b7147..ca1f883 100644 --- a/User/module/cmd.h +++ b/User/module/cmd.h @@ -81,6 +81,7 @@ typedef enum CHASSIS_MODE_FOLLOW_GIMBAL, /* 通过闭环控制使车头方向跟随云台 */ CHASSIS_MODE_ROTOR, /* 小陀螺模式，通过闭环控制使底盘不停旋转 */ + CHASSIS_MODE_DAOHANG, /* 导航模式，底盘根据导航数据进行移动 */ } Chassis_mode_t; typedef struct @@ -118,8 +119,12 @@ typedef struct { float delta_pitch_4310; float delta_yaw_6020; GIMBAL_Ctrl_mode_t ctrl_mode; - float set_yaw; - float set_pitch; + float set_yaw; /*自瞄YAW目标值*/ + float set_pitch;/*自瞄PITCH目标值*/ + float yaw_vel; /*自瞄YAW角速度*/ + float yaw_accl; /*自瞄YAW加速度*/ + float pit_vel; /*自瞄PITCH角速度*/ + float pit_accl; /*自瞄PITCH加速度*/ } Gimbal_CMD_t; typedef enum { diff --git a/User/module/config.c b/User/module/config.c index 61b0c10..0d728d6 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -174,12 +174,22 @@ static const Config_Param_t config = { // .d_cutoff_freq = 0.0f, // .range = M_2PI - .k = 2.0f, - .p = 7.0f, - .i = 0.5f, - .d = 1.0f, + /*双环pid参数*/ + // .k = 2.0f, + // .p = 7.0f, + // .i = 0.5f, + // .d = 1.0f, + // .i_limit = 1.0f, + // .out_limit = 1.0f, + // .d_cutoff_freq = 0.0f, + // .range = M_2PI + + .k = 1.0f, + .p = 1.0f, + .i = 0.0f, + .d = 0.0f, .i_limit = 1.0f, - .out_limit = 10.0f, + .out_limit = 1.0f, .d_cutoff_freq = 0.0f, .range = M_2PI }, @@ -227,6 +237,10 @@ static const Config_Param_t config = { .low_pass_cutoff_freq={ .out = -1.0f, .gyro = 20.0f, + }, + .K_forward_pid={ + .K_vel=0.2f, + .K_accl=0.1f, } }, diff --git a/User/module/gimbal.c b/User/module/gimbal.c index 45ce13b..32db2f1 100644 --- a/User/module/gimbal.c +++ b/User/module/gimbal.c @@ -246,7 +246,7 @@ int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu){ Gimbal_SetMode(g, g_cmd->mode); /*处理小yaw轴控制命令*/ -float delta_yaw_6020 = 10.0f*g_cmd->delta_yaw_6020 * g->dt; +float delta_yaw_6020 = 20.0f*g_cmd->delta_yaw_6020 * g->dt; if(g->param->travel.yaw_6020 > 0) // 有限位才处理 { @@ -324,12 +324,18 @@ if(g_cmd->ctrl_mode == GIMBAL_MODE_REMOTE){ else if (g_cmd->ctrl_mode == GIMBAL_MODE_AI) { g->setpoint.eulr.yaw = g_cmd->set_yaw; g->setpoint.eulr.pit = g_cmd->set_pitch; + +g->setpoint.yaw_vel = g_cmd->yaw_vel; +g->setpoint.yaw_accl = g_cmd->yaw_accl; +g->setpoint.pit_vel = g_cmd->pit_vel; +g->setpoint.pit_accl = g_cmd->pit_accl; } yaw_6020_omega_set_point =PID_Calc(&g->pid.yaw_6020_angle,g->setpoint.eulr.yaw, g->feedback.imu.eulr.yaw,0.0f,g->dt); - g->out.yaw_6020 = PID_Calc(&g->pid.yaw_6020_omega,yaw_6020_omega_set_point, - g->feedback.imu.gyro.z,0.0f,g->dt); + // g->out.yaw_6020 = g->pid.yaw_6020_omega,yaw_6020_omega_set_point, + // g-PID_Calc(&>feedback.imu.gyro.z,0.0f,g->dt); + g->out.yaw_6020 = yaw_6020_omega_set_point+g->param->K_forward_pid.K_vel*g->setpoint.yaw_vel+g->param->K_forward_pid.K_accl*g->setpoint.yaw_accl; /*4310大YAW控制 这里是单环控制的，有需要加双环 */ @@ -343,8 +349,9 @@ g->setpoint.eulr.pit = g_cmd->set_pitch; /*控制云台4310电机 也是单环，但是加了重力补偿函数，可以根据不一样的情况去拟合函数*/ pitch_omega_set_point =PID_Calc(&g->pid.pitch_4310_angle,g->setpoint.eulr.pit, g->feedback.imu.eulr.rol,-g->feedback.imu.gyro.y,g->dt); - g->out.pitch_4310 = PID_Calc(&g->pid.pitch_4310_omega,8*pitch_omega_set_point, - -g->feedback.imu.gyro.y,0.0f,g->dt)+poly(g->feedback.motor.pitch_4310_motor_feedback.rotor_abs_angle); + g->out.pitch_4310 = pitch_omega_set_point+g->param->K_forward_pid.K_vel*g->setpoint.pit_vel+g->param->K_forward_pid.K_accl*g->setpoint.pit_accl+poly(g->feedback.motor.pitch_4310_motor_feedback.rotor_abs_angle); + // g->out.pitch_4310 = PID_Calc(&g->pid.pitch_4310_omega,8*pitch_omega_set_point, + // -g->feedback.imu.gyro.y,0.0f,g->dt)+poly(g->feedback.motor.pitch_4310_motor_feedback.rotor_abs_angle); // g->out.pitch_4310 = pitch_omega_set_point+poly(g->feedback.motor.pitch_4310_motor_feedback.rotor_abs_angle); @@ -384,9 +391,9 @@ void Gimbal_Output(Gimbal_t *g) MOTOR_RM_SetOutput(&g->param->yaw_6020_motor, g->out.yaw_6020); MOTOR_MIT_Output_t output_yaw_4310 = {0}; - output_yaw_4310.torque = g->out.yaw_4310 * 2.5f; + output_yaw_4310.torque = g->out.yaw_4310 * 3.0f; // output_yaw_4310.kp = 0.2f; - output_yaw_4310.kd = 0.1f; + // output_yaw_4310.kd = 0.1f; // output_yaw_4310.kd=0.1f; MOTOR_MIT_Output_t output_pitch_4310 = {0}; diff --git a/User/module/gimbal.h b/User/module/gimbal.h index 4b5a276..5869f76 100644 --- a/User/module/gimbal.h +++ b/User/module/gimbal.h @@ -65,6 +65,12 @@ extern "C" float pitch_4310; /* pitch轴4310机械限位行程 -1表示无限位*/ } travel; + struct { + float K_vel; /*前馈速度*/ + float K_accl; /*前馈加速度*/ + }K_forward_pid; + + } Gimbal_Param_t; typedef struct @@ -110,6 +116,12 @@ extern "C" AHRS_Eulr_t eulr; /* 表示云台姿态的欧拉角 */ float yaw_4310; /* 大yaw电机目标角度 */ + float yaw_vel; /*yaw自瞄角速度*/ + float yaw_accl; /*yaw自瞄加速度*/ + + float pit_vel; /*pitch自瞄角速度*/ + float pit_accl; /*pitch自瞄加速度*/ + float NUC_Pitch; /* 自瞄用pitch目标角度 */ float NUC_Yaw; /* 自瞄用yaw目标角度 */ } setpoint; diff --git a/User/task/ai.c b/User/task/ai.c index ad2b09e..ed89989 100644 --- a/User/task/ai.c +++ b/User/task/ai.c @@ -15,10 +15,12 @@ /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ /* USER STRUCT BEGIN */ -AI_t ai; -AI_cmd_t ai_cmd; +PackageAI_t ai; +PackageMCU_t mcu; +AI_result_t ai_result; AHRS_Quaternion_t quat; Gimbal_feedback_t gimbal_motor; +PackageMCU_t shoot_mcu_package; /* 新增的 ai 数据包 主要是给自瞄发送射击数量*/ /* USER STRUCT END */ /* Private function --------------------------------------------------------- */ @@ -42,14 +44,17 @@ void Task_ai(void *argument) { /* USER CODE BEGIN */ osMessageQueueGet(task_runtime.msgq.gimbal.ai.quat, &quat, NULL, 0); osMessageQueueGet(task_runtime.msgq.gimbal.ai.feedback, &gimbal_motor, NULL, 0); - AI_ParseHost(&ai,&gimbal_motor,&quat); - AI_StartSend(&ai); + osMessageQueueGet(task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count, &shoot_mcu_package, NULL, 0); + MCU_Send(&mcu,&gimbal_motor,&quat); + mcu.data.bullet_count=shoot_mcu_package.data.bullet_count; /* 从 shoot 任务获取射击数量并放入 mcu 数据包中 */ + MCU_StartSend(&mcu); AI_StartReceiving(&ai); - AI_Get_NUC(&ai,&ai_cmd); + AI_Get_NUC(&ai,&ai_result); osMessageQueueReset(task_runtime.msgq.gimbal.ai.g_cmd); - osMessageQueuePut(task_runtime.msgq.gimbal.ai.g_cmd, &ai_cmd, 0, 0); - osMessageQueuePut(task_runtime.msgq.shoot.ai.s_cmd, &ai_cmd, 0, 0); + osMessageQueuePut(task_runtime.msgq.gimbal.ai.g_cmd, &ai_result, 0, 0); + osMessageQueuePut(task_runtime.msgq.shoot.ai.s_cmd, &ai_result, 0, 0); + osMessageQueuePut(task_runtime.msgq.navi.c_cmd, &ai_result, 0, 0); /* 将 ai_result 中的射击命令布尔值发送给 shoot 任务 */ /* USER CODE END */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ } diff --git a/User/task/chassis.c b/User/task/chassis.c index 246c4ad..3b3a57a 100644 --- a/User/task/chassis.c +++ b/User/task/chassis.c @@ -4,6 +4,8 @@ */ /* Includes ----------------------------------------------------------------- */ +#include "cmsis_os2.h" +#include "device/ai.h" #include "task/user_task.h" /* USER INCLUDE BEGIN */ #include "module/chassis.h" @@ -17,6 +19,7 @@ /* USER STRUCT BEGIN */ Chassis_t chassis; Chassis_CMD_t cmd_chassis; +AI_result_t c_cmd_ai_result; /* 新增的 ai 结果变量 主要是给底盘接收自瞄相关的命令*/ /* USER STRUCT END */ /* Private function --------------------------------------------------------- */ @@ -41,11 +44,17 @@ chassis_init(&chassis,&Config_GetRobotParam()->chassis,CHASSIS_FREQ); tick += delay_tick; /* 计算下一个唤醒时刻 */ /* USER CODE BEGIN */ +osMessageQueueGet(task_runtime.msgq.navi.c_cmd, &c_cmd_ai_result, NULL, 0); osMessageQueueGet(task_runtime.msgq.gimbal.yaw6020,&chassis.motorfeedback.gimbal_yaw_encoder,NULL,0); /*接受cmd任务数据*/ if(osMessageQueueGet(task_runtime.msgq.chassis.cmd, &cmd_chassis, NULL, 0)==osOK) { + if(cmd_chassis.mode == CHASSIS_MODE_DAOHANG){ + cmd_chassis.Vx = c_cmd_ai_result.chassis_t.Vx; + cmd_chassis.Vy = c_cmd_ai_result.chassis_t.Vy; + cmd_chassis.Vw = c_cmd_ai_result.chassis_t.Vw; + } Chassis_update(&chassis); Chassis_Control(&chassis, &cmd_chassis,tick); }else diff --git a/User/task/gimbal.c b/User/task/gimbal.c index fc0905b..0d3db23 100644 --- a/User/task/gimbal.c +++ b/User/task/gimbal.c @@ -16,10 +16,10 @@ /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ /* USER STRUCT BEGIN */ -Gimbal_CMD_t cmd_gimbal; //遥控器 +Gimbal_CMD_t cmd_gimbal; //cmd命令关于云台 Gimbal_IMU_t gimbal_imu; Gimbal_t gimbal; -AI_cmd_t ai_gimbal_cmd; +AI_result_t ai_gimbal_result_cmd; /*ai发送自瞄数据和 导航数据*/ Gimbal_CMD_t final_gimbal_cmd; //最终命令 @@ -47,10 +47,10 @@ void Task_gimbal(void *argument) { osMessageQueueGet(task_runtime.msgq.gimbal.imu, &gimbal_imu,NULL, 0); Gimbal_UpdateIMU(&gimbal, &gimbal_imu); -osMessageQueueGet(task_runtime.msgq.gimbal.ai.g_cmd,&ai_gimbal_cmd,NULL, 0); +osMessageQueueGet(task_runtime.msgq.gimbal.ai.g_cmd,&ai_gimbal_result_cmd,NULL, 0); /* ai指令 */ - // if(osMessageQueueGet(task_runtime.msgq.gimbal.ai.g_cmd, &ai_gimbal_cmd, NULL, 0)==osOK){ - // if(ai_gimbal_cmd.mode==0){ + // if(osMessageQueueGet(task_runtime.msgq.gimbal.ai.g_cmd, &ai_gimbal_result_cmd, NULL, 0)==osOK){ + // if(ai_gimbal_result_cmd.mode==0){ // final_gimbal_cmd.set_pitch =gimbal_imu.eulr.rol; // final_gimbal_cmd.set_yaw=gimbal_imu.eulr.yaw; // } @@ -64,18 +64,26 @@ osMessageQueueGet(task_runtime.msgq.gimbal.ai.g_cmd,&ai_gimbal_cmd,NULL, 0); osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &cmd_gimbal, NULL, 0); -if(ai_gimbal_cmd.mode==0){ +if(ai_gimbal_result_cmd.mode==0){ cmd_gimbal.set_pitch =gimbal_imu.eulr.pit; cmd_gimbal.set_yaw=gimbal_imu.eulr.yaw; } - if(ai_gimbal_cmd.mode==1) + if(ai_gimbal_result_cmd.mode==1) { - cmd_gimbal.set_pitch=ai_gimbal_cmd.gimbal_t.setpoint.pit; - cmd_gimbal.set_yaw=ai_gimbal_cmd.gimbal_t.setpoint.yaw; + cmd_gimbal.set_pitch=ai_gimbal_result_cmd.gimbal_t.setpoint.pit; + cmd_gimbal.set_yaw=ai_gimbal_result_cmd.gimbal_t.setpoint.yaw; + cmd_gimbal.yaw_vel=ai_gimbal_result_cmd.gimbal_t.vel.yaw; + cmd_gimbal.yaw_accl=ai_gimbal_result_cmd.gimbal_t.accl.yaw; + cmd_gimbal.pit_vel=ai_gimbal_result_cmd.gimbal_t.vel.pit; + cmd_gimbal.pit_accl=ai_gimbal_result_cmd.gimbal_t.accl.pit; } - if(ai_gimbal_cmd.mode==2){ - cmd_gimbal.set_pitch=ai_gimbal_cmd.gimbal_t.setpoint.pit; - cmd_gimbal.set_yaw=ai_gimbal_cmd.gimbal_t.setpoint.yaw; + if(ai_gimbal_result_cmd.mode==2){ + cmd_gimbal.set_pitch=ai_gimbal_result_cmd.gimbal_t.setpoint.pit; + cmd_gimbal.set_yaw=ai_gimbal_result_cmd.gimbal_t.setpoint.yaw; + cmd_gimbal.yaw_vel=ai_gimbal_result_cmd.gimbal_t.vel.yaw; + cmd_gimbal.yaw_accl=ai_gimbal_result_cmd.gimbal_t.accl.yaw; + cmd_gimbal.pit_vel=ai_gimbal_result_cmd.gimbal_t.vel.pit; + cmd_gimbal.pit_accl=ai_gimbal_result_cmd.gimbal_t.accl.pit; } Gimbal_UpdateFeedback(&gimbal); diff --git a/User/task/init.c b/User/task/init.c index e1d7c02..72759cc 100644 --- a/User/task/init.c +++ b/User/task/init.c @@ -37,7 +37,7 @@ void Task_Init(void *argument) { task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd); task_runtime.thread.gimbal = osThreadNew(Task_gimbal, NULL, &attr_gimbal); task_runtime.thread.shoot = osThreadNew(Task_shoot, NULL, &attr_shoot); - // task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai); + task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai); // task_runtime.thread.Task8 = osThreadNew(Task_Task8, NULL, &attr_Task8); // 创建消息队列 @@ -53,9 +53,10 @@ void Task_Init(void *argument) { task_runtime.msgq.gimbal.yaw6020 = osMessageQueueNew(2u, sizeof(MOTOR_Feedback_t), NULL); task_runtime.msgq.shoot.cmd = osMessageQueueNew(2u, sizeof(Shoot_CMD_t),NULL); task_runtime.msgq.gimbal.ai.feedback = osMessageQueueNew(2u, sizeof(Gimbal_feedback_t),NULL); - task_runtime.msgq.gimbal.ai.g_cmd = osMessageQueueNew(2u, sizeof(AI_cmd_t),NULL); - task_runtime.msgq.shoot.ai.s_cmd = osMessageQueueNew(2u, sizeof(AI_cmd_t),NULL); - + task_runtime.msgq.gimbal.ai.g_cmd = osMessageQueueNew(2u, sizeof(AI_result_t),NULL); + task_runtime.msgq.shoot.ai.s_cmd = osMessageQueueNew(2u, sizeof(AI_result_t),NULL); + task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count = osMessageQueueNew(2u, sizeof(PackageMCU_t),NULL); + task_runtime.msgq.navi.c_cmd = osMessageQueueNew(2u, sizeof(AI_result_t),NULL); /* 新增的 ai 消息队列 主要是给底盘发送导航相关的命令*/ /* USER MESSAGE END */ osKernelUnlock(); // 解锁内核 diff --git a/User/task/shoot.c b/User/task/shoot.c index 6c1b42f..839aaa2 100644 --- a/User/task/shoot.c +++ b/User/task/shoot.c @@ -4,6 +4,7 @@ */ /* Includes ----------------------------------------------------------------- */ +#include "cmsis_os2.h" #include "module/cmd.h" #include "task/user_task.h" /* USER INCLUDE BEGIN */ @@ -19,7 +20,9 @@ /* USER STRUCT BEGIN */ Shoot_t shoot; Shoot_CMD_t shoot_cmd; -AI_cmd_t shoot_ai_cmd; +AI_result_t shoot_ai_result_cmd; +PackageMCU_t shoot_ai_mcu_package; + /* USER STRUCT END */ /* Private function --------------------------------------------------------- */ @@ -34,43 +37,55 @@ void Task_shoot(void *argument) { osDelay(SHOOT_INIT_DELAY); /* 延时一段时间再开启任务 */ uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ - /* USER CODE INIT BEGIN */ +/* USER CODE INIT BEGIN */ Shoot_Init(&shoot,&Config_GetRobotParam()->shoot,SHOOT_FREQ); Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE); - - /* USER CODE INIT END */ +shoot_ai_mcu_package.data.bullet_count = 0; +static bool last_fire_state = false; +bool current_fire_state = false; // 当前是否需要发射 +/* USER CODE INIT END */ while (1) { tick += delay_tick; /* 计算下一个唤醒时刻 */ /* USER CODE BEGIN */ osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0); -osMessageQueueGet(task_runtime.msgq.shoot.ai.s_cmd, &shoot_ai_cmd, NULL, 0); +osMessageQueueGet(task_runtime.msgq.shoot.ai.s_cmd, &shoot_ai_result_cmd, NULL, 0); -// if(shoot_cmd.control_mode==SHOOT_REMOTE) -// { -// //do nothing，使用遥控器的指令 -// } -// else if(shoot_cmd.control_mode==SHOOT_AI) -// { +if(shoot_cmd.control_mode==SHOOT_REMOTE) +{ + //do nothing，使用遥控器的指令 + current_fire_state = shoot_cmd.firecmd; +} +else if(shoot_cmd.control_mode==SHOOT_AI) +{ // shoot_cmd.mode = SHOOT_MODE_SINGLE; -// if(shoot_ai_cmd.mode==0 || shoot_ai_cmd.mode==1) +// if(shoot_ai_result_cmd.mode==0 || shoot_ai_result_cmd.mode==1) // { // shoot_cmd.firecmd=false; // shoot_cmd.ready=true; // } -// else if(shoot_ai_cmd.mode==2) +// else if(shoot_ai_result_cmd.mode==2) // { - // shoot_cmd.firecmd=true; // shoot_cmd.ready=true; +// current_fire_state = true; // } -// } +current_fire_state = shoot_cmd.firecmd; + } + + if(current_fire_state == true && last_fire_state == false) + { + shoot_ai_mcu_package.data.bullet_count++; /* 每次射击时增加射击数量 */ + } +last_fire_state = current_fire_state; Shoot_UpdateFeedback(&shoot); Shoot_SetMode(&shoot,shoot_cmd.mode); Shoot_Control(&shoot,&shoot_cmd); + osMessageQueueReset(task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count); + osMessageQueuePut(task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count, &shoot_ai_mcu_package, 0, 0); /* USER CODE END */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ } diff --git a/User/task/user_task.h b/User/task/user_task.h index 0042238..41dae32 100644 --- a/User/task/user_task.h +++ b/User/task/user_task.h @@ -102,9 +102,12 @@ typedef struct { struct{ osMessageQueueId_t s_cmd; + osMessageQueueId_t s_cmd_ai_bool_count; /* 新增的 ai 消息队列 主要是给自瞄发送射击数量*/ }ai; }shoot; - +struct{ + osMessageQueueId_t c_cmd; /* 新增的 ai 消息队列 主要是给底盘发送自瞄相关的命令*/ +}navi; } msgq; /* USER MESSAGE END */ diff --git a/lll0121.ioc b/lll0121.ioc index 7230e34..2031ce6 100644 --- a/lll0121.ioc +++ b/lll0121.ioc @@ -24,7 +24,8 @@ Dma.Request2=USART3_RX Dma.Request3=USART6_RX Dma.Request4=USART6_TX Dma.Request5=USART1_RX -Dma.RequestsNb=6 +Dma.Request6=USART1_TX +Dma.RequestsNb=7 Dma.SPI1_RX.0.Direction=DMA_PERIPH_TO_MEMORY Dma.SPI1_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE Dma.SPI1_RX.0.Instance=DMA2_Stream2 @@ -55,6 +56,16 @@ Dma.USART1_RX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE Dma.USART1_RX.5.PeriphInc=DMA_PINC_DISABLE Dma.USART1_RX.5.Priority=DMA_PRIORITY_VERY_HIGH Dma.USART1_RX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode +Dma.USART1_TX.6.Direction=DMA_MEMORY_TO_PERIPH +Dma.USART1_TX.6.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART1_TX.6.Instance=DMA2_Stream7 +Dma.USART1_TX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART1_TX.6.MemInc=DMA_MINC_ENABLE +Dma.USART1_TX.6.Mode=DMA_NORMAL +Dma.USART1_TX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART1_TX.6.PeriphInc=DMA_PINC_DISABLE +Dma.USART1_TX.6.Priority=DMA_PRIORITY_LOW +Dma.USART1_TX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode Dma.USART3_RX.2.Direction=DMA_PERIPH_TO_MEMORY Dma.USART3_RX.2.FIFOMode=DMA_FIFOMODE_DISABLE Dma.USART3_RX.2.Instance=DMA1_Stream1 @@ -154,6 +165,7 @@ 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\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA2_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA2_Stream7_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.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