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Xiaocheng 2026-01-24 01:37:21 +08:00
parent 9046555dc8
commit a05a69cba5
16 changed files with 306 additions and 255 deletions
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1
Core/Src/stm32f4xx_it.c
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@ -287,6 +287,7 @@ void USART1_IRQHandler(void)
/* USER CODE END USART1_IRQn 0 */ /* USER CODE END USART1_IRQn 0 */
HAL_UART_IRQHandler(&huart1); HAL_UART_IRQHandler(&huart1);
/* USER CODE BEGIN USART1_IRQn 1 */ /* USER CODE BEGIN USART1_IRQn 1 */
BSP_UART_IRQHandler(&huart1);
/* USER CODE END USART1_IRQn 1 */ /* USER CODE END USART1_IRQn 1 */
} }

2
User/bsp/bsp_config.yaml
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@ -72,4 +72,6 @@ uart:
name: DR16 name: DR16
- instance: USART6 - instance: USART6
name: NUC name: NUC
- instance: USART1
name: '1'
enabled: true enabled: true

24
User/bsp/gpio.c
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@ -73,14 +73,20 @@ int8_t BSP_GPIO_RegisterCallback(BSP_GPIO_t gpio, void (*callback)(void)) {
int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio) { int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio) {
switch (gpio) { switch (gpio) {
case BSP_GPIO_KEY: case BSP_GPIO_KEY:
#if defined(KEY_EXTI_IRQn)
HAL_NVIC_EnableIRQ(KEY_EXTI_IRQn); HAL_NVIC_EnableIRQ(KEY_EXTI_IRQn);
break; #endif
return BSP_OK;
case BSP_GPIO_ACCL_INT: case BSP_GPIO_ACCL_INT:
#if defined(ACCL_INT_EXTI_IRQn)
HAL_NVIC_EnableIRQ(ACCL_INT_EXTI_IRQn); HAL_NVIC_EnableIRQ(ACCL_INT_EXTI_IRQn);
break; #endif
return BSP_OK;
case BSP_GPIO_GYRO_INT: case BSP_GPIO_GYRO_INT:
#if defined(GYRO_INT_EXTI_IRQn)
HAL_NVIC_EnableIRQ(GYRO_INT_EXTI_IRQn); HAL_NVIC_EnableIRQ(GYRO_INT_EXTI_IRQn);
break; #endif
return BSP_OK;
default: default:
return BSP_ERR; return BSP_ERR;
} }
@ -90,14 +96,20 @@ int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio) {
int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio) { int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio) {
switch (gpio) { switch (gpio) {
case BSP_GPIO_KEY: case BSP_GPIO_KEY:
#if defined(KEY_EXTI_IRQn)
HAL_NVIC_DisableIRQ(KEY_EXTI_IRQn); HAL_NVIC_DisableIRQ(KEY_EXTI_IRQn);
break; #endif
return BSP_OK;
case BSP_GPIO_ACCL_INT: case BSP_GPIO_ACCL_INT:
#if defined(ACCL_INT_EXTI_IRQn)
HAL_NVIC_DisableIRQ(ACCL_INT_EXTI_IRQn); HAL_NVIC_DisableIRQ(ACCL_INT_EXTI_IRQn);
break; #endif
return BSP_OK;
case BSP_GPIO_GYRO_INT: case BSP_GPIO_GYRO_INT:
#if defined(GYRO_INT_EXTI_IRQn)
HAL_NVIC_DisableIRQ(GYRO_INT_EXTI_IRQn); HAL_NVIC_DisableIRQ(GYRO_INT_EXTI_IRQn);
break; #endif
return BSP_OK;
default: default:
return BSP_ERR; return BSP_ERR;
} }

4
User/bsp/uart.c
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@ -27,6 +27,8 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
return BSP_UART_DR16; return BSP_UART_DR16;
else if (huart->Instance == USART6) else if (huart->Instance == USART6)
return BSP_UART_NUC; return BSP_UART_NUC;
else if (huart->Instance == USART1)
return BSP_UART_1;
else else
return BSP_UART_ERR; return BSP_UART_ERR;
} }
@ -119,6 +121,8 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
return &huart3; return &huart3;
case BSP_UART_NUC: case BSP_UART_NUC:
return &huart6; return &huart6;
case BSP_UART_1:
return &huart1;
default: default:
return NULL; return NULL;
} }

1
User/bsp/uart.h
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@ -29,6 +29,7 @@ extern "C" {
typedef enum { typedef enum {
BSP_UART_DR16, BSP_UART_DR16,
BSP_UART_NUC, BSP_UART_NUC,
BSP_UART_1,
BSP_UART_NUM, BSP_UART_NUM,
BSP_UART_ERR, BSP_UART_ERR,
} BSP_UART_t; } BSP_UART_t;

16
User/component/user_math.c
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@ -12,14 +12,14 @@ inline float InvSqrt(float x) {
//#if 0 //#if 0
/* Fast inverse square-root */ /* Fast inverse square-root */
/* See: http://en.wikipedia.org/wiki/Fast_inverse_square_root */ /* See: http://en.wikipedia.org/wiki/Fast_inverse_square_root */
float halfx = 0.5f * x; float halfx = 0.5f * x;
float y = x; float y = x;
long i = *(long*)&y; long i = *(long*)&y;
i = 0x5f3759df - (i>>1); i = 0x5f3759df - (i>>1);
y = *(float*)&i; y = *(float*)&i;
y = y * (1.5f - (halfx * y * y)); y = y * (1.5f - (halfx * y * y));
y = y * (1.5f - (halfx * y * y)); y = y * (1.5f - (halfx * y * y));
return y; return y;
//#else //#else
// return 1.0f / sqrtf(x); // return 1.0f / sqrtf(x);
//#endif //#endif

258
User/device/dr16.c
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@ -1,169 +1,169 @@
///* // /*
// DR16接收机 // DR16接收机
// Example： // Example：
// DR16_Init(&dr16); // DR16_Init(&dr16);
//
// while (1) { // while (1) {
// DR16_StartDmaRecv(&dr16); // DR16_StartDmaRecv(&dr16);
// if (DR16_WaitDmaCplt(20)) { // if (DR16_WaitDmaCplt(20)) {
// DR16_ParseData(&dr16); // DR16_ParseData(&dr16);
// } else { // } else {
// DR16_Offline(&dr16); // DR16_Offline(&dr16);
// } // }
//} // }
//*/ // */
///* Includes ----------------------------------------------------------------- */ // /* Includes ----------------------------------------------------------------- */
//#include "dr16.h" // #include "dr16.h"
//#include "bsp/uart.h" // #include "bsp/uart.h"
//#include "bsp/time.h" // #include "bsp/time.h"
//#include "device.h" // #include "device.h"
//#include <string.h> // #include <string.h>
//#include <stdbool.h> // #include <stdbool.h>
///* USER INCLUDE BEGIN */ // /* USER INCLUDE BEGIN */
///* USER INCLUDE END */ // /* USER INCLUDE END */
///* Private define ----------------------------------------------------------- */ // /* Private define ----------------------------------------------------------- */
//#define DR16_CH_VALUE_MIN (364u) // #define DR16_CH_VALUE_MIN (364u)
//#define DR16_CH_VALUE_MID (1024u) // #define DR16_CH_VALUE_MID (1024u)
//#define DR16_CH_VALUE_MAX (1684u) // #define DR16_CH_VALUE_MAX (1684u)
///* USER DEFINE BEGIN */ // /* USER DEFINE BEGIN */
///* USER DEFINE END */ // /* USER DEFINE END */
///* Private macro ------------------------------------------------------------ */ // /* Private macro ------------------------------------------------------------ */
///* Private typedef ---------------------------------------------------------- */ // /* Private typedef ---------------------------------------------------------- */
///* Private variables -------------------------------------------------------- */ // /* Private variables -------------------------------------------------------- */
//static osThreadId_t thread_alert; // static osThreadId_t thread_alert;
//static bool inited = false; // static bool inited = false;
///* Private function -------------------------------------------------------- */ // /* Private function -------------------------------------------------------- */
//static void DR16_RxCpltCallback(void) { // static void DR16_RxCpltCallback(void) {
// osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY); // osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
//} // }
//static bool DR16_DataCorrupted(const DR16_t *dr16) { // static bool DR16_DataCorrupted(const DR16_t *dr16) {
// if (dr16 == NULL) return DEVICE_ERR_NULL; // if (dr16 == NULL) return DEVICE_ERR_NULL;
// if ((dr16->raw_data.ch_r_x < DR16_CH_VALUE_MIN) || // if ((dr16->raw_data.ch_r_x < DR16_CH_VALUE_MIN) ||
// (dr16->raw_data.ch_r_x > DR16_CH_VALUE_MAX)) // (dr16->raw_data.ch_r_x > DR16_CH_VALUE_MAX))
// return DEVICE_ERR; // return DEVICE_ERR;
// if ((dr16->raw_data.ch_r_y < DR16_CH_VALUE_MIN) || // if ((dr16->raw_data.ch_r_y < DR16_CH_VALUE_MIN) ||
// (dr16->raw_data.ch_r_y > DR16_CH_VALUE_MAX)) // (dr16->raw_data.ch_r_y > DR16_CH_VALUE_MAX))
// return DEVICE_ERR; // return DEVICE_ERR;
// if ((dr16->raw_data.ch_l_x < DR16_CH_VALUE_MIN) || // if ((dr16->raw_data.ch_l_x < DR16_CH_VALUE_MIN) ||
// (dr16->raw_data.ch_l_x > DR16_CH_VALUE_MAX)) // (dr16->raw_data.ch_l_x > DR16_CH_VALUE_MAX))
// return DEVICE_ERR; // return DEVICE_ERR;
// if ((dr16->raw_data.ch_l_y < DR16_CH_VALUE_MIN) || // if ((dr16->raw_data.ch_l_y < DR16_CH_VALUE_MIN) ||
// (dr16->raw_data.ch_l_y > DR16_CH_VALUE_MAX)) // (dr16->raw_data.ch_l_y > DR16_CH_VALUE_MAX))
// return DEVICE_ERR; // return DEVICE_ERR;
// if (dr16->raw_data.sw_l == 0) return DEVICE_ERR; // if (dr16->raw_data.sw_l == 0) return DEVICE_ERR;
// if (dr16->raw_data.sw_r == 0) return DEVICE_ERR; // if (dr16->raw_data.sw_r == 0) return DEVICE_ERR;
// return DEVICE_OK; // return DEVICE_OK;
//} // }
///* Exported functions ------------------------------------------------------- */ // /* Exported functions ------------------------------------------------------- */
//int8_t DR16_Init(DR16_t *dr16) { // int8_t DR16_Init(DR16_t *dr16) {
// if (dr16 == NULL) return DEVICE_ERR_NULL; // if (dr16 == NULL) return DEVICE_ERR_NULL;
// if (inited) return DEVICE_ERR_INITED; // if (inited) return DEVICE_ERR_INITED;
// if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; // if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
// BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_RX_CPLT_CB, // BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_RX_CPLT_CB,
// DR16_RxCpltCallback); // DR16_RxCpltCallback);
// inited = true; // inited = true;
// return DEVICE_OK; // return DEVICE_OK;
//} // }
//int8_t DR16_Restart(void) { // int8_t DR16_Restart(void) {
// __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_DR16)); // __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_DR16));
// __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_DR16)); // __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_DR16));
// return DEVICE_OK; // return DEVICE_OK;
//} // }
//int8_t DR16_StartDmaRecv(DR16_t *dr16) { // int8_t DR16_StartDmaRecv(DR16_t *dr16) {
// if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16), // if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16),
// (uint8_t *)&(dr16->raw_data), // (uint8_t *)&(dr16->raw_data),
// sizeof(dr16->raw_data)) == HAL_OK) // sizeof(dr16->raw_data)) == HAL_OK)
// return DEVICE_OK; // return DEVICE_OK;
// return DEVICE_ERR; // return DEVICE_ERR;
//} // }
//bool DR16_WaitDmaCplt(uint32_t timeout) { // bool DR16_WaitDmaCplt(uint32_t timeout) {
// return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) == // return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) ==
// SIGNAL_DR16_RAW_REDY); // SIGNAL_DR16_RAW_REDY);
//} // }
//int8_t DR16_ParseData(DR16_t *dr16){ // int8_t DR16_ParseData(DR16_t *dr16){
// if (dr16 == NULL) return DEVICE_ERR_NULL; // if (dr16 == NULL) return DEVICE_ERR_NULL;
// if (DR16_DataCorrupted(dr16)) { // if (DR16_DataCorrupted(dr16)) {
// return DEVICE_ERR; // return DEVICE_ERR;
// } // }
// dr16->header.online = true; // dr16->header.online = true;
// dr16->header.last_online_time = BSP_TIME_Get_us(); // dr16->header.last_online_time = BSP_TIME_Get_us();
//
// memset(&(dr16->data), 0, sizeof(dr16->data)); // memset(&(dr16->data), 0, sizeof(dr16->data));
// float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN); // float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN);
// // 解析摇杆数据 // // 解析摇杆数据
// dr16->data.ch_r_x = 2.0f * ((float)dr16->raw_data.ch_r_x - DR16_CH_VALUE_MID) / full_range; // dr16->data.ch_r_x = 2.0f * ((float)dr16->raw_data.ch_r_x - DR16_CH_VALUE_MID) / full_range;
// dr16->data.ch_r_y = 2.0f * ((float)dr16->raw_data.ch_r_y - DR16_CH_VALUE_MID) / full_range; // dr16->data.ch_r_y = 2.0f * ((float)dr16->raw_data.ch_r_y - DR16_CH_VALUE_MID) / full_range;
// dr16->data.ch_l_x = 2.0f * ((float)dr16->raw_data.ch_l_x - DR16_CH_VALUE_MID) / full_range; // dr16->data.ch_l_x = 2.0f * ((float)dr16->raw_data.ch_l_x - DR16_CH_VALUE_MID) / full_range;
// dr16->data.ch_l_y = 2.0f * ((float)dr16->raw_data.ch_l_y - DR16_CH_VALUE_MID) / full_range; // dr16->data.ch_l_y = 2.0f * ((float)dr16->raw_data.ch_l_y - DR16_CH_VALUE_MID) / full_range;
// // 解析拨杆位置 // // 解析拨杆位置
// dr16->data.sw_l = (DR16_SwitchPos_t)dr16->raw_data.sw_l; // dr16->data.sw_l = (DR16_SwitchPos_t)dr16->raw_data.sw_l;
// dr16->data.sw_r = (DR16_SwitchPos_t)dr16->raw_data.sw_r; // dr16->data.sw_r = (DR16_SwitchPos_t)dr16->raw_data.sw_r;
// // 解析鼠标数据 // // 解析鼠标数据
// dr16->data.mouse.x = dr16->raw_data.x; // dr16->data.mouse.x = dr16->raw_data.x;
// dr16->data.mouse.y = dr16->raw_data.y; // dr16->data.mouse.y = dr16->raw_data.y;
// dr16->data.mouse.z = dr16->raw_data.z; // dr16->data.mouse.z = dr16->raw_data.z;
// dr16->data.mouse.l_click = dr16->raw_data.press_l; // dr16->data.mouse.l_click = dr16->raw_data.press_l;
// dr16->data.mouse.r_click = dr16->raw_data.press_r; // dr16->data.mouse.r_click = dr16->raw_data.press_r;
// // 解析键盘按键 - 使用union简化代码 // // 解析键盘按键 - 使用union简化代码
// uint16_t key_value = dr16->raw_data.key; // uint16_t key_value = dr16->raw_data.key;
//
// // 解析键盘位映射（W-B键，位0-15） // // 解析键盘位映射（W-B键，位0-15）
// for (int i = DR16_KEY_W; i <= DR16_KEY_B; i++) { // for (int i = DR16_KEY_W; i <= DR16_KEY_B; i++) {
// dr16->data.keyboard.key[i] = (key_value & (1 << i)) != 0; // dr16->data.keyboard.key[i] = (key_value & (1 << i)) != 0;
// } // }
// // 解析鼠标点击 // // 解析鼠标点击
// dr16->data.keyboard.key[DR16_L_CLICK] = dr16->data.mouse.l_click; // dr16->data.keyboard.key[DR16_L_CLICK] = dr16->data.mouse.l_click;
// dr16->data.keyboard.key[DR16_R_CLICK] = dr16->data.mouse.r_click; // dr16->data.keyboard.key[DR16_R_CLICK] = dr16->data.mouse.r_click;
// // 解析第五通道 // // 解析第五通道
// dr16->data.ch_res = 2.0f * ((float)dr16->raw_data.res - DR16_CH_VALUE_MID) / full_range; // dr16->data.ch_res = 2.0f * ((float)dr16->raw_data.res - DR16_CH_VALUE_MID) / full_range;
//
// return DEVICE_OK; // return DEVICE_OK;
//} // }
//int8_t DR16_Offline(DR16_t *dr16){ // int8_t DR16_Offline(DR16_t *dr16){
// if (dr16 == NULL) return DEVICE_ERR_NULL; // if (dr16 == NULL) return DEVICE_ERR_NULL;
// dr16->header.online = false; // dr16->header.online = false;
// memset(&(dr16->data), 0, sizeof(dr16->data)); // memset(&(dr16->data), 0, sizeof(dr16->data));
// return DEVICE_OK; // return DEVICE_OK;
//} // }
///* USER FUNCTION BEGIN */ // /* USER FUNCTION BEGIN */
///* USER FUNCTION END */ // /* USER FUNCTION END */

192
User/device/dr16.h
View File

@ -1,117 +1,117 @@
//#pragma once // #pragma once
//#ifdef __cplusplus // #ifdef __cplusplus
//extern "C" { // extern "C" {
//#endif // #endif
///* Includes ----------------------------------------------------------------- */ // /* Includes ----------------------------------------------------------------- */
//#include <cmsis_os2.h> // #include <cmsis_os2.h>
//#include "component/user_math.h" // #include "component/user_math.h"
//#include "device.h" // #include "device.h"
///* USER INCLUDE BEGIN */ // /* USER INCLUDE BEGIN */
///* USER INCLUDE END */ // ///* USER INCLUDE END */
///* USER DEFINE BEGIN */ // /* USER DEFINE BEGIN */
///* USER DEFINE END */ // ///* USER DEFINE END */
///* Exported constants ------------------------------------------------------- */ // /* Exported constants ------------------------------------------------------- */
///* Exported macro ----------------------------------------------------------- */ // /* Exported macro ----------------------------------------------------------- */
///* Exported types ----------------------------------------------------------- */ // /* Exported types ----------------------------------------------------------- */
//typedef struct __packed { // typedef struct __packed {
// uint16_t ch_r_x : 11; // uint16_t ch_r_x : 11;
// uint16_t ch_r_y : 11; // uint16_t ch_r_y : 11;
// uint16_t ch_l_x : 11; // uint16_t ch_l_x : 11;
// uint16_t ch_l_y : 11; // uint16_t ch_l_y : 11;
// uint8_t sw_r : 2; // uint8_t sw_r : 2;
// uint8_t sw_l : 2; // uint8_t sw_l : 2;
// int16_t x; // int16_t x;
// int16_t y; // int16_t y;
// int16_t z; // int16_t z;
// uint8_t press_l; // uint8_t press_l;
// uint8_t press_r; // uint8_t press_r;
// uint16_t key; // uint16_t key;
// uint16_t res; // uint16_t res;
//} DR16_RawData_t; // } DR16_RawData_t;
//typedef enum { // typedef enum {
// DR16_SW_ERR = 0, // DR16_SW_ERR = 0,
// DR16_SW_UP = 1, // DR16_SW_UP = 1,
// DR16_SW_MID = 3, // DR16_SW_MID = 3,
// DR16_SW_DOWN = 2, // DR16_SW_DOWN = 2,
//} DR16_SwitchPos_t; // } DR16_SwitchPos_t;
///* 键盘按键值 */ // /* 键盘按键值 */
//typedef enum { // typedef enum {
// DR16_KEY_W = 0, // DR16_KEY_W = 0,
// DR16_KEY_S, // DR16_KEY_S,
// DR16_KEY_A, // DR16_KEY_A,
// DR16_KEY_D, // DR16_KEY_D,
// DR16_KEY_SHIFT, // DR16_KEY_SHIFT,
// DR16_KEY_CTRL, // DR16_KEY_CTRL,
// DR16_KEY_Q, // DR16_KEY_Q,
// DR16_KEY_E, // DR16_KEY_E,
// DR16_KEY_R, // DR16_KEY_R,
// DR16_KEY_F, // DR16_KEY_F,
// DR16_KEY_G, // DR16_KEY_G,
// DR16_KEY_Z, // DR16_KEY_Z,
// DR16_KEY_X, // DR16_KEY_X,
// DR16_KEY_C, // DR16_KEY_C,
// DR16_KEY_V, // DR16_KEY_V,
// DR16_KEY_B, // DR16_KEY_B,
// DR16_L_CLICK, // DR16_L_CLICK,
// DR16_R_CLICK, // DR16_R_CLICK,
// DR16_KEY_NUM, // DR16_KEY_NUM,
//} DR16_Key_t; // } DR16_Key_t;
//typedef struct { // typedef struct {
// float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */ // float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
// float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */ // float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
// float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */ // float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
// float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */ // float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
// float ch_res; /* 第五通道值 */ // float ch_res; /* 第五通道值 */
// DR16_SwitchPos_t sw_r; /* 右侧拨杆位置 */ // DR16_SwitchPos_t sw_r; /* 右侧拨杆位置 */
// DR16_SwitchPos_t sw_l; /* 左侧拨杆位置 */ // DR16_SwitchPos_t sw_l; /* 左侧拨杆位置 */
// struct { // struct {
// int16_t x; // int16_t x;
// int16_t y; // int16_t y;
// int16_t z; // int16_t z;
// bool l_click; /* 左键 */ // bool l_click; /* 左键 */
// bool r_click; /* 右键 */ // bool r_click; /* 右键 */
// } mouse; /* 鼠标值 */ // } mouse; /* 鼠标值 */
// union { // union {
// bool key[DR16_KEY_NUM]; /* 键盘按键值 */ // bool key[DR16_KEY_NUM]; /* 键盘按键值 */
// uint16_t value; /* 键盘按键值的位映射 */ // uint16_t value; /* 键盘按键值的位映射 */
// } keyboard; // } keyboard;
// uint16_t res; /* 保留，未启用 */ // uint16_t res; /* 保留，未启用 */
//} DR16_Data_t; // } DR16_Data_t;
//typedef struct { // typedef struct {
// DEVICE_Header_t header; // DEVICE_Header_t header;
// DR16_RawData_t raw_data; // DR16_RawData_t raw_data;
// DR16_Data_t data; // DR16_Data_t data;
//} DR16_t; // } DR16_t;
///* Exported functions prototypes -------------------------------------------- */ // /* Exported functions prototypes -------------------------------------------- */
//int8_t DR16_Init(DR16_t *dr16); // int8_t DR16_Init(DR16_t *dr16);
//int8_t DR16_Restart(void); // int8_t DR16_Restart(void);
//int8_t DR16_StartDmaRecv(DR16_t *dr16); // int8_t DR16_StartDmaRecv(DR16_t *dr16);
//bool DR16_WaitDmaCplt(uint32_t timeout); // bool DR16_WaitDmaCplt(uint32_t timeout);
//int8_t DR16_ParseData(DR16_t *dr16); // int8_t DR16_ParseData(DR16_t *dr16);
//int8_t DR16_Offline(DR16_t *dr16); // int8_t DR16_Offline(DR16_t *dr16);
///* USER FUNCTION BEGIN */ // /* USER FUNCTION BEGIN */
///* USER FUNCTION END */ // ///* USER FUNCTION END */
//#ifdef __cplusplus // #ifdef __cplusplus
//} // }
//#endif // #endif

6
User/device/motor_rm.c
View File

@ -56,12 +56,12 @@ static int8_t MOTOR_RM_GetLogicalIndex(uint16_t can_id, MOTOR_RM_Module_t module
switch (module) { switch (module) {
case MOTOR_M2006: case MOTOR_M2006:
case MOTOR_M3508: case MOTOR_M3508:
if (can_id >= M3508_M2006_FB_ID_BASE && can_id < M3508_M2006_FB_ID_BASE + 7) { if (can_id >= M3508_M2006_FB_ID_BASE && can_id <= M3508_M2006_FB_ID_BASE + 7) {
return can_id - M3508_M2006_FB_ID_BASE; return can_id - M3508_M2006_FB_ID_BASE;
} }
break; break;
case MOTOR_GM6020: case MOTOR_GM6020:
if (can_id >= GM6020_FB_ID_BASE && can_id < GM6020_FB_ID_BASE + 6) { if (can_id >= GM6020_FB_ID_BASE && can_id <= GM6020_FB_ID_BASE + 6) {
return can_id - GM6020_FB_ID_BASE + 4; return can_id - GM6020_FB_ID_BASE + 4;
} }
break; break;
@ -74,7 +74,7 @@ static int8_t MOTOR_RM_GetLogicalIndex(uint16_t can_id, MOTOR_RM_Module_t module
static float MOTOR_RM_GetRatio(MOTOR_RM_Module_t module) { static float MOTOR_RM_GetRatio(MOTOR_RM_Module_t module) {
switch (module) { switch (module) {
case MOTOR_M2006: return 36.0f; case MOTOR_M2006: return 36.0f;
case MOTOR_M3508: return 268.0f/17.0f ; // 通用3508减速比3591.0f / 187.0f;前面的是舵轮减速箱减速比 case MOTOR_M3508: return 3591.0f / 187.0f;
case MOTOR_GM6020: return 1.0f; case MOTOR_GM6020: return 1.0f;
default: return 1.0f; default: return 1.0f;
} }

2
User/module/cmd.h
View File

@ -47,6 +47,8 @@ typedef struct
struct struct
{ {
float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */ float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */ float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */ float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */

2
User/module/config.c
View File

@ -145,7 +145,7 @@ static const Config_Param_t config = {
}, },
.pid.yaw_4310_motor_omega = { .pid.yaw_4310_motor_omega = {
.k = 0.0f, .k = 0.1f,
.p = 0.3f, .p = 0.3f,
.i = 0.0f, .i = 0.0f,
.d = 0.0f, .d = 0.0f,

36
User/module/gimbal.c
View File

@ -115,6 +115,7 @@ int8_t Gimbal_Init(Gimbal_t *g, Gimbal_Param_t *param,float target_freq)
PID_Init(&g->pid.yaw_6020_omega,KPID_MODE_CALC_D, target_freq,&g->param->pid.yaw_6020_motor_omega ); PID_Init(&g->pid.yaw_6020_omega,KPID_MODE_CALC_D, target_freq,&g->param->pid.yaw_6020_motor_omega );
/*4310大yaw pid初始化 大yaw单环控*/ /*4310大yaw pid初始化 大yaw单环控*/
PID_Init(&g->pid.yaw_4310_angle,KPID_MODE_SET_D, target_freq,&g->param->pid.yaw_4310_motor_angle ); PID_Init(&g->pid.yaw_4310_angle,KPID_MODE_SET_D, target_freq,&g->param->pid.yaw_4310_motor_angle );
PID_Init(&g->pid.yaw_4310_omega,KPID_MODE_CALC_D, target_freq,&g->param->pid.yaw_4310_motor_omega );
/*4310 pitch pid初始化 单环*/ /*4310 pitch pid初始化 单环*/
PID_Init(&g->pid.pitch_4310_angle,KPID_MODE_NO_D, target_freq,&g->param->pid.pitch_4310_motor_angle ); PID_Init(&g->pid.pitch_4310_angle,KPID_MODE_NO_D, target_freq,&g->param->pid.pitch_4310_motor_angle );
PID_Init(&g->pid.pitch_4310_omega,KPID_MODE_CALC_D, target_freq,&g->param->pid.pitch_4310_motor_omega ); PID_Init(&g->pid.pitch_4310_omega,KPID_MODE_CALC_D, target_freq,&g->param->pid.pitch_4310_motor_omega );
@ -246,7 +247,7 @@ int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu){
Gimbal_SetMode(g, g_cmd->mode); Gimbal_SetMode(g, g_cmd->mode);
/*处理小yaw轴控制命令*/ /*处理小yaw轴控制命令*/
float delta_yaw_6020 = 5.0f*g_cmd->delta_yaw_6020 * g->dt; float delta_yaw_6020 = 10.0f*g_cmd->delta_yaw_6020 * g->dt;
if(g->param->travel.yaw_6020 > 0) // 有限位才处理 if(g->param->travel.yaw_6020 > 0) // 有限位才处理
{ {
@ -276,7 +277,7 @@ const float delta_min_6020 = CircleError(g->limit.yaw_6020.min,
g->setpoint.yaw_4310=small_yaw_center_offset; g->setpoint.yaw_4310=small_yaw_center_offset;
/*处理大pitch控制命令*/ /*处理大pitch控制命令*/
float delta_pitch_4310 = 5.0f*g_cmd->delta_pitch_4310*g->dt; float delta_pitch_4310 = 8.0f*g_cmd->delta_pitch_4310*g->dt;
if(g->param->travel.pitch_4310 > 0) // 有限位才处理 if(g->param->travel.pitch_4310 > 0) // 有限位才处理
{ {
/* 计算当前电机角度与IMU角度的偏差 */ /* 计算当前电机角度与IMU角度的偏差 */
@ -330,11 +331,29 @@ g->setpoint.eulr.pit = g_cmd->set_pitch;
/*4310大YAW控制 /*4310大YAW控制
这里是单环控制的，有需要加双环 这里是单环控制的，有需要加双环
*/ */
yaw_omega_set_point =PID_Calc(&g->pid.yaw_4310_angle,g->setpoint.yaw_4310, // /* 大YAW角度环：使用环形误差，避免过零点抽搐 */
g->feedback.motor.yaw_6020_motor_feedback.rotor_abs_angle,g->feedback.motor.yaw_6020_motor_feedback.rotor_speed,g->dt); // float yaw4310_err = CircleError(
// g->out.yaw_4310 = PID_Calc(&g->pid.yaw_4310_omega,yaw_omega_set_point, // g->setpoint.yaw_4310,
// g->feedback.imu.gyro.z,0.0f,g->dt); // g->feedback.motor.yaw_6020_motor_feedback.rotor_abs_angle,
g->out.yaw_4310 = yaw_omega_set_point; // 直接输出速度环目标值作为电机输出 // M_2PI
// );
// /* 构造等效的包角设定值，使 PID 内部误差=set-ref=环形误差 */
// float yaw4310_set_wrapped = g->feedback.motor.yaw_6020_motor_feedback.rotor_abs_angle + yaw4310_err;
// yaw_omega_set_point = PID_Calc(
// &g->pid.yaw_4310_angle,
// yaw4310_set_wrapped,
// g->feedback.motor.yaw_6020_motor_feedback.rotor_abs_angle,
// g->feedback.motor.yaw_6020_motor_feedback.rotor_speed,
// g->dt
// );
yaw_omega_set_point =PID_Calc(&g->pid.yaw_4310_angle,3.90f,
g->feedback.motor.yaw_4310_motor_feedback.rotor_abs_angle,g->feedback.motor.yaw_6020_motor_feedback.rotor_speed,g->dt);
g->out.yaw_4310 = PID_Calc(&g->pid.yaw_4310_omega,yaw_omega_set_point,
g->feedback.motor.yaw_4310_motor_feedback.rotor_speed,0.0f,g->dt);
// g->out.yaw_4310 = yaw_omega_set_point; // 直接输出速度环目标值作为电机输出
/*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*/ /*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, pitch_omega_set_point =PID_Calc(&g->pid.pitch_4310_angle,g->setpoint.eulr.pit,
g->feedback.imu.eulr.rol,0.0f,g->dt); g->feedback.imu.eulr.rol,0.0f,g->dt);
@ -376,7 +395,8 @@ void Gimbal_Output(Gimbal_t *g)
MOTOR_RM_SetOutput(&g->param->yaw_6020_motor, g->out.yaw_6020); MOTOR_RM_SetOutput(&g->param->yaw_6020_motor, g->out.yaw_6020);
MOTOR_MIT_Output_t output_yaw_4310 = {0}; MOTOR_MIT_Output_t output_yaw_4310 = {0};
output_yaw_4310.torque = g->out.yaw_4310 * 1.0f; output_yaw_4310.torque = g->out.yaw_4310 * 2.0f;
// output_yaw_4310.kp = 0.2f;
output_yaw_4310.kd = 0.1f; output_yaw_4310.kd = 0.1f;
// output_yaw_4310.kd=0.1f; // output_yaw_4310.kd=0.1f;

10
User/task/Task8.c
View File

@ -6,7 +6,8 @@
/* Includes ----------------------------------------------------------------- */ /* Includes ----------------------------------------------------------------- */
#include "task/user_task.h" #include "task/user_task.h"
/* USER INCLUDE BEGIN */ /* USER INCLUDE BEGIN */
#include "module/cmd.h"
#include "bsp/uart.h"
/* USER INCLUDE END */ /* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */ /* Private typedef ---------------------------------------------------------- */
@ -14,7 +15,7 @@
/* Private macro ------------------------------------------------------------ */ /* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */ /* USER STRUCT BEGIN */
CMD_RC_t remote;
/* USER STRUCT END */ /* USER STRUCT END */
/* Private function --------------------------------------------------------- */ /* Private function --------------------------------------------------------- */
@ -36,6 +37,11 @@ void Task_Task8(void *argument) {
while (1) { while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */ tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */ /* USER CODE BEGIN */
osMessageQueueGet(task_runtime.msgq.RC_REMOTE, &remote, NULL, 0);
BSP_UART_Transmit(BSP_UART_1, (uint8_t *)&remote, sizeof(CMD_RC_t), false);
/* USER CODE END */ /* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */

4
User/task/init.c
View File

@ -37,7 +37,7 @@ void Task_Init(void *argument) {
task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd); task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
task_runtime.thread.gimbal = osThreadNew(Task_gimbal, NULL, &attr_gimbal); task_runtime.thread.gimbal = osThreadNew(Task_gimbal, NULL, &attr_gimbal);
task_runtime.thread.shoot = osThreadNew(Task_shoot, NULL, &attr_shoot); 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); task_runtime.thread.Task8 = osThreadNew(Task_Task8, NULL, &attr_Task8);
// 创建消息队列 // 创建消息队列
@ -55,7 +55,7 @@ void Task_Init(void *argument) {
task_runtime.msgq.gimbal.ai.feedback = osMessageQueueNew(2u, sizeof(Gimbal_feedback_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.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.shoot.ai.s_cmd = osMessageQueueNew(2u, sizeof(AI_cmd_t),NULL);
task_runtime.msgq.RC_REMOTE = osMessageQueueNew(2u, sizeof(CMD_RC_t), NULL);
/* USER MESSAGE END */ /* USER MESSAGE END */
osKernelUnlock(); // 解锁内核 osKernelUnlock(); // 解锁内核

2
User/task/rc.c
View File

@ -60,6 +60,8 @@ void Task_rc(void *argument) {
osMessageQueueReset(task_runtime.msgq.cmd.raw.rc); osMessageQueueReset(task_runtime.msgq.cmd.raw.rc);
osMessageQueuePut(task_runtime.msgq.cmd.raw.rc, &cmd_rc, 0, 0); osMessageQueuePut(task_runtime.msgq.cmd.raw.rc, &cmd_rc, 0, 0);
osMessageQueueReset(task_runtime.msgq.RC_REMOTE);
osMessageQueuePut(task_runtime.msgq.RC_REMOTE, &cmd_rc, 0, 0);
/* USER CODE END */ /* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */

1
User/task/user_task.h
View File

@ -105,6 +105,7 @@ typedef struct {
}ai; }ai;
}shoot; }shoot;
osMessageQueueId_t RC_REMOTE;
} msgq; } msgq;
/* USER MESSAGE END */ /* USER MESSAGE END */