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This commit is contained in:
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
View File

@ -287,6 +287,7 @@ void USART1_IRQHandler(void)
/* USER CODE END USART1_IRQn 0 */
HAL_UART_IRQHandler(&huart1);
/* USER CODE BEGIN USART1_IRQn 1 */
BSP_UART_IRQHandler(&huart1);
/* USER CODE END USART1_IRQn 1 */
}

2
User/bsp/bsp_config.yaml
View File

@ -72,4 +72,6 @@ uart:
name: DR16
- instance: USART6
name: NUC
- instance: USART1
name: '1'
enabled: true

24
User/bsp/gpio.c
View File

@ -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) {
switch (gpio) {
case BSP_GPIO_KEY:
#if defined(KEY_EXTI_IRQn)
HAL_NVIC_EnableIRQ(KEY_EXTI_IRQn);
break;
#endif
return BSP_OK;
case BSP_GPIO_ACCL_INT:
#if defined(ACCL_INT_EXTI_IRQn)
HAL_NVIC_EnableIRQ(ACCL_INT_EXTI_IRQn);
break;
#endif
return BSP_OK;
case BSP_GPIO_GYRO_INT:
#if defined(GYRO_INT_EXTI_IRQn)
HAL_NVIC_EnableIRQ(GYRO_INT_EXTI_IRQn);
break;
#endif
return BSP_OK;
default:
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) {
switch (gpio) {
case BSP_GPIO_KEY:
#if defined(KEY_EXTI_IRQn)
HAL_NVIC_DisableIRQ(KEY_EXTI_IRQn);
break;
#endif
return BSP_OK;
case BSP_GPIO_ACCL_INT:
#if defined(ACCL_INT_EXTI_IRQn)
HAL_NVIC_DisableIRQ(ACCL_INT_EXTI_IRQn);
break;
#endif
return BSP_OK;
case BSP_GPIO_GYRO_INT:
#if defined(GYRO_INT_EXTI_IRQn)
HAL_NVIC_DisableIRQ(GYRO_INT_EXTI_IRQn);
break;
#endif
return BSP_OK;
default:
return BSP_ERR;
}

4
User/bsp/uart.c
View File

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

1
User/bsp/uart.h
View File

@ -29,6 +29,7 @@ extern "C" {
typedef enum {
BSP_UART_DR16,
BSP_UART_NUC,
BSP_UART_1,
BSP_UART_NUM,
BSP_UART_ERR,
} BSP_UART_t;

96
User/device/dr16.c
View File

@ -1,9 +1,9 @@
///*
// /*
// DR16接收机
// Example：
// DR16_Init(&dr16);
//
// while (1) {
// DR16_StartDmaRecv(&dr16);
// if (DR16_WaitDmaCplt(20)) {
@ -11,43 +11,43 @@
// } else {
// DR16_Offline(&dr16);
// }
//}
//*/
// }
// */
///* Includes ----------------------------------------------------------------- */
//#include "dr16.h"
//#include "bsp/uart.h"
//#include "bsp/time.h"
//#include "device.h"
// /* Includes ----------------------------------------------------------------- */
// #include "dr16.h"
// #include "bsp/uart.h"
// #include "bsp/time.h"
// #include "device.h"
//#include <string.h>
//#include <stdbool.h>
// #include <string.h>
// #include <stdbool.h>
///* USER INCLUDE BEGIN */
// /* USER INCLUDE BEGIN */
///* USER INCLUDE END */
///* Private define ----------------------------------------------------------- */
//#define DR16_CH_VALUE_MIN (364u)
//#define DR16_CH_VALUE_MID (1024u)
//#define DR16_CH_VALUE_MAX (1684u)
// /* USER INCLUDE END */
// /* Private define ----------------------------------------------------------- */
// #define DR16_CH_VALUE_MIN (364u)
// #define DR16_CH_VALUE_MID (1024u)
// #define DR16_CH_VALUE_MAX (1684u)
///* USER DEFINE BEGIN */
// /* USER DEFINE BEGIN */
///* USER DEFINE END */
// /* USER DEFINE END */
///* Private macro ------------------------------------------------------------ */
///* Private typedef ---------------------------------------------------------- */
///* Private variables -------------------------------------------------------- */
// /* Private macro ------------------------------------------------------------ */
// /* Private typedef ---------------------------------------------------------- */
// /* Private variables -------------------------------------------------------- */
//static osThreadId_t thread_alert;
//static bool inited = false;
// static osThreadId_t thread_alert;
// static bool inited = false;
///* Private function -------------------------------------------------------- */
//static void DR16_RxCpltCallback(void) {
// /* Private function -------------------------------------------------------- */
// static void DR16_RxCpltCallback(void) {
// 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->raw_data.ch_r_x < DR16_CH_VALUE_MIN) ||
@ -71,10 +71,10 @@
// if (dr16->raw_data.sw_r == 0) return DEVICE_ERR;
// return DEVICE_OK;
//}
// }
///* Exported functions ------------------------------------------------------- */
//int8_t DR16_Init(DR16_t *dr16) {
// /* Exported functions ------------------------------------------------------- */
// int8_t DR16_Init(DR16_t *dr16) {
// if (dr16 == NULL) return DEVICE_ERR_NULL;
// if (inited) return DEVICE_ERR_INITED;
// if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
@ -84,28 +84,28 @@
// inited = true;
// return DEVICE_OK;
//}
// }
//int8_t DR16_Restart(void) {
// int8_t DR16_Restart(void) {
// __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_DR16));
// __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_DR16));
// 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),
// (uint8_t *)&(dr16->raw_data),
// sizeof(dr16->raw_data)) == HAL_OK)
// return DEVICE_OK;
// return DEVICE_ERR;
//}
// }
//bool DR16_WaitDmaCplt(uint32_t timeout) {
// bool DR16_WaitDmaCplt(uint32_t timeout) {
// return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) ==
// 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_DataCorrupted(dr16)) {
@ -114,7 +114,7 @@
// dr16->header.online = true;
// dr16->header.last_online_time = BSP_TIME_Get_us();
//
// memset(&(dr16->data), 0, sizeof(dr16->data));
// float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN);
@ -139,7 +139,7 @@
// // 解析键盘按键 - 使用union简化代码
// uint16_t key_value = dr16->raw_data.key;
//
// // 解析键盘位映射（W-B键，位0-15）
// for (int i = DR16_KEY_W; i <= DR16_KEY_B; i++) {
// dr16->data.keyboard.key[i] = (key_value & (1 << i)) != 0;
@ -151,19 +151,19 @@
// // 解析第五通道
// dr16->data.ch_res = 2.0f * ((float)dr16->raw_data.res - DR16_CH_VALUE_MID) / full_range;
//
// return DEVICE_OK;
//}
//int8_t DR16_Offline(DR16_t *dr16){
// return DEVICE_OK;
// }
// int8_t DR16_Offline(DR16_t *dr16){
// if (dr16 == NULL) return DEVICE_ERR_NULL;
// dr16->header.online = false;
// memset(&(dr16->data), 0, sizeof(dr16->data));
// return DEVICE_OK;
//}
// }
///* USER FUNCTION BEGIN */
// /* USER FUNCTION BEGIN */
///* USER FUNCTION END */
// /* USER FUNCTION END */

76
User/device/dr16.h
View File

@ -1,27 +1,27 @@
//#pragma once
// #pragma once
//#ifdef __cplusplus
//extern "C" {
//#endif
// #ifdef __cplusplus
// extern "C" {
// #endif
///* Includes ----------------------------------------------------------------- */
//#include <cmsis_os2.h>
// /* Includes ----------------------------------------------------------------- */
// #include <cmsis_os2.h>
//#include "component/user_math.h"
//#include "device.h"
// #include "component/user_math.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 macro ----------------------------------------------------------- */
///* Exported types ----------------------------------------------------------- */
//typedef struct __packed {
// /* Exported constants ------------------------------------------------------- */
// /* Exported macro ----------------------------------------------------------- */
// /* Exported types ----------------------------------------------------------- */
// typedef struct __packed {
// uint16_t ch_r_x : 11;
// uint16_t ch_r_y : 11;
// uint16_t ch_l_x : 11;
@ -35,17 +35,17 @@
// uint8_t press_r;
// uint16_t key;
// uint16_t res;
//} DR16_RawData_t;
// } DR16_RawData_t;
//typedef enum {
// typedef enum {
// DR16_SW_ERR = 0,
// DR16_SW_UP = 1,
// DR16_SW_MID = 3,
// DR16_SW_DOWN = 2,
//} DR16_SwitchPos_t;
// } DR16_SwitchPos_t;
///* 键盘按键值 */
//typedef enum {
// /* 键盘按键值 */
// typedef enum {
// DR16_KEY_W = 0,
// DR16_KEY_S,
// DR16_KEY_A,
@ -65,9 +65,9 @@
// DR16_L_CLICK,
// DR16_R_CLICK,
// 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_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 */
@ -92,26 +92,26 @@
// } keyboard;
// uint16_t res; /* 保留，未启用 */
//} DR16_Data_t;
// } DR16_Data_t;
//typedef struct {
// typedef struct {
// DEVICE_Header_t header;
// DR16_RawData_t raw_data;
// DR16_Data_t data;
//} DR16_t;
// } DR16_t;
///* Exported functions prototypes -------------------------------------------- */
//int8_t DR16_Init(DR16_t *dr16);
//int8_t DR16_Restart(void);
//int8_t DR16_StartDmaRecv(DR16_t *dr16);
//bool DR16_WaitDmaCplt(uint32_t timeout);
//int8_t DR16_ParseData(DR16_t *dr16);
//int8_t DR16_Offline(DR16_t *dr16);
// /* Exported functions prototypes -------------------------------------------- */
// int8_t DR16_Init(DR16_t *dr16);
// int8_t DR16_Restart(void);
// int8_t DR16_StartDmaRecv(DR16_t *dr16);
// bool DR16_WaitDmaCplt(uint32_t timeout);
// int8_t DR16_ParseData(DR16_t *dr16);
// int8_t DR16_Offline(DR16_t *dr16);
///* USER FUNCTION BEGIN */
// /* USER FUNCTION BEGIN */
///* USER FUNCTION END */
// ///* USER FUNCTION END */
//#ifdef __cplusplus
//}
//#endif
// #ifdef __cplusplus
// }
// #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) {
case MOTOR_M2006:
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;
}
break;
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;
}
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) {
switch (module) {
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;
default: return 1.0f;
}

2
User/module/cmd.h
View File

@ -47,6 +47,8 @@ typedef struct
struct
{
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_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 = {
.k = 0.0f,
.k = 0.1f,
.p = 0.3f,
.i = 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 );
/*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_omega,KPID_MODE_CALC_D, target_freq,&g->param->pid.yaw_4310_motor_omega );
/*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_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);
/*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
{
@ -276,7 +277,7 @@ const float delta_min_6020 = CircleError(g->limit.yaw_6020.min,
g->setpoint.yaw_4310=small_yaw_center_offset;
/*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
{
/* 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
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,
g->feedback.motor.yaw_6020_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.imu.gyro.z,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
// /* 大YAW角度环：使用环形误差，避免过零点抽搐 */
// float yaw4310_err = CircleError(
// g->setpoint.yaw_4310,
// g->feedback.motor.yaw_6020_motor_feedback.rotor_abs_angle,
// 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*/
pitch_omega_set_point =PID_Calc(&g->pid.pitch_4310_angle,g->setpoint.eulr.pit,
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_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;

10
User/task/Task8.c
View File

@ -6,7 +6,8 @@
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "module/cmd.h"
#include "bsp/uart.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
@ -14,7 +15,7 @@
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
CMD_RC_t remote;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
@ -36,6 +37,11 @@ void Task_Task8(void *argument) {
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* 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 */
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.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
@ -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.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.RC_REMOTE = osMessageQueueNew(2u, sizeof(CMD_RC_t), NULL);
/* USER MESSAGE END */
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);
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 */
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;
}shoot;
osMessageQueueId_t RC_REMOTE;
} msgq;
/* USER MESSAGE END */