HFUT_Firmament_EC
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sentry_chassis_hzz
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将默认视觉通信换为usb虚拟串口，修复视觉发送roll错误；增加了attach调试支持

This commit is contained in:
NeoZng 2023-05-04 21:38:35 +08:00
parent 35ceb50ca7
commit 116b9b78fb
13 changed files with 199 additions and 113 deletions
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35
.vscode/launch.json vendored
View File

@ -4,29 +4,30 @@
"configurations": [
// 使用dap-link(如无线调试器时的参考配置)
{
"name": "Debug-DAP",
"name": "DAPlink",
"cwd": "${workspaceRoot}",
"executable": "${workspaceRoot}\\build\\basic_framework.elf", // 要下载到调试器的文件,花括号中的是vscode两个预定义的参数
"request": "launch",
"type": "cortex-debug",
//使用J-link GDB Server时必须;其他GBD Server时可选（有可能帮助自动选择SVD文件）
//支持的设备见 https://www.segger.com/downloads/supported-devices.php
"device": "STM32F407IG",
"device": "STM32F407IG",
//svd文件，有这个文件才能查看寄存器的值，每个单片机都不同。可以在以下地址找到 https://github.com/posborne/cmsis-svd
//该项目的根目录已经提供了C型开发板使用的外设svd文件
"svdFile": "STM32F407.svd",
"svdFile": "STM32F407.svd",
"servertype": "openocd", //使用的GDB Server
"configFiles": [
"openocd_dap.cfg", // 配置文件已经在根目录提供,若要修改以此类推,openocd的路径下的share/scripts中有各种写好的配置文件
],
"runToEntryPoint": "main", // 调试时在main函数入口停下
"rtos": "FreeRTOS",
//"preLaunchTask": "build task",//先运行Build任务编译项目,取消注释即可使用
//"preLaunchTask": "log", // 调试时同时开启RTT viewer窗口
// 若想要在调试前编译并且打开log,可只使用log的prelaunch task并为log任务添加depends on依赖
},
// 使用j-link进行调试时的参考配置
{
"name": "Debug-Jlink",
"name": "Jlink",
"cwd": "${workspaceFolder}",
"executable": "${workspaceRoot}\\build\\basic_framework.elf",
"request": "launch",
@ -42,5 +43,31 @@
//"preLaunchTask": "log", // 调试时同时开启RTT viewer窗口
// 若想要在调试前编译并且打开log,可只使用log的prelaunch task并为log任务添加depends on依赖
},
{
"name": "DAP-attach",
"cwd": "${workspaceRoot}",
"executable": "${workspaceRoot}\\build\\basic_framework.elf", // 要下载到调试器的文件,花括号中的是vscode两个预定义的参数
"request": "attach",
"type": "cortex-debug",
"device": "STM32F407IG",
"svdFile": "STM32F407.svd",
"servertype": "openocd",
"configFiles": [
"openocd_dap.cfg",
],
},
{
"name": "Jlink-attach",
"cwd": "${workspaceFolder}",
"executable": "${workspaceRoot}\\build\\basic_framework.elf",
"request": "attach",
"type": "cortex-debug",
"device": "STM32F407IG",
"showDevDebugOutput": "none",
"servertype": "jlink",
"interface": "swd",
"svdFile": "STM32F407.svd",
"rtos": "FreeRTOS",
},
],
}

4
Inc/usbd_cdc_if.h
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@ -64,7 +64,7 @@
*/
/* USER CODE BEGIN EXPORTED_TYPES */
typedef void (*USBCallback)(uint16_t); // USB事件回调函数类型
/* USER CODE END EXPORTED_TYPES */
/**
@ -108,7 +108,7 @@ extern USBD_CDC_ItfTypeDef USBD_Interface_fops_FS;
uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len);
/* USER CODE BEGIN EXPORTED_FUNCTIONS */
uint8_t* CDCInitRxbufferNcallback(USBCallback transmit_cbk,USBCallback recv_cbk);
/* USER CODE END EXPORTED_FUNCTIONS */
/**

4
STM32F407IGHx_FLASH.ld
View File

@ -55,8 +55,8 @@ ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of RAM */
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0x4000; /* required amount of heap */
_Min_Stack_Size = 0x4000; /* required amount of stack */
_Min_Heap_Size = 0x6000; /* required amount of heap */
_Min_Stack_Size = 0x6000; /* required amount of stack */
/* Specify the memory areas */
MEMORY

16
Src/usbd_cdc_if.c
View File

@ -31,7 +31,8 @@
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
static USBCallback tx_cbk = NULL;
static USBCallback rx_cbk = NULL;
/* USER CODE END PV */
/** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
@ -263,6 +264,10 @@ static int8_t CDC_Receive_FS(uint8_t* Buf, uint32_t *Len)
/* USER CODE BEGIN 6 */
USBD_CDC_SetRxBuffer(&hUsbDeviceFS, &Buf[0]);
USBD_CDC_ReceivePacket(&hUsbDeviceFS);
if(rx_cbk)
rx_cbk(*Len);
return (USBD_OK);
/* USER CODE END 6 */
}
@ -311,12 +316,19 @@ static int8_t CDC_TransmitCplt_FS(uint8_t *Buf, uint32_t *Len, uint8_t epnum)
UNUSED(Buf);
UNUSED(Len);
UNUSED(epnum);
if(tx_cbk)
tx_cbk(*Len);
/* USER CODE END 13 */
return result;
}
/* USER CODE BEGIN PRIVATE_FUNCTIONS_IMPLEMENTATION */
uint8_t* CDCInitRxbufferNcallback(USBCallback transmit_cbk,USBCallback recv_cbk)
{
tx_cbk = transmit_cbk;
rx_cbk = recv_cbk;
return UserRxBufferFS;
}
/* USER CODE END PRIVATE_FUNCTIONS_IMPLEMENTATION */
/**

6
Src/usbd_conf.c
View File

@ -79,8 +79,9 @@ void HAL_PCD_MspInit(PCD_HandleTypeDef* pcdHandle)
/**USB_OTG_FS GPIO Configuration
PA12 ------> USB_OTG_FS_DP
PA11 ------> USB_OTG_FS_DM
PA10 ------> USB_OTG_FS_ID
*/
GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_11;
GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_11|GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
@ -112,8 +113,9 @@ void HAL_PCD_MspDeInit(PCD_HandleTypeDef* pcdHandle)
/**USB_OTG_FS GPIO Configuration
PA12 ------> USB_OTG_FS_DP
PA11 ------> USB_OTG_FS_DM
PA10 ------> USB_OTG_FS_ID
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_12|GPIO_PIN_11);
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_12|GPIO_PIN_11|GPIO_PIN_10);
/* Peripheral interrupt Deinit*/
HAL_NVIC_DisableIRQ(OTG_FS_IRQn);

6
Src/usbd_desc.c
View File

@ -64,9 +64,9 @@
#define USBD_VID 1155
#define USBD_LANGID_STRING 1033
#define USBD_MANUFACTURER_STRING "STMicroelectronics"
#define USBD_PID_FS 22336
#define USBD_PRODUCT_STRING_FS "STM32 Virtual ComPort"
#define USBD_MANUFACTURER_STRING "YueLuEmbedded"
#define USBD_PID_FS 202
#define USBD_PRODUCT_STRING_FS "Vision Comm port"
#define USBD_CONFIGURATION_STRING_FS "CDC Config"
#define USBD_INTERFACE_STRING_FS "CDC Interface"

23
application/robot_def.h
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@ -22,6 +22,9 @@
// #define GIMBAL_BOARD //云台板
// #define BALANCE_BOARD //启用平衡底盘,则默认双板且当前板位底盘,目前不支持!请勿使用!
#define VISION_USE_VCP // 使用虚拟串口发送视觉数据
// #define VISION_USE_UART // 使用串口发送视觉数据
// @todo: 增加机器人类型定义,后续是否要兼容所有机器人?(只兼容步兵英雄哨兵似乎就够了)
// 通过该宏,你可以直接将所有机器人的参数保存在一处,然后每次只需要修改这个宏就可以替换所有参数
/* 机器人类型定义 */
@ -36,13 +39,13 @@
// 云台参数
#define YAW_CHASSIS_ALIGN_ECD 2711 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
#define YAW_ECD_GREATER_THAN_4096 0 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度
#define PITCH_HORIZON_ECD 3412 // 云台处于水平位置时编码器值,若对云台有机械改动需要修改
#define PITCH_MAX_ANGLE 0 //云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
#define PITCH_MIN_ANGLE 0 //云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
#define PITCH_HORIZON_ECD 3412 // 云台处于水平位置时编码器值,若对云台有机械改动需要修改
#define PITCH_MAX_ANGLE 0 // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
#define PITCH_MIN_ANGLE 0 // 云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
// 发射参数
#define ONE_BULLET_DELTA_ANGLE 36 // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出
#define ONE_BULLET_DELTA_ANGLE 36 // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出
#define REDUCTION_RATIO_LOADER 49.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f
#define NUM_PER_CIRCLE 10 // 拨盘一圈的装载量
#define NUM_PER_CIRCLE 10 // 拨盘一圈的装载量
// 机器人底盘修改的参数,单位为mm(毫米)
#define WHEEL_BASE 350 // 纵向轴距(前进后退方向)
#define TRACK_WIDTH 300 // 横向轮距(左右平移方向)
@ -51,9 +54,9 @@
#define RADIUS_WHEEL 60 // 轮子半径
#define REDUCTION_RATIO_WHEEL 19.0f // 电机减速比,因为编码器量测的是转子的速度而不是输出轴的速度故需进行转换
#define GYRO2GIMBAL_DIR_YAW 1 //陀螺仪数据相较于云台的yaw的方向,1为相同,-1为相反
#define GYRO2GIMBAL_DIR_PITCH 1 //陀螺仪数据相较于云台的pitch的方向,1为相同,-1为相反
#define GYRO2GIMBAL_DIR_ROLL 1 //陀螺仪数据相较于云台的roll的方向,1为相同,-1为相反
#define GYRO2GIMBAL_DIR_YAW 1 // 陀螺仪数据相较于云台的yaw的方向,1为相同,-1为相反
#define GYRO2GIMBAL_DIR_PITCH 1 // 陀螺仪数据相较于云台的pitch的方向,1为相同,-1为相反
#define GYRO2GIMBAL_DIR_ROLL 1 // 陀螺仪数据相较于云台的roll的方向,1为相同,-1为相反
// 检查是否出现主控板定义冲突,只允许一个开发板定义存在,否则编译会自动报错
#if (defined(ONE_BOARD) && defined(CHASSIS_BOARD)) || \
@ -135,7 +138,7 @@ typedef enum
typedef struct
{ // 功率控制
float chassis_power_mx;
} Chassis_Power_Data_s;
} Chassis_Power_Data_s;
/* ----------------CMD应用发布的控制数据,应当由gimbal/chassis/shoot订阅---------------- */
/**
@ -199,7 +202,7 @@ typedef struct
uint8_t rest_heat; // 剩余枪口热量
Bullet_Speed_e bullet_speed; // 弹速限制
Enemy_Color_e enemy_color; // 0 for blue, 1 for red
} Chassis_Upload_Data_s;
/* @todo : 对于平衡底盘,需要不同的反馈数据 */

98
basic_framework.ioc
View File

@ -227,58 +227,59 @@ Mcu.Pin13=PI6
Mcu.Pin14=PG9
Mcu.Pin15=PD1
Mcu.Pin16=PA11
Mcu.Pin17=PF0
Mcu.Pin18=PA9
Mcu.Pin19=PC9
Mcu.Pin17=PA10
Mcu.Pin18=PF0
Mcu.Pin19=PA9
Mcu.Pin2=PB4
Mcu.Pin20=PA8
Mcu.Pin21=PH0-OSC_IN
Mcu.Pin22=PH1-OSC_OUT
Mcu.Pin23=PF1
Mcu.Pin24=PC6
Mcu.Pin25=PG6
Mcu.Pin26=PF6
Mcu.Pin27=PH12
Mcu.Pin28=PG3
Mcu.Pin29=PH11
Mcu.Pin20=PC9
Mcu.Pin21=PA8
Mcu.Pin22=PH0-OSC_IN
Mcu.Pin23=PH1-OSC_OUT
Mcu.Pin24=PF1
Mcu.Pin25=PC6
Mcu.Pin26=PG6
Mcu.Pin27=PF6
Mcu.Pin28=PH12
Mcu.Pin29=PG3
Mcu.Pin3=PB3
Mcu.Pin30=PH10
Mcu.Pin31=PD14
Mcu.Pin32=PA0-WKUP
Mcu.Pin33=PA4
Mcu.Pin34=PC4
Mcu.Pin35=PE13
Mcu.Pin36=PA5
Mcu.Pin37=PC5
Mcu.Pin38=PE9
Mcu.Pin39=PE11
Mcu.Pin30=PH11
Mcu.Pin31=PH10
Mcu.Pin32=PD14
Mcu.Pin33=PA0-WKUP
Mcu.Pin34=PA4
Mcu.Pin35=PC4
Mcu.Pin36=PE13
Mcu.Pin37=PA5
Mcu.Pin38=PC5
Mcu.Pin39=PE9
Mcu.Pin4=PA14
Mcu.Pin40=PE14
Mcu.Pin41=PB13
Mcu.Pin42=PA7
Mcu.Pin43=PB0
Mcu.Pin44=PB14
Mcu.Pin45=PB15
Mcu.Pin46=VP_ADC1_TempSens_Input
Mcu.Pin47=VP_ADC1_Vref_Input
Mcu.Pin48=VP_CRC_VS_CRC
Mcu.Pin49=VP_FREERTOS_VS_CMSIS_V1
Mcu.Pin40=PE11
Mcu.Pin41=PE14
Mcu.Pin42=PB13
Mcu.Pin43=PA7
Mcu.Pin44=PB0
Mcu.Pin45=PB14
Mcu.Pin46=PB15
Mcu.Pin47=VP_ADC1_TempSens_Input
Mcu.Pin48=VP_ADC1_Vref_Input
Mcu.Pin49=VP_CRC_VS_CRC
Mcu.Pin5=PA13
Mcu.Pin50=VP_RNG_VS_RNG
Mcu.Pin51=VP_RTC_VS_RTC_Activate
Mcu.Pin52=VP_SYS_VS_tim14
Mcu.Pin53=VP_TIM1_VS_ClockSourceINT
Mcu.Pin54=VP_TIM4_VS_ClockSourceINT
Mcu.Pin55=VP_TIM5_VS_ClockSourceINT
Mcu.Pin56=VP_TIM8_VS_ClockSourceINT
Mcu.Pin57=VP_TIM10_VS_ClockSourceINT
Mcu.Pin58=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
Mcu.Pin59=VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.3.0_1.3.0
Mcu.Pin50=VP_FREERTOS_VS_CMSIS_V1
Mcu.Pin51=VP_RNG_VS_RNG
Mcu.Pin52=VP_RTC_VS_RTC_Activate
Mcu.Pin53=VP_SYS_VS_tim14
Mcu.Pin54=VP_TIM1_VS_ClockSourceINT
Mcu.Pin55=VP_TIM4_VS_ClockSourceINT
Mcu.Pin56=VP_TIM5_VS_ClockSourceINT
Mcu.Pin57=VP_TIM8_VS_ClockSourceINT
Mcu.Pin58=VP_TIM10_VS_ClockSourceINT
Mcu.Pin59=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
Mcu.Pin6=PB7
Mcu.Pin60=VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.3.0_1.3.0
Mcu.Pin7=PB6
Mcu.Pin8=PD0
Mcu.Pin9=PC11
Mcu.PinsNb=60
Mcu.PinsNb=61
Mcu.ThirdParty0=STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0
Mcu.ThirdPartyNb=1
Mcu.UserConstants=
@ -336,6 +337,8 @@ PA0-WKUP.GPIO_Label=KEY
PA0-WKUP.GPIO_PuPd=GPIO_PULLUP
PA0-WKUP.Locked=true
PA0-WKUP.Signal=GPIO_Input
PA10.Locked=true
PA10.Signal=USB_OTG_FS_ID
PA11.Mode=Device_Only
PA11.Signal=USB_OTG_FS_DM
PA12.Mode=Device_Only
@ -517,7 +520,7 @@ ProjectManager.StackSize=0x4000
ProjectManager.TargetToolchain=Makefile
ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_CAN2_Init-CAN2-false-HAL-true,7-MX_SPI1_Init-SPI1-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_TIM5_Init-TIM5-false-HAL-true,10-MX_USART3_UART_Init-USART3-false-HAL-true,11-MX_RNG_Init-RNG-false-HAL-true,12-MX_RTC_Init-RTC-false-HAL-true,13-MX_TIM1_Init-TIM1-false-HAL-true,14-MX_TIM10_Init-TIM10-false-HAL-true,15-MX_USART1_UART_Init-USART1-false-HAL-true,16-MX_USART6_UART_Init-USART6-false-HAL-true,17-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,18-MX_TIM8_Init-TIM8-false-HAL-true,19-MX_I2C2_Init-I2C2-false-HAL-true,20-MX_I2C3_Init-I2C3-false-HAL-true,21-MX_SPI2_Init-SPI2-false-HAL-true,22-MX_CRC_Init-CRC-false-HAL-true,23-MX_DAC_Init-DAC-false-HAL-true
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_CAN2_Init-CAN2-false-HAL-true,7-MX_SPI1_Init-SPI1-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_TIM5_Init-TIM5-false-HAL-true,10-MX_USART3_UART_Init-USART3-false-HAL-true,11-MX_RNG_Init-RNG-false-HAL-true,12-MX_RTC_Init-RTC-false-HAL-true,13-MX_TIM1_Init-TIM1-false-HAL-true,14-MX_TIM10_Init-TIM10-false-HAL-true,15-MX_USART1_UART_Init-USART1-false-HAL-true,16-MX_USART6_UART_Init-USART6-false-HAL-true,17-MX_TIM8_Init-TIM8-false-HAL-true,18-MX_I2C2_Init-I2C2-false-HAL-true,19-MX_I2C3_Init-I2C3-false-HAL-true,20-MX_SPI2_Init-SPI2-false-HAL-true,21-MX_CRC_Init-CRC-false-HAL-true,22-MX_DAC_Init-DAC-false-HAL-true,23-MX_USB_OTG_FS_USB_Init-USB_OTG_FS-false-HAL-true
RCC.48MHZClocksFreq_Value=48000000
RCC.AHBFreq_Value=168000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
@ -646,7 +649,10 @@ USART3.WordLength=WORDLENGTH_9B
USART6.IPParameters=VirtualMode
USART6.VirtualMode=VM_ASYNC
USB_DEVICE.CLASS_NAME_FS=CDC
USB_DEVICE.IPParameters=VirtualMode-CDC_FS,VirtualModeFS,CLASS_NAME_FS
USB_DEVICE.IPParameters=VirtualMode-CDC_FS,VirtualModeFS,CLASS_NAME_FS,MANUFACTURER_STRING-CDC_FS,PID_CDC_FS,PRODUCT_STRING_CDC_FS
USB_DEVICE.MANUFACTURER_STRING-CDC_FS=YueLuEmbedded
USB_DEVICE.PID_CDC_FS=202
USB_DEVICE.PRODUCT_STRING_CDC_FS=Vision Comm port
USB_DEVICE.VirtualMode-CDC_FS=Cdc
USB_DEVICE.VirtualModeFS=Cdc_FS
USB_OTG_FS.IPParameters=VirtualMode

27
bsp/usb/bsp_usb.c
View File

@ -4,37 +4,22 @@
* @brief usb是单例bsp,因此不保存实例
* @version 0.1
* @date 2023-02-09
*
*
* @copyright Copyright (c) 2023
*
*
*/
#include "bsp_usb.h"
#include "bsp_log.h"
static uint8_t *bsp_usb_rx_buffer; // 接收到的数据会被放在这里,buffer size为2048
// 注意usb单个数据包(Full speed模式下)最大为64byte,超出可能会出现丢包情况
// 这是传输完成的回调函数,在usbd_cdc_if.c中被调用
__weak void USBTransmitCpltCallback(uint32_t len)
{
// 本次发送的数据长度
UNUSED(len);
// 传输完成会调用此函数,to do something
}
// 这是接收回调函数
__weak void USBReceiveCpltCallback(uint32_t len)
{
// 本次接收的数据长度
UNUSED(len);
// 传输完成会调用此函数,to do something
}
uint8_t *USBInit()
uint8_t *USBInit(USB_Init_Config_s usb_conf)
{
// 上电后重新枚举usb设备
USBTransmit((uint8_t *)"USB DEVICE READY", sizeof("USB DEVICE READY")); // 发送初始化完成信息
bsp_usb_rx_buffer = CDCInitRxbufferNcallback(USBTransmitCpltCallback,USBReceiveCpltCallback); // 获取接收数据指针
LOGINFO("USB init success");
bsp_usb_rx_buffer = CDCInitRxbufferNcallback(usb_conf.tx_cbk, usb_conf.rx_cbk); // 获取接收数据指针
// usb的接收回调函数会在这里被设置,并将数据保存在bsp_usb_rx_buffer中
return bsp_usb_rx_buffer;
}

12
bsp/usb/bsp_usb.h
View File

@ -6,9 +6,9 @@
* @attention 这一版usb修改了usbd_cdc_if.c中的CDC_Receive_FS函数,若使用cube生成后会被覆盖.后续需要由usbcdciftemplate创建一套自己的模板
* @version 0.1
* @date 2023-02-09
*
*
* @copyright Copyright (c) 2023
*
*
*/
#pragma once
#include "usb_device.h"
@ -17,9 +17,15 @@
#include "usbd_desc.h"
#include "usbd_cdc_if.h"
typedef struct
{
USBCallback tx_cbk;
USBCallback rx_cbk;
} USB_Init_Config_s;
/* @note 虚拟串口的波特率/校验位/数据位等动态可变,取决于上位机的设定 */
/* 使用时不需要关心这些设置(作为从机) */
uint8_t *USBInit(); // bsp初始化时调用会重新枚举设备
uint8_t *USBInit(USB_Init_Config_s usb_conf); // bsp初始化时调用会重新枚举设备
void USBTransmit(uint8_t *buffer, uint16_t len); // 通过usb发送数据

8
modules/imu/ins_task.c
View File

@ -46,7 +46,7 @@ static void IMU_Temperature_Ctrl(void)
}
// 使用加速度计的数据初始化Roll和Pitch,而Yaw置0,这样可以避免在初始时候的姿态估计误差
static void InitQuaternion(float* init_q4)
static void InitQuaternion(float *init_q4)
{
float acc_init[3] = {0};
float gravity_norm[3] = {0, 0, 1}; // 导航系重力加速度矢量,归一化后为(0,0,1)
@ -68,7 +68,7 @@ static void InitQuaternion(float* init_q4)
Cross3d(acc_init, gravity_norm, axis_rot);
Norm3d(axis_rot);
init_q4[0] = cosf(angle / 2.0f);
for(uint8_t i = 0; i < 2; ++i)
for (uint8_t i = 0; i < 2; ++i)
init_q4[i + 1] = axis_rot[i] * sinf(angle / 2.0f); // 轴角公式,第三轴为0(没有z轴分量)
}
@ -154,8 +154,8 @@ void INS_Task(void)
INS.Pitch = QEKF_INS.Pitch;
INS.Roll = QEKF_INS.Roll;
INS.YawTotalAngle = QEKF_INS.YawTotalAngle;
VisionSetAltitude(INS.Yaw,INS.Pitch);
VisionSetAltitude(INS.Yaw, INS.Pitch, INS.Roll);
}
// temperature control

70
modules/master_machine/master_process.c
View File

@ -9,14 +9,32 @@
*
*/
#include "master_process.h"
#include "bsp_usart.h"
#include "usart.h"
#include "seasky_protocol.h"
#include "daemon.h"
#include "bsp_log.h"
#include "robot_def.h"
static Vision_Recv_s recv_data;
static Vision_Send_s send_data;
void VisionSetFlag(Enemy_Color_e enemy_color, Work_Mode_e work_mode, Bullet_Speed_e bullet_speed)
{
send_data.enemy_color = enemy_color;
send_data.work_mode = work_mode;
send_data.bullet_speed = bullet_speed;
}
void VisionSetAltitude(float yaw, float pitch, float roll)
{
send_data.yaw = yaw;
send_data.pitch = pitch;
send_data.roll = roll;
}
#ifdef VISION_USE_UART
#include "bsp_usart.h"
#include "daemon.h"
static USARTInstance *vision_usart_instance;
static DaemonInstance *vision_daemon_instance;
@ -45,9 +63,9 @@ static void VisionOfflineCallback(void *id)
USARTServiceInit(vision_usart_instance);
}
/* 视觉通信初始化 */
Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle)
{
#ifdef VISION_USE_UART
USART_Init_Config_s conf;
conf.module_callback = DecodeVision;
conf.recv_buff_size = VISION_RECV_SIZE;
@ -61,15 +79,16 @@ Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle)
.reload_count = 10,
};
vision_daemon_instance = DaemonRegister(&daemon_conf);
#endif // VISION_USE_UART
return &recv_data;
}
/**
* @brief 发送函数
*
*
* @param send 待发送数据
*
*
*/
void VisionSend()
{
@ -88,15 +107,40 @@ void VisionSend()
// 若使用了daemon,则也可以使用DMA发送.
}
void VisionSetFlag(Enemy_Color_e enemy_color, Work_Mode_e work_mode, Bullet_Speed_e bullet_speed)
#endif // VISION_USE_UART
#ifdef VISION_USE_VCP
#include "bsp_usb.h"
static uint8_t *vis_recv_buff;
static void DecodeVision(uint16_t recv_len)
{
send_data.enemy_color = enemy_color;
send_data.work_mode = work_mode;
send_data.bullet_speed = bullet_speed;
uint16_t flag_register;
get_protocol_info(vis_recv_buff, &flag_register, (uint8_t *)&recv_data.pitch);
// TODO: code to resolve flag_register;
}
void VisionSetAltitude(float yaw, float pitch)
/* 视觉通信初始化 */
Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle)
{
send_data.yaw = yaw;
send_data.pitch = pitch;
UNUSED(_handle); // 仅为了消除警告
USB_Init_Config_s conf = {0};
conf.rx_cbk = DecodeVision;
vis_recv_buff = USBInit(conf);
return &recv_data;
}
void VisionSend()
{
static uint16_t flag_register;
static uint8_t send_buff[VISION_SEND_SIZE];
static uint16_t tx_len;
// TODO: code to set flag_register
flag_register = 30 << 8 | 0b00000001;
// 将数据转化为seasky协议的数据包
get_protocol_send_data(0x02, flag_register, &send_data.yaw, 3, send_buff, &tx_len);
USBTransmit(send_buff, tx_len);
}
#endif // VISION_USE_VCP

3
modules/master_machine/master_process.h
View File

@ -77,6 +77,7 @@ typedef struct
float yaw;
float pitch;
float roll;
} Vision_Send_s;
#pragma pack()
@ -108,6 +109,6 @@ void VisionSetFlag(Enemy_Color_e enemy_color, Work_Mode_e work_mode, Bullet_Spee
* @param yaw
* @param pitch
*/
void VisionSetAltitude(float yaw, float pitch);
void VisionSetAltitude(float yaw, float pitch, float roll);
#endif // !MASTER_PROCESS_H