From 116b9b78fb429a786f2f04ff5096406f24f54376 Mon Sep 17 00:00:00 2001 From: NeoZng Date: Thu, 4 May 2023 21:38:35 +0800 Subject: [PATCH] =?UTF-8?q?=E5=B0=86=E9=BB=98=E8=AE=A4=E8=A7=86=E8=A7=89?= =?UTF-8?q?=E9=80=9A=E4=BF=A1=E6=8D=A2=E4=B8=BAusb=E8=99=9A=E6=8B=9F?= =?UTF-8?q?=E4=B8=B2=E5=8F=A3=EF=BC=8C=E4=BF=AE=E5=A4=8D=E8=A7=86=E8=A7=89?= =?UTF-8?q?=E5=8F=91=E9=80=81roll=E9=94=99=E8=AF=AF=EF=BC=9B=E5=A2=9E?= =?UTF-8?q?=E5=8A=A0=E4=BA=86attach=E8=B0=83=E8=AF=95=E6=94=AF=E6=8C=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .vscode/launch.json | 35 ++++++++- Inc/usbd_cdc_if.h | 4 +- STM32F407IGHx_FLASH.ld | 4 +- Src/usbd_cdc_if.c | 16 +++- Src/usbd_conf.c | 6 +- Src/usbd_desc.c | 6 +- application/robot_def.h | 23 +++--- basic_framework.ioc | 98 +++++++++++++------------ bsp/usb/bsp_usb.c | 27 ++----- bsp/usb/bsp_usb.h | 12 ++- modules/imu/ins_task.c | 8 +- modules/master_machine/master_process.c | 70 ++++++++++++++---- modules/master_machine/master_process.h | 3 +- 13 files changed, 199 insertions(+), 113 deletions(-) diff --git a/.vscode/launch.json b/.vscode/launch.json index 29cdabb..8344402 100644 --- a/.vscode/launch.json +++ b/.vscode/launch.json @@ -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", + }, ], } \ No newline at end of file diff --git a/Inc/usbd_cdc_if.h b/Inc/usbd_cdc_if.h index a9f47c1..a59beac 100644 --- a/Inc/usbd_cdc_if.h +++ b/Inc/usbd_cdc_if.h @@ -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 */ /** diff --git a/STM32F407IGHx_FLASH.ld b/STM32F407IGHx_FLASH.ld index bdf4def..6a78a12 100644 --- a/STM32F407IGHx_FLASH.ld +++ b/STM32F407IGHx_FLASH.ld @@ -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 diff --git a/Src/usbd_cdc_if.c b/Src/usbd_cdc_if.c index 2cb391e..7905498 100644 --- a/Src/usbd_cdc_if.c +++ b/Src/usbd_cdc_if.c @@ -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 */ /** diff --git a/Src/usbd_conf.c b/Src/usbd_conf.c index efde0dd..128246a 100644 --- a/Src/usbd_conf.c +++ b/Src/usbd_conf.c @@ -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); diff --git a/Src/usbd_desc.c b/Src/usbd_desc.c index 16f1f4e..41fbf69 100644 --- a/Src/usbd_desc.c +++ b/Src/usbd_desc.c @@ -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" diff --git a/application/robot_def.h b/application/robot_def.h index cf9569a..b2e8de1 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -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 */ diff --git a/basic_framework.ioc b/basic_framework.ioc index 4938c9f..7c04482 100644 --- a/basic_framework.ioc +++ b/basic_framework.ioc @@ -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 diff --git a/bsp/usb/bsp_usb.c b/bsp/usb/bsp_usb.c index f19c69b..af71281 100644 --- a/bsp/usb/bsp_usb.c +++ b/bsp/usb/bsp_usb.c @@ -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; } diff --git a/bsp/usb/bsp_usb.h b/bsp/usb/bsp_usb.h index 16dd758..5234fc7 100644 --- a/bsp/usb/bsp_usb.h +++ b/bsp/usb/bsp_usb.h @@ -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 \ No newline at end of file diff --git a/modules/imu/ins_task.c b/modules/imu/ins_task.c index 07a356e..c9ef358 100644 --- a/modules/imu/ins_task.c +++ b/modules/imu/ins_task.c @@ -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 diff --git a/modules/master_machine/master_process.c b/modules/master_machine/master_process.c index 3efe96e..91b96a3 100644 --- a/modules/master_machine/master_process.c +++ b/modules/master_machine/master_process.c @@ -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 diff --git a/modules/master_machine/master_process.h b/modules/master_machine/master_process.h index 953ca62..e8668be 100644 --- a/modules/master_machine/master_process.h +++ b/modules/master_machine/master_process.h @@ -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 \ No newline at end of file