diff --git a/bsp/bsp_usart.c b/bsp/bsp_usart.c index 25209f8..e33b0e7 100644 --- a/bsp/bsp_usart.c +++ b/bsp/bsp_usart.c @@ -25,6 +25,8 @@ static void USARTServiceInit(usart_instance *_instance) { HAL_UARTEx_ReceiveToIdle_DMA(_instance->usart_handle, _instance->recv_buff, _instance->recv_buff_size); // 关闭dma half transfer中断防止两次进入HAL_UARTEx_RxEventCallback() + // 这是HAL库的一个设计失误,发生DMA传输完成/半完成以及串口IDLE中断都会触发HAL_UARTEx_RxEventCallback() + // 我们只希望处理，因此直接关闭DMA半传输中断第一种和第三种情况 __HAL_DMA_DISABLE_IT(_instance->usart_handle->hdmarx, DMA_IT_HT); } @@ -45,8 +47,14 @@ void USARTSend(usart_instance *_instance, uint8_t *send_buf, uint16_t send_size) * @brief 每次dma/idle中断发生时，都会调用此函数.对于每个uart实例会调用对应的回调进行进一步的处理 * 例如:视觉协议解析/遥控器解析/裁判系统解析 * + * @todo neozng给HAL库的github repo提了issue, ST在最新的一次更新中为此提供了一个HAL_UARTEx_GetRxEventType()函数 + * 这样就可以通过调用这个函数来确认是什么中断导致了回调函数的调用 + * * @note because DMA half transfer iterrupt(DMA_IT_HT) would call this callback function too, so we just * disable it when transfer complete using macro: __HAL_DMA_DISABLE_IT(huart->hdmarx,DMA_IT_HT) + * 关闭dma half transfer中断防止两次进入HAL_UARTEx_RxEventCallback() + * 这是HAL库的一个设计失误,发生DMA传输完成/半完成以及串口IDLE中断都会触发HAL_UARTEx_RxEventCallback() + * 我们只希望处理，因此直接关闭DMA半传输中断第一种和第三种情况 * * @param huart uart handle indicate which uart is being handled 发生中断的串口 * @param Size not used temporarily,此次接收到的总数居量,暂时没用 diff --git a/modules/imu/BMI088driver.c b/modules/imu/BMI088driver.c index ba96f80..e2139dd 100644 --- a/modules/imu/BMI088driver.c +++ b/modules/imu/BMI088driver.c @@ -82,30 +82,29 @@ static void BMI088_read_muli_reg(uint8_t reg, uint8_t *buf, uint8_t len); #endif static uint8_t write_BMI088_accel_reg_data_error[BMI088_WRITE_ACCEL_REG_NUM][3] = - { - {BMI088_ACC_PWR_CTRL, BMI088_ACC_ENABLE_ACC_ON, BMI088_ACC_PWR_CTRL_ERROR}, - {BMI088_ACC_PWR_CONF, BMI088_ACC_PWR_ACTIVE_MODE, BMI088_ACC_PWR_CONF_ERROR}, - {BMI088_ACC_CONF, BMI088_ACC_NORMAL | BMI088_ACC_800_HZ | BMI088_ACC_CONF_MUST_Set, BMI088_ACC_CONF_ERROR}, - {BMI088_ACC_RANGE, BMI088_ACC_RANGE_6G, BMI088_ACC_RANGE_ERROR}, - {BMI088_INT1_IO_CTRL, BMI088_ACC_INT1_IO_ENABLE | BMI088_ACC_INT1_GPIO_PP | BMI088_ACC_INT1_GPIO_LOW, BMI088_INT1_IO_CTRL_ERROR}, - {BMI088_INT_MAP_DATA, BMI088_ACC_INT1_DRDY_INTERRUPT, BMI088_INT_MAP_DATA_ERROR} +{ + {BMI088_ACC_PWR_CTRL, BMI088_ACC_ENABLE_ACC_ON, BMI088_ACC_PWR_CTRL_ERROR}, + {BMI088_ACC_PWR_CONF, BMI088_ACC_PWR_ACTIVE_MODE, BMI088_ACC_PWR_CONF_ERROR}, + {BMI088_ACC_CONF, BMI088_ACC_NORMAL | BMI088_ACC_800_HZ | BMI088_ACC_CONF_MUST_Set, BMI088_ACC_CONF_ERROR}, + {BMI088_ACC_RANGE, BMI088_ACC_RANGE_6G, BMI088_ACC_RANGE_ERROR}, + {BMI088_INT1_IO_CTRL, BMI088_ACC_INT1_IO_ENABLE | BMI088_ACC_INT1_GPIO_PP | BMI088_ACC_INT1_GPIO_LOW, BMI088_INT1_IO_CTRL_ERROR}, + {BMI088_INT_MAP_DATA, BMI088_ACC_INT1_DRDY_INTERRUPT, BMI088_INT_MAP_DATA_ERROR} }; static uint8_t write_BMI088_gyro_reg_data_error[BMI088_WRITE_GYRO_REG_NUM][3] = - { - {BMI088_GYRO_RANGE, BMI088_GYRO_2000, BMI088_GYRO_RANGE_ERROR}, - {BMI088_GYRO_BANDWIDTH, BMI088_GYRO_2000_230_HZ | BMI088_GYRO_BANDWIDTH_MUST_Set, BMI088_GYRO_BANDWIDTH_ERROR}, - {BMI088_GYRO_LPM1, BMI088_GYRO_NORMAL_MODE, BMI088_GYRO_LPM1_ERROR}, - {BMI088_GYRO_CTRL, BMI088_DRDY_ON, BMI088_GYRO_CTRL_ERROR}, - {BMI088_GYRO_INT3_INT4_IO_CONF, BMI088_GYRO_INT3_GPIO_PP | BMI088_GYRO_INT3_GPIO_LOW, BMI088_GYRO_INT3_INT4_IO_CONF_ERROR}, - {BMI088_GYRO_INT3_INT4_IO_MAP, BMI088_GYRO_DRDY_IO_INT3, BMI088_GYRO_INT3_INT4_IO_MAP_ERROR} +{ + {BMI088_GYRO_RANGE, BMI088_GYRO_2000, BMI088_GYRO_RANGE_ERROR}, + {BMI088_GYRO_BANDWIDTH, BMI088_GYRO_2000_230_HZ | BMI088_GYRO_BANDWIDTH_MUST_Set, BMI088_GYRO_BANDWIDTH_ERROR}, + {BMI088_GYRO_LPM1, BMI088_GYRO_NORMAL_MODE, BMI088_GYRO_LPM1_ERROR}, + {BMI088_GYRO_CTRL, BMI088_DRDY_ON, BMI088_GYRO_CTRL_ERROR}, + {BMI088_GYRO_INT3_INT4_IO_CONF, BMI088_GYRO_INT3_GPIO_PP | BMI088_GYRO_INT3_GPIO_LOW, BMI088_GYRO_INT3_INT4_IO_CONF_ERROR}, + {BMI088_GYRO_INT3_INT4_IO_MAP, BMI088_GYRO_DRDY_IO_INT3, BMI088_GYRO_INT3_INT4_IO_MAP_ERROR} }; static void Calibrate_MPU_Offset(IMU_Data_t *bmi088); - uint8_t BMI088_init(SPI_HandleTypeDef *bmi088_SPI, uint8_t calibrate) { BMI088_SPI = bmi088_SPI; @@ -128,11 +127,10 @@ uint8_t BMI088_init(SPI_HandleTypeDef *bmi088_SPI, uint8_t calibrate) return error; } - void Calibrate_MPU_Offset(IMU_Data_t *bmi088) { static float startTime; - static uint16_t CaliTimes = 6000; + static uint16_t CaliTimes = 6000; uint8_t buf[8] = {0, 0, 0, 0, 0, 0}; int16_t bmi088_raw_temp; float gyroMax[3], gyroMin[3]; @@ -333,16 +331,16 @@ void BMI088_Read(IMU_Data_t *bmi088) { static uint8_t buf[8] = {0, 0, 0, 0, 0, 0}; static int16_t bmi088_raw_temp; - static float dt=1.0; - static uint8_t first_read_flag=0; - if(!first_read_flag) + static float dt = 1.0; + static uint8_t first_read_flag = 0; + if (!first_read_flag) { - first_read_flag=1; + first_read_flag = 1; DWT_GetDeltaT(&offset_cal_DWT_Count); } else { - dt=DWT_GetDeltaT(&offset_cal_DWT_Count)*1000.0; + dt = DWT_GetDeltaT(&offset_cal_DWT_Count) * 1000.0; } BMI088_accel_read_muli_reg(BMI088_ACCEL_XOUT_L, buf, 6); @@ -359,11 +357,11 @@ void BMI088_Read(IMU_Data_t *bmi088) if (caliOffset) { bmi088_raw_temp = (int16_t)((buf[3]) << 8) | buf[2]; - bmi088->Gyro[0] = bmi088_raw_temp * BMI088_GYRO_SEN - bmi088->GyroOffset[0]*dt; + bmi088->Gyro[0] = bmi088_raw_temp * BMI088_GYRO_SEN - bmi088->GyroOffset[0] * dt; bmi088_raw_temp = (int16_t)((buf[5]) << 8) | buf[4]; - bmi088->Gyro[1] = bmi088_raw_temp * BMI088_GYRO_SEN - bmi088->GyroOffset[1]*dt; + bmi088->Gyro[1] = bmi088_raw_temp * BMI088_GYRO_SEN - bmi088->GyroOffset[1] * dt; bmi088_raw_temp = (int16_t)((buf[7]) << 8) | buf[6]; - bmi088->Gyro[2] = bmi088_raw_temp * BMI088_GYRO_SEN - bmi088->GyroOffset[2]*dt; + bmi088->Gyro[2] = bmi088_raw_temp * BMI088_GYRO_SEN - bmi088->GyroOffset[2] * dt; } else { diff --git a/modules/imu/ins_task.c b/modules/imu/ins_task.c index c6fc0df..8134f7b 100644 --- a/modules/imu/ins_task.c +++ b/modules/imu/ins_task.c @@ -2,6 +2,7 @@ ****************************************************************************** * @file ins_task.c * @author Wang Hongxi + * @author annotation and modificaiton by neozng * @version V2.0.0 * @date 2022/2/23 * @brief @@ -37,6 +38,17 @@ attitude_t *GetINSptr() return (attitude_t *)&INS.Roll; } +/** + * @brief 温度控制 + * + */ +static void IMU_Temperature_Ctrl(void) +{ + PID_Calculate(&TempCtrl, BMI088.Temperature, RefTemp); + + imu_pwm_set(float_constrain(float_rounding(TempCtrl.Output), 0, UINT32_MAX)); +} + void INS_Init(void) { // while (BMI088_init(&hspi1, 1) != BMI088_NO_ERROR); @@ -242,17 +254,6 @@ static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[ lastRollOffset = param->Roll; } -/** - * @brief 温度控制 - * - */ -void IMU_Temperature_Ctrl(void) -{ - PID_Calculate(&TempCtrl, BMI088.Temperature, RefTemp); - - imu_pwm_set(float_constrain(float_rounding(TempCtrl.Output), 0, UINT32_MAX)); -} - //------------------------------------functions below are not used in this demo------------------------------------------------- //----------------------------------you can read them for learning or programming----------------------------------------------- //----------------------------------they could also be helpful for further design----------------------------------------------- diff --git a/modules/imu/ins_task.h b/modules/imu/ins_task.h index 4106036..71d7779 100644 --- a/modules/imu/ins_task.h +++ b/modules/imu/ins_task.h @@ -92,12 +92,6 @@ void INS_Init(void); */ void INS_Task(void); -/** - * @brief 温控函数 - * - */ -void IMU_Temperature_Ctrl(void); - /** * @brief 四元数更新函数,即实现dq/dt=0.5Ωq * diff --git a/modules/imu/ins_task.md b/modules/imu/ins_task.md new file mode 100644 index 0000000..54c0c31 --- /dev/null +++ b/modules/imu/ins_task.md @@ -0,0 +1,3 @@ +# ins_task + +

neozng1@hnu.edu.cn

\ No newline at end of file diff --git a/modules/master_machine/master_process.md b/modules/master_machine/master_process.md new file mode 100644 index 0000000..94ab049 --- /dev/null +++ b/modules/master_machine/master_process.md @@ -0,0 +1 @@ +# master_process \ No newline at end of file diff --git a/modules/master_machine/湖南大学RoboMaster电控组通信协议.md b/modules/master_machine/湖南大学RoboMaster电控组通信协议.md new file mode 100644 index 0000000..149a6d9 --- /dev/null +++ b/modules/master_machine/湖南大学RoboMaster电控组通信协议.md @@ -0,0 +1,64 @@ +# 湖南大学RoboMaster电控组通信协议 + +可用于视觉，以及其他自研模块（仅限串口通信） + +## 一、串口配置 + +通信方式是串口，配置为波特率 115200，8 位数据位，1 位停止位，无硬件流控，无校验位。 + +## 二、数据帧说明 + +以下所有低位在前发送，数据长度可变。 + +1. 通信协议格式 + + | 帧头 | 数据ID | 数据 | 帧尾 | + | ----------------------- | -------------- | ------------- | :---------------------------------- | + | protocol_header(4-byte) | cmd_id(2-byte) | data (n-byte) | frame_tail(2-byte，CRC16，整包校验) | + +2. 帧头详细定义 + + | 帧头 | 偏移位置 | 字节大小 | 内容 | + | ----------- | -------- | -------- | ----------------------------- | + | sof(CMD) | 0 | 1 | 数据帧起始字节，固定值为 0xA5 | + | data_length | 1 | 2 | 数据帧中 data 的长度 | + | crc_check | 3 | 1 | 帧头CRC校验 | + +3. cmd_id 命令码 ID 说明 **(字节偏移 4，字节大小 2)** + + | 命令码 | 数据段长度 | 功能说明 | + | -------------- | --------------- | -------- | + | 0x0001(可修改) | 2 byte (16-bit) | 视觉数据 | + | ....... | | | + +4. 数据段data (n-byte) + + | 数据 | 偏移位置 | 字节大小 | 内容 | + | -------------- | -------- | --------------- | ------------------------------------- | + | flags_register | 6 | 2 | 16位标志置位寄存器 | + | float_data | 8 | 4 * data_length | float数据内容（4 * data_length-byte） | + +5. frame_tail(CRC16，整包校验) + +## 三、协议接口说明 + +```c +/*更新发送数据帧，并计算发送数据帧长度*/ +void get_protocol_send_data(uint16_t send_id, //信号id + uint16_t flags_register, // 16位寄存器 + float *tx_data, //待发送的float数据 + uint8_t float_length, // float的数据长度 + uint8_t *tx_buf, //待发送的数据帧 + uint16_t *tx_buf_len); //待发送的数据帧长度 +``` + +将float_data字段准备好放入`tx_data[]`并设置好标志位`flags_register`之后，调用此函数。它将计算循环冗余校验码，并把数据转换成串口发送的格式，放在`tx_buf[]`中。 + +```c +/*接收数据处理*/ +uint16_t get_protocol_info(uint8_t *rx_buf, //接收到的原始数据 + uint16_t *flags_register, //接收数据的16位寄存器地址 + float *rx_data); //接收的float数据存储地址 +``` + +将收到的一包原始数据buff地址传入，若校验通过，会把收到的标志位和float数据解析出来，保存在`flags_register*`和 `rx_data[]`中。 \ No newline at end of file diff --git a/modules/motor/motor_task.c b/modules/motor/motor_task.c index 0af4456..df9261e 100644 --- a/modules/motor/motor_task.c +++ b/modules/motor/motor_task.c @@ -1,5 +1,6 @@ #include "motor_task.h" + void MotorControlTask() { DJIMotorControl(); diff --git a/modules/motor/motor_task.h b/modules/motor/motor_task.h index 14bea69..56d8510 100644 --- a/modules/motor/motor_task.h +++ b/modules/motor/motor_task.h @@ -15,6 +15,12 @@ #include "HT04.h" #include "dji_motor.h" +// 舵机控制任务的频率设定为20Hz或更低 +// 开关式的舵机控制不应该放在该函数中 +/** + * @brief + * + */ void MotorControlTask(); #endif // !MOTOR_TASK_H