From b9a7d87dfdde46b7bc4723064ee52e1e87aa0e69 Mon Sep 17 00:00:00 2001 From: NeoZng Date: Wed, 15 Feb 2023 18:28:25 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E4=BA=86=E7=A8=8B=E5=BA=8F?= =?UTF-8?q?=E6=B5=81=E7=A8=8B=E5=92=8C=E6=95=B0=E6=8D=AE=E6=B5=81=E5=9B=BE?= =?UTF-8?q?,=E5=A2=9E=E5=8A=A0ozone=E4=B8=80=E9=94=AE=E8=B0=83=E8=AF=95?= =?UTF-8?q?=E7=9A=84=E6=94=AF=E6=8C=81,=E8=A1=A5=E5=85=85=E4=BA=86legacy?= =?UTF-8?q?=20support=20warn?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 2 +- .vscode/launch.json | 1 + README.md | 223 ++------------- TODO.md | 7 + application/chassis/chassis.md | 7 +- application/cmd/robot_cmd.h | 1 + application/grab/grab.md | 1 + application/lift/lift.md | 1 + application/manipulator/manipulator.md | 1 + application/robot.c | 6 + application/robot_def.h | 5 - assets/总程序流程.png | Bin 0 -> 54269 bytes assets/数据流.png | Bin 0 -> 280071 bytes bsp/bsp_legacy_support/bsp_buzzer.c | 2 + bsp/bsp_legacy_support/bsp_led.c | 2 + bsp/bsp_legacy_support/bsp_temperature.c | 2 + bsp/iic/bsp_iic.md | 4 +- bsp/spi/bsp_spi.md | 3 + debug_ozone.jdebug | 338 +++++++++++++++++++++++ modules/BMI088/bmi088.md | 81 ++++-- modules/daemon/daemon.md | 2 +- modules/imu/BMI088driver.c | 2 + modules/imu/ins_task.md | 1 + modules/ist8310/ist8310.md | 2 +- modules/led_task/led_task.c | 4 +- task.ps1 | 1 + 26 files changed, 476 insertions(+), 223 deletions(-) create mode 100644 application/grab/grab.md create mode 100644 application/lift/lift.md create mode 100644 application/manipulator/manipulator.md create mode 100644 assets/总程序流程.png create mode 100644 assets/数据流.png create mode 100644 debug_ozone.jdebug diff --git a/.gitignore b/.gitignore index 844cd0c..b1241dc 100644 --- a/.gitignore +++ b/.gitignore @@ -51,5 +51,5 @@ build ./idea .vscode/.cortex-debug.peripherals.state.json .vscode/.cortex-debug.registers.state.json -*.jdebug* +*.jdebug.user settings.json \ No newline at end of file diff --git a/.vscode/launch.json b/.vscode/launch.json index b7cdb08..440a688 100644 --- a/.vscode/launch.json +++ b/.vscode/launch.json @@ -1,4 +1,5 @@ { + // 启动调试的快捷键是F5 "version": "0.2.0", "configurations": [ // 使用dap-link(如无线调试器时的参考配置) diff --git a/README.md b/README.md index 9204efe..a24fa4a 100644 --- a/README.md +++ b/README.md @@ -2,10 +2,14 @@ > **代码参考了哈工深南宫小樱战队的框架设计,在此鸣谢。** -当前版本更新日期:2023.01.11 +当前版本更新日期:2023.02.15 **==由于当前仍然处在测试开发阶段,请定期拉取(`git pull`)获取最新更新。==** + + +[TOC] + ## 基本信息和开发规范 - **开发方式**: @@ -112,7 +116,7 @@ **编写和使用指南** -- 补充与修改:某款主控对应的BSP层应保持相同,当认为该层可能缺少部分功能或有错误时,请联系组长确认后解决并更新整个框架,**请勿自行修改提交**。 +- 补充与修改:某款主控对应的BSP层应保持相同,当认为该层可能缺少部分功能或有错误时,请联系组长确认后解决并更新整个框架,**请勿自行修改提交**。 请在你修改/增加的bsp_XXX.md中提供测试用例和使用示范以及任何其他需要注意的事项,并在代码必要的地方添加注释。 - 代码移植:BSP层也是在不同系列、型号的stm32间执行代码移植时主要需要关注的代码层。向功能更强系列移植一般只需要重配cube并重新组织BSP层的映射关系,而向功能较少的系列移植还需要去掉其不支持的功能。如果仅是对同一型号的开发板进行HAL初始化配置的修改,则BSP层**不需要**变动。 - 子文件与文件夹: - bsp.c/h:该层用于bsp基础功能初始化的文件,其中.h被include至main.c中,以实现整个代码层的初始化。include了该层所有模块的.h并调用各模块的初始化函数。**注意**,有些外设如串口和CAN不需要在bsp.c中进行模块层的初始化,他们会在module层生成实例(即C语言中的结构体)并注册到bsp层时自动进行初始化。以此达到提高运行速度避免未使用的模块被加载的问题。 @@ -154,11 +158,14 @@ Module层主要存放的是类型定义和实例指针数组,在该层没有进行实例化(定义或通过malloc分配空间),若在APP层没有实例化,则该模块的存在与否基本不会影响编译后的可执行文件,只会占用初始化和代码区所需的少量内存。module只会保存每个实例对象的指针,在没有初始化的时候仅仅占用一个指针数组的空间。因此,基于本框架的其他工程没有必要删除APP层未使用的module文件。 +务必为模块添加说明文档和使用范例,以及其他需要注意的事项(如果有)。 + > **待优化:** > > 由于C语言没有对象的概念,对于需要使用通信的module,在其.c文件下都需要保存每个实例的指针,在收到消息时遍历所有实例指针,找到收到消息的实例。这种处理方式可能会导致实时性下降,CAN接收时要遍历所有注册了CAN的实例,进入module层还需要一次遍历。用C++则可以将对象的this指针和模块的回调函数进行绑定,生成一个可调用对象然后再进行CAN的注册,使得其不需要module层的遍历。 > > 后续考虑在CAN instance中加入一个额外的`void*`域成员(成员变量),其内容为module层实例的地址。这样CAN收到消息时只需要遍历所有CAN instance,对于相同的模块,可以在其回调函数内部获取CAN instance的`void*`指针并通过强制类型转换cast成模块的实例结构体指针类型,从而访问特定的模块。 +> 这实际上是保存“对象”的parent pointer,使得实例可以访问拥有自己的实例(访问自己的父亲)。和回调函数配合,就可以防止交叉包含并为底层访问上层内容提供支持。 ## APP层(application) @@ -181,213 +188,31 @@ ROOT:. │ .gitignore # git版本管理忽略文件 │ .mxproject # CubeMX项目文件 │ basic_framework.ioc # CubeMX初始化配置文件 +| debug_ozone.jdebug # ozone debug调试配置和缓存文件 │ LICENSE # 开源协议文件 │ Makefile # 编译管理文件,为make(mingw32-make)命令的目标 │ openocd_dap.cfg # 用于OpenOCD调试使用的配置文件,dap用 │ openocd_jlink.cfg # 用于OpenOCD调试使用的配置文件,jlink用 │ README.md # 本说明文档 │ startup_stm32f407xx.s # F407汇编启动文件 -│ stm32.jflash # 烧录的配置文件,一键下载用 +│ stm32.jflash # jlink的烧录的配置文件,一键下载用 │ STM32F407.svd # F407外设地址映射文件,用于调试 -│ STM32F407IGHx_FLASH.ld # 包含了F407IGH(C板使用的MCU)的文件目标FLASH地址,用于编译(作为链接阶段的链接器),烧录和调试 +│ STM32F407IGHx_FLASH.ld # F407IGH(C板MCU)目标FLASH地址和链接规则,用于编译(作为链接阶段的链接器) +| task.ps1 # powershell脚本,一键编译并进入ozone调试/reset开发板用 │ TODO.md # 项目待完成的任务 │ VSCode+Ozone使用方法.md # 开发环境配置和前置知识介绍 │ 修改HAL配置时文件目录的更改.md # 重新配置CubeMX时的步骤和注意事项 -│ +│ 必须做&禁止做.md # 开发必看,规范和要求 +| ├─.vscode │ launch.json # 调试的配置文件 │ settings.json # 工作区配置文件,根据自己的需要配置 │ tasks.json # 任务配置文件,包括一键编译下载调试等 │ -├─application -│ │ application.md -│ │ APP层应用编写指引.md -│ │ robot.c -│ │ robot.h -│ │ robot_def.h -│ │ -│ ├─chassis -│ │ chassis.c -│ │ chassis.h -│ │ chassis.md -│ │ -│ ├─cmd -│ │ robot_cmd.c -│ │ robot_cmd.h -│ │ robot_cmd.md -│ │ -│ ├─gimbal -│ │ gimbal.c -│ │ gimbal.h -│ │ gimbal.md -│ │ -│ └─shoot -│ shoot.c -│ shoot.h -│ shoot.md -│ ├─assets # 说明文档的图片 -│ -├─bsp -│ │ bsp.md -│ │ bsp_buzzer.c -│ │ bsp_buzzer.h -│ │ bsp_init.c -│ │ bsp_init.h -│ │ bsp_led.c -│ │ bsp_led.h -│ │ bsp_spi.md -│ │ bsp_temperature.c -│ │ bsp_temperature.h -│ │ -│ ├─adc -│ │ bsp_adc.c -│ │ bsp_adc.h -│ │ bsp_adc.md -│ │ -│ ├─can -│ │ bsp_can.c -│ │ bsp_can.h -│ │ bsp_can.md -│ │ -│ ├─dwt -│ │ bsp_dwt.c -│ │ bsp_dwt.h -│ │ bsp_dwt.md -│ │ -│ ├─gpio -│ │ bsp_gpio.c -│ │ bsp_gpio.h -│ │ bsp_gpio.md -│ │ -│ ├─iic -│ │ bsp_iic.c -│ │ bsp_iic.h -│ │ bsp_iic.md -│ │ -│ ├─log -│ │ bsp_log.c -│ │ bsp_log.h -│ │ bsp_log.md -│ │ -│ ├─pwm -│ │ bsp_pwm.c -│ │ bsp_pwm.h -│ │ bsp_pwm.md -│ │ -│ ├─spi -│ │ bsp_spi.c -│ │ bsp_spi.h -│ │ -│ ├─usart -│ │ bsp_usart.c -│ │ bsp_usart.h -│ │ bsp_usart.md -│ │ -│ └─usb -└─modules - │ general_def.h - │ module.md - │ - ├─algorithm - │ algorithm.md - │ controller.c - │ controller.h - │ crc16.c - │ crc16.h - │ crc8.c - │ crc8.h - │ kalman_filter.c - │ kalman_filter.h - │ LQR.c - │ LQR.h - │ QuaternionEKF.c - │ QuaternionEKF.h - │ user_lib.c - │ user_lib.h - │ - ├─BMI088 - │ bmi088.c - │ bmi088.h - │ bmi088_regNdef.h - │ - ├─can_comm - │ can_comm.c - │ can_comm.h - │ can_comm.md - │ - ├─daemon - │ daemon.c - │ daemon.h - │ daemon.md - │ - ├─imu - │ BMI088driver.c - │ BMI088driver.h - │ BMI088Middleware.c - │ BMI088Middleware.h - │ BMI088reg.h - │ ins_task.c - │ ins_task.h - │ ins_task.md - │ - ├─led_light - │ led.md - │ led_task.c - │ led_task.h - │ - ├─master_machine - │ master_process.c - │ master_process.h - │ master_process.md - │ seasky_protocol.c - │ seasky_protocol.h - │ 湖南大学RoboMaster电控组通信协议.md - │ - ├─message_center - │ message_center.c - │ message_center.h - │ message_center.md - │ - ├─motor - │ dji_motor.c - │ dji_motor.h - │ dji_motor.md - │ HT04.c - │ HT04.h - │ LK9025.c - │ LK9025.h - │ motor_def.h - │ motor_task.c - │ motor_task.h - │ servo_motor.c - │ servo_motor.h - │ servo_motor.md - │ step_motor.c - │ step_motor.h - │ - ├─referee - │ crc.c - │ crc.h - │ referee.c - │ referee.h - │ referee.md - │ referee_communication.c - │ referee_UI.c - │ - ├─remote - │ remote.md - │ remote_control.c - │ remote_control.h - │ - ├─super_cap - │ super_cap.c - │ super_cap.h - │ super_cap.md - │ - └─vofa - vofa.c - vofa.h +├─application # 应用层 +├─bsp # 板级支持包 +└─modules # 模块层 ``` ## BSP/Module/Application介绍 @@ -416,3 +241,15 @@ HAL库初始化 --> BSP初始化 --> Application初始化 --> app调用其拥有 APP会调用其所有的模块的初始化函数(注册函数),这是因为本框架的设计思想是任何模块在被注册(构造/初始化)之前,都是不存在的,当且仅当定义了一个模块结构体(也称实例)的时候,才有一个实体的概念。 main函数唯一需要的函数是app层的`robot.c`中的`RobotInit()`函数,它首先会调用BSP初始化,然后进行所有应用的初始化;每个应用会调用对应模块的初始化;一些依赖通信外设的模块会将通信支持相关的bsp进行初始化。初始化结束之后实时系统启动。 + + + +### 程序运行流程 + +![运行](assets\总程序流程.png) + + + +### 程序数据流 + +![数据流](assets\数据流.png) \ No newline at end of file diff --git a/TODO.md b/TODO.md index 33e5fe7..fbbf138 100644 --- a/TODO.md +++ b/TODO.md @@ -6,6 +6,10 @@ **==标为黄色高亮的代表紧急程度高。==** +## assorted + +- [ ] 由于我们读写和传递的数据结构都不大,基本不会发生读写时任务切换的情况。典型的数据读写时间都是~μs,故没有对数据访问的接口添加互斥锁或关闭全局中断。后续有需求(如大量数据复制)可以添加。可以新增一个bsp_mutex或者module层的ds,提供相应支持。实际上freertos提供了一些供线程(任务)间进行数据交互的类型和函数,请查阅对应文档。 + ## BSP ### 待完成 @@ -44,6 +48,9 @@ - [ ] 增加无线网络功能,方便调试和测试 +#### bsp_log + +- [ ] 在vscode中添加rtt viewer的查看窗口,提供一键启用的task.json diff --git a/application/chassis/chassis.md b/application/chassis/chassis.md index e5256f2..6f04688 100644 --- a/application/chassis/chassis.md +++ b/application/chassis/chassis.md @@ -16,4 +16,9 @@ 6. 获取裁判系统的数据,并根据底盘功率限制对输出进行限幅 7. 由电机的反馈数据和IMU(如果有),计算底盘当前的真实运动速度 8. 设置底盘反馈数据,包括运动速度和裁判系统数据 -9. 将反馈数据推送到消息中心(如果双板则通过CANComm发送) \ No newline at end of file +9. 将反馈数据推送到消息中心(如果双板则通过CANComm发送) + + +### 后续支持平衡底盘 + +新增一个app balance_chassis \ No newline at end of file diff --git a/application/cmd/robot_cmd.h b/application/cmd/robot_cmd.h index 7e787e8..ba9f2e4 100644 --- a/application/cmd/robot_cmd.h +++ b/application/cmd/robot_cmd.h @@ -1,6 +1,7 @@ #ifndef GIMBAL_CMD_H #define GIMBAL_CMD_H + /** * @brief 机器人核心控制任务初始化,会被RobotInit()调用 * diff --git a/application/grab/grab.md b/application/grab/grab.md new file mode 100644 index 0000000..b09acba --- /dev/null +++ b/application/grab/grab.md @@ -0,0 +1 @@ +工程机器人夹爪 \ No newline at end of file diff --git a/application/lift/lift.md b/application/lift/lift.md new file mode 100644 index 0000000..60a2ab0 --- /dev/null +++ b/application/lift/lift.md @@ -0,0 +1 @@ +抬升/横移机构 \ No newline at end of file diff --git a/application/manipulator/manipulator.md b/application/manipulator/manipulator.md new file mode 100644 index 0000000..6ab8126 --- /dev/null +++ b/application/manipulator/manipulator.md @@ -0,0 +1 @@ +机械臂(不包含末端执行机构) \ No newline at end of file diff --git a/application/robot.c b/application/robot.c index 74151ff..72b014c 100644 --- a/application/robot.c +++ b/application/robot.c @@ -2,6 +2,12 @@ #include "robot.h" #include "robot_def.h" +// 编译warning,提醒开发者修改机器人参数 +#ifndef ROBOT_DEF_PARAM_WARNING +#define ROBOT_DEF_PARAM_WARNING +#warning check if you have configured the parameters in robot_def.h, IF NOT, please refer to the comments AND DO IT, otherwise the robot will have FATAL ERRORS!!! +#endif // !ROBOT_DEF_PARAM_WARNING + #if defined(ONE_BOARD) || defined(CHASSIS_BOARD) #include "chassis.h" #endif diff --git a/application/robot_def.h b/application/robot_def.h index 9c6ab16..56bbe00 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -16,11 +16,6 @@ #include "master_process.h" #include "stdint.h" -// 编译warning,提醒开发者修改机器人参数 -#ifndef ROBOT_DEF_PARAM_WARNING -#define ROBOT_DEF_PARAM_WARNING -#warning BE SURED THAT YOU HAVE ALREADY MODIFIED THESE PARAMETER TO FIT THE ROBOT -#endif // !ROBOT_DEF_PARAM_WARNING /* 开发板类型定义,烧录时注意不要弄错对应功能;修改定义后需要重新编译,只能存在一个定义! */ #define ONE_BOARD // 单板控制整车 diff --git a/assets/总程序流程.png b/assets/总程序流程.png new file mode 100644 index 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zGU_khLwo)&>;41QVbxqCCoS7JPrje#vR90G4Nn;94C1X(t<2S_Os~7X>Q1<|+V>+r z*FPoWSuE%($N?hg5@TQIf9%PRtVS&E8-I~U<5d%^V|CqG{VP$L#NoCb3ME^MwJ$B4 z4tz2udfVoi4$B!zDX8ClW7T*{IgHJ;?L4~WK61|Wkbi#0NoIY?9pFRSl_eM%Nz$0( zL*};qz|)w(z_tOm{?x3I>gO?KXo-7N@$OQiho5~(<@EerzwB>)rffaDmf-hddxFsY zif**?#I+@~59dGlR(ashX$M3cFud5e-Kv!2cdZ>A9v-H-G~=++r;Rtz`QiBg9oR;-@MScMLOcL()SgA{ylIl>*rI%cUWs)1@=|xd_SV$ z{>PA!b1uX`03ko@Y#A;z+&2Y%eRgXj3+sSA2N3@4bz)WfUFF`Oxc9$)y*AFbDmFX3 z<;{<7UESN!o!ySr!hWKp43i 由于DMA传输非阻塞,启动传输后只有到传输完成时才会拉高片选结束SPI transfer,因此需要在callback中加入标志位置位的操作. +这可以通过条件编译完成. + +温度数据不需要和accel和gyro同步,它不参与姿态解算,可以不用管. + +当加速度数据和陀螺仪数据都准备完成之后,唤醒姿态解算任务INs_taSk,进行一次解算.唤醒可以通过软件开启EXTI中断,在中断中调用实时系统的vTaskNotifyFromISR()完成,也可以将任务ready标志位置位,当运行到对应位置时检查标志位判断是否要进行任务.时间间隔不是大问题,inS_TAsK中有dwt用于计算两次任务执行的间隔,它将会自动处理好bias的大小 + +`__HAL_GPIO_EXTI_GENERATE_SWIT()` `HAL_EXTI_GENERATE_SWI()` 可以触发软件中断 + +of course,两者的数据更新实际上可以异步进行,这里为了方便起见当两者数据都准备好以后再行融合 ## 数据读写规则(so called 16-bit protocol) 加速度计读取read: @@ -33,21 +96,3 @@ write写入: 2. 写入的数据 -## IT非阻塞模式下BMI088读取流程 - -数据准备完成标志位:`uint8_t BMI088_READY_FLAG` 总共8个位 也可以用位域可读性更高 - -1. 当accel int中断发生,开启DMA SPI传输,完成后将acc ready置位 -2. 当gyro int中断发生,开启DMA SPI传输,完成后将gyro ready置位 -3. 当温度数据中断(温度传感器在accel内部,也是accel int)发生,开启DMA传输,完成后将温度标志位置位 - -> 由于DMA传输非阻塞,启动传输后只有到传输完成时才会拉高片选结束SPI transfer,因此需要在callback中加入标志位置位的操作. -这可以通过条件编译完成. - -温度数据不需要和accel和gyro同步,它不参与姿态解算,可以不用管. - -当加速度数据和陀螺仪数据都准备完成之后,唤醒姿态解算任务INs_taSk,进行一次解算.唤醒可以通过软件开启EXTI中断,在中断中调用实时系统的vTaskNotifyFromISR()完成,也可以将任务ready标志位置位,当运行到对应位置时检查标志位判断是否要进行任务.时间间隔不是大问题,inS_TAsK中有dwt用于计算两次任务执行的间隔,它将会自动处理好bias的大小 - -`__HAL_GPIO_EXTI_GENERATE_SWIT()` `HAL_EXTI_GENERATE_SWI()` 可以触发软件中断 - -of course,两者的数据更新实际上可以异步进行,这里为了方便起见当两者数据都准备好以后再行融合 diff --git a/modules/daemon/daemon.md b/modules/daemon/daemon.md index 71be55f..103f77d 100644 --- a/modules/daemon/daemon.md +++ b/modules/daemon/daemon.md @@ -19,7 +19,7 @@ typedef struct } Daemon_Init_Config_s; ``` -`reload_count`是”喂狗“时的重载值,一般根据你希望的离线容许时间和模块接收数据/访问数据的频率确定。 +`reload_count`是”喂狗“时的重载值,一般根据你希望的离线容许时间和模块接收数据/访问数据的频率确定。daemonTask递减计数器的频率是100hz(在HAL_N_Middlewares/Src/freertos.c中查看任务),你可以据此以及模块收到数据/操作的频率设置reload_count。 `daemon_task()`会在实时系统中以1kHz的频率运行,每次运行该任务,都会将所有daemon实例当前的count进行自减操作,当count减为零,则说明模块已经很久没有上线(处于deactivated状态,即没有收到数据,也没有进行其他读写操作)。 diff --git a/modules/imu/BMI088driver.c b/modules/imu/BMI088driver.c index 5f7fe08..c4d148e 100644 --- a/modules/imu/BMI088driver.c +++ b/modules/imu/BMI088driver.c @@ -4,6 +4,8 @@ #include "bsp_dwt.h" #include +#warning this is a legacy support. test the new BMI088 module as soon as possible. + float BMI088_ACCEL_SEN = BMI088_ACCEL_6G_SEN; float BMI088_GYRO_SEN = BMI088_GYRO_2000_SEN; diff --git a/modules/imu/ins_task.md b/modules/imu/ins_task.md index 7fd972a..4c4da81 100644 --- a/modules/imu/ins_task.md +++ b/modules/imu/ins_task.md @@ -6,6 +6,7 @@ ![image-20221113212706633](assets\image-20221113212706633.png) +`times%10` 是固定相机的采集频率为100hz,请根据视觉算法实际能达到的最大帧率调整。 ## 算法解析 介绍EKF四元数姿态解算的教程在:[四元数EKF姿态更新算法](https://zhuanlan.zhihu.com/p/454155643) diff --git a/modules/ist8310/ist8310.md b/modules/ist8310/ist8310.md index b90ad21..c9bc15c 100644 --- a/modules/ist8310/ist8310.md +++ b/modules/ist8310/ist8310.md @@ -1,5 +1,5 @@ -使用示例 +## 使用示例 ```c IST8310_Init_Config_s ist8310_conf = { diff --git a/modules/led_task/led_task.c b/modules/led_task/led_task.c index a4305c7..02cffe8 100644 --- a/modules/led_task/led_task.c +++ b/modules/led_task/led_task.c @@ -10,10 +10,10 @@ * */ +#warning this is a legacy support file, please build the new 'led' module as soon as possible + #include "led_task.h" - #include - #include "bsp_led.h" #include "main.h" diff --git a/task.ps1 b/task.ps1 index 13eee81..d5f0b9e 100644 --- a/task.ps1 +++ b/task.ps1 @@ -1,4 +1,5 @@ # 推荐安装powershell7 以获得更好的shell体验! +# 可以添加task.json,或在makefile中增加伪构建目标然后运行make xxx JLinkGDBServer: