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MobKBK
2026-06-20 21:22:34 +08:00
commit 460e0e9e73
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#include "usartx.h"
SEND_DATA Send_Data;
RECEIVE_DATA Receive_Data;
extern int Time_count;
/**************************************************************************
Function: Usartx3, Usartx1,Usartx5 and CAN send data task
Input : none
Output : none
函数功能：串口3、串口1、串口5、CAN发送数据任务
入口参数：无
返回 值：无
**************************************************************************/
void data_task(void *pvParameters)
{
u32 lastWakeTime = getSysTickCnt();
while(1)
{
//The task is run at 20hz
//此任务以20Hz的频率运行
vTaskDelayUntil(&lastWakeTime, F2T(RATE_20_HZ));
//Assign the data to be sent
//对要进行发送的数据进行赋值
data_transition();
USART1_SEND(); //Serial port 1 sends data //串口1发送数据
USART3_SEND(); //Serial port 3 (ROS) sends data //串口3(ROS)发送数据
USART5_SEND(); //Serial port 5 sends data //串口5发送数据
CAN_SEND(); //CAN send data //CAN发送数据
}
}
/**************************************************************************
Function: The data sent by the serial port is assigned
Input : none
Output : none
函数功能：串口发送的数据进行赋值
入口参数：无
返回 值：无
**************************************************************************/
void data_transition(void)
{
Send_Data.Sensor_Str.Frame_Header = FRAME_HEADER; //Frame_header //帧头
Send_Data.Sensor_Str.Frame_Tail = FRAME_TAIL; //Frame_tail //帧尾
//According to different vehicle types, different kinematics algorithms were selected to carry out the forward kinematics solution,
//and the three-axis velocity was obtained from each wheel velocity
//根据不同车型选择不同运动学算法进行运动学正解，从各车轮速度求出三轴速度
switch(Car_Mode)
{
case Mec_Car:
Send_Data.Sensor_Str.X_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder+MOTOR_C.Encoder+MOTOR_D.Encoder)/4)*1000;
Send_Data.Sensor_Str.Y_speed = ((MOTOR_A.Encoder-MOTOR_B.Encoder+MOTOR_C.Encoder-MOTOR_D.Encoder)/4)*1000;
Send_Data.Sensor_Str.Z_speed = ((-MOTOR_A.Encoder-MOTOR_B.Encoder+MOTOR_C.Encoder+MOTOR_D.Encoder)/4/(Axle_spacing+Wheel_spacing))*1000;
break;
case Omni_Car:
Send_Data.Sensor_Str.X_speed = ((MOTOR_C.Encoder-MOTOR_B.Encoder)/2/X_PARAMETER)*1000;
Send_Data.Sensor_Str.Y_speed = ((MOTOR_A.Encoder*2-MOTOR_B.Encoder-MOTOR_C.Encoder)/3)*1000;
Send_Data.Sensor_Str.Z_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder+MOTOR_C.Encoder)/3/Omni_turn_radiaus)*1000;
break;
case Akm_Car:
Send_Data.Sensor_Str.X_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder)/2)*1000;
Send_Data.Sensor_Str.Y_speed = 0;
Send_Data.Sensor_Str.Z_speed = ((MOTOR_B.Encoder-MOTOR_A.Encoder)/Wheel_spacing)*1000;
break;
case Diff_Car:
Send_Data.Sensor_Str.X_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder)/2)*1000;
Send_Data.Sensor_Str.Y_speed = 0;
Send_Data.Sensor_Str.Z_speed = ((MOTOR_B.Encoder-MOTOR_A.Encoder)/Wheel_spacing)*1000;
break;
case FourWheel_Car:
Send_Data.Sensor_Str.X_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder+MOTOR_C.Encoder+MOTOR_D.Encoder)/4)*1000;
Send_Data.Sensor_Str.Y_speed = 0;
Send_Data.Sensor_Str.Z_speed = ((-MOTOR_B.Encoder-MOTOR_A.Encoder+MOTOR_C.Encoder+MOTOR_D.Encoder)/2/(Axle_spacing+Wheel_spacing))*1000;
break;
case Tank_Car:
Send_Data.Sensor_Str.X_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder)/2)*1000;
Send_Data.Sensor_Str.Y_speed = 0;
Send_Data.Sensor_Str.Z_speed = ((MOTOR_B.Encoder-MOTOR_A.Encoder)/(Wheel_spacing)*1000);
break;
}
//The acceleration of the triaxial acceleration //加速度计三轴加速度
Send_Data.Sensor_Str.Accelerometer.X_data= accel[1]; //The accelerometer Y-axis is converted to the ros coordinate X axis //加速度计Y轴转换到ROS坐标X轴
Send_Data.Sensor_Str.Accelerometer.Y_data=-accel[0]; //The accelerometer X-axis is converted to the ros coordinate y axis //加速度计X轴转换到ROS坐标Y轴
Send_Data.Sensor_Str.Accelerometer.Z_data= accel[2]; //The accelerometer Z-axis is converted to the ros coordinate Z axis //加速度计Z轴转换到ROS坐标Z轴
//The Angle velocity of the triaxial velocity //角速度计三轴角速度
Send_Data.Sensor_Str.Gyroscope.X_data= gyro[1]; //The Y-axis is converted to the ros coordinate X axis //角速度计Y轴转换到ROS坐标X轴
Send_Data.Sensor_Str.Gyroscope.Y_data=-gyro[0]; //The X-axis is converted to the ros coordinate y axis //角速度计X轴转换到ROS坐标Y轴
if(Flag_Stop==0)
//If the motor control bit makes energy state, the z-axis velocity is sent normall
//如果电机控制位使能状态，那么正常发送Z轴角速度
Send_Data.Sensor_Str.Gyroscope.Z_data=gyro[2];
else
//If the robot is static (motor control dislocation), the z-axis is 0
//如果机器人是静止的（电机控制位失能），那么发送的Z轴角速度为0
Send_Data.Sensor_Str.Gyroscope.Z_data=0;
//Battery voltage (this is a thousand times larger floating point number, which will be reduced by a thousand times as well as receiving the data).
//电池电压(这里将浮点数放大一千倍传输，相应的在接收端在接收到数据后也会缩小一千倍)
Send_Data.Sensor_Str.Power_Voltage = Voltage*1000;
Send_Data.buffer[0]=Send_Data.Sensor_Str.Frame_Header; //Frame_heade //帧头
Send_Data.buffer[1]=Flag_Stop; //Car software loss marker //小车软件失能标志位
//The three-axis speed of / / car is split into two eight digit Numbers
//小车三轴速度,各轴都拆分为两个8位数据再发送
Send_Data.buffer[2]=Send_Data.Sensor_Str.X_speed >>8;
Send_Data.buffer[3]=Send_Data.Sensor_Str.X_speed ;
Send_Data.buffer[4]=Send_Data.Sensor_Str.Y_speed>>8;
Send_Data.buffer[5]=Send_Data.Sensor_Str.Y_speed;
Send_Data.buffer[6]=Send_Data.Sensor_Str.Z_speed >>8;
Send_Data.buffer[7]=Send_Data.Sensor_Str.Z_speed ;
//The acceleration of the triaxial axis of / / imu accelerometer is divided into two eight digit reams
//IMU加速度计三轴加速度,各轴都拆分为两个8位数据再发送
Send_Data.buffer[8]=Send_Data.Sensor_Str.Accelerometer.X_data>>8;
Send_Data.buffer[9]=Send_Data.Sensor_Str.Accelerometer.X_data;
Send_Data.buffer[10]=Send_Data.Sensor_Str.Accelerometer.Y_data>>8;
Send_Data.buffer[11]=Send_Data.Sensor_Str.Accelerometer.Y_data;
Send_Data.buffer[12]=Send_Data.Sensor_Str.Accelerometer.Z_data>>8;
Send_Data.buffer[13]=Send_Data.Sensor_Str.Accelerometer.Z_data;
//The axis of the triaxial velocity of the / /imu is divided into two eight digits
//IMU角速度计三轴角速度,各轴都拆分为两个8位数据再发送
Send_Data.buffer[14]=Send_Data.Sensor_Str.Gyroscope.X_data>>8;
Send_Data.buffer[15]=Send_Data.Sensor_Str.Gyroscope.X_data;
Send_Data.buffer[16]=Send_Data.Sensor_Str.Gyroscope.Y_data>>8;
Send_Data.buffer[17]=Send_Data.Sensor_Str.Gyroscope.Y_data;
Send_Data.buffer[18]=Send_Data.Sensor_Str.Gyroscope.Z_data>>8;
Send_Data.buffer[19]=Send_Data.Sensor_Str.Gyroscope.Z_data;
//Battery voltage, split into two 8 digit Numbers
//电池电压,拆分为两个8位数据发送
Send_Data.buffer[20]=Send_Data.Sensor_Str.Power_Voltage >>8;
Send_Data.buffer[21]=Send_Data.Sensor_Str.Power_Voltage;
//Data check digit calculation, Pattern 1 is a data check
//数据校验位计算，模式1是发送数据校验
Send_Data.buffer[22]=Check_Sum(22,1);
Send_Data.buffer[23]=Send_Data.Sensor_Str.Frame_Tail; //Frame_tail //帧尾
}
/**************************************************************************
Function: Serial port 1 sends data
Input : none
Output : none
函数功能：串口1发送数据
入口参数：无
返回 值：无
**************************************************************************/
void USART1_SEND(void)
{
unsigned char i = 0;
for(i=0; i<24; i++)
{
usart1_send(Send_Data.buffer[i]);
}
}
/**************************************************************************
Function: Serial port 3 sends data
Input : none
Output : none
函数功能：串口3发送数据
入口参数：无
返回 值：无
**************************************************************************/
void USART3_SEND(void)
{
unsigned char i = 0;
for(i=0; i<24; i++)
{
usart3_send(Send_Data.buffer[i]);
}
}
/**************************************************************************
Function: Serial port 5 sends data
Input : none
Output : none
函数功能：串口5发送数据
入口参数：无
返回 值：无
**************************************************************************/
void USART5_SEND(void)
{
unsigned char i = 0;
for(i=0; i<24; i++)
{
usart5_send(Send_Data.buffer[i]);
}
}
/**************************************************************************
Function: CAN sends data
Input : none
Output : none
函数功能：CAN发送数据
入口参数：无
返 回 值：无
**************************************************************************/
void CAN_SEND(void)
{
u8 CAN_SENT[8],i;
for(i=0;i<8;i++)
{
CAN_SENT[i]=Send_Data.buffer[i];
}
CAN1_Send_Num(0x101,CAN_SENT);
for(i=0;i<8;i++)
{
CAN_SENT[i]=Send_Data.buffer[i+8];
}
CAN1_Send_Num(0x102,CAN_SENT);
for(i=0;i<8;i++)
{
CAN_SENT[i]=Send_Data.buffer[i+16];
}
CAN1_Send_Num(0x103,CAN_SENT);
}
/**************************************************************************
Function: Serial port 1 initialization
Input : none
Output : none
函数功能：串口1初始化
入口参数：无
返 回 值：无
**************************************************************************/
void uart1_init(u32 bound)
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); //Enable the gpio clock //使能GPIO时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); //Enable the Usart clock //使能USART时钟
GPIO_PinAFConfig(GPIOA,GPIO_PinSource9,GPIO_AF_USART1);
GPIO_PinAFConfig(GPIOA,GPIO_PinSource10 ,GPIO_AF_USART1);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9|GPIO_Pin_10;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF; //输出模式
GPIO_InitStructure.GPIO_OType=GPIO_OType_PP; //推挽输出
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz; //高速50MHZ
GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOA, &GPIO_InitStructure); //初始化
//UsartNVIC configuration //UsartNVIC配置
NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
//Preempt priority //抢占优先级
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1 ;
//Subpriority //子优先级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
//Enable the IRQ channel //IRQ通道使能
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
//Initialize the VIC register with the specified parameters
//根据指定的参数初始化VIC寄存器
NVIC_Init(&NVIC_InitStructure);
//USART Initialization Settings 初始化设置
USART_InitStructure.USART_BaudRate = bound; //Port rate //串口波特率
USART_InitStructure.USART_WordLength = USART_WordLength_8b; //The word length is 8 bit data format //字长为8位数据格式
USART_InitStructure.USART_StopBits = USART_StopBits_1; //A stop bit //一个停止位
USART_InitStructure.USART_Parity = USART_Parity_No; //Prosaic parity bits //无奇偶校验位
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //No hardware data flow control //无硬件数据流控制
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //Sending and receiving mode //收发模式
USART_Init(USART1, &USART_InitStructure); //Initialize serial port 1 //初始化串口1
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE); //Open the serial port to accept interrupts //开启串口接受中断
USART_Cmd(USART1, ENABLE); //Enable serial port 1 //使能串口1
}
/**************************************************************************
Function: Serial port 2 initialization
Input : none
Output : none
函数功能：串口2初始化
入口参数：无
返回 值：无
**************************************************************************/
void uart2_init(u32 bound)
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); //Enable the gpio clock //使能GPIO时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); //Enable the Usart clock //使能USART时钟
GPIO_PinAFConfig(GPIOD,GPIO_PinSource5,GPIO_AF_USART2);
GPIO_PinAFConfig(GPIOD,GPIO_PinSource6 ,GPIO_AF_USART2);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5|GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF; //输出模式
GPIO_InitStructure.GPIO_OType=GPIO_OType_PP; //推挽输出
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz; //高速50MHZ
GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOD, &GPIO_InitStructure); //初始化
//UsartNVIC configuration //UsartNVIC配置
NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;
//Preempt priority //抢占优先级
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1 ;
//Subpriority //子优先级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
//Enable the IRQ channel //IRQ通道使能
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
//Initialize the VIC register with the specified parameters
//根据指定的参数初始化VIC寄存器
NVIC_Init(&NVIC_InitStructure);
//USART Initialization Settings 初始化设置
USART_InitStructure.USART_BaudRate = bound; //Port rate //串口波特率
USART_InitStructure.USART_WordLength = USART_WordLength_8b; //The word length is 8 bit data format //字长为8位数据格式
USART_InitStructure.USART_StopBits = USART_StopBits_1; //A stop bit //一个停止
USART_InitStructure.USART_Parity = USART_Parity_No; //Prosaic parity bits //无奇偶校验位
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //No hardware data flow control //无硬件数据流控制
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //Sending and receiving mode //收发模式
USART_Init(USART2, &USART_InitStructure); //Initialize serial port 2 //初始化串口2
USART_ITConfig(USART2, USART_IT_RXNE, ENABLE); //Open the serial port to accept interrupts //开启串口接受中断
USART_Cmd(USART2, ENABLE); //Enable serial port 2 //使能串口2
}
/**************************************************************************
Function: Serial port 3 initialization
Input : none
Output : none
函数功能：串口3初始化
入口参数：无
返回 值：无
**************************************************************************/
void uart3_init(u32 bound)
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); //Enable the gpio clock //使能GPIO时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE); //Enable the Usart clock //使能USART时钟
GPIO_PinAFConfig(GPIOD,GPIO_PinSource8,GPIO_AF_USART3);
GPIO_PinAFConfig(GPIOD,GPIO_PinSource9,GPIO_AF_USART3);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF; //输出模式
GPIO_InitStructure.GPIO_OType=GPIO_OType_PP; //推挽输出
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz; //高速50MHZ
GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOD, &GPIO_InitStructure); //初始化
//UsartNVIC configuration //UsartNVIC配置
NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;
//Preempt priority //抢占优先级
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2 ;
//Preempt priority //抢占优先级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
//Enable the IRQ channel //IRQ通道使能
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
//Initialize the VIC register with the specified parameters
//根据指定的参数初始化VIC寄存器
NVIC_Init(&NVIC_InitStructure);
//USART Initialization Settings 初始化设置
USART_InitStructure.USART_BaudRate = bound; //Port rate //串口波特率
USART_InitStructure.USART_WordLength = USART_WordLength_8b; //The word length is 8 bit data format //字长为8位数据格式
USART_InitStructure.USART_StopBits = USART_StopBits_1; //A stop bit //一个停止
USART_InitStructure.USART_Parity = USART_Parity_No; //Prosaic parity bits //无奇偶校验位
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //No hardware data flow control //无硬件数据流控制
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //Sending and receiving mode //收发模式
USART_Init(USART3, &USART_InitStructure); //Initialize serial port 3 //初始化串口3
USART_ITConfig(USART3, USART_IT_RXNE, ENABLE); //Open the serial port to accept interrupts //开启串口接受中断
USART_Cmd(USART3, ENABLE); //Enable serial port 3 //使能串口3
}
/**************************************************************************
Function: Serial port 5 initialization
Input : none
Output : none
函数功能：串口5初始化
入口参数：无
返回 值：无
**************************************************************************/
void uart5_init(u32 bound)
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
//PC12 TX
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); //Enable the gpio clock //使能GPIO时钟
//PD2 RX
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); //Enable the gpio clock //使能GPIO时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_UART5, ENABLE); //Enable the Usart clock //使能USART时钟
GPIO_PinAFConfig(GPIOC,GPIO_PinSource12,GPIO_AF_UART5);
GPIO_PinAFConfig(GPIOD,GPIO_PinSource2 ,GPIO_AF_UART5);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF; //输出模式
GPIO_InitStructure.GPIO_OType=GPIO_OType_PP; //推挽输出
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz; //高速50MHZ
GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOC, &GPIO_InitStructure); //初始化
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF; //输出模式
GPIO_InitStructure.GPIO_OType=GPIO_OType_PP; //推挽输出
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz; //高速50MHZ
GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP; //上拉
GPIO_Init(GPIOD, &GPIO_InitStructure); //初始化
//UsartNVIC configuration //UsartNVIC配置
NVIC_InitStructure.NVIC_IRQChannel = UART5_IRQn;
//Preempt priority //抢占优先级
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2 ;
//Preempt priority //抢占优先级
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
//Enable the IRQ channel //IRQ通道使能
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
//Initialize the VIC register with the specified parameters
//根据指定的参数初始化VIC寄存器
NVIC_Init(&NVIC_InitStructure);
//USART Initialization Settings 初始化设置
USART_InitStructure.USART_BaudRate = bound; //Port rate //串口波特率
USART_InitStructure.USART_WordLength = USART_WordLength_8b; //The word length is 8 bit data format //字长为8位数据格式
USART_InitStructure.USART_StopBits = USART_StopBits_1; //A stop bit //一个停止
USART_InitStructure.USART_Parity = USART_Parity_No; //Prosaic parity bits //无奇偶校验位
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //No hardware data flow control //无硬件数据流控制
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //Sending and receiving mode //收发模式
USART_Init(UART5, &USART_InitStructure); //Initialize serial port 5 //初始化串口5
USART_ITConfig(UART5, USART_IT_RXNE, ENABLE); //Open the serial port to accept interrupts //开启串口接受中断
USART_Cmd(UART5, ENABLE); //Enable serial port 5 //使能串口5
}
/**************************************************************************
Function: Serial port 1 receives interrupted
Input : none
Output : none
函数功能：串口1接收中断
入口参数：无
返 回 值：无
**************************************************************************/
int USART1_IRQHandler(void)
{
if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) //Check if data is received //判断是否接收到数据
{
u8 Usart_Receive;
static u8 Count;
static u8 rxbuf[11];
int check=0,error=1,i;
Usart_Receive = USART_ReceiveData(USART1); //Read the data //读取数据
if(Time_count<CONTROL_DELAY)
// Data is not processed until 10 seconds after startup
//开机10秒前不处理数据
return 0;
//Fill the array with serial data
//串口数据填入数组
rxbuf[Count]=Usart_Receive;
//Ensure that the first data in the array is FRAME_HEADER
//确保数组第一个数据为FRAME_HEADER
if(Usart_Receive == FRAME_HEADER||Count>0)
Count++;
else
Count=0;
if (Count == 11) //Verify the length of the packet //验证数据包的长度
{
Count=0; //Prepare for the serial port data to be refill into the array //为串口数据重新填入数组做准备
if(rxbuf[10] == FRAME_TAIL) //Verify the frame tail of the packet //验证数据包的帧尾
{
for(i=0; i<9; i++)
{
//XOR bit check, used to detect data error
//异或位校验，用于检测数据是否出错
check=rxbuf[i]^check;
}
if(check==rxbuf[9])
//XOR bit check successful
//异或位校验成功
error=0;
if(error==0)
{
float Vz;
if(Usart1_ON_Flag==0)
{
//Serial port 1 controls flag position 1, other flag position 0
//串口1控制标志位置1，其它标志位置0
//Usart_ON_Flag=1;
Usart1_ON_Flag=1;
APP_ON_Flag=0;
PS2_ON_Flag=0;
Remote_ON_Flag=0;
CAN_ON_Flag=0;
}
command_lost_count=0; //CAN/串口控制命令丢失计数清零
//Calculate the 3-axis target velocity from the serial data, which is divided into 8-bit high and 8-bit low units mm/s
//从串口数据求三轴目标速度，分高8位和低8位 单位mm/s
Move_X=XYZ_Target_Speed_transition(rxbuf[3],rxbuf[4]);
Move_Y=XYZ_Target_Speed_transition(rxbuf[5],rxbuf[6]);
Vz =XYZ_Target_Speed_transition(rxbuf[7],rxbuf[8]);
if(Car_Mode==Akm_Car)
{
Move_Z=Vz_to_Akm_Angle(Move_X, Vz);
}
else
{
Move_Z=XYZ_Target_Speed_transition(rxbuf[7],rxbuf[8]);
}
}
}
}
}
return 0;
}
/**************************************************************************
Function: Refresh the OLED screen
Input : none
Output : none
函数功能：串口2接收中断
入口参数：无
返回 值：无
**************************************************************************/
int USART2_IRQHandler(void)
{
int Usart_Receive;
if(USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) //Check if data is received //判断是否接收到数据
{
static u8 Flag_PID,i,j,Receive[50],Last_Usart_Receive;
static float Data;
Usart_Receive=USART2->DR; //Read the data //读取数据
if(Deviation_Count<CONTROL_DELAY)
// Data is not processed until 10 seconds after startup
//开机10秒前不处理数据
return 0;
if(Usart_Receive==0x41&&Last_Usart_Receive==0x41&&APP_ON_Flag==0)
//10 seconds after startup, press the forward button of APP to enter APP control mode
//The APP controls the flag position 1 and the other flag position 0
//开机10秒之后，按下APP的前进键进入APP控制模式
//APP控制标志位置1，其它标志位置0
PS2_ON_Flag=0,Remote_ON_Flag=0,APP_ON_Flag=1,CAN_ON_Flag=0,Usart1_ON_Flag=0,Usart5_ON_Flag=0;
Last_Usart_Receive=Usart_Receive;
if(Usart_Receive==0x4B)
//Enter the APP steering control interface
//进入APP转向控制界面
Turn_Flag=1;
else if(Usart_Receive==0x49||Usart_Receive==0x4A)
// Enter the APP direction control interface
//进入APP方向控制界面
Turn_Flag=0;
if(Turn_Flag==0)
{
//App rocker control interface command
//APP摇杆控制界面命令
if(Usart_Receive>=0x41&&Usart_Receive<=0x48)
{
Flag_Direction=Usart_Receive-0x40;
}
else if(Usart_Receive<=8)
{
Flag_Direction=Usart_Receive;
}
else Flag_Direction=0;
}
else if(Turn_Flag==1)
{
//APP steering control interface command
//APP转向控制界面命令
if (Usart_Receive==0x43) Flag_Left=0,Flag_Right=1; //Right rotation //右自转
else if(Usart_Receive==0x47) Flag_Left=1,Flag_Right=0; //Left rotation //左自转
else Flag_Left=0,Flag_Right=0;
if (Usart_Receive==0x41||Usart_Receive==0x45) Flag_Direction=Usart_Receive-0x40;
else Flag_Direction=0;
}
if(Usart_Receive==0x58) RC_Velocity=RC_Velocity+100; //Accelerate the keys, +100mm/s //加速按键，+100mm/s
if(Usart_Receive==0x59) RC_Velocity=RC_Velocity-100; //Slow down buttons, -100mm/s //减速按键，-100mm/s
// The following is the communication with the APP debugging interface
//以下是与APP调试界面通讯
if(Usart_Receive==0x7B) Flag_PID=1; //The start bit of the APP parameter instruction //APP参数指令起始位
if(Usart_Receive==0x7D) Flag_PID=2; //The APP parameter instruction stops the bit //APP参数指令停止位
if(Flag_PID==1) //Collect data //采集数据
{
Receive[i]=Usart_Receive;
i++;
}
if(Flag_PID==2) //Analyze the data //分析数据
{
if(Receive[3]==0x50) PID_Send=1;
else if(Receive[1]!=0x23)
{
for(j=i;j>=4;j--)
{
Data+=(Receive[j-1]-48)*pow(10,i-j);
}
switch(Receive[1])
{
case 0x30: RC_Velocity=Data;break;
case 0x31: Velocity_KP=Data;break;
case 0x32: Velocity_KI=Data;break;
case 0x33: break;
case 0x34: break;
case 0x35: break;
case 0x36: break;
case 0x37: break;
case 0x38: break;
}
}
//Relevant flag position is cleared
//相关标志位清零
Flag_PID=0;
i=0;
j=0;
Data=0;
memset(Receive, 0, sizeof(u8)*50); //Clear the array to zero//数组清零
}
if(RC_Velocity<0) RC_Velocity=0;
}
return 0;
}
/**************************************************************************
Function: Serial port 3 receives interrupted
Input : none
Output : none
函数功能：串口3接收中断
入口参数：无
返回 值：无
**************************************************************************/
float test_movz = 0;
int USART3_IRQHandler(void)
{
static u8 Count=0;
u8 Usart_Receive;
if(USART_GetITStatus(USART3, USART_IT_RXNE) != RESET) //Check if data is received //判断是否接收到数据
{
Usart_Receive = USART_ReceiveData(USART3);//Read the data //读取数据
if(Time_count<CONTROL_DELAY)
// Data is not processed until 10 seconds after startup
//开机10秒前不处理数据
return 0;
//Fill the array with serial data
//串口数据填入数组
Receive_Data.buffer[Count]=Usart_Receive;
// Ensure that the first data in the array is FRAME_HEADER
//确保数组第一个数据为FRAME_HEADER
if(Usart_Receive == FRAME_HEADER||Count>0)
Count++;
else
Count=0;
if (Count == 11) //Verify the length of the packet //验证数据包的长度
{
Count=0; //Prepare for the serial port data to be refill into the array //为串口数据重新填入数组做准备
if(Receive_Data.buffer[10] == FRAME_TAIL) //Verify the frame tail of the packet //验证数据包的帧尾
{
//Data exclusionary or bit check calculation, mode 0 is sent data check
//数据异或位校验计算，模式0是发送数据校验
if(Receive_Data.buffer[9] ==Check_Sum(9,0))
{
float Vz;
//All modes flag position 0, USART3 control mode
//所有模式标志位置0，为Usart3控制模式
PS2_ON_Flag=0;
Remote_ON_Flag=0;
APP_ON_Flag=0;
CAN_ON_Flag=0;
Usart1_ON_Flag=0;
Usart5_ON_Flag=0;
command_lost_count=0; //CAN/串口控制命令丢失计数清零
//Calculate the target speed of three axis from serial data, unit m/s
//从串口数据求三轴目标速度， 单位m/s
Move_X=XYZ_Target_Speed_transition(Receive_Data.buffer[3],Receive_Data.buffer[4]);
Move_Y=XYZ_Target_Speed_transition(Receive_Data.buffer[5],Receive_Data.buffer[6]);
Vz =XYZ_Target_Speed_transition(Receive_Data.buffer[7],Receive_Data.buffer[8]);
test_movz = Vz;
if(Car_Mode==Akm_Car)
{
Move_Z=Vz_to_Akm_Angle(Move_X, Vz);
}
else
{
Move_Z=XYZ_Target_Speed_transition(Receive_Data.buffer[7],Receive_Data.buffer[8]);
} }
}
}
}
return 0;
}
/**************************************************************************
Function: Serial port 5 receives interrupted
Input : none
Output : none
函数功能：串口5接收中断
入口参数：无
返回 值：无
**************************************************************************/
int UART5_IRQHandler(void)
{
static u8 Count=0;
u8 Usart_Receive;
if(USART_GetITStatus(UART5, USART_IT_RXNE) != RESET) //Check if data is received //判断是否接收到数据
{
Usart_Receive = USART_ReceiveData(UART5);//Read the data //读取数据
if(Time_count<CONTROL_DELAY)
// Data is not processed until 10 seconds after startup
//开机10秒前不处理数据
return 0;
//Fill the array with serial data
//串口数据填入数组
Receive_Data.buffer[Count]=Usart_Receive;
// Ensure that the first data in the array is FRAME_HEADER
//确保数组第一个数据为FRAME_HEADER
if(Usart_Receive == FRAME_HEADER||Count>0)
Count++;
else
Count=0;
if (Count == 11) //Verify the length of the packet //验证数据包的长度
{
Count=0; //Prepare for the serial port data to be refill into the array //为串口数据重新填入数组做准备
if(Receive_Data.buffer[10] == FRAME_TAIL) //Verify the frame tail of the packet //验证数据包的帧尾
{
//Data exclusionary or bit check calculation, mode 0 is sent data check
//数据异或位校验计算，模式0是发送数据校验
if(Receive_Data.buffer[9] ==Check_Sum(9,0))
{
float Vz;
//All modes flag position 0, USART3 control mode
//所有模式标志位置0，为Usart5控制模式
PS2_ON_Flag=0;
Remote_ON_Flag=0;
APP_ON_Flag=0;
CAN_ON_Flag=0;
Usart5_ON_Flag=0;
command_lost_count=0; //CAN/串口控制命令丢失计数清零
//Calculate the target speed of three axis from serial data, unit m/s
//从串口数据求三轴目标速度， 单位m/s
Move_X=XYZ_Target_Speed_transition(Receive_Data.buffer[3],Receive_Data.buffer[4]);
Move_Y=XYZ_Target_Speed_transition(Receive_Data.buffer[5],Receive_Data.buffer[6]);
Vz =XYZ_Target_Speed_transition(Receive_Data.buffer[7],Receive_Data.buffer[8]);
if(Car_Mode==Akm_Car)
{
Move_Z=Vz_to_Akm_Angle(Move_X, Vz);
}
else
{
Move_Z=XYZ_Target_Speed_transition(Receive_Data.buffer[7],Receive_Data.buffer[8]);
} }
}
}
}
return 0;
}
/**************************************************************************
Function: After the top 8 and low 8 figures are integrated into a short type data, the unit reduction is converted
Input : 8 bits high, 8 bits low
Output : The target velocity of the robot on the X/Y/Z axis
函数功能：将上位机发过来目标前进速度Vx、目标角速度Vz，转换为阿克曼小车的右前轮转角
入口参数：目标前进速度Vx、目标角速度Vz，单位：m/s，rad/s
返回 值：阿克曼小车的右前轮转角，单位：rad
**************************************************************************/
float test_z=0;
float Vz_to_Akm_Angle(float Vx, float Vz)
{
float R, AngleR, Min_Turn_Radius;
//float AngleL;
//Ackermann car needs to set minimum turning radius
//If the target speed requires a turn radius less than the minimum turn radius,
//This will greatly improve the friction force of the car, which will seriously affect the control effect
//阿克曼小车需要设置最小转弯半径
//如果目标速度要求的转弯半径小于最小转弯半径，
//会导致小车运动摩擦力大大提高，严重影响控制效果
Min_Turn_Radius=MINI_AKM_MIN_TURN_RADIUS;
if(Vz!=0 && Vx!=0)
{
//If the target speed requires a turn radius less than the minimum turn radius
//如果目标速度要求的转弯半径小于最小转弯半径
// if(float_abs(Vx/Vz)<=Min_Turn_Radius)
// {
// //Reduce the target angular velocity and increase the turning radius to the minimum turning radius in conjunction with the forward speed
// //降低目标角速度，配合前进速度，提高转弯半径到最小转弯半径
// if(Vz>0)
// Vz= float_abs(Vx)/(Min_Turn_Radius);
// else
// Vz=-float_abs(Vx)/(Min_Turn_Radius);
// }
//R=Vx/Vz;
R=Vx/Vz;
//AngleL=atan(Axle_spacing/(R+0.5*Wheel_spacing));
AngleR=atan(Axle_spacing/(R+0.05*Wheel_spacing));//2025.7.20edit
}
else
{
AngleR=0;
}
test_z = AngleR;//test
return AngleR;
}
/**************************************************************************
Function: After the top 8 and low 8 figures are integrated into a short type data, the unit reduction is converted
Input : 8 bits high, 8 bits low
Output : The target velocity of the robot on the X/Y/Z axis
函数功能：将上位机发过来的高8位和低8位数据整合成一个short型数据后，再做单位还原换算
入口参数：高8位，低8位
返回 值：机器人X/Y/Z轴的目标速度
**************************************************************************/
float XYZ_Target_Speed_transition(u8 High,u8 Low)
{
//Data conversion intermediate variable
//数据转换的中间变量
short transition;
//将高8位和低8位整合成一个16位的short型数据
//The high 8 and low 8 bits are integrated into a 16-bit short data
transition=((High<<8)+Low);
return
transition/1000+(transition%1000)*0.001; //Unit conversion, mm/s->m/s //单位转换, mm/s->m/s
}
/**************************************************************************
Function: Serial port 1 sends data
Input : The data to send
Output : none
函数功能：串口1发送数据
入口参数：要发送的数据
返回 值：无
**************************************************************************/
void usart1_send(u8 data)
{
USART1->DR = data;
while((USART1->SR&0x40)==0);
}
/**************************************************************************
Function: Serial port 2 sends data
Input : The data to send
Output : none
函数功能：串口2发送数据
入口参数：要发送的数据
返回 值：无
**************************************************************************/
void usart2_send(u8 data)
{
USART2->DR = data;
while((USART2->SR&0x40)==0);
}
/**************************************************************************
Function: Serial port 3 sends data
Input : The data to send
Output : none
函数功能：串口3发送数据
入口参数：要发送的数据
返回 值：无
**************************************************************************/
void usart3_send(u8 data)
{
USART3->DR = data;
while((USART3->SR&0x40)==0);
}
/**************************************************************************
Function: Serial port 5 sends data
Input : The data to send
Output : none
函数功能：串口5发送数据
入口参数：要发送的数据
返回 值：无
**************************************************************************/
void usart5_send(u8 data)
{
UART5->DR = data;
while((UART5->SR&0x40)==0);
}
/**************************************************************************
Function: Calculates the check bits of data to be sent/received
Input : Count_Number: The first few digits of a check; Mode: 0-Verify the received data, 1-Validate the sent data
Output : Check result
函数功能：计算要发送/接收的数据校验结果
入口参数：Count_Number：校验的前几位数；Mode：0-对接收数据进行校验，1-对发送数据进行校验
返回 值：校验结果
**************************************************************************/
u8 Check_Sum(unsigned char Count_Number,unsigned char Mode)
{
unsigned char check_sum=0,k;
//Validate the data to be sent
//对要发送的数据进行校验
if(Mode==1)
for(k=0;k<Count_Number;k++)
{
check_sum=check_sum^Send_Data.buffer[k];
}
//Verify the data received
//对接收到的数据进行校验
if(Mode==0)
for(k=0;k<Count_Number;k++)
{
check_sum=check_sum^Receive_Data.buffer[k];
}
return check_sum;
}