cyy/origincar_controller
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

完善阿克曼控制与高速串口遥测

Browse Source 
- 校正舵机中位、转向符号和阿克曼后轮差速模型\n- 增加航向角速度辅助及遥控通道调试开关\n- 将速度环提升至 200Hz，并按实际 dt 计算 PI 积分\n- 将 IMU 启动校准缩短为 2 秒\n- 为 USART3 增加 DMA 发送和 MCU 采样时间戳
This commit is contained in:
cyy_mac
2026-08-12 18:51:48 +08:00
parent 576784bb4d
commit 93ca37e36c
17 changed files with 2151 additions and 932 deletions
Download Patch File Download Diff File Expand all files Collapse all files

54
HARDWARE/usartx.h
View File

@@ -10,33 +10,41 @@
#define FRAME_HEADER 0X7B //Frame_header //֡ͷ
#define FRAME_TAIL 0X7D //Frame_tail //֡β
#define SEND_DATA_SIZE 24
//Frame grew 24 -> 44: appended session_id(4) + two 64-bit sample
//timestamps(8+8) before the checksum/tail. Bytes 0..21 keep the legacy
//layout so old parsers stay compatible; new fields live in the tail.
//֡<><D6A1> 24 -> 44<34><34><EFBFBD><EFBFBD>У<EFBFBD><D0A3>/֡βǰ׷<C7B0><D7B7><EFBFBD><EFBFBD> session_id(4) <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 64λ<34><CEBB><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD>(8+8)<29><>
//<2F>ֽ<EFBFBD> 0..21 <20><><EFBFBD>ֽ<EFBFBD>ϲ<EFBFBD><CFB2>֣<EFBFBD><D6A3>¾ֽ<C2BE><D6BD><EFBFBD>β<EFBFBD><CEB2><EFBFBD><EFBFBD>
#define SEND_DATA_SIZE 44
#define RECEIVE_DATA_SIZE 11
/*****A structure for storing triaxial data of a gyroscope accelerometer*****/
/*****用于存放陀螺仪加速度计三轴数据的结构体*********************************/
/*****<EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ǽ<EFBFBD><EFBFBD>ٶȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵĽṹ<EFBFBD><EFBFBD>*********************************/
typedef struct __Mpu6050_Data_
{
short X_data; //2 bytes //2个字节
short Y_data; //2 bytes //2个字节
short Z_data; //2 bytes //2个字节
short X_data; //2 bytes //2<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
short Y_data; //2 bytes //2<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
short Z_data; //2 bytes //2<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
}Mpu6050_Data;
/*******The structure of the serial port sending data************/
/*******串口发送数据的结构体*************************************/
/*******<EFBFBD><EFBFBD><EFBFBD>ڷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵĽṹ<EFBFBD><EFBFBD>*************************************/
typedef struct _SEND_DATA_
{
unsigned char buffer[SEND_DATA_SIZE];
struct _Sensor_Str_
{
unsigned char Frame_Header; //1个字节
short X_speed; //2 bytes //2个字节
short Y_speed; //2 bytes //2个字节
short Z_speed; //2 bytes //2个字节
short Power_Voltage; //2 bytes //2个字节
Mpu6050_Data Accelerometer; //6 bytes //6个字节
Mpu6050_Data Gyroscope; //6 bytes //6个字节
unsigned char Frame_Tail; //1 bytes //1个字节
unsigned char Frame_Header; //1<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
short X_speed; //2 bytes //2<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
short Y_speed; //2 bytes //2<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
short Z_speed; //2 bytes //2<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
short Power_Voltage; //2 bytes //2<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
Mpu6050_Data Accelerometer; //6 bytes //6<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
Mpu6050_Data Gyroscope; //6 bytes //6<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
unsigned int Session_Id; //4 bytes: MCU boot session ID //<2F><>MCU<43><55><EFBFBD><EFBFBD><EFBFBD>ỰID
unsigned long long Speed_Time_us; //8 bytes: encoder sample time //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
unsigned long long Imu_Time_us; //8 bytes: IMU sample time //IMU<4D><55><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
unsigned char Frame_Tail; //1 bytes //1<><31><EFBFBD>ֽ<EFBFBD>
}Sensor_Str;
}SEND_DATA;
@@ -45,14 +53,21 @@ typedef struct _RECEIVE_DATA_
unsigned char buffer[RECEIVE_DATA_SIZE];
struct _Control_Str_
{
unsigned char Frame_Header; //1 bytes //1个字节
float X_speed; //4 bytes //4个字节
float Y_speed; //4 bytes //4个字节
float Z_speed; //4 bytes //4个字节
unsigned char Frame_Tail; //1 bytes //1个字节
unsigned char Frame_Header; //1 bytes //1<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
float X_speed; //4 bytes //4<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
float Y_speed; //4 bytes //4<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
float Z_speed; //4 bytes //4<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
unsigned char Frame_Tail; //1 bytes //1<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
}Control_Str;
}RECEIVE_DATA;
//Sample timestamps captured at acquisition time by their owning tasks, and
//the per-boot session ID. Read by data_transition() when packing the frame.
//<2F>ɸ<EFBFBD><C9B8>Բɼ<D4B2><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD>˲<EFBFBD><CBB2><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><C2BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ<CFB5><CDB3><EFBFBD>лỰID<49><44>
//<2F><> data_transition() <20><><EFBFBD>֡ʱ<D6A1><CAB1>ȡ<EFBFBD><C8A1>
extern volatile unsigned long long g_speed_sample_time_us;
extern volatile unsigned long long g_imu_sample_time_us;
extern volatile unsigned int g_session_id;
void data_task(void *pvParameters);
void data_transition(void);
@@ -64,6 +79,7 @@ void CAN_SEND(void);
void uart1_init(u32 bound);
void uart2_init(u32 bound);
void uart3_init(u32 bound);
void uart3_dma_tx_init(void);
void uart5_init(u32 bound);
int USART1_IRQHandler(void);