93ca37e36c
- 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
102 lines
3.7 KiB
C
102 lines
3.7 KiB
C
#ifndef __USRATX_H
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#define __USRATX_H
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#include "stdio.h"
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#include "sys.h"
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#include "system.h"
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#define DATA_STK_SIZE 512
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#define DATA_TASK_PRIO 4
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#define FRAME_HEADER 0X7B //Frame_header //֡ͷ
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#define FRAME_TAIL 0X7D //Frame_tail //֡β
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//Frame grew 24 -> 44: appended session_id(4) + two 64-bit sample
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//timestamps(8+8) before the checksum/tail. Bytes 0..21 keep the legacy
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//layout so old parsers stay compatible; new fields live in the tail.
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//֡<><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><>
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//<2F>ֽ<EFBFBD> 0..21 <20><><EFBFBD>ֽ<EFBFBD>ϲ<EFBFBD><CFB2>֣<EFBFBD><D6A3>¾ֽ<C2BE><D6BD><EFBFBD>β<EFBFBD><CEB2><EFBFBD><EFBFBD>
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#define SEND_DATA_SIZE 44
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#define RECEIVE_DATA_SIZE 11
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/*****A structure for storing triaxial data of a gyroscope accelerometer*****/
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/*****<2A><><EFBFBD>ڴ<EFBFBD><DAB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ǽ<EFBFBD><C7BC>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵĽṹ<C4BD><E1B9B9>*********************************/
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typedef struct __Mpu6050_Data_
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{
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short X_data; //2 bytes //2<><32><EFBFBD>ֽ<EFBFBD>
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short Y_data; //2 bytes //2<><32><EFBFBD>ֽ<EFBFBD>
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short Z_data; //2 bytes //2<><32><EFBFBD>ֽ<EFBFBD>
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}Mpu6050_Data;
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/*******The structure of the serial port sending data************/
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/*******<2A><><EFBFBD>ڷ<EFBFBD><DAB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵĽṹ<C4BD><E1B9B9>*************************************/
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typedef struct _SEND_DATA_
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{
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unsigned char buffer[SEND_DATA_SIZE];
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struct _Sensor_Str_
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{
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unsigned char Frame_Header; //1<><31><EFBFBD>ֽ<EFBFBD>
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short X_speed; //2 bytes //2<><32><EFBFBD>ֽ<EFBFBD>
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short Y_speed; //2 bytes //2<><32><EFBFBD>ֽ<EFBFBD>
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short Z_speed; //2 bytes //2<><32><EFBFBD>ֽ<EFBFBD>
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short Power_Voltage; //2 bytes //2<><32><EFBFBD>ֽ<EFBFBD>
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Mpu6050_Data Accelerometer; //6 bytes //6<><36><EFBFBD>ֽ<EFBFBD>
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Mpu6050_Data Gyroscope; //6 bytes //6<><36><EFBFBD>ֽ<EFBFBD>
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unsigned int Session_Id; //4 bytes: MCU boot session ID //<2F><>MCU<43><55><EFBFBD><EFBFBD><EFBFBD>ỰID
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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>
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unsigned long long Imu_Time_us; //8 bytes: IMU sample time //IMU<4D><55><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
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unsigned char Frame_Tail; //1 bytes //1<><31><EFBFBD>ֽ<EFBFBD>
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}Sensor_Str;
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}SEND_DATA;
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typedef struct _RECEIVE_DATA_
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{
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unsigned char buffer[RECEIVE_DATA_SIZE];
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struct _Control_Str_
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{
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unsigned char Frame_Header; //1 bytes //1<><31><EFBFBD>ֽ<EFBFBD>
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float X_speed; //4 bytes //4<><34><EFBFBD>ֽ<EFBFBD>
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float Y_speed; //4 bytes //4<><34><EFBFBD>ֽ<EFBFBD>
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float Z_speed; //4 bytes //4<><34><EFBFBD>ֽ<EFBFBD>
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unsigned char Frame_Tail; //1 bytes //1<><31><EFBFBD>ֽ<EFBFBD>
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}Control_Str;
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}RECEIVE_DATA;
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//Sample timestamps captured at acquisition time by their owning tasks, and
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//the per-boot session ID. Read by data_transition() when packing the frame.
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//<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>
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//<2F><> data_transition() <20><><EFBFBD>֡ʱ<D6A1><CAB1>ȡ<EFBFBD><C8A1>
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extern volatile unsigned long long g_speed_sample_time_us;
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extern volatile unsigned long long g_imu_sample_time_us;
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extern volatile unsigned int g_session_id;
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void data_task(void *pvParameters);
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void data_transition(void);
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void USART1_SEND(void);
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void USART3_SEND(void);
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void USART5_SEND(void);
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void CAN_SEND(void);
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void uart1_init(u32 bound);
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void uart2_init(u32 bound);
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void uart3_init(u32 bound);
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void uart3_dma_tx_init(void);
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void uart5_init(u32 bound);
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int USART1_IRQHandler(void);
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int USART2_IRQHandler(void);
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int USART3_IRQHandler(void);
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int UART5_IRQHandler(void);
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float Vz_to_Akm_Angle(float Vx, float Vz);
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float XYZ_Target_Speed_transition(u8 High,u8 Low);
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void usart1_send(u8 data);
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void usart2_send(u8 data);
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void usart3_send(u8 data);
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void usart5_send(u8 data);
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u8 Check_Sum(unsigned char Count_Number,unsigned char Mode);
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#endif
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