Modified the communication between proc_mcu and ctrl_mcu

ZhuYanzhen1 · Apr 13, 2022 · b70f66f · b70f66f
1 parent ccb9953
commit b70f66f
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Showing 10 changed files with 1,038 additions and 968 deletions.
diff --git a/program/CMakeLists.txt b/program/CMakeLists.txt
@@ -25,8 +25,8 @@ add_compile_options(-mcpu=cortex-m3 -mthumb -mthumb-interwork)
 add_compile_options(-ffunction-sections -fdata-sections -fno-common -fmessage-length=0)
 
 message(STATUS "Optimization for speed")
-#add_compile_options(-O0)
-add_compile_options(-O2)
+add_compile_options(-O0)
+#add_compile_options(-O2)
 
 #add_definitions(-DUSE_HAL_DRIVER)
 

diff --git a/program/ctrl_mcu/main.c b/program/ctrl_mcu/main.c
@@ -8,8 +8,12 @@
 
 #include "main.h"
 
-extern unsigned int uart6_dma_buffer_1[PROC_MCU_SEND_AMOUNT];
-extern unsigned int uart6_dma_buffer_2[PROC_MCU_SEND_AMOUNT];
+volatile short angle = 150;
+volatile unsigned short speed = 0;
+unsigned short playground_ind = 0;
+
+extern unsigned int uart6_dma_buffer_1[CTRL_MCU_RECEIVE_AMOUNT];
+extern unsigned int uart6_dma_buffer_2[CTRL_MCU_RECEIVE_AMOUNT];
 
 unsigned int uart7_dma_send_buffer[UART7_DMA_SEND_BUFFER] = {0};
 
@@ -19,8 +23,8 @@ int main(void) {
     uart1_config();
     uart6_config();
     uart6_dma_nvic_config();
-    uart6_dma_receive_config(uart6_dma_buffer_1, PROC_MCU_SEND_AMOUNT);
-    uart6_dma_set_transmit_buffer(uart6_dma_buffer_1, PROC_MCU_SEND_AMOUNT);
+    uart6_dma_receive_config(uart6_dma_buffer_1, CTRL_MCU_RECEIVE_AMOUNT);
+    uart6_dma_set_transmit_buffer(uart6_dma_buffer_1, CTRL_MCU_RECEIVE_AMOUNT);
     uart7_config();
 //    uart7_dma_nvic_config();
 //    uart7_dma_receive_config(uart7_dma_receive_buffer, UART7_DMA_RECEIVE_BUFFER);
@@ -72,33 +76,30 @@ int main(void) {
 //        delayms(1000);
 //    }
 
-    volatile unsigned short angle = 150;
-    volatile unsigned short speed = 0;
+
     unsigned char counter = 0;
     while (1) {
         // 前，左是 0~32766
-        angle = 200 - control_signal.joystick_x / 655;
-        if (control_signal.joystick_y > 32766)
-            speed = 2000;
-        else
-            speed = 2000 + (32767 - control_signal.joystick_y) * 3000 / 32766;
-//        if (counter == 20) {
-//            angle = 100;
-//        } else if (counter == 40) {
-//            angle = 200;
-//        }
-//        counter++;
-//        if (counter == 50) {
-//            if (speed <= 3000)
-//                speed = 6000;
-//            else if (speed >= 6000)
-//                speed = 3000;
-//            counter = 0;
-//        }
+//        angle = 200 - control_signal.joystick_x / 655;
+//        if (control_signal.joystick_y > 32766)
+//            speed = 2000;
+//        else
+//            speed = 2000 + (32767 - control_signal.joystick_y) * 3000 / 32766;
+        if (proc_data.distance_east != 0) {
+            if (playground_ind < 837)
+                playground_ind =
+                    dichotomy(((playground_ind - 2) <= 0) ? 0 : (playground_ind - 2),
+                              (playground_ind + INDEX_OFFSET > 837) ? 837 : (playground_ind + INDEX_OFFSET));
+
+            lqr_control(playground_ind);
+            WRITE_REG(TIM3->CCR1, angle);
+        }
 
-        WRITE_REG(TIM3->CCR1, angle);
-        sdtp_data_transmit_speed(speed, uart7_dma_send_buffer);
-        uart7_dma_set_send_buffer(uart7_dma_send_buffer, UART7_DMA_SEND_BUFFER);
+
+//        sdtp_data_transmit_speed(speed, uart7_dma_send_buffer);
+//        uart7_dma_set_send_buffer(uart7_dma_send_buffer, UART7_DMA_SEND_BUFFER);
         delayms(10);
+//        printf("%.3f, %.3f", proc_data.distance_north, proc_data.distance_east);
+
     }
 }
diff --git a/program/ctrl_mcu/mm32f3x_it.c b/program/ctrl_mcu/mm32f3x_it.c
@@ -24,6 +24,8 @@ void TIM2_IRQHandler(void) {
     debugger_scan_variable(global_time_stamp);
 }
 
+/* LQR控制 */
+
 void TIM4_IRQHandler(void) {
     TIM_ClearITPendingBit(TIM4, TIM_IT_Update);
 
@@ -48,20 +50,20 @@ void UART7_IRQHandler(void) {
 
 typedef enum { buffer_no_1 = 1, buffer_no_2 = 2 } buffer_no;
 static buffer_no uart6_free_buffer_no = buffer_no_1;
-unsigned int uart6_dma_buffer_1[PROC_MCU_SEND_AMOUNT];
-unsigned int uart6_dma_buffer_2[PROC_MCU_SEND_AMOUNT];
+unsigned int uart6_dma_buffer_1[CTRL_MCU_RECEIVE_AMOUNT];
+unsigned int uart6_dma_buffer_2[CTRL_MCU_RECEIVE_AMOUNT];
 void DMA1_Channel1_IRQHandler(void) {
     if (DMA_GetITStatus(DMA1_IT_TC1)) {
         /* Clear all interrupt flags */
         DMA_ClearITPendingBit(DMA1_IT_TC1);
 
         /* Double ping pong buffer */
         if (uart6_free_buffer_no == buffer_no_1) {
-            uart6_dma_set_transmit_buffer(uart6_dma_buffer_2, PROC_MCU_SEND_AMOUNT);
+            uart6_dma_set_transmit_buffer(uart6_dma_buffer_2, CTRL_MCU_RECEIVE_AMOUNT);
             uart6_free_buffer_no = buffer_no_2;
             deal_uart6_dma_proc(uart6_dma_buffer_1);
         } else {
-            uart6_dma_set_transmit_buffer(uart6_dma_buffer_1, PROC_MCU_SEND_AMOUNT);
+            uart6_dma_set_transmit_buffer(uart6_dma_buffer_1, CTRL_MCU_RECEIVE_AMOUNT);
             uart6_free_buffer_no = buffer_no_1;
             deal_uart6_dma_proc(uart6_dma_buffer_2);  // 解包，从proc传过来的，双乒乓缓冲区有时会导致乱
         }

diff --git a/program/device/sensor_decode.c b/program/device/sensor_decode.c
@@ -48,8 +48,8 @@ void precossing_proc_to_control(unsigned int packets[PROC_MCU_SEND_AMOUNT], cons
 void unpacking_proc_to_control(unsigned int packets[PROC_MCU_SEND_AMOUNT - 2]) {
     unsigned int temp;
     short checksum = verification_crc8((unsigned int *) packets, 13);
-    small_packets.checksum = (short) packets[13];
-    if (checksum != small_packets.checksum) return;
+    proc_data.checksum = (short) packets[13];
+    if (checksum != proc_data.checksum) return;
     // 调整位恢复原始数据，和校验的顺序不能换，因为封包的时候是先算校验，再计算调整位
     for (unsigned char i = 0; i < 12; ++i)
         if (packets[12] & (0x80 >> i))
@@ -128,7 +128,7 @@ static unsigned char package_counter = 0;
 //static unsigned char package_counter_1 = 0;
 
 void deal_uart6_dma_proc(const unsigned int *p) {
-    for (unsigned char counter = 0; counter < PROC_MCU_SEND_AMOUNT; ++counter) {
+    for (unsigned char counter = 0; counter < CTRL_MCU_RECEIVE_AMOUNT; ++counter) {
         switch (status) {
             case 0:if (p[counter] == 0xff) status = 1;
                 break;

diff --git a/program/device/sensor_decode.h b/program/device/sensor_decode.h
@@ -11,6 +11,7 @@
 
 #define READ_MCU_AMOUNT         158
 #define PROC_MCU_SEND_AMOUNT    16
+#define CTRL_MCU_RECEIVE_AMOUNT 48
 #define SHORT_SPLIT_CHAR(x, y)  packets[x] = ((buffer[y] & 0x0000ff00) >> 8);\
                                 packets[(x)+1] = (buffer[y] & 0x000000ff);
 #define INT_SPLIT_CHAR(x, y)    packets[x] = ((buffer[y] & 0x00ff0000) >> 16);\
@@ -71,6 +72,7 @@ typedef struct {
     float distance_north; // 先发北再发东
     float distance_east;
     float north_angle;
+    short checksum;
 } decode_proc;
 
 extern decode_fixed small_packets;