diff --git a/.vscode/settings.json b/.vscode/settings.json index 948ba6b..73a61ee 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,16 +1,16 @@ { "workbench.colorCustomizations": { - "activityBar.activeBackground": "#f8bfcd", + "activityBar.activeBackground": "#5896f3", "activityBar.activeBorder": "#2f9010", - "activityBar.background": "#f8bfcd", + "activityBar.background": "#6b9ae0", "activityBar.foreground": "#15202b", "activityBar.inactiveForeground": "#15202b99", "activityBarBadge.background": "#2f9010", "activityBarBadge.foreground": "#e7e7e7", - "statusBar.background": "#f391a9", + "statusBar.background": "#5b3fd8", "statusBar.foreground": "#15202b", - "statusBarItem.hoverBackground": "#ee6385", - "titleBar.activeBackground": "#f391a9", + "statusBarItem.hoverBackground": "#024cbb", + "titleBar.activeBackground": "#2466c9", "titleBar.activeForeground": "#15202b", "titleBar.inactiveBackground": "#f391a999", "titleBar.inactiveForeground": "#15202b99" diff --git a/App/freertos_action.c b/App/freertos_action.c index d69042e..38c6cb6 100644 --- a/App/freertos_action.c +++ b/App/freertos_action.c @@ -117,34 +117,45 @@ void task_proximity(void) { os_p1 = osMessageQueueGet(proximity1_queueHandle, &proximity1, NULL, 100); os_p2 = osMessageQueueGet(proximity2_queueHandle, &proximity2, NULL, 100); - - if ((os_p1 == osOK) && (os_p2 == osOK)) - { + if((os_p1 == osOK) || (os_p2 == osOK)){ uavcan_proximity_t data = {0}; - data.d0 = min(proximity1.d0, proximity2.d0); - data.d315 = proximity1.d_left; - data.d45 = proximity2.d_left; + data.d0 = proximity1.d0; + data.d45 = proximity1.d45; + data.d90 = proximity1.d90; + data.d135 = proximity1.d135; + data.d180 = proximity1.d180; + data.d225 = proximity1.d225; + data.d270 = proximity1.d270; + data.d315 = proximity1.d315; send_uavcan_proximity(&data); } - else - { - if (os_p1 == osOK) //左边的雷达是反的 - { - uavcan_proximity_t data = {0}; - data.d0 = proximity1.d0; - data.d315 = proximity1.d_right; - data.d45 = proximity1.d_left; - send_uavcan_proximity(&data); - } - else if (os_p2 == osOK) - { - uavcan_proximity_t data = {0}; - data.d0 = proximity2.d0; - data.d315 = proximity2.d_left; - data.d45 = proximity2.d_right; - send_uavcan_proximity(&data); - } - } + // if ((os_p1 == osOK) && (os_p2 == osOK)) + // { + // uavcan_proximity_t data = {0}; + // data.d0 = min(proximity1.d0, proximity2.d0); + // data.d315 = proximity1.d315; + // data.d45 = proximity2.d45; + // send_uavcan_proximity(&data); + // } + // else + // { + // if (os_p1 == osOK) //左边的雷达是反的 + // { + // uavcan_proximity_t data = {0}; + // data.d0 = proximity1.d0; + // data.d315 = proximity1.d315; + // data.d45 = proximity1.d45; + // send_uavcan_proximity(&data); + // } + // else if (os_p2 == osOK) + // { + // uavcan_proximity_t data = {0}; + // data.d0 = proximity2.d0; + // data.d315 = proximity2.d315; + // data.d45 = proximity2.d45; + // send_uavcan_proximity(&data); + // } + // } } } } diff --git a/BSP/custom_data_def.h b/BSP/custom_data_def.h index 46d1436..4f99322 100644 --- a/BSP/custom_data_def.h +++ b/BSP/custom_data_def.h @@ -15,9 +15,14 @@ typedef struct typedef struct { - uint16_t d0; - uint16_t d_left; - uint16_t d_right; + uint16_t d0; + uint16_t d45; + uint16_t d90; + uint16_t d135; + uint16_t d180; + uint16_t d225; + uint16_t d270; + uint16_t d315; }proximity_data_t; #endif /* CUSTOM_DATA_DEF_H */ diff --git a/BSP/insifhtica_QOAR1271.c b/BSP/insifhtica_QOAR1271.c index ac45430..fd2f607 100644 --- a/BSP/insifhtica_QOAR1271.c +++ b/BSP/insifhtica_QOAR1271.c @@ -4,15 +4,48 @@ static uint8_t data = 0; static uint8_t step = 0; uint16_t ar1271_rev_flag = 0; +struct mr72_c{ + uint32_t time_ms; + float range_f; + uint16_t range; + float azimuth; + float vrel; + uint8_t index; + uint8_t rollcount; + uint8_t rcs; +}mr72_c_data; + +uint16_t range_arr[8]; +float last_range; +uint32_t last_time_ms; +uint8_t range_index; +uint8_t index_arr[8]; +void decode_ar1271(char c,uint8_t index); + +bool decode_mr72(int16_t c); +void data_process(void); +void sortA1(uint16_t a[], uint8_t length); void parse_ar1271_data(usart_data_t *usart_data) { osSemaphoreAcquire(radar_parse_mutexHandle,30); - uint8_t buffer_count; - uint8_t buffer[LIDAR_360_SIZE] = {0}; - uint8_t message_count; + for (int i = 0; i < usart_data->len; i++) { char c = usart_data->data[i]; + if(1){ + decode_mr72(c); + }else{ + decode_ar1271(c,usart_data->usart_instance); + } + } + data_process(); + osSemaphoreRelease(radar_parse_mutexHandle); +} + +void decode_ar1271(char c,uint8_t index){ + static uint8_t buffer_count; + static uint8_t buffer[LIDAR_360_SIZE] = {0}; + static uint8_t message_count; if ('T' == c) { buffer_count = 0; @@ -35,17 +68,17 @@ void parse_ar1271_data(usart_data_t *usart_data) { proximity_data_t proximity_data = {0}; proximity_data.d0 = uint16_value(buffer[2], buffer[3]); - proximity_data.d_right = uint16_value(buffer[4], buffer[5]); - proximity_data.d_left = uint16_value(buffer[16], buffer[17]); + proximity_data.d315 = uint16_value(buffer[4], buffer[5]); + proximity_data.d45 = uint16_value(buffer[16], buffer[17]); - if (usart_data->usart_instance == 1) + if (index == 1) { if (proximity1_queueHandle != NULL) { osMessageQueuePut(proximity1_queueHandle, &proximity_data, 0, 10); } } - else if (usart_data->usart_instance == 2) + else if (index == 2) { if (proximity2_queueHandle != NULL) { @@ -54,10 +87,145 @@ void parse_ar1271_data(usart_data_t *usart_data) } } } +} +bool decode_mr72(int16_t c) +{ + bool ret = false; + static uint8_t decode_state; + static uint8_t data_len = 0; + static int8_t data_cnt; + static int16_t value_b[8]; + int16_t temp = c; + switch (decode_state) + { + case 0: + if(temp == 0xAA) + decode_state = 1; + break; + case 1: + if(temp == 0xAA){ + decode_state = 2; + } + else + decode_state = 0; + break; + case 2: + if(temp == 0x0c){ + decode_state = 3; + } + else + decode_state = 0; + break; + case 3: + if(temp == 0x07){ + decode_state = 4; + data_len = 8; + } + else + decode_state = 0; + break; + case 4: + data_cnt = 8 - data_len; + if(data_cnt < 7){{ + value_b[data_cnt] = temp; + data_len -= 1; + } + }else{ + decode_state = 5; + } + break; + case 5: + if(temp == 0x55){ + decode_state = 6; + + } + else + decode_state = 0; + break; + case 6: + + if(temp == 0x55){ + mr72_c_data.time_ms = HAL_GetTick(); + mr72_c_data.index = value_b[0]; + mr72_c_data.range_f = (value_b[2] * 256 + value_b[3]) * 0.01; + mr72_c_data.range = uint16_value(value_b[2], value_b[3]); + mr72_c_data.azimuth = (value_b[1] * 256 + value_b[4]) * 0.01 - 90; + mr72_c_data.vrel = (value_b[5] * 256 + value_b[6]) * 0.05 - 35; + mr72_c_data.rollcount = value_b[5] & 0x03; + mr72_c_data.rcs = value_b[7] * 0.5 - 50; + ret = true; + if((last_range - mr72_c_data.range_f > 0.5) || (last_range - mr72_c_data.range_f < -0.5)){ + bool had_index = false; + for(uint8_t i=0; i 50 || HAL_GetTick() - last_time_ms > 150){ + if(last_time_ms != mr72_c_data.time_ms){ + last_time_ms = mr72_c_data.time_ms; + // gcs().send_text(MAV_SEVERITY_INFO, "a:%d , %d, %d, %d, %d, %d, %d, %d",range_arr[0],range_arr[1],range_arr[2],range_arr[3],range_arr[4],range_arr[5],range_arr[6],range_arr[7]); + sortA1(range_arr,8); + proximity_t data; + data.d315 = range_arr[0]; + data.d0 = range_arr[1]; + data.d45 = range_arr[2]; + data.d90 = range_arr[3]; + data.d135 = range_arr[4]; + data.d180 = range_arr[5]; + data.d225 = range_arr[6]; + data.d270 = range_arr[7]; + if (proximity1_queueHandle != NULL) + { + osMessageQueuePut(proximity1_queueHandle, &data, 0, 10); + } + for (uint8_t i = 0; i < 8; i++) + { + range_arr[i] = 4000; + index_arr[i] = 0; + } + + } + range_index = 0; } - osSemaphoreRelease(radar_parse_mutexHandle); } +void sortA1(uint16_t a[], uint8_t length){ + uint8_t i, j; + float temp; + for(i = 0; i < length; ++i){ + for(j = i + 1; j < length; ++j){ + a[i] = a[i] == 0? 4000:a[i]; + a[j] = a[j] == 0? 4000:a[j]; + if(a[j] < a[i]){ //如果后一个元素小于前一个元素则交换 + temp = a[i]; + a[i] = a[j]; + a[j] = temp; + } + } + } +} static const uint8_t crc8_table[] = { 0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, diff --git a/BSP/insifhtica_QOAR1271.h b/BSP/insifhtica_QOAR1271.h index 8376508..60cbc27 100644 --- a/BSP/insifhtica_QOAR1271.h +++ b/BSP/insifhtica_QOAR1271.h @@ -19,9 +19,12 @@ typedef struct uint16_t d315; } proximity_t; + + uint8_t crc_crc8(const uint8_t *p, uint8_t len); bool patse_ar1271_data(uint8_t *in_data, uint8_t datalengh, uint8_t *out_data); uint16_t uint16_value(uint8_t h_byte,uint8_t l_byte); void parse_ar1271_data(usart_data_t *usart_data); void request_QOAR1271_data(void); + #endif /* INSIFHTICA_QOAR1271_H */ diff --git a/Core/Src/usart.c b/Core/Src/usart.c index 72bc31f..8177c54 100644 --- a/Core/Src/usart.c +++ b/Core/Src/usart.c @@ -44,7 +44,7 @@ void MX_USART1_UART_Init(void) /* USER CODE END USART1_Init 1 */ huart1.Instance = USART1; - huart1.Init.BaudRate = 921600; + huart1.Init.BaudRate = 115200; huart1.Init.WordLength = UART_WORDLENGTH_8B; huart1.Init.StopBits = UART_STOPBITS_1; huart1.Init.Parity = UART_PARITY_NONE; @@ -73,7 +73,7 @@ void MX_USART2_UART_Init(void) /* USER CODE END USART2_Init 1 */ huart2.Instance = USART2; - huart2.Init.BaudRate = 921600; + huart2.Init.BaudRate = 115200; huart2.Init.WordLength = UART_WORDLENGTH_8B; huart2.Init.StopBits = UART_STOPBITS_1; huart2.Init.Parity = UART_PARITY_NONE; diff --git a/MDK-ARM/WaterLidar.uvoptx b/MDK-ARM/WaterLidar.uvoptx index 33a59f5..4814205 100644 --- a/MDK-ARM/WaterLidar.uvoptx +++ b/MDK-ARM/WaterLidar.uvoptx @@ -145,7 +145,7 @@ 0 ST-LINKIII-KEIL_SWO - -U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(1BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL010000 -FP0($$Device:STM32F103T8$Flash\STM32F10x_128.FLM) + -U9985090032124647524B4E00 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(1BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL010000 -FP0($$Device:STM32F103T8$Flash\STM32F10x_128.FLM) @@ -155,6 +155,26 @@ 1 hart1_rev_buff + + 1 + 1 + c + + + 2 + 1 + temp + + + 3 + 1 + range_arr + + + 4 + 1 + mr72_c_data + 0 @@ -230,7 +250,7 @@ Application/User/Core - 1 + 0 0 0 0 @@ -726,7 +746,7 @@ APP - 1 + 0 0 0 0 @@ -746,7 +766,7 @@ UAVCAN - 1 + 0 0 0 0 diff --git a/MDK-ARM/WaterLidar.uvprojx b/MDK-ARM/WaterLidar.uvprojx index b1a52f2..3db6205 100644 --- a/MDK-ARM/WaterLidar.uvprojx +++ b/MDK-ARM/WaterLidar.uvprojx @@ -10,13 +10,13 @@ WaterLidar 0x4 ARM-ADS - 5060960::V5.06 update 7 (build 960)::.\ARMCC + 5060750::V5.06 update 6 (build 750)::ARMCC 0 STM32F103T8 STMicroelectronics - Keil.STM32F1xx_DFP.2.3.0 + Keil.STM32F1xx_DFP.2.2.0 http://www.keil.com/pack/ IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3") TZ @@ -138,7 +138,7 @@ 1 BIN\UL2V8M.DLL - + "" () @@ -185,7 +185,6 @@ 0 0 0 - 0 0 0 8 @@ -352,7 +351,7 @@ 0 0 0 - 4 + 0 @@ -899,13 +898,4 @@ - - - - WaterLidar - 1 - - - - diff --git a/MDK-ARM/WaterLidar/WaterLidar.hex b/MDK-ARM/WaterLidar/WaterLidar.hex index 96d1dc9..92913fd 100644 --- a/MDK-ARM/WaterLidar/WaterLidar.hex +++ b/MDK-ARM/WaterLidar/WaterLidar.hex @@ -1,1540 +1,1864 @@ :020000040800F2 -:10000000104A00209D010008971D0008C91B000828 -:10001000951D0008FD030008FD21000800000000F8 -:1000200000000000000000000000000005010008C2 -:100030005B0400080000000049010008B51D00082D -:10004000B7010008B7010008B7010008B7010008B0 -:10005000B7010008B7010008B7010008B7010008A0 -:10006000B7010008B7010008B7010008B701000890 -:10007000B7010008B70100080D04000819040008C2 -:10008000B701000825040008B7010008B7010008FF 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