同步步兵代码，暂时关闭底盘跟随

云台/云台-old/CarBody/Visual.c

@@ -0,0 +1,158 @@
+#include "stm32f4xx.h"                  // Device header
+#include "stm32f4xx_conf.h"
+#include "Visual.h"
+#include "UART.h"
+#include "gimbal.h"
+#include "AttitudeAlgorithms.h"
+#include"Delay.h"
+
+float Visual_Yaw,Visual_Pitch,Visual_Roll,Visual_Delay;//视觉数据偏航角,视觉数据俯仰角
+uint8_t Visual_RxHEXPacket[4],Visual_ReceiveFlag;//视觉数据接收缓冲区,视觉数据接收完成标志位
+
+/*
+ *函数简介:视觉初始化
+ *参数说明:无
+ 发送至下位机数据
+|数据 1|数据 2|数据 3|数据 4|数据 5|
+|----|----|----|----|----|
+|0x09|0x14|yaw 轴|Pitch 轴|0x18|
+
+ *返回类型:无
+ *备注:初始化UART2(USART1)
+ Freq=Sys_APB1TIM/(PSC+1)/(ARR+1)=84MHz/(PSC+1)/(ARR+1)
+ */
+void Visual_Init(void)
+{/*
+	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM12,ENABLE);//开启时钟
+	
+	TIM_InternalClockConfig(TIM12);//选择时基单元的时钟(TIM9)
+	
+	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;//配置时基单元（配置参数）
+	TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;//配置时钟分频为1分频
+	TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up;//配置计数器模式为向上计数
+	TIM_TimeBaseInitStructure.TIM_Period=500-1;//配置自动重装值ARR
+	TIM_TimeBaseInitStructure.TIM_Prescaler=840-1;//配置分频值PSC,定时50ms
+	TIM_TimeBaseInitStructure.TIM_RepetitionCounter=0;//配置重复计数单元的置为0
+	TIM_TimeBaseInit(TIM12,&TIM_TimeBaseInitStructure);//初始化TIM12
+	
+	TIM_ClearFlag(TIM12,TIM_FLAG_Update);//清除配置时基单元产生的中断标志位
+	
+	TIM_ITConfig(TIM12,TIM_IT_Update,ENABLE);//使能更新中断
+	
+	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//选择NVIC分组
+	
+	NVIC_InitTypeDef NVIC_InitStructure1;//配置NVIC（配置参数）
+	NVIC_InitStructure1.NVIC_IRQChannel=TIM8_BRK_TIM12_IRQn;//选择中断通道为TIM12
+	NVIC_InitStructure1.NVIC_IRQChannelCmd=ENABLE;//使能中断通道
+	NVIC_InitStructure1.NVIC_IRQChannelPreemptionPriority=3;//TIM12的抢占优先级
+	NVIC_InitStructure1.NVIC_IRQChannelSubPriority=3;//TIM12的响应优先级
+	NVIC_Init(&NVIC_InitStructure1);//初始化NVIC
+	TIM_Cmd(TIM12,ENABLE);//启动定时器
+	*/
+	Visual_SendData();
+
+}
+void Visual_SendData(void)
+{
+	SendData MCUMessage;
+	MCUMessage.curr_yaw=AttitudeAlgorithms_DegYaw;
+	MCUMessage.curr_pitch=AttitudeAlgorithms_DegPitch;
+	MCUMessage.state=(uint8_t)('a');
+	MCUMessage.mark=(uint8_t)(0);
+	MCUMessage.anti_top=(uint8_t)(0);
+	MCUMessage.enemy_color=(uint8_t)(1);
+	MCUMessage.delta_x=(uint8_t)(1);
+	MCUMessage.delta_y=(uint8_t)(1);
+	UART2_SendArray((uint8_t *)&MCUMessage, sizeof(MCUMessage));//UART2_SendArray((uint8_t *)&MCUMessage, sizeof(MCUMessage));
+	/*
+	UART2_SendByte((float)AttitudeAlgorithms_DegYaw);
+	UART2_SendByte((float)AttitudeAlgorithms_DegRoll);
+	//UART2_SendByte((float)AttitudeAlgorithms_DegPitch);
+	
+	UART2_SendByte((uint8_t)0);
+	UART2_SendByte((uint8_t)'a');
+	UART2_SendByte((uint8_t)0);
+	
+	UART2_SendByte((uint8_t)0);
+	UART2_SendByte((uint8_t)1);
+	UART2_SendByte((uint8_t)1);
+*/
+	//UART2_Printf("%f %f a 1 1 1 1 1 ",AttitudeAlgorithms_DegYaw,AttitudeAlgorithms_DegRoll);
+
+	UART2_SendByte((uint8_t)'\n');
+
+	
+	
+
+//UART2_SendArray((uint8_t *)&MCUMessage, sizeof(MCUMessage));
+}
+/*   buff[0] = 's';
+    buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
+    buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
+    buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
+    buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
+    buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF);
+    buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF);
+    buff[7] = static_cast<char>((shoot_delay >> 8) & 0xFF);
+    buff[8] = static_cast<char>((shoot_delay >> 0) & 0xFF);
+    buff[9] = 'e';
+*/
+
+/*
+ *函数简介:UART2串口中断接收视觉数据
+ *参数说明:无
+ *返回类型:无
+ *备注:无
+ */
+void USART1_IRQHandler(void)
+{
+	#define DataLength		8//有效数据位数
+	char Visual_RxHEXPacket[10];
+
+	static uint8_t UART2_RxData;
+	//char Message[10];
+	static int RxHEXState=0;//定义静态变量用于接收模式的选择
+	static int pRxHEXState=0;//定义静态变量用于充当计数器
+	char startflag;//包头1
+	//char endflag;//包头2
+
+	if(USART_GetITStatus(USART1,USART_IT_RXNE)==SET)//查询接收中断标志位
+	{
+		UART2_RxData=USART_ReceiveData(USART1);//将数据存入缓存区
+		startflag=(char)UART2_RxData;
+
+
+		if(RxHEXState==0)//模式0-等待包头1(0x09)
+		{
+
+			if( startflag =='s')//检测包头
+				RxHEXState=1;//转入模式1
+		}
+		else if(RxHEXState==1)//模式1-接收有效数据
+		{
+			pRxHEXState=0;//复位计数器
+			Visual_RxHEXPacket[pRxHEXState]=UART2_RxData;//接收数据
+			pRxHEXState++;
+			
+			if(pRxHEXState>=DataLength)
+				RxHEXState=2;//转入模式2
+		}
+		else if(RxHEXState==2)//模式2-等待包尾
+		{
+			if(UART2_RxData=='e')//检测包尾
+			{
+				Visual_Yaw=(float)((uint8_t)Visual_RxHEXPacket[0]<<8 | Visual_RxHEXPacket[1]);//右摇杆右左
+		        Visual_Pitch=(float)((uint8_t)Visual_RxHEXPacket[2]<<8 | Visual_RxHEXPacket[3]);//右摇杆上下
+		        Visual_Roll=(float)((uint8_t)Visual_RxHEXPacket[4]<<8 | Visual_RxHEXPacket[5]);//左摇杆右左
+		        Visual_Delay=(float)((uint8_t)Visual_RxHEXPacket[6]<<8 | Visual_RxHEXPacket[7]);//左摇杆上下
+				//Visual_Yaw=(int16_t)((uint16_t)Visual_RxHEXPacket[0]<<8 | Visual_RxHEXPacket[1])*0.01f;
+				//Visual_Pitch=(int16_t)((uint16_t)Visual_RxHEXPacket[2]<<8 | Visual_RxHEXPacket[3])*0.01f;
+				Visual_ReceiveFlag=1;
+			}
+			RxHEXState=0;//回到模式0
+		}
+	}
+	
+	USART_ClearITPendingBit(USART1,USART_IT_RXNE);//清除接收中断标志位
+	Visual_SendData();
+}