chore: 导入 Simba-OmniInfantry 基线(云台/底盘双工程)

- 云台(ROBOT_TYPE_GIMBAL)与底盘(ROBOT_TYPE_CHASSIS)完整固件源码 - 新增根级 .gitignore,排除 Keil MDK-ARM 构建产物(.o/.d/.crf/.axf/.lnp/.map/.htm/.sct/.dep/.iex/.lst 等) 与 *.uvguix.* / DebugConfig/(与机器绑定的 UI 布局) - core.autocrlf=false,避免固件源码在检出时被改动换行符
2026-09-12 10:28:21 +08:00
commit a4da5ad17c
517 changed files with 503795 additions and 0 deletions
@@ -0,0 +1,129 @@
+/* =============================================================================
+ * bsp_can.c - CAN 总线板级支持包(收发中枢)
+ * 职责:
+ *   1. can_start()          启动两路 CAN(过滤器全开掩码 0,接收所有 ID),
+ *                           并使能 CAN1_RX0/CAN2_RX0 NVIC(CAN2 中断 ioc 未开,
+ *                           在此代码补齐,优先级 5 = FreeRTOS 管理下限)
+ *   2. can_rx_register()    按 (hcan, 标准ID) 注册接收回调,查表容量 32
+ *   3. HAL_CAN_RxFifo0MsgPendingCallback
+ *                           RX0 中断里取帧并按 ID 分发到注册回调
+ *                           (中断上下文,回调必须尽量短)
+ *   4. CAN_SendTxMessage()  发送帧(等待 3 个发送邮箱空闲,最多重试 20 次)
+ * 数据流:  电机反馈/板间通讯/裁判数据 --ISR--> 回调表 --> 各模块解析
+ * 依赖:    CubeMX 生成的 hcan1/hcan2(Core/Src/can.c)
+ * 对比 legacy: 替代了"单滤波器轮询切换 ID"的脆弱接收机制
+ * ========================================================================== */
+#include "bsp_can.h"
+#include "FreeRTOS.h"
+#include "task.h"
+
+#define CAN_RX_CALLBACK_MAX 32
+
+typedef struct
+{
+    hcan_t * hcan;
+    uint32_t std_id;
+    can_rx_callback_f callback;
+} can_rx_callback_item_t;
+
+static can_rx_callback_item_t can_rx_callback_table[CAN_RX_CALLBACK_MAX];
+static uint8_t can_started = 0;
+
+/* 初始化过滤器并启动两路 CAN
+ * 过滤器掩码全 0,接收所有 ID,由 can_rx_register 注册的回调按 ID 分发 */
+void can_filter_init(void)
+{
+    CAN_FilterTypeDef can_filter_st;
+    can_filter_st.FilterActivation = ENABLE;
+    can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK;
+    can_filter_st.FilterScale = CAN_FILTERSCALE_32BIT;
+    can_filter_st.FilterIdHigh = 0x0000;
+    can_filter_st.FilterIdLow = 0x0000;
+    can_filter_st.FilterMaskIdHigh = 0x0000;
+    can_filter_st.FilterMaskIdLow = 0x0000;
+    can_filter_st.FilterBank = 0;
+    can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;
+    HAL_CAN_ConfigFilter(&hcan1, &can_filter_st);
+    HAL_CAN_Start(&hcan1);
+    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
+
+    can_filter_st.SlaveStartFilterBank = 14;
+    can_filter_st.FilterBank = 14;
+    HAL_CAN_ConfigFilter(&hcan2, &can_filter_st);
+    HAL_CAN_Start(&hcan2);
+    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
+}
+
+/* 应用层统一入口:启动 CAN(含 CAN2 接收中断使能,ioc 未开启,此处代码补齐)
+ * FreeRTOS 管理的中断优先级不得高于 configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY(5) */
+void can_start(void)
+{
+    if (can_started)
+        return;
+    can_started = 1;
+
+    can_filter_init();
+
+    HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
+
+    /* CAN2 的 RX0 中断未在 CubeMX 中开启,在此手动补齐 */
+    HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
+}
+
+int can_rx_register(hcan_t * hcan, uint32_t std_id, can_rx_callback_f callback)
+{
+    for (uint32_t i = 0; i < CAN_RX_CALLBACK_MAX; i++)
+    {
+        if (can_rx_callback_table[i].callback == NULL)
+        {
+            can_rx_callback_table[i].hcan = hcan;
+            can_rx_callback_table[i].std_id = std_id;
+            can_rx_callback_table[i].callback = callback;
+            return 0;
+        }
+    }
+    return -1;
+}
+
+/* HAL CAN 接收回调:在 RX0 中断上下文中按 (hcan, StdId) 查表分发 */
+void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef * hcan)
+{
+    CAN_RxHeaderTypeDef rx_header;
+    uint8_t rx_data[8];
+
+    if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data) != HAL_OK)
+        return;
+    if (rx_header.IDE != CAN_ID_STD)
+        return;
+
+    for (uint32_t i = 0; i < CAN_RX_CALLBACK_MAX; i++)
+    {
+        if (can_rx_callback_table[i].callback != NULL && can_rx_callback_table[i].hcan == hcan &&
+            can_rx_callback_table[i].std_id == rx_header.StdId)
+        {
+            can_rx_callback_table[i].callback(rx_header.StdId, rx_data, rx_header.DLC);
+            return;
+        }
+    }
+}
+
+/**
+ * @brief          发送控制数据
+ * @param[in]      can_ctrl_data 打包好的发送结构体
+ * @return         none
+ */
+void CAN_SendTxMessage(CanCtrlData_s * can_ctrl_data)
+{
+    uint32_t send_mail_box;
+    uint8_t cnt = 20;  // 重复检测次数
+
+    uint32_t free_TxMailbox =
+        HAL_CAN_GetTxMailboxesFreeLevel(can_ctrl_data->hcan);  // 检测是否有空闲邮箱
+    while (free_TxMailbox < 3 && cnt--) {                      // 等待空闲邮箱数达到3
+        free_TxMailbox = HAL_CAN_GetTxMailboxesFreeLevel(can_ctrl_data->hcan);
+    }
+    HAL_CAN_AddTxMessage(
+        can_ctrl_data->hcan, &can_ctrl_data->tx_header, can_ctrl_data->tx_data, &send_mail_box);
+}
@@ -0,0 +1,28 @@
+/**
+ * @brief uart板级支持包
+ * @author Penguin
+ */
+#include "bsp_uart.h"
+
+/**
+ * @brief 使用uart发送数据
+ * @param huart 
+ * @param pData 
+ * @param Size 
+ * @param Timeout 
+ * @return 
+ */
+UartSendState_e UartSendTxMessage(
+    UART_HandleTypeDef * huart, uint8_t * pData, uint16_t Size, uint32_t Timeout)
+{
+    uint8_t cnt = 5;  //最大重发次数
+    HAL_StatusTypeDef status = HAL_UART_Transmit(huart, pData, Size, Timeout);
+    while (cnt-- && status != HAL_OK) {
+        status = HAL_UART_Transmit(huart, pData, Size, Timeout);
+    }
+
+    if (status == HAL_OK) {
+        return UART_SEND_OK;
+    }
+    return UART_SEND_FAIL;
+}
@@ -0,0 +1,218 @@
+/* =============================================================================
+ * bsp_usart.c - 串口 DMA 接收板级支持包(USART1/3/6)
+ * 职责:
+ *   1. usartX_init()        任务上下文调用:配置 RX 循环 DMA + 空闲中断,
+ *                           注册"整帧"回调(帧 = 两次空闲之间的字节)
+ *   2. usartX_idle_isr()    由 stm32f4xx_it.c 的 USER CODE 区调用(需在
+ *                           HAL_UART_IRQHandler 之前):读 NDTR 算帧长,
+ *                           清 F4 DMA 流事件标志后重启 DMA,递交回调
+ *   3. usartX_tx_dma_*()    TX DMA 发送(缓冲须保持有效直到发送完成)
+ * 数据流:  DR16(USART3)/裁判(USART6)/视觉(USART1) --IDLE ISR--> 回调
+ * 关键细节:
+ *   - 采用单缓冲循环 DMA + IDLE 重启(DJI 官方风格),不使用双缓冲
+ *   - F4 手册要求重启 DMA 流前必须清除该流全部事件标志,否则只收到第一帧
+ *   - usart3_init 会把字长改为 9B(CubeMX 生成的 8B+偶校验只有 7 个数据位,
+ *     DR16 帧需要 8 数据位+偶校验)
+ * ========================================================================== */
+#include "bsp_usart.h"
+#include "main.h"
+
+extern UART_HandleTypeDef huart1;
+extern DMA_HandleTypeDef hdma_usart1_tx;
+extern DMA_HandleTypeDef hdma_usart1_rx;
+extern UART_HandleTypeDef huart3;
+extern DMA_HandleTypeDef hdma_usart3_rx;
+extern UART_HandleTypeDef huart6;
+extern DMA_HandleTypeDef hdma_usart6_rx;
+extern DMA_HandleTypeDef hdma_usart6_tx;
+
+/* ==========================================================================
+ * 单缓冲循环 DMA + 空闲中断重启接收(DJI 官方风格)
+ * 每路串口接收配置:RX 走循环 DMA,空闲中断里读 NDTR 计算本帧长度,
+ * 复位 NDTR 后继续接收,并通过注册的回调把整帧递交给使用者。
+ * 回调在中断上下文执行,应尽量短(可拷贝数据/通知任务)。
+ * ========================================================================== */
+
+#define USART_RX_SLOT_MAX 3
+
+typedef struct
+{
+    UART_HandleTypeDef * huart;
+    uint8_t * rx_buf;
+    uint16_t buf_num;
+    usart_rx_callback_f callback;
+} usart_rx_slot_t;
+
+static usart_rx_slot_t usart_rx_slots[USART_RX_SLOT_MAX];
+
+/* 诊断计数(空串口事件次数/最近帧长),debug_task 打印 */
+volatile uint32_t dbg_usart1_idle = 0;
+volatile uint32_t dbg_usart3_idle = 0;
+volatile uint32_t dbg_usart6_idle = 0;
+volatile uint16_t dbg_usart3_last_len = 0;
+volatile uint16_t dbg_usart6_last_len = 0;
+
+static usart_rx_slot_t * usart_rx_slot_find(UART_HandleTypeDef * huart)
+{
+    for (uint8_t i = 0; i < USART_RX_SLOT_MAX; i++)
+        if (usart_rx_slots[i].huart == huart)
+            return &usart_rx_slots[i];
+    return NULL;
+}
+
+static void usart_rx_dma_start(usart_rx_slot_t * slot, DMA_HandleTypeDef * hdma_rx)
+{
+    __HAL_DMA_DISABLE(hdma_rx);
+    while (hdma_rx->Instance->CR & DMA_SxCR_EN)
+        ;
+
+    /* F4 手册要求:重新使能流之前必须清除该流全部事件标志,
+     * 否则残留标志会导致流重启后不工作(表现为只收到第一帧) */
+    {
+        DMA_TypeDef * ctl = (DMA_TypeDef *)((uint32_t)hdma_rx->Instance & ~(0x3FFU));
+        uint32_t stream_no = ((uint32_t)hdma_rx->Instance - (uint32_t)DMA1_Stream0) / 24U;
+        if (stream_no < 4U)
+            ctl->LIFCR = 0x3FUL << (6U * stream_no);
+        else
+            ctl->HIFCR = 0x3FUL << (6U * (stream_no - 4U));
+    }
+
+    hdma_rx->Instance->PAR = (uint32_t) & (slot->huart->Instance->DR);
+    /* 不使用 DMA 半满/全满中断,只靠空闲中断取帧 */
+    hdma_rx->Instance->CR &= ~(DMA_SxCR_HTIE | DMA_SxCR_TCIE);
+    hdma_rx->Instance->NDTR = slot->buf_num;
+    hdma_rx->Instance->M0AR = (uint32_t)slot->rx_buf;
+    __HAL_DMA_ENABLE(hdma_rx);
+}
+
+static void usart_common_rx_init(
+    UART_HandleTypeDef * huart, DMA_HandleTypeDef * hdma_rx, uint8_t * rx_buf, uint16_t dma_buf_num,
+    usart_rx_callback_f callback)
+{
+    usart_rx_slot_t * slot = usart_rx_slot_find(huart);
+    if (slot == NULL)
+    {
+        for (uint8_t i = 0; i < USART_RX_SLOT_MAX; i++)
+            if (usart_rx_slots[i].huart == NULL)
+            {
+                slot = &usart_rx_slots[i];
+                break;
+            }
+        if (slot == NULL)
+            return;
+    }
+    slot->huart = huart;
+    slot->rx_buf = rx_buf;
+    slot->buf_num = dma_buf_num;
+    slot->callback = callback;
+
+    /* 使能 DMA 接收请求与空闲中断 */
+    SET_BIT(huart->Instance->CR3, USART_CR3_DMAR);
+    __HAL_UART_ENABLE_IT(huart, UART_IT_IDLE);
+
+    usart_rx_dma_start(slot, hdma_rx);
+}
+
+/* 空闲中断处理:取帧长,复位 DMA,回调递交(在各 USARTx_IRQHandler 的 USER CODE 区调用) */
+static void usart_idle_process(usart_rx_slot_t * slot, DMA_HandleTypeDef * hdma_rx)
+{
+    if (slot == NULL || slot->callback == NULL)
+        return;
+
+    __HAL_UART_CLEAR_IDLEFLAG(slot->huart);
+
+    uint16_t recv_len = slot->buf_num - hdma_rx->Instance->NDTR;
+    usart_rx_dma_start(slot, hdma_rx);
+    if (hdma_rx == &hdma_usart3_rx)
+        dbg_usart3_last_len = recv_len;
+    else if (hdma_rx == &hdma_usart6_rx)
+        dbg_usart6_last_len = recv_len;
+    if (recv_len > 0)
+        slot->callback(slot->rx_buf, recv_len);
+}
+
+/* --- 三路串口的 IDLE 中断入口,由 stm32f4xx_it.c 调用 --- */
+void usart1_idle_isr(void)
+{
+    dbg_usart1_idle++;
+    usart_idle_process(usart_rx_slot_find(&huart1), &hdma_usart1_rx);
+}
+void usart3_idle_isr(void)
+{
+    dbg_usart3_idle++;
+    usart_idle_process(usart_rx_slot_find(&huart3), &hdma_usart3_rx);
+}
+void usart6_idle_isr(void)
+{
+    dbg_usart6_idle++;
+    usart_idle_process(usart_rx_slot_find(&huart6), &hdma_usart6_rx);
+}
+
+int usart_rx_register(UART_HandleTypeDef * huart, usart_rx_callback_f callback)
+{
+    usart_rx_slot_t * slot = usart_rx_slot_find(huart);
+    if (slot == NULL)
+        return -1;
+    slot->callback = callback;
+    return 0;
+}
+
+/* ==========================================================================
+ * 各串口接收初始化(在任务上下文调用;DMA/NVIC 已由 CubeMX 初始化)
+ * ========================================================================== */
+
+/* 视觉上位机串口(4pin 口 UART2),本工程暂未使用,保留接口 */
+void usart1_init(uint8_t * rx_buf, uint16_t dma_buf_num, usart_rx_callback_f callback)
+{
+    usart_common_rx_init(&huart1, &hdma_usart1_rx, rx_buf, dma_buf_num, callback);
+}
+
+/* DR16 遥控器接收机专用(100000-8E1)
+ * CubeMX 生成的 WordLength=8B 在奇偶校验下只有 7 个数据位,
+ * DR16 帧需要 8 数据位+偶校验,必须改为 9 位字长后重新初始化 */
+void usart3_init(uint8_t * rx_buf, uint16_t dma_buf_num, usart_rx_callback_f callback)
+{
+    CLEAR_BIT(huart3.Instance->CR1, USART_CR1_UE); /* 先关串口再改字长 */
+    huart3.Init.WordLength = UART_WORDLENGTH_9B;
+    if (HAL_UART_Init(&huart3) != HAL_OK)
+        return;
+
+    usart_common_rx_init(&huart3, &hdma_usart3_rx, rx_buf, dma_buf_num, callback);
+}
+
+/* 图传链路/裁判系统串口(3pin 口 UART1) */
+void usart6_init(uint8_t * rx_buf, uint16_t dma_buf_num, usart_rx_callback_f callback)
+{
+    usart_common_rx_init(&huart6, &hdma_usart6_rx, rx_buf, dma_buf_num, callback);
+}
+
+/* ==========================================================================
+ * 发送(TX DMA,发送缓冲须保持有效直至传输完成)
+ * ========================================================================== */
+
+void usart1_tx_dma_init(void)
+{
+    SET_BIT(huart1.Instance->CR3, USART_CR3_DMAT);
+}
+
+void usart1_tx_dma_enable(uint8_t * data, uint16_t len)
+{
+    __HAL_DMA_DISABLE(&hdma_usart1_tx);
+    while (hdma_usart1_tx.Instance->CR & DMA_SxCR_EN)
+        ;
+    hdma_usart1_tx.Instance->M0AR = (uint32_t)data;
+    hdma_usart1_tx.Instance->NDTR = len;
+    __HAL_DMA_ENABLE(&hdma_usart1_tx);
+}
+
+void usart6_tx_dma_enable(uint8_t * data, uint16_t len)
+{
+    SET_BIT(huart6.Instance->CR3, USART_CR3_DMAT);
+
+    __HAL_DMA_DISABLE(&hdma_usart6_tx);
+    while (hdma_usart6_tx.Instance->CR & DMA_SxCR_EN)
+        ;
+    hdma_usart6_tx.Instance->M0AR = (uint32_t)data;
+    hdma_usart6_tx.Instance->NDTR = len;
+    __HAL_DMA_ENABLE(&hdma_usart6_tx);
+}