更新

Core/Src/freertos.c

@@ -51,13 +51,20 @@
 /* USER CODE BEGIN Variables */
 
 /* USER CODE END Variables */
-/* Definitions for defaultTask */
-osThreadId_t defaultTaskHandle;
-const osThreadAttr_t defaultTask_attributes = {
-  .name = "defaultTask",
+/* Definitions for main_Task */
+osThreadId_t main_TaskHandle;
+const osThreadAttr_t main_Task_attributes = {
+  .name = "main_Task",
   .stack_size = 128 * 4,
   .priority = (osPriority_t) osPriorityNormal,
 };
+/* Definitions for beat_task */
+osThreadId_t beat_taskHandle;
+const osThreadAttr_t beat_task_attributes = {
+  .name = "beat_task",
+  .stack_size = 128 * 4,
+  .priority = (osPriority_t) osPriorityLow,
+};
 
 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN FunctionPrototypes */
@@ -65,6 +72,7 @@ const osThreadAttr_t defaultTask_attributes = {
 /* USER CODE END FunctionPrototypes */
 
 void StartDefaultTask(void *argument);
+void StartTask02(void *argument);
 
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
 
@@ -95,8 +103,11 @@ void MX_FREERTOS_Init(void) {
   /* USER CODE END RTOS_QUEUES */
 
   /* Create the thread(s) */
-  /* creation of defaultTask */
-  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
+  /* creation of main_Task */
+  main_TaskHandle = osThreadNew(StartDefaultTask, NULL, &main_Task_attributes);
+
+  /* creation of beat_task */
+  beat_taskHandle = osThreadNew(StartTask02, NULL, &beat_task_attributes);
 
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
@@ -126,6 +137,24 @@ void StartDefaultTask(void *argument)
   /* USER CODE END StartDefaultTask */
 }
 
+/* USER CODE BEGIN Header_StartTask02 */
+/**
+* @brief Function implementing the beat_task thread.
+* @param argument: Not used
+* @retval None
+*/
+/* USER CODE END Header_StartTask02 */
+void StartTask02(void *argument)
+{
+  /* USER CODE BEGIN StartTask02 */
+  /* Infinite loop */
+  for(;;)
+  {
+   task_2_beatdata();
+  }
+  /* USER CODE END StartTask02 */
+}
+
 /* Private application code --------------------------------------------------*/
 /* USER CODE BEGIN Application */
 

Core/Src/main.c

@@ -114,8 +114,8 @@ int main(void)
   MX_TIM5_Init();
   MX_TIM9_Init();
   MX_TIM12_Init();
-  MX_SPI3_Init();
   MX_TIM8_Init();
+  MX_SPI3_Init();
   /* USER CODE BEGIN 2 */
   RGB_Init();
   SERVO_Init_All();
@@ -134,7 +134,6 @@ int main(void)
   printf("MPU6050 Software IIC Initializing...\r\n");
    // 初始化MPU6050
   MPU6050_Init();
-  Servo_360_Set_Angle(90);
   /* USER CODE END 2 */
 
   /* Init scheduler */

Core/Src/spi.c

@@ -94,7 +94,7 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
     hdma_spi3_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
     hdma_spi3_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
     hdma_spi3_tx.Init.Mode = DMA_NORMAL;
-    hdma_spi3_tx.Init.Priority = DMA_PRIORITY_HIGH;
+    hdma_spi3_tx.Init.Priority = DMA_PRIORITY_LOW;
     hdma_spi3_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
     if (HAL_DMA_Init(&hdma_spi3_tx) != HAL_OK)
     {

User/Hardware/Pwm/pwm.c

@@ -49,11 +49,11 @@ void motor_right_front(int16_t speed) {
 		temp = -4200;
 
     if (temp >= 0) {
-        PWM_Set_Duty(&htim1, TIM_CHANNEL_3, 4200);
-        PWM_Set_Duty(&htim1, TIM_CHANNEL_4, (4200 - temp));
-    } else {
-        PWM_Set_Duty(&htim1, TIM_CHANNEL_3, (4200 + temp));
+        PWM_Set_Duty(&htim1, TIM_CHANNEL_3, (4200 - temp));
         PWM_Set_Duty(&htim1, TIM_CHANNEL_4, 4200);
+    } else {
+        PWM_Set_Duty(&htim1, TIM_CHANNEL_3, 4200);
+        PWM_Set_Duty(&htim1, TIM_CHANNEL_4, (4200 + temp));
     }
 }
 
@@ -66,11 +66,11 @@ void motor_left_back(int16_t speed) {
 		temp = -4200;
 
     if (temp >= 0) {
-        PWM_Set_Duty(&htim9, TIM_CHANNEL_1, 4200);
-        PWM_Set_Duty(&htim9, TIM_CHANNEL_2, (4200 - temp));
-    } else {
-        PWM_Set_Duty(&htim9, TIM_CHANNEL_1, (4200 + temp));
+        PWM_Set_Duty(&htim9, TIM_CHANNEL_1, (4200 - temp));
         PWM_Set_Duty(&htim9, TIM_CHANNEL_2, 4200);
+    } else {
+        PWM_Set_Duty(&htim9, TIM_CHANNEL_1, 4200);
+        PWM_Set_Duty(&htim9, TIM_CHANNEL_2, (4200 + temp));
     }
 }
 
@@ -98,6 +98,7 @@ void pwm_control_territory(uint16_t mode, uint16_t value) {
     // 将 0-100 的速度映射到实际 PWM
     int16_t speed = (int16_t)(value * MAX_PWM / 10);
 
+    
     switch (mode) {
         case 0: // 停止
             motor_left_front(0);  motor_right_front(0);

User/Hardware/Pwm/servo.c

@@ -10,7 +10,7 @@ void SERVO_Init_All(void) {
 
 }
 
-void Servo_360_Set_Angle(float angle) {
+void Servo_270_Set_Angle(float angle) {
     // 1. 角度限幅
     if (angle < 0.0f) angle = 0.0f;
     if (angle > 270.0f) angle = 270.0f;

User/Hardware/Pwm/servo.h

@@ -2,6 +2,6 @@
 #define __SERVO_H
 
 void SERVO_Init_All(void);
-void Servo_360_Set_Angle(float angle);
+void Servo_270_Set_Angle(float angle);
 
 #endif

User/System/usart/usart2.c

@@ -2,6 +2,7 @@
 #include "pwm.h"
 #include <string.h>
 
+beatstatus_e beat_status =  BEAT_UNKNOWN;
 /**
   * @brief  启动串口2接收（初始化调用）
   */
@@ -16,15 +17,15 @@ void USART2_Config_Init(void)
   * @param  mode: 模式 (0-10)
   * @param  value: 速度值 (0-100)
   */
-void USART2_Send_Command(uint8_t mode, uint8_t value)
+void USART2_Send_Command(uint8_t data1, uint8_t data2, uint8_t data3, uint8_t data4, uint8_t data5)
 {
     uint8_t frame[8];
     frame[0] = 0x01;          // 帧头
-    frame[1] = mode;          // 数据位1
-    frame[2] = value;         // 数据位2
-    frame[3] = 0x00;          // 预留
-    frame[4] = 0x00;          // 预留
-    frame[5] = 0x00;          // 预留
+    frame[1] = data1;          // 数据位1
+    frame[2] = data2;         // 数据位2
+    frame[3] = data3;          // 预留
+    frame[4] = data4;          // 预留
+    frame[5] = data5;          // 预留
     
     // 生成和校验 (Sum Check)
     frame[6] = (uint8_t)((frame[1] + frame[2] + frame[3] + frame[4] + frame[5]) & 0xFF);
@@ -59,12 +60,18 @@ void USART2_Process_Packet(uint8_t *pData, uint16_t Size)
             // 2. 计算接收到的数据位和校验
             uint8_t cal_check = (uint8_t)((pData[i+1] + pData[i+2] + pData[i+3] + pData[i+4] + pData[i+5]) & 0xFF);
             
+          
             // 3. 校验比对
             if (cal_check == r_check) 
             {
+              
+              if(r_check==0x00){
+                beat_status=BEAT_START;
+                printf("receive beat start\r\n");
+              }
+              printf("receive control start\r\n");
                 // 校验通过，执行麦轮控制逻辑
                 pwm_control_territory(r_mode, r_value);
-                
                 // 如果一包里只有一帧数据，处理完可以直接返回
                 return; 
             }

User/System/usart/usart2.h

@@ -6,11 +6,18 @@
 #include <string.h>
 #include "usart_config.h"
 
+// 定义枚举
+typedef enum {
+    BEAT_STOP,
+    BEAT_START,
+    BEAT_UNKNOWN
+}beatstatus_e;
 
+extern beatstatus_e beat_status;
 
 /* 函数声明 */
 void USART2_Config_Init(void);
 void USART2_Process_Packet(uint8_t *pData, uint16_t Size);
-void USART2_Send_Command(uint8_t mode, uint8_t value);
+void USART2_Send_Command(uint8_t data1, uint8_t data2, uint8_t data3, uint8_t data4, uint8_t data5);
 
 #endif

User/Tasks/task_manage.c

@@ -11,7 +11,6 @@
 #include "servo.h"
 
 int16_t acc[3], gyro[3];
-float temperature;
 float angle=90;
 void task_1_main(void) { 
     Encoder_Update_All();
@@ -20,8 +19,7 @@ void task_1_main(void) {
             g_encoder[1].total_count, g_encoder[1].speed,
             g_encoder[2].total_count, g_encoder[2].speed,
             g_encoder[3].total_count, g_encoder[3].speed);
-    printf("VIN: %fV\r\n",Get_Vin_Voltage());
-
+    printf("VIN: %2.fV\r\n",Get_Vin_Voltage());
     
     MPU6050_GetAccData(acc);
     printf("acceleration: X=%d, Y=%d, Z=%d\r\n", acc[0], acc[1], acc[2]);
@@ -30,13 +28,25 @@ void task_1_main(void) {
     MPU6050_GetGyroData(gyro);
     printf("gyroscope: X=%d, Y=%d, Z=%d\r\n", gyro[0], gyro[1], gyro[2]);
     
-        
-    temperature = MPU6050_GetTempValue();
-    printf("temperature: %.2f\r\n", temperature);
+     printf("T: %2.f\r\n",MPU6050_GetTempValue());
+    
     angle+=30;
-    if(360<angle)angle=20;
-    Servo_360_Set_Angle(angle);
+    if(270<angle)angle=20;
+    Servo_270_Set_Angle(angle);
         
     osDelay(2000); // 100ms读取一次
     
 }
+
+void task_2_beatdata(void){
+    int16_t temp_int = (int16_t)(MPU6050_GetTempValue() * 100.0f);
+    uint8_t temperature_low = (uint8_t)(temp_int & 0xFF);        // 0x03
+    uint8_t temperature_high = (uint8_t)((temp_int >> 8) & 0xFF); // 0x0A
+
+    int16_t vin_int = (int16_t)(Get_Vin_Voltage()* 100.0f);
+    uint8_t vin_low = (uint8_t)(vin_int & 0xFF);
+    uint8_t vin_high = (uint8_t)((vin_int >> 8) & 0xFF);
+
+    if(beat_status == BEAT_START) USART2_Send_Command(0x00,temperature_high,temperature_low,vin_high,vin_low);
+    osDelay(3000); // 100ms读取一次
+}

User/Tasks/task_manage.h

@@ -7,5 +7,6 @@
 #include "cmsis_os.h"
 
 void task_1_main(void);
+void task_2_beatdata(void);
 
 #endif

debug/main.build_log.htm

@@ -21,15 +21,17 @@ Target DLL:      STLink\ST-LINKIII-KEIL_SWO.dll V3.1.0.0
 Dialog DLL:      TCM.DLL V1.56.4.0
  
 <h2>Project:</h2>
-C:\Users\17122\Desktop\״ʦԻ\H60\project\MDK-ARM\project.uvprojx
-Project File Date:  12/26/2025
+C:\Users\17122\Desktop\robot\H60\project\MDK-ARM\project.uvprojx
+Project File Date:  12/31/2025
 
 <h2>Output:</h2>
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
 Build target 'project'
-compiling servo.c...
+compiling pwm.c...
+compiling usart2.c...
+compiling task_manage.c...
 linking...
-Program Size: Code=26468 RO-data=504 RW-data=172 ZI-data=21500  
+Program Size: Code=26716 RO-data=552 RW-data=176 ZI-data=21496  
 FromELF: creating hex file...
 "..\debug\main.axf" - 0 Error(s), 0 Warning(s).
 
@@ -55,7 +57,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.6.0
       Include file:  CMSIS/Core/Include/tz_context.h
-Build Time Elapsed:  00:00:01
+Build Time Elapsed:  00:00:03
 </pre>
 </body>
 </html>

project.ioc

@@ -22,10 +22,11 @@ Dma.SPI3_TX.0.MemInc=DMA_MINC_ENABLE
 Dma.SPI3_TX.0.Mode=DMA_NORMAL
 Dma.SPI3_TX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
 Dma.SPI3_TX.0.PeriphInc=DMA_PINC_DISABLE
-Dma.SPI3_TX.0.Priority=DMA_PRIORITY_HIGH
+Dma.SPI3_TX.0.Priority=DMA_PRIORITY_LOW
 Dma.SPI3_TX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-FREERTOS.IPParameters=Tasks01
-FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
+FREERTOS.FootprintOK=true
+FREERTOS.IPParameters=Tasks01,FootprintOK
+FREERTOS.Tasks01=main_Task,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;beat_task,8,128,StartTask02,Default,NULL,Dynamic,NULL,NULL
 File.Version=6
 GPIO.groupedBy=
 KeepUserPlacement=false
@@ -252,7 +253,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_CAN1_Init-CAN1-false-HAL-true,5-MX_ADC1_Init-ADC1-false-HAL-true,6-MX_USART1_UART_Init-USART1-false-HAL-true,7-MX_USART2_UART_Init-USART2-false-HAL-true,8-MX_TIM1_Init-TIM1-false-HAL-true,9-MX_TIM2_Init-TIM2-false-HAL-true,10-MX_TIM3_Init-TIM3-false-HAL-true,11-MX_TIM4_Init-TIM4-false-HAL-true,12-MX_TIM5_Init-TIM5-false-HAL-true,13-MX_TIM9_Init-TIM9-false-HAL-true,14-MX_TIM12_Init-TIM12-false-HAL-true,15-MX_SPI3_Init-SPI3-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_CAN1_Init-CAN1-false-HAL-true,5-MX_ADC1_Init-ADC1-false-HAL-true,6-MX_USART1_UART_Init-USART1-false-HAL-true,7-MX_USART2_UART_Init-USART2-false-HAL-true,8-MX_TIM1_Init-TIM1-false-HAL-true,9-MX_TIM2_Init-TIM2-false-HAL-true,10-MX_TIM3_Init-TIM3-false-HAL-true,11-MX_TIM4_Init-TIM4-false-HAL-true,12-MX_TIM5_Init-TIM5-false-HAL-true,13-MX_TIM9_Init-TIM9-false-HAL-true,14-MX_TIM12_Init-TIM12-false-HAL-true,15-MX_TIM8_Init-TIM8-false-HAL-true,16-MX_SPI3_Init-SPI3-false-HAL-true
 RCC.48MHZClocksFreq_Value=84000000
 RCC.AHBFreq_Value=168000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4