ROS机器人操作系统
前言
前面学习了ROS的基本操作，仅仅只使用这个操作系统并没有什么用处，还需要讲他与硬件相结合从而控制机器人的运动。`
一、两种控制器的功能
ROS主控采用的Jetson nano B01 STM32主控用的是F407，通过Jetson 驱动雷达采集信息，然后串口像STM32发送相关的运动指令，串口接收到后执行相应的动作。
二、硬件连接
硬件连接很简单用的是平衡小车之家的ROS STM32控制板，其内置电平转换芯片，只需用一根USB数据线连接起来即可。
构造函数和析构函数是类的另一种操作，首先获取STM32数据也就是获取陀螺仪数据，然后计算出四元素，将相关信息发送给STM32
turn_on_robot::~turn_on_robot()
{
//Sends the stop motion command to the lower machine before the turn_on_robot object ends
//瀵硅薄turn_on_robot缁撴潫鍓嶅悜涓嬩綅鏈哄彂閫佸仠姝㈣繍鍔ㄥ懡浠?
Send_Data.tx[0]=FRAME_HEADER;
Send_Data.tx[1] = 0;
Send_Data.tx[2] = 0;
//The target velocity of the X-axis of the robot //鏈哄櫒浜篨杞寸殑鐩爣绾块�熷害
Send_Data.tx[4] = 0;
Send_Data.tx[3] = 0;
//The target velocity of the Y-axis of the robot //鏈哄櫒浜篩杞寸殑鐩爣绾块�熷害
Send_Data.tx[6] = 0;
Send_Data.tx[5] = 0;
//The target velocity of the Z-axis of the robot //鏈哄櫒浜篫杞寸殑鐩爣瑙掗�熷害
Send_Data.tx[8] = 0;
Send_Data.tx[7] = 0;
Send_Data.tx[9]=Check_Sum(9,SEND_DATA_CHECK); //Check the bits for the Check_Sum function //鏍￠獙浣嶏紝瑙勫垯鍙傝Check_Sum鍑芥暟
Send_Data.tx[10]=FRAME_TAIL;
try
{
Stm32_Serial.write(Send_Data.tx,sizeof (Send_Data.tx)); //Send data to the serial port //鍚戜覆鍙ｅ彂鏁版嵁
}
catch (serial::IOException& e)
{
ROS_ERROR_STREAM("Unable to send data through serial port"); //If sending data fails, an error message is printed //濡傛灉鍙戦�佹暟鎹け璐?鎵撳嵃閿欒淇℃伅
}
Stm32_Serial.close(); //Close the serial port //鍏抽棴涓插彛
ROS_INFO_STREAM("Shutting down"); //Prompt message //鎻愮ず淇℃伅
}
uart.c
#include "usartx.h"
SEND_DATA Send_Data;
RECEIVE_DATA Receive_Data;
extern int Time_count;
/**************************************************************************
Function: Usartx3, Usartx1 and CAN send data task
Input : none
Output : none
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**************************************************************************/
void data_task(void *pvParameters)
{
u32 lastWakeTime = getSysTickCnt();
while(1)
{
//The task is run at 20hz
//′?è???ò?20Hzμ??μ?ê??DD
vTaskDelayUntil(&lastWakeTime, F2T(RATE_20_HZ));
//Assign the data to be sent
//??òa??DD·￠?íμ?êy?Y??DD?3?μ
data_transition();
USART1_SEND(); //Serial port 1 sends data //′??ú1·￠?íêy?Y
USART3_SEND(); //Serial port 3 (ROS) sends data //′??ú3(ROS)·￠?íêy?Y
USART5_SEND(); //Serial port 5 sends data //′??ú5·￠?íêy?Y
CAN_SEND(); //CAN send data //CAN·￠?íêy?Y
}
}
/**************************************************************************
Function: The data sent by the serial port is assigned
Input : none
Output : none
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**************************************************************************/
void data_transition(void)
{
Send_Data.Sensor_Str.Frame_Header = FRAME_HEADER; //Frame_header //??í·
Send_Data.Sensor_Str.Frame_Tail = FRAME_TAIL; //Frame_tail //???2
//According to different vehicle types, different kinematics algorithms were selected to carry out the forward kinematics solution,
//and the three-axis velocity was obtained from each wheel velocity
//?ù?Y2?í?3μDí????2?í????ˉ?§??·¨??DD???ˉ?§?y?a￡?′ó?÷3μ???ù?è?ó3?èy?á?ù?è
switch(Car_Mode)
{
case Mec_Car:
Send_Data.Sensor_Str.X_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder+MOTOR_C.Encoder+MOTOR_D.Encoder)/4)*1000;
Send_Data.Sensor_Str.Y_speed = ((MOTOR_A.Encoder-MOTOR_B.Encoder+MOTOR_C.Encoder-MOTOR_D.Encoder)/4)*1000;
Send_Data.Sensor_Str.Z_speed = ((-MOTOR_A.Encoder-MOTOR_B.Encoder+MOTOR_C.Encoder+MOTOR_D.Encoder)/4/(Axle_spacing+Wheel_spacing))*1000;
break;
case Omni_Car:
Send_Data.Sensor_Str.X_speed = ((MOTOR_C.Encoder-MOTOR_B.Encoder)/2/X_PARAMETER)*1000;
Send_Data.Sensor_Str.Y_speed = ((MOTOR_A.Encoder*2-MOTOR_B.Encoder-MOTOR_C.Encoder)/3)*1000;
Send_Data.Sensor_Str.Z_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder+MOTOR_C.Encoder)/3/Omni_turn_radiaus)*1000;
break;
case Akm_Car:
Send_Data.Sensor_Str.X_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder)/2)*1000;
Send_Data.Sensor_Str.Y_speed = 0;
Send_Data.Sensor_Str.Z_speed = ((MOTOR_B.Encoder-MOTOR_A.Encoder)/Wheel_spacing)*1000;
break;
case Diff_Car:
Send_Data.Sensor_Str.X_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder)/2)*1000;
Send_Data.Sensor_Str.Y_speed = 0;
Send_Data.Sensor_Str.Z_speed = ((MOTOR_B.Encoder-MOTOR_A.Encoder)/Wheel_spacing)*1000;
break;
case FourWheel_Car:
Send_Data.Sensor_Str.X_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder+MOTOR_C.Encoder+MOTOR_D.Encoder)/4)*1000;
Send_Data.Sensor_Str.Y_speed = 0;
Send_Data.Sensor_Str.Z_speed = ((-MOTOR_B.Encoder-MOTOR_A.Encoder+MOTOR_C.Encoder+MOTOR_D.Encoder)/2/(Axle_spacing+Wheel_spacing))*1000;
break;
case Tank_Car:
Send_Data.Sensor_Str.X_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder)/2)*1000;
Send_Data.Sensor_Str.Y_speed = 0;
Send_Data.Sensor_Str.Z_speed = ((MOTOR_B.Encoder-MOTOR_A.Encoder)/(Wheel_spacing)*1000);
break;
}
//The acceleration of the triaxial acceleration //?ó?ù?è??èy?á?ó?ù?è
Send_Data.Sensor_Str.Accelerometer.X_data= accel[1]; //The accelerometer Y-axis is converted to the ros coordinate X axis //?ó?ù?è??Y?á×a??μ?ROS×?±êX?á
Send_Data.Sensor_Str.Accelerometer.Y_data=-accel[0]; //The accelerometer X-axis is converted to the ros coordinate y axis //?ó?ù?è??X?á×a??μ?ROS×?±êY?á
Send_Data.Sensor_Str.Accelerometer.Z_data= accel[2]; //The accelerometer Z-axis is converted to the ros coordinate Z axis //?ó?ù?è??Z?á×a??μ?ROS×?±êZ?á
//The Angle velocity of the triaxial velocity //???ù?è??èy?á???ù?è
Send_Data.Sensor_Str.Gyroscope.X_data= gyro[1]; //The Y-axis is converted to the ros coordinate X axis //???ù?è??Y?á×a??μ?ROS×?±êX?á
Send_Data.Sensor_Str.Gyroscope.Y_data=-gyro[0]; //The X-axis is converted to the ros coordinate y axis //???ù?è??X?á×a??μ?ROS×?±êY?á
if(Flag_Stop==0)
//If the motor control bit makes energy state, the z-axis velocity is sent normall
//è?1?μ??ú??????ê1?ü×′ì?￡????′?y3￡·￠?íZ?á???ù?è
Send_Data.Sensor_Str.Gyroscope.Z_data=gyro[2];
else
//If the robot is static (motor control dislocation), the z-axis is 0
//è?1??ú?÷è?ê??2?1μ?￡¨μ??ú??????ê§?ü￡?￡????′·￠?íμ?Z?á???ù?è?a0
Send_Data.Sensor_Str.Gyroscope.Z_data=0;
//Battery voltage (this is a thousand times larger floating point number, which will be reduced by a thousand times as well as receiving the data).
//μ?3?μ??1(?aà?????μ?êy·?′óò??§±?′?ê?￡??àó|μ??ú?óê????ú?óê?μ?êy?Yoóò2?á??D?ò??§±?)
Send_Data.Sensor_Str.Power_Voltage = Voltage*1000;
Send_Data.buffer[0]=Send_Data.Sensor_Str.Frame_Header; //Frame_heade //??í·
Send_Data.buffer[1]=Flag_Stop; //Car software loss marker //D?3μèí?tê§?ü±ê????
//The three-axis speed of / / car is split into two eight digit Numbers
//D?3μèy?á?ù?è,?÷?á??2e·??aá???8??êy?Y?ù·￠?í
Send_Data.buffer[2]=Send_Data.Sensor_Str.X_speed >>8;
Send_Data.buffer[3]=Send_Data.Sensor_Str.X_speed ;
Send_Data.buffer[4]=Send_Data.Sensor_Str.Y_speed>>8;
Send_Data.buffer[5]=Send_Data.Sensor_Str.Y_speed;
Send_Data.buffer[6]=Send_Data.Sensor_Str.Z_speed >>8;
Send_Data.buffer[7]=Send_Data.Sensor_Str.Z_speed ;
//The acceleration of the triaxial axis of / / imu accelerometer is divided into two eight digit reams
//IMU?ó?ù?è??èy?á?ó?ù?è,?÷?á??2e·??aá???8??êy?Y?ù·￠?í
Send_Data.buffer[8]=Send_Data.Sensor_Str.Accelerometer.X_data>>8;
Send_Data.buffer[9]=Send_Data.Sensor_Str.Accelerometer.X_data;
Send_Data.buffer[10]=Send_Data.Sensor_Str.Accelerometer.Y_data>>8;
Send_Data.buffer[11]=Send_Data.Sensor_Str.Accelerometer.Y_data;
Send_Data.buffer[12]=Send_Data.Sensor_Str.Accelerometer.Z_data>>8;
Send_Data.buffer[13]=Send_Data.Sensor_Str.Accelerometer.Z_data;
//The axis of the triaxial velocity of the / /imu is divided into two eight digits
//IMU???ù?è??èy?á???ù?è,?÷?á??2e·??aá???8??êy?Y?ù·￠?í
Send_Data.buffer[14]=Send_Data.Sensor_Str.Gyroscope.X_data>>8;
Send_Data.buffer[15]=Send_Data.Sensor_Str.Gyroscope.X_data;
Send_Data.buffer[16]=Send_Data.Sensor_Str.Gyroscope.Y_data>>8;
Send_Data.buffer[17]=Send_Data.Sensor_Str.Gyroscope.Y_data;
Send_Data.buffer[18]=Send_Data.Sensor_Str.Gyroscope.Z_data>>8;
Send_Data.buffer[19]=Send_Data.Sensor_Str.Gyroscope.Z_data;
//Battery voltage, split into two 8 digit Numbers
//μ?3?μ??1,2e·??aá???8??êy?Y·￠?í
Send_Data.buffer[20]=Send_Data.Sensor_Str.Power_Voltage >>8;
Send_Data.buffer[21]=Send_Data.Sensor_Str.Power_Voltage;
//Data check digit calculation, Pattern 1 is a data check
//êy?YD￡?é??????￡??￡ê?1ê?·￠?íêy?YD￡?é
Send_Data.buffer[22]=Check_Sum(22,1);
Send_Data.buffer[23]=Send_Data.Sensor_Str.Frame_Tail; //Frame_tail //???2
}
/**************************************************************************
Function: Serial port 1 sends data
Input : none
Output : none
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**************************************************************************/
void USART1_SEND(void)
{
unsigned char i = 0;
for(i=0; i<24; i++)
{
usart1_send(Send_Data.buffer[i]);
}
}
/**************************************************************************
Function: Serial port 3 sends data
Input : none
Output : none
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**************************************************************************/
void USART3_SEND(void)
{
unsigned char i = 0;
for(i=0; i<24; i++)
{
usart3_send(Send_Data.buffer[i]);
}
}
/**************************************************************************
Function: Serial port 5 sends data
Input : none
Output : none
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**************************************************************************/
void USART5_SEND(void)
{
unsigned char i = 0;
for(i=0; i<24; i++)
{
usart5_send(Send_Data.buffer[i]);
}
}
/**************************************************************************
Function: CAN sends data
Input : none
Output : none
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**************************************************************************/
void CAN_SEND(void)
{
u8 CAN_SENT[8],i;
for(i=0;i<8;i++)
{
CAN_SENT[i]=Send_Data.buffer[i];
}
CAN1_Send_Num(0x101,CAN_SENT);
for(i=0;i<8;i++)
{
CAN_SENT[i]=Send_Data.buffer[i+8];
}
CAN1_Send_Num(0x102,CAN_SENT);
for(i=0;i<8;i++)
{
CAN_SENT[i]=Send_Data.buffer[i+16];
}
CAN1_Send_Num(0x103,CAN_SENT);
}
/**************************************************************************
Function: Serial port 1 initialization
Input : none
Output : none
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**************************************************************************/
void uart1_init(u32 bound)
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //Enable the gpio clock //ê1?üGPIOê±?ó
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); //Enable the Usart clock //ê1?üUSARTê±?ó
//USART_TX
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; //PA9
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //Reuse push-pull output //?′ó?í?íìê?3?
GPIO_Init(GPIOA, &GPIO_InitStructure);
//USART_RX
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;//PA10
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //Float input //????ê?è?
GPIO_Init(GPIOA, &GPIO_InitStructure);
//UsartNVIC configuration //UsartNVIC????
NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
//Preempt priority //?à??ó??è??
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1 ;
//Subpriority //×óó??è??
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
//Enable the IRQ channel //IRQí¨μàê1?ü
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
//Initialize the VIC register with the specified parameters
//?ù?Y???¨μ?2?êy3?ê??ˉVIC??′??÷
NVIC_Init(&NVIC_InitStructure);
//USART Initialization Settings 3?ê??ˉéè??
USART_InitStructure.USART_BaudRate = bound; //Port rate //′??ú2¨ì??ê
USART_InitStructure.USART_WordLength = USART_WordLength_8b; //The word length is 8 bit data format //×?3¤?a8??êy?Y??ê?
USART_InitStructure.USART_StopBits = USART_StopBits_1; //A stop bit //ò???í￡?1??
USART_InitStructure.USART_Parity = USART_Parity_No; //Prosaic parity bits //?T????D￡?é??
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //No hardware data flow control //?Tó2?têy?Yá÷????
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //Sending and receiving mode //ê?·￠?￡ê?
USART_Init(USART1, &USART_InitStructure); //Initialize serial port 1 //3?ê??ˉ′??ú1
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE); //Open the serial port to accept interrupts //?a??′??ú?óêü?D??
USART_Cmd(USART1, ENABLE); //Enable serial port 1 //ê1?ü′??ú1
}
/**************************************************************************
Function: Serial port 2 initialization
Input : none
Output : none
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**************************************************************************/
void uart2_init(u32 bound)
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE); //Enable the AFIO clock //ê1?üAFIOê±?ó
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD, ENABLE); //Enable the gpio clock //ê1?üGPIOê±?ó
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); //Enable the Usart clock //ê1?üUSARTê±?ó
GPIO_PinRemapConfig(GPIO_Remap_USART2, ENABLE); //Pin remapping //òy????ó3é?
//USART_TX
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; //PD5
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //Reuse push-pull output //?′ó?í?íìê?3?
GPIO_Init(GPIOD, &GPIO_InitStructure);
//USART_RX
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; //PD6
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //Pull up input//é?à-ê?è?
GPIO_Init(GPIOD, &GPIO_InitStructure);
//UsartNVIC configuration //UsartNVIC????
NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;
//Preempt priority //?à??ó??è??
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1 ;
//Subpriority //×óó??è??
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
//Enable the IRQ channel //IRQí¨μàê1?ü
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
//Initialize the VIC register with the specified parameters
//?ù?Y???¨μ?2?êy3?ê??ˉVIC??′??÷
NVIC_Init(&NVIC_InitStructure);
//USART Initialization Settings 3?ê??ˉéè??
USART_InitStructure.USART_BaudRate = bound; //Port rate //′??ú2¨ì??ê
USART_InitStructure.USART_WordLength = USART_WordLength_8b; //The word length is 8 bit data format //×?3¤?a8??êy?Y??ê?
USART_InitStructure.USART_StopBits = USART_StopBits_1; //A stop bit //ò???í￡?1
USART_InitStructure.USART_Parity = USART_Parity_No; //Prosaic parity bits //?T????D￡?é??
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //No hardware data flow control //?Tó2?têy?Yá÷????
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //Sending and receiving mode //ê?·￠?￡ê?
USART_Init(USART2, &USART_InitStructure); //Initialize serial port 2 //3?ê??ˉ′??ú2
USART_ITConfig(USART2, USART_IT_RXNE, ENABLE); //Open the serial port to accept interrupts //?a??′??ú?óêü?D??
USART_Cmd(USART2, ENABLE); //Enable serial port 2 //ê1?ü′??ú2
}
/**************************************************************************
Function: Serial port 3 initialization
Input : none
Output : none
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**************************************************************************/
void uart3_init(u32 bound)
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE); //Enable the AFIO clock //ê1?üAFIOê±?ó
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE); //Enable the gpio clock //ê1?üGPIOê±?ó
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE); //Enable the Usart clock //ê1?üUSARTê±?ó
GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE); //Pin remapping //òy????ó3é?
//USART_TX
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; //C10
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //Reuse push-pull output //?′ó?í?íìê?3?
GPIO_Init(GPIOC, &GPIO_InitStructure);
//USART_RX
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11; //PC11
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //Pull up input//é?à-ê?è?
GPIO_Init(GPIOC, &GPIO_InitStructure);
//UsartNVIC configuration //UsartNVIC????
NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;
//Preempt priority //?à??ó??è??
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2 ;
//Preempt priority //?à??ó??è??
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
//Enable the IRQ channel //IRQí¨μàê1?ü
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
//Initialize the VIC register with the specified parameters
//?ù?Y???¨μ?2?êy3?ê??ˉVIC??′??÷
NVIC_Init(&NVIC_InitStructure);
//USART Initialization Settings 3?ê??ˉéè??
USART_InitStructure.USART_BaudRate = bound; //Port rate //′??ú2¨ì??ê
USART_InitStructure.USART_WordLength = USART_WordLength_8b; //The word length is 8 bit data format //×?3¤?a8??êy?Y??ê?
USART_InitStructure.USART_StopBits = USART_StopBits_1; //A stop bit //ò???í￡?1
USART_InitStructure.USART_Parity = USART_Parity_No; //Prosaic parity bits //?T????D￡?é??
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //No hardware data flow control //?Tó2?têy?Yá÷????
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //Sending and receiving mode //ê?·￠?￡ê?
USART_Init(USART3, &USART_InitStructure); //Initialize serial port 3 //3?ê??ˉ′??ú3
USART_ITConfig(USART3, USART_IT_RXNE, ENABLE); //Open the serial port to accept interrupts //?a??′??ú?óêü?D??
USART_Cmd(USART3, ENABLE); //Enable serial port 3 //ê1?ü′??ú3
}
/**************************************************************************
Function: Serial port 5 initialization
Input : none
Output : none
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**************************************************************************/
void uart5_init(u32 bound)
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE); //Enable the AFIO clock //ê1?üAFIOê±?ó
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE); //Enable the gpio clock //ê1?üGPIOê±?ó
RCC_APB1PeriphClockCmd(RCC_APB1Periph_UART5, ENABLE); //Enable the Usart clock //ê1?üUSARTê±?ó
//USART_TX
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; //C12
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //Reuse push-pull output //?′ó?í?íìê?3?
GPIO_Init(GPIOC, &GPIO_InitStructure);
//USART_RX
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; //PD2
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //Pull up input//é?à-ê?è?
GPIO_Init(GPIOD, &GPIO_InitStructure);
//UsartNVIC configuration //UsartNVIC????
NVIC_InitStructure.NVIC_IRQChannel = UART5_IRQn;
//Preempt priority //?à??ó??è??
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2 ;
//Preempt priority //?à??ó??è??
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
//Enable the IRQ channel //IRQí¨μàê1?ü
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
//Initialize the VIC register with the specified parameters
//?ù?Y???¨μ?2?êy3?ê??ˉVIC??′??÷
NVIC_Init(&NVIC_InitStructure);
//USART Initialization Settings 3?ê??ˉéè??
USART_InitStructure.USART_BaudRate = bound; //Port rate //′??ú2¨ì??ê
USART_InitStructure.USART_WordLength = USART_WordLength_8b; //The word length is 8 bit data format //×?3¤?a8??êy?Y??ê?
USART_InitStructure.USART_StopBits = USART_StopBits_1; //A stop bit //ò???í￡?1
USART_InitStructure.USART_Parity = USART_Parity_No; //Prosaic parity bits //?T????D￡?é??
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //No hardware data flow control //?Tó2?têy?Yá÷????
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //Sending and receiving mode //ê?·￠?￡ê?
USART_Init(UART5, &USART_InitStructure); //Initialize serial port 5 //3?ê??ˉ′??ú5
USART_ITConfig(UART5, USART_IT_RXNE, ENABLE); //Open the serial port to accept interrupts //?a??′??ú?óêü?D??
USART_Cmd(UART5, ENABLE); //Enable serial port 5 //ê1?ü′??ú5
}
/**************************************************************************
Function: Serial port 1 receives interrupted
Input : none
Output : none
oˉêy1|?ü￡o′??ú1?óê??D??
è??ú2?êy￡o?T
·μ ?? ?μ￡o?T
**************************************************************************/
int USART1_IRQHandler(void)
{
if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) //Check if data is received //?D??ê?·??óê?μ?êy?Y
{
u8 Usart_Receive;
static u8 Count;
static u8 rxbuf[11];
int check=0,error=1,i;
Usart_Receive = USART_ReceiveData(USART1); //Read the data //?áè?êy?Y
if(Time_count<CONTROL_DELAY)
// Data is not processed until 10 seconds after startup
//?a?ú10???°2?′|àíêy?Y
return 0;
//Fill the array with serial data
//′??úêy?Yì?è?êy×é
rxbuf[Count]=Usart_Receive;
//Ensure that the first data in the array is FRAME_HEADER
//è·±￡êy×éμúò???êy?Y?aFRAME_HEADER
if(Usart_Receive == FRAME_HEADER||Count>0)
Count++;
else
Count=0;
if (Count == 11) //Verify the length of the packet //?é?¤êy?Y°üμ?3¤?è
{
Count=0; //Prepare for the serial port data to be refill into the array //?a′??úêy?Y??D?ì?è?êy×é×?×?±?
if(rxbuf[10] == FRAME_TAIL) //Verify the frame tail of the packet //?é?¤êy?Y°üμ????2
{
for(i=0; i<9; i++)
{
//XOR bit check, used to detect data error
//òì?ò??D￡?é￡?ó?óú?ì2aêy?Yê?·?3?′í
check=rxbuf[i]^check;
}
if(check==rxbuf[9])
//XOR bit check successful
//òì?ò??D￡?é3é1|
error=0;
if(error==0)
{
float Vz;
if(Usart1_ON_Flag==0)
{
//Serial port 1 controls flag position 1, other flag position 0
//′??ú1????±ê??????1￡????ü±ê??????0
Usart1_ON_Flag=1;
Usart5_ON_Flag=0;
APP_ON_Flag=0;
PS2_ON_Flag=0;
Remote_ON_Flag=0;
CAN_ON_Flag=0;
}
//Calculate the 3-axis target velocity from the serial data, which is divided into 8-bit high and 8-bit low units m/s
//′ó′??úêy?Y?óèy?á??±ê?ù?è￡?·???8??oíμí8?? μ￥??m/s
Move_X=XYZ_Target_Speed_transition(rxbuf[3],rxbuf[4]);
Move_Y=XYZ_Target_Speed_transition(rxbuf[5],rxbuf[6]);
Vz =XYZ_Target_Speed_transition(rxbuf[7],rxbuf[8]);
if(Car_Mode==Akm_Car)
{
Move_Z=Vz_to_Akm_Angle(Move_X, Vz);
}
else
{
Move_Z=XYZ_Target_Speed_transition(rxbuf[7],rxbuf[8]);
}
}
}
}
}
return 0;
}
/**************************************************************************
Function: Refresh the OLED screen
Input : none
Output : none
oˉêy1|?ü￡o′??ú2?óê??D??
è??ú2?êy￡o?T
·μ?? ?μ￡o?T
**************************************************************************/
int USART2_IRQHandler(void)
{
int Usart_Receive;
if(USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) //Check if data is received //?D??ê?·??óê?μ?êy?Y
{
static u8 Flag_PID,i,j,Receive[50],Last_Usart_Receive;
static float Data;
Usart_Receive=USART2->DR; //Read the data //?áè?êy?Y
if(Deviation_Count<CONTROL_DELAY)
// Data is not processed until 10 seconds after startup
//?a?ú10???°2?′|àíêy?Y
return 0;
if(Usart_Receive==0x41&&Last_Usart_Receive==0x41&&APP_ON_Flag==0)
//10 seconds after startup, press the forward button of APP to enter APP control mode
//The APP controls the flag position 1 and the other flag position 0
//?a?ú10????oó￡?°′??APPμ??°???ü??è?APP?????￡ê?
//APP????±ê??????1￡????ü±ê??????0
PS2_ON_Flag=0,Remote_ON_Flag=0,APP_ON_Flag=1,CAN_ON_Flag=0,Usart1_ON_Flag=0, Usart5_ON_Flag=0;
Last_Usart_Receive=Usart_Receive;
if(Usart_Receive==0x4B)
//Enter the APP steering control interface
//??è?APP×a?ò????????
Turn_Flag=1;
else if(Usart_Receive==0x49||Usart_Receive==0x4A)
// Enter the APP direction control interface
//??è?APP·??ò????????
Turn_Flag=0;
if(Turn_Flag==0)
{
//App rocker control interface command
//APPò????????????üá?
if(Usart_Receive>=0x41&&Usart_Receive<=0x48)
{
Flag_Direction=Usart_Receive-0x40;
}
else if(Usart_Receive<=8)
{
Flag_Direction=Usart_Receive;
}
else Flag_Direction=0;
}
else if(Turn_Flag==1)
{
//APP steering control interface command
//APP×a?ò?????????üá?
if (Usart_Receive==0x43) Flag_Left=0,Flag_Right=1; //Right rotation //óò×?×a
else if(Usart_Receive==0x47) Flag_Left=1,Flag_Right=0; //Left rotation //×ó×?×a
else Flag_Left=0,Flag_Right=0;
if (Usart_Receive==0x41||Usart_Receive==0x45) Flag_Direction=Usart_Receive-0x40;
else Flag_Direction=0;
}
if(Usart_Receive==0x58) RC_Velocity=RC_Velocity+100; //Accelerate the keys, +100mm/s //?ó?ù°′?ü￡?+100mm/s
if(Usart_Receive==0x59) RC_Velocity=RC_Velocity-100; //Slow down buttons, -100mm/s //???ù°′?ü￡?-100mm/s
// The following is the communication with the APP debugging interface
//ò???ê?ó?APPμ÷ê?????í¨??
if(Usart_Receive==0x7B) Flag_PID=1; //The start bit of the APP parameter instruction //APP2?êy??á??eê???
if(Usart_Receive==0x7D) Flag_PID=2; //The APP parameter instruction stops the bit //APP2?êy??á?í￡?1??
if(Flag_PID==1) //Collect data //2é?ˉêy?Y
{
Receive[i]=Usart_Receive;
i++;
}
if(Flag_PID==2) //Analyze the data //·???êy?Y
{
if(Receive[3]==0x50) PID_Send=1;
else if(Receive[1]!=0x23)
{
for(j=i;j>=4;j--)
{
Data+=(Receive[j-1]-48)*pow(10,i-j);
}
switch(Receive[1])
{
case 0x30: RC_Velocity=Data;break;
case 0x31: Velocity_KP=Data;break;
case 0x32: Velocity_KI=Data;break;
case 0x33: break;
case 0x34: break;
case 0x35: break;
case 0x36: break;
case 0x37: break;
case 0x38: break;
}
}
//Relevant flag position is cleared
//?à1?±ê??????á?
Flag_PID=0;
i=0;
j=0;
Data=0;
memset(Receive, 0, sizeof(u8)*50); //Clear the array to zero//êy×é??á?
}
if(RC_Velocity<0) RC_Velocity=0;
}
return 0;
}
/**************************************************************************
Function: Serial port 3 receives interrupted
Input : none
Output : none
oˉêy1|?ü￡o′??ú3?óê??D??
è??ú2?êy￡o?T
·μ?? ?μ￡o?T
**************************************************************************/
int USART3_IRQHandler(void)
{
static u8 Count=0;
u8 Usart_Receive;
if(USART_GetITStatus(USART3, USART_IT_RXNE) != RESET) //Check if data is received //?D??ê?·??óê?μ?êy?Y
{
Usart_Receive = USART_ReceiveData(USART3);//Read the data //?áè?êy?Y
if(Time_count<CONTROL_DELAY)
// Data is not processed until 10 seconds after startup
//?a?ú10???°2?′|àíêy?Y
return 0;
//Fill the array with serial data
//′??úêy?Yì?è?êy×é
Receive_Data.buffer[Count]=Usart_Receive;
// Ensure that the first data in the array is FRAME_HEADER
//è·±￡êy×éμúò???êy?Y?aFRAME_HEADER
if(Usart_Receive == FRAME_HEADER||Count>0)
Count++;
else
Count=0;
if (Count == 11) //Verify the length of the packet //?é?¤êy?Y°üμ?3¤?è
{
Count=0; //Prepare for the serial port data to be refill into the array //?a′??úêy?Y??D?ì?è?êy×é×?×?±?
if(Receive_Data.buffer[10] == FRAME_TAIL) //Verify the frame tail of the packet //?é?¤êy?Y°üμ????2
{
//Data exclusionary or bit check calculation, mode 0 is sent data check
//êy?Yòì?ò??D￡?é????￡??￡ê?0ê?·￠?íêy?YD￡?é
if(Receive_Data.buffer[9] ==Check_Sum(9,0))
{
float Vz;
//All modes flag position 0, USART3 control mode
//?ùóD?￡ê?±ê??????0￡??aUsart3?????￡ê?
PS2_ON_Flag=0;
Remote_ON_Flag=0;
APP_ON_Flag=0;
CAN_ON_Flag=0;
Usart5_ON_Flag=0;
Usart1_ON_Flag=0;
//Calculate the target speed of three axis from serial data, unit m/s
//′ó′??úêy?Y?óèy?á??±ê?ù?è￡? μ￥??m/s
Move_X=XYZ_Target_Speed_transition(Receive_Data.buffer[3],Receive_Data.buffer[4]);
Move_Y=XYZ_Target_Speed_transition(Receive_Data.buffer[5],Receive_Data.buffer[6]);
Vz =XYZ_Target_Speed_transition(Receive_Data.buffer[7],Receive_Data.buffer[8]);
if(Car_Mode==Akm_Car)
{
Move_Z=Vz_to_Akm_Angle(Move_X, Vz);
}
else
{
Move_Z=XYZ_Target_Speed_transition(Receive_Data.buffer[7],Receive_Data.buffer[8]);
}
}
}
}
}
return 0;
}
/**************************************************************************
Function: Serial port 5 receives interrupted
Input : none
Output : none
oˉêy1|?ü￡o′??ú5?óê??D??
è??ú2?êy￡o?T
·μ?? ?μ￡o?T
**************************************************************************/
int UART5_IRQHandler(void)
{
static u8 Count=0;
u8 Usart_Receive;
if(USART_GetITStatus(UART5, USART_IT_RXNE) != RESET) //Check if data is received //?D??ê?·??óê?μ?êy?Y
{
Usart_Receive = USART_ReceiveData(UART5);//Read the data //?áè?êy?Y
if(Time_count<CONTROL_DELAY)
// Data is not processed until 10 seconds after startup
//?a?ú10???°2?′|àíêy?Y
return 0;
//Fill the array with serial data
//′??úêy?Yì?è?êy×é
Receive_Data.buffer[Count]=Usart_Receive;
// Ensure that the first data in the array is FRAME_HEADER
//è·±￡êy×éμúò???êy?Y?aFRAME_HEADER
if(Usart_Receive == FRAME_HEADER||Count>0)
Count++;
else
Count=0;
if (Count == 11) //Verify the length of the packet //?é?¤êy?Y°üμ?3¤?è
{
Count=0; //Prepare for the serial port data to be refill into the array //?a′??úêy?Y??D?ì?è?êy×é×?×?±?
if(Receive_Data.buffer[10] == FRAME_TAIL) //Verify the frame tail of the packet //?é?¤êy?Y°üμ????2
{
//Data exclusionary or bit check calculation, mode 0 is sent data check
//êy?Yòì?ò??D￡?é????￡??￡ê?0ê?·￠?íêy?YD￡?é
if(Receive_Data.buffer[9] ==Check_Sum(9,0))
{
float Vz;
//All modes flag position 0, USART5 control mode
//?ùóD?￡ê?±ê??????0￡??aUsart5?????￡ê?
PS2_ON_Flag=0;
Remote_ON_Flag=0;
APP_ON_Flag=0;
CAN_ON_Flag=0;
Usart5_ON_Flag=1;
Usart1_ON_Flag=0;
//Calculate the target speed of three axis from serial data, unit m/s
//′ó′??úêy?Y?óèy?á??±ê?ù?è￡? μ￥??m/s
Move_X=XYZ_Target_Speed_transition(Receive_Data.buffer[3],Receive_Data.buffer[4]);
Move_Y=XYZ_Target_Speed_transition(Receive_Data.buffer[5],Receive_Data.buffer[6]);
Vz =XYZ_Target_Speed_transition(Receive_Data.buffer[7],Receive_Data.buffer[8]);
if(Car_Mode==Akm_Car)
{
Move_Z=Vz_to_Akm_Angle(Move_X, Vz);
}
else
{
Move_Z=XYZ_Target_Speed_transition(Receive_Data.buffer[7],Receive_Data.buffer[8]);
}
}
}
}
}
return 0;
}
/**************************************************************************
Function: After the top 8 and low 8 figures are integrated into a short type data, the unit reduction is converted
Input : 8 bits high, 8 bits low
Output : The target velocity of the robot on the X/Y/Z axis
oˉêy1|?ü￡o??é????ú·￠1yà′??±ê?°???ù?èVx?￠??±ê???ù?èVz￡?×a???a°￠???üD?3μμ?óò?°??×a??
è??ú2?êy￡o??±ê?°???ù?èVx?￠??±ê???ù?èVz￡?μ￥??￡om/s￡?rad/s
·μ?? ?μ￡o°￠???üD?3μμ?óò?°??×a??￡?μ￥??￡orad
**************************************************************************/
float Vz_to_Akm_Angle(float Vx, float Vz)
{
float R, AngleR, Min_Turn_Radius;
//float AngleL;
//Ackermann car needs to set minimum turning radius
//If the target speed requires a turn radius less than the minimum turn radius,
//This will greatly improve the friction force of the car, which will seriously affect the control effect
//°￠???üD?3μDèòaéè??×?D?×aí?°???
//è?1???±ê?ù?èòa?óμ?×aí?°???D?óú×?D?×aí?°???￡?
//?áμ???D?3μ???ˉ?|2áá|′ó′óìá??￡?????ó°?ì????D§1?
Min_Turn_Radius=MINI_AKM_MIN_TURN_RADIUS;
if(Vz!=0 && Vx!=0)
{
//If the target speed requires a turn radius less than the minimum turn radius
//è?1???±ê?ù?èòa?óμ?×aí?°???D?óú×?D?×aí?°???
if(float_abs(Vx/Vz)<=Min_Turn_Radius)
{
//Reduce the target angular velocity and increase the turning radius to the minimum turning radius in conjunction with the forward speed
//?μμí??±ê???ù?è￡???o??°???ù?è￡?ìá??×aí?°???μ?×?D?×aí?°???
if(Vz>0)
Vz= float_abs(Vx)/(Min_Turn_Radius);
else
Vz=-float_abs(Vx)/(Min_Turn_Radius);
}
R=Vx/Vz;
//AngleL=atan(Axle_spacing/(R-0.5*Wheel_spacing));
AngleR=atan(Axle_spacing/(R+0.5*Wheel_spacing));
}
else
{
AngleR=0;
}
return AngleR;
}
/**************************************************************************
Function: After the top 8 and low 8 figures are integrated into a short type data, the unit reduction is converted
Input : 8 bits high, 8 bits low
Output : The target velocity of the robot on the X/Y/Z axis
oˉêy1|?ü￡o??é????ú·￠1yà′μ???8??oíμí8??êy?Y??o?3éò???shortDíêy?Yoó￡??ù×?μ￥???1?-????
è??ú2?êy￡o??8??￡?μí8??
·μ?? ?μ￡o?ú?÷è?X/Y/Z?áμ???±ê?ù?è
**************************************************************************/
float XYZ_Target_Speed_transition(u8 High,u8 Low)
{
//Data conversion intermediate variable
//êy?Y×a??μ??D??±?á?
short transition;
//????8??oíμí8????o?3éò???16??μ?shortDíêy?Y
//The high 8 and low 8 bits are integrated into a 16-bit short data
transition=((High<<8)+Low);
return
transition/1000+(transition%1000)*0.001; //Unit conversion, mm/s->m/s //μ￥??×a??, mm/s->m/s
}
/**************************************************************************
Function: Serial port 1 sends data
Input : The data to send
Output : none
oˉêy1|?ü￡o′??ú1·￠?íêy?Y
è??ú2?êy￡oòa·￠?íμ?êy?Y
·μ?? ?μ￡o?T
**************************************************************************/
void usart1_send(u8 data)
{
USART1->DR = data;
while((USART1->SR&0x40)==0);
}
/**************************************************************************
Function: Serial port 2 sends data
Input : The data to send
Output : none
oˉêy1|?ü￡o′??ú2·￠?íêy?Y
è??ú2?êy￡oòa·￠?íμ?êy?Y
·μ?? ?μ￡o?T
**************************************************************************/
void usart2_send(u8 data)
{
USART2->DR = data;
while((USART2->SR&0x40)==0);
}
/**************************************************************************
Function: Serial port 3 sends data
Input : The data to send
Output : none
oˉêy1|?ü￡o′??ú3·￠?íêy?Y
è??ú2?êy￡oòa·￠?íμ?êy?Y
·μ?? ?μ￡o?T
**************************************************************************/
void usart3_send(u8 data)
{
USART3->DR = data;
while((USART3->SR&0x40)==0);
}
/**************************************************************************
Function: Serial port 5 sends data
Input : The data to send
Output : none
oˉêy1|?ü￡o′??ú5·￠?íêy?Y
è??ú2?êy￡oòa·￠?íμ?êy?Y
·μ?? ?μ￡o?T
**************************************************************************/
void usart5_send(u8 data)
{
UART5->DR = data;
while((UART5->SR&0x40)==0);
}
/**************************************************************************
Function: Calculates the check bits of data to be sent/received
Input : Count_Number: The first few digits of a check; Mode: 0-Verify the received data, 1-Validate the sent data
Output : Check result
oˉêy1|?ü￡o????òa·￠?í/?óê?μ?êy?YD￡?é?á1?
è??ú2?êy￡oCount_Number￡oD￡?éμ??°????êy￡?Mode￡o0-???óê?êy?Y??DDD￡?é￡?1-??·￠?íêy?Y??DDD￡?é
·μ?? ?μ￡oD￡?é?á1?
**************************************************************************/
u8 Check_Sum(unsigned char Count_Number,unsigned char Mode)
{
unsigned char check_sum=0,k;
//Validate the data to be sent
//??òa·￠?íμ?êy?Y??DDD￡?é
if(Mode==1)
for(k=0;k<Count_Number;k++)
{
check_sum=check_sum^Send_Data.buffer[k];
}
//Verify the data received
//???óê?μ?μ?êy?Y??DDD￡?é
if(Mode==0)
for(k=0;k<Count_Number;k++)
{
check_sum=check_sum^Receive_Data.buffer[k];
}
return check_sum;
}
总结
代码里的内容不难看懂，STM32用了FreeRTOS操作系统，ROS就是c++文件。