# sentry_steering_25

**Repository Path**: cod_-control/sentry_steering_25

## Basic Information

- **Project Name**: sentry_steering_25
- **Description**: 25赛季哨兵电控代码
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 0
- **Created**: 2024-12-07
- **Last Updated**: 2025-07-26

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# sentry_steering_25

## 介绍
25赛季哨兵电控代码  
分为chassis和gimbal两个文件分别存放底盘和云台代码  
chassis和gimbal软件架构和文件结构基本一致

## 软件架构
开发工具：Keil MDK-ARM V5.39, Visual Studio Code  
软件环境：Window11  
硬件环境：DAMIAO DM-MC-Board02 (STM32H723VGT6)  
编译工具：Arm Compiler v6.19  

## 文件结构
``````
├─Algorithm
│  ├─Inc
│  └─Src
├─API
│  ├─Inc
│  └─Src
├─BSP
│  ├─Inc
│  └─Src
├─Core
│  ├─Inc
│  └─Src
├─Device
│  ├─Inc
│  └─Src
├─Drivers
│  ├─CMSIS
│  │  ├─Device
│  │  │  └─ST
│  │  │      └─STM32H7xx
│  │  │          ├─Include
│  │  │          └─Source
│  │  │              └─Templates
│  │  └─Include
│  └─STM32H7xx_HAL_Driver
│      ├─Inc
│      │  └─Legacy
│      └─Src
├─MDK-ARM
│  ├─.vscode
│  ├─COD_H7_Template
│  ├─DebugConfig
│  └─RTE
│      └─_COD_H7_Template
├─Middlewares
│  ├─ST
│  │  └─ARM
│  │      └─DSP
│  │          ├─Inc
│  │          └─Lib
│  └─Third_Party
│      ├─ARM
│      │  └─DSP
│      └─FreeRTOS
│          └─Source
│              ├─CMSIS_RTOS
│              ├─include
│              └─portable
│                  ├─MemMang
│                  └─RVDS
│                      └─ARM_CM4F
├─SystemView
│  ├─Config
│  ├─Sample
│  │  └─FreeRTOSV10
│  │      ├─Config
│  │      │  └─Cortex-M
│  │      └─Patch
│  └─SEGGER
│      └─Syscalls
└─Task
    ├─Inc
    └─Src

``````
## chassis中的模块功能说明
### IMU 惯性测量单元
参考[哈尔滨工程大学创梦之翼战队惯导姿态解算项目。](https://github.com/WangHongxi2001/RoboMaster-C-Board-INS-Example)    
##  chassis重要文件说明
### Control_Task  
主要包含舵轮解算，云台yaw轴控制，使用接近开关记录零点位置等

```
        Chassis_Info.angle[0]=atan2f((Chassis_Info.Vx - Chassis_Info.Vw * sin45*R),(Chassis_Info.Vy + Chassis_Info.Vw * sin45*R))*RadiansToDegrees;
	Chassis_Info.angle[1]=atan2f((Chassis_Info.Vx + Chassis_Info.Vw * sin45*R),(Chassis_Info.Vy + Chassis_Info.Vw * sin45*R))*RadiansToDegrees;
	Chassis_Info.angle[2]=atan2f((Chassis_Info.Vx + Chassis_Info.Vw * sin45*R),(Chassis_Info.Vy - Chassis_Info.Vw * sin45*R))*RadiansToDegrees;
	Chassis_Info.angle[3]=atan2f((Chassis_Info.Vx - Chassis_Info.Vw * sin45*R),(Chassis_Info.Vy - Chassis_Info.Vw * sin45*R))*RadiansToDegrees;
	
	
               Chassis_Info.advace.target[0] = sqrtf(powf(Chassis_Info.Vx - Chassis_Info.Vw * sin45, 2.f) + powf(Chassis_Info.Vy - Chassis_Info.Vw * sin45, 2.f));
               Chassis_Info.advace.target[1] = sqrtf(powf(Chassis_Info.Vx - Chassis_Info.Vw * sin45, 2.f) + powf(Chassis_Info.Vy + Chassis_Info.Vw * sin45, 2.f));
	       Chassis_Info.advace.target[2] = sqrtf(powf(Chassis_Info.Vx + Chassis_Info.Vw * sin45, 2.f) + powf(Chassis_Info.Vy + Chassis_Info.Vw * sin45, 2.f));
	       Chassis_Info.advace.target[3] = sqrtf(powf(Chassis_Info.Vx + Chassis_Info.Vw * sin45, 2.f) + powf(Chassis_Info.Vy - Chassis_Info.Vw * sin45, 2.f));
```
### Can_Task  
使用can通信发送数据  
   
### bsp_uart  
使用dma双缓存和rs485用来接收gimbal发送chassis的数据  

 ```
static void USART_RxDMA_MultiBuffer_Init(UART_HandleTypeDef *huart, uint32_t *DstAddress, uint32_t *SecondMemAddress, uint32_t DataLength){

 huart->ReceptionType = HAL_UART_RECEPTION_TOIDLE;

 huart->RxXferSize    = DataLength;

 SET_BIT(huart->Instance->CR3,USART_CR3_DMAR);

 __HAL_UART_ENABLE_IT(huart, UART_IT_IDLE); 
		
  do{
      __HAL_DMA_DISABLE(huart->hdmarx);
  }while(((DMA_Stream_TypeDef  *)huart->hdmarx->Instance)->CR & DMA_SxCR_EN);

  /* Configure the source memory Buffer address  */
  ((DMA_Stream_TypeDef  *)huart->hdmarx->Instance)->PAR = (uint32_t)&huart->Instance->RDR;

  /* Configure the destination memory Buffer address */
  ((DMA_Stream_TypeDef  *)huart->hdmarx->Instance)->M0AR = (uint32_t)DstAddress;

  /* Configure DMA Stream destination address */
  ((DMA_Stream_TypeDef  *)huart->hdmarx->Instance)->M1AR = (uint32_t)SecondMemAddress;

  /* Configure the length of data to be transferred from source to destination */
  ((DMA_Stream_TypeDef  *)huart->hdmarx->Instance)->NDTR = DataLength;

  /* Enable double memory buffer */
  SET_BIT(((DMA_Stream_TypeDef  *)huart->hdmarx->Instance)->CR, DMA_SxCR_DBM);

  /* Enable DMA */
  __HAL_DMA_ENABLE(huart->hdmarx);	
	
}
```
  
    
  
    
## gimbal中的模块功能说明  
### IMU 惯性测量单元  
参考[哈尔滨工程大学创梦之翼战队惯导姿态解算项目。](https://github.com/WangHongxi2001/RoboMaster-C-Board-INS-Example)  
### MiniPC通信  
使用`MiniPC_Re_Auto_aim(uint8_t* Buf, const uint32_t *Len)`和`MiniPC_Re_navagation(uint8_t* Buf, const uint32_t *Len)`对上位机的数据进行接收  

```
static int8_t CDC_Receive_HS(uint8_t* Buf, uint32_t *Len)
```
在函数中调用实现数据接收

```
uint8_t CDC_Transmit_HS(uint8_t* Buf, uint16_t Len)
```
使用函数发送数据给上位机  
详见Device中Src的minipc.c  
##  gimbal重要文件说明  
### Control_Task  
主要包含pitch轴控制等  
### Can_Task  
can通信发送的数据,使用`uint8_t CDC_Transmit_HS(uint8_t* Buf, uint16_t Len)`对上位机发送数据的处理