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比较完善的，手动，雷达，运球

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This commit is contained in:
ZHAISHUI04 2025-06-29 01:48:25 +08:00
parent 866e4de877
commit 67960d2805
14 changed files with 314 additions and 276 deletions
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2
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -479,3 +479,5 @@
[info] Log at : 2025/6/27|16:40:58|GMT+0800 [info] Log at : 2025/6/27|16:40:58|GMT+0800
[info] Log at : 2025/6/28|01:22:24|GMT+0800

3
MDK-ARM/.vscode/settings.json vendored
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@ -97,6 +97,7 @@
"gimbal_task.h": "c", "gimbal_task.h": "c",
"gimgal.h": "c", "gimgal.h": "c",
"navi.h": "c", "navi.h": "c",
"up.h": "c" "up.h": "c",
"bsp_usart.h": "c"
} }
} }

36
MDK-ARM/R2.uvoptx
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@ -158,47 +158,17 @@
<Ww> <Ww>
<count>0</count> <count>0</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>NUC_send,0x0A</ItemText> <ItemText>tar_angle</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>1</count> <count>1</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>SendBuffer,0x10</ItemText> <ItemText>huart-&gt;ErrorCode</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>2</count> <count>2</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>chassis,0x0A</ItemText> <ItemText>error_code</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_fromnuc,0x0A</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>nucbuf,0x10</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>UP,0x0A</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>tar_angle</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>up_cmd</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>a,0x0A</ItemText>
</Ww> </Ww>
</WatchWindow1> </WatchWindow1>
<Tracepoint> <Tracepoint>

BIN
MDK-ARM/R2/R2.axf
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Binary file not shown.

75
User/Module/Chassis.c
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@ -32,9 +32,14 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) {
// //
// c->sick_cali.sick_dis[i]=can->sickfed.raw_dis[i] / 10; //没使用原值 // c->sick_cali.sick_dis[i]=can->sickfed.raw_dis[i] / 10; //没使用原值
// } // }
c->sick_cali.sick_dis[0]=can->sickfed.raw_dis[0] ; c->sick_cali.sick_dis[0]=(fp32)(can->sickfed.raw_dis[0]) ;
c->sick_cali.sick_dis[1]=can->sickfed.raw_dis[1]+50 ; //有点误差，手动补偿 c->sick_cali.sick_dis[1]=(fp32)(can->sickfed.raw_dis[1]+26) ; //有点误差，手动补偿
c->sick_cali.sick_dis[2]=can->sickfed.raw_dis[2] ; c->sick_cali.sick_dis[2]=(fp32)(can->sickfed.raw_dis[2] );
// c->vofa_send[7] =c->sick_cali.sick_dis[0]-c->sick_cali.sick_dis[1];
// c->vofa_send[6] = c->sick_cali.sick_dis[0];
// c->vofa_send[5] =c->sick_cali.sick_dis[1];
// c->vofa_send[4] =c->sick_cali.sick_dis[2];
return CHASSIS_OK; return CHASSIS_OK;
} }
@ -60,7 +65,11 @@ int8_t Chassis_init(Chassis_t *c, const Chassis_Param_t *param, float target_fre
LowPassFilter2p_Init(&(c->filled[0]), target_freq, 80.0f); // 角加速度滤波 LowPassFilter2p_Init(&(c->filled[0]), target_freq, 80.0f); // 角加速度滤波
LowPassFilter2p_Init(&(c->filled[1]), target_freq, 80.0f); // w滤波 LowPassFilter2p_Init(&(c->filled[1]), target_freq, 80.0f); // w滤波
LowPassFilter2p_Init(&(c->filled[2]), target_freq, 80.0f); // y滤波 LowPassFilter2p_Init(&(c->filled[2]), target_freq, 80.0f); // y滤波
LowPassFilter2p_Init(&(c->filled[3]), target_freq, 80.0f); // x滤波 LowPassFilter2p_Init(&(c->filled[3]), target_freq, 80.0f);
LowPassFilter2p_Init(&(c->filled[4]), target_freq, 80.0f);
LowPassFilter2p_Init(&(c->filled[5]), target_freq, 80.0f);
LowPassFilter2p_Init(&(c->filled[6]), target_freq, 80.0f);
LowPassFilter2p_Init(&(c->filled[7]), target_freq, 80.0f);
c->sick_cali .sickparam=c->param ->sickparam ; c->sick_cali .sickparam=c->param ->sickparam ;
@ -89,9 +98,7 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
c->pos088.bmi088.filtered_gyro.z = LowPassFilter2p_Apply(&(c->filled[0]), c->pos088.bmi088.gyro.z); c->pos088.bmi088.filtered_gyro.z = LowPassFilter2p_Apply(&(c->filled[0]), c->pos088.bmi088.gyro.z);
/*初始数据*/ /*初始数据*/
c->move_vec.Vw = 0;
c->move_vec.Vx = 0;
c->move_vec.Vy = 0;
c->NUC_send.send[0] = 0; c->NUC_send.send[0] = 0;
c->sick_cali.is_reach = 0; c->sick_cali.is_reach = 0;
@ -118,7 +125,9 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
c->NUC_send.send[0] = (c->sick_cali.is_reach == 1) ? 1 : 0; c->NUC_send.send[0] = (c->sick_cali.is_reach == 1) ? 1 : 0;
break; break;
default: default:
c->move_vec.Vw = 0;
c->move_vec.Vx = 0;
c->move_vec.Vy = 0;
break; break;
} }
break; break;
@ -135,7 +144,12 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
// c->NUC_send.send[0] = 1; // c->NUC_send.send[0] = 1;
break; break;
case AUTO_MID360_Pitch: case AUTO_MID360_Pitch:
c->move_vec.Vw = ctrl->cmd_MID360.posw * 1000;
c->move_vec.Vy = -ctrl->cmd_MID360.posy * 1000;
c->move_vec.Vx = -ctrl->cmd_MID360.posx * 1000;
abs_limit_fp(&c->move_vec.Vx, 5000.0f);
abs_limit_fp(&c->move_vec.Vy, 5000.0f);
abs_limit_fp(&c->move_vec.Vw, 5000.0f);
break; break;
case AUTO_MID360_Adjust: case AUTO_MID360_Adjust:
c->move_vec.Vw = ctrl->Vw * 6000; c->move_vec.Vw = ctrl->Vw * 6000;
@ -154,9 +168,9 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
case PB_UP: case PB_UP:
case PB_MID: case PB_MID:
case PB_DOWN: case PB_DOWN:
c->move_vec.Vw = ctrl->cmd_MID360.posw * 1000; c->move_vec.Vw = ctrl->Vw * 6000;
c->move_vec.Vy = -ctrl->cmd_MID360.posy * 1000; c->move_vec.Vx = ctrl->Vy * 6000;
c->move_vec.Vx = -ctrl->cmd_MID360.posx * 1000; c->move_vec.Vy = ctrl->Vx * 6000;
abs_limit_fp(&c->move_vec.Vx, 5000.0f); abs_limit_fp(&c->move_vec.Vx, 5000.0f);
abs_limit_fp(&c->move_vec.Vy, 5000.0f); abs_limit_fp(&c->move_vec.Vy, 5000.0f);
abs_limit_fp(&c->move_vec.Vw, 5000.0f); abs_limit_fp(&c->move_vec.Vw, 5000.0f);
@ -171,7 +185,7 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
break; break;
default: default:
break; break;
} }
@ -189,7 +203,7 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
out->motor_CHASSIS3508.as_array[i] = c->final_out.final_3508out[i]; out->motor_CHASSIS3508.as_array[i] = c->final_out.final_3508out[i];
} }
// c->vofa_send[0] = (fp32)c->sick_cali.sick_dis[1] - c->sick_cali.sick_dis[2];
return CHASSIS_OK; return CHASSIS_OK;
@ -206,32 +220,41 @@ sick2,左1
*/ */
fp32 diff_yaw,diff_y,diff_x;
int8_t sick_calibration(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) int8_t sick_calibration(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out)
{ {
if (c == NULL) return CHASSIS_ERR_NULL; if (c == NULL) return CHASSIS_ERR_NULL;
if (ctrl == NULL) return CHASSIS_ERR_NULL; if (ctrl == NULL) return CHASSIS_ERR_NULL;
fp32 delta_w,delta_x,delta_y; fp32 delta_w,delta_x,delta_y;
fp32 sick0 = c->sick_cali.sick_dis[0] ; fp32 sick0 =LowPassFilter2p_Apply( &(c->filled[5]),c->sick_cali.sick_dis[0]) ;
fp32 sick1 = c->sick_cali.sick_dis[1]; fp32 sick1 =LowPassFilter2p_Apply( &(c->filled[6]), c->sick_cali.sick_dis[1]) ;
fp32 sick2 = c->sick_cali.sick_dis[2]; fp32 sick2 = LowPassFilter2p_Apply( &(c->filled[7]),c->sick_cali.sick_dis[2] );
const sickparam_t *param = &c->sick_cali.sickparam; const sickparam_t *param = &c->sick_cali.sickparam;
fp32 diff_yaw = -(fp32)(sick1 - sick2); diff_yaw = -(fp32)(sick1 - sick2);
fp32 diff_y = -(fp32)(sick1 - c->sick_cali.sickparam.y_set); diff_y = -(fp32)(sick1 - c->sick_cali.sickparam.y_set);
fp32 diff_x = (fp32)(sick0 - c->sick_cali.sickparam.x_set); diff_x = (fp32)(sick0 - c->sick_cali.sickparam.x_set);
delta_w=(&c->pid.SickCaliWzInPID, diff_yaw, 0); delta_w=PID_calc(&c->pid.SickCaliWzOutPID, diff_yaw, 0);
delta_x=(&c->pid.SickCaliVxInPID, diff_x, 0); delta_x=PID_calc(&c->pid.SickCaliVxOutPID, diff_x, 0);
delta_y=(&c->pid.SickCaliVyInPID, diff_y,0); delta_y=PID_calc(&c->pid.SickCaliVyOutPID, diff_y,0);
if(fabs(diff_yaw)>5){
c->move_vec.Vw=PID_calc(&c->pid.SickCaliWzInPID,-delta_w,0);
// c->move_vec.Vw=delta_w;
// c->move_vec.Vx=PID_calc(&c->pid.SickCaliVxInPID,delta_x,0);
// c->move_vec.Vx=PID_calc(&c->pid.SickCaliVyInPID,delta_y,0);
}
static uint16_t reach_cnt = 0; static uint16_t reach_cnt = 0;
if (fabsf(diff_yaw) <= param->w_error && if (fabsf(diff_yaw) <= param->w_error &&
fabsf(diff_x) <= param->xy_error && fabsf(diff_x) <= param->xy_error &&
fabsf(diff_y) <= param->xy_error) { fabsf(diff_y) <= param->xy_error) {
reach_cnt++; reach_cnt++;
if (reach_cnt >= 50) { if (reach_cnt >= 20) {
c->sick_cali.is_reach = 1; c->sick_cali.is_reach = 1;
@ -252,7 +275,7 @@ int8_t Chassis_AngleCompensate(Chassis_t *c)
{ {
pian_angel=cur_angle-AngleChange(DEGREE,c->pos088.imu_eulr.yaw); pian_angel=cur_angle-AngleChange(DEGREE,c->pos088.imu_eulr.yaw);
} }
else { else {
cur_angle=AngleChange(DEGREE,c->pos088.imu_eulr.yaw); cur_angle=AngleChange(DEGREE,c->pos088.imu_eulr.yaw);
pian_angel=0; pian_angel=0;

2
User/Module/Chassis.h
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@ -173,7 +173,7 @@ typedef struct{
fp32 vofa_send[8]; fp32 vofa_send[8];
LowPassFilter2p_t filled[6]; /* 输出滤波器滤波器数组 */ LowPassFilter2p_t filled[8]; /* 输出滤波器滤波器数组 */
struct { struct {
int32_t sick_dis[4]; //获取到的sick激光值 int32_t sick_dis[4]; //获取到的sick激光值

38
User/Module/config.c
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@ -96,6 +96,14 @@ static const ConfigParam_t param ={
.Pitch_angle=66, .Pitch_angle=66,
.go_up_speed =12, .go_up_speed =12,
.go_down_speed =5, .go_down_speed =5,
},
.MID360Cfg={
.go_release_pos=-200, // GO电机发射位置
.go_up_speed=20, // GO电机上升速度
.go_down_speed=10, // GO电机下降速度
}, },
}, },
.chassis = {/**/ .chassis = {/**/
@ -123,19 +131,21 @@ static const ConfigParam_t param ={
.i_limit = 50.0f, .i_limit = 50.0f,
.out_limit =1000.0f, .out_limit =1000.0f,
}, },
.SickCali_WInparam = { .SickCali_WInparam = {
.p = 0.0f, .p = 3.0f,
.i = 0.0f, .i = 0.005f,
.d = 0.0f, .d = 0.0f,
.i_limit = 0.0f, .i_limit = 500.0f,
.out_limit = 0.0f, .out_limit = 2000.0f,
}, },
.SickCali_WOutparam = { .SickCali_WOutparam = {
.p = 0.0f, .p = 18.0f,
.i = 0.0f, .i = 0.0f,
.d = 0.0f, .d = 0.0f,
.i_limit = 0.0f, .i_limit = 0.0f,
.out_limit = 0.0f, .out_limit = 1000.0f,
}, },
.SickCali_YInparam = { .SickCali_YInparam = {
.p = 0.0f, .p = 0.0f,
@ -145,11 +155,11 @@ static const ConfigParam_t param ={
.out_limit = 0.0f, .out_limit = 0.0f,
}, },
.SickCali_YOutparam = { .SickCali_YOutparam = {
.p = 0.0f, .p = 2.9f,
.i = 0.0f, .i = 0.005f,
.d = 0.0f, .d = 0.0f,
.i_limit = 0.0f, .i_limit = 500.0f,
.out_limit = 0.0f, .out_limit = 1000.0f,
}, },
.SickCali_XInparam = { .SickCali_XInparam = {
.p = 0.0f, .p = 0.0f,
@ -159,11 +169,11 @@ static const ConfigParam_t param ={
.out_limit = 0.0f, .out_limit = 0.0f,
}, },
.SickCali_XOutparam = { .SickCali_XOutparam = {
.p = 0.0f, .p = 2.9f,
.i = 0.0f, .i = 0.0065f,
.d = 0.0f, .d = 0.0f,
.i_limit = 0.0f, .i_limit = 500.0f,
.out_limit = 0.0f, .out_limit = 3000.0f,
}, },
.Chassis_AngleAdjust_param={ .Chassis_AngleAdjust_param={
.p = 10.0f, .p = 10.0f,

98
User/Module/up.c
View File

@ -54,7 +54,7 @@ int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq)
u->PassContext .is_init = 1; u->PassContext .is_init = 1;
} }
u->LaunchContext.LaunchCfg = u->param->LaunchCfg; u->LaunchContext.LaunchCfg = u->param->LaunchCfg;
u->MID360Context.MID360Cfg = u->param->MID360Cfg;
BSP_UART_RegisterCallback(BSP_UART_RS485, BSP_UART_RX_CPLT_CB, USART6_RxCompleteCallback);//注册串口回调函数，bsp层 BSP_UART_RegisterCallback(BSP_UART_RS485, BSP_UART_RX_CPLT_CB, USART6_RxCompleteCallback);//注册串口回调函数，bsp层
} }
@ -181,13 +181,16 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
/*部分数据更新*/ /*部分数据更新*/
static int is_pitch=1; static int is_pitch=1;
posss=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos),3,4,&u->PitchContext.Curve); posss=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos),3.4,4.2,&u->MID360Context.Curve);
// if (u->PitchContext.Curve == CURVE_58) { // if (u->PitchContext.Curve == CURVE_58) {
// target->Pitch_angle = 58; // target->Pitch_angle = 58;
// } else { // } else {
// target->Pitch_angle = 66; // target->Pitch_angle = 66;
// } // }
u->vofa_send [2] = c->pos;
u->vofa_send [3] = LowPassFilter2p_Apply(&u->filled[0],c->pos);
u->vofa_send [4] =1;
switch (c->CMD_CtrlType ) switch (c->CMD_CtrlType )
{ {
case RCcontrol: //在手动模式下 case RCcontrol: //在手动模式下
@ -205,8 +208,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
} //初始上电 } //初始上电
//LaunchCfg->go_up_speed=15; //LaunchCfg->go_up_speed=15;
target->Pitch_angle =LaunchCfg->Pitch_angle; target->Pitch_angle =LaunchCfg->Pitch_angle;
target->go_pull_speed=LaunchCfg->go_up_speed;
target->Shoot_M2006_angle=LaunchCfg->m2006_init; target->Shoot_M2006_angle=LaunchCfg->m2006_init;
u->PitchContext .PitchState = PITCH_PREPARE; //状态更新 u->PitchContext .PitchState = PITCH_PREPARE; //状态更新
u->LaunchContext.LaunchState = Launch_Stop; u->LaunchContext.LaunchState = Launch_Stop;
@ -235,54 +237,15 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
} }
break; break;
case AUTO: case AUTO:
/*自动下数据更新，根据距离切换俯仰角,如需自动调整，放在*/ UP_AUTO_Control(u,out,c);
// if (u->PitchContext.Curve == CURVE_58) {
// target->Pitch_angle = 58;
// } else {
// target->Pitch_angle = 66;
// }
switch(c-> CMD_mode)
{
case AUTO_MID360_Pitch:
if (u->PitchContext .PitchState ==PITCH_PREPARE || u->PitchContext .PitchState ==PITCH_COMPLETE)
{
u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮
}
/*根据距离实时计算所需pos*/
if(c->pos){
pitch_cfg ->go_release_pos=
CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos),3,4,&u->PitchContext.Curve);
}
else pitch_cfg ->go_release_pos=0 ;
Pitch_Process(u,out,c);
break ;
case AUTO_MID360:
target->Shoot_M2006_angle =LaunchCfg ->m2006_init ;
break ;
default:
break;
}
break ; break ;
case PASS_BALL: case PASS_BALL:
// if (u->PitchContext.Curve == CURVE_58) {
// target->Pitch_angle = 58;
// } else {
// target->Pitch_angle = 66;
// }
Pass_Process(u,out,c); Pass_Process(u,out,c);
break; break;
case RELAXED: case RELAXED:
// target->go_shoot= pitch_cfg . // target->go_shoot= pitch_cfg .
target->Pitch_angle = 58; target->Pitch_angle = 58;
target->go_shoot = -210.0f; target->go_shoot = -190.0f;
// target->Pitch_angle = 58; // target->Pitch_angle = 58;
@ -385,14 +348,14 @@ int8_t Pass_Process(UP_t *u,CAN_Output_t *out,CMD_t *c)
PassCfg_t *PassCfg = &u->PassContext.PassCfg; PassCfg_t *PassCfg = &u->PassContext.PassCfg;
PassState_t *state = &u->PassContext.PassState; PassState_t *state = &u->PassContext.PassState;
up_motor_target_t *target=&u->motor_target ; up_motor_target_t *target=&u->motor_target ;
LaunchContext_t *LaunchContext = &u->LaunchContext; LaunchContext_t *LaunchContext = &u->LaunchContext;
Pass_Sequence_Check(u,c); Pass_Sequence_Check(u,c);
if(c->pos) // if(c->pos) //
{ {
PassCfg ->go_release_pos = PassCfg ->go_release_pos =
CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos),3,4,&u->PitchContext.Curve); CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos),3,4,&u->PassContext.Curve);
} }
switch (*state) { //遥控器按键进行状态切换 switch (*state) { //遥控器按键进行状态切换
@ -426,3 +389,42 @@ int8_t Pass_Process(UP_t *u,CAN_Output_t *out,CMD_t *c)
return 0; return 0;
} }
int8_t UP_AUTO_Control(UP_t *u,CAN_Output_t *out,CMD_t *c){
/*自动下数据更新，根据距离切换俯仰角,如需自动调整，放在*/
up_motor_target_t *target=&u->motor_target ;
LaunchContext_t *LaunchContext = &u->LaunchContext;
MID360Context_t *MID360Context=&u->MID360Context;
MID360Cfg_t *MID360Cfg = &u->MID360Context.MID360Cfg;
MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos)+0.15,3.2,4.3,&u->MID360Context.Curve);
if (u->MID360Context.Curve == CURVE_58) {
target->Pitch_angle = 58;
} else {
target->Pitch_angle = 66;
}
LaunchContext->LaunchCfg.go_up_speed=MID360Cfg->go_up_speed;
LaunchContext->LaunchCfg.go_down_speed=MID360Cfg->go_down_speed;
switch(c-> CMD_mode)
{
case AUTO_MID360_Pitch:
if(MID360Context->IsLaunch==0){
MID360Context->IsLaunch=1;
LaunchContext->LaunchState = Launch_PREPARE;
}
Pitch_Launch_Sequence(u,LaunchContext,u->motorfeedback.go_data.Pos,MID360Cfg->go_release_pos,out);
break ;
case AUTO_MID360:
target->Shoot_M2006_angle= LaunchContext->LaunchCfg.m2006_init;
MID360Context->IsLaunch=0;
break ;
default:
break;
}
}

32
User/Module/up.h
View File

@ -51,6 +51,7 @@ typedef enum {
}LaunchState_t; }LaunchState_t;
typedef struct { typedef struct {
LaunchCfg_t LaunchCfg; LaunchCfg_t LaunchCfg;
LaunchState_t LaunchState; LaunchState_t LaunchState;
} LaunchContext_t; } LaunchContext_t;
@ -60,8 +61,7 @@ typedef struct {
typedef enum { typedef enum {
PITCH_PREPARE, // 准备阶段 PITCH_PREPARE, // 准备阶段
PITCH_START, //启动，拉扳机 PITCH_START, //启动，拉扳机
PITCH_WAIT, // 发射等待 PITCH_WAIT, // 发射等待
PITCH_COMPLETE // 完成 PITCH_COMPLETE // 完成
@ -79,7 +79,6 @@ typedef struct {
typedef struct { typedef struct {
PitchState_t PitchState; PitchState_t PitchState;
PitchCfg_t PitchConfig; PitchCfg_t PitchConfig;
CurveType Curve; //当前函数，雷达距离->pos
uint8_t is_init ; uint8_t is_init ;
} PitchContext_t; } PitchContext_t;
@ -108,6 +107,26 @@ typedef struct {
uint8_t is_init ; uint8_t is_init ;
} PassContext_t; } PassContext_t;
/*雷达自动*/
typedef struct {
fp32 go_release_pos; // GO电机发射位置
fp32 go_up_speed; // GO电机上升速度
fp32 go_down_speed; // GO电机下降速度
} MID360Cfg_t;
typedef struct {
MID360Cfg_t MID360Cfg;
CurveType Curve; //当前函数，雷达距离->pos
int IsLaunch; //是否在发射过程
} MID360Context_t;
typedef struct { typedef struct {
BMI088_t bmi088; BMI088_t bmi088;
@ -133,7 +152,7 @@ typedef struct
LaunchCfg_t LaunchCfg; LaunchCfg_t LaunchCfg;
PitchCfg_t PitchCfg; PitchCfg_t PitchCfg;
PassCfg_t PassCfg; PassCfg_t PassCfg;
MID360Cfg_t MID360Cfg;
GO_MotorCmd_t go_cmd; GO_MotorCmd_t go_cmd;
}UP_Param_t; }UP_Param_t;
@ -175,7 +194,9 @@ typedef struct{
/*投篮过程*/ /*投篮过程*/
PitchContext_t PitchContext; PitchContext_t PitchContext;
/*传球过程*/ /*传球过程*/
PassContext_t PassContext; PassContext_t PassContext;
/*自动过程*/
MID360Context_t MID360Context;
CMD_t *cmd; CMD_t *cmd;
struct{ struct{
@ -232,6 +253,7 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c);
int8_t Pass_Sequence_Check(UP_t *u,CMD_t *c); int8_t Pass_Sequence_Check(UP_t *u,CMD_t *c);
int8_t Pass_Process(UP_t *u,CAN_Output_t *out,CMD_t *c); int8_t Pass_Process(UP_t *u,CAN_Output_t *out,CMD_t *c);
int8_t Pitch_Launch_Sequence(UP_t *u, LaunchContext_t *LaunchContext,fp32 StartPos,fp32 EndPos,CAN_Output_t *out); int8_t Pitch_Launch_Sequence(UP_t *u, LaunchContext_t *LaunchContext,fp32 StartPos,fp32 EndPos,CAN_Output_t *out);
int8_t UP_AUTO_Control(UP_t *u,CAN_Output_t *out,CMD_t *c);
#endif #endif

18
User/Module/up_utils.c
View File

@ -62,25 +62,27 @@ int8_t GO_SendData( GO_MotorData_t *go_data,GO_MotorCmd_t *go_cmd,float pos, flo
} }
// 计算58度曲线 // 计算66度曲线（偏上）
static float curve_58(float d) { // 计算66度曲线（偏上）
return 0.448f * d * d + 24.8604f * d - 177.99552f;
}
// 计算66度曲线
static float curve_66(float d) { static float curve_66(float d) {
return 8.84935f * d * d - 10.5424f * d - 126.791f; return 4.0310f * d * d + 8.9026f * d -139.5156;
} }
// 计算58度曲线（偏下）
// 计算58度曲线（偏下）
static float curve_58(float d) {
return -1.9776f * d * d + 42.8499f * d - 204.2442f;
}
/* /*
曲线切换,用于距离和pos拟合 曲线切换,用于距离和pos拟合
迟滞区x-y 迟滞区x-y
曲线x重合区，根据当前函数和变化方向切换 曲线x重合区，根据当前函数和变化方向切换
*/ */
int abdddd=0;
float CurveChange(float d, float x, float y, CurveType *cs) float CurveChange(float d, float x, float y, CurveType *cs)
{ {
if (d<3.2) abdddd++;
if (*cs == CURVE_66) { if (*cs == CURVE_66) {
if (d > y) { if (d > y) {
*cs = CURVE_58; *cs = CURVE_58;

276
User/device/nuc.c
View File

@ -2,177 +2,181 @@
#include "crc16.h" #include "crc16.h"
#include <string.h> #include <string.h>
#include "error_detect.h" #include "error_detect.h"
static volatile uint32_t drop_message = 0; volatile uint32_t drop_message = 0;
static osThreadId_t thread_alert; static osThreadId_t thread_alert;
uint8_t nucbuf[31]; uint8_t nucbuf[25];
char SendBuffer[7]; char SendBuffer[7];
static void NUC_CBLTCallback(void)
static void NUC_IdleCallback(void) { {
osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY); osThreadFlagsSet(thread_alert, SIGNAL_NUC_RAW_REDY);
detect_hook(NUC_TOE); // detect_hook(NUC_TOE);
} }
int8_t NUC_Init(NUC_t *nuc){ static void NUC_ERRORCALLBACK(void)
if(nuc == NULL) return DEVICE_ERR_NULL; {
if((thread_alert = osThreadGetId()) == NULL ) return DEVICE_ERR_NULL; NUC_Restart();
BSP_UART_RegisterCallback(BSP_UART_NUC,BSP_UART_IDLE_LINE_CB, uint32_t error_code = HAL_UART_GetError(BSP_UART_GetHandle(BSP_UART_NUC));
NUC_IdleCallback); // osThreadFlagsSet(thread_alert, SIGNAL_NUC_ERROR);
return DEVICE_OK;
} }
int8_t NUC_StartReceiving() { int8_t NUC_Init(NUC_t *nuc)
if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_NUC), {
if (nuc == NULL)
return DEVICE_ERR_NULL;
if ((thread_alert = osThreadGetId()) == NULL)
return DEVICE_ERR_NULL;
BSP_UART_RegisterCallback(BSP_UART_NUC, BSP_UART_RX_CPLT_CB,
NUC_CBLTCallback);
BSP_UART_RegisterCallback(BSP_UART_NUC, BSP_UART_ERROR_CB,
NUC_ERRORCALLBACK);
return DEVICE_OK;
}
int8_t NUC_StartReceiving()
{
if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_NUC),
(uint8_t *)nucbuf, (uint8_t *)nucbuf,
sizeof(nucbuf)) == HAL_OK) sizeof(nucbuf)) == HAL_OK)
return DEVICE_OK; return DEVICE_OK;
return DEVICE_ERR; return DEVICE_ERR;
} }
int8_t NUC_StartSending(fp32 *data) { int8_t NUC_StartSending(fp32 *data)
{
union union
{
float x[1];
char data[4];
}instance;
// for (int i = 0; i < 1; i++) {
instance.x[0] = data[0];
// }
SendBuffer[0] = 0xFC; //帧头
SendBuffer[1] = 0x01; //控制帧
for(int i = 2; i < 6; i++)
{ {
SendBuffer[i] = instance.data[i-2]; float x[1];
} char data[4];
SendBuffer[6] = 0xFD; //帧尾 } instance;
if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_NUC), // for (int i = 0; i < 1; i++) {
(uint8_t *)SendBuffer, instance.x[0] = data[0];
sizeof(SendBuffer)) == HAL_OK) // }
SendBuffer[0] = 0xFC; // 帧头
SendBuffer[1] = 0x01; // 控制帧
for (int i = 2; i < 6; i++)
{
SendBuffer[i] = instance.data[i - 2];
}
SendBuffer[6] = 0xFD; // 帧尾
if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_NUC),
(uint8_t *)SendBuffer,
sizeof(SendBuffer)) == HAL_OK)
return DEVICE_OK; return DEVICE_OK;
return DEVICE_ERR; return DEVICE_ERR;
} }
int8_t NUC_Restart(void) { int8_t NUC_Restart(void)
{
__HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_NUC)); __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_NUC));
__HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_NUC)); __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_NUC));
return DEVICE_OK; return DEVICE_OK;
} }
bool_t NUC_WaitDmaCplt(void) { bool_t NUC_WaitDmaCplt(void)
{
return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,50) == return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll, 20) ==
SIGNAL_NUC_RAW_REDY); SIGNAL_NUC_RAW_REDY);
} }
int8_t NUC_RawParse(CMD_NUC_t *n)
int8_t NUC_RawParse(CMD_NUC_t *n){ {
if(n ==NULL) return DEVICE_ERR_NULL; if (n == NULL)
union return DEVICE_ERR_NULL;
{ union
float x[5]; {
char data[20]; float x[5];
}instance; char data[20];
if(nucbuf[0]!=HEAD) goto error; //发送ID不是底盘 } instance;
else{ if (nucbuf[0] != HEAD)
n->status_fromnuc =nucbuf[1]; goto error; // 发送ID不是底盘
n->ctrl_status =nucbuf[2]; else
{
n->status_fromnuc = nucbuf[1];
n->ctrl_status = nucbuf[2];
switch (n->status_fromnuc) switch (n->status_fromnuc)
{ {
case VISION://控制帧0x02 case VISION: // 控制帧0x02
/* 协议格式 /* 协议格式
0xFF HEAD 0xFF HEAD
0x02 控制帧 0x02 控制帧
0x01 相机帧 0x01 相机帧
vx fp32 vx fp32
vy fp32 vy fp32
wz fp32 wz fp32
0xFE TAIL 0xFE TAIL
*/ */
instance.data[3] = nucbuf[3];
instance.data[3] = nucbuf[3]; instance.data[2] = nucbuf[4];
instance.data[2] = nucbuf[4]; instance.data[1] = nucbuf[5];
instance.data[1] = nucbuf[5]; instance.data[0] = nucbuf[6];
instance.data[0] = nucbuf[6]; n->camera.data1 = instance.x[0]; //
n->camera .data1 = instance.x[0]; // instance.data[7] = nucbuf[7];
instance.data[7] = nucbuf[7]; instance.data[6] = nucbuf[8];
instance.data[6] = nucbuf[8]; instance.data[5] = nucbuf[9];
instance.data[5] = nucbuf[9]; instance.data[4] = nucbuf[10];
instance.data[4] = nucbuf[10]; n->camera.data2 = instance.x[1]; //
n->camera .data2 = instance.x[1];// instance.data[11] = nucbuf[11];
instance.data[11] = nucbuf[11]; instance.data[10] = nucbuf[12];
instance.data[10] = nucbuf[12]; instance.data[9] = nucbuf[13];
instance.data[9] = nucbuf[13]; instance.data[8] = nucbuf[14];
instance.data[8] = nucbuf[14]; n->camera.data3 = instance.x[2]; //
n->camera .data3 = instance.x[2];//
break; break;
case MID ://控制帧0x08 case MID: // 控制帧0x08
/* 协议格式 /* 协议格式
0xFF HEAD 0xFF HEAD
0x09 控制帧 0x09 控制帧
0x01 相机帧 0x01 相机帧
vx fp32 vx fp32
vy fp32 vy fp32
wz fp32 wz fp32
0xFE TAIL 0xFE TAIL
*/ */
if(nucbuf[24]!=TAIL)goto error; if (nucbuf[24] != TAIL)
instance.data[3] = nucbuf[6]; goto error;
instance.data[2] = nucbuf[5]; instance.data[3] = nucbuf[6];
instance.data[1] = nucbuf[4]; instance.data[2] = nucbuf[5];
instance.data[0] = nucbuf[3]; instance.data[1] = nucbuf[4];
instance.data[0] = nucbuf[3];
n->MID360.vx = instance.x[0]; // n->MID360.vx = instance.x[0]; //
instance.data[7] = nucbuf[10]; instance.data[7] = nucbuf[10];
instance.data[6] = nucbuf[9]; instance.data[6] = nucbuf[9];
instance.data[5] = nucbuf[8]; instance.data[5] = nucbuf[8];
instance.data[4] = nucbuf[7]; instance.data[4] = nucbuf[7];
n->MID360.vy = instance.x[1];// n->MID360.vy = instance.x[1]; //
instance.data[11] = nucbuf[14]; instance.data[11] = nucbuf[14];
instance.data[10] = nucbuf[13]; instance.data[10] = nucbuf[13];
instance.data[9] = nucbuf[12]; instance.data[9] = nucbuf[12];
instance.data[8] = nucbuf[11]; instance.data[8] = nucbuf[11];
n->MID360.wz = instance.x[2];// n->MID360.wz = instance.x[2]; //
instance.data[15] = nucbuf[18]; instance.data[15] = nucbuf[18];
instance.data[14] = nucbuf[17]; instance.data[14] = nucbuf[17];
instance.data[13] = nucbuf[16]; instance.data[13] = nucbuf[16];
instance.data[12] = nucbuf[15]; instance.data[12] = nucbuf[15];
n->MID360.pos = instance.x[3];// n->MID360.pos = instance.x[3]; //
instance.data[19] = nucbuf[22]; instance.data[19] = nucbuf[22];
instance.data[18] = nucbuf[21]; instance.data[18] = nucbuf[21];
instance.data[17] = nucbuf[20]; instance.data[17] = nucbuf[20];
instance.data[16] = nucbuf[19]; instance.data[16] = nucbuf[19];
n->MID360.angle = instance.x[4];// n->MID360.angle = instance.x[4]; //
n->MID360.flag = nucbuf[23]; //
n->MID360.flag = nucbuf[23];//
break; break;
} }
return DEVICE_OK; return DEVICE_OK;
} }
error: error:
drop_message++; drop_message++;
return DEVICE_ERR; NUC_Restart();
return DEVICE_ERR;
} }
int8_t NUC_HandleOffline(CMD_NUC_t *cmd) int8_t NUC_HandleOffline(CMD_NUC_t *cmd)
{ {
if(cmd == NULL) return DEVICE_ERR_NULL; if (cmd == NULL)
// memset(cmd, 0, sizeof(*cmd)); return DEVICE_ERR_NULL;
return 0; // memset(cmd, 0, sizeof(*cmd));
return 0;
} }

2
User/device/nuc.h
View File

@ -33,5 +33,7 @@ int8_t NUC_StartSending(fp32 *data) ;
bool_t NUC_WaitDmaCplt(void); bool_t NUC_WaitDmaCplt(void);
int8_t NUC_RawParse(CMD_NUC_t *n); int8_t NUC_RawParse(CMD_NUC_t *n);
int8_t NUC_HandleOffline(CMD_NUC_t *cmd); int8_t NUC_HandleOffline(CMD_NUC_t *cmd);
int8_t NUC_Restart(void);
#endif #endif

6
User/task/nuc_task.c
View File

@ -18,7 +18,7 @@ int a=0;
void Task_nuc(void *argument){ void Task_nuc(void *argument){
(void)argument; /**/ (void)argument; /**/
// osDelay(TASK_INIT_DELAY_NUC); osDelay(TASK_INIT_DELAY_NUC);
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_NUC; const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_NUC;
NUC_Init(&nuc_raw); NUC_Init(&nuc_raw);
@ -35,8 +35,8 @@ void Task_nuc(void *argument){
#endif #endif
a++; a++;
NUC_StartReceiving(); NUC_StartReceiving();
NUC_StartSending(NUC_send.send); // NUC_StartSending(NUC_send.send);
NUC_StartSending (send); // NUC_StartSending (send);
if (NUC_WaitDmaCplt()){ if (NUC_WaitDmaCplt()){
NUC_RawParse(&cmd_fromnuc); NUC_RawParse(&cmd_fromnuc);
} }

2
User/task/user_task.h
View File

@ -18,7 +18,7 @@
#define TASK_FREQ_UP (900u) #define TASK_FREQ_UP (900u)
#define TASK_FREQ_CTRL_CMD (500u) #define TASK_FREQ_CTRL_CMD (500u)
#define TASK_FREQ_NUC (200u) #define TASK_FREQ_NUC (500u)
#define TASK_FREQ_CAN (1000u) #define TASK_FREQ_CAN (1000u)
#define TASK_FREQ_RC (1000u) #define TASK_FREQ_RC (1000u)