260 lines
5.7 KiB
C
260 lines
5.7 KiB
C
#ifndef UP_H
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#define UP_H
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#include "struct_typedef.h"
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#include "pid.h"
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#include "bmi088.h"
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#include "user_math.h"
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#include "ahrs.h"
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#include "can_use.h"
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#include "cmd.h"
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#include "filter.h"
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#include "vofa.h"
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#include "GO_M8010_6_Driver.h"
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#include "bsp_usart.h"
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#include "up_utils.h"
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/*
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状态机
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状态结构体，触发标志位结构体
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配置层，-->config.c
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中间层，-->up.h,统一UP_t
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运行函数，switch(状态) 运行相应函数
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*/
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/*共用发射，重复部分*/
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typedef struct {
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fp32 m2006_init; // M2006初始角度
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fp32 m2006_trig; // M2006触发角度0,用来合并扳机
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fp32 go_init;
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fp32 go_pull_pos; // go上升去合并扳机，扳机位置
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fp32 go_up_speed;
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fp32 go_down_speed;
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fp32 Pitch_angle;
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} LaunchCfg_t;
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typedef enum {
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Launch_Stop,
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Launch_PREPARE, //
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Launch_START, //启动，从指定位置上升，扣动扳机
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Launch_TRIGGER, //拉动到指定位置
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Launch_SHOOT_WAIT, // 发射等待
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Launch_SHOOT,
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Launch_DONE,
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}LaunchState_t;
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typedef struct {
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LaunchCfg_t LaunchCfg;
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LaunchState_t LaunchState;
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} LaunchContext_t;
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/* 投球状态定义 */
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typedef enum {
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PITCH_PREPARE, // 准备阶段
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PITCH_START, //启动，拉扳机
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PITCH_WAIT, // 发射等待
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PITCH_COMPLETE // 完成
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} PitchState_t;
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/* 投球参数配置 */
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typedef struct {
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fp32 go_init; // GO电机触发位置,初始位置，后续更改用于发射的位置
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fp32 Pitch_angle; //俯仰角度，以oid为准
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fp32 go_release_pos;//go松开，发射位置
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} PitchCfg_t;
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typedef struct {
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PitchState_t PitchState;
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PitchCfg_t PitchConfig;
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uint8_t is_init ;
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} PitchContext_t;
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/*传球过程 */
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typedef enum {
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PASS_STOP, // 停止状态,未进入传球模式
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PASS_IDLE, // 空闲状态，进入未开始
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PASS_PREPARE, // 传球准备
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PASS_START, // 启动传球,拉动到等球位置
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PASS_POS_PREPARE, // 传球位置准备，对准篮筐，go的位置
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PASS_COMPLETE // 发射
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} PassState_t;
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typedef struct {
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fp32 go_wait; // GO等待位置
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fp32 go_release_pos; // GO电机发射位置
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fp32 Pitch_angle; // 俯仰角度，以oid为准
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fp32 go_up_speed; // GO电机上升速度
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fp32 go_down_speed; // GO电机下降速度
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} PassCfg_t;
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typedef struct {
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PassState_t PassState;
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PassCfg_t PassCfg;
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CurveType Curve; //当前函数，雷达距离->pos
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uint8_t is_init ;
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} PassContext_t;
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/*雷达自动*/
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typedef struct {
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fp32 go_release_pos; // GO电机发射位置
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fp32 go_up_speed; // GO电机上升速度
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fp32 go_down_speed; // GO电机下降速度
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} MID360Cfg_t;
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typedef struct {
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MID360Cfg_t MID360Cfg;
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CurveType Curve; //当前函数，雷达距离->pos
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int IsLaunch; //是否在发射过程
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} MID360Context_t;
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typedef struct {
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BMI088_t bmi088;
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AHRS_Eulr_t imu_eulr;//解算后存放欧拉角（弧度制）
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}UP_Imu_t;
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typedef struct
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{
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pid_param_t VESC_5065_M1_param;
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pid_param_t VESC_5065_M2_param;
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pid_param_t Shoot_M2006_speed_param;
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pid_param_t Shoot_M2006_angle_param;
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pid_param_t Pitch_M2006_speed_param;
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pid_param_t Pitch_M2006_angle_param;
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pid_param_t Pitch_Angle_M2006_speed_param;
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LaunchCfg_t LaunchCfg;
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PitchCfg_t PitchCfg;
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PassCfg_t PassCfg;
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MID360Cfg_t MID360Cfg;
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GO_MotorCmd_t go_cmd;
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}UP_Param_t;
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typedef struct{
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fp32 VESC_5065_M1_rpm;
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fp32 VESC_5065_M2_rpm;
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fp32 Shoot_M2006_angle;
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fp32 go_shoot;
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fp32 go_pull_speed;
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fp32 Pitch_angle; //以oid的角度为准,目标俯仰角
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}up_motor_target_t;
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typedef struct{
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pid_type_def VESC_5065_M1;
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pid_type_def VESC_5065_M2;
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pid_type_def Shoot_M2006angle;
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pid_type_def Shoot_M2006speed;
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pid_type_def Pitch_M2006_angle;
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pid_type_def Pitch_M2006_speed;
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pid_type_def Pitch_Angle_M2006_speed;
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}up_pid_t;
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typedef struct{
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uint8_t up_task_run;
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const UP_Param_t *param;
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LaunchContext_t LaunchContext;
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/*投篮过程*/
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PitchContext_t PitchContext;
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/*传球过程*/
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PassContext_t PassContext;
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/*自动过程*/
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MID360Context_t MID360Context;
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CMD_t *cmd;
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struct{
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struct{
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fp32 VESC_5065_M1_rpm;
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fp32 VESC_5065_M2_rpm;
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}VESC;
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GO_MotorData_t go_data;//存放go电机数据
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DJmotor_feedback_t DJmotor_feedback[6];
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struct {
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uint32_t ecd;
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float angle;
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}Encoder;
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}motorfeedback;
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up_pid_t pid;
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up_motor_target_t motor_target;
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GO_MotorCmd_t go_cmd;
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/*经PID计算后的实际发送给电机的实时输出值*/
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struct
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{
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fp32 DJfinal_out[6];
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fp32 final_VESC_5065_M1out;
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fp32 final_VESC_5065_M2out;
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}final_out;
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LowPassFilter2p_t filled[6]; /* 输出滤波器滤波器数组 */
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fp32 vofa_send[8];
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} UP_t;
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int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq);
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int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can, CMD_t *c) ;
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int8_t VESC_M5065_Control(UP_t *u,fp32 speed);
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int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c);
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int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out);
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int8_t DJ_processdata(DJmotor_feedback_t *f,fp32 ecd_to_angle);
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int8_t DJ_Angle_Control(UP_t *u,int id,DJmotor_feedback_t *f,pid_type_def *Angle_pid,pid_type_def *Speed_pid,fp32 target_angle);
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int8_t DJ_Speed_Control(UP_t *u,int id,DJmotor_feedback_t *f,pid_type_def *Speed_pid,fp32 target_speed);
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int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c);
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int8_t Pass_Sequence_Check(UP_t *u,CMD_t *c);
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int8_t Pass_Process(UP_t *u,CAN_Output_t *out,CMD_t *c);
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int8_t Pitch_Launch_Sequence(UP_t *u, LaunchContext_t *LaunchContext,fp32 StartPos,fp32 EndPos,CAN_Output_t *out);
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int8_t UP_AUTO_Control(UP_t *u,CAN_Output_t *out,CMD_t *c);
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#endif
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