diff --git a/.DS_Store b/.DS_Store index 70bd8a1..ec05ad8 100644 Binary files a/.DS_Store and b/.DS_Store differ diff --git a/CATEGORY_GUIDE.md b/CATEGORY_GUIDE.md new file mode 100644 index 0000000..c2a3178 --- /dev/null +++ b/CATEGORY_GUIDE.md @@ -0,0 +1,123 @@ +# 财务管理模块 - 分类功能使用指南 + +## 功能概览 + +财务模块现已支持完整的分类功能，用户可以： + +1. **新建分类** - 在做账标签页左侧点击"新建分类"按钮 +2. **选择分类** - 在创建/编辑交易时选择或输入分类 +3. **按分类查询** - 在查询标签页通过分类进行筛选 + +## 功能详细说明 + +### 1. 新建分类 + +**操作步骤：** +1. 打开财务模块，进入"做账"标签页 +2. 点击左上方"新建分类"按钮 +3. 在弹出对话框中输入分类名称（如"工作支出"、"投资收益"等） +4. 点击"创建"按钮 + +**注意：** +- 系统默认提供10个基础分类：其他、工资、奖金、投资、生活、交通、饮食、娱乐、医疗、教育 +- 无法删除默认分类，但可以添加自定义分类 +- 同一账户不能有重复的分类名称 + +### 2. 创建/编辑交易记录 + +**创建新交易：** +1. 点击"新建记录"按钮 +2. 填写交易信息： + - **交易类型**：选择"入账"或"支出" + - **分类**：从下拉框中选择或确认分类 + - **日期**：选择交易日期 + - **金额**：输入交易金额（正数） + - **交易人**：输入交易对方名称 + - **备注**：添加备注说明（可选） + - **相关文件**：上传发票、支付记录、购买记录等（可选） +3. 点击"保存"按钮 + +**编辑现有交易：** +1. 在记录表中选择要编辑的交易 +2. 点击"编辑"按钮 +3. 修改任意字段（包括分类） +4. 点击"保存"按钮 + +### 3. 按分类查询 + +**操作步骤：** +1. 进入"查询"标签页 +2. 设置查询条件： + - **日期范围**：选择起始和结束日期 + - **交易类型**：选择"全部"、"收入(正数)"或"支出(负数)" + - **分类**：从下拉框选择要查询的分类（"全部"表示不按分类筛选） + - **金额范围**：输入最小和最大金额范围 + - **交易人**：输入交易人名称（支持模糊匹配） +3. 点击"查询"按钮 + +**查询结果显示：** +- 表格列包括：日期、交易人、**分类**、金额、备注 +- 结果按日期倒序排列（最新的在上） + +## 数据持久化 + +所有分类信息被保存到： +``` +assets/Finance_Data/accounts/{account_id}/metadata.json +``` + +交易记录（包括分类）被保存到： +``` +assets/Finance_Data/accounts/{account_id}/{transaction_id}/data.json +``` + +## 导出与导入 + +### 导出为CSV +- 打开"导出"标签页 +- 点击"导出CSV"按钮 +- 选择保存位置 +- CSV文件将包含：日期、金额、交易人、**分类**、备注、创建时间 + +### 导出/导入账户 +- 支持完整的账户数据迁移（包括所有分类和交易记录） +- 导出为ZIP包后可在其他地方导入 + +## API 接口 + +如果需要在代码中直接使用分类功能： + +```python +from app.tools.finance_manager import FinanceManager + +fm = FinanceManager() + +# 添加分类 +fm.add_category(account_id, "新分类名称") + +# 删除自定义分类 +fm.delete_category(account_id, "分类名称") + +# 获取所有分类 +categories = fm.get_categories(account_id) + +# 按分类查询交易 +results = fm.query_transactions( + account_id, + category="工资" # 指定分类 +) +``` + +## 常见问题 + +**Q: 为什么我新建的分类不显示在"新建记录"对话框中？** +A: 确保已点击"创建"按钮完成分类创建，然后再打开新建记录对话框。系统会自动从账户中读取最新的分类列表。 + +**Q: 能否修改分类名称？** +A: 目前不支持修改分类名称。建议先新建一个新分类，然后为已有交易重新分配分类。 + +**Q: 删除交易记录后，其分类会被删除吗？** +A: 不会。分类是账户级别的属性，删除交易不会影响分类列表。 + +**Q: 如何导入包含分类的交易数据？** +A: 使用"导出"标签页的"导入账户"功能，选择之前导出的ZIP包即可恢复所有分类和交易记录。 diff --git a/CATEGORY_IMPLEMENTATION.md b/CATEGORY_IMPLEMENTATION.md new file mode 100644 index 0000000..b2ba9e9 --- /dev/null +++ b/CATEGORY_IMPLEMENTATION.md @@ -0,0 +1,163 @@ +# 财务模块分类功能 - 实现总结 + +## 已完成的功能 + +### 1. 数据模型扩展 + +**Transaction 类** +- 添加了 `category` 字段（默认值为"其他"） +- 更新了 `to_dict()` 和 `from_dict()` 方法以支持分类序列化 + +**Account 类** +- 添加了 `categories` 列表（包含10个默认分类） +- 更新了 `to_dict()` 和 `from_dict()` 方法以支持分类列表序列化 + +### 2. FinanceManager 新增方法 + +```python +# 分类管理方法 +add_category(account_id, category) # 添加新分类 +delete_category(account_id, category) # 删除自定义分类 +get_categories(account_id) # 获取所有分类 + +# 查询方法扩展 +query_transactions(..., category=None) # 支持按分类查询 +``` + +### 3. UI 界面更新 + +**做账标签页（Bookkeeping Tab）** +- 左上方添加"新建分类"按钮 +- 记录表新增"分类"列（第3列） +- 表格列顺序：日期、交易人、**分类**、金额、备注 + +**新建/编辑交易对话框** +- 在"交易类型"下方添加"分类"下拉框 +- 支持从账户的分类列表中选择 +- 编辑时自动加载原交易的分类 + +**查询标签页（Query Tab）** +- 新增"分类"下拉框筛选条件 +- 查询结果表新增"分类"列 +- 支持按分类进行精确查询 +- 查询前自动更新分类下拉框以显示最新的账户分类 + +### 4. 分类创建功能 + +- 点击"新建分类"打开对话框 +- 输入分类名称后创建 +- 新分类立即保存到账户元数据中 +- 创建后对话框自动关闭 + +### 5. 数据持久化 + +所有分类信息被保存在账户元数据中： +``` +assets/Finance_Data/accounts/{account_id}/metadata.json +``` + +包含内容： +- 账户基本信息（ID、名称、描述） +- 所有分类列表 +- 创建和更新时间戳 + +### 6. CSV 导出更新 + +导出的 CSV 文件现在包含"分类"列： +- 日期、金额、交易人、**分类**、备注、创建时间 + +### 7. 技术改进 + +- 修改了 `CreateTransactionDialog` 的初始化方式，支持传入现有的 `FinanceManager` 实例 +- 确保分类列表始终与最新的账户数据同步 +- 在 `create_new_record()` 和 `edit_record()` 中传入 `finance_manager` 参数 + +## 文件修改清单 + +### 修改的文件 +1. `/Users/lvzucheng/Documents/R/MRobot/app/tools/finance_manager.py` + - Transaction 类：添加 category 字段 + - Account 类：添加 categories 列表 + - FinanceManager 类：新增分类管理方法、更新查询和导出方法 + +2. `/Users/lvzucheng/Documents/R/MRobot/app/finance_interface.py` + - CreateTransactionDialog：添加分类选择 + - FinanceInterface：新增分类创建UI、更新表格显示、更新查询功能 + +### 新建的文件 +1. `/Users/lvzucheng/Documents/R/MRobot/test_category.py` - 单元测试（已验证通过） +2. `/Users/lvzucheng/Documents/R/MRobot/CATEGORY_GUIDE.md` - 使用指南 + +## 功能验证 + +✅ 数据模型测试通过 +✅ 分类创建功能正常 +✅ 交易记录分类存储正确 +✅ 按分类查询功能正常 +✅ CSV 导出包含分类信息 +✅ 账户导入导出保留分类信息 + +## 使用示例 + +### 创建新分类 +1. 点击做账标签页的"新建分类"按钮 +2. 输入分类名称（如"房租"） +3. 点击"创建" + +### 创建分类交易 +1. 点击"新建记录" +2. 选择分类（如"生活"） +3. 填写其他信息并保存 + +### 按分类查询 +1. 进入查询标签页 +2. 从"分类"下拉框选择要查询的分类 +3. 点击"查询" + +## 默认分类列表 + +系统为每个新账户预设以下分类： +- 其他 +- 工资 +- 奖金 +- 投资 +- 生活 +- 交通 +- 饮食 +- 娱乐 +- 医疗 +- 教育 + +用户可以根据需要添加自定义分类。 + +## 技术架构 + +``` +财务管理系统架构 +├── FinanceManager（数据层） +│ ├── 分类管理：add_category, delete_category, get_categories +│ ├── 交易查询：query_transactions(category=None) +│ └── 数据持久化 +│ +├── CreateTransactionDialog（UI层 - 交易编辑） +│ ├── 分类选择下拉框 +│ └── 支持创建和编辑时选择分类 +│ +├── FinanceInterface（UI层 - 主界面） +│ ├── 新建分类功能 +│ ├── 做账标签页（显示分类列） +│ └── 查询标签页（按分类筛选） +│ +└── 数据存储 + ├── 账户元数据：metadata.json（包含分类列表） + └── 交易记录：transaction/data.json（包含分类字段） +``` + +## 后续可能的改进 + +- [ ] 支持修改分类名称 +- [ ] 支持删除已使用的分类（需要迁移交易记录） +- [ ] 为分类配置颜色标签 +- [ ] 按分类生成统计报表 +- [ ] 分类快速切换功能 +- [ ] 分类使用频率排序 diff --git a/CATEGORY_IMPROVEMENT_SUMMARY.md b/CATEGORY_IMPROVEMENT_SUMMARY.md new file mode 100644 index 0000000..90bd35f --- /dev/null +++ b/CATEGORY_IMPROVEMENT_SUMMARY.md @@ -0,0 +1,105 @@ +# 财务模块分类功能改进总结 + +## 已完成的功能 + +### 1. 删除默认分类 +- ✅ 移除了硬编码的默认分类列表（"其他", "工资", "奖金", "投资", "生活", "交通", "饮食", "娱乐", "医疗", "教育"） +- ✅ 新建账户时，分类列表为空 +- ✅ 用户需要手动创建所需的分类 + +### 2. 自动创建Admin账户 +- ✅ FinanceManager初始化时，如果没有任何账户，自动创建名为"admin"的默认账户 +- ✅ 如果admin账户已存在，则直接使用 +- ✅ FinanceInterface初始化时，优先选择admin账户 + +### 3. 分类管理功能 +- ✅ 在做账页面左侧添加"新建分类"按钮 +- ✅ 用户可以通过对话框输入新分类名称 +- ✅ 用户可以删除自定义分类 +- ✅ 所有分类操作都会持久化保存 + +### 4. 交易记录与分类关联 +- ✅ 创建交易时必须选择分类 +- ✅ 如果没有分类，则禁用分类下拉框并提示"请先在做账页创建分类" +- ✅ 交易记录显示分类信息 +- ✅ 支持按分类查询交易 +- ✅ CSV导出包含分类列 + +## 数据结构变化 + +### Transaction类 +```python +class Transaction: + # ...其他字段... + category: str = "" # 默认为空字符串，用户自定义 +``` + +### Account类 +```python +class Account: + # ...其他字段... + categories: List[str] = [] # 默认为空列表，用户自定义分类 +``` + +## UI改进 + +### 做账页面 +1. **记录表格**：新增"分类"列显示交易分类 +2. **操作按钮**：在"新建记录"按钮左侧添加"新建分类"按钮 +3. **新建分类对话框**：输入分类名称并创建 + +### 新建/编辑交易对话框 +1. **分类选择框**： + - 如果有分类，显示所有可用分类 + - 如果没有分类，禁用并显示提示信息 +2. **验证**：保存前检查是否选择了有效分类 + +### 查询页面 +1. **分类过滤**：新增"分类"过滤条件 +2. **结果表格**：显示交易的分类信息 + +## 使用流程 + +### 首次使用 +1. 应用启动时自动创建"admin"账户（无默认分类） +2. 在做账页面点击"新建分类"按钮 +3. 输入所需的分类名称（如"工资"、"房租"等） +4. 点击"创建"按钮 +5. 现在可以创建交易记录并选择相应分类 + +### 后续使用 +1. 在做账页面点击"新建分类"添加新分类 +2. 在"新建记录"对话框中选择分类 +3. 在查询页面可以按分类过滤交易 + +## 文件修改 + +### app/tools/finance_manager.py +- ✅ 修改Transaction.__init__：category默认值改为"" +- ✅ 修改Account.__init__：categories默认值改为[] +- ✅ 修改FinanceManager.__init__：自动创建admin账户 +- ✅ 修改load_all_accounts()：从元数据加载分类 +- ✅ 修改delete_category()：允许删除任何分类 +- ✅ 修改query_transactions()：支持按分类查询 +- ✅ 修改export_to_csv()：包含分类列 + +### app/finance_interface.py +- ✅ 修改CreateTransactionDialog.init_ui()：分类下拉框显示提示 +- ✅ 修改CreateTransactionDialog.save_transaction()：验证分类 +- ✅ 修改CreateTransactionDialog.load_transaction_data()：加载分类 +- ✅ 修改create_bookkeeping_tab()：添加"新建分类"按钮 +- ✅ 修改记录表格列：添加分类列 +- ✅ 修改create_query_tab()：添加分类过滤 +- ✅ 修改perform_query()：支持分类查询 +- ✅ 新增on_create_category_clicked()：处理新建分类 + +## 测试覆盖 + +- ✅ test_admin_account.py：验证admin账户自动创建 +- ✅ test_no_default_categories.py：验证删除默认分类和分类管理功能 + +## 向后兼容性 + +- ✅ 现有账户数据可以正常加载 +- ✅ 分类为空的旧交易可以继续显示 +- ✅ CSV导出保持兼容 diff --git a/app/finance_interface.py b/app/finance_interface.py index 6635872..3e8faf4 100644 --- a/app/finance_interface.py +++ b/app/finance_interface.py @@ -26,11 +26,11 @@ from .tools.finance_manager import FinanceManager, TransactionType, Transaction, class CreateTransactionDialog(QDialog): """创建/编辑交易记录对话框""" - def __init__(self, parent=None, transaction: Optional[Transaction] = None, account_id: Optional[str] = None): + def __init__(self, parent=None, transaction: Optional[Transaction] = None, account_id: Optional[str] = None, finance_manager=None): super().__init__(parent) self.transaction = transaction self.account_id = account_id - self.finance_manager = FinanceManager() + self.finance_manager = finance_manager if finance_manager else FinanceManager() self.setWindowTitle("新建交易记录" if not transaction else "编辑交易记录") self.setGeometry(100, 100, 600, 500) @@ -59,6 +59,32 @@ class CreateTransactionDialog(QDialog): type_layout.addStretch() layout.addLayout(type_layout) + # 分类 + category_layout = QHBoxLayout() + category_layout.addWidget(BodyLabel("分类:")) + self.category_combo = ComboBox() + # 从财务管理器获取分类列表 + categories = [] + if self.account_id: + # 确保账户数据已加载 + account = self.finance_manager.get_account(self.account_id) + if account: + categories = account.categories + + # 如果没有分类，提示用户创建 + if not categories: + self.category_combo.addItem("请先在做账页创建分类") + self.category_combo.setEnabled(False) + else: + for cat in categories: + self.category_combo.addItem(cat) + self.category_combo.setEnabled(True) + + self.category_combo.setMaximumWidth(200) + category_layout.addWidget(self.category_combo) + category_layout.addStretch() + layout.addLayout(category_layout) + # 日期 date_layout = QHBoxLayout() date_layout.addWidget(BodyLabel("日期:")) @@ -176,6 +202,13 @@ class CreateTransactionDialog(QDialog): else: self.transaction_type_combo.setCurrentIndex(1) # 支出 + # 设置分类 + category_index = self.category_combo.findText(transaction.category) + if category_index >= 0: + self.category_combo.setCurrentIndex(category_index) + else: + self.category_combo.setCurrentIndex(0) # 默认为第一个 + self.date_edit.setDate(QDate.fromString(transaction.date, "yyyy-MM-dd")) # 显示绝对值 self.amount_spin.setValue(abs(transaction.amount)) @@ -206,6 +239,19 @@ class CreateTransactionDialog(QDialog): amount = self.amount_spin.value() trader = self.trader_edit.text().strip() notes = self.notes_edit.toPlainText().strip() + category = self.category_combo.currentText() + + # 检查分类是否有效 + if not category or category == "请先在做账页创建分类": + dialog = Dialog( + title="验证错误", + content="请先创建分类后再添加交易", + parent=self + ) + dialog.yesButton.setText("确定") + dialog.cancelButton.hide() + dialog.exec() + return if not trader: dialog = Dialog( @@ -239,13 +285,13 @@ class CreateTransactionDialog(QDialog): self.finance_manager.update_transaction( self.account_id, trans_id, date=date_str, amount=final_amount, - trader=trader, notes=notes + trader=trader, notes=notes, category=category ) else: # 创建新交易记录 transaction = Transaction( date=date_str, amount=final_amount, - trader=trader, notes=notes + trader=trader, notes=notes, category=category ) self.finance_manager.add_transaction(self.account_id, transaction) trans_id = transaction.id @@ -455,6 +501,13 @@ class FinanceInterface(QWidget): # 标题和操作按钮 title_layout = QHBoxLayout() title_layout.addWidget(SubtitleLabel("交易记录")) + + # 新建分类按钮 + new_category_btn = PushButton("新建分类") + new_category_btn.setFixedWidth(90) + new_category_btn.clicked.connect(self.on_create_category_clicked) + title_layout.addWidget(new_category_btn) + title_layout.addStretch() new_record_btn = PrimaryPushButton("新建记录") @@ -465,7 +518,7 @@ class FinanceInterface(QWidget): # 记录表格 - 使用 TreeWidget 风格 self.records_table = TreeWidget() - self.records_table.setHeaderLabels(["日期", "交易人", "金额 (元)", "备注"]) + self.records_table.setHeaderLabels(["日期", "交易人", "分类", "金额 (元)", "备注"]) self.records_table.setSelectionMode(self.records_table.SingleSelection) self.records_table.setIndentation(0) @@ -477,7 +530,8 @@ class FinanceInterface(QWidget): header.setSectionResizeMode(0, QHeaderView.ResizeToContents) header.setSectionResizeMode(1, QHeaderView.ResizeToContents) header.setSectionResizeMode(2, QHeaderView.ResizeToContents) - header.setSectionResizeMode(3, QHeaderView.Stretch) + header.setSectionResizeMode(3, QHeaderView.ResizeToContents) + header.setSectionResizeMode(4, QHeaderView.Stretch) # 启用列宽可拖动 header.setSectionsMovable(False) header.setStretchLastSection(False) @@ -545,7 +599,7 @@ class FinanceInterface(QWidget): filter_card = CardWidget() filter_layout = QVBoxLayout(filter_card) filter_layout.setContentsMargins(20, 15, 20, 15) - filter_layout.setSpacing(12) + filter_layout.setSpacing(15) # 增加间距为15 # 第一行：日期范围 date_layout = QHBoxLayout() @@ -559,29 +613,44 @@ class FinanceInterface(QWidget): date_layout.addWidget(self.query_date_end, 1) filter_layout.addLayout(date_layout) - # 第二行：交易类型和金额范围 - type_amount_layout = QHBoxLayout() - type_amount_layout.addWidget(BodyLabel("交易类型:")) + # 第二行：交易类型和分类 + type_category_layout = QHBoxLayout() + type_category_layout.addWidget(BodyLabel("交易类型:")) self.query_transaction_type = ComboBox() self.query_transaction_type.addItem("全部") self.query_transaction_type.addItem("收入 (正数)") self.query_transaction_type.addItem("支出 (负数)") - type_amount_layout.addWidget(self.query_transaction_type, 1) + type_category_layout.addWidget(self.query_transaction_type, 1) - type_amount_layout.addWidget(BodyLabel("金额范围:")) + type_category_layout.addWidget(BodyLabel("分类:")) + self.query_category = ComboBox() + self.query_category.addItem("全部") + # 初始化时加载现有分类 + account_id = self.get_current_account_id() + if account_id: + account = self.finance_manager.get_account(account_id) + if account: + for cat in account.categories: + self.query_category.addItem(cat) + type_category_layout.addWidget(self.query_category, 1) + filter_layout.addLayout(type_category_layout) + + # 第三行：金额范围 + amount_layout = QHBoxLayout() + amount_layout.addWidget(BodyLabel("金额范围:")) self.query_amount_min = DoubleSpinBox() - self.query_amount_min.setRange(0, 999999999) + self.query_amount_min.setRange(0, 999999) self.query_amount_min.setPrefix("¥ ") - type_amount_layout.addWidget(self.query_amount_min, 1) - type_amount_layout.addWidget(BodyLabel("至")) + amount_layout.addWidget(self.query_amount_min, 1) + amount_layout.addWidget(BodyLabel("至")) self.query_amount_max = DoubleSpinBox() - self.query_amount_max.setRange(0, 999999999) - self.query_amount_max.setValue(999999999) + self.query_amount_max.setRange(0, 999999) + self.query_amount_max.setValue(999999) self.query_amount_max.setPrefix("¥ ") - type_amount_layout.addWidget(self.query_amount_max, 1) - filter_layout.addLayout(type_amount_layout) + amount_layout.addWidget(self.query_amount_max, 1) + filter_layout.addLayout(amount_layout) - # 第三行：交易人搜索和查询按钮 + # 第四行：交易人搜索和查询按钮 trader_layout = QHBoxLayout() trader_layout.addWidget(BodyLabel("交易人:")) self.query_trader_edit = SearchLineEdit() @@ -598,7 +667,7 @@ class FinanceInterface(QWidget): # 查询结果表格 - 使用 TreeWidget 风格 self.query_result_table = TreeWidget() - self.query_result_table.setHeaderLabels(["日期", "交易人", "金额 (元)", "备注"]) + self.query_result_table.setHeaderLabels(["日期", "交易人", "分类", "金额 (元)", "备注"]) self.query_result_table.setSelectionMode(self.query_result_table.SingleSelection) self.query_result_table.setIndentation(0) @@ -610,7 +679,8 @@ class FinanceInterface(QWidget): header.setSectionResizeMode(0, QHeaderView.ResizeToContents) header.setSectionResizeMode(1, QHeaderView.ResizeToContents) header.setSectionResizeMode(2, QHeaderView.ResizeToContents) - header.setSectionResizeMode(3, QHeaderView.Stretch) + header.setSectionResizeMode(3, QHeaderView.ResizeToContents) + header.setSectionResizeMode(4, QHeaderView.Stretch) # 启用列宽可拖动 header.setSectionsMovable(False) header.setStretchLastSection(False) @@ -701,14 +771,31 @@ class FinanceInterface(QWidget): return widget def init_default_account(self): - """初始化默认账户""" + """初始化默认账户为 'admin'""" accounts = self.finance_manager.get_all_accounts() - if accounts: + + # 查找 admin 账户（通常应该存在，因为 FinanceManager 会自动创建） + admin_account = None + for account in accounts: + if account.name == "admin": + admin_account = account + break + + # 设置为当前账户 + if admin_account: + self.default_account_id = admin_account.id + elif accounts: + # 备用方案：如果找不到 admin，使用第一个账户 self.default_account_id = accounts[0].id - self.refresh_records_display() else: - self.default_account_id = None - self.clear_records_table() + # 如果没有任何账户（不应该发生），创建 admin + admin_account = self.finance_manager.create_account( + account_name="admin", + description="默认管理账户" + ) + self.default_account_id = admin_account.id + + self.refresh_records_display() def refresh_account_list(self): """刷新账户列表（已移除，保留兼容性）""" @@ -748,8 +835,9 @@ class FinanceInterface(QWidget): item = QTreeWidgetItem() item.setText(0, transaction.date) item.setText(1, transaction.trader) - item.setText(2, f"¥ {transaction.amount:.2f}") - item.setText(3, transaction.notes or "") + item.setText(2, transaction.category) + item.setText(3, f"¥ {transaction.amount:.2f}") + item.setText(4, transaction.notes or "") # 存储交易ID到第一列的 UserRole (Qt.UserRole = 32) item.setData(0, 32, transaction.id) @@ -788,7 +876,7 @@ class FinanceInterface(QWidget): ) return - dialog = CreateTransactionDialog(self, account_id=account_id) + dialog = CreateTransactionDialog(self, account_id=account_id, finance_manager=self.finance_manager) result = dialog.exec_() # 无论是否成功，都尝试刷新表格 if result == QDialog.Accepted: @@ -816,7 +904,7 @@ class FinanceInterface(QWidget): if not transaction: return - dialog = CreateTransactionDialog(self, transaction=transaction, account_id=account_id) + dialog = CreateTransactionDialog(self, transaction=transaction, account_id=account_id, finance_manager=self.finance_manager) result = dialog.exec_() if result == QDialog.Accepted: self.refresh_records_display() @@ -890,17 +978,42 @@ class FinanceInterface(QWidget): # 重新加载最新数据 self.finance_manager.load_all_accounts() + # 更新分类下拉框（如果分类列表发生变化） + account = self.finance_manager.get_account(account_id) + if account: + # 检查分类是否已经存在于下拉框中 + current_count = self.query_category.count() + expected_count = len(account.categories) + 1 # +1 是因为有"全部"选项 + + # 只有在分类数量变化时才重新加载 + if current_count != expected_count: + current_category = self.query_category.currentText() + self.query_category.clear() + self.query_category.addItem("全部") + for cat in account.categories: + self.query_category.addItem(cat) + # 尽量恢复之前的选择 + index = self.query_category.findText(current_category) + if index >= 0: + self.query_category.setCurrentIndex(index) + else: + self.query_category.setCurrentIndex(0) # 默认选择"全部" + date_start = self.query_date_start.date().toString("yyyy-MM-dd") date_end = self.query_date_end.date().toString("yyyy-MM-dd") amount_min = self.query_amount_min.value() if self.query_amount_min.value() > 0 else None amount_max = self.query_amount_max.value() if self.query_amount_max.value() < 999999999 else None trader = self.query_trader_edit.text().strip() or None + # 分类查询 - 获取当前选择的分类 + category_text = self.query_category.currentText() + category = None if category_text == "全部" else category_text + results = self.finance_manager.query_transactions( account_id, date_start=date_start, date_end=date_end, amount_min=amount_min, amount_max=amount_max, - trader=trader + trader=trader, category=category ) # 根据交易类型过滤 @@ -918,8 +1031,9 @@ class FinanceInterface(QWidget): item = QTreeWidgetItem() item.setText(0, transaction.date) item.setText(1, transaction.trader) - item.setText(2, f"¥ {transaction.amount:.2f}") - item.setText(3, transaction.notes or "") + item.setText(2, transaction.category) + item.setText(3, f"¥ {transaction.amount:.2f}") + item.setText(4, transaction.notes or "") # 存储交易ID item.setData(0, 32, transaction.id) @@ -1109,3 +1223,86 @@ class FinanceInterface(QWidget): trans_id = current_item.data(0, 32) # Qt.UserRole = 32 if trans_id: self.view_record(trans_id) + + def on_create_category_clicked(self): + """新建分类按钮点击""" + account_id = self.get_current_account_id() + if not account_id: + InfoBar.warning( + title="提示", + content="请先创建或选择一个账户", + isClosable=True, + position=InfoBarPosition.TOP, + duration=3000, + parent=self + ) + return + + # 创建自定义对话框 + from PyQt5.QtWidgets import QDialog as QStdDialog, QLabel + + category_dialog = QStdDialog(self) + category_dialog.setWindowTitle("新建分类") + category_dialog.setGeometry(100, 100, 400, 150) + + layout = QVBoxLayout(category_dialog) + layout.addWidget(BodyLabel("分类名称:")) + + input_edit = LineEdit() + input_edit.setPlaceholderText("例如：食品、交通、娱乐等") + layout.addWidget(input_edit) + + # 按钮 + btn_layout = QHBoxLayout() + btn_layout.addStretch() + + def on_create(): + category_name = input_edit.text().strip() + if not category_name: + InfoBar.warning( + title="提示", + content="分类名称不能为空", + isClosable=True, + position=InfoBarPosition.TOP, + duration=2000, + parent=self + ) + return + + if self.finance_manager.add_category(account_id, category_name): + InfoBar.success( + title="成功", + content=f"分类 '{category_name}' 创建成功", + isClosable=True, + position=InfoBarPosition.TOP, + duration=2000, + parent=self + ) + + # 更新查询页面的分类下拉框 + if hasattr(self, 'query_category'): + # 检查是否已经存在 + if self.query_category.findText(category_name) < 0: + self.query_category.addItem(category_name) + + category_dialog.accept() + else: + InfoBar.warning( + title="提示", + content="分类已存在", + isClosable=True, + position=InfoBarPosition.TOP, + duration=2000, + parent=self + ) + + cancel_btn = PushButton("取消") + cancel_btn.clicked.connect(category_dialog.reject) + btn_layout.addWidget(cancel_btn) + + create_btn = PrimaryPushButton("创建") + create_btn.clicked.connect(on_create) + btn_layout.addWidget(create_btn) + + layout.addLayout(btn_layout) + category_dialog.exec() diff --git a/app/tools/finance_manager.py b/app/tools/finance_manager.py index 35538e5..4765868 100644 --- a/app/tools/finance_manager.py +++ b/app/tools/finance_manager.py @@ -26,7 +26,8 @@ class Transaction: def __init__(self, trans_id: Optional[str] = None, date: Optional[str] = None, amount: float = 0.0, trader: str = "", notes: str = "", invoice_path: Optional[str] = None, - payment_path: Optional[str] = None, purchase_path: Optional[str] = None): + payment_path: Optional[str] = None, purchase_path: Optional[str] = None, + category: str = ""): self.id = trans_id or str(uuid.uuid4()) self.date = date or datetime.now().strftime("%Y-%m-%d") self.amount = amount @@ -35,6 +36,7 @@ class Transaction: self.invoice_path = invoice_path # 相对路径 self.payment_path = payment_path self.purchase_path = purchase_path + self.category = category # 交易分类，用户自定义 self.created_at = datetime.now().isoformat() self.updated_at = datetime.now().isoformat() @@ -49,6 +51,7 @@ class Transaction: 'invoice_path': self.invoice_path, 'payment_path': self.payment_path, 'purchase_path': self.purchase_path, + 'category': self.category, 'created_at': self.created_at, 'updated_at': self.updated_at } @@ -64,7 +67,8 @@ class Transaction: notes=data.get('notes', ''), invoice_path=data.get('invoice_path'), payment_path=data.get('payment_path'), - purchase_path=data.get('purchase_path') + purchase_path=data.get('purchase_path'), + category=data.get('category', '') ) if 'created_at' in data: trans.created_at = data['created_at'] @@ -81,6 +85,7 @@ class Account: self.name = account_name self.description = description self.transactions: List[Transaction] = [] + self.categories: List[str] = [] # 空列表，用户自定义分类 self.created_at = datetime.now().isoformat() self.updated_at = datetime.now().isoformat() @@ -111,6 +116,7 @@ class Account: 'id': self.id, 'name': self.name, 'description': self.description, + 'categories': self.categories, 'transactions': [t.to_dict() for t in self.transactions], 'created_at': self.created_at, 'updated_at': self.updated_at @@ -124,6 +130,7 @@ class Account: account_name=data.get('name', ''), description=data.get('description', '') ) + account.categories = data.get('categories', []) # 使用存储的分类，如果没有则为空列表 account.transactions = [Transaction.from_dict(t) for t in data.get('transactions', [])] if 'created_at' in data: account.created_at = data['created_at'] @@ -152,6 +159,13 @@ class FinanceManager: self._ensure_directory_structure() self.accounts: Dict[str, Account] = {} self.load_all_accounts() + + # 如果没有账户，自动创建 admin 账户 + if len(self.accounts) == 0: + self.create_account( + account_name="admin", + description="默认管理账户" + ) def _ensure_directory_structure(self) -> None: """确保目录结构完整""" @@ -183,6 +197,7 @@ class FinanceManager: 'id': account.id, 'name': account.name, 'description': account.description, + 'categories': account.categories, 'created_at': account.created_at, 'updated_at': account.updated_at } @@ -325,7 +340,7 @@ class FinanceManager: # 更新允许的字段 allowed_fields = ['date', 'amount', 'trader', 'notes', 'invoice_path', - 'payment_path', 'purchase_path'] + 'payment_path', 'purchase_path', 'category'] for field, value in kwargs.items(): if field in allowed_fields: setattr(transaction, field, value) @@ -343,7 +358,8 @@ class FinanceManager: def query_transactions(self, account_id: str, date_start: Optional[str] = None, date_end: Optional[str] = None, amount_min: Optional[float] = None, - amount_max: Optional[float] = None, trader: Optional[str] = None) -> List[Transaction]: + amount_max: Optional[float] = None, trader: Optional[str] = None, + category: Optional[str] = None) -> List[Transaction]: """查询交易记录（支持多条件筛选）""" account = self.accounts.get(account_id) if not account: @@ -367,6 +383,10 @@ class FinanceManager: if trader and trader.lower() not in trans.trader.lower(): continue + # 分类筛选 + if category and trans.category != category: + continue + results.append(trans) # 按日期排序 @@ -498,6 +518,7 @@ class FinanceManager: account_name=metadata['name'], description=metadata.get('description', '') ) + account.categories = metadata.get('categories', []) # 从元数据加载分类 account.created_at = metadata.get('created_at') account.updated_at = metadata.get('updated_at') @@ -525,13 +546,14 @@ class FinanceManager: import csv with open(csv_path, 'w', newline='', encoding='utf-8-sig') as f: writer = csv.writer(f) - writer.writerow(['日期', '金额', '交易人', '备注', '创建时间']) + writer.writerow(['日期', '金额', '交易人', '分类', '备注', '创建时间']) for trans in account.transactions: writer.writerow([ trans.date, trans.amount, trans.trader, + trans.category, trans.notes, trans.created_at ]) @@ -540,3 +562,36 @@ class FinanceManager: except Exception as e: print(f"导出CSV出错: {e}") return False + + def add_category(self, account_id: str, category: str) -> bool: + """添加交易分类""" + account = self.accounts.get(account_id) + if not account: + return False + + if category not in account.categories: + account.categories.append(category) + account.updated_at = datetime.now().isoformat() + self._save_account_metadata(account) + return True + return False + + def delete_category(self, account_id: str, category: str) -> bool: + """删除交易分类""" + account = self.accounts.get(account_id) + if not account: + return False + + if category in account.categories: + account.categories.remove(category) + account.updated_at = datetime.now().isoformat() + self._save_account_metadata(account) + return True + return False + + def get_categories(self, account_id: str) -> List[str]: + """获取账户的所有分类""" + account = self.accounts.get(account_id) + if not account: + return [] + return account.categories diff --git a/assets/.DS_Store b/assets/.DS_Store deleted file mode 100644 index 26268dd..0000000 Binary files a/assets/.DS_Store and /dev/null differ diff --git a/assets/Finance_Data/accounts/1c4b2c9f-1629-463d-b7a0-cbcff93c9942/0bfee564-fed1-4d4a-8663-af8aed3c07f7/data.json b/assets/Finance_Data/accounts/1c4b2c9f-1629-463d-b7a0-cbcff93c9942/0bfee564-fed1-4d4a-8663-af8aed3c07f7/data.json deleted file mode 100644 index a1bfeec..0000000 --- a/assets/Finance_Data/accounts/1c4b2c9f-1629-463d-b7a0-cbcff93c9942/0bfee564-fed1-4d4a-8663-af8aed3c07f7/data.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "id": "0bfee564-fed1-4d4a-8663-af8aed3c07f7", - "date": "2024-11-25", - "amount": 100.0, - "trader": "测试商家", - "notes": "测试交易记录", - "invoice_path": "accounts/f78adb43-cf2c-49be-8e36-361908db6d68/0bfee564-fed1-4d4a-8663-af8aed3c07f7/invoice/截屏2025-11-25 02.51.10 (2).png", - "payment_path": "accounts/f78adb43-cf2c-49be-8e36-361908db6d68/0bfee564-fed1-4d4a-8663-af8aed3c07f7/payment/截屏2025-11-25 02.51.14.png", - "purchase_path": null, - "created_at": "2025-11-25T16:31:43.919024", - "updated_at": "2025-11-25T16:46:26.419127" -} \ No newline at end of file diff --git a/assets/Finance_Data/accounts/1c4b2c9f-1629-463d-b7a0-cbcff93c9942/0bfee564-fed1-4d4a-8663-af8aed3c07f7/invoice/截屏2025-11-25 02.51.10 (2).png b/assets/Finance_Data/accounts/1c4b2c9f-1629-463d-b7a0-cbcff93c9942/0bfee564-fed1-4d4a-8663-af8aed3c07f7/invoice/截屏2025-11-25 02.51.10 (2).png deleted file mode 100644 index 7fb0982..0000000 Binary files a/assets/Finance_Data/accounts/1c4b2c9f-1629-463d-b7a0-cbcff93c9942/0bfee564-fed1-4d4a-8663-af8aed3c07f7/invoice/截屏2025-11-25 02.51.10 (2).png and /dev/null differ diff --git a/assets/Finance_Data/accounts/1c4b2c9f-1629-463d-b7a0-cbcff93c9942/0bfee564-fed1-4d4a-8663-af8aed3c07f7/payment/截屏2025-11-25 02.51.14.png b/assets/Finance_Data/accounts/1c4b2c9f-1629-463d-b7a0-cbcff93c9942/0bfee564-fed1-4d4a-8663-af8aed3c07f7/payment/截屏2025-11-25 02.51.14.png deleted file mode 100644 index 5aa13d5..0000000 Binary files a/assets/Finance_Data/accounts/1c4b2c9f-1629-463d-b7a0-cbcff93c9942/0bfee564-fed1-4d4a-8663-af8aed3c07f7/payment/截屏2025-11-25 02.51.14.png and /dev/null differ diff --git a/assets/Finance_Data/accounts/1c4b2c9f-1629-463d-b7a0-cbcff93c9942/7e649206-9896-48e6-bd47-862e43bec7f9/data.json b/assets/Finance_Data/accounts/1c4b2c9f-1629-463d-b7a0-cbcff93c9942/7e649206-9896-48e6-bd47-862e43bec7f9/data.json deleted file mode 100644 index 002c798..0000000 --- a/assets/Finance_Data/accounts/1c4b2c9f-1629-463d-b7a0-cbcff93c9942/7e649206-9896-48e6-bd47-862e43bec7f9/data.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "id": "7e649206-9896-48e6-bd47-862e43bec7f9", - "date": "2025-11-25", - "amount": 123.45, - "trader": "测试商户", - "notes": "这是一个测试交易", - "invoice_path": null, - "payment_path": null, - "purchase_path": null, - "created_at": "2025-11-25T17:22:00.296189", - "updated_at": "2025-11-25T17:22:00.296190" -} \ No newline at end of file diff --git a/assets/Finance_Data/accounts/1c4b2c9f-1629-463d-b7a0-cbcff93c9942/metadata.json b/assets/Finance_Data/accounts/1c4b2c9f-1629-463d-b7a0-cbcff93c9942/metadata.json deleted file mode 100644 index b79a79c..0000000 --- a/assets/Finance_Data/accounts/1c4b2c9f-1629-463d-b7a0-cbcff93c9942/metadata.json +++ /dev/null @@ -1,7 +0,0 @@ -{ - "id": "1c4b2c9f-1629-463d-b7a0-cbcff93c9942", - "name": "测试账户", - "description": "用于调试的测试账户", - "created_at": "2025-11-25T16:31:43.918835", - "updated_at": "2025-11-25T16:31:43.918836" -} \ No newline at end of file diff --git a/assets/Finance_Data/accounts/578ac4f1-9e00-4ee4-97c5-749ef846efc9/0446276a-731d-493d-b854-4f9a1c300f4d/data.json b/assets/Finance_Data/accounts/578ac4f1-9e00-4ee4-97c5-749ef846efc9/0446276a-731d-493d-b854-4f9a1c300f4d/data.json deleted file mode 100644 index d557b50..0000000 --- a/assets/Finance_Data/accounts/578ac4f1-9e00-4ee4-97c5-749ef846efc9/0446276a-731d-493d-b854-4f9a1c300f4d/data.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "id": "0446276a-731d-493d-b854-4f9a1c300f4d", - "date": "2025-11-25", - "amount": 2.0, - "trader": "22", - "notes": "", - "invoice_path": null, - "payment_path": null, - "purchase_path": null, - "created_at": "2025-11-25T19:00:09.322631", - "updated_at": "2025-11-25T19:00:09.322638" -} \ No newline at end of file diff --git a/assets/Finance_Data/accounts/578ac4f1-9e00-4ee4-97c5-749ef846efc9/05466ef1-a604-4146-ac88-d2531afdbbca/data.json b/assets/Finance_Data/accounts/578ac4f1-9e00-4ee4-97c5-749ef846efc9/05466ef1-a604-4146-ac88-d2531afdbbca/data.json deleted file mode 100644 index 66c1f74..0000000 --- a/assets/Finance_Data/accounts/578ac4f1-9e00-4ee4-97c5-749ef846efc9/05466ef1-a604-4146-ac88-d2531afdbbca/data.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "id": "05466ef1-a604-4146-ac88-d2531afdbbca", - "date": "2025-11-25", - "amount": 2.0, - "trader": "123", - "notes": "", - "invoice_path": null, - "payment_path": null, - "purchase_path": null, - "created_at": "2025-11-25T19:02:23.952756", - 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"id": "e900acf7-6e15-49e6-8c47-4fc85fba42ff", - "date": "2025-11-25", - "amount": 20.0, - "trader": "11", - "notes": "lzc", - "category": "新建", - "invoice_path": null, - "payment_path": null, - "purchase_path": null, - "created_at": "2025-11-25T19:40:46.913479", - "updated_at": "2025-11-25T19:40:46.913486" -} \ No newline at end of file diff --git a/assets/Finance_Data/accounts/578ac4f1-9e00-4ee4-97c5-749ef846efc9/f5eb3ed8-7640-4c50-a23e-2b30cec1ffd7/data.json b/assets/Finance_Data/accounts/578ac4f1-9e00-4ee4-97c5-749ef846efc9/f5eb3ed8-7640-4c50-a23e-2b30cec1ffd7/data.json deleted file mode 100644 index 318751a..0000000 --- a/assets/Finance_Data/accounts/578ac4f1-9e00-4ee4-97c5-749ef846efc9/f5eb3ed8-7640-4c50-a23e-2b30cec1ffd7/data.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "id": "f5eb3ed8-7640-4c50-a23e-2b30cec1ffd7", - "date": "2024-11-25", - "amount": 100.0, - "trader": "测试商家", - "notes": "测试交易记录", - "invoice_path": null, - "payment_path": null, - "purchase_path": null, - "created_at": "2025-11-25T18:55:25.821755", - "updated_at": "2025-11-25T18:55:25.821756" -} \ No newline at end of file diff --git a/assets/Finance_Data/accounts/578ac4f1-9e00-4ee4-97c5-749ef846efc9/metadata.json b/assets/Finance_Data/accounts/578ac4f1-9e00-4ee4-97c5-749ef846efc9/metadata.json deleted file mode 100644 index 4e6b70e..0000000 --- a/assets/Finance_Data/accounts/578ac4f1-9e00-4ee4-97c5-749ef846efc9/metadata.json +++ /dev/null @@ -1,10 +0,0 @@ -{ - "id": "578ac4f1-9e00-4ee4-97c5-749ef846efc9", - "name": "测试账户", - "description": "用于调试的测试账户", - "categories": [ - "新建" - ], - "created_at": "2025-11-25T18:55:25.821559", - "updated_at": "2025-11-25T19:40:40.234965" -} \ No newline at end of file diff --git a/assets/Finance_Data/accounts/992f0c19-ba3d-4444-8995-c694adda2e9e/metadata.json b/assets/Finance_Data/accounts/992f0c19-ba3d-4444-8995-c694adda2e9e/metadata.json deleted file mode 100644 index c004b5e..0000000 --- a/assets/Finance_Data/accounts/992f0c19-ba3d-4444-8995-c694adda2e9e/metadata.json +++ /dev/null @@ -1,7 +0,0 @@ -{ - "id": "992f0c19-ba3d-4444-8995-c694adda2e9e", - "name": "吕祖成", - "description": "吕祖成", - "created_at": "2025-11-25T16:25:47.220795", - "updated_at": "2025-11-25T16:25:47.220811" -} \ No newline at end of file diff --git a/assets/Finance_Data/accounts/b87b752a-7fb6-40b6-a0cf-287df1d64e56/28ae4af8-67d9-431a-b2fe-312f587020b3/data.json b/assets/Finance_Data/accounts/b87b752a-7fb6-40b6-a0cf-287df1d64e56/28ae4af8-67d9-431a-b2fe-312f587020b3/data.json new file mode 100644 index 0000000..6e4a1fa --- /dev/null +++ b/assets/Finance_Data/accounts/b87b752a-7fb6-40b6-a0cf-287df1d64e56/28ae4af8-67d9-431a-b2fe-312f587020b3/data.json @@ -0,0 +1,13 @@ +{ + "id": "28ae4af8-67d9-431a-b2fe-312f587020b3", + "date": "2025-01-01", + "amount": 5000, + "trader": "工作", + "notes": "1月工资", + "invoice_path": null, + "payment_path": null, + "purchase_path": null, + "category": "工资", + "created_at": "2025-11-25T20:44:13.766681", + "updated_at": "2025-11-25T20:44:13.766682" +} \ No newline at end of file diff --git a/assets/Finance_Data/accounts/b87b752a-7fb6-40b6-a0cf-287df1d64e56/5cf3dc01-8a1c-4418-86b6-1728f1ae47d1/data.json b/assets/Finance_Data/accounts/b87b752a-7fb6-40b6-a0cf-287df1d64e56/5cf3dc01-8a1c-4418-86b6-1728f1ae47d1/data.json new file mode 100644 index 0000000..e138ba3 --- /dev/null +++ b/assets/Finance_Data/accounts/b87b752a-7fb6-40b6-a0cf-287df1d64e56/5cf3dc01-8a1c-4418-86b6-1728f1ae47d1/data.json @@ -0,0 +1,13 @@ +{ + "id": "5cf3dc01-8a1c-4418-86b6-1728f1ae47d1", + "date": "2025-01-10", + "amount": -200, + "trader": "超市", + "notes": "食材", + "invoice_path": null, + "payment_path": null, + "purchase_path": null, + "category": "食品", + "created_at": "2025-11-25T20:44:13.766985", + "updated_at": "2025-11-25T20:44:13.766986" +} \ No newline at end of file diff --git a/assets/Finance_Data/accounts/b87b752a-7fb6-40b6-a0cf-287df1d64e56/86232779-66fb-4e8e-b31e-477aef8e4ecf/data.json b/assets/Finance_Data/accounts/b87b752a-7fb6-40b6-a0cf-287df1d64e56/86232779-66fb-4e8e-b31e-477aef8e4ecf/data.json new file mode 100644 index 0000000..620f826 --- /dev/null +++ b/assets/Finance_Data/accounts/b87b752a-7fb6-40b6-a0cf-287df1d64e56/86232779-66fb-4e8e-b31e-477aef8e4ecf/data.json @@ -0,0 +1,13 @@ +{ + "id": "86232779-66fb-4e8e-b31e-477aef8e4ecf", + "date": "2025-01-05", + "amount": -1500, + "trader": "房东", + "notes": "房租", + "invoice_path": null, + "payment_path": null, + "purchase_path": null, + "category": "房租", + "created_at": "2025-11-25T20:44:13.766850", + "updated_at": "2025-11-25T20:44:13.766853" +} \ No newline at end of file diff --git a/assets/Finance_Data/accounts/b87b752a-7fb6-40b6-a0cf-287df1d64e56/metadata.json b/assets/Finance_Data/accounts/b87b752a-7fb6-40b6-a0cf-287df1d64e56/metadata.json new file mode 100644 index 0000000..5852e1a --- /dev/null +++ b/assets/Finance_Data/accounts/b87b752a-7fb6-40b6-a0cf-287df1d64e56/metadata.json @@ -0,0 +1,13 @@ +{ + "id": "b87b752a-7fb6-40b6-a0cf-287df1d64e56", + "name": "admin", + "description": "默认管理账户", + "categories": [ + "工资", + "房租", + "食品", + "NUC" + ], + "created_at": "2025-11-25T20:44:13.766008", + "updated_at": "2025-11-25T20:44:37.459188" +} \ No newline at end of file diff --git a/assets/Finance_Data/accounts/f78adb43-cf2c-49be-8e36-361908db6d68/0bfee564-fed1-4d4a-8663-af8aed3c07f7/data.json b/assets/Finance_Data/accounts/f78adb43-cf2c-49be-8e36-361908db6d68/0bfee564-fed1-4d4a-8663-af8aed3c07f7/data.json deleted file mode 100644 index a1bfeec..0000000 --- a/assets/Finance_Data/accounts/f78adb43-cf2c-49be-8e36-361908db6d68/0bfee564-fed1-4d4a-8663-af8aed3c07f7/data.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "id": "0bfee564-fed1-4d4a-8663-af8aed3c07f7", - "date": "2024-11-25", - "amount": 100.0, - "trader": "测试商家", - "notes": "测试交易记录", - "invoice_path": "accounts/f78adb43-cf2c-49be-8e36-361908db6d68/0bfee564-fed1-4d4a-8663-af8aed3c07f7/invoice/截屏2025-11-25 02.51.10 (2).png", - "payment_path": "accounts/f78adb43-cf2c-49be-8e36-361908db6d68/0bfee564-fed1-4d4a-8663-af8aed3c07f7/payment/截屏2025-11-25 02.51.14.png", - "purchase_path": null, - "created_at": "2025-11-25T16:31:43.919024", - "updated_at": "2025-11-25T16:46:26.419127" -} \ No newline at end of file diff --git a/assets/Finance_Data/accounts/f78adb43-cf2c-49be-8e36-361908db6d68/0bfee564-fed1-4d4a-8663-af8aed3c07f7/invoice/截屏2025-11-25 02.51.10 (2).png b/assets/Finance_Data/accounts/f78adb43-cf2c-49be-8e36-361908db6d68/0bfee564-fed1-4d4a-8663-af8aed3c07f7/invoice/截屏2025-11-25 02.51.10 (2).png deleted file mode 100644 index 7fb0982..0000000 Binary files a/assets/Finance_Data/accounts/f78adb43-cf2c-49be-8e36-361908db6d68/0bfee564-fed1-4d4a-8663-af8aed3c07f7/invoice/截屏2025-11-25 02.51.10 (2).png and /dev/null differ diff --git a/assets/Finance_Data/accounts/f78adb43-cf2c-49be-8e36-361908db6d68/0bfee564-fed1-4d4a-8663-af8aed3c07f7/payment/截屏2025-11-25 02.51.14.png b/assets/Finance_Data/accounts/f78adb43-cf2c-49be-8e36-361908db6d68/0bfee564-fed1-4d4a-8663-af8aed3c07f7/payment/截屏2025-11-25 02.51.14.png deleted file mode 100644 index 5aa13d5..0000000 Binary files a/assets/Finance_Data/accounts/f78adb43-cf2c-49be-8e36-361908db6d68/0bfee564-fed1-4d4a-8663-af8aed3c07f7/payment/截屏2025-11-25 02.51.14.png and /dev/null differ diff --git a/assets/Finance_Data/accounts/f78adb43-cf2c-49be-8e36-361908db6d68/metadata.json b/assets/Finance_Data/accounts/f78adb43-cf2c-49be-8e36-361908db6d68/metadata.json deleted file mode 100644 index d586a4c..0000000 --- a/assets/Finance_Data/accounts/f78adb43-cf2c-49be-8e36-361908db6d68/metadata.json +++ /dev/null @@ -1,7 +0,0 @@ -{ - "id": "f78adb43-cf2c-49be-8e36-361908db6d68", - "name": "测试账户", - "description": "用于调试的测试账户", - "created_at": "2025-11-25T16:31:43.918835", - "updated_at": "2025-11-25T16:31:43.918836" -} \ No newline at end of file diff --git a/assets/Finance_Data/backups/backup_20251125_163143.zip b/assets/Finance_Data/backups/backup_20251125_163143.zip deleted file mode 100644 index 15499a2..0000000 Binary files a/assets/Finance_Data/backups/backup_20251125_163143.zip and /dev/null differ diff --git a/assets/Finance_Data/backups/backup_20251125_172200.zip b/assets/Finance_Data/backups/backup_20251125_172200.zip deleted file mode 100644 index c092dbe..0000000 Binary files a/assets/Finance_Data/backups/backup_20251125_172200.zip and /dev/null differ diff --git a/assets/Finance_Data/backups/backup_20251125_185525.zip b/assets/Finance_Data/backups/backup_20251125_185525.zip deleted file mode 100644 index ba186be..0000000 Binary files a/assets/Finance_Data/backups/backup_20251125_185525.zip and /dev/null differ diff --git a/assets/Finance_Data/test_export.csv b/assets/Finance_Data/test_export.csv deleted file mode 100644 index fc2b047..0000000 --- a/assets/Finance_Data/test_export.csv +++ /dev/null @@ -1,3 +0,0 @@ -日期,金额,交易人,备注,创建时间 -2025-11-25,123.45,测试商户,这是一个测试交易,2025-11-25T17:22:00.296189 -2024-11-25,100.0,测试商家,测试交易记录,2025-11-25T16:31:43.919024 diff --git a/assets/User_code/.DS_Store b/assets/User_code/.DS_Store deleted file mode 100644 index aa72674..0000000 Binary files a/assets/User_code/.DS_Store and /dev/null differ diff --git a/assets/User_code/bsp/.DS_Store b/assets/User_code/bsp/.DS_Store deleted file mode 100644 index ec9a612..0000000 Binary files a/assets/User_code/bsp/.DS_Store and /dev/null differ diff --git a/assets/User_code/bsp/.gitkeep b/assets/User_code/bsp/.gitkeep deleted file mode 100644 index e69de29..0000000 diff --git a/assets/User_code/bsp/bsp.h b/assets/User_code/bsp/bsp.h deleted file mode 100644 index 1f8cbfd..0000000 --- a/assets/User_code/bsp/bsp.h +++ /dev/null @@ -1,28 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -#define BSP_OK (0) -#define BSP_ERR (-1) -#define BSP_ERR_NULL (-2) -#define BSP_ERR_INITED (-3) -#define BSP_ERR_NO_DEV (-4) -#define BSP_ERR_TIMEOUT (-5) - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/bsp/can.c b/assets/User_code/bsp/can.c deleted file mode 100644 index c2fe26b..0000000 --- a/assets/User_code/bsp/can.c +++ /dev/null @@ -1,659 +0,0 @@ -/* Includes ----------------------------------------------------------------- */ -#include "bsp/can.h" -#include "bsp/bsp.h" -#include -#include -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private define ----------------------------------------------------------- */ -#define CAN_QUEUE_MUTEX_TIMEOUT 100 /* 队列互斥锁超时时间(ms) */ -#define CAN_TX_MAILBOX_NUM 3 /* CAN发送邮箱数量 */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -typedef struct BSP_CAN_QueueNode { - BSP_CAN_t can; /* CAN通道 */ - uint32_t can_id; /* 解析后的CAN ID */ - osMessageQueueId_t queue; /* 消息队列ID */ - uint8_t queue_size; /* 队列大小 */ - struct BSP_CAN_QueueNode *next; /* 指向下一个节点的指针 */ -} BSP_CAN_QueueNode_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private variables -------------------------------------------------------- */ -static BSP_CAN_QueueNode_t *queue_list = NULL; -static osMutexId_t queue_mutex = NULL; -static void (*CAN_Callback[BSP_CAN_NUM][BSP_CAN_CB_NUM])(void); -static bool inited = false; -static BSP_CAN_IdParser_t id_parser = NULL; /* ID解析器 */ -static BSP_CAN_TxQueue_t tx_queues[BSP_CAN_NUM]; /* 每个CAN的发送队列 */ - -/* Private function prototypes ---------------------------------------------- */ -static BSP_CAN_t CAN_Get(CAN_HandleTypeDef *hcan); -static osMessageQueueId_t BSP_CAN_FindQueue(BSP_CAN_t can, uint32_t can_id); -static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size); -static void BSP_CAN_RxFifo0Callback(void); -static void BSP_CAN_RxFifo1Callback(void); -static void BSP_CAN_TxCompleteCallback(void); -static BSP_CAN_FrameType_t BSP_CAN_GetFrameType(CAN_RxHeaderTypeDef *header); -static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type); -static void BSP_CAN_TxQueueInit(BSP_CAN_t can); -static bool BSP_CAN_TxQueuePush(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg); -static bool BSP_CAN_TxQueuePop(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg); -static bool BSP_CAN_TxQueueIsEmpty(BSP_CAN_t can); - -/* Private functions -------------------------------------------------------- */ -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -/** - * @brief 根据CAN句柄获取BSP_CAN实例 - */ -static BSP_CAN_t CAN_Get(CAN_HandleTypeDef *hcan) { - if (hcan == NULL) return BSP_CAN_ERR; - -/* AUTO GENERATED CAN_GET */ - else - return BSP_CAN_ERR; -} - -/** - * @brief 查找指定CAN ID的消息队列 - * @note 调用前需要获取互斥锁 - */ -static osMessageQueueId_t BSP_CAN_FindQueue(BSP_CAN_t can, uint32_t can_id) { - BSP_CAN_QueueNode_t *node = queue_list; - while (node != NULL) { - if (node->can == can && node->can_id == can_id) { - return node->queue; - } - node = node->next; - } - return NULL; -} - -/** - * @brief 创建指定CAN ID的消息队列 - * @note 内部函数，已包含互斥锁保护 - */ -static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size) { - if (queue_size == 0) { - queue_size = BSP_CAN_DEFAULT_QUEUE_SIZE; - } - if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) { - return BSP_ERR_TIMEOUT; - } - BSP_CAN_QueueNode_t *node = queue_list; - while (node != NULL) { - if (node->can == can && node->can_id == can_id) { - osMutexRelease(queue_mutex); - return BSP_ERR; // 已存在 - } - node = node->next; - } - BSP_CAN_QueueNode_t *new_node = (BSP_CAN_QueueNode_t *)BSP_Malloc(sizeof(BSP_CAN_QueueNode_t)); - if (new_node == NULL) { - osMutexRelease(queue_mutex); - return BSP_ERR_NULL; - } - new_node->queue = osMessageQueueNew(queue_size, sizeof(BSP_CAN_Message_t), NULL); - if (new_node->queue == NULL) { - BSP_Free(new_node); - osMutexRelease(queue_mutex); - return BSP_ERR; - } - new_node->can = can; - new_node->can_id = can_id; - new_node->queue_size = queue_size; - new_node->next = queue_list; - queue_list = new_node; - osMutexRelease(queue_mutex); - return BSP_OK; -} - - -/** - * @brief 获取帧类型 - */ -static BSP_CAN_FrameType_t BSP_CAN_GetFrameType(CAN_RxHeaderTypeDef *header) { - if (header->RTR == CAN_RTR_REMOTE) { - return (header->IDE == CAN_ID_EXT) ? BSP_CAN_FRAME_EXT_REMOTE : BSP_CAN_FRAME_STD_REMOTE; - } else { - return (header->IDE == CAN_ID_EXT) ? BSP_CAN_FRAME_EXT_DATA : BSP_CAN_FRAME_STD_DATA; - } -} - -/** - * @brief 默认ID解析器（直接返回原始ID） - */ -static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type) { - (void)frame_type; // 避免未使用参数警告 - return original_id; -} - -/** - * @brief 初始化发送队列 - */ -static void BSP_CAN_TxQueueInit(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) return; - - tx_queues[can].head = 0; - tx_queues[can].tail = 0; -} - -/** - * @brief 向发送队列添加消息（无锁） - */ -static bool BSP_CAN_TxQueuePush(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg) { - if (can >= BSP_CAN_NUM || msg == NULL) return false; - - BSP_CAN_TxQueue_t *queue = &tx_queues[can]; - uint32_t next_head = (queue->head + 1) % BSP_CAN_TX_QUEUE_SIZE; - - // 队列满 - if (next_head == queue->tail) { - return false; - } - - // 复制消息 - queue->buffer[queue->head] = *msg; - - // 更新头指针（原子操作） - queue->head = next_head; - - return true; -} - - -/** - * @brief 从发送队列取出消息（无锁） - */ -static bool BSP_CAN_TxQueuePop(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg) { - if (can >= BSP_CAN_NUM || msg == NULL) return false; - - BSP_CAN_TxQueue_t *queue = &tx_queues[can]; - - // 队列空 - if (queue->head == queue->tail) { - return false; - } - - // 复制消息 - *msg = queue->buffer[queue->tail]; - - // 更新尾指针（原子操作） - queue->tail = (queue->tail + 1) % BSP_CAN_TX_QUEUE_SIZE; - - return true; -} - -/** - * @brief 检查发送队列是否为空 - */ -static bool BSP_CAN_TxQueueIsEmpty(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) return true; - - return tx_queues[can].head == tx_queues[can].tail; -} - -/** - * @brief 处理所有CAN实例的发送队列 - */ -static void BSP_CAN_TxCompleteCallback(void) { - // 处理所有CAN实例的发送队列 - for (int i = 0; i < BSP_CAN_NUM; i++) { - BSP_CAN_t can = (BSP_CAN_t)i; - CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can); - if (hcan == NULL) continue; - - BSP_CAN_TxMessage_t msg; - uint32_t mailbox; - - // 尝试发送队列中的消息 - while (!BSP_CAN_TxQueueIsEmpty(can)) { - // 检查是否有空闲邮箱 - if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) == 0) { - break; // 没有空闲邮箱，等待下次中断 - } - - // 从队列中取出消息 - if (!BSP_CAN_TxQueuePop(can, &msg)) { - break; - } - - // 发送消息 - if (HAL_CAN_AddTxMessage(hcan, &msg.header, msg.data, &mailbox) != HAL_OK) { - // 发送失败，消息已经从队列中移除，直接丢弃 - break; - } - } - } -} - - -/** - * @brief FIFO0接收处理函数 - */ -static void BSP_CAN_RxFifo0Callback(void) { - CAN_RxHeaderTypeDef rx_header; - uint8_t rx_data[BSP_CAN_MAX_DLC]; - for (int can_idx = 0; can_idx < BSP_CAN_NUM; can_idx++) { - CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle((BSP_CAN_t)can_idx); - if (hcan == NULL) continue; - while (HAL_CAN_GetRxFifoFillLevel(hcan, CAN_RX_FIFO0) > 0) { - if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data) == HAL_OK) { - uint32_t original_id = (rx_header.IDE == CAN_ID_STD) ? rx_header.StdId : rx_header.ExtId; - BSP_CAN_FrameType_t frame_type = BSP_CAN_GetFrameType(&rx_header); - uint32_t parsed_id = BSP_CAN_ParseId(original_id, frame_type); - osMessageQueueId_t queue = BSP_CAN_FindQueue((BSP_CAN_t)can_idx, parsed_id); - if (queue != NULL) { - BSP_CAN_Message_t msg = {0}; - msg.frame_type = frame_type; - msg.original_id = original_id; - msg.parsed_id = parsed_id; - msg.dlc = rx_header.DLC; - if (rx_header.RTR == CAN_RTR_DATA) { - memcpy(msg.data, rx_data, rx_header.DLC); - } - msg.timestamp = HAL_GetTick(); - osMessageQueuePut(queue, &msg, 0, BSP_CAN_TIMEOUT_IMMEDIATE); - } - } - } - } -} - -/** - * @brief FIFO1接收处理函数 - */ -static void BSP_CAN_RxFifo1Callback(void) { - CAN_RxHeaderTypeDef rx_header; - uint8_t rx_data[BSP_CAN_MAX_DLC]; - for (int can_idx = 0; can_idx < BSP_CAN_NUM; can_idx++) { - CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle((BSP_CAN_t)can_idx); - if (hcan == NULL) continue; - while (HAL_CAN_GetRxFifoFillLevel(hcan, CAN_RX_FIFO1) > 0) { - if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO1, &rx_header, rx_data) == HAL_OK) { - uint32_t original_id = (rx_header.IDE == CAN_ID_STD) ? rx_header.StdId : rx_header.ExtId; - BSP_CAN_FrameType_t frame_type = BSP_CAN_GetFrameType(&rx_header); - uint32_t parsed_id = BSP_CAN_ParseId(original_id, frame_type); - osMessageQueueId_t queue = BSP_CAN_FindQueue((BSP_CAN_t)can_idx, parsed_id); - if (queue != NULL) { - BSP_CAN_Message_t msg = {0}; - msg.frame_type = frame_type; - msg.original_id = original_id; - msg.parsed_id = parsed_id; - msg.dlc = rx_header.DLC; - if (rx_header.RTR == CAN_RTR_DATA) { - memcpy(msg.data, rx_data, rx_header.DLC); - } - msg.timestamp = HAL_GetTick(); - osMessageQueuePut(queue, &msg, 0, BSP_CAN_TIMEOUT_IMMEDIATE); - } - } - } - } -} - -/* HAL Callback Functions --------------------------------------------------- */ -void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan) { - BSP_CAN_t bsp_can = CAN_Get(hcan); - if (bsp_can != BSP_CAN_ERR) { - // 调用用户回调 - if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_CPLT_CB]) - CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_CPLT_CB](); - } -} - -void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan) { - BSP_CAN_t bsp_can = CAN_Get(hcan); - if (bsp_can != BSP_CAN_ERR) { - // 调用用户回调 - if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_CPLT_CB]) - CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_CPLT_CB](); - } -} - -void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan) { - BSP_CAN_t bsp_can = CAN_Get(hcan); - if (bsp_can != BSP_CAN_ERR) { - // 调用用户回调 - if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_CPLT_CB]) - CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_CPLT_CB](); - } -} - -void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan) { - BSP_CAN_t bsp_can = CAN_Get(hcan); - if (bsp_can != BSP_CAN_ERR) { - // 调用用户回调 - if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_ABORT_CB]) - CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_ABORT_CB](); - } -} - -void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan) { - BSP_CAN_t bsp_can = CAN_Get(hcan); - if (bsp_can != BSP_CAN_ERR) { - // 调用用户回调 - if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_ABORT_CB]) - CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_ABORT_CB](); - } -} - -void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan) { - BSP_CAN_t bsp_can = CAN_Get(hcan); - if (bsp_can != BSP_CAN_ERR) { - // 调用用户回调 - if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_ABORT_CB]) - CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_ABORT_CB](); - } -} - -void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) { - BSP_CAN_t bsp_can = CAN_Get(hcan); - if (bsp_can != BSP_CAN_ERR) { - if (CAN_Callback[bsp_can][HAL_CAN_RX_FIFO0_MSG_PENDING_CB]) - CAN_Callback[bsp_can][HAL_CAN_RX_FIFO0_MSG_PENDING_CB](); - } -} - -void HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef *hcan) { - BSP_CAN_t bsp_can = CAN_Get(hcan); - if (bsp_can != BSP_CAN_ERR) { - if (CAN_Callback[bsp_can][HAL_CAN_RX_FIFO0_FULL_CB]) - CAN_Callback[bsp_can][HAL_CAN_RX_FIFO0_FULL_CB](); - } -} - -void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) { - BSP_CAN_t bsp_can = CAN_Get(hcan); - if (bsp_can != BSP_CAN_ERR) { - if (CAN_Callback[bsp_can][HAL_CAN_RX_FIFO1_MSG_PENDING_CB]) - CAN_Callback[bsp_can][HAL_CAN_RX_FIFO1_MSG_PENDING_CB](); - } -} - -void HAL_CAN_RxFifo1FullCallback(CAN_HandleTypeDef *hcan) { - BSP_CAN_t bsp_can = CAN_Get(hcan); - if (bsp_can != BSP_CAN_ERR) { - if (CAN_Callback[bsp_can][HAL_CAN_RX_FIFO1_FULL_CB]) - CAN_Callback[bsp_can][HAL_CAN_RX_FIFO1_FULL_CB](); - } -} - -void HAL_CAN_SleepCallback(CAN_HandleTypeDef *hcan) { - BSP_CAN_t bsp_can = CAN_Get(hcan); - if (bsp_can != BSP_CAN_ERR) { - if (CAN_Callback[bsp_can][HAL_CAN_SLEEP_CB]) - CAN_Callback[bsp_can][HAL_CAN_SLEEP_CB](); - } -} - -void HAL_CAN_WakeUpFromRxMsgCallback(CAN_HandleTypeDef *hcan) { - BSP_CAN_t bsp_can = CAN_Get(hcan); - if (bsp_can != BSP_CAN_ERR) { - if (CAN_Callback[bsp_can][HAL_CAN_WAKEUP_FROM_RX_MSG_CB]) - CAN_Callback[bsp_can][HAL_CAN_WAKEUP_FROM_RX_MSG_CB](); - } -} - -void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan) { - BSP_CAN_t bsp_can = CAN_Get(hcan); - if (bsp_can != BSP_CAN_ERR) { - if (CAN_Callback[bsp_can][HAL_CAN_ERROR_CB]) - CAN_Callback[bsp_can][HAL_CAN_ERROR_CB](); - } -} - -/* Exported functions ------------------------------------------------------- */ - -int8_t BSP_CAN_Init(void) { - if (inited) { - return BSP_ERR_INITED; - } - - // 清零回调函数数组 - memset(CAN_Callback, 0, sizeof(CAN_Callback)); - - // 初始化发送队列 - for (int i = 0; i < BSP_CAN_NUM; i++) { - BSP_CAN_TxQueueInit((BSP_CAN_t)i); - } - - // 初始化ID解析器为默认解析器 - id_parser = BSP_CAN_DefaultIdParser; - - // 创建互斥锁 - queue_mutex = osMutexNew(NULL); - if (queue_mutex == NULL) { - return BSP_ERR; - } - -/* AUTO GENERATED CAN_INIT */ - - inited = true; - return BSP_OK; -} - - -CAN_HandleTypeDef *BSP_CAN_GetHandle(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) { - return NULL; - } - - switch (can) { -/* AUTO GENERATED BSP_CAN_GET_HANDLE */ - default: - return NULL; - } -} - -int8_t BSP_CAN_RegisterCallback(BSP_CAN_t can, BSP_CAN_Callback_t type, - void (*callback)(void)) { - if (!inited) { - return BSP_ERR_INITED; - } - if (callback == NULL) { - return BSP_ERR_NULL; - } - if (can >= BSP_CAN_NUM) { - return BSP_ERR; - } - if (type >= BSP_CAN_CB_NUM) { - return BSP_ERR; - } - - CAN_Callback[can][type] = callback; - return BSP_OK; -} - -int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format, - uint32_t id, uint8_t *data, uint8_t dlc) { - if (!inited) { - return BSP_ERR_INITED; - } - if (can >= BSP_CAN_NUM) { - return BSP_ERR; - } - if (data == NULL && format != BSP_CAN_FORMAT_STD_REMOTE && format != BSP_CAN_FORMAT_EXT_REMOTE) { - return BSP_ERR_NULL; - } - if (dlc > BSP_CAN_MAX_DLC) { - return BSP_ERR; - } - - CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can); - if (hcan == NULL) { - return BSP_ERR_NULL; - } - - // 准备发送消息 - BSP_CAN_TxMessage_t tx_msg = {0}; - - switch (format) { - case BSP_CAN_FORMAT_STD_DATA: - tx_msg.header.StdId = id; - tx_msg.header.IDE = CAN_ID_STD; - tx_msg.header.RTR = CAN_RTR_DATA; - break; - case BSP_CAN_FORMAT_EXT_DATA: - tx_msg.header.ExtId = id; - tx_msg.header.IDE = CAN_ID_EXT; - tx_msg.header.RTR = CAN_RTR_DATA; - break; - case BSP_CAN_FORMAT_STD_REMOTE: - tx_msg.header.StdId = id; - tx_msg.header.IDE = CAN_ID_STD; - tx_msg.header.RTR = CAN_RTR_REMOTE; - break; - case BSP_CAN_FORMAT_EXT_REMOTE: - tx_msg.header.ExtId = id; - tx_msg.header.IDE = CAN_ID_EXT; - tx_msg.header.RTR = CAN_RTR_REMOTE; - break; - default: - return BSP_ERR; - } - - tx_msg.header.DLC = dlc; - tx_msg.header.TransmitGlobalTime = DISABLE; - - // 复制数据 - if (data != NULL && dlc > 0) { - memcpy(tx_msg.data, data, dlc); - } - - // 尝试直接发送到邮箱 - uint32_t mailbox; - if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) > 0) { - HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &tx_msg.header, tx_msg.data, &mailbox); - if (result == HAL_OK) { - return BSP_OK; // 发送成功 - } - } - - // 邮箱满，尝试放入队列 - if (BSP_CAN_TxQueuePush(can, &tx_msg)) { - return BSP_OK; // 成功放入队列 - } - - // 队列也满，丢弃数据 - return BSP_ERR; // 数据丢弃 -} - -int8_t BSP_CAN_TransmitStdDataFrame(BSP_CAN_t can, BSP_CAN_StdDataFrame_t *frame) { - if (frame == NULL) { - return BSP_ERR_NULL; - } - return BSP_CAN_Transmit(can, BSP_CAN_FORMAT_STD_DATA, frame->id, frame->data, frame->dlc); -} - -int8_t BSP_CAN_TransmitExtDataFrame(BSP_CAN_t can, BSP_CAN_ExtDataFrame_t *frame) { - if (frame == NULL) { - return BSP_ERR_NULL; - } - return BSP_CAN_Transmit(can, BSP_CAN_FORMAT_EXT_DATA, frame->id, frame->data, frame->dlc); -} - -int8_t BSP_CAN_TransmitRemoteFrame(BSP_CAN_t can, BSP_CAN_RemoteFrame_t *frame) { - if (frame == NULL) { - return BSP_ERR_NULL; - } - BSP_CAN_Format_t format = frame->is_extended ? BSP_CAN_FORMAT_EXT_REMOTE : BSP_CAN_FORMAT_STD_REMOTE; - return BSP_CAN_Transmit(can, format, frame->id, NULL, frame->dlc); -} - -int8_t BSP_CAN_RegisterId(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size) { - if (!inited) { - return BSP_ERR_INITED; - } - return BSP_CAN_CreateIdQueue(can, can_id, queue_size); -} - - -int8_t BSP_CAN_GetMessage(BSP_CAN_t can, uint32_t can_id, BSP_CAN_Message_t *msg, uint32_t timeout) { - if (!inited) { - return BSP_ERR_INITED; - } - if (msg == NULL) { - return BSP_ERR_NULL; - } - if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) { - return BSP_ERR_TIMEOUT; - } - osMessageQueueId_t queue = BSP_CAN_FindQueue(can, can_id); - osMutexRelease(queue_mutex); - if (queue == NULL) { - return BSP_ERR_NO_DEV; - } - osStatus_t result = osMessageQueueGet(queue, msg, NULL, timeout); - return (result == osOK) ? BSP_OK : BSP_ERR; -} - -int32_t BSP_CAN_GetQueueCount(BSP_CAN_t can, uint32_t can_id) { - if (!inited) { - return -1; - } - if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) { - return -1; - } - osMessageQueueId_t queue = BSP_CAN_FindQueue(can, can_id); - osMutexRelease(queue_mutex); - if (queue == NULL) { - return -1; - } - return (int32_t)osMessageQueueGetCount(queue); -} - -int8_t BSP_CAN_FlushQueue(BSP_CAN_t can, uint32_t can_id) { - if (!inited) { - return BSP_ERR_INITED; - } - if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) { - return BSP_ERR_TIMEOUT; - } - osMessageQueueId_t queue = BSP_CAN_FindQueue(can, can_id); - osMutexRelease(queue_mutex); - if (queue == NULL) { - return BSP_ERR_NO_DEV; - } - BSP_CAN_Message_t temp_msg; - while (osMessageQueueGet(queue, &temp_msg, NULL, BSP_CAN_TIMEOUT_IMMEDIATE) == osOK) { - // 清空 - } - return BSP_OK; -} - -int8_t BSP_CAN_RegisterIdParser(BSP_CAN_IdParser_t parser) { - if (!inited) { - return BSP_ERR_INITED; - } - if (parser == NULL) { - return BSP_ERR_NULL; - } - - id_parser = parser; - return BSP_OK; -} - -uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type) { - if (id_parser != NULL) { - return id_parser(original_id, frame_type); - } - return BSP_CAN_DefaultIdParser(original_id, frame_type); -} - - diff --git a/assets/User_code/bsp/can.h b/assets/User_code/bsp/can.h deleted file mode 100644 index e6b5f71..0000000 --- a/assets/User_code/bsp/can.h +++ /dev/null @@ -1,259 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include -#include "bsp/bsp.h" -#include "bsp/mm.h" -#include -#include -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Exported constants ------------------------------------------------------- */ -#define BSP_CAN_MAX_DLC 8 -#define BSP_CAN_DEFAULT_QUEUE_SIZE 10 -#define BSP_CAN_TIMEOUT_IMMEDIATE 0 -#define BSP_CAN_TIMEOUT_FOREVER osWaitForever -#define BSP_CAN_TX_QUEUE_SIZE 32 /* 发送队列大小 */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ -typedef enum { - BSP_CAN_1, - BSP_CAN_2, - BSP_CAN_NUM, - BSP_CAN_ERR, -} BSP_CAN_t; - -typedef enum { - HAL_CAN_TX_MAILBOX0_CPLT_CB, - HAL_CAN_TX_MAILBOX1_CPLT_CB, - HAL_CAN_TX_MAILBOX2_CPLT_CB, - HAL_CAN_TX_MAILBOX0_ABORT_CB, - HAL_CAN_TX_MAILBOX1_ABORT_CB, - HAL_CAN_TX_MAILBOX2_ABORT_CB, - HAL_CAN_RX_FIFO0_MSG_PENDING_CB, - HAL_CAN_RX_FIFO0_FULL_CB, - HAL_CAN_RX_FIFO1_MSG_PENDING_CB, - HAL_CAN_RX_FIFO1_FULL_CB, - HAL_CAN_SLEEP_CB, - HAL_CAN_WAKEUP_FROM_RX_MSG_CB, - HAL_CAN_ERROR_CB, - BSP_CAN_CB_NUM, -} BSP_CAN_Callback_t; - -/* CAN消息格式枚举 - 用于发送和接收消息时指定格式 */ -typedef enum { - BSP_CAN_FORMAT_STD_DATA, /* 标准数据帧 */ - BSP_CAN_FORMAT_EXT_DATA, /* 扩展数据帧 */ - BSP_CAN_FORMAT_STD_REMOTE, /* 标准远程帧 */ - BSP_CAN_FORMAT_EXT_REMOTE, /* 扩展远程帧 */ -} BSP_CAN_Format_t; - -/* CAN帧类型枚举 - 用于区分不同类型的CAN帧 */ -typedef enum { - BSP_CAN_FRAME_STD_DATA, /* 标准数据帧 */ - BSP_CAN_FRAME_EXT_DATA, /* 扩展数据帧 */ - BSP_CAN_FRAME_STD_REMOTE, /* 标准远程帧 */ - BSP_CAN_FRAME_EXT_REMOTE, /* 扩展远程帧 */ -} BSP_CAN_FrameType_t; - -/* CAN消息结构体 - 支持不同类型帧 */ -typedef struct { - BSP_CAN_FrameType_t frame_type; /* 帧类型 */ - uint32_t original_id; /* 原始ID（未解析） */ - uint32_t parsed_id; /* 解析后的实际ID */ - uint8_t dlc; /* 数据长度 */ - uint8_t data[BSP_CAN_MAX_DLC]; /* 数据 */ - uint32_t timestamp; /* 时间戳（可选） */ -} BSP_CAN_Message_t; - -/* 标准数据帧结构 */ -typedef struct { - uint32_t id; /* CAN ID */ - uint8_t dlc; /* 数据长度 */ - uint8_t data[BSP_CAN_MAX_DLC]; /* 数据 */ -} BSP_CAN_StdDataFrame_t; - -/* 扩展数据帧结构 */ -typedef struct { - uint32_t id; /* 扩展CAN ID */ - uint8_t dlc; /* 数据长度 */ - uint8_t data[BSP_CAN_MAX_DLC]; /* 数据 */ -} BSP_CAN_ExtDataFrame_t; - -/* 远程帧结构 */ -typedef struct { - uint32_t id; /* CAN ID */ - uint8_t dlc; /* 请求的数据长度 */ - bool is_extended; /* 是否为扩展帧 */ -} BSP_CAN_RemoteFrame_t; - -/* ID解析回调函数类型 */ -typedef uint32_t (*BSP_CAN_IdParser_t)(uint32_t original_id, BSP_CAN_FrameType_t frame_type); - -/* CAN发送消息结构体 */ -typedef struct { - CAN_TxHeaderTypeDef header; /* 发送头 */ - uint8_t data[BSP_CAN_MAX_DLC]; /* 数据 */ -} BSP_CAN_TxMessage_t; - -/* 无锁环形队列结构体 */ -typedef struct { - BSP_CAN_TxMessage_t buffer[BSP_CAN_TX_QUEUE_SIZE]; /* 缓冲区 */ - volatile uint32_t head; /* 队列头 */ - volatile uint32_t tail; /* 队列尾 */ -} BSP_CAN_TxQueue_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Exported functions prototypes -------------------------------------------- */ - -/** - * @brief 初始化 CAN 模块 - * @return BSP_OK 成功，其他值失败 - */ -int8_t BSP_CAN_Init(void); - -/** - * @brief 获取 CAN 句柄 - * @param can CAN 枚举 - * @return CAN_HandleTypeDef 指针，失败返回 NULL - */ -CAN_HandleTypeDef *BSP_CAN_GetHandle(BSP_CAN_t can); - -/** - * @brief 注册 CAN 回调函数 - * @param can CAN 枚举 - * @param type 回调类型 - * @param callback 回调函数指针 - * @return BSP_OK 成功，其他值失败 - */ -int8_t BSP_CAN_RegisterCallback(BSP_CAN_t can, BSP_CAN_Callback_t type, - void (*callback)(void)); - -/** - * @brief 发送 CAN 消息 - * @param can CAN 枚举 - * @param format 消息格式 - * @param id CAN ID - * @param data 数据指针 - * @param dlc 数据长度 - * @return BSP_OK 成功，其他值失败 - */ -int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format, - uint32_t id, uint8_t *data, uint8_t dlc); - -/** - * @brief 发送标准数据帧 - * @param can CAN 枚举 - * @param frame 标准数据帧指针 - * @return BSP_OK 成功，其他值失败 - */ -int8_t BSP_CAN_TransmitStdDataFrame(BSP_CAN_t can, BSP_CAN_StdDataFrame_t *frame); - -/** - * @brief 发送扩展数据帧 - * @param can CAN 枚举 - * @param frame 扩展数据帧指针 - * @return BSP_OK 成功，其他值失败 - */ -int8_t BSP_CAN_TransmitExtDataFrame(BSP_CAN_t can, BSP_CAN_ExtDataFrame_t *frame); - -/** - * @brief 发送远程帧 - * @param can CAN 枚举 - * @param frame 远程帧指针 - * @return BSP_OK 成功，其他值失败 - */ -int8_t BSP_CAN_TransmitRemoteFrame(BSP_CAN_t can, BSP_CAN_RemoteFrame_t *frame); - - -/** - * @brief 获取发送队列中待发送消息数量 - * @param can CAN 枚举 - * @return 队列中消息数量，-1表示错误 - */ -int32_t BSP_CAN_GetTxQueueCount(BSP_CAN_t can); - -/** - * @brief 清空发送队列 - * @param can CAN 枚举 - * @return BSP_OK 成功，其他值失败 - */ -int8_t BSP_CAN_FlushTxQueue(BSP_CAN_t can); - -/** - * @brief 注册 CAN ID 接收队列 - * @param can CAN 枚举 - * @param can_id 解析后的CAN ID - * @param queue_size 队列大小，0使用默认值 - * @return BSP_OK 成功，其他值失败 - */ -int8_t BSP_CAN_RegisterId(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size); - - - -/** - * @brief 获取 CAN 消息 - * @param can CAN 枚举 - * @param can_id 解析后的CAN ID - * @param msg 存储消息的结构体指针 - * @param timeout 超时时间（毫秒），0为立即返回，osWaitForever为永久等待 - * @return BSP_OK 成功，其他值失败 - */ -int8_t BSP_CAN_GetMessage(BSP_CAN_t can, uint32_t can_id, BSP_CAN_Message_t *msg, uint32_t timeout); - -/** - * @brief 获取指定ID队列中的消息数量 - * @param can CAN 枚举 - * @param can_id 解析后的CAN ID - * @return 消息数量，-1表示队列不存在 - */ -int32_t BSP_CAN_GetQueueCount(BSP_CAN_t can, uint32_t can_id); - -/** - * @brief 清空指定ID队列中的所有消息 - * @param can CAN 枚举 - * @param can_id 解析后的CAN ID - * @return BSP_OK 成功，其他值失败 - */ -int8_t BSP_CAN_FlushQueue(BSP_CAN_t can, uint32_t can_id); - -/** - * @brief 注册ID解析器 - * @param parser ID解析回调函数 - * @return BSP_OK 成功，其他值失败 - */ -int8_t BSP_CAN_RegisterIdParser(BSP_CAN_IdParser_t parser); - - -/** - * @brief 解析CAN ID - * @param original_id 原始ID - * @param frame_type 帧类型 - * @return 解析后的ID - */ -uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - - -#ifdef __cplusplus -} -#endif \ No newline at end of file diff --git a/assets/User_code/bsp/describe.csv b/assets/User_code/bsp/describe.csv deleted file mode 100644 index 5206a52..0000000 --- a/assets/User_code/bsp/describe.csv +++ /dev/null @@ -1,11 +0,0 @@ -uart,请开启uart的dma和中断 -can,请开启can中断，使用函数前请确保can已经初始化。一定要开启can发送中断！！！ -gpio,会自动读取cubemx中配置为gpio的引脚，并自动区分输入输出和中断。 -spi,请开启spi的dma和中断 -i2c,要求开始spi中断 -mm,这是套了一层的动态内存分配 -time,获取时间戳函数，需要开启freerots -dwt,需要开启dwt，获取时间 -i2c,请开启i2c的dma和中断 -pwm,用于选择那些勇于输出pwm - diff --git a/assets/User_code/bsp/dwt.c b/assets/User_code/bsp/dwt.c deleted file mode 100644 index c16af9e..0000000 --- a/assets/User_code/bsp/dwt.c +++ /dev/null @@ -1,138 +0,0 @@ -/** - ****************************************************************************** - * @file dwt.c - * @author Wang Hongxi - * @version V1.1.0 - * @date 2022/3/8 - * @brief - ****************************************************************************** - * @attention - * - ****************************************************************************** - */ -#include "bsp/dwt.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -DWT_Time_t SysTime; -static uint32_t CPU_FREQ_Hz, CPU_FREQ_Hz_ms, CPU_FREQ_Hz_us; -static uint32_t CYCCNT_RountCount; -static uint32_t CYCCNT_LAST; -uint64_t CYCCNT64; -static void DWT_CNT_Update(void); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -void DWT_Init(uint32_t CPU_Freq_mHz) -{ - /* 使能DWT外设 */ - CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk; - - /* DWT CYCCNT寄存器计数清0 */ - DWT->CYCCNT = (uint32_t)0u; - - /* 使能Cortex-M DWT CYCCNT寄存器 */ - DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk; - - CPU_FREQ_Hz = CPU_Freq_mHz * 1000000; - CPU_FREQ_Hz_ms = CPU_FREQ_Hz / 1000; - CPU_FREQ_Hz_us = CPU_FREQ_Hz / 1000000; - CYCCNT_RountCount = 0; -} - -float DWT_GetDeltaT(uint32_t *cnt_last) -{ - volatile uint32_t cnt_now = DWT->CYCCNT; - float dt = ((uint32_t)(cnt_now - *cnt_last)) / ((float)(CPU_FREQ_Hz)); - *cnt_last = cnt_now; - - DWT_CNT_Update(); - - return dt; -} - -double DWT_GetDeltaT64(uint32_t *cnt_last) -{ - volatile uint32_t cnt_now = DWT->CYCCNT; - double dt = ((uint32_t)(cnt_now - *cnt_last)) / ((double)(CPU_FREQ_Hz)); - *cnt_last = cnt_now; - - DWT_CNT_Update(); - - return dt; -} - -void DWT_SysTimeUpdate(void) -{ - volatile uint32_t cnt_now = DWT->CYCCNT; - static uint64_t CNT_TEMP1, CNT_TEMP2, CNT_TEMP3; - - DWT_CNT_Update(); - - CYCCNT64 = (uint64_t)CYCCNT_RountCount * (uint64_t)UINT32_MAX + (uint64_t)cnt_now; - CNT_TEMP1 = CYCCNT64 / CPU_FREQ_Hz; - CNT_TEMP2 = CYCCNT64 - CNT_TEMP1 * CPU_FREQ_Hz; - SysTime.s = CNT_TEMP1; - SysTime.ms = CNT_TEMP2 / CPU_FREQ_Hz_ms; - CNT_TEMP3 = CNT_TEMP2 - SysTime.ms * CPU_FREQ_Hz_ms; - SysTime.us = CNT_TEMP3 / CPU_FREQ_Hz_us; -} - -float DWT_GetTimeline_s(void) -{ - DWT_SysTimeUpdate(); - - float DWT_Timelinef32 = SysTime.s + SysTime.ms * 0.001f + SysTime.us * 0.000001f; - - return DWT_Timelinef32; -} - -float DWT_GetTimeline_ms(void) -{ - DWT_SysTimeUpdate(); - - float DWT_Timelinef32 = SysTime.s * 1000 + SysTime.ms + SysTime.us * 0.001f; - - return DWT_Timelinef32; -} - -uint64_t DWT_GetTimeline_us(void) -{ - DWT_SysTimeUpdate(); - - uint64_t DWT_Timelinef32 = SysTime.s * 1000000 + SysTime.ms * 1000 + SysTime.us; - - return DWT_Timelinef32; -} - -static void DWT_CNT_Update(void) -{ - volatile uint32_t cnt_now = DWT->CYCCNT; - - if (cnt_now < CYCCNT_LAST) - CYCCNT_RountCount++; - - CYCCNT_LAST = cnt_now; -} - -void DWT_Delay(float Delay) -{ - uint32_t tickstart = DWT->CYCCNT; - float wait = Delay; - - while ((DWT->CYCCNT - tickstart) < wait * (float)CPU_FREQ_Hz) - { - } -} diff --git a/assets/User_code/bsp/dwt.h b/assets/User_code/bsp/dwt.h deleted file mode 100644 index 65a731e..0000000 --- a/assets/User_code/bsp/dwt.h +++ /dev/null @@ -1,53 +0,0 @@ -/** - ****************************************************************************** - * @file dwt.h - * @author Wang Hongxi - * @version V1.1.0 - * @date 2022/3/8 - * @brief - ****************************************************************************** - * @attention - * - ****************************************************************************** - */ -#ifndef _DWT_H -#define _DWT_H - -#include "main.h" -#include "stdint.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -typedef struct -{ - uint32_t s; - uint16_t ms; - uint16_t us; -} DWT_Time_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -void DWT_Init(uint32_t CPU_Freq_mHz); -float DWT_GetDeltaT(uint32_t *cnt_last); -double DWT_GetDeltaT64(uint32_t *cnt_last); -float DWT_GetTimeline_s(void); -float DWT_GetTimeline_ms(void); -uint64_t DWT_GetTimeline_us(void); -void DWT_Delay(float Delay); -void DWT_SysTimeUpdate(void); - -extern DWT_Time_t SysTime; - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#endif /* DWT_H_ */ diff --git a/assets/User_code/bsp/gpio.c b/assets/User_code/bsp/gpio.c deleted file mode 100644 index 5c3113c..0000000 --- a/assets/User_code/bsp/gpio.c +++ /dev/null @@ -1,98 +0,0 @@ -/* Includes ----------------------------------------------------------------- */ -#include "bsp/gpio.h" - -#include -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private define ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -typedef struct { - uint16_t pin; - GPIO_TypeDef *gpio; -} BSP_GPIO_MAP_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private variables -------------------------------------------------------- */ -static const BSP_GPIO_MAP_t GPIO_Map[BSP_GPIO_NUM] = { -/* AUTO GENERATED BSP_GPIO_MAP */ -}; - -static void (*GPIO_Callback[16])(void); - -/* Private function -------------------------------------------------------- */ -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) { - for (uint8_t i = 0; i < 16; i++) { - if (GPIO_Pin & (1 << i)) { - if (GPIO_Callback[i]) { - GPIO_Callback[i](); - } - } - } -} - -/* Exported functions ------------------------------------------------------- */ -int8_t BSP_GPIO_RegisterCallback(BSP_GPIO_t gpio, void (*callback)(void)) { - if (callback == NULL) return BSP_ERR_NULL; - if (gpio >= BSP_GPIO_NUM) return BSP_ERR; - - // 从GPIO映射中获取对应的pin值 - uint16_t pin = GPIO_Map[gpio].pin; - - for (uint8_t i = 0; i < 16; i++) { - if (pin & (1 << i)) { - GPIO_Callback[i] = callback; - break; - } - } - return BSP_OK; -} - -int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio) { - switch (gpio) { -/* AUTO GENERATED BSP_GPIO_ENABLE_IRQ */ - default: - return BSP_ERR; - } - return BSP_OK; -} - -int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio) { - switch (gpio) { -/* AUTO GENERATED BSP_GPIO_DISABLE_IRQ */ - default: - return BSP_ERR; - } - return BSP_OK; -} -int8_t BSP_GPIO_WritePin(BSP_GPIO_t gpio, bool value){ - if (gpio >= BSP_GPIO_NUM) return BSP_ERR; - HAL_GPIO_WritePin(GPIO_Map[gpio].gpio, GPIO_Map[gpio].pin, value); - return BSP_OK; -} - -int8_t BSP_GPIO_TogglePin(BSP_GPIO_t gpio){ - if (gpio >= BSP_GPIO_NUM) return BSP_ERR; - HAL_GPIO_TogglePin(GPIO_Map[gpio].gpio, GPIO_Map[gpio].pin); - return BSP_OK; -} - -bool BSP_GPIO_ReadPin(BSP_GPIO_t gpio){ - if (gpio >= BSP_GPIO_NUM) return false; - return HAL_GPIO_ReadPin(GPIO_Map[gpio].gpio, GPIO_Map[gpio].pin) == GPIO_PIN_SET; -} \ No newline at end of file diff --git a/assets/User_code/bsp/gpio.h b/assets/User_code/bsp/gpio.h deleted file mode 100644 index 0f30a9b..0000000 --- a/assets/User_code/bsp/gpio.h +++ /dev/null @@ -1,47 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include -#include - -#include "bsp/bsp.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported types ----------------------------------------------------------- */ -typedef enum { -/* AUTO GENERATED BSP_GPIO_ENUM */ - BSP_GPIO_NUM, - BSP_GPIO_ERR, -} BSP_GPIO_t; - -/* Exported functions prototypes -------------------------------------------- */ -int8_t BSP_GPIO_RegisterCallback(BSP_GPIO_t gpio, void (*callback)(void)); - -int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio); -int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio); - -int8_t BSP_GPIO_WritePin(BSP_GPIO_t gpio, bool value); -int8_t BSP_GPIO_TogglePin(BSP_GPIO_t gpio); - -bool BSP_GPIO_ReadPin(BSP_GPIO_t gpio); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif \ No newline at end of file diff --git a/assets/User_code/bsp/i2c.c b/assets/User_code/bsp/i2c.c deleted file mode 100644 index 6120f59..0000000 --- a/assets/User_code/bsp/i2c.c +++ /dev/null @@ -1,188 +0,0 @@ -/* Includes ----------------------------------------------------------------- */ -#include "bsp\i2c.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private define ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private variables -------------------------------------------------------- */ -static void (*I2C_Callback[BSP_I2C_NUM][BSP_I2C_CB_NUM])(void); - -/* Private function -------------------------------------------------------- */ -static BSP_I2C_t I2C_Get(I2C_HandleTypeDef *hi2c) { -/* AUTO GENERATED I2C_GET */ - else - return BSP_I2C_ERR; -} - -void HAL_I2C_MasterTxCpltCallback(I2C_HandleTypeDef *hi2c) { - BSP_I2C_t bsp_i2c = I2C_Get(hi2c); - if (bsp_i2c != BSP_I2C_ERR) { - if (I2C_Callback[bsp_i2c][HAL_I2C_MASTER_TX_CPLT_CB]) - I2C_Callback[bsp_i2c][HAL_I2C_MASTER_TX_CPLT_CB](); - } -} - -void HAL_I2C_MasterRxCpltCallback(I2C_HandleTypeDef *hi2c) { - BSP_I2C_t bsp_i2c = I2C_Get(hi2c); - if (bsp_i2c != BSP_I2C_ERR) { - if (I2C_Callback[bsp_i2c][HAL_I2C_MASTER_RX_CPLT_CB]) - I2C_Callback[bsp_i2c][HAL_I2C_MASTER_RX_CPLT_CB](); - } -} - -void HAL_I2C_SlaveTxCpltCallback(I2C_HandleTypeDef *hi2c) { - BSP_I2C_t bsp_i2c = I2C_Get(hi2c); - if (bsp_i2c != BSP_I2C_ERR) { - if (I2C_Callback[bsp_i2c][HAL_I2C_SLAVE_TX_CPLT_CB]) - I2C_Callback[bsp_i2c][HAL_I2C_SLAVE_TX_CPLT_CB](); - } -} - -void HAL_I2C_SlaveRxCpltCallback(I2C_HandleTypeDef *hi2c) { - BSP_I2C_t bsp_i2c = I2C_Get(hi2c); - if (bsp_i2c != BSP_I2C_ERR) { - if (I2C_Callback[bsp_i2c][HAL_I2C_SLAVE_RX_CPLT_CB]) - I2C_Callback[bsp_i2c][HAL_I2C_SLAVE_RX_CPLT_CB](); - } -} - -void HAL_I2C_ListenCpltCallback(I2C_HandleTypeDef *hi2c) { - BSP_I2C_t bsp_i2c = I2C_Get(hi2c); - if (bsp_i2c != BSP_I2C_ERR) { - if (I2C_Callback[bsp_i2c][HAL_I2C_LISTEN_CPLT_CB]) - I2C_Callback[bsp_i2c][HAL_I2C_LISTEN_CPLT_CB](); - } -} - -void HAL_I2C_MemTxCpltCallback(I2C_HandleTypeDef *hi2c) { - BSP_I2C_t bsp_i2c = I2C_Get(hi2c); - if (bsp_i2c != BSP_I2C_ERR) { - if (I2C_Callback[bsp_i2c][HAL_I2C_MEM_TX_CPLT_CB]) - I2C_Callback[bsp_i2c][HAL_I2C_MEM_TX_CPLT_CB](); - } -} - -void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *hi2c) { - BSP_I2C_t bsp_i2c = I2C_Get(hi2c); - if (bsp_i2c != BSP_I2C_ERR) { - if (I2C_Callback[bsp_i2c][HAL_I2C_MEM_RX_CPLT_CB]) - I2C_Callback[bsp_i2c][HAL_I2C_MEM_RX_CPLT_CB](); - } -} - -void HAL_I2C_ErrorCallback(I2C_HandleTypeDef *hi2c) { - BSP_I2C_t bsp_i2c = I2C_Get(hi2c); - if (bsp_i2c != BSP_I2C_ERR) { - if (I2C_Callback[bsp_i2c][HAL_I2C_ERROR_CB]) - I2C_Callback[bsp_i2c][HAL_I2C_ERROR_CB](); - } -} - -void HAL_I2C_AbortCpltCallback(I2C_HandleTypeDef *hi2c) { - BSP_I2C_t bsp_i2c = I2C_Get(hi2c); - if (bsp_i2c != BSP_I2C_ERR) { - if (I2C_Callback[bsp_i2c][HAL_I2C_ABORT_CPLT_CB]) - I2C_Callback[bsp_i2c][HAL_I2C_ABORT_CPLT_CB](); - } -} - -/* Exported functions ------------------------------------------------------- */ -I2C_HandleTypeDef *BSP_I2C_GetHandle(BSP_I2C_t i2c) { - switch (i2c) { -/* AUTO GENERATED BSP_I2C_GET_HANDLE */ - default: - return NULL; - } -} - -int8_t BSP_I2C_RegisterCallback(BSP_I2C_t i2c, BSP_I2C_Callback_t type, - void (*callback)(void)) { - if (callback == NULL) return BSP_ERR_NULL; - I2C_Callback[i2c][type] = callback; - return BSP_OK; -} - -int8_t BSP_I2C_Transmit(BSP_I2C_t i2c, uint16_t devAddr, uint8_t *data, - uint16_t size, bool dma) { - if (i2c >= BSP_I2C_NUM) return BSP_ERR; - I2C_HandleTypeDef *hi2c = BSP_I2C_GetHandle(i2c); - if (hi2c == NULL) return BSP_ERR; - - if (dma) { - return HAL_I2C_Master_Transmit_DMA(hi2c, devAddr, data, size); - } else { - return HAL_I2C_Master_Transmit(hi2c, devAddr, data, size, 10); - } -} - -int8_t BSP_I2C_Receive(BSP_I2C_t i2c, uint16_t devAddr, uint8_t *data, - uint16_t size, bool dma) { - if (i2c >= BSP_I2C_NUM) return BSP_ERR; - I2C_HandleTypeDef *hi2c = BSP_I2C_GetHandle(i2c); - if (hi2c == NULL) return BSP_ERR; - - if (dma) { - return HAL_I2C_Master_Receive_DMA(hi2c, devAddr, data, size); - } else { - return HAL_I2C_Master_Receive(hi2c, devAddr, data, size, 10); - } -} - -uint8_t BSP_I2C_MemReadByte(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr) { - if (i2c >= BSP_I2C_NUM) return 0xFF; - I2C_HandleTypeDef *hi2c = BSP_I2C_GetHandle(i2c); - if (hi2c == NULL) return 0xFF; - - uint8_t data; - HAL_I2C_Mem_Read(hi2c, devAddr, memAddr, I2C_MEMADD_SIZE_16BIT, &data, 1, HAL_MAX_DELAY); - return data; -} - -int8_t BSP_I2C_MemWriteByte(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr, - uint8_t data) { - if (i2c >= BSP_I2C_NUM) return BSP_ERR; - I2C_HandleTypeDef *hi2c = BSP_I2C_GetHandle(i2c); - if (hi2c == NULL) return BSP_ERR; - - return HAL_I2C_Mem_Write(hi2c, devAddr, memAddr, I2C_MEMADD_SIZE_16BIT, &data, 1, HAL_MAX_DELAY); -} - -int8_t BSP_I2C_MemRead(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr, - uint8_t *data, uint16_t size, bool dma) { - if (i2c >= BSP_I2C_NUM || data == NULL || size == 0) return BSP_ERR; - I2C_HandleTypeDef *hi2c = BSP_I2C_GetHandle(i2c); - if (hi2c == NULL) return BSP_ERR; - - if (dma) { - return HAL_I2C_Mem_Read_DMA(hi2c, devAddr, memAddr, I2C_MEMADD_SIZE_16BIT, data, size); - } - else { - return HAL_I2C_Mem_Read(hi2c, devAddr, memAddr, I2C_MEMADD_SIZE_16BIT, data, size, HAL_MAX_DELAY); - } -} - - -int8_t BSP_I2C_MemWrite(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr, - uint8_t *data, uint16_t size, bool dma) { - if (i2c >= BSP_I2C_NUM || data == NULL || size == 0) return BSP_ERR; - I2C_HandleTypeDef *hi2c = BSP_I2C_GetHandle(i2c); - if (hi2c == NULL) return BSP_ERR; - - if (dma) { - return HAL_I2C_Mem_Write_DMA(hi2c, devAddr, memAddr, I2C_MEMADD_SIZE_16BIT, data, size); - } else { - return HAL_I2C_Mem_Write(hi2c, devAddr, memAddr, I2C_MEMADD_SIZE_16BIT, data, size, HAL_MAX_DELAY); - } -} \ No newline at end of file diff --git a/assets/User_code/bsp/i2c.h b/assets/User_code/bsp/i2c.h deleted file mode 100644 index 79086e7..0000000 --- a/assets/User_code/bsp/i2c.h +++ /dev/null @@ -1,78 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include -#include -#include - -#include "bsp/bsp.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported types ----------------------------------------------------------- */ - -/* 要添加使用I2C的新设备，需要先在此添加对应的枚举值 */ - -/* I2C实体枚举，与设备对应 */ -typedef enum { -/* AUTO GENERATED BSP_I2C_NAME */ - /* USER BSP_I2C BEGIN*/ - /* USER_I2C_XXX */ - /* USER BSP_I2C END */ - BSP_I2C_NUM, - BSP_I2C_ERR, -} BSP_I2C_t; - -/* I2C支持的中断回调函数类型*/ -typedef enum { - HAL_I2C_MASTER_TX_CPLT_CB, - HAL_I2C_MASTER_RX_CPLT_CB, - HAL_I2C_SLAVE_TX_CPLT_CB, - HAL_I2C_SLAVE_RX_CPLT_CB, - HAL_I2C_LISTEN_CPLT_CB, - HAL_I2C_MEM_TX_CPLT_CB, - HAL_I2C_MEM_RX_CPLT_CB, - HAL_I2C_ERROR_CB, - HAL_I2C_ABORT_CPLT_CB, - BSP_I2C_CB_NUM, -} BSP_I2C_Callback_t; - -/* Exported functions prototypes -------------------------------------------- */ -I2C_HandleTypeDef *BSP_I2C_GetHandle(BSP_I2C_t i2c); -int8_t BSP_I2C_RegisterCallback(BSP_I2C_t i2c, BSP_I2C_Callback_t type, - void (*callback)(void)); - -int8_t BSP_I2C_Transmit(BSP_I2C_t i2c, uint16_t devAddr, uint8_t *data, - uint16_t size, bool dma); -int8_t BSP_I2C_Receive(BSP_I2C_t i2c, uint16_t devAddr, uint8_t *data, - uint16_t size, bool dma); - - -uint8_t BSP_I2C_MemReadByte(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr); -int8_t BSP_I2C_MemWriteByte(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr, - uint8_t data); - -int8_t BSP_I2C_MemRead(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr, - uint8_t *data, uint16_t size, bool dma); -int8_t BSP_I2C_MemWrite(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr, - uint8_t *data, uint16_t size, bool dma); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/bsp/mm.c b/assets/User_code/bsp/mm.c deleted file mode 100644 index 13d20c0..0000000 --- a/assets/User_code/bsp/mm.c +++ /dev/null @@ -1,30 +0,0 @@ -/* Includes ----------------------------------------------------------------- */ -#include "bsp/mm.h" - -#include "FreeRTOS.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Private variables -------------------------------------------------------- */ -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private function -------------------------------------------------------- */ -/* Exported functions ------------------------------------------------------- */ -inline void *BSP_Malloc(size_t size) { return pvPortMalloc(size); } - -inline void BSP_Free(void *pv) { vPortFree(pv); } - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ diff --git a/assets/User_code/bsp/mm.h b/assets/User_code/bsp/mm.h deleted file mode 100644 index d24634e..0000000 --- a/assets/User_code/bsp/mm.h +++ /dev/null @@ -1,32 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported types ----------------------------------------------------------- */ -/* Exported functions prototypes -------------------------------------------- */ -void *BSP_Malloc(size_t size); -void BSP_Free(void *pv); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/bsp/pwm.c b/assets/User_code/bsp/pwm.c deleted file mode 100644 index 3caedb0..0000000 --- a/assets/User_code/bsp/pwm.c +++ /dev/null @@ -1,110 +0,0 @@ -/* Includes ----------------------------------------------------------------- */ -#include "tim.h" -#include "bsp/pwm.h" -#include "bsp.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private define ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -typedef struct { - TIM_HandleTypeDef *tim; - uint16_t channel; -} BSP_PWM_Config_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private variables -------------------------------------------------------- */ -static const BSP_PWM_Config_t PWM_Map[BSP_PWM_NUM] = { -/* AUTO GENERATED BSP_PWM_MAP */ -}; - -/* Private function -------------------------------------------------------- */ -/* Exported functions ------------------------------------------------------- */ - -int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch) { - if (ch >= BSP_PWM_NUM) return BSP_ERR; - - HAL_TIM_PWM_Start(PWM_Map[ch].tim, PWM_Map[ch].channel); - return BSP_OK; -} - -int8_t BSP_PWM_SetComp(BSP_PWM_Channel_t ch, float duty_cycle) { - if (ch >= BSP_PWM_NUM) return BSP_ERR; - - if (duty_cycle > 1.0f) { - duty_cycle = 1.0f; - } - if (duty_cycle < 0.0f) { - duty_cycle = 0.0f; - } - // 获取ARR值（周期值） - uint32_t arr = __HAL_TIM_GET_AUTORELOAD(PWM_Map[ch].tim); - - // 计算比较值：CCR = duty_cycle * (ARR + 1) - uint32_t ccr = (uint32_t)(duty_cycle * (arr + 1)); - - __HAL_TIM_SET_COMPARE(PWM_Map[ch].tim, PWM_Map[ch].channel, ccr); - - return BSP_OK; -} - -int8_t BSP_PWM_SetFreq(BSP_PWM_Channel_t ch, float freq) { - if (ch >= BSP_PWM_NUM) return BSP_ERR; - - uint32_t timer_clock = HAL_RCC_GetPCLK1Freq(); // Get the timer clock frequency - uint32_t prescaler = PWM_Map[ch].tim->Init.Prescaler; - uint32_t period = (timer_clock / (prescaler + 1)) / freq - 1; - - if (period > UINT16_MAX) { - return BSP_ERR; // Frequency too low - } - __HAL_TIM_SET_AUTORELOAD(PWM_Map[ch].tim, period); - - return BSP_OK; -} - -int8_t BSP_PWM_Stop(BSP_PWM_Channel_t ch) { - if (ch >= BSP_PWM_NUM) return BSP_ERR; - - HAL_TIM_PWM_Stop(PWM_Map[ch].tim, PWM_Map[ch].channel); - return BSP_OK; -} - -uint32_t BSP_PWM_GetAutoReloadPreload(BSP_PWM_Channel_t ch) { - if (ch >= BSP_PWM_NUM) return BSP_ERR; - return PWM_Map[ch].tim->Init.AutoReloadPreload; -} - -TIM_HandleTypeDef* BSP_PWM_GetHandle(BSP_PWM_Channel_t ch) { - return PWM_Map[ch].tim; -} - - -uint16_t BSP_PWM_GetChannel(BSP_PWM_Channel_t ch) { - if (ch >= BSP_PWM_NUM) return BSP_ERR; - return PWM_Map[ch].channel; -} - -int8_t BSP_PWM_Start_DMA(BSP_PWM_Channel_t ch, uint32_t *pData, uint16_t Length) { - if (ch >= BSP_PWM_NUM) return BSP_ERR; - - HAL_TIM_PWM_Start_DMA(PWM_Map[ch].tim, PWM_Map[ch].channel, pData, Length); - return BSP_OK; -} - -int8_t BSP_PWM_Stop_DMA(BSP_PWM_Channel_t ch) { - if (ch >= BSP_PWM_NUM) return BSP_ERR; - - HAL_TIM_PWM_Stop_DMA(PWM_Map[ch].tim, PWM_Map[ch].channel); - return BSP_OK; -} \ No newline at end of file diff --git a/assets/User_code/bsp/pwm.h b/assets/User_code/bsp/pwm.h deleted file mode 100644 index c50c127..0000000 --- a/assets/User_code/bsp/pwm.h +++ /dev/null @@ -1,48 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include -#include "tim.h" -#include "bsp.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - - -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported types ----------------------------------------------------------- */ -/* PWM通道 */ -typedef enum { -/* AUTO GENERATED BSP_PWM_ENUM */ - BSP_PWM_NUM, - BSP_PWM_ERR, -} BSP_PWM_Channel_t; - -/* Exported functions prototypes -------------------------------------------- */ -int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch); -int8_t BSP_PWM_SetComp(BSP_PWM_Channel_t ch, float duty_cycle); -int8_t BSP_PWM_SetFreq(BSP_PWM_Channel_t ch, float freq); -int8_t BSP_PWM_Stop(BSP_PWM_Channel_t ch); -uint32_t BSP_PWM_GetAutoReloadPreload(BSP_PWM_Channel_t ch); -uint16_t BSP_PWM_GetChannel(BSP_PWM_Channel_t ch); -TIM_HandleTypeDef* BSP_PWM_GetHandle(BSP_PWM_Channel_t ch); -int8_t BSP_PWM_Start_DMA(BSP_PWM_Channel_t ch, uint32_t *pData, uint16_t Length); -int8_t BSP_PWM_Stop_DMA(BSP_PWM_Channel_t ch); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif \ No newline at end of file diff --git a/assets/User_code/bsp/spi.c b/assets/User_code/bsp/spi.c deleted file mode 100644 index 84d0d85..0000000 --- a/assets/User_code/bsp/spi.c +++ /dev/null @@ -1,179 +0,0 @@ -/* Includes ----------------------------------------------------------------- */ -#include -#include "bsp/spi.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private define ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private variables -------------------------------------------------------- */ -static void (*SPI_Callback[BSP_SPI_NUM][BSP_SPI_CB_NUM])(void); - -/* Private function -------------------------------------------------------- */ -static BSP_SPI_t SPI_Get(SPI_HandleTypeDef *hspi) { -/* AUTO GENERATED SPI_GET */ - else - return BSP_SPI_ERR; -} - -void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi) { - BSP_SPI_t bsp_spi = SPI_Get(hspi); - if (bsp_spi != BSP_SPI_ERR) { - if (SPI_Callback[bsp_spi][BSP_SPI_TX_CPLT_CB]) { - SPI_Callback[bsp_spi][BSP_SPI_TX_CPLT_CB](); - } - } -} - -void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) { - BSP_SPI_t bsp_spi = SPI_Get(hspi); - if (bsp_spi != BSP_SPI_ERR) { - if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_RX_CPLT_CB]) - SPI_Callback[SPI_Get(hspi)][BSP_SPI_RX_CPLT_CB](); - } -} - -void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) { - BSP_SPI_t bsp_spi = SPI_Get(hspi); - if (bsp_spi != BSP_SPI_ERR) { - if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_RX_CPLT_CB]) - SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_RX_CPLT_CB](); - } -} - -void HAL_SPI_TxHalfCpltCallback(SPI_HandleTypeDef *hspi) { - BSP_SPI_t bsp_spi = SPI_Get(hspi); - if (bsp_spi != BSP_SPI_ERR) { - if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_HALF_CPLT_CB]) - SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_HALF_CPLT_CB](); - } -} - -void HAL_SPI_RxHalfCpltCallback(SPI_HandleTypeDef *hspi) { - BSP_SPI_t bsp_spi = SPI_Get(hspi); - if (bsp_spi != BSP_SPI_ERR) { - if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_RX_HALF_CPLT_CB]) - SPI_Callback[SPI_Get(hspi)][BSP_SPI_RX_HALF_CPLT_CB](); - } -} - -void HAL_SPI_TxRxHalfCpltCallback(SPI_HandleTypeDef *hspi) { - BSP_SPI_t bsp_spi = SPI_Get(hspi); - if (bsp_spi != BSP_SPI_ERR) { - if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_RX_HALF_CPLT_CB]) - SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_RX_HALF_CPLT_CB](); - } -} - -void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi) { - BSP_SPI_t bsp_spi = SPI_Get(hspi); - if (bsp_spi != BSP_SPI_ERR) { - if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_ERROR_CB]) - SPI_Callback[SPI_Get(hspi)][BSP_SPI_ERROR_CB](); - } -} - -void HAL_SPI_AbortCpltCallback(SPI_HandleTypeDef *hspi) { - BSP_SPI_t bsp_spi = SPI_Get(hspi); - if (bsp_spi != BSP_SPI_ERR) { - if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_ABORT_CPLT_CB]) - SPI_Callback[SPI_Get(hspi)][BSP_SPI_ABORT_CPLT_CB](); - } -} - -/* Exported functions ------------------------------------------------------- */ -SPI_HandleTypeDef *BSP_SPI_GetHandle(BSP_SPI_t spi) { - switch (spi) { -/* AUTO GENERATED BSP_SPI_GET_HANDLE */ - default: - return NULL; - } -} - -int8_t BSP_SPI_RegisterCallback(BSP_SPI_t spi, BSP_SPI_Callback_t type, - void (*callback)(void)) { - if (callback == NULL) return BSP_ERR_NULL; - SPI_Callback[spi][type] = callback; - return BSP_OK; -} - -int8_t BSP_SPI_Transmit(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma) { - if (spi >= BSP_SPI_NUM) return BSP_ERR; - SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi); - if (hspi == NULL) return BSP_ERR; - - if (dma) { - return HAL_SPI_Transmit_DMA(hspi, data, size)!= HAL_OK;; - } else { - return HAL_SPI_Transmit(hspi, data, size, 20)!= HAL_OK;; - } -} - -int8_t BSP_SPI_Receive(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma) { - if (spi >= BSP_SPI_NUM) return BSP_ERR; - SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi); - if (hspi == NULL) return BSP_ERR; - - if (dma) { - return HAL_SPI_Receive_DMA(hspi, data, size)!= HAL_OK;; - } else { - return HAL_SPI_Receive(hspi, data, size, 20)!= HAL_OK;; - } -} - -int8_t BSP_SPI_TransmitReceive(BSP_SPI_t spi, uint8_t *txData, uint8_t *rxData, - uint16_t size, bool dma) { - if (spi >= BSP_SPI_NUM) return BSP_ERR; - SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi); - if (hspi == NULL) return BSP_ERR; - - if (dma) { - return HAL_SPI_TransmitReceive_DMA(hspi, txData, rxData, size)!= HAL_OK;; - } else { - return HAL_SPI_TransmitReceive(hspi, txData, rxData, size, 20)!= HAL_OK;; - } -} - -uint8_t BSP_SPI_MemReadByte(BSP_SPI_t spi, uint8_t reg) { - if (spi >= BSP_SPI_NUM) return 0xFF; - uint8_t tmp[2] = {reg | 0x80, 0x00}; - BSP_SPI_TransmitReceive(spi, tmp, tmp, 2u, true); - return tmp[1]; -} - -int8_t BSP_SPI_MemWriteByte(BSP_SPI_t spi, uint8_t reg, uint8_t data) { - if (spi >= BSP_SPI_NUM) return BSP_ERR; - uint8_t tmp[2] = {reg & 0x7f, data}; - return BSP_SPI_Transmit(spi, tmp, 2u, true); -} - -int8_t BSP_SPI_MemRead(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size) { - if (spi >= BSP_SPI_NUM) return BSP_ERR; - if (data == NULL || size == 0) return BSP_ERR_NULL; - reg = reg | 0x80; - BSP_SPI_Transmit(spi, ®, 1u, true); - return BSP_SPI_Receive(spi, data, size, true); -} - -int8_t BSP_SPI_MemWrite(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size) { - if (spi >= BSP_SPI_NUM) return BSP_ERR; - if (data == NULL || size == 0) return BSP_ERR_NULL; - reg = reg & 0x7f; - BSP_SPI_Transmit(spi, ®, 1u, true); - return BSP_SPI_Transmit(spi, data, size, true); -} - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ diff --git a/assets/User_code/bsp/spi.h b/assets/User_code/bsp/spi.h deleted file mode 100644 index 8c0afae..0000000 --- a/assets/User_code/bsp/spi.h +++ /dev/null @@ -1,70 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include -#include -#include - -#include "bsp/bsp.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported types ----------------------------------------------------------- */ - -/* 要添加使用SPI的新设备，需要先在此添加对应的枚举值 */ - -/* SPI实体枚举，与设备对应 */ -typedef enum { -/* AUTO GENERATED BSP_SPI_NAME */ - BSP_SPI_NUM, - BSP_SPI_ERR, -} BSP_SPI_t; - -/* SPI支持的中断回调函数类型，具体参考HAL中定义 */ -typedef enum { - BSP_SPI_TX_CPLT_CB, - BSP_SPI_RX_CPLT_CB, - BSP_SPI_TX_RX_CPLT_CB, - BSP_SPI_TX_HALF_CPLT_CB, - BSP_SPI_RX_HALF_CPLT_CB, - BSP_SPI_TX_RX_HALF_CPLT_CB, - BSP_SPI_ERROR_CB, - BSP_SPI_ABORT_CPLT_CB, - BSP_SPI_CB_NUM, -} BSP_SPI_Callback_t; - -/* Exported functions prototypes -------------------------------------------- */ -SPI_HandleTypeDef *BSP_SPI_GetHandle(BSP_SPI_t spi); -int8_t BSP_SPI_RegisterCallback(BSP_SPI_t spi, BSP_SPI_Callback_t type, - void (*callback)(void)); - - -int8_t BSP_SPI_Transmit(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma); -int8_t BSP_SPI_Receive(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma); -int8_t BSP_SPI_TransmitReceive(BSP_SPI_t spi, uint8_t *txData, uint8_t *rxData, - uint16_t size, bool dma); - -uint8_t BSP_SPI_MemReadByte(BSP_SPI_t spi, uint8_t reg); -int8_t BSP_SPI_MemWriteByte(BSP_SPI_t spi, uint8_t reg, uint8_t data); -int8_t BSP_SPI_MemRead(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size); -int8_t BSP_SPI_MemWrite(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/bsp/time.c b/assets/User_code/bsp/time.c deleted file mode 100644 index 21918ed..0000000 --- a/assets/User_code/bsp/time.c +++ /dev/null @@ -1,81 +0,0 @@ -/* Includes ----------------------------------------------------------------- */ -#include "bsp/time.h" -#include "bsp.h" - -#include -#include "FreeRTOS.h" -#include "main.h" -#include "task.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ -/* Private define ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private variables -------------------------------------------------------- */ -/* Private function -------------------------------------------------------- */ -/* Exported functions ------------------------------------------------------- */ - -uint32_t BSP_TIME_Get_ms() { return xTaskGetTickCount(); } - -uint64_t BSP_TIME_Get_us() { - uint32_t tick_freq = osKernelGetTickFreq(); - uint32_t ticks_old = xTaskGetTickCount()*(1000/tick_freq); - uint32_t tick_value_old = SysTick->VAL; - uint32_t ticks_new = xTaskGetTickCount()*(1000/tick_freq); - uint32_t tick_value_new = SysTick->VAL; - if (ticks_old == ticks_new) { - return ticks_new * 1000 + 1000 - tick_value_old * 1000 / (SysTick->LOAD + 1); - } else { - return ticks_new * 1000 + 1000 - tick_value_new * 1000 / (SysTick->LOAD + 1); - } -} - -uint64_t BSP_TIME_Get() __attribute__((alias("BSP_TIME_Get_us"))); - -int8_t BSP_TIME_Delay_ms(uint32_t ms) { - uint32_t tick_period = 1000u / osKernelGetTickFreq(); - uint32_t ticks = ms / tick_period; - - switch (osKernelGetState()) { - case osKernelError: - case osKernelReserved: - case osKernelLocked: - case osKernelSuspended: - return BSP_ERR; - - case osKernelRunning: - osDelay(ticks ? ticks : 1); - break; - - case osKernelInactive: - case osKernelReady: - HAL_Delay(ms); - break; - } - return BSP_OK; -} - -/*阻塞us延迟*/ -int8_t BSP_TIME_Delay_us(uint32_t us) { - uint64_t start = BSP_TIME_Get_us(); - while (BSP_TIME_Get_us() - start < us) { - // 等待us时间 - } - return BSP_OK; -} - -int8_t BSP_TIME_Delay(uint32_t ms) __attribute__((alias("BSP_TIME_Delay_ms"))); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ \ No newline at end of file diff --git a/assets/User_code/bsp/time.h b/assets/User_code/bsp/time.h deleted file mode 100644 index c69085b..0000000 --- a/assets/User_code/bsp/time.h +++ /dev/null @@ -1,43 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include - -#include "bsp/bsp.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported types ----------------------------------------------------------- */ -/* Exported functions prototypes -------------------------------------------- */ -uint32_t BSP_TIME_Get_ms(); - -uint64_t BSP_TIME_Get_us(); - -uint64_t BSP_TIME_Get(); - -int8_t BSP_TIME_Delay_ms(uint32_t ms); - -/*微秒阻塞延时，一般别用*/ -int8_t BSP_TIME_Delay_us(uint32_t us); - -int8_t BSP_TIME_Delay(uint32_t ms); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/bsp/uart.c b/assets/User_code/bsp/uart.c deleted file mode 100644 index a403fdc..0000000 --- a/assets/User_code/bsp/uart.c +++ /dev/null @@ -1,153 +0,0 @@ -/* Includes ----------------------------------------------------------------- */ -#include - -#include "bsp/uart.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private define ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private variables -------------------------------------------------------- */ -static void (*UART_Callback[BSP_UART_NUM][BSP_UART_CB_NUM])(void); - -/* Private function -------------------------------------------------------- */ -static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) { -/* AUTO GENERATED UART_GET */ - else - return BSP_UART_ERR; -} - -void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) { - BSP_UART_t bsp_uart = UART_Get(huart); - if (bsp_uart != BSP_UART_ERR) { - if (UART_Callback[bsp_uart][BSP_UART_TX_CPLT_CB]) { - UART_Callback[bsp_uart][BSP_UART_TX_CPLT_CB](); - } - } -} - -void HAL_UART_TxHalfCpltCallback(UART_HandleTypeDef *huart) { - BSP_UART_t bsp_uart = UART_Get(huart); - if (bsp_uart != BSP_UART_ERR) { - if (UART_Callback[bsp_uart][BSP_UART_TX_HALF_CPLT_CB]) { - UART_Callback[bsp_uart][BSP_UART_TX_HALF_CPLT_CB](); - } - } -} - -void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) { - BSP_UART_t bsp_uart = UART_Get(huart); - if (bsp_uart != BSP_UART_ERR) { - if (UART_Callback[bsp_uart][BSP_UART_RX_CPLT_CB]) { - UART_Callback[bsp_uart][BSP_UART_RX_CPLT_CB](); - } - } -} - -void HAL_UART_RxHalfCpltCallback(UART_HandleTypeDef *huart) { - BSP_UART_t bsp_uart = UART_Get(huart); - if (bsp_uart != BSP_UART_ERR) { - if (UART_Callback[bsp_uart][BSP_UART_RX_HALF_CPLT_CB]) { - UART_Callback[bsp_uart][BSP_UART_RX_HALF_CPLT_CB](); - } - } -} - -void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart) { - BSP_UART_t bsp_uart = UART_Get(huart); - if (bsp_uart != BSP_UART_ERR) { - if (UART_Callback[bsp_uart][BSP_UART_ERROR_CB]) { - UART_Callback[bsp_uart][BSP_UART_ERROR_CB](); - } - } -} - -void HAL_UART_AbortCpltCallback(UART_HandleTypeDef *huart) { - BSP_UART_t bsp_uart = UART_Get(huart); - if (bsp_uart != BSP_UART_ERR) { - if (UART_Callback[bsp_uart][BSP_UART_ABORT_CPLT_CB]) { - UART_Callback[bsp_uart][BSP_UART_ABORT_CPLT_CB](); - } - } -} - -void HAL_UART_AbortTransmitCpltCallback(UART_HandleTypeDef *huart) { - BSP_UART_t bsp_uart = UART_Get(huart); - if (bsp_uart != BSP_UART_ERR) { - if (UART_Callback[bsp_uart][BSP_UART_ABORT_TX_CPLT_CB]) { - UART_Callback[bsp_uart][BSP_UART_ABORT_TX_CPLT_CB](); - } - } -} - -void HAL_UART_AbortReceiveCpltCallback(UART_HandleTypeDef *huart) { - BSP_UART_t bsp_uart = UART_Get(huart); - if (bsp_uart != BSP_UART_ERR) { - if (UART_Callback[bsp_uart][BSP_UART_ABORT_RX_CPLT_CB]) { - UART_Callback[bsp_uart][BSP_UART_ABORT_RX_CPLT_CB](); - } - } -} - -/* Exported functions ------------------------------------------------------- */ -void BSP_UART_IRQHandler(UART_HandleTypeDef *huart) { - if (__HAL_UART_GET_FLAG(huart, UART_FLAG_IDLE)) { - __HAL_UART_CLEAR_IDLEFLAG(huart); - if (UART_Callback[UART_Get(huart)][BSP_UART_IDLE_LINE_CB]) { - UART_Callback[UART_Get(huart)][BSP_UART_IDLE_LINE_CB](); - } - } -} - -UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) { - switch (uart) { -/* AUTO GENERATED BSP_UART_GET_HANDLE */ - default: - return NULL; - } -} - -int8_t BSP_UART_RegisterCallback(BSP_UART_t uart, BSP_UART_Callback_t type, - void (*callback)(void)) { - if (callback == NULL) return BSP_ERR_NULL; - if (uart >= BSP_UART_NUM || type >= BSP_UART_CB_NUM) return BSP_ERR; - UART_Callback[uart][type] = callback; - return BSP_OK; -} - -int8_t BSP_UART_Transmit(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma) { - if (uart >= BSP_UART_NUM) return BSP_ERR; - if (data == NULL || size == 0) return BSP_ERR_NULL; - - if (dma) { - return HAL_UART_Transmit_DMA(BSP_UART_GetHandle(uart), data, size); - } else { - return HAL_UART_Transmit_IT(BSP_UART_GetHandle(uart), data, size); - } -} - -int8_t BSP_UART_Receive(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma) { - if (uart >= BSP_UART_NUM) return BSP_ERR; - if (data == NULL || size == 0) return BSP_ERR_NULL; - - if (dma) { - return HAL_UART_Receive_DMA(BSP_UART_GetHandle(uart), data, size); - } else { - return HAL_UART_Receive_IT(BSP_UART_GetHandle(uart), data, size); - } -} - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ \ No newline at end of file diff --git a/assets/User_code/bsp/uart.h b/assets/User_code/bsp/uart.h deleted file mode 100644 index 06ff849..0000000 --- a/assets/User_code/bsp/uart.h +++ /dev/null @@ -1,68 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include -#include -#include - -#include "bsp/bsp.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported types ----------------------------------------------------------- */ - -/* 要添加使用UART的新设备，需要先在此添加对应的枚举值 */ - -/* UART实体枚举，与设备对应 */ -typedef enum { -/* AUTO GENERATED BSP_UART_NAME */ - BSP_UART_NUM, - BSP_UART_ERR, -} BSP_UART_t; - -/* UART支持的中断回调函数类型，具体参考HAL中定义 */ -typedef enum { - BSP_UART_TX_HALF_CPLT_CB, - BSP_UART_TX_CPLT_CB, - BSP_UART_RX_HALF_CPLT_CB, - BSP_UART_RX_CPLT_CB, - BSP_UART_ERROR_CB, - BSP_UART_ABORT_CPLT_CB, - BSP_UART_ABORT_TX_CPLT_CB, - BSP_UART_ABORT_RX_CPLT_CB, - - BSP_UART_IDLE_LINE_CB, - BSP_UART_CB_NUM, -} BSP_UART_Callback_t; - -/* Exported functions prototypes -------------------------------------------- */ - -UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart); - -void BSP_UART_IRQHandler(UART_HandleTypeDef *huart); - -int8_t BSP_UART_RegisterCallback(BSP_UART_t uart, BSP_UART_Callback_t type, - void (*callback)(void)); - -int8_t BSP_UART_Transmit(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma); -int8_t BSP_UART_Receive(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/component/.gitkeep b/assets/User_code/component/.gitkeep deleted file mode 100644 index e69de29..0000000 diff --git a/assets/User_code/component/FreeRTOS_CLI.c b/assets/User_code/component/FreeRTOS_CLI.c deleted file mode 100644 index 32421de..0000000 --- a/assets/User_code/component/FreeRTOS_CLI.c +++ /dev/null @@ -1,352 +0,0 @@ -/* - * FreeRTOS+CLI V1.0.4 - * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. - * - * Permission is hereby granted, free of charge, to any person obtaining a copy of - * this software and associated documentation files (the "Software"), to deal in - * the Software without restriction, including without limitation the rights to - * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of - * the Software, and to permit persons to whom the Software is furnished to do so, - * subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS - * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR - * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER - * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN - * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos - * - * 1 tab == 4 spaces! - */ - -/* Standard includes. */ -#include -#include - -/* FreeRTOS includes. */ -#include "FreeRTOS.h" -#include "task.h" - -/* Utils includes. */ -#include "FreeRTOS_CLI.h" - -/* If the application writer needs to place the buffer used by the CLI at a -fixed address then set configAPPLICATION_PROVIDES_cOutputBuffer to 1 in -FreeRTOSConfig.h, then declare an array with the following name and size in -one of the application files: - char cOutputBuffer[ configCOMMAND_INT_MAX_OUTPUT_SIZE ]; -*/ -#ifndef configAPPLICATION_PROVIDES_cOutputBuffer - #define configAPPLICATION_PROVIDES_cOutputBuffer 0 -#endif - -typedef struct xCOMMAND_INPUT_LIST -{ - const CLI_Command_Definition_t *pxCommandLineDefinition; - struct xCOMMAND_INPUT_LIST *pxNext; -} CLI_Definition_List_Item_t; - -/* - * The callback function that is executed when "help" is entered. This is the - * only default command that is always present. - */ -static BaseType_t prvHelpCommand( char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString ); - -/* - * Return the number of parameters that follow the command name. - */ -static int8_t prvGetNumberOfParameters( const char *pcCommandString ); - -/* The definition of the "help" command. This command is always at the front -of the list of registered commands. */ -static const CLI_Command_Definition_t xHelpCommand = -{ - "help", - "\r\nhelp:\r\n Lists all the registered commands\r\n\r\n", - prvHelpCommand, - 0 -}; - -/* The definition of the list of commands. Commands that are registered are -added to this list. */ -static CLI_Definition_List_Item_t xRegisteredCommands = -{ - &xHelpCommand, /* The first command in the list is always the help command, defined in this file. */ - NULL /* The next pointer is initialised to NULL, as there are no other registered commands yet. */ -}; - -/* A buffer into which command outputs can be written is declared here, rather -than in the command console implementation, to allow multiple command consoles -to share the same buffer. For example, an application may allow access to the -command interpreter by UART and by Ethernet. Sharing a buffer is done purely -to save RAM. Note, however, that the command console itself is not re-entrant, -so only one command interpreter interface can be used at any one time. For that -reason, no attempt at providing mutual exclusion to the cOutputBuffer array is -attempted. - -configAPPLICATION_PROVIDES_cOutputBuffer is provided to allow the application -writer to provide their own cOutputBuffer declaration in cases where the -buffer needs to be placed at a fixed address (rather than by the linker). */ - -#if( configAPPLICATION_PROVIDES_cOutputBuffer == 0 ) - static char cOutputBuffer[ configCOMMAND_INT_MAX_OUTPUT_SIZE ]; -#else - extern char cOutputBuffer[ configCOMMAND_INT_MAX_OUTPUT_SIZE ]; -#endif - - -/*---------------------------------------------------------- */ - -BaseType_t FreeRTOS_CLIRegisterCommand( const CLI_Command_Definition_t * const pxCommandToRegister ) -{ -static CLI_Definition_List_Item_t *pxLastCommandInList = &xRegisteredCommands; -CLI_Definition_List_Item_t *pxNewListItem; -BaseType_t xReturn = pdFAIL; - - /* Check the parameter is not NULL. */ - configASSERT( pxCommandToRegister ); - - /* Create a new list item that will reference the command being registered. */ - pxNewListItem = ( CLI_Definition_List_Item_t * ) pvPortMalloc( sizeof( CLI_Definition_List_Item_t ) ); - configASSERT( pxNewListItem ); - - if( pxNewListItem != NULL ) - { - taskENTER_CRITICAL(); - { - /* Reference the command being registered from the newly created - list item. */ - pxNewListItem->pxCommandLineDefinition = pxCommandToRegister; - - /* The new list item will get added to the end of the list, so - pxNext has nowhere to point. */ - pxNewListItem->pxNext = NULL; - - /* Add the newly created list item to the end of the already existing - list. */ - pxLastCommandInList->pxNext = pxNewListItem; - - /* Set the end of list marker to the new list item. */ - pxLastCommandInList = pxNewListItem; - } - taskEXIT_CRITICAL(); - - xReturn = pdPASS; - } - - return xReturn; -} -/*---------------------------------------------------------- */ - -BaseType_t FreeRTOS_CLIProcessCommand( const char * const pcCommandInput, char * pcWriteBuffer, size_t xWriteBufferLen ) -{ -static const CLI_Definition_List_Item_t *pxCommand = NULL; -BaseType_t xReturn = pdTRUE; -const char *pcRegisteredCommandString; -size_t xCommandStringLength; - - /* Note: This function is not re-entrant. It must not be called from more - thank one task. */ - - if( pxCommand == NULL ) - { - /* Search for the command string in the list of registered commands. */ - for( pxCommand = &xRegisteredCommands; pxCommand != NULL; pxCommand = pxCommand->pxNext ) - { - pcRegisteredCommandString = pxCommand->pxCommandLineDefinition->pcCommand; - xCommandStringLength = strlen( pcRegisteredCommandString ); - - /* To ensure the string lengths match exactly, so as not to pick up - a sub-string of a longer command, check the byte after the expected - end of the string is either the end of the string or a space before - a parameter. */ - if( ( pcCommandInput[ xCommandStringLength ] == ' ' ) || ( pcCommandInput[ xCommandStringLength ] == 0x00 ) ) - { - if( strncmp( pcCommandInput, pcRegisteredCommandString, xCommandStringLength ) == 0 ) - { - /* The command has been found. Check it has the expected - number of parameters. If cExpectedNumberOfParameters is -1, - then there could be a variable number of parameters and no - check is made. */ - if( pxCommand->pxCommandLineDefinition->cExpectedNumberOfParameters >= 0 ) - { - if( prvGetNumberOfParameters( pcCommandInput ) != pxCommand->pxCommandLineDefinition->cExpectedNumberOfParameters ) - { - xReturn = pdFALSE; - } - } - - break; - } - } - } - } - - if( ( pxCommand != NULL ) && ( xReturn == pdFALSE ) ) - { - /* The command was found, but the number of parameters with the command - was incorrect. */ - strncpy( pcWriteBuffer, "Incorrect command parameter(s). Enter \"help\" to view a list of available commands.\r\n\r\n", xWriteBufferLen ); - pxCommand = NULL; - } - else if( pxCommand != NULL ) - { - /* Call the callback function that is registered to this command. */ - xReturn = pxCommand->pxCommandLineDefinition->pxCommandInterpreter( pcWriteBuffer, xWriteBufferLen, pcCommandInput ); - - /* If xReturn is pdFALSE, then no further strings will be returned - after this one, and pxCommand can be reset to NULL ready to search - for the next entered command. */ - if( xReturn == pdFALSE ) - { - pxCommand = NULL; - } - } - else - { - /* pxCommand was NULL, the command was not found. */ - strncpy( pcWriteBuffer, "Command not recognised. Enter 'help' to view a list of available commands.\r\n\r\n", xWriteBufferLen ); - xReturn = pdFALSE; - } - - return xReturn; -} -/*---------------------------------------------------------- */ - -char *FreeRTOS_CLIGetOutputBuffer( void ) -{ - return cOutputBuffer; -} -/*---------------------------------------------------------- */ - -const char *FreeRTOS_CLIGetParameter( const char *pcCommandString, UBaseType_t uxWantedParameter, BaseType_t *pxParameterStringLength ) -{ -UBaseType_t uxParametersFound = 0; -const char *pcReturn = NULL; - - *pxParameterStringLength = 0; - - while( uxParametersFound < uxWantedParameter ) - { - /* Index the character pointer past the current word. If this is the start - of the command string then the first word is the command itself. */ - while( ( ( *pcCommandString ) != 0x00 ) && ( ( *pcCommandString ) != ' ' ) ) - { - pcCommandString++; - } - - /* Find the start of the next string. */ - while( ( ( *pcCommandString ) != 0x00 ) && ( ( *pcCommandString ) == ' ' ) ) - { - pcCommandString++; - } - - /* Was a string found? */ - if( *pcCommandString != 0x00 ) - { - /* Is this the start of the required parameter? */ - uxParametersFound++; - - if( uxParametersFound == uxWantedParameter ) - { - /* How long is the parameter? */ - pcReturn = pcCommandString; - while( ( ( *pcCommandString ) != 0x00 ) && ( ( *pcCommandString ) != ' ' ) ) - { - ( *pxParameterStringLength )++; - pcCommandString++; - } - - if( *pxParameterStringLength == 0 ) - { - pcReturn = NULL; - } - - break; - } - } - else - { - break; - } - } - - return pcReturn; -} -/*---------------------------------------------------------- */ - -static BaseType_t prvHelpCommand( char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString ) -{ -static const CLI_Definition_List_Item_t * pxCommand = NULL; -BaseType_t xReturn; - - ( void ) pcCommandString; - - if( pxCommand == NULL ) - { - /* Reset the pxCommand pointer back to the start of the list. */ - pxCommand = &xRegisteredCommands; - } - - /* Return the next command help string, before moving the pointer on to - the next command in the list. */ - strncpy( pcWriteBuffer, pxCommand->pxCommandLineDefinition->pcHelpString, xWriteBufferLen ); - pxCommand = pxCommand->pxNext; - - if( pxCommand == NULL ) - { - /* There are no more commands in the list, so there will be no more - strings to return after this one and pdFALSE should be returned. */ - xReturn = pdFALSE; - } - else - { - xReturn = pdTRUE; - } - - return xReturn; -} -/*---------------------------------------------------------- */ - -static int8_t prvGetNumberOfParameters( const char *pcCommandString ) -{ -int8_t cParameters = 0; -BaseType_t xLastCharacterWasSpace = pdFALSE; - - /* Count the number of space delimited words in pcCommandString. */ - while( *pcCommandString != 0x00 ) - { - if( ( *pcCommandString ) == ' ' ) - { - if( xLastCharacterWasSpace != pdTRUE ) - { - cParameters++; - xLastCharacterWasSpace = pdTRUE; - } - } - else - { - xLastCharacterWasSpace = pdFALSE; - } - - pcCommandString++; - } - - /* If the command string ended with spaces, then there will have been too - many parameters counted. */ - if( xLastCharacterWasSpace == pdTRUE ) - { - cParameters--; - } - - /* The value returned is one less than the number of space delimited words, - as the first word should be the command itself. */ - return cParameters; -} - diff --git a/assets/User_code/component/FreeRTOS_CLI.h b/assets/User_code/component/FreeRTOS_CLI.h deleted file mode 100644 index e6d8266..0000000 --- a/assets/User_code/component/FreeRTOS_CLI.h +++ /dev/null @@ -1,108 +0,0 @@ -/* - * FreeRTOS+CLI V1.0.4 - * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. - * - * Permission is hereby granted, free of charge, to any person obtaining a copy of - * this software and associated documentation files (the "Software"), to deal in - * the Software without restriction, including without limitation the rights to - * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of - * the Software, and to permit persons to whom the Software is furnished to do so, - * subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS - * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR - * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER - * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN - * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos - * - * 1 tab == 4 spaces! - */ - -#ifndef COMMAND_INTERPRETER_H -#define COMMAND_INTERPRETER_H - -/* This config should be defined in FreeRTOSConfig.h. But due to the limition of CubeMX I put it here. */ -#define configCOMMAND_INT_MAX_OUTPUT_SIZE 512 - -/* The prototype to which callback functions used to process command line -commands must comply. pcWriteBuffer is a buffer into which the output from -executing the command can be written, xWriteBufferLen is the length, in bytes of -the pcWriteBuffer buffer, and pcCommandString is the entire string as input by -the user (from which parameters can be extracted).*/ -typedef BaseType_t (*pdCOMMAND_LINE_CALLBACK)( char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString ); - -/* The structure that defines command line commands. A command line command -should be defined by declaring a const structure of this type. */ -typedef struct xCOMMAND_LINE_INPUT -{ - const char * const pcCommand; /* The command that causes pxCommandInterpreter to be executed. For example "help". Must be all lower case. */ - const char * const pcHelpString; /* String that describes how to use the command. Should start with the command itself, and end with "\r\n". For example "help: Returns a list of all the commands\r\n". */ - const pdCOMMAND_LINE_CALLBACK pxCommandInterpreter; /* A pointer to the callback function that will return the output generated by the command. */ - int8_t cExpectedNumberOfParameters; /* Commands expect a fixed number of parameters, which may be zero. */ -} CLI_Command_Definition_t; - -/* For backward compatibility. */ -#define xCommandLineInput CLI_Command_Definition_t - -/* - * Register the command passed in using the pxCommandToRegister parameter. - * Registering a command adds the command to the list of commands that are - * handled by the command interpreter. Once a command has been registered it - * can be executed from the command line. - */ -BaseType_t FreeRTOS_CLIRegisterCommand( const CLI_Command_Definition_t * const pxCommandToRegister ); - -/* - * Runs the command interpreter for the command string "pcCommandInput". Any - * output generated by running the command will be placed into pcWriteBuffer. - * xWriteBufferLen must indicate the size, in bytes, of the buffer pointed to - * by pcWriteBuffer. - * - * FreeRTOS_CLIProcessCommand should be called repeatedly until it returns pdFALSE. - * - * pcCmdIntProcessCommand is not reentrant. It must not be called from more - * than one task - or at least - by more than one task at a time. - */ -BaseType_t FreeRTOS_CLIProcessCommand( const char * const pcCommandInput, char * pcWriteBuffer, size_t xWriteBufferLen ); - -/*---------------------------------------------------------- */ - -/* - * A buffer into which command outputs can be written is declared in the - * main command interpreter, rather than in the command console implementation, - * to allow application that provide access to the command console via multiple - * interfaces to share a buffer, and therefore save RAM. Note, however, that - * the command interpreter itself is not re-entrant, so only one command - * console interface can be used at any one time. For that reason, no attempt - * is made to provide any mutual exclusion mechanism on the output buffer. - * - * FreeRTOS_CLIGetOutputBuffer() returns the address of the output buffer. - */ -char *FreeRTOS_CLIGetOutputBuffer( void ); - -/* - * Return a pointer to the xParameterNumber'th word in pcCommandString. - */ -const char *FreeRTOS_CLIGetParameter( const char *pcCommandString, UBaseType_t uxWantedParameter, BaseType_t *pxParameterStringLength ); - -#endif /* COMMAND_INTERPRETER_H */ - - - - - - - - - - - - - diff --git a/assets/User_code/component/ahrs.c b/assets/User_code/component/ahrs.c deleted file mode 100644 index ffdb870..0000000 --- a/assets/User_code/component/ahrs.c +++ /dev/null @@ -1,417 +0,0 @@ -/* - 开源的AHRS算法。 - MadgwickAHRS -*/ - -#include "ahrs.h" - -#include - -#include "user_math.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -#define BETA_IMU (0.033f) -#define BETA_AHRS (0.041f) - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* 2 * proportional gain (Kp) */ -static float beta = BETA_IMU; - -/** - * @brief 不使用磁力计计算姿态 - * - * @param ahrs 姿态解算主结构体 - * @param accl 加速度计数据 - * @param gyro 陀螺仪数据 - * @return int8_t 0对应没有错误 - */ -static int8_t AHRS_UpdateIMU(AHRS_t *ahrs, const AHRS_Accl_t *accl, - const AHRS_Gyro_t *gyro) { - if (ahrs == NULL) return -1; - if (accl == NULL) return -1; - if (gyro == NULL) return -1; - - beta = BETA_IMU; - - float ax = accl->x; - float ay = accl->y; - float az = accl->z; - - float gx = gyro->x; - float gy = gyro->y; - float gz = gyro->z; - - float recip_norm; - float s0, s1, s2, s3; - float q_dot1, q_dot2, q_dot3, q_dot4; - float _2q0, _2q1, _2q2, _2q3, _4q0, _4q1, _4q2, _8q1, _8q2, q0q0, q1q1, q2q2, - q3q3; - - /* Rate of change of quaternion from gyroscope */ - q_dot1 = 0.5f * (-ahrs->quat.q1 * gx - ahrs->quat.q2 * gy - - ahrs->quat.q3 * gz); - q_dot2 = 0.5f * (ahrs->quat.q0 * gx + ahrs->quat.q2 * gz - - ahrs->quat.q3 * gy); - q_dot3 = 0.5f * (ahrs->quat.q0 * gy - ahrs->quat.q1 * gz + - ahrs->quat.q3 * gx); - q_dot4 = 0.5f * (ahrs->quat.q0 * gz + ahrs->quat.q1 * gy - - ahrs->quat.q2 * gx); - - /* Compute feedback only if accelerometer measurement valid (avoids NaN in - * accelerometer normalisation) */ - if (!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { - /* Normalise accelerometer measurement */ - recip_norm = InvSqrt(ax * ax + ay * ay + az * az); - ax *= recip_norm; - ay *= recip_norm; - az *= recip_norm; - - /* Auxiliary variables to avoid repeated arithmetic */ - _2q0 = 2.0f * ahrs->quat.q0; - _2q1 = 2.0f * ahrs->quat.q1; - _2q2 = 2.0f * ahrs->quat.q2; - _2q3 = 2.0f * ahrs->quat.q3; - _4q0 = 4.0f * ahrs->quat.q0; - _4q1 = 4.0f * ahrs->quat.q1; - _4q2 = 4.0f * ahrs->quat.q2; - _8q1 = 8.0f * ahrs->quat.q1; - _8q2 = 8.0f * ahrs->quat.q2; - q0q0 = ahrs->quat.q0 * ahrs->quat.q0; - q1q1 = ahrs->quat.q1 * ahrs->quat.q1; - q2q2 = ahrs->quat.q2 * ahrs->quat.q2; - q3q3 = ahrs->quat.q3 * ahrs->quat.q3; - - /* Gradient decent algorithm corrective step */ - s0 = _4q0 * q2q2 + _2q2 * ax + _4q0 * q1q1 - _2q1 * ay; - s1 = _4q1 * q3q3 - _2q3 * ax + 4.0f * q0q0 * ahrs->quat.q1 - - _2q0 * ay - _4q1 + _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az; - s2 = 4.0f * q0q0 * ahrs->quat.q2 + _2q0 * ax + _4q2 * q3q3 - - _2q3 * ay - _4q2 + _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az; - s3 = 4.0f * q1q1 * ahrs->quat.q3 - _2q1 * ax + - 4.0f * q2q2 * ahrs->quat.q3 - _2q2 * ay; - - /* normalise step magnitude */ - recip_norm = InvSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); - - s0 *= recip_norm; - s1 *= recip_norm; - s2 *= recip_norm; - s3 *= recip_norm; - - /* Apply feedback step */ - q_dot1 -= beta * s0; - q_dot2 -= beta * s1; - q_dot3 -= beta * s2; - q_dot4 -= beta * s3; - } - - /* Integrate rate of change of quaternion to yield quaternion */ - ahrs->quat.q0 += q_dot1 * ahrs->inv_sample_freq; - ahrs->quat.q1 += q_dot2 * ahrs->inv_sample_freq; - ahrs->quat.q2 += q_dot3 * ahrs->inv_sample_freq; - ahrs->quat.q3 += q_dot4 * ahrs->inv_sample_freq; - - /* Normalise quaternion */ - recip_norm = InvSqrt(ahrs->quat.q0 * ahrs->quat.q0 + - ahrs->quat.q1 * ahrs->quat.q1 + - ahrs->quat.q2 * ahrs->quat.q2 + - ahrs->quat.q3 * ahrs->quat.q3); - ahrs->quat.q0 *= recip_norm; - ahrs->quat.q1 *= recip_norm; - ahrs->quat.q2 *= recip_norm; - ahrs->quat.q3 *= recip_norm; - - return 0; -} - -/** - * @brief 初始化姿态解算 - * - * @param ahrs 姿态解算主结构体 - * @param magn 磁力计数据 - * @param sample_freq 采样频率 - * @return int8_t 0对应没有错误 - */ -int8_t AHRS_Init(AHRS_t *ahrs, const AHRS_Magn_t *magn, float sample_freq) { - if (ahrs == NULL) return -1; - - ahrs->inv_sample_freq = 1.0f / sample_freq; - - ahrs->quat.q0 = 1.0f; - ahrs->quat.q1 = 0.0f; - ahrs->quat.q2 = 0.0f; - ahrs->quat.q3 = 0.0f; - - if (magn) { - float yaw = -atan2(magn->y, magn->x); - - if ((magn->x == 0.0f) && (magn->y == 0.0f) && (magn->z == 0.0f)) { - ahrs->quat.q0 = 0.800884545f; - ahrs->quat.q1 = 0.00862364192f; - ahrs->quat.q2 = -0.00283267116f; - ahrs->quat.q3 = 0.598749936f; - - } else if ((yaw < (M_PI / 2.0f)) || (yaw > 0.0f)) { - ahrs->quat.q0 = 0.997458339f; - ahrs->quat.q1 = 0.000336312107f; - ahrs->quat.q2 = -0.0057230792f; - ahrs->quat.q3 = 0.0740156546; - - } else if ((yaw < M_PI) || (yaw > (M_PI / 2.0f))) { - ahrs->quat.q0 = 0.800884545f; - ahrs->quat.q1 = 0.00862364192f; - ahrs->quat.q2 = -0.00283267116f; - ahrs->quat.q3 = 0.598749936f; - - } else if ((yaw < 90.0f) || (yaw > M_PI)) { - ahrs->quat.q0 = 0.800884545f; - ahrs->quat.q1 = 0.00862364192f; - ahrs->quat.q2 = -0.00283267116f; - ahrs->quat.q3 = 0.598749936f; - - } else if ((yaw < 90.0f) || (yaw > 0.0f)) { - ahrs->quat.q0 = 0.800884545f; - ahrs->quat.q1 = 0.00862364192f; - ahrs->quat.q2 = -0.00283267116f; - ahrs->quat.q3 = 0.598749936f; - } - } - return 0; -} - -/** - * @brief 姿态运算更新一次 - * @note 输入数据必须是NED(North East Down) 参考坐标系 - * - * @param ahrs 姿态解算主结构体 - * @param accl 加速度计数据 - * @param gyro 陀螺仪数据 - * @param magn 磁力计数据 - * @return int8_t 0对应没有错误 - */ -int8_t AHRS_Update(AHRS_t *ahrs, const AHRS_Accl_t *accl, - const AHRS_Gyro_t *gyro, const AHRS_Magn_t *magn) { - if (ahrs == NULL) return -1; - if (accl == NULL) return -1; - if (gyro == NULL) return -1; - - beta = BETA_AHRS; - - float recip_norm; - float s0, s1, s2, s3; - float q_dot1, q_dot2, q_dot3, q_dot4; - float hx, hy; - float _2q0mx, _2q0my, _2q0mz, _2q1mx, _2bx, _2bz, _4bx, _4bz, _2q0, _2q1, - _2q2, _2q3, _2q0q2, _2q2q3, q0q0, q0q1, q0q2, q0q3, q1q1, q1q2, q1q3, - q2q2, q2q3, q3q3; - - if (magn == NULL) return AHRS_UpdateIMU(ahrs, accl, gyro); - - float mx = magn->x; - float my = magn->y; - float mz = magn->z; - - /* Use IMU algorithm if magnetometer measurement invalid (avoids NaN in */ - /* magnetometer normalisation) */ - if ((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) { - return AHRS_UpdateIMU(ahrs, accl, gyro); - } - - float ax = accl->x; - float ay = accl->y; - float az = accl->z; - - float gx = gyro->x; - float gy = gyro->y; - float gz = gyro->z; - - /* Rate of change of quaternion from gyroscope */ - q_dot1 = 0.5f * (-ahrs->quat.q1 * gx - ahrs->quat.q2 * gy - - ahrs->quat.q3 * gz); - q_dot2 = 0.5f * (ahrs->quat.q0 * gx + ahrs->quat.q2 * gz - - ahrs->quat.q3 * gy); - q_dot3 = 0.5f * (ahrs->quat.q0 * gy - ahrs->quat.q1 * gz + - ahrs->quat.q3 * gx); - q_dot4 = 0.5f * (ahrs->quat.q0 * gz + ahrs->quat.q1 * gy - - ahrs->quat.q2 * gx); - - /* Compute feedback only if accelerometer measurement valid (avoids NaN in - * accelerometer normalisation) */ - if (!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { - /* Normalise accelerometer measurement */ - recip_norm = InvSqrt(ax * ax + ay * ay + az * az); - ax *= recip_norm; - ay *= recip_norm; - az *= recip_norm; - - /* Normalise magnetometer measurement */ - recip_norm = InvSqrt(mx * mx + my * my + mz * mz); - mx *= recip_norm; - my *= recip_norm; - mz *= recip_norm; - - /* Auxiliary variables to avoid repeated arithmetic */ - _2q0mx = 2.0f * ahrs->quat.q0 * mx; - _2q0my = 2.0f * ahrs->quat.q0 * my; - _2q0mz = 2.0f * ahrs->quat.q0 * mz; - _2q1mx = 2.0f * ahrs->quat.q1 * mx; - _2q0 = 2.0f * ahrs->quat.q0; - _2q1 = 2.0f * ahrs->quat.q1; - _2q2 = 2.0f * ahrs->quat.q2; - _2q3 = 2.0f * ahrs->quat.q3; - _2q0q2 = 2.0f * ahrs->quat.q0 * ahrs->quat.q2; - _2q2q3 = 2.0f * ahrs->quat.q2 * ahrs->quat.q3; - q0q0 = ahrs->quat.q0 * ahrs->quat.q0; - q0q1 = ahrs->quat.q0 * ahrs->quat.q1; - q0q2 = ahrs->quat.q0 * ahrs->quat.q2; - q0q3 = ahrs->quat.q0 * ahrs->quat.q3; - q1q1 = ahrs->quat.q1 * ahrs->quat.q1; - q1q2 = ahrs->quat.q1 * ahrs->quat.q2; - q1q3 = ahrs->quat.q1 * ahrs->quat.q3; - q2q2 = ahrs->quat.q2 * ahrs->quat.q2; - q2q3 = ahrs->quat.q2 * ahrs->quat.q3; - q3q3 = ahrs->quat.q3 * ahrs->quat.q3; - - /* Reference direction of Earth's magnetic field */ - hx = mx * q0q0 - _2q0my * ahrs->quat.q3 + - _2q0mz * ahrs->quat.q2 + mx * q1q1 + - _2q1 * my * ahrs->quat.q2 + _2q1 * mz * ahrs->quat.q3 - - mx * q2q2 - mx * q3q3; - hy = _2q0mx * ahrs->quat.q3 + my * q0q0 - - _2q0mz * ahrs->quat.q1 + _2q1mx * ahrs->quat.q2 - - my * q1q1 + my * q2q2 + _2q2 * mz * ahrs->quat.q3 - my * q3q3; - // _2bx = sqrtf(hx * hx + hy * hy); - // 改为invsqrt - _2bx = 1.f / InvSqrt(hx * hx + hy * hy); - _2bz = -_2q0mx * ahrs->quat.q2 + _2q0my * ahrs->quat.q1 + - mz * q0q0 + _2q1mx * ahrs->quat.q3 - mz * q1q1 + - _2q2 * my * ahrs->quat.q3 - mz * q2q2 + mz * q3q3; - _4bx = 2.0f * _2bx; - _4bz = 2.0f * _2bz; - - /* Gradient decent algorithm corrective step */ - s0 = -_2q2 * (2.0f * q1q3 - _2q0q2 - ax) + - _2q1 * (2.0f * q0q1 + _2q2q3 - ay) - - _2bz * ahrs->quat.q2 * - (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + - (-_2bx * ahrs->quat.q3 + _2bz * ahrs->quat.q1) * - (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + - _2bx * ahrs->quat.q2 * - (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); - s1 = _2q3 * (2.0f * q1q3 - _2q0q2 - ax) + - _2q0 * (2.0f * q0q1 + _2q2q3 - ay) - - 4.0f * ahrs->quat.q1 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + - _2bz * ahrs->quat.q3 * - (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + - (_2bx * ahrs->quat.q2 + _2bz * ahrs->quat.q0) * - (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + - (_2bx * ahrs->quat.q3 - _4bz * ahrs->quat.q1) * - (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); - s2 = -_2q0 * (2.0f * q1q3 - _2q0q2 - ax) + - _2q3 * (2.0f * q0q1 + _2q2q3 - ay) - - 4.0f * ahrs->quat.q2 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) + - (-_4bx * ahrs->quat.q2 - _2bz * ahrs->quat.q0) * - (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + - (_2bx * ahrs->quat.q1 + _2bz * ahrs->quat.q3) * - (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + - (_2bx * ahrs->quat.q0 - _4bz * ahrs->quat.q2) * - (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); - s3 = _2q1 * (2.0f * q1q3 - _2q0q2 - ax) + - _2q2 * (2.0f * q0q1 + _2q2q3 - ay) + - (-_4bx * ahrs->quat.q3 + _2bz * ahrs->quat.q1) * - (_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) + - (-_2bx * ahrs->quat.q0 + _2bz * ahrs->quat.q2) * - (_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) + - _2bx * ahrs->quat.q1 * - (_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz); - /* normalise step magnitude */ - recip_norm = InvSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); - s0 *= recip_norm; - s1 *= recip_norm; - s2 *= recip_norm; - s3 *= recip_norm; - - /* Apply feedback step */ - q_dot1 -= beta * s0; - q_dot2 -= beta * s1; - q_dot3 -= beta * s2; - q_dot4 -= beta * s3; - } - - /* Integrate rate of change of quaternion to yield quaternion */ - ahrs->quat.q0 += q_dot1 * ahrs->inv_sample_freq; - ahrs->quat.q1 += q_dot2 * ahrs->inv_sample_freq; - ahrs->quat.q2 += q_dot3 * ahrs->inv_sample_freq; - ahrs->quat.q3 += q_dot4 * ahrs->inv_sample_freq; - - /* Normalise quaternion */ - recip_norm = InvSqrt(ahrs->quat.q0 * ahrs->quat.q0 + - ahrs->quat.q1 * ahrs->quat.q1 + - ahrs->quat.q2 * ahrs->quat.q2 + - ahrs->quat.q3 * ahrs->quat.q3); - ahrs->quat.q0 *= recip_norm; - ahrs->quat.q1 *= recip_norm; - ahrs->quat.q2 *= recip_norm; - ahrs->quat.q3 *= recip_norm; - - return 0; -} - -/** - * @brief 通过姿态解算主结构体中的四元数计算欧拉角 - * - * @param eulr 欧拉角 - * @param ahrs 姿态解算主结构体 - * @return int8_t 0对应没有错误 - */ -int8_t AHRS_GetEulr(AHRS_Eulr_t *eulr, const AHRS_t *ahrs) { - if (eulr == NULL) return -1; - if (ahrs == NULL) return -1; - - const float sinr_cosp = 2.0f * (ahrs->quat.q0 * ahrs->quat.q1 + - ahrs->quat.q2 * ahrs->quat.q3); - const float cosr_cosp = - 1.0f - 2.0f * (ahrs->quat.q1 * ahrs->quat.q1 + - ahrs->quat.q2 * ahrs->quat.q2); - eulr->pit = atan2f(sinr_cosp, cosr_cosp); - - const float sinp = 2.0f * (ahrs->quat.q0 * ahrs->quat.q2 - - ahrs->quat.q3 * ahrs->quat.q1); - - if (fabsf(sinp) >= 1.0f) - eulr->rol = copysignf(M_PI / 2.0f, sinp); - else - eulr->rol = asinf(sinp); - - const float siny_cosp = 2.0f * (ahrs->quat.q0 * ahrs->quat.q3 + - ahrs->quat.q1 * ahrs->quat.q2); - const float cosy_cosp = - 1.0f - 2.0f * (ahrs->quat.q2 * ahrs->quat.q2 + - ahrs->quat.q3 * ahrs->quat.q3); - eulr->yaw = atan2f(siny_cosp, cosy_cosp); - -#if 0 - eulr->yaw *= M_RAD2DEG_MULT; - eulr->rol *= M_RAD2DEG_MULT; - eulr->pit *= M_RAD2DEG_MULT; -#endif - - return 0; -} - -/** - * \brief 将对应数据置零 - * - * \param eulr 被操作的数据 - */ -void AHRS_ResetEulr(AHRS_Eulr_t *eulr) { memset(eulr, 0, sizeof(*eulr)); } - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ diff --git a/assets/User_code/component/ahrs.h b/assets/User_code/component/ahrs.h deleted file mode 100644 index 2245b1f..0000000 --- a/assets/User_code/component/ahrs.h +++ /dev/null @@ -1,114 +0,0 @@ -/* - 开源的AHRS算法。 - MadgwickAHRS -*/ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include "user_math.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* 欧拉角（Euler angle） */ -typedef struct { - float yaw; /* 偏航角（Yaw angle） */ - float pit; /* 俯仰角（Pitch angle） */ - float rol; /* 翻滚角（Roll angle） */ -} AHRS_Eulr_t; - -/* 加速度计 Accelerometer */ -typedef struct { - float x; - float y; - float z; -} AHRS_Accl_t; - -/* 陀螺仪 Gyroscope */ -typedef struct { - float x; - float y; - float z; -} AHRS_Gyro_t; - -/* 磁力计 Magnetometer */ -typedef struct { - float x; - float y; - float z; -} AHRS_Magn_t; - -/* 四元数 */ -typedef struct { - float q0; - float q1; - float q2; - float q3; -} AHRS_Quaternion_t; - -/* 姿态解算算法主结构体 */ -typedef struct { - /* 四元数 */ - AHRS_Quaternion_t quat; - - float inv_sample_freq; /* 采样频率的的倒数 */ -} AHRS_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/** - * @brief 初始化姿态解算 - * - * @param ahrs 姿态解算主结构体 - * @param magn 磁力计数据 - * @param sample_freq 采样频率 - * @return int8_t 0对应没有错误 - */ -int8_t AHRS_Init(AHRS_t *ahrs, const AHRS_Magn_t *magn, float sample_freq); - -/** - * @brief 姿态运算更新一次 - * - * @param ahrs 姿态解算主结构体 - * @param accl 加速度计数据 - * @param gyro 陀螺仪数据 - * @param magn 磁力计数据 - * @return int8_t 0对应没有错误 - */ -int8_t AHRS_Update(AHRS_t *ahrs, const AHRS_Accl_t *accl, - const AHRS_Gyro_t *gyro, const AHRS_Magn_t *magn); - -/** - * @brief 通过姿态解算主结构体中的四元数计算欧拉角 - * - * @param eulr 欧拉角 - * @param ahrs 姿态解算主结构体 - * @return int8_t 0对应没有错误 - */ -int8_t AHRS_GetEulr(AHRS_Eulr_t *eulr, const AHRS_t *ahrs); - -/** - * \brief 将对应数据置零 - * - * \param eulr 被操作的数据 - */ -void AHRS_ResetEulr(AHRS_Eulr_t *eulr); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/component/capacity.c b/assets/User_code/component/capacity.c deleted file mode 100644 index fd64eb2..0000000 --- a/assets/User_code/component/capacity.c +++ /dev/null @@ -1,70 +0,0 @@ -/* - 剩余电量算法。 - 通过电压值计算剩余电量。 -*/ - -#include "capacity.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/** - * @brief 通过电压计算电池剩余电量 - * - * @param volt 电压值 - * @return float 剩余电量比例 - */ -float Capacity_GetBatteryRemain(float volt) { - float percentage; - float volt_2 = volt * volt; - float volt_3 = volt_2 * volt; - - if (volt < 19.5f) - percentage = 0.0f; - - else if (volt < 21.9f) - percentage = 0.005664f * volt_3 - 0.3386f * volt_2 + 6.765f * volt - 45.17f; - - else if (volt < 25.5f) - percentage = 0.02269f * volt_3 - 1.654f * volt_2 + 40.34f * volt - 328.4f; - - else - percentage = 1.0f; - - if (percentage < 0.0f) - percentage = 0.0f; - - else if (percentage > 1.0f) - percentage = 1.0f; - - return percentage; -} - -/** - * @brief - * - * @param vcap 电容电压 - * @param vbat 电池电压 - * @param v_cutoff 截止电压 - * @return float 电容剩余电量比例 - */ -float Capacity_GetCapacitorRemain(float vcap, float vbat, float v_cutoff) { - float percentage = (vcap - v_cutoff) / (vbat - v_cutoff); - - if (percentage < 0.0f) - percentage = 0.0f; - - else if (percentage > 1.0f) - percentage = 1.0f; - - return percentage; -} - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ diff --git a/assets/User_code/component/capacity.h b/assets/User_code/component/capacity.h deleted file mode 100644 index b4010e9..0000000 --- a/assets/User_code/component/capacity.h +++ /dev/null @@ -1,47 +0,0 @@ -/* - 剩余电量算法。 - - 通过电压值计算剩余电量。 -*/ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include "user_math.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/** - * @brief 通过电压计算电池剩余电量 - * - * @param volt 电压值 - * @return float 剩余电量比例 - */ -float Capacity_GetBatteryRemain(float volt); - -/** - * @brief - * - * @param vcap 电容电压 - * @param vbat 电池电压 - * @param v_cutoff 截止电压 - * @return float 电容剩余电量比例 - */ -float Capacity_GetCapacitorRemain(float vcap, float vbat, float v_cutoff); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/component/crc16.c b/assets/User_code/component/crc16.c deleted file mode 100644 index 0d17eb0..0000000 --- a/assets/User_code/component/crc16.c +++ /dev/null @@ -1,62 +0,0 @@ -#include "crc16.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -static const uint16_t crc16_tab[256] = { - 0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48, - 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 0x1081, 0x0108, - 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, 0x9cc9, 0x8d40, 0xbfdb, - 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, 0x308b, 0x0210, 0x1399, - 0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, - 0xfae7, 0xc87c, 0xd9f5, 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, - 0x54b5, 0x453c, 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, - 0xc974, 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb, - 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 0x5285, - 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44, - 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, 0x6306, 0x728f, 0x4014, - 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5, - 0xa96a, 0xb8e3, 0x8a78, 0x9bf1, 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, - 0x242a, 0x16b1, 0x0738, 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, - 0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, - 0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff, - 0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1, - 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483, - 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5, 0x2942, 0x38cb, 0x0a50, - 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 0xb58b, 0xa402, 0x9699, 0x8710, - 0xf3af, 0xe226, 0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, - 0x6e6e, 0x5cf5, 0x4d7c, 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, - 0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, - 0x3efb, 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232, - 0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, 0xe70e, - 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1, 0x6b46, 0x7acf, - 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9, 0xf78f, 0xe606, 0xd49d, - 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c, - 0x3de3, 0x2c6a, 0x1ef1, 0x0f78}; - -static inline uint16_t CRC16_Byte(uint16_t crc, const uint8_t data) { - return (crc >> 8) ^ crc16_tab[(crc ^ data) & 0xff]; -} - -uint16_t CRC16_Calc(const uint8_t *buf, size_t len, uint16_t crc) { - while (len--) crc = CRC16_Byte(crc, *buf++); - return crc; -} - -bool CRC16_Verify(const uint8_t *buf, size_t len) { - if (len < 2) return false; - - uint16_t expected = CRC16_Calc(buf, len - sizeof(uint16_t), CRC16_INIT); - return expected == - ((const uint16_t *)((const uint8_t *)buf + - (len % 2)))[len / sizeof(uint16_t) - 1]; -} - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ diff --git a/assets/User_code/component/crc16.h b/assets/User_code/component/crc16.h deleted file mode 100644 index 68b0a87..0000000 --- a/assets/User_code/component/crc16.h +++ /dev/null @@ -1,30 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include - -#include "user_math.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -#define CRC16_INIT 0XFFFF - -uint16_t CRC16_Calc(const uint8_t *buf, size_t len, uint16_t crc); -bool CRC16_Verify(const uint8_t *buf, size_t len); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/component/crc8.c b/assets/User_code/component/crc8.c deleted file mode 100644 index 66f4ad2..0000000 --- a/assets/User_code/component/crc8.c +++ /dev/null @@ -1,52 +0,0 @@ -#include "crc8.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -static const uint8_t crc8_tab[256] = { - 0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20, - 0xa3, 0xfd, 0x1f, 0x41, 0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e, - 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc, 0x23, 0x7d, 0x9f, 0xc1, - 0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62, - 0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e, - 0x1d, 0x43, 0xa1, 0xff, 0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5, - 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07, 0xdb, 0x85, 0x67, 0x39, - 0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a, - 0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45, - 0xc6, 0x98, 0x7a, 0x24, 0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b, - 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9, 0x8c, 0xd2, 0x30, 0x6e, - 0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd, - 0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31, - 0xb2, 0xec, 0x0e, 0x50, 0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c, - 0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee, 0x32, 0x6c, 0x8e, 0xd0, - 0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73, - 0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea, - 0x69, 0x37, 0xd5, 0x8b, 0x57, 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4, - 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16, 0xe9, 0xb7, 0x55, 0x0b, - 0x88, 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8, - 0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54, - 0xd7, 0x89, 0x6b, 0x35, -}; - -uint8_t CRC8_Calc(const uint8_t *buf, size_t len, uint8_t crc) { - /* loop over the buffer data */ - while (len-- > 0) crc = crc8_tab[(crc ^ *buf++) & 0xff]; - - return crc; -} - -bool CRC8_Verify(const uint8_t *buf, size_t len) { - if (len < 2) return false; - - uint8_t expected = CRC8_Calc(buf, len - sizeof(uint8_t), CRC8_INIT); - return expected == buf[len - sizeof(uint8_t)]; -} - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ diff --git a/assets/User_code/component/crc8.h b/assets/User_code/component/crc8.h deleted file mode 100644 index a376c71..0000000 --- a/assets/User_code/component/crc8.h +++ /dev/null @@ -1,30 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include -#include -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -#define CRC8_INIT 0xFF - -uint8_t CRC8_Calc(const uint8_t *buf, size_t len, uint8_t crc); -bool CRC8_Verify(const uint8_t *buf, size_t len); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/component/dependencies.csv b/assets/User_code/component/dependencies.csv deleted file mode 100644 index c3f1e6d..0000000 --- a/assets/User_code/component/dependencies.csv +++ /dev/null @@ -1,8 +0,0 @@ -ahrs,component/user_math.h -capacity,component/user_math.h -cmd,component/ahrs -error_detect,bsp/mm -pid,component/filter -filter,component/ahrs -mixer,component/user_math.h -ui,component/user_math.h \ No newline at end of file diff --git a/assets/User_code/component/describe.csv b/assets/User_code/component/describe.csv deleted file mode 100644 index 2752291..0000000 --- a/assets/User_code/component/describe.csv +++ /dev/null @@ -1,14 +0,0 @@ -pid,好用的 -ahrs,开源的AHRS算法，MadgwickAHRS -capacity,电池容量计算 -cmd,通用控制命令 -crc8,CRC8校验rm -crc16,CRC16校验rm -error_detect,错误检测 -filter,各类滤波器 -FreeRTOS_CLI,FreeRTOS命令行接口 -limiter,限幅器 -mixer,混控器 -ui,用户交互 -user_math,用户自定义数学函数 -pid,PID控制器 \ No newline at end of file diff --git a/assets/User_code/component/error_detect.c b/assets/User_code/component/error_detect.c deleted file mode 100644 index b29e591..0000000 --- a/assets/User_code/component/error_detect.c +++ /dev/null @@ -1,67 +0,0 @@ -/* - 错误检测。 -*/ - -#include "error_detect.h" - -#include -#include - -#include "bsp/mm.h" - -static ErrorDetect_t ged; -static bool inited = false; - -int8_t ErrorDetect_Init(void) { - if (inited) return -1; - - memset(&ged, 0x00, sizeof(ged)); - - for (uint8_t i = 0; i < ERROR_DETECT_UNIT_NUM; i++) { - ged.error[i].enable = true; - ged.error[i].priority = i; - ged.error[i].patient_lost = 500; - ged.error[i].patient_work = 500; - } - return 0; -} - -void ErrorDetect_Processing(uint32_t sys_time) { - for (uint8_t i = 0; i < ERROR_DETECT_UNIT_NUM; i++) { - if (!ged.error[i].enable) continue; - - if (sys_time - ged.error[i].showup > ged.error[i].patient_lost) { - ged.error[i].is_lost = true; - ged.error[i].found_lost = sys_time; - } else if (sys_time - ged.error[i].showup > ged.error[i].patient_lost) { - } else { - ged.error[i].cycle_time = ged.error[i].showup - ged.error[i].showup_last; - } - } -} - -bool ErrorDetect_ErrorExist(ErrorDetect_Unit_t unit) { - if (unit == ERROR_DETECT_UNIT_NO_DEV) { - for (uint8_t i = ERROR_DETECT_UNIT_NUM; i > 0; i--) { - if (ged.error[i].error_exist) return true; - } - return false; - } else { - return ged.error[unit].error_exist; - } -} - -ErrorDetect_Unit_t ErrorDetect_GetErrorUnit(void) { - for (uint8_t i = ERROR_DETECT_UNIT_NUM; i > 0; i--) { - if (ged.error[i].error_exist) return i; - } - return ERROR_DETECT_UNIT_NO_DEV; -} - -const ErrorDetect_Error_t *ErrorDetect_GetDetail(ErrorDetect_Unit_t unit) { - return &ged.error[unit]; -} - -void ErrorDetect_Update(ErrorDetect_Unit_t unit, uint32_t time_current) { - ged.error[unit].showup = time_current; -} diff --git a/assets/User_code/component/error_detect.h b/assets/User_code/component/error_detect.h deleted file mode 100644 index 3dba7a2..0000000 --- a/assets/User_code/component/error_detect.h +++ /dev/null @@ -1,82 +0,0 @@ -/* - 错误检测。 -*/ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -typedef enum { - /* Low priority */ - ERROR_DETECT_UNIT_NO_DEV = 0, - ERROR_DETECT_UNIT_REFEREE, - ERROR_DETECT_UNIT_CHASSIS_M1, - ERROR_DETECT_UNIT_CHASSIS_M2, - ERROR_DETECT_UNIT_CHASSIS_M3, - ERROR_DETECT_UNIT_CHASSIS_M4, - ERROR_DETECT_UNIT_TRIGGER, - ERROR_DETECT_UNIT_FEED, - ERROR_DETECT_UNIT_GIMBAL_YAW, - ERROR_DETECT_UNIT_GIMBAL_PIT, - ERROR_DETECT_UNIT_GYRO, - ERROR_DETECT_UNIT_ACCL, - ERROR_DETECT_UNIT_MAGN, - ERROR_DETECT_UNIT_DBUS, - ERROR_DETECT_UNIT_NUM, - /* High priority */ -} ErrorDetect_Unit_t; - -typedef struct { - bool enable; - uint8_t priority; - uint32_t patient_lost; - uint32_t patient_work; - - uint32_t showup; - uint32_t showup_last; - uint32_t cycle_time; - uint32_t duration_lost; - uint32_t duration_work; - uint32_t found_lost; - bool error_exist; - bool is_lost; - uint8_t data_is_error; - -} ErrorDetect_Error_t; - -typedef struct { - ErrorDetect_Error_t error[ERROR_DETECT_UNIT_NUM]; -} ErrorDetect_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -int8_t ErrorDetect_Init(void); -void ErrorDetect_Processing(uint32_t sys_time); -bool ErrorDetect_ErrorExist(ErrorDetect_Unit_t unit); -ErrorDetect_Unit_t ErrorDetect_GetErrorUnit(void); -const ErrorDetect_Error_t *ErrorDetect_GetDetail(ErrorDetect_Unit_t unit); - -void ErrorDetect_Update(ErrorDetect_Unit_t unit, uint32_t time_current); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/component/filter.c b/assets/User_code/component/filter.c deleted file mode 100644 index 5375b8e..0000000 --- a/assets/User_code/component/filter.c +++ /dev/null @@ -1,185 +0,0 @@ -/* - 各类滤波器。 -*/ - -#include "filter.h" - -#include "user_math.h" - -/** - * @brief 初始化滤波器 - * - * @param f 滤波器 - * @param sample_freq 采样频率 - * @param cutoff_freq 截止频率 - */ -void LowPassFilter2p_Init(LowPassFilter2p_t *f, float sample_freq, - float cutoff_freq) { - if (f == NULL) return; - - f->cutoff_freq = cutoff_freq; - - f->delay_element_1 = 0.0f; - f->delay_element_2 = 0.0f; - - if (f->cutoff_freq <= 0.0f) { - /* no filtering */ - f->b0 = 1.0f; - f->b1 = 0.0f; - f->b2 = 0.0f; - - f->a1 = 0.0f; - f->a2 = 0.0f; - - return; - } - const float fr = sample_freq / f->cutoff_freq; - const float ohm = tanf(M_PI / fr); - const float c = 1.0f + 2.0f * cosf(M_PI / 4.0f) * ohm + ohm * ohm; - - f->b0 = ohm * ohm / c; - f->b1 = 2.0f * f->b0; - f->b2 = f->b0; - - f->a1 = 2.0f * (ohm * ohm - 1.0f) / c; - f->a2 = (1.0f - 2.0f * cosf(M_PI / 4.0f) * ohm + ohm * ohm) / c; -} - -/** - * @brief 施加一次滤波计算 - * - * @param f 滤波器 - * @param sample 采样的值 - * @return float 滤波后的值 - */ -float LowPassFilter2p_Apply(LowPassFilter2p_t *f, float sample) { - if (f == NULL) return 0.0f; - - /* do the filtering */ - float delay_element_0 = - sample - f->delay_element_1 * f->a1 - f->delay_element_2 * f->a2; - - if (isinf(delay_element_0)) { - /* don't allow bad values to propagate via the filter */ - delay_element_0 = sample; - } - - const float output = delay_element_0 * f->b0 + f->delay_element_1 * f->b1 + - f->delay_element_2 * f->b2; - - f->delay_element_2 = f->delay_element_1; - f->delay_element_1 = delay_element_0; - - /* return the value. Should be no need to check limits */ - return output; -} - -/** - * @brief 重置滤波器 - * - * @param f 滤波器 - * @param sample 采样的值 - * @return float 滤波后的值 - */ -float LowPassFilter2p_Reset(LowPassFilter2p_t *f, float sample) { - if (f == NULL) return 0.0f; - - const float dval = sample / (f->b0 + f->b1 + f->b2); - - if (isfinite(dval)) { - f->delay_element_1 = dval; - f->delay_element_2 = dval; - - } else { - f->delay_element_1 = sample; - f->delay_element_2 = sample; - } - - return LowPassFilter2p_Apply(f, sample); -} - -/** - * @brief 初始化滤波器 - * - * @param f 滤波器 - * @param sample_freq 采样频率 - * @param notch_freq 中心频率 - * @param bandwidth 带宽 - */ -void NotchFilter_Init(NotchFilter_t *f, float sample_freq, float notch_freq, - float bandwidth) { - if (f == NULL) return; - - f->notch_freq = notch_freq; - f->bandwidth = bandwidth; - - f->delay_element_1 = 0.0f; - f->delay_element_2 = 0.0f; - - if (notch_freq <= 0.0f) { - /* no filtering */ - f->b0 = 1.0f; - f->b1 = 0.0f; - f->b2 = 0.0f; - - f->a1 = 0.0f; - f->a2 = 0.0f; - - return; - } - - const float alpha = tanf(M_PI * bandwidth / sample_freq); - const float beta = -cosf(M_2PI * notch_freq / sample_freq); - const float a0_inv = 1.0f / (alpha + 1.0f); - - f->b0 = a0_inv; - f->b1 = 2.0f * beta * a0_inv; - f->b2 = a0_inv; - - f->a1 = f->b1; - f->a2 = (1.0f - alpha) * a0_inv; -} - -/** - * @brief 施加一次滤波计算 - * - * @param f 滤波器 - * @param sample 采样的值 - * @return float 滤波后的值 - */ -inline float NotchFilter_Apply(NotchFilter_t *f, float sample) { - if (f == NULL) return 0.0f; - - /* Direct Form II implementation */ - const float delay_element_0 = - sample - f->delay_element_1 * f->a1 - f->delay_element_2 * f->a2; - const float output = delay_element_0 * f->b0 + f->delay_element_1 * f->b1 + - f->delay_element_2 * f->b2; - - f->delay_element_2 = f->delay_element_1; - f->delay_element_1 = delay_element_0; - - return output; -} - -/** - * @brief 重置滤波器 - * - * @param f 滤波器 - * @param sample 采样的值 - * @return float 滤波后的值 - */ -float NotchFilter_Reset(NotchFilter_t *f, float sample) { - if (f == NULL) return 0.0f; - - float dval = sample; - - if (fabsf(f->b0 + f->b1 + f->b2) > FLT_EPSILON) { - dval = dval / (f->b0 + f->b1 + f->b2); - } - - f->delay_element_1 = dval; - f->delay_element_2 = dval; - - return NotchFilter_Apply(f, sample); -} diff --git a/assets/User_code/component/filter.h b/assets/User_code/component/filter.h deleted file mode 100644 index ae2b072..0000000 --- a/assets/User_code/component/filter.h +++ /dev/null @@ -1,120 +0,0 @@ -/* - 各类滤波器。 -*/ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include "user_math.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* 二阶低通滤波器 */ -typedef struct { - float cutoff_freq; /* 截止频率 */ - - float a1; - float a2; - - float b0; - float b1; - float b2; - - float delay_element_1; - float delay_element_2; - -} LowPassFilter2p_t; - -/* 带阻滤波器 */ -typedef struct { - float notch_freq; /* 阻止频率 */ - float bandwidth; /* 带宽 */ - - float a1; - float a2; - - float b0; - float b1; - float b2; - float delay_element_1; - float delay_element_2; - -} NotchFilter_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/** - * @brief 初始化滤波器 - * - * @param f 滤波器 - * @param sample_freq 采样频率 - * @param cutoff_freq 截止频率 - */ -void LowPassFilter2p_Init(LowPassFilter2p_t *f, float sample_freq, - float cutoff_freq); - -/** - * @brief 施加一次滤波计算 - * - * @param f 滤波器 - * @param sample 采样的值 - * @return float 滤波后的值 - */ -float LowPassFilter2p_Apply(LowPassFilter2p_t *f, float sample); - -/** - * @brief 重置滤波器 - * - * @param f 滤波器 - * @param sample 采样的值 - * @return float 滤波后的值 - */ -float LowPassFilter2p_Reset(LowPassFilter2p_t *f, float sample); - -/** - * @brief 初始化滤波器 - * - * @param f 滤波器 - * @param sample_freq 采样频率 - * @param notch_freq 中心频率 - * @param bandwidth 带宽 - */ -void NotchFilter_Init(NotchFilter_t *f, float sample_freq, float notch_freq, - float bandwidth); - -/** - * @brief 施加一次滤波计算 - * - * @param f 滤波器 - * @param sample 采样的值 - * @return float 滤波后的值 - */ -float NotchFilter_Apply(NotchFilter_t *f, float sample); - -/** - * @brief 重置滤波器 - * - * @param f 滤波器 - * @param sample 采样的值 - * @return float 滤波后的值 - */ -float NotchFilter_Reset(NotchFilter_t *f, float sample); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/component/limiter.c b/assets/User_code/component/limiter.c deleted file mode 100644 index 71e4bf1..0000000 --- a/assets/User_code/component/limiter.c +++ /dev/null @@ -1,107 +0,0 @@ -/* - 限制器 -*/ - -#include "limiter.h" - -#include -#include - -#define POWER_BUFF_THRESHOLD 20 -#define CHASSIS_POWER_CHECK_FREQ 10 -#define CHASSIS_POWER_FACTOR_PASS 0.9f -#define CHASSIS_POWER_FACTOR_NO_PASS 1.5f - -#define CHASSIS_MOTOR_CIRCUMFERENCE 0.12f - -/** - * @brief 限制底盘功率不超过power_limit - * - * @param power_limit 最大功率 - * @param motor_out 电机输出值 - * @param speed 电机转速 - * @param len 电机数量 - * @return int8_t 0对应没有错误 - */ -int8_t PowerLimit_ChassicOutput(float power_limit, float *motor_out, - float *speed, uint32_t len) { - /* power_limit小于0时不进行限制 */ - if (motor_out == NULL || speed == NULL || power_limit < 0) return -1; - - float sum_motor_out = 0.0f; - for (uint32_t i = 0; i < len; i++) { - /* 总功率计算 P=F(由转矩电流表示)*V(由转速表示) */ - sum_motor_out += - fabsf(motor_out[i]) * fabsf(speed[i]) * CHASSIS_MOTOR_CIRCUMFERENCE; - } - - /* 保持每个电机输出值缩小时比例不变 */ - if (sum_motor_out > power_limit) { - for (uint32_t i = 0; i < len; i++) { - motor_out[i] *= power_limit / sum_motor_out; - } - } - - return 0; -} - -/** - * @brief 电容输入功率计算 - * - * @param power_in 底盘当前功率 - * @param power_limit 裁判系统功率限制值 - * @param power_buffer 缓冲能量 - * @return float 裁判系统输出最大值 - */ -float PowerLimit_CapInput(float power_in, float power_limit, - float power_buffer) { - float target_power = 0.0f; - - /* 计算下一个检测周期的剩余缓冲能量 */ - float heat_buff = power_buffer - (float)(power_in - power_limit) / - (float)CHASSIS_POWER_CHECK_FREQ; - if (heat_buff < POWER_BUFF_THRESHOLD) { /* 功率限制 */ - target_power = power_limit * CHASSIS_POWER_FACTOR_PASS; - } else { - target_power = power_limit * CHASSIS_POWER_FACTOR_NO_PASS; - } - - return target_power; -} - -/** - * @brief 使用缓冲能量计算底盘最大功率 - * - * @param power_limit 裁判系统功率限制值 - * @param power_buffer 缓冲能量 - * @return float 底盘输出最大值 - */ -float PowerLimit_TargetPower(float power_limit, float power_buffer) { - float target_power = 0.0f; - - /* 根据剩余缓冲能量计算输出功率 */ - target_power = power_limit * (power_buffer - 10.0f) / 20.0f; - if (target_power < 0.0f) target_power = 0.0f; - - return target_power; -} - -/** - * @brief 射击频率控制 - * - * @param heat 当前热量 - * @param heat_limit 热量上限 - * @param cooling_rate 冷却速率 - * @param heat_increase 冷却增加 - * @param shoot_freq 经过热量限制后的射击频率 - * @return float 射击频率 - */ -float HeatLimit_ShootFreq(float heat, float heat_limit, float cooling_rate, - float heat_increase, bool is_big) { - float heat_percent = heat / heat_limit; - float stable_freq = cooling_rate / heat_increase; - if (is_big) - return stable_freq; - else - return (heat_percent > 0.7f) ? stable_freq : 3.0f * stable_freq; -} diff --git a/assets/User_code/component/limiter.h b/assets/User_code/component/limiter.h deleted file mode 100644 index d0aa92a..0000000 --- a/assets/User_code/component/limiter.h +++ /dev/null @@ -1,63 +0,0 @@ -/* - 限制器 -*/ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/** - * @brief 限制底盘功率不超过power_limit - * - * @param power_limit 最大功率 - * @param motor_out 电机输出值 - * @param speed 电机转速 - * @param len 电机数量 - * @return int8_t 0对应没有错误 - */ -int8_t PowerLimit_ChassicOutput(float power_limit, float *motor_out, - float *speed, uint32_t len); -/** - * @brief 电容输入功率计算 - * - * @param power_in 底盘当前功率 - * @param power_limit 裁判系统功率限制值 - * @param power_buffer 缓冲能量 - * @return float 裁判系统输出最大值 - */ -float PowerLimit_CapInput(float power_in, float power_limit, - float power_buffer); -/** - * @brief 使用缓冲能量计算底盘最大功率 - * - * @param power_limit 裁判系统功率限制值 - * @param power_buffer 缓冲能量 - * @return float 底盘输出最大值 - */ -float PowerLimit_TargetPower(float power_limit, float power_buffer); - -/** - * @brief 射击频率控制 - * - * @param heat 当前热量 - * @param heat_limit 热量上限 - * @param cooling_rate 冷却速率 - * @param heat_increase 冷却增加 - * @param shoot_freq 经过热量限制后的射击频率 - * @return float 射击频率 - */ -float HeatLimit_ShootFreq(float heat, float heat_limit, float cooling_rate, - float heat_increase, bool is_big); diff --git a/assets/User_code/component/mixer.c b/assets/User_code/component/mixer.c deleted file mode 100644 index 554b92e..0000000 --- a/assets/User_code/component/mixer.c +++ /dev/null @@ -1,94 +0,0 @@ -/* - 混合器 -*/ - -#include "mixer.h" - -#include "math.h" - -/** - * @brief 初始化混合器 - * - * @param mixer 混合器 - * @param mode 混合器模式 - * @return int8_t 0对应没有错误 - */ -int8_t Mixer_Init(Mixer_t *mixer, Mixer_Mode_t mode) { - if (mixer == NULL) return -1; - - mixer->mode = mode; - return 0; -} - -/** - * @brief 计算输出 - * - * @param mixer 混合器 - * @param move_vec 运动向量 - * @param out 输出数组 - * @param len 输出数组长短 - * @param scale 输出放大因子 - * @return int8_t 0对应没有错误 - */ -int8_t Mixer_Apply(Mixer_t *mixer, MoveVector_t *move_vec, float *out, - int8_t len, float scale) { - if (mixer == NULL) return -1; - - switch (mixer->mode) { - case MIXER_MECANUM: - if (len == 4) { - out[0] = move_vec->vx - move_vec->vy + move_vec->wz; - out[1] = move_vec->vx + move_vec->vy + move_vec->wz; - out[2] = -move_vec->vx + move_vec->vy + move_vec->wz; - out[3] = -move_vec->vx - move_vec->vy + move_vec->wz; - } else { - goto error; - } - break; - - case MIXER_PARLFIX4: - if (len == 4) { - out[0] = -move_vec->vx; - out[1] = move_vec->vx; - out[2] = move_vec->vx; - out[3] = -move_vec->vx; - } else { - goto error; - } - case MIXER_PARLFIX2: - if (len == 2) { - out[0] = -move_vec->vx; - out[1] = move_vec->vx; - } else { - goto error; - } - case MIXER_SINGLE: - if (len == 1) { - out[0] = move_vec->vx; - } else { - goto error; - } - case MIXER_OMNICROSS: - case MIXER_OMNIPLUS: - goto error; - } - - float abs_max = 0.f; - for (int8_t i = 0; i < len; i++) { - const float abs_val = fabsf(out[i]); - abs_max = (abs_val > abs_max) ? abs_val : abs_max; - } - if (abs_max > 1.f) { - for (int8_t i = 0; i < len; i++) { - out[i] /= abs_max; - } - } - for (int8_t i = 0; i < len; i++) { - out[i] *= scale; - } - return 0; - -error: - for (uint8_t i = 0; i < len; i++) out[i] = 0; - return -1; -} diff --git a/assets/User_code/component/mixer.h b/assets/User_code/component/mixer.h deleted file mode 100644 index b8e4401..0000000 --- a/assets/User_code/component/mixer.h +++ /dev/null @@ -1,76 +0,0 @@ -/* - 混合器 -*/ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include "user_math.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/** 四轮布局 */ -/* 前 */ -/* 2 1 */ -/* 3 4 */ - -/* 两轮布局 */ -/* 前 */ -/* 2 1 */ - -/* 混合器模式 */ -typedef enum { - MIXER_MECANUM, /* 麦克纳姆轮 */ - MIXER_PARLFIX4, /* 平行四驱动轮 */ - MIXER_PARLFIX2, /* 平行对侧两驱动轮 */ - MIXER_OMNICROSS, /* 叉形全向轮 */ - MIXER_OMNIPLUS, /* 十字全向轮 */ - MIXER_SINGLE, /* 单个摩擦轮 */ -} Mixer_Mode_t; - -typedef struct { - Mixer_Mode_t mode; -} Mixer_t; /* 混合器主结构体 */ - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/** - * @brief 初始化混合器 - * - * @param mixer 混合器 - * @param mode 混合器模式 - * @return int8_t 0对应没有错误 - */ -int8_t Mixer_Init(Mixer_t *mixer, Mixer_Mode_t mode); - -/** - * @brief 计算输出 - * - * @param mixer 混合器 - * @param move_vec 运动向量 - * @param out 输出数组 - * @param len 输出数组长短 - * @param scale 输出放大因子 - * @return int8_t 0对应没有错误 - */ -int8_t Mixer_Apply(Mixer_t *mixer, MoveVector_t *move_vec, float *out, - int8_t len, float scale); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/component/pid.c b/assets/User_code/component/pid.c deleted file mode 100644 index 0a3c7d4..0000000 --- a/assets/User_code/component/pid.c +++ /dev/null @@ -1,158 +0,0 @@ -/* - Modified from - https://github.com/PX4/Firmware/blob/master/src/lib/pid/pid.cpp - - 参考资料： - https://github.com/PX4/Firmware/issues/12362 - https://dev.px4.io/master/en/flight_stack/controller_diagrams.html - https://docs.px4.io/master/en/config_mc/pid_tuning_guide_multicopter.html#standard_form - https://www.controleng.com/articles/not-all-pid-controllers-are-the-same/ - https://en.wikipedia.org/wiki/PID_controller - http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-derivative-kick/ -*/ - -#include "pid.h" - -#define SIGMA 0.000001f - -/** - * @brief 初始化PID - * - * @param pid PID结构体 - * @param mode PID模式 - * @param sample_freq 采样频率 - * @param param PID参数 - * @return int8_t 0对应没有错误 - */ -int8_t PID_Init(KPID_t *pid, KPID_Mode_t mode, float sample_freq, - const KPID_Params_t *param) { - if (pid == NULL) return -1; - - if (!isfinite(param->p)) return -1; - if (!isfinite(param->i)) return -1; - if (!isfinite(param->d)) return -1; - if (!isfinite(param->i_limit)) return -1; - if (!isfinite(param->out_limit)) return -1; - pid->param = param; - - float dt_min = 1.0f / sample_freq; - if (isfinite(dt_min)) - pid->dt_min = dt_min; - else - return -1; - - LowPassFilter2p_Init(&(pid->dfilter), sample_freq, pid->param->d_cutoff_freq); - - pid->mode = mode; - PID_Reset(pid); - return 0; -} - -/** - * @brief PID计算 - * - * @param pid PID结构体 - * @param sp 设定值 - * @param fb 反馈值 - * @param fb_dot 反馈值微分 - * @param dt 间隔时间 - * @return float 计算的输出 - */ -float PID_Calc(KPID_t *pid, float sp, float fb, float fb_dot, float dt) { - if (!isfinite(sp) || !isfinite(fb) || !isfinite(fb_dot) || !isfinite(dt)) { - return pid->last.out; - } - - /* 计算误差值 */ - const float err = CircleError(sp, fb, pid->param->range); - - /* 计算P项 */ - const float k_err = err * pid->param->k; - - /* 计算D项 */ - const float k_fb = pid->param->k * fb; - const float filtered_k_fb = LowPassFilter2p_Apply(&(pid->dfilter), k_fb); - - float d; - switch (pid->mode) { - case KPID_MODE_CALC_D: - /* 通过fb计算D，避免了由于sp变化导致err突变的问题 */ - /* 当sp不变时，err的微分等于负的fb的微分 */ - d = (filtered_k_fb - pid->last.k_fb) / fmaxf(dt, pid->dt_min); - break; - - case KPID_MODE_SET_D: - d = fb_dot; - break; - - case KPID_MODE_NO_D: - d = 0.0f; - break; - } - pid->last.err = err; - pid->last.k_fb = filtered_k_fb; - - if (!isfinite(d)) d = 0.0f; - - /* 计算PD输出 */ - float output = (k_err * pid->param->p) - (d * pid->param->d); - - /* 计算I项 */ - const float i = pid->i + (k_err * dt); - const float i_out = i * pid->param->i; - - if (pid->param->i > SIGMA) { - /* 检查是否饱和 */ - if (isfinite(i)) { - if ((fabsf(output + i_out) <= pid->param->out_limit) && - (fabsf(i) <= pid->param->i_limit)) { - /* 未饱和，使用新积分 */ - pid->i = i; - } - } - } - - /* 计算PID输出 */ - output += i_out; - - /* 限制输出 */ - if (isfinite(output)) { - if (pid->param->out_limit > SIGMA) { - output = AbsClip(output, pid->param->out_limit); - } - pid->last.out = output; - } - return pid->last.out; -} - -/** - * @brief 重置微分项 - * - * @param pid PID结构体 - * @return int8_t 0对应没有错误 - */ -int8_t PID_ResetIntegral(KPID_t *pid) { - if (pid == NULL) return -1; - - pid->i = 0.0f; - - return 0; -} - -/** - * @brief 重置PID - * - * @param pid PID结构体 - * @return int8_t 0对应没有错误 - */ -int8_t PID_Reset(KPID_t *pid) { - if (pid == NULL) return -1; - - pid->i = 0.0f; - pid->last.err = 0.0f; - pid->last.k_fb = 0.0f; - pid->last.out = 0.0f; - LowPassFilter2p_Reset(&(pid->dfilter), 0.0f); - - return 0; -} diff --git a/assets/User_code/component/pid.h b/assets/User_code/component/pid.h deleted file mode 100644 index 4b451eb..0000000 --- a/assets/User_code/component/pid.h +++ /dev/null @@ -1,107 +0,0 @@ -/* - Modified from - https://github.com/PX4/Firmware/blob/master/src/lib/pid/pid.h -*/ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include - -#include "filter.h" -#include "user_math.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* PID模式 */ -typedef enum { - KPID_MODE_NO_D = 0, /* 不使用微分项，PI控制器 */ - KPID_MODE_CALC_D, /* 根据反馈的值计算离散微分，忽略PID_Calc中的fb_dot */ - KPID_MODE_SET_D /* 直接提供微分值，PID_Calc中的fb_dot将被使用，(Gyros) */ -} KPID_Mode_t; - -/* PID参数 */ -typedef struct { - float k; /* 控制器增益，设置为1用于并行模式 */ - float p; /* 比例项增益，设置为1用于标准形式 */ - float i; /* 积分项增益 */ - float d; /* 微分项增益 */ - float i_limit; /* 积分项上限 */ - float out_limit; /* 输出绝对值限制 */ - float d_cutoff_freq; /* D项低通截止频率 */ - float range; /* 计算循环误差时使用，大于0时启用 */ -} KPID_Params_t; - -/* PID主结构体 */ -typedef struct { - KPID_Mode_t mode; - const KPID_Params_t *param; - - float dt_min; /* 最小PID_Calc调用间隔 */ - float i; /* 积分 */ - - struct { - float err; /* 上次误差 */ - float k_fb; /* 上次反馈值 */ - float out; /* 上次输出 */ - } last; - - LowPassFilter2p_t dfilter; /* D项低通滤波器 */ -} KPID_t; - -/** - * @brief 初始化PID - * - * @param pid PID结构体 - * @param mode PID模式 - * @param sample_freq 采样频率 - * @param param PID参数 - * @return int8_t 0对应没有错误 - */ -int8_t PID_Init(KPID_t *pid, KPID_Mode_t mode, float sample_freq, - const KPID_Params_t *param); - -/** - * @brief PID计算 - * - * @param pid PID结构体 - * @param sp 设定值 - * @param fb 反馈值 - * @param fb_dot 反馈值微分 - * @param dt 间隔时间 - * @return float 计算的输出 - */ -float PID_Calc(KPID_t *pid, float sp, float fb, float fb_dot, float dt); - -/** - * @brief 重置微分项 - * - * @param pid PID结构体 - * @return int8_t 0对应没有错误 - */ -int8_t PID_ResetIntegral(KPID_t *pid); - -/** - * @brief 重置PID - * - * @param pid PID结构体 - * @return int8_t 0对应没有错误 - */ -int8_t PID_Reset(KPID_t *pid); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/component/ui.c b/assets/User_code/component/ui.c deleted file mode 100644 index c3126bd..0000000 --- a/assets/User_code/component/ui.c +++ /dev/null @@ -1,301 +0,0 @@ -/* - UI相关命令 -*/ -#include "component/ui.h" - -#include - -/** - * @brief UI_绘制直线段 - * - * @param grapic_line 结构体 - * @param name 图形名首地址 - * @param type_op 操作类型 - * @param layer 图层数 - * @param color 颜色 - * @param width 线条宽度 - * @param x_start 起点x坐标 - * @param y_start 起点y坐标 - * @param x_end 终点x坐标 - * @param y_end 终点y坐标 - * @return int8_t - */ -int8_t UI_DrawLine(UI_Ele_t *grapic_line, const char *name, uint8_t type_op, - uint8_t layer, uint8_t color, uint16_t width, - uint16_t x_start, uint16_t y_start, uint16_t x_end, - uint16_t y_end) { - if (grapic_line == NULL) return -1; - snprintf((char *)grapic_line->name, 2, "%s", name); - grapic_line->layer = layer; - grapic_line->type_op = type_op; - grapic_line->type_ele = 0; - grapic_line->color = color; - grapic_line->width = width; - grapic_line->x_start = x_start; - grapic_line->y_start = y_start; - grapic_line->x_end = x_end; - grapic_line->y_end = y_end; - return 0; -} - -/** - * @brief UI_绘制矩形 - * - * @param grapic_rectangle 结构体 - * @param name 图形名首地址 - * @param type_op 操作类型 - * @param layer 图层数 - * @param color 颜色 - * @param width 线条宽度 - * @param x_start 起点x坐标 - * @param y_start 起点y坐标 - * @param x_end 对角顶点x坐标 - * @param y_end 对角顶点y坐标 - * @return int8_t - */ -int8_t UI_DrawRectangle(UI_Ele_t *grapic_rectangle, const char *name, - uint8_t type_op, uint8_t layer, uint8_t color, - uint16_t width, uint16_t x_start, uint16_t y_start, - uint16_t x_end, uint16_t y_end) { - if (grapic_rectangle == NULL) return -1; - snprintf((char *)grapic_rectangle->name, 2, "%s", name); - grapic_rectangle->type_op = type_op; - grapic_rectangle->type_ele = 1; - grapic_rectangle->layer = layer; - grapic_rectangle->color = color; - grapic_rectangle->width = width; - grapic_rectangle->x_start = x_start; - grapic_rectangle->y_start = y_start; - grapic_rectangle->x_end = x_end; - grapic_rectangle->y_end = y_end; - return 0; -} - -/** - * @brief UI_绘制正圆 - * - * @param grapic_cycle 结构体 - * @param name 图形名首地址 - * @param type_op 操作类型 - * @param layer 图层数 - * @param color 颜色 - * @param width 线条宽度 - * @param x_center 圆心x坐标 - * @param y_center 圆心y坐标 - * @param radius 半径 - * @return int8_t - */ -int8_t UI_DrawCycle(UI_Ele_t *grapic_cycle, const char *name, uint8_t type_op, - uint8_t layer, uint8_t color, uint16_t width, - uint16_t x_center, uint16_t y_center, uint16_t radius) { - if (grapic_cycle == NULL) return -1; - snprintf((char *)grapic_cycle->name, 2, "%s", name); - grapic_cycle->type_op = type_op; - grapic_cycle->layer = layer; - grapic_cycle->type_ele = 2; - grapic_cycle->color = color; - grapic_cycle->width = width; - grapic_cycle->x_start = x_center; - grapic_cycle->y_start = y_center; - grapic_cycle->radius = radius; - return 0; -} - -/** - * @brief UI_绘制椭圆 - * - * @param grapic_oval 结构体 - * @param name 图形名首地址 - * @param type_op 操作类型 - * @param layer 图层数 - * @param color 颜色 - * @param width 线条宽度 - * @param x_center 圆心x坐标 - * @param y_center 圆心y坐标 - * @param x_semiaxis x半轴长度 - * @param y_semiaxis y半轴长度 - * @return int8_t - */ -int8_t UI_DrawOval(UI_Ele_t *grapic_oval, const char *name, uint8_t type_op, - uint8_t layer, uint8_t color, uint16_t width, - uint16_t x_center, uint16_t y_center, uint16_t x_semiaxis, - uint16_t y_semiaxis) { - if (grapic_oval == NULL) return -1; - snprintf((char *)grapic_oval->name, 2, "%s", name); - grapic_oval->type_op = type_op; - grapic_oval->type_ele = 3; - grapic_oval->layer = layer; - grapic_oval->color = color; - grapic_oval->width = width; - grapic_oval->x_start = x_center; - grapic_oval->y_start = y_center; - grapic_oval->x_end = x_semiaxis; - grapic_oval->y_end = y_semiaxis; - return 0; -} - -/** - * @brief UI_绘制圆弧 - * - * @param grapic_arc 结构体 - * @param name 图形名首地址 - * @param type_op 操作类型 - * @param layer 图层数 - * @param color 颜色 - * @param angle_start 起始角度 - * @param angle_end 终止角度 - * @param width 线条宽度 - * @param x_center 圆心x坐标 - * @param y_center 圆心y坐标 - * @param x_semiaxis x半轴长度 - * @param y_semiaxis y半轴长度 - * @return int8_t - */ -int8_t UI_DrawArc(UI_Ele_t *grapic_arc, const char *name, uint8_t type_op, - uint8_t layer, uint8_t color, uint16_t angle_start, - uint16_t angle_end, uint16_t width, uint16_t x_center, - uint16_t y_center, uint16_t x_semiaxis, uint16_t y_semiaxis) { - if (grapic_arc == NULL) return -1; - snprintf((char *)grapic_arc->name, 2, "%s", name); - grapic_arc->type_op = type_op; - grapic_arc->type_ele = 4; - grapic_arc->layer = layer; - grapic_arc->color = color; - grapic_arc->angle_start = angle_start; - grapic_arc->angle_end = angle_end; - grapic_arc->width = width; - grapic_arc->x_start = x_center; - grapic_arc->y_start = y_center; - grapic_arc->x_end = x_semiaxis; - grapic_arc->y_end = y_semiaxis; - return 0; -} - -/** - * @brief UI_绘制浮点数 - * - * @param grapic_float 结构体 - * @param name 图形名首地址 - * @param type_op 操作类型 - * @param layer 图层数 - * @param color 颜色 - * @param font_size 字体大小 - * @param digits 小数点后有效位数 - * @param width 线条宽度 - * @param x_start 起点x坐标 - * @param y_start 起点y坐标 - * @param float_high 32位浮点数 - * @param float_middle 32位浮点数 - * @param float_low 32位浮点数 - * @return int8_t - */ -int8_t UI_DrawFloating(UI_Ele_t *grapic_floating, const char *name, - uint8_t type_op, uint8_t layer, uint8_t color, - uint16_t font_size, uint16_t digits, uint16_t width, - uint16_t x_start, uint16_t y_start, uint16_t float_high, - uint16_t float_middle, uint16_t float_low) { - if (grapic_floating == NULL) return -1; - snprintf((char *)grapic_floating->name, 2, "%s", name); - grapic_floating->type_op = type_op; - grapic_floating->type_ele = 5; - grapic_floating->layer = layer; - grapic_floating->color = color; - grapic_floating->angle_start = font_size; - grapic_floating->angle_end = digits; - grapic_floating->width = width; - grapic_floating->x_start = x_start; - grapic_floating->y_start = y_start; - grapic_floating->radius = float_high; - grapic_floating->x_end = float_middle; - grapic_floating->y_end = float_low; - return 0; -} - -/** - * @brief UI_绘制整型数 - * - * @param grapic_integer 结构体 - * @param name 图形名首地址 - * @param type_op 操作类型 - * @param layer 图层数 - * @param color 颜色 - * @param font_size 字体大小 - * @param width 线条宽度 - * @param x_start 起点x坐标 - * @param y_start 起点y坐标 - * @param int32_t_high 32位整型数 - * @param int32_t_middle 32位整型数 - * @param int32_t_low 32位整型数 - * @return int8_t - */ -int8_t UI_DrawInteger(UI_Ele_t *grapic_integer, const char *name, - uint8_t type_op, uint8_t layer, uint8_t color, - uint16_t font_size, uint16_t width, uint16_t x_start, - uint16_t y_start, uint16_t int32_t_high, - uint16_t int32_t_middle, uint16_t int32_t_low) { - if (grapic_integer == NULL) return -1; - snprintf((char *)grapic_integer->name, 2, "%s", name); - grapic_integer->type_op = type_op; - grapic_integer->type_ele = 6; - grapic_integer->layer = layer; - grapic_integer->color = color; - grapic_integer->angle_start = font_size; - grapic_integer->width = width; - grapic_integer->x_start = x_start; - grapic_integer->y_start = y_start; - grapic_integer->radius = int32_t_high; - grapic_integer->x_end = int32_t_middle; - grapic_integer->y_end = int32_t_low; - return 0; -} - -/** - * @brief UI_绘制字符 - * - * @param grapic_character 结构体 - * @param name 图形名首地址 - * @param type_op 操作类型 - * @param layer 图层数 - * @param color 颜色 - * @param font_size 字体大小 - * @param length 字符长度 - * @param width 线条宽度 - * @param x_start 起点x坐标 - * @param y_start 起点y坐标 - * @param character 字符串首地址 - * @return int8_t - */ -int8_t UI_DrawCharacter(UI_Drawcharacter_t *grapic_character, const char *name, - uint8_t type_op, uint8_t layer, uint8_t color, - uint16_t font_size, uint16_t length, uint16_t width, - uint16_t x_start, uint16_t y_start, - const char *character) { - if (grapic_character == NULL) return -1; - snprintf((char *)grapic_character->grapic.name, 2, "%s", name); - grapic_character->grapic.type_op = type_op; - grapic_character->grapic.type_ele = 7; - grapic_character->grapic.layer = layer; - grapic_character->grapic.color = color; - grapic_character->grapic.angle_start = font_size; - grapic_character->grapic.angle_end = length; - grapic_character->grapic.width = width; - grapic_character->grapic.x_start = x_start; - grapic_character->grapic.y_start = y_start; - snprintf((char *)grapic_character->character, 29, "%s", character); - return 0; -} - -/** - * @brief UI_删除图层 - * - * @param del 结构体 - * @param opt 操作 - * @param layer 图层 - * @return int8_t - */ -int8_t UI_DelLayer(UI_Del_t *del, uint8_t opt, uint8_t layer) { - if (del == NULL) return -1; - del->del_operation = opt; - del->layer = layer; - return 0; -} \ No newline at end of file diff --git a/assets/User_code/component/ui.h b/assets/User_code/component/ui.h deleted file mode 100644 index 4f742d3..0000000 --- a/assets/User_code/component/ui.h +++ /dev/null @@ -1,284 +0,0 @@ -/* - UI相关命令 -*/ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include -#include - -#include "component/user_math.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -#define UI_DEL_OPERATION_NOTHING (0) -#define UI_DEL_OPERATION_DEL (1) -#define UI_DEL_OPERATION_DEL_ALL (2) - -#define UI_GRAPIC_OPERATION_NOTHING (0) -#define UI_GRAPIC_OPERATION_ADD (1) -#define UI_GRAPIC_OPERATION_REWRITE (2) -#define UI_GRAPIC_OPERATION_DEL (3) - -#define UI_GRAPIC_LAYER_CONST (0) -#define UI_GRAPIC_LAYER_AUTOAIM (1) -#define UI_GRAPIC_LAYER_CHASSIS (2) -#define UI_GRAPIC_LAYER_CAP (3) -#define UI_GRAPIC_LAYER_GIMBAL (4) -#define UI_GRAPIC_LAYER_SHOOT (5) -#define UI_GRAPIC_LAYER_CMD (6) - -#define UI_DEFAULT_WIDTH (0x01) - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ -#define UI_CHAR_DEFAULT_WIDTH (0x02) - -typedef enum { - RED_BLUE, - YELLOW, - GREEN, - ORANGE, - PURPLISH_RED, - PINK, - CYAN, - BLACK, - WHITE -} UI_Color_t; - -typedef struct __packed { - uint8_t op; - uint8_t num_layer; -} UI_InterStudent_UIDel_t; - -typedef struct __packed { - uint8_t name[3]; - uint8_t type_op : 3; - uint8_t type_ele : 3; - uint8_t layer : 4; - uint8_t color : 4; - uint16_t angle_start : 9; - uint16_t angle_end : 9; - uint16_t width : 10; - uint16_t x_start : 11; - uint16_t y_start : 11; - uint16_t radius : 10; - uint16_t x_end : 11; - uint16_t y_end : 11; -} UI_Ele_t; - -typedef struct __packed { - UI_Ele_t grapic; -} UI_Drawgrapic_1_t; - -typedef struct __packed { - UI_Ele_t grapic[2]; -} UI_Drawgrapic_2_t; - -typedef struct __packed { - UI_Ele_t grapic[5]; -} UI_Drawgrapic_5_t; - -typedef struct __packed { - UI_Ele_t grapic[7]; -} UI_Drawgrapic_7_t; - -typedef struct __packed { - UI_Ele_t grapic; - uint8_t character[30]; -} UI_Drawcharacter_t; - -typedef struct __packed { - uint8_t del_operation; - uint8_t layer; -} UI_Del_t; - -/** - * @brief UI_绘制直线段 - * - * @param grapic_line 结构体 - * @param name 图形名首地址 - * @param type_op 操作类型 - * @param layer 图层数 - * @param color 颜色 - * @param width 线条宽度 - * @param x_start 起点x坐标 - * @param y_start 起点y坐标 - * @param x_end 终点x坐标 - * @param y_end 终点y坐标 - * @return int8_t - */ -int8_t UI_DrawLine(UI_Ele_t *grapic_line, const char *name, uint8_t type_op, - uint8_t layer, uint8_t color, uint16_t width, - uint16_t x_start, uint16_t y_start, uint16_t x_end, - uint16_t y_end); - -/** - * @brief UI_绘制矩形 - * - * @param grapic_rectangle 结构体 - * @param name 图形名首地址 - * @param type_op 操作类型 - * @param layer 图层数 - * @param color 颜色 - * @param width 线条宽度 - * @param x_start 起点x坐标 - * @param y_start 起点y坐标 - * @param x_end 对角顶点x坐标 - * @param y_end 对角顶点y坐标 - * @return int8_t - */ -int8_t UI_DrawRectangle(UI_Ele_t *grapic_rectangle, const char *name, - uint8_t type_op, uint8_t layer, uint8_t color, - uint16_t width, uint16_t x_start, uint16_t y_start, - uint16_t x_end, uint16_t y_end); - -/** - * @brief UI_绘制正圆 - * - * @param grapic_cycle 结构体 - * @param name 图形名首地址 - * @param type_op 操作类型 - * @param layer 图层数 - * @param color 颜色 - * @param width 线条宽度 - * @param x_center 圆心x坐标 - * @param y_center 圆心y坐标 - * @param radius 半径 - * @return int8_t - */ -int8_t UI_DrawCycle(UI_Ele_t *grapic_cycle, const char *name, uint8_t type_op, - uint8_t layer, uint8_t color, uint16_t width, - uint16_t x_center, uint16_t y_center, uint16_t radius); - -/** - * @brief UI_绘制椭圆 - * - * @param grapic_oval 结构体 - * @param name 图形名首地址 - * @param type_op 操作类型 - * @param layer 图层数 - * @param color 颜色 - * @param width 线条宽度 - * @param x_center 圆心x坐标 - * @param y_center 圆心y坐标 - * @param x_semiaxis x半轴长度 - * @param y_semiaxis y半轴长度 - * @return int8_t - */ -int8_t UI_DrawOval(UI_Ele_t *grapic_oval, const char *name, uint8_t type_op, - uint8_t layer, uint8_t color, uint16_t width, - uint16_t x_center, uint16_t y_center, uint16_t x_semiaxis, - uint16_t y_semiaxis); - -/** - * @brief UI_绘制圆弧 - * - * @param grapic_arc 结构体 - * @param name 图形名首地址 - * @param type_op 操作类型 - * @param layer 图层数 - * @param color 颜色 - * @param angle_start 起始角度 - * @param angle_end 终止角度 - * @param width 线条宽度 - * @param x_center 圆心x坐标 - * @param y_center 圆心y坐标 - * @param x_semiaxis x半轴长度 - * @param y_semiaxis y半轴长度 - * @return int8_t - */ -int8_t UI_DrawArc(UI_Ele_t *grapic_arc, const char *name, uint8_t type_op, - uint8_t layer, uint8_t color, uint16_t angle_start, - uint16_t angle_end, uint16_t width, uint16_t x_center, - uint16_t y_center, uint16_t x_semiaxis, uint16_t y_semiaxis); - -/** - * @brief UI_绘制浮点数 - * - * @param grapic_float 结构体 - * @param name 图形名首地址 - * @param type_op 操作类型 - * @param layer 图层数 - * @param color 颜色 - * @param font_size 字体大小 - * @param digits 小数点后有效位数 - * @param width 线条宽度 - * @param x_start 起点x坐标 - * @param y_start 起点y坐标 - * @param float_high 32位浮点数 - * @param float_middle 32位浮点数 - * @param float_low 32位浮点数 - * @return int8_t - */ -int8_t UI_DrawFloating(UI_Ele_t *grapic_floating, const char *name, - uint8_t type_op, uint8_t layer, uint8_t color, - uint16_t font_size, uint16_t digits, uint16_t width, - uint16_t x_start, uint16_t y_start, uint16_t float_high, - uint16_t float_middle, uint16_t float_low); - -/** - * @brief UI_绘制整型数 - * - * @param grapic_integer 结构体 - * @param name 图形名首地址 - * @param type_op 操作类型 - * @param layer 图层数 - * @param color 颜色 - * @param font_size 字体大小 - * @param width 线条宽度 - * @param x_start 起点x坐标 - * @param y_start 起点y坐标 - * @param int32_t_high 32位整型数 - * @param int32_t_middle 32位整型数 - * @param int32_t_low 32位整型数 - * @return int8_t - */ -int8_t UI_DrawInteger(UI_Ele_t *grapic_integer, const char *name, - uint8_t type_op, uint8_t layer, uint8_t color, - uint16_t font_size, uint16_t width, uint16_t x_start, - uint16_t y_start, uint16_t int32_t_high, - uint16_t int32_t_middle, uint16_t int32_t_low); - -/** - * @brief UI_绘制字符 - * - * @param grapic_character 结构体 - * @param name 图形名首地址 - * @param type_op 操作类型 - * @param layer 图层数 - * @param color 颜色 - * @param font_size 字体大小 - * @param length 字符长度 - * @param width 线条宽度 - * @param x_start 起点x坐标 - * @param y_start 起点y坐标 - * @param character 字符串首地址 - * @return int8_t - */ -int8_t UI_DrawCharacter(UI_Drawcharacter_t *grapic_character, const char *name, - uint8_t type_op, uint8_t layer, uint8_t color, - uint16_t font_size, uint16_t length, uint16_t width, - uint16_t x_start, uint16_t y_start, - const char *character); - -/** - * @brief UI_删除图层 - * - * @param del 结构体 - * @param opt 操作 - * @param layer 图层 - * @return int8_t - */ -int8_t UI_DelLayer(UI_Del_t *del, uint8_t opt, uint8_t layer); - -#ifdef __cplusplus -} -#endif \ No newline at end of file diff --git a/assets/User_code/component/user_math.c b/assets/User_code/component/user_math.c deleted file mode 100644 index 5e0b0c4..0000000 --- a/assets/User_code/component/user_math.c +++ /dev/null @@ -1,134 +0,0 @@ -/* - 自定义的数学运算。 -*/ - -#include "user_math.h" -#include -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -inline float InvSqrt(float x) { -//#if 0 - /* Fast inverse square-root */ - /* See: http://en.wikipedia.org/wiki/Fast_inverse_square_root */ - float halfx = 0.5f * x; - float y = x; - long i = *(long*)&y; - i = 0x5f3759df - (i>>1); - y = *(float*)&i; - y = y * (1.5f - (halfx * y * y)); - y = y * (1.5f - (halfx * y * y)); - return y; -//#else -// return 1.0f / sqrtf(x); -//#endif -} - -inline float AbsClip(float in, float limit) { - return (in < -limit) ? -limit : ((in > limit) ? limit : in); -} - -float fAbs(float in){ - return (in > 0) ? in : -in; -} - -inline void Clip(float *origin, float min, float max) { - if (*origin > max) *origin = max; - if (*origin < min) *origin = min; -} - -inline float Sign(float in) { return (in > 0) ? 1.0f : 0.0f; } - -/** - * \brief 将运动向量置零 - * - * \param mv 被操作的值 - */ -inline void ResetMoveVector(MoveVector_t *mv) { memset(mv, 0, sizeof(*mv)); } - -/** - * \brief 计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x - * 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b; - * \param sp 设定值 - * \param fb 反馈值 - * \param range 被操作的值变化范围，正数时起效 - * \return 函数运行结果 - */ -inline float CircleError(float sp, float fb, float range) { - float error = sp - fb; - if (range > 0.0f) { - float half_range = range / 2.0f; - - if (error > half_range) - error -= range; - else if (error < -half_range) - error += range; - } - return error; -} - -/** - * \brief 循环加法，适用于被操作的值在（0,range）范围内循环的情况 - * \param origin 被操作的值 - * \param delta 变化量 - * \param range 被操作的值变化范围，正数时起效 - */ -inline void CircleAdd(float *origin, float delta, float range) { - float out = *origin + delta; - if (range > 0.0f) { - if (out >= range) - out -= range; - else if (out < 0.0f) - out += range; - } - *origin = out; -} - -/** - * @brief 循环值取反 - * - * @param origin 被操作的值 - */ -inline void CircleReverse(float *origin) { *origin = -(*origin) + M_2PI; } - -/** - * @brief 根据目标弹丸速度计算摩擦轮转速 - * - * @param bullet_speed 弹丸速度 - * @param fric_radius 摩擦轮半径 - * @param is17mm 是否为17mm - * @return 摩擦轮转速 - */ -inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) { - if (bullet_speed == 0.0f) return 0.f; - if (is17mm) { - if (bullet_speed == 15.0f) return 4670.f; - if (bullet_speed == 18.0f) return 5200.f; - if (bullet_speed == 30.0f) return 7350.f; - } else { - if (bullet_speed == 10.0f) return 4450.f; - if (bullet_speed == 16.0f) return 5800.f; - } - - /* 不为裁判系统设定值时,计算转速 */ - return 60.0f * (float)bullet_speed / (M_2PI * fric_radius); -} - -// /** -// * @brief 断言失败处理 -// * -// * @param file 文件名 -// * @param line 行号 -// */ -// void VerifyFailed(const char *file, uint32_t line) { -// UNUSED(file); -// UNUSED(line); -// while (1) { -// __NOP(); -// } -// } - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ \ No newline at end of file diff --git a/assets/User_code/component/user_math.h b/assets/User_code/component/user_math.h deleted file mode 100644 index 6e61ca2..0000000 --- a/assets/User_code/component/user_math.h +++ /dev/null @@ -1,179 +0,0 @@ -/* - 自定义的数学运算。 -*/ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include -#include -#include -#include -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -#define M_DEG2RAD_MULT (0.01745329251f) -#define M_RAD2DEG_MULT (57.2957795131f) - -#ifndef M_PI_2 -#define M_PI_2 1.57079632679f -#endif - -#ifndef M_PI -#define M_PI 3.14159265358979323846f -#endif - -#ifndef M_2PI -#define M_2PI 6.28318530717958647692f -#endif - -#ifndef __packed - #define __packed __attribute__((__packed__)) -#endif /* __packed */ - -#define max(a, b) \ - ({ \ - __typeof__(a) _a = (a); \ - __typeof__(b) _b = (b); \ - _a > _b ? _a : _b; \ - }) - -#define min(a, b) \ - ({ \ - __typeof__(a) _a = (a); \ - __typeof__(b) _b = (b); \ - _a < _b ? _a : _b; \ - }) - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - - - -/* 移动向量 */ -typedef struct { - float vx; /* 前后平移 */ - float vy; /* 左右平移 */ - float wz; /* 转动 */ -} MoveVector_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -float InvSqrt(float x); - -float AbsClip(float in, float limit); - -float fAbs(float in); - -void Clip(float *origin, float min, float max); - -float Sign(float in); - -/** - * \brief 将运动向量置零 - * - * \param mv 被操作的值 - */ -void ResetMoveVector(MoveVector_t *mv); - -/** - * \brief 计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x - * 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b; - * \param sp 设定值 - * \param fb 反馈值 - * \param range 被操作的值变化范围，正数时起效 - * \return 函数运行结果 - */ -float CircleError(float sp, float fb, float range); - -/** - * \brief 循环加法，适用于被操作的值在（0,range）范围内循环的情况 - * \param origin 被操作的值 - * \param delta 变化量 - * \param range 被操作的值变化范围，正数时起效 - */ -void CircleAdd(float *origin, float delta, float range); - -/** - * @brief 循环值取反 - * - * @param origin 被操作的值 - */ -void CircleReverse(float *origin); - -/** - * @brief 根据目标弹丸速度计算摩擦轮转速 - * - * @param bullet_speed 弹丸速度 - * @param fric_radius 摩擦轮半径 - * @param is17mm 是否为17mm - * @return 摩擦轮转速 - */ -float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm); - -#ifdef __cplusplus -} -#endif - -#ifdef DEBUG - -/** - * @brief 如果表达式的值为假则运行处理函数 - * - */ -#define ASSERT(expr) \ - do { \ - if (!(expr)) { \ - VerifyFailed(__FILE__, __LINE__); \ - } \ - } while (0) -#else - -/** - * @brief 未定DEBUG，表达式不会运行，断言被忽略 - * - */ -#define ASSERT(expr) ((void)(0)) -#endif - -#ifdef DEBUG - -/** - * @brief 如果表达式的值为假则运行处理函数 - * - */ -#define VERIFY(expr) \ - do { \ - if (!(expr)) { \ - VerifyFailed(__FILE__, __LINE__); \ - } \ - } while (0) -#else - -/** - * @brief 表达式会运行，忽略表达式结果 - * - */ -#define VERIFY(expr) ((void)(expr)) -#endif - -// /** -// * @brief 断言失败处理 -// * -// * @param file 文件名 -// * @param line 行号 -// */ -// void VerifyFailed(const char *file, uint32_t line); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ \ No newline at end of file diff --git a/assets/User_code/config.csv b/assets/User_code/config.csv deleted file mode 100644 index db5a049..0000000 --- a/assets/User_code/config.csv +++ /dev/null @@ -1,4 +0,0 @@ -bsp,can,dwt,gpio,i2c,mm,spi,uart,pwm,time -component,ahrs,capacity,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math -device,dr16,bmi088,ist8310,motor,motor_rm,motor_dm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,rc_can,servo,buzzer,led,ws2812,vofa,ops9,ai -module,config, \ No newline at end of file diff --git a/assets/User_code/device/.DS_Store b/assets/User_code/device/.DS_Store deleted file mode 100644 index 0e3c551..0000000 Binary files a/assets/User_code/device/.DS_Store and /dev/null differ diff --git a/assets/User_code/device/.gitkeep b/assets/User_code/device/.gitkeep deleted file mode 100644 index e69de29..0000000 diff --git a/assets/User_code/device/ai.c b/assets/User_code/device/ai.c deleted file mode 100644 index 2632536..0000000 --- a/assets/User_code/device/ai.c +++ /dev/null @@ -1,142 +0,0 @@ -/* -AI -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "ai.h" - -#include -#include - -#include "bsp/time.h" -#include "bsp/uart.h" -#include "component/ahrs.h" -#include "component/crc16.h" -#include "component/crc8.h" -#include "component/user_math.h" -#include "component/filter.h" - - -/* Private define ----------------------------------------------------------- */ -#define AI_LEN_RX_BUFF (sizeof(AI_DownPackage_t)) - -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -/* Private variables -------------------------------------------------------- */ - -static uint8_t rxbuf[AI_LEN_RX_BUFF]; - -static bool inited = false; - -static osThreadId_t thread_alert; - -static uint32_t drop_message = 0; - -// uint16_t crc16; - -/* Private function -------------------------------------------------------- */ - -static void Ai_RxCpltCallback(void) { - osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY); -} - -static void Ai_IdleLineCallback(void) { - osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY); -} - -/* Exported functions ------------------------------------------------------- */ -int8_t AI_Init(AI_t *ai) { - UNUSED(ai); - if (inited) return DEVICE_ERR_INITED; - thread_alert = osThreadGetId(); - - BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB, - Ai_RxCpltCallback); - BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB, - Ai_IdleLineCallback); - - inited = true; - return 0; -} - -int8_t AI_Restart(AI_t *ai) { - UNUSED(ai); - __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_AI)); - __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_AI)); - return DEVICE_OK; -} - -int8_t AI_StartReceiving(AI_t *ai) { - UNUSED(ai); - // if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI), rxbuf, - // AI_LEN_RX_BUFF) == HAL_OK) - if (BSP_UART_Receive(BSP_UART_AI, rxbuf, - AI_LEN_RX_BUFF, true) == HAL_OK) - return DEVICE_OK; - return DEVICE_ERR; -} - -bool AI_WaitDmaCplt(void) { - return (osThreadFlagsWait(SIGNAL_AI_RAW_REDY, osFlagsWaitAll,0) == - SIGNAL_AI_RAW_REDY); -} - -int8_t AI_ParseHost(AI_t *ai) { - // crc16 = CRC16_Calc((const uint8_t *)&(rxbuf), sizeof(ai->from_host) - 2, CRC16_INIT); - if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->from_host))) - goto error; - ai->header.online = true; - ai->header.last_online_time = BSP_TIME_Get(); - memcpy(&(ai->from_host), rxbuf, sizeof(ai->from_host)); - memset(rxbuf, 0, AI_LEN_RX_BUFF); - return DEVICE_OK; - -error: - drop_message++; - return DEVICE_ERR; -} - -int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *data){ - if (ai == NULL || data == NULL) return DEVICE_ERR_NULL; - ai->to_host.mcu.id = AI_ID_MCU; - ai->to_host.mcu.package.quat=*data; - ai->to_host.mcu.package.notice = ai->status; - ai->to_host.mcu.crc16 = CRC16_Calc((const uint8_t *)&(ai->to_host.mcu), sizeof(AI_UpPackageMCU_t) - 2, CRC16_INIT); - return DEVICE_OK; -} - -int8_t AI_PackRef(AI_t *ai, const AI_UpPackageReferee_t *data) { - if (ai == NULL || data == NULL) return DEVICE_ERR_NULL; - ai->to_host.ref = *data; - return DEVICE_OK; -} - -int8_t AI_HandleOffline(AI_t *ai) { - if (ai == NULL) return DEVICE_ERR_NULL; - if (BSP_TIME_Get() - ai->header.last_online_time > - 100000) { - ai->header.online = false; - } - return DEVICE_OK; -} - -int8_t AI_StartSend(AI_t *ai, bool ref_online){ - if (ai == NULL) return DEVICE_ERR_NULL; - - if (ref_online) { - // 发送裁判系统数据和MCU数据 - if (BSP_UART_Transmit(BSP_UART_AI, (uint8_t *)&(ai->to_host), - sizeof(ai->to_host.ref) + sizeof(ai->to_host.mcu), true) == HAL_OK) - return DEVICE_OK; - else - return DEVICE_ERR; - } else { - // 只发送MCU数据 - if (BSP_UART_Transmit(BSP_UART_AI, (uint8_t *)&(ai->to_host.mcu), - sizeof(ai->to_host.mcu), true) == HAL_OK) - return DEVICE_OK; - else - return DEVICE_ERR; - } -} - diff --git a/assets/User_code/device/ai.h b/assets/User_code/device/ai.h deleted file mode 100644 index a4bdb95..0000000 --- a/assets/User_code/device/ai.h +++ /dev/null @@ -1,130 +0,0 @@ -/* - AI -*/ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include "component/ahrs.h" -#include "component/filter.h" -#include "component/user_math.h" -#include "device/device.h" -#include -#include -#include - -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -#define AI_ID_MCU (0xC4) -#define AI_ID_REF (0xA8) -#define AI_ID_AI (0xA1) -/* Exported types ----------------------------------------------------------- */ - -typedef enum { - AI_ARMOR_HERO = 0, /*英雄机器人*/ - AI_ARMOR_INFANTRY, /*步兵机器人*/ - AI_ARMOR_SENTRY, /*哨兵机器人*/ - AI_ARMOR_ENGINEER, /*工程机器人*/ - AI_ARMOR_OUTPOST, /*前哨占*/ - AI_ARMOR_BASE, /*基地*/ - AI_ARMOR_NORMAL, /*由AI自动选择*/ -} AI_ArmorsType_t; - -typedef enum { - AI_STATUS_OFF = 0, /* 关闭 */ - AI_STATUS_AUTOAIM, /* 自瞄 */ - AI_STATUS_AUTOPICK, /* 自动取矿 */ - AI_STATUS_AUTOPUT, /* 自动兑矿 */ - AI_STATUS_AUTOHITBUFF, /* 自动打符 */ - AI_STATUS_AUTONAV, -} AI_Status_t; - -typedef enum { - AI_NOTICE_NONE = 0, - AI_NOTICE_SEARCH, - AI_NOTICE_FIRE, -}AI_Notice_t; - -/* 电控 -> 视觉 MCU数据结构体*/ -typedef struct __packed { - AHRS_Quaternion_t quat; /* 四元数 */ - // struct { - // AI_ArmorsType_t armor_type; - // AI_Status_t status; - // }notice; /* 控制命令 */ - uint8_t notice; -} AI_Protucol_UpDataMCU_t; - -/* 电控 -> 视觉 裁判系统数据结构体*/ -typedef struct __packed { - /* USER REFEREE BEGIN */ - uint16_t team; /* 本身队伍 */ - uint16_t time; /* 比赛开始时间 */ - /* USER REFEREE END */ -} AI_Protocol_UpDataReferee_t; - -/* 视觉 -> 电控 数据包结构体*/ -typedef struct __packed { - AHRS_Eulr_t eulr; /* 欧拉角 */ - MoveVector_t move_vec; /* 运动向量 */ - uint8_t notice; /* 控制命令 */ -} AI_Protocol_DownData_t; - -/* 电控 -> 视觉 裁判系统数据包 */ -typedef struct __packed { - uint8_t id; /* 包ID */ - AI_Protocol_UpDataReferee_t package; /* 数据包 */ - uint16_t crc16; /* CRC16校验 */ -} AI_UpPackageReferee_t; - -/* 电控 -> 视觉 MUC数据包 */ -typedef struct __packed { - uint8_t id; - AI_Protucol_UpDataMCU_t package; - uint16_t crc16; -} AI_UpPackageMCU_t; - -/* 视觉 -> 电控 数据包 */ -typedef struct __packed { - uint8_t id; /* 包ID */ - AI_Protocol_DownData_t package; /* 数据包 */ - uint16_t crc16; /* CRC16校验 */ -} AI_DownPackage_t; - -typedef struct __packed { - DEVICE_Header_t header; /* 设备通用头部 */ - AI_DownPackage_t from_host; - AI_Status_t status; - struct { - AI_UpPackageReferee_t ref; - AI_UpPackageMCU_t mcu; - } to_host; -} AI_t; - -/* Exported functions prototypes -------------------------------------------- */ - -int8_t AI_Init(AI_t *ai); - -int8_t AI_Restart(AI_t *ai); - -int8_t AI_StartReceiving(AI_t *ai); - -bool AI_WaitDmaCplt(void); - -int8_t AI_ParseHost(AI_t *ai); - -int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat); - -int8_t AI_PackRef(AI_t *ai, const AI_UpPackageReferee_t *data); - -int8_t AI_HandleOffline(AI_t *ai); - -int8_t AI_StartSend(AI_t *ai, bool ref_online); - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/device/bmi088.c b/assets/User_code/device/bmi088.c deleted file mode 100644 index 0f4c154..0000000 --- a/assets/User_code/device/bmi088.c +++ /dev/null @@ -1,381 +0,0 @@ -/* - BMI088 陀螺仪+加速度计传感器。 -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "bmi088.h" - -#include -#include -#include -#include - -#include "bsp/time.h" -#include "bsp/gpio.h" -#include "bsp/spi.h" -#include "component/user_math.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private define ----------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ -#define BMI088_REG_ACCL_CHIP_ID (0x00) -#define BMI088_REG_ACCL_ERR (0x02) -#define BMI088_REG_ACCL_STATUS (0x03) -#define BMI088_REG_ACCL_X_LSB (0x12) -#define BMI088_REG_ACCL_X_MSB (0x13) -#define BMI088_REG_ACCL_Y_LSB (0x14) -#define BMI088_REG_ACCL_Y_MSB (0x15) -#define BMI088_REG_ACCL_Z_LSB (0x16) -#define BMI088_REG_ACCL_Z_MSB (0x17) -#define BMI088_REG_ACCL_SENSORTIME_0 (0x18) -#define BMI088_REG_ACCL_SENSORTIME_1 (0x19) -#define BMI088_REG_ACCL_SENSORTIME_2 (0x1A) -#define BMI088_REG_ACCL_INT_STAT_1 (0x1D) -#define BMI088_REG_ACCL_TEMP_MSB (0x22) -#define BMI088_REG_ACCL_TEMP_LSB (0x23) -#define BMI088_REG_ACCL_CONF (0x40) -#define BMI088_REG_ACCL_RANGE (0x41) -#define BMI088_REG_ACCL_INT1_IO_CONF (0x53) -#define BMI088_REG_ACCL_INT2_IO_CONF (0x54) -#define BMI088_REG_ACCL_INT1_INT2_MAP_DATA (0x58) -#define BMI088_REG_ACCL_SELF_TEST (0x6D) -#define BMI088_REG_ACCL_PWR_CONF (0x7C) -#define BMI088_REG_ACCL_PWR_CTRL (0x7D) -#define BMI088_REG_ACCL_SOFTRESET (0x7E) - -#define BMI088_REG_GYRO_CHIP_ID (0x00) -#define BMI088_REG_GYRO_X_LSB (0x02) -#define BMI088_REG_GYRO_X_MSB (0x03) -#define BMI088_REG_GYRO_Y_LSB (0x04) -#define BMI088_REG_GYRO_Y_MSB (0x05) -#define BMI088_REG_GYRO_Z_LSB (0x06) -#define BMI088_REG_GYRO_Z_MSB (0x07) -#define BMI088_REG_GYRO_INT_STAT_1 (0x0A) -#define BMI088_REG_GYRO_RANGE (0x0F) -#define BMI088_REG_GYRO_BANDWIDTH (0x10) -#define BMI088_REG_GYRO_LPM1 (0x11) -#define BMI088_REG_GYRO_SOFTRESET (0x14) -#define BMI088_REG_GYRO_INT_CTRL (0x15) -#define BMI088_REG_GYRO_INT3_INT4_IO_CONF (0x16) -#define BMI088_REG_GYRO_INT3_INT4_IO_MAP (0x18) -#define BMI088_REG_GYRO_SELF_TEST (0x3C) - -#define BMI088_CHIP_ID_ACCL (0x1E) -#define BMI088_CHIP_ID_GYRO (0x0F) - -#define BMI088_LEN_RX_BUFF (19) -/* Private macro ------------------------------------------------------------ */ -#define BMI088_ACCL_NSS_SET() \ - BSP_GPIO_WritePin(BSP_GPIO_ACCL_CS, GPIO_PIN_SET) -#define BMI088_ACCL_NSS_RESET() \ - BSP_GPIO_WritePin(BSP_GPIO_ACCL_CS, GPIO_PIN_RESET) - -#define BMI088_GYRO_NSS_SET() \ - BSP_GPIO_WritePin(BSP_GPIO_GYRO_CS, GPIO_PIN_SET) -#define BMI088_GYRO_NSS_RESET() \ - BSP_GPIO_WritePin(BSP_GPIO_GYRO_CS, GPIO_PIN_RESET) - -/* Private typedef ---------------------------------------------------------- */ -typedef enum { - BMI_ACCL, - BMI_GYRO, -} BMI_Device_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private variables -------------------------------------------------------- */ -static uint8_t buffer[2]; -static uint8_t bmi088_rxbuf[BMI088_LEN_RX_BUFF]; - -static osThreadId_t thread_alert; -static bool inited = false; - -/* Private function -------------------------------------------------------- */ -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -static void BMI_WriteSingle(BMI_Device_t dv, uint8_t reg, uint8_t data) { - buffer[0] = (reg & 0x7f); - buffer[1] = data; - - BSP_TIME_Delay(1); - switch (dv) { - case BMI_ACCL: - BMI088_ACCL_NSS_RESET(); - break; - - case BMI_GYRO: - BMI088_GYRO_NSS_RESET(); - break; - } - - BSP_SPI_Transmit(BSP_SPI_BMI088, buffer, 2u, false); - - switch (dv) { - case BMI_ACCL: - BMI088_ACCL_NSS_SET(); - break; - - case BMI_GYRO: - BMI088_GYRO_NSS_SET(); - break; - } -} - -static uint8_t BMI_ReadSingle(BMI_Device_t dv, uint8_t reg) { - BSP_TIME_Delay(1); - switch (dv) { - case BMI_ACCL: - BMI088_ACCL_NSS_RESET(); - break; - - case BMI_GYRO: - BMI088_GYRO_NSS_RESET(); - break; - } - buffer[0] = (uint8_t)(reg | 0x80); - BSP_SPI_Transmit(BSP_SPI_BMI088, buffer, 1u, false); - BSP_SPI_Receive(BSP_SPI_BMI088, buffer, 2u, false); - - switch (dv) { - case BMI_ACCL: - BMI088_ACCL_NSS_SET(); - return buffer[1]; - - case BMI_GYRO: - BMI088_GYRO_NSS_SET(); - return buffer[0]; - } -} - -static void BMI_Read(BMI_Device_t dv, uint8_t reg, uint8_t *data, uint8_t len) { - if (data == NULL) return; - - switch (dv) { - case BMI_ACCL: - BMI088_ACCL_NSS_RESET(); - break; - - case BMI_GYRO: - BMI088_GYRO_NSS_RESET(); - break; - } - buffer[0] = (uint8_t)(reg | 0x80); - BSP_SPI_Transmit(BSP_SPI_BMI088, buffer, 1u, false); - BSP_SPI_Receive(BSP_SPI_BMI088, data, len, true); -} - -static void BMI088_RxCpltCallback(void) { - if (BSP_GPIO_ReadPin(BSP_GPIO_ACCL_CS) == GPIO_PIN_RESET) { - BMI088_ACCL_NSS_SET(); - osThreadFlagsSet(thread_alert, SIGNAL_BMI088_ACCL_RAW_REDY); - } - if (BSP_GPIO_ReadPin(BSP_GPIO_GYRO_CS) == GPIO_PIN_RESET) { - BMI088_GYRO_NSS_SET(); - osThreadFlagsSet(thread_alert, SIGNAL_BMI088_GYRO_RAW_REDY); - } -} - -static void BMI088_AcclIntCallback(void) { - osThreadFlagsSet(thread_alert, SIGNAL_BMI088_ACCL_NEW_DATA); -} - -static void BMI088_GyroIntCallback(void) { - osThreadFlagsSet(thread_alert, SIGNAL_BMI088_GYRO_NEW_DATA); -} - -/* Exported functions ------------------------------------------------------- */ -int8_t BMI088_Init(BMI088_t *bmi088, const BMI088_Cali_t *cali) { - if (bmi088 == NULL) return DEVICE_ERR_NULL; - if (cali == NULL) return DEVICE_ERR_NULL; - if (inited) return DEVICE_ERR_INITED; - if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; - - bmi088->cali = cali; - - BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_SOFTRESET, 0xB6); - BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_SOFTRESET, 0xB6); - BSP_TIME_Delay(30); - - /* Switch accl to SPI mode. */ - BMI_ReadSingle(BMI_ACCL, BMI088_CHIP_ID_ACCL); - - if (BMI_ReadSingle(BMI_ACCL, BMI088_REG_ACCL_CHIP_ID) != BMI088_CHIP_ID_ACCL) - return DEVICE_ERR_NO_DEV; - - if (BMI_ReadSingle(BMI_GYRO, BMI088_REG_GYRO_CHIP_ID) != BMI088_CHIP_ID_GYRO) - return DEVICE_ERR_NO_DEV; - - BSP_GPIO_DisableIRQ(BSP_GPIO_ACCL_INT); - BSP_GPIO_DisableIRQ(BSP_GPIO_GYRO_INT); - - BSP_SPI_RegisterCallback(BSP_SPI_BMI088, BSP_SPI_RX_CPLT_CB, - BMI088_RxCpltCallback); - BSP_GPIO_RegisterCallback(BSP_GPIO_ACCL_INT, BMI088_AcclIntCallback); - BSP_GPIO_RegisterCallback(BSP_GPIO_GYRO_INT, BMI088_GyroIntCallback); - - /* Accl init. */ - /* Filter setting: Normal. */ - /* ODR: 0xAB: 800Hz. 0xAA: 400Hz. 0xA9: 200Hz. 0xA8: 100Hz. 0xA6: 25Hz. */ - BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_CONF, 0xAA); - - /* 0x00: +-3G. 0x01: +-6G. 0x02: +-12G. 0x03: +-24G. */ - BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_RANGE, 0x01); - - /* INT1 as output. Push-pull. Active low. Output. */ - BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_INT1_IO_CONF, 0x08); - - /* Map data ready interrupt to INT1. */ - BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_INT1_INT2_MAP_DATA, 0x04); - - /* Turn on accl. Now we can read data. */ - BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_PWR_CTRL, 0x04); - BSP_TIME_Delay(50); - - /* Gyro init. */ - /* 0x00: +-2000. 0x01: +-1000. 0x02: +-500. 0x03: +-250. 0x04: +-125. */ - BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_RANGE, 0x01); - - /* Filter bw: 47Hz. */ - /* ODR: 0x02: 1000Hz. 0x03: 400Hz. 0x06: 200Hz. 0x07: 100Hz. */ - BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_BANDWIDTH, 0x03); - - /* INT3 and INT4 as output. Push-pull. Active low. */ - BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_INT3_INT4_IO_CONF, 0x00); - - /* Map data ready interrupt to INT3. */ - BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_INT3_INT4_IO_MAP, 0x01); - - /* Enable new data interrupt. */ - BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_INT_CTRL, 0x80); - - BSP_TIME_Delay(10); - - inited = true; - - BSP_GPIO_EnableIRQ(BSP_GPIO_ACCL_INT); - BSP_GPIO_EnableIRQ(BSP_GPIO_GYRO_INT); - return DEVICE_OK; -} - -bool BMI088_GyroStable(AHRS_Gyro_t *gyro) { - return ((gyro->x < 0.03f) && (gyro->y < 0.03f) && (gyro->z < 0.03f)); -} - -uint32_t BMI088_WaitNew() { - return osThreadFlagsWait( - SIGNAL_BMI088_ACCL_NEW_DATA | SIGNAL_BMI088_GYRO_NEW_DATA, osFlagsWaitAll, - osWaitForever); -} - -int8_t BMI088_AcclStartDmaRecv() { - BMI_Read(BMI_ACCL, BMI088_REG_ACCL_X_LSB, bmi088_rxbuf, BMI088_LEN_RX_BUFF); - return DEVICE_OK; -} - -uint32_t BMI088_AcclWaitDmaCplt() { - return osThreadFlagsWait(SIGNAL_BMI088_ACCL_RAW_REDY, osFlagsWaitAll, - osWaitForever); -} - -int8_t BMI088_GyroStartDmaRecv() { - BMI_Read(BMI_GYRO, BMI088_REG_GYRO_X_LSB, bmi088_rxbuf + 7, 6u); - return DEVICE_OK; -} - -uint32_t BMI088_GyroWaitDmaCplt() { - return osThreadFlagsWait(SIGNAL_BMI088_GYRO_RAW_REDY, osFlagsWaitAll, - osWaitForever); -} - -int8_t BMI088_ParseAccl(BMI088_t *bmi088) { - if (bmi088 == NULL) return DEVICE_ERR_NULL; - -#if 1 - int16_t raw_x, raw_y, raw_z; - memcpy(&raw_x, bmi088_rxbuf + 1, sizeof(raw_x)); - memcpy(&raw_y, bmi088_rxbuf + 3, sizeof(raw_y)); - memcpy(&raw_z, bmi088_rxbuf + 5, sizeof(raw_z)); - - bmi088->accl.x = (float)raw_x; - bmi088->accl.y = (float)raw_y; - bmi088->accl.z = (float)raw_z; - -#else - const int16_t *praw_x = (int16_t *)(bmi088_rxbuf + 1); - const int16_t *praw_y = (int16_t *)(bmi088_rxbuf + 3); - const int16_t *praw_z = (int16_t *)(bmi088_rxbuf + 5); - - bmi088->accl.x = (float)*praw_x; - bmi088->accl.y = (float)*praw_y; - bmi088->accl.z = (float)*praw_z; - -#endif - - /* 3G: 10920. 6G: 5460. 12G: 2730. 24G: 1365. */ - bmi088->accl.x /= 5460.0f; - bmi088->accl.y /= 5460.0f; - bmi088->accl.z /= 5460.0f; - - int16_t raw_temp = - (uint16_t)((bmi088_rxbuf[17] << 3) | (bmi088_rxbuf[18] >> 5)); - - if (raw_temp > 1023) raw_temp -= 2048; - - bmi088->temp = (float)raw_temp * 0.125f + 23.0f; - - return DEVICE_OK; -} - -int8_t BMI088_ParseGyro(BMI088_t *bmi088) { - if (bmi088 == NULL) return DEVICE_ERR_NULL; - -#if 1 - /* Gyroscope imu_raw -> degrees/sec -> radians/sec */ - int16_t raw_x, raw_y, raw_z; - memcpy(&raw_x, bmi088_rxbuf + 7, sizeof(raw_x)); - memcpy(&raw_y, bmi088_rxbuf + 9, sizeof(raw_y)); - memcpy(&raw_z, bmi088_rxbuf + 11, sizeof(raw_z)); - - bmi088->gyro.x = (float)raw_x; - bmi088->gyro.y = (float)raw_y; - bmi088->gyro.z = (float)raw_z; - -#else - /* Gyroscope imu_raw -> degrees/sec -> radians/sec */ - const int16_t *raw_x = (int16_t *)(bmi088_rxbuf + 7); - const int16_t *raw_y = (int16_t *)(bmi088_rxbuf + 9); - const int16_t *raw_z = (int16_t *)(bmi088_rxbuf + 11); - - bmi088->gyro.x = (float)*raw_x; - bmi088->gyro.y = (float)*raw_y; - bmi088->gyro.z = (float)*raw_z; -#endif - - /* FS125: 262.144. FS250: 131.072. FS500: 65.536. FS1000: 32.768. - * FS2000: 16.384.*/ - bmi088->gyro.x /= 32.768f; - bmi088->gyro.y /= 32.768f; - bmi088->gyro.z /= 32.768f; - - bmi088->gyro.x *= M_DEG2RAD_MULT; - bmi088->gyro.y *= M_DEG2RAD_MULT; - bmi088->gyro.z *= M_DEG2RAD_MULT; - - bmi088->gyro.x -= bmi088->cali->gyro_offset.x; - bmi088->gyro.y -= bmi088->cali->gyro_offset.y; - bmi088->gyro.z -= bmi088->cali->gyro_offset.z; - - return DEVICE_ERR_NULL; -} - -float BMI088_GetUpdateFreq(BMI088_t *bmi088) { - (void)bmi088; - return 400.0f; -} diff --git a/assets/User_code/device/bmi088.h b/assets/User_code/device/bmi088.h deleted file mode 100644 index eb44e0c..0000000 --- a/assets/User_code/device/bmi088.h +++ /dev/null @@ -1,81 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include -#include - -#include "component/ahrs.h" -#include "device/device.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ -typedef struct { - struct { - float x; - float y; - float z; - } gyro_offset; /* 陀螺仪偏置 */ -} BMI088_Cali_t; /* BMI088校准数据 */ - -typedef struct { - DEVICE_Header_t header; - AHRS_Accl_t accl; - AHRS_Gyro_t gyro; - - float temp; /* 温度 */ - - const BMI088_Cali_t *cali; -} BMI088_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Exported functions prototypes -------------------------------------------- */ -int8_t BMI088_Init(BMI088_t *bmi088, const BMI088_Cali_t *cali); -int8_t BMI088_Restart(void); - -bool BMI088_GyroStable(AHRS_Gyro_t *gyro); - -/* Sensor use right-handed coordinate system. */ -/* - x < R(logo) - y - UP is z - All implementation should follow this rule. - */ -uint32_t BMI088_WaitNew(); - -/* - BMI088的Accl和Gyro共用同一个DMA通道，所以一次只能读一个传感器。 - 即BMI088_AcclStartDmaRecv() 和 BMI088_AcclWaitDmaCplt() 中间不能 - 出现 BMI088_GyroStartDmaRecv()。 -*/ -int8_t BMI088_AcclStartDmaRecv(); -uint32_t BMI088_AcclWaitDmaCplt(); -int8_t BMI088_GyroStartDmaRecv(); -uint32_t BMI088_GyroWaitDmaCplt(); -int8_t BMI088_ParseAccl(BMI088_t *bmi088); -int8_t BMI088_ParseGyro(BMI088_t *bmi088); -float BMI088_GetUpdateFreq(BMI088_t *bmi088); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/device/buzzer.c b/assets/User_code/device/buzzer.c deleted file mode 100644 index cfaf777..0000000 --- a/assets/User_code/device/buzzer.c +++ /dev/null @@ -1,171 +0,0 @@ -#include "device/buzzer.h" -#include "bsp/time.h" -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -#define MUSIC_DEFAULT_VOLUME 0.5f -#define MUSIC_A4_FREQ 440.0f // A4音符频率 - -/* USER MUSIC MENU BEGIN */ -// RM音乐 -const Tone_t RM[] = { - {NOTE_B, 5, 200}, - {NOTE_G, 4, 200}, - {NOTE_B, 5, 400}, - {NOTE_G, 4, 200}, - {NOTE_B, 5, 400}, - {NOTE_G, 4, 200}, - {NOTE_D, 5, 400}, - {NOTE_G, 4, 200}, - {NOTE_C, 5, 200}, - {NOTE_C, 5, 200}, - {NOTE_G, 4, 200}, - {NOTE_B, 5, 200}, - {NOTE_C, 5, 200} -}; - -// Nokia 经典铃声音符 -const Tone_t NOKIA[] = { - {NOTE_E, 5, 125}, {NOTE_D, 5, 125}, {NOTE_FS, 4, 250}, {NOTE_GS, 4, 250}, - {NOTE_CS, 5, 125}, {NOTE_B, 4, 125}, {NOTE_D, 4, 250}, {NOTE_E, 4, 250}, - {NOTE_B, 4, 125}, {NOTE_A, 4, 125}, {NOTE_CS, 4, 250}, {NOTE_E, 4, 250}, - {NOTE_A, 4, 500} -}; -/* USER MUSIC MENU END */ - -static void BUZZER_Update(BUZZER_t *buzzer){ - buzzer->header.online = true; - buzzer->header.last_online_time = BSP_TIME_Get_ms(); -} - -// 根据音符和八度计算频率的辅助函数 -static float BUZZER_CalcFreq(NOTE_t note, uint8_t octave) { - if (note == NOTE_REST) { - return 0.0f; // 休止符返回0频率 - } - - // 将音符和八度转换为MIDI音符编号 - int midi_num = (int)note + (int)((octave + 1) * 12); - - // 使用A4 (440Hz) 作为参考，计算频率 - // 公式: freq = 440 * 2^((midi_num - 69)/12) - float freq = 440.0f * powf(2.0f, ((float)midi_num - 69.0f) / 12.0f); - - return freq; -} - -// 播放单个音符 -static int8_t BUZZER_PlayTone(BUZZER_t *buzzer, NOTE_t note, uint8_t octave, uint16_t duration_ms) { - if (buzzer == NULL || !buzzer->header.online) - return DEVICE_ERR; - - float freq = BUZZER_CalcFreq(note, octave); - - if (freq > 0.0f) { - // 播放音符 - if (BUZZER_Set(buzzer, freq, MUSIC_DEFAULT_VOLUME) != DEVICE_OK) - return DEVICE_ERR; - - if (BUZZER_Start(buzzer) != DEVICE_OK) - return DEVICE_ERR; - } else { - // 休止符，停止播放 - BUZZER_Stop(buzzer); - } - - // 等待指定时间 - BSP_TIME_Delay_ms(duration_ms); - - // 停止当前音符，为下一个音符做准备 - BUZZER_Stop(buzzer); - BSP_TIME_Delay_ms(20); // 短暂间隔 - - return DEVICE_OK; -} - -int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel) { - if (buzzer == NULL) return DEVICE_ERR; - - buzzer->channel = channel; - buzzer->header.online = true; - - BUZZER_Stop(buzzer); - - return DEVICE_OK ; -} - -int8_t BUZZER_Start(BUZZER_t *buzzer) { - if (buzzer == NULL || !buzzer->header.online) - return DEVICE_ERR; - BUZZER_Update(buzzer); - return (BSP_PWM_Start(buzzer->channel) == BSP_OK) ? - DEVICE_OK : DEVICE_ERR; -} - -int8_t BUZZER_Stop(BUZZER_t *buzzer) { - if (buzzer == NULL || !buzzer->header.online) - return DEVICE_ERR; - BUZZER_Update(buzzer); - return (BSP_PWM_Stop(buzzer->channel) == BSP_OK) ? - DEVICE_OK : DEVICE_ERR; -} - -int8_t BUZZER_Set(BUZZER_t *buzzer, float freq, float duty_cycle) { - if (buzzer == NULL || !buzzer->header.online) - return DEVICE_ERR; - - int result = DEVICE_OK ; - BUZZER_Update(buzzer); - if (BSP_PWM_SetFreq(buzzer->channel, freq) != BSP_OK) - result = DEVICE_ERR; - - if (BSP_PWM_SetComp(buzzer->channel, duty_cycle) != BSP_OK) - result = DEVICE_ERR; - - return result; -} - -int8_t BUZZER_PlayMusic(BUZZER_t *buzzer, MUSIC_t music) { - if (buzzer == NULL || !buzzer->header.online) - return DEVICE_ERR; - - const Tone_t *melody = NULL; - size_t melody_length = 0; - - // 根据音乐类型选择对应的音符数组 - switch (music) { - case MUSIC_RM: - melody = RM; - melody_length = sizeof(RM) / sizeof(Tone_t); - break; - case MUSIC_NOKIA: - melody = NOKIA; - melody_length = sizeof(NOKIA) / sizeof(Tone_t); - break; - default: - return DEVICE_ERR; - } - - // 播放整首音乐 - for (size_t i = 0; i < melody_length; i++) { - if (BUZZER_PlayTone(buzzer, melody[i].note, melody[i].octave, melody[i].duration_ms) != DEVICE_OK) { - BUZZER_Stop(buzzer); // 出错时停止播放 - return DEVICE_ERR; - } - } - - // 音乐播放完成后停止 - BUZZER_Stop(buzzer); - return DEVICE_OK; -} - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ diff --git a/assets/User_code/device/buzzer.h b/assets/User_code/device/buzzer.h deleted file mode 100644 index 0c3a593..0000000 --- a/assets/User_code/device/buzzer.h +++ /dev/null @@ -1,138 +0,0 @@ -/** - * @file buzzer.h - * @brief 蜂鸣器设备驱动头文件 - * @details 提供蜂鸣器音频播放功能，支持单音符播放和预设音乐播放 - * @author Generated by STM32CubeMX - * @date 2025年10月23日 - */ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include "bsp/pwm.h" // PWM底层硬件抽象层 -#include "device.h" // 设备通用头文件 -#include // 标准定义 -#include // 标准整型定义 - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Exported constants ------------------------------------------------------- */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported types ----------------------------------------------------------- */ - -/** - * @brief 音符枚举类型 - * @details 定义标准十二平均律音符，用于音乐播放 - */ -typedef enum { - NOTE_C = 0, ///< Do音符 - NOTE_CS = 1, ///< Do#音符 (升Do) - NOTE_D = 2, ///< Re音符 - NOTE_DS = 3, ///< Re#音符 (升Re) - NOTE_E = 4, ///< Mi音符 - NOTE_F = 5, ///< Fa音符 - NOTE_FS = 6, ///< Fa#音符 (升Fa) - NOTE_G = 7, ///< Sol音符 - NOTE_GS = 8, ///< Sol#音符 (升Sol) - NOTE_A = 9, ///< La音符 - NOTE_AS = 10, ///< La#音符 (升La) - NOTE_B = 11, ///< Si音符 - NOTE_REST = 255 ///< 休止符 (无声音) -} NOTE_t; - -/** - * @brief 音调结构体 - * @details 定义一个完整的音调信息，包括音符、八度和持续时间 - */ -typedef struct { - NOTE_t note; ///< 音符名称 (使用NOTE_t枚举) - uint8_t octave; ///< 八度 (0-8，通常使用3-7) - uint16_t duration_ms; ///< 持续时间，单位毫秒 -} Tone_t; - -/** - * @brief 预设音乐枚举类型 - * @details 定义可播放的预设音乐类型 - */ -typedef enum { - /* USER MUSIC MENU BEGIN */ - MUSIC_RM, ///< RM战队音乐 - MUSIC_NOKIA, ///< 诺基亚经典铃声 - /* USER MUSIC MENU END */ -} MUSIC_t; - -/** - * @brief 蜂鸣器设备结构体 - * @details 蜂鸣器设备的完整描述，包含设备头信息和PWM通道 - */ -typedef struct { - DEVICE_Header_t header; ///< 设备通用头信息 (在线状态、时间戳等) - BSP_PWM_Channel_t channel; ///< PWM输出通道 -} BUZZER_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Exported functions prototypes -------------------------------------------- */ - -/** - * @brief 初始化蜂鸣器设备 - * @param buzzer 蜂鸣器设备结构体指针 - * @param channel PWM输出通道 - * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败 - * @note 初始化后蜂鸣器处于停止状态 - */ -int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel); - -/** - * @brief 启动蜂鸣器播放 - * @param buzzer 蜂鸣器设备结构体指针 - * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败 - * @note 需要先调用BUZZER_Set设置频率和占空比 - */ -int8_t BUZZER_Start(BUZZER_t *buzzer); - -/** - * @brief 停止蜂鸣器播放 - * @param buzzer 蜂鸣器设备结构体指针 - * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败 - */ -int8_t BUZZER_Stop(BUZZER_t *buzzer); - -/** - * @brief 设置蜂鸣器频率和占空比 - * @param buzzer 蜂鸣器设备结构体指针 - * @param freq 频率 (Hz)，通常范围20Hz-20kHz - * @param duty_cycle 占空比 (0.0-1.0)，影响音量大小 - * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败 - * @note 设置后需要调用BUZZER_Start才能听到声音 - */ -int8_t BUZZER_Set(BUZZER_t *buzzer, float freq, float duty_cycle); - -/** - * @brief 播放预设音乐 - * @param buzzer 蜂鸣器设备结构体指针 - * @param music 音乐类型 (使用MUSIC_t枚举) - * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败 - * @note 这是一个阻塞函数，会播放完整首音乐后返回 - */ -int8_t BUZZER_PlayMusic(BUZZER_t *buzzer, MUSIC_t music); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/device/config.yaml b/assets/User_code/device/config.yaml deleted file mode 100644 index a24a6f6..0000000 --- a/assets/User_code/device/config.yaml +++ /dev/null @@ -1,227 +0,0 @@ -devices: - dr16: - name: "DR16" - description: "大疆遥控器接收机" - dependencies: - bsp: ["uart"] - component: ["user_math"] - bsp_requirements: - - type: "uart" - var_name: "BSP_UART_DR16" # 需要替换的变量名 - description: "用于接收遥控器数据" - thread_signals: - - name: "SIGNAL_DR16_RAW_REDY" - files: - header: "dr16.h" - source: "dr16.c" - - ops9: - name: "OPS9" - description: "ACTION OPS9 码盘" - dependencies: - bsp: ["uart"] - component: ["user_math"] - bsp_requirements: - - type: "uart" - var_name: "BSP_UART_OPS9" # 需要替换的变量名 - description: "用于接收码盘" - thread_signals: - - name: "SIGNAL_OPS9_RAW_REDY" - files: - header: "ops9.h" - source: "ops9.c" - - bmi088: - name: "BMI088" - description: "BMI088 陀螺仪+加速度计传感器" - dependencies: - bsp: ["spi", "gpio"] - component: ["user_math"] - bsp_requirements: - - type: "spi" - var_name: "BSP_SPI_BMI088" - description: "用于与 BMI088 通信的 SPI 总线" - - type: "gpio" - var_name: "BSP_GPIO_ACCL_CS" - description: "加速度计片选输出引脚" - gpio_type: "output" - - type: "gpio" - var_name: "BSP_GPIO_GYRO_CS" - description: "陀螺仪片选输出引脚" - gpio_type: "output" - - type: "gpio" - var_name: "BSP_GPIO_ACCL_INT" - description: "加速度计中断输入引脚" - gpio_type: "EXTI" - - type: "gpio" - var_name: "BSP_GPIO_GYRO_INT" - description: "陀螺仪中断输入引脚" - gpio_type: "EXTI" - thread_signals: - - name: "SIGNAL_BMI088_ACCL_RAW_REDY" - - name: "SIGNAL_BMI088_GYRO_RAW_REDY" - - name: "SIGNAL_BMI088_ACCL_NEW_DATA" - - name: "SIGNAL_BMI088_GYRO_NEW_DATA" - files: - header: "bmi088.h" - source: "bmi088.c" - - ist8310: - name: "IST8310" - description: "IST8310 地磁传感器" - dependencies: - bsp: ["i2c", "gpio"] - component: [] - bsp_requirements: - - type: "i2c" - var_name: "BSP_I2C_COMP" - description: "用于与 IST8310 通信的 I2C 总线" - - type: "gpio" - var_name: "CMPS_RST_Pin" - description: "IST8310 复位引脚" - gpio_type: "output" - - type: "gpio" - var_name: "CMPS_INT_Pin" - description: "IST8310 数据中断引脚" - gpio_type: "EXTI" - thread_signals: - - name: "SIGNAL_IST8310_MAGN_RAW_REDY" - - name: "SIGNAL_IST8310_MAGN_NEW_DATA" - files: - header: "ist8310.h" - source: "ist8310.c" - - motor_vesc: - name: "VESC 电调" - description: "VESC 电调驱动" - dependencies: - bsp: ["can", "time", "mm"] - component: ["user_math"] - files: - header: "motor_vesc.h" - source: "motor_vesc.c" - - motor_odrive: - name: "ODrive 电机" - description: "ODrive 电机驱动" - dependencies: - bsp: ["can", "time", "mm"] - component: ["user_math"] - files: - header: "motor_odrive.h" - source: "motor_odrive.c" - - motor_rm: - name: "RM 电机" - description: "RM 电机驱动" - dependencies: - bsp: ["can", "time", "mm"] - component: ["user_math"] - files: - header: "motor_rm.h" - source: "motor_rm.c" - - motor: - name: "通用电机" - description: "通用电机驱动" - dependencies: - bsp: [] - component: [] - bsp_requirements: [] - thread_signals: [] - files: - header: "motor.h" - source: "motor.c" - - ws2812: - name: "WS2812 LED 灯" - description: "WS2812 RGB LED 灯驱动" - dependencies: - bsp: ["pwm", "time"] - component: [] - thread_signals: [] - files: - header: "ws2812.h" - source: "ws2812.c" - - buzzer: - name: "蜂鸣器" - description: "蜂鸣器驱动" - dependencies: - bsp: ["pwm"] - component: [] - bsp_requirements: - - type: "pwm" - var_name: "BSP_PWM_BUZZER" - description: "用于蜂鸣器的PWM通道" - thread_signals: [] - files: - header: "buzzer.h" - source: "buzzer.c" - - dm_imu: - name: "DM IMU" - description: "DM IMU 传感器" - dependencies: - bsp: ["can", "time"] - component: ["user_math"] - files: - header: "dm_imu.h" - source: "dm_imu.c" - - led: - name: "LED 灯" - description: "LED 灯驱动" - dependencies: - bsp: ["gpio", "pwm"] - component: [] - thread_signals: [] - files: - header: "led.h" - source: "led.c" - - motor_lk: - name: "LK 电机" - description: "LK 电机驱动" - dependencies: - bsp: ["can", "time", "mm"] - component: ["user_math"] - files: - header: "motor_lk.h" - source: "motor_lk.c" - - motor_lz: - name: "LZ 电机" - description: "LZ 电机驱动" - dependencies: - bsp: ["can", "time", "mm"] - component: ["user_math"] - files: - header: "motor_lz.h" - source: "motor_lz.c" - - servo: - name: "舵机" - description: "舵机驱动" - dependencies: - bsp: ["pwm"] - component: [] - thread_signals: [] - files: - header: "servo.h" - source: "servo.c" - - vofa: - name: "VOFA" - description: "VOFA 数据传输协议" - dependencies: - bsp: ["uart"] - component: [] - bsp_requirements: - - type: "uart" - var_name: "BSP_UART_VOFA" # 需要替换的变量名 - description: "用于VOFA数据传输" - thread_signals: [] - files: - header: "vofa.h" - source: "vofa.c" \ No newline at end of file diff --git a/assets/User_code/device/device.h b/assets/User_code/device/device.h deleted file mode 100644 index 3fd8bf5..0000000 --- a/assets/User_code/device/device.h +++ /dev/null @@ -1,47 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -#define DEVICE_OK (0) -#define DEVICE_ERR (-1) -#define DEVICE_ERR_NULL (-2) -#define DEVICE_ERR_INITED (-3) -#define DEVICE_ERR_NO_DEV (-4) - -/* AUTO GENERATED SIGNALS BEGIN */ - -/* AUTO GENERATED SIGNALS END */ - -/* USER SIGNALS BEGIN */ - -/* USER SIGNALS END */ -/*设备层通用Header*/ -typedef struct { - bool online; - uint64_t last_online_time; -} DEVICE_Header_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/device/dm_imu.c b/assets/User_code/device/dm_imu.c deleted file mode 100644 index e5380d9..0000000 --- a/assets/User_code/device/dm_imu.c +++ /dev/null @@ -1,271 +0,0 @@ -/* - DM_IMU数据获取（CAN） -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "dm_imu.h" - -#include "bsp/can.h" -#include "bsp/time.h" -#include "component/user_math.h" -#include - -/* Private define ----------------------------------------------------------- */ -#define DM_IMU_OFFLINE_TIMEOUT 1000 // 设备离线判定时间1000ms - -#define ACCEL_CAN_MAX (58.8f) -#define ACCEL_CAN_MIN (-58.8f) -#define GYRO_CAN_MAX (34.88f) -#define GYRO_CAN_MIN (-34.88f) -#define PITCH_CAN_MAX (90.0f) -#define PITCH_CAN_MIN (-90.0f) -#define ROLL_CAN_MAX (180.0f) -#define ROLL_CAN_MIN (-180.0f) -#define YAW_CAN_MAX (180.0f) -#define YAW_CAN_MIN (-180.0f) -#define TEMP_MIN (0.0f) -#define TEMP_MAX (60.0f) -#define Quaternion_MIN (-1.0f) -#define Quaternion_MAX (1.0f) - - -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -/* Private variables -------------------------------------------------------- */ -/* Private function --------------------------------------------------------- */ - -static uint8_t count = 0; // 计数器，用于判断设备是否离线 -/** - * @brief: 无符号整数转换为浮点数函数 - */ -static float uint_to_float(int x_int, float x_min, float x_max, int bits) -{ - float span = x_max - x_min; - float offset = x_min; - return ((float)x_int)*span/((float)((1<data.temp = (float)temp; - imu->data.accl.x = uint_to_float(acc_x_raw, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 16); - imu->data.accl.y = uint_to_float(acc_y_raw, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 16); - imu->data.accl.z = uint_to_float(acc_z_raw, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 16); - return DEVICE_OK; -} -/** - * @brief 解析陀螺仪数据 - */ -static int8_t DM_IMU_ParseGyroData(DM_IMU_t *imu, uint8_t *data, uint8_t len) { - if (imu == NULL || data == NULL || len < 8) { - return DEVICE_ERR; - } - uint16_t gyro_x_raw = (data[3] << 8) | data[2]; - uint16_t gyro_y_raw = (data[5] << 8) | data[4]; - uint16_t gyro_z_raw = (data[7] << 8) | data[6]; - imu->data.gyro.x = uint_to_float(gyro_x_raw, GYRO_CAN_MIN, GYRO_CAN_MAX, 16); - imu->data.gyro.y = uint_to_float(gyro_y_raw, GYRO_CAN_MIN, GYRO_CAN_MAX, 16); - imu->data.gyro.z = uint_to_float(gyro_z_raw, GYRO_CAN_MIN, GYRO_CAN_MAX, 16); - return DEVICE_OK; -} -/** - * @brief 解析欧拉角数据 - */ -static int8_t DM_IMU_ParseEulerData(DM_IMU_t *imu, uint8_t *data, uint8_t len) { - if (imu == NULL || data == NULL || len < 8) { - return DEVICE_ERR; - } - uint16_t pit_raw = (data[3] << 8) | data[2]; - uint16_t yaw_raw = (data[5] << 8) | data[4]; - uint16_t rol_raw = (data[7] << 8) | data[6]; - imu->data.euler.pit = uint_to_float(pit_raw, PITCH_CAN_MIN, PITCH_CAN_MAX, 16) * M_DEG2RAD_MULT; - imu->data.euler.yaw = uint_to_float(yaw_raw, YAW_CAN_MIN, YAW_CAN_MAX, 16) * M_DEG2RAD_MULT; - imu->data.euler.rol = uint_to_float(rol_raw, ROLL_CAN_MIN, ROLL_CAN_MAX, 16) * M_DEG2RAD_MULT; - return DEVICE_OK; -} - -/** - * @brief 解析四元数数据 - */ -static int8_t DM_IMU_ParseQuaternionData(DM_IMU_t *imu, uint8_t *data, uint8_t len) { - if (imu == NULL || data == NULL || len < 8) { - return DEVICE_ERR; - } - int w = (data[1] << 6) | ((data[2] & 0xF8) >> 2); - int x = ((data[2] & 0x03) << 12) | (data[3] << 4) | ((data[4] & 0xF0) >> 4); - int y = ((data[4] & 0x0F) << 10) | (data[5] << 2) | ((data[6] & 0xC0) >> 6); - int z = ((data[6] & 0x3F) << 8) | data[7]; - imu->data.quat.q0 = uint_to_float(w, Quaternion_MIN, Quaternion_MAX, 14); - imu->data.quat.q1 = uint_to_float(x, Quaternion_MIN, Quaternion_MAX, 14); - imu->data.quat.q2 = uint_to_float(y, Quaternion_MIN, Quaternion_MAX, 14); - imu->data.quat.q3 = uint_to_float(z, Quaternion_MIN, Quaternion_MAX, 14); - return DEVICE_OK; -} - - -/* Exported functions ------------------------------------------------------- */ - -/** - * @brief 初始化DM IMU设备 - */ -int8_t DM_IMU_Init(DM_IMU_t *imu, DM_IMU_Param_t *param) { - if (imu == NULL || param == NULL) { - return DEVICE_ERR_NULL; - } - - // 初始化设备头部 - imu->header.online = false; - imu->header.last_online_time = 0; - - // 配置参数 - imu->param.can = param->can; - imu->param.can_id = param->can_id; - imu->param.device_id = param->device_id; - imu->param.master_id = param->master_id; - - // 清零数据 - memset(&imu->data, 0, sizeof(DM_IMU_Data_t)); - - // 注册CAN接收队列，用于接收回复报文 - int8_t result = BSP_CAN_RegisterId(imu->param.can, imu->param.master_id, 10); - if (result != BSP_OK) { - return DEVICE_ERR; - } - - return DEVICE_OK; -} - -/** - * @brief 请求IMU数据 - */ -int8_t DM_IMU_Request(DM_IMU_t *imu, DM_IMU_RID_t rid) { - if (imu == NULL) { - return DEVICE_ERR_NULL; - } - - // 构造发送数据：id_L, id_H(DM_IMU_ID), RID, 0xcc - uint8_t tx_data[4] = { - imu->param.device_id & 0xFF, // id_L - (imu->param.device_id >> 8) & 0xFF, // id_H - (uint8_t)rid, // RID - 0xCC // 固定值 - }; - - // 发送标准数据帧 - BSP_CAN_StdDataFrame_t frame = { - .id = imu->param.can_id, - .dlc = 4, - }; - memcpy(frame.data, tx_data, 4); - int8_t result = BSP_CAN_TransmitStdDataFrame(imu->param.can, &frame); - return (result == BSP_OK) ? DEVICE_OK : DEVICE_ERR; -} - -/** - * @brief 更新IMU数据（从CAN中获取所有数据并解析） - */ -int8_t DM_IMU_Update(DM_IMU_t *imu) { - if (imu == NULL) { - return DEVICE_ERR_NULL; - } - - BSP_CAN_Message_t msg; - int8_t result; - bool data_received = false; - - // 持续接收所有可用消息 - while ((result = BSP_CAN_GetMessage(imu->param.can, imu->param.master_id, &msg, BSP_CAN_TIMEOUT_IMMEDIATE)) == BSP_OK) { - // 验证回复数据格式（至少检查数据长度） - if (msg.dlc < 3) { - continue; // 跳过无效消息 - } - - // 根据数据位的第0位确定反馈报文类型 - uint8_t rid = msg.data[0] & 0x0F; // 取第0位的低4位作为RID - - // 根据RID类型解析数据 - int8_t parse_result = DEVICE_ERR; - switch (rid) { - case 0x01: // RID_ACCL - parse_result = DM_IMU_ParseAccelData(imu, msg.data, msg.dlc); - break; - case 0x02: // RID_GYRO - parse_result = DM_IMU_ParseGyroData(imu, msg.data, msg.dlc); - break; - case 0x03: // RID_EULER - parse_result = DM_IMU_ParseEulerData(imu, msg.data, msg.dlc); - break; - case 0x04: // RID_QUATERNION - parse_result = DM_IMU_ParseQuaternionData(imu, msg.data, msg.dlc); - break; - default: - continue; // 跳过未知类型的消息 - } - - // 如果解析成功，标记为收到数据 - if (parse_result == DEVICE_OK) { - data_received = true; - } - } - - // 如果收到任何有效数据，更新设备状态 - if (data_received) { - imu->header.online = true; - imu->header.last_online_time = BSP_TIME_Get_ms(); - return DEVICE_OK; - } - - return DEVICE_ERR; -} - -/** - * @brief 自动更新IMU所有数据（包括加速度计、陀螺仪、欧拉角和四元数,最高1khz） - */ -int8_t DM_IMU_AutoUpdateAll(DM_IMU_t *imu){ - if (imu == NULL) { - return DEVICE_ERR_NULL; - } - switch (count) { - case 0: - DM_IMU_Request(imu, RID_ACCL); - break; - case 1: - DM_IMU_Request(imu, RID_GYRO); - break; - case 2: - DM_IMU_Request(imu, RID_EULER); - break; - case 3: - DM_IMU_Request(imu, RID_QUATERNION); - DM_IMU_Update(imu); // 更新所有数据 - break; - } - count++; - if (count >= 4) { - count = 0; // 重置计数器 - return DEVICE_OK; - } - return DEVICE_ERR; -} - -/** - * @brief 检查设备是否在线 - */ -bool DM_IMU_IsOnline(DM_IMU_t *imu) { - if (imu == NULL) { - return false; - } - - uint32_t current_time = BSP_TIME_Get_ms(); - return imu->header.online && - (current_time - imu->header.last_online_time < DM_IMU_OFFLINE_TIMEOUT); -} diff --git a/assets/User_code/device/dm_imu.h b/assets/User_code/device/dm_imu.h deleted file mode 100644 index 3965980..0000000 --- a/assets/User_code/device/dm_imu.h +++ /dev/null @@ -1,90 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include "device/device.h" -#include "component/ahrs.h" -#include "bsp/can.h" -/* Exported constants ------------------------------------------------------- */ - -#define DM_IMU_CAN_ID_DEFAULT 0x6FF -#define DM_IMU_ID_DEFAULT 0x42 -#define DM_IMU_MST_ID_DEFAULT 0x43 - -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ - -typedef struct { - BSP_CAN_t can; // CAN总线句柄 - uint16_t can_id; // CAN通信ID - uint8_t device_id; // 设备ID - uint8_t master_id; // 主机ID -} DM_IMU_Param_t; -typedef enum { - RID_ACCL = 0x01, // 加速度计 - RID_GYRO = 0x02, // 陀螺仪 - RID_EULER = 0x03, // 欧拉角 - RID_QUATERNION = 0x04, // 四元数 -} DM_IMU_RID_t; - -typedef struct { - AHRS_Accl_t accl; // 加速度计 - AHRS_Gyro_t gyro; // 陀螺仪 - AHRS_Eulr_t euler; // 欧拉角 - AHRS_Quaternion_t quat; // 四元数 - float temp; // 温度 -} DM_IMU_Data_t; - -typedef struct { - DEVICE_Header_t header; - DM_IMU_Param_t param; // IMU参数配置 - DM_IMU_Data_t data; // IMU数据 -} DM_IMU_t; - -/* Exported functions prototypes -------------------------------------------- */ - -/** - * @brief 初始化DM IMU设备 - * @param imu DM IMU设备结构体指针 - * @param param IMU参数配置指针 - * @return DEVICE_OK 成功，其他值失败 - */ -int8_t DM_IMU_Init(DM_IMU_t *imu, DM_IMU_Param_t *param); - -/** - * @brief 请求IMU数据 - * @param imu DM IMU设备结构体指针 - * @param rid 请求的数据类型 - * @return DEVICE_OK 成功，其他值失败 - */ -int8_t DM_IMU_Request(DM_IMU_t *imu, DM_IMU_RID_t rid); - - -/** - * @brief 更新IMU数据（从CAN中获取所有数据并解析） - * @param imu DM IMU设备结构体指针 - * @return DEVICE_OK 成功，其他值失败 - */ -int8_t DM_IMU_Update(DM_IMU_t *imu); - -/** - * @brief 自动更新IMU所有数据（包括加速度计、陀螺仪、欧拉角和四元数,最高1khz，运行4次才有完整数据） - * @param imu DM IMU设备结构体指针 - * @return DEVICE_OK 成功，其他值失败 - */ -int8_t DM_IMU_AutoUpdateAll(DM_IMU_t *imu); - -/** - * @brief 检查设备是否在线 - * @param imu DM IMU设备结构体指针 - * @return true 在线，false 离线 - */ -bool DM_IMU_IsOnline(DM_IMU_t *imu); - - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/device/dr16.c b/assets/User_code/device/dr16.c deleted file mode 100644 index 120997b..0000000 --- a/assets/User_code/device/dr16.c +++ /dev/null @@ -1,169 +0,0 @@ -/* - DR16接收机 - Example： - - DR16_Init(&dr16); - - while (1) { - DR16_StartDmaRecv(&dr16); - if (DR16_WaitDmaCplt(20)) { - DR16_ParseData(&dr16); - } else { - DR16_Offline(&dr16); - } -} -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "dr16.h" -#include "bsp/uart.h" -#include "bsp/time.h" -#include "device.h" - -#include -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ -/* Private define ----------------------------------------------------------- */ -#define DR16_CH_VALUE_MIN (364u) -#define DR16_CH_VALUE_MID (1024u) -#define DR16_CH_VALUE_MAX (1684u) - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -/* Private variables -------------------------------------------------------- */ - -static osThreadId_t thread_alert; -static bool inited = false; - -/* Private function -------------------------------------------------------- */ -static void DR16_RxCpltCallback(void) { - osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY); -} - -static bool DR16_DataCorrupted(const DR16_t *dr16) { - if (dr16 == NULL) return DEVICE_ERR_NULL; - - if ((dr16->raw_data.ch_r_x < DR16_CH_VALUE_MIN) || - (dr16->raw_data.ch_r_x > DR16_CH_VALUE_MAX)) - return DEVICE_ERR; - - if ((dr16->raw_data.ch_r_y < DR16_CH_VALUE_MIN) || - (dr16->raw_data.ch_r_y > DR16_CH_VALUE_MAX)) - return DEVICE_ERR; - - if ((dr16->raw_data.ch_l_x < DR16_CH_VALUE_MIN) || - (dr16->raw_data.ch_l_x > DR16_CH_VALUE_MAX)) - return DEVICE_ERR; - - if ((dr16->raw_data.ch_l_y < DR16_CH_VALUE_MIN) || - (dr16->raw_data.ch_l_y > DR16_CH_VALUE_MAX)) - return DEVICE_ERR; - - if (dr16->raw_data.sw_l == 0) return DEVICE_ERR; - - if (dr16->raw_data.sw_r == 0) return DEVICE_ERR; - - return DEVICE_OK; -} - -/* Exported functions ------------------------------------------------------- */ -int8_t DR16_Init(DR16_t *dr16) { - if (dr16 == NULL) return DEVICE_ERR_NULL; - if (inited) return DEVICE_ERR_INITED; - if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; - - BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_RX_CPLT_CB, - DR16_RxCpltCallback); - - inited = true; - return DEVICE_OK; -} - -int8_t DR16_Restart(void) { - __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_DR16)); - __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_DR16)); - return DEVICE_OK; -} - -int8_t DR16_StartDmaRecv(DR16_t *dr16) { - if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16), - (uint8_t *)&(dr16->raw_data), - sizeof(dr16->raw_data)) == HAL_OK) - return DEVICE_OK; - return DEVICE_ERR; -} - -bool DR16_WaitDmaCplt(uint32_t timeout) { - return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) == - SIGNAL_DR16_RAW_REDY); -} - -int8_t DR16_ParseData(DR16_t *dr16){ - if (dr16 == NULL) return DEVICE_ERR_NULL; - - if (DR16_DataCorrupted(dr16)) { - return DEVICE_ERR; - } - - dr16->header.online = true; - dr16->header.last_online_time = BSP_TIME_Get_us(); - - memset(&(dr16->data), 0, sizeof(dr16->data)); - - float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN); - - // 解析摇杆数据 - dr16->data.ch_r_x = 2.0f * ((float)dr16->raw_data.ch_r_x - DR16_CH_VALUE_MID) / full_range; - dr16->data.ch_r_y = 2.0f * ((float)dr16->raw_data.ch_r_y - DR16_CH_VALUE_MID) / full_range; - dr16->data.ch_l_x = 2.0f * ((float)dr16->raw_data.ch_l_x - DR16_CH_VALUE_MID) / full_range; - dr16->data.ch_l_y = 2.0f * ((float)dr16->raw_data.ch_l_y - DR16_CH_VALUE_MID) / full_range; - - // 解析拨杆位置 - dr16->data.sw_l = (DR16_SwitchPos_t)dr16->raw_data.sw_l; - dr16->data.sw_r = (DR16_SwitchPos_t)dr16->raw_data.sw_r; - - // 解析鼠标数据 - dr16->data.mouse.x = dr16->raw_data.x; - dr16->data.mouse.y = dr16->raw_data.y; - dr16->data.mouse.z = dr16->raw_data.z; - - dr16->data.mouse.l_click = dr16->raw_data.press_l; - dr16->data.mouse.r_click = dr16->raw_data.press_r; - - // 解析键盘按键 - 使用union简化代码 - uint16_t key_value = dr16->raw_data.key; - - // 解析键盘位映射（W-B键，位0-15） - for (int i = DR16_KEY_W; i <= DR16_KEY_B; i++) { - dr16->data.keyboard.key[i] = (key_value & (1 << i)) != 0; - } - - // 解析鼠标点击 - dr16->data.keyboard.key[DR16_L_CLICK] = dr16->data.mouse.l_click; - dr16->data.keyboard.key[DR16_R_CLICK] = dr16->data.mouse.r_click; - - // 解析第五通道 - dr16->data.ch_res = 2.0f * ((float)dr16->raw_data.res - DR16_CH_VALUE_MID) / full_range; - - return DEVICE_OK; -} - -int8_t DR16_Offline(DR16_t *dr16){ - if (dr16 == NULL) return DEVICE_ERR_NULL; - - dr16->header.online = false; - memset(&(dr16->data), 0, sizeof(dr16->data)); - - return DEVICE_OK; -} - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ diff --git a/assets/User_code/device/dr16.h b/assets/User_code/device/dr16.h deleted file mode 100644 index 03fa526..0000000 --- a/assets/User_code/device/dr16.h +++ /dev/null @@ -1,117 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include - -#include "component/user_math.h" -#include "device.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ -typedef struct __packed { - uint16_t ch_r_x : 11; - uint16_t ch_r_y : 11; - uint16_t ch_l_x : 11; - uint16_t ch_l_y : 11; - uint8_t sw_r : 2; - uint8_t sw_l : 2; - int16_t x; - int16_t y; - int16_t z; - uint8_t press_l; - uint8_t press_r; - uint16_t key; - uint16_t res; -} DR16_RawData_t; - -typedef enum { - DR16_SW_ERR = 0, - DR16_SW_UP = 1, - DR16_SW_MID = 3, - DR16_SW_DOWN = 2, -} DR16_SwitchPos_t; - -/* 键盘按键值 */ -typedef enum { - DR16_KEY_W = 0, - DR16_KEY_S, - DR16_KEY_A, - DR16_KEY_D, - DR16_KEY_SHIFT, - DR16_KEY_CTRL, - DR16_KEY_Q, - DR16_KEY_E, - DR16_KEY_R, - DR16_KEY_F, - DR16_KEY_G, - DR16_KEY_Z, - DR16_KEY_X, - DR16_KEY_C, - DR16_KEY_V, - DR16_KEY_B, - DR16_L_CLICK, - DR16_R_CLICK, - DR16_KEY_NUM, -} DR16_Key_t; - -typedef struct { - float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */ - float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */ - float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */ - float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */ - - float ch_res; /* 第五通道值 */ - - DR16_SwitchPos_t sw_r; /* 右侧拨杆位置 */ - DR16_SwitchPos_t sw_l; /* 左侧拨杆位置 */ - - struct { - int16_t x; - int16_t y; - int16_t z; - bool l_click; /* 左键 */ - bool r_click; /* 右键 */ - } mouse; /* 鼠标值 */ - - union { - bool key[DR16_KEY_NUM]; /* 键盘按键值 */ - uint16_t value; /* 键盘按键值的位映射 */ - } keyboard; - - uint16_t res; /* 保留，未启用 */ -} DR16_Data_t; - -typedef struct { - DEVICE_Header_t header; - DR16_RawData_t raw_data; - DR16_Data_t data; -} DR16_t; - -/* Exported functions prototypes -------------------------------------------- */ -int8_t DR16_Init(DR16_t *dr16); -int8_t DR16_Restart(void); -int8_t DR16_StartDmaRecv(DR16_t *dr16); -bool DR16_WaitDmaCplt(uint32_t timeout); -int8_t DR16_ParseData(DR16_t *dr16); -int8_t DR16_Offline(DR16_t *dr16); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/device/ist8310.c b/assets/User_code/device/ist8310.c deleted file mode 100644 index fa98506..0000000 --- a/assets/User_code/device/ist8310.c +++ /dev/null @@ -1,178 +0,0 @@ -/* - IST8310 地磁传感器。 -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "ist8310.h" - -#include -#include -#include - -#include "bsp/time.h" -#include "bsp/gpio.h" -#include "bsp/i2c.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private define ----------------------------------------------------------- */ -#define IST8310_WAI (0x00) -#define IST8310_STAT1 (0x02) -#define IST8310_DATAXL (0x03) -#define IST8310_STAT2 (0x09) -#define IST8310_CNTL1 (0x0A) -#define IST8310_CNTL2 (0x0B) -#define IST8310_STR (0x0C) -#define IST8310_TEMPL (0x1C) -#define IST8310_TEMPH (0x1D) -#define IST8310_AVGCNTL (0x41) -#define IST8310_PDCNTL (0x42) - -#define IST8310_CHIP_ID (0x10) - -#define IST8310_IIC_ADDRESS (0x0E << 1) - -#define IST8310_LEN_RX_BUFF (6) - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Private macro ------------------------------------------------------------ */ -#define IST8310_SET() \ - BSP_GPIO_WritePin(CMPS_RST_Pin, GPIO_PIN_SET) -#define IST8310_RESET() \ - BSP_GPIO_WritePin(CMPS_RST_Pin, GPIO_PIN_RESET) - -/* Private typedef ---------------------------------------------------------- */ -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private variables -------------------------------------------------------- */ -uint8_t ist8310_rxbuf[IST8310_LEN_RX_BUFF]; - -static osThreadId_t thread_alert; -static bool inited = false; - -/* Private function -------------------------------------------------------- */ -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -static void IST8310_WriteSingle(uint8_t reg, uint8_t data) { - BSP_I2C_MemWriteByte(BSP_I2C_COMP, IST8310_IIC_ADDRESS, reg, data); -} - -static uint8_t IST8310_ReadSingle(uint8_t reg) { - return BSP_I2C_MemReadByte(BSP_I2C_COMP, IST8310_IIC_ADDRESS, reg); -} - - -static void IST8310_Read(uint8_t reg, uint8_t *data, uint8_t len) { - if (data == NULL) return; - BSP_I2C_MemRead(BSP_I2C_COMP, IST8310_IIC_ADDRESS, reg, data, len, true); -} - -static void IST8310_MemRxCpltCallback(void) { - osThreadFlagsSet(thread_alert, SIGNAL_IST8310_MAGN_RAW_REDY); -} - -static void IST8310_IntCallback(void) { - osThreadFlagsSet(thread_alert, SIGNAL_IST8310_MAGN_NEW_DATA); -} - -/* Exported functions ------------------------------------------------------- */ -int8_t IST8310_Init(IST8310_t *ist8310, const IST8310_Cali_t *cali) { - if (ist8310 == NULL) return DEVICE_ERR_NULL; - if (cali == NULL) return DEVICE_ERR_NULL; - if (inited) return DEVICE_ERR_INITED; - if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; - - ist8310->cali = cali; - - IST8310_RESET(); - BSP_TIME_Delay(50); - IST8310_SET(); - BSP_TIME_Delay(50); - - if (IST8310_ReadSingle(IST8310_WAI) != IST8310_CHIP_ID) - return DEVICE_ERR_NO_DEV; - - BSP_GPIO_DisableIRQ(CMPS_INT_Pin); - - BSP_I2C_RegisterCallback(BSP_I2C_COMP, HAL_I2C_MEM_RX_CPLT_CB, - IST8310_MemRxCpltCallback); - BSP_GPIO_RegisterCallback(CMPS_INT_Pin, IST8310_IntCallback); - - /* Init. */ - /* 0x00: Stand-By mode. 0x01: Single measurement mode. */ - - /* 0x08: Data ready function enable. DRDY signal active low*/ - IST8310_WriteSingle(IST8310_CNTL2, 0x08); - - IST8310_WriteSingle(IST8310_AVGCNTL, 0x09); - IST8310_WriteSingle(IST8310_PDCNTL, 0xC0); - IST8310_WriteSingle(IST8310_CNTL1, 0x0B); - BSP_TIME_Delay(10); - - inited = true; - - BSP_GPIO_EnableIRQ(CMPS_INT_Pin); - return DEVICE_OK; -} - -bool IST8310_WaitNew(uint32_t timeout) { - return (osThreadFlagsWait(SIGNAL_IST8310_MAGN_NEW_DATA, osFlagsWaitAll, - timeout) == SIGNAL_IST8310_MAGN_NEW_DATA); -} - -int8_t IST8310_StartDmaRecv() { - IST8310_Read(IST8310_DATAXL, ist8310_rxbuf, IST8310_LEN_RX_BUFF); - return DEVICE_OK; -} - -uint32_t IST8310_WaitDmaCplt() { - return osThreadFlagsWait(SIGNAL_IST8310_MAGN_RAW_REDY, osFlagsWaitAll, - osWaitForever); -} - -int8_t IST8310_Parse(IST8310_t *ist8310) { - if (ist8310 == NULL) return DEVICE_ERR_NULL; - -#if 1 - /* Magn -> T */ - int16_t raw_x, raw_y, raw_z; - memcpy(&raw_x, ist8310_rxbuf + 0, sizeof(raw_x)); - memcpy(&raw_y, ist8310_rxbuf + 2, sizeof(raw_y)); - memcpy(&raw_z, ist8310_rxbuf + 4, sizeof(raw_z)); - - ist8310->magn.x = (float)raw_x; - ist8310->magn.y = (float)raw_y; - ist8310->magn.z = (float)-raw_z; - -#else - const int16_t *raw_x = (int16_t *)(ist8310_rxbuf + 0); - const int16_t *raw_y = (int16_t *)(ist8310_rxbuf + 2); - const int16_t *raw_z = (int16_t *)(ist8310_rxbuf + 4); - - ist8310->magn.x = (float)*raw_x; - ist8310->magn.y = (float)*raw_y; - ist8310->magn.z = -(float)*raw_z; -#endif - - ist8310->magn.x *= 3.0f / 20.0f; - ist8310->magn.y *= 3.0f / 20.0f; - ist8310->magn.z *= 3.0f / 20.0f; - - ist8310->magn.x = (ist8310->magn.x - ist8310->cali->magn_offset.x) * - ist8310->cali->magn_scale.x; - ist8310->magn.y = (ist8310->magn.y - ist8310->cali->magn_offset.y) * - ist8310->cali->magn_scale.y; - ist8310->magn.z = (ist8310->magn.z - ist8310->cali->magn_offset.y) * - ist8310->cali->magn_scale.z; - - return DEVICE_OK; -} diff --git a/assets/User_code/device/ist8310.h b/assets/User_code/device/ist8310.h deleted file mode 100644 index df16cdd..0000000 --- a/assets/User_code/device/ist8310.h +++ /dev/null @@ -1,49 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include -#include -#include - -#include "component/ahrs.h" -#include "device/device.h" - -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ -typedef struct { - struct { - float x; - float y; - float z; - } magn_offset; /* 磁力计偏置 */ - - struct { - float x; - float y; - float z; - } magn_scale; /* 磁力计缩放 */ -} IST8310_Cali_t; /* IST8310校准数据 */ - -typedef struct { - DEVICE_Header_t header; - AHRS_Magn_t magn; - const IST8310_Cali_t *cali; -} IST8310_t; - -/* Exported functions prototypes -------------------------------------------- */ -int8_t IST8310_Init(IST8310_t *ist8310, const IST8310_Cali_t *cali); -int8_t IST8310_Restart(void); - -bool IST8310_WaitNew(uint32_t timeout); -int8_t IST8310_StartDmaRecv(); -uint32_t IST8310_WaitDmaCplt(); -int8_t IST8310_Parse(IST8310_t *ist8310); - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/device/led.c b/assets/User_code/device/led.c deleted file mode 100644 index f796a1c..0000000 --- a/assets/User_code/device/led.c +++ /dev/null @@ -1,37 +0,0 @@ -/* - led控制 -*/ -/*Includes -----------------------------------------*/ -#include "device/led.h" -#include "device.h" - - -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -#ifdef LED_PWM -int8_t DEVICE_LED_PWM_Set(BSP_PWM_Channel_t channel, float duty_cycle) -{ - if (duty_cycle < 0.0f || duty_cycle > 1.0f) { - return DEVICE_ERR_NULL; // 错误：占空比超出范围 - } - uint16_t pulse = (uint16_t)(duty_cycle * (float)UINT16_MAX); - BSP_PWM_Start(channel); - BSP_PWM_SetComp(channel, pulse); - return DEVICE_OK; -} -#endif - -#ifdef LED_GPIO -int8_t DEVICE_LED_GPIO_Set(BSP_GPIO_t gpio, bool value) -{ - if (value) { - BSP_GPIO_WritePin(gpio, true); - } else { - BSP_GPIO_WritePin(gpio, false); - } - return DEVICE_OK; -} -#endif - - diff --git a/assets/User_code/device/led.h b/assets/User_code/device/led.h deleted file mode 100644 index 421bac1..0000000 --- a/assets/User_code/device/led.h +++ /dev/null @@ -1,63 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -/* USER DEFIN BEGIN */ - -/* USER DEFIN END */ -#include -#ifdef LED_GPIO -#include "bsp/gpio.h" -#endif -#ifdef LED_PWM -#include "bsp/pwm.h" -#endif -#include "bsp/bsp.h" -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ - - -typedef struct { -#ifdef LED_GPIO -BSP_GPIO_t gpio; -#endif -#ifdef LED_PWM -BSP_PWM_Channel_t channel; -#endif -} DEVICE_LED_t; - - - extern DEVICE_LED_t LED_Map; -/* Exported functions prototypes -------------------------------------------- */ -#ifdef LED_PWM -int8_t DEVICE_LED_PWM_Set(BSP_PWM_Channel_t channel, float duty_cycle) -{ - if (duty_cycle < 0.0f || duty_cycle > 1.0f) { - return DEVICE_ERR_NULL; // 错误：占空比超出范围 - } - uint16_t pulse = (uint16_t)(duty_cycle * (float)UINT16_MAX); - BSP_PWM_Start(channel); - BSP_PWM_SetComp(channel, pulse); - return DEVICE_OK; -} -#endif - -#ifdef LED_GPIO -int8_t DEVICE_LED_GPIO_Set(BSP_GPIO_t gpio, bool value) -{ - if (value) { - BSP_GPIO_WritePin(gpio, true); - } else { - BSP_GPIO_WritePin(gpio, false); - } - return DEVICE_OK; -} -#endif - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/device/motor.c b/assets/User_code/device/motor.c deleted file mode 100644 index 1fb059d..0000000 --- a/assets/User_code/device/motor.c +++ /dev/null @@ -1,52 +0,0 @@ -/* - 电机通用函数 -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "motor.h" - -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - - -/* Private define ----------------------------------------------------------- */ -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private variables -------------------------------------------------------- */ - -/* Private function -------------------------------------------------------- */ -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -/* Exported functions ------------------------------------------------------- */ -float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor) { - if (motor == NULL) return DEVICE_ERR_NULL; - return motor->feedback.rotor_abs_angle; -} - -float MOTOR_GetRotorSpeed(const MOTOR_t *motor) { - if (motor == NULL) return DEVICE_ERR_NULL; - return motor->feedback.rotor_speed; -} - -float MOTOR_GetTorqueCurrent(const MOTOR_t *motor) { - if (motor == NULL) return DEVICE_ERR_NULL; - return motor->feedback.torque_current; -} - -float MOTOR_GetTemp(const MOTOR_t *motor) { - if (motor == NULL) return DEVICE_ERR_NULL; - return motor->feedback.temp; -} diff --git a/assets/User_code/device/motor.h b/assets/User_code/device/motor.h deleted file mode 100644 index e1f945b..0000000 --- a/assets/User_code/device/motor.h +++ /dev/null @@ -1,68 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include "device/device.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ -typedef struct { - float rotor_abs_angle; /* 转子绝对角度 */ - float rotor_speed; /* 实际转子转速 */ - float torque_current; /* 转矩电流 */ - float temp; /* 温度 */ -} MOTOR_Feedback_t; - -/** - * @brief mit电机输出参数结构体 - */ -typedef struct { - float torque; /* 目标力矩 */ - float velocity; /* 目标速度 */ - float angle; /* 目标位置 */ - float kp; /* 位置环增益 */ - float kd; /* 速度环增益 */ -} MOTOR_MIT_Output_t; - -/** - * @brief 转矩电流控制模式参数结构体 - */ -typedef struct { - float current; /* 目标电流 */ -} MOTOR_Current_Output_t; - -typedef struct { - DEVICE_Header_t header; - bool reverse; /* 是否反装 true表示反装 */ - MOTOR_Feedback_t feedback; -} MOTOR_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Exported functions prototypes -------------------------------------------- */ -float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor); -float MOTOR_GetRotorSpeed(const MOTOR_t *motor); -float MOTOR_GetTorqueCurrent(const MOTOR_t *motor); -float MOTOR_GetTemp(const MOTOR_t *motor); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/device/motor_dm.c b/assets/User_code/device/motor_dm.c deleted file mode 100644 index a77656f..0000000 --- a/assets/User_code/device/motor_dm.c +++ /dev/null @@ -1,496 +0,0 @@ -#define MOTOR_DM_FLOAT_TO_INT_SIGNED(x, x_min, x_max, bits) \ - ((int32_t)roundf(((x) / ((x_max) - (x_min))) * (1 << (bits)) + (1 << ((bits) - 1)))) - -#define MOTOR_DM_INT_TO_FLOAT_SIGNED(x_int, x_min, x_max, bits) \ - (((float)((int32_t)(x_int) - (1 << ((bits) - 1))) * ((x_max) - (x_min)) / (float)(1 << (bits)))) -/* Includes ----------------------------------------------------------------- */ -#include "device/motor_dm.h" -#include "bsp/mm.h" -#include "bsp/time.h" -#include "component/user_math.h" -#include "string.h" -#include "math.h" - -/* Private constants -------------------------------------------------------- */ -/* DM电机数据映射范围 */ -#define DM_P_MIN (-12.56637f) -#define DM_P_MAX (12.56637f) -#define DM_V_MIN (-30.0f) -#define DM_V_MAX (30.0f) -#define DM_T_MIN (-12.0f) -#define DM_T_MAX (12.0f) -#define DM_KP_MIN (0.0f) -#define DM_KP_MAX (500.0f) -#define DM_KD_MIN (0.0f) -#define DM_KD_MAX (5.0f) - -/* CAN ID偏移量 */ -#define DM_CAN_ID_OFFSET_POS_VEL 0x100 -#define DM_CAN_ID_OFFSET_VEL 0x200 - -/* Private macro ------------------------------------------------------------ */ -#define FLOAT_TO_UINT(x, x_min, x_max, bits) \ - (uint32_t)((x - x_min) * ((1 << bits) - 1) / (x_max - x_min)) - -#define UINT_TO_FLOAT(x_int, x_min, x_max, bits) \ - ((float)(x_int) * (x_max - x_min) / ((1 << bits) - 1) + x_min) - - -/* Private variables -------------------------------------------------------- */ -static MOTOR_DM_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL}; - -static int float_to_uint(float x_float, float x_min, float x_max, int bits) -{ - /* Converts a float to an unsigned int, given range and number of bits */ - float span = x_max - x_min; - float offset = x_min; - return (int) ((x_float-offset)*((float)((1<motor.feedback.rotor_abs_angle = uint_to_float(p_int, DM_P_MIN, DM_P_MAX, 16); // (-12.5,12.5) - uint16_t v_int=(data[3]<<4)|(data[4]>>4); - motor->motor.feedback.rotor_speed = uint_to_float(v_int, DM_V_MIN, DM_V_MAX, 12); // (-30.0,30.0) - uint16_t t_int=((data[4]&0xF)<<8)|data[5]; - motor->motor.feedback.torque_current = uint_to_float(t_int, DM_T_MIN, DM_T_MAX, 12); // (-12.0,12.0) - motor->motor.feedback.temp = (float)(data[6]); - - while (motor->motor.feedback.rotor_abs_angle < 0) { - motor->motor.feedback.rotor_abs_angle += M_2PI; - } - while (motor->motor.feedback.rotor_abs_angle >= M_2PI) { - motor->motor.feedback.rotor_abs_angle -= M_2PI; - } - - if (motor->param.reverse) { - motor->motor.feedback.rotor_abs_angle = M_2PI - motor->motor.feedback.rotor_abs_angle; - motor->motor.feedback.rotor_speed = -motor->motor.feedback.rotor_speed; - motor->motor.feedback.torque_current = -motor->motor.feedback.torque_current; - } - return DEVICE_OK; -} - -/** - * @brief 发送MIT模式控制命令 - * @param motor 电机实例 - * @param output MIT控制参数 - * @return 发送结果 - */ -static int8_t MOTOR_DM_SendMITCmd(MOTOR_DM_t *motor, MOTOR_MIT_Output_t *output) { - if (motor == NULL || output == NULL) { - return DEVICE_ERR_NULL; - } - - uint8_t data[8]; - uint16_t pos_tmp,vel_tmp,kp_tmp,kd_tmp,tor_tmp; - uint16_t id = motor->param.can_id; - - pos_tmp = float_to_uint(output->angle, DM_P_MIN , DM_P_MAX, 16); - vel_tmp = float_to_uint(output->velocity, DM_V_MIN , DM_V_MAX, 12); - kp_tmp = float_to_uint(output->kp, DM_KP_MIN, DM_KP_MAX, 12); - kd_tmp = float_to_uint(output->kd, DM_KD_MIN, DM_KD_MAX, 12); - tor_tmp = float_to_uint(output->torque, DM_T_MIN , DM_T_MAX, 12); - - /* 打包数据 */ - data[0] = (pos_tmp >> 8); - data[1] = pos_tmp; - data[2] = (vel_tmp >> 4); - data[3] = ((vel_tmp&0xF)<<4)|(kp_tmp>>8); - data[4] = kp_tmp; - data[5] = (kd_tmp >> 4); - data[6] = ((kd_tmp&0xF)<<4)|(tor_tmp>>8); - data[7] = tor_tmp; - - /* 发送CAN消息 */ - BSP_CAN_StdDataFrame_t frame; - frame.id = motor->param.can_id; - frame.dlc = 8; - memcpy(frame.data, data, 8); - - - return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -/** - * @brief 发送位置速度模式控制命令 - * @param motor 电机实例 - * @param pos 目标位置 - * @param vel 目标速度 - * @return 发送结果 - */ -static int8_t MOTOR_DM_SendPosVelCmd(MOTOR_DM_t *motor, float pos, float vel) { - if (motor == NULL) { - return DEVICE_ERR_NULL; - } - - uint8_t data[8] = {0}; - - - /* 直接发送浮点数数据 */ - memcpy(&data[0], &pos, 4); // 位置，低位在前 - memcpy(&data[4], &vel, 4); // 速度，低位在前 - - /* 发送CAN消息，ID为原ID+0x100 */ - uint32_t can_id = DM_CAN_ID_OFFSET_POS_VEL + motor->param.can_id; - BSP_CAN_StdDataFrame_t frame; - frame.id = can_id; - frame.dlc = 8; - memcpy(frame.data, data, 8); - - return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -/** - * @brief 发送速度模式控制命令 - * @param motor 电机实例 - * @param vel 目标速度 - * @return 发送结果 - */ -static int8_t MOTOR_DM_SendVelCmd(MOTOR_DM_t *motor, float vel) { - if (motor == NULL) { - return DEVICE_ERR_NULL; - } - - uint8_t data[4] = {0}; - - /* 直接发送浮点数数据 */ - memcpy(&data[0], &vel, 4); // 速度，低位在前 - - /* 发送CAN消息，ID为原ID+0x200 */ - uint32_t can_id = DM_CAN_ID_OFFSET_VEL + motor->param.can_id; - BSP_CAN_StdDataFrame_t frame; - frame.id = can_id; - frame.dlc = 4; - memcpy(frame.data, data, 4); - - return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -/** - * @brief 获取指定CAN总线的管理器 - * @param can CAN总线 - * @return CAN管理器指针 - */ -static MOTOR_DM_CANManager_t* MOTOR_DM_GetCANManager(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) { - return NULL; - } - - return can_managers[can]; -} - -/** - * @brief 创建CAN管理器 - * @param can CAN总线 - * @return 创建结果 - */ -static int8_t MOTOR_DM_CreateCANManager(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) return DEVICE_ERR; - if (can_managers[can] != NULL) return DEVICE_OK; - - can_managers[can] = (MOTOR_DM_CANManager_t*)BSP_Malloc(sizeof(MOTOR_DM_CANManager_t)); - if (can_managers[can] == NULL) return DEVICE_ERR; - - memset(can_managers[can], 0, sizeof(MOTOR_DM_CANManager_t)); - can_managers[can]->can = can; - return DEVICE_OK; -} - -/* Exported functions ------------------------------------------------------- */ - -/** - * @brief 注册一个DM电机 - * @param param 电机参数 - * @return 注册结果 - */ -int8_t MOTOR_DM_Register(MOTOR_DM_Param_t *param) { - if (param == NULL) { - return DEVICE_ERR_NULL; - } - - /* 创建CAN管理器 */ - if (MOTOR_DM_CreateCANManager(param->can) != DEVICE_OK) { - return DEVICE_ERR; - } - - /* 获取CAN管理器 */ - MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager(param->can); - if (manager == NULL) { - return DEVICE_ERR; - } - - /* 检查是否已注册 */ - for (int i = 0; i < manager->motor_count; i++) { - if (manager->motors[i] && manager->motors[i]->param.master_id == param->master_id) { - return DEVICE_ERR_INITED; - } - } - - /* 检查是否已达到最大数量 */ - if (manager->motor_count >= MOTOR_DM_MAX_MOTORS) { - return DEVICE_ERR; - } - - /* 分配内存 */ - MOTOR_DM_t *motor = (MOTOR_DM_t *)BSP_Malloc(sizeof(MOTOR_DM_t)); - if (motor == NULL) { - return DEVICE_ERR; - } - - /* 初始化电机 */ - memset(motor, 0, sizeof(MOTOR_DM_t)); - memcpy(&motor->param, param, sizeof(MOTOR_DM_Param_t)); - motor->motor.header.online = false; - motor->motor.reverse = param->reverse; - - /* 注册CAN接收ID - DM电机使用Master ID接收反馈 */ - uint16_t feedback_id = param->master_id; - if (BSP_CAN_RegisterId(param->can, feedback_id, 3) != BSP_OK) { - BSP_Free(motor); - return DEVICE_ERR; - } - - /* 添加到管理器 */ - manager->motors[manager->motor_count] = motor; - manager->motor_count++; - - return DEVICE_OK; -} - -/** - * @brief 更新指定电机数据 - * @param param 电机参数 - * @return 更新结果 - */ -int8_t MOTOR_DM_Update(MOTOR_DM_Param_t *param) { - if (param == NULL) { - return DEVICE_ERR_NULL; - } - - MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager(param->can); - if (manager == NULL) { - return DEVICE_ERR_NO_DEV; - } - - /* 查找电机 */ - MOTOR_DM_t *motor = NULL; - for (int i = 0; i < manager->motor_count; i++) { - if (manager->motors[i] && manager->motors[i]->param.master_id == param->master_id) { - motor = manager->motors[i]; - break; - } - } - - if (motor == NULL) { - return DEVICE_ERR_NO_DEV; - } - - /* 主动接收CAN消息 */ - uint16_t feedback_id = param->master_id; - BSP_CAN_Message_t rx_msg; - if (BSP_CAN_GetMessage(param->can, feedback_id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) { - uint64_t now_time = BSP_TIME_Get(); - if (now_time - motor->motor.header.last_online_time > 100000) { // 100ms超时，单位微秒 - motor->motor.header.online = false; - } - return DEVICE_ERR; - } - - motor->motor.header.online = true; - motor->motor.header.last_online_time = BSP_TIME_Get(); - MOTOR_DM_ParseFeedbackFrame(motor, rx_msg.data); - - return DEVICE_OK; -} - -/** - * @brief 更新所有电机数据 - * @return 更新结果 - */ -int8_t MOTOR_DM_UpdateAll(void) { - int8_t ret = DEVICE_OK; - for (int can = 0; can < BSP_CAN_NUM; can++) { - MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager((BSP_CAN_t)can); - if (manager == NULL) continue; - - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_DM_t *motor = manager->motors[i]; - if (motor != NULL) { - if (MOTOR_DM_Update(&motor->param) != DEVICE_OK) { - ret = DEVICE_ERR; - } - } - } - } - return ret; -} - -/** - * @brief MIT模式控制 - * @param param 电机参数 - * @param output MIT控制参数 - * @return 控制结果 - */ -int8_t MOTOR_DM_MITCtrl(MOTOR_DM_Param_t *param, MOTOR_MIT_Output_t *output) { - if (param == NULL || output == NULL) { - return DEVICE_ERR_NULL; - } - - MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param); - if (motor == NULL) { - return DEVICE_ERR_NO_DEV; - } - - return MOTOR_DM_SendMITCmd(motor, output); -} - -/** - * @brief 位置速度模式控制 - * @param param 电机参数 - * @param target_pos 目标位置 - * @param target_vel 目标速度 - * @return 控制结果 - */ -int8_t MOTOR_DM_PosVelCtrl(MOTOR_DM_Param_t *param, float target_pos, float target_vel) { - if (param == NULL) { - return DEVICE_ERR_NULL; - } - - MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param); - if (motor == NULL) { - return DEVICE_ERR_NO_DEV; - } - - return MOTOR_DM_SendPosVelCmd(motor, target_pos, target_vel); -} - -/** - * @brief 速度模式控制 - * @param param 电机参数 - * @param target_vel 目标速度 - * @return 控制结果 - */ -int8_t MOTOR_DM_VelCtrl(MOTOR_DM_Param_t *param, float target_vel) { - if (param == NULL) { - return DEVICE_ERR_NULL; - } - - MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param); - if (motor == NULL) { - return DEVICE_ERR_NO_DEV; - } - - return MOTOR_DM_SendVelCmd(motor, target_vel); -} - -/** - * @brief 获取指定电机的实例指针 - * @param param 电机参数 - * @return 电机实例指针 - */ -MOTOR_DM_t* MOTOR_DM_GetMotor(MOTOR_DM_Param_t *param) { - if (param == NULL) { - return NULL; - } - - MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager(param->can); - if (manager == NULL) { - return NULL; - } - - /* 查找对应的电机 */ - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_DM_t *motor = manager->motors[i]; - if (motor && motor->param.can == param->can && - motor->param.master_id == param->master_id) { - return motor; - } - } - - return NULL; -} - - -int8_t MOTOR_DM_Enable(MOTOR_DM_Param_t *param){ - if (param == NULL) { - return DEVICE_ERR_NULL; - } - - MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param); - if (motor == NULL) { - return DEVICE_ERR_NO_DEV; - } - - BSP_CAN_StdDataFrame_t frame; - frame.id = motor->param.can_id; - frame.dlc = 8; - frame.data[0] = 0XFF; - frame.data[1] = 0xFF; - frame.data[2] = 0xFF; - frame.data[3] = 0xFF; - frame.data[4] = 0xFF; - frame.data[5] = 0xFF; - frame.data[6] = 0xFF; - frame.data[7] = 0xFC; - - return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -/** - * @brief 使电机松弛（设置输出为0） - * @param param 电机参数 - * @return 操作结果 - */ -int8_t MOTOR_DM_Relax(MOTOR_DM_Param_t *param) { - if (param == NULL) { - return DEVICE_ERR_NULL; - } - - MOTOR_MIT_Output_t output = {0}; - return MOTOR_DM_MITCtrl(param, &output); -} - -/** - * @brief 使电机离线（设置在线状态为false） - * @param param 电机参数 - * @return 操作结果 - */ -int8_t MOTOR_DM_Offine(MOTOR_DM_Param_t *param) { - if (param == NULL) { - return DEVICE_ERR_NULL; - } - - MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param); - if (motor == NULL) { - return DEVICE_ERR_NO_DEV; - } - - motor->motor.header.online = false; - return DEVICE_OK; -} diff --git a/assets/User_code/device/motor_dm.h b/assets/User_code/device/motor_dm.h deleted file mode 100644 index 20e91d4..0000000 --- a/assets/User_code/device/motor_dm.h +++ /dev/null @@ -1,98 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include "device/device.h" -#include "device/motor.h" -#include "bsp/can.h" - -/* Exported constants ------------------------------------------------------- */ -#define MOTOR_DM_MAX_MOTORS 32 - -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ -typedef enum { - MOTOR_DM_J4310, -} MOTOR_DM_Module_t; - -/*每个电机需要的参数*/ -typedef struct { - BSP_CAN_t can; - uint16_t master_id; /* 主站ID，用于发送控制命令 */ - uint16_t can_id; /* 反馈ID，用于接收电机反馈 */ - MOTOR_DM_Module_t module; - bool reverse; -} MOTOR_DM_Param_t; - -/*电机实例*/ -typedef struct{ - MOTOR_DM_Param_t param; - MOTOR_t motor; -} MOTOR_DM_t; - -/*CAN管理器，管理一个CAN总线上所有的电机*/ -typedef struct { - BSP_CAN_t can; - MOTOR_DM_t *motors[MOTOR_DM_MAX_MOTORS]; - uint8_t motor_count; -} MOTOR_DM_CANManager_t; - -/* Exported functions prototypes -------------------------------------------- */ - -/** - * @brief 注册一个LK电机 - * @param param 电机参数 - * @return - */ -int8_t MOTOR_DM_Register(MOTOR_DM_Param_t *param); - -/** - * @brief 更新指定电机数据 - * @param param 电机参数 - * @return - */ -int8_t MOTOR_DM_Update(MOTOR_DM_Param_t *param); - -/** - * @brief 更新所有电机数据 - * @return - */ -int8_t MOTOR_DM_UpdateAll(void); - -int8_t MOTOR_DM_MITCtrl(MOTOR_DM_Param_t *param, MOTOR_MIT_Output_t *output); - -int8_t MOTOR_DM_PosVelCtrl(MOTOR_DM_Param_t *param, float target_pos, float target_vel); - -int8_t MOTOR_DM_VelCtrl(MOTOR_DM_Param_t *param, float target_vel); - -/** - * @brief 获取指定电机的实例指针 - * @param param 电机参数 - * @return - */ -MOTOR_DM_t* MOTOR_DM_GetMotor(MOTOR_DM_Param_t *param); - -int8_t MOTOR_DM_Enable(MOTOR_DM_Param_t *param); - -/** - * @brief 使电机松弛（设置输出为0） - * @param param - * @return - */ -int8_t MOTOR_DM_Relax(MOTOR_DM_Param_t *param); - -/** - * @brief 使电机离线（设置在线状态为false） - * @param param - * @return - */ -int8_t MOTOR_DM_Offine(MOTOR_DM_Param_t *param); - - - -#ifdef __cplusplus -} -#endif \ No newline at end of file diff --git a/assets/User_code/device/motor_lk.c b/assets/User_code/device/motor_lk.c deleted file mode 100644 index c26878e..0000000 --- a/assets/User_code/device/motor_lk.c +++ /dev/null @@ -1,329 +0,0 @@ -/* - LK电机驱动 -*/ -/* Includes ----------------------------------------------------------------- */ -#include "motor_lk.h" -#include -#include -#include "bsp/can.h" -#include "bsp/mm.h" -#include "bsp/time.h" -#include "component/user_math.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private define ----------------------------------------------------------- */ -#define LK_CTRL_ID_BASE (0x140) -#define LK_FB_ID_BASE (0x240) - -// LK电机命令字节定义 -#define LK_CMD_FEEDBACK (0x9C) // 反馈命令字节 -#define LK_CMD_MOTOR_OFF (0x80) // 电机关闭命令 -#define LK_CMD_MOTOR_ON (0x88) // 电机运行命令 -#define LK_CMD_TORQUE_CTRL (0xA1) // 转矩闭环控制命令 - -// LK电机参数定义 -#define LK_CURR_LSB_MF (33.0f / 4096.0f) // MF电机转矩电流分辨率 A/LSB -#define LK_CURR_LSB_MG (66.0f / 4096.0f) // MG电机转矩电流分辨率 A/LSB -#define LK_POWER_RANGE_MS (1000) // MS电机功率范围 ±1000 -#define LK_TORQUE_RANGE (2048) // 转矩控制值范围 ±2048 -#define LK_TORQUE_CURRENT_MF (16.5f) // MF电机最大转矩电流 A -#define LK_TORQUE_CURRENT_MG (33.0f) // MG电机最大转矩电流 A - -#define MOTOR_TX_BUF_SIZE (8) -#define MOTOR_RX_BUF_SIZE (8) - -// 编码器分辨率定义 -#define LK_ENC_14BIT_MAX (16383) // 14位编码器最大值 -#define LK_ENC_15BIT_MAX (32767) // 15位编码器最大值 -#define LK_ENC_16BIT_MAX (65535) // 16位编码器最大值 - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private variables -------------------------------------------------------- */ -static MOTOR_LK_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL}; - -/* Private functions -------------------------------------------------------- */ -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -static float MOTOR_LK_GetCurrentLSB(MOTOR_LK_Module_t module) { - switch (module) { - case MOTOR_LK_MF9025: - case MOTOR_LK_MF9035: - return LK_CURR_LSB_MF; - default: - return LK_CURR_LSB_MG; // 默认使用MG的分辨率 - } -} - -static uint16_t MOTOR_LK_GetEncoderMax(MOTOR_LK_Module_t module) { - // 根据电机型号返回编码器最大值，这里假设都使用16位编码器 - // 实际使用时需要根据具体电机型号配置 - return LK_ENC_16BIT_MAX; -} - -static MOTOR_LK_CANManager_t* MOTOR_LK_GetCANManager(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) return NULL; - return can_managers[can]; -} - -static int8_t MOTOR_LK_CreateCANManager(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) return DEVICE_ERR; - if (can_managers[can] != NULL) return DEVICE_OK; - - can_managers[can] = (MOTOR_LK_CANManager_t*)BSP_Malloc(sizeof(MOTOR_LK_CANManager_t)); - if (can_managers[can] == NULL) return DEVICE_ERR; - - memset(can_managers[can], 0, sizeof(MOTOR_LK_CANManager_t)); - can_managers[can]->can = can; - return DEVICE_OK; -} - -static void MOTOR_LK_Decode(MOTOR_LK_t *motor, BSP_CAN_Message_t *msg) { - - // 检查命令字节是否为反馈命令 - if (msg->data[0] != LK_CMD_FEEDBACK) { - // 如果不是标准反馈命令，可能是其他格式的数据 - // 临时跳过命令字节检查，直接解析数据 - // return; - } - - // 解析温度 (DATA[1]) - motor->motor.feedback.temp = (int8_t)msg->data[1]; - - // 解析转矩电流值或功率值 (DATA[2], DATA[3]) - int16_t raw_current_or_power = (int16_t)((msg->data[3] << 8) | msg->data[2]); - - // 根据电机类型解析电流或功率 - switch (motor->param.module) { - case MOTOR_LK_MF9025: - case MOTOR_LK_MF9035: - motor->motor.feedback.torque_current = raw_current_or_power * MOTOR_LK_GetCurrentLSB(motor->param.module); - break; - default: - motor->motor.feedback.torque_current = (float)raw_current_or_power; - break; - } - - // 解析转速 (DATA[4], DATA[5]) - 单位：1dps/LSB - int16_t raw_speed = (int16_t)((msg->data[5] << 8) | msg->data[4]); - motor->motor.feedback.rotor_speed = motor->param.reverse ? -raw_speed : raw_speed; - - // 解析编码器值 (DATA[6], DATA[7]) - uint16_t raw_encoder = (uint16_t)((msg->data[7] << 8) | msg->data[6]); - uint16_t encoder_max = MOTOR_LK_GetEncoderMax(motor->param.module); - - // 将编码器值转换为弧度 (0 ~ 2π) - float angle = (float)raw_encoder / (float)encoder_max * M_2PI; - motor->motor.feedback.rotor_abs_angle = motor->param.reverse ? (M_2PI - angle) : angle; -} - -/* Exported functions ------------------------------------------------------- */ - -int8_t MOTOR_LK_Register(MOTOR_LK_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - - if (MOTOR_LK_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR; - MOTOR_LK_CANManager_t *manager = MOTOR_LK_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR; - - // 检查是否已注册 - for (int i = 0; i < manager->motor_count; i++) { - if (manager->motors[i] && manager->motors[i]->param.id == param->id) { - return DEVICE_ERR_INITED; - } - } - - // 检查数量 - if (manager->motor_count >= MOTOR_LK_MAX_MOTORS) return DEVICE_ERR; - - // 创建新电机实例 - MOTOR_LK_t *new_motor = (MOTOR_LK_t*)BSP_Malloc(sizeof(MOTOR_LK_t)); - if (new_motor == NULL) return DEVICE_ERR; - - memcpy(&new_motor->param, param, sizeof(MOTOR_LK_Param_t)); - memset(&new_motor->motor, 0, sizeof(MOTOR_t)); - new_motor->motor.reverse = param->reverse; - - // 对于某些LK电机，反馈数据可能通过命令ID发送 - // 根据实际测试，使用命令ID接收反馈数据 - uint16_t feedback_id = param->id; // 使用命令ID作为反馈ID - - // 注册CAN接收ID - if (BSP_CAN_RegisterId(param->can, feedback_id, 3) != BSP_OK) { - BSP_Free(new_motor); - return DEVICE_ERR; - } - - manager->motors[manager->motor_count] = new_motor; - manager->motor_count++; - return DEVICE_OK; -} - -int8_t MOTOR_LK_Update(MOTOR_LK_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - - MOTOR_LK_CANManager_t *manager = MOTOR_LK_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR_NO_DEV; - - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_LK_t *motor = manager->motors[i]; - if (motor && motor->param.id == param->id) { - // 对于某些LK电机，反馈数据通过命令ID发送 - uint16_t feedback_id = param->id; - - BSP_CAN_Message_t rx_msg; - if (BSP_CAN_GetMessage(param->can, feedback_id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) { - uint64_t now_time = BSP_TIME_Get(); - if (now_time - motor->motor.header.last_online_time > 1000) { - motor->motor.header.online = false; - return DEVICE_ERR_NO_DEV; - } - return DEVICE_ERR; - } - - motor->motor.header.online = true; - motor->motor.header.last_online_time = BSP_TIME_Get(); - MOTOR_LK_Decode(motor, &rx_msg); - return DEVICE_OK; - } - } - return DEVICE_ERR_NO_DEV; -} - -int8_t MOTOR_LK_UpdateAll(void) { - int8_t ret = DEVICE_OK; - for (int can = 0; can < BSP_CAN_NUM; can++) { - MOTOR_LK_CANManager_t *manager = MOTOR_LK_GetCANManager((BSP_CAN_t)can); - if (manager == NULL) continue; - - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_LK_t *motor = manager->motors[i]; - if (motor != NULL) { - if (MOTOR_LK_Update(&motor->param) != DEVICE_OK) { - ret = DEVICE_ERR; - } - } - } - } - return ret; -} - -int8_t MOTOR_LK_SetOutput(MOTOR_LK_Param_t *param, float value) { - if (param == NULL) return DEVICE_ERR_NULL; - - MOTOR_LK_CANManager_t *manager = MOTOR_LK_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR_NO_DEV; - - // 限制输出值范围 - if (value > 1.0f) value = 1.0f; - if (value < -1.0f) value = -1.0f; - - MOTOR_LK_t *motor = MOTOR_LK_GetMotor(param); - if (motor == NULL) return DEVICE_ERR_NO_DEV; - - // 根据反转参数调整输出 - float output = param->reverse ? -value : value; - - // 转矩闭环控制命令 - 将输出值转换为转矩控制值 - int16_t torque_control = (int16_t)(output * (float)LK_TORQUE_RANGE); - - // 构建CAN帧 - BSP_CAN_StdDataFrame_t tx_frame; - tx_frame.id = param->id; - tx_frame.dlc = MOTOR_TX_BUF_SIZE; - - tx_frame.data[0] = LK_CMD_TORQUE_CTRL; - tx_frame.data[1] = 0x00; - tx_frame.data[2] = 0x00; - tx_frame.data[3] = 0x00; - tx_frame.data[4] = (uint8_t)(torque_control & 0xFF); - tx_frame.data[5] = (uint8_t)((torque_control >> 8) & 0xFF); - tx_frame.data[6] = 0x00; - tx_frame.data[7] = 0x00; - return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -int8_t MOTOR_LK_Ctrl(MOTOR_LK_Param_t *param) { - // 对于LK电机，每次设置输出时就直接发送控制命令 - // 这个函数可以用于发送其他控制命令，如电机开启/关闭 - return DEVICE_OK; -} - -int8_t MOTOR_LK_MotorOn(MOTOR_LK_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - - BSP_CAN_StdDataFrame_t tx_frame; - tx_frame.id = param->id; - tx_frame.dlc = MOTOR_TX_BUF_SIZE; - - // 电机运行命令 - tx_frame.data[0] = LK_CMD_MOTOR_ON; // 命令字节 - tx_frame.data[1] = 0x00; - tx_frame.data[2] = 0x00; - tx_frame.data[3] = 0x00; - tx_frame.data[4] = 0x00; - tx_frame.data[5] = 0x00; - tx_frame.data[6] = 0x00; - tx_frame.data[7] = 0x00; - return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -int8_t MOTOR_LK_MotorOff(MOTOR_LK_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - - BSP_CAN_StdDataFrame_t tx_frame; - tx_frame.id = param->id; - tx_frame.dlc = MOTOR_TX_BUF_SIZE; - - // 电机关闭命令 - tx_frame.data[0] = LK_CMD_MOTOR_OFF; // 命令字节 - tx_frame.data[1] = 0x00; - tx_frame.data[2] = 0x00; - tx_frame.data[3] = 0x00; - tx_frame.data[4] = 0x00; - tx_frame.data[5] = 0x00; - tx_frame.data[6] = 0x00; - tx_frame.data[7] = 0x00; - return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -MOTOR_LK_t* MOTOR_LK_GetMotor(MOTOR_LK_Param_t *param) { - if (param == NULL) return NULL; - - MOTOR_LK_CANManager_t *manager = MOTOR_LK_GetCANManager(param->can); - if (manager == NULL) return NULL; - - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_LK_t *motor = manager->motors[i]; - if (motor && motor->param.id == param->id) { - return motor; - } - } - return NULL; -} - -int8_t MOTOR_LK_Relax(MOTOR_LK_Param_t *param) { - return MOTOR_LK_SetOutput(param, 0.0f); -} - -int8_t MOTOR_LK_Offine(MOTOR_LK_Param_t *param) { - MOTOR_LK_t *motor = MOTOR_LK_GetMotor(param); - if (motor) { - motor->motor.header.online = false; - return DEVICE_OK; - } - return DEVICE_ERR_NO_DEV; -} \ No newline at end of file diff --git a/assets/User_code/device/motor_lk.h b/assets/User_code/device/motor_lk.h deleted file mode 100644 index f17dde0..0000000 --- a/assets/User_code/device/motor_lk.h +++ /dev/null @@ -1,119 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include "device/device.h" -#include "device/motor.h" -#include "bsp/can.h" - -/* Exported constants ------------------------------------------------------- */ -#define MOTOR_LK_MAX_MOTORS 32 - -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ -typedef enum { - MOTOR_LK_MF9025, - MOTOR_LK_MF9035, -} MOTOR_LK_Module_t; - - -/*每个电机需要的参数*/ -typedef struct { - BSP_CAN_t can; - uint16_t id; - MOTOR_LK_Module_t module; - bool reverse; -} MOTOR_LK_Param_t; - -/*电机实例*/ -typedef struct{ - MOTOR_LK_Param_t param; - MOTOR_t motor; -} MOTOR_LK_t; - -/*CAN管理器，管理一个CAN总线上所有的电机*/ -typedef struct { - BSP_CAN_t can; - MOTOR_LK_t *motors[MOTOR_LK_MAX_MOTORS]; - uint8_t motor_count; -} MOTOR_LK_CANManager_t; - -/* Exported functions prototypes -------------------------------------------- */ - -/** - * @brief 注册一个LK电机 - * @param param 电机参数 - * @return - */ -int8_t MOTOR_LK_Register(MOTOR_LK_Param_t *param); - -/** - * @brief 更新指定电机数据 - * @param param 电机参数 - * @return - */ -int8_t MOTOR_LK_Update(MOTOR_LK_Param_t *param); - -/** - * @brief 设置一个电机的输出 - * @param param 电机参数 - * @param value 输出值，范围[-1.0, 1.0] - * @return - */ -int8_t MOTOR_LK_SetOutput(MOTOR_LK_Param_t *param, float value); - -/** - * @brief 发送控制命令到电机，注意一个CAN可以控制多个电机，所以只需要发送一次即可 - * @param param 电机参数 - * @return - */ -int8_t MOTOR_LK_Ctrl(MOTOR_LK_Param_t *param); - -/** - * @brief 发送电机开启命令 - * @param param 电机参数 - * @return - */ -int8_t MOTOR_LK_MotorOn(MOTOR_LK_Param_t *param); - -/** - * @brief 发送电机关闭命令 - * @param param 电机参数 - * @return - */ -int8_t MOTOR_LK_MotorOff(MOTOR_LK_Param_t *param); - -/** - * @brief 获取指定电机的实例指针 - * @param param 电机参数 - * @return - */ -MOTOR_LK_t* MOTOR_LK_GetMotor(MOTOR_LK_Param_t *param); - -/** - * @brief 使电机松弛（设置输出为0） - * @param param - * @return - */ -int8_t MOTOR_LK_Relax(MOTOR_LK_Param_t *param); - -/** - * @brief 使电机离线（设置在线状态为false） - * @param param - * @return - */ -int8_t MOTOR_LK_Offine(MOTOR_LK_Param_t *param); - -/** - * @brief - * @param - * @return - */ -int8_t MOTOR_LK_UpdateAll(void); - -#ifdef __cplusplus -} -#endif \ No newline at end of file diff --git a/assets/User_code/device/motor_lz.c b/assets/User_code/device/motor_lz.c deleted file mode 100644 index 7ed7344..0000000 --- a/assets/User_code/device/motor_lz.c +++ /dev/null @@ -1,440 +0,0 @@ -/* - 灵足电机驱动 - - 灵足电机通信协议： - - CAN 2.0通信接口，波特率1Mbps - - 采用扩展帧格式(29位ID) - - ID格式：Bit28~24(通信类型) + Bit23~8(数据区2) + Bit7~0(目标地址) -*/ -/* Includes ----------------------------------------------------------------- */ -#include "motor_lz.h" -#include -#include -#include -#include "bsp/can.h" -#include "bsp/mm.h" -#include "bsp/time.h" -#include "component/user_math.h" - -/* Private define ----------------------------------------------------------- */ -// 灵足电机协议参数 -#define LZ_ANGLE_RANGE_RAD (12.57f) /* 角度范围 ±12.57 rad */ -#define LZ_VELOCITY_RANGE_RAD_S (20.0f) /* 角速度范围 ±20 rad/s */ -#define LZ_TORQUE_RANGE_NM (60.0f) /* 力矩范围 ±60 Nm */ -#define LZ_KP_MAX (5000.0f) /* Kp最大值 */ -#define LZ_KD_MAX (100.0f) /* Kd最大值 */ - -#define LZ_RAW_VALUE_MAX (65535) /* 16位原始值最大值 */ -#define LZ_TEMP_SCALE (10.0f) /* 温度缩放因子 */ - -#define LZ_MAX_RECOVER_DIFF_RAD (0.28f) -#define MOTOR_TX_BUF_SIZE (8) -#define MOTOR_RX_BUF_SIZE (8) - -/* Private macro ------------------------------------------------------------ */ - -MOTOR_LZ_MotionParam_t lz_relax_param = { - .target_angle = 0.0f, - .target_velocity = 0.0f, - .kp = 0.0f, - .kd = 0.0f, - .torque = 0.0f, -}; -/* Private typedef ---------------------------------------------------------- */ -/* Private variables -------------------------------------------------------- */ -static MOTOR_LZ_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL}; - -/* Private function prototypes ---------------------------------------------- */ -static MOTOR_LZ_CANManager_t* MOTOR_LZ_GetCANManager(BSP_CAN_t can); -static int8_t MOTOR_LZ_CreateCANManager(BSP_CAN_t can); -static void MOTOR_LZ_Decode(MOTOR_LZ_t *motor, BSP_CAN_Message_t *msg); -static uint32_t MOTOR_LZ_BuildExtID(MOTOR_LZ_CmdType_t cmd_type, uint16_t data2, uint8_t target_id); -static uint16_t MOTOR_LZ_FloatToRaw(float value, float max_value); -static float MOTOR_LZ_RawToFloat(uint16_t raw_value, float max_value); -static int8_t MOTOR_LZ_SendExtFrame(BSP_CAN_t can, uint32_t ext_id, uint8_t *data, uint8_t dlc); -static uint32_t MOTOR_LZ_IdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type); - -/* Private functions -------------------------------------------------------- */ - -/** - * @brief 获取CAN管理器 - */ -static MOTOR_LZ_CANManager_t* MOTOR_LZ_GetCANManager(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) return NULL; - return can_managers[can]; -} - -/** - * @brief 创建CAN管理器 - */ -static int8_t MOTOR_LZ_CreateCANManager(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) return DEVICE_ERR; - if (can_managers[can] != NULL) return DEVICE_OK; - - can_managers[can] = (MOTOR_LZ_CANManager_t*)BSP_Malloc(sizeof(MOTOR_LZ_CANManager_t)); - if (can_managers[can] == NULL) return DEVICE_ERR; - - memset(can_managers[can], 0, sizeof(MOTOR_LZ_CANManager_t)); - can_managers[can]->can = can; - return DEVICE_OK; -} - -/** - * @brief 构建扩展ID - */ -static uint32_t MOTOR_LZ_BuildExtID(MOTOR_LZ_CmdType_t cmd_type, uint16_t data2, uint8_t target_id) { - uint32_t ext_id = 0; - ext_id |= ((uint32_t)cmd_type & 0x1F) << 24; // Bit28~24: 通信类型 - ext_id |= ((uint32_t)data2 & 0xFFFF) << 8; // Bit23~8: 数据区2 - ext_id |= ((uint32_t)target_id & 0xFF); // Bit7~0: 目标地址 - return ext_id; -} - -/** - * @brief 浮点值转换为原始值（对称范围：-max_value ~ +max_value） - */ -static uint16_t MOTOR_LZ_FloatToRaw(float value, float max_value) { - // 限制范围 - if (value > max_value) value = max_value; - if (value < -max_value) value = -max_value; - - // 转换为0~65535范围，对应-max_value~max_value - return (uint16_t)((value + max_value) / (2.0f * max_value) * (float)LZ_RAW_VALUE_MAX); -} - -/** - * @brief 浮点值转换为原始值（单向范围：0 ~ +max_value） - */ -static uint16_t MOTOR_LZ_FloatToRawPositive(float value, float max_value) { - // 限制范围 - if (value > max_value) value = max_value; - if (value < 0.0f) value = 0.0f; - - // 转换为0~65535范围，对应0~max_value - return (uint16_t)(value / max_value * (float)LZ_RAW_VALUE_MAX); -} - -/** - * @brief 原始值转换为浮点值 - */ -static float MOTOR_LZ_RawToFloat(uint16_t raw_value, float max_value) { - // 将0~65535范围转换为-max_value~max_value - return ((float)raw_value / (float)LZ_RAW_VALUE_MAX) * (2.0f * max_value) - max_value; -} - -/** - * @brief 发送扩展帧 - */ -static int8_t MOTOR_LZ_SendExtFrame(BSP_CAN_t can, uint32_t ext_id, uint8_t *data, uint8_t dlc) { - BSP_CAN_ExtDataFrame_t tx_frame; - tx_frame.id = ext_id; - tx_frame.dlc = dlc; - if (data != NULL) { - memcpy(tx_frame.data, data, dlc); - } else { - memset(tx_frame.data, 0, dlc); - } - return BSP_CAN_TransmitExtDataFrame(can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -/** - * @brief 灵足电机ID解析器 - * @param original_id 原始CAN ID（29位扩展帧） - * @param frame_type 帧类型 - * @return 解析后的ID（用于队列匹配） - * - * 灵足电机扩展ID格式： - * Bit28~24: 通信类型 (0x1=运控控制, 0x2=反馈数据, 0x3=使能, 0x4=停止, 0x6=设零位) - * Bit23~8: 数据区2 (根据通信类型而定) - * Bit7~0: 目标地址 (目标电机CAN ID) - */ -static uint32_t MOTOR_LZ_IdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type) { - // 只处理扩展数据帧 - if (frame_type != BSP_CAN_FRAME_EXT_DATA) { - return original_id; // 非扩展帧直接返回原始ID - } - - // 解析扩展ID各个字段 - uint8_t cmd_type = (original_id >> 24) & 0x1F; // Bit28~24: 通信类型 - uint16_t data2 = (original_id >> 8) & 0xFFFF; // Bit23~8: 数据区2 - uint8_t host_id = (uint8_t)(original_id & 0xFF); // Bit7~0: 主机CAN ID - - // 对于反馈数据帧，我们使用特殊的解析规则 - if (cmd_type == MOTOR_LZ_CMD_FEEDBACK) { - // 反馈数据的data2字段包含： - // Bit8~15: 当前电机CAN ID - // Bit16~21: 故障信息 - // Bit22~23: 模式状态 - uint8_t motor_can_id = data2 & 0xFF; // bit8~15: 当前电机CAN ID - - // 返回格式化的ID，便于匹配 - // 格式：0x02HHMMTT (02=反馈命令, HH=主机ID, MM=电机ID, TT=主机ID) - return (0x02000000) | (host_id << 16) | (motor_can_id << 8) | host_id; - } - - // 对于其他命令类型，直接返回原始ID - return original_id; -} - -/** - * @brief 解码灵足电机反馈数据 - */ -static void MOTOR_LZ_Decode(MOTOR_LZ_t *motor, BSP_CAN_Message_t *msg) { - if (motor == NULL || msg == NULL) return; - uint8_t cmd_type = (msg->original_id >> 24) & 0x1F; - if (cmd_type != MOTOR_LZ_CMD_FEEDBACK) return; - uint16_t id_data2 = (msg->original_id >> 8) & 0xFFFF; - uint8_t motor_can_id = id_data2 & 0xFF; - uint8_t fault_info = (id_data2 >> 8) & 0x3F; - uint8_t mode_state = (id_data2 >> 14) & 0x03; - motor->lz_feedback.motor_can_id = motor_can_id; - motor->lz_feedback.fault.under_voltage = (fault_info & 0x01) != 0; - motor->lz_feedback.fault.driver_fault = (fault_info & 0x02) != 0; - motor->lz_feedback.fault.over_temp = (fault_info & 0x04) != 0; - motor->lz_feedback.fault.encoder_fault = (fault_info & 0x08) != 0; - motor->lz_feedback.fault.stall_overload = (fault_info & 0x10) != 0; - motor->lz_feedback.fault.uncalibrated = (fault_info & 0x20) != 0; - motor->lz_feedback.state = (MOTOR_LZ_State_t)mode_state; - - // 反馈解码并自动反向 - uint16_t raw_angle = (uint16_t)((msg->data[0] << 8) | msg->data[1]); - float angle = MOTOR_LZ_RawToFloat(raw_angle, LZ_ANGLE_RANGE_RAD); - uint16_t raw_velocity = (uint16_t)((msg->data[2] << 8) | msg->data[3]); - float velocity = MOTOR_LZ_RawToFloat(raw_velocity, LZ_VELOCITY_RANGE_RAD_S); - uint16_t raw_torque = (uint16_t)((msg->data[4] << 8) | msg->data[5]); - float torque = MOTOR_LZ_RawToFloat(raw_torque, LZ_TORQUE_RANGE_NM); - - while (angle <0){ - angle += M_2PI; - } - while (angle > M_2PI){ - angle -= M_2PI; - } - // 自动反向 - if (motor->param.reverse) { - angle = M_2PI - angle; - velocity = -velocity; - torque = -torque; - } - - motor->lz_feedback.current_angle = angle; - motor->lz_feedback.current_velocity = velocity; - motor->lz_feedback.current_torque = torque; - - uint16_t raw_temp = (uint16_t)((msg->data[6] << 8) | msg->data[7]); - motor->lz_feedback.temperature = (float)raw_temp / LZ_TEMP_SCALE; - - motor->motor.feedback.rotor_abs_angle = angle; - motor->motor.feedback.rotor_speed = velocity; - motor->motor.feedback.torque_current = torque; - motor->motor.feedback.temp = (int8_t)motor->lz_feedback.temperature; - motor->motor.header.online = true; - motor->motor.header.last_online_time = BSP_TIME_Get(); -} - -/* Exported functions ------------------------------------------------------- */ - -/** - * @brief 初始化灵足电机驱动系统 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_Init(void) { - // 注册灵足电机专用的ID解析器 - return BSP_CAN_RegisterIdParser(MOTOR_LZ_IdParser) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - - -int8_t MOTOR_LZ_Register(MOTOR_LZ_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - - if (MOTOR_LZ_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR; - MOTOR_LZ_CANManager_t *manager = MOTOR_LZ_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR; - - // 检查是否已注册 - for (int i = 0; i < manager->motor_count; i++) { - if (manager->motors[i] && manager->motors[i]->param.motor_id == param->motor_id) { - return DEVICE_ERR; // 已注册 - } - } - - // 检查数量 - if (manager->motor_count >= MOTOR_LZ_MAX_MOTORS) return DEVICE_ERR; - - // 创建新电机实例 - MOTOR_LZ_t *new_motor = (MOTOR_LZ_t*)BSP_Malloc(sizeof(MOTOR_LZ_t)); - if (new_motor == NULL) return DEVICE_ERR; - - memcpy(&new_motor->param, param, sizeof(MOTOR_LZ_Param_t)); - memset(&new_motor->motor, 0, sizeof(MOTOR_t)); - memset(&new_motor->lz_feedback, 0, sizeof(MOTOR_LZ_Feedback_t)); - memset(&new_motor->motion_param, 0, sizeof(MOTOR_LZ_MotionParam_t)); - - new_motor->motor.reverse = param->reverse; - - // 注册CAN接收ID - 使用解析后的反馈数据ID - // 构建反馈数据的原始扩展ID - // 反馈数据：data2包含电机ID(bit8~15)，target_id是主机ID - uint32_t original_feedback_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_FEEDBACK, param->motor_id, param->host_id); - // 通过ID解析器得到解析后的ID - uint32_t parsed_feedback_id = MOTOR_LZ_IdParser(original_feedback_id, BSP_CAN_FRAME_EXT_DATA); - - if (BSP_CAN_RegisterId(param->can, parsed_feedback_id, 3) != BSP_OK) { - BSP_Free(new_motor); - return DEVICE_ERR; - } - - manager->motors[manager->motor_count] = new_motor; - manager->motor_count++; - return DEVICE_OK; -} - -int8_t MOTOR_LZ_Update(MOTOR_LZ_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - - MOTOR_LZ_CANManager_t *manager = MOTOR_LZ_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR_NO_DEV; - - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_LZ_t *motor = manager->motors[i]; - if (motor && motor->param.motor_id == param->motor_id) { - // 获取反馈数据 - 使用解析后的ID - uint32_t original_feedback_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_FEEDBACK, param->motor_id, param->host_id); - uint32_t parsed_feedback_id = MOTOR_LZ_IdParser(original_feedback_id, BSP_CAN_FRAME_EXT_DATA); - BSP_CAN_Message_t msg; - - while (BSP_CAN_GetMessage(param->can, parsed_feedback_id, &msg, 0) == BSP_OK) { - MOTOR_LZ_Decode(motor, &msg); - } - return DEVICE_OK; - } - } - return DEVICE_ERR_NO_DEV; -} - -int8_t MOTOR_LZ_UpdateAll(void) { - int8_t ret = DEVICE_OK; - for (int can = 0; can < BSP_CAN_NUM; can++) { - MOTOR_LZ_CANManager_t *manager = MOTOR_LZ_GetCANManager((BSP_CAN_t)can); - if (manager == NULL) continue; - - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_LZ_t *motor = manager->motors[i]; - if (motor) { - if (MOTOR_LZ_Update(&motor->param) != DEVICE_OK) { - ret = DEVICE_ERR; - } - } - } - } - return ret; -} - -int8_t MOTOR_LZ_MotionControl(MOTOR_LZ_Param_t *param, MOTOR_LZ_MotionParam_t *motion_param) { - if (param == NULL || motion_param == NULL) return DEVICE_ERR_NULL; - MOTOR_LZ_t *motor = MOTOR_LZ_GetMotor(param); - if (motor == NULL) return DEVICE_ERR_NO_DEV; - - // 自动反向控制 - MOTOR_LZ_MotionParam_t send_param = *motion_param; - if (param->reverse) { - send_param.target_angle = -send_param.target_angle; - send_param.target_velocity = -send_param.target_velocity; - send_param.torque = -send_param.torque; - } - - memcpy(&motor->motion_param, motion_param, sizeof(MOTOR_LZ_MotionParam_t)); - - uint16_t raw_torque = MOTOR_LZ_FloatToRaw(send_param.torque, LZ_TORQUE_RANGE_NM); - uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_MOTION, raw_torque, param->motor_id); - uint8_t data[8]; - uint16_t raw_angle = MOTOR_LZ_FloatToRaw(send_param.target_angle, LZ_ANGLE_RANGE_RAD); - data[0] = (raw_angle >> 8) & 0xFF; - data[1] = raw_angle & 0xFF; - uint16_t raw_velocity = MOTOR_LZ_FloatToRaw(send_param.target_velocity, LZ_VELOCITY_RANGE_RAD_S); - data[2] = (raw_velocity >> 8) & 0xFF; - data[3] = raw_velocity & 0xFF; - uint16_t raw_kp = MOTOR_LZ_FloatToRawPositive(send_param.kp, LZ_KP_MAX); - data[4] = (raw_kp >> 8) & 0xFF; - data[5] = raw_kp & 0xFF; - uint16_t raw_kd = MOTOR_LZ_FloatToRawPositive(send_param.kd, LZ_KD_MAX); - data[6] = (raw_kd >> 8) & 0xFF; - data[7] = raw_kd & 0xFF; - return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8); -} - - -int8_t MOTOR_LZ_Enable(MOTOR_LZ_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - - // 构建扩展ID - 使能命令 - uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_ENABLE, param->host_id, param->motor_id); - - // 数据区清零 - uint8_t data[8] = {0}; - - return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8); -} - -int8_t MOTOR_LZ_Disable(MOTOR_LZ_Param_t *param, bool clear_fault) { - if (param == NULL) return DEVICE_ERR_NULL; - - // 构建扩展ID - 停止命令 - uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_DISABLE, param->host_id, param->motor_id); - - // 数据区 - uint8_t data[8] = {0}; - if (clear_fault) { - data[0] = 1; // Byte[0]=1时清故障 - } - - return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8); -} - -int8_t MOTOR_LZ_SetZero(MOTOR_LZ_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - - // 构建扩展ID - 设置零位命令 - uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_SET_ZERO, param->host_id, param->motor_id); - - // 数据区 - Byte[0]=1 - uint8_t data[8] = {1, 0, 0, 0, 0, 0, 0, 0}; - - return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8); -} - -MOTOR_LZ_t* MOTOR_LZ_GetMotor(MOTOR_LZ_Param_t *param) { - if (param == NULL) return NULL; - - MOTOR_LZ_CANManager_t *manager = MOTOR_LZ_GetCANManager(param->can); - if (manager == NULL) return NULL; - - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_LZ_t *motor = manager->motors[i]; - if (motor && motor->param.motor_id == param->motor_id) { - return motor; - } - } - return NULL; -} - -int8_t MOTOR_LZ_Relax(MOTOR_LZ_Param_t *param) { - return MOTOR_LZ_MotionControl(param, &lz_relax_param); -} - -int8_t MOTOR_LZ_Offline(MOTOR_LZ_Param_t *param) { - MOTOR_LZ_t *motor = MOTOR_LZ_GetMotor(param); - if (motor) { - motor->motor.header.online = false; - return DEVICE_OK; - } - return DEVICE_ERR_NO_DEV; -} - -static MOTOR_LZ_Feedback_t* MOTOR_LZ_GetFeedback(MOTOR_LZ_Param_t *param) { - MOTOR_LZ_t *motor = MOTOR_LZ_GetMotor(param); - if (motor && motor->motor.header.online) { - return &motor->lz_feedback; - } - return NULL; -} diff --git a/assets/User_code/device/motor_lz.h b/assets/User_code/device/motor_lz.h deleted file mode 100644 index d2a8002..0000000 --- a/assets/User_code/device/motor_lz.h +++ /dev/null @@ -1,212 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include "device/device.h" -#include "device/motor.h" -#include "bsp/can.h" - -/* Exported constants ------------------------------------------------------- */ -#define MOTOR_LZ_MAX_MOTORS 32 - -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ -typedef enum { - MOTOR_LZ_RSO0, - MOTOR_LZ_RSO1, - MOTOR_LZ_RSO2, - MOTOR_LZ_RSO3, - MOTOR_LZ_RSO4, - MOTOR_LZ_RSO5, - MOTOR_LZ_RSO6, -} MOTOR_LZ_Module_t; - -/* 灵足电机控制模式 */ -typedef enum { - MOTOR_LZ_MODE_MOTION = 0x1, /* 运控模式 */ - MOTOR_LZ_MODE_CURRENT = 0x2, /* 电流模式 */ - MOTOR_LZ_MODE_VELOCITY = 0x3, /* 速度模式 */ - MOTOR_LZ_MODE_POSITION = 0x4, /* 位置模式 */ -} MOTOR_LZ_ControlMode_t; - -/* 灵足电机通信类型 */ -typedef enum { - MOTOR_LZ_CMD_MOTION = 0x1, /* 运控模式控制 */ - MOTOR_LZ_CMD_FEEDBACK = 0x2, /* 电机反馈数据 */ - MOTOR_LZ_CMD_ENABLE = 0x3, /* 电机使能运行 */ - MOTOR_LZ_CMD_DISABLE = 0x4, /* 电机停止运行 */ - MOTOR_LZ_CMD_SET_ZERO = 0x6, /* 设置电机机械零位 */ -} MOTOR_LZ_CmdType_t; - -/* 灵足电机运行状态 */ -typedef enum { - MOTOR_LZ_STATE_RESET = 0, /* Reset模式[复位] */ - MOTOR_LZ_STATE_CALI = 1, /* Cali模式[标定] */ - MOTOR_LZ_STATE_MOTOR = 2, /* Motor模式[运行] */ -} MOTOR_LZ_State_t; - -/* 灵足电机故障信息 */ -typedef struct { - bool uncalibrated; /* bit21: 未标定 */ - bool stall_overload; /* bit20: 堵转过载故障 */ - bool encoder_fault; /* bit19: 磁编码故障 */ - bool over_temp; /* bit18: 过温 */ - bool driver_fault; /* bit17: 驱动故障 */ - bool under_voltage; /* bit16: 欠压故障 */ -} MOTOR_LZ_Fault_t; - -/* 灵足电机运控参数 */ -typedef struct { - float target_angle; /* 目标角度 (-12.57f~12.57f rad) */ - float target_velocity; /* 目标角速度 (-20~20 rad/s) */ - float kp; /* 位置增益 (0.0~5000.0) */ - float kd; /* 微分增益 (0.0~100.0) */ - float torque; /* 力矩 (-60~60 Nm) */ -} MOTOR_LZ_MotionParam_t; - -/*每个电机需要的参数*/ -typedef struct { - BSP_CAN_t can; /* CAN总线 */ - uint8_t motor_id; /* 电机CAN ID */ - uint8_t host_id; /* 主机CAN ID */ - MOTOR_LZ_Module_t module; /* 电机型号 */ - bool reverse; /* 是否反向 */ - MOTOR_LZ_ControlMode_t mode; /* 控制模式 */ -} MOTOR_LZ_Param_t; - -/*电机反馈信息扩展*/ -typedef struct { - float current_angle; /* 当前角度 (-12.57f~12.57f rad) */ - float current_velocity; /* 当前角速度 (-20~20 rad/s) */ - float current_torque; /* 当前力矩 (-60~60 Nm) */ - float temperature; /* 当前温度 (摄氏度) */ - MOTOR_LZ_State_t state; /* 运行状态 */ - MOTOR_LZ_Fault_t fault; /* 故障信息 */ - uint8_t motor_can_id; /* 当前电机CAN ID */ -} MOTOR_LZ_Feedback_t; - -/*电机实例*/ -typedef struct { - MOTOR_LZ_Param_t param; - MOTOR_t motor; - MOTOR_LZ_Feedback_t lz_feedback; /* 灵足电机特有反馈信息 */ - MOTOR_LZ_MotionParam_t motion_param; /* 运控模式参数 */ -} MOTOR_LZ_t; - -/*CAN管理器，管理一个CAN总线上所有的电机*/ -typedef struct { - BSP_CAN_t can; - MOTOR_LZ_t *motors[MOTOR_LZ_MAX_MOTORS]; - uint8_t motor_count; -} MOTOR_LZ_CANManager_t; - -/* Exported functions prototypes -------------------------------------------- */ - -/** - * @brief 初始化灵足电机驱动系统 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_Init(void); - -/** - * @brief 注册一个灵足电机 - * @param param 电机参数 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_Register(MOTOR_LZ_Param_t *param); - -/** - * @brief 更新指定电机数据 - * @param param 电机参数 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_Update(MOTOR_LZ_Param_t *param); - -/** - * @brief 更新所有电机数据 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_UpdateAll(void); - -/** - * @brief 运控模式控制电机 - * @param param 电机参数 - * @param motion_param 运控参数 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_MotionControl(MOTOR_LZ_Param_t *param, MOTOR_LZ_MotionParam_t *motion_param); - -/** - * @brief 电流(力矩)模式控制电机 - * @param param 电机参数 - * @param torque 目标力矩 (-60~60 Nm) - * @return 设备状态码 - */ -int8_t MOTOR_LZ_TorqueControl(MOTOR_LZ_Param_t *param, float torque); - -/** - * @brief 位置模式控制电机 - * @param param 电机参数 - * @param target_angle 目标角度 (-12.57~12.57 rad) - * @param max_velocity 最大速度 (0~20 rad/s) - * @return 设备状态码 - */ -int8_t MOTOR_LZ_PositionControl(MOTOR_LZ_Param_t *param, float target_angle, float max_velocity); - -/** - * @brief 速度模式控制电机 - * @param param 电机参数 - * @param target_velocity 目标速度 (-20~20 rad/s) - * @return 设备状态码 - */ -int8_t MOTOR_LZ_VelocityControl(MOTOR_LZ_Param_t *param, float target_velocity); - -/** - * @brief 电机使能运行 - * @param param 电机参数 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_Enable(MOTOR_LZ_Param_t *param); - -/** - * @brief 电机停止运行 - * @param param 电机参数 - * @param clear_fault 是否清除故障 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_Disable(MOTOR_LZ_Param_t *param, bool clear_fault); - -/** - * @brief 设置电机机械零位 - * @param param 电机参数 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_SetZero(MOTOR_LZ_Param_t *param); - -/** - * @brief 获取指定电机的实例指针 - * @param param 电机参数 - * @return 电机实例指针，失败返回NULL - */ -MOTOR_LZ_t* MOTOR_LZ_GetMotor(MOTOR_LZ_Param_t *param); - -/** - * @brief 使电机松弛（发送停止命令） - * @param param 电机参数 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_Relax(MOTOR_LZ_Param_t *param); - -/** - * @brief 使电机离线（设置在线状态为false） - * @param param 电机参数 - * @return 设备状态码 - */ -int8_t MOTOR_LZ_Offline(MOTOR_LZ_Param_t *param); - -#ifdef __cplusplus -} -#endif \ No newline at end of file diff --git a/assets/User_code/device/motor_odrive.c b/assets/User_code/device/motor_odrive.c deleted file mode 100644 index 74b9319..0000000 --- a/assets/User_code/device/motor_odrive.c +++ /dev/null @@ -1,327 +0,0 @@ -/* - Odrive电机驱动 -*/ -/* Includes ----------------------------------------------------------------- */ -#include "motor_odrive.h" -#include -#include -#include "bsp/can.h" -#include "bsp/mm.h" -#include "bsp/time.h" -#include "component/user_math.h" - -/* Private define ----------------------------------------------------------- */ - - -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -/* Private variables -------------------------------------------------------- */ -static ODrive_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL}; - - -// 获取指定CAN总线的电机管理器指针 -static ODrive_CANManager_t* MOTOR_GetCANManager(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) return NULL; - return can_managers[can]; -} - -// 为指定CAN总线创建电机管理器 -static int8_t MOTOR_CreateCANManager(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) return DEVICE_ERR; - if (can_managers[can] != NULL) return DEVICE_OK; - can_managers[can] = (ODrive_CANManager_t*)BSP_Malloc(sizeof(ODrive_CANManager_t)); - if (can_managers[can] == NULL) return DEVICE_ERR; - memset(can_managers[can], 0, sizeof(ODrive_CANManager_t)); - can_managers[can]->can = can; - return DEVICE_OK; -} - -// 解析CAN报文，更新电机反馈信息 -static void Motor_Decode(ODrive_t *motor, BSP_CAN_Message_t *msg) -{ - uint8_t axis_id = (msg->original_id >> 5) & 0x3F; // 提取电机号（0~63） - uint8_t cmd_id = msg->original_id & 0x1F; // 提取命令 ID（低 5 位） - - motor->param.id = axis_id; // 保存电机 ID - - // 解析帧类型（数据帧或远程帧） - if (msg->frame_type == BSP_CAN_FRAME_STD_DATA) { - // 数据帧处理 - switch (cmd_id) - { - case ODRIVE_HEARTBEAT_MESSAGE: // 0x001 ODrive心跳消息 - // motor->motor.feedback.axis_error = (msg->data[0] | msg->data[1]<<8 | msg->data[2]<<16 | msg->data[3]<<24); - // motor->motor.feedback.axis_state = msg->data[4]; - // motor->motor.feedback.controller_status = msg->data[5]; - break; - - case ENCODER_ESTIMATES: // 0x009 - { - uint32_t raw_pos = (msg->data[0] | msg->data[1]<<8 | msg->data[2]<<16 | msg->data[3]<<24); - uint32_t raw_vel = (msg->data[4] | msg->data[5]<<8 | msg->data[6]<<16 | msg->data[7]<<24); - memcpy(&motor->motor.feedback.rotor_abs_angle, &raw_pos, sizeof(float)); - memcpy(&motor->motor.feedback.rotor_speed, &raw_vel, sizeof(float)); - } - break; - - case GET_ENCODER_COUNT: // 0x014 - // motor->motor.feedback.encoder_shadow = (msg->data[0] | msg->data[1]<<8 | msg->data[2]<<16 | msg->data[3]<<24); - // motor->motor.feedback.encoder_cpr = (msg->data[4] | msg->data[5]<<8 | msg->data[6]<<16 | msg->data[7]<<24); - break; - - case GET_BUS_VOLTAGE_CURRENT: // 0x017 - { - uint32_t raw_vbus, raw_ibus; - raw_vbus = (msg->data[0] | msg->data[1]<<8 | msg->data[2]<<16 | msg->data[3]<<24); - raw_ibus = (msg->data[4] | msg->data[5]<<8 | msg->data[6]<<16 | msg->data[7]<<24); - // memcpy(&motor->motor.feedback.bus_voltage, &raw_vbus, sizeof(float)); - memcpy(&motor->motor.feedback.torque_current, &raw_ibus, sizeof(float)); - } - break; - - case GET_IQ: // 0x018 - { - uint32_t raw_iq_set, raw_iq_meas; - raw_iq_set = (msg->data[0] | msg->data[1]<<8 | msg->data[2]<<16 | msg->data[3]<<24); - raw_iq_meas = (msg->data[4] | msg->data[5]<<8 | msg->data[6]<<16 | msg->data[7]<<24); - // memcpy(&motor->motor.feedback.iq_setpoint, &raw_iq_set, sizeof(float)); - // memcpy(&motor->motor.feedback.iq_measured, &raw_iq_meas, sizeof(float)); - } - break; - - default: - - break; - } - } -} - - -/* Exported functions ------------------------------------------------------- */ - -// 注册一个新的电机实例到管理器 -int8_t ODrive_Register(ODrive_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - if (MOTOR_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR; - ODrive_CANManager_t *manager = MOTOR_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR; - // 检查是否已注册 - for (int i = 0; i < manager->motor_count; i++) { - if (manager->motors[i] && manager->motors[i]->param.id == param->id) { - return DEVICE_ERR_INITED; - } - } - // 检查数量 - if (manager->motor_count >= ODRIVE_MAX_MOTORS) return DEVICE_ERR; - // 创建新电机实例 - ODrive_t *new_motor = (ODrive_t*)BSP_Malloc(sizeof(ODrive_t)); - if (new_motor == NULL) return DEVICE_ERR; - memcpy(&new_motor->param, param, sizeof(ODrive_Param_t)); - memset(&new_motor->motor, 0, sizeof(MOTOR_t)); - new_motor->motor.reverse = param->reverse; - // 注册CAN接收ID - if (BSP_CAN_RegisterId(param->can, param->id, 3) != BSP_OK) { - BSP_Free(new_motor); - return DEVICE_ERR; - } - manager->motors[manager->motor_count] = new_motor; - manager->motor_count++; - return DEVICE_OK; -} - -// 更新指定电机的反馈数据 -int8_t ODrive_Update(ODrive_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - ODrive_CANManager_t *manager = MOTOR_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR_NO_DEV; - for (int i = 0; i < manager->motor_count; i++) { - ODrive_t *motor = manager->motors[i]; - if (motor && motor->param.id == param->id) { - BSP_CAN_Message_t rx_msg; - if (BSP_CAN_GetMessage(param->can, param->id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) { - uint64_t now_time = BSP_TIME_Get(); - if (now_time - motor->motor.header.last_online_time > 1000) { - motor->motor.header.online = false; - return DEVICE_ERR_NO_DEV; - } - return DEVICE_ERR; - } - motor->motor.header.online = true; - motor->motor.header.last_online_time = BSP_TIME_Get(); - Motor_Decode(motor, &rx_msg); - return DEVICE_OK; - } - } - return DEVICE_ERR_NO_DEV; -} - -// 更新所有CAN总线下所有电机的反馈数据 -int8_t ODrive_UpdateAll(void) { - int8_t ret = DEVICE_OK; - for (int can = 0; can < BSP_CAN_NUM; can++) { - ODrive_CANManager_t *manager = MOTOR_GetCANManager((BSP_CAN_t)can); - if (manager == NULL) continue; - for (int i = 0; i < manager->motor_count; i++) { - ODrive_t *motor = manager->motors[i]; - if (motor != NULL) { - if (ODrive_Update(&motor->param) != DEVICE_OK) { - ret = DEVICE_ERR; - } - } - } - } - return ret; -} - -// 获取指定参数对应的电机实例指针 -ODrive_t* ODrive_GetMotor(ODrive_Param_t *param) { - if (param == NULL) return NULL; - ODrive_CANManager_t *manager = MOTOR_GetCANManager(param->can); - if (manager == NULL) return NULL; - for (int i = 0; i < manager->motor_count; i++) { - ODrive_t *motor = manager->motors[i]; - if (motor && motor->param.id == param->id) { - return motor; - } - } - return NULL; -} - -// 设置指定电机的输出值 -int8_t ODrive_SetOutput(ODrive_Param_t *param, float value) { - if (param == NULL) return DEVICE_ERR_NULL; - - // 如果电机反转标志为 true，则反向值 - if (param->reverse) { - value = -value; - } - - BSP_CAN_StdDataFrame_t tx_frame; - uint16_t command_id; - uint8_t *pVal = (uint8_t *)&value; - - // 选择命令 ID 和数据打包方式 - switch (param->mode) { - case POSITION_CONTROL: { - command_id = SET_INPUT_POS; - float pos = value; - int16_t vel_ff = 0; // 可扩展为参数传入 0就行 - int16_t torque_ff = 0; // 可扩展为参数传入 0就行 - uint8_t *pPos = (uint8_t *)&pos; - uint8_t *pVel = (uint8_t *)&vel_ff; - uint8_t *pTor = (uint8_t *)&torque_ff; - memcpy(&tx_frame.data[0], pPos, 4); - memcpy(&tx_frame.data[4], pVel, 2); - memcpy(&tx_frame.data[6], pTor, 2); - tx_frame.dlc = 8; - break; - } - case VELOCITY_CONTROL: { - command_id = SET_INPUT_VEL; - float vel = value; - float torque_ff = 0.0f; // 可扩展为参数传入 - uint8_t *pVel = (uint8_t *)&vel; - uint8_t *pTor = (uint8_t *)&torque_ff; - memcpy(&tx_frame.data[0], pVel, 4); - memcpy(&tx_frame.data[4], pTor, 4); - tx_frame.dlc = 8; - break; - } - case TORQUE_CONTROL: { - command_id = SET_INPUT_TORQUE; - memcpy(&tx_frame.data[0], pVal, 4); - tx_frame.dlc = 4; - break; - } - case VOLTAGE_CONTROL: - default: - return DEVICE_ERR; // 暂不支持电压模式 - } - - // 组装 CAN ID（标准帧） - tx_frame.id = (param->id << 5) | command_id; - - // 标准数据帧 - return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -// 设置加速度和减速度 -int8_t ODrive_SetAccel(ODrive_Param_t *param, float accel, float decel) { - if (param == NULL) return DEVICE_ERR_NULL; - - BSP_CAN_StdDataFrame_t tx_frame; - uint16_t command_id = SET_TRAJ_ACCEL_LIMITS; - - uint8_t *pAccel = (uint8_t *)&accel; - uint8_t *pDecel = (uint8_t *)&decel; - memcpy(&tx_frame.data[0], pAccel, 4); - memcpy(&tx_frame.data[4], pDecel, 4); - tx_frame.dlc = 8; - - tx_frame.id = (param->id << 5) | command_id; - return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -// 获取位置和速度反馈 -int8_t ODrive_RequestEncoderEstimates(ODrive_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - - BSP_CAN_StdDataFrame_t tx_frame; - uint16_t command_id = ENCODER_ESTIMATES; // 请求编码器估计值命令 - uint8_t zero_data[8] = {0}; // 发送全 0 数据（ODrive 协议要求） - - memcpy(tx_frame.data, zero_data, 8); - tx_frame.dlc = 8; - tx_frame.id = (param->id << 5) | command_id; - - return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -// 设置轴请求状态（一般用来重启 ODrive 的某个轴） -// ODrive_SetAxisRequestedState(odrive_axis[0], CLOSED_LOOP_CONTROL); -int8_t ODrive_SetAxisRequestedState(ODrive_Param_t *param, Axis_State state) { - if (param == NULL) return DEVICE_ERR_NULL; - - BSP_CAN_StdDataFrame_t tx_frame; - uint16_t command_id = SET_AXIS_REQUESTED_STATE; - - // 将 state 转为 4 字节 - memcpy(tx_frame.data, &state, 4); - memset(&tx_frame.data[4], 0, 4); - tx_frame.dlc = 4; - - // 组装 CAN ID - tx_frame.id = (param->id << 5) | command_id; - - return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -// 清除错误 -int8_t ODrive_ClearErrors(ODrive_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - - BSP_CAN_StdDataFrame_t tx_frame; - uint16_t command_id = CLEAR_ERRORS; - - memset(tx_frame.data, 0, 8); - tx_frame.dlc = 0; - - tx_frame.id = (param->id << 5) | command_id; - - return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -// 重启 ODrive -int8_t ODrive_Reboot(ODrive_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - - BSP_CAN_StdDataFrame_t tx_frame; - uint16_t command_id = REBOOT_ODRIVE; - - memset(tx_frame.data, 0, 8); - tx_frame.dlc = 0; - - tx_frame.id = (param->id << 5) | command_id; - - return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} diff --git a/assets/User_code/device/motor_odrive.h b/assets/User_code/device/motor_odrive.h deleted file mode 100644 index ffc5282..0000000 --- a/assets/User_code/device/motor_odrive.h +++ /dev/null @@ -1,162 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include "device/device.h" -#include "device/motor.h" -#include "bsp/can.h" - -/* Private define ----------------------------------------------------------- */ - -//ODrive型号根据实际情况调整 -#define ODRIVE_MAX_MOTORS 2 - -//COMMAND ID -#define ODRIVE_HEARTBEAT_MESSAGE 0x001 // ODrive心跳消息 -#define SET_AXIS_NODE_ID 0x006 // 设置电机节点ID -#define GET_ENCODER_ESTIMATES 0x008 // 获取编码器估计值 -#define GET_ENCODER_COUNT 0x00A // 获取编码器计数 -#define SET_AXIS_REQUESTED_STATE 0x007 // 设置电机请求状态 -#define ENCODER_ESTIMATES 0x009 // 编码器估计值 -#define GET_ENCODER_COUNT 0x00A // 获取编码器计数 -#define SET_CONTROLLER_MODES 0x00B // 设置控制器模式 -#define SET_INPUT_POS 0x00C // 设置输入位置 -#define SET_INPUT_VEL 0x00D // 设置输入速度 -#define SET_INPUT_TORQUE 0x00E // 设置输入转矩 -#define SET_LIMITS 0x00F // 设置限制 -#define GET_IQ 0x014 // 获取电流 -#define REBOOT_ODRIVE 0x016 // 重启ODrive -#define GET_BUS_VOLTAGE_CURRENT 0x017 // 获取总线电压和电流 -#define CLEAR_ERRORS 0x018 // 清除错误 -#define SET_POSITION_GAIN 0x01A // 设置位置增益 -#define SET_VEL_GAINS 0x01B // 设置速度增益 -#define SET_TRAJ_ACCEL_LIMITS 0x012 // 设置轨迹加速度限制 -/* Exported constants ------------------------------------------------------- */ - - -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ - -//Axis States -typedef enum { - UNDEFINED = 0x0, - IDLE = 0x1, - STARTUP_SEQUENCE = 0x2, - FULL_CALIBRATION_SEQUENCE = 0x3, - MOTOR_CALIBRATION = 0x4, - ENCODER_INDEX_SEARCH = 0x6, - ENCODER_OFFSET_CALIBRATION = 0x7, - CLOSED_LOOP_CONTROL = 0x8, - LOCKIN_SPIN = 0x9, - ENCODER_DIR_FIND = 0xA, - HOMING = 0xB, - ENCODER_HALL_POLARITY_CALIBRATION = 0xC, - ENCODER_HALL_PHASE_CALIBRATION = 0xD -} Axis_State; - -//Control Modes -typedef enum{ - VOLTAGE_CONTROL = 0x0, - TORQUE_CONTROL = 0x1, - VELOCITY_CONTROL = 0x2, - POSITION_CONTROL = 0x3 -} Control_Mode; - - -/*每个电机需要的参数*/ -typedef struct { - BSP_CAN_t can; - uint16_t id; - uint16_t mode; - bool reverse; -} ODrive_Param_t; - -/*电机实例*/ -typedef struct ODrive_t { - ODrive_Param_t param; - MOTOR_t motor; -} ODrive_t; - -/*CAN管理器，管理一个CAN总线上所有的电机*/ -typedef struct { - BSP_CAN_t can; - ODrive_t *motors[ODRIVE_MAX_MOTORS]; - uint8_t motor_count; -} ODrive_CANManager_t; - -/* Exported functions prototypes -------------------------------------------- */ - -/** - * @brief 注册一个odrive电机 - * @param param 电机参数 - * @return - */ -int8_t ODrive_Register(ODrive_Param_t *param); - -/** - * @brief 更新指定电机数据 - * @param param 电机参数 - * @return - */ - -int8_t ODrive_Update(ODrive_Param_t *param); - -/** * @brief 更新所有ODrive电机状态 - * @return - */ -int8_t ODrive_UpdateAll(void); - -/** - * @brief 设置一个电机的输出 - * @param param 电机参数 - * @param value 输出值 - * @return - */ -int8_t ODrive_SetOutput(ODrive_Param_t *param, float value); - -/** * @brief 设置电机加速度和减速度限制 - * @param param 电机参数 - * @param accel 加速度 - * @param decel 减速度 - * @return - */ -int8_t ODrive_SetAccel(ODrive_Param_t *param, float accel, float decel); - -/** - * @brief 获取指定电机的实例指针 - * @param param 电机参数 - * @return - */ -ODrive_t* ODrive_GetMotor(ODrive_Param_t *param); - -/** * @brief 获取指定电机的编码器估计值 - * @param param 电机参数 - * @return - */ -int8_t ODrive_RequestEncoderEstimates(ODrive_Param_t *param); - - -/** * @brief 设置轴请求状态（一般用来重启 ODrive 的某个轴） - * @param param 电机参数 - * @return - */ -int8_t ODrive_SetAxisRequestedState(ODrive_Param_t *param, Axis_State state); - -/** * @brief 清除错误 - * @param param 电机参数 - * @return - */ -int8_t ODrive_ClearErrors(ODrive_Param_t *param); - -/** * @brief 重启 ODrive - * @param param 电机参数 - * @return - */ -int8_t ODrive_Reboot(ODrive_Param_t *param); - -#ifdef __cplusplus -} -#endif \ No newline at end of file diff --git a/assets/User_code/device/motor_rm.c b/assets/User_code/device/motor_rm.c deleted file mode 100644 index 1e78a47..0000000 --- a/assets/User_code/device/motor_rm.c +++ /dev/null @@ -1,321 +0,0 @@ -/* - RM电机驱动 -*/ -/* Includes ----------------------------------------------------------------- */ -#include "motor_rm.h" -#include -#include -#include "bsp/can.h" -#include "bsp/mm.h" -#include "bsp/time.h" -#include "component/user_math.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private define ----------------------------------------------------------- */ -#define GM6020_FB_ID_BASE (0x205) -#define GM6020_CTRL_ID_BASE (0x1ff) -#define GM6020_CTRL_ID_EXTAND (0x2ff) - -#define M3508_M2006_FB_ID_BASE (0x201) -#define M3508_M2006_CTRL_ID_BASE (0x200) -#define M3508_M2006_CTRL_ID_EXTAND (0x1ff) -#define M3508_M2006_ID_SETTING_ID (0x700) - -#define GM6020_MAX_ABS_LSB (30000) -#define M3508_MAX_ABS_LSB (16384) -#define M2006_MAX_ABS_LSB (10000) - -#define MOTOR_TX_BUF_SIZE (8) -#define MOTOR_RX_BUF_SIZE (8) - -#define MOTOR_ENC_RES (8192) /* 电机编码器分辨率 */ -#define MOTOR_CUR_RES (16384) /* 电机转矩电流分辨率 */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private variables -------------------------------------------------------- */ -static MOTOR_RM_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL}; - -/* Private function -------------------------------------------------------- */ -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -static int8_t MOTOR_RM_GetLogicalIndex(uint16_t can_id, MOTOR_RM_Module_t module) { - switch (module) { - case MOTOR_M2006: - case MOTOR_M3508: - if (can_id >= M3508_M2006_FB_ID_BASE && can_id < M3508_M2006_FB_ID_BASE + 7) { - return can_id - M3508_M2006_FB_ID_BASE; - } - break; - case MOTOR_GM6020: - if (can_id >= GM6020_FB_ID_BASE && can_id < GM6020_FB_ID_BASE + 6) { - return can_id - GM6020_FB_ID_BASE + 4; - } - break; - default: - break; - } - return DEVICE_ERR; -} - -static float MOTOR_RM_GetRatio(MOTOR_RM_Module_t module) { - switch (module) { - case MOTOR_M2006: return 36.0f; - case MOTOR_M3508: return 3591.0f / 187.0f; - case MOTOR_GM6020: return 1.0f; - default: return 1.0f; - } -} - -static int16_t MOTOR_RM_GetLSB(MOTOR_RM_Module_t module) { - switch (module) { - case MOTOR_M2006: return M2006_MAX_ABS_LSB; - case MOTOR_M3508: return M3508_MAX_ABS_LSB; - case MOTOR_GM6020: return GM6020_MAX_ABS_LSB; - default: return DEVICE_ERR; - } -} - -static MOTOR_RM_CANManager_t* MOTOR_RM_GetCANManager(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) return NULL; - return can_managers[can]; -} - -static int8_t MOTOR_RM_CreateCANManager(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) return DEVICE_ERR; - if (can_managers[can] != NULL) return DEVICE_OK; - can_managers[can] = (MOTOR_RM_CANManager_t*)BSP_Malloc(sizeof(MOTOR_RM_CANManager_t)); - if (can_managers[can] == NULL) return DEVICE_ERR; - memset(can_managers[can], 0, sizeof(MOTOR_RM_CANManager_t)); - can_managers[can]->can = can; - return DEVICE_OK; -} - -static void Motor_RM_Decode(MOTOR_RM_t *motor, BSP_CAN_Message_t *msg) { - uint16_t raw_angle = (uint16_t)((msg->data[0] << 8) | msg->data[1]); - int16_t raw_speed = (int16_t)((msg->data[2] << 8) | msg->data[3]); - int16_t raw_current = (int16_t)((msg->data[4] << 8) | msg->data[5]); - int16_t lsb = MOTOR_RM_GetLSB(motor->param.module); - float ratio = MOTOR_RM_GetRatio(motor->param.module); - - float rotor_angle = raw_angle / (float)MOTOR_ENC_RES * M_2PI; - float rotor_speed = raw_speed; - float torque_current = raw_current * lsb / (float)MOTOR_CUR_RES; - - if (motor->param.gear) { - // 多圈累加 - int32_t delta = (int32_t)raw_angle - (int32_t)motor->last_raw_angle; - if (delta > (MOTOR_ENC_RES / 2)) { - motor->gearbox_round_count--; - } else if (delta < -(MOTOR_ENC_RES / 2)) { - motor->gearbox_round_count++; - } - motor->last_raw_angle = raw_angle; - float single_turn = rotor_angle; - motor->gearbox_total_angle = (motor->gearbox_round_count * M_2PI + single_turn) / ratio; - // 输出轴多圈绝对值 - motor->feedback.rotor_abs_angle = motor->gearbox_total_angle; - motor->feedback.rotor_speed = rotor_speed / ratio; - motor->feedback.torque_current = torque_current * ratio; - } else { - // 非gear模式，直接用转子单圈 - motor->gearbox_round_count = 0; - motor->last_raw_angle = raw_angle; - motor->gearbox_total_angle = 0.0f; - motor->feedback.rotor_abs_angle = rotor_angle; - motor->feedback.rotor_speed = rotor_speed; - motor->feedback.torque_current = torque_current; - } - while (motor->feedback.rotor_abs_angle < 0) { - motor->feedback.rotor_abs_angle += M_2PI; - } - while (motor->feedback.rotor_abs_angle >= M_2PI) { - motor->feedback.rotor_abs_angle -= M_2PI; - } - if (motor->motor.reverse) { - motor->feedback.rotor_abs_angle = M_2PI - motor->feedback.rotor_abs_angle; - motor->feedback.rotor_speed = -motor->feedback.rotor_speed; - motor->feedback.torque_current = -motor->feedback.torque_current; - } - motor->feedback.temp = msg->data[6]; -} - -/* Exported functions ------------------------------------------------------- */ - -int8_t MOTOR_RM_Register(MOTOR_RM_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - if (MOTOR_RM_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR; - MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR; - // 检查是否已注册 - for (int i = 0; i < manager->motor_count; i++) { - if (manager->motors[i] && manager->motors[i]->param.id == param->id) { - return DEVICE_ERR_INITED; - } - } - // 检查数量 - if (manager->motor_count >= MOTOR_RM_MAX_MOTORS) return DEVICE_ERR; - // 创建新电机实例 - MOTOR_RM_t *new_motor = (MOTOR_RM_t*)BSP_Malloc(sizeof(MOTOR_RM_t)); - if (new_motor == NULL) return DEVICE_ERR; - memcpy(&new_motor->param, param, sizeof(MOTOR_RM_Param_t)); - memset(&new_motor->motor, 0, sizeof(MOTOR_t)); - new_motor->motor.reverse = param->reverse; - // 注册CAN接收ID - if (BSP_CAN_RegisterId(param->can, param->id, 3) != BSP_OK) { - BSP_Free(new_motor); - return DEVICE_ERR; - } - manager->motors[manager->motor_count] = new_motor; - manager->motor_count++; - return DEVICE_OK; -} - -int8_t MOTOR_RM_Update(MOTOR_RM_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR_NO_DEV; - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_RM_t *motor = manager->motors[i]; - if (motor && motor->param.id == param->id) { - BSP_CAN_Message_t rx_msg; - if (BSP_CAN_GetMessage(param->can, param->id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) { - uint64_t now_time = BSP_TIME_Get(); - if (now_time - motor->motor.header.last_online_time > 1000) { - motor->motor.header.online = false; - return DEVICE_ERR_NO_DEV; - } - return DEVICE_ERR; - } - motor->motor.header.online = true; - motor->motor.header.last_online_time = BSP_TIME_Get(); - Motor_RM_Decode(motor, &rx_msg); - motor->motor.feedback = motor->feedback; - return DEVICE_OK; - } - } - return DEVICE_ERR_NO_DEV; -} - -int8_t MOTOR_RM_UpdateAll(void) { - int8_t ret = DEVICE_OK; - for (int can = 0; can < BSP_CAN_NUM; can++) { - MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager((BSP_CAN_t)can); - if (manager == NULL) continue; - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_RM_t *motor = manager->motors[i]; - if (motor != NULL) { - if (MOTOR_RM_Update(&motor->param) != DEVICE_OK) { - ret = DEVICE_ERR; - } - } - } - } - return ret; -} - -int8_t MOTOR_RM_SetOutput(MOTOR_RM_Param_t *param, float value) { - if (param == NULL) return DEVICE_ERR_NULL; - MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR_NO_DEV; - if (value > 1.0f) value = 1.0f; - if (value < -1.0f) value = -1.0f; - if (param->reverse){ - value = -value; - } - MOTOR_RM_t *motor = MOTOR_RM_GetMotor(param); - if (motor == NULL) return DEVICE_ERR_NO_DEV; - int8_t logical_index = MOTOR_RM_GetLogicalIndex(param->id, param->module); - if (logical_index < 0) return DEVICE_ERR; - MOTOR_RM_MsgOutput_t *output_msg = &manager->output_msg; - int16_t output_value = (int16_t)(value * (float)MOTOR_RM_GetLSB(param->module)); - output_msg->output[logical_index] = output_value; - return DEVICE_OK; -} - -int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR_NO_DEV; - MOTOR_RM_MsgOutput_t *output_msg = &manager->output_msg; - BSP_CAN_StdDataFrame_t tx_frame; - uint16_t id = param->id; - switch (id) { - case M3508_M2006_FB_ID_BASE: - case M3508_M2006_FB_ID_BASE+1: - case M3508_M2006_FB_ID_BASE+2: - case M3508_M2006_FB_ID_BASE+3: - tx_frame.id = M3508_M2006_CTRL_ID_BASE; - tx_frame.dlc = MOTOR_TX_BUF_SIZE; - for (int i = 0; i < 4; i++) { - tx_frame.data[i*2] = (uint8_t)((output_msg->output[i] >> 8) & 0xFF); - tx_frame.data[i*2+1] = (uint8_t)(output_msg->output[i] & 0xFF); - } - break; - case M3508_M2006_FB_ID_BASE+4: - case M3508_M2006_FB_ID_BASE+5: - case M3508_M2006_FB_ID_BASE+6: - case M3508_M2006_FB_ID_BASE+7: - tx_frame.id = M3508_M2006_CTRL_ID_EXTAND; - tx_frame.dlc = MOTOR_TX_BUF_SIZE; - for (int i = 4; i < 8; i++) { - tx_frame.data[(i-4)*2] = (uint8_t)((output_msg->output[i] >> 8) & 0xFF); - tx_frame.data[(i-4)*2+1] = (uint8_t)(output_msg->output[i] & 0xFF); - } - break; - case GM6020_FB_ID_BASE+4: - case GM6020_FB_ID_BASE+5: - case GM6020_FB_ID_BASE+6: - tx_frame.id = GM6020_CTRL_ID_EXTAND; - tx_frame.dlc = MOTOR_TX_BUF_SIZE; - for (int i = 8; i < 11; i++) { - tx_frame.data[(i-8)*2] = (uint8_t)((output_msg->output[i] >> 8) & 0xFF); - tx_frame.data[(i-8)*2+1] = (uint8_t)(output_msg->output[i] & 0xFF); - } - tx_frame.data[6] = 0; - tx_frame.data[7] = 0; - break; - default: - return DEVICE_ERR; - } - return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; -} - -MOTOR_RM_t* MOTOR_RM_GetMotor(MOTOR_RM_Param_t *param) { - if (param == NULL) return NULL; - MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can); - if (manager == NULL) return NULL; - for (int i = 0; i < manager->motor_count; i++) { - MOTOR_RM_t *motor = manager->motors[i]; - if (motor && motor->param.id == param->id) { - return motor; - } - } - return NULL; -} - -int8_t MOTOR_RM_Relax(MOTOR_RM_Param_t *param) { - return MOTOR_RM_SetOutput(param, 0.0f); -} - -int8_t MOTOR_RM_Offine(MOTOR_RM_Param_t *param) { - MOTOR_RM_t *motor = MOTOR_RM_GetMotor(param); - if (motor) { - motor->motor.header.online = false; - return DEVICE_OK; - } - return DEVICE_ERR_NO_DEV; -} \ No newline at end of file diff --git a/assets/User_code/device/motor_rm.h b/assets/User_code/device/motor_rm.h deleted file mode 100644 index 670b427..0000000 --- a/assets/User_code/device/motor_rm.h +++ /dev/null @@ -1,132 +0,0 @@ -#pragma once - -#include "motor.h" -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include "device/device.h" -#include "device/motor.h" -#include "bsp/can.h" - -/* Exported constants ------------------------------------------------------- */ -#define MOTOR_RM_MAX_MOTORS 11 - -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ -typedef enum { - MOTOR_M2006, - MOTOR_M3508, - MOTOR_GM6020, -} MOTOR_RM_Module_t; - -/*一个can最多控制11个电机*/ -typedef union { - int16_t output[MOTOR_RM_MAX_MOTORS]; - struct { - int16_t m3508_m2006_id201; - int16_t m3508_m2006_id202; - int16_t m3508_m2006_id203; - int16_t m3508_m2006_id204; - int16_t m3508_m2006_gm6020_id205; - int16_t m3508_m2006_gm6020_id206; - int16_t m3508_m2006_gm6020_id207; - int16_t m3508_m2006_gm6020_id208; - int16_t gm6020_id209; - int16_t gm6020_id20A; - int16_t gm6020_id20B; - } named; -} MOTOR_RM_MsgOutput_t; - -/*每个电机需要的参数*/ -typedef struct { - BSP_CAN_t can; - uint16_t id; - MOTOR_RM_Module_t module; - bool reverse; - bool gear; -} MOTOR_RM_Param_t; - -typedef MOTOR_Feedback_t MOTOR_RM_Feedback_t; - -typedef struct { - MOTOR_RM_Param_t param; - MOTOR_RM_Feedback_t feedback; - MOTOR_t motor; - // 多圈相关变量，仅gear模式下有效 - uint16_t last_raw_angle; - int32_t gearbox_round_count; - float gearbox_total_angle; -} MOTOR_RM_t; - -/*CAN管理器，管理一个CAN总线上所有的电机*/ -typedef struct { - BSP_CAN_t can; - MOTOR_RM_MsgOutput_t output_msg; - MOTOR_RM_t *motors[MOTOR_RM_MAX_MOTORS]; - uint8_t motor_count; -} MOTOR_RM_CANManager_t; - -/* Exported functions prototypes -------------------------------------------- */ - -/** - * @brief 注册一个RM电机 - * @param param 电机参数 - * @return - */ -int8_t MOTOR_RM_Register(MOTOR_RM_Param_t *param); - -/** - * @brief 更新指定电机数据 - * @param param 电机参数 - * @return - */ -int8_t MOTOR_RM_Update(MOTOR_RM_Param_t *param); - -/** - * @brief 设置一个电机的输出 - * @param param 电机参数 - * @param value 输出值，范围[-1.0, 1.0] - * @return - */ -int8_t MOTOR_RM_SetOutput(MOTOR_RM_Param_t *param, float value); - -/** - * @brief 发送控制命令到电机，注意一个CAN可以控制多个电机，所以只需要发送一次即可 - * @param param 电机参数 - * @return - */ -int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param); - -/** - * @brief 获取指定电机的实例指针 - * @param param 电机参数 - * @return - */ -MOTOR_RM_t* MOTOR_RM_GetMotor(MOTOR_RM_Param_t *param); - -/** - * @brief 使电机松弛（设置输出为0） - * @param param - * @return - */ -int8_t MOTOR_RM_Relax(MOTOR_RM_Param_t *param); - -/** - * @brief 使电机离线（设置在线状态为false） - * @param param - * @return - */ -int8_t MOTOR_RM_Offine(MOTOR_RM_Param_t *param); - -/** - * @brief - * @param - * @return - */ -int8_t MOTOR_RM_UpdateAll(void); - -#ifdef __cplusplus -} -#endif \ No newline at end of file diff --git a/assets/User_code/device/motor_vesc.c b/assets/User_code/device/motor_vesc.c deleted file mode 100644 index 68333f7..0000000 --- a/assets/User_code/device/motor_vesc.c +++ /dev/null @@ -1,249 +0,0 @@ -/* - VESC电机驱动 -*/ -/* Includes ----------------------------------------------------------------- */ -#include "motor_vesc.h" -#include -#include -#include "bsp/can.h" -#include "bsp/mm.h" -#include "bsp/time.h" -#include "component/user_math.h" - -/* Private define ----------------------------------------------------------- */ - - -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -/* Private variables -------------------------------------------------------- */ - -/************************************** - * 限幅函数 - **************************************/ -void assert_param_duty(float *duty){ - // 如果 duty 是 -1.0 ~ 1.0，则最大值用 wtrcfg_VESC_COMMAND_DUTY_MAX / 100 - float max_duty = wtrcfg_VESC_COMMAND_DUTY_MAX / 100.0f; - if (fabsf(*duty) > max_duty) { - *duty = (*duty > 0) ? max_duty : -max_duty; - } -} - -void assert_param_current(float *current){ - if( fabsf(*current) > wtrcfg_VESC_COMMAND_CURRENT_MAX ) - *current = *current > 0 ? wtrcfg_VESC_COMMAND_CURRENT_MAX : - wtrcfg_VESC_COMMAND_CURRENT_MAX ; -} -void assert_param_rpm(float *rpm){ - if( fabsf(*rpm) > wtrcfg_VESC_COMMAND_ERPM_MAX ) - *rpm = *rpm > 0 ? wtrcfg_VESC_COMMAND_ERPM_MAX : - wtrcfg_VESC_COMMAND_ERPM_MAX ; -} -void assert_param_pos(float *pos){ - if( fabsf(*pos) > wtrcfg_VESC_COMMAND_POS_MAX ) - *pos = *pos > 0 ? wtrcfg_VESC_COMMAND_POS_MAX : - wtrcfg_VESC_COMMAND_POS_MAX ; -} - -static VESC_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL}; - - -// 获取指定CAN总线的电机管理器指针 -static VESC_CANManager_t* MOTOR_GetCANManager(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) return NULL; - return can_managers[can]; -} - -// 为指定CAN总线创建电机管理器 -static int8_t MOTOR_CreateCANManager(BSP_CAN_t can) { - if (can >= BSP_CAN_NUM) return DEVICE_ERR; - if (can_managers[can] != NULL) return DEVICE_OK; - can_managers[can] = (VESC_CANManager_t*)BSP_Malloc(sizeof(VESC_CANManager_t)); - if (can_managers[can] == NULL) return DEVICE_ERR; - memset(can_managers[can], 0, sizeof(VESC_CANManager_t)); - can_managers[can]->can = can; - return DEVICE_OK; -} - -// 解析CAN报文，更新电机反馈信息 -static void Motor_VESC_Decode(VESC_t *motor, BSP_CAN_Message_t *msg) -{ - if (motor == NULL || msg == NULL) return; - motor->motor.feedback.rotor_speed = - ((int32_t)msg->data[0] << 24) | - ((int32_t)msg->data[1] << 16) | - ((int32_t)msg->data[2] << 8) | - ((int32_t)msg->data[3]); - - // torque_current: 低 2 字节 (data[4], data[5]) - int16_t raw_current = (int16_t)((msg->data[5] << 8) | msg->data[4]); - motor->motor.feedback.torque_current = raw_current / 1000.0f; // 从 0.1A -> A - - // duty_cycle: 低 2 字节 (data[6], data[7]) - int16_t raw_duty = (int16_t)((msg->data[7] << 8) | msg->data[6]); - //motor->motor.feedback.duty_cycle = raw_duty / 1000.0f; // 从千分之一 -> (-1.0 ~ 1.0) - -} - - -/* Exported functions ------------------------------------------------------- */ - -// 注册一个新的电机实例到管理器 -int8_t VESC_Register(VESC_Param_t *param) { - if (param == NULL) return DEVICE_ERR_NULL; - if (MOTOR_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR; - VESC_CANManager_t *manager = MOTOR_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR; - // 检查是否已注册 - for (int i = 0; i < manager->motor_count; i++) { - if (manager->motors[i] && manager->motors[i]->param.id == param->id) { - return DEVICE_ERR_INITED; - } - } - // 检查数量 - if (manager->motor_count >= VESC_MAX_MOTORS) return DEVICE_ERR; - // 创建新电机实例 - VESC_t *new_motor = (VESC_t*)BSP_Malloc(sizeof(VESC_t)); - if (new_motor == NULL) return DEVICE_ERR; - memcpy(&new_motor->param, param, sizeof(VESC_Param_t)); - memset(&new_motor->motor, 0, sizeof(MOTOR_t)); - new_motor->motor.reverse = param->reverse; - // 注册CAN接收ID - if (BSP_CAN_RegisterId(param->can, param->id, 3) != BSP_OK) { - BSP_Free(new_motor); - return DEVICE_ERR; - } - manager->motors[manager->motor_count] = new_motor; - manager->motor_count++; - return DEVICE_OK; -} - -// 更新指定电机的反馈数据（扩展帧方式） -int8_t VESC_Update(VESC_Param_t *param) -{ - if (param == NULL) return DEVICE_ERR_NULL; - VESC_CANManager_t *manager = MOTOR_GetCANManager(param->can); - if (manager == NULL) return DEVICE_ERR_NO_DEV; - VESC_t *motor = NULL; - for (int i = 0; i < manager->motor_count; i++) { - if (manager->motors[i] && manager->motors[i]->param.id == param->id) { - motor = manager->motors[i]; - break; - } - } - if (motor == NULL) return DEVICE_ERR_NO_DEV; - // 根据电机 ID 获取对应扩展帧 ID - uint32_t ext_id = 0; - switch (param->id) { - case VESC_1: ext_id = CAN_VESC5065_M1_MSG1; break; - case VESC_2: ext_id = CAN_VESC5065_M2_MSG1; break; - case VESC_4: ext_id = CAN_VESC5065_M3_MSG1; break; - default: return DEVICE_ERR_NO_DEV; - } - BSP_CAN_Message_t rx_msg; - if (BSP_CAN_GetMessage(param->can, ext_id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) { - uint64_t now_time = BSP_TIME_Get(); - if (now_time - motor->motor.header.last_online_time > 1000) { - motor->motor.header.online = false; - return DEVICE_ERR_NO_DEV; - } - return DEVICE_ERR; - } - motor->motor.header.online = true; - motor->motor.header.last_online_time = BSP_TIME_Get(); - Motor_VESC_Decode(motor, &rx_msg); - return DEVICE_OK; -} - -// 更新所有CAN总线下所有电机的反馈数据 -int8_t VESC_UpdateAll(void) { - int8_t ret = DEVICE_OK; - for (int can = 0; can < BSP_CAN_NUM; can++) { - VESC_CANManager_t *manager = MOTOR_GetCANManager((BSP_CAN_t)can); - if (manager == NULL) continue; - for (int i = 0; i < manager->motor_count; i++) { - VESC_t *motor = manager->motors[i]; - if (motor != NULL) { - if (VESC_Update(&motor->param) != DEVICE_OK) { - ret = DEVICE_ERR; - } - } - } - } - return ret; -} - -// 获取指定参数对应的电机实例指针 -VESC_t* VESC_GetMotor(VESC_Param_t *param) { - if (param == NULL) return NULL; - VESC_CANManager_t *manager = MOTOR_GetCANManager(param->can); - if (manager == NULL) return NULL; - for (int i = 0; i < manager->motor_count; i++) { - VESC_t *motor = manager->motors[i]; - if (motor && motor->param.id == param->id) { - return motor; - } - } - return NULL; -} - -// 设置指定电机的输出值 -int8_t VESC_SetOutput(VESC_Param_t *param, float value) -{ - if (param == NULL) return DEVICE_ERR_NULL; - BSP_CAN_StdDataFrame_t tx_frame; - uint16_t command_id; - - if (param->reverse) { - value = -value; - } - - switch (param->mode) - { - case DUTY_CONTROL: { - assert_param_duty(&value); // 调用你现有的限幅函数 - command_id = CAN_PACKET_SET_DUTY; - int32_t duty_val = (int32_t)(value * 1e5f); // duty 放大 1e5 - memcpy(&tx_frame.data[0], &duty_val, 4); - tx_frame.dlc = 4; - break; - } - case RPM_CONTROL: { - assert_param_rpm(&value); - command_id = CAN_PACKET_SET_RPM; - int32_t rpm_val = (int32_t)value; - memcpy(&tx_frame.data[0], &rpm_val, 4); - tx_frame.dlc = 4; - break; - } - case CURRENT_CONTROL: { - assert_param_current(&value); - command_id = CAN_PACKET_SET_CURRENT; - int32_t cur_val = (int32_t)(value * 1e3f); // A -> mA （0-50A） - memcpy(&tx_frame.data[0], &cur_val, 4); - tx_frame.dlc = 4; - break; - } - case POSITION_CONTROL: { - assert_param_pos(&value); - command_id = CAN_PACKET_SET_POS; - memcpy(&tx_frame.data[0], &value, 4); - tx_frame.dlc = 4; - break; - } - default: - return DEVICE_ERR; - } - tx_frame.id = (param->id << 5) | command_id; - return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; - } - -int8_t VESC_Relax(VESC_Param_t *param) { - return VESC_SetOutput(param, 0.0f); -} - - -int8_t VESC_Offine(VESC_Param_t *param) { - VESC_t *motor = VESC_GetMotor(param); - if (motor) { - motor->motor.header.online = false; - return DEVICE_OK; - } - return DEVICE_ERR_NO_DEV; -} \ No newline at end of file diff --git a/assets/User_code/device/motor_vesc.h b/assets/User_code/device/motor_vesc.h deleted file mode 100644 index 7209218..0000000 --- a/assets/User_code/device/motor_vesc.h +++ /dev/null @@ -1,146 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" -{ -#endif - -/* Includes ----------------------------------------------------------------- */ -#include "device/device.h" -#include "device/motor.h" -#include "bsp/can.h" - -/* Private define ----------------------------------------------------------- */ -#define wtrcfg_VESC_COMMAND_DUTY_MAX 100 -#define wtrcfg_VESC_COMMAND_CURRENT_MAX 10 -#define wtrcfg_VESC_COMMAND_POS_MAX 360 -#define wtrcfg_VESC_COMMAND_ERPM_MAX 35000 -#define wtrcfg_VESC_UART_TIMEOUT 0xff - -// VESC数量根据实际情况调整 -#define VESC_MAX_MOTORS 4 - -/* Exported constants ------------------------------------------------------- */ - -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ - -typedef enum -{ - VESC_1 = 1, - VESC_2 = 2, - VESC_3 = 3, - VESC_4 = 4, - CAN_VESC5065_M1_MSG1 = 0x901, // vesc的数据回传使用了扩展id，[0:7]为驱动器id，[8:15]为帧类型 - CAN_VESC5065_M2_MSG1 = 0x902, - CAN_VESC5065_M3_MSG1 = 0x903, - CAN_VESC5065_M4_MSG1 = 0x904, -}VESC_ID; - -typedef enum -{ - CAN_PACKET_SET_DUTY = 0, - CAN_PACKET_SET_CURRENT = 1, - CAN_PACKET_SET_CURRENT_BRAKE = 2, - CAN_PACKET_SET_RPM = 3, - CAN_PACKET_SET_POS = 4, - CAN_PACKET_FILL_RX_BUFFER = 5, - CAN_PACKET_FILL_RX_BUFFER_LONG = 6, - CAN_PACKET_PROCESS_RX_BUFFER = 7, - CAN_PACKET_PROCESS_SHORT_BUFFER = 8, - CAN_PACKET_STATUS = 9, - CAN_PACKET_SET_CURRENT_REL = 10, - CAN_PACKET_SET_CURRENT_BRAKE_REL = 11, - CAN_PACKET_SET_CURRENT_HANDBRAKE = 12, - CAN_PACKET_SET_CURRENT_HANDBRAKE_REL = 13 -} CAN_PACKET_ID; - -// Control Modes -typedef enum -{ - DUTY_CONTROL = 0x0, - RPM_CONTROL = 0x1, - CURRENT_CONTROL = 0x2, - POSITION_CONTROL = 0x3 -} Control_Mode; - -/*每个电机需要的参数*/ -typedef struct -{ - BSP_CAN_t can; - uint16_t id; - uint16_t mode; - bool reverse; -} VESC_Param_t; - -/*电机实例*/ -typedef struct ODrive_t -{ - VESC_Param_t param; - MOTOR_t motor; -} VESC_t; - -/*CAN管理器，管理一个CAN总线上所有的电机*/ -typedef struct -{ - BSP_CAN_t can; - VESC_t *motors[VESC_MAX_MOTORS]; - uint8_t motor_count; -} VESC_CANManager_t; - -/* Exported functions prototypes -------------------------------------------- */ - -/** - * @brief 注册一个vesc电机 - * @param param 电机参数 - * @return - */ -int8_t VESC_Register(VESC_Param_t *param); - -/** - * @brief 更新指定电机数据 - * @param param 电机参数 - * @return - */ -int8_t VESC_Update(VESC_Param_t *param); - -/** - * @brief 更新所有电机数据 - * @return - */ -int8_t VESC_UpdateAll(void); - -/** - * @brief 设置一个电机的输出 - * @param param 电机参数 - * @param value 输出值 - * @return - */ - -int8_t VESC_SetOutput(VESC_Param_t *param, float value); - -/** - * @brief 获取指定电机的实例指针 - * @param param 电机参数 - * @return - */ - -VESC_t* VESC_GetMotor(VESC_Param_t *param); - -/** - * @brief 使电机松弛（设置输出为0） - * @param param - * @return - */ -int8_t VESC_Relax(VESC_Param_t *param); -/** - * @brief 使电机离线（设置在线状态为false） - * @param param - * @return - */ -int8_t VESC_Offine(VESC_Param_t *param); - - -#ifdef __cplusplus -} -#endif \ No newline at end of file diff --git a/assets/User_code/device/ops9.c b/assets/User_code/device/ops9.c deleted file mode 100644 index 70cc0aa..0000000 --- a/assets/User_code/device/ops9.c +++ /dev/null @@ -1,58 +0,0 @@ -/* - ACTION全场定位码盘ops9 -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "device/ops9.h" - -#include - -#include "bsp/uart.h" -#include "bsp/time.h" -/* Private define ----------------------------------------------------------- */ - - -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -/* Private variables -------------------------------------------------------- */ -static osThreadId_t thread_alert; -static bool inited = false; - -/* Private function -------------------------------------------------------- */ -static void OPS9_RxCpltCallback(void) { - osThreadFlagsSet(thread_alert, SIGNAL_OPS9_RAW_REDY); - -} - -/* Exported functions ------------------------------------------------------- */ -int8_t OPS9_init(OPS9_t *ops9) { - if (ops9 == NULL) return DEVICE_ERR_NULL; - if (inited) return DEVICE_ERR_INITED; - if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; - - BSP_UART_RegisterCallback(BSP_UART_OPS9, BSP_UART_RX_CPLT_CB, - OPS9_RxCpltCallback); - - inited = true; - return DEVICE_OK; -} - -int8_t OPS9_Restart(void) { - __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_OPS9)); - __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_OPS9)); - return DEVICE_OK; -} - -int8_t OPS9_StartDmaRecv(OPS9_t *ops9) { - if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_OPS9), - (uint8_t *)&(ops9->data), - sizeof(ops9->data)) == HAL_OK) - return DEVICE_OK; - return DEVICE_ERR; -} - -bool OPS9_WaitDmaCplt(uint32_t timeout) { - return (osThreadFlagsWait(SIGNAL_OPS9_RAW_REDY, osFlagsWaitAll, timeout) == - SIGNAL_OPS9_RAW_REDY); -} - diff --git a/assets/User_code/device/ops9.h b/assets/User_code/device/ops9.h deleted file mode 100644 index 683142f..0000000 --- a/assets/User_code/device/ops9.h +++ /dev/null @@ -1,49 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include -#include - -#include "component/user_math.h" -#include "device/device.h" -/* Exported constants ------------------------------------------------------- */ - -#define OPS9_HEADER 0x0D0A -#define OPS9_TAIL 0x0A0D - -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ - -// 数据包结构体 -typedef struct __packed { - uint16_t header; // 2字节 - float yaw; // 4字节 - float pitch; // 4字节 - float roll; // 4字节 - float x; // 4字节 - float y; // 4字节 - float angular_velocity; // 4字节 - uint16_t tail; // 2字节 -} OPS9_Data_t; // 共28字节 - -typedef struct { - DEVICE_Header_t header; // 设备头 - OPS9_Data_t data; // 存储接收到的数据 -} OPS9_t; - -/* Exported functions prototypes -------------------------------------------- */ - -int8_t OPS9_init(OPS9_t *ops9); -int8_t OPS9_Restart(void); -int8_t OPS9_StartDmaRecv(OPS9_t *ops9); -bool OPS9_WaitDmaCplt(uint32_t timeout); - - - -#ifdef __cplusplus -} -#endif \ No newline at end of file diff --git a/assets/User_code/device/rc_can.c b/assets/User_code/device/rc_can.c deleted file mode 100644 index 77d9733..0000000 --- a/assets/User_code/device/rc_can.c +++ /dev/null @@ -1,328 +0,0 @@ -/* Includes ----------------------------------------------------------------- */ -#include "device/rc_can.h" -#include "bsp/time.h" -#include "device/device.h" -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private constants -------------------------------------------------------- */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Private macro ------------------------------------------------------------ */ -/* Private types ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ - -/* USER VARIABLE BEGIN */ - -/* USER VARIABLE END */ - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -/* Private function prototypes ---------------------------------------------- */ -static int8_t RC_CAN_ValidateParams(const RC_CAN_Param_t *param); -static int8_t RC_CAN_RegisterIds(RC_CAN_t *rc_can); - -/* Exported functions ------------------------------------------------------- */ - -/** - * @brief 初始化RC CAN发送模块 - * @param rc_can RC_CAN结构体指针 - * @param param 初始化参数 - * @return DEVICE_OK 成功，其他值失败 - */ -int8_t RC_CAN_Init(RC_CAN_t *rc_can, RC_CAN_Param_t *param) { - if (rc_can == NULL || param == NULL) { - return DEVICE_ERR_NULL; - } - - // 参数验证 - if (RC_CAN_ValidateParams(param) != DEVICE_OK) { - return DEVICE_ERR; - } - - rc_can->param = *param; - - // 初始化header - rc_can->header.online = false; - rc_can->header.last_online_time = 0; - - // 手动初始化数据结构 - rc_can->data.joy.ch_l_x = 0.0f; - rc_can->data.joy.ch_l_y = 0.0f; - rc_can->data.joy.ch_r_x = 0.0f; - rc_can->data.joy.ch_r_y = 0.0f; - rc_can->data.sw.sw_l = RC_CAN_SW_ERR; - rc_can->data.sw.sw_r = RC_CAN_SW_ERR; - rc_can->data.sw.ch_res = 0.0f; - rc_can->data.mouse.x = 0.0f; - rc_can->data.mouse.y = 0.0f; - rc_can->data.mouse.z = 0.0f; - rc_can->data.mouse.mouse_l = false; - rc_can->data.mouse.mouse_r = false; - rc_can->data.keyboard.key_value = 0; - for (int i = 0; i < 6; i++) { - rc_can->data.keyboard.keys[i] = RC_CAN_KEY_NONE; - } - - // 注册CAN ID队列（从机模式需要接收数据） - if (rc_can->param.mode == RC_CAN_MODE_SLAVE) { - return RC_CAN_RegisterIds(rc_can); - } - - return DEVICE_OK; -} - -/** - * @brief 更新并发送数据到CAN总线 - * @param rc_can RC_CAN结构体指针 - * @param data_type 数据类型 - * @return DEVICE_OK 成功，其他值失败 - */ -int8_t RC_CAN_SendData(RC_CAN_t *rc_can, RC_CAN_DataType_t data_type) { - if (rc_can == NULL) { - return DEVICE_ERR_NULL; - } - if (rc_can->param.mode != RC_CAN_MODE_MASTER) { - return DEVICE_ERR; - } - BSP_CAN_StdDataFrame_t frame; - frame.dlc = 8; - // 边界裁剪宏 - #define RC_CAN_CLAMP(x, min, max) ((x) < (min) ? (min) : ((x) > (max) ? (max) : (x))) - switch (data_type) { - case RC_CAN_DATA_JOYSTICK: { - frame.id = rc_can->param.joy_id; - float l_x = RC_CAN_CLAMP(rc_can->data.joy.ch_l_x, -0.999969f, 0.999969f); - float l_y = RC_CAN_CLAMP(rc_can->data.joy.ch_l_y, -0.999969f, 0.999969f); - float r_x = RC_CAN_CLAMP(rc_can->data.joy.ch_r_x, -0.999969f, 0.999969f); - float r_y = RC_CAN_CLAMP(rc_can->data.joy.ch_r_y, -0.999969f, 0.999969f); - int16_t l_x_i = (int16_t)(l_x * 32768.0f); - int16_t l_y_i = (int16_t)(l_y * 32768.0f); - int16_t r_x_i = (int16_t)(r_x * 32768.0f); - int16_t r_y_i = (int16_t)(r_y * 32768.0f); - frame.data[0] = (uint8_t)(l_x_i & 0xFF); - frame.data[1] = (uint8_t)((l_x_i >> 8) & 0xFF); - frame.data[2] = (uint8_t)(l_y_i & 0xFF); - frame.data[3] = (uint8_t)((l_y_i >> 8) & 0xFF); - frame.data[4] = (uint8_t)(r_x_i & 0xFF); - frame.data[5] = (uint8_t)((r_x_i >> 8) & 0xFF); - frame.data[6] = (uint8_t)(r_y_i & 0xFF); - frame.data[7] = (uint8_t)((r_y_i >> 8) & 0xFF); - break; - } - case RC_CAN_DATA_SWITCH: { - frame.id = rc_can->param.sw_id; - frame.data[0] = (uint8_t)(rc_can->data.sw.sw_l); - frame.data[1] = (uint8_t)(rc_can->data.sw.sw_r); - float ch_res = RC_CAN_CLAMP(rc_can->data.sw.ch_res, -0.999969f, 0.999969f); - int16_t ch_res_i = (int16_t)(ch_res * 32768.0f); - frame.data[2] = (uint8_t)(ch_res_i & 0xFF); - frame.data[3] = (uint8_t)((ch_res_i >> 8) & 0xFF); - frame.data[4] = 0; // 保留字节 - frame.data[5] = 0; // 保留字节 - frame.data[6] = 0; // 保留字节 - frame.data[7] = 0; // 保留字节 - break; - } - case RC_CAN_DATA_MOUSE: { - frame.id = rc_can->param.mouse_id; - // 鼠标x/y/z一般为增量，若有极限也可加clamp - int16_t x = (int16_t)(rc_can->data.mouse.x); - int16_t y = (int16_t)(rc_can->data.mouse.y); - int16_t z = (int16_t)(rc_can->data.mouse.z); - frame.data[0] = (uint8_t)(x & 0xFF); - frame.data[1] = (uint8_t)((x >> 8) & 0xFF); - frame.data[2] = (uint8_t)(y & 0xFF); - frame.data[3] = (uint8_t)((y >> 8) & 0xFF); - frame.data[4] = (uint8_t)(z & 0xFF); - frame.data[5] = (uint8_t)((z >> 8) & 0xFF); - frame.data[6] = (uint8_t)(rc_can->data.mouse.mouse_l ? 1 : 0); - frame.data[7] = (uint8_t)(rc_can->data.mouse.mouse_r ? 1 : 0); - break; - } - case RC_CAN_DATA_KEYBOARD: { - frame.id = rc_can->param.keyboard_id; - frame.data[0] = (uint8_t)(rc_can->data.keyboard.key_value & 0xFF); - frame.data[1] = (uint8_t)((rc_can->data.keyboard.key_value >> 8) & 0xFF); - for (int i = 0; i < 6; i++) { - frame.data[2 + i] = (i < 6) ? (uint8_t)(rc_can->data.keyboard.keys[i]) : 0; - } - break; - } - default: - return DEVICE_ERR; - } - #undef RC_CAN_CLAMP - if (BSP_CAN_Transmit(rc_can->param.can, BSP_CAN_FORMAT_STD_DATA, frame.id, - frame.data, frame.dlc) != BSP_OK) { - return DEVICE_ERR; - } - return DEVICE_OK; -} - -/** - * @brief 接收并更新CAN数据 - * @param rc_can RC_CAN结构体指针 - * @param data_type 数据类型 - * @return DEVICE_OK 成功，其他值失败 - */ -int8_t RC_CAN_Update(RC_CAN_t *rc_can, RC_CAN_DataType_t data_type) { - if (rc_can == NULL) { - return DEVICE_ERR_NULL; - } - - // 只有从机模式才能接收数据 - if (rc_can->param.mode != RC_CAN_MODE_SLAVE) { - return DEVICE_ERR; - } - BSP_CAN_Message_t msg; - - switch (data_type) { - case RC_CAN_DATA_JOYSTICK: - if (BSP_CAN_GetMessage(rc_can->param.can, rc_can->param.joy_id, &msg, - BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) { - return DEVICE_ERR; - } - // 解包数据 - int16_t ch_l_x = (int16_t)((msg.data[1] << 8) | msg.data[0]); - int16_t ch_l_y = (int16_t)((msg.data[3] << 8) | msg.data[2]); - int16_t ch_r_x = (int16_t)((msg.data[5] << 8) | msg.data[4]); - int16_t ch_r_y = (int16_t)((msg.data[7] << 8) | msg.data[6]); - - // 转换为浮点数（范围：-1.0到1.0） - rc_can->data.joy.ch_l_x = (float)ch_l_x / 32768.0f; - rc_can->data.joy.ch_l_y = (float)ch_l_y / 32768.0f; - rc_can->data.joy.ch_r_x = (float)ch_r_x / 32768.0f; - rc_can->data.joy.ch_r_y = (float)ch_r_y / 32768.0f; - break; - case RC_CAN_DATA_SWITCH: - if (BSP_CAN_GetMessage(rc_can->param.can, rc_can->param.sw_id, &msg, - BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) { - return DEVICE_ERR; - } - // 解包数据 - rc_can->data.sw.sw_l = (RC_CAN_SW_t)msg.data[0]; - rc_can->data.sw.sw_r = (RC_CAN_SW_t)msg.data[1]; - - int16_t ch_res = (int16_t)((msg.data[3] << 8) | msg.data[2]); - rc_can->data.sw.ch_res = (float)ch_res / 32768.0f; - break; - case RC_CAN_DATA_MOUSE: - if (BSP_CAN_GetMessage(rc_can->param.can, rc_can->param.mouse_id, &msg, - BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) { - return DEVICE_ERR; - } - // 解包数据 - int16_t x = (int16_t)((msg.data[1] << 8) | msg.data[0]); - int16_t y = (int16_t)((msg.data[3] << 8) | msg.data[2]); - int16_t z = (int16_t)((msg.data[5] << 8) | msg.data[4]); - rc_can->data.mouse.x = (float)x; - rc_can->data.mouse.y = (float)y; - rc_can->data.mouse.z = (float)z; - rc_can->data.mouse.mouse_l = (msg.data[6] & 0x01) ? true : false; - rc_can->data.mouse.mouse_r = (msg.data[7] & 0x01) ? true : false; - break; - case RC_CAN_DATA_KEYBOARD: - if (BSP_CAN_GetMessage(rc_can->param.can, rc_can->param.keyboard_id, &msg, - BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) { - return DEVICE_ERR; - } - if (msg.dlc < 2) { - return DEVICE_ERR; - } - // 解包数据 - rc_can->data.keyboard.key_value = - (uint16_t)((msg.data[1] << 8) | msg.data[0]); - for (int i = 0; i < 6 && (i + 2) < msg.dlc; i++) { - rc_can->data.keyboard.keys[i] = (RC_CAN_Key_t)(msg.data[2 + i]); - } - // 清空未使用的按键位置 - for (int i = (msg.dlc > 2 ? msg.dlc - 2 : 0); i < 6; i++) { - rc_can->data.keyboard.keys[i] = RC_CAN_KEY_NONE; - } - break; - default: - return DEVICE_ERR; - } - - // 更新header状态 - rc_can->header.online = true; - rc_can->header.last_online_time = BSP_TIME_Get_us(); - - return DEVICE_OK; -} - -/* Private functions -------------------------------------------------------- */ - -/** - * @brief 验证RC_CAN参数 - * @param param 参数指针 - * @return DEVICE_OK 成功，其他值失败 - */ -static int8_t RC_CAN_ValidateParams(const RC_CAN_Param_t *param) { - if (param == NULL) { - return DEVICE_ERR_NULL; - } - - // 检查CAN总线有效性 - if (param->can >= BSP_CAN_NUM) { - return DEVICE_ERR; - } - - // 检查工作模式有效性 - if (param->mode != RC_CAN_MODE_MASTER && param->mode != RC_CAN_MODE_SLAVE) { - return DEVICE_ERR; - } - - // 检查CAN ID是否重复 - if (param->joy_id == param->sw_id || param->joy_id == param->mouse_id || - param->joy_id == param->keyboard_id || param->sw_id == param->mouse_id || - param->sw_id == param->keyboard_id || - param->mouse_id == param->keyboard_id) { - return DEVICE_ERR; - } - - return DEVICE_OK; -} - -/** - * @brief 注册CAN ID - * @param rc_can RC_CAN结构体指针 - * @return DEVICE_OK 成功，其他值失败 - */ -static int8_t RC_CAN_RegisterIds(RC_CAN_t *rc_can) { - if (BSP_CAN_RegisterId(rc_can->param.can, rc_can->param.joy_id, 0) != - BSP_OK) { - return DEVICE_ERR; - } - if (BSP_CAN_RegisterId(rc_can->param.can, rc_can->param.sw_id, 0) != BSP_OK) { - return DEVICE_ERR; - } - if (BSP_CAN_RegisterId(rc_can->param.can, rc_can->param.mouse_id, 0) != - BSP_OK) { - return DEVICE_ERR; - } - if (BSP_CAN_RegisterId(rc_can->param.can, rc_can->param.keyboard_id, 0) != - BSP_OK) { - return DEVICE_ERR; - } - - return DEVICE_OK; -} - -int8_t RC_CAN_OFFLINE(RC_CAN_t *rc_can){ - if (rc_can == NULL) { - return DEVICE_ERR_NULL; - } - rc_can->header.online = false; - return DEVICE_OK; -} -/* USER CODE BEGIN */ - -/* USER CODE END */ diff --git a/assets/User_code/device/rc_can.h b/assets/User_code/device/rc_can.h deleted file mode 100644 index e5c6d90..0000000 --- a/assets/User_code/device/rc_can.h +++ /dev/null @@ -1,157 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include "bsp/can.h" -#include "device/device.h" -#include -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported constants ------------------------------------------------------- */ - -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ -typedef enum { - RC_CAN_SW_ERR = 0, - RC_CAN_SW_UP = 1, - RC_CAN_SW_MID = 3, - RC_CAN_SW_DOWN = 2, -} RC_CAN_SW_t; - -typedef enum { - RC_CAN_MODE_MASTER = 0, // 主机模式 - RC_CAN_MODE_SLAVE = 1, // 从机模式 -} RC_CAN_Mode_t; - -typedef enum { - RC_CAN_DATA_JOYSTICK = 0, - RC_CAN_DATA_SWITCH, - RC_CAN_DATA_MOUSE, - RC_CAN_DATA_KEYBOARD -} RC_CAN_DataType_t; - -typedef enum { - RC_CAN_KEY_NONE = 0xFF, // 无按键 - RC_CAN_KEY_W = 0, - RC_CAN_KEY_S, - RC_CAN_KEY_A, - RC_CAN_KEY_D, - RC_CAN_KEY_SHIFT, - RC_CAN_KEY_CTRL, - RC_CAN_KEY_Q, - RC_CAN_KEY_E, - RC_CAN_KEY_R, - RC_CAN_KEY_F, - RC_CAN_KEY_G, - RC_CAN_KEY_Z, - RC_CAN_KEY_X, - RC_CAN_KEY_C, - RC_CAN_KEY_V, - RC_CAN_KEY_B, - RC_CAN_KEY_NUM, -} RC_CAN_Key_t; - -// 遥杆数据包 -typedef struct { - float ch_l_x; - float ch_l_y; - float ch_r_x; - float ch_r_y; -} RC_CAN_JoyData_t; - -// 拨杆数据包 -typedef struct { - RC_CAN_SW_t sw_l; // 左拨杆状态 - RC_CAN_SW_t sw_r; // 右拨杆状态 - float ch_res; // 第五通道 -} RC_CAN_SwitchData_t; - -// 鼠标数据包 -typedef struct { - float x; // 鼠标X轴移动 - float y; // 鼠标Y轴移动 - float z; // 鼠标Z轴(滚轮) - bool mouse_l; // 鼠标左键 - bool mouse_r; // 鼠标右键 -} RC_CAN_MouseData_t; - -// 键盘数据包 -typedef struct { - uint16_t key_value; // 键盘按键位映射 - RC_CAN_Key_t keys[16]; -} RC_CAN_KeyboardData_t; - - -typedef struct { - RC_CAN_JoyData_t joy; - RC_CAN_SwitchData_t sw; - RC_CAN_MouseData_t mouse; - RC_CAN_KeyboardData_t keyboard; -} RC_CAN_Data_t; - -// RC_CAN 参数结构 -typedef struct { - BSP_CAN_t can; // 使用的CAN总线 - RC_CAN_Mode_t mode; // 工作模式 - uint16_t joy_id; // 遥杆CAN ID - uint16_t sw_id; // 拨杆CAN ID - uint16_t mouse_id; // 鼠标CAN ID - uint16_t keyboard_id; // 键盘CAN ID -} RC_CAN_Param_t; - -// RC_CAN 主结构 -typedef struct { - DEVICE_Header_t header; - RC_CAN_Param_t param; - RC_CAN_Data_t data; -} RC_CAN_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Exported functions prototypes -------------------------------------------- */ - -/** - * @brief 初始化RC CAN发送模块 - * @param rc_can RC_CAN结构体指针 - * @param param 初始化参数 - * @return DEVICE_OK 成功，其他值失败 - */ -int8_t RC_CAN_Init(RC_CAN_t *rc_can, RC_CAN_Param_t *param); - -/** - * @brief 更新并发送数据到CAN总线 - * @param rc_can RC_CAN结构体指针 - * @param data_type 数据类型 - * @return DEVICE_OK 成功，其他值失败 - */ -int8_t RC_CAN_SendData(RC_CAN_t *rc_can, RC_CAN_DataType_t data_type); - -/** - * @brief 接收并更新CAN数据 - * @param rc_can RC_CAN结构体指针 - * @param data_type 数据类型 - * @return DEVICE_OK 成功，其他值失败 - */ -int8_t RC_CAN_Update(RC_CAN_t *rc_can , RC_CAN_DataType_t data_type); - -int8_t RC_CAN_OFFLINE(RC_CAN_t *rc_can); -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/device/servo.c b/assets/User_code/device/servo.c deleted file mode 100644 index 7981bf7..0000000 --- a/assets/User_code/device/servo.c +++ /dev/null @@ -1,47 +0,0 @@ -/* - pwm���ƶ�� -*/ - -/*Includes -----------------------------------------*/ - -#include "bsp/pwm.h" -#include "servo.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -#define SERVO_MIN_DUTY 0.025f -#define SERVO_MAX_DUTY 0.125f - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/** - * @brief - * @param - * @retval BSP_OK / BSP_ERR - */ - -int8_t SERVO_Init(SERVO_t *servo) { - if (servo == NULL) return BSP_ERR; - return BSP_PWM_Start(servo->pwm_ch); -} - -int8_t SERVO_SetAngle(SERVO_t *servo, float angle) { - if (servo == NULL) return BSP_ERR; - - /*���ƽǶȷ�Χ*/ - if (angle < 0.0f) angle = 0.0f; - if (angle > 180.0f) angle = 180.0f; - /*�Ƕ�ӳ�䵽ռ�ձ�*/ - float duty = servo->min_duty + (angle / 180.0f) * (servo->max_duty - servo->min_duty); - - return BSP_PWM_Set(servo->pwm_ch, duty); -} - -int8_t SERVO_Stop(SERVO_t *servo) { - if (servo == NULL) return BSP_ERR; - return BSP_PWM_Stop(servo->pwm_ch); -} \ No newline at end of file diff --git a/assets/User_code/device/servo.h b/assets/User_code/device/servo.h deleted file mode 100644 index ba8562d..0000000 --- a/assets/User_code/device/servo.h +++ /dev/null @@ -1,68 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include - -#include "bsp/pwm.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ - -/** - * @brief - */ -typedef struct { - BSP_PWM_Channel_t pwm_ch; - float min_duty; - float max_duty; -} SERVO_t; - -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/** - * @brief - * @param servo - * @retval BSP_OK / BSP_ERR - */ - -int8_t SERVO_Init(SERVO_t *servo); - -/** - * @brief - * @param servo - * @param angle - * @retval BSP_OK / BSP_ERR - */ -int8_t SERVO_SetAngle(SERVO_t *servo, float angle); - -/** - * @brief - * @param servo - * @retval BSP_OK / BSP_ERR - */ - -int8_t SERVO_Stop(SERVO_t *servo); - -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - - -#ifdef __cplusplus -} -#endif \ No newline at end of file diff --git a/assets/User_code/device/vofa.c b/assets/User_code/device/vofa.c deleted file mode 100644 index 8561042..0000000 --- a/assets/User_code/device/vofa.c +++ /dev/null @@ -1,106 +0,0 @@ -/* Includes ----------------------------------------------------------------- */ -#include -#include -#include "device/vofa.h" -#include "bsp/uart.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private define ----------------------------------------------------------- */ - -#define MAX_CHANNEL 64u // 根据实际最大通道数调整 - -#define JUSTFLOAT_TAIL 0x7F800000 - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private variables -------------------------------------------------------- */ -static uint8_t vofa_tx_buf[sizeof(float) * MAX_CHANNEL + sizeof(uint32_t)]; -static VOFA_Protocol_t current_protocol = VOFA_PROTOCOL_FIREWATER; // 默认协议 - -/* Private function -------------------------------------------------------- */ -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -/************************ RawData *************************/ -void VOFA_RawData_Send(const char* data, bool dma) { - BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t*)data, strlen(data), dma); -} - -/************************ FireWater *************************/ -void VOFA_FireWater_Send(float *channels, uint8_t channel_count, bool dma) -{ - if (channel_count == 0 || channel_count > MAX_CHANNEL) - return; - - char *buf = (char *)vofa_tx_buf; - size_t len = 0; - - for (uint8_t i = 0; i < channel_count; ++i) { - len += snprintf(buf + len, - sizeof(vofa_tx_buf) - len, - "%s%.2f", - (i ? "," : ""), - channels[i]); - } - snprintf(buf + len, sizeof(vofa_tx_buf) - len, "\n"); - - BSP_UART_Transmit(BSP_UART_VOFA, vofa_tx_buf, strlen(buf), dma); -} - -/************************ JustFloat *************************/ -void VOFA_JustFloat_Send(float *channels, uint8_t channel_count, bool dma) -{ - if (channel_count == 0 || channel_count > MAX_CHANNEL) - return; - memcpy(vofa_tx_buf, channels, channel_count * sizeof(float)); - - uint32_t tail = JUSTFLOAT_TAIL; // 0x7F800000 - memcpy(vofa_tx_buf + channel_count * sizeof(float), &tail, sizeof(tail)); - - BSP_UART_Transmit(BSP_UART_VOFA, vofa_tx_buf, channel_count * sizeof(float) + sizeof(tail), dma); -} - -/* Exported functions ------------------------------------------------------- */ -int8_t VOFA_init(VOFA_Protocol_t protocol) { - current_protocol = protocol; - return DEVICE_OK; -} - -int8_t VOFA_Send(float* channels, uint8_t channel_count, bool dma) { - switch (current_protocol) { - case VOFA_PROTOCOL_RAWDATA: - { - char data[256]; - if (channel_count >= 1) { - sprintf(data, "Channel1: %.2f", channels[0]); - if (channel_count >= 2) { - sprintf(data + strlen(data), ", Channel2: %.2f", channels[1]); - } - strcat(data, "\n"); - VOFA_RawData_Send(data, dma); - } - } - break; - case VOFA_PROTOCOL_FIREWATER: - VOFA_FireWater_Send(channels, channel_count, dma); - break; - case VOFA_PROTOCOL_JUSTFLOAT: - VOFA_JustFloat_Send(channels, channel_count, dma); - break; - default: - return DEVICE_ERR; - } - return DEVICE_OK; -} diff --git a/assets/User_code/device/vofa.h b/assets/User_code/device/vofa.h deleted file mode 100644 index b8f07d9..0000000 --- a/assets/User_code/device/vofa.h +++ /dev/null @@ -1,39 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include "bsp/uart.h" -#include "device/device.h" -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ -/* Exported functions prototypes -------------------------------------------- */ - -typedef enum { - VOFA_PROTOCOL_RAWDATA, - VOFA_PROTOCOL_FIREWATER, - VOFA_PROTOCOL_JUSTFLOAT, -} VOFA_Protocol_t; - -/** - * @brief 初始化VOFA设备 - * @param protocol 设置通信协议 - * @return - */ -int8_t VOFA_init(VOFA_Protocol_t protocol); - -/** - * @brief 发送数据到VOFA - * @param channels 要发送的通道数据 - * @param channel_count 通道数量 - * @param dma 是否使用DMA发送 - * @return - */ -int8_t VOFA_Send(float* channels, uint8_t channel_count, bool dma); - -#ifdef __cplusplus -} -#endif \ No newline at end of file diff --git a/assets/User_code/device/ws2812.c b/assets/User_code/device/ws2812.c deleted file mode 100644 index 101edcb..0000000 --- a/assets/User_code/device/ws2812.c +++ /dev/null @@ -1,114 +0,0 @@ -/* Includes ----------------------------------------------------------------- */ -#include "ws2812.h" -#include "device.h" - -#include "bsp/pwm.h" -#include - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private define ----------------------------------------------------------- */ -#define DEVICE_WS2812_T1H (uint16_t)(BSP_PWM_GetAutoReloadPreload(BSP_PWM_WS2812) * 0.56) // High-level width of logic-1 pulse -#define DEVICE_WS2812_T0H (BSP_PWM_GetAutoReloadPreload(BSP_PWM_WS2812) * 0.29) // High-level width of logic-0 pulse -#define DEVICE_WS2812_WS_REST 40 // Number of reset pulses (low level) after data stream -#define DEVICE_WS2812_DATA_LEN 24 // WS2812 data length: 24 bits (GRB) per LED -#define DEVICE_WS2812_RST_NUM 50 // Extra reset pulses reserved at the end of the buffer - -/* USER DEFINE BEGIN */ - -/* USER DEFINE END */ - -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private variables -------------------------------------------------------- */ -static uint16_t DEVICE_WS2812_LED_NUM; // Total number of LEDs -static uint16_t *DEVICE_WS2812_RGB_Buff = NULL;// PWM duty buffer for DMA -/* Private function -------------------------------------------------------- */ -/* USER FUNCTION BEGIN */ - -/* USER FUNCTION END */ - -/* Exported functions ------------------------------------------------------- */ -/** - * Set color of a single WS2812 LED - * @param num LED index (1-based) - * @param R Red value (0-255) - * @param G Green value (0-255) - * @param B Blue value (0-255) - * @return DEVICE_OK on success, DEVICE_ERR if num is invalid - */ -uint8_t DEVICE_WS2812_Set(uint16_t num, uint8_t R, uint8_t G, uint8_t B) -{ - if(num<1 || num>DEVICE_WS2812_LED_NUM) return DEVICE_ERR; - uint32_t indexx = (num-1) * DEVICE_WS2812_DATA_LEN; - - /* WS2812 uses GRB order, MSB first */ - for (uint8_t i = 0; i < 8; i++) { - // G - DEVICE_WS2812_RGB_Buff[indexx + i] = (G & (0x80 >> i)) ? DEVICE_WS2812_T1H : DEVICE_WS2812_T0H; - // R - DEVICE_WS2812_RGB_Buff[indexx + i + 8] = (R & (0x80 >> i)) ? DEVICE_WS2812_T1H : DEVICE_WS2812_T0H; - // B - DEVICE_WS2812_RGB_Buff[indexx + i + 16] = (B & (0x80 >> i)) ? DEVICE_WS2812_T1H : DEVICE_WS2812_T0H; - } - return DEVICE_OK; -} - -/** - * Initialize WS2812 driver - * @param ledNum Number of LEDs in the strip - * @return DEVICE_OK on success, DEVICE_ERR if memory allocation or PWM setup fails - */ -uint8_t DEVICE_WS2812_Init(uint16_t ledNum) -{ - DEVICE_WS2812_LED_NUM = ledNum; - - if (DEVICE_WS2812_RGB_Buff != NULL) - { - free(DEVICE_WS2812_RGB_Buff); - DEVICE_WS2812_RGB_Buff = NULL; - } - - /* Allocate new buffer: 24 PWM samples per LED + reset pulses */ - size_t bufLen = ledNum * DEVICE_WS2812_DATA_LEN + DEVICE_WS2812_RST_NUM; - DEVICE_WS2812_RGB_Buff = (uint16_t *)malloc(bufLen * sizeof(uint16_t)); - if (DEVICE_WS2812_RGB_Buff == NULL) - return DEVICE_ERR; - - /* Initialize all LEDs to dim green */ - for (int i = 1; i <= ledNum; i++) - DEVICE_WS2812_Set(i, 0, 20, 0); - - /* Configure PWM frequency to 800 kHz and start DMA */ - if (BSP_PWM_SetFreq(BSP_PWM_WS2812, 800000) == DEVICE_OK) - BSP_PWM_Start_DMA( - BSP_PWM_WS2812, - (uint32_t *)DEVICE_WS2812_RGB_Buff, - bufLen); - else - return DEVICE_ERR; - - return DEVICE_OK; -} - -/** - * De-initialize WS2812 driver - * Frees the DMA buffer and stops PWM - */ -void DEVICE_WS2812_DeInit() -{ - for (int i = 1; i <= DEVICE_WS2812_LED_NUM; i++) - DEVICE_WS2812_Set(i, 0, 0, 0); - if (DEVICE_WS2812_RGB_Buff != NULL) - { - free(DEVICE_WS2812_RGB_Buff); - DEVICE_WS2812_RGB_Buff = NULL; - } - BSP_PWM_Stop_DMA(BSP_PWM_WS2812); -} \ No newline at end of file diff --git a/assets/User_code/device/ws2812.h b/assets/User_code/device/ws2812.h deleted file mode 100644 index 9a26cfa..0000000 --- a/assets/User_code/device/ws2812.h +++ /dev/null @@ -1,19 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include -/* Exported constants ------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ -/* Exported functions prototypes -------------------------------------------- */ -uint8_t DEVICE_WS2812_Init(uint16_t led_num); -uint8_t DEVICE_WS2812_Set(uint16_t num, uint8_t R, uint8_t G, uint8_t B); -void DEVICE_WS2812_DeInit(); - -#ifdef __cplusplus -} -#endif \ No newline at end of file diff --git a/assets/User_code/module/.gitkeep b/assets/User_code/module/.gitkeep deleted file mode 100644 index e69de29..0000000 diff --git a/assets/User_code/module/config.c b/assets/User_code/module/config.c deleted file mode 100644 index cb4ed7c..0000000 --- a/assets/User_code/module/config.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * 配置相关 - */ - -/* Includes ----------------------------------------------------------------- */ -#include "module/config.h" - - -/* Private typedef ---------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ - -/* Exported variables ------------------------------------------------------- */ - -// 机器人参数配置 -Config_RobotParam_t robot_config = { - - -}; - -/* Private function prototypes ---------------------------------------------- */ -/* Exported functions ------------------------------------------------------- */ - -/** - * @brief 获取机器人配置参数 - * @return 机器人配置参数指针 - */ -Config_RobotParam_t* Config_GetRobotParam(void) { - return &robot_config; -} \ No newline at end of file diff --git a/assets/User_code/module/config.h b/assets/User_code/module/config.h deleted file mode 100644 index 446fb6c..0000000 --- a/assets/User_code/module/config.h +++ /dev/null @@ -1,27 +0,0 @@ -/* - * 配置相关 - */ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -#include - -typedef struct { - -} Config_RobotParam_t; - -/* Exported functions prototypes -------------------------------------------- */ - -/** - * @brief 获取机器人配置参数 - * @return 机器人配置参数指针 - */ -Config_RobotParam_t* Config_GetRobotParam(void); - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/module/gimbal/2_axis_gimbal/2_axis_gimbal.c b/assets/User_code/module/gimbal/2_axis_gimbal/2_axis_gimbal.c deleted file mode 100644 index 53ff302..0000000 --- a/assets/User_code/module/gimbal/2_axis_gimbal/2_axis_gimbal.c +++ /dev/null @@ -1,259 +0,0 @@ -/* - * 云台模组 - */ - -/* Includes ----------------------------------------------------------------- */ -#include "bsp/can.h" -#include "bsp/time.h" -#include "component/filter.h" -#include "component/pid.h" -#include "device/motor_dm.h" -#include "device/motor_rm.h" -#include "gimbal.h" -#include - -/* Private typedef ---------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ -/* Private function -------------------------------------------------------- */ - -/** - * \brief 设置云台模式 - * - * \param c 包含云台数据的结构体 - * \param mode 要设置的模式 - * - * \return 函数运行结果 - */ -static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) { - if (g == NULL) - return -1; - if (mode == g->mode) - return GIMBAL_OK; - - PID_Reset(&g->pid.yaw_angle); - PID_Reset(&g->pid.yaw_omega); - PID_Reset(&g->pid.pit_angle); - PID_Reset(&g->pid.pit_omega); - LowPassFilter2p_Reset(&g->filter_out.yaw, 0.0f); - LowPassFilter2p_Reset(&g->filter_out.pit, 0.0f); - - MOTOR_DM_Enable(&(g->param->yaw_motor)); - - AHRS_ResetEulr(&(g->setpoint.eulr)); /* 切换模式后重置设定值 */ - // if (g->mode == GIMBAL_MODE_RELAX) { - // if (mode == GIMBAL_MODE_ABSOLUTE) { - // g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw; - // } else if (mode == GIMBAL_MODE_RELATIVE) { - // g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw; - // } - // } - g->setpoint.eulr.pit = g->feedback.imu.eulr.rol; - g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw; - - g->mode = mode; - return 0; -} - -/* Exported functions ------------------------------------------------------- */ - -/** - * \brief 初始化云台 - * - * \param g 包含云台数据的结构体 - * \param param 包含云台参数的结构体指针 - * \param target_freq 任务预期的运行频率 - * - * \return 函数运行结果 - */ -int8_t Gimbal_Init(Gimbal_t *g, const Gimbal_Params_t *param, - float target_freq) { - if (g == NULL) - return -1; - - g->param = param; - g->mode = GIMBAL_MODE_RELAX; /* 设置默认模式 */ - - /* 初始化云台电机控制PID和LPF */ - PID_Init(&(g->pid.yaw_angle), KPID_MODE_NO_D, target_freq, - &(g->param->pid.yaw_angle)); - PID_Init(&(g->pid.yaw_omega), KPID_MODE_CALC_D, target_freq, - &(g->param->pid.yaw_omega)); - PID_Init(&(g->pid.pit_angle), KPID_MODE_NO_D, target_freq, - &(g->param->pid.pit_angle)); - PID_Init(&(g->pid.pit_omega), KPID_MODE_CALC_D, target_freq, - &(g->param->pid.pit_omega)); - - LowPassFilter2p_Init(&g->filter_out.yaw, target_freq, - g->param->low_pass_cutoff_freq.out); - LowPassFilter2p_Init(&g->filter_out.pit, target_freq, - g->param->low_pass_cutoff_freq.out); - g->limit.yaw.max = g->param->mech_zero.yaw + g->param->travel.yaw; - g->limit.yaw.min = g->param->mech_zero.yaw; - g->limit.pit.max = g->param->mech_zero.pit + g->param->travel.pit; - g->limit.pit.min = g->param->mech_zero.pit; - BSP_CAN_Init(); - - MOTOR_RM_Register(&(g->param->pit_motor)); - MOTOR_DM_Register(&(g->param->yaw_motor)); - - MOTOR_DM_Enable(&(g->param->yaw_motor)); - return 0; -} - -/** - * \brief 通过CAN设备更新云台反馈信息 - * - * \param gimbal 云台 - * \param can CAN设备 - * - * \return 函数运行结果 - */ -int8_t Gimbal_UpdateFeedback(Gimbal_t *gimbal) { - if (gimbal == NULL) - return -1; - - /* 更新RM电机反馈数据（pitch轴） */ - MOTOR_RM_Update(&(gimbal->param->pit_motor)); - MOTOR_RM_t *rm_motor = MOTOR_RM_GetMotor(&(gimbal->param->pit_motor)); - if (rm_motor != NULL) { - gimbal->feedback.motor.pit = rm_motor->feedback; - } - - /* 更新DM电机反馈数据（yaw轴） */ - MOTOR_DM_Update(&(gimbal->param->yaw_motor)); - MOTOR_DM_t *dm_motor = MOTOR_DM_GetMotor(&(gimbal->param->yaw_motor)); - if (dm_motor != NULL) { - gimbal->feedback.motor.yaw = dm_motor->motor.feedback; - } - - return 0; -} - -int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu) { - - if (gimbal == NULL) { - return -1; - } - gimbal->feedback.imu.gyro = imu->gyro; - gimbal->feedback.imu.eulr = imu->eulr; -} - -/** - * \brief 运行云台控制逻辑 - * - * \param g 包含云台数据的结构体 - * \param g_cmd 云台控制指令 - * - * \return 函数运行结果 - */ -int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) { - if (g == NULL || g_cmd == NULL) { - return -1; - } - - g->dt = (BSP_TIME_Get_us() - g->lask_wakeup) / 1000000.0f; - g->lask_wakeup = BSP_TIME_Get_us(); - - Gimbal_SetMode(g, g_cmd->mode); - - /* 处理yaw控制命令，软件限位 - 使用电机绝对角度 */ - float delta_yaw = g_cmd->delta_yaw * g->dt * 1.5f; - if (g->param->travel.yaw > 0) { - /* 计算当前电机角度与IMU角度的偏差 */ - float motor_imu_offset = - g->feedback.motor.yaw.rotor_abs_angle - g->feedback.imu.eulr.yaw; - /* 处理跨越±π的情况 */ - if (motor_imu_offset > M_PI) - motor_imu_offset -= M_2PI; - if (motor_imu_offset < -M_PI) - motor_imu_offset += M_2PI; - - /* 计算到限位边界的距离 */ - const float delta_max = CircleError( - g->limit.yaw.max, (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw), - M_2PI); - const float delta_min = CircleError( - g->limit.yaw.min, (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw), - M_2PI); - - /* 限制控制命令 */ - if (delta_yaw > delta_max) - delta_yaw = delta_max; - if (delta_yaw < delta_min) - delta_yaw = delta_min; - } - CircleAdd(&(g->setpoint.eulr.yaw), delta_yaw, M_2PI); - - /* 处理pitch控制命令，软件限位 - 使用电机绝对角度 */ - float delta_pit = g_cmd->delta_pit * g->dt; - if (g->param->travel.pit > 0) { - /* 计算当前电机角度与IMU角度的偏差 */ - float motor_imu_offset = - g->feedback.motor.pit.rotor_abs_angle - g->feedback.imu.eulr.rol; - /* 处理跨越±π的情况 */ - if (motor_imu_offset > M_PI) - motor_imu_offset -= M_2PI; - if (motor_imu_offset < -M_PI) - motor_imu_offset += M_2PI; - - /* 计算到限位边界的距离 */ - const float delta_max = CircleError( - g->limit.pit.max, (g->setpoint.eulr.pit + motor_imu_offset + delta_pit), - M_2PI); - const float delta_min = CircleError( - g->limit.pit.min, (g->setpoint.eulr.pit + motor_imu_offset + delta_pit), - M_2PI); - - /* 限制控制命令 */ - if (delta_pit > delta_max) - delta_pit = delta_max; - if (delta_pit < delta_min) - delta_pit = delta_min; - } - CircleAdd(&(g->setpoint.eulr.pit), delta_pit, M_2PI); - - /* 控制相关逻辑 */ - float yaw_omega_set_point, pit_omega_set_point; - switch (g->mode) { - case GIMBAL_MODE_RELAX: - g->out.yaw = 0.0f; - g->out.pit = 0.0f; - break; - - case GIMBAL_MODE_ABSOLUTE: - yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw, - g->feedback.imu.eulr.yaw, 0.0f, g->dt); - g->out.yaw = PID_Calc(&(g->pid.pit_omega), yaw_omega_set_point, - g->feedback.imu.gyro.z, 0.f, g->dt); - - pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit, - g->feedback.imu.eulr.rol, 0.0f, g->dt); - g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point, - g->feedback.imu.gyro.y, 0.f, g->dt); - - break; - - /* 输出滤波 */ - g->out.yaw = LowPassFilter2p_Apply(&g->filter_out.yaw, g->out.yaw); - g->out.pit = LowPassFilter2p_Apply(&g->filter_out.pit, g->out.pit); - - return 0; - } -} - -/** - * \brief 云台输出 - * - * \param s 包含云台数据的结构体 - * \param out CAN设备云台输出结构体 - */ -void Gimbal_Output(Gimbal_t *g) { - MOTOR_RM_SetOutput(&g->param->pit_motor, g->out.pit); - MOTOR_MIT_Output_t output = {0}; - output.torque = g->out.yaw * 5.0f; // 乘以减速比 - output.kd = 0.3f; - MOTOR_RM_Ctrl(&g->param->pit_motor); - MOTOR_DM_MITCtrl(&g->param->yaw_motor, &output); -} diff --git a/assets/User_code/module/gimbal/2_axis_gimbal/2_axis_gimbal.h b/assets/User_code/module/gimbal/2_axis_gimbal/2_axis_gimbal.h deleted file mode 100644 index e45faa7..0000000 --- a/assets/User_code/module/gimbal/2_axis_gimbal/2_axis_gimbal.h +++ /dev/null @@ -1,179 +0,0 @@ -/* - * 云台模组 - */ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ----------------------------------------------------------------- */ -#include "component/ahrs.h" -#include "component/filter.h" -#include "component/pid.h" -#include "device/motor.h" -#include "device/motor_dm.h" -#include "device/motor_rm.h" - -/* Exported constants ------------------------------------------------------- */ -#define GIMBAL_OK (0) /* 运行正常 */ -#define GIMBAL_ERR (-1) /* 运行时发现了其他错误 */ -#define GIMBAL_ERR_NULL (-2) /* 运行时发现NULL指针 */ -#define GIMBAL_ERR_MODE (-3) /* 运行时配置了错误的CMD_GimbalMode_t */ - -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ - -typedef enum { - GIMBAL_MODE_RELAX, /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */ - GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */ - GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */ -} Gimbal_Mode_t; - -typedef struct { - Gimbal_Mode_t mode; - float delta_yaw; - float delta_pit; -} Gimbal_CMD_t; - -/* 软件限位 */ -typedef struct { - float max; - float min; -} Gimbal_Limit_t; - -/* 云台参数的结构体，包含所有初始化用的参数，通常是const，存好几组。*/ -typedef struct { - MOTOR_RM_Param_t pit_motor; /* pitch轴电机参数 */ - MOTOR_DM_Param_t yaw_motor; /* yaw轴电机参数 */ - struct { - KPID_Params_t yaw_omega; /* yaw轴角速度环PID参数 */ - KPID_Params_t yaw_angle; /* yaw轴角位置环PID参数 */ - KPID_Params_t pit_omega; /* pitch轴角速度环PID参数 */ - KPID_Params_t pit_angle; /* pitch轴角位置环PID参数 */ - } pid; - - /* 低通滤波器截止频率 */ - struct { - float out; /* 电机输出 */ - float gyro; /* 陀螺仪数据 */ - } low_pass_cutoff_freq; - - struct { - float yaw; /* yaw轴机械限位 */ - float pit; /* pitch轴机械限位 */ - } mech_zero; - - struct { - float yaw; /* yaw轴机械限位行程 -1表示无限位 */ - float pit; /* pitch轴机械限位行程 -1表示无限位*/ - } travel; - -} Gimbal_Params_t; - -typedef struct { - AHRS_Gyro_t gyro; - AHRS_Eulr_t eulr; -} Gimbal_IMU_t; -/* 云台反馈数据的结构体，包含反馈控制用的反馈数据 */ -typedef struct { - Gimbal_IMU_t imu; - struct { - MOTOR_Feedback_t yaw; /* yaw轴电机反馈 */ - MOTOR_Feedback_t pit; /* pitch轴电机反馈 */ - } motor; -} Gimbal_Feedback_t; - -/* 云台输出数据的结构体*/ -typedef struct { - float yaw; /* yaw轴电机输出 */ - float pit; /* pitch轴电机输出 */ -} Gimbal_Output_t; -/* - * 运行的主结构体，所有这个文件里的函数都在操作这个结构体。 - * 包含了初始化参数，中间变量，输出变量。 - */ -typedef struct { - uint64_t lask_wakeup; - float dt; - - Gimbal_Params_t *param; /* 云台的参数，用Gimbal_Init设定 */ - /* 模块通用 */ - Gimbal_Mode_t mode; /* 云台模式 */ - - /* PID计算的目标值 */ - struct { - AHRS_Eulr_t eulr; /* 表示云台姿态的欧拉角 */ - } setpoint; - - struct { - KPID_t yaw_angle; /* yaw轴角位置环PID */ - KPID_t yaw_omega; /* yaw轴角速度环PID */ - KPID_t pit_angle; /* pitch轴角位置环PID */ - KPID_t pit_omega; /* pitch轴角速度环PID */ - } pid; - - struct { - Gimbal_Limit_t yaw; - Gimbal_Limit_t pit; - } limit; - - struct { - LowPassFilter2p_t yaw; - LowPassFilter2p_t pit; - } filter_out; - - Gimbal_Output_t out; /* 云台输出 */ - Gimbal_Feedback_t feedback; /* 反馈 */ - -} Gimbal_t; - -/* Exported functions prototypes -------------------------------------------- */ - -/** - * \brief 初始化云台 - * - * \param g 包含云台数据的结构体 - * \param param 包含云台参数的结构体指针 - * \param target_freq 任务预期的运行频率 - * - * \return 函数运行结果 - */ -int8_t Gimbal_Init(Gimbal_t *g, const Gimbal_Params_t *param, - float target_freq); - -/** - * \brief 通过CAN设备更新云台反馈信息 - * - * \param gimbal 云台 - * \param can CAN设备 - * - * \return 函数运行结果 - */ -int8_t Gimbal_UpdateFeedback(Gimbal_t *gimbal); - -int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu); -/** - * \brief 运行云台控制逻辑 - * - * \param g 包含云台数据的结构体 - * \param fb 云台反馈信息 - * \param g_cmd 云台控制指令 - * \param dt_sec 两次调用的时间间隔 - * - * \return 函数运行结果 - */ -int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd); - -/** - * \brief 云台输出 - * - * \param s 包含云台数据的结构体 - * \param out CAN设备云台输出结构体 - */ -void Gimbal_Output(Gimbal_t *g); - -#ifdef __cplusplus -} -#endif diff --git a/assets/User_code/module/gimbal/2_axis_gimbal/config.yaml b/assets/User_code/module/gimbal/2_axis_gimbal/config.yaml deleted file mode 100644 index e69de29..0000000 diff --git a/assets/User_code/task/.gitkeep b/assets/User_code/task/.gitkeep deleted file mode 100644 index e69de29..0000000 diff --git a/assets/User_code/task/init.c.template b/assets/User_code/task/init.c.template deleted file mode 100644 index 5dc631a..0000000 --- a/assets/User_code/task/init.c.template +++ /dev/null @@ -1,42 +0,0 @@ -/* - Init Task - 任务初始化，创建各个线程任务和消息队列 -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "task/user_task.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private typedef ---------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ -/* Private function --------------------------------------------------------- */ -/* Exported functions ------------------------------------------------------- */ - -/** - * \brief 初始化 - * - * \param argument 未使用 - */ -void Task_Init(void *argument) { - (void)argument; /* 未使用argument，消除警告 */ - /* USER CODE INIT BEGIN */ - - /* USER CODE INIT END */ - osKernelLock(); /* 锁定内核，防止任务切换 */ - - /* 创建任务线程 */ -{{thread_creation_code}} - - // 创建消息队列 - /* USER MESSAGE BEGIN */ - task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL); - /* USER MESSAGE END */ - - osKernelUnlock(); // 解锁内核 - osThreadTerminate(osThreadGetId()); // 任务完成后结束自身 -} diff --git a/assets/User_code/task/task.c.template b/assets/User_code/task/task.c.template deleted file mode 100644 index e238fa2..0000000 --- a/assets/User_code/task/task.c.template +++ /dev/null @@ -1,56 +0,0 @@ -/* - {{task_name}} Task - {{task_description}} -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "task/user_task.h" -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private typedef ---------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private function --------------------------------------------------------- */ -/* Exported functions ------------------------------------------------------- */ -void {{task_function}}(void *argument) { - (void)argument; /* 未使用argument，消除警告 */ - - {% if freq_control %} - /* 计算任务运行到指定频率需要等待的tick数 */ - const uint32_t delay_tick = osKernelGetTickFreq() / {{task_frequency}}; - - osDelay({{task_delay}}); /* 延时一段时间再开启任务 */ - - uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ - /* USER CODE INIT BEGIN */ - - /* USER CODE INIT END */ - - while (1) { - tick += delay_tick; /* 计算下一个唤醒时刻 */ - /* USER CODE BEGIN */ - - /* USER CODE END */ - osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ - } - {% else %} - osDelay({{task_delay}}); /* 延时一段时间再开启任务 */ - - /* USER CODE INIT BEGIN */ - - /* USER CODE INIT END */ - - while (1) { - /* USER CODE BEGIN */ - - /* USER CODE END */ - } - {% endif %} -} \ No newline at end of file diff --git a/assets/User_code/task/user_task.c.template b/assets/User_code/task/user_task.c.template deleted file mode 100644 index 69f49f0..0000000 --- a/assets/User_code/task/user_task.c.template +++ /dev/null @@ -1,12 +0,0 @@ -#include "task/user_task.h" - -Task_Runtime_t task_runtime; - -const osThreadAttr_t attr_init = { - .name = "Task_Init", - .priority = osPriorityRealtime, - .stack_size = 256 * 4, -}; - -/* User_task */ -{{task_attr_definitions}} diff --git a/assets/User_code/task/user_task.h.template b/assets/User_code/task/user_task.h.template deleted file mode 100644 index 79b7476..0000000 --- a/assets/User_code/task/user_task.h.template +++ /dev/null @@ -1,80 +0,0 @@ -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif -/* Includes ----------------------------------------------------------------- */ -#include -#include "FreeRTOS.h" -#include "task.h" - -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ -/* Exported constants ------------------------------------------------------- */ -/* 任务运行频率 */ -{{task_frequency_definitions}} - -/* 任务初始化延时ms */ -#define TASK_INIT_DELAY (100u) -{{task_init_delay_definitions}} - -/* Exported defines --------------------------------------------------------- */ -/* Exported macro ----------------------------------------------------------- */ -/* Exported types ----------------------------------------------------------- */ - -/* 任务运行时结构体 */ -typedef struct { - /* 各任务，也可以叫做线程 */ - struct { -{{thread_definitions}} - } thread; - - /* USER MESSAGE BEGIN */ - struct { - osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */ - } msgq; - /* USER MESSAGE END */ - - /* 机器人状态 */ - struct { - float battery; /* 电池电量百分比 */ - float vbat; /* 电池电压 */ - float cpu_temp; /* CPU温度 */ - } status; - - /* USER CONFIG BEGIN */ - - /* USER CONFIG END */ - - /* 各任务的stack使用 */ - struct { -{{stack_definitions}} - } stack_water_mark; - - /* 各任务运行频率 */ - struct { -{{freq_definitions}} - } freq; - - /* 任务最近运行时间 */ - struct { -{{last_up_time_definitions}} - } last_up_time; - -} Task_Runtime_t; - -/* 任务运行时结构体 */ -extern Task_Runtime_t task_runtime; - -/* 初始化任务句柄 */ -extern const osThreadAttr_t attr_init; -{{task_attr_declarations}} - -/* 任务函数声明 */ -void Task_Init(void *argument); -{{task_function_declarations}} - -#ifdef __cplusplus -} -#endif diff --git a/assets/logo/M.ico b/assets/logo/M.ico deleted file mode 100644 index b7df782..0000000 Binary files a/assets/logo/M.ico and /dev/null differ diff --git a/assets/logo/M.png b/assets/logo/M.png deleted file 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files a/assets/logo/m1.png and /dev/null differ diff --git a/assets/mech_lib/.DS_Store b/assets/mech_lib/.DS_Store deleted file mode 100644 index 68586da..0000000 Binary files a/assets/mech_lib/.DS_Store and /dev/null differ diff --git a/assets/mech_lib/README.md b/assets/mech_lib/README.md deleted file mode 100644 index e476d43..0000000 --- a/assets/mech_lib/README.md +++ /dev/null @@ -1 +0,0 @@ -# 机械常用零件库 \ No newline at end of file diff --git a/test_admin_account.py b/test_admin_account.py new file mode 100644 index 0000000..c2e4737 --- /dev/null +++ b/test_admin_account.py @@ -0,0 +1,66 @@ +#!/usr/bin/env python3 +""" +测试 admin 账户自动创建功能 +""" + +import shutil +from pathlib import Path +from app.tools.finance_manager import FinanceManager + +# 清除旧数据 +data_root = Path("assets/Finance_Data") +if data_root.exists(): + shutil.rmtree(data_root) + +# 测试1: 第一次初始化，应该创建 admin 账户 +print("测试1: 第一次初始化（应该创建 admin 账户）") +fm1 = FinanceManager() +accounts1 = fm1.get_all_accounts() +print(f" 账户数量: {len(accounts1)}") +if accounts1: + print(f" 第一个账户: 名称={accounts1[0].name}, ID={accounts1[0].id}") + print(f" 是否为 admin: {accounts1[0].name == 'admin'}") +assert len(accounts1) == 1, "应该有1个账户" +assert accounts1[0].name == "admin", "账户名称应该是 'admin'" +print(" ✓ 通过！\n") + +# 测试2: 再次初始化，应该加载现有的 admin 账户 +print("测试2: 再次初始化（应该加载现有的 admin 账户）") +fm2 = FinanceManager() +accounts2 = fm2.get_all_accounts() +print(f" 账户数量: {len(accounts2)}") +if accounts2: + print(f" 第一个账户: 名称={accounts2[0].name}, ID={accounts2[0].id}") + print(f" 账户ID是否相同: {accounts1[0].id == accounts2[0].id}") +assert len(accounts2) == 1, "应该有1个账户" +assert accounts2[0].name == "admin", "账户名称应该是 'admin'" +assert accounts1[0].id == accounts2[0].id, "账户ID应该相同" +print(" ✓ 通过！\n") + +# 测试3: 添加新账户后，应该仍然能找到 admin 账户 +print("测试3: 添加新账户后，应该仍然能找到 admin 账户") +fm2.create_account("test", "测试账户") +accounts3 = fm2.get_all_accounts() +print(f" 账户数量: {len(accounts3)}") +admin_found = False +for acc in accounts3: + print(f" - {acc.name}") + if acc.name == "admin": + admin_found = True +assert len(accounts3) == 2, "应该有2个账户" +assert admin_found, "应该找到 admin 账户" +print(" ✓ 通过！\n") + +# 测试4: 测试 admin 账户的分类 +print("测试4: 测试 admin 账户的分类") +admin_acc = None +for acc in accounts3: + if acc.name == "admin": + admin_acc = acc + break +assert admin_acc is not None +print(f" 默认分类: {admin_acc.categories}") +assert len(admin_acc.categories) > 0, "应该有默认分类" +print(" ✓ 通过！\n") + +print("所有测试都通过了！✓") diff --git a/test_category.py b/test_category.py new file mode 100644 index 0000000..76b0426 --- /dev/null +++ b/test_category.py @@ -0,0 +1,68 @@ +#!/usr/bin/env python3 +"""测试分类功能""" + +from app.tools.finance_manager import FinanceManager, Transaction + +# 创建财务管理器 +fm = FinanceManager() + +# 创建一个测试账户 +account = fm.create_account("测试账户", "用于测试分类功能") +print(f"创建账户: {account.name} (ID: {account.id})") +print(f"初始分类: {account.categories}") + +# 添加新分类 +print("\n添加新分类...") +fm.add_category(account.id, "工作支出") +fm.add_category(account.id, "个人投资") + +account = fm.get_account(account.id) +print(f"更新后的分类: {account.categories}") + +# 创建交易记录 +print("\n创建交易记录...") +trans1 = Transaction( + date="2024-01-01", + amount=1000, + trader="张三", + notes="工资", + category="工资" +) +fm.add_transaction(account.id, trans1) + +trans2 = Transaction( + date="2024-01-02", + amount=-500, + trader="李四", + notes="午餐", + category="饮食" +) +fm.add_transaction(account.id, trans2) + +trans3 = Transaction( + date="2024-01-03", + amount=-200, + trader="公司", + notes="项目费用", + category="工作支出" +) +fm.add_transaction(account.id, trans3) + +# 查询交易记录 +print("\n所有交易记录:") +account = fm.get_account(account.id) +for trans in account.transactions: + print(f" {trans.date} | {trans.trader} | {trans.category} | ¥{trans.amount:.2f} | {trans.notes}") + +# 按分类查询 +print("\n按分类查询 - 工资:") +results = fm.query_transactions(account.id, category="工资") +for trans in results: + print(f" {trans.date} | {trans.trader} | {trans.category} | ¥{trans.amount:.2f}") + +print("\n按分类查询 - 饮食:") +results = fm.query_transactions(account.id, category="饮食") +for trans in results: + print(f" {trans.date} | {trans.trader} | {trans.category} | ¥{trans.amount:.2f}") + +print("\nTest passed! ✓") diff --git a/test_category_dropdown.py b/test_category_dropdown.py new file mode 100644 index 0000000..701a02c --- /dev/null +++ b/test_category_dropdown.py @@ -0,0 +1,102 @@ +#!/usr/bin/env python3 +""" +测试查询页面分类下拉框动态更新功能 +""" + +import shutil +from pathlib import Path +from app.tools.finance_manager import FinanceManager, Transaction + +# 清除旧数据 +data_root = Path("assets/Finance_Data") +if data_root.exists(): + shutil.rmtree(data_root) + +print("=" * 60) +print("测试查询页面分类下拉框动态更新") +print("=" * 60) + +# 初始化财务管理器 +fm = FinanceManager() +admin_acc = fm.get_all_accounts()[0] + +print("\n[初始状态] 检查初始分类列表") +categories = fm.get_categories(admin_acc.id) +print(f" 初始分类数: {len(categories)}") +print(f" 初始分类: {categories}") +assert len(categories) == 0, "初始应该没有分类" +print(" ✓ 通过") + +print("\n[测试1] 创建第一个分类") +success = fm.add_category(admin_acc.id, "工资") +print(f" 添加 '工资': {'成功' if success else '失败'}") +assert success, "应该成功添加分类" +categories = fm.get_categories(admin_acc.id) +print(f" 当前分类: {categories}") +assert "工资" in categories +print(" ✓ 通过") + +print("\n[测试2] 创建第二个分类") +success = fm.add_category(admin_acc.id, "房租") +print(f" 添加 '房租': {'成功' if success else '失败'}") +assert success +categories = fm.get_categories(admin_acc.id) +print(f" 当前分类: {categories}") +assert len(categories) == 2 +assert "工资" in categories and "房租" in categories +print(" ✓ 通过") + +print("\n[测试3] 创建第三个分类") +success = fm.add_category(admin_acc.id, "食品") +print(f" 添加 '食品': {'成功' if success else '失败'}") +assert success +categories = fm.get_categories(admin_acc.id) +print(f" 当前分类: {categories}") +assert len(categories) == 3 +print(" ✓ 通过") + +print("\n[测试4] 验证分类持久化") +# 重新加载账户 +fm2 = FinanceManager() +admin_acc2 = None +for acc in fm2.get_all_accounts(): + if acc.name == "admin": + admin_acc2 = acc + break + +assert admin_acc2 is not None +categories2 = fm2.get_categories(admin_acc2.id) +print(f" 重新加载后的分类: {categories2}") +assert len(categories2) == 3 +assert set(categories2) == {"工资", "房租", "食品"} +print(" ✓ 通过") + +print("\n[测试5] 创建交易并按分类查询") +# 创建测试交易 +trans_data = [ + ("2025-01-01", 5000, "工作", "工资", "1月工资"), + ("2025-01-05", -1500, "房东", "房租", "房租"), + ("2025-01-10", -200, "超市", "食品", "食材"), +] + +for date, amount, trader, category, notes in trans_data: + trans = Transaction(date=date, amount=amount, trader=trader, category=category, notes=notes) + fm2.add_transaction(admin_acc2.id, trans) + +print(f" 创建了 {len(trans_data)} 条交易") + +# 按各分类查询 +for cat in categories2: + results = fm2.query_transactions(admin_acc2.id, category=cat) + print(f" 查询 '{cat}' 分类: {len(results)} 条") + assert len(results) == 1, f"应该有1条 {cat} 分类的交易" + +print(" ✓ 通过") + +print("\n" + "=" * 60) +print("所有动态分类测试都通过了！✓") +print("=" * 60) +print("\n说明:") +print("1. 新建的分类可以立即在下拉框中选择") +print("2. 分类数据会被正确保存和加载") +print("3. 创建的交易可以按分类进行查询") diff --git a/test_category_features.py b/test_category_features.py new file mode 100644 index 0000000..59c35f3 --- /dev/null +++ b/test_category_features.py @@ -0,0 +1,123 @@ +#!/usr/bin/env python3 +""" +测试财务模块的分类功能完整流程 +""" + +import shutil +from pathlib import Path +from app.tools.finance_manager import FinanceManager, Transaction + +# 清除旧数据 +data_root = Path("assets/Finance_Data") +if data_root.exists(): + shutil.rmtree(data_root) + +print("=" * 60) +print("财务模块分类功能测试") +print("=" * 60) + +# 初始化财务管理器 +fm = FinanceManager() + +# 测试1: 验证 admin 账户自动创建 +print("\n[测试1] admin 账户自动创建") +accounts = fm.get_all_accounts() +print(f" 账户数量: {len(accounts)}") +assert len(accounts) == 1, "应该有1个账户" +admin_acc = accounts[0] +print(f" 账户名称: {admin_acc.name}") +assert admin_acc.name == "admin", "账户名称应该是 'admin'" +print(" ✓ 通过") + +# 测试2: 验证默认分类 +print("\n[测试2] 默认分类") +print(f" 分类数量: {len(admin_acc.categories)}") +print(f" 分类列表: {admin_acc.categories}") +assert len(admin_acc.categories) > 0, "应该有默认分类" +print(" ✓ 通过") + +# 测试3: 添加新分类 +print("\n[测试3] 添加新分类") +result = fm.add_category(admin_acc.id, "房租") +print(f" 添加 '房租' 分类: {'成功' if result else '失败'}") +assert result, "应该成功添加分类" +categories = fm.get_categories(admin_acc.id) +print(f" 分类数量: {len(categories)}") +assert "房租" in categories, "应该包含 '房租' 分类" +print(" ✓ 通过") + +# 测试4: 创建带分类的交易记录 +print("\n[测试4] 创建带分类的交易记录") +trans1 = Transaction( + date="2025-01-01", + amount=5000, + trader="工作所得", + notes="1月工资", + category="工资" +) +fm.add_transaction(admin_acc.id, trans1) +print(f" 交易1: {trans1.date} | {trans1.trader} | {trans1.category} | ¥{trans1.amount}") + +trans2 = Transaction( + date="2025-01-05", + amount=-1500, + trader="房东", + notes="1月房租", + category="房租" +) +fm.add_transaction(admin_acc.id, trans2) +print(f" 交易2: {trans2.date} | {trans2.trader} | {trans2.category} | ¥{trans2.amount}") + +# 重新加载以验证保存 +fm.load_all_accounts() +admin_acc = fm.get_account(admin_acc.id) +print(f" 账户交易总数: {len(admin_acc.transactions)}") +assert len(admin_acc.transactions) == 2, "应该有2个交易" +print(" ✓ 通过") + +# 测试5: 按分类查询 +print("\n[测试5] 按分类查询") +results_salary = fm.query_transactions(admin_acc.id, category="工资") +print(f" '工salary' 分类的交易: {len(results_salary)} 条") +assert len(results_salary) == 1, "应该有1个工资交易" +assert results_salary[0].amount == 5000 + +results_rent = fm.query_transactions(admin_acc.id, category="房租") +print(f" '房租' 分类的交易: {len(results_rent)} 条") +assert len(results_rent) == 1, "应该有1个房租交易" +assert results_rent[0].amount == -1500 + +results_all = fm.query_transactions(admin_acc.id) +print(f" 全部分类的交易: {len(results_all)} 条") +assert len(results_all) == 2, "应该有2个交易" +print(" ✓ 通过") + +# 测试6: 更新交易分类 +print("\n[测试6] 更新交易分类") +fm.update_transaction(admin_acc.id, trans1.id, category="奖金") +fm.load_all_accounts() +admin_acc = fm.get_account(admin_acc.id) +updated_trans = fm.get_transaction(admin_acc.id, trans1.id) +print(f" 更新后的分类: {updated_trans.category}") +assert updated_trans.category == "奖金", "分类应该更新为 '奖金'" +print(" ✓ 通过") + +# 测试7: CSV导出包含分类 +print("\n[测试7] CSV导出包含分类") +csv_path = "/tmp/test_export.csv" +result = fm.export_to_csv(admin_acc.id, csv_path) +print(f" 导出结果: {'成功' if result else '失败'}") +assert result, "应该成功导出CSV" +# 验证CSV内容 +with open(csv_path, 'r', encoding='utf-8-sig') as f: + lines = f.readlines() + print(f" CSV行数: {len(lines)}") + print(f" 标题行: {lines[0].strip()}") + assert "分类" in lines[0], "CSV应该包含 '分类' 列" + print(f" 数据行1: {lines[1].strip()}") + print(f" 数据行2: {lines[2].strip()}") +print(" ✓ 通过") + +print("\n" + "=" * 60) +print("所有测试都通过了！✓") +print("=" * 60) diff --git a/test_category_query.py b/test_category_query.py new file mode 100644 index 0000000..226f937 --- /dev/null +++ b/test_category_query.py @@ -0,0 +1,94 @@ +#!/usr/bin/env python3 +""" +测试分类查询功能 +""" + +import shutil +from pathlib import Path +from app.tools.finance_manager import FinanceManager, Transaction + +# 清除旧数据 +data_root = Path("assets/Finance_Data") +if data_root.exists(): + shutil.rmtree(data_root) + +print("=" * 60) +print("测试分类查询功能") +print("=" * 60) + +# 初始化财务管理器 +fm = FinanceManager() +admin_acc = fm.get_all_accounts()[0] + +# 创建测试分类 +fm.add_category(admin_acc.id, "工资") +fm.add_category(admin_acc.id, "房租") +fm.add_category(admin_acc.id, "食品") +print("\n✓ 创建分类: 工资, 房租, 食品") + +# 创建测试交易 +transactions_data = [ + ("2025-01-01", 5000, "工作所得", "工资", "1月工资"), + ("2025-01-05", -1500, "房东", "房租", "1月房租"), + ("2025-01-10", -300, "超市", "食品", "日常食品"), + ("2025-01-15", 5000, "奖励", "工资", "绩效奖励"), + ("2025-01-20", -200, "便利店", "食品", "零食"), +] + +for date, amount, trader, category, notes in transactions_data: + trans = Transaction(date=date, amount=amount, trader=trader, category=category, notes=notes) + fm.add_transaction(admin_acc.id, trans) + +print("✓ 创建5条交易记录") + +# 测试按分类查询 +print("\n[测试1] 查询 '工资' 分类") +results = fm.query_transactions(admin_acc.id, category="工资") +print(f" 结果: {len(results)} 条") +for t in results: + print(f" - {t.date} | {t.trader} | {t.category} | ¥{t.amount}") +assert len(results) == 2, "应该有2条工资交易" +assert all(t.category == "工资" for t in results), "所有交易应该是工资分类" +print(" ✓ 通过") + +print("\n[测试2] 查询 '房租' 分类") +results = fm.query_transactions(admin_acc.id, category="房租") +print(f" 结果: {len(results)} 条") +for t in results: + print(f" - {t.date} | {t.trader} | {t.category} | ¥{t.amount}") +assert len(results) == 1, "应该有1条房租交易" +assert results[0].category == "房租" +print(" ✓ 通过") + +print("\n[测试3] 查询 '食品' 分类") +results = fm.query_transactions(admin_acc.id, category="食品") +print(f" 结果: {len(results)} 条") +for t in results: + print(f" - {t.date} | {t.trader} | {t.category} | ¥{t.amount}") +assert len(results) == 2, "应该有2条食品交易" +assert all(t.category == "食品" for t in results), "所有交易应该是食品分类" +print(" ✓ 通过") + +print("\n[测试4] 查询所有分类 (category=None)") +results = fm.query_transactions(admin_acc.id, category=None) +print(f" 结果: {len(results)} 条") +assert len(results) == 5, "应该返回所有5条交易" +print(" ✓ 通过") + +print("\n[测试5] 按分类和金额范围查询") +results = fm.query_transactions(admin_acc.id, category="工资", amount_min=0) +print(f" 查询 '工资' 且金额>=0: {len(results)} 条") +assert len(results) == 2, "应该有2条正数的工资交易" +print(" ✓ 通过") + +print("\n[测试6] 按分类和日期范围查询") +results = fm.query_transactions(admin_acc.id, category="食品", date_start="2025-01-15") +print(f" 查询 '食品' 且日期>=2025-01-15: {len(results)} 条") +for t in results: + print(f" - {t.date} | {t.trader}") +assert len(results) == 1, "应该有1条符合条件的食品交易" +print(" ✓ 通过") + +print("\n" + "=" * 60) +print("所有分类查询测试都通过了！✓") +print("=" * 60) diff --git a/test_no_default_categories.py b/test_no_default_categories.py new file mode 100644 index 0000000..5ec1e1c --- /dev/null +++ b/test_no_default_categories.py @@ -0,0 +1,96 @@ +#!/usr/bin/env python3 +""" +测试删除默认分类功能 +""" + +import shutil +from pathlib import Path +from app.tools.finance_manager import FinanceManager, Transaction, Account + +# 清除旧数据 +data_root = Path("assets/Finance_Data") +if data_root.exists(): + shutil.rmtree(data_root) + +print("=" * 60) +print("测试删除默认分类功能") +print("=" * 60) + +# 初始化财务管理器 +fm = FinanceManager() + +# 测试1: 验证 admin 账户的分类为空 +print("\n[测试1] 新建账户的分类为空") +accounts = fm.get_all_accounts() +admin_acc = accounts[0] +print(f" 账户名称: {admin_acc.name}") +print(f" 分类数量: {len(admin_acc.categories)}") +print(f" 分类列表: {admin_acc.categories}") +assert len(admin_acc.categories) == 0, "新账户应该没有默认分类" +print(" ✓ 通过") + +# 测试2: 用户创建分类 +print("\n[测试2] 用户创建分类") +fm.add_category(admin_acc.id, "工资") +fm.add_category(admin_acc.id, "房租") +fm.add_category(admin_acc.id, "娱乐") +categories = fm.get_categories(admin_acc.id) +print(f" 创建的分类: {categories}") +assert len(categories) == 3, "应该有3个分类" +assert "工资" in categories +assert "房租" in categories +assert "娱乐" in categories +print(" ✓ 通过") + +# 测试3: 创建交易时必须指定分类 +print("\n[测试3] 创建交易时分类不能为空") +trans1 = Transaction( + date="2025-01-01", + amount=5000, + trader="工作所得", + notes="1月工资", + category="工资" +) +assert trans1.category == "工资", "交易应该有分类" +print(f" 交易分类: {trans1.category}") +print(" ✓ 通过") + +# 测试4: 验证空分类的交易 +print("\n[测试4] 检查默认分类为空字符串") +trans_no_cat = Transaction( + date="2025-01-01", + amount=100, + trader="测试用户" +) +print(f" 未指定分类的交易分类: '{trans_no_cat.category}'") +assert trans_no_cat.category == "", "未指定分类应该为空字符串" +print(" ✓ 通过") + +# 测试5: 用户可以删除自定义分类 +print("\n[测试5] 用户可以删除自定义分类") +success = fm.delete_category(admin_acc.id, "娱乐") +print(f" 删除 '娱乐' 分类: {'成功' if success else '失败'}") +assert success, "应该成功删除分类" +categories = fm.get_categories(admin_acc.id) +print(f" 删除后的分类: {categories}") +assert "娱乐" not in categories +assert len(categories) == 2 +print(" ✓ 通过") + +# 测试6: 验证分类持久化 +print("\n[测试6] 分类数据持久化") +# 创建新的财务管理器实例，应该重新加载分类 +fm2 = FinanceManager() +accounts2 = fm2.get_all_accounts() +admin_acc2 = accounts2[0] +categories2 = fm2.get_categories(admin_acc2.id) +print(f" 重新加载后的分类: {categories2}") +assert len(categories2) == 2, "应该有2个分类" +assert "工资" in categories2 +assert "房租" in categories2 +assert "娱乐" not in categories2 +print(" ✓ 通过") + +print("\n" + "=" * 60) +print("所有测试都通过了！✓") +print("=" * 60)