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Robofish
2025-11-29 12:04:26 +08:00
parent e2e275b6e4
commit 8f4636ab5a
53 changed files with 1235 additions and 4968 deletions
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142
assets/User_code/device/ai.c
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@@ -1,142 +0,0 @@
/*
AI
*/
/* Includes ----------------------------------------------------------------- */
#include "ai.h"
#include <stdbool.h>
#include <string.h>
#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;
}
}

131
assets/User_code/device/ai.h
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@@ -1,131 +0,0 @@
/*
AI
*/
#pragma once
#include <sys/cdefs.h>
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include "component/ahrs.h"
#include "component/filter.h"
#include "component/user_math.h"
#include "device/device.h"
#include <cmsis_os2.h>
#include <stdbool.h>
#include <stdint.h>
/* 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

4
assets/User_code/device/motor_rm.c
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@@ -56,12 +56,12 @@ 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) {
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) {
if (can_id >= GM6020_FB_ID_BASE && can_id <= GM6020_FB_ID_BASE + 6) {
return can_id - GM6020_FB_ID_BASE + 4;
}
break;