更新

assets/User_code/device/ai.c

@@ -0,0 +1,142 @@
+/*
+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;
+  }
+}
+

assets/User_code/device/ai.h

@@ -0,0 +1,131 @@
+/*
+  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