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This commit is contained in:
Robofish
2025-09-20 00:32:32 +08:00
parent 60154cafd5
commit d5d580f384
59 changed files with 910 additions and 126 deletions
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12
assets/User_code/component/ahrs.c
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@@ -9,9 +9,17 @@
#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;
@@ -403,3 +411,7 @@ int8_t AHRS_GetEulr(AHRS_Eulr_t *eulr, const AHRS_t *ahrs) {
* \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 */

16
assets/User_code/component/ahrs.h
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@@ -11,6 +11,14 @@ extern "C" {
#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） */
@@ -55,6 +63,10 @@ typedef struct {
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
*
@@ -93,6 +105,10 @@ int8_t AHRS_GetEulr(AHRS_Eulr_t *eulr, const AHRS_t *ahrs);
*/
void AHRS_ResetEulr(AHRS_Eulr_t *eulr);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

12
assets/User_code/component/capacity.c
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@@ -5,6 +5,14 @@
#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
*
@@ -56,3 +64,7 @@ float Capacity_GetCapacitorRemain(float vcap, float vbat, float v_cutoff) {
return percentage;
}
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

12
assets/User_code/component/capacity.h
View File

@@ -12,6 +12,14 @@ extern "C" {
#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
*
@@ -30,6 +38,10 @@ float Capacity_GetBatteryRemain(float volt);
*/
float Capacity_GetCapacitorRemain(float vcap, float vbat, float v_cutoff);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

12
assets/User_code/component/cmd.c
View File

@@ -6,6 +6,14 @@
#include <string.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/**
* @brief 行为转换为对应按键
*
@@ -373,3 +381,7 @@ int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd) {
ref->counter++;
return 0;
}
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

14
assets/User_code/component/cmd.h
View File

@@ -13,7 +13,15 @@ extern "C" {
#include "component/ahrs.h"
#define CMD_REFEREE_MAX_NUM (3) /* 发送命令限定的最大数量 */
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
#define CMD_REFEREE_MAX_NUM (3) /* Lines 16 omitted */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* 机器人型号 */
typedef enum {
@@ -301,6 +309,10 @@ int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec);
*/
int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

12
assets/User_code/component/crc16.c
View File

@@ -1,5 +1,13 @@
#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,
@@ -48,3 +56,7 @@ bool CRC16_Verify(const uint8_t *buf, size_t len) {
((const uint16_t *)((const uint8_t *)buf +
(len % 2)))[len / sizeof(uint16_t) - 1];
}
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

12
assets/User_code/component/crc16.h
View File

@@ -8,11 +8,23 @@ extern "C" {
#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

12
assets/User_code/component/crc8.c
View File

@@ -1,5 +1,13 @@
#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,
@@ -38,3 +46,7 @@ bool CRC8_Verify(const uint8_t *buf, size_t len) {
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 */

12
assets/User_code/component/crc8.h
View File

@@ -8,11 +8,23 @@ extern "C" {
#include <stddef.h>
#include <stdint.h>
/* 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

16
assets/User_code/component/error_detect.h
View File

@@ -11,6 +11,14 @@ extern "C" {
#include <stdbool.h>
#include <stdint.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
typedef enum {
/* Low priority */
ERROR_DETECT_UNIT_NO_DEV = 0,
@@ -53,6 +61,10 @@ 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);
@@ -61,6 +73,10 @@ 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

16
assets/User_code/component/filter.h
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@@ -10,6 +10,14 @@ extern "C" {
#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 */
@@ -42,6 +50,10 @@ typedef struct {
} NotchFilter_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/**
* @brief 初始化滤波器
*
@@ -99,6 +111,10 @@ float NotchFilter_Apply(NotchFilter_t *f, float sample);
*/
float NotchFilter_Reset(NotchFilter_t *f, float sample);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

8
assets/User_code/component/limiter.h
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@@ -11,6 +11,14 @@ extern "C" {
#include <stdbool.h>
#include <stdint.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/**
* @brief 限制底盘功率不超过power_limit
*

16
assets/User_code/component/mixer.h
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@@ -10,6 +10,14 @@ extern "C" {
#include "user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/** 四轮布局 */
/* 前 */
/* 2 1 */
@@ -33,6 +41,10 @@ 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
*
@@ -55,6 +67,10 @@ int8_t Mixer_Init(Mixer_t *mixer, Mixer_Mode_t mode);
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

12
assets/User_code/component/pid.h
View File

@@ -14,6 +14,14 @@ extern "C" {
#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 */
@@ -90,6 +98,10 @@ int8_t PID_ResetIntegral(KPID_t *pid);
*/
int8_t PID_Reset(KPID_t *pid);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

8
assets/User_code/component/ui.h
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@@ -13,6 +13,10 @@ extern "C" {
#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)
@@ -31,6 +35,10 @@ extern "C" {
#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 {

8
assets/User_code/component/user_math.c
View File

@@ -3,8 +3,10 @@
*/
#include "user_math.h"
#include <string.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
inline float InvSqrt(float x) {
//#if 0
@@ -130,3 +132,7 @@ inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
// __NOP();
// }
// }
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

18
assets/User_code/component/user_math.h
View File

@@ -14,6 +14,10 @@ extern "C" {
#include <stdint.h>
#include <stddef.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
#define M_DEG2RAD_MULT (0.01745329251f)
#define M_RAD2DEG_MULT (57.2957795131f)
@@ -43,6 +47,12 @@ extern "C" {
_a < _b ? _a : _b; \
})
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* 移动向量 */
typedef struct {
float vx; /* 前后平移 */
@@ -50,6 +60,10 @@ typedef struct {
float wz; /* 转动 */
} MoveVector_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
float InvSqrt(float x);
float AbsClip(float in, float limit);
@@ -159,3 +173,7 @@ float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm);
// * @param line 行号
// */
// void VerifyFailed(const char *file, uint32_t line);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */