大更新

.vscode/settings.json

@@ -11,6 +11,12 @@
         "device.h": "c",
         "gpio.h": "c",
         "uart.h": "c",
-        "motor_rm.h": "c"
+        "motor_rm.h": "c",
+        "mm.h": "c",
+        "capacity.h": "c",
+        "error_detect.h": "c",
+        "bmi088.h": "c",
+        "time.h": "c",
+        "motor.h": "c"
     }
 }

assets/User_code/component/ballistics.c

@@ -1,12 +0,0 @@
-/*
-  弹道补偿算法。
-*/
-
-#include "ballistics.h"
-
-void Ballistics_Init(Ballistics_t *b) { (void)b; }
-void Ballistics_Apply(Ballistics_t *b, float bullet_speed) {
-  (void)b;
-  (void)bullet_speed;
-}
-void Ballistics_Reset(Ballistics_t *b) { (void)b; }

assets/User_code/component/ballistics.h

@@ -1,23 +0,0 @@
-/*
-  弹道补偿算法。
-*/
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "ahrs.h"
-
-typedef struct {
-  AHRS_Eulr_t *eulr;
-} Ballistics_t;
-
-void Ballistics_Init(Ballistics_t *b);
-void Ballistics_Apply(Ballistics_t *b, float bullet_speed);
-void Ballistics_Reset(Ballistics_t *b);
-
-#ifdef __cplusplus
-}
-#endif

assets/User_code/component/capacity.c

@@ -1,6 +1,5 @@
 /*
   剩余电量算法。
-
   通过电压值计算剩余电量。
 */
 

assets/User_code/component/cmd.h

@@ -11,7 +11,7 @@ extern "C" {
 #include <stdbool.h>
 #include <stdint.h>
 
-#include "ahrs.h"
+#include "component/ahrs.h"
 
 #define CMD_REFEREE_MAX_NUM (3) /* 发送命令限定的最大数量 */
 

assets/User_code/component/dependencies.csv

@@ -1,3 +1,8 @@
+ahrs,component/user_math.h
+capacity,component/user_math.h
+cmd,component/ahrs
+error_detect,bsp/mm
 pid,component/filter
-ahrs,component/filter
-filter,component/ahrs
+filter,component/ahrs
+mixer,component/user_math.h
+ui,component/user_math.h

assets/User_code/component/describe.csv

@@ -1,2 +1,14 @@
 pid,好用的
-ahrs,开源的
+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

assets/User_code/config.csv

@@ -1,4 +1,4 @@
 bsp,can,dwt,gpio,i2c,mm,spi,uart,pwm,time
-component,ahrs,ballistics,capacity,cmd,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math
+component,ahrs,capacity,cmd,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math
 device,dr16,bmi088,ist8310,motor,motor_rm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,servo,buzzer,led,ws2812
 module,

assets/User_code/device/bmi088.c

@@ -1,6 +1,5 @@
 /*
-        BMI088 陀螺仪+加速度计传感器。
-
+     BMI088 陀螺仪+加速度计传感器。
 */
 
 /* Includes ----------------------------------------------------------------- */

assets/User_code/device/config.yaml

@@ -79,7 +79,10 @@ devices:
     name: "VESC 电调"
     description: "VESC 电调驱动"
     dependencies:
-      bsp: ["can", "time"]
+      bsp: ["can", "time", "mm"]
+      component: ["user_math"]
+    thread_signals:
+      - name: "SIGNAL_VESC_DATA_REDY"
     files:
       header: "motor_vesc.h"
       source: "motor_vesc.c"
@@ -88,7 +91,10 @@ devices:
     name: "ODrive 电机"
     description: "ODrive 电机驱动"
     dependencies:
-      bsp: ["can", "time"]
+      bsp: ["can", "time", "mm"]
+      component: ["user_math"]
+    thread_signals:
+      - name: "SIGNAL_ODRIVE_DATA_REDY"
     files:
       header: "motor_odrive.h"
       source: "motor_odrive.c"
@@ -97,7 +103,10 @@ devices:
     name: "RM 电机" 
     description: "RM 电机驱动"
     dependencies:
-      bsp: ["can", "time"]
+      bsp: ["can", "time", "mm"]
+      component: ["user_math"]
+    thread_signals:
+      - name: "SIGNAL_RM_MOTOR_DATA_REDY"
     files:
       header: "motor_rm.h"
       source: "motor_rm.c"
@@ -105,6 +114,11 @@ devices:
   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"
@@ -115,11 +129,91 @@ devices:
     dependencies:
       bsp: ["pwm", "time"]
       component: []
-    bsp_requirements:
-      - type: "pwm"
-        var_name: "BSP_PWM_WS2812"
-        description: "用于WS2812数据传输的PWM通道"
     thread_signals: []
     files:
       header: "ws2812.h"
-      source: "ws2812.c"
+      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"]
+    thread_signals:
+      - name: "SIGNAL_DM_IMU_DATA_REDY"
+    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"]
+    thread_signals:
+      - name: "SIGNAL_LK_MOTOR_DATA_REDY"
+    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"]
+    thread_signals:
+      - name: "SIGNAL_LZ_MOTOR_DATA_REDY"
+    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: []
+    thread_signals: []
+    files:
+      header: "vofa.h"
+      source: "vofa.c"

assets/User_code/device/dm_imu.c

@@ -1,5 +1,5 @@
 /*
-    DM_IMU数据获取
+    DM_IMU数据获取（CAN）
 */
 
 /* Includes ----------------------------------------------------------------- */

assets/User_code/device/dr16.c

@@ -1,5 +1,5 @@
 /*
-        DR16接收机
+    DR16接收机
 */
 
 /* Includes ----------------------------------------------------------------- */

assets/User_code/device/ist8310.c

@@ -1,6 +1,5 @@
 /*
-        IST8310 地磁传感器。
-
+    IST8310 地磁传感器。
 */
 
 /* Includes ----------------------------------------------------------------- */

assets/User_code/device/motor.c

@@ -1,5 +1,5 @@
 /*
-        DR16接收机
+    电机通用函数
 */
 
 /* Includes ----------------------------------------------------------------- */
@@ -18,29 +18,17 @@
 /* Exported functions ------------------------------------------------------- */
 float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor) {
   if (motor == NULL) return DEVICE_ERR_NULL;
-  if (motor->reverse) {
-    return -motor->feedback.rotor_abs_angle;
-  }else{
-    return motor->feedback.rotor_abs_angle;
-  }
+  motor->feedback.rotor_abs_angle;
 }
 
 float MOTOR_GetRotorSpeed(const MOTOR_t *motor) {
   if (motor == NULL) return DEVICE_ERR_NULL;
-  if (motor->reverse) {
-    return -motor->feedback.rotor_speed;
-  }else{
-    return motor->feedback.rotor_speed;
-  }
+  return motor->feedback.rotor_speed;
 }
 
 float MOTOR_GetTorqueCurrent(const MOTOR_t *motor) {
   if (motor == NULL) return DEVICE_ERR_NULL;
-  if (motor->reverse) {
-    return -motor->feedback.torque_current;
-  }else{
-    return motor->feedback.torque_current;
-  }
+  return motor->feedback.torque_current;
 }
 
 float MOTOR_GetTemp(const MOTOR_t *motor) {

assets/User_code/device/motor_lz.c

@@ -1,10 +1,5 @@
 /*
   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"

assets/User_code/device/motor_odrive.c

@@ -1,6 +1,5 @@
 /*
-  CAN总线上的设备
-  将所有CAN总线上挂载的设备抽象成一个设备进行配置和控制
+  Odrive电机驱动
 */
 /* Includes ----------------------------------------------------------------- */
 #include "motor_odrive.h"

assets/User_code/device/motor_rm.c

@@ -1,6 +1,5 @@
 /*
-  CAN总线上的设备
-  将所有CAN总线上挂载的设备抽象成一个设备进行配置和控制
+  RM电机驱动
 */
 /* Includes ----------------------------------------------------------------- */
 #include "motor_rm.h"

assets/User_code/device/motor_vesc.c

@@ -1,6 +1,5 @@
 /*
-  CAN总线上的设备
-  将所有CAN总线上挂载的设备抽象成一个设备进行配置和控制
+  VESC电机驱动
 */
 /* Includes ----------------------------------------------------------------- */
 #include "motor_vesc.h"

assets/User_code/device/motor_vesc.h

@@ -20,125 +20,125 @@ extern "C"
 // VESC数量根据实际情况调整
 #define VESC_MAX_MOTORS 4
 
-	/* Exported constants ------------------------------------------------------- */
+/* Exported constants ------------------------------------------------------- */
 
-	/* Exported macro ----------------------------------------------------------- */
-	/* Exported types ----------------------------------------------------------- */
+/* 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
+{
+	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;
+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;
+// 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;
+/*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;
+/*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;
+/*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 -------------------------------------------- */
+/* 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 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
-	 */
+/**
+ * @brief 更新所有电机数据
+ * @return
+ */
+int8_t VESC_UpdateAll(void);
 
-    int8_t VESC_SetOutput(VESC_Param_t *param, float value);
+/**
+ * @brief 设置一个电机的输出
+ * @param param 电机参数
+ * @param value 输出值
+ * @return
+ */
 
-	/**
-	 * @brief 获取指定电机的实例指针
-	 * @param param 电机参数
-	 * @return
-	 */
+int8_t VESC_SetOutput(VESC_Param_t *param, float value);
 
-	VESC_t* VESC_GetMotor(VESC_Param_t *param);
+/**
+ * @brief 获取指定电机的实例指针
+ * @param param 电机参数
+ * @return
+ */
 
-	/**
-	 * @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);
+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

assets/User_code/device/vofa.c

@@ -1,14 +1,10 @@
 /* Includes ----------------------------------------------------------------- */
 #include <stdio.h>
 #include <string.h>
-#include "vofa.h"
+#include "device/vofa.h"
 #include "bsp/uart.h"
 /* Private define ----------------------------------------------------------- */
 
-//#define PROTOCOL_RAWDATA
-#define PROTOCOL_FIREWATER
-//#define PROTOCOL_JUSTFLOAT
-
 #define MAX_CHANNEL  64u   		// 根据实际最大通道数调整
 
 #define JUSTFLOAT_TAIL 0x7F800000
@@ -16,6 +12,7 @@
 /* Private typedef ---------------------------------------------------------- */
 /* Private variables -------------------------------------------------------- */
 static uint8_t vofa_tx_buf[sizeof(float) * MAX_CHANNEL + sizeof(uint32_t)];
+static VOFA_Protocol_t current_protocol = VOFA_PROTOCOL_FIREWATER;  // ĬÈÏЭÒé
 
 /* Private function  -------------------------------------------------------- */
 
@@ -59,19 +56,34 @@ void VOFA_JustFloat_Send(float *channels, uint8_t channel_count, bool dma)
 }
 
 /* Exported functions ------------------------------------------------------- */
-init8_t VOFA_Send(float* channels, uint8_t channel_count, bool dma) {
-#ifdef PROTOCOL_RAWDATA
-    sprintf(vofa_tx_buf, "Channel1:%.2f,Channel2:%.2f\n", channels[0],channels[1]);
-    VOFA_RawData_Send(vofa_tx_buf, dma);
-#elif defined(PROTOCOL_FIREWATER)
-    VOFA_FireWater_Send(channels, channel_count, dma);
-#elif defined(PROTOCOL_JUSTFLOAT)
-    VOFA_JustFloat_Send(channels, channel_count, dma);
-#else
-    // ĬÈÏʹÓÃRawDataЭÒé
-    char data[256];
-    sprintf(data, "Channel1: %.2f, Channel2: %.2f\n", channels[0], channels[1]);
-    VOFA_RawData_Send(data, dma);
-#endif
+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;
 }