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RB
2025-03-23 04:09:42 +08:00
parent ebe3c2243d
commit e52785886f
8 changed files with 9407 additions and 9287 deletions
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57
User/device/ai.c
View File

@@ -1,5 +1,5 @@
/*
AI
AI
*/
/* Includes ----------------------------------------------------------------- */
@@ -12,31 +12,45 @@
#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(Protocol_DownPackage_t))
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* Private variables -------------------------------------------------------- */
static volatile uint32_t drop_message = 0;
static osThreadId_t thread_alert;
static uint8_t rxbuf[AI_LEN_RX_BUFF];
static bool inited = false;
static osThreadId_t thread_alert;
/* 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) {
if (ai == NULL) return DEVICE_ERR_NULL;
UNUSED(ai);
ASSERT(ai);
if (inited) return DEVICE_ERR_INITED;
if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
VERIFY((thread_alert = osThreadGetId()) != NULL);
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;
}
@@ -48,9 +62,9 @@ int8_t AI_Restart(void) {
}
int8_t AI_StartReceiving(AI_t *ai) {
if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI),
(uint8_t *)&(ai->form_host),
sizeof(ai->form_host)) == HAL_OK)
UNUSED(ai);
if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI), rxbuf,
AI_LEN_RX_BUFF) == HAL_OK)
return DEVICE_OK;
return DEVICE_ERR;
}
@@ -60,17 +74,12 @@ bool AI_WaitDmaCplt(void) {
SIGNAL_AI_RAW_REDY);
}
int8_t AI_ParseHost(AI_t *ai, CMD_Host_t *cmd_host) {
(void)cmd_host;
if (!CRC16_Verify((const uint8_t *)&(ai->form_host), sizeof(ai->form_host)))
int8_t AI_ParseHost(AI_t *ai) {
if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->from_host)))
goto error;
cmd_host->gimbal_delta.pit = ai->form_host.data.gimbal.pit;
cmd_host->gimbal_delta.yaw = ai->form_host.data.gimbal.yaw;
cmd_host->gimbal_delta.rol = ai->form_host.data.gimbal.rol;
cmd_host->fire = (ai->form_host.data.notice & AI_NOTICE_FIRE);
cmd_host->chassis_move_vec.vx = ai->form_host.data.chassis_move_vec.vx;
cmd_host->chassis_move_vec.vy = ai->form_host.data.chassis_move_vec.vy;
cmd_host->chassis_move_vec.wz = ai->form_host.data.chassis_move_vec.wz;
ai->ai_online = true;
memcpy(&(ai->from_host), rxbuf, sizeof(ai->from_host));
memset(rxbuf, 0, AI_LEN_RX_BUFF);
return DEVICE_OK;
error:
@@ -78,11 +87,20 @@ error:
return DEVICE_ERR;
}
void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) {
cmd_host->gimbal_delta.yaw = ai->from_host.data.gimbal.yaw;
cmd_host->gimbal_delta.pit = ai->from_host.data.gimbal.pit;
cmd_host->fire = (ai->from_host.data.notice & AI_NOTICE_FIRE);
cmd_host->chassis_move_vec.vx = ai->from_host.data.chassis_move_vec.vx;
cmd_host->chassis_move_vec.vy = ai->from_host.data.chassis_move_vec.vy;
cmd_host->chassis_move_vec.wz = ai->from_host.data.chassis_move_vec.wz;
}
int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host) {
if (ai == NULL) return DEVICE_ERR_NULL;
if (cmd_host == NULL) return DEVICE_ERR_NULL;
memset(&(ai->form_host), 0, sizeof(ai->form_host));
ai->ai_online = false;
memset(&(ai->from_host), 0, sizeof(ai->from_host));
memset(cmd_host, 0, sizeof(*cmd_host));
return 0;
}
@@ -131,3 +149,4 @@ int8_t AI_StartSend(AI_t *ai, bool ref_update) {
return DEVICE_ERR;
}
}

10
User/device/ai.h
View File

@@ -16,6 +16,7 @@ extern "C" {
#include "component\ahrs.h"
#include "component\cmd.h"
#include "component\user_math.h"
#include "component\filter.h"
#include "device\device.h"
#include "device\referee.h"
#include "protocol.h"
@@ -37,7 +38,7 @@ typedef struct __packed {
typedef struct __packed {
osThreadId_t thread_alert;
Protocol_DownPackage_t form_host;
Protocol_DownPackage_t from_host;
struct {
AI_UpPackageReferee_t ref;
@@ -45,6 +46,7 @@ typedef struct __packed {
} to_host;
CMD_AI_Status_t status;
bool ai_online;
} AI_t;
/* Exported functions prototypes -------------------------------------------- */
@@ -53,11 +55,15 @@ int8_t AI_Restart(void);
int8_t AI_StartReceiving(AI_t *ai);
bool AI_WaitDmaCplt(void);
int8_t AI_ParseHost(AI_t *ai, CMD_Host_t *cmd_host);
int8_t AI_ParseHost(AI_t *ai);
int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host);
int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat);
int8_t AI_PackRef(AI_t *ai, const Referee_ForAI_t *ref);
int8_t AI_StartSend(AI_t *ai, bool option);
void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host);
#ifdef __cplusplus
}
#endif