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2 Commits
无超电hero ... hero

Author SHA1 Message Date
RB
4c672762d4 修改ref接受 2025-03-18 01:58:53 +08:00
RB
e41d2d9b88 添加超电管理 2025-03-14 14:12:51 +08:00
11 changed files with 9842 additions and 9180 deletions
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24
MDK-ARM/DevC.uvoptx
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@@ -324,6 +324,11 @@
<pMon>BIN\CMSIS_AGDI.dll</pMon> <pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt> </DebugOpt>
<TargetDriverDllRegistry> <TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key>
<Name>-U-O206 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>ARMRTXEVENTFLAGS</Key> <Key>ARMRTXEVENTFLAGS</Key>
@@ -347,7 +352,7 @@
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>CMSIS_AGDI</Key> <Key>CMSIS_AGDI</Key>
<Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name> <Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry> </SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
@@ -390,7 +395,22 @@
<Ww> <Ww>
<count>6</count> <count>6</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>cfg_qs</ItemText> <ItemText>cap_out,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>pm01_od,0x0A</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>cap,0x0A</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>ref</ItemText>
</Ww> </Ww>
</WatchWindow1> </WatchWindow1>
<MemoryWindow4> <MemoryWindow4>

BIN
MDK-ARM/DevC/DevC.axf
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18062
MDK-ARM/DevC/DevC.hex
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File diff suppressed because it is too large Load Diff

256
User/device/can.c
View File

@@ -66,6 +66,8 @@ static osThreadId_t thread_alert;
static CAN_t *gcan; static CAN_t *gcan;
static bool inited = false; static bool inited = false;
volatile pm01_od_t pm01_od;
/* Private function -------------------------------------------------------- */ /* Private function -------------------------------------------------------- */
static void CAN_Motor_Decode(CAN_MotorFeedback_t *feedback, static void CAN_Motor_Decode(CAN_MotorFeedback_t *feedback,
const uint8_t *raw) const uint8_t *raw)
@@ -260,6 +262,9 @@ int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
&raw_tx.tx_header, raw_tx.tx_data, &raw_tx.tx_header, raw_tx.tx_data,
&(can->mailbox.shoot)); &(can->mailbox.shoot));
break; break;
default:
break;
} }
return DEVICE_OK; return DEVICE_OK;
} }
@@ -304,7 +309,61 @@ int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx)
case CAN_TOF_ID_BASE: case CAN_TOF_ID_BASE:
can->recive_flag |= 1 << 10; can->recive_flag |= 1 << 10;
CAN_Tof_Decode(&(can->tof), can_rx->rx_data); CAN_Tof_Decode(&(can->tof), can_rx->rx_data);
break; break;
//超电
case 0x600:
pm01_od.ccr = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
can->cap.cap_od.ccr = pm01_od.ccr;
break;
case 0x601:
pm01_od.p_set = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
can->cap.cap_od.p_set = pm01_od.p_set;
break;
case 0x602:
pm01_od.v_set = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
can->cap.cap_od.v_set = pm01_od.v_set;
break;
case 0x603:
pm01_od.i_set = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
can->cap.cap_od.i_set = pm01_od.i_set;
break;
case 0x610:
pm01_od.sta_code.all = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
can->cap.cap_od.sta_code.all = pm01_od.sta_code.all;
pm01_od.err_code = (uint16_t)can_rx->rx_data[2] << 8 | can_rx->rx_data[3];
can->cap.cap_od.err_code = pm01_od.err_code;
break;
case 0x611:
pm01_od.p_in = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
can->cap.cap_od.p_in = pm01_od.p_in;
pm01_od.v_in = (uint16_t)can_rx->rx_data[2] << 8 | can_rx->rx_data[3];
can->cap.cap_od.v_in = pm01_od.v_in;
pm01_od.i_in = (uint16_t)can_rx->rx_data[4] << 8 | can_rx->rx_data[5];
can->cap.cap_od.i_in = pm01_od.i_in;
break;
case 0x612:
pm01_od.p_out = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
can->cap.cap_od.p_out = pm01_od.p_out;
pm01_od.v_out = (uint16_t)can_rx->rx_data[2] << 8 | can_rx->rx_data[3];
can->cap.cap_od.v_out = pm01_od.v_out;
pm01_od.i_out = (uint16_t)can_rx->rx_data[4] << 8 | can_rx->rx_data[5];
can->cap.cap_od.i_out = pm01_od.i_out;
break;
case 0x613:
pm01_od.temp = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
can->cap.cap_od.temp = pm01_od.temp;
pm01_od.total_time = (uint16_t)can_rx->rx_data[2] << 8 | can_rx->rx_data[3];
can->cap.cap_od.total_time = pm01_od.total_time;
pm01_od.run_time = (uint16_t)can_rx->rx_data[4] << 8 | can_rx->rx_data[5];
can->cap.cap_od.run_time = pm01_od.run_time;
break;
default: default:
break; break;
} }
@@ -326,6 +385,7 @@ int8_t CAN_ClearFlag(CAN_t *can, uint32_t flag)
return DEVICE_OK; return DEVICE_OK;
} }
//不用这里
int8_t CAN_Cap_Control(CAN_CapOutput_t *output, CAN_t *can) int8_t CAN_Cap_Control(CAN_CapOutput_t *output, CAN_t *can)
{ {
float power_limit = output->power_limit; float power_limit = output->power_limit;
@@ -345,6 +405,200 @@ int8_t CAN_Cap_Control(CAN_CapOutput_t *output, CAN_t *can)
return DEVICE_OK; return DEVICE_OK;
} }
//添加的电容控制 int型函数
//超电控制
/**
* @brief 控制命令发送
* @param[in] new_cmd 0x00: 停机
0x01: 运行，不打开输出负载开关（只给超级电容充电）
0x02: 运行，打开输出负载开关（正常运行使用该指令）
save_flg: 0x00: 不保存至EEPROM 0x01: 保存至EEPROM
* @retval none
*/
int8_t CAN_Cap_cmd_send(CAN_CapOutput_t *output, CAN_t *can)
{
uint16_t cmd = output->new_cmd;
// uint16_t cmd = 2;
raw_tx.tx_header.StdId = 0x600;
raw_tx.tx_header.IDE = CAN_ID_STD;
raw_tx.tx_header.RTR = CAN_RTR_DATA;
raw_tx.tx_header.DLC = 0x04;
raw_tx.tx_data[0] = (uint8_t)(cmd >> 8 );
raw_tx.tx_data[1] = (uint8_t)(cmd & 0xFF);
raw_tx.tx_data[2] = 0x00;
raw_tx.tx_data[3] = (0x00 == 0x01); //反正demo里设置的是0x00,不管了
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
raw_tx.tx_data, &(can->mailbox.cap));
return DEVICE_OK;
}
/**
* @brief 设置功率
* @param[in] new_power：新的功率值
save_flg: 0x00: 不保存至EEPROM 0x01: 保存至EEPROM
* @retval none
*/
int8_t CAN_Cap_power_send(CAN_CapOutput_t *output, CAN_t *can)
{
uint16_t cmd = output->new_power;
//uint16_t cmd = 5000;
raw_tx.tx_header.StdId = 0x601;
raw_tx.tx_header.IDE = CAN_ID_STD;
raw_tx.tx_header.RTR = CAN_RTR_DATA;
raw_tx.tx_header.DLC = 0x04;
raw_tx.tx_data[0] = (uint8_t)(cmd >> 8 );
raw_tx.tx_data[1] = (uint8_t)(cmd & 0xFF);
raw_tx.tx_data[2] = 0x00;
raw_tx.tx_data[3] = (0x00 == 0x01); //save_flg
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
raw_tx.tx_data, &(can->mailbox.cap));
return DEVICE_OK;
}
/**
* @brief 设置输出电压
* @param[in] new_volt：新的电压值
save_flg: 0x00: 不保存至EEPROM 0x01: 保存至EEPROM
* @retval none
*/
int8_t CAN_Cap_voltage_send(CAN_CapOutput_t *output, CAN_t *can)
{
uint16_t cmd = output->new_voltage;
// uint16_t cmd = 2400;
raw_tx.tx_header.StdId = 0x602;
raw_tx.tx_header.IDE = CAN_ID_STD;
raw_tx.tx_header.RTR = CAN_RTR_DATA;
raw_tx.tx_header.DLC = 0x04;
raw_tx.tx_data[0] = (uint8_t)(cmd >> 8 );
raw_tx.tx_data[1] = (uint8_t)(cmd & 0xFF);
raw_tx.tx_data[2] = 0x00;
raw_tx.tx_data[3] = (0x00 == 0x01); //save_flg
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
raw_tx.tx_data, &(can->mailbox.cap));
return DEVICE_OK;
}
/**
* @brief 设置输出电流
* @param[in] new_volt：新的电流值
save_flg: 0x00: 不保存至EEPROM 0x01: 保存至EEPROM
* @retval none
*/
int8_t CAN_Cap_current_send(CAN_CapOutput_t *output, CAN_t *can)
{
uint16_t cmd = output->new_current;
// uint16_t cmd = 500;
raw_tx.tx_header.StdId = 0x603;
raw_tx.tx_header.IDE = CAN_ID_STD;
raw_tx.tx_header.RTR = CAN_RTR_DATA;
raw_tx.tx_header.DLC = 0x04;
raw_tx.tx_data[0] = (uint8_t)(cmd >> 8 );
raw_tx.tx_data[1] = (uint8_t)(cmd & 0xFF);
raw_tx.tx_data[2] = 0x00;
raw_tx.tx_data[3] = (0x00 == 0x01); //save_flg
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
raw_tx.tx_data, &(can->mailbox.cap));
return DEVICE_OK;
}
/**
* @brief 获取输入信息
* @param[in] new_volt：新的电流值
save_flg: 0x00: 不保存至EEPROM 0x01: 保存至EEPROM
* @retval none
*/
int8_t CAN_Cap_input_send(CAN_t *can)
{
raw_tx.tx_header.StdId = 0x611;
raw_tx.tx_header.IDE = CAN_ID_STD;
raw_tx.tx_header.RTR = CAN_RTR_REMOTE;
raw_tx.tx_header.DLC = 0x00;
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
raw_tx.tx_data, &(can->mailbox.cap));
return DEVICE_OK;
}
/**
* @brief 获取输出信息
* @param[in] new_volt：新的电流值
save_flg: 0x00: 不保存至EEPROM 0x01: 保存至EEPROM
* @retval none
*/
int8_t CAN_Cap_output_send(CAN_t *can)
{
raw_tx.tx_header.StdId = 0x612;
raw_tx.tx_header.IDE = CAN_ID_STD;
raw_tx.tx_header.RTR = CAN_RTR_REMOTE;
raw_tx.tx_header.DLC = 0x00;
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
raw_tx.tx_data, &(can->mailbox.cap));
return DEVICE_OK;
}
/**
* @brief 获取其他信息
* @param[in] new_volt：新的电流值
save_flg: 0x00: 不保存至EEPROM 0x01: 保存至EEPROM
* @retval none
*/
int8_t CAN_Cap_other_send(CAN_t *can)
{
raw_tx.tx_header.StdId = 0x613;
raw_tx.tx_header.IDE = CAN_ID_STD;
raw_tx.tx_header.RTR = CAN_RTR_REMOTE;
raw_tx.tx_header.DLC = 0x00;
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
raw_tx.tx_data, &(can->mailbox.cap));
return DEVICE_OK;
}
/**
* @brief 超电容器参数设置
* @param cap_out 电容输出结构体
* @param can can总线
* @retval none
*/
void Can_Set_send(CAN_CapOutput_t *output, CAN_t *can)
{
CAN_Cap_input_send(can);//获取输入信息
osDelay(1);
CAN_Cap_output_send(can);//获取输出信息
osDelay(1);
//// CAN_Cap_other_send(can);//获取其他信息
//// osDelay(1);
CAN_Cap_cmd_send(output, can);//控制命令发送
osDelay(1);
CAN_Cap_power_send(output, can);//设置功率
osDelay(1);
CAN_Cap_voltage_send(output, can);//设置输出电压
osDelay(1);
CAN_Cap_current_send(output, can);//设置输出电流
}
void CAN_CAP_HandleOffline(CAN_Capacitor_t *cap, CAN_CapOutput_t *cap_out, void CAN_CAP_HandleOffline(CAN_Capacitor_t *cap, CAN_CapOutput_t *cap_out,
float power_chassis) float power_chassis)
{ {

68
User/device/can.h
View File

@@ -163,6 +163,10 @@ typedef union {
typedef struct { typedef struct {
float power_limit; float power_limit;
uint16_t new_cmd;//can的超电控制设置数值
uint16_t new_power;
uint16_t new_voltage;
uint16_t new_current;
} CAN_CapOutput_t; } CAN_CapOutput_t;
typedef struct { typedef struct {
@@ -232,11 +236,61 @@ typedef struct {
uint8_t tx_data[CAN_TX_BUF_SIZE_MAX]; uint8_t tx_data[CAN_TX_BUF_SIZE_MAX];
} CAN_RawTx_t; } CAN_RawTx_t;
//超电
typedef union
{
uint16_t all;
struct {
uint16_t rdy: 1; /*!< bit0 就绪 */
uint16_t run: 1; /*!< bit1 运行 */
uint16_t alm: 1; /*!< bit2 报警 */
uint16_t pwr: 1; /*!< bit3 电源开关 */
uint16_t load: 1; /*!< bit4 负载开关 */
uint16_t cc: 1; /*!< bit5 恒流 */
uint16_t cv: 1; /*!< bit6 恒压 */
uint16_t cw: 1; /*!< bit7 恒功率 */
uint16_t revd: 7; /*!< bit8-14 保留 */
uint16_t flt: 1; /*!< bit15 故障 */
}bit;
}csr_t;
typedef struct mb_reg_type{
uint16_t ccr; /*!< 8000H 控制寄存器 */
uint16_t p_set; /*!< 8001H 输入功率限制 */
uint16_t v_set; /*!< 8002H 输出电压设置 */
uint16_t i_set; /*!< 8003H 输出电流限制 */
csr_t sta_code; /*!< 8100H 状态标志位 */
uint16_t err_code; /*!< 8101H 故障代码 */
int16_t v_in; /*!< 8102H 输入电压 */
int16_t i_in; /*!< 8103H 输入电流 */
int16_t p_in; /*!< 8104H 输入功率 */
int16_t v_out; /*!< 8105H 输出电压 */
int16_t i_out; /*!< 8106H 输出电流 */
int16_t p_out; /*!< 8107H 输出功率 */
int16_t temp; /*!< 8108H 温度 */
uint16_t total_time; /*!< 8109H 累计时间 */
uint16_t run_time; /*!< 810AH 运行时间 */
volatile uint16_t pm01_access_id; /* 正在访问的标识符 */
volatile uint16_t pm01_response_flg; /* 控制器响应成功标志位 */
uint16_t g_cmd_set ;
uint16_t g_power_set ;
uint16_t g_vout_set ;
uint16_t g_iout_set ;
}pm01_od_t;
typedef struct { typedef struct {
float percentage; float percentage;// 电容器的百分比状态
CAN_CapStatus_t cap_status; CAN_CapStatus_t cap_status;
CAN_CapFeedback_t cap_feedback; CAN_CapFeedback_t cap_feedback;
} CAN_Capacitor_t; volatile pm01_od_t cap_od;
} CAN_Capacitor_t;//
typedef struct { typedef struct {
CAN_ChassisMotor_t chassis; CAN_ChassisMotor_t chassis;
@@ -283,6 +337,16 @@ void CAN_CAP_HandleOffline(CAN_Capacitor_t *cap, CAN_CapOutput_t *cap_out,
void CAN_Tof_Decode(CAN_Tof_t *tof, const uint8_t *raw); void CAN_Tof_Decode(CAN_Tof_t *tof, const uint8_t *raw);
//添加send函数
int8_t CAN_Cap_cmd_send(CAN_CapOutput_t *output, CAN_t *can);
int8_t CAN_Cap_power_send(CAN_CapOutput_t *output, CAN_t *can);
int8_t CAN_Cap_voltage_send(CAN_CapOutput_t *output, CAN_t *can);
int8_t CAN_Cap_current_send(CAN_CapOutput_t *output, CAN_t *can);
int8_t CAN_Cap_output_send(CAN_t *can);
int8_t CAN_Cap_input_send(CAN_t *can);
int8_t CAN_Cap_other_send(CAN_t *can);
void Can_Set_send(CAN_CapOutput_t *output, CAN_t *can);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

98
User/device/referee.c
View File

@@ -116,23 +116,27 @@ void Referee_HandleOffline(Referee_t *referee) {
} }
int8_t Referee_Parse(Referee_t *ref) { int8_t Referee_Parse(Referee_t *ref) {
// 将裁判系统状态切换为运行状态
REF_SWITCH_STATUS(*ref, REF_STATUS_RUNNING); REF_SWITCH_STATUS(*ref, REF_STATUS_RUNNING);
uint32_t data_length =
REF_LEN_RX_BUFF - // 计算接收到的数据长度
__HAL_DMA_GET_COUNTER(BSP_UART_GetHandle(BSP_UART_REF)->hdmarx); uint32_t data_length = REF_LEN_RX_BUFF - __HAL_DMA_GET_COUNTER(BSP_UART_GetHandle(BSP_UART_REF)->hdmarx);
uint8_t index = 0; uint8_t index = 0;
uint8_t packet_shift; uint8_t packet_shift;
uint8_t packet_length; uint8_t packet_length;
// 遍历接收到的数据包
while (index < data_length && rxbuf[index] == REF_HEADER_SOF) { while (index < data_length && rxbuf[index] == REF_HEADER_SOF) {
packet_shift = index; packet_shift = index;
Referee_Header_t *header = (Referee_Header_t *)(rxbuf + index); Referee_Header_t *header = (Referee_Header_t *)(rxbuf + index);
index += sizeof(*header); index += sizeof(*header);
if (index - packet_shift >= data_length) goto error; if (index - packet_shift >= data_length) goto error;
// 验证CRC8校验
if (!CRC8_Verify((uint8_t *)header, sizeof(*header))) goto error; if (!CRC8_Verify((uint8_t *)header, sizeof(*header))) goto error;
// 验证数据包头
if (header->sof != REF_HEADER_SOF) goto error; if (header->sof != REF_HEADER_SOF) goto error;
Referee_CMDID_t *cmd_id = (Referee_CMDID_t *)(rxbuf + index); Referee_CMDID_t *cmd_id = (Referee_CMDID_t *)(rxbuf + index);
@@ -143,6 +147,7 @@ int8_t Referee_Parse(Referee_t *ref) {
void *origin; void *origin;
size_t size; size_t size;
// 根据命令ID解析数据包内容
switch (*cmd_id) { switch (*cmd_id) {
case REF_CMD_ID_GAME_STATUS: case REF_CMD_ID_GAME_STATUS:
origin = &(ref->game_status); origin = &(ref->game_status);
@@ -156,25 +161,10 @@ int8_t Referee_Parse(Referee_t *ref) {
origin = &(ref->game_robot_hp); origin = &(ref->game_robot_hp);
size = sizeof(ref->game_robot_hp); size = sizeof(ref->game_robot_hp);
break; break;
case REF_CMD_ID_DART_STATUS:
origin = &(ref->dart_status);
size = sizeof(ref->dart_status);
break;
case REF_CMD_ID_ICRA_ZONE_STATUS:
origin = &(ref->icra_zone);
size = sizeof(ref->icra_zone);
break;
case REF_CMD_ID_FIELD_EVENTS: case REF_CMD_ID_FIELD_EVENTS:
origin = &(ref->field_event); origin = &(ref->field_event);
size = sizeof(ref->field_event); size = sizeof(ref->field_event);
break; break;
case REF_CMD_ID_SUPPLY_ACTION:
origin = &(ref->supply_action);
size = sizeof(ref->supply_action);
break;
case REF_CMD_ID_REQUEST_SUPPLY:
origin = &(ref->request_supply);
size = sizeof(ref->request_supply);
case REF_CMD_ID_WARNING: case REF_CMD_ID_WARNING:
origin = &(ref->warning); origin = &(ref->warning);
size = sizeof(ref->warning); size = sizeof(ref->warning);
@@ -199,10 +189,6 @@ int8_t Referee_Parse(Referee_t *ref) {
origin = &(ref->robot_buff); origin = &(ref->robot_buff);
size = sizeof(ref->robot_buff); size = sizeof(ref->robot_buff);
break; break;
case REF_CMD_ID_DRONE_ENERGY:
origin = &(ref->drone_energy);
size = sizeof(ref->drone_energy);
break;
case REF_CMD_ID_ROBOT_DMG: case REF_CMD_ID_ROBOT_DMG:
origin = &(ref->robot_danage); origin = &(ref->robot_danage);
size = sizeof(ref->robot_danage); size = sizeof(ref->robot_danage);
@@ -223,26 +209,71 @@ int8_t Referee_Parse(Referee_t *ref) {
origin = &(ref->dart_client); origin = &(ref->dart_client);
size = sizeof(ref->dart_client); size = sizeof(ref->dart_client);
break; break;
case REF_CMD_ID_ROBOT_POS_TO_SENTRY:
origin = &(ref->pos_sentry);
size = sizeof(ref->pos_sentry);
break;
case REF_CMD_ID_RADAR_MARK:
origin = &(ref->radar_mark);
size = sizeof(ref->radar_mark);
break;
case REF_CMD_ID_SENTRY_DECISION:
origin = &(ref->sentry_decision);
size = sizeof(ref->sentry_decision);
break;
case REF_CMD_ID_RADAR_DECISION:
origin = &(ref->radar_decision);
size = sizeof(ref->radar_decision);
break;
case REF_CMD_ID_INTER_STUDENT:
origin = &(ref->interactive_data);
size = sizeof(ref->interactive_data);
break;
case REF_CMD_ID_INTER_STUDENT_CUSTOM: case REF_CMD_ID_INTER_STUDENT_CUSTOM:
origin = &(ref->custom); origin = &(ref->custom_robot_data);
size = sizeof(ref->custom); size = sizeof(ref->custom_robot_data);
break;
case REF_CMD_ID_CLIENT_MAP: case REF_CMD_ID_CLIENT_MAP:
origin = &(ref->client_map); origin = &(ref->client_map);
size = sizeof(ref->client_map); size = sizeof(ref->client_map);
break;
case REF_CMD_ID_KEYBOARD_MOUSE: case REF_CMD_ID_KEYBOARD_MOUSE:
origin = &(ref->keyboard_mouse); origin = &(ref->keyboard_mouse);
size = sizeof(ref->keyboard_mouse); size = sizeof(ref->keyboard_mouse);
break;
case REF_CMD_ID_MAP_ROBOT_DATA:
origin = &(ref->map_robot_data);
size = sizeof(ref->map_robot_data);
break;
case REF_CMD_ID_CUSTOM_KEYBOARD_MOUSE:
origin = &(ref->custom_keyboard_mouse);
size = sizeof(ref->custom_keyboard_mouse);
break;
case REF_CMD_ID_SENTRY_POS_DATA:
origin = &(ref->sentry_pos_data);
size = sizeof(ref->sentry_pos_data);
break;
case REF_CMD_ID_ROBOT_POS_DATA:
origin = &(ref->custom_info);
size = sizeof(ref->custom_info);
break;
case REF_CMD_ID_DATA:
origin = &(ref->custom_data);
size = sizeof(ref->custom_data);
break;
default: default:
return DEVICE_ERR; return DEVICE_ERR;
} }
packet_length = sizeof(Referee_Header_t) + sizeof(Referee_CMDID_t) + size +
sizeof(Referee_Tail_t); // 计算数据包长度
packet_length = sizeof(Referee_Header_t) + sizeof(Referee_CMDID_t) + size + sizeof(Referee_Tail_t);
index += size; index += size;
if (index - packet_shift >= data_length) goto error; if (index - packet_shift >= data_length) goto error;
index += sizeof(Referee_Tail_t); index += sizeof(Referee_Tail_t);
if (index - packet_shift != packet_length) goto error; if (index - packet_shift != packet_length) goto error;
// 验证CRC16校验并复制数据
if (CRC16_Verify((uint8_t *)(rxbuf + packet_shift), packet_length)) if (CRC16_Verify((uint8_t *)(rxbuf + packet_shift), packet_length))
memcpy(origin, target, size); memcpy(origin, target, size);
else else
@@ -272,8 +303,12 @@ int8_t Referee_MoveData(void *data, void *tmp, uint32_t len) {
int8_t Referee_SetHeader(Referee_Interactive_Header_t *header, int8_t Referee_SetHeader(Referee_Interactive_Header_t *header,
Referee_StudentCMDID_t cmd_id, uint8_t sender_id) { Referee_StudentCMDID_t cmd_id, uint8_t sender_id) {
// 设置数据命令ID
header->data_cmd_id = cmd_id; header->data_cmd_id = cmd_id;
if (sender_id <= REF_BOT_RED_RADER) switch (sender_id) {
// 根据发送者ID设置发送者和接收者ID
if (sender_id <= REF_BOT_RED_RADER) {
switch (sender_id) {
case REF_BOT_RED_HERO: case REF_BOT_RED_HERO:
header->sender_ID = REF_BOT_RED_HERO; header->sender_ID = REF_BOT_RED_HERO;
header->receiver_ID = REF_CL_RED_HERO; header->receiver_ID = REF_CL_RED_HERO;
@@ -305,9 +340,9 @@ int8_t Referee_SetHeader(Referee_Interactive_Header_t *header,
header->sender_ID = REF_BOT_RED_RADER; header->sender_ID = REF_BOT_RED_RADER;
break; break;
default: default:
return -1; return -1; // 无效的发送者ID
} }
else } else {
switch (sender_id) { switch (sender_id) {
case REF_BOT_BLU_HERO: case REF_BOT_BLU_HERO:
header->sender_ID = REF_BOT_BLU_HERO; header->sender_ID = REF_BOT_BLU_HERO;
@@ -340,9 +375,10 @@ int8_t Referee_SetHeader(Referee_Interactive_Header_t *header,
header->sender_ID = REF_BOT_BLU_RADER; header->sender_ID = REF_BOT_BLU_RADER;
break; break;
default: default:
return -1; return -1; // 无效的发送者ID
} }
return 0; }
return 0; // 成功
} }
int8_t Referee_PackUI(Referee_UI_t *ui, Referee_t *ref) { int8_t Referee_PackUI(Referee_UI_t *ui, Referee_t *ref) {

417
User/device/referee.h
View File

@@ -20,12 +20,12 @@ extern "C" {
/* Exported constants ------------------------------------------------------- */ /* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */
#define REF_SWITCH_STATUS(ref, stat) ((ref).ref_status = (stat)) #define REF_SWITCH_STATUS(ref, stat) ((ref).ref_status = (stat))
#define CHASSIS_POWER_MAX_WITHOUT_REF 2000.0f /* 裁判系统离线底盘最大功率 */ #define CHASSIS_POWER_MAX_WITHOUT_REF 2000.0f /* 裁判系统离线底盘最大功率 */
#define REF_UI_MAX_GRAPIC_NUM (7) #define REF_UI_MAX_GRAPIC_NUM (7) /* 最大图形数量 */
#define REF_UI_MAX_STRING_NUM (7) #define REF_UI_MAX_STRING_NUM (7) /* 最大字符串数量 */
#define REF_UI_MAX_DEL_NUM (3) #define REF_UI_MAX_DEL_NUM (3) /* 最大删除数量 */
/* Exported types ----------------------------------------------------------- */ /* Exported types ----------------------------------------------------------- */
typedef struct __packed { typedef struct __packed {
@@ -38,30 +38,39 @@ typedef struct __packed {
typedef enum { REF_STATUS_OFFLINE = 0, REF_STATUS_RUNNING } Referee_Status_t; typedef enum { REF_STATUS_OFFLINE = 0, REF_STATUS_RUNNING } Referee_Status_t;
typedef enum { typedef enum {
REF_CMD_ID_GAME_STATUS = 0x0001, REF_CMD_ID_GAME_STATUS = 0x0001, //比赛状态数据，固定以1Hz频率发送
REF_CMD_ID_GAME_RESULT = 0x0002, REF_CMD_ID_GAME_RESULT = 0x0002, //比赛结果数据，比赛结束触发发送
REF_CMD_ID_GAME_ROBOT_HP = 0x0003, REF_CMD_ID_GAME_ROBOT_HP = 0x0003, //机器人血量数据，固定以3Hz频率发送
REF_CMD_ID_DART_STATUS = 0x0004, //REF_CMD_ID_DART_STATUS = 0x0004,
REF_CMD_ID_ICRA_ZONE_STATUS = 0x0005, // REF_CMD_ID_ICRA_ZONE_STATUS = 0x0005,
REF_CMD_ID_FIELD_EVENTS = 0x0101, REF_CMD_ID_FIELD_EVENTS = 0x0101, //场地事件数据，固定以1Hz频率发送
REF_CMD_ID_SUPPLY_ACTION = 0x0102, //REF_CMD_ID_SUPPLY_ACTION = 0x0102,
REF_CMD_ID_REQUEST_SUPPLY = 0x0103, //REF_CMD_ID_REQUEST_SUPPLY = 0x0103,
REF_CMD_ID_WARNING = 0x0104, REF_CMD_ID_WARNING = 0x0104, //裁判警告数据
REF_CMD_ID_DART_COUNTDOWN = 0x0105, REF_CMD_ID_DART_COUNTDOWN = 0x0105, //飞镖发射相关数据
REF_CMD_ID_ROBOT_STATUS = 0x0201, REF_CMD_ID_ROBOT_STATUS = 0x0201, //机器人性能体系数据
REF_CMD_ID_POWER_HEAT_DATA = 0x0202, REF_CMD_ID_POWER_HEAT_DATA = 0x0202, //实时底盘缓冲能量和射击热量数据
REF_CMD_ID_ROBOT_POS = 0x0203, REF_CMD_ID_ROBOT_POS = 0x0203, //机器人位置数据
REF_CMD_ID_ROBOT_BUFF = 0x0204, REF_CMD_ID_ROBOT_BUFF = 0x0204, //机器人增益和底盘能量数据
REF_CMD_ID_DRONE_ENERGY = 0x0205, //REF_CMD_ID_DRONE_ENERGY = 0x0205,
REF_CMD_ID_ROBOT_DMG = 0x0206, REF_CMD_ID_ROBOT_DMG = 0x0206, //伤害状态数据
REF_CMD_ID_SHOOT_DATA = 0x0207, REF_CMD_ID_SHOOT_DATA = 0x0207, //实时射击数据
REF_CMD_ID_BULLET_REMAINING = 0x0208, REF_CMD_ID_BULLET_REMAINING = 0x0208, //允许发弹量
REF_CMD_ID_RFID = 0x0209, REF_CMD_ID_RFID = 0x0209, //机器人RFID模块状态
REF_CMD_ID_DART_CLIENT = 0x020A, REF_CMD_ID_DART_CLIENT = 0x020A, //飞镖选手端指令数据
REF_CMD_ID_INTER_STUDENT = 0x0301, REF_CMD_ID_ROBOT_POS_TO_SENTRY = 0X020B, //地面机器人位置数据
REF_CMD_ID_INTER_STUDENT_CUSTOM = 0x0302, REF_CMD_ID_RADAR_MARK = 0X020C, //雷达标记进度数据
REF_CMD_ID_CLIENT_MAP = 0x0303, REF_CMD_ID_SENTRY_DECISION = 0x020D, //哨兵自主决策相关信息同步
REF_CMD_ID_KEYBOARD_MOUSE = 0x0304, REF_CMD_ID_RADAR_DECISION = 0x020E, //雷达自主决策相关信息同步
REF_CMD_ID_INTER_STUDENT = 0x0301, //机器人交互数据
REF_CMD_ID_INTER_STUDENT_CUSTOM = 0x0302, //自定义控制器与机器人交互数据
REF_CMD_ID_CLIENT_MAP = 0x0303, //选手端小地图交互数据
REF_CMD_ID_KEYBOARD_MOUSE = 0x0304, //键鼠遥控数据
REF_CMD_ID_MAP_ROBOT_DATA = 0x0305, //选手端小地图接收雷达数据
REF_CMD_ID_CUSTOM_KEYBOARD_MOUSE = 0X0306, //自定义控制器与选手端交互数据
REF_CMD_ID_SENTRY_POS_DATA = 0x0307, //选手端小地图接收哨兵数据
REF_CMD_ID_ROBOT_POS_DATA = 0x0308, //选手端小地图接受机器人消息
REF_CMD_ID_DATA = 0x0309, //自定义控制器接收机器人数据
} Referee_CMDID_t; } Referee_CMDID_t;
typedef struct __packed { typedef struct __packed {
@@ -69,19 +78,18 @@ typedef struct __packed {
uint8_t game_progress : 4; uint8_t game_progress : 4;
uint16_t stage_remain_time; uint16_t stage_remain_time;
uint64_t sync_time_stamp; uint64_t sync_time_stamp;
} Referee_GameStatus_t; } Referee_GameStatus_t;/* 0x0001 */
typedef struct __packed { typedef struct __packed {
uint8_t winner; uint8_t winner;
} Referee_GameResult_t; } Referee_GameResult_t;/* 0x0002 */
typedef struct __packed { typedef struct __packed {
uint16_t red_1; uint16_t red_1;
uint16_t red_2; uint16_t red_2;
uint16_t red_3; uint16_t red_3;
uint16_t red_4; uint16_t red_4;
uint16_t red_5; uint16_t reserved;
uint16_t red_6;
uint16_t red_7; uint16_t red_7;
uint16_t red_outpose; uint16_t red_outpose;
uint16_t red_base; uint16_t red_base;
@@ -89,12 +97,11 @@ typedef struct __packed {
uint16_t blue_2; uint16_t blue_2;
uint16_t blue_3; uint16_t blue_3;
uint16_t blue_4; uint16_t blue_4;
uint16_t blue_5; uint16_t reserved1;
uint16_t blue_6;
uint16_t blue_7; uint16_t blue_7;
uint16_t blue_outpose; uint16_t blue_outpose;
uint16_t blue_base; uint16_t blue_base;
} Referee_GameRobotHP_t; } Referee_GameRobotHP_t;/* 0x0003 */
typedef struct __packed { typedef struct __packed {
uint8_t dart_belong; uint8_t dart_belong;
@@ -121,51 +128,44 @@ typedef struct __packed {
} Referee_ICRAZoneStatus_t; } Referee_ICRAZoneStatus_t;
typedef struct __packed { typedef struct __packed {
uint8_t copter_pad : 2; uint32_t exchange_nooverlap_status : 1;
uint8_t energy_mech : 2; uint32_t exchange_overlap_status : 1;
uint8_t virtual_shield : 1; uint32_t supply_status : 1;
uint32_t res : 27; uint32_t energy_mech_small_status : 1;
} Referee_FieldEvents_t; uint32_t energy_mech_big_status : 1;
uint32_t highland_annular : 2;
uint32_t highland_trapezium_1 : 2;
uint32_t last_hit_time : 9;
uint32_t last_hit_target : 3;
uint32_t activation_status : 2;
uint32_t res : 9;
} Referee_FieldEvents_t;/* 0x0101 */
typedef struct __packed { typedef struct __packed {
uint8_t supply_id; uint8_t supply_id;
uint8_t robot_id; uint8_t robot_id;
uint8_t supply_step; uint8_t supply_step;
uint8_t supply_sum; uint8_t supply_sum;
} Referee_SupplyAction_t; } Referee_SupplyAction_t;/* 0x0102 */
typedef struct __packed { typedef struct __packed {
uint8_t place_holder; /* TODO */ uint8_t place_holder; /* TODO */
} Referee_RequestSupply_t; } Referee_RequestSupply_t;/* 0x0103 */
typedef struct __packed { typedef struct __packed {
uint8_t level; uint8_t level;
uint8_t robot_id; uint8_t robot_id;
} Referee_Warning_t; uint8_t count;
} Referee_Warning_t;/* 0x0104 */
typedef struct __packed { typedef struct __packed {
uint8_t countdown; uint8_t countdown;
} Referee_DartCountdown_t; uint16_t dart_last_target : 3;
uint16_t attack_count : 2;
uint16_t dart_target : 2;
uint16_t res : 8;
} Referee_DartCountdown_t;/* 0x0105 */
// typedef struct __packed {
// uint8_t robot_id;
// uint8_t robot_level;
// uint16_t remain_hp;
// uint16_t max_hp;
// uint16_t shoot_id1_17_cooling_rate;
// uint16_t shoot_id1_17_heat_limit;
// uint16_t shoot_id1_17_speed_limit;
// uint16_t shoot_id2_17_cooling_rate;
// uint16_t shoot_id2_17_heat_limit;
// uint16_t shoot_id2_17_speed_limit;
// uint16_t shoot_42_cooling_rate;
// uint16_t shoot_42_heat_limit;
// uint16_t shoot_42_speed_limit;
// uint16_t chassis_power_limit;
// uint8_t power_gimbal_output : 1;
// uint8_t power_chassis_output : 1;
// uint8_t power_shoot_output : 1;
// } Referee_RobotStatus_t;
typedef struct __packed { typedef struct __packed {
uint8_t robot_id; uint8_t robot_id;
@@ -188,22 +188,15 @@ typedef struct __packed {
uint16_t shoot_id1_17_heat; uint16_t shoot_id1_17_heat;
uint16_t shoot_id2_17_heat; uint16_t shoot_id2_17_heat;
uint16_t shoot_42_heat; uint16_t shoot_42_heat;
} Referee_PowerHeat_t; } Referee_PowerHeat_t; /* 0x0202 */
typedef struct __packed { typedef struct __packed {
float x; float x;
float y; float y;
float z; float z;
float yaw; float yaw;
} Referee_RobotPos_t; } Referee_RobotPos_t; /* 0x0203 */
// typedef struct __packed {
// uint8_t healing : 1;
// uint8_t cooling_acc : 1;
// uint8_t defense_buff : 1;
// uint8_t attack_buff : 1;
// uint8_t res : 4;
// } Referee_RobotBuff_t;
typedef struct __packed { typedef struct __packed {
uint8_t healing_buff; uint8_t healing_buff;
@@ -211,16 +204,17 @@ typedef struct __packed {
uint8_t defense_buff; uint8_t defense_buff;
uint8_t vulnerability_buff; uint8_t vulnerability_buff;
uint16_t attack_buff; uint16_t attack_buff;
} Referee_RobotBuff_t; uint8_t remaining_energy;
} Referee_RobotBuff_t; /* 0x0204 */
typedef struct __packed { typedef struct __packed {
uint8_t attack_countdown; uint8_t attack_countdown;
} Referee_DroneEnergy_t; } Referee_DroneEnergy_t; /* 0x0205 *///删
typedef struct __packed { typedef struct __packed {
uint8_t armor_id : 4; uint8_t armor_id : 4;
uint8_t damage_type : 4; uint8_t damage_type : 4;
} Referee_RobotDamage_t; } Referee_RobotDamage_t; /* 0x0206 */
typedef struct __packed { typedef struct __packed {
uint8_t bullet_type; uint8_t bullet_type;
@@ -233,38 +227,106 @@ typedef struct __packed {
uint16_t bullet_17_remain; uint16_t bullet_17_remain;
uint16_t bullet_42_remain; uint16_t bullet_42_remain;
uint16_t coin_remain; uint16_t coin_remain;
} Referee_BulletRemain_t; } Referee_BulletRemain_t;/* 0x0208 */
typedef struct __packed { typedef struct __packed {
uint8_t base : 1; uint32_t own_base : 1; //0
uint8_t high_ground : 1; uint32_t own_highland_annular : 1; //1
uint8_t energy_mech : 1; uint32_t enemy_highland_annular : 1; //2
uint8_t slope : 1; uint32_t own_trapezium_R3B3 : 1; //3
uint8_t outpose : 1; uint32_t enemy_trapezium_R3B3 : 1; //4
uint8_t resource : 1; uint32_t own_slope_before : 1; //坡道前5
uint8_t healing_card : 1; uint32_t own_slope_after : 1; //坡道后6
uint32_t res : 24; uint32_t enemy_slope_before : 1; //坡道前7
} Referee_RFID_t; uint32_t enemy_slope_after : 1; //坡道后8
uint32_t own_crosses_above : 1; //增益点 上方9
uint32_t own_crosses_below : 1; //增益点 下方10
uint32_t enemy_crosses_above : 1; //增益点 上方11
uint32_t enemy_crosses_below : 1; //增益点 下方12
uint32_t own_highway_above : 1; //公路 上方13
uint32_t own_highway_below : 1; //公路 下方14
uint32_t enemy_highway_above : 1; //公路 上方15
uint32_t enemy_highway_below : 1; //公路 下方16
uint32_t own_fortress : 1; //己方堡垒增益点17
uint32_t own_outpost : 1; //己方前哨站增益点18
uint32_t own_RMUL : 1; //己方RMUL增益点19
uint32_t enemy_RMDL : 1; //敌方RMDL增益点20
uint32_t own_island : 1; //己方资源岛 21
uint32_t enemy_island : 1; //敌方资源岛 22
uint32_t centre : 1; //中心 23
uint32_t res : 8;
} Referee_RFID_t;/* 0x0209 */
typedef struct __packed { typedef struct __packed {
uint8_t opening; uint8_t opening_status;
uint8_t target; uint8_t target;
uint8_t target_changable_countdown; uint16_t target_changable_countdown;
uint8_t dart1_speed;
uint8_t dart2_speed;
uint8_t dart3_speed;
uint8_t dart4_speed;
uint16_t last_dart_launch_time;
uint16_t operator_cmd_launch_time; uint16_t operator_cmd_launch_time;
} Referee_DartClient_t; } Referee_DartClient_t;/* 0x020A */
typedef struct __packed {
float hero_x;
float hero_y;
float engineer_x;
float engineer_y;
float standard_3_x;
float standard_3_y;
float standard_4_x;
float standard_4_y;
float reserved;
float reserved1;
} Referee_Robot_Position_t;/* 0x020B */
typedef struct __packed
{
uint8_t mark_hero_progress;
uint8_t mark_engineer_progress;
uint8_t mark_standard_3_progress;
uint8_t mark_standard_4_progress;
uint8_t mark_sentry_progress;
}Referee_Radar_mark_data_t; /* 0x020C */
typedef struct __packed
{
uint32_t exchanged_bullet_num : 11;
uint32_t exchanged_bullet_times : 4;
uint32_t exchanged_blood_times : 4;
uint32_t Confirmation_resurrection : 1;
uint32_t now_resurrection : 1;
uint32_t money : 10;
uint32_t res : 1;
uint16_t state : 1;
uint16_t quantity : 11;
uint16_t res1 : 4;
} Referee_Sentry_Info_t; /* 0x020D */
typedef struct __packed
{
uint8_t qualification : 2;
uint8_t enemy_status : 1;
uint8_t res : 5;
} Referee_Radar_Info_t; /* 0x020E */
typedef struct __packed
{
uint16_t data_cmd_id; /* 子内容ID */
uint16_t sender_id;
uint16_t receiver_id;
uint8_t user_data[112];
} Referee_Interaction_Data_t; /* 0x0301 */
typedef struct __packed
{
uint8_t data[30];
} Referee_custom_robot_data_t; /* 0x0302 */
typedef struct __packed { typedef struct __packed {
float position_x; float position_x;
float position_y; float position_y;
float position_z;
uint8_t commd_keyboard; uint8_t commd_keyboard;
uint16_t robot_id; uint8_t robot_id;
} Referee_ClientMap_t; uint8_t cmd_source;
} Referee_ClientMap_t;/* 0x0303 */
typedef struct __packed { typedef struct __packed {
int16_t mouse_x; int16_t mouse_x;
@@ -274,10 +336,74 @@ typedef struct __packed {
int8_t button_r; int8_t button_r;
uint16_t keyboard_value; uint16_t keyboard_value;
uint16_t res; uint16_t res;
} Referee_KeyboardMouse_t; } Referee_KeyboardMouse_t;/* 0x0304 */
typedef struct __packed {
uint16_t hero_position_x;
uint16_t hero_position_y;
uint16_t engineer_position_x;
uint16_t engineer_position_y;
uint16_t infantry_3_position_x;
uint16_t infantry_3_position_y;
uint16_t infantry_4_position_x;
uint16_t infantry_4_position_y;
uint16_t infantry_5_position_x;
uint16_t infantry_5_position_y;
uint16_t sentry_position_x;
uint16_t sentry_position_y;
} Referee_map_robot_data_t;/* 0x0305 */
typedef struct __packed {
uint16_t key_value;
uint16_t x_position : 12;
uint16_t mouse_left : 4;
uint16_t y_position : 12;
uint16_t mouse_right : 4;
uint16_t res;
} Referee_custom_client_data_t; /* 0x0306 */
typedef struct __packed {
uint8_t intention;
uint16_t start_position_x;
uint16_t start_position_y;
int8_t delta_x[49];
int8_t delta_y[49];
uint16_t sender_id;
} Referee_map_data_t;/* 0x0307 */
typedef struct __packed
{
uint16_t sender_id;
uint16_t receiver_id;
uint8_t user_data[30];
}Referee_custom_info_t; /* 0x0308 */
typedef struct __packed
{
uint8_t data[30];
}Referee_robot_custom_data_t; /* 0x0309*/
typedef uint16_t Referee_Tail_t; typedef uint16_t Referee_Tail_t;
// typedef enum {
// REF_BOT_RED_HERO = 1,
// REF_BOT_RED_ENGINEER = 2,
// REF_BOT_RED_INFANTRY_1 = 3,
// REF_BOT_RED_INFANTRY_2 = 4,
// REF_BOT_RED_INFANTRY_3 = 5,
// REF_BOT_RED_DRONE = 6,
// REF_BOT_RED_SENTRY = 7,
// REF_BOT_RED_RADER = 9,
// REF_BOT_BLU_HERO = 101,
// REF_BOT_BLU_ENGINEER = 102,
// REF_BOT_BLU_INFANTRY_1 = 103,
// REF_BOT_BLU_INFANTRY_2 = 104,
// REF_BOT_BLU_INFANTRY_3 = 105,
// REF_BOT_BLU_DRONE = 106,
// REF_BOT_BLU_SENTRY = 107,
// REF_BOT_BLU_RADER = 109,
// } Referee_RobotID_t;//
typedef enum { typedef enum {
REF_BOT_RED_HERO = 1, REF_BOT_RED_HERO = 1,
REF_BOT_RED_ENGINEER = 2, REF_BOT_RED_ENGINEER = 2,
@@ -286,7 +412,10 @@ typedef enum {
REF_BOT_RED_INFANTRY_3 = 5, REF_BOT_RED_INFANTRY_3 = 5,
REF_BOT_RED_DRONE = 6, REF_BOT_RED_DRONE = 6,
REF_BOT_RED_SENTRY = 7, REF_BOT_RED_SENTRY = 7,
REF_BOT_RED_DART = 8,
REF_BOT_RED_RADER = 9, REF_BOT_RED_RADER = 9,
REF_BOT_RED_OUTPOST = 10,
REF_BOT_RED_BASE = 11,
REF_BOT_BLU_HERO = 101, REF_BOT_BLU_HERO = 101,
REF_BOT_BLU_ENGINEER = 102, REF_BOT_BLU_ENGINEER = 102,
REF_BOT_BLU_INFANTRY_1 = 103, REF_BOT_BLU_INFANTRY_1 = 103,
@@ -294,9 +423,27 @@ typedef enum {
REF_BOT_BLU_INFANTRY_3 = 105, REF_BOT_BLU_INFANTRY_3 = 105,
REF_BOT_BLU_DRONE = 106, REF_BOT_BLU_DRONE = 106,
REF_BOT_BLU_SENTRY = 107, REF_BOT_BLU_SENTRY = 107,
REF_BOT_BLU_DART = 108,
REF_BOT_BLU_RADER = 109, REF_BOT_BLU_RADER = 109,
} Referee_RobotID_t; REF_BOT_BLU_OUTPOST = 110,
REF_BOT_BLU_BASE = 111,
} Referee_RobotID_t;//
// typedef enum {
// REF_CL_RED_HERO = 0x0101,
// REF_CL_RED_ENGINEER = 0x0102,
// REF_CL_RED_INFANTRY_1 = 0x0103,
// REF_CL_RED_INFANTRY_2 = 0x0104,
// REF_CL_RED_INFANTRY_3 = 0x0105,
// REF_CL_RED_DRONE = 0x0106,
// REF_CL_BLU_HERO = 0x0165,
// REF_CL_BLU_ENGINEER = 0x0166,
// REF_CL_BLU_INFANTRY_1 = 0x0167,
// REF_CL_BLU_INFANTRY_2 = 0x0168,
// REF_CL_BLU_INFANTRY_3 = 0x0169,
// REF_CL_BLU_DRONE = 0x016A,
// } Referee_ClientID_t;//选手端ID
typedef enum { typedef enum {
REF_CL_RED_HERO = 0x0101, REF_CL_RED_HERO = 0x0101,
REF_CL_RED_ENGINEER = 0x0102, REF_CL_RED_ENGINEER = 0x0102,
@@ -310,8 +457,20 @@ typedef enum {
REF_CL_BLU_INFANTRY_2 = 0x0168, REF_CL_BLU_INFANTRY_2 = 0x0168,
REF_CL_BLU_INFANTRY_3 = 0x0169, REF_CL_BLU_INFANTRY_3 = 0x0169,
REF_CL_BLU_DRONE = 0x016A, REF_CL_BLU_DRONE = 0x016A,
} Referee_ClientID_t; REF_CL_REFEREE_SERVER = 0x8080, /* 裁判系统服务器，用于哨兵和雷达自主决策 */
} Referee_ClientID_t;//选手端ID
// typedef enum {
// REF_STDNT_CMD_ID_UI_DEL = 0x0100,
// REF_STDNT_CMD_ID_UI_DRAW1 = 0x0101,
// REF_STDNT_CMD_ID_UI_DRAW2 = 0x0102,
// REF_STDNT_CMD_ID_UI_DRAW5 = 0x0103,
// REF_STDNT_CMD_ID_UI_DRAW7 = 0x0104,
// REF_STDNT_CMD_ID_UI_STR = 0x0110,
// REF_STDNT_CMD_ID_CUSTOM = 0x0200,
// } Referee_StudentCMDID_t;
typedef enum { typedef enum {
REF_STDNT_CMD_ID_UI_DEL = 0x0100, REF_STDNT_CMD_ID_UI_DEL = 0x0100,
REF_STDNT_CMD_ID_UI_DRAW1 = 0x0101, REF_STDNT_CMD_ID_UI_DRAW1 = 0x0101,
@@ -319,8 +478,9 @@ typedef enum {
REF_STDNT_CMD_ID_UI_DRAW5 = 0x0103, REF_STDNT_CMD_ID_UI_DRAW5 = 0x0103,
REF_STDNT_CMD_ID_UI_DRAW7 = 0x0104, REF_STDNT_CMD_ID_UI_DRAW7 = 0x0104,
REF_STDNT_CMD_ID_UI_STR = 0x0110, REF_STDNT_CMD_ID_UI_STR = 0x0110,
REF_STDNT_CMD_ID_CUSTOM = 0x0200, REF_STDNT_CMD_ID_CUSTOM = 0x0200,
REF_STDNT_CMD_ID_SENTRY_CMD = 0X0120,
REF_STDNT_CMD_ID_RADAR_CMD = 0X0121,
} Referee_StudentCMDID_t; } Referee_StudentCMDID_t;
typedef struct __packed { typedef struct __packed {
@@ -336,29 +496,40 @@ typedef struct __packed {
typedef struct { typedef struct {
Referee_Status_t ref_status; Referee_Status_t ref_status;
Referee_GameStatus_t game_status; Referee_GameStatus_t game_status; /* 0x0001 */
Referee_GameResult_t game_result; Referee_GameResult_t game_result; /* 0x0002 */
Referee_GameRobotHP_t game_robot_hp; Referee_GameRobotHP_t game_robot_hp; /* 0x0003 */
Referee_DartStatus_t dart_status; // Referee_DartStatus_t dart_status;
Referee_ICRAZoneStatus_t icra_zone; // Referee_ICRAZoneStatus_t icra_zone;
Referee_FieldEvents_t field_event; Referee_FieldEvents_t field_event; /* 0x0101 */
Referee_SupplyAction_t supply_action; //Referee_SupplyAction_t supply_action; /* 0x0102 */
Referee_RequestSupply_t request_supply; Referee_RequestSupply_t request_supply; /* 0x0103 */
Referee_Warning_t warning; Referee_Warning_t warning; /* 0x0104 */
Referee_DartCountdown_t dart_countdown; Referee_DartCountdown_t dart_countdown; /* 0x0105 */
Referee_RobotStatus_t robot_status; Referee_RobotStatus_t robot_status; /* 0x0201 */
Referee_PowerHeat_t power_heat; Referee_PowerHeat_t power_heat; /* 0x0202 */
Referee_RobotPos_t robot_pos; Referee_RobotPos_t robot_pos; /* 0x0203 */
Referee_RobotBuff_t robot_buff; Referee_RobotBuff_t robot_buff; /* 0x0204 */
Referee_DroneEnergy_t drone_energy; //Referee_DroneEnergy_t drone_energy; /* 0x0205 */
Referee_RobotDamage_t robot_danage; Referee_RobotDamage_t robot_danage; /* 0x0206 */
Referee_ShootData_t shoot_data; Referee_ShootData_t shoot_data; /* 0x0207 */
Referee_BulletRemain_t bullet_remain; Referee_BulletRemain_t bullet_remain; /* 0x0208 */
Referee_RFID_t rfid; Referee_RFID_t rfid; /* 0x0209 */
Referee_DartClient_t dart_client; Referee_DartClient_t dart_client; /* 0x020A */
Referee_InterStudent_Custom_t custom; Referee_Robot_Position_t pos_sentry; /* 0x020B */
Referee_ClientMap_t client_map; Referee_Radar_mark_data_t radar_mark; /* 0x020C */
Referee_KeyboardMouse_t keyboard_mouse; Referee_Sentry_Info_t sentry_decision; /* 0x020D */
Referee_Radar_Info_t radar_decision; /* 0x020E */
// Referee_InterStudent_Custom_t custom;
Referee_Interaction_Data_t interactive_data; /* 0x0301 */
Referee_custom_robot_data_t custom_robot_data; /* 0x0302 */
Referee_ClientMap_t client_map; /* 0x0303 */
Referee_KeyboardMouse_t keyboard_mouse; /* 0x0304 */
Referee_map_robot_data_t map_robot_data; /* 0x0305 */
Referee_custom_client_data_t custom_keyboard_mouse; /* 0x0306 */
Referee_map_data_t sentry_pos_data; /* 0x0307 */
Referee_custom_info_t custom_info; /* 0x0308 */
Referee_robot_custom_data_t custom_data; /* 0x0309*/
osTimerId_t ui_fast_timer_id; osTimerId_t ui_fast_timer_id;
osTimerId_t ui_slow_timer_id; osTimerId_t ui_slow_timer_id;

51
User/module/cap.c
View File

@@ -26,21 +26,42 @@
* @param cap_out 电容输出结构体 * @param cap_out 电容输出结构体
*/ */
void Cap_Control(CAN_Capacitor_t *cap, const Referee_ForCap_t *referee, void Cap_Control(CAN_Capacitor_t *cap, const Referee_ForCap_t *referee,
CAN_CapOutput_t *cap_out) { CAN_CapOutput_t *cap_out) {
if (referee->ref_status != REF_STATUS_RUNNING) { if (referee->ref_status != REF_STATUS_RUNNING) {
/* 当裁判系统离线时，依然使用裁判系统进程传来的数据 */ /* 当裁判系统离线时，依然使用裁判系统进程传来的数据 */
cap_out->power_limit = referee->chassis_power_limit; cap_out->power_limit = referee->chassis_power_limit;
} else { } else {
/* 当裁判系统在线时，使用算法控制裁判系统输出（即电容输入） */ /* 当裁判系统在线时，使用算法控制裁判系统输出（即电容输入） */
cap_out->power_limit = cap_out->power_limit =
PowerLimit_CapInput(referee->chassis_watt, referee->chassis_power_limit, PowerLimit_CapInput(referee->chassis_watt, referee->chassis_power_limit,
referee->chassis_pwr_buff); referee->chassis_pwr_buff);
} }
/* 更新电容状态和百分比 */ /* 更新电容状态和百分比 */
cap->cap_status = CAN_CAP_STATUS_RUNNING; cap->cap_status = CAN_CAP_STATUS_RUNNING;
cap->percentage = Capacity_GetCapacitorRemain(cap->cap_feedback.cap_volt, // cap->percentage = Capacity_GetCapacitorRemain(cap->cap_feedback.cap_volt,
cap->cap_feedback.input_volt, // cap->cap_feedback.input_volt,
CAP_CUTOFF_VOLT); // CAP_CUTOFF_VOLT);//电容剩余电量比例
cap->percentage = Capacity_GetCapacitorRemain(cap->cap_od.v_out,
cap->cap_od.v_in,
CAP_CUTOFF_VOLT);//电容剩余电量比例
}
/**
* @brief 运行设置电容参数
*
* @param cap_out 电容输出结构体
* @param can can总线
*/
void Cap_Can_Send(CAN_CapOutput_t *cap_out)
{
cap_out->new_cmd=2;
cap_out->new_power=5000;
cap_out->new_voltage=2400;
cap_out->new_current=100;
} }
/** /**

8
User/module/cap.h
View File

@@ -35,6 +35,14 @@ void Cap_Control(CAN_Capacitor_t *cap, const Referee_ForCap_t *referee,
*/ */
void Cap_DumpUI(const CAN_Capacitor_t *cap, Referee_CapUI_t *ui); void Cap_DumpUI(const CAN_Capacitor_t *cap, Referee_CapUI_t *ui);
/**
* @brief 运行设置电容参数
*
* @param cap_out 电容输出结构体
* @param can can总线
*/
void Cap_Can_Send(CAN_CapOutput_t *cap_out) ;
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

35
User/task/can.c
View File

@@ -53,13 +53,17 @@ void Task_Can(void *argument) {
osMessageQueueReset(task_runtime.msgq.can.feedback.shoot); osMessageQueueReset(task_runtime.msgq.can.feedback.shoot);
osMessageQueuePut(task_runtime.msgq.can.feedback.shoot, &can, 0, 0); osMessageQueuePut(task_runtime.msgq.can.feedback.shoot, &can, 0, 0);
if (CAN_CheckFlag(&can, CAN_REC_CAP_FINISHED)) { //不注释掉不能用
osMessageQueueReset(task_runtime.msgq.can.feedback.cap); // if (CAN_CheckFlag(&can, CAN_REC_CAP_FINISHED)) {
osMessageQueuePut(task_runtime.msgq.can.feedback.cap, &can, 0, 0); // osMessageQueueReset(task_runtime.msgq.can.feedback.cap);
CAN_ClearFlag(&can, CAN_REC_CAP_FINISHED); // osMessageQueuePut(task_runtime.msgq.can.feedback.cap, &can, 0, 0);
} else { // CAN_ClearFlag(&can, CAN_REC_CAP_FINISHED);
// Error Handle // } else {
} // // Error Handle
// }
osMessageQueueReset(task_runtime.msgq.can.feedback.cap);
osMessageQueuePut(task_runtime.msgq.can.feedback.cap, &can, 0, 0);
if (CAN_CheckFlag(&can, CAN_REC_TOF_FINISHED)) { if (CAN_CheckFlag(&can, CAN_REC_TOF_FINISHED)) {
osMessageQueueReset(task_runtime.msgq.can.feedback.tof); osMessageQueueReset(task_runtime.msgq.can.feedback.tof);
@@ -84,10 +88,19 @@ void Task_Can(void *argument) {
CAN_Motor_Control(CAN_MOTOR_GROUT_SHOOT1, &can_out, &can); CAN_Motor_Control(CAN_MOTOR_GROUT_SHOOT1, &can_out, &can);
} }
if (osMessageQueueGet(task_runtime.msgq.can.output.cap, &(can_out.cap), 0, // if (osMessageQueueGet(task_runtime.msgq.can.output.cap, &(can_out.cap), 0,
0) == osOK) { // 0) == osOK) {
CAN_Cap_Control(&(can_out.cap), &can); // CAN_Cap_Control(&(can_out.cap), &can);
} // }
//在cap的task里计算电容的输出功率消息队列
if (osMessageQueueGet(task_runtime.msgq.can.output.cap, &(can_out.cap), 0,
0) == osOK) {
// CAN_Cap_Control(&(can_out.cap), &can);
Can_Set_send(&(can_out.cap), &can);
}
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
} }
} }

3
User/task/cap.c
View File

@@ -74,6 +74,9 @@ void Task_Cap(void *argument) {
osKernelLock(); /* 锁住RTOS内核防止控制过程中断，造成错误 */ osKernelLock(); /* 锁住RTOS内核防止控制过程中断，造成错误 */
/* 根据裁判系统数据计算输出功率 */ /* 根据裁判系统数据计算输出功率 */
Cap_Control(&can.cap, &referee_cap, &cap_out); Cap_Control(&can.cap, &referee_cap, &cap_out);
/* 超电参数设置 */
Cap_Can_Send(&cap_out);
osKernelUnlock(); osKernelUnlock();
/* 将电容输出值发送到CAN */ /* 将电容输出值发送到CAN */
osMessageQueueReset(task_runtime.msgq.can.output.cap); osMessageQueueReset(task_runtime.msgq.can.output.cap);