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base: robofish:hero
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robofish:main robofish:balance robofish:xr版本有超电hero robofish:infantry robofish:sentry_right robofish:无超电hero robofish:sentry_chassis robofish:hero robofish:sentry_left
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compare: robofish:infantry
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robofish:balance robofish:main robofish:xr版本有超电hero robofish:infantry robofish:sentry_right robofish:无超电hero robofish:sentry_chassis robofish:hero robofish:sentry_left

6 Commits
hero ... infantry

Author SHA1 Message Date
RB
e52785886f 添加视觉通讯 2025-03-23 04:09:42 +08:00
RB
ebe3c2243d 修改离线模式功率 2025-03-21 13:25:15 +08:00
RB
c406c6a392 修改e为35度模式 2025-03-21 06:17:13 +08:00
RB
695262bcd1 修改recy模式 2025-03-18 17:56:31 +08:00
RB
6d581c4c04 修改热量控制 2025-03-16 22:40:45 +08:00
RB
740dc38e96 infantry 2025-03-11 21:32:41 +08:00
21 changed files with 10376 additions and 10965 deletions
Expand all files Collapse all files

34
MDK-ARM/DevC.uvoptx
View File

@@ -324,11 +324,6 @@
<pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt>
<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($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>ARMRTXEVENTFLAGS</Key>
@@ -352,7 +347,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>CMSIS_AGDI</Key>
<Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$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 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@@ -365,7 +360,7 @@
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>param_default</ItemText>
<ItemText>chassis</ItemText>
</Ww>
<Ww>
<count>1</count>
@@ -375,42 +370,47 @@
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>shoot</ItemText>
<ItemText>gimbal_out</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>param_hero</ItemText>
<ItemText>for_chassis</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>ref</ItemText>
<ItemText>task_runtime</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>for_chassis</ItemText>
<ItemText>ref</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>cap_out,0x0A</ItemText>
<ItemText>for_chassis</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>pm01_od,0x0A</ItemText>
<ItemText>for_cap</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>cap,0x0A</ItemText>
<ItemText>ref</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>ref</ItemText>
<ItemText>param_default</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>1</WinNumber>
<ItemText>shoot</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow4>
@@ -1283,7 +1283,7 @@
<Group>
<GroupName>User/bsp</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@@ -1507,7 +1507,7 @@
<Group>
<GroupName>User/component</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

BIN
MDK-ARM/DevC/DevC.axf
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Binary file not shown.

19245
MDK-ARM/DevC/DevC.hex
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File diff suppressed because it is too large Load Diff

70
Middlewares/Third_Party/Protocol/protocol.h vendored
View File

@@ -7,13 +7,15 @@
#include <stdint.h>
#ifdef __cplusplus
extern "C" {
extern "C"
{
#endif
#define AI_NOTICE_AUTOAIM (1 << 0)
#define AI_NOTICE_HITBUFF (1 << 1)
#define AI_NOTICE_AUTOMATIC (1 << 2)
#define AI_NOTICE_FIRE (1 << 3)
#define AI_NOTICE_SEARCH_ARMOR (1 << 4)
#define AI_ID_MCU (0xC4)
#define AI_ID_REF (0xA8)
@@ -21,66 +23,70 @@ extern "C" {
#define AI_TEAM_RED (0x01)
#define AI_TEAM_BLUE (0x02)
typedef uint8_t Protocol_ID_t;
typedef uint8_t Protocol_ID_t;
/* 电控 -> 视觉 MCU数据结构体*/
typedef struct __attribute__((packed)) {
struct __attribute__((packed)) {
/* 电控 -> 视觉 MCU数据结构体*/
typedef struct __attribute__((packed))
{
struct __attribute__((packed))
{
float q0;
float q1;
float q2;
float q3;
} quat; /* 四元数 */
struct __attribute__((packed))
{
float yaw;
float pit;
float rol;
} gimbal; /* 欧拉角 */
uint8_t notice; /* 控制命令 */
} Protocol_UpDataMCU_t;
float ball_speed; /* 子弹初速度 */
struct __attribute__((packed)) {
float left;
float right;
} distance; /* 左右距离(哨兵) */
float chassis_speed; /* 底盘速度(哨兵) */
} Protocol_UpDataMCU_t;
/* 电控 -> 视觉 裁判系统数据结构体*/
typedef struct __attribute__((packed)) {
/* 电控 -> 视觉 裁判系统数据结构体*/
typedef struct __attribute__((packed))
{
uint16_t team; /* 本身队伍 */
uint16_t time; /* 比赛开始时间 */
} Protocol_UpDataReferee_t;
} Protocol_UpDataReferee_t;
/* 视觉 -> 电控 数据结构体*/
typedef struct __attribute__((packed)) {
struct __attribute__((packed)) {
/* 视觉 -> 电控 数据结构体*/
typedef struct __attribute__((packed))
{
struct __attribute__((packed))
{
float yaw; /* 偏航角（Yaw angle） */
float pit; /* 俯仰角（Pitch angle） */
float rol; /* 翻滚角（Roll angle） */
} gimbal; /* 欧拉角 */
uint8_t notice; /* 控制命令 */
struct __attribute__((packed)) {
struct __attribute__((packed))
{
float vx; /* x轴移动速度 */
float vy; /* y轴移动速度 */
float wz; /* z轴转动速度 */
} chassis_move_vec; /* 底盘移动向量 */
} Protocol_DownData_t;
uint8_t notice; /* 控制命令 */
} Protocol_DownData_t;
typedef struct __attribute__((packed)) {
typedef struct __attribute__((packed))
{
Protocol_UpDataMCU_t data;
uint16_t crc16;
} Protocol_UpPackageMCU_t;
} Protocol_UpPackageMCU_t;
typedef struct __attribute__((packed)) {
typedef struct __attribute__((packed))
{
Protocol_UpDataReferee_t data;
uint16_t crc16;
} Protocol_UpPackageReferee_t;
} Protocol_UpPackageReferee_t;
typedef struct __attribute__((packed)) {
typedef struct __attribute__((packed))
{
Protocol_DownData_t data;
uint16_t crc16;
} Protocol_DownPackage_t;
} Protocol_DownPackage_t;
#ifdef __cplusplus
}

4
User/component/cmd.c
View File

@@ -86,7 +86,7 @@ static void CMD_PcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
cmd->gimbal.delta_eulr.yaw =
(float)rc->mouse.x * dt_sec * cmd->param->sens_mouse;
cmd->gimbal.delta_eulr.pit =
(float)(rc->mouse.y) * dt_sec * cmd->param->sens_mouse;
(float)(-rc->mouse.y) * dt_sec * cmd->param->sens_mouse;
cmd->chassis.ctrl_vec.vx = cmd->chassis.ctrl_vec.vy = 0.0f;
cmd->shoot.reverse_trig = false;
@@ -170,7 +170,7 @@ static void CMD_PcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
cmd->shoot.reverse_trig = true;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FOLLOWGIMBAL35)) {
cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL_35;
}
/* 保存当前按下的键位状态 */
cmd->key_last = rc->key;

18
User/component/user_math.c
View File

@@ -27,6 +27,10 @@ inline float AbsClip(float in, float limit) {
return (in < -limit) ? -limit : ((in > limit) ? limit : in);
}
float fAbs(float in){
return (in > 0) ? in : -in;
}
inline void Clip(float *origin, float min, float max) {
if (*origin > max) *origin = max;
if (*origin < min) *origin = min;
@@ -112,3 +116,17 @@ inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
/* 不为裁判系统设定值时,计算转速 */
return 60.0f * (float)bullet_speed / (M_2PI * fric_radius);
}
/**
* @brief 断言失败处理
*
* @param file 文件名
* @param line 行号
*/
void VerifyFailed(const char *file, uint32_t line) {
UNUSED(file);
UNUSED(line);
while (1) {
__NOP();
}
}

52
User/component/user_math.h
View File

@@ -51,6 +51,8 @@ float InvSqrt(float x);
float AbsClip(float in, float limit);
float fAbs(float in);
void Clip(float *origin, float min, float max);
float Sign(float in);
@@ -104,3 +106,53 @@ float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm);
#ifdef __cplusplus
}
#endif
#ifdef DEBUG
/**
* @brief 如果表达式的值为假则运行处理函数
*
*/
#define ASSERT(expr) \
do { \
if (!(expr)) { \
VerifyFailed(__FILE__, __LINE__); \
} \
} while (0)
#else
/**
* @brief 未定DEBUG，表达式不会运行，断言被忽略
*
*/
#define ASSERT(expr) ((void)(0))
#endif
#ifdef DEBUG
/**
* @brief 如果表达式的值为假则运行处理函数
*
*/
#define VERIFY(expr) \
do { \
if (!(expr)) { \
VerifyFailed(__FILE__, __LINE__); \
} \
} while (0)
#else
/**
* @brief 表达式会运行，忽略表达式结果
*
*/
#define VERIFY(expr) ((void)(expr))
#endif
/**
* @brief 断言失败处理
*
* @param file 文件名
* @param line 行号
*/
void VerifyFailed(const char *file, uint32_t line);

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

339
User/device/can.c
View File

@@ -66,12 +66,9 @@ static osThreadId_t thread_alert;
static CAN_t *gcan;
static bool inited = false;
volatile pm01_od_t pm01_od;
/* Private function -------------------------------------------------------- */
static void CAN_Motor_Decode(CAN_MotorFeedback_t *feedback,
const uint8_t *raw)
{
const uint8_t *raw) {
uint16_t raw_angle = (uint16_t)((raw[0] << 8) | raw[1]);
int16_t raw_current = (int16_t)((raw[4] << 8) | raw[5]);
@@ -82,44 +79,36 @@ static void CAN_Motor_Decode(CAN_MotorFeedback_t *feedback,
feedback->temp = raw[6];
}
void CAN_Cap_Decode(CAN_CapFeedback_t *feedback, const uint8_t *raw)
{
void CAN_Cap_Decode(CAN_CapFeedback_t *feedback, const uint8_t *raw) {
feedback->input_volt = (float)((raw[1] << 8) | raw[0]) / (float)CAN_CAP_RES;
feedback->cap_volt = (float)((raw[3] << 8) | raw[2]) / (float)CAN_CAP_RES;
feedback->input_curr = (float)((raw[5] << 8) | raw[4]) / (float)CAN_CAP_RES;
feedback->target_power = (float)((raw[7] << 8) | raw[6]) / (float)CAN_CAP_RES;
}
void CAN_Tof_Decode(CAN_Tof_t *tof, const uint8_t *raw)
{
void CAN_Tof_Decode(CAN_Tof_t *tof, const uint8_t *raw) {
tof->dist = (float)((raw[2] << 16) | (raw[1] << 8) | raw[0]) / 1000.0f;
tof->status = raw[3];
tof->signal_strength = (raw[5] << 8) | raw[4];
}
static void CAN_CAN1RxFifoMsgPendingCallback(void)
{
static void CAN_CAN1RxFifoMsgPendingCallback(void) {
HAL_CAN_GetRxMessage(BSP_CAN_GetHandle(BSP_CAN_1), CAN_MOTOR_RX_FIFO,
&raw_rx1.rx_header, raw_rx1.rx_data);
osMessageQueuePut(gcan->msgq_raw, &raw_rx1, 0, 0);
}
static void CAN_CAN2RxFifoMsgPendingCallback(void)
{
static void CAN_CAN2RxFifoMsgPendingCallback(void) {
HAL_CAN_GetRxMessage(BSP_CAN_GetHandle(BSP_CAN_2), CAN_CAP_RX_FIFO,
&raw_rx2.rx_header, raw_rx2.rx_data);
osMessageQueuePut(gcan->msgq_raw, &raw_rx2, 0, 0);
}
/* Exported functions ------------------------------------------------------- */
int8_t CAN_Init(CAN_t *can, const CAN_Params_t *param)
{
if (can == NULL)
return DEVICE_ERR_NULL;
if (inited)
return DEVICE_ERR_INITED;
if ((thread_alert = osThreadGetId()) == NULL)
return DEVICE_ERR_NULL;
int8_t CAN_Init(CAN_t *can, const CAN_Params_t *param) {
if (can == NULL) return DEVICE_ERR_NULL;
if (inited) return DEVICE_ERR_INITED;
if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
can->msgq_raw = osMessageQueueNew(32, sizeof(CAN_RawRx_t), NULL);
@@ -161,16 +150,13 @@ int8_t CAN_Init(CAN_t *can, const CAN_Params_t *param)
}
int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
CAN_t *can)
{
if (output == NULL)
return DEVICE_ERR_NULL;
CAN_t *can) {
if (output == NULL) return DEVICE_ERR_NULL;
int16_t motor1, motor2, motor3, motor4;
int16_t yaw_motor, pit_motor;
int16_t fric1_motor, fric2_motor, fric3_motor, trig_motor;
switch (group)
{
int16_t fric1_motor, fric2_motor, trig_motor;
switch (group) {
case CAN_MOTOR_GROUT_CHASSIS:
motor1 =
(int16_t)(output->chassis.named.m1 * (float)CAN_M3508_MAX_ABS_LSB);
@@ -219,10 +205,7 @@ int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
raw_tx.tx_data[6] = 0;
raw_tx.tx_data[7] = 0;
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->gimbal.yaw),
&raw_tx.tx_header, raw_tx.tx_data,
&(can->mailbox.gimbal));
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->gimbal.pitch),
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->gimbal),
&raw_tx.tx_header, raw_tx.tx_data,
&(can->mailbox.gimbal));
// HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->shoot),
@@ -236,8 +219,6 @@ int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
(int16_t)(output->shoot.named.fric1 * (float)CAN_M3508_MAX_ABS_LSB);
fric2_motor =
(int16_t)(output->shoot.named.fric2 * (float)CAN_M3508_MAX_ABS_LSB);
fric3_motor =
(int16_t)(output->shoot.named.fric3 * (float)CAN_M3508_MAX_ABS_LSB);
trig_motor =
(int16_t)(output->shoot.named.trig * (float)CAN_M2006_MAX_ABS_LSB);
@@ -250,17 +231,14 @@ int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
raw_tx.tx_data[1] = (uint8_t)(fric1_motor & 0xFF);
raw_tx.tx_data[2] = (uint8_t)((fric2_motor >> 8) & 0xFF);
raw_tx.tx_data[3] = (uint8_t)(fric2_motor & 0xFF);
raw_tx.tx_data[4] = (uint8_t)((fric3_motor >> 8) & 0xFF);
raw_tx.tx_data[5] = (uint8_t)(fric3_motor & 0xFF);
raw_tx.tx_data[6] = (uint8_t)((trig_motor >> 8) & 0xFF);
raw_tx.tx_data[7] = (uint8_t)(trig_motor & 0xFF);
raw_tx.tx_data[4] = (uint8_t)((trig_motor >> 8) & 0xFF);
raw_tx.tx_data[5] = (uint8_t)(trig_motor & 0xFF);
raw_tx.tx_data[6] = 0;
raw_tx.tx_data[7] = 0;
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->shoot),
&raw_tx.tx_header, raw_tx.tx_data,
&(can->mailbox.shoot));
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->trig),
&raw_tx.tx_header, raw_tx.tx_data,
&(can->mailbox.shoot));
break;
default:
@@ -269,16 +247,12 @@ int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
return DEVICE_OK;
}
int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx)
{
if (can == NULL)
return DEVICE_ERR_NULL;
if (can_rx == NULL)
return DEVICE_ERR_NULL;
int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx) {
if (can == NULL) return DEVICE_ERR_NULL;
if (can_rx == NULL) return DEVICE_ERR_NULL;
uint32_t index;
switch (can_rx->rx_header.StdId)
{
switch (can_rx->rx_header.StdId) {
case CAN_M3508_M1_ID:
case CAN_M3508_M2_ID:
case CAN_M3508_M3_ID:
@@ -290,12 +264,12 @@ int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx)
case CAN_M3508_FRIC1_ID:
case CAN_M3508_FRIC2_ID:
case CAN_M3508_FRIC3_ID:
case CAN_M2006_TRIG_ID:
index = can_rx->rx_header.StdId - CAN_M3508_FRIC1_ID;
can->recive_flag |= 1 << (index + 6);
CAN_Motor_Decode(&(can->motor.shoot.as_array[index]), can_rx->rx_data);
break;
case CAN_GM6020_YAW_ID:
case CAN_GM6020_PIT_ID:
index = can_rx->rx_header.StdId - CAN_GM6020_YAW_ID;
@@ -310,84 +284,24 @@ int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx)
can->recive_flag |= 1 << 10;
CAN_Tof_Decode(&(can->tof), can_rx->rx_data);
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:
break;
}
return DEVICE_OK;
}
bool CAN_CheckFlag(CAN_t *can, uint32_t flag)
{
if (can == NULL)
return false;
bool CAN_CheckFlag(CAN_t *can, uint32_t flag) {
if (can == NULL) return false;
return (can->recive_flag & flag) == flag;
}
int8_t CAN_ClearFlag(CAN_t *can, uint32_t flag)
{
if (can == NULL)
return DEVICE_ERR_NULL;
int8_t CAN_ClearFlag(CAN_t *can, uint32_t flag) {
if (can == NULL) return DEVICE_ERR_NULL;
can->recive_flag &= ~flag;
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;
uint16_t cap = (uint16_t)(power_limit * CAN_CAP_RES);
@@ -405,203 +319,8 @@ int8_t CAN_Cap_Control(CAN_CapOutput_t *output, CAN_t *can)
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,
float power_chassis)
{
float power_chassis) {
cap->cap_status = CAN_CAP_STATUS_OFFLINE;
cap_out->power_limit = power_chassis;
}

91
User/device/can.h
View File

@@ -22,10 +22,9 @@ extern "C" {
#define CAN_MOTOR_GIMBAL_PIT_RECV (1 << 5)
#define CAN_MOTOR_SHOOT_FRIC1_RECV (1 << 6)
#define CAN_MOTOR_SHOOT_FRIC2_RECV (1 << 7)
#define CAN_MOTOR_SHOOT_FRIC3_RECV (1 << 8)
#define CAN_MOTOR_SHOOT_TRIG_RECV (1 << 9)
#define CAN_MOTOR_CAP_RECV (1 << 10)
#define CAN_TOF_RECV (1 << 11)
#define CAN_MOTOR_SHOOT_TRIG_RECV (1 << 8)
#define CAN_MOTOR_CAP_RECV (1 << 9)
#define CAN_TOF_RECV (1 << 10)
#define CAN_REC_CHASSIS_FINISHED \
(CAN_MOTOR_CHASSIS_1_RECV | CAN_MOTOR_CHASSIS_2_RECV | \
@@ -34,7 +33,7 @@ extern "C" {
(CAN_MOTOR_GIMBAL_YAW_RECV | CAN_MOTOR_GIMBAL_PIT_RECV)
#define CAN_REC_SHOOT_FINISHED \
(CAN_MOTOR_SHOOT_FRIC1_RECV | CAN_MOTOR_SHOOT_FRIC2_RECV | \
CAN_MOTOR_SHOOT_FRIC3_RECV |CAN_MOTOR_SHOOT_TRIG_RECV)
CAN_MOTOR_SHOOT_TRIG_RECV)
#define CAN_REC_CAP_FINISHED CAN_MOTOR_CAP_RECV
#define CAN_REC_TOF_FINISHED CAN_TOF_RECV
@@ -73,23 +72,16 @@ typedef enum {
CAN_M3508_FRIC1_ID = 0x205, /* 5 */
CAN_M3508_FRIC2_ID = 0x206, /* 6 */
CAN_M3508_FRIC3_ID = 0x207, /* 7 */
CAN_M2006_TRIG_ID = 0x208, /* 8 */
CAN_M2006_TRIG_ID = 0x207, /* 7 */
CAN_GM6020_YAW_ID = 0x209, /* 5 */
CAN_GM6020_PIT_ID = 0x20A, /* 6 */
} CAN_MotorId_t;
typedef struct {
BSP_CAN_t yaw;
BSP_CAN_t pitch;
} Gimbal_CAN_t;
typedef struct {
BSP_CAN_t chassis;
Gimbal_CAN_t gimbal;
BSP_CAN_t gimbal;
BSP_CAN_t shoot;
BSP_CAN_t trig;
BSP_CAN_t cap;
} CAN_Params_t;
@@ -118,7 +110,6 @@ enum CAN_MotorGimbal_e {
enum CAN_MotorShoot_e {
CAN_MOTOR_SHOOT_FRIC1 = 0,
CAN_MOTOR_SHOOT_FRIC2,
CAN_MOTOR_SHOOT_FRIC3,
CAN_MOTOR_SHOOT_TRIG,
CAN_MOTORSHOOT_NUM,
};
@@ -156,17 +147,12 @@ typedef union {
struct {
float fric1;
float fric2;
float fric3;
float trig;
} named;
} CAN_ShootOutput_t;
typedef struct {
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;
typedef struct {
@@ -214,7 +200,6 @@ typedef union {
struct {
CAN_MotorFeedback_t fric1;
CAN_MotorFeedback_t fric2;
CAN_MotorFeedback_t fric3;
CAN_MotorFeedback_t trig;
} named;
} CAN_ShootMotor_t;
@@ -236,61 +221,11 @@ typedef struct {
uint8_t tx_data[CAN_TX_BUF_SIZE_MAX];
} 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 {
float percentage;// 电容器的百分比状态
float percentage;
CAN_CapStatus_t cap_status;
CAN_CapFeedback_t cap_feedback;
volatile pm01_od_t cap_od;
} CAN_Capacitor_t;//
} CAN_Capacitor_t;
typedef struct {
CAN_ChassisMotor_t chassis;
@@ -337,16 +272,6 @@ 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);
//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
}
#endif

98
User/device/referee.c
View File

@@ -116,27 +116,23 @@ void Referee_HandleOffline(Referee_t *referee) {
}
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);
// 计算接收到的数据长度
uint32_t data_length = REF_LEN_RX_BUFF - __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 packet_shift;
uint8_t packet_length;
// 遍历接收到的数据包
while (index < data_length && rxbuf[index] == REF_HEADER_SOF) {
packet_shift = index;
Referee_Header_t *header = (Referee_Header_t *)(rxbuf + index);
index += sizeof(*header);
if (index - packet_shift >= data_length) goto error;
// 验证CRC8校验
if (!CRC8_Verify((uint8_t *)header, sizeof(*header))) goto error;
// 验证数据包头
if (header->sof != REF_HEADER_SOF) goto error;
Referee_CMDID_t *cmd_id = (Referee_CMDID_t *)(rxbuf + index);
@@ -147,7 +143,6 @@ int8_t Referee_Parse(Referee_t *ref) {
void *origin;
size_t size;
// 根据命令ID解析数据包内容
switch (*cmd_id) {
case REF_CMD_ID_GAME_STATUS:
origin = &(ref->game_status);
@@ -161,10 +156,25 @@ int8_t Referee_Parse(Referee_t *ref) {
origin = &(ref->game_robot_hp);
size = sizeof(ref->game_robot_hp);
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:
origin = &(ref->field_event);
size = sizeof(ref->field_event);
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:
origin = &(ref->warning);
size = sizeof(ref->warning);
@@ -189,6 +199,10 @@ int8_t Referee_Parse(Referee_t *ref) {
origin = &(ref->robot_buff);
size = sizeof(ref->robot_buff);
break;
case REF_CMD_ID_DRONE_ENERGY:
origin = &(ref->drone_energy);
size = sizeof(ref->drone_energy);
break;
case REF_CMD_ID_ROBOT_DMG:
origin = &(ref->robot_danage);
size = sizeof(ref->robot_danage);
@@ -209,71 +223,26 @@ int8_t Referee_Parse(Referee_t *ref) {
origin = &(ref->dart_client);
size = sizeof(ref->dart_client);
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:
origin = &(ref->custom_robot_data);
size = sizeof(ref->custom_robot_data);
break;
origin = &(ref->custom);
size = sizeof(ref->custom);
case REF_CMD_ID_CLIENT_MAP:
origin = &(ref->client_map);
size = sizeof(ref->client_map);
break;
case REF_CMD_ID_KEYBOARD_MOUSE:
origin = &(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:
return DEVICE_ERR;
}
// 计算数据包长度
packet_length = sizeof(Referee_Header_t) + sizeof(Referee_CMDID_t) + size + sizeof(Referee_Tail_t);
packet_length = sizeof(Referee_Header_t) + sizeof(Referee_CMDID_t) + size +
sizeof(Referee_Tail_t);
index += size;
if (index - packet_shift >= data_length) goto error;
index += sizeof(Referee_Tail_t);
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))
memcpy(origin, target, size);
else
@@ -303,12 +272,8 @@ int8_t Referee_MoveData(void *data, void *tmp, uint32_t len) {
int8_t Referee_SetHeader(Referee_Interactive_Header_t *header,
Referee_StudentCMDID_t cmd_id, uint8_t sender_id) {
// 设置数据命令ID
header->data_cmd_id = cmd_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) {
if (sender_id <= REF_BOT_RED_RADER) switch (sender_id) {
case REF_BOT_RED_HERO:
header->sender_ID = REF_BOT_RED_HERO;
header->receiver_ID = REF_CL_RED_HERO;
@@ -340,9 +305,9 @@ int8_t Referee_SetHeader(Referee_Interactive_Header_t *header,
header->sender_ID = REF_BOT_RED_RADER;
break;
default:
return -1; // 无效的发送者ID
return -1;
}
} else {
else
switch (sender_id) {
case REF_BOT_BLU_HERO:
header->sender_ID = REF_BOT_BLU_HERO;
@@ -375,10 +340,9 @@ int8_t Referee_SetHeader(Referee_Interactive_Header_t *header,
header->sender_ID = REF_BOT_BLU_RADER;
break;
default:
return -1; // 无效的发送者ID
return -1;
}
}
return 0; // 成功
return 0;
}
int8_t Referee_PackUI(Referee_UI_t *ui, Referee_t *ref) {

417
User/device/referee.h
View File

@@ -21,11 +21,11 @@ extern "C" {
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
#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 50.0f /* 裁判系统离线底盘最大功率 */
#define REF_UI_MAX_GRAPIC_NUM (7) /* 最大图形数量 */
#define REF_UI_MAX_STRING_NUM (7) /* 最大字符串数量 */
#define REF_UI_MAX_DEL_NUM (3) /* 最大删除数量 */
#define REF_UI_MAX_GRAPIC_NUM (7)
#define REF_UI_MAX_STRING_NUM (7)
#define REF_UI_MAX_DEL_NUM (3)
/* Exported types ----------------------------------------------------------- */
typedef struct __packed {
@@ -38,39 +38,30 @@ typedef struct __packed {
typedef enum { REF_STATUS_OFFLINE = 0, REF_STATUS_RUNNING } Referee_Status_t;
typedef enum {
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, //比赛结果数据，比赛结束触发发送
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_ICRA_ZONE_STATUS = 0x0005,
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_REQUEST_SUPPLY = 0x0103,
REF_CMD_ID_WARNING = 0x0104, //裁判警告数据
REF_CMD_ID_DART_COUNTDOWN = 0x0105, //飞镖发射相关数据
REF_CMD_ID_ROBOT_STATUS = 0x0201, //机器人性能体系数据
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, //机器人位置数据
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_ROBOT_DMG = 0x0206, //伤害状态数据
REF_CMD_ID_SHOOT_DATA = 0x0207, //实时射击数据
REF_CMD_ID_BULLET_REMAINING = 0x0208, //允许发弹量
REF_CMD_ID_RFID = 0x0209, //机器人RFID模块状态
REF_CMD_ID_DART_CLIENT = 0x020A, //飞镖选手端指令数据
REF_CMD_ID_ROBOT_POS_TO_SENTRY = 0X020B, //地面机器人位置数据
REF_CMD_ID_RADAR_MARK = 0X020C, //雷达标记进度数据
REF_CMD_ID_SENTRY_DECISION = 0x020D, //哨兵自主决策相关信息同步
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
REF_CMD_ID_GAME_STATUS = 0x0001,
REF_CMD_ID_GAME_RESULT = 0x0002,
REF_CMD_ID_GAME_ROBOT_HP = 0x0003,
REF_CMD_ID_DART_STATUS = 0x0004,
REF_CMD_ID_ICRA_ZONE_STATUS = 0x0005,
REF_CMD_ID_FIELD_EVENTS = 0x0101,
REF_CMD_ID_SUPPLY_ACTION = 0x0102,
REF_CMD_ID_REQUEST_SUPPLY = 0x0103,
REF_CMD_ID_WARNING = 0x0104,
REF_CMD_ID_DART_COUNTDOWN = 0x0105,
REF_CMD_ID_ROBOT_STATUS = 0x0201,
REF_CMD_ID_POWER_HEAT_DATA = 0x0202,
REF_CMD_ID_ROBOT_POS = 0x0203,
REF_CMD_ID_ROBOT_BUFF = 0x0204,
REF_CMD_ID_DRONE_ENERGY = 0x0205,
REF_CMD_ID_ROBOT_DMG = 0x0206,
REF_CMD_ID_SHOOT_DATA = 0x0207,
REF_CMD_ID_BULLET_REMAINING = 0x0208,
REF_CMD_ID_RFID = 0x0209,
REF_CMD_ID_DART_CLIENT = 0x020A,
REF_CMD_ID_INTER_STUDENT = 0x0301,
REF_CMD_ID_INTER_STUDENT_CUSTOM = 0x0302,
REF_CMD_ID_CLIENT_MAP = 0x0303,
REF_CMD_ID_KEYBOARD_MOUSE = 0x0304,
} Referee_CMDID_t;
typedef struct __packed {
@@ -78,18 +69,19 @@ typedef struct __packed {
uint8_t game_progress : 4;
uint16_t stage_remain_time;
uint64_t sync_time_stamp;
} Referee_GameStatus_t;/* 0x0001 */
} Referee_GameStatus_t;
typedef struct __packed {
uint8_t winner;
} Referee_GameResult_t;/* 0x0002 */
} Referee_GameResult_t;
typedef struct __packed {
uint16_t red_1;
uint16_t red_2;
uint16_t red_3;
uint16_t red_4;
uint16_t reserved;
uint16_t red_5;
uint16_t red_6;
uint16_t red_7;
uint16_t red_outpose;
uint16_t red_base;
@@ -97,11 +89,12 @@ typedef struct __packed {
uint16_t blue_2;
uint16_t blue_3;
uint16_t blue_4;
uint16_t reserved1;
uint16_t blue_5;
uint16_t blue_6;
uint16_t blue_7;
uint16_t blue_outpose;
uint16_t blue_base;
} Referee_GameRobotHP_t;/* 0x0003 */
} Referee_GameRobotHP_t;
typedef struct __packed {
uint8_t dart_belong;
@@ -128,44 +121,51 @@ typedef struct __packed {
} Referee_ICRAZoneStatus_t;
typedef struct __packed {
uint32_t exchange_nooverlap_status : 1;
uint32_t exchange_overlap_status : 1;
uint32_t supply_status : 1;
uint32_t energy_mech_small_status : 1;
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 */
uint8_t copter_pad : 2;
uint8_t energy_mech : 2;
uint8_t virtual_shield : 1;
uint32_t res : 27;
} Referee_FieldEvents_t;
typedef struct __packed {
uint8_t supply_id;
uint8_t robot_id;
uint8_t supply_step;
uint8_t supply_sum;
} Referee_SupplyAction_t;/* 0x0102 */
} Referee_SupplyAction_t;
typedef struct __packed {
uint8_t place_holder; /* TODO */
} Referee_RequestSupply_t;/* 0x0103 */
} Referee_RequestSupply_t;
typedef struct __packed {
uint8_t level;
uint8_t robot_id;
uint8_t count;
} Referee_Warning_t;/* 0x0104 */
} Referee_Warning_t;
typedef struct __packed {
uint8_t countdown;
uint16_t dart_last_target : 3;
uint16_t attack_count : 2;
uint16_t dart_target : 2;
uint16_t res : 8;
} Referee_DartCountdown_t;/* 0x0105 */
} Referee_DartCountdown_t;
// 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 {
uint8_t robot_id;
@@ -188,15 +188,22 @@ typedef struct __packed {
uint16_t shoot_id1_17_heat;
uint16_t shoot_id2_17_heat;
uint16_t shoot_42_heat;
} Referee_PowerHeat_t; /* 0x0202 */
} Referee_PowerHeat_t;
typedef struct __packed {
float x;
float y;
float z;
float yaw;
} Referee_RobotPos_t; /* 0x0203 */
} Referee_RobotPos_t;
// 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 {
uint8_t healing_buff;
@@ -204,17 +211,16 @@ typedef struct __packed {
uint8_t defense_buff;
uint8_t vulnerability_buff;
uint16_t attack_buff;
uint8_t remaining_energy;
} Referee_RobotBuff_t; /* 0x0204 */
} Referee_RobotBuff_t;
typedef struct __packed {
uint8_t attack_countdown;
} Referee_DroneEnergy_t; /* 0x0205 *///删
} Referee_DroneEnergy_t;
typedef struct __packed {
uint8_t armor_id : 4;
uint8_t damage_type : 4;
} Referee_RobotDamage_t; /* 0x0206 */
} Referee_RobotDamage_t;
typedef struct __packed {
uint8_t bullet_type;
@@ -227,106 +233,38 @@ typedef struct __packed {
uint16_t bullet_17_remain;
uint16_t bullet_42_remain;
uint16_t coin_remain;
} Referee_BulletRemain_t;/* 0x0208 */
} Referee_BulletRemain_t;
typedef struct __packed {
uint32_t own_base : 1; //0
uint32_t own_highland_annular : 1; //1
uint32_t enemy_highland_annular : 1; //2
uint32_t own_trapezium_R3B3 : 1; //3
uint32_t enemy_trapezium_R3B3 : 1; //4
uint32_t own_slope_before : 1; //坡道前5
uint32_t own_slope_after : 1; //坡道后6
uint32_t enemy_slope_before : 1; //坡道前7
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 */
uint8_t base : 1;
uint8_t high_ground : 1;
uint8_t energy_mech : 1;
uint8_t slope : 1;
uint8_t outpose : 1;
uint8_t resource : 1;
uint8_t healing_card : 1;
uint32_t res : 24;
} Referee_RFID_t;
typedef struct __packed {
uint8_t opening_status;
uint8_t opening;
uint8_t target;
uint16_t target_changable_countdown;
uint8_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;
} 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 */
} Referee_DartClient_t;
typedef struct __packed {
float position_x;
float position_y;
float position_z;
uint8_t commd_keyboard;
uint8_t robot_id;
uint8_t cmd_source;
} Referee_ClientMap_t;/* 0x0303 */
uint16_t robot_id;
} Referee_ClientMap_t;
typedef struct __packed {
int16_t mouse_x;
@@ -336,74 +274,10 @@ typedef struct __packed {
int8_t button_r;
uint16_t keyboard_value;
uint16_t res;
} 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*/
} Referee_KeyboardMouse_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 {
REF_BOT_RED_HERO = 1,
REF_BOT_RED_ENGINEER = 2,
@@ -412,10 +286,7 @@ typedef enum {
REF_BOT_RED_INFANTRY_3 = 5,
REF_BOT_RED_DRONE = 6,
REF_BOT_RED_SENTRY = 7,
REF_BOT_RED_DART = 8,
REF_BOT_RED_RADER = 9,
REF_BOT_RED_OUTPOST = 10,
REF_BOT_RED_BASE = 11,
REF_BOT_BLU_HERO = 101,
REF_BOT_BLU_ENGINEER = 102,
REF_BOT_BLU_INFANTRY_1 = 103,
@@ -423,27 +294,9 @@ typedef enum {
REF_BOT_BLU_INFANTRY_3 = 105,
REF_BOT_BLU_DRONE = 106,
REF_BOT_BLU_SENTRY = 107,
REF_BOT_BLU_DART = 108,
REF_BOT_BLU_RADER = 109,
REF_BOT_BLU_OUTPOST = 110,
REF_BOT_BLU_BASE = 111,
} Referee_RobotID_t;//
} 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 {
REF_CL_RED_HERO = 0x0101,
REF_CL_RED_ENGINEER = 0x0102,
@@ -457,20 +310,8 @@ typedef enum {
REF_CL_BLU_INFANTRY_2 = 0x0168,
REF_CL_BLU_INFANTRY_3 = 0x0169,
REF_CL_BLU_DRONE = 0x016A,
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
} Referee_ClientID_t;
// 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 {
REF_STDNT_CMD_ID_UI_DEL = 0x0100,
REF_STDNT_CMD_ID_UI_DRAW1 = 0x0101,
@@ -478,9 +319,8 @@ typedef enum {
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,
REF_STDNT_CMD_ID_SENTRY_CMD = 0X0120,
REF_STDNT_CMD_ID_RADAR_CMD = 0X0121,
} Referee_StudentCMDID_t;
typedef struct __packed {
@@ -496,40 +336,29 @@ typedef struct __packed {
typedef struct {
Referee_Status_t ref_status;
Referee_GameStatus_t game_status; /* 0x0001 */
Referee_GameResult_t game_result; /* 0x0002 */
Referee_GameRobotHP_t game_robot_hp; /* 0x0003 */
// Referee_DartStatus_t dart_status;
// Referee_ICRAZoneStatus_t icra_zone;
Referee_FieldEvents_t field_event; /* 0x0101 */
//Referee_SupplyAction_t supply_action; /* 0x0102 */
Referee_RequestSupply_t request_supply; /* 0x0103 */
Referee_Warning_t warning; /* 0x0104 */
Referee_DartCountdown_t dart_countdown; /* 0x0105 */
Referee_RobotStatus_t robot_status; /* 0x0201 */
Referee_PowerHeat_t power_heat; /* 0x0202 */
Referee_RobotPos_t robot_pos; /* 0x0203 */
Referee_RobotBuff_t robot_buff; /* 0x0204 */
//Referee_DroneEnergy_t drone_energy; /* 0x0205 */
Referee_RobotDamage_t robot_danage; /* 0x0206 */
Referee_ShootData_t shoot_data; /* 0x0207 */
Referee_BulletRemain_t bullet_remain; /* 0x0208 */
Referee_RFID_t rfid; /* 0x0209 */
Referee_DartClient_t dart_client; /* 0x020A */
Referee_Robot_Position_t pos_sentry; /* 0x020B */
Referee_Radar_mark_data_t radar_mark; /* 0x020C */
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*/
Referee_GameStatus_t game_status;
Referee_GameResult_t game_result;
Referee_GameRobotHP_t game_robot_hp;
Referee_DartStatus_t dart_status;
Referee_ICRAZoneStatus_t icra_zone;
Referee_FieldEvents_t field_event;
Referee_SupplyAction_t supply_action;
Referee_RequestSupply_t request_supply;
Referee_Warning_t warning;
Referee_DartCountdown_t dart_countdown;
Referee_RobotStatus_t robot_status;
Referee_PowerHeat_t power_heat;
Referee_RobotPos_t robot_pos;
Referee_RobotBuff_t robot_buff;
Referee_DroneEnergy_t drone_energy;
Referee_RobotDamage_t robot_danage;
Referee_ShootData_t shoot_data;
Referee_BulletRemain_t bullet_remain;
Referee_RFID_t rfid;
Referee_DartClient_t dart_client;
Referee_InterStudent_Custom_t custom;
Referee_ClientMap_t client_map;
Referee_KeyboardMouse_t keyboard_mouse;
osTimerId_t ui_fast_timer_id;
osTimerId_t ui_slow_timer_id;

47
User/module/cap.c
View File

@@ -27,41 +27,20 @@
*/
void Cap_Control(CAN_Capacitor_t *cap, const Referee_ForCap_t *referee,
CAN_CapOutput_t *cap_out) {
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 */
cap_out->power_limit = referee->chassis_power_limit;
} 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） */
cap_out->power_limit =
PowerLimit_CapInput(referee->chassis_watt, referee->chassis_power_limit,
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 */
cap_out->power_limit = referee->chassis_power_limit;
} 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） */
cap_out->power_limit =
PowerLimit_CapInput(referee->chassis_watt, referee->chassis_power_limit,
referee->chassis_pwr_buff);
}
/* 更新电容状态和百分比 */
cap->cap_status = CAN_CAP_STATUS_RUNNING;
// cap->percentage = Capacity_GetCapacitorRemain(cap->cap_feedback.cap_volt,
// cap->cap_feedback.input_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;
}
/* 更新电容状态和百分比 */
cap->cap_status = CAN_CAP_STATUS_RUNNING;
cap->percentage = Capacity_GetCapacitorRemain(cap->cap_feedback.cap_volt,
cap->cap_feedback.input_volt,
CAP_CUTOFF_VOLT);
}
/**

8
User/module/cap.h
View File

@@ -35,14 +35,6 @@ void Cap_Control(CAN_Capacitor_t *cap, const Referee_ForCap_t *referee,
*/
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
}
#endif

93
User/module/config.c
View File

@@ -188,25 +188,19 @@ static const Config_RobotParam_t param_default = {
.cover_open_duty = 0.10f,
.cover_close_duty = 0.050f,
.model = SHOOT_MODEL_17MM,
.bullet_speed = 30.f,
.bullet_speed = 25.f,
.min_shoot_delay = (uint32_t)(1000.0f / 10.0f),
}, /* shoot */
.can = {
.chassis = BSP_CAN_1,
.gimbal.yaw = BSP_CAN_2,
.gimbal.pitch = BSP_CAN_2,
.gimbal = BSP_CAN_2,
.shoot = BSP_CAN_2,
.trig = BSP_CAN_2,
.cap = BSP_CAN_1,
}, /* can */
}; /* param_default */
#ifdef DEBUG
Config_RobotParam_t param_hero = {
#else
static const Config_RobotParam_t param_hero = {
#endif
.model = ROBOT_MODEL_HERO,
.chassis = { /* 底盘模块参数 */
@@ -240,7 +234,7 @@ static const Config_RobotParam_t param_hero = {
},
.reverse = {
.yaw = false,
.yaw = true,
},
}, /* chassis */
@@ -248,28 +242,28 @@ static const Config_RobotParam_t param_hero = {
.pid = {
{
/* GIMBAL_PID_YAW_OMEGA_IDX */
.k = 0.24f,
.k = 0.45f,
.p = 1.0f,
.i = 0.5f,
.d = 0.0f,
.i = 6.0f,
.d = 0.0008f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
}, {
/* GIMBAL_PID_YAW_ANGLE_IDX */
.k = 10.0f,
.k = 20.0f,
.p = 1.0f,
.i = 0.0f,
.d = 0.05f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit = 10.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
}, {
/* GIMBAL_PID_PIT_OMEGA_IDX */
.k = 0.6f,
.p = 1.5f,
.k = 0.25f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
@@ -278,9 +272,9 @@ static const Config_RobotParam_t param_hero = {
.range = -1.0f,
}, {
/* GIMBAL_PID_PIT_ANGLE_IDX */
.k = 3.0f,
.p = 5.0f,
.i = 2.5f,
.k = 12.0f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit = 10.0f,
@@ -289,7 +283,7 @@ static const Config_RobotParam_t param_hero = {
},
}, /* pid */
.pitch_travel_rad = 0.9685447f,
.pitch_travel_rad = 1.07685447f,
.low_pass_cutoff_freq = {
.out = -1.0f,
@@ -297,8 +291,8 @@ static const Config_RobotParam_t param_hero = {
},
.reverse = {
.yaw = false,
.pit = false,
.yaw = true,
.pit = true,
},
}, /* gimbal */
@@ -333,8 +327,8 @@ static const Config_RobotParam_t param_hero = {
.trig = -1.0f,
},
},
.num_trig_tooth = 5.0f,
.trig_gear_ratio = 19.0f,
.num_trig_tooth = 6.0f,
.trig_gear_ratio = 3591.0f / 187.0f,
.fric_radius = 0.03f,
.cover_open_duty = 0.125f,
.cover_close_duty = 0.075f,
@@ -345,10 +339,8 @@ static const Config_RobotParam_t param_hero = {
.can = {
.chassis = BSP_CAN_1,
.gimbal.yaw = BSP_CAN_1,
.gimbal.pitch = BSP_CAN_2,
.gimbal = BSP_CAN_2,
.shoot = BSP_CAN_2,
.trig = BSP_CAN_1,
.cap = BSP_CAN_1,
}, /* can */
}; /* param_hero */
@@ -357,7 +349,7 @@ static const Config_RobotParam_t param_hero = {
static const Config_PilotCfg_t cfg_qs = {
.param = {
.sens_mouse = 0.01f,
.sens_mouse = 0.06f,
.sens_rc = 6.0f,
.map = {
.key_map[CMD_BEHAVIOR_FORE] = {CMD_ACTIVE_PRESSED, CMD_KEY_W},
@@ -438,21 +430,17 @@ static const Config_PilotCfgMap_t pilot_cfg_map[] = {
*
* \param cfg 配置信息
*/
void Config_Get(Config_t *cfg)
{
void Config_Get(Config_t *cfg) {
BSP_Flash_ReadBytes(CONFIG_BASE_ADDRESS, (uint8_t *)cfg, sizeof(*cfg));
cfg->pilot_cfg = Config_GetPilotCfg(cfg->pilot_cfg_name);
cfg->robot_param = Config_GetRobotParam(cfg->robot_param_name);
/* 防止第一次烧写后访问NULL指针 */
if (cfg->robot_param == NULL)
cfg->robot_param = &param_default;
if (cfg->pilot_cfg == NULL)
cfg->pilot_cfg = &cfg_qs;
if (cfg->robot_param == NULL) cfg->robot_param = &param_default;
if (cfg->pilot_cfg == NULL) cfg->pilot_cfg = &cfg_qs;
/* 防止擦除后全为1 */
if ((uint32_t)(cfg->robot_param) == UINT32_MAX)
cfg->robot_param = &param_default;
if ((uint32_t)(cfg->pilot_cfg) == UINT32_MAX)
cfg->pilot_cfg = &cfg_qs;
if ((uint32_t)(cfg->pilot_cfg) == UINT32_MAX) cfg->pilot_cfg = &cfg_qs;
}
/**
@@ -460,8 +448,7 @@ void Config_Get(Config_t *cfg)
*
* \param cfg 配置信息
*/
void Config_Set(Config_t *cfg)
{
void Config_Set(Config_t *cfg) {
osKernelLock();
BSP_Flash_EraseSector(11);
BSP_Flash_WriteBytes(CONFIG_BASE_ADDRESS, (uint8_t *)cfg, sizeof(*cfg));
@@ -474,14 +461,10 @@ void Config_Set(Config_t *cfg)
* @param robot_param_name 机器人参数名称
* @return const Config_RobotParam_t* 机器人参数的指针
*/
const Config_RobotParam_t *Config_GetRobotParam(const char *robot_param_name)
{
if (robot_param_name == NULL)
return NULL;
for (size_t j = 0; robot_param_map[j].name != NULL; j++)
{
if (strcmp(robot_param_map[j].name, robot_param_name) == 0)
{
const Config_RobotParam_t *Config_GetRobotParam(const char *robot_param_name) {
if (robot_param_name == NULL) return NULL;
for (size_t j = 0; robot_param_map[j].name != NULL; j++) {
if (strcmp(robot_param_map[j].name, robot_param_name) == 0) {
return robot_param_map[j].param;
}
}
@@ -494,26 +477,20 @@ const Config_RobotParam_t *Config_GetRobotParam(const char *robot_param_name)
* @param pilot_cfg_name 操作手配置名称
* @return const Config_PilotCfg_t* 操作手配置的指针
*/
const Config_PilotCfg_t *Config_GetPilotCfg(const char *pilot_cfg_name)
{
if (pilot_cfg_name == NULL)
return NULL;
for (size_t j = 0; pilot_cfg_map[j].name != NULL; j++)
{
if (strcmp(pilot_cfg_map[j].name, pilot_cfg_name) == 0)
{
const Config_PilotCfg_t *Config_GetPilotCfg(const char *pilot_cfg_name) {
if (pilot_cfg_name == NULL) return NULL;
for (size_t j = 0; pilot_cfg_map[j].name != NULL; j++) {
if (strcmp(pilot_cfg_map[j].name, pilot_cfg_name) == 0) {
return pilot_cfg_map[j].param;
}
}
return NULL; /* No match. */
}
const Config_PilotCfgMap_t *Config_GetPilotNameMap(void)
{
const Config_PilotCfgMap_t *Config_GetPilotNameMap(void) {
return pilot_cfg_map;
}
const Config_RobotParamMap_t *Config_GetRobotNameMap(void)
{
const Config_RobotParamMap_t *Config_GetRobotNameMap(void) {
return robot_param_map;
}

37
User/module/shoot.c
View File

@@ -15,7 +15,7 @@
#define HEAT_INCREASE_17MM (10.f) /* 每发射一颗17mm弹丸增加10热量 */
#define BULLET_SPEED_LIMIT_42MM (16.0)
#define BULLET_SPEED_LIMIT_17MM (30.0)
#define BULLET_SPEED_LIMIT_17MM (25.0)
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
@@ -35,7 +35,7 @@ static int8_t Shoot_SetMode(Shoot_t *s, CMD_ShootMode_t mode) {
if (mode == s->mode) return SHOOT_OK;
/* 切换模式后重置PID和滤波器 */
for (uint8_t i = 0; i < 3; i++) {
for (uint8_t i = 0; i < 2; i++) {
PID_Reset(s->pid.fric + i);
LowPassFilter2p_Reset(s->filter.in.fric + i, 0.0f);
LowPassFilter2p_Reset(s->filter.out.fric + i, 0.0f);
@@ -84,7 +84,7 @@ static int8_t Shoot_HeatLimit(Shoot_t *s, Referee_ForShoot_t *s_ref) {
/* 检测热量更新后,计算可发射弹丸 */
if ((hc->heat != hc->last_heat) || (hc->heat == 0)) {
hc->available_shot =
(uint32_t)floorf((hc->heat_limit - hc->heat) / hc->heat_increase);
(uint32_t)floorf((hc->heat_limit - hc->heat) / hc->heat_increase) - 2;
hc->last_heat = hc->heat;
}
/* 计算已发射弹丸 */
@@ -117,7 +117,7 @@ int8_t Shoot_Init(Shoot_t *s, const Shoot_Params_t *param, float target_freq) {
s->param = param; /* 初始化参数 */
s->mode = SHOOT_MODE_RELAX; /* 设置默认模式 */
for (uint8_t i = 0; i < 3; i++) {
for (uint8_t i = 0; i < 2; i++) {
/* PI控制器初始化PID */
PID_Init(s->pid.fric + i, KPID_MODE_NO_D, target_freq,
&(param->fric_pid_param));
@@ -154,7 +154,7 @@ int8_t Shoot_UpdateFeedback(Shoot_t *s, const CAN_t *can) {
if (s == NULL) return -1;
if (can == NULL) return -1;
for (uint8_t i = 0; i < 3; i++) {
for (uint8_t i = 0; i < 2; i++) {
s->feedback.fric_rpm[i] = can->motor.shoot.as_array[i].rotor_speed;
}
@@ -222,10 +222,11 @@ int8_t Shoot_Control(Shoot_t *s, CMD_ShootCmd_t *s_cmd,
}
break;
}
case FIRE_MODE_CONT: { /* 持续开火模式 */
float shoot_freq = HeatLimit_ShootFreq(
s->heat_ctrl.heat, s->heat_ctrl.heat_limit, s->heat_ctrl.cooling_rate,
s->heat_ctrl.heat_increase, s->param->model == SHOOT_MODEL_17MM);
case FIRE_MODE_CONT: { /* Recy模式 */
// float shoot_freq = HeatLimit_ShootFreq(
// s->heat_ctrl.heat, s->heat_ctrl.heat_limit, s->heat_ctrl.cooling_rate,
// s->heat_ctrl.heat_increase, s->param->model == SHOOT_MODEL_17MM);
float shoot_freq = 20.0f; //射频
s->fire_ctrl.period_ms =
(shoot_freq == 0.0f) ? UINT32_MAX : (uint32_t)(1000.f / shoot_freq);
break;
@@ -245,26 +246,20 @@ int8_t Shoot_Control(Shoot_t *s, CMD_ShootCmd_t *s_cmd,
}
/* 计算摩擦轮转速的目标值 */
// s->setpoint.fric_rpm[1] =
// CalculateRpm(s->fire_ctrl.bullet_speed, s->param->fric_radius,
// (s->param->model == SHOOT_MODEL_17MM));
// s->setpoint.fric_rpm[0] = -s->setpoint.fric_rpm[1];
float fric_rpm = CalculateRpm(s->fire_ctrl.bullet_speed, s->param->fric_radius,
s->setpoint.fric_rpm[1] =
CalculateRpm(s->fire_ctrl.bullet_speed, s->param->fric_radius,
(s->param->model == SHOOT_MODEL_17MM));
s->setpoint.fric_rpm[0] = -fric_rpm;
s->setpoint.fric_rpm[1] = fric_rpm;
s->setpoint.fric_rpm[2] = -fric_rpm;
s->setpoint.fric_rpm[0] = -s->setpoint.fric_rpm[1];
/* 计算拨弹电机位置的目标值 */
if (((now - s->fire_ctrl.last_shoot) >= s->fire_ctrl.period_ms) &&
(s_cmd->fire)) {
/* 将拨弹电机角度进行循环加法，每次加(减)射出一颗弹丸的弧度变化 */
if (s_cmd->reverse_trig) { /* 反转拨弹 */
CircleAdd(&(s->setpoint.trig_angle), -M_2PI / s->param->num_trig_tooth,
CircleAdd(&(s->setpoint.trig_angle), M_2PI / s->param->num_trig_tooth,
M_2PI);
} else {
CircleAdd(&(s->setpoint.trig_angle), M_2PI / s->param->num_trig_tooth,
CircleAdd(&(s->setpoint.trig_angle), -M_2PI / s->param->num_trig_tooth,
M_2PI);
s->fire_ctrl.shooted++;
s->fire_ctrl.last_shoot = now;
@@ -291,7 +286,7 @@ int8_t Shoot_Control(Shoot_t *s, CMD_ShootCmd_t *s_cmd,
s->out[SHOOT_ACTR_TRIG_IDX] = LowPassFilter2p_Apply(
&(s->filter.out.trig), s->out[SHOOT_ACTR_TRIG_IDX]);
for (uint8_t i = 0; i < 3; i++) {
for (uint8_t i = 0; i < 2; i++) {
/* 控制摩擦轮 */
s->feedback.fric_rpm[i] = LowPassFilter2p_Apply(
&(s->filter.in.fric[i]), s->feedback.fric_rpm[i]);

112
User/module/shoot.h
View File

@@ -2,46 +2,45 @@
* 射击模组
*/
#pragma once
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include <cmsis_os2.h>
/* Includes ----------------------------------------------------------------- */
#include <cmsis_os2.h>
#include "component\cmd.h"
#include "component\filter.h"
#include "component\pid.h"
#include "device\can.h"
#include "device\referee.h"
/* Exported constants ------------------------------------------------------- */
#define SHOOT_OK (0) /* 运行正常 */
#define SHOOT_ERR (-1) /* 运行时发现了其他错误 */
#define SHOOT_ERR_NULL (-2) /* 运行时发现NULL指针 */
#define SHOOT_ERR_MODE (-3) /* 运行时配置了错误的CMD_ShootMode_t */
#include "component\cmd.h"
#include "component\filter.h"
#include "component\pid.h"
#include "device\can.h"
#include "device\referee.h"
/* Exported constants ------------------------------------------------------- */
#define SHOOT_OK (0) /* 运行正常 */
#define SHOOT_ERR (-1) /* 运行时发现了其他错误 */
#define SHOOT_ERR_NULL (-2) /* 运行时发现NULL指针 */
#define SHOOT_ERR_MODE (-3) /* 运行时配置了错误的CMD_ShootMode_t */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
/* 用enum组合所有PID，方便访问，配合数组使用 */
enum Shoot_Acuator_e {
/* 用enum组合所有PID，方便访问，配合数组使用 */
enum Shoot_Acuator_e {
SHOOT_ACTR_FRIC1_IDX = 0, /* 1号摩擦轮相关的索引值 */
SHOOT_ACTR_FRIC2_IDX, /* 2号摩擦轮相关的索引值 */
SHOOT_ACTR_FRIC3_IDX, /* 3号摩擦轮相关的索引值 */
SHOOT_ACTR_TRIG_IDX, /* 扳机电机相关的索引值 */
SHOOT_ACTR_NUM, /* 总共的动作器数量 */
};
};
/* 发射机构型号 */
typedef enum {
/* 发射机构型号 */
typedef enum {
SHOOT_MODEL_17MM = 0, /* 17mm发射机构 */
SHOOT_MODEL_42MM, /* 42mm发射机构 */
} Shoot_Model_t;
} Shoot_Model_t;
/* 射击参数的结构体，包含所有初始化用的参数，通常是const，存好几组。*/
typedef struct {
/* 射击参数的结构体，包含所有初始化用的参数，通常是const，存好几组。*/
typedef struct {
KPID_Params_t fric_pid_param; /* 摩擦轮电机控制PID的参数 */
KPID_Params_t trig_pid_param; /* 扳机电机控制PID的参数 */
/* 低通滤波器截止频率 */
@@ -67,9 +66,9 @@
Shoot_Model_t model; /* 发射机构型号 */
float bullet_speed; /* 弹丸初速度 */
uint32_t min_shoot_delay; /* 通过设置最小射击间隔来设置最大射频 */
} Shoot_Params_t;
} Shoot_Params_t;
typedef struct {
typedef struct {
float heat; /* 现在热量水平 */
float last_heat; /* 之前的热量水平 */
float heat_limit; /* 热量上限 */
@@ -79,9 +78,9 @@
float last_bullet_speed; /* 之前的弹丸速度 */
uint32_t available_shot; /* 热量范围内还可以发射的数量 */
} Shoot_HeatCtrl_t;
} Shoot_HeatCtrl_t;
typedef struct {
typedef struct {
uint32_t last_shoot; /* 上次射击时间 单位：ms */
bool last_fire; /* 上次开火状态 */
bool first_fire; /* 第一次收到开火指令 */
@@ -90,13 +89,13 @@
float bullet_speed; /* 弹丸初速度 */
uint32_t period_ms; /* 弹丸击发延迟 */
CMD_FireMode_t fire_mode;
} Shoot_FireCtrl_t;
} Shoot_FireCtrl_t;
/*
/*
* 运行的主结构体，所有这个文件里的函数都在操作这个结构体。
* 包含了初始化参数，中间变量，输出变量。
*/
typedef struct {
typedef struct {
uint32_t lask_wakeup;
float dt;
@@ -107,20 +106,20 @@
/* 反馈信息 */
struct {
float fric_rpm[3]; /* 摩擦轮电机转速，单位：RPM */
float fric_rpm[2]; /* 摩擦轮电机转速，单位：RPM */
float trig_motor_angle; /* 拨弹电机角度，单位：弧度 */
float trig_angle; /* 拨弹转盘角度，单位：弧度 */
} feedback;
/* PID计算的目标值 */
struct {
float fric_rpm[3]; /* 摩擦轮电机转速，单位：RPM */
float fric_rpm[2]; /* 摩擦轮电机转速，单位：RPM */
float trig_angle; /* 拨弹电机角度，单位：弧度 */
} setpoint;
/* 反馈控制用的PID */
struct {
KPID_t fric[3]; /* 控制摩擦轮 */
KPID_t fric[2]; /* 控制摩擦轮 */
KPID_t trig; /* 控制拨弹电机 */
} pid;
@@ -128,13 +127,13 @@
struct {
/* 反馈值滤波器 */
struct {
LowPassFilter2p_t fric[3]; /* 过滤摩擦轮 */
LowPassFilter2p_t fric[2]; /* 过滤摩擦轮 */
LowPassFilter2p_t trig; /* 过滤拨弹电机 */
} in;
/* 输出值滤波器 */
struct {
LowPassFilter2p_t fric[3]; /* 过滤摩擦轮 */
LowPassFilter2p_t fric[2]; /* 过滤摩擦轮 */
LowPassFilter2p_t trig; /* 过滤拨弹电机 */
} out;
} filter;
@@ -144,11 +143,11 @@
float out[SHOOT_ACTR_NUM]; /* 输出数组，通过Shoot_Acuator_e里的值访问 */
} Shoot_t;
} Shoot_t;
/* Exported functions prototypes -------------------------------------------- */
/* Exported functions prototypes -------------------------------------------- */
/**
/**
* \brief 初始化射击
*
* \param s 包含射击数据的结构体
@@ -157,9 +156,9 @@
*
* \return 函数运行结果
*/
int8_t Shoot_Init(Shoot_t *s, const Shoot_Params_t *param, float target_freq);
int8_t Shoot_Init(Shoot_t *s, const Shoot_Params_t *param, float target_freq);
/**
/**
* \brief 更新射击的反馈信息
*
* \param s 包含射击数据的结构体
@@ -167,9 +166,9 @@
*
* \return 函数运行结果
*/
int8_t Shoot_UpdateFeedback(Shoot_t *s, const CAN_t *can);
int8_t Shoot_UpdateFeedback(Shoot_t *s, const CAN_t *can);
/**
/**
* \brief 运行射击控制逻辑
*
* \param s 包含射击数据的结构体
@@ -179,33 +178,32 @@
*
* \return 函数运行结果
*/
int8_t Shoot_Control(Shoot_t *s, CMD_ShootCmd_t *s_cmd,
int8_t Shoot_Control(Shoot_t *s, CMD_ShootCmd_t *s_cmd,
Referee_ForShoot_t *s_ref, uint32_t now);
/**
/**
* \brief 复制射击输出值
*
* \param s 包含射击数据的结构体
* \param out CAN设备射击输出结构体
*/
void Shoot_DumpOutput(Shoot_t *s, CAN_ShootOutput_t *out);
void Shoot_DumpOutput(Shoot_t *s, CAN_ShootOutput_t *out);
/**
/**
* \brief 清空输出值
*
* \param output 要清空的结构体
*/
void Shoot_ResetOutput(CAN_ShootOutput_t *output);
void Shoot_ResetOutput(CAN_ShootOutput_t *output);
/**
/**
* @brief 导出射击UI数据
*
* @param s 射击结构体
* @param ui UI结构体
*/
void Shoot_DumpUI(Shoot_t *s, Referee_ShootUI_t *ui);
#ifdef __cplusplus
}
#endif
void Shoot_DumpUI(Shoot_t *s, Referee_ShootUI_t *ui);
#ifdef __cplusplus
}
#endif

11
User/task/ai.c
View File

@@ -42,6 +42,7 @@ void Task_Ai(void *argument) {
AI_Init(&ai);
uint32_t tick = osKernelGetTickCount();
uint32_t last_online_tick = tick;
while (1) {
#ifdef DEBUG
task_runtime.stack_water_mark.ai = osThreadGetStackSpace(osThreadGetId());
@@ -51,17 +52,23 @@ void Task_Ai(void *argument) {
AI_StartReceiving(&ai);
if (AI_WaitDmaCplt()) {
AI_ParseHost(&ai, &cmd_host);
AI_ParseHost(&ai);
last_online_tick = tick;
} else {
AI_HandleOffline(&ai, &cmd_host);
if (tick - last_online_tick > 300) AI_HandleOffline(&ai,&cmd_host);
}
if (ai.status != AI_STATUS_STOP && ai.ai_online){
AI_PackCmd(&ai, &cmd_host);
osMessageQueueReset(task_runtime.msgq.cmd.raw.host);
osMessageQueuePut(task_runtime.msgq.cmd.raw.host, &(cmd_host), 0, 0);
}
osMessageQueueGet(task_runtime.msgq.ai.quat, &(quat), NULL, 0);
osMessageQueueGet(task_runtime.msgq.cmd.ai, &(ai.status), NULL, 0);
bool ref_update = (osMessageQueueGet(task_runtime.msgq.referee.ai,
&(referee_ai), NULL, 0) == osOK);
AI_PackMCU(&ai, &quat);
if (ref_update) AI_PackRef(&ai, &(referee_ai));

27
User/task/can.c
View File

@@ -53,17 +53,13 @@ void Task_Can(void *argument) {
osMessageQueueReset(task_runtime.msgq.can.feedback.shoot);
osMessageQueuePut(task_runtime.msgq.can.feedback.shoot, &can, 0, 0);
//不注释掉不能用
// if (CAN_CheckFlag(&can, CAN_REC_CAP_FINISHED)) {
// osMessageQueueReset(task_runtime.msgq.can.feedback.cap);
// osMessageQueuePut(task_runtime.msgq.can.feedback.cap, &can, 0, 0);
// CAN_ClearFlag(&can, CAN_REC_CAP_FINISHED);
// } else {
// // Error Handle
// }
if (CAN_CheckFlag(&can, CAN_REC_CAP_FINISHED)) {
osMessageQueueReset(task_runtime.msgq.can.feedback.cap);
osMessageQueuePut(task_runtime.msgq.can.feedback.cap, &can, 0, 0);
CAN_ClearFlag(&can, CAN_REC_CAP_FINISHED);
} else {
// Error Handle
}
if (CAN_CheckFlag(&can, CAN_REC_TOF_FINISHED)) {
osMessageQueueReset(task_runtime.msgq.can.feedback.tof);
@@ -88,19 +84,10 @@ void Task_Can(void *argument) {
CAN_Motor_Control(CAN_MOTOR_GROUT_SHOOT1, &can_out, &can);
}
// if (osMessageQueueGet(task_runtime.msgq.can.output.cap, &(can_out.cap), 0,
// 0) == osOK) {
// 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);
}
CAN_Cap_Control(&(can_out.cap), &can);
}
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}
}

3
User/task/cap.c
View File

@@ -74,9 +74,6 @@ void Task_Cap(void *argument) {
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 */
Cap_Control(&can.cap, &referee_cap, &cap_out);
/* 超电参数设置 */
Cap_Can_Send(&cap_out);
osKernelUnlock();
/* 将电容输出值发送到CAN */
osMessageQueueReset(task_runtime.msgq.can.output.cap);