射速5350

MDK-ARM/DevC.uvoptx

@@ -324,6 +324,11 @@
         <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($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+        </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>ARMRTXEVENTFLAGS</Key>
@@ -347,7 +352,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$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>
           <Number>0</Number>
@@ -360,7 +365,7 @@
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>chassis</ItemText>
+          <ItemText>param_default</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
@@ -370,47 +375,47 @@
         <Ww>
           <count>2</count>
           <WinNumber>1</WinNumber>
-          <ItemText>gimbal_out</ItemText>
+          <ItemText>shoot</ItemText>
         </Ww>
         <Ww>
           <count>3</count>
           <WinNumber>1</WinNumber>
-          <ItemText>for_chassis</ItemText>
+          <ItemText>param_hero</ItemText>
         </Ww>
         <Ww>
           <count>4</count>
           <WinNumber>1</WinNumber>
-          <ItemText>task_runtime</ItemText>
+          <ItemText>ref</ItemText>
         </Ww>
         <Ww>
           <count>5</count>
           <WinNumber>1</WinNumber>
-          <ItemText>ref</ItemText>
+          <ItemText>for_chassis</ItemText>
         </Ww>
         <Ww>
           <count>6</count>
           <WinNumber>1</WinNumber>
-          <ItemText>for_chassis</ItemText>
+          <ItemText>cap_out,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>7</count>
           <WinNumber>1</WinNumber>
-          <ItemText>for_cap</ItemText>
+          <ItemText>pm01_od,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>8</count>
           <WinNumber>1</WinNumber>
-          <ItemText>ref</ItemText>
+          <ItemText>cap,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>9</count>
           <WinNumber>1</WinNumber>
-          <ItemText>param_default</ItemText>
+          <ItemText>gimbal</ItemText>
         </Ww>
         <Ww>
           <count>10</count>
           <WinNumber>1</WinNumber>
-          <ItemText>shoot</ItemText>
+          <ItemText>cmd</ItemText>
         </Ww>
       </WatchWindow1>
       <MemoryWindow4>
@@ -1283,7 +1288,7 @@
 
   <Group>
     <GroupName>User/bsp</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1507,7 +1512,7 @@
 
   <Group>
     <GroupName>User/component</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

MDK-ARM/DevC.uvprojx

@@ -16,8 +16,8 @@
         <TargetCommonOption>
           <Device>STM32F407IGHx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
+          <PackID>Keil.STM32F4xx_DFP.2.17.1</PackID>
-          <PackURL>http://www.keil.com/pack/</PackURL>
+          <PackURL>https://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000-0x2001FFFF) IRAM2(0x10000000-0x1000FFFF) IROM(0x8000000-0x80FFFFF)  CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4")</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile></StartupFile>
@@ -1732,8 +1732,8 @@
         <TargetCommonOption>
           <Device>STM32F407IGHx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
+          <PackID>Keil.STM32F4xx_DFP.2.17.1</PackID>
-          <PackURL>http://www.keil.com/pack/</PackURL>
+          <PackURL>https://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000-0x2001FFFF) IRAM2(0x10000000-0x1000FFFF) IROM(0x8000000-0x80FFFFF)  CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4")</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile></StartupFile>

Middlewares/Third_Party/Protocol/protocol.h

@@ -7,15 +7,13 @@
 #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)
@@ -26,64 +24,60 @@ extern "C"
 typedef uint8_t Protocol_ID_t;
 
 /* 电控 -> 视觉 MCU数据结构体*/
-  typedef struct __attribute__((packed))
+typedef struct __attribute__((packed)) {
-  {
+  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 */
+
+  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))
+typedef struct __attribute__((packed)) {
-  {
   uint16_t team; /* 本身队伍 */
   uint16_t time; /* 比赛开始时间 */
 } Protocol_UpDataReferee_t;
 
 /* 视觉 -> 电控 数据结构体*/
-  typedef struct __attribute__((packed))
+typedef struct __attribute__((packed)) {
-  {
+  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 */
 
-    struct __attribute__((packed))
+  uint8_t notice; /* 控制命令 */
-    {
+
+  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 */
-    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;
 
-  typedef struct __attribute__((packed))
+typedef struct __attribute__((packed)) {
-  {
   Protocol_UpDataReferee_t data;
   uint16_t crc16;
 } Protocol_UpPackageReferee_t;
 
-  typedef struct __attribute__((packed))
+typedef struct __attribute__((packed)) {
-  {
   Protocol_DownData_t data;
   uint16_t crc16;
 } Protocol_DownPackage_t;

User/component/cmd.c

@@ -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_35;
+    cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
   }
   /* 保存当前按下的键位状态 */
   cmd->key_last = rc->key;
@@ -250,7 +250,7 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
   cmd->chassis.ctrl_vec.vx = rc->ch_l_x;
   cmd->chassis.ctrl_vec.vy = rc->ch_l_y;
   cmd->gimbal.delta_eulr.yaw = rc->ch_r_x * dt_sec * cmd->param->sens_rc;
-  cmd->gimbal.delta_eulr.pit = rc->ch_r_y * dt_sec * cmd->param->sens_rc;
+  cmd->gimbal.delta_eulr.pit = -rc->ch_r_y * dt_sec * cmd->param->sens_rc;
 }
 
 /**

User/component/user_math.c

@@ -27,10 +27,6 @@ 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;
@@ -111,22 +107,9 @@ inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
   } else {
     if (bullet_speed == 10.0f) return 4450.f;
     if (bullet_speed == 16.0f) return 5800.f;
+    if (bullet_speed == 15.0f) return 5350.f;
   }
 
   /* 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();
-  }
-}

User/component/user_math.h

@@ -51,8 +51,6 @@ 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);
@@ -106,53 +104,3 @@ 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);

User/device/ai.c

@@ -12,45 +12,31 @@ AI
 #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 uint8_t rxbuf[AI_LEN_RX_BUFF];
+static osThreadId_t thread_alert;
 
 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) {
-  UNUSED(ai);
+  if (ai == NULL) return DEVICE_ERR_NULL;
-  ASSERT(ai);
   if (inited) return DEVICE_ERR_INITED;
-  VERIFY((thread_alert = osThreadGetId()) != NULL);
+  if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_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;
 }
@@ -62,9 +48,9 @@ int8_t AI_Restart(void) {
 }
 
 int8_t AI_StartReceiving(AI_t *ai) {
-  UNUSED(ai);
+  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI),
-  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI), rxbuf,
+                           (uint8_t *)&(ai->form_host),
-                           AI_LEN_RX_BUFF) == HAL_OK)
+                           sizeof(ai->form_host)) == HAL_OK)
     return DEVICE_OK;
   return DEVICE_ERR;
 }
@@ -74,12 +60,17 @@ bool AI_WaitDmaCplt(void) {
           SIGNAL_AI_RAW_REDY);
 }
 
-int8_t AI_ParseHost(AI_t *ai) {
+int8_t AI_ParseHost(AI_t *ai, CMD_Host_t *cmd_host) {
-  if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->from_host)))
+  (void)cmd_host;
+  if (!CRC16_Verify((const uint8_t *)&(ai->form_host), sizeof(ai->form_host)))
     goto error;
-  ai->ai_online = true;
+  cmd_host->gimbal_delta.pit = ai->form_host.data.gimbal.pit;
-  memcpy(&(ai->from_host), rxbuf, sizeof(ai->from_host));
+  cmd_host->gimbal_delta.yaw = ai->form_host.data.gimbal.yaw;
-  memset(rxbuf, 0, AI_LEN_RX_BUFF);
+  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;
   return DEVICE_OK;
 
 error:
@@ -87,20 +78,11 @@ 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;
-  ai->ai_online = false;
+
-  memset(&(ai->from_host), 0, sizeof(ai->from_host));
+  memset(&(ai->form_host), 0, sizeof(ai->form_host));
   memset(cmd_host, 0, sizeof(*cmd_host));
   return 0;
 }
@@ -149,4 +131,3 @@ int8_t AI_StartSend(AI_t *ai, bool ref_update) {
       return DEVICE_ERR;
   }
 }
-

User/device/ai.h

@@ -16,7 +16,6 @@ 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"
@@ -38,7 +37,7 @@ typedef struct __packed {
 typedef struct __packed {
   osThreadId_t thread_alert;
 
-  Protocol_DownPackage_t from_host;
+  Protocol_DownPackage_t form_host;
 
   struct {
     AI_UpPackageReferee_t ref;
@@ -46,7 +45,6 @@ typedef struct __packed {
   } to_host;
 
   CMD_AI_Status_t status;
-  bool ai_online;
 } AI_t;
 
 /* Exported functions prototypes -------------------------------------------- */
@@ -55,15 +53,11 @@ int8_t AI_Restart(void);
 
 int8_t AI_StartReceiving(AI_t *ai);
 bool AI_WaitDmaCplt(void);
-int8_t AI_ParseHost(AI_t *ai);
+int8_t AI_ParseHost(AI_t *ai, CMD_Host_t *cmd_host);
 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
-
-
-

User/device/can.c

@@ -68,7 +68,8 @@ static bool inited = false;
 
 /* 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]);
 
@@ -79,36 +80,44 @@ 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) {
+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 (can == NULL)
-  if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_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);
 
@@ -150,13 +159,16 @@ 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) {
+                         CAN_t *can)
-  if (output == NULL) return DEVICE_ERR_NULL;
+{
+  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, trig_motor;
+  int16_t fric1_motor, fric2_motor, fric3_motor, trig_motor;
-  switch (group) {
+  switch (group)
+  {
   case CAN_MOTOR_GROUT_CHASSIS:
     motor1 =
         (int16_t)(output->chassis.named.m1 * (float)CAN_M3508_MAX_ABS_LSB);
@@ -205,7 +217,10 @@ 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),
+    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),
                          &raw_tx.tx_header, raw_tx.tx_data,
                          &(can->mailbox.gimbal));
     // HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->shoot),
@@ -219,6 +234,8 @@ 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);
 
@@ -231,14 +248,17 @@ 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)((trig_motor >> 8) & 0xFF);
+    raw_tx.tx_data[4] = (uint8_t)((fric3_motor >> 8) & 0xFF);
-      raw_tx.tx_data[5] = (uint8_t)(trig_motor & 0xFF);
+    raw_tx.tx_data[5] = (uint8_t)(fric3_motor & 0xFF);
-      raw_tx.tx_data[6] = 0;
+    raw_tx.tx_data[6] = (uint8_t)((trig_motor >> 8) & 0xFF);
-      raw_tx.tx_data[7] = 0;
+    raw_tx.tx_data[7] = (uint8_t)(trig_motor & 0xFF);
 
     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:
@@ -247,12 +267,16 @@ 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) {
+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;
+  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:
@@ -264,12 +288,12 @@ 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;
@@ -290,18 +314,23 @@ int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx) {
   return DEVICE_OK;
 }
 
-bool CAN_CheckFlag(CAN_t *can, uint32_t flag) {
+bool CAN_CheckFlag(CAN_t *can, uint32_t flag)
-  if (can == NULL) return false;
+{
+  if (can == NULL)
+    return false;
   return (can->recive_flag & flag) == flag;
 }
 
-int8_t CAN_ClearFlag(CAN_t *can, uint32_t flag) {
+int8_t CAN_ClearFlag(CAN_t *can, uint32_t flag)
-  if (can == NULL) return DEVICE_ERR_NULL;
+{
+  if (can == NULL)
+    return DEVICE_ERR_NULL;
   can->recive_flag &= ~flag;
   return DEVICE_OK;
 }
 
-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);
@@ -320,7 +349,8 @@ int8_t CAN_Cap_Control(CAN_CapOutput_t *output, CAN_t *can) {
 }
 
 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;
 }

User/device/can.h

@@ -22,9 +22,10 @@ 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_TRIG_RECV (1 << 8)
+#define CAN_MOTOR_SHOOT_FRIC3_RECV (1 << 8)
-#define CAN_MOTOR_CAP_RECV (1 << 9)
+#define CAN_MOTOR_SHOOT_TRIG_RECV (1 << 9)
-#define CAN_TOF_RECV (1 << 10)
+#define CAN_MOTOR_CAP_RECV (1 << 10)
+#define CAN_TOF_RECV (1 << 11)
 
 #define CAN_REC_CHASSIS_FINISHED                         \
   (CAN_MOTOR_CHASSIS_1_RECV | CAN_MOTOR_CHASSIS_2_RECV | \
@@ -33,7 +34,7 @@ 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_TRIG_RECV)
+   CAN_MOTOR_SHOOT_FRIC3_RECV |CAN_MOTOR_SHOOT_TRIG_RECV)
 #define CAN_REC_CAP_FINISHED CAN_MOTOR_CAP_RECV
 #define CAN_REC_TOF_FINISHED CAN_TOF_RECV
 
@@ -72,16 +73,23 @@ typedef enum {
 
   CAN_M3508_FRIC1_ID = 0x205, /* 5 */
   CAN_M3508_FRIC2_ID = 0x206, /* 6 */
-  CAN_M2006_TRIG_ID = 0x207,  /* 7 */
+  CAN_M3508_FRIC3_ID = 0x207, /* 7 */
+  CAN_M2006_TRIG_ID = 0x208,  /* 8 */
 
   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;
-  BSP_CAN_t gimbal;
+  Gimbal_CAN_t gimbal;
   BSP_CAN_t shoot;
+  BSP_CAN_t trig;
   BSP_CAN_t cap;
 } CAN_Params_t;
 
@@ -110,6 +118,7 @@ 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,
 };
@@ -147,6 +156,7 @@ typedef union {
   struct {
     float fric1;
     float fric2;
+    float fric3;
     float trig;
   } named;
 } CAN_ShootOutput_t;
@@ -200,6 +210,7 @@ typedef union {
   struct {
     CAN_MotorFeedback_t fric1;
     CAN_MotorFeedback_t fric2;
+    CAN_MotorFeedback_t fric3;
     CAN_MotorFeedback_t trig;
   } named;
 } CAN_ShootMotor_t;

User/device/referee.c

@@ -116,23 +116,27 @@ 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);
-  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 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);
@@ -143,6 +147,7 @@ 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);
@@ -156,25 +161,10 @@ 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);
@@ -199,10 +189,6 @@ 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);
@@ -223,26 +209,71 @@ 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);
+        origin = &(ref->custom_robot_data);
-        size = sizeof(ref->custom);
+        size = sizeof(ref->custom_robot_data);
+        break;
       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;
     }
-    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;
     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
@@ -272,8 +303,12 @@ 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;
-  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:
         header->sender_ID = REF_BOT_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;
         break;
       default:
-        return -1;
+        return -1; // 无效的发送者ID
     }
-  else
+  } else {
     switch (sender_id) {
       case 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;
         break;
       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) {

User/device/referee.h

@@ -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 50.0f /* 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 ----------------------------------------------------------- */
 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_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;
 
 typedef struct __packed {
@@ -69,19 +78,18 @@ typedef struct __packed {
   uint8_t game_progress : 4;
   uint16_t stage_remain_time;
   uint64_t sync_time_stamp;
-} Referee_GameStatus_t;
+} Referee_GameStatus_t;/* 0x0001 */
 
 typedef struct __packed {
   uint8_t winner;
-} Referee_GameResult_t;
+} Referee_GameResult_t;/* 0x0002 */
 
 typedef struct __packed {
   uint16_t red_1;
   uint16_t red_2;
   uint16_t red_3;
   uint16_t red_4;
-  uint16_t red_5;
+  uint16_t reserved; 
-  uint16_t red_6;
   uint16_t red_7;
   uint16_t red_outpose;
   uint16_t red_base;
@@ -89,12 +97,11 @@ typedef struct __packed {
   uint16_t blue_2;
   uint16_t blue_3;
   uint16_t blue_4;
-  uint16_t blue_5;
+  uint16_t reserved1;
-  uint16_t blue_6;
   uint16_t blue_7;
   uint16_t blue_outpose;
   uint16_t blue_base;
-} Referee_GameRobotHP_t;
+} Referee_GameRobotHP_t;/* 0x0003 */
 
 typedef struct __packed {
   uint8_t dart_belong;
@@ -121,51 +128,44 @@ typedef struct __packed {
 } Referee_ICRAZoneStatus_t;
 
 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 {
   uint8_t supply_id;
   uint8_t robot_id;
   uint8_t supply_step;
   uint8_t supply_sum;
-} Referee_SupplyAction_t;
+} Referee_SupplyAction_t;/* 0x0102 */
 
 typedef struct __packed {
   uint8_t place_holder; /* TODO */
-} Referee_RequestSupply_t;
+} Referee_RequestSupply_t;/* 0x0103 */
 
 typedef struct __packed {
   uint8_t level;
   uint8_t robot_id;
-} Referee_Warning_t;
+  uint8_t count;
+} Referee_Warning_t;/* 0x0104 */
 
 typedef struct __packed {
   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 {
   uint8_t robot_id;
@@ -188,22 +188,15 @@ typedef struct __packed {
   uint16_t shoot_id1_17_heat;
   uint16_t shoot_id2_17_heat;
   uint16_t shoot_42_heat;
-} Referee_PowerHeat_t;
+} Referee_PowerHeat_t;   /* 0x0202 */
 
 typedef struct __packed {
   float x;
   float y;
   float z;
   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 {
   uint8_t healing_buff;
@@ -211,16 +204,17 @@ typedef struct __packed {
   uint8_t defense_buff;
   uint8_t vulnerability_buff;
   uint16_t attack_buff;
-} Referee_RobotBuff_t;
+  uint8_t remaining_energy;
+} Referee_RobotBuff_t;    /* 0x0204 */
 
 typedef struct __packed {
   uint8_t attack_countdown;
-} Referee_DroneEnergy_t;
+} Referee_DroneEnergy_t;  /* 0x0205 *///删
 
 typedef struct __packed {
   uint8_t armor_id : 4;
   uint8_t damage_type : 4;
-} Referee_RobotDamage_t;
+} Referee_RobotDamage_t;  /* 0x0206 */
 
 typedef struct __packed {
   uint8_t bullet_type;
@@ -233,38 +227,106 @@ typedef struct __packed {
   uint16_t bullet_17_remain;
   uint16_t bullet_42_remain;
   uint16_t coin_remain;
-} Referee_BulletRemain_t;
+} Referee_BulletRemain_t;/* 0x0208 */
 
 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 {
-  uint8_t opening;
+  uint8_t opening_status;
   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;
-} 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 {
   float position_x;
   float position_y;
-  float position_z;
   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 {
   int16_t mouse_x;
@@ -274,10 +336,74 @@ typedef struct __packed {
   int8_t button_r;
   uint16_t keyboard_value;
   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 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,
@@ -286,7 +412,10 @@ 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,
@@ -294,9 +423,27 @@ 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,
-} 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 {
   REF_CL_RED_HERO = 0x0101,
   REF_CL_RED_ENGINEER = 0x0102,
@@ -310,8 +457,20 @@ typedef enum {
   REF_CL_BLU_INFANTRY_2 = 0x0168,
   REF_CL_BLU_INFANTRY_3 = 0x0169,
   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 {
   REF_STDNT_CMD_ID_UI_DEL = 0x0100,
   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_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 {
@@ -336,29 +496,40 @@ typedef struct __packed {
 
 typedef struct {
   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_slow_timer_id;

User/module/config.c

@@ -188,19 +188,25 @@ static const Config_RobotParam_t param_default = {
     .cover_open_duty = 0.10f,
     .cover_close_duty = 0.050f,
     .model = SHOOT_MODEL_17MM,
-    .bullet_speed = 25.f,
+    .bullet_speed = 30.f,
     .min_shoot_delay = (uint32_t)(1000.0f / 10.0f),
   }, /* shoot */
 
   .can = {
     .chassis = BSP_CAN_1,
-    .gimbal = BSP_CAN_2,
+    .gimbal.yaw = BSP_CAN_2,
+    .gimbal.pitch = 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 */
@@ -234,7 +240,7 @@ static const Config_RobotParam_t param_hero = {
     },
 		
 		.reverse = {
-			.yaw = true,
+			.yaw = false,
 		},
   }, /* chassis */
 
@@ -242,28 +248,28 @@ static const Config_RobotParam_t param_hero = {
     .pid = {
       {
         /* GIMBAL_PID_YAW_OMEGA_IDX */
-        .k = 0.45f,
+        .k = 0.4f,
         .p = 1.0f,
-        .i = 6.0f,
+        .i = 0.5f,
-        .d = 0.0008f,
+        .d = 0.0f,
         .i_limit = 1.0f,
         .out_limit = 1.0f,
         .d_cutoff_freq = -1.0f,
         .range = -1.0f,
       }, {
         /* GIMBAL_PID_YAW_ANGLE_IDX */
-        .k = 20.0f,
+        .k = 10.0f,
         .p = 1.0f,
         .i = 0.0f,
-        .d = 0.0f,
+        .d = 0.05f,
         .i_limit = 0.0f,
         .out_limit = 10.0f,
         .d_cutoff_freq = -1.0f,
         .range = M_2PI,
       }, {
         /* GIMBAL_PID_PIT_OMEGA_IDX */
-        .k = 0.25f,
+        .k = 2.0f,
-        .p = 1.0f,
+        .p = 0.8f,
         .i = 0.0f,
         .d = 0.0f,
         .i_limit = 1.0f,
@@ -272,9 +278,9 @@ static const Config_RobotParam_t param_hero = {
         .range = -1.0f,
       }, {
         /* GIMBAL_PID_PIT_ANGLE_IDX */
-        .k = 12.0f,
+        .k = 4.0f,
-        .p = 1.0f,
+        .p = 6.0f,
-        .i = 0.0f,
+        .i = 1.0f,
         .d = 0.0f,
         .i_limit = 0.0f,
         .out_limit = 10.0f,
@@ -283,7 +289,7 @@ static const Config_RobotParam_t param_hero = {
       },
     }, /* pid */
 
-		.pitch_travel_rad = 1.07685447f,
+		.pitch_travel_rad = 0.9685447f,
     
     .low_pass_cutoff_freq = {
       .out = -1.0f,
@@ -291,8 +297,8 @@ static const Config_RobotParam_t param_hero = {
     },
 
     .reverse = {
-      .yaw = true,
+      .yaw = false,
-      .pit = true,
+      .pit = false,
     },
   }, /* gimbal */
 
@@ -309,7 +315,7 @@ static const Config_RobotParam_t param_hero = {
     },
     .trig_pid_param = {
       .k = 10.0f,
-      .p = 1.0f,
+      .p = 0.95f,
       .i = 0.0f,
       .d = 0.032f,
       .i_limit = 1.0f,
@@ -327,8 +333,8 @@ static const Config_RobotParam_t param_hero = {
         .trig = -1.0f,
       },
     },
-    .num_trig_tooth = 6.0f,
+    .num_trig_tooth = 5.0f,
-    .trig_gear_ratio = 3591.0f / 187.0f,
+    .trig_gear_ratio = 19.0f,
     .fric_radius = 0.03f,
     .cover_open_duty = 0.125f,
     .cover_close_duty = 0.075f,
@@ -339,8 +345,10 @@ static const Config_RobotParam_t param_hero = {
 
   .can = {
     .chassis = BSP_CAN_1,
-    .gimbal = BSP_CAN_2,
+    .gimbal.yaw = BSP_CAN_1,
+    .gimbal.pitch = BSP_CAN_2,
     .shoot = BSP_CAN_2,
+    .trig = BSP_CAN_1,
     .cap = BSP_CAN_1,
     }, /* can */
 }; /* param_hero */      
@@ -349,8 +357,8 @@ static const Config_RobotParam_t param_hero = {
 
 static const Config_PilotCfg_t cfg_qs = {
   .param = {
-		.sens_mouse = 0.06f,
+		.sens_mouse = 0.01f,
-		.sens_rc = 6.0f,
+		.sens_rc = 4.0f,
     .map = {
       .key_map[CMD_BEHAVIOR_FORE] = {CMD_ACTIVE_PRESSED, CMD_KEY_W},
       .key_map[CMD_BEHAVIOR_BACK] = {CMD_ACTIVE_PRESSED, CMD_KEY_S},
@@ -430,17 +438,21 @@ 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->robot_param == NULL)
-  if (cfg->pilot_cfg == NULL) cfg->pilot_cfg = &cfg_qs;
+    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;
 }
 
 /**
@@ -448,7 +460,8 @@ 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));
@@ -461,10 +474,14 @@ 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) {
+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 (robot_param_name == NULL)
-    if (strcmp(robot_param_map[j].name, robot_param_name) == 0) {
+    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;
     }
   }
@@ -477,20 +494,26 @@ 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) {
+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 (pilot_cfg_name == NULL)
-    if (strcmp(pilot_cfg_map[j].name, pilot_cfg_name) == 0) {
+    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;
 }

User/module/shoot.c

@@ -14,8 +14,8 @@
 #define HEAT_INCREASE_42MM (100.f) /* 每发射一颗42mm弹丸增加100热量 */
 #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_42MM (15.0)
-#define BULLET_SPEED_LIMIT_17MM (25.0)
+#define BULLET_SPEED_LIMIT_17MM (30.0)
 
 /* 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 < 2; i++) {
+  for (uint8_t i = 0; i < 3; 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) - 2;
+          (uint32_t)floorf((hc->heat_limit - hc->heat) / hc->heat_increase);
       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 < 2; i++) {
+  for (uint8_t i = 0; i < 3; 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 < 2; i++) {
+  for (uint8_t i = 0; i < 3; i++) {
     s->feedback.fric_rpm[i] = can->motor.shoot.as_array[i].rotor_speed;
   }
 
@@ -222,11 +222,10 @@ int8_t Shoot_Control(Shoot_t *s, CMD_ShootCmd_t *s_cmd,
       }
       break;
     }
-    case FIRE_MODE_CONT: { /* Recy模式 */
+    case FIRE_MODE_CONT: { /* 持续开火模式 */
-      // float shoot_freq = HeatLimit_ShootFreq(
+      float shoot_freq = HeatLimit_ShootFreq(
-      //     s->heat_ctrl.heat, s->heat_ctrl.heat_limit, s->heat_ctrl.cooling_rate,
+          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);
+          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;
@@ -246,20 +245,26 @@ 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] =
+  // s->setpoint.fric_rpm[1] =
-      CalculateRpm(s->fire_ctrl.bullet_speed, s->param->fric_radius,
+  //     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->param->model == SHOOT_MODEL_17MM));
-  s->setpoint.fric_rpm[0] = -s->setpoint.fric_rpm[1];
+  s->setpoint.fric_rpm[0] = -fric_rpm;
+  s->setpoint.fric_rpm[1] = fric_rpm;
+  s->setpoint.fric_rpm[2] = -fric_rpm;
 
   /* 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;
@@ -286,7 +291,7 @@ 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 < 2; i++) {
+      for (uint8_t i = 0; i < 3; i++) {
         /* 控制摩擦轮 */
         s->feedback.fric_rpm[i] = LowPassFilter2p_Apply(
             &(s->filter.in.fric[i]), s->feedback.fric_rpm[i]);

User/module/shoot.h

@@ -29,6 +29,7 @@ extern "C" {
  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 */
  };
@@ -106,20 +107,20 @@ typedef struct {
  
    /* 反馈信息 */
    struct {
-    float fric_rpm[2];      /* 摩擦轮电机转速，单位：RPM */
+     float fric_rpm[3];      /* 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[2]; /* 摩擦轮电机转速，单位：RPM */
+     float fric_rpm[3]; /* 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[2]; /* 控制摩擦轮 */
+     KPID_t fric[3]; /* 控制摩擦轮 */
      KPID_t trig;    /* 控制拨弹电机 */
    } pid;
  
@@ -127,13 +128,13 @@ typedef struct {
    struct {
      /* 反馈值滤波器 */
      struct {
-      LowPassFilter2p_t fric[2]; /* 过滤摩擦轮 */
+       LowPassFilter2p_t fric[3]; /* 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[2]; /* 过滤摩擦轮 */
+       LowPassFilter2p_t fric[3]; /* 过滤摩擦轮 */
        LowPassFilter2p_t trig;    /* 过滤拨弹电机 */
      } out;
    } filter;
@@ -207,3 +208,4 @@ void Shoot_DumpUI(Shoot_t *s, Referee_ShootUI_t *ui);
  #ifdef __cplusplus
  }
  #endif
+ 

User/task/ai.c

@@ -42,7 +42,6 @@ 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());
@@ -52,23 +51,17 @@ void Task_Ai(void *argument) {
 
     AI_StartReceiving(&ai);
     if (AI_WaitDmaCplt()) {
-      AI_ParseHost(&ai);
+      AI_ParseHost(&ai, &cmd_host);
-      last_online_tick = tick;
     } else {
-      if (tick - last_online_tick > 300) AI_HandleOffline(&ai,&cmd_host);
+      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));