右头扫描加上了

MDK-ARM/DevC.uvoptx

@@ -417,6 +417,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>host</ItemText>
         </Ww>
+        <Ww>
+          <count>12</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>gimbal</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -1224,7 +1229,7 @@
 
   <Group>
     <GroupName>Middlewares/USB_Device_Library</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

MDK-ARM/DevC/DevC.build_log.htm

@@ -22,7 +22,7 @@ Dialog DLL:      TCM.DLL V1.48.0.0
  
 <h2>Project:</h2>
 C:\Users\lvzucheng\Documents\RMUL2025\MDK-ARM\DevC.uvprojx
-Project File Date:  03/09/2025
+Project File Date:  03/11/2025
 
 <h2>Output:</h2>
 *** Using Compiler 'V6.16', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
@@ -37,9 +37,70 @@ Note: source file '..\User\task\ai.c' - object file renamed from 'DevC\ai.o' to
 Note: source file '..\User\task\can.c' - object file renamed from 'DevC\can.o' to 'DevC\can_3.o'.
 Note: source file '..\User\task\cap.c' - object file renamed from 'DevC\cap.o' to 'DevC\cap_1.o'.
 Note: source file '..\User\task\referee.c' - object file renamed from 'DevC\referee.o' to 'DevC\referee_1.o'.
+compiling freertos.c...
+compiling stm32f4xx_it.c...
+compiling usb_device.c...
+compiling adc.c...
+compiling usbd_cdc_if.c...
+compiling buzzer.c...
+compiling can.c...
+compiling crc32.c...
+compiling delay.c...
+compiling flash.c...
+compiling fric.c...
+compiling gpio.c...
+compiling laser.c...
+compiling i2c.c...
+compiling led.c...
+compiling mm.c...
+compiling pwm.c...
+compiling rand.c...
+compiling servo.c...
+compiling spi.c...
+compiling uart.c...
+compiling usb.c...
+compiling ballistics.c...
+compiling capacity.c...
+compiling ahrs.c...
+compiling crc8.c...
+compiling crc16.c...
 compiling cmd.c...
+compiling error_detect.c...
+compiling limiter.c...
+compiling filter.c...
+compiling mixer.c...
+compiling pid.c...
+compiling user_math.c...
+compiling FreeRTOS_CLI.c...
+compiling ui.c...
+compiling bmi088.c...
+compiling can.c...
+compiling ist8310.c...
+compiling dr16.c...
+compiling referee.c...
+compiling cap.c...
+compiling ai.c...
+compiling chassis.c...
+compiling config.c...
+compiling gimbal.c...
+compiling shoot.c...
+compiling atti_esti.c...
+compiling ai.c...
+compiling can.c...
+compiling cap.c...
+compiling cli.c...
+compiling command.c...
+compiling ctrl_chassis.c...
+compiling ctrl_gimbal.c...
+compiling ctrl_shoot.c...
+compiling info.c...
+compiling init.c...
+compiling monitor.c...
+compiling rc.c...
+compiling referee.c...
+compiling user_task.c...
 linking...
-Program Size: Code=148744 RO-data=7272 RW-data=760 ZI-data=43824  
+Program Size: Code=149536 RO-data=7272 RW-data=760 ZI-data=43832  
 FromELF: creating hex file...
 "DevC\DevC.axf" - 0 Error(s), 0 Warning(s).
 
@@ -55,7 +116,7 @@ Package Vendor: Keil
   C:\Users\lvzucheng\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
 
 <h2>Collection of Component Files used:</h2>
-Build Time Elapsed:  00:00:02
+Build Time Elapsed:  00:00:12
 </pre>
 </body>
 </html>

Middlewares/Third_Party/Protocol/protocol.h

@@ -15,6 +15,7 @@ extern "C"
 #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)

User/component/cmd.c

@@ -259,12 +259,14 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec)
   case CMD_SW_UP:
     cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
     cmd->shoot.mode = SHOOT_MODE_SAFE;
+    cmd->fire = false;
     break;
 
   case CMD_SW_MID:
     cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
     cmd->shoot.fire = false;
     cmd->shoot.mode = SHOOT_MODE_LOADED;
+    cmd->fire = true;
     break;
 
   case CMD_SW_DOWN:
@@ -272,11 +274,13 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec)
     cmd->shoot.mode = SHOOT_MODE_LOADED;
     cmd->shoot.fire_mode = FIRE_MODE_SINGLE;
     cmd->shoot.fire = true;
+    cmd->fire = true;
     break;
 
   case CMD_SW_ERR:
     cmd->gimbal.mode = GIMBAL_MODE_RELAX;
     cmd->shoot.mode = SHOOT_MODE_RELAX;
+    cmd->fire = false;
   }
   /* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */
   if (cmd->ai_status == AI_STATUS_STOP || cmd->host_overwrite == false)
@@ -397,15 +401,17 @@ int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec)
   cmd->gimbal.delta_eulr.pit = host->gimbal_delta.pit;
 
   /* host射击命令，设置不同的射击频率和弹丸初速度 */
-  if (host->fire)
-  {
-    cmd->shoot.mode = SHOOT_MODE_LOADED;
-    cmd->shoot.fire = true;
-  }
-  else
-  {
-    cmd->shoot.mode = SHOOT_MODE_SAFE;
-  }
+  if(cmd->fire){
+    if (host->fire)
+    {
+      cmd->shoot.mode = SHOOT_MODE_LOADED;
+      cmd->shoot.fire = true;
+   }
+   else
+   {
+     cmd->shoot.mode = SHOOT_MODE_SAFE;
+   }
+  }  
   return 0;
 }
 

User/component/cmd.h

@@ -198,6 +198,7 @@ typedef struct {
 
 typedef struct {
   bool pc_ctrl;        /* 是否使用键鼠控制 */
+  bool fire;      /* 是否允许发弹 */ 
   bool host_overwrite; /* 是否Host控制 */
   uint16_t key_last;   /* 上次按键键值 */
 
@@ -253,6 +254,8 @@ typedef struct {
   } chassis_move_vec; /* 底盘移动向量 */
 
   bool fire; /* 开火状态 */
+  // bool search_armor; /* 寻找装甲板模式 */
+
 } CMD_Host_t;
 
 /**

User/component/user_math.c

@@ -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;

User/component/user_math.h

@@ -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);

User/device/ai.c

@@ -1,5 +1,5 @@
 /*
-  AI
+AI
 */
 
 /* Includes ----------------------------------------------------------------- */
@@ -50,7 +50,9 @@ int8_t AI_Init(AI_t *ai) {
                             Ai_RxCpltCallback);
   BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB,
                             Ai_IdleLineCallback);
-
+  
+  ai->search_velocity.yaw = 0.0015f;
+  ai->search_velocity.pit = 0.003f;
   inited = true;
   return 0;
 }
@@ -75,10 +77,10 @@ bool AI_WaitDmaCplt(void) {
 }
 
 int8_t AI_ParseHost(AI_t *ai) {
-  if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->form_host)))
+  if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->from_host)))
     goto error;
   ai->ai_online = true;
-  memcpy(&(ai->form_host), rxbuf, sizeof(ai->form_host));
+  memcpy(&(ai->from_host), rxbuf, sizeof(ai->from_host));
   memset(rxbuf, 0, AI_LEN_RX_BUFF);
   return DEVICE_OK;
 
@@ -88,20 +90,36 @@ error:
 }
 
 void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) {
-  cmd_host->gimbal_delta.yaw = ai->form_host.data.gimbal.yaw;
-  cmd_host->gimbal_delta.pit = ai->form_host.data.gimbal.pit;
-  cmd_host->fire = (ai->form_host.data.notice & AI_NOTICE_FIRE);
-  // cmd_host->fire = true;
-  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;
+  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;
+}
+
+void AI_SearchArmor(AI_t *ai, CMD_Host_t *cmd_host , AHRS_Eulr_t *gimbal_ai){
+  if (gimbal_ai->pit > 2.0){
+    ai->search_velocity.pit = fAbs(ai->search_velocity.pit);
+  } else if (gimbal_ai->pit < 1.4) {
+    ai->search_velocity.pit = -fAbs(ai->search_velocity.pit);
+  }
+  
+  if (gimbal_ai->yaw > 4.6 && gimbal_ai->yaw < 4.9) {
+    ai->search_velocity.yaw = -fAbs(ai->search_velocity.yaw);
+  } else if (gimbal_ai->yaw > 2.4 && gimbal_ai->yaw < 2.7) {
+    ai->search_velocity.yaw = fAbs(ai->search_velocity.yaw);
+  }
+
+  cmd_host->gimbal_delta.yaw = ai->search_velocity.yaw;
+  cmd_host->gimbal_delta.pit = ai->search_velocity.pit;
 }
 
 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->form_host), 0, sizeof(ai->form_host));
+  memset(&(ai->from_host), 0, sizeof(ai->from_host));
   memset(cmd_host, 0, sizeof(*cmd_host));
   return 0;
 }
@@ -152,3 +170,4 @@ int8_t AI_StartSend(AI_t *ai, bool ref_update) {
       return DEVICE_ERR;
   }
 }
+

User/device/ai.h

@@ -35,11 +35,17 @@ typedef struct __packed {
   Protocol_UpPackageMCU_t package;
 } AI_UpPackageMCU_t;
 
+typedef struct {
+  float yaw;
+  float pit;
+} AI_SearchVelocity_t;
+
 typedef struct __packed {
   osThreadId_t thread_alert;
 
-  Protocol_DownPackage_t form_host;
+  Protocol_DownPackage_t from_host;
 
+  AI_SearchVelocity_t search_velocity;
   struct {
     AI_UpPackageReferee_t ref;
     AI_UpPackageMCU_t mcu;
@@ -61,6 +67,10 @@ int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat, const AHRS_Eulr_t *gi
 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);
+void AI_SearchArmor(AI_t *ai, CMD_Host_t *cmd_host , AHRS_Eulr_t *gimbal_ai);
 #ifdef __cplusplus
 }
 #endif
+
+
+

User/module/gimbal.c

@@ -152,6 +152,14 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
   Clip(&(g_cmd->delta_eulr.pit), delta_min, delta_max);
   g->setpoint.eulr.pit += g_cmd->delta_eulr.pit;
 
+  /* 限制yaw转动范围（待优化） */
+  if (g->setpoint.eulr.yaw > 4.5f && g->setpoint.eulr.yaw < 4.7f) {
+    g->setpoint.eulr.yaw = 4.7f;
+} else if (g->setpoint.eulr.yaw > 2.6f && g->setpoint.eulr.yaw < 2.7f) {
+    g->setpoint.eulr.yaw = 2.6f;
+}
+
+
   /* 重置输入指令，防止重复处理 */
   AHRS_ResetEulr(&(g_cmd->delta_eulr));
 

User/task/ai.c

@@ -62,6 +62,9 @@ void Task_Ai(void *argument) {
 
     if (ai.status != AI_STATUS_STOP && ai.ai_online){
       AI_PackCmd(&ai, &cmd_host);
+      if (ai.from_host.data.notice & AI_NOTICE_SEARCH_ARMOR) {
+        AI_SearchArmor(&ai, &cmd_host, &gimbal_ai);
+      }
       osMessageQueueReset(task_runtime.msgq.cmd.raw.host);
       osMessageQueuePut(task_runtime.msgq.cmd.raw.host, &(cmd_host), 0, 0);
     }