小自瞄

.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "files.associations": {
+        "user_math.h": "c"
+    }
+}

MDK-ARM/DevC.uvoptx

@@ -407,6 +407,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>rc</ItemText>
         </Ww>
+        <Ww>
+          <count>10</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cmd_host</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -658,7 +663,7 @@
 
   <Group>
     <GroupName>Application/User/USB_DEVICE/App</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1214,7 +1219,7 @@
 
   <Group>
     <GroupName>Middlewares/USB_Device_Library</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1494,7 +1499,7 @@
 
   <Group>
     <GroupName>User/component</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1670,7 +1675,7 @@
 
   <Group>
     <GroupName>User/device</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1750,7 +1755,7 @@
 
   <Group>
     <GroupName>User/module</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

Middlewares/Third_Party/Protocol/protocol.h

@@ -14,6 +14,7 @@ extern "C" {
 #define AI_NOTICE_HITBUFF (1 << 1)
 #define AI_NOTICE_AUTOMATIC (1 << 2)
 #define AI_NOTICE_FIRE (1 << 3)
+#define AI_NOTICE_TRACKING (1 << 4)
 
 #define AI_ID_MCU (0xC4)
 #define AI_ID_REF (0xA8)
@@ -53,13 +54,14 @@ typedef 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 */
 
-  float distance; /* 距离 */
+  float distance; /*目标距离*/
   uint8_t notice; /* 控制命令 */
 
   struct __attribute__((packed)) {

User/component/ballistics.c

@@ -10,3 +10,4 @@ void Ballistics_Apply(Ballistics_t *b, float bullet_speed) {
   (void)bullet_speed;
 }
 void Ballistics_Reset(Ballistics_t *b) { (void)b; }
+

User/component/cmd.c

@@ -192,12 +192,14 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
       cmd->chassis.mode = CHASSIS_MODE_BREAK;
       cmd->host_overwrite = false;
       cmd->shoot.ai_fire = false;
+      cmd->ai_status = AI_STATUS_STOP;
       break;
 
     case CMD_SW_MID:
       cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
       cmd->host_overwrite = true;
       cmd->shoot.ai_fire = false;
+      cmd->ai_status = AI_STATUS_AUTOMATIC;
       break;
 
     case CMD_SW_DOWN:
@@ -205,12 +207,14 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
       cmd->chassis.mode_rotor = ROTOR_MODE_CW;
       cmd->host_overwrite = true;
       cmd->shoot.ai_fire = true;
+      cmd->ai_status = AI_STATUS_AUTOMATIC;
       break;
 
     case CMD_SW_ERR:
       cmd->chassis.mode = CHASSIS_MODE_RELAX;
       cmd->host_overwrite = false;
       cmd->shoot.ai_fire = false;
+      cmd->ai_status = AI_STATUS_STOP;
       break;
   }
   switch (rc->sw_r) {
@@ -221,7 +225,7 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
       break;
 
     case CMD_SW_MID:
-      cmd->gimbal.mode = GIMBAL_MODE_SEARCH;
+      cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
       cmd->shoot.fire = false;
       cmd->shoot.mode = SHOOT_MODE_LOADED;
       break;
@@ -360,7 +364,7 @@ int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec) {
   if (host->fire && cmd->shoot.ai_fire) {
     cmd->shoot.fire = true;
   } else {
-    cmd->shoot.fire = false;
+    cmd->shoot.fire = true;
   }
   return 0;
 }

User/component/user_math.c

@@ -112,3 +112,17 @@ 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();
+  }
+}

User/component/user_math.h

@@ -104,3 +104,53 @@ 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);

User/device/ai.c

@@ -12,34 +12,51 @@
 #include "component\crc16.h"
 #include "component\crc8.h"
 #include "component\user_math.h"
+#include "component\filter.h"
+
 
 /* Private define ----------------------------------------------------------- */
+#define AI_HOST_MAX_CONTROL_VALUE (0.001f)
+
+#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 LowPassFilter2p_t low_pass_filter;
+
 /* 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);
-  inited = true;
+  BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB,
+                            Ai_IdleLineCallback);
+  LowPassFilter2p_Init(&low_pass_filter, 1000.0f, 5.0f); // 示例参数
 
-  ai->ai_online = false;
+  inited = true;
   return 0;
 }
 
@@ -50,9 +67,9 @@ int8_t AI_Restart(void) {
 }
 
 int8_t AI_StartReceiving(AI_t *ai) {
-  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI),
+  UNUSED(ai);
-                           ai->form_host.rx_buffer,
+  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI), rxbuf,
-                           sizeof(ai->form_host.rx_buffer)) == HAL_OK)
+                           AI_LEN_RX_BUFF) == HAL_OK)
     return DEVICE_OK;
   return DEVICE_ERR;
 }
@@ -62,31 +79,19 @@ bool AI_WaitDmaCplt(void) {
           SIGNAL_AI_RAW_REDY);
 }
 
-int8_t AI_ParseHost(AI_t *ai, CMD_Host_t *cmd_host) {
+int8_t AI_ParseHost(AI_t *ai) {
-  (void)cmd_host;
+  if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->form_host)))
-  ai->ai_online = true;
-  if (!CRC16_Verify(ai->form_host.rx_buffer, sizeof(ai->form_host.rx_buffer)))
     goto error;
-  memcpy(&(ai->form_host.DownPackage), ai->form_host.rx_buffer, sizeof(ai->form_host.DownPackage));
+  ai->ai_online = true;
-  // 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;
-  // float yaw_out = PID_Calc(&ai->pid[0], 0.0f, ai->form_host.DownPackage.data.gimbal.yaw, 0.0f , 1.0/10.0f);
-  // float pit_out = PID_Calc(&ai->pid[1], 0.0f, ai->form_host.DownPackage.data.gimbal.pit, 0.0f , 1.0/10.0f);
-  cmd_host->gimbal_delta.pit = ai->form_host.DownPackage.data.gimbal.pit;
-  cmd_host->gimbal_delta.yaw = ai->form_host.DownPackage.data.gimbal.yaw;
-  // cmd_host->gimbal_delta.pit = pit_out;
-  // cmd_host->gimbal_delta.yaw = yaw_out;
-  cmd_host->gimbal_delta.rol = ai->form_host.DownPackage.data.gimbal.rol;
-  cmd_host->fire = (ai->form_host.DownPackage.data.notice & AI_NOTICE_FIRE);
-  cmd_host->chassis_move_vec.vx = ai->form_host.DownPackage.data.chassis_move_vec.vx;
-  cmd_host->chassis_move_vec.vy = ai->form_host.DownPackage.data.chassis_move_vec.vy;
-  cmd_host->chassis_move_vec.wz = ai->form_host.DownPackage.data.chassis_move_vec.wz;
 
+  // 对接收到的数据进行滤波处理
+  for (size_t i = 0; i < sizeof(ai->form_host.data.gimbal); ++i) {
+    ((float*)&ai->form_host.data.gimbal)[i] = 
+      LowPassFilter2p_Apply(&low_pass_filter, ((float*)&ai->form_host.data.gimbal)[i]);
+  }
+
+  memcpy(&(ai->form_host), rxbuf, sizeof(ai->form_host));
+  memset(rxbuf, 0, AI_LEN_RX_BUFF);
   return DEVICE_OK;
 
 error:
@@ -94,12 +99,27 @@ error:
   return DEVICE_ERR;
 }
 
+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.yaw = cmd_host->gimbal_delta.yaw - 0.00015;
+  cmd_host->gimbal_delta.pit = -ai->form_host.data.gimbal.pit;
+  cmd_host->gimbal_delta.pit = cmd_host->gimbal_delta.pit + 0.0002;
+  Clip(&(cmd_host->gimbal_delta.yaw), -AI_HOST_MAX_CONTROL_VALUE,
+        AI_HOST_MAX_CONTROL_VALUE);
+  Clip(&(cmd_host->gimbal_delta.pit), -AI_HOST_MAX_CONTROL_VALUE,
+        AI_HOST_MAX_CONTROL_VALUE);
+
+  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;
+}
+
 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.rx_buffer, 0, sizeof(ai->form_host.rx_buffer));
+  memset(&(ai->form_host), 0, sizeof(ai->form_host));
-  memset(&(ai->form_host.DownPackage), 0, sizeof(ai->form_host.DownPackage));
   memset(cmd_host, 0, sizeof(*cmd_host));
   return 0;
 }

User/device/ai.h

@@ -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"
@@ -36,10 +37,8 @@ typedef struct __packed {
 
 typedef struct __packed {
   osThreadId_t thread_alert;
-  struct {
+
-    uint8_t rx_buffer[sizeof(Protocol_DownPackage_t)]; 
+  Protocol_DownPackage_t form_host;
-    Protocol_DownPackage_t DownPackage;
-  }form_host;
 
   struct {
     AI_UpPackageReferee_t ref;
@@ -47,7 +46,6 @@ typedef struct __packed {
   } to_host;
 
   CMD_AI_Status_t status;
-
   bool ai_online;
 } AI_t;
 
@@ -57,11 +55,12 @@ 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

User/module/config.c

@@ -191,7 +191,7 @@ static const Config_RobotParam_t param_default = {
     .cover_close_duty = 0.050f,
     .model = SHOOT_MODEL_17MM,
     .bullet_speed = 30.f,
-    .min_shoot_delay = (uint32_t)(1000.0f / 10.0f),
+    .min_shoot_delay = (uint32_t)(1000.0f / 5.0f),
   }, /* shoot */
 
   .can = {
@@ -718,7 +718,7 @@ static const Config_RobotParam_t param_sentry_gimbal = {
     .cover_close_duty = 0.050f,
     .model = SHOOT_MODEL_17MM,
     .bullet_speed = 25.f,
-    .min_shoot_delay = (uint32_t)(1000.0f / 20.0f),
+    .min_shoot_delay = (uint32_t)(1000.0f / 1.0f),
   }, /* shoot */
 
   .can = {

User/task/ai.c

@@ -42,9 +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());
@@ -54,18 +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 {
       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));