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This commit is contained in:
RB 2025-03-04 17:20:57 +08:00
parent 76fde06500
commit 772c44f3d9
15 changed files with 432 additions and 7091 deletions
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18
.vscode/c_cpp_properties.json vendored Normal file
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@ -0,0 +1,18 @@
{
"configurations": [
{
"name": "windows-gcc-x64",
"includePath": [
"${workspaceFolder}/**"
],
"compilerPath": "gcc",
"cStandard": "${default}",
"cppStandard": "${default}",
"intelliSenseMode": "windows-gcc-x64",
"compilerArgs": [
""
]
}
],
"version": 4
}

24
.vscode/launch.json vendored Normal file
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@ -0,0 +1,24 @@
{
"version": "0.2.0",
"configurations": [
{
"name": "C/C++ Runner: Debug Session",
"type": "cppdbg",
"request": "launch",
"args": [],
"stopAtEntry": false,
"externalConsole": true,
"cwd": "c:/Users/lvzucheng/Documents/XRobot/User/device",
"program": "c:/Users/lvzucheng/Documents/XRobot/User/device/build/Debug/outDebug",
"MIMode": "gdb",
"miDebuggerPath": "gdb",
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
}
]
}
]
}

59
.vscode/settings.json vendored Normal file
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@ -0,0 +1,59 @@
{
"C_Cpp_Runner.cCompilerPath": "gcc",
"C_Cpp_Runner.cppCompilerPath": "g++",
"C_Cpp_Runner.debuggerPath": "gdb",
"C_Cpp_Runner.cStandard": "",
"C_Cpp_Runner.cppStandard": "",
"C_Cpp_Runner.msvcBatchPath": "C:/Program Files/Microsoft Visual Studio/VR_NR/Community/VC/Auxiliary/Build/vcvarsall.bat",
"C_Cpp_Runner.useMsvc": false,
"C_Cpp_Runner.warnings": [
"-Wall",
"-Wextra",
"-Wpedantic",
"-Wshadow",
"-Wformat=2",
"-Wcast-align",
"-Wconversion",
"-Wsign-conversion",
"-Wnull-dereference"
],
"C_Cpp_Runner.msvcWarnings": [
"/W4",
"/permissive-",
"/w14242",
"/w14287",
"/w14296",
"/w14311",
"/w14826",
"/w44062",
"/w44242",
"/w14905",
"/w14906",
"/w14263",
"/w44265",
"/w14928"
],
"C_Cpp_Runner.enableWarnings": true,
"C_Cpp_Runner.warningsAsError": false,
"C_Cpp_Runner.compilerArgs": [],
"C_Cpp_Runner.linkerArgs": [],
"C_Cpp_Runner.includePaths": [],
"C_Cpp_Runner.includeSearch": [
"*",
"**/*"
],
"C_Cpp_Runner.excludeSearch": [
"**/build",
"**/build/**",
"**/.*",
"**/.*/**",
"**/.vscode",
"**/.vscode/**"
],
"C_Cpp_Runner.useAddressSanitizer": false,
"C_Cpp_Runner.useUndefinedSanitizer": false,
"C_Cpp_Runner.useLeakSanitizer": false,
"C_Cpp_Runner.showCompilationTime": false,
"C_Cpp_Runner.useLinkTimeOptimization": false,
"C_Cpp_Runner.msvcSecureNoWarnings": false
}

26
MDK-ARM/DevC.uvoptx
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@ -10,7 +10,7 @@
<aExt>*.s*; *.src; *.a*</aExt>
<oExt>*.obj; *.o</oExt>
<lExt>*.lib</lExt>
<tExt>*.txt; *.h; *.inc</tExt>
<tExt>*.txt; *.h; *.inc; *.md</tExt>
<pExt>*.plm</pExt>
<CppX>*.cpp</CppX>
<nMigrate>0</nMigrate>
@ -387,6 +387,26 @@
<WinNumber>1</WinNumber>
<ItemText>ref</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>shoot</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>ai</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>for_chassis</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>for_shoot</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
<THDelay>0</THDelay>
@ -1718,7 +1738,7 @@
<GroupNumber>11</GroupNumber>
<FileNumber>100</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\device\ai.c</PathWithFileName>
@ -1786,7 +1806,7 @@
<GroupNumber>12</GroupNumber>
<FileNumber>105</FileNumber>
<FileType>1</FileType>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\module\shoot.c</PathWithFileName>

13
MDK-ARM/DevC.uvprojx
View File

@ -16,7 +16,7 @@
<TargetCommonOption>
<Device>STM32F407IGHx</Device>
<Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32F4xx_DFP.2.14.0</PackID>
<PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
<PackURL>http://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000-0x2001FFFF) IRAM2(0x10000000-0x1000FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4")</Cpu>
<FlashUtilSpec></FlashUtilSpec>
@ -1726,13 +1726,13 @@
<TargetName>Debug</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<pCCUsed>6140000::V6.14::ARMCLANG</pCCUsed>
<pCCUsed>6160000::V6.16::ARMCLANG</pCCUsed>
<uAC6>1</uAC6>
<TargetOption>
<TargetCommonOption>
<Device>STM32F407IGHx</Device>
<Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32F4xx_DFP.2.14.0</PackID>
<PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
<PackURL>http://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000-0x2001FFFF) IRAM2(0x10000000-0x1000FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4")</Cpu>
<FlashUtilSpec></FlashUtilSpec>
@ -2044,7 +2044,7 @@
<uC99>0</uC99>
<uGnu>0</uGnu>
<useXO>0</useXO>
<v6Lang>6</v6Lang>
<v6Lang>5</v6Lang>
<v6LangP>3</v6LangP>
<vShortEn>1</vShortEn>
<vShortWch>1</vShortWch>
@ -3443,11 +3443,6 @@
<Layers>
<Layer>
<LayName>DevC</LayName>
<LayDesc></LayDesc>
<LayUrl></LayUrl>
<LayKeys></LayKeys>
<LayCat></LayCat>
<LayLic></LayLic>
<LayTarg>0</LayTarg>
<LayPrjMark>1</LayPrjMark>
</Layer>

BIN
MDK-ARM/DevC/DevC.axf
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6994
MDK-ARM/DevC/DevC.hex
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File diff suppressed because it is too large Load Diff

69
Middlewares/Third_Party/Protocol/protocol.h vendored
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@ -7,7 +7,8 @@
#include <stdint.h>
#ifdef __cplusplus
extern "C" {
extern "C"
{
#endif
#define AI_NOTICE_AUTOAIM (1 << 0)
@ -21,66 +22,70 @@ 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
}

3
User/component/cmd.h
View File

@ -21,7 +21,8 @@ typedef enum {
ROBOT_MODEL_HERO, /* 英雄机器人 */
ROBOT_MODEL_ENGINEER, /* 工程机器人 */
ROBOT_MODEL_DRONE, /* 空中机器人 */
ROBOT_MODEL_SENTRY, /* 哨兵机器人 */
ROBOT_MODEL_SENTRY_LEFT, /* 哨兵机器人左头 */
ROBOT_MODEL_SENTRY_RIGHT, /* 哨兵机器人右头 */
ROBOT_MODEL_NUM, /* 型号数量 */
} CMD_RobotModel_t;

52
User/device/ai.c
View File

@ -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->form_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->form_host), rxbuf, sizeof(ai->form_host));
memset(rxbuf, 0, AI_LEN_RX_BUFF);
return DEVICE_OK;
error:
@ -78,10 +87,19 @@ 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.pit = -ai->form_host.data.gimbal.pit;
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), 0, sizeof(ai->form_host));
memset(cmd_host, 0, sizeof(*cmd_host));
return 0;

5
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"
@ -45,6 +46,7 @@ typedef struct __packed {
} to_host;
CMD_AI_Status_t status;
bool ai_online;
} AI_t;
/* Exported functions prototypes -------------------------------------------- */
@ -53,11 +55,12 @@ 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

2
User/device/can.h
View File

@ -72,7 +72,7 @@ typedef enum {
CAN_M3508_FRIC1_ID = 0x205, /* 5 */
CAN_M3508_FRIC2_ID = 0x206, /* 6 */
CAN_M2006_TRIG_ID = 0x207, /* 7 */
CAN_M2006_TRIG_ID = 0x208, /* 8 */
CAN_GM6020_YAW_ID = 0x209, /* 5 */
CAN_GM6020_PIT_ID = 0x20A, /* 6 */

189
User/module/config.c
View File

@ -345,12 +345,196 @@ static const Config_RobotParam_t param_hero = {
}, /* can */
}; /* param_hero */
static const Config_RobotParam_t param_sentry_left = {
.model = ROBOT_MODEL_SENTRY_LEFT,
.chassis = { /* 底盘模块参数 */
.type = CHASSIS_TYPE_MECANUM,
.motor_pid_param = {
.k = 0.001f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
},
.follow_pid_param = {
.k = 0.5f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
.low_pass_cutoff_freq = {
.in = -1.0f,
.out = -1.0f,
},
.reverse = {
.yaw = false,
},
}, /* chassis */
.gimbal = { /* 云台模块参数 */
.pid = {
{
// /* GIMBAL_PID_YAW_OMEGA_IDX */
// .k = 0.25f,
// .p = 1.0f,
// .i = 1.0f,
// .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 = 12.0f,
// .p = 1.0f,
// .i = 0.0f,
// .d = 0.05f,
// .i_limit = 0.0f,
// .out_limit = 10.0f,
// .d_cutoff_freq = -1.0f,
// .range = M_2PI,
/* GIMBAL_PID_YAW_OMEGA_IDX */
.k = 0.24f,
.p = 1.0f,
.i = 0.5f,
.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 = 10.0f,
.p = 1.0f,
.i = 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 = 0.35f,
// .p = 1.0f,
// .i = 0.f,
// .d = 0.003f,
// .i_limit = 1.0f,
// .out_limit = 1.0f,
// .d_cutoff_freq = -1.0f,
// .range = -1.0f,
// }, {
// /* GIMBAL_PID_PIT_ANGLE_IDX */
// .k = 15.0f,
// .p = 1.0f,
// .i = 0.0f,
// .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 = 0.25f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
}, {
/* GIMBAL_PID_PIT_ANGLE_IDX */
.k = 2.0f,
.p = 5.0f,
.i = 2.5f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit = 10.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
}, /* pid */
.pitch_travel_rad = 1.05f,
.low_pass_cutoff_freq = {
.out = -1.0f,
.gyro = 1000.0f,
},
.reverse = {
.yaw = false,
.pit = true,
},
}, /* gimbal */
.shoot = { /* 射击模块参数 */
.fric_pid_param = {
.k = 0.001f,
.p = 1.0f,
.i = 0.2f,
.d = 0.01f,
.i_limit = 0.5f,
.out_limit = 0.5f,
.d_cutoff_freq = -1.0f,
},
.trig_pid_param = {
.k = 12.0f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0450000018f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
.low_pass_cutoff_freq = {
.in = {
.fric = -1.0f,
.trig = -1.0f,
},
.out = {
.fric = -1.0f,
.trig = -1.0f,
},
},
.num_trig_tooth = 10.0f,
.trig_gear_ratio = 36.0f,
.fric_radius = 0.03f,
.cover_open_duty = 0.10f,
.cover_close_duty = 0.050f,
.model = SHOOT_MODEL_17MM,
.bullet_speed = 30.f,
.min_shoot_delay = (uint32_t)(1000.0f / 10.0f),
}, /* shoot */
.can = {
.chassis = BSP_CAN_1,
.gimbal = BSP_CAN_2,
.shoot = BSP_CAN_2,
.cap = BSP_CAN_1,
}, /* can */
}; /* param_sentry_left */
/* static const Config_RobotParam_t param_xxx; */
static const Config_PilotCfg_t cfg_qs = {
.param = {
.sens_mouse = 0.06f,
.sens_rc = 6.0f,
.sens_rc = 10.0f,
.map = {
.key_map[CMD_BEHAVIOR_FORE] = {CMD_ACTIVE_PRESSED, CMD_KEY_W},
.key_map[CMD_BEHAVIOR_BACK] = {CMD_ACTIVE_PRESSED, CMD_KEY_S},
@ -413,7 +597,8 @@ static const Config_RobotParamMap_t robot_param_map[] = {
{"hero", &param_hero},
// {"engineer", &param_engineer},
// {"drone", &param_drone},
// {"sentry", &param_sentry},
{"sentry_left", &param_sentry_left},
// {"sentry_right" &param_sentry_right},
/* {"xxx", &param_xxx}, */
{NULL, NULL},
};

10
User/module/gimbal.c
View File

@ -36,7 +36,7 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, CMD_GimbalMode_t mode) {
AHRS_ResetEulr(&(g->setpoint.eulr)); /* 切换模式后重置设定值 */
if (g->mode == GIMBAL_MODE_RELAX) {
if (mode == GIMBAL_MODE_ABSOLUTE) {
g->setpoint.eulr.yaw = g->feedback.eulr.imu.yaw;
g->setpoint.eulr.yaw = g->feedback.eulr.encoder.yaw;
} else if (mode == GIMBAL_MODE_RELATIVE) {
g->setpoint.eulr.yaw = g->feedback.eulr.encoder.yaw;
}
@ -140,12 +140,12 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
const float delta_max =
CircleError(g->limit.max,
(g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
g->feedback.eulr.imu.pit),
g->feedback.eulr.encoder.pit),
M_2PI);
const float delta_min =
CircleError(g->limit.min,
(g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
g->feedback.eulr.imu.pit),
g->feedback.eulr.encoder.pit),
M_2PI);
Clip(&(g_cmd->delta_eulr.pit), delta_min, delta_max);
g->setpoint.eulr.pit += g_cmd->delta_eulr.pit;
@ -163,14 +163,14 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
case GIMBAL_MODE_ABSOLUTE:
yaw_omega_set_point =
PID_Calc(&(g->pid[GIMBAL_PID_YAW_ANGLE_IDX]), g->setpoint.eulr.yaw,
g->feedback.eulr.imu.yaw, 0.0f, g->dt);
g->feedback.eulr.encoder.yaw, 0.0f, g->dt);
g->out[GIMBAL_ACTR_YAW_IDX] =
PID_Calc(&(g->pid[GIMBAL_PID_YAW_OMEGA_IDX]), yaw_omega_set_point,
g->feedback.gyro.z, 0.f, g->dt);
pit_omega_set_point =
PID_Calc(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), g->setpoint.eulr.pit,
g->feedback.eulr.imu.pit, 0.0f, g->dt);
g->feedback.eulr.encoder.pit, 0.0f, g->dt);
g->out[GIMBAL_ACTR_PIT_IDX] =
PID_Calc(&(g->pid[GIMBAL_PID_PIT_OMEGA_IDX]), pit_omega_set_point,
g->feedback.gyro.x, 0.f, g->dt);

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));