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Robofish 2025-01-14 22:57:05 +08:00
parent 9923566a10
commit ee7ed0b056
8 changed files with 9304 additions and 9248 deletions
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17
MDK-ARM/DevC.uvoptx
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@ -392,6 +392,21 @@
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>shoot</ItemText> <ItemText>shoot</ItemText>
</Ww> </Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>ai</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>cmd</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>rc</ItemText>
</Ww>
</WatchWindow1> </WatchWindow1>
<Tracepoint> <Tracepoint>
<THDelay>0</THDelay> <THDelay>0</THDelay>
@ -1255,7 +1270,7 @@
<Group> <Group>
<GroupName>User/bsp</GroupName> <GroupName>User/bsp</GroupName>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>

BIN
MDK-ARM/DevC/DevC.axf
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18466
MDK-ARM/DevC/DevC.hex
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File diff suppressed because it is too large Load Diff

16
User/component/cmd.c
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@ -6,6 +6,7 @@
#include <string.h> #include <string.h>
#include <device\ai.h>
/** /**
* @brief 行为转换为对应按键 * @brief 行为转换为对应按键
* *
@ -189,19 +190,27 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
/* 左拨杆相应行为选择和解析 */ /* 左拨杆相应行为选择和解析 */
case CMD_SW_UP: case CMD_SW_UP:
cmd->chassis.mode = CHASSIS_MODE_BREAK; cmd->chassis.mode = CHASSIS_MODE_BREAK;
cmd->host_overwrite = false;
cmd->shoot.ai_fire = false;
break; break;
case CMD_SW_MID: case CMD_SW_MID:
cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL; cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
cmd->host_overwrite = true;
cmd->shoot.ai_fire = false;
break; break;
case CMD_SW_DOWN: case CMD_SW_DOWN:
cmd->chassis.mode = CHASSIS_MODE_ROTOR; cmd->chassis.mode = CHASSIS_MODE_ROTOR;
cmd->chassis.mode_rotor = ROTOR_MODE_CW; cmd->chassis.mode_rotor = ROTOR_MODE_CW;
cmd->host_overwrite = true;
cmd->shoot.ai_fire = true;
break; break;
case CMD_SW_ERR: case CMD_SW_ERR:
cmd->chassis.mode = CHASSIS_MODE_RELAX; cmd->chassis.mode = CHASSIS_MODE_RELAX;
cmd->host_overwrite = false;
cmd->shoot.ai_fire = false;
break; break;
} }
switch (rc->sw_r) { switch (rc->sw_r) {
@ -245,6 +254,7 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
case CMD_SW_ERR: case CMD_SW_ERR:
cmd->gimbal.mode = GIMBAL_MODE_RELAX; cmd->gimbal.mode = GIMBAL_MODE_RELAX;
cmd->shoot.mode = SHOOT_MODE_RELAX; cmd->shoot.mode = SHOOT_MODE_RELAX;
cmd->host_overwrite = 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 */ /* 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 */
cmd->chassis.ctrl_vec.vx = rc->ch_l_x; cmd->chassis.ctrl_vec.vx = rc->ch_l_x;
@ -345,12 +355,12 @@ int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec) {
cmd->gimbal.delta_eulr.yaw = host->gimbal_delta.yaw; cmd->gimbal.delta_eulr.yaw = host->gimbal_delta.yaw;
cmd->gimbal.delta_eulr.pit = host->gimbal_delta.pit; cmd->gimbal.delta_eulr.pit = host->gimbal_delta.pit;
cmd->shoot.mode = SHOOT_MODE_LOADED;
/* host射击命令，设置不同的射击频率和弹丸初速度 */ /* host射击命令，设置不同的射击频率和弹丸初速度 */
if (host->fire) { if (host->fire && cmd->shoot.ai_fire) {
cmd->shoot.mode = SHOOT_MODE_LOADED;
cmd->shoot.fire = true; cmd->shoot.fire = true;
} else { } else {
cmd->shoot.mode = SHOOT_MODE_SAFE; cmd->shoot.fire = false;
} }
return 0; return 0;
} }

2
User/component/cmd.h
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@ -84,6 +84,7 @@ typedef struct {
CMD_ShootMode_t mode; /* 射击运行模式 */ CMD_ShootMode_t mode; /* 射击运行模式 */
CMD_FireMode_t fire_mode; /* 开火模式 */ CMD_FireMode_t fire_mode; /* 开火模式 */
bool fire; /*开火*/ bool fire; /*开火*/
bool ai_fire; /* AI开火状态 */
bool cover_open; /* 弹舱盖开关 */ bool cover_open; /* 弹舱盖开关 */
bool reverse_trig; /* 拨弹电机状态 */ bool reverse_trig; /* 拨弹电机状态 */
} CMD_ShootCmd_t; } CMD_ShootCmd_t;
@ -212,7 +213,6 @@ typedef struct {
} mouse_last; /* 鼠标值 */ } mouse_last; /* 鼠标值 */
CMD_AI_Status_t ai_status; /* AI状态 */ CMD_AI_Status_t ai_status; /* AI状态 */
const CMD_Params_t *param; /* 命令参数 */ const CMD_Params_t *param; /* 命令参数 */
CMD_ChassisCmd_t chassis; /* 底盘控制命令 */ CMD_ChassisCmd_t chassis; /* 底盘控制命令 */

37
User/device/ai.c
View File

@ -38,6 +38,8 @@ int8_t AI_Init(AI_t *ai) {
BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB, BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB,
Ai_RxCpltCallback); Ai_RxCpltCallback);
inited = true; inited = true;
ai->ai_online = false;
return 0; return 0;
} }
@ -49,8 +51,8 @@ int8_t AI_Restart(void) {
int8_t AI_StartReceiving(AI_t *ai) { int8_t AI_StartReceiving(AI_t *ai) {
if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI), if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI),
(uint8_t *)&(ai->form_host), ai->form_host.rx_buffer,
sizeof(ai->form_host)) == HAL_OK) sizeof(ai->form_host.rx_buffer)) == HAL_OK)
return DEVICE_OK; return DEVICE_OK;
return DEVICE_ERR; return DEVICE_ERR;
} }
@ -62,15 +64,25 @@ bool AI_WaitDmaCplt(void) {
int8_t AI_ParseHost(AI_t *ai, CMD_Host_t *cmd_host) { int8_t AI_ParseHost(AI_t *ai, CMD_Host_t *cmd_host) {
(void)cmd_host; (void)cmd_host;
if (!CRC16_Verify((const uint8_t *)&(ai->form_host), sizeof(ai->form_host))) ai->ai_online = true;
if (!CRC16_Verify(ai->form_host.rx_buffer, sizeof(ai->form_host.rx_buffer)))
goto error; goto error;
cmd_host->gimbal_delta.pit = ai->form_host.data.gimbal.pit; memcpy(&(ai->form_host.data), ai->form_host.rx_buffer, sizeof(ai->form_host.data));
cmd_host->gimbal_delta.yaw = ai->form_host.data.gimbal.yaw; // cmd_host->gimbal_delta.pit = ai->form_host.data.gimbal.pit;
cmd_host->gimbal_delta.rol = ai->form_host.data.gimbal.rol; // cmd_host->gimbal_delta.yaw = ai->form_host.data.gimbal.yaw;
cmd_host->fire = (ai->form_host.data.notice & AI_NOTICE_FIRE); // cmd_host->gimbal_delta.rol = ai->form_host.data.gimbal.rol;
cmd_host->chassis_move_vec.vx = ai->form_host.data.chassis_move_vec.vx; // cmd_host->fire = (ai->form_host.data.notice & AI_NOTICE_FIRE);
cmd_host->chassis_move_vec.vy = ai->form_host.data.chassis_move_vec.vy; // cmd_host->chassis_move_vec.vx = ai->form_host.data.chassis_move_vec.vx;
cmd_host->chassis_move_vec.wz = ai->form_host.data.chassis_move_vec.wz; // 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.pit = ai->form_host.data.data.gimbal.pit;
cmd_host->gimbal_delta.yaw = ai->form_host.data.data.gimbal.yaw;
cmd_host->gimbal_delta.rol = ai->form_host.data.data.gimbal.rol;
cmd_host->fire = (ai->form_host.data.data.notice & AI_NOTICE_FIRE);
cmd_host->chassis_move_vec.vx = ai->form_host.data.data.chassis_move_vec.vx;
cmd_host->chassis_move_vec.vy = ai->form_host.data.data.chassis_move_vec.vy;
cmd_host->chassis_move_vec.wz = ai->form_host.data.data.chassis_move_vec.wz;
return DEVICE_OK; return DEVICE_OK;
error: error:
@ -81,8 +93,9 @@ error:
int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host) { int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host) {
if (ai == NULL) return DEVICE_ERR_NULL; if (ai == NULL) return DEVICE_ERR_NULL;
if (cmd_host == 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->form_host.rx_buffer, 0, sizeof(ai->form_host.rx_buffer));
memset(&(ai->form_host.data), 0, sizeof(ai->form_host.data));
memset(cmd_host, 0, sizeof(*cmd_host)); memset(cmd_host, 0, sizeof(*cmd_host));
return 0; return 0;
} }

8
User/device/ai.h
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@ -36,8 +36,10 @@ typedef struct __packed {
typedef struct __packed { typedef struct __packed {
osThreadId_t thread_alert; osThreadId_t thread_alert;
struct {
Protocol_DownPackage_t form_host; uint8_t rx_buffer[sizeof(Protocol_DownPackage_t)];
Protocol_DownPackage_t data;
}form_host;
struct { struct {
AI_UpPackageReferee_t ref; AI_UpPackageReferee_t ref;
@ -45,6 +47,8 @@ typedef struct __packed {
} to_host; } to_host;
CMD_AI_Status_t status; CMD_AI_Status_t status;
bool ai_online;
} AI_t; } AI_t;
/* Exported functions prototypes -------------------------------------------- */ /* Exported functions prototypes -------------------------------------------- */

6
User/task/ai.c
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@ -42,6 +42,9 @@ void Task_Ai(void *argument) {
AI_Init(&ai); AI_Init(&ai);
uint32_t tick = osKernelGetTickCount(); uint32_t tick = osKernelGetTickCount();
uint32_t last_online_tick = tick;
while (1) { while (1) {
#ifdef DEBUG #ifdef DEBUG
task_runtime.stack_water_mark.ai = osThreadGetStackSpace(osThreadGetId()); task_runtime.stack_water_mark.ai = osThreadGetStackSpace(osThreadGetId());
@ -52,8 +55,9 @@ void Task_Ai(void *argument) {
AI_StartReceiving(&ai); AI_StartReceiving(&ai);
if (AI_WaitDmaCplt()) { if (AI_WaitDmaCplt()) {
AI_ParseHost(&ai, &cmd_host); AI_ParseHost(&ai, &cmd_host);
last_online_tick = tick;
} else { } else {
AI_HandleOffline(&ai, &cmd_host); if (tick - last_online_tick > 300) AI_HandleOffline(&ai, &cmd_host);
} }
osMessageQueueReset(task_runtime.msgq.cmd.raw.host); osMessageQueueReset(task_runtime.msgq.cmd.raw.host);
osMessageQueuePut(task_runtime.msgq.cmd.raw.host, &(cmd_host), 0, 0); osMessageQueuePut(task_runtime.msgq.cmd.raw.host, &(cmd_host), 0, 0);