正常的英雄

MDK-ARM/DevC.uvoptx

@@ -392,6 +392,26 @@
           <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>cmd</ItemText>
+        </Ww>
+        <Ww>
+          <count>9</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>rc</ItemText>
+        </Ww>
+        <Ww>
+          <count>10</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cmd_host</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -643,7 +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>
@@ -1199,7 +1219,7 @@
 
   <Group>
     <GroupName>Middlewares/USB_Device_Library</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1255,7 +1275,7 @@
 
   <Group>
     <GroupName>User/bsp</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1479,7 +1499,7 @@
 
   <Group>
     <GroupName>User/component</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1655,7 +1675,7 @@
 
   <Group>
     <GroupName>User/device</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1735,7 +1755,7 @@
 
   <Group>
     <GroupName>User/module</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

User/component/cmd.c

@@ -6,6 +6,7 @@
 
 #include <string.h>
 
+#include <device\ai.h>
 /**
  * @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 */
     case CMD_SW_UP:
       cmd->chassis.mode = CHASSIS_MODE_BREAK;
+      // cmd->host_overwrite = false;
+      // cmd->shoot.ai_fire = false;
       break;
 
     case CMD_SW_MID:
       cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
+      // cmd->host_overwrite = true;
+      // cmd->shoot.ai_fire = false;
       break;
 
     case CMD_SW_DOWN:
       cmd->chassis.mode = CHASSIS_MODE_ROTOR;
       cmd->chassis.mode_rotor = ROTOR_MODE_CW;
+      // cmd->host_overwrite = true;
+      // cmd->shoot.ai_fire = true;
       break;
 
     case CMD_SW_ERR:
       cmd->chassis.mode = CHASSIS_MODE_RELAX;
+      // cmd->host_overwrite = false;
+      // cmd->shoot.ai_fire = false;
       break;
   }
   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:
       cmd->gimbal.mode = GIMBAL_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 */
   cmd->chassis.ctrl_vec.vx = rc->ch_l_x;

User/component/cmd.h

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

User/device/ai.c

@@ -38,6 +38,8 @@ int8_t AI_Init(AI_t *ai) {
   BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB,
                             Ai_RxCpltCallback);
   inited = true;
+
+  ai->ai_online = false;
   return 0;
 }
 
@@ -49,8 +51,8 @@ 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),
+                           ai->form_host.rx_buffer,
-                           sizeof(ai->form_host)) == HAL_OK)
+                           sizeof(ai->form_host.rx_buffer)) == HAL_OK)
     return DEVICE_OK;
   return DEVICE_ERR;
 }
@@ -62,15 +64,25 @@ bool AI_WaitDmaCplt(void) {
 
 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)))
+  ai->ai_online = true;
+  if (!CRC16_Verify(ai->form_host.rx_buffer, sizeof(ai->form_host.rx_buffer)))
     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;
 
 error:
@@ -81,8 +93,9 @@ error:
 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->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));
   return 0;
 }

User/device/ai.h

@@ -36,8 +36,10 @@ typedef struct __packed {
 
 typedef struct __packed {
   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 {
     AI_UpPackageReferee_t ref;
@@ -45,6 +47,8 @@ typedef struct __packed {
   } to_host;
 
   CMD_AI_Status_t status;
+
+  bool ai_online;
 } AI_t;
 
 /* Exported functions prototypes -------------------------------------------- */

User/module/config.c

@@ -202,7 +202,11 @@ static const Config_RobotParam_t param_default = {
     }, /* 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 */
@@ -236,7 +240,7 @@ static const Config_RobotParam_t param_hero = {
     },
 		
 		.reverse = {
-			.yaw = true,
+			.yaw = false,
 		},
   }, /* chassis */
 
@@ -285,7 +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,
@@ -293,8 +297,8 @@ static const Config_RobotParam_t param_hero = {
     },
 
     .reverse = {
-      .yaw = true,
+      .yaw = false,
-      .pit = true,
+      .pit = false,
     },
 
     .pit_ctrl_reverse = false,
@@ -331,8 +335,8 @@ 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,

User/module/gimbal.c

@@ -134,33 +134,33 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
   if (g->param->pit_ctrl_reverse){
     g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw;
   }else{
-    g_cmd->delta_eulr.yaw = g_cmd->delta_eulr.yaw;
+    g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw;
   }
 
   /* 处理yaw控制命令 */
   CircleAdd(&(g->setpoint.eulr.yaw), g_cmd->delta_eulr.yaw, M_2PI);
 
   /* 处理pitch控制命令，软件限位 */
-  // const float delta_max =
-  //     CircleError(g->limit.max,
-  //                 (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
-  //                  g->feedback.eulr.imu.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),
-  //                 M_2PI);
   const float delta_max =
       CircleError(g->limit.max,
                   (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
-                   g->feedback.eulr.encoder.pit),
+                   g->feedback.eulr.imu.pit),
                   M_2PI);
   const float delta_min =
       CircleError(g->limit.min,
                   (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
-                   g->feedback.eulr.encoder.pit),
+                   g->feedback.eulr.imu.pit),
                   M_2PI);
+  // const float delta_max =
+  //     CircleError(g->limit.max,
+  //                 (g->feedback.eulr.encoder.pit + g->setpoint.eulr.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.encoder.pit),
+  //                 M_2PI);
   Clip(&(g_cmd->delta_eulr.pit), delta_min, delta_max);
   g->setpoint.eulr.pit += g_cmd->delta_eulr.pit;
 
@@ -182,16 +182,20 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
           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);
       pit_omega_set_point =
           PID_Calc(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), g->setpoint.eulr.pit,
-                   g->feedback.eulr.encoder.pit, 0.0f, g->dt);
+                   g->feedback.eulr.imu.pit, 0.0f, g->dt);
+      // pit_omega_set_point =
+      //     PID_Calc(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), g->setpoint.eulr.pit,
+      //              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,
-                   0.0, 0.f, g->dt);
+                   g->feedback.gyro.x, 0.f, g->dt);
+      
+      // g->out[GIMBAL_ACTR_PIT_IDX] =
+      //     PID_Calc(&(g->pid[GIMBAL_PID_PIT_OMEGA_IDX]), pit_omega_set_point,
+      //              0.0, 0.f, g->dt);
       break;
 
     case GIMBAL_MODE_RELATIVE:

User/module/shoot.c

@@ -252,9 +252,9 @@ int8_t Shoot_Control(Shoot_t *s, CMD_ShootCmd_t *s_cmd,
 
   float fric_rpm = CalculateRpm(s->fire_ctrl.bullet_speed, s->param->fric_radius,
                                 (s->param->model == SHOOT_MODEL_17MM));
-  s->setpoint.fric_rpm[0] = fric_rpm;
+  s->setpoint.fric_rpm[0] = -fric_rpm;
-  s->setpoint.fric_rpm[1] = -fric_rpm;
+  s->setpoint.fric_rpm[1] = fric_rpm;
-  s->setpoint.fric_rpm[2] = 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) &&

User/task/ai.c

@@ -42,6 +42,9 @@ 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());
@@ -52,8 +55,9 @@ void Task_Ai(void *argument) {
     AI_StartReceiving(&ai);
     if (AI_WaitDmaCplt()) {
       AI_ParseHost(&ai, &cmd_host);
+      last_online_tick = tick;
     } else {
-      AI_HandleOffline(&ai, &cmd_host);
+      if (tick - last_online_tick > 300) AI_HandleOffline(&ai, &cmd_host);
     }
     osMessageQueueReset(task_runtime.msgq.cmd.raw.host);
     osMessageQueuePut(task_runtime.msgq.cmd.raw.host, &(cmd_host), 0, 0);

User/task/cli.c

@@ -32,10 +32,10 @@ typedef struct {
 
 static const char *const CLI_WELCOME_MESSAGE =
     "\r\n"
-//    "  ______         __           _______               __              \r\n"
+   "  ______         __           _______               __              \r\n"
-//    " |   __ \\.-----.|  |--.-----.|   |   |.---.-.-----.|  |_.-----.----.\r\n"
+   " |   __ \\.-----.|  |--.-----.|   |   |.---.-.-----.|  |_.-----.----.\r\n"
-//    " |      <|  _  ||  _  |  _  ||       ||  _  |__ --||   _|  -__|   _|\r\n"
+   " |      <|  _  ||  _  |  _  ||       ||  _  |__ --||   _|  -__|   _|\r\n"
-//    " |___|__||_____||_____|_____||__|_|__||___._|_____||____|_____|__|  \r\n"
+   " |___|__||_____||_____|_____||__|_|__||___._|_____||____|_____|__|  \r\n"
     " -------------------------------------------------------------------\r\n"
     " FreeRTOS CLI. Type 'help' to view a list of registered commands.   \r\n"
     "\r\n";