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base: robofish:auto_sentry
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robofish:main
robofish:原版
robofish:auto_sentry
robofish:哨兵
robofish:哨兵底盘
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compare: robofish:main
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robofish:原版
robofish:auto_sentry
robofish:哨兵
robofish:main
robofish:哨兵底盘

5 Commits
auto_sentr ... main

Author SHA1 Message Date
Robofish
b84b648d54 正常的英雄 2025-01-17 16:18:34 +08:00
Robofish
9f67e5e851 英雄版本 2025-01-15 14:14:41 +08:00
Robofish
ee7ed0b056 只能烧饼用 2025-01-14 22:57:05 +08:00
Robofish
9923566a10 修改了串口，裁判系统用3pin，ai用4pin 2025-01-14 20:01:02 +08:00
Robofish
b7415fd2c9 好用的，哨兵，左头加底盘 2025-01-14 15:01:03 +08:00
29 changed files with 10231 additions and 10282 deletions
Show Stats Expand all files Collapse all files

18
.vscode/c_cpp_properties.json vendored
View File

@ -1,18 +0,0 @@
{
"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
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@ -1,24 +0,0 @@
{
"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
View File

@ -1,59 +0,0 @@
{
"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
}

25
MDK-ARM/DevC.uvoptx
View File

@ -347,7 +347,7 @@
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>CMSIS_AGDI</Key> <Key>CMSIS_AGDI</Key>
<Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name> <Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry> </SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
@ -400,22 +400,17 @@
<Ww> <Ww>
<count>8</count> <count>8</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>for_chassis</ItemText> <ItemText>cmd</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>9</count> <count>9</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>for_shoot</ItemText> <ItemText>rc</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>10</count> <count>10</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>cmd</ItemText> <ItemText>cmd_host</ItemText>
</Ww>
<Ww>
<count>11</count>
<WinNumber>1</WinNumber>
<ItemText>host</ItemText>
</Ww> </Ww>
</WatchWindow1> </WatchWindow1>
<Tracepoint> <Tracepoint>
@ -668,7 +663,7 @@
<Group> <Group>
<GroupName>Application/User/USB_DEVICE/App</GroupName> <GroupName>Application/User/USB_DEVICE/App</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>
@ -1224,7 +1219,7 @@
<Group> <Group>
<GroupName>Middlewares/USB_Device_Library</GroupName> <GroupName>Middlewares/USB_Device_Library</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>
@ -1280,7 +1275,7 @@
<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>
@ -1504,7 +1499,7 @@
<Group> <Group>
<GroupName>User/component</GroupName> <GroupName>User/component</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>
@ -1680,7 +1675,7 @@
<Group> <Group>
<GroupName>User/device</GroupName> <GroupName>User/device</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>
@ -1760,7 +1755,7 @@
<Group> <Group>
<GroupName>User/module</GroupName> <GroupName>User/module</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>

2
MDK-ARM/DevC.uvprojx
View File

@ -2044,7 +2044,7 @@
<uC99>0</uC99> <uC99>0</uC99>
<uGnu>0</uGnu> <uGnu>0</uGnu>
<useXO>0</useXO> <useXO>0</useXO>
<v6Lang>5</v6Lang> <v6Lang>6</v6Lang>
<v6LangP>3</v6LangP> <v6LangP>3</v6LangP>
<vShortEn>1</vShortEn> <vShortEn>1</vShortEn>
<vShortWch>1</vShortWch> <vShortWch>1</vShortWch>

BIN
MDK-ARM/DevC/DevC.axf
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Binary file not shown.

19242
MDK-ARM/DevC/DevC.hex
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File diff suppressed because it is too large Load Diff

114
Middlewares/Third_Party/Protocol/protocol.h vendored
View File

@ -7,8 +7,7 @@
#include <stdint.h> #include <stdint.h>
#ifdef __cplusplus #ifdef __cplusplus
extern "C" extern "C" {
{
#endif #endif
#define AI_NOTICE_AUTOAIM (1 << 0) #define AI_NOTICE_AUTOAIM (1 << 0)
@ -22,70 +21,67 @@ extern "C"
#define AI_TEAM_RED (0x01) #define AI_TEAM_RED (0x01)
#define AI_TEAM_BLUE (0x02) #define AI_TEAM_BLUE (0x02)
typedef uint8_t Protocol_ID_t;
/* 电控 -> 视觉 MCU数据结构体*/ typedef uint8_t Protocol_ID_t;
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;
/* 电控 -> 视觉 裁判系统数据结构体*/ /* 电控 -> 视觉 MCU数据结构体*/
typedef struct __attribute__((packed)) typedef struct __attribute__((packed)) {
{ struct __attribute__((packed)) {
uint16_t team; /* 本身队伍 */ float q0;
uint16_t time; /* 比赛开始时间 */ float q1;
} Protocol_UpDataReferee_t; float q2;
float q3;
} quat; /* 四元数 */
/* 视觉 -> 电控 数据结构体*/ uint8_t notice; /* 控制命令 */
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 */
struct __attribute__((packed)) float ball_speed; /* 子弹初速度 */
{
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 */
uint8_t notice; /* 控制命令 */
} Protocol_DownData_t;
typedef struct __attribute__((packed)) struct __attribute__((packed)) {
{ float left;
Protocol_UpDataMCU_t data; float right;
uint16_t crc16; } distance; /* 左右距离(哨兵) */
} Protocol_UpPackageMCU_t;
typedef struct __attribute__((packed)) float chassis_speed; /* 底盘速度(哨兵) */
{ } Protocol_UpDataMCU_t;
Protocol_UpDataReferee_t data;
uint16_t crc16;
} Protocol_UpPackageReferee_t;
typedef struct __attribute__((packed)) /* 电控 -> 视觉 裁判系统数据结构体*/
{ typedef struct __attribute__((packed)) {
Protocol_DownData_t data; uint16_t team; /* 本身队伍 */
uint16_t crc16; uint16_t time; /* 比赛开始时间 */
} Protocol_DownPackage_t; } Protocol_UpDataReferee_t;
/* 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)) {
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;
typedef struct __attribute__((packed)) {
Protocol_UpDataMCU_t data;
uint16_t crc16;
} Protocol_UpPackageMCU_t;
typedef struct __attribute__((packed)) {
Protocol_UpDataReferee_t data;
uint16_t crc16;
} Protocol_UpPackageReferee_t;
typedef struct __attribute__((packed)) {
Protocol_DownData_t data;
uint16_t crc16;
} Protocol_DownPackage_t;
#ifdef __cplusplus #ifdef __cplusplus
} }

8
User/bsp/c/uart.c
View File

@ -12,9 +12,9 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
if (huart->Instance == USART3) if (huart->Instance == USART3)
return BSP_UART_DR16; return BSP_UART_DR16;
else if (huart->Instance == USART1) else if (huart->Instance == USART1)
return BSP_UART_REF;
else if (huart->Instance == USART6)
return BSP_UART_AI; return BSP_UART_AI;
else if (huart->Instance == USART6)
return BSP_UART_REF;
/* /*
else if (huart->Instance == USARTX) else if (huart->Instance == USARTX)
return BSP_UART_XXX; return BSP_UART_XXX;
@ -110,9 +110,9 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
case BSP_UART_DR16: case BSP_UART_DR16:
return &huart3; return &huart3;
case BSP_UART_REF: case BSP_UART_REF:
return &huart1;
case BSP_UART_AI:
return &huart6; return &huart6;
case BSP_UART_AI:
return &huart1;
/* /*
case BSP_UART_XXX: case BSP_UART_XXX:
return &huartX; return &huartX;

297
User/component/cmd.c
View File

@ -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
* *
@ -14,14 +15,12 @@
* @return uint16_t 行为对应的按键 * @return uint16_t 行为对应的按键
*/ */
static inline CMD_KeyValue_t CMD_BehaviorToKey(CMD_t *cmd, static inline CMD_KeyValue_t CMD_BehaviorToKey(CMD_t *cmd,
CMD_Behavior_t behavior) CMD_Behavior_t behavior) {
{
return cmd->param->map.key_map[behavior].key; return cmd->param->map.key_map[behavior].key;
} }
static inline CMD_ActiveType_t CMD_BehaviorToActive(CMD_t *cmd, static inline CMD_ActiveType_t CMD_BehaviorToActive(CMD_t *cmd,
CMD_Behavior_t behavior) CMD_Behavior_t behavior) {
{
return cmd->param->map.key_map[behavior].active; return cmd->param->map.key_map[behavior].active;
} }
@ -34,53 +33,43 @@ static inline CMD_ActiveType_t CMD_BehaviorToActive(CMD_t *cmd,
* @return true 按下 * @return true 按下
* @return false 未按下 * @return false 未按下
*/ */
static bool CMD_KeyPressedRc(const CMD_RC_t *rc, CMD_KeyValue_t key) static bool CMD_KeyPressedRc(const CMD_RC_t *rc, CMD_KeyValue_t key) {
{
/* 按下按键为鼠标左、右键 */ /* 按下按键为鼠标左、右键 */
if (key == CMD_L_CLICK) if (key == CMD_L_CLICK) {
{
return rc->mouse.l_click; return rc->mouse.l_click;
} }
if (key == CMD_R_CLICK) if (key == CMD_R_CLICK) {
{
return rc->mouse.r_click; return rc->mouse.r_click;
} }
return rc->key & (1u << key); return rc->key & (1u << key);
} }
static bool CMD_BehaviorOccurredRc(const CMD_RC_t *rc, CMD_t *cmd, static bool CMD_BehaviorOccurredRc(const CMD_RC_t *rc, CMD_t *cmd,
CMD_Behavior_t behavior) CMD_Behavior_t behavior) {
{
CMD_KeyValue_t key = CMD_BehaviorToKey(cmd, behavior); CMD_KeyValue_t key = CMD_BehaviorToKey(cmd, behavior);
CMD_ActiveType_t active = CMD_BehaviorToActive(cmd, behavior); CMD_ActiveType_t active = CMD_BehaviorToActive(cmd, behavior);
bool now_key_pressed, last_key_pressed; bool now_key_pressed, last_key_pressed;
/* 按下按键为鼠标左、右键 */ /* 按下按键为鼠标左、右键 */
if (key == CMD_L_CLICK) if (key == CMD_L_CLICK) {
{
now_key_pressed = rc->mouse.l_click; now_key_pressed = rc->mouse.l_click;
last_key_pressed = cmd->mouse_last.l_click; last_key_pressed = cmd->mouse_last.l_click;
} } else if (key == CMD_R_CLICK) {
else if (key == CMD_R_CLICK)
{
now_key_pressed = rc->mouse.r_click; now_key_pressed = rc->mouse.r_click;
last_key_pressed = cmd->mouse_last.r_click; last_key_pressed = cmd->mouse_last.r_click;
} } else {
else
{
now_key_pressed = rc->key & (1u << key); now_key_pressed = rc->key & (1u << key);
last_key_pressed = cmd->key_last & (1u << key); last_key_pressed = cmd->key_last & (1u << key);
} }
switch (active) switch (active) {
{ case CMD_ACTIVE_PRESSING:
case CMD_ACTIVE_PRESSING: return now_key_pressed && !last_key_pressed;
return now_key_pressed && !last_key_pressed; case CMD_ACTIVE_RASING:
case CMD_ACTIVE_RASING: return !now_key_pressed && last_key_pressed;
return !now_key_pressed && last_key_pressed; case CMD_ACTIVE_PRESSED:
case CMD_ACTIVE_PRESSED: return now_key_pressed;
return now_key_pressed;
} }
} }
@ -91,8 +80,7 @@ static bool CMD_BehaviorOccurredRc(const CMD_RC_t *rc, CMD_t *cmd,
* @param cmd 主结构体 * @param cmd 主结构体
* @param dt_sec 两次解析的间隔 * @param dt_sec 两次解析的间隔
*/ */
static void CMD_PcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) static void CMD_PcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
{
cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE; cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
/* 云台设置为鼠标控制欧拉角的变化，底盘的控制向量设置为零 */ /* 云台设置为鼠标控制欧拉角的变化，底盘的控制向量设置为零 */
@ -104,111 +92,85 @@ static void CMD_PcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec)
cmd->shoot.reverse_trig = false; cmd->shoot.reverse_trig = false;
/* 按键行为映射相关逻辑 */ /* 按键行为映射相关逻辑 */
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FORE)) if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FORE)) {
{
cmd->chassis.ctrl_vec.vy += cmd->param->move.move_sense; cmd->chassis.ctrl_vec.vy += cmd->param->move.move_sense;
} }
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_BACK)) if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_BACK)) {
{
cmd->chassis.ctrl_vec.vy -= cmd->param->move.move_sense; cmd->chassis.ctrl_vec.vy -= cmd->param->move.move_sense;
} }
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_LEFT)) if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_LEFT)) {
{
cmd->chassis.ctrl_vec.vx -= cmd->param->move.move_sense; cmd->chassis.ctrl_vec.vx -= cmd->param->move.move_sense;
} }
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_RIGHT)) if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_RIGHT)) {
{
cmd->chassis.ctrl_vec.vx += cmd->param->move.move_sense; cmd->chassis.ctrl_vec.vx += cmd->param->move.move_sense;
} }
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_ACCELERATE)) if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_ACCELERATE)) {
{
cmd->chassis.ctrl_vec.vx *= cmd->param->move.move_fast_sense; cmd->chassis.ctrl_vec.vx *= cmd->param->move.move_fast_sense;
cmd->chassis.ctrl_vec.vy *= cmd->param->move.move_fast_sense; cmd->chassis.ctrl_vec.vy *= cmd->param->move.move_fast_sense;
} }
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_DECELEBRATE)) if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_DECELEBRATE)) {
{
cmd->chassis.ctrl_vec.vx *= cmd->param->move.move_slow_sense; cmd->chassis.ctrl_vec.vx *= cmd->param->move.move_slow_sense;
cmd->chassis.ctrl_vec.vy *= cmd->param->move.move_slow_sense; cmd->chassis.ctrl_vec.vy *= cmd->param->move.move_slow_sense;
} }
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FIRE)) if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FIRE)) {
{
/* 切换至开火模式，设置相应的射击频率和弹丸初速度 */ /* 切换至开火模式，设置相应的射击频率和弹丸初速度 */
cmd->shoot.mode = SHOOT_MODE_LOADED; cmd->shoot.mode = SHOOT_MODE_LOADED;
cmd->shoot.fire = true; cmd->shoot.fire = true;
} } else {
else
{
/* 切换至准备模式，停止射击 */ /* 切换至准备模式，停止射击 */
cmd->shoot.mode = SHOOT_MODE_LOADED; cmd->shoot.mode = SHOOT_MODE_LOADED;
cmd->shoot.fire = false; cmd->shoot.fire = false;
} }
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FIRE_MODE)) if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FIRE_MODE)) {
{
/* 每按一次依次切换开火下一个模式 */ /* 每按一次依次切换开火下一个模式 */
cmd->shoot.fire_mode++; cmd->shoot.fire_mode++;
cmd->shoot.fire_mode %= FIRE_MODE_NUM; cmd->shoot.fire_mode %= FIRE_MODE_NUM;
} }
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_ROTOR)) if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_ROTOR)) {
{
/* 切换到小陀螺模式 */ /* 切换到小陀螺模式 */
cmd->chassis.mode = CHASSIS_MODE_ROTOR; cmd->chassis.mode = CHASSIS_MODE_ROTOR;
cmd->chassis.mode_rotor = ROTOR_MODE_RAND; cmd->chassis.mode_rotor = ROTOR_MODE_RAND;
} }
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_OPENCOVER)) if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_OPENCOVER)) {
{
/* 每按一次开、关弹舱盖 */ /* 每按一次开、关弹舱盖 */
cmd->shoot.cover_open = !cmd->shoot.cover_open; cmd->shoot.cover_open = !cmd->shoot.cover_open;
} }
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_BUFF)) if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_BUFF)) {
{ if (cmd->ai_status == AI_STATUS_HITSWITCH) {
if (cmd->ai_status == AI_STATUS_HITSWITCH)
{
/* 停止ai的打符模式，停用host控制 */ /* 停止ai的打符模式，停用host控制 */
CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_STOP); CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_STOP);
cmd->host_overwrite = false; cmd->host_overwrite = false;
cmd->ai_status = AI_STATUS_STOP; cmd->ai_status = AI_STATUS_STOP;
} } else if (cmd->ai_status == AI_STATUS_AUTOAIM) {
else if (cmd->ai_status == AI_STATUS_AUTOAIM)
{
/* 自瞄模式中切换失败提醒 */ /* 自瞄模式中切换失败提醒 */
} } else {
else
{
/* ai切换至打符模式，启用host控制 */ /* ai切换至打符模式，启用host控制 */
CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_START); CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_START);
cmd->ai_status = AI_STATUS_HITSWITCH; cmd->ai_status = AI_STATUS_HITSWITCH;
cmd->host_overwrite = true; cmd->host_overwrite = true;
} }
} }
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_AUTOAIM)) if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_AUTOAIM)) {
{ if (cmd->ai_status == AI_STATUS_AUTOAIM) {
if (cmd->ai_status == AI_STATUS_AUTOAIM)
{
/* 停止ai的自瞄模式，停用host控制 */ /* 停止ai的自瞄模式，停用host控制 */
cmd->host_overwrite = false; cmd->host_overwrite = false;
cmd->ai_status = AI_STATUS_STOP; cmd->ai_status = AI_STATUS_STOP;
CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_STOP); CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_STOP);
} } else {
else
{
/* ai切换至自瞄模式，启用host控制 */ /* ai切换至自瞄模式，启用host控制 */
cmd->ai_status = AI_STATUS_AUTOAIM; cmd->ai_status = AI_STATUS_AUTOAIM;
cmd->host_overwrite = true; cmd->host_overwrite = true;
CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_START); CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_START);
} }
} } else {
else
{
cmd->host_overwrite = false; cmd->host_overwrite = false;
// TODO: 修复逻辑 // TODO: 修复逻辑
} }
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_REVTRIG)) if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_REVTRIG)) {
{
/* 按下拨弹反转 */ /* 按下拨弹反转 */
cmd->shoot.reverse_trig = true; cmd->shoot.reverse_trig = true;
} }
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FOLLOWGIMBAL35)) if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FOLLOWGIMBAL35)) {
{
cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL; cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
} }
/* 保存当前按下的键位状态 */ /* 保存当前按下的键位状态 */
@ -223,69 +185,82 @@ static void CMD_PcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec)
* @param cmd 主结构体 * @param cmd 主结构体
* @param dt_sec 两次解析的间隔 * @param dt_sec 两次解析的间隔
*/ */
static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
{ switch (rc->sw_l) {
switch (rc->sw_l) /* 左拨杆相应行为选择和解析 */
{ case CMD_SW_UP:
/* 左拨杆相应行为选择和解析 */ cmd->chassis.mode = CHASSIS_MODE_BREAK;
case CMD_SW_UP: // cmd->host_overwrite = false;
cmd->chassis.mode = CHASSIS_MODE_BREAK; // cmd->shoot.ai_fire = false;
cmd->ai_status = AI_STATUS_STOP; break;
cmd->host_overwrite = false;
break;
case CMD_SW_MID: case CMD_SW_MID:
cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL; cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
cmd->ai_status = AI_STATUS_AUTOAIM; // cmd->host_overwrite = true;
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->ai_status = AI_STATUS_AUTOAIM; // cmd->host_overwrite = true;
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->ai_status = AI_STATUS_STOP; // cmd->host_overwrite = false;
cmd->host_overwrite = false; // cmd->shoot.ai_fire = false;
break; break;
} }
switch (rc->sw_r) switch (rc->sw_r) {
{ /* 右拨杆相应行为选择和解析*/
/* 右拨杆相应行为选择和解析*/ case CMD_SW_UP:
case CMD_SW_UP: cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE; cmd->shoot.mode = SHOOT_MODE_SAFE;
cmd->shoot.mode = SHOOT_MODE_SAFE; break;
break;
case CMD_SW_MID: case CMD_SW_MID:
cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE; cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
cmd->shoot.fire = false; cmd->shoot.fire = false;
cmd->shoot.mode = SHOOT_MODE_LOADED; cmd->shoot.mode = SHOOT_MODE_LOADED;
break; break;
case CMD_SW_DOWN: case CMD_SW_DOWN:
cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE; cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
cmd->shoot.mode = SHOOT_MODE_LOADED; cmd->shoot.mode = SHOOT_MODE_LOADED;
cmd->shoot.fire_mode = FIRE_MODE_SINGLE; cmd->shoot.fire_mode = FIRE_MODE_SINGLE;
cmd->shoot.fire = true; cmd->shoot.fire = true;
break; break;
/*
case CMD_SW_UP:
cmd->gimbal.mode = GIMBAL_MODE_RELAX;
cmd->shoot.mode = SHOOT_MODE_SAFE;
break;
case CMD_SW_ERR: case CMD_SW_MID:
cmd->gimbal.mode = GIMBAL_MODE_RELAX; cmd->gimbal.mode = GIMBAL_MODE_RELAX;
cmd->shoot.mode = SHOOT_MODE_RELAX; cmd->shoot.fire = false;
cmd->shoot.mode = SHOOT_MODE_LOADED;
break;
case CMD_SW_DOWN:
cmd->gimbal.mode = GIMBAL_MODE_RELAX;
cmd->shoot.mode = SHOOT_MODE_LOADED;
cmd->shoot.fire_mode = FIRE_MODE_SINGLE;
cmd->shoot.fire = true;
break;
*/
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 */ /* 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) cmd->chassis.ctrl_vec.vx = rc->ch_l_x;
{ cmd->chassis.ctrl_vec.vy = rc->ch_l_y;
cmd->chassis.ctrl_vec.vx = rc->ch_l_x; cmd->gimbal.delta_eulr.yaw = rc->ch_r_x * dt_sec * cmd->param->sens_rc;
cmd->chassis.ctrl_vec.vy = rc->ch_l_y; cmd->gimbal.delta_eulr.pit = rc->ch_r_y * dt_sec * cmd->param->sens_rc;
cmd->gimbal.delta_eulr.yaw = rc->ch_r_x * dt_sec * cmd->param->sens_rc;
cmd->gimbal.delta_eulr.pit = rc->ch_r_y * dt_sec * cmd->param->sens_rc;
}
} }
/** /**
@ -293,8 +268,7 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec)
* *
* @param cmd 主结构体 * @param cmd 主结构体
*/ */
static void CMD_RcLostLogic(CMD_t *cmd) static void CMD_RcLostLogic(CMD_t *cmd) {
{
/* 机器人底盘、云台、射击运行模式恢复至放松模式 */ /* 机器人底盘、云台、射击运行模式恢复至放松模式 */
cmd->chassis.mode = CHASSIS_MODE_RELAX; cmd->chassis.mode = CHASSIS_MODE_RELAX;
cmd->gimbal.mode = GIMBAL_MODE_RELAX; cmd->gimbal.mode = GIMBAL_MODE_RELAX;
@ -308,13 +282,10 @@ static void CMD_RcLostLogic(CMD_t *cmd)
* @param param 参数 * @param param 参数
* @return int8_t 0对应没有错误 * @return int8_t 0对应没有错误
*/ */
int8_t CMD_Init(CMD_t *cmd, const CMD_Params_t *param) int8_t CMD_Init(CMD_t *cmd, const CMD_Params_t *param) {
{
/* 指针检测 */ /* 指针检测 */
if (cmd == NULL) if (cmd == NULL) return -1;
return -1; if (param == NULL) return -1;
if (param == NULL)
return -1;
/* 设置机器人的命令参数，初始化控制方式为rc控制 */ /* 设置机器人的命令参数，初始化控制方式为rc控制 */
cmd->pc_ctrl = false; cmd->pc_ctrl = false;
@ -340,13 +311,10 @@ inline bool CMD_CheckHostOverwrite(CMD_t *cmd) { return cmd->host_overwrite; }
* @param dt_sec 两次解析的间隔 * @param dt_sec 两次解析的间隔
* @return int8_t 0对应没有错误 * @return int8_t 0对应没有错误
*/ */
int8_t CMD_ParseRc(CMD_RC_t *rc, CMD_t *cmd, float dt_sec) int8_t CMD_ParseRc(CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
{
/* 指针检测 */ /* 指针检测 */
if (rc == NULL) if (rc == NULL) return -1;
return -1; if (cmd == NULL) return -1;
if (cmd == NULL)
return -1;
/* 在pc控制和rc控制间切换 */ /* 在pc控制和rc控制间切换 */
if (CMD_KeyPressedRc(rc, CMD_KEY_SHIFT) && if (CMD_KeyPressedRc(rc, CMD_KEY_SHIFT) &&
@ -357,18 +325,12 @@ int8_t CMD_ParseRc(CMD_RC_t *rc, CMD_t *cmd, float dt_sec)
CMD_KeyPressedRc(rc, CMD_KEY_CTRL) && CMD_KeyPressedRc(rc, CMD_KEY_E)) CMD_KeyPressedRc(rc, CMD_KEY_CTRL) && CMD_KeyPressedRc(rc, CMD_KEY_E))
cmd->pc_ctrl = false; cmd->pc_ctrl = false;
/*c当rc丢控时，恢复机器人至默认状态 */ /*c当rc丢控时，恢复机器人至默认状态 */
if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) {
{
CMD_RcLostLogic(cmd); CMD_RcLostLogic(cmd);
} } else {
else if (cmd->pc_ctrl) {
{
if (cmd->pc_ctrl)
{
CMD_PcLogic(rc, cmd, dt_sec); CMD_PcLogic(rc, cmd, dt_sec);
} } else {
else
{
CMD_RcLogic(rc, cmd, dt_sec); CMD_RcLogic(rc, cmd, dt_sec);
} }
} }
@ -383,27 +345,21 @@ int8_t CMD_ParseRc(CMD_RC_t *rc, CMD_t *cmd, float dt_sec)
* @param dt_sec 两次解析的间隔 * @param dt_sec 两次解析的间隔
* @return int8_t 0对应没有错误 * @return int8_t 0对应没有错误
*/ */
int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec) int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec) {
{
(void)dt_sec; /* 未使用dt_sec，消除警告 */ (void)dt_sec; /* 未使用dt_sec，消除警告 */
/* 指针检测 */ /* 指针检测 */
if (host == NULL) if (host == NULL) return -1;
return -1; if (cmd == NULL) return -1;
if (cmd == NULL)
return -1;
/* 云台欧拉角设置为host相应的变化的欧拉角 */ /* 云台欧拉角设置为host相应的变化的欧拉角 */
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;
/* 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.mode = SHOOT_MODE_LOADED; cmd->shoot.mode = SHOOT_MODE_LOADED;
cmd->shoot.fire = true; cmd->shoot.fire = true;
} } else {
else
{
cmd->shoot.mode = SHOOT_MODE_SAFE; cmd->shoot.mode = SHOOT_MODE_SAFE;
} }
return 0; return 0;
@ -416,14 +372,11 @@ int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec)
* @param cmd 要添加的命令 * @param cmd 要添加的命令
* @return int8_t 0对应没有错误 * @return int8_t 0对应没有错误
*/ */
int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd) int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd) {
{
/* 指针检测 */ /* 指针检测 */
if (ref == NULL) if (ref == NULL) return -1;
return -1;
/* 越界检测 */ /* 越界检测 */
if (ref->counter >= CMD_REFEREE_MAX_NUM || ref->counter < 0) if (ref->counter >= CMD_REFEREE_MAX_NUM || ref->counter < 0) return -1;
return -1;
/* 添加机器人当前行为状态到画图的命令队列中 */ /* 添加机器人当前行为状态到画图的命令队列中 */
ref->cmd[ref->counter] = cmd; ref->cmd[ref->counter] = cmd;

7
User/component/cmd.h
View File

@ -21,8 +21,9 @@ typedef enum {
ROBOT_MODEL_HERO, /* 英雄机器人 */ ROBOT_MODEL_HERO, /* 英雄机器人 */
ROBOT_MODEL_ENGINEER, /* 工程机器人 */ ROBOT_MODEL_ENGINEER, /* 工程机器人 */
ROBOT_MODEL_DRONE, /* 空中机器人 */ ROBOT_MODEL_DRONE, /* 空中机器人 */
ROBOT_MODEL_SENTRY_LEFT, /* 哨兵机器人左头 */ ROBOT_MODEL_SENTRY, /* 哨兵机器人 */
ROBOT_MODEL_SENTRY_RIGHT, /* 哨兵机器人右头 */ ROBOT_MODEL_SENTRY_GIMBAL, /* 哨兵云台 */
ROBOT_MODEL_SENTRY_CHASSIS, /* 哨兵底盘 */
ROBOT_MODEL_NUM, /* 型号数量 */ ROBOT_MODEL_NUM, /* 型号数量 */
} CMD_RobotModel_t; } CMD_RobotModel_t;
@ -83,6 +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;
@ -211,7 +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 */

14
User/component/user_math.c
View File

@ -112,17 +112,3 @@ 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 */ /* 不为裁判系统设定值时,计算转速 */
return 60.0f * (float)bullet_speed / (M_2PI * fric_radius); 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();
}
}

50
User/component/user_math.h
View File

@ -104,53 +104,3 @@ float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #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);

70
User/device/ai.c
View File

@ -12,46 +12,34 @@
#include "component\crc16.h" #include "component\crc16.h"
#include "component\crc8.h" #include "component\crc8.h"
#include "component\user_math.h" #include "component\user_math.h"
#include "component\filter.h"
/* Private define ----------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */
#define AI_LEN_RX_BUFF (sizeof(Protocol_DownPackage_t))
/* Private macro ------------------------------------------------------------ */ /* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */ /* Private typedef ---------------------------------------------------------- */
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
static volatile uint32_t drop_message = 0; 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 bool inited = false;
static osThreadId_t thread_alert;
/* Private function -------------------------------------------------------- */ /* Private function -------------------------------------------------------- */
static void Ai_RxCpltCallback(void) { static void Ai_RxCpltCallback(void) {
osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY); osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY);
} }
static void Ai_IdleLineCallback(void) {
osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY);
}
/* Exported functions ------------------------------------------------------- */ /* Exported functions ------------------------------------------------------- */
int8_t AI_Init(AI_t *ai) { int8_t AI_Init(AI_t *ai) {
UNUSED(ai); if (ai == NULL) return DEVICE_ERR_NULL;
ASSERT(ai);
if (inited) return DEVICE_ERR_INITED; if (inited) return DEVICE_ERR_INITED;
VERIFY((thread_alert = osThreadGetId()) != NULL); if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
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);
BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB,
Ai_IdleLineCallback);
inited = true; inited = true;
ai->ai_online = false;
return 0; return 0;
} }
@ -62,9 +50,9 @@ int8_t AI_Restart(void) {
} }
int8_t AI_StartReceiving(AI_t *ai) { int8_t AI_StartReceiving(AI_t *ai) {
UNUSED(ai); if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI),
if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI), rxbuf, ai->form_host.rx_buffer,
AI_LEN_RX_BUFF) == HAL_OK) sizeof(ai->form_host.rx_buffer)) == HAL_OK)
return DEVICE_OK; return DEVICE_OK;
return DEVICE_ERR; return DEVICE_ERR;
} }
@ -74,12 +62,27 @@ bool AI_WaitDmaCplt(void) {
SIGNAL_AI_RAW_REDY); SIGNAL_AI_RAW_REDY);
} }
int8_t AI_ParseHost(AI_t *ai) { int8_t AI_ParseHost(AI_t *ai, CMD_Host_t *cmd_host) {
if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->form_host))) (void)cmd_host;
goto error;
ai->ai_online = true; ai->ai_online = true;
memcpy(&(ai->form_host), rxbuf, sizeof(ai->form_host)); if (!CRC16_Verify(ai->form_host.rx_buffer, sizeof(ai->form_host.rx_buffer)))
memset(rxbuf, 0, AI_LEN_RX_BUFF); goto error;
memcpy(&(ai->form_host.data), ai->form_host.rx_buffer, sizeof(ai->form_host.data));
// 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;
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:
@ -87,31 +90,20 @@ error:
return DEVICE_ERR; 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->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;
}
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; 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;
} }
int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat, const AHRS_Eulr_t *gimbal_ai) { int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat) {
ai->to_host.mcu.id = AI_ID_MCU; ai->to_host.mcu.id = AI_ID_MCU;
memcpy((void *)&(ai->to_host.mcu.package.data.quat), (const void *)quat, memcpy((void *)&(ai->to_host.mcu.package.data.quat), (const void *)quat,
sizeof(*quat)); sizeof(*quat));
memcpy((void *)&(ai->to_host.mcu.package.data.gimbal), (const void *)gimbal_ai,
sizeof(*gimbal_ai));
ai->to_host.mcu.package.data.notice = 0; ai->to_host.mcu.package.data.notice = 0;
if (ai->status == AI_STATUS_AUTOAIM) if (ai->status == AI_STATUS_AUTOAIM)
ai->to_host.mcu.package.data.notice |= AI_NOTICE_AUTOAIM; ai->to_host.mcu.package.data.notice |= AI_NOTICE_AUTOAIM;

13
User/device/ai.h
View File

@ -16,7 +16,6 @@ extern "C" {
#include "component\ahrs.h" #include "component\ahrs.h"
#include "component\cmd.h" #include "component\cmd.h"
#include "component\user_math.h" #include "component\user_math.h"
#include "component\filter.h"
#include "device\device.h" #include "device\device.h"
#include "device\referee.h" #include "device\referee.h"
#include "protocol.h" #include "protocol.h"
@ -37,8 +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;
@ -46,6 +47,7 @@ typedef struct __packed {
} to_host; } to_host;
CMD_AI_Status_t status; CMD_AI_Status_t status;
bool ai_online; bool ai_online;
} AI_t; } AI_t;
@ -55,12 +57,11 @@ int8_t AI_Restart(void);
int8_t AI_StartReceiving(AI_t *ai); int8_t AI_StartReceiving(AI_t *ai);
bool AI_WaitDmaCplt(void); bool AI_WaitDmaCplt(void);
int8_t AI_ParseHost(AI_t *ai); int8_t AI_ParseHost(AI_t *ai, CMD_Host_t *cmd_host);
int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host); int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host);
int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat, const AHRS_Eulr_t *gimbal_ai); 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_PackRef(AI_t *ai, const Referee_ForAI_t *ref);
int8_t AI_StartSend(AI_t *ai, bool option); int8_t AI_StartSend(AI_t *ai, bool option);
void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

13
User/device/can.c
View File

@ -155,7 +155,7 @@ int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
int16_t motor1, motor2, motor3, motor4; int16_t motor1, motor2, motor3, motor4;
int16_t yaw_motor, pit_motor; int16_t yaw_motor, pit_motor;
int16_t fric1_motor, fric2_motor, trig_motor; int16_t fric1_motor, fric2_motor, fric3_motor, trig_motor;
switch (group) { switch (group) {
case CAN_MOTOR_GROUT_CHASSIS: case CAN_MOTOR_GROUT_CHASSIS:
motor1 = motor1 =
@ -219,6 +219,8 @@ int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
(int16_t)(output->shoot.named.fric1 * (float)CAN_M3508_MAX_ABS_LSB); (int16_t)(output->shoot.named.fric1 * (float)CAN_M3508_MAX_ABS_LSB);
fric2_motor = fric2_motor =
(int16_t)(output->shoot.named.fric2 * (float)CAN_M3508_MAX_ABS_LSB); (int16_t)(output->shoot.named.fric2 * (float)CAN_M3508_MAX_ABS_LSB);
fric3_motor =
(int16_t)(output->shoot.named.fric3 * (float)CAN_M3508_MAX_ABS_LSB);
trig_motor = trig_motor =
(int16_t)(output->shoot.named.trig * (float)CAN_M2006_MAX_ABS_LSB); (int16_t)(output->shoot.named.trig * (float)CAN_M2006_MAX_ABS_LSB);
@ -231,10 +233,10 @@ int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
raw_tx.tx_data[1] = (uint8_t)(fric1_motor & 0xFF); raw_tx.tx_data[1] = (uint8_t)(fric1_motor & 0xFF);
raw_tx.tx_data[2] = (uint8_t)((fric2_motor >> 8) & 0xFF); raw_tx.tx_data[2] = (uint8_t)((fric2_motor >> 8) & 0xFF);
raw_tx.tx_data[3] = (uint8_t)(fric2_motor & 0xFF); raw_tx.tx_data[3] = (uint8_t)(fric2_motor & 0xFF);
raw_tx.tx_data[4] = (uint8_t)((trig_motor >> 8) & 0xFF); raw_tx.tx_data[4] = (uint8_t)((fric3_motor >> 8) & 0xFF);
raw_tx.tx_data[5] = (uint8_t)(trig_motor & 0xFF); raw_tx.tx_data[5] = (uint8_t)(fric3_motor & 0xFF);
raw_tx.tx_data[6] = 0; raw_tx.tx_data[6] = (uint8_t)((trig_motor >> 8) & 0xFF);
raw_tx.tx_data[7] = 0; raw_tx.tx_data[7] = (uint8_t)(trig_motor & 0xFF);
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->shoot), HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->shoot),
&raw_tx.tx_header, raw_tx.tx_data, &raw_tx.tx_header, raw_tx.tx_data,
@ -264,6 +266,7 @@ int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx) {
case CAN_M3508_FRIC1_ID: case CAN_M3508_FRIC1_ID:
case CAN_M3508_FRIC2_ID: case CAN_M3508_FRIC2_ID:
case CAN_M3508_FRIC3_ID:
case CAN_M2006_TRIG_ID: case CAN_M2006_TRIG_ID:
index = can_rx->rx_header.StdId - CAN_M3508_FRIC1_ID; index = can_rx->rx_header.StdId - CAN_M3508_FRIC1_ID;
can->recive_flag |= 1 << (index + 6); can->recive_flag |= 1 << (index + 6);

15
User/device/can.h
View File

@ -22,9 +22,10 @@ extern "C" {
#define CAN_MOTOR_GIMBAL_PIT_RECV (1 << 5) #define CAN_MOTOR_GIMBAL_PIT_RECV (1 << 5)
#define CAN_MOTOR_SHOOT_FRIC1_RECV (1 << 6) #define CAN_MOTOR_SHOOT_FRIC1_RECV (1 << 6)
#define CAN_MOTOR_SHOOT_FRIC2_RECV (1 << 7) #define CAN_MOTOR_SHOOT_FRIC2_RECV (1 << 7)
#define CAN_MOTOR_SHOOT_TRIG_RECV (1 << 8) #define CAN_MOTOR_SHOOT_FRIC3_RECV (1 << 8)
#define CAN_MOTOR_CAP_RECV (1 << 9) #define CAN_MOTOR_SHOOT_TRIG_RECV (1 << 9)
#define CAN_TOF_RECV (1 << 10) #define CAN_MOTOR_CAP_RECV (1 << 10)
#define CAN_TOF_RECV (1 << 11)
#define CAN_REC_CHASSIS_FINISHED \ #define CAN_REC_CHASSIS_FINISHED \
(CAN_MOTOR_CHASSIS_1_RECV | CAN_MOTOR_CHASSIS_2_RECV | \ (CAN_MOTOR_CHASSIS_1_RECV | CAN_MOTOR_CHASSIS_2_RECV | \
@ -33,7 +34,7 @@ extern "C" {
(CAN_MOTOR_GIMBAL_YAW_RECV | CAN_MOTOR_GIMBAL_PIT_RECV) (CAN_MOTOR_GIMBAL_YAW_RECV | CAN_MOTOR_GIMBAL_PIT_RECV)
#define CAN_REC_SHOOT_FINISHED \ #define CAN_REC_SHOOT_FINISHED \
(CAN_MOTOR_SHOOT_FRIC1_RECV | CAN_MOTOR_SHOOT_FRIC2_RECV | \ (CAN_MOTOR_SHOOT_FRIC1_RECV | CAN_MOTOR_SHOOT_FRIC2_RECV | \
CAN_MOTOR_SHOOT_TRIG_RECV) CAN_MOTOR_SHOOT_FRIC3_RECV |CAN_MOTOR_SHOOT_TRIG_RECV)
#define CAN_REC_CAP_FINISHED CAN_MOTOR_CAP_RECV #define CAN_REC_CAP_FINISHED CAN_MOTOR_CAP_RECV
#define CAN_REC_TOF_FINISHED CAN_TOF_RECV #define CAN_REC_TOF_FINISHED CAN_TOF_RECV
@ -72,7 +73,8 @@ typedef enum {
CAN_M3508_FRIC1_ID = 0x205, /* 5 */ CAN_M3508_FRIC1_ID = 0x205, /* 5 */
CAN_M3508_FRIC2_ID = 0x206, /* 6 */ CAN_M3508_FRIC2_ID = 0x206, /* 6 */
CAN_M2006_TRIG_ID = 0x207, /* 8 */ CAN_M3508_FRIC3_ID = 0x207, /* 7 */
CAN_M2006_TRIG_ID = 0x208, /* 8 */
CAN_GM6020_YAW_ID = 0x209, /* 5 */ CAN_GM6020_YAW_ID = 0x209, /* 5 */
CAN_GM6020_PIT_ID = 0x20A, /* 6 */ CAN_GM6020_PIT_ID = 0x20A, /* 6 */
@ -110,6 +112,7 @@ enum CAN_MotorGimbal_e {
enum CAN_MotorShoot_e { enum CAN_MotorShoot_e {
CAN_MOTOR_SHOOT_FRIC1 = 0, CAN_MOTOR_SHOOT_FRIC1 = 0,
CAN_MOTOR_SHOOT_FRIC2, CAN_MOTOR_SHOOT_FRIC2,
CAN_MOTOR_SHOOT_FRIC3,
CAN_MOTOR_SHOOT_TRIG, CAN_MOTOR_SHOOT_TRIG,
CAN_MOTORSHOOT_NUM, CAN_MOTORSHOOT_NUM,
}; };
@ -147,6 +150,7 @@ typedef union {
struct { struct {
float fric1; float fric1;
float fric2; float fric2;
float fric3;
float trig; float trig;
} named; } named;
} CAN_ShootOutput_t; } CAN_ShootOutput_t;
@ -200,6 +204,7 @@ typedef union {
struct { struct {
CAN_MotorFeedback_t fric1; CAN_MotorFeedback_t fric1;
CAN_MotorFeedback_t fric2; CAN_MotorFeedback_t fric2;
CAN_MotorFeedback_t fric3;
CAN_MotorFeedback_t trig; CAN_MotorFeedback_t trig;
} named; } named;
} CAN_ShootMotor_t; } CAN_ShootMotor_t;

233
User/module/config.c
View File

@ -149,6 +149,8 @@ static const Config_RobotParam_t param_default = {
.yaw = false, .yaw = false,
.pit = true, .pit = true,
}, },
.pit_ctrl_reverse = false,
}, /* gimbal */ }, /* gimbal */
.shoot = { /* 射击模块参数 */ .shoot = { /* 射击模块参数 */
@ -200,7 +202,11 @@ static const Config_RobotParam_t param_default = {
}, /* can */ }, /* can */
}; /* param_default */ }; /* param_default */
#ifdef DEBUG
Config_RobotParam_t param_hero = {
#else
static const Config_RobotParam_t param_hero = { static const Config_RobotParam_t param_hero = {
#endif
.model = ROBOT_MODEL_HERO, .model = ROBOT_MODEL_HERO,
.chassis = { /* 底盘模块参数 */ .chassis = { /* 底盘模块参数 */
@ -234,7 +240,7 @@ static const Config_RobotParam_t param_hero = {
}, },
.reverse = { .reverse = {
.yaw = true, .yaw = false,
}, },
}, /* chassis */ }, /* chassis */
@ -283,7 +289,7 @@ static const Config_RobotParam_t param_hero = {
}, },
}, /* pid */ }, /* pid */
.pitch_travel_rad = 1.07685447f, .pitch_travel_rad = 0.9685447f,
.low_pass_cutoff_freq = { .low_pass_cutoff_freq = {
.out = -1.0f, .out = -1.0f,
@ -291,9 +297,11 @@ static const Config_RobotParam_t param_hero = {
}, },
.reverse = { .reverse = {
.yaw = true, .yaw = false,
.pit = true, .pit = false,
}, },
.pit_ctrl_reverse = false,
}, /* gimbal */ }, /* gimbal */
.shoot = { /* 射击模块参数 */ .shoot = { /* 射击模块参数 */
@ -327,8 +335,8 @@ static const Config_RobotParam_t param_hero = {
.trig = -1.0f, .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, .fric_radius = 0.03f,
.cover_open_duty = 0.125f, .cover_open_duty = 0.125f,
.cover_close_duty = 0.075f, .cover_close_duty = 0.075f,
@ -345,8 +353,12 @@ static const Config_RobotParam_t param_hero = {
}, /* can */ }, /* can */
}; /* param_hero */ }; /* param_hero */
static const Config_RobotParam_t param_sentry_left = { #ifdef DEBUG
.model = ROBOT_MODEL_SENTRY_LEFT, Config_RobotParam_t param_sentry_chassis = {
#else
static const Config_RobotParam_t param_sentry_chassis = {
#endif
.model = ROBOT_MODEL_SENTRY_CHASSIS,
.chassis = { /* 底盘模块参数 */ .chassis = { /* 底盘模块参数 */
.type = CHASSIS_TYPE_MECANUM, .type = CHASSIS_TYPE_MECANUM,
@ -467,7 +479,7 @@ static const Config_RobotParam_t param_sentry_left = {
}, },
}, /* pid */ }, /* pid */
.pitch_travel_rad = 1.05f, .pitch_travel_rad = 0.85f,
.low_pass_cutoff_freq = { .low_pass_cutoff_freq = {
.out = -1.0f, .out = -1.0f,
@ -478,6 +490,198 @@ static const Config_RobotParam_t param_sentry_left = {
.yaw = false, .yaw = false,
.pit = true, .pit = true,
}, },
.pit_ctrl_reverse = 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 = 8.0f,
.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 = 6.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_chassis */
#ifdef DEBUG
Config_RobotParam_t param_sentry_gimbal = {
#else
static const Config_RobotParam_t param_sentry_gimbal = {
#endif
.model = ROBOT_MODEL_SENTRY_GIMBAL,
.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 = 0.85f,
.low_pass_cutoff_freq = {
.out = -1.0f,
.gyro = 1000.0f,
},
.reverse = {
.yaw = false,
.pit = true,
},
.pit_ctrl_reverse = true,
}, /* gimbal */ }, /* gimbal */
.shoot = { /* 射击模块参数 */ .shoot = { /* 射击模块参数 */
@ -518,7 +722,7 @@ static const Config_RobotParam_t param_sentry_left = {
.cover_close_duty = 0.050f, .cover_close_duty = 0.050f,
.model = SHOOT_MODEL_17MM, .model = SHOOT_MODEL_17MM,
.bullet_speed = 25.f, .bullet_speed = 25.f,
.min_shoot_delay = (uint32_t)(1000.0f / 1.0f), .min_shoot_delay = (uint32_t)(1000.0f / 20.0f),
}, /* shoot */ }, /* shoot */
.can = { .can = {
@ -527,14 +731,14 @@ static const Config_RobotParam_t param_sentry_left = {
.shoot = BSP_CAN_2, .shoot = BSP_CAN_2,
.cap = BSP_CAN_1, .cap = BSP_CAN_1,
}, /* can */ }, /* can */
}; /* param_sentry_left */ }; /* param_sentry_gimbal */
/* static const Config_RobotParam_t param_xxx; */ /* static const Config_RobotParam_t param_xxx; */
static const Config_PilotCfg_t cfg_qs = { static const Config_PilotCfg_t cfg_qs = {
.param = { .param = {
.sens_mouse = 0.06f, .sens_mouse = 0.06f,
.sens_rc = 10.0f, .sens_rc = 6.0f,
.map = { .map = {
.key_map[CMD_BEHAVIOR_FORE] = {CMD_ACTIVE_PRESSED, CMD_KEY_W}, .key_map[CMD_BEHAVIOR_FORE] = {CMD_ACTIVE_PRESSED, CMD_KEY_W},
.key_map[CMD_BEHAVIOR_BACK] = {CMD_ACTIVE_PRESSED, CMD_KEY_S}, .key_map[CMD_BEHAVIOR_BACK] = {CMD_ACTIVE_PRESSED, CMD_KEY_S},
@ -595,10 +799,11 @@ static const Config_RobotParamMap_t robot_param_map[] = {
{"default", &param_default}, {"default", &param_default},
{"infantry", &param_default}, {"infantry", &param_default},
{"hero", &param_hero}, {"hero", &param_hero},
{"sentry_chassis", &param_sentry_chassis},
{"sentry_gimbal", &param_sentry_gimbal},
// {"engineer", &param_engineer}, // {"engineer", &param_engineer},
// {"drone", &param_drone}, // {"drone", &param_drone},
{"sentry_left", &param_sentry_left}, // {"sentry", &param_sentry},
// {"sentry_right" &param_sentry_right},
/* {"xxx", &param_xxx}, */ /* {"xxx", &param_xxx}, */
{NULL, NULL}, {NULL, NULL},
}; };

50
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 */ AHRS_ResetEulr(&(g->setpoint.eulr)); /* 切换模式后重置设定值 */
if (g->mode == GIMBAL_MODE_RELAX) { if (g->mode == GIMBAL_MODE_RELAX) {
if (mode == GIMBAL_MODE_ABSOLUTE) { if (mode == GIMBAL_MODE_ABSOLUTE) {
g->setpoint.eulr.yaw = g->feedback.eulr.encoder.yaw; g->setpoint.eulr.yaw = g->feedback.eulr.imu.yaw;
} else if (mode == GIMBAL_MODE_RELATIVE) { } else if (mode == GIMBAL_MODE_RELATIVE) {
g->setpoint.eulr.yaw = g->feedback.eulr.encoder.yaw; g->setpoint.eulr.yaw = g->feedback.eulr.encoder.yaw;
} }
@ -130,8 +130,12 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
Gimbal_SetMode(g, g_cmd->mode); Gimbal_SetMode(g, g_cmd->mode);
/* yaw坐标正方向与遥控器操作逻辑相反 */ /* yaw坐标正方向与遥控器操作逻辑相反 */
g_cmd->delta_eulr.pit = -g_cmd->delta_eulr.pit; g_cmd->delta_eulr.pit = g_cmd->delta_eulr.pit;
g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw; 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;
}
/* 处理yaw控制命令 */ /* 处理yaw控制命令 */
CircleAdd(&(g->setpoint.eulr.yaw), g_cmd->delta_eulr.yaw, M_2PI); CircleAdd(&(g->setpoint.eulr.yaw), g_cmd->delta_eulr.yaw, M_2PI);
@ -140,13 +144,23 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
const float delta_max = const float delta_max =
CircleError(g->limit.max, CircleError(g->limit.max,
(g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit - (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
g->feedback.eulr.encoder.pit), g->feedback.eulr.imu.pit),
M_2PI); M_2PI);
const float delta_min = const float delta_min =
CircleError(g->limit.min, CircleError(g->limit.min,
(g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit - (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
g->feedback.eulr.encoder.pit), g->feedback.eulr.imu.pit),
M_2PI); 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); Clip(&(g_cmd->delta_eulr.pit), delta_min, delta_max);
g->setpoint.eulr.pit += g_cmd->delta_eulr.pit; g->setpoint.eulr.pit += g_cmd->delta_eulr.pit;
@ -163,17 +177,25 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
case GIMBAL_MODE_ABSOLUTE: case GIMBAL_MODE_ABSOLUTE:
yaw_omega_set_point = yaw_omega_set_point =
PID_Calc(&(g->pid[GIMBAL_PID_YAW_ANGLE_IDX]), g->setpoint.eulr.yaw, PID_Calc(&(g->pid[GIMBAL_PID_YAW_ANGLE_IDX]), g->setpoint.eulr.yaw,
g->feedback.eulr.encoder.yaw, 0.0f, g->dt); g->feedback.eulr.imu.yaw, 0.0f, g->dt);
g->out[GIMBAL_ACTR_YAW_IDX] = g->out[GIMBAL_ACTR_YAW_IDX] =
PID_Calc(&(g->pid[GIMBAL_PID_YAW_OMEGA_IDX]), yaw_omega_set_point, PID_Calc(&(g->pid[GIMBAL_PID_YAW_OMEGA_IDX]), yaw_omega_set_point,
g->feedback.gyro.z, 0.f, g->dt); g->feedback.gyro.z, 0.f, g->dt);
pit_omega_set_point = pit_omega_set_point =
PID_Calc(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), g->setpoint.eulr.pit, 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] = g->out[GIMBAL_ACTR_PIT_IDX] =
PID_Calc(&(g->pid[GIMBAL_PID_PIT_OMEGA_IDX]), pit_omega_set_point, PID_Calc(&(g->pid[GIMBAL_PID_PIT_OMEGA_IDX]), pit_omega_set_point,
g->feedback.gyro.x, 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; break;
case GIMBAL_MODE_RELATIVE: case GIMBAL_MODE_RELATIVE:
@ -201,20 +223,6 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
return 0; return 0;
} }
/**
* \brief 打包云台数据给AI
*
* \param g 包含云台数据的结构体
* \param gimbal_for_ai 云台AI数据
*
* \return 函数运行结果
*/
uint8_t Gimbal_PackAI(Gimbal_t *g, const AHRS_Eulr_t *ai){
memcpy((void *)ai, (const void *)&(g->feedback.eulr.encoder),
sizeof(g->feedback.eulr.encoder));
return 0;
}
/** /**
* \brief 复制云台输出值 * \brief 复制云台输出值
* *

12
User/module/gimbal.h
View File

@ -60,6 +60,8 @@ typedef struct {
bool pit; bool pit;
} reverse; } reverse;
bool pit_ctrl_reverse; /* 云台pitch遥控方向 */
} Gimbal_Params_t; } Gimbal_Params_t;
/* 软件限位 */ /* 软件限位 */
@ -145,16 +147,6 @@ int8_t Gimbal_UpdateFeedback(Gimbal_t *gimbal, const CAN_t *can);
*/ */
int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now); int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now);
/**
* \brief 打包云台数据给AI
*
* \param g 包含云台数据的结构体
* \param gimbal_for_ai 云台AI数据
*
* \return 函数运行结果
*/
uint8_t Gimbal_PackAI(Gimbal_t *g, const AHRS_Eulr_t *ai);
/** /**
* \brief 复制云台输出值 * \brief 复制云台输出值
* *

23
User/module/shoot.c
View File

@ -35,7 +35,7 @@ static int8_t Shoot_SetMode(Shoot_t *s, CMD_ShootMode_t mode) {
if (mode == s->mode) return SHOOT_OK; if (mode == s->mode) return SHOOT_OK;
/* 切换模式后重置PID和滤波器 */ /* 切换模式后重置PID和滤波器 */
for (uint8_t i = 0; i < 2; i++) { for (uint8_t i = 0; i < 3; i++) {
PID_Reset(s->pid.fric + i); PID_Reset(s->pid.fric + i);
LowPassFilter2p_Reset(s->filter.in.fric + i, 0.0f); LowPassFilter2p_Reset(s->filter.in.fric + i, 0.0f);
LowPassFilter2p_Reset(s->filter.out.fric + i, 0.0f); LowPassFilter2p_Reset(s->filter.out.fric + i, 0.0f);
@ -117,7 +117,7 @@ int8_t Shoot_Init(Shoot_t *s, const Shoot_Params_t *param, float target_freq) {
s->param = param; /* 初始化参数 */ s->param = param; /* 初始化参数 */
s->mode = SHOOT_MODE_RELAX; /* 设置默认模式 */ s->mode = SHOOT_MODE_RELAX; /* 设置默认模式 */
for (uint8_t i = 0; i < 2; i++) { for (uint8_t i = 0; i < 3; i++) {
/* PI控制器初始化PID */ /* PI控制器初始化PID */
PID_Init(s->pid.fric + i, KPID_MODE_NO_D, target_freq, PID_Init(s->pid.fric + i, KPID_MODE_NO_D, target_freq,
&(param->fric_pid_param)); &(param->fric_pid_param));
@ -154,7 +154,7 @@ int8_t Shoot_UpdateFeedback(Shoot_t *s, const CAN_t *can) {
if (s == NULL) return -1; if (s == NULL) return -1;
if (can == NULL) return -1; if (can == NULL) return -1;
for (uint8_t i = 0; i < 2; i++) { for (uint8_t i = 0; i < 3; i++) {
s->feedback.fric_rpm[i] = can->motor.shoot.as_array[i].rotor_speed; s->feedback.fric_rpm[i] = can->motor.shoot.as_array[i].rotor_speed;
} }
@ -245,11 +245,16 @@ int8_t Shoot_Control(Shoot_t *s, CMD_ShootCmd_t *s_cmd,
} }
/* 计算摩擦轮转速的目标值 */ /* 计算摩擦轮转速的目标值 */
s->setpoint.fric_rpm[1] = // s->setpoint.fric_rpm[1] =
CalculateRpm(s->fire_ctrl.bullet_speed, s->param->fric_radius, // CalculateRpm(s->fire_ctrl.bullet_speed, s->param->fric_radius,
(s->param->model == SHOOT_MODEL_17MM)); // (s->param->model == SHOOT_MODEL_17MM));
s->setpoint.fric_rpm[1] = -s->setpoint.fric_rpm[1]; // s->setpoint.fric_rpm[0] = -s->setpoint.fric_rpm[1];
s->setpoint.fric_rpm[0] = -s->setpoint.fric_rpm[1];
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[1] = fric_rpm;
s->setpoint.fric_rpm[2] = -fric_rpm;
/* 计算拨弹电机位置的目标值 */ /* 计算拨弹电机位置的目标值 */
if (((now - s->fire_ctrl.last_shoot) >= s->fire_ctrl.period_ms) && if (((now - s->fire_ctrl.last_shoot) >= s->fire_ctrl.period_ms) &&
@ -286,7 +291,7 @@ int8_t Shoot_Control(Shoot_t *s, CMD_ShootCmd_t *s_cmd,
s->out[SHOOT_ACTR_TRIG_IDX] = LowPassFilter2p_Apply( s->out[SHOOT_ACTR_TRIG_IDX] = LowPassFilter2p_Apply(
&(s->filter.out.trig), s->out[SHOOT_ACTR_TRIG_IDX]); &(s->filter.out.trig), s->out[SHOOT_ACTR_TRIG_IDX]);
for (uint8_t i = 0; i < 2; i++) { for (uint8_t i = 0; i < 3; i++) {
/* 控制摩擦轮 */ /* 控制摩擦轮 */
s->feedback.fric_rpm[i] = LowPassFilter2p_Apply( s->feedback.fric_rpm[i] = LowPassFilter2p_Apply(
&(s->filter.in.fric[i]), s->feedback.fric_rpm[i]); &(s->filter.in.fric[i]), s->feedback.fric_rpm[i]);

11
User/module/shoot.h
View File

@ -29,6 +29,7 @@ extern "C" {
enum Shoot_Acuator_e { enum Shoot_Acuator_e {
SHOOT_ACTR_FRIC1_IDX = 0, /* 1号摩擦轮相关的索引值 */ SHOOT_ACTR_FRIC1_IDX = 0, /* 1号摩擦轮相关的索引值 */
SHOOT_ACTR_FRIC2_IDX, /* 2号摩擦轮相关的索引值 */ SHOOT_ACTR_FRIC2_IDX, /* 2号摩擦轮相关的索引值 */
SHOOT_ACTR_FRIC3_IDX, /* 3号摩擦轮相关的索引值 */
SHOOT_ACTR_TRIG_IDX, /* 扳机电机相关的索引值 */ SHOOT_ACTR_TRIG_IDX, /* 扳机电机相关的索引值 */
SHOOT_ACTR_NUM, /* 总共的动作器数量 */ SHOOT_ACTR_NUM, /* 总共的动作器数量 */
}; };
@ -106,20 +107,20 @@ typedef struct {
/* 反馈信息 */ /* 反馈信息 */
struct { struct {
float fric_rpm[2]; /* 摩擦轮电机转速，单位：RPM */ float fric_rpm[3]; /* 摩擦轮电机转速，单位：RPM */
float trig_motor_angle; /* 拨弹电机角度，单位：弧度 */ float trig_motor_angle; /* 拨弹电机角度，单位：弧度 */
float trig_angle; /* 拨弹转盘角度，单位：弧度 */ float trig_angle; /* 拨弹转盘角度，单位：弧度 */
} feedback; } feedback;
/* PID计算的目标值 */ /* PID计算的目标值 */
struct { struct {
float fric_rpm[2]; /* 摩擦轮电机转速，单位：RPM */ float fric_rpm[3]; /* 摩擦轮电机转速，单位：RPM */
float trig_angle; /* 拨弹电机角度，单位：弧度 */ float trig_angle; /* 拨弹电机角度，单位：弧度 */
} setpoint; } setpoint;
/* 反馈控制用的PID */ /* 反馈控制用的PID */
struct { struct {
KPID_t fric[2]; /* 控制摩擦轮 */ KPID_t fric[3]; /* 控制摩擦轮 */
KPID_t trig; /* 控制拨弹电机 */ KPID_t trig; /* 控制拨弹电机 */
} pid; } pid;
@ -127,13 +128,13 @@ typedef struct {
struct { struct {
/* 反馈值滤波器 */ /* 反馈值滤波器 */
struct { struct {
LowPassFilter2p_t fric[2]; /* 过滤摩擦轮 */ LowPassFilter2p_t fric[3]; /* 过滤摩擦轮 */
LowPassFilter2p_t trig; /* 过滤拨弹电机 */ LowPassFilter2p_t trig; /* 过滤拨弹电机 */
} in; } in;
/* 输出值滤波器 */ /* 输出值滤波器 */
struct { struct {
LowPassFilter2p_t fric[2]; /* 过滤摩擦轮 */ LowPassFilter2p_t fric[3]; /* 过滤摩擦轮 */
LowPassFilter2p_t trig; /* 过滤拨弹电机 */ LowPassFilter2p_t trig; /* 过滤拨弹电机 */
} out; } out;
} filter; } filter;

20
User/task/ai.c
View File

@ -17,13 +17,11 @@ AI_t ai;
CMD_Host_t cmd_host; CMD_Host_t cmd_host;
AHRS_Quaternion_t quat; AHRS_Quaternion_t quat;
Referee_ForAI_t referee_ai; Referee_ForAI_t referee_ai;
AHRS_Eulr_t gimbal_ai;
#else #else
static AI_t ai; static AI_t ai;
static CMD_Host_t cmd_host; static CMD_Host_t cmd_host;
static AHRS_Quaternion_t quat; static AHRS_Quaternion_t quat;
static Referee_ForAI_t referee_ai; static Referee_ForAI_t referee_ai;
static AHRS_Eulr_t gimbal_ai;
#endif #endif
/* Private function --------------------------------------------------------- */ /* Private function --------------------------------------------------------- */
@ -44,7 +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; 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());
@ -54,25 +54,19 @@ void Task_Ai(void *argument) {
AI_StartReceiving(&ai); AI_StartReceiving(&ai);
if (AI_WaitDmaCplt()) { if (AI_WaitDmaCplt()) {
AI_ParseHost(&ai); AI_ParseHost(&ai, &cmd_host);
last_online_tick = tick; last_online_tick = tick;
} else { } else {
if (tick - last_online_tick > 300) 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);
} }
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.ai.quat, &(quat), NULL, 0);
osMessageQueueGet(task_runtime.msgq.cmd.ai, &(ai.status), NULL, 0); osMessageQueueGet(task_runtime.msgq.cmd.ai, &(ai.status), NULL, 0);
osMessageQueueGet(task_runtime.msgq.gimbal.eulr_encoder, &(gimbal_ai), NULL, 0);
bool ref_update = (osMessageQueueGet(task_runtime.msgq.referee.ai, bool ref_update = (osMessageQueueGet(task_runtime.msgq.referee.ai,
&(referee_ai), NULL, 0) == osOK); &(referee_ai), NULL, 0) == osOK);
AI_PackMCU(&ai, &quat);
AI_PackMCU(&ai, &quat, &gimbal_ai);
if (ref_update) AI_PackRef(&ai, &(referee_ai)); if (ref_update) AI_PackRef(&ai, &(referee_ai));
AI_StartSend(&(ai), ref_update); AI_StartSend(&(ai), ref_update);

8
User/task/cli.c
View File

@ -32,10 +32,10 @@ typedef struct {
static const char *const CLI_WELCOME_MESSAGE = 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"
" -------------------------------------------------------------------\r\n" " -------------------------------------------------------------------\r\n"
" FreeRTOS CLI. Type 'help' to view a list of registered commands. \r\n" " FreeRTOS CLI. Type 'help' to view a list of registered commands. \r\n"
"\r\n"; "\r\n";

1
User/task/command.c
View File

@ -68,6 +68,7 @@ void Task_Command(void *argument) {
if (osMessageQueueGet(task_runtime.msgq.cmd.raw.host, &host, 0, 0) == if (osMessageQueueGet(task_runtime.msgq.cmd.raw.host, &host, 0, 0) ==
osOK) osOK)
CMD_ParseHost(&host, &cmd, 1.0f / (float)TASK_FREQ_CTRL_COMMAND); CMD_ParseHost(&host, &cmd, 1.0f / (float)TASK_FREQ_CTRL_COMMAND);
osKernelUnlock(); /* 锁住RTOS内核防止控制过程中断，造成错误 */ osKernelUnlock(); /* 锁住RTOS内核防止控制过程中断，造成错误 */
/* 将需要与其他任务分享的数据放到消息队列中 */ /* 将需要与其他任务分享的数据放到消息队列中 */

5
User/task/ctrl_gimbal.c
View File

@ -22,13 +22,11 @@ CMD_GimbalCmd_t gimbal_cmd;
Gimbal_t gimbal; Gimbal_t gimbal;
CAN_GimbalOutput_t gimbal_out; CAN_GimbalOutput_t gimbal_out;
Referee_GimbalUI_t gimbal_ui; Referee_GimbalUI_t gimbal_ui;
AHRS_Eulr_t gimbal_for_ai;
#else #else
static CMD_GimbalCmd_t gimbal_cmd; static CMD_GimbalCmd_t gimbal_cmd;
static Gimbal_t gimbal; static Gimbal_t gimbal;
static CAN_GimbalOutput_t gimbal_out; static CAN_GimbalOutput_t gimbal_out;
static Referee_GimbalUI_t gimbal_ui; static Referee_GimbalUI_t gimbal_ui;
static AHRS_Eulr_t gimbal_for_ai;
#endif #endif
/* Private function --------------------------------------------------------- */ /* Private function --------------------------------------------------------- */
@ -68,15 +66,12 @@ void Task_CtrlGimbal(void *argument) {
osKernelLock(); /* 锁住RTOS内核防止控制过程中断，造成错误 */ osKernelLock(); /* 锁住RTOS内核防止控制过程中断，造成错误 */
Gimbal_UpdateFeedback(&gimbal, &can); Gimbal_UpdateFeedback(&gimbal, &can);
Gimbal_PackAI(&gimbal, &gimbal_for_ai);
Gimbal_Control(&gimbal, &gimbal_cmd, tick); Gimbal_Control(&gimbal, &gimbal_cmd, tick);
Gimbal_DumpOutput(&gimbal, &gimbal_out); Gimbal_DumpOutput(&gimbal, &gimbal_out);
osKernelUnlock(); osKernelUnlock();
osMessageQueueReset(task_runtime.msgq.can.output.gimbal); osMessageQueueReset(task_runtime.msgq.can.output.gimbal);
osMessageQueuePut(task_runtime.msgq.can.output.gimbal, &gimbal_out, 0, 0); osMessageQueuePut(task_runtime.msgq.can.output.gimbal, &gimbal_out, 0, 0);
osMessageQueueReset(task_runtime.msgq.gimbal.eulr_encoder);
osMessageQueuePut(task_runtime.msgq.gimbal.eulr_encoder, &gimbal_for_ai, 0, 0);
Gimbal_DumpUI(&gimbal, &gimbal_ui); Gimbal_DumpUI(&gimbal, &gimbal_ui);
osMessageQueueReset(task_runtime.msgq.ui.gimbal); osMessageQueueReset(task_runtime.msgq.ui.gimbal);

176
User/task/init.c
View File

@ -30,103 +30,101 @@
* *
* \param argument 未使用 * \param argument 未使用
*/ */
void Task_Init(void *argument) void Task_Init(void *argument) {
{ (void)argument; /* 未使用argument，消除警告 */
(void)argument; /* 未使用argument，消除警告 */
Config_Get(&task_runtime.cfg); /* 获取机器人配置 */ Config_Get(&task_runtime.cfg); /* 获取机器人配置 */
osKernelLock(); osKernelLock();
/* 创建任务 */ /* 创建任务 */
task_runtime.thread.atti_esti = task_runtime.thread.atti_esti =
osThreadNew(Task_AttiEsti, NULL, &attr_atti_esti); osThreadNew(Task_AttiEsti, NULL, &attr_atti_esti);
task_runtime.thread.cli = osThreadNew(Task_CLI, NULL, &attr_cli); task_runtime.thread.cli = osThreadNew(Task_CLI, NULL, &attr_cli);
task_runtime.thread.command = osThreadNew(Task_Command, NULL, &attr_command); task_runtime.thread.command = osThreadNew(Task_Command, NULL, &attr_command);
task_runtime.thread.ctrl_chassis = task_runtime.thread.ctrl_chassis =
osThreadNew(Task_CtrlChassis, NULL, &attr_ctrl_chassis); osThreadNew(Task_CtrlChassis, NULL, &attr_ctrl_chassis);
task_runtime.thread.ctrl_gimbal = task_runtime.thread.ctrl_gimbal =
osThreadNew(Task_CtrlGimbal, NULL, &attr_ctrl_gimbal); osThreadNew(Task_CtrlGimbal, NULL, &attr_ctrl_gimbal);
task_runtime.thread.ctrl_shoot = task_runtime.thread.ctrl_shoot =
osThreadNew(Task_CtrlShoot, NULL, &attr_ctrl_shoot); osThreadNew(Task_CtrlShoot, NULL, &attr_ctrl_shoot);
task_runtime.thread.info = osThreadNew(Task_Info, NULL, &attr_info); task_runtime.thread.info = osThreadNew(Task_Info, NULL, &attr_info);
task_runtime.thread.monitor = osThreadNew(Task_Monitor, NULL, &attr_monitor); task_runtime.thread.monitor = osThreadNew(Task_Monitor, NULL, &attr_monitor);
task_runtime.thread.can = osThreadNew(Task_Can, NULL, &attr_can); task_runtime.thread.can = osThreadNew(Task_Can, NULL, &attr_can);
task_runtime.thread.referee = osThreadNew(Task_Referee, NULL, &attr_referee); task_runtime.thread.referee = osThreadNew(Task_Referee, NULL, &attr_referee);
task_runtime.thread.ai = osThreadNew(Task_Ai, NULL, &attr_ai); task_runtime.thread.ai = osThreadNew(Task_Ai, NULL, &attr_ai);
task_runtime.thread.rc = osThreadNew(Task_RC, NULL, &attr_rc); task_runtime.thread.rc = osThreadNew(Task_RC, NULL, &attr_rc);
task_runtime.thread.cap = osThreadNew(Task_Cap, NULL, &attr_cap); task_runtime.thread.cap = osThreadNew(Task_Cap, NULL, &attr_cap);
/* 创建消息队列 */ /* 创建消息队列 */
/* motor */ /* motor */
task_runtime.msgq.can.feedback.chassis = task_runtime.msgq.can.feedback.chassis =
osMessageQueueNew(2u, sizeof(CAN_t), NULL); osMessageQueueNew(2u, sizeof(CAN_t), NULL);
task_runtime.msgq.can.feedback.gimbal = task_runtime.msgq.can.feedback.gimbal =
osMessageQueueNew(2u, sizeof(CAN_t), NULL); osMessageQueueNew(2u, sizeof(CAN_t), NULL);
task_runtime.msgq.can.feedback.shoot = task_runtime.msgq.can.feedback.shoot =
osMessageQueueNew(2u, sizeof(CAN_t), NULL); osMessageQueueNew(2u, sizeof(CAN_t), NULL);
task_runtime.msgq.can.feedback.cap = task_runtime.msgq.can.feedback.cap =
osMessageQueueNew(2u, sizeof(CAN_t), NULL); osMessageQueueNew(2u, sizeof(CAN_t), NULL);
task_runtime.msgq.can.output.chassis = task_runtime.msgq.can.output.chassis =
osMessageQueueNew(2u, sizeof(CAN_ChassisOutput_t), NULL); osMessageQueueNew(2u, sizeof(CAN_ChassisOutput_t), NULL);
task_runtime.msgq.can.output.gimbal = task_runtime.msgq.can.output.gimbal =
osMessageQueueNew(2u, sizeof(CAN_GimbalOutput_t), NULL); osMessageQueueNew(2u, sizeof(CAN_GimbalOutput_t), NULL);
task_runtime.msgq.can.output.shoot = task_runtime.msgq.can.output.shoot =
osMessageQueueNew(2u, sizeof(CAN_ShootOutput_t), NULL); osMessageQueueNew(2u, sizeof(CAN_ShootOutput_t), NULL);
task_runtime.msgq.can.output.cap = task_runtime.msgq.can.output.cap =
osMessageQueueNew(2u, sizeof(CAN_CapOutput_t), NULL); osMessageQueueNew(2u, sizeof(CAN_CapOutput_t), NULL);
/* command */ /* command */
task_runtime.msgq.cmd.chassis = task_runtime.msgq.cmd.chassis =
osMessageQueueNew(3u, sizeof(CMD_ChassisCmd_t), NULL); osMessageQueueNew(3u, sizeof(CMD_ChassisCmd_t), NULL);
task_runtime.msgq.cmd.gimbal = task_runtime.msgq.cmd.gimbal =
osMessageQueueNew(3u, sizeof(CMD_GimbalCmd_t), NULL); osMessageQueueNew(3u, sizeof(CMD_GimbalCmd_t), NULL);
task_runtime.msgq.cmd.shoot = task_runtime.msgq.cmd.shoot =
osMessageQueueNew(3u, sizeof(CMD_ShootCmd_t), NULL); osMessageQueueNew(3u, sizeof(CMD_ShootCmd_t), NULL);
task_runtime.msgq.cmd.ai = task_runtime.msgq.cmd.ai =
osMessageQueueNew(3u, sizeof(CMD_AI_Status_t), NULL); osMessageQueueNew(3u, sizeof(CMD_AI_Status_t), NULL);
task_runtime.msgq.cmd.referee = osMessageQueueNew(6u, sizeof(CMD_UI_t), NULL); task_runtime.msgq.cmd.referee = osMessageQueueNew(6u, sizeof(CMD_UI_t), NULL);
/* atti_esti */ /* atti_esti */
task_runtime.msgq.cmd.raw.rc = osMessageQueueNew(3u, sizeof(CMD_RC_t), NULL); task_runtime.msgq.cmd.raw.rc = osMessageQueueNew(3u, sizeof(CMD_RC_t), NULL);
task_runtime.msgq.cmd.raw.host = task_runtime.msgq.cmd.raw.host =
osMessageQueueNew(3u, sizeof(CMD_Host_t), NULL); osMessageQueueNew(3u, sizeof(CMD_Host_t), NULL);
task_runtime.msgq.gimbal.accl = task_runtime.msgq.gimbal.accl =
osMessageQueueNew(2u, sizeof(AHRS_Accl_t), NULL); osMessageQueueNew(2u, sizeof(AHRS_Accl_t), NULL);
task_runtime.msgq.gimbal.eulr_imu = task_runtime.msgq.gimbal.eulr_imu =
osMessageQueueNew(2u, sizeof(AHRS_Eulr_t), NULL); osMessageQueueNew(2u, sizeof(AHRS_Eulr_t), NULL);
task_runtime.msgq.gimbal.gyro = task_runtime.msgq.gimbal.gyro =
osMessageQueueNew(2u, sizeof(AHRS_Gyro_t), NULL); osMessageQueueNew(2u, sizeof(AHRS_Gyro_t), NULL);
task_runtime.msgq.gimbal.eulr_encoder =
osMessageQueueNew(2u, sizeof(AHRS_Eulr_t), NULL);
task_runtime.msgq.cap_info =
osMessageQueueNew(2u, sizeof(CAN_Capacitor_t), NULL);
/* AI */ task_runtime.msgq.cap_info =
task_runtime.msgq.ai.quat = osMessageQueueNew(2u, sizeof(CAN_Capacitor_t), NULL);
osMessageQueueNew(2u, sizeof(AHRS_Quaternion_t), NULL);
/* 裁判系统 */ /* AI */
task_runtime.msgq.referee.ai = task_runtime.msgq.ai.quat =
osMessageQueueNew(2u, sizeof(Referee_ForAI_t), NULL); osMessageQueueNew(2u, sizeof(AHRS_Quaternion_t), NULL);
task_runtime.msgq.referee.chassis =
osMessageQueueNew(2u, sizeof(Referee_ForChassis_t), NULL);
task_runtime.msgq.referee.cap =
osMessageQueueNew(2u, sizeof(Referee_ForCap_t), NULL);
task_runtime.msgq.referee.shoot =
osMessageQueueNew(2u, sizeof(Referee_ForShoot_t), NULL);
/* UI */ /* 裁判系统 */
task_runtime.msgq.ui.chassis = task_runtime.msgq.referee.ai =
osMessageQueueNew(2u, sizeof(Referee_ChassisUI_t), NULL); osMessageQueueNew(2u, sizeof(Referee_ForAI_t), NULL);
task_runtime.msgq.ui.cap = task_runtime.msgq.referee.chassis =
osMessageQueueNew(2u, sizeof(Referee_CapUI_t), NULL); osMessageQueueNew(2u, sizeof(Referee_ForChassis_t), NULL);
task_runtime.msgq.ui.gimbal = task_runtime.msgq.referee.cap =
osMessageQueueNew(2u, sizeof(Referee_GimbalUI_t), NULL); osMessageQueueNew(2u, sizeof(Referee_ForCap_t), NULL);
task_runtime.msgq.ui.shoot = task_runtime.msgq.referee.shoot =
osMessageQueueNew(2u, sizeof(Referee_ShootUI_t), NULL); osMessageQueueNew(2u, sizeof(Referee_ForShoot_t), NULL);
task_runtime.msgq.ui.cmd = osMessageQueueNew(2u, sizeof(bool), NULL);
osKernelUnlock(); /* UI */
osThreadTerminate(osThreadGetId()); /* 结束自身 */ task_runtime.msgq.ui.chassis =
osMessageQueueNew(2u, sizeof(Referee_ChassisUI_t), NULL);
task_runtime.msgq.ui.cap =
osMessageQueueNew(2u, sizeof(Referee_CapUI_t), NULL);
task_runtime.msgq.ui.gimbal =
osMessageQueueNew(2u, sizeof(Referee_GimbalUI_t), NULL);
task_runtime.msgq.ui.shoot =
osMessageQueueNew(2u, sizeof(Referee_ShootUI_t), NULL);
task_runtime.msgq.ui.cmd = osMessageQueueNew(2u, sizeof(bool), NULL);
osKernelUnlock();
osThreadTerminate(osThreadGetId()); /* 结束自身 */
} }

1
User/task/user_task.h
View File

@ -58,7 +58,6 @@ typedef struct {
osMessageQueueId_t accl; /* IMU读取 */ osMessageQueueId_t accl; /* IMU读取 */
osMessageQueueId_t gyro; /* IMU读取 */ osMessageQueueId_t gyro; /* IMU读取 */
osMessageQueueId_t eulr_imu; /* 姿态解算得到 */ osMessageQueueId_t eulr_imu; /* 姿态解算得到 */
osMessageQueueId_t eulr_encoder; /* 编码器读取 */
} gimbal; } gimbal;
/* 控制指令 */ /* 控制指令 */