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base: robofish:ee7ed0b056b94f6782c89514b74269faf6496f53
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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:fa5dae4e9f8108d29f1bc3d1ac40f842a2d2f68f
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robofish:原版
robofish:auto_sentry
robofish:哨兵
robofish:main
robofish:哨兵底盘

3 Commits
ee7ed0b056 ... fa5dae4e9f

Author SHA1 Message Date
Robofish
fa5dae4e9f 缝缝补补也算是有了双轴限位不过还有bug 2025-01-22 17:34:09 +08:00
Robofish
6c7e02f5c7 小自瞄 2025-01-17 00:22:21 +08:00
Robofish
9e763bae27 添加了SEARCH模式 2025-01-15 23:23:01 +08:00
21 changed files with 9689 additions and 9389 deletions
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5
.vscode/settings.json vendored Normal file
View File

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

2
Core/Src/main.c
View File

@ -74,7 +74,7 @@ void MX_FREERTOS_Init(void);
* @retval int
*/
int main(void)
{
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

25
MDK-ARM/DevC.uvoptx
View File

@ -407,6 +407,21 @@
<WinNumber>1</WinNumber>
<ItemText>rc</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_host</ItemText>
</Ww>
<Ww>
<count>11</count>
<WinNumber>1</WinNumber>
<ItemText>gimbal_ahrs</ItemText>
</Ww>
<Ww>
<count>12</count>
<WinNumber>1</WinNumber>
<ItemText>eulr_to_send</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
<THDelay>0</THDelay>
@ -658,7 +673,7 @@
<Group>
<GroupName>Application/User/USB_DEVICE/App</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1214,7 +1229,7 @@
<Group>
<GroupName>Middlewares/USB_Device_Library</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1494,7 +1509,7 @@
<Group>
<GroupName>User/component</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1670,7 +1685,7 @@
<Group>
<GroupName>User/device</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1750,7 +1765,7 @@
<Group>
<GroupName>User/module</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

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

18591
MDK-ARM/DevC/DevC.hex
View File

File diff suppressed because it is too large Load Diff

3
Middlewares/Third_Party/Protocol/protocol.h vendored
View File

@ -14,6 +14,7 @@ extern "C" {
#define AI_NOTICE_HITBUFF (1 << 1)
#define AI_NOTICE_AUTOMATIC (1 << 2)
#define AI_NOTICE_FIRE (1 << 3)
#define AI_NOTICE_TRACKING (1 << 4)
#define AI_ID_MCU (0xC4)
#define AI_ID_REF (0xA8)
@ -53,12 +54,14 @@ typedef struct __attribute__((packed)) {
/* 视觉 -> 电控 数据结构体*/
typedef struct __attribute__((packed)) {
struct __attribute__((packed)) {
float yaw; /* 偏航角（Yaw angle） */
float pit; /* 俯仰角（Pitch angle） */
float rol; /* 翻滚角（Roll angle） */
} gimbal; /* 欧拉角 */
float distance; /*目标距离*/
uint8_t notice; /* 控制命令 */
struct __attribute__((packed)) {

1
User/component/ballistics.c
View File

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

8
User/component/cmd.c
View File

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

1
User/component/cmd.h
View File

@ -42,6 +42,7 @@ typedef enum {
typedef enum {
GIMBAL_MODE_RELAX, /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
GIMBAL_MODE_SEARCH, /* 搜索模式，通过云台旋转搜索目标 */
GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
} CMD_GimbalMode_t;

14
User/component/user_math.c
View File

@ -112,3 +112,17 @@ inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
/* 不为裁判系统设定值时,计算转速 */
return 60.0f * (float)bullet_speed / (M_2PI * fric_radius);
}
/**
* @brief 断言失败处理
*
* @param file 文件名
* @param line 行号
*/
void VerifyFailed(const char *file, uint32_t line) {
UNUSED(file);
UNUSED(line);
while (1) {
__NOP();
}
}

50
User/component/user_math.h
View File

@ -104,3 +104,53 @@ float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm);
#ifdef __cplusplus
}
#endif
#ifdef DEBUG
/**
* @brief 如果表达式的值为假则运行处理函数
*
*/
#define ASSERT(expr) \
do { \
if (!(expr)) { \
VerifyFailed(__FILE__, __LINE__); \
} \
} while (0)
#else
/**
* @brief 未定DEBUG，表达式不会运行，断言被忽略
*
*/
#define ASSERT(expr) ((void)(0))
#endif
#ifdef DEBUG
/**
* @brief 如果表达式的值为假则运行处理函数
*
*/
#define VERIFY(expr) \
do { \
if (!(expr)) { \
VerifyFailed(__FILE__, __LINE__); \
} \
} while (0)
#else
/**
* @brief 表达式会运行，忽略表达式结果
*
*/
#define VERIFY(expr) ((void)(expr))
#endif
/**
* @brief 断言失败处理
*
* @param file 文件名
* @param line 行号
*/
void VerifyFailed(const char *file, uint32_t line);

80
User/device/ai.c
View File

@ -12,34 +12,51 @@
#include "component\crc16.h"
#include "component\crc8.h"
#include "component\user_math.h"
#include "component\filter.h"
/* Private define ----------------------------------------------------------- */
#define AI_HOST_MAX_CONTROL_VALUE (0.001f)
#define AI_LEN_RX_BUFF (sizeof(Protocol_DownPackage_t))
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* Private variables -------------------------------------------------------- */
static volatile uint32_t drop_message = 0;
static uint8_t rxbuf[AI_LEN_RX_BUFF];
static osThreadId_t thread_alert;
static bool inited = false;
static LowPassFilter2p_t low_pass_filter;
/* Private function -------------------------------------------------------- */
static void Ai_RxCpltCallback(void) {
osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY);
}
static void Ai_IdleLineCallback(void) {
osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY);
}
/* Exported functions ------------------------------------------------------- */
int8_t AI_Init(AI_t *ai) {
if (ai == NULL) return DEVICE_ERR_NULL;
UNUSED(ai);
ASSERT(ai);
if (inited) return DEVICE_ERR_INITED;
if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
VERIFY((thread_alert = osThreadGetId()) != NULL);
BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB,
Ai_RxCpltCallback);
inited = true;
BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB,
Ai_IdleLineCallback);
LowPassFilter2p_Init(&low_pass_filter, 1000.0f, 5.0f); // 示例参数
ai->ai_online = false;
inited = true;
return 0;
}
@ -50,9 +67,9 @@ int8_t AI_Restart(void) {
}
int8_t AI_StartReceiving(AI_t *ai) {
if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI),
ai->form_host.rx_buffer,
sizeof(ai->form_host.rx_buffer)) == HAL_OK)
UNUSED(ai);
if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI), rxbuf,
AI_LEN_RX_BUFF) == HAL_OK)
return DEVICE_OK;
return DEVICE_ERR;
}
@ -62,27 +79,19 @@ bool AI_WaitDmaCplt(void) {
SIGNAL_AI_RAW_REDY);
}
int8_t AI_ParseHost(AI_t *ai, CMD_Host_t *cmd_host) {
(void)cmd_host;
ai->ai_online = true;
if (!CRC16_Verify(ai->form_host.rx_buffer, sizeof(ai->form_host.rx_buffer)))
int8_t AI_ParseHost(AI_t *ai) {
if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->form_host)))
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;
ai->ai_online = true;
// 对接收到的数据进行滤波处理
for (size_t i = 0; i < sizeof(ai->form_host.data.gimbal); ++i) {
((float*)&ai->form_host.data.gimbal)[i] =
LowPassFilter2p_Apply(&low_pass_filter, ((float*)&ai->form_host.data.gimbal)[i]);
}
memcpy(&(ai->form_host), rxbuf, sizeof(ai->form_host));
memset(rxbuf, 0, AI_LEN_RX_BUFF);
return DEVICE_OK;
error:
@ -90,12 +99,27 @@ error:
return DEVICE_ERR;
}
void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) {
cmd_host->gimbal_delta.yaw = -ai->form_host.data.gimbal.yaw;
cmd_host->gimbal_delta.yaw = cmd_host->gimbal_delta.yaw - 0.00025;
cmd_host->gimbal_delta.pit = -ai->form_host.data.gimbal.pit;
cmd_host->gimbal_delta.pit = cmd_host->gimbal_delta.pit + 0.0005;
Clip(&(cmd_host->gimbal_delta.yaw), -AI_HOST_MAX_CONTROL_VALUE,
AI_HOST_MAX_CONTROL_VALUE);
Clip(&(cmd_host->gimbal_delta.pit), -AI_HOST_MAX_CONTROL_VALUE,
AI_HOST_MAX_CONTROL_VALUE);
cmd_host->fire = (ai->form_host.data.notice & AI_NOTICE_FIRE);
cmd_host->chassis_move_vec.vx = ai->form_host.data.chassis_move_vec.vx;
cmd_host->chassis_move_vec.vy = ai->form_host.data.chassis_move_vec.vy;
cmd_host->chassis_move_vec.wz = ai->form_host.data.chassis_move_vec.wz;
}
int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host) {
if (ai == NULL) return DEVICE_ERR_NULL;
if (cmd_host == NULL) return DEVICE_ERR_NULL;
ai->ai_online = false;
memset(ai->form_host.rx_buffer, 0, sizeof(ai->form_host.rx_buffer));
memset(&(ai->form_host.data), 0, sizeof(ai->form_host.data));
memset(&(ai->form_host), 0, sizeof(ai->form_host));
memset(cmd_host, 0, sizeof(*cmd_host));
return 0;
}

11
User/device/ai.h
View File

@ -16,6 +16,7 @@ extern "C" {
#include "component\ahrs.h"
#include "component\cmd.h"
#include "component\user_math.h"
#include "component\filter.h"
#include "device\device.h"
#include "device\referee.h"
#include "protocol.h"
@ -36,10 +37,8 @@ typedef struct __packed {
typedef struct __packed {
osThreadId_t thread_alert;
struct {
uint8_t rx_buffer[sizeof(Protocol_DownPackage_t)];
Protocol_DownPackage_t data;
}form_host;
Protocol_DownPackage_t form_host;
struct {
AI_UpPackageReferee_t ref;
@ -47,7 +46,6 @@ typedef struct __packed {
} to_host;
CMD_AI_Status_t status;
bool ai_online;
} AI_t;
@ -57,11 +55,12 @@ int8_t AI_Restart(void);
int8_t AI_StartReceiving(AI_t *ai);
bool AI_WaitDmaCplt(void);
int8_t AI_ParseHost(AI_t *ai, CMD_Host_t *cmd_host);
int8_t AI_ParseHost(AI_t *ai);
int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host);
int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat);
int8_t AI_PackRef(AI_t *ai, const Referee_ForAI_t *ref);
int8_t AI_StartSend(AI_t *ai, bool option);
void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host);
#ifdef __cplusplus
}
#endif

2
User/device/can.h
View File

@ -200,7 +200,7 @@ typedef union {
} CAN_GimbalMotor_t;
typedef union {
CAN_MotorFeedback_t as_array[3];
CAN_MotorFeedback_t as_array[4];
struct {
CAN_MotorFeedback_t fric1;
CAN_MotorFeedback_t fric2;

57
User/module/config.c
View File

@ -138,7 +138,12 @@ static const Config_RobotParam_t param_default = {
},
}, /* pid */
.pitch_travel_rad = 1.05f,
.limit_and_imu = {
.yaw_travel_rad = -1.0f,
.pitch_travel_rad = 2.0f,
.yaw_imu = false,
.pit_imu = false,
},
.low_pass_cutoff_freq = {
.out = -1.0f,
@ -150,7 +155,6 @@ static const Config_RobotParam_t param_default = {
.pit = true,
},
.pit_ctrl_reverse = false,
}, /* gimbal */
.shoot = { /* 射击模块参数 */
@ -191,7 +195,7 @@ static const Config_RobotParam_t param_default = {
.cover_close_duty = 0.050f,
.model = SHOOT_MODEL_17MM,
.bullet_speed = 30.f,
.min_shoot_delay = (uint32_t)(1000.0f / 10.0f),
.min_shoot_delay = (uint32_t)(1000.0f / 5.0f),
}, /* shoot */
.can = {
@ -285,7 +289,12 @@ static const Config_RobotParam_t param_hero = {
},
}, /* pid */
.pitch_travel_rad = 1.07685447f,
.limit_and_imu = {
.yaw_travel_rad = -1.0f,
.pitch_travel_rad = 1.0f,
.yaw_imu = true,
.pit_imu = true,
},
.low_pass_cutoff_freq = {
.out = -1.0f,
@ -297,7 +306,6 @@ static const Config_RobotParam_t param_hero = {
.pit = true,
},
.pit_ctrl_reverse = false,
}, /* gimbal */
.shoot = { /* 射击模块参数 */
@ -434,25 +442,6 @@ static const Config_RobotParam_t param_sentry_chassis = {
.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,
@ -475,7 +464,12 @@ static const Config_RobotParam_t param_sentry_chassis = {
},
}, /* pid */
.pitch_travel_rad = 0.85f,
.limit_and_imu = {
.yaw_travel_rad = -1.0f,
.pitch_travel_rad = 1.0f,
.yaw_imu = true,
.pit_imu = true,
},
.low_pass_cutoff_freq = {
.out = -1.0f,
@ -487,7 +481,6 @@ static const Config_RobotParam_t param_sentry_chassis = {
.pit = true,
},
.pit_ctrl_reverse = true,
}, /* gimbal */
.shoot = { /* 射击模块参数 */
@ -665,8 +658,13 @@ static const Config_RobotParam_t param_sentry_gimbal = {
},
}, /* pid */
.pitch_travel_rad = 0.85f,
.limit_and_imu = {
.yaw_travel_rad = -1.0f,
.pitch_travel_rad = 1.0f,
.yaw_imu = true,
.pit_imu = true,
},
.low_pass_cutoff_freq = {
.out = -1.0f,
.gyro = 1000.0f,
@ -677,7 +675,6 @@ static const Config_RobotParam_t param_sentry_gimbal = {
.pit = true,
},
.pit_ctrl_reverse = true,
}, /* gimbal */
.shoot = { /* 射击模块参数 */
@ -718,7 +715,7 @@ static const Config_RobotParam_t param_sentry_gimbal = {
.cover_close_duty = 0.050f,
.model = SHOOT_MODEL_17MM,
.bullet_speed = 25.f,
.min_shoot_delay = (uint32_t)(1000.0f / 20.0f),
.min_shoot_delay = (uint32_t)(1000.0f / 1.0f),
}, /* shoot */
.can = {

4
User/module/config.h
View File

@ -47,8 +47,8 @@ typedef struct {
} cali; /* 校准 */
AHRS_Eulr_t mech_zero; /* 机械零点 */
float gimbal_limit; /* 云台pitch轴软件限位最高点 */
float gimbal_pitch_limit; /* 云台pitch轴软件限位最高点 */
float gimbal_yaw_limit; /* 云台yaw轴软件限位最高点 */
} Config_t;
/* 机器人参数和对应字符串的映射 */

171
User/module/gimbal.c
View File

@ -25,6 +25,10 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, CMD_GimbalMode_t mode) {
if (g == NULL) return -1;
if (mode == g->mode) return GIMBAL_OK;
/* 获取当前反馈值，防止位置突变 */
g->setpoint.eulr.yaw = g->feedback.eulr.encoder.yaw;
g->setpoint.eulr.pit = g->feedback.eulr.encoder.pit;
/* 切换模式后重置PID和滤波器 */
for (uint8_t i = 0; i < GIMBAL_PID_NUM; i++) {
PID_Reset(g->pid + i);
@ -36,9 +40,15 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, CMD_GimbalMode_t mode) {
AHRS_ResetEulr(&(g->setpoint.eulr)); /* 切换模式后重置设定值 */
if (g->mode == GIMBAL_MODE_RELAX) {
if (mode == GIMBAL_MODE_ABSOLUTE) {
g->setpoint.eulr.yaw = g->feedback.eulr.imu.yaw;
if (g->param->limit_and_imu.yaw_imu) {
g->setpoint.eulr.yaw = g->feedback.eulr.imu.yaw;
} else {
g->setpoint.eulr.yaw = g->feedback.eulr.encoder.yaw;
}
} else if (mode == GIMBAL_MODE_RELATIVE) {
g->setpoint.eulr.yaw = g->feedback.eulr.encoder.yaw;
} else if (mode == GIMBAL_MODE_SEARCH) {
g->setpoint.eulr.yaw = g->feedback.eulr.encoder.yaw;
}
}
@ -66,9 +76,12 @@ int8_t Gimbal_Init(Gimbal_t *g, const Gimbal_Params_t *param, float limit_max,
/* 设置软件限位 */
if (g->param->reverse.pit) CircleReverse(&limit_max);
g->limit.min = g->limit.max = limit_max;
CircleAdd(&(g->limit.min), -g->param->pitch_travel_rad, M_2PI);
g->limit.pit_min = g->limit.pit_max = limit_max;
CircleAdd(&(g->limit.pit_min), -g->param->limit_and_imu.pitch_travel_rad, M_2PI);
if (g->param->reverse.yaw) CircleReverse(&limit_max);
g->limit.yaw_min = g->limit.yaw_max = limit_max;
CircleAdd(&(g->limit.yaw_min), -g->param->limit_and_imu.yaw_travel_rad, M_2PI);
/* 初始化云台电机控制PID和LPF */
PID_Init(&(g->pid[GIMBAL_PID_YAW_ANGLE_IDX]), KPID_MODE_NO_D, target_freq,
&(g->param->pid[GIMBAL_PID_YAW_ANGLE_IDX]));
@ -130,38 +143,80 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
Gimbal_SetMode(g, g_cmd->mode);
/* 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;
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.pit = -g_cmd->delta_eulr.pit;
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yaw控制命令 */
// CircleAdd(&(g->setpoint.eulr.yaw), g_cmd->delta_eulr.yaw, M_2PI);
if (g->param->limit_and_imu.yaw_travel_rad > 0.0f) {
/* 处理yaw控制命令，软件限位 */
float delta_yaw_max;
float delta_yaw_min;
if (g->param->limit_and_imu.yaw_imu)
{
delta_yaw_max =
CircleError(g->limit.yaw_max,
(g->feedback.eulr.encoder.yaw + g->setpoint.eulr.yaw -
g->feedback.eulr.imu.yaw),
M_2PI);
delta_yaw_min =
CircleError(g->limit.yaw_min,
(g->feedback.eulr.encoder.yaw + g->setpoint.eulr.yaw -
g->feedback.eulr.imu.yaw),
M_2PI);
}else
{
delta_yaw_max =
CircleError(g->limit.yaw_max,
(g->feedback.eulr.encoder.yaw + g->setpoint.eulr.yaw -
g->feedback.eulr.encoder.yaw),
M_2PI);
delta_yaw_min =
CircleError(g->limit.yaw_min,
(g->feedback.eulr.encoder.yaw + g->setpoint.eulr.yaw -
g->feedback.eulr.encoder.yaw),
M_2PI);
}
Clip(&(g_cmd->delta_eulr.yaw), delta_yaw_min, delta_yaw_max);
}else (CircleAdd(&(g->setpoint.eulr.yaw), g_cmd->delta_eulr.yaw, M_2PI));
g->setpoint.eulr.yaw += g_cmd->delta_eulr.yaw;
if (g->param->limit_and_imu.pitch_travel_rad > 0.0f) {
/* 处理pitch控制命令，软件限位 */
float delta_pitch_max;
float delta_pitch_min;
if (g->param->limit_and_imu.pit_imu)
{
delta_pitch_max =
CircleError(g->limit.pit_max,
(g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
g->feedback.eulr.imu.pit),
M_2PI);
delta_pitch_min =
CircleError(g->limit.pit_min,
(g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
g->feedback.eulr.imu.pit),
M_2PI);
}else
{
delta_pitch_max =
CircleError(g->limit.pit_max,
(g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
g->feedback.eulr.encoder.pit),
M_2PI);
delta_pitch_min =
CircleError(g->limit.pit_min,
(g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
g->feedback.eulr.encoder.pit),
M_2PI);
}
Clip(&(g_cmd->delta_eulr.pit), delta_pitch_min, delta_pitch_max);
}else (CircleAdd(&(g->setpoint.eulr.pit), g_cmd->delta_eulr.pit, 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),
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;
/* 重置输入指令，防止重复处理 */
@ -174,24 +229,42 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
for (uint8_t i = 0; i < GIMBAL_ACTR_NUM; i++) g->out[i] = 0.0f;
break;
case GIMBAL_MODE_SEARCH:
g->setpoint.eulr.pit = g->limit.pit_min + (g->limit.pit_max - g->limit.pit_min) * (sinf(now / 100.0f) + 1.0f) / 2.0f; // 在min和max之间摆动
g->setpoint.eulr.yaw = g->limit.yaw_min + (g->limit.yaw_max - g->limit.yaw_min) * (sinf(now / 100.0f) + 1.0f) / 2.0f; // 在min和max之间摆动
case GIMBAL_MODE_ABSOLUTE:
yaw_omega_set_point =
PID_Calc(&(g->pid[GIMBAL_PID_YAW_ANGLE_IDX]), g->setpoint.eulr.yaw,
g->feedback.eulr.imu.yaw, 0.0f, g->dt);
g->out[GIMBAL_ACTR_YAW_IDX] =
PID_Calc(&(g->pid[GIMBAL_PID_YAW_OMEGA_IDX]), yaw_omega_set_point,
g->feedback.gyro.z, 0.f, g->dt);
if (g->param->limit_and_imu.yaw_imu && g->param->limit_and_imu.pit_imu){
yaw_omega_set_point =
PID_Calc(&(g->pid[GIMBAL_PID_YAW_ANGLE_IDX]), g->setpoint.eulr.yaw,
g->feedback.eulr.imu.yaw, 0.0f, g->dt);
g->out[GIMBAL_ACTR_YAW_IDX] =
PID_Calc(&(g->pid[GIMBAL_PID_YAW_OMEGA_IDX]), yaw_omega_set_point,
g->feedback.gyro.z, 0.f, g->dt);
pit_omega_set_point =
PID_Calc(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), g->setpoint.eulr.pit,
g->feedback.eulr.imu.pit, 0.0f, g->dt);
g->out[GIMBAL_ACTR_PIT_IDX] =
PID_Calc(&(g->pid[GIMBAL_PID_PIT_OMEGA_IDX]), pit_omega_set_point,
0.0, 0.f, g->dt);
}else{
yaw_omega_set_point =
PID_Calc(&(g->pid[GIMBAL_PID_YAW_ANGLE_IDX]), g->setpoint.eulr.yaw,
g->feedback.eulr.encoder.yaw, 0.0f, g->dt);
g->out[GIMBAL_ACTR_YAW_IDX] =
PID_Calc(&(g->pid[GIMBAL_PID_YAW_OMEGA_IDX]), yaw_omega_set_point,
g->feedback.gyro.z, 0.f, g->dt);
pit_omega_set_point =
PID_Calc(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), g->setpoint.eulr.pit,
g->feedback.eulr.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);
}
// 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->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:

16
User/module/gimbal.h
View File

@ -52,22 +52,28 @@ typedef struct {
float gyro; /* 陀螺仪数据 */
} low_pass_cutoff_freq;
float pitch_travel_rad; /* 云台pitch轴行程弧度 */
/* 设置云台限位和是否启用imu */
struct {
float yaw_travel_rad; /* 云台yaw轴行程弧度 */
float pitch_travel_rad; /* 云台pitch轴行程弧度 */
bool yaw_imu;
bool pit_imu;
} limit_and_imu;
/* 设置默认运动方向 */
struct {
bool yaw;
bool pit;
} reverse;
bool pit_ctrl_reverse; /* 云台pitch遥控方向 */
} Gimbal_Params_t;
/* 软件限位 */
typedef struct {
float max;
float min;
float yaw_max;
float yaw_min;
float pit_max;
float pit_min;
} Gimbal_Limit_t;
/* 云台反馈数据的结构体，包含反馈控制用的反馈数据 */

15
User/task/ai.c
View File

@ -42,9 +42,7 @@ void Task_Ai(void *argument) {
AI_Init(&ai);
uint32_t tick = osKernelGetTickCount();
uint32_t last_online_tick = tick;
while (1) {
#ifdef DEBUG
task_runtime.stack_water_mark.ai = osThreadGetStackSpace(osThreadGetId());
@ -54,18 +52,23 @@ void Task_Ai(void *argument) {
AI_StartReceiving(&ai);
if (AI_WaitDmaCplt()) {
AI_ParseHost(&ai, &cmd_host);
AI_ParseHost(&ai);
last_online_tick = tick;
} else {
if (tick - last_online_tick > 300) AI_HandleOffline(&ai, &cmd_host);
if (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.cmd.ai, &(ai.status), NULL, 0);
bool ref_update = (osMessageQueueGet(task_runtime.msgq.referee.ai,
&(referee_ai), NULL, 0) == osOK);
AI_PackMCU(&ai, &quat);
if (ref_update) AI_PackRef(&ai, &(referee_ai));

20
User/task/cli.c
View File

@ -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";
@ -523,7 +523,7 @@ static BaseType_t Command_SetGimbalLim(char *out_buffer, size_t len,
switch (fsm.stage) {
case 0:
Config_Get(&cfg);
snprintf(out_buffer, len, "(old)limit:%f\r\n", cfg.gimbal_limit);
snprintf(out_buffer, len, "(old)pit_limit:%f,(old)yaw_limit:%f\r\n", cfg.gimbal_pitch_limit, cfg.gimbal_yaw_limit);
fsm.stage = 1;
return pdPASS;
case 1:
@ -538,12 +538,12 @@ static BaseType_t Command_SetGimbalLim(char *out_buffer, size_t len,
}
Config_Get(&cfg);
osThreadResume(task_runtime.thread.ctrl_gimbal);
cfg.gimbal_limit = can.motor.gimbal.named.pit.rotor_angle;
cfg.gimbal_pitch_limit = can.motor.gimbal.named.pit.rotor_angle;
cfg.gimbal_yaw_limit = can.motor.gimbal.named.yaw.rotor_angle;
Config_Set(&cfg);
Config_Get(&cfg);
snprintf(out_buffer, len, "(new)limit:%f\r\nDone.", cfg.gimbal_limit);
snprintf(out_buffer, len, "(new)limit_pitch:%f,limit_yaw%f\r\nDone.", cfg.gimbal_pitch_limit, cfg.gimbal_yaw_limit);
fsm.stage = 2;
return pdPASS;
case 2:
@ -692,7 +692,7 @@ void Task_CLI(void *argument) {
BSP_USB_Printf(CLI_WELCOME_MESSAGE);
/* 开始运行命令行界面 */
BSP_USB_Printf("rm>");
BSP_USB_Printf("qut-move-rm>");
while (1) {
#ifdef DEBUG
/* 记录任务所使用的的栈空间 */
@ -730,7 +730,7 @@ void Task_CLI(void *argument) {
index = 0; /* 重置索引，准备接收下一段命令 */
memset(input, 0x00, strlen(input)); /* 清空输入缓存 */
}
BSP_USB_Printf("rm>");
BSP_USB_Printf("qut-move-rm>");
} else if (rx_char == '\b' || rx_char == 0x7Fu) {
/* 如果输入的是退格键则清空一位输入缓存，同时进行界限保护 */
if (index > 0) {

2
User/task/ctrl_gimbal.c
View File

@ -43,7 +43,7 @@ void Task_CtrlGimbal(void *argument) {
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_GIMBAL;
/* 初始化云台 */
Gimbal_Init(&gimbal, &(task_runtime.cfg.robot_param->gimbal),
task_runtime.cfg.gimbal_limit, (float)TASK_FREQ_CTRL_GIMBAL);
task_runtime.cfg.gimbal_pitch_limit, (float)TASK_FREQ_CTRL_GIMBAL);
/* 延时一段时间再开启任务 */
osMessageQueueGet(task_runtime.msgq.can.feedback.gimbal, &can, NULL,