缝缝补补也算是有了双轴限位不过还有bug

.vscode/settings.json

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

Core/Src/main.c

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

MDK-ARM/DevC.uvoptx

@@ -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>

Middlewares/Third_Party/Protocol/protocol.h

@@ -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)) {

User/component/ballistics.c

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

User/component/cmd.c

@@ -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;
 }

User/component/cmd.h

@@ -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;
 

User/component/user_math.c

@@ -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();
+  }
+}

User/component/user_math.h

@@ -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);

User/device/ai.c

@@ -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),
+  UNUSED(ai);
-                           ai->form_host.rx_buffer,
+  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI), rxbuf,
-                           sizeof(ai->form_host.rx_buffer)) == HAL_OK)
+                           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) {
+int8_t AI_ParseHost(AI_t *ai) {
-  (void)cmd_host;
+  if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->form_host)))
-  ai->ai_online = true;
-  if (!CRC16_Verify(ai->form_host.rx_buffer, sizeof(ai->form_host.rx_buffer)))
     goto error;
-  memcpy(&(ai->form_host.data), ai->form_host.rx_buffer, sizeof(ai->form_host.data));
+  ai->ai_online = true;
-  // 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;
 
+  // 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), 0, sizeof(ai->form_host));
-  memset(&(ai->form_host.data), 0, sizeof(ai->form_host.data));
   memset(cmd_host, 0, sizeof(*cmd_host));
   return 0;
 }

User/device/ai.h

@@ -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 form_host;
-    Protocol_DownPackage_t data;
-  }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

User/device/can.h

@@ -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;

User/module/config.c

@@ -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 */
@@ -665,7 +658,12 @@ 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,
@@ -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 = {

User/module/config.h

@@ -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  */

User/module/gimbal.c

@@ -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;
+  g->limit.pit_min = g->limit.pit_max = limit_max;
-  CircleAdd(&(g->limit.min), -g->param->pitch_travel_rad, M_2PI);
+  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;
+  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;
-    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);
+
+  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 =
+      if (g->param->limit_and_imu.yaw_imu && g->param->limit_and_imu.pit_imu){
-          PID_Calc(&(g->pid[GIMBAL_PID_YAW_ANGLE_IDX]), g->setpoint.eulr.yaw,
+        yaw_omega_set_point =
-                   g->feedback.eulr.imu.yaw, 0.0f, g->dt);
+            PID_Calc(&(g->pid[GIMBAL_PID_YAW_ANGLE_IDX]), g->setpoint.eulr.yaw,
-      g->out[GIMBAL_ACTR_YAW_IDX] =
+                    g->feedback.eulr.imu.yaw, 0.0f, g->dt);
-          PID_Calc(&(g->pid[GIMBAL_PID_YAW_OMEGA_IDX]), yaw_omega_set_point,
+        g->out[GIMBAL_ACTR_YAW_IDX] =
-                   g->feedback.gyro.z, 0.f, g->dt);
+            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 =
+        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.imu.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->out[GIMBAL_ACTR_PIT_IDX] =
-                   g->feedback.eulr.encoder.pit, 0.0f, g->dt);
+            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);
+      }
 
-      g->out[GIMBAL_ACTR_PIT_IDX] =
-          PID_Calc(&(g->pid[GIMBAL_PID_PIT_OMEGA_IDX]), pit_omega_set_point,
-                   0.0, 0.f, g->dt);
       break;
 
     case GIMBAL_MODE_RELATIVE:

User/module/gimbal.h

@@ -52,7 +52,13 @@ 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 {
@@ -60,14 +66,14 @@ typedef struct {
     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 yaw_max;
-  float min;
+  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 */

User/task/ai.c

@@ -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));
 

User/task/cli.c

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

User/task/ctrl_gimbal.c

@@ -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,