写到能够底盘接收数据了

MDK-ARM/DevC.uvoptx

@@ -392,6 +392,21 @@
           <WinNumber>1</WinNumber>
           <ItemText>shoot</ItemText>
         </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ai</ItemText>
+        </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cmd</ItemText>
+        </Ww>
+        <Ww>
+          <count>9</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>rc</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -1255,7 +1270,7 @@
 
   <Group>
     <GroupName>User/bsp</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

Middlewares/Third_Party/Protocol/protocol.h

@@ -53,12 +53,14 @@ 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/cmd.c

@@ -192,7 +192,7 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
       break;
 
     case CMD_SW_MID:
-      cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
+      cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL_35;
       break;
 
     case CMD_SW_DOWN:
@@ -208,20 +208,26 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
       /* 右拨杆相应行为选择和解析*/ 
     case CMD_SW_UP:
       cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
-      cmd->shoot.mode = SHOOT_MODE_SAFE;
+      // cmd->shoot.mode = SHOOT_MODE_SAFE;
+      cmd->host_overwrite = false;
+      cmd->ai_status = AI_STATUS_STOP;
       break;
 
     case CMD_SW_MID:
       cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
-      cmd->shoot.fire = false;
-      cmd->shoot.mode = SHOOT_MODE_LOADED;
+      cmd->host_overwrite = true;
+      cmd->ai_status = AI_STATUS_AUTOMATIC;
+      // cmd->shoot.fire = false;
+      // cmd->shoot.mode = SHOOT_MODE_LOADED;
       break;
 
     case CMD_SW_DOWN:
       cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
-      cmd->shoot.mode = SHOOT_MODE_LOADED;
-      cmd->shoot.fire_mode = FIRE_MODE_SINGLE;
-      cmd->shoot.fire = true;
+      cmd->host_overwrite = true;
+      cmd->ai_status = AI_STATUS_AUTOMATIC;
+      // cmd->shoot.mode = SHOOT_MODE_LOADED;
+      // cmd->shoot.fire_mode = FIRE_MODE_SINGLE;
+      // cmd->shoot.fire = true;
       break;
 		/*
 		    case CMD_SW_UP:
@@ -244,7 +250,9 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
 		*/
     case CMD_SW_ERR:
       cmd->gimbal.mode = GIMBAL_MODE_RELAX;
-      cmd->shoot.mode = SHOOT_MODE_RELAX;
+      cmd->host_overwrite = false;
+      cmd->ai_status = AI_STATUS_STOP;
+      // cmd->shoot.mode = SHOOT_MODE_RELAX;
   }
   /* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */
   cmd->chassis.ctrl_vec.vx = rc->ch_l_x;
@@ -345,6 +353,11 @@ int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec) {
   cmd->gimbal.delta_eulr.yaw = host->gimbal_delta.yaw;
   cmd->gimbal.delta_eulr.pit = host->gimbal_delta.pit;
 
+  if (cmd->ai_status == AI_STATUS_AUTOMATIC){
+    cmd->chassis.ctrl_vec.vx = host->chassis_move_vec.vx;
+    cmd->chassis.ctrl_vec.vy = host->chassis_move_vec.vy;
+    cmd->chassis.ctrl_vec.wz = host->chassis_move_vec.wz;
+  }
   /* host射击命令，设置不同的射击频率和弹丸初速度 */
   if (host->fire) {
     cmd->shoot.mode = SHOOT_MODE_LOADED;

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

@@ -14,11 +14,17 @@
 #include "component\user_math.h"
 
 /* Private define ----------------------------------------------------------- */
+#define AI_HOST_MAX_CONTROL_VALUE (1.0f)
+
+#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;
@@ -29,14 +35,21 @@ 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);
+  BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB,
+                            Ai_IdleLineCallback);
   inited = true;
   return 0;
 }
@@ -48,9 +61,9 @@ int8_t AI_Restart(void) {
 }
 
 int8_t AI_StartReceiving(AI_t *ai) {
-  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI),
-                           (uint8_t *)&(ai->form_host),
-                           sizeof(ai->form_host)) == 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;
 }
@@ -60,17 +73,12 @@ bool AI_WaitDmaCplt(void) {
           SIGNAL_AI_RAW_REDY);
 }
 
-int8_t AI_ParseHost(AI_t *ai, CMD_Host_t *cmd_host) {
-  (void)cmd_host;
-  if (!CRC16_Verify((const uint8_t *)&(ai->form_host), sizeof(ai->form_host)))
+int8_t AI_ParseHost(AI_t *ai) {
+  if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->form_host)))
     goto error;
-  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;
+  ai->ai_online = true;
+  memcpy(&(ai->form_host), rxbuf, sizeof(ai->form_host));
+  memset(rxbuf, 0, AI_LEN_RX_BUFF);
   return DEVICE_OK;
 
 error:
@@ -78,10 +86,25 @@ 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.pit = -ai->form_host.data.gimbal.pit;
+
+  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), 0, sizeof(ai->form_host));
   memset(cmd_host, 0, sizeof(*cmd_host));
   return 0;

User/device/ai.h

@@ -45,6 +45,7 @@ typedef struct __packed {
   } to_host;
 
   CMD_AI_Status_t status;
+  bool ai_online;
 } AI_t;
 
 /* Exported functions prototypes -------------------------------------------- */
@@ -53,11 +54,12 @@ 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/module/chassis.c

@@ -264,7 +264,7 @@ int8_t Chassis_Control(Chassis_t *c, const CMD_ChassisCmd_t *c_cmd,
 
     case CHASSIS_MODE_INDENPENDENT: /* 独立模式控制向量与运动向量相等 */
       c->move_vec.vx = c_cmd->ctrl_vec.vx;
-      c->move_vec.vy = c_cmd->ctrl_vec.vx;
+      c->move_vec.vy = c_cmd->ctrl_vec.vy;
       break;
 
     case CHASSIS_MODE_OPEN:

User/module/gimbal.c

@@ -130,12 +130,14 @@ 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;
-  if (g->param->pit_ctrl_reverse){
-    g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw;
-  }else{
-    g_cmd->delta_eulr.yaw = g_cmd->delta_eulr.yaw;
-  }
+  g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw;
 
   /* 处理yaw控制命令 */
   CircleAdd(&(g->setpoint.eulr.yaw), g_cmd->delta_eulr.yaw, M_2PI);

User/task/ai.c

@@ -42,6 +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());
@@ -51,17 +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 {
-      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));