添加ai

User/device/ai.c

@@ -5,10 +5,12 @@ AI
 /* Includes ----------------------------------------------------------------- */
 #include "ai.h"
 
+#include <stdbool.h>
 #include <string.h>
 
 #include "bsp/time.h"
 #include "bsp/uart.h"
+#include "component/ahrs.h"
 #include "component/crc16.h"
 #include "component/crc8.h"
 #include "component/user_math.h"
@@ -64,14 +66,16 @@ int8_t AI_Restart(AI_t *ai) {
 
 int8_t AI_StartReceiving(AI_t *ai) {
   UNUSED(ai);
-  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI), rxbuf,
+  // if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI), rxbuf,
-                           AI_LEN_RX_BUFF) == HAL_OK)
+  //                          AI_LEN_RX_BUFF) == HAL_OK)
+  if (BSP_UART_Receive(BSP_UART_AI, rxbuf,
+                           AI_LEN_RX_BUFF, true) == HAL_OK)
     return DEVICE_OK;
   return DEVICE_ERR;
 }
 
-bool AI_WaitDmaCplt(uint32_t timeout) {
+bool AI_WaitDmaCplt(void) {
-  return (osThreadFlagsWait(SIGNAL_AI_RAW_REDY, osFlagsWaitAll, timeout) ==
+  return (osThreadFlagsWait(SIGNAL_AI_RAW_REDY, osFlagsWaitAll,0) ==
           SIGNAL_AI_RAW_REDY);
 }
 
@@ -89,18 +93,47 @@ error:
   return DEVICE_ERR;
 }
 
-// int8_t AI_PackMCU(AI_t *ai, const AI_Protucol_UpDataMCU_t *data){
+int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *data){
-//   if (ai == NULL || data == NULL) return DEVICE_ERR_NULL;
+  if (ai == NULL || data == NULL) return DEVICE_ERR_NULL;
-//   ai->to_host.mcu.id = AI_ID_MCU;
+  ai->to_host.mcu.id = AI_ID_MCU;
-//   ai->to_host.mcu.package = *data;
+  ai->to_host.mcu.package.quat=*data;
-//   ai->to_host.mcu.crc16 =
+  ai->to_host.mcu.package.notice = ai->status;
-//       CRC16_Calc((const uint8_t *)&(ai->to_host.mcu), sizeof(AI_UpPackageMCU_t) - 2);
+  ai->to_host.mcu.crc16 = CRC16_Calc((const uint8_t *)&(ai->to_host.mcu), sizeof(AI_UpPackageMCU_t) - 2, CRC16_INIT);
-//   return DEVICE_OK;
+  return DEVICE_OK;
-// }
+}
 
-int8_t AI_PackRef(AI_t *ai, const AI_UpPackageReferee_t *data);
+int8_t AI_PackRef(AI_t *ai, const AI_UpPackageReferee_t *data) {
+  if (ai == NULL || data == NULL) return DEVICE_ERR_NULL;
+  ai->to_host.ref = *data;
+  return DEVICE_OK;
+}
 
-int8_t AI_HandleOffline(AI_t *ai);
+int8_t AI_HandleOffline(AI_t *ai) {
+  if (ai == NULL) return DEVICE_ERR_NULL;
+  if (BSP_TIME_Get() - ai->header.last_online_time >
+      100000) {
+    ai->header.online = false;
+  }
+  return DEVICE_OK;
+}
 
-int8_t AI_StartSend(AI_t *ai, bool ref_online);
+int8_t AI_StartSend(AI_t *ai, bool ref_online){
+  if (ai == NULL) return DEVICE_ERR_NULL;
+  
+  if (ref_online) {
+    // 发送裁判系统数据和MCU数据
+    if (BSP_UART_Transmit(BSP_UART_AI, (uint8_t *)&(ai->to_host),
+                          sizeof(ai->to_host.ref) + sizeof(ai->to_host.mcu), true) == HAL_OK)
+      return DEVICE_OK;
+    else
+      return DEVICE_ERR;
+  } else {
+    // 只发送MCU数据
+    if (BSP_UART_Transmit(BSP_UART_AI, (uint8_t *)&(ai->to_host.mcu),
+                          sizeof(ai->to_host.mcu), true) == HAL_OK)
+      return DEVICE_OK;
+    else
+      return DEVICE_ERR;
+  }
+}
 

User/device/ai.h

@@ -25,10 +25,39 @@ extern "C" {
 #define AI_ID_AI (0xA1)
 /* Exported types ----------------------------------------------------------- */
 
+typedef enum {
+  AI_ARMOR_HERO = 0, /*英雄机器人*/
+  AI_ARMOR_INFANTRY, /*步兵机器人*/
+  AI_ARMOR_SENTRY,   /*哨兵机器人*/
+  AI_ARMOR_ENGINEER, /*工程机器人*/
+  AI_ARMOR_OUTPOST,  /*前哨占*/
+  AI_ARMOR_BASE,     /*基地*/
+  AI_ARMOR_NORMAL,   /*由AI自动选择*/
+} AI_ArmorsType_t;
+
+typedef enum {
+  AI_STATUS_OFF = 0, /* 关闭 */
+  AI_STATUS_AUTOAIM, /* 自瞄 */
+  AI_STATUS_AUTOPICK, /* 自动取矿 */
+  AI_STATUS_AUTOPUT,  /* 自动兑矿 */
+  AI_STATUS_AUTOHITBUFF,  /* 自动打符 */
+  AI_STATUS_AUTONAV,
+} AI_Status_t;
+
+typedef enum { 
+  AI_NOTICE_NONE = 0,
+  AI_NOTICE_SEARCH,
+  AI_NOTICE_FIRE,
+}AI_Notice_t;
+
 /* 电控 -> 视觉 MCU数据结构体*/
 typedef struct __packed {
   AHRS_Quaternion_t quat; /* 四元数 */
-  uint8_t notice;         /* 控制命令 */
+  // struct {
+  //   AI_ArmorsType_t armor_type;
+  //   AI_Status_t status;
+  // }notice; /* 控制命令 */
+  uint8_t notice;
 } AI_Protucol_UpDataMCU_t;
 
 /* 电控 -> 视觉 裁判系统数据结构体*/
@@ -37,7 +66,7 @@ typedef struct __packed {
   uint16_t time; /* 比赛开始时间 */
 } AI_Protocol_UpDataReferee_t;
 
-/* 电控 -> 视觉 数据包结构体*/
+/* 视觉 -> 电控 数据包结构体*/
 typedef struct __packed {
   AHRS_Eulr_t eulr;      /* 欧拉角 */
   MoveVector_t move_vec; /* 运动向量 */
@@ -68,6 +97,7 @@ typedef struct __packed {
 typedef struct __packed {
   DEVICE_Header_t header; /* 设备通用头部 */
   AI_DownPackage_t from_host;
+  AI_Status_t status;
   struct {
     AI_UpPackageReferee_t ref;
     AI_UpPackageMCU_t mcu;
@@ -82,11 +112,11 @@ int8_t AI_Restart(AI_t *ai);
 
 int8_t AI_StartReceiving(AI_t *ai);
 
-bool AI_WaitDmaCplt(uint32_t timeout);
+bool AI_WaitDmaCplt(void);
 
 int8_t AI_ParseHost(AI_t *ai);
 
-int8_t AI_PackMCU(AI_t *ai, const AI_Protucol_UpDataMCU_t *data);
+int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat);
 
 int8_t AI_PackRef(AI_t *ai, const AI_UpPackageReferee_t *data);
 
@@ -94,7 +124,6 @@ int8_t AI_HandleOffline(AI_t *ai);
 
 int8_t AI_StartSend(AI_t *ai, bool ref_online);
 
-
 #ifdef __cplusplus
 }
 #endif

User/task/ai.c

@@ -4,9 +4,12 @@
 */
 
 /* Includes ----------------------------------------------------------------- */
+#include "cmsis_os2.h"
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
+#include "device/ai.h"
+#include "component/ahrs.h"
+#include <stdbool.h>
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -14,7 +17,8 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
-
+AI_t ai;
+AHRS_Quaternion_t quat;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -30,12 +34,23 @@ void Task_ai(void *argument) {
 
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
-
+  AI_Init(&ai);
   /* USER CODE INIT END */
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
+    AI_StartReceiving(&ai);
+    if (AI_WaitDmaCplt()) {
+      AI_ParseHost(&ai);
+    } else {
+      AI_HandleOffline(&ai);
+    }
+    if (osMessageQueueGet(task_runtime.msgq.ai.quat, &quat, NULL, 0) == osOK) {
+      AI_PackMCU(&ai, &quat);
+    }
+    
+    AI_StartSend(&ai, false);
 
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */

User/task/atti_esti.c

@@ -4,6 +4,7 @@
 */
 
 /* Includes ----------------------------------------------------------------- */
+#include "cmsis_os2.h"
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
 #include "bsp/mm.h"
@@ -154,6 +155,8 @@ void Task_atti_esti(void *argument) {
     osMessageQueueReset(task_runtime.msgq.gimbal.imu);
     osMessageQueuePut(task_runtime.msgq.gimbal.imu, &gimbal_to_send, 0, 0);
 
+    osMessageQueuePut(task_runtime.msgq.ai.quat, &gimbal_ahrs.quat, 0, 0);
+
     BSP_PWM_SetComp(BSP_PWM_IMU_HEAT_PWM, PID_Calc(&imu_temp_ctrl_pid, 40.0f, bmi088.temp, 0.0f, 0.0f));
 
     /* USER CODE END */

User/task/init.c

@@ -52,6 +52,8 @@ void Task_Init(void *argument) {
   task_runtime.msgq.gimbal.imu= osMessageQueueNew(2u, sizeof(Gimbal_IMU_t), NULL);
   task_runtime.msgq.gimbal.cmd= osMessageQueueNew(2u, sizeof(Gimbal_CMD_t), NULL);
   task_runtime.msgq.shoot.shoot_cmd = osMessageQueueNew(2u, sizeof(Shoot_CMD_t), NULL);
+  task_runtime.msgq.ai.quat = osMessageQueueNew(2u, sizeof(AHRS_Quaternion_t), NULL);
+  task_runtime.msgq.ai.move_vec = osMessageQueueNew(2u, sizeof(MoveVector_t), NULL);
   /* USER MESSAGE END */
 
   osKernelUnlock(); // 解锁内核

User/task/user_task.h

@@ -75,6 +75,12 @@ typedef struct {
             osMessageQueueId_t ref;
             osMessageQueueId_t ai;
         }cmd;   
+        struct {
+            osMessageQueueId_t quat;
+            osMessageQueueId_t move_vec;
+            osMessageQueueId_t eulr;
+            osMessageQueueId_t fire;
+        }ai;
     } msgq;
     /* USER MESSAGE END */