修好了
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6ed012e759
@ -153,40 +153,7 @@
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<Name>-U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(5BA02477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32H72x-73x_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32H723VGTx$CMSIS\Flash\STM32H72x-73x_1024.FLM)</Name>
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</SetRegEntry>
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</TargetDriverDllRegistry>
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<Breakpoint>
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<BreakIfRCount>1</BreakIfRCount>
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<Filename>..\User\device\mrobot.c</Filename>
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<ExecCommand></ExecCommand>
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<Expression>\\CtrBoard_H7_ALL\../User/device/mrobot.c\481</Expression>
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<Filename>..\User\device\mrobot.c</Filename>
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<ExecCommand></ExecCommand>
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<Expression>\\CtrBoard_H7_ALL\../User/device/mrobot.c\484</Expression>
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</Bp>
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</Breakpoint>
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<Breakpoint/>
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<WatchWindow1>
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Binary file not shown.
File diff suppressed because it is too large
Load Diff
@ -484,9 +484,8 @@ void MRobot_Init(void) {
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/* 创建互斥锁 */
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ctx.mutex = xSemaphoreCreateMutex();
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/* 初始化状态 */
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memset(ctx.devices, 0, sizeof(ctx.devices));
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ctx.device_count = 0;
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/* 初始化状态（保留已注册的设备） */
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// 注意：不清除 devices 和 device_count，因为其他任务可能已经注册了设备
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ctx.custom_cmd_count = 0;
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ctx.state = MROBOT_STATE_IDLE;
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strcpy(ctx.current_path, "/");
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@ -14,6 +14,7 @@
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#include "component/pid.h"
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#include "device/bmi088.h"
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#include "device/device.h"
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#include "device/mrobot.h"
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#include "module/balance_chassis.h"
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#include "task/user_task.h"
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#include <stdio.h>
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@ -52,6 +53,20 @@ static const KPID_Params_t imu_temp_ctrl_pid_param = {
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/* Private function --------------------------------------------------------- */
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/* USER PRIVATE CODE BEGIN */
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/**
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* @brief 底盘IMU数据打印回调
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*/
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static int print_chassis_imu(const void *data, char *buf, size_t size) {
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const Chassis_IMU_t *imu = (const Chassis_IMU_t *)data;
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return MRobot_Snprintf(buf, size,
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" Accel : X=%.3f Y=%.3f Z=%.3f (m/s²)\r\n"
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" Gyro : X=%.3f Y=%.3f Z=%.3f (rad/s)\r\n"
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" Euler : R=%.2f P=%.2f Y=%.2f (deg)\r\n",
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imu->accl.x, imu->accl.y, imu->accl.z,
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imu->gyro.x, imu->gyro.y, imu->gyro.z,
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imu->euler.rol, imu->euler.pit, imu->euler.yaw);
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}
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/* USER PRIVATE CODE END */
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/* Exported functions ------------------------------------------------------- */
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void Task_atti_esit(void *argument) {
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@ -70,7 +85,7 @@ void Task_atti_esit(void *argument) {
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PID_Init(&imu_temp_ctrl_pid, KPID_MODE_NO_D,
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1.0f / BMI088_GetUpdateFreq(&bmi088), &imu_temp_ctrl_pid_param);
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BSP_PWM_Start(BSP_PWM_IMU_HEAT);
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MRobot_RegisterDevice("chassis_imu", &imu_for_chassis, print_chassis_imu);
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/* USER CODE INIT END */
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while (1) {
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@ -9,6 +9,7 @@
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#include "bsp/can.h"
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#include "device/motor_lk.h"
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#include "device/motor_lz.h"
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#include "device/mrobot.h"
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#include "module/config.h"
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#include "module/balance_chassis.h"
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/* USER INCLUDE END */
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@ -34,6 +35,29 @@ Chassis_IMU_t chassis_imu;
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/* Private function --------------------------------------------------------- */
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/* USER PRIVATE CODE BEGIN */
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/**
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* @brief 底盘数据打印回调
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*/
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static int print_chassis(const void *data, char *buf, size_t size) {
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const Chassis_t *chassis = (const Chassis_t *)data;
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return MRobot_Snprintf(buf, size,
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" Mode : %d\r\n"
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" IMU : Roll=%.2f Pitch=%.2f Yaw=%.2f (deg)\r\n"
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" Motors : J0=%.1f J1=%.1f J2=%.1f J3=%.1f (rpm)\r\n"
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" Wheels : W0=%.1f W1=%.1f (rpm)\r\n"
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" Output : J0=%.1f J1=%.1f J2=%.1f J3=%.1f\r\n"
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" VelX : %.3f m/s\r\n",
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chassis->mode,
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chassis->feedback.imu.euler.rol, chassis->feedback.imu.euler.pit, chassis->feedback.imu.euler.yaw,
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chassis->feedback.joint[0].rotor_speed, chassis->feedback.joint[1].rotor_speed,
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chassis->feedback.joint[2].rotor_speed, chassis->feedback.joint[3].rotor_speed,
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chassis->feedback.wheel[0].rotor_speed, chassis->feedback.wheel[1].rotor_speed,
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chassis->output.joint[0], chassis->output.joint[1],
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chassis->output.joint[2], chassis->output.joint[3],
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chassis->chassis_state.velocity_x);
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return 0;
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}
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/* USER PRIVATE CODE END */
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/* Exported functions ------------------------------------------------------- */
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void Task_ctrl_chassis(void *argument) {
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@ -49,6 +73,7 @@ void Task_ctrl_chassis(void *argument) {
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/* USER CODE INIT BEGIN */
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Chassis_Init(&chassis, &Config_GetRobotParam()->chassis_param, CTRL_CHASSIS_FREQ);
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MRobot_RegisterDevice("chassis", &chassis, print_chassis);
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/* USER CODE INIT END */
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@ -7,6 +7,7 @@
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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#include "component/ahrs.h"
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#include "device/mrobot.h"
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#include "module/gimbal.h"
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#include "module/config.h"
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#include "bsp/can.h"
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@ -26,6 +27,25 @@ Gimbal_AI_t gimbal_ai;
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/* Private function --------------------------------------------------------- */
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/* USER PRIVATE CODE BEGIN */
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/**
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* @brief 云台数据打印回调
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*/
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static int print_gimbal(const void *data, char *buf, size_t size) {
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const Gimbal_t *gimbal = (const Gimbal_t *)data;
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return MRobot_Snprintf(buf, size,
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" Mode : %d\r\n"
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" IMU : Roll=%.2f Pitch=%.2f Yaw=%.2f (deg)\r\n"
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" GyroX : %.3f GyroY : %.3f GyroZ : %.3f (rad/s)\r\n"
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" Motor : Yaw=%.1f(rpm) Pit=%.1f(rpm)\r\n"
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" Output : Yaw=%.1f Pit=%.1f\r\n",
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gimbal->mode,
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gimbal->imu.data.eulr.rol, gimbal->imu.data.eulr.pit, gimbal->imu.data.eulr.yaw,
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gimbal->imu.data.gyro.x, gimbal->imu.data.gyro.y, gimbal->imu.data.gyro.z,
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gimbal->feedback.motor.yaw.rotor_speed, gimbal->feedback.motor.pit.rotor_speed,
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gimbal->out.yaw, gimbal->out.pit);
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return 0;
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}
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/* USER PRIVATE CODE END */
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/* Exported functions ------------------------------------------------------- */
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void Task_ctrl_gimbal(void *argument) {
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@ -39,7 +59,9 @@ void Task_ctrl_gimbal(void *argument) {
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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/* USER CODE INIT BEGIN */
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Gimbal_Init(&gimbal, &Config_GetRobotParam()->gimbal_param, CTRL_GIMBAL_FREQ);
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MRobot_RegisterDevice("gimbal", &gimbal, print_gimbal);
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/* USER CODE INIT END */
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while (1) {
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@ -6,6 +6,7 @@
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/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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#include "device/mrobot.h"
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#include "module/shoot.h"
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#include "module/config.h"
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/* USER INCLUDE END */
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@ -22,6 +23,27 @@ Shoot_CMD_t shoot_cmd;
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/* Private function --------------------------------------------------------- */
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/* USER PRIVATE CODE BEGIN */
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/**
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* @brief 发射模块数据打印回调
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*/
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static int print_shoot(const void *data, char *buf, size_t size) {
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const Shoot_t *shoot = (const Shoot_t *)data;
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return MRobot_Snprintf(buf, size,
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" State : %d\r\n"
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" Fric0 : %.1f rpm (target: %.1f)\r\n"
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" Fric1 : %.1f rpm (target: %.1f)\r\n"
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" Fric_Avg : %.1f rpm\r\n"
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" Trig : %.1f rpm (angle: %.2f deg)\r\n"
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" Output : Fric0=%.1f Fric1=%.1f Trig=%.1f\r\n",
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shoot->running_state,
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shoot->feedback.fric_rpm[0], shoot->target_variable.target_rpm,
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shoot->feedback.fric_rpm[1], shoot->target_variable.target_rpm,
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shoot->feedback.fric_avgrpm,
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shoot->feedback.trig_rpm, shoot->feedback.trig_angle_cicle,
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shoot->output.out_fric[0], shoot->output.out_fric[1], shoot->output.outagl_trig);
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return 0;
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}
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/* USER PRIVATE CODE END */
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/* Exported functions ------------------------------------------------------- */
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void Task_ctrl_shoot(void *argument) {
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@ -35,7 +57,9 @@ void Task_ctrl_shoot(void *argument) {
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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/* USER CODE INIT BEGIN */
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Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,CTRL_SHOOT_FREQ);
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MRobot_RegisterDevice("shoot", &shoot, print_shoot);
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/* USER CODE INIT END */
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@ -7,6 +7,7 @@
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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#include "device/dr16.h"
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#include "device/mrobot.h"
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#include "module/shoot.h"
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#include "module/balance_chassis.h"
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#include "module/gimbal.h"
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@ -27,6 +28,29 @@ Gimbal_CMD_t cmd_for_gimbal;
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/* Private function --------------------------------------------------------- */
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/* USER PRIVATE CODE BEGIN */
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/**
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* @brief DR16数据打印回调
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*/
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static int print_dr16(const void *data, char *buf, size_t size) {
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const DR16_t *dr16 = (const DR16_t *)data;
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return MRobot_Snprintf(buf, size,
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" Status : %s\r\n"
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" ChLX : %.3f ChLY : %.3f\r\n"
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" ChRX : %.3f ChRY : %.3f\r\n"
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" ChRes : %.3f\r\n"
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" SwL : %d SwR : %d\r\n"
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" Mouse : X=%d Y=%d Z=%d (L:%d R:%d)\r\n"
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" Keys : 0x%04X\r\n",
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dr16->header.online ? "Online" : "Offline",
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dr16->data.ch_l_x, dr16->data.ch_l_y,
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dr16->data.ch_r_x, dr16->data.ch_r_y,
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dr16->data.ch_res,
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dr16->data.sw_l, dr16->data.sw_r,
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dr16->data.mouse.x, dr16->data.mouse.y, dr16->data.mouse.z,
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dr16->data.mouse.l_click, dr16->data.mouse.r_click,
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dr16->data.keyboard.value);
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}
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/* USER PRIVATE CODE END */
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/* Exported functions ------------------------------------------------------- */
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void Task_rc(void *argument) {
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@ -41,6 +65,7 @@ void Task_rc(void *argument) {
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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/* USER CODE INIT BEGIN */
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DR16_Init(&dr16);
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MRobot_RegisterDevice("dr16", &dr16, print_dr16);
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/* USER CODE INIT END */
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while (1) {
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@ -5,7 +5,7 @@ Task_Runtime_t task_runtime;
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const osThreadAttr_t attr_init = {
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.name = "Task_Init",
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.priority = osPriorityRealtime,
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.stack_size = 256 * 4,
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.stack_size = 256 * 16,
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};
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/* User_task */
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