diff --git a/.mxproject b/.mxproject index b49d4ae..2576720 100644 --- a/.mxproject +++ b/.mxproject @@ -1,9 +1,9 @@ [PreviousLibFiles] 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[PreviousUsedCMakes] -SourceFiles=Core/Src/main.c;Core/Src/gpio.c;Core/Src/freertos.c;Core/Src/adc.c;Core/Src/bdma.c;Core/Src/dma.c;Core/Src/fdcan.c;Core/Src/octospi.c;Core/Src/spi.c;Core/Src/tim.c;Core/Src/usart.c;Core/Src/usb_otg.c;Core/Src/stm32h7xx_it.c;Core/Src/stm32h7xx_hal_msp.c;Core/Src/stm32h7xx_hal_timebase_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_hsem.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_ospi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_usb.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Drivers/CMSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c;Core/Src/system_stm32h7xx.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_hsem.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_ospi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_usb.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Drivers/CMSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c;Core/Src/system_stm32h7xx.c;;;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c; -HeaderPath=Drivers/STM32H7xx_HAL_Driver/Inc;Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;Middlewares/Third_Party/FreeRTOS/Source/include;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F;Drivers/CMSIS/Device/ST/STM32H7xx/Include;Drivers/CMSIS/Include;Middlewares/ST/ARM/DSP/Inc;Core/Inc; +SourceFiles=Core\Src\main.c;Core\Src\gpio.c;Core\Src\freertos.c;Core\Src\adc.c;Core\Src\bdma.c;Core\Src\dma.c;Core\Src\fdcan.c;Core\Src\octospi.c;Core\Src\spi.c;Core\Src\tim.c;Core\Src\usart.c;Core\Src\usb_otg.c;Core\Src\stm32h7xx_it.c;Core\Src\stm32h7xx_hal_msp.c;Core\Src\stm32h7xx_hal_timebase_tim.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_adc.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_adc_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_gpio.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_hsem.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_mdma.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_cortex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_exti.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_fdcan.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_ospi.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_spi.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_spi_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pcd.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pcd_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_usb.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32H7xx\Source\Templates\system_stm32h7xx.c;Core\Src\system_stm32h7xx.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_adc.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_adc_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_gpio.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_hsem.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_mdma.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_cortex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_exti.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_fdcan.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_ospi.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_spi.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_spi_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pcd.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pcd_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_usb.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32H7xx\Source\Templates\system_stm32h7xx.c;Core\Src\system_stm32h7xx.c;;;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c; +HeaderPath=Drivers\STM32H7xx_HAL_Driver\Inc;Drivers\STM32H7xx_HAL_Driver\Inc\Legacy;Middlewares\Third_Party\FreeRTOS\Source\include;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F;Drivers\CMSIS\Device\ST\STM32H7xx\Include;Drivers\CMSIS\Include;Middlewares\ST\ARM\DSP\Inc;Core\Inc; CDefines=USE_PWR_LDO_SUPPLY;USE_PWR_LDO_SUPPLY;USE_PWR_LDO_SUPPLY;USE_HAL_DRIVER;STM32H723xx;USE_HAL_DRIVER;USE_HAL_DRIVER; [PreviousUsedKeilFiles] @@ -14,41 +14,41 @@ CDefines=USE_PWR_LDO_SUPPLY;USE_PWR_LDO_SUPPLY;USE_PWR_LDO_SUPPLY;USE_HAL_DRIVER [PreviousGenFiles] AdvancedFolderStructure=true HeaderFileListSize=14 -HeaderFiles#0=../Core/Inc/gpio.h -HeaderFiles#1=../Core/Inc/FreeRTOSConfig.h -HeaderFiles#2=../Core/Inc/adc.h -HeaderFiles#3=../Core/Inc/bdma.h -HeaderFiles#4=../Core/Inc/dma.h -HeaderFiles#5=../Core/Inc/fdcan.h -HeaderFiles#6=../Core/Inc/octospi.h -HeaderFiles#7=../Core/Inc/spi.h -HeaderFiles#8=../Core/Inc/tim.h -HeaderFiles#9=../Core/Inc/usart.h -HeaderFiles#10=../Core/Inc/usb_otg.h -HeaderFiles#11=../Core/Inc/stm32h7xx_it.h -HeaderFiles#12=../Core/Inc/stm32h7xx_hal_conf.h -HeaderFiles#13=../Core/Inc/main.h +HeaderFiles#0=..\Core\Inc\gpio.h +HeaderFiles#1=..\Core\Inc\FreeRTOSConfig.h +HeaderFiles#2=..\Core\Inc\adc.h +HeaderFiles#3=..\Core\Inc\bdma.h +HeaderFiles#4=..\Core\Inc\dma.h +HeaderFiles#5=..\Core\Inc\fdcan.h +HeaderFiles#6=..\Core\Inc\octospi.h +HeaderFiles#7=..\Core\Inc\spi.h +HeaderFiles#8=..\Core\Inc\tim.h +HeaderFiles#9=..\Core\Inc\usart.h +HeaderFiles#10=..\Core\Inc\usb_otg.h +HeaderFiles#11=..\Core\Inc\stm32h7xx_it.h +HeaderFiles#12=..\Core\Inc\stm32h7xx_hal_conf.h +HeaderFiles#13=..\Core\Inc\main.h HeaderFolderListSize=1 -HeaderPath#0=../Core/Inc +HeaderPath#0=..\Core\Inc HeaderFiles=; SourceFileListSize=15 -SourceFiles#0=../Core/Src/gpio.c -SourceFiles#1=../Core/Src/freertos.c -SourceFiles#2=../Core/Src/adc.c -SourceFiles#3=../Core/Src/bdma.c -SourceFiles#4=../Core/Src/dma.c -SourceFiles#5=../Core/Src/fdcan.c -SourceFiles#6=../Core/Src/octospi.c -SourceFiles#7=../Core/Src/spi.c -SourceFiles#8=../Core/Src/tim.c -SourceFiles#9=../Core/Src/usart.c -SourceFiles#10=../Core/Src/usb_otg.c -SourceFiles#11=../Core/Src/stm32h7xx_it.c -SourceFiles#12=../Core/Src/stm32h7xx_hal_msp.c -SourceFiles#13=../Core/Src/stm32h7xx_hal_timebase_tim.c -SourceFiles#14=../Core/Src/main.c +SourceFiles#0=..\Core\Src\gpio.c +SourceFiles#1=..\Core\Src\freertos.c +SourceFiles#2=..\Core\Src\adc.c +SourceFiles#3=..\Core\Src\bdma.c +SourceFiles#4=..\Core\Src\dma.c +SourceFiles#5=..\Core\Src\fdcan.c +SourceFiles#6=..\Core\Src\octospi.c +SourceFiles#7=..\Core\Src\spi.c +SourceFiles#8=..\Core\Src\tim.c +SourceFiles#9=..\Core\Src\usart.c +SourceFiles#10=..\Core\Src\usb_otg.c +SourceFiles#11=..\Core\Src\stm32h7xx_it.c +SourceFiles#12=..\Core\Src\stm32h7xx_hal_msp.c +SourceFiles#13=..\Core\Src\stm32h7xx_hal_timebase_tim.c +SourceFiles#14=..\Core\Src\main.c SourceFolderListSize=1 -SourcePath#0=../Core/Src +SourcePath#0=..\Core\Src SourceFiles=; [ThirdPartyIp] @@ -56,5 +56,5 @@ ThirdPartyIpNumber=1 ThirdPartyIpName#0=STMicroelectronics.X-CUBE-ALGOBUILD.1.4.0 [ThirdPartyIp#STMicroelectronics.X-CUBE-ALGOBUILD.1.4.0] -header=../Middlewares/ST/ARM/DSP/Inc/arm_math.h; +header=..\Middlewares\ST\ARM\DSP\Inc\arm_math.h; diff --git a/.vscode/settings.json b/.vscode/settings.json index 29fabd9..1b7c0d5 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,15 +1,15 @@ { "cmake.cmakePath": "cube-cmake", "cmake.configureArgs": [ - "-DCMAKE_COMMAND=cube-cmake" + "-DCMAKE_COMMAND=cube-cmake" ], "cmake.preferredGenerators": [ - "Ninja" + "Ninja" ], "stm32cube-ide-clangd.path": "cube", "stm32cube-ide-clangd.arguments": [ - "starm-clangd", - "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc", - "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-g++" + "starm-clangd", + "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc", + "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-g++" ] } \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt index 2a9f9f3..530a8dd 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -70,7 +70,6 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE User/component/user_math.c User/component/vmc.c User/component/ui.c - # User/device sources User/device/bmi088.c User/device/buzzer.c @@ -81,17 +80,19 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE User/device/motor_lk.c User/device/motor_lz.c User/device/motor_rm.c - User/device/vision_bridge.c User/device/vofa.c User/device/mrobot.c User/device/referee.c - User/device/supercap.c - # User/module sources User/module/balance_chassis.c User/module/config.c User/module/gimbal.c User/module/shoot.c + User/module/cmd/cmd.c + User/module/cmd/cmd_adapter.c + User/module/cmd/cmd_behavior.c + User/module/cmd/cmd_example.c + User/module/vision_bridge.c # User/task sources User/task/ai.c @@ -107,6 +108,8 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE User/task/cli.c User/task/user_task.c User/task/vofa.c + User/task/cmd.c + User/task/ref_main.c ) # Add include paths diff --git a/Core/Inc/stm32h7xx_it.h b/Core/Inc/stm32h7xx_it.h index 60e44fa..4c03f3c 100644 --- a/Core/Inc/stm32h7xx_it.h +++ b/Core/Inc/stm32h7xx_it.h @@ -70,6 +70,8 @@ void USART3_IRQHandler(void); void EXTI15_10_IRQHandler(void); void DMA1_Stream7_IRQHandler(void); void UART5_IRQHandler(void); +void DMA2_Stream0_IRQHandler(void); +void DMA2_Stream1_IRQHandler(void); void UART7_IRQHandler(void); void ADC3_IRQHandler(void); void BDMA_Channel0_IRQHandler(void); diff --git a/Core/Src/dma.c b/Core/Src/dma.c index 8cd4c9c..05af787 100644 --- a/Core/Src/dma.c +++ b/Core/Src/dma.c @@ -41,6 +41,7 @@ void MX_DMA_Init(void) /* DMA controller clock enable */ __HAL_RCC_DMA1_CLK_ENABLE(); + __HAL_RCC_DMA2_CLK_ENABLE(); /* DMA interrupt init */ /* DMA1_Stream0_IRQn interrupt configuration */ @@ -61,12 +62,12 @@ void MX_DMA_Init(void) /* DMA1_Stream5_IRQn interrupt configuration */ HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA1_Stream5_IRQn); - /* DMA1_Stream6_IRQn interrupt configuration */ - HAL_NVIC_SetPriority(DMA1_Stream6_IRQn, 5, 0); - HAL_NVIC_EnableIRQ(DMA1_Stream6_IRQn); - /* DMA1_Stream7_IRQn interrupt configuration */ - HAL_NVIC_SetPriority(DMA1_Stream7_IRQn, 5, 0); - HAL_NVIC_EnableIRQ(DMA1_Stream7_IRQn); + /* DMA2_Stream0_IRQn interrupt configuration */ + HAL_NVIC_SetPriority(DMA2_Stream0_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(DMA2_Stream0_IRQn); + /* DMA2_Stream1_IRQn interrupt configuration */ + HAL_NVIC_SetPriority(DMA2_Stream1_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(DMA2_Stream1_IRQn); } diff --git a/Core/Src/stm32h7xx_it.c b/Core/Src/stm32h7xx_it.c index 7243b2d..11640bf 100644 --- a/Core/Src/stm32h7xx_it.c +++ b/Core/Src/stm32h7xx_it.c @@ -435,6 +435,34 @@ void UART5_IRQHandler(void) /* USER CODE END UART5_IRQn 1 */ } +/** + * @brief This function handles DMA2 stream0 global interrupt. + */ +void DMA2_Stream0_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream0_IRQn 0 */ + + /* USER CODE END DMA2_Stream0_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart10_rx); + /* USER CODE BEGIN DMA2_Stream0_IRQn 1 */ + + /* USER CODE END DMA2_Stream0_IRQn 1 */ +} + +/** + * @brief This function handles DMA2 stream1 global interrupt. + */ +void DMA2_Stream1_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */ + + /* USER CODE END DMA2_Stream1_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart10_tx); + /* USER CODE BEGIN DMA2_Stream1_IRQn 1 */ + + /* USER CODE END DMA2_Stream1_IRQn 1 */ +} + /** * @brief This function handles UART7 global interrupt. */ diff --git a/Core/Src/usart.c b/Core/Src/usart.c index 1c68df4..552c494 100644 --- a/Core/Src/usart.c +++ b/Core/Src/usart.c @@ -602,7 +602,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) /* USART10 DMA Init */ /* USART10_RX Init */ - hdma_usart10_rx.Instance = DMA1_Stream6; + hdma_usart10_rx.Instance = DMA2_Stream0; hdma_usart10_rx.Init.Request = DMA_REQUEST_USART10_RX; hdma_usart10_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; hdma_usart10_rx.Init.PeriphInc = DMA_PINC_DISABLE; @@ -620,7 +620,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart10_rx); /* USART10_TX Init */ - hdma_usart10_tx.Instance = DMA1_Stream7; + hdma_usart10_tx.Instance = DMA2_Stream1; hdma_usart10_tx.Init.Request = DMA_REQUEST_USART10_TX; hdma_usart10_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; hdma_usart10_tx.Init.PeriphInc = DMA_PINC_DISABLE; diff --git a/CtrBoard-H7_ALL.ioc b/CtrBoard-H7_ALL.ioc index f3759af..41104cd 100644 --- a/CtrBoard-H7_ALL.ioc +++ b/CtrBoard-H7_ALL.ioc @@ -140,7 +140,7 @@ Dma.UART5_RX.3.SyncSignalID=NONE Dma.USART10_RX.6.Direction=DMA_PERIPH_TO_MEMORY Dma.USART10_RX.6.EventEnable=DISABLE Dma.USART10_RX.6.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.USART10_RX.6.Instance=DMA1_Stream6 +Dma.USART10_RX.6.Instance=DMA2_Stream0 Dma.USART10_RX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE Dma.USART10_RX.6.MemInc=DMA_MINC_ENABLE Dma.USART10_RX.6.Mode=DMA_NORMAL @@ -158,7 +158,7 @@ Dma.USART10_RX.6.SyncSignalID=NONE Dma.USART10_TX.7.Direction=DMA_MEMORY_TO_PERIPH Dma.USART10_TX.7.EventEnable=DISABLE Dma.USART10_TX.7.FIFOMode=DMA_FIFOMODE_DISABLE -Dma.USART10_TX.7.Instance=DMA1_Stream7 +Dma.USART10_TX.7.Instance=DMA2_Stream1 Dma.USART10_TX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE Dma.USART10_TX.7.MemInc=DMA_MINC_ENABLE Dma.USART10_TX.7.Mode=DMA_NORMAL @@ -254,6 +254,7 @@ GPIO.groupedBy=Group By Peripherals KeepUserPlacement=false MMTAppRegionsCount=0 MMTConfigApplied=false +MMTSectionSuffix=_Section Mcu.CPN=STM32H723VGT6 Mcu.Family=STM32H7 Mcu.IP0=ADC1 @@ -372,8 +373,8 @@ NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA1_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA1_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true -NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true -NVIC.DMA1_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA2_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA2_Stream1_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true\:true NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false NVIC.EXTI15_10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.FDCAN1_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true @@ -613,6 +614,7 @@ ProjectManager.DeletePrevious=true ProjectManager.DeviceId=STM32H723VGTx ProjectManager.FirmwarePackage=STM32Cube FW_H7 V1.12.1 ProjectManager.FreePins=false +ProjectManager.FreePinsContext= ProjectManager.HalAssertFull=false ProjectManager.HeapSize=0x1000 ProjectManager.KeepUserCode=true diff --git a/User/bsp/uart.c b/User/bsp/uart.c index b1008f0..ecc6e96 100644 --- a/User/bsp/uart.c +++ b/User/bsp/uart.c @@ -28,7 +28,7 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) { else if (huart->Instance == USART1) return BSP_UART_VOFA; else if (huart->Instance == USART10) - return BSP_UART_REF; + return BSP_UART_REF; else return BSP_UART_ERR; } diff --git a/User/component/ui.c b/User/component/ui.c new file mode 100644 index 0000000..c3126bd --- /dev/null +++ b/User/component/ui.c @@ -0,0 +1,301 @@ +/* + UI相关命令 +*/ +#include "component/ui.h" + +#include + +/** + * @brief UI_绘制直线段 + * + * @param grapic_line 结构体 + * @param name 图形名首地址 + * @param type_op 操作类型 + * @param layer 图层数 + * @param color 颜色 + * @param width 线条宽度 + * @param x_start 起点x坐标 + * @param y_start 起点y坐标 + * @param x_end 终点x坐标 + * @param y_end 终点y坐标 + * @return int8_t + */ +int8_t UI_DrawLine(UI_Ele_t *grapic_line, const char *name, uint8_t type_op, + uint8_t layer, uint8_t color, uint16_t width, + uint16_t x_start, uint16_t y_start, uint16_t x_end, + uint16_t y_end) { + if (grapic_line == NULL) return -1; + snprintf((char *)grapic_line->name, 2, "%s", name); + grapic_line->layer = layer; + grapic_line->type_op = type_op; + grapic_line->type_ele = 0; + grapic_line->color = color; + grapic_line->width = width; + grapic_line->x_start = x_start; + grapic_line->y_start = y_start; + grapic_line->x_end = x_end; + grapic_line->y_end = y_end; + return 0; +} + +/** + * @brief UI_绘制矩形 + * + * @param grapic_rectangle 结构体 + * @param name 图形名首地址 + * @param type_op 操作类型 + * @param layer 图层数 + * @param color 颜色 + * @param width 线条宽度 + * @param x_start 起点x坐标 + * @param y_start 起点y坐标 + * @param x_end 对角顶点x坐标 + * @param y_end 对角顶点y坐标 + * @return int8_t + */ +int8_t UI_DrawRectangle(UI_Ele_t *grapic_rectangle, const char *name, + uint8_t type_op, uint8_t layer, uint8_t color, + uint16_t width, uint16_t x_start, uint16_t y_start, + uint16_t x_end, uint16_t y_end) { + if (grapic_rectangle == NULL) return -1; + snprintf((char *)grapic_rectangle->name, 2, "%s", name); + grapic_rectangle->type_op = type_op; + grapic_rectangle->type_ele = 1; + grapic_rectangle->layer = layer; + grapic_rectangle->color = color; + grapic_rectangle->width = width; + grapic_rectangle->x_start = x_start; + grapic_rectangle->y_start = y_start; + grapic_rectangle->x_end = x_end; + grapic_rectangle->y_end = y_end; + return 0; +} + +/** + * @brief UI_绘制正圆 + * + * @param grapic_cycle 结构体 + * @param name 图形名首地址 + * @param type_op 操作类型 + * @param layer 图层数 + * @param color 颜色 + * @param width 线条宽度 + * @param x_center 圆心x坐标 + * @param y_center 圆心y坐标 + * @param radius 半径 + * @return int8_t + */ +int8_t UI_DrawCycle(UI_Ele_t *grapic_cycle, const char *name, uint8_t type_op, + uint8_t layer, uint8_t color, uint16_t width, + uint16_t x_center, uint16_t y_center, uint16_t radius) { + if (grapic_cycle == NULL) return -1; + snprintf((char *)grapic_cycle->name, 2, "%s", name); + grapic_cycle->type_op = type_op; + grapic_cycle->layer = layer; + grapic_cycle->type_ele = 2; + grapic_cycle->color = color; + grapic_cycle->width = width; + grapic_cycle->x_start = x_center; + grapic_cycle->y_start = y_center; + grapic_cycle->radius = radius; + return 0; +} + +/** + * @brief UI_绘制椭圆 + * + * @param grapic_oval 结构体 + * @param name 图形名首地址 + * @param type_op 操作类型 + * @param layer 图层数 + * @param color 颜色 + * @param width 线条宽度 + * @param x_center 圆心x坐标 + * @param y_center 圆心y坐标 + * @param x_semiaxis x半轴长度 + * @param y_semiaxis y半轴长度 + * @return int8_t + */ +int8_t UI_DrawOval(UI_Ele_t *grapic_oval, const char *name, uint8_t type_op, + uint8_t layer, uint8_t color, uint16_t width, + uint16_t x_center, uint16_t y_center, uint16_t x_semiaxis, + uint16_t y_semiaxis) { + if (grapic_oval == NULL) return -1; + snprintf((char *)grapic_oval->name, 2, "%s", name); + grapic_oval->type_op = type_op; + grapic_oval->type_ele = 3; + grapic_oval->layer = layer; + grapic_oval->color = color; + grapic_oval->width = width; + grapic_oval->x_start = x_center; + grapic_oval->y_start = y_center; + grapic_oval->x_end = x_semiaxis; + grapic_oval->y_end = y_semiaxis; + return 0; +} + +/** + * @brief UI_绘制圆弧 + * + * @param grapic_arc 结构体 + * @param name 图形名首地址 + * @param type_op 操作类型 + * @param layer 图层数 + * @param color 颜色 + * @param angle_start 起始角度 + * @param angle_end 终止角度 + * @param width 线条宽度 + * @param x_center 圆心x坐标 + * @param y_center 圆心y坐标 + * @param x_semiaxis x半轴长度 + * @param y_semiaxis y半轴长度 + * @return int8_t + */ +int8_t UI_DrawArc(UI_Ele_t *grapic_arc, const char *name, uint8_t type_op, + uint8_t layer, uint8_t color, uint16_t angle_start, + uint16_t angle_end, uint16_t width, uint16_t x_center, + uint16_t y_center, uint16_t x_semiaxis, uint16_t y_semiaxis) { + if (grapic_arc == NULL) return -1; + snprintf((char *)grapic_arc->name, 2, "%s", name); + grapic_arc->type_op = type_op; + grapic_arc->type_ele = 4; + grapic_arc->layer = layer; + grapic_arc->color = color; + grapic_arc->angle_start = angle_start; + grapic_arc->angle_end = angle_end; + grapic_arc->width = width; + grapic_arc->x_start = x_center; + grapic_arc->y_start = y_center; + grapic_arc->x_end = x_semiaxis; + grapic_arc->y_end = y_semiaxis; + return 0; +} + +/** + * @brief UI_绘制浮点数 + * + * @param grapic_float 结构体 + * @param name 图形名首地址 + * @param type_op 操作类型 + * @param layer 图层数 + * @param color 颜色 + * @param font_size 字体大小 + * @param digits 小数点后有效位数 + * @param width 线条宽度 + * @param x_start 起点x坐标 + * @param y_start 起点y坐标 + * @param float_high 32位浮点数 + * @param float_middle 32位浮点数 + * @param float_low 32位浮点数 + * @return int8_t + */ +int8_t UI_DrawFloating(UI_Ele_t *grapic_floating, const char *name, + uint8_t type_op, uint8_t layer, uint8_t color, + uint16_t font_size, uint16_t digits, uint16_t width, + uint16_t x_start, uint16_t y_start, uint16_t float_high, + uint16_t float_middle, uint16_t float_low) { + if (grapic_floating == NULL) return -1; + snprintf((char *)grapic_floating->name, 2, "%s", name); + grapic_floating->type_op = type_op; + grapic_floating->type_ele = 5; + grapic_floating->layer = layer; + grapic_floating->color = color; + grapic_floating->angle_start = font_size; + grapic_floating->angle_end = digits; + grapic_floating->width = width; + grapic_floating->x_start = x_start; + grapic_floating->y_start = y_start; + grapic_floating->radius = float_high; + grapic_floating->x_end = float_middle; + grapic_floating->y_end = float_low; + return 0; +} + +/** + * @brief UI_绘制整型数 + * + * @param grapic_integer 结构体 + * @param name 图形名首地址 + * @param type_op 操作类型 + * @param layer 图层数 + * @param color 颜色 + * @param font_size 字体大小 + * @param width 线条宽度 + * @param x_start 起点x坐标 + * @param y_start 起点y坐标 + * @param int32_t_high 32位整型数 + * @param int32_t_middle 32位整型数 + * @param int32_t_low 32位整型数 + * @return int8_t + */ +int8_t UI_DrawInteger(UI_Ele_t *grapic_integer, const char *name, + uint8_t type_op, uint8_t layer, uint8_t color, + uint16_t font_size, uint16_t width, uint16_t x_start, + uint16_t y_start, uint16_t int32_t_high, + uint16_t int32_t_middle, uint16_t int32_t_low) { + if (grapic_integer == NULL) return -1; + snprintf((char *)grapic_integer->name, 2, "%s", name); + grapic_integer->type_op = type_op; + grapic_integer->type_ele = 6; + grapic_integer->layer = layer; + grapic_integer->color = color; + grapic_integer->angle_start = font_size; + grapic_integer->width = width; + grapic_integer->x_start = x_start; + grapic_integer->y_start = y_start; + grapic_integer->radius = int32_t_high; + grapic_integer->x_end = int32_t_middle; + grapic_integer->y_end = int32_t_low; + return 0; +} + +/** + * @brief UI_绘制字符 + * + * @param grapic_character 结构体 + * @param name 图形名首地址 + * @param type_op 操作类型 + * @param layer 图层数 + * @param color 颜色 + * @param font_size 字体大小 + * @param length 字符长度 + * @param width 线条宽度 + * @param x_start 起点x坐标 + * @param y_start 起点y坐标 + * @param character 字符串首地址 + * @return int8_t + */ +int8_t UI_DrawCharacter(UI_Drawcharacter_t *grapic_character, const char *name, + uint8_t type_op, uint8_t layer, uint8_t color, + uint16_t font_size, uint16_t length, uint16_t width, + uint16_t x_start, uint16_t y_start, + const char *character) { + if (grapic_character == NULL) return -1; + snprintf((char *)grapic_character->grapic.name, 2, "%s", name); + grapic_character->grapic.type_op = type_op; + grapic_character->grapic.type_ele = 7; + grapic_character->grapic.layer = layer; + grapic_character->grapic.color = color; + grapic_character->grapic.angle_start = font_size; + grapic_character->grapic.angle_end = length; + grapic_character->grapic.width = width; + grapic_character->grapic.x_start = x_start; + grapic_character->grapic.y_start = y_start; + snprintf((char *)grapic_character->character, 29, "%s", character); + return 0; +} + +/** + * @brief UI_删除图层 + * + * @param del 结构体 + * @param opt 操作 + * @param layer 图层 + * @return int8_t + */ +int8_t UI_DelLayer(UI_Del_t *del, uint8_t opt, uint8_t layer) { + if (del == NULL) return -1; + del->del_operation = opt; + del->layer = layer; + return 0; +} \ No newline at end of file diff --git a/User/component/ui.h b/User/component/ui.h new file mode 100644 index 0000000..4f742d3 --- /dev/null +++ b/User/component/ui.h @@ -0,0 +1,284 @@ +/* + UI相关命令 +*/ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include + +#include "component/user_math.h" + +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +#define UI_DEL_OPERATION_NOTHING (0) +#define UI_DEL_OPERATION_DEL (1) +#define UI_DEL_OPERATION_DEL_ALL (2) + +#define UI_GRAPIC_OPERATION_NOTHING (0) +#define UI_GRAPIC_OPERATION_ADD (1) +#define UI_GRAPIC_OPERATION_REWRITE (2) +#define UI_GRAPIC_OPERATION_DEL (3) + +#define UI_GRAPIC_LAYER_CONST (0) +#define UI_GRAPIC_LAYER_AUTOAIM (1) +#define UI_GRAPIC_LAYER_CHASSIS (2) +#define UI_GRAPIC_LAYER_CAP (3) +#define UI_GRAPIC_LAYER_GIMBAL (4) +#define UI_GRAPIC_LAYER_SHOOT (5) +#define UI_GRAPIC_LAYER_CMD (6) + +#define UI_DEFAULT_WIDTH (0x01) + +/* USER DEFINE BEGIN */ + +/* USER DEFINE END */ +#define UI_CHAR_DEFAULT_WIDTH (0x02) + +typedef enum { + RED_BLUE, + YELLOW, + GREEN, + ORANGE, + PURPLISH_RED, + PINK, + CYAN, + BLACK, + WHITE +} UI_Color_t; + +typedef struct __packed { + uint8_t op; + uint8_t num_layer; +} UI_InterStudent_UIDel_t; + +typedef struct __packed { + uint8_t name[3]; + uint8_t type_op : 3; + uint8_t type_ele : 3; + uint8_t layer : 4; + uint8_t color : 4; + uint16_t angle_start : 9; + uint16_t angle_end : 9; + uint16_t width : 10; + uint16_t x_start : 11; + uint16_t y_start : 11; + uint16_t radius : 10; + uint16_t x_end : 11; + uint16_t y_end : 11; +} UI_Ele_t; + +typedef struct __packed { + UI_Ele_t grapic; +} UI_Drawgrapic_1_t; + +typedef struct __packed { + UI_Ele_t grapic[2]; +} UI_Drawgrapic_2_t; + +typedef struct __packed { + UI_Ele_t grapic[5]; +} UI_Drawgrapic_5_t; + +typedef struct __packed { + UI_Ele_t grapic[7]; +} UI_Drawgrapic_7_t; + +typedef struct __packed { + UI_Ele_t grapic; + uint8_t character[30]; +} UI_Drawcharacter_t; + +typedef struct __packed { + uint8_t del_operation; + uint8_t layer; +} UI_Del_t; + +/** + * @brief UI_绘制直线段 + * + * @param grapic_line 结构体 + * @param name 图形名首地址 + * @param type_op 操作类型 + * @param layer 图层数 + * @param color 颜色 + * @param width 线条宽度 + * @param x_start 起点x坐标 + * @param y_start 起点y坐标 + * @param x_end 终点x坐标 + * @param y_end 终点y坐标 + * @return int8_t + */ +int8_t UI_DrawLine(UI_Ele_t *grapic_line, const char *name, uint8_t type_op, + uint8_t layer, uint8_t color, uint16_t width, + uint16_t x_start, uint16_t y_start, uint16_t x_end, + uint16_t y_end); + +/** + * @brief UI_绘制矩形 + * + * @param grapic_rectangle 结构体 + * @param name 图形名首地址 + * @param type_op 操作类型 + * @param layer 图层数 + * @param color 颜色 + * @param width 线条宽度 + * @param x_start 起点x坐标 + * @param y_start 起点y坐标 + * @param x_end 对角顶点x坐标 + * @param y_end 对角顶点y坐标 + * @return int8_t + */ +int8_t UI_DrawRectangle(UI_Ele_t *grapic_rectangle, const char *name, + uint8_t type_op, uint8_t layer, uint8_t color, + uint16_t width, uint16_t x_start, uint16_t y_start, + uint16_t x_end, uint16_t y_end); + +/** + * @brief UI_绘制正圆 + * + * @param grapic_cycle 结构体 + * @param name 图形名首地址 + * @param type_op 操作类型 + * @param layer 图层数 + * @param color 颜色 + * @param width 线条宽度 + * @param x_center 圆心x坐标 + * @param y_center 圆心y坐标 + * @param radius 半径 + * @return int8_t + */ +int8_t UI_DrawCycle(UI_Ele_t *grapic_cycle, const char *name, uint8_t type_op, + uint8_t layer, uint8_t color, uint16_t width, + uint16_t x_center, uint16_t y_center, uint16_t radius); + +/** + * @brief UI_绘制椭圆 + * + * @param grapic_oval 结构体 + * @param name 图形名首地址 + * @param type_op 操作类型 + * @param layer 图层数 + * @param color 颜色 + * @param width 线条宽度 + * @param x_center 圆心x坐标 + * @param y_center 圆心y坐标 + * @param x_semiaxis x半轴长度 + * @param y_semiaxis y半轴长度 + * @return int8_t + */ +int8_t UI_DrawOval(UI_Ele_t *grapic_oval, const char *name, uint8_t type_op, + uint8_t layer, uint8_t color, uint16_t width, + uint16_t x_center, uint16_t y_center, uint16_t x_semiaxis, + uint16_t y_semiaxis); + +/** + * @brief UI_绘制圆弧 + * + * @param grapic_arc 结构体 + * @param name 图形名首地址 + * @param type_op 操作类型 + * @param layer 图层数 + * @param color 颜色 + * @param angle_start 起始角度 + * @param angle_end 终止角度 + * @param width 线条宽度 + * @param x_center 圆心x坐标 + * @param y_center 圆心y坐标 + * @param x_semiaxis x半轴长度 + * @param y_semiaxis y半轴长度 + * @return int8_t + */ +int8_t UI_DrawArc(UI_Ele_t *grapic_arc, const char *name, uint8_t type_op, + uint8_t layer, uint8_t color, uint16_t angle_start, + uint16_t angle_end, uint16_t width, uint16_t x_center, + uint16_t y_center, uint16_t x_semiaxis, uint16_t y_semiaxis); + +/** + * @brief UI_绘制浮点数 + * + * @param grapic_float 结构体 + * @param name 图形名首地址 + * @param type_op 操作类型 + * @param layer 图层数 + * @param color 颜色 + * @param font_size 字体大小 + * @param digits 小数点后有效位数 + * @param width 线条宽度 + * @param x_start 起点x坐标 + * @param y_start 起点y坐标 + * @param float_high 32位浮点数 + * @param float_middle 32位浮点数 + * @param float_low 32位浮点数 + * @return int8_t + */ +int8_t UI_DrawFloating(UI_Ele_t *grapic_floating, const char *name, + uint8_t type_op, uint8_t layer, uint8_t color, + uint16_t font_size, uint16_t digits, uint16_t width, + uint16_t x_start, uint16_t y_start, uint16_t float_high, + uint16_t float_middle, uint16_t float_low); + +/** + * @brief UI_绘制整型数 + * + * @param grapic_integer 结构体 + * @param name 图形名首地址 + * @param type_op 操作类型 + * @param layer 图层数 + * @param color 颜色 + * @param font_size 字体大小 + * @param width 线条宽度 + * @param x_start 起点x坐标 + * @param y_start 起点y坐标 + * @param int32_t_high 32位整型数 + * @param int32_t_middle 32位整型数 + * @param int32_t_low 32位整型数 + * @return int8_t + */ +int8_t UI_DrawInteger(UI_Ele_t *grapic_integer, const char *name, + uint8_t type_op, uint8_t layer, uint8_t color, + uint16_t font_size, uint16_t width, uint16_t x_start, + uint16_t y_start, uint16_t int32_t_high, + uint16_t int32_t_middle, uint16_t int32_t_low); + +/** + * @brief UI_绘制字符 + * + * @param grapic_character 结构体 + * @param name 图形名首地址 + * @param type_op 操作类型 + * @param layer 图层数 + * @param color 颜色 + * @param font_size 字体大小 + * @param length 字符长度 + * @param width 线条宽度 + * @param x_start 起点x坐标 + * @param y_start 起点y坐标 + * @param character 字符串首地址 + * @return int8_t + */ +int8_t UI_DrawCharacter(UI_Drawcharacter_t *grapic_character, const char *name, + uint8_t type_op, uint8_t layer, uint8_t color, + uint16_t font_size, uint16_t length, uint16_t width, + uint16_t x_start, uint16_t y_start, + const char *character); + +/** + * @brief UI_删除图层 + * + * @param del 结构体 + * @param opt 操作 + * @param layer 图层 + * @return int8_t + */ +int8_t UI_DelLayer(UI_Del_t *del, uint8_t opt, uint8_t layer); + +#ifdef __cplusplus +} +#endif \ No newline at end of file diff --git a/User/component/user_math.c b/User/component/user_math.c index 5e0b0c4..def1999 100644 --- a/User/component/user_math.c +++ b/User/component/user_math.c @@ -128,7 +128,21 @@ inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) { // __NOP(); // } // } - +/* USER FUNCTION BEGIN */ + /** + * @brief 按比例缩放 + * + * @param a 传入值1 + * @param b 传入值2 + */ +inline void ScaleSumTo1(float *a, float *b) { + float sum = *a + *b; + if (sum > 1.0f) { + float scale = 1.0f / sum; + *a *= scale; + *b *= scale; + } +} /* USER FUNCTION BEGIN */ /* USER FUNCTION END */ \ No newline at end of file diff --git a/User/component/user_math.h b/User/component/user_math.h index 6e61ca2..2d36599 100644 --- a/User/component/user_math.h +++ b/User/component/user_math.h @@ -174,6 +174,7 @@ float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm); // */ // void VerifyFailed(const char *file, uint32_t line); +void ScaleSumTo1(float *a, float *b); /* USER FUNCTION BEGIN */ /* USER FUNCTION END */ \ No newline at end of file diff --git a/User/device/device.h b/User/device/device.h index 18ffc73..9bb68fd 100644 --- a/User/device/device.h +++ b/User/device/device.h @@ -27,6 +27,9 @@ extern "C" { #define SIGNAL_BMI088_GYRO_RAW_REDY (1u << 2) #define SIGNAL_BMI088_ACCL_NEW_DATA (1u << 3) #define SIGNAL_BMI088_GYRO_NEW_DATA (1u << 4) +#define SIGNAL_REFEREE_RAW_REDY (1u << 5) +#define SIGNAL_REFEREE_FAST_REFRESH_UI (1u << 6) +#define SIGNAL_REFEREE_SLOW_REFRESH_UI (1u << 7) /* AUTO GENERATED SIGNALS END */ /* USER SIGNALS BEGIN */ diff --git a/User/device/referee.c b/User/device/referee.c new file mode 100644 index 0000000..fb3b8b8 --- /dev/null +++ b/User/device/referee.c @@ -0,0 +1,843 @@ +/* + 裁判系统抽象。 +*/ + +/* Includes ---------------------------------------------------------------- */ +#include "device.h" + +#include +//#include "bsp\delay.h" +#include "bsp\uart.h" +#include "component\crc16.h" +#include "component\crc8.h" +#include "component\user_math.h" +#include "device\referee.h" +// #include "module\cmd\cmd.h" + +/* Private define ----------------------------------------------------------- */ +#define REF_HEADER_SOF (0xA5) +#define REF_LEN_RX_BUFF (0xFF) + +#define REF_UI_FAST_REFRESH_FREQ (50) +#define REF_UI_SLOW_REFRESH_FREQ (0.2f) + +#define REF_UI_BOX_UP_OFFSET (4) +#define REF_UI_BOX_BOT_OFFSET (-14) + +#define REF_UI_RIGHT_START_POS (0.85f) + +/* Private macro ------------------------------------------------------------ */ +/* Private typedef ---------------------------------------------------------- */ +/* Private variables -------------------------------------------------------- */ +static volatile uint32_t drop_message = 0; + +// static uint8_t rxbuf[REF_LEN_RX_BUFF]; + uint8_t rxbuf[REF_LEN_RX_BUFF]; + +static osThreadId_t thread_alert; +static bool inited = false; + +/* Private function -------------------------------------------------------- */ +static void Referee_RxCpltCallback(void) { + osThreadFlagsSet(thread_alert, SIGNAL_REFEREE_RAW_REDY); +} + +static void Referee_IdleLineCallback(void) { + HAL_UART_AbortReceive_IT(BSP_UART_GetHandle(BSP_UART_REF)); +} + +static void Referee_AbortRxCpltCallback(void) { + osThreadFlagsSet(thread_alert, SIGNAL_REFEREE_RAW_REDY); +} + +static void RefereeFastRefreshTimerCallback(void *arg) { + (void)arg; + osThreadFlagsSet(thread_alert, SIGNAL_REFEREE_FAST_REFRESH_UI); +} + +static void RefereeSlowRefreshTimerCallback(void *arg) { + (void)arg; + osThreadFlagsSet(thread_alert, SIGNAL_REFEREE_SLOW_REFRESH_UI); +} + +/* Exported functions ------------------------------------------------------- */ +int8_t Referee_Init(Referee_t *ref, Referee_UI_t *ui, + const Referee_Screen_t *screen) { + if (ref == NULL) return DEVICE_ERR_NULL; + if (inited) return DEVICE_ERR_INITED; + + if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; + + ui->screen = screen; + + BSP_UART_RegisterCallback(BSP_UART_REF, BSP_UART_RX_CPLT_CB, + Referee_RxCpltCallback); + BSP_UART_RegisterCallback(BSP_UART_REF, BSP_UART_ABORT_RX_CPLT_CB, + Referee_AbortRxCpltCallback); + BSP_UART_RegisterCallback(BSP_UART_REF, BSP_UART_IDLE_LINE_CB, + Referee_IdleLineCallback); + + uint32_t fast_period_ms = (uint32_t)(1000.0f / REF_UI_FAST_REFRESH_FREQ); + uint32_t slow_period_ms = (uint32_t)(1000.0f / REF_UI_SLOW_REFRESH_FREQ); + + ref->ui_fast_timer_id = + osTimerNew(RefereeFastRefreshTimerCallback, osTimerPeriodic, NULL, NULL); + + ref->ui_slow_timer_id = + osTimerNew(RefereeSlowRefreshTimerCallback, osTimerPeriodic, NULL, NULL); + + osTimerStart(ref->ui_fast_timer_id, fast_period_ms); + osTimerStart(ref->ui_slow_timer_id, slow_period_ms); + + // __HAL_UART_ENABLE_IT(BSP_UART_GetHandle(BSP_UART_REF), UART_IT_IDLE); + + inited = true; + return 0; +} + +int8_t Referee_Restart(void) { + __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_REF)); + __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_REF)); + return 0; +} + +int8_t Referee_StartReceiving(Referee_t *ref) { + (void)ref; + + if ( BSP_UART_Receive(BSP_UART_REF, rxbuf, REF_LEN_RX_BUFF,0) + == BSP_OK) + return DEVICE_OK; + return DEVICE_ERR; +} + +bool Referee_CheckTXReady() { + return BSP_UART_GetHandle(BSP_UART_REF)->gState == HAL_UART_STATE_READY; +} + +void Referee_HandleOffline(Referee_t *referee) { + referee->ref_status = REF_STATUS_OFFLINE; +} + +int8_t Referee_Parse(Referee_t *ref) { + REF_SWITCH_STATUS(*ref, REF_STATUS_RUNNING); + uint32_t data_length = + REF_LEN_RX_BUFF - + __HAL_DMA_GET_COUNTER(BSP_UART_GetHandle(BSP_UART_REF)->hdmarx); + + uint8_t index = 0; + uint8_t packet_shift; + uint8_t packet_length; + + while (index < data_length && rxbuf[index] == REF_HEADER_SOF) { + packet_shift = index; + Referee_Header_t *header = (Referee_Header_t *)(rxbuf + index); + index += sizeof(*header); + if (index - packet_shift >= data_length) goto error; + + if (!CRC8_Verify((uint8_t *)header, sizeof(*header))) goto error; + + if (header->sof != REF_HEADER_SOF) goto error; + + Referee_CMDID_t *cmd_id = (Referee_CMDID_t *)(rxbuf + index); + index += sizeof(*cmd_id); + if (index - packet_shift >= data_length) goto error; + + void *target = (rxbuf + index); + void *origin; + size_t size; + + switch (*cmd_id) { + case REF_CMD_ID_GAME_STATUS: + origin = &(ref->game_status); + size = sizeof(ref->game_status); + break; + case REF_CMD_ID_GAME_RESULT: + origin = &(ref->game_result); + size = sizeof(ref->game_result); + break; + case REF_CMD_ID_GAME_ROBOT_HP: + origin = &(ref->game_robot_hp); + size = sizeof(ref->game_robot_hp); + break; + case REF_CMD_ID_WARNING: + origin = &(ref->warning); + size = sizeof(ref->warning); + break; + case REF_CMD_ID_DART_COUNTDOWN: + origin = &(ref->dart_countdown); + size = sizeof(ref->dart_countdown); + break; + case REF_CMD_ID_ROBOT_STATUS: + origin = &(ref->robot_status); + size = sizeof(ref->robot_status); + break; + case REF_CMD_ID_POWER_HEAT_DATA: + origin = &(ref->power_heat); + size = sizeof(ref->power_heat); + break; + case REF_CMD_ID_ROBOT_POS: + origin = &(ref->robot_pos); + size = sizeof(ref->robot_pos); + break; + case REF_CMD_ID_ROBOT_BUFF: + origin = &(ref->robot_buff); + size = sizeof(ref->robot_buff); + break; + case REF_CMD_ID_ROBOT_DMG: + origin = &(ref->robot_danage); + size = sizeof(ref->robot_danage); + break; + case REF_CMD_ID_SHOOT_DATA: + origin = &(ref->shoot_data); + size = sizeof(ref->shoot_data); + break; + case REF_CMD_ID_BULLET_REMAINING: + origin = &(ref->bullet_remain); + size = sizeof(ref->bullet_remain); + break; + case REF_CMD_ID_RFID: + origin = &(ref->rfid); + size = sizeof(ref->rfid); + break; + case REF_CMD_ID_DART_CLIENT: + origin = &(ref->dart_client); + size = sizeof(ref->dart_client); + break; + case REF_CMD_ID_GROUND_ROBOT_POS: + origin = &(ref->ground_robot_pos); + size = sizeof(ref->ground_robot_pos); + break; + case REF_CMD_ID_RADAR_MASK_PROC: + origin = &(ref->radar_mark); + size = sizeof(ref->radar_mark); + break; + case REF_CMD_ID_SENTRY_AUTO_DEC: + origin = &(ref->sentry_info); + size = sizeof(ref->sentry_info); + break; + case REF_CMD_ID_RADAR_AUTO_DEC: + origin = &(ref->radar_info); + size = sizeof(ref->radar_info); + break; + case REF_CMD_ID_INTER_STUDENT: + origin = &(ref->robot_interaction); + size = sizeof(ref->robot_interaction); + break; + case REF_CMD_ID_INTER_STUDENT_CUSTOM: + origin = &(ref->custom_robot); + size = sizeof(ref->custom_robot); + break; + case REF_CMD_ID_CLIENT_MAP: + origin = &(ref->map_command); + size = sizeof(ref->map_command); + break; + case REF_CMD_ID_KEYBOARD_MOUSE: + origin = &(ref->keyboard_mouse_t); + size = sizeof(ref->keyboard_mouse_t); + break; + case REF_CMD_ID_CLIENT_MAP_REC_RADAR: + origin = &(ref->map_robot_data); + size = sizeof(ref->map_robot_data); + break; + case REF_CMD_ID_CUSTOMER_CONTROLLER_CLIENT_INTERACT: + origin = &(ref->custom_client); + size = sizeof(ref->custom_client); + break; + case REF_CMD_ID_CLIENT_MAP_REC_ROUTE: + origin = &(ref->map_data); + size = sizeof(ref->map_data); + break; + case REF_CMD_ID_CLIENT_MAP_REC_ROBOT: + origin = &(ref->custom_info); + size = sizeof(ref->custom_info); + break; + case REF_CMD_ID_CUSTOMER_CONTROLLER_CLIENT_REC_ROBOT: + origin = &(ref->robot_custom); + size = sizeof(ref->robot_custom); + break; + case REF_CMD_ID_ROBOT_TO_CUSTOMER_CONTROLLER_CLIENT_REC: + origin = &(ref->robot_custom2); + size = sizeof(ref->robot_custom2); + break; + + case REF_CMD_ID_OPPSITE_ROBOT_POS:/*0xA01*/ + origin = &(ref->robot_custom2); + size = sizeof(ref->robot_custom2); + break; + case REF_CMD_ID_OPPSITE_ROBOT_HP:/*0xA02*/ + origin = &(ref->oppsite_robotHP); + size = sizeof(ref->oppsite_robotHP); + break; + case REF_CMD_ID_OPPSITE_ROBOT_BULLET_REMAINING:/*0xA03*/ + origin = &(ref->oppsite_bullet_remain); + size = sizeof(ref->oppsite_bullet_remain); + break; + case REF_CMD_ID_OPPSITE_ROBOT_STATUs:/*0xA04*/ + origin = &(ref->oppsite_robot_satate); + size = sizeof(ref->oppsite_robot_satate); + break; + case REF_CMD_ID_OPPSITE_ROBOT_BUFF:/*0xA05*/ + origin = &(ref->oppsite_robot_buff); + size = sizeof(ref->oppsite_robot_buff); + break; + case REF_CMD_ID_OPPSITE_ROBOT_INTERF_WAVE_SRCRET_KEY:/*0xA06*/ + origin = &(ref->opsite_DisturbingWave_key); + size = sizeof(ref->opsite_DisturbingWave_key); + break; +// case REF_CMD_ID_CLIENT_MAP: +// origin = &(ref->client_map); +// size = sizeof(ref->client_map); + default: + return DEVICE_ERR; + } + packet_length = sizeof(Referee_Header_t) + sizeof(Referee_CMDID_t) + size + + sizeof(Referee_Tail_t); + index += size; + if (index - packet_shift >= data_length) goto error; + + index += sizeof(Referee_Tail_t); + if (index - packet_shift != packet_length) goto error; + + if (CRC16_Verify((uint8_t *)(rxbuf + packet_shift), packet_length)) + memcpy(origin, target, size); + else + goto error; + } + return DEVICE_OK; + +error: + drop_message++; + return DEVICE_ERR; +} + +int8_t Referee_StartSend(uint8_t *data, uint32_t len) { + if (BSP_UART_Transmit(BSP_UART_REF,data, (size_t)len, true) == BSP_OK) { + return DEVICE_OK; + } else + return DEVICE_ERR; +} + +int8_t Referee_MoveData(void *data, void *tmp, uint32_t len) { + if (len <= 0 || data == NULL || tmp == NULL) return DEVICE_ERR; + memcpy(tmp, (const void *)data, (size_t)len); + memset(data, 0, (size_t)len); + return DEVICE_OK; +} + +int8_t Referee_SetHeader(Referee_Interactive_Header_t *header, + Referee_StudentCMDID_t cmd_id, uint8_t sender_id) { + header->data_cmd_id = cmd_id; + if (sender_id <= REF_BOT_RED_RADER) switch (sender_id) { + case REF_BOT_RED_HERO: + header->sender_ID = REF_BOT_RED_HERO; + header->receiver_ID = REF_CL_RED_HERO; + break; + case REF_BOT_RED_ENGINEER: + header->sender_ID = REF_BOT_RED_ENGINEER; + header->receiver_ID = REF_CL_RED_ENGINEER; + break; + case REF_BOT_RED_INFANTRY_1: + header->sender_ID = REF_BOT_RED_INFANTRY_1; + header->receiver_ID = REF_CL_RED_INFANTRY_1; + break; + case REF_BOT_RED_INFANTRY_2: + header->sender_ID = REF_BOT_RED_INFANTRY_2; + header->receiver_ID = REF_CL_RED_INFANTRY_2; + break; + case REF_BOT_RED_INFANTRY_3: + header->sender_ID = REF_BOT_RED_INFANTRY_3; + header->receiver_ID = REF_CL_RED_INFANTRY_3; + break; + case REF_BOT_RED_DRONE: + header->sender_ID = REF_BOT_RED_DRONE; + header->receiver_ID = REF_CL_RED_DRONE; + break; + case REF_BOT_RED_SENTRY: + header->sender_ID = REF_BOT_RED_SENTRY; + break; + case REF_BOT_RED_RADER: + header->sender_ID = REF_BOT_RED_RADER; + break; + default: + return -1; + } + else + switch (sender_id) { + case REF_BOT_BLU_HERO: + header->sender_ID = REF_BOT_BLU_HERO; + header->receiver_ID = REF_CL_BLU_HERO; + break; + case REF_BOT_BLU_ENGINEER: + header->sender_ID = REF_BOT_BLU_ENGINEER; + header->receiver_ID = REF_CL_BLU_ENGINEER; + break; + case REF_BOT_BLU_INFANTRY_1: + header->sender_ID = REF_BOT_BLU_INFANTRY_1; + header->receiver_ID = REF_CL_BLU_INFANTRY_1; + break; + case REF_BOT_BLU_INFANTRY_2: + header->sender_ID = REF_BOT_BLU_INFANTRY_2; + header->receiver_ID = REF_CL_BLU_INFANTRY_2; + break; + case REF_BOT_BLU_INFANTRY_3: + header->sender_ID = REF_BOT_BLU_INFANTRY_3; + header->receiver_ID = REF_CL_BLU_INFANTRY_3; + break; + case REF_BOT_BLU_DRONE: + header->sender_ID = REF_BOT_BLU_DRONE; + header->receiver_ID = REF_CL_BLU_DRONE; + break; + case REF_BOT_BLU_SENTRY: + header->sender_ID = REF_BOT_BLU_SENTRY; + break; + case REF_BOT_BLU_RADER: + header->sender_ID = REF_BOT_BLU_RADER; + break; + default: + return -1; + } + return 0; +} + +int8_t Referee_PackUI(Referee_UI_t *ui, Referee_t *ref) { + if (!Referee_CheckTXReady()) return 0; + if (ui->character_counter == 0 && ui->grapic_counter == 0 && + ui->del_counter == 0) + return 0; + + static uint8_t send_data[sizeof(Referee_UI_Drawgrapic_7_t)] = {0}; + uint16_t size; + if (ui->del_counter != 0) { + if (ui->del_counter < 0 || ui->del_counter > REF_UI_MAX_STRING_NUM) + return DEVICE_ERR; + Referee_UI_Del_t *address = (Referee_UI_Del_t *)send_data; + address->header.sof = REF_HEADER_SOF; + address->header.data_length = + sizeof(UI_Del_t) + sizeof(Referee_Interactive_Header_t); + address->header.crc8 = + CRC8_Calc((const uint8_t *)&(address->header), + sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT); + address->cmd_id = REF_CMD_ID_INTER_STUDENT; + Referee_SetHeader(&(address->IA_header), REF_STDNT_CMD_ID_UI_DEL, + ref->robot_status.robot_id); + Referee_MoveData(&(ui->del[--ui->del_counter]), &(address->data), + sizeof(UI_Del_t)); + address->crc16 = + CRC16_Calc((const uint8_t *)address, + sizeof(Referee_UI_Del_t) - sizeof(uint16_t), CRC16_INIT); + size = sizeof(Referee_UI_Del_t); + + Referee_StartSend(send_data, size); + return DEVICE_OK; + } else if (ui->grapic_counter != 0) { + switch (ui->grapic_counter) { + case 1: + size = sizeof(Referee_UI_Drawgrapic_1_t); + Referee_UI_Drawgrapic_1_t *address_1 = + (Referee_UI_Drawgrapic_1_t *)send_data; + address_1->header.sof = REF_HEADER_SOF; + address_1->header.data_length = + sizeof(UI_Drawgrapic_1_t) + sizeof(Referee_Interactive_Header_t); + address_1->header.crc8 = + CRC8_Calc((const uint8_t *)&(address_1->header), + sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT); + address_1->cmd_id = REF_CMD_ID_INTER_STUDENT; + Referee_SetHeader(&(address_1->IA_header), REF_STDNT_CMD_ID_UI_DRAW1, + ref->robot_status.robot_id); + Referee_MoveData(&(ui->grapic), &(address_1->data.grapic), + sizeof(UI_Drawgrapic_1_t)); + address_1->crc16 = CRC16_Calc( + (const uint8_t *)address_1, + sizeof(Referee_UI_Drawgrapic_1_t) - sizeof(uint16_t), CRC16_INIT); + break; + case 2: + size = sizeof(Referee_UI_Drawgrapic_2_t); + Referee_UI_Drawgrapic_2_t *address_2 = + (Referee_UI_Drawgrapic_2_t *)send_data; + address_2->header.sof = REF_HEADER_SOF; + address_2->header.data_length = + sizeof(UI_Drawgrapic_2_t) + sizeof(Referee_Interactive_Header_t); + address_2->header.crc8 = + CRC8_Calc((const uint8_t *)&(address_2->header), + sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT); + address_2->cmd_id = REF_CMD_ID_INTER_STUDENT; + Referee_SetHeader(&(address_2->IA_header), REF_STDNT_CMD_ID_UI_DRAW2, + ref->robot_status.robot_id); + Referee_MoveData(&(ui->grapic), &(address_2->data.grapic), + sizeof(UI_Drawgrapic_2_t)); + address_2->crc16 = CRC16_Calc( + (const uint8_t *)address_2, + sizeof(Referee_UI_Drawgrapic_2_t) - sizeof(uint16_t), CRC16_INIT); + break; + case 3: + case 4: + case 5: + size = sizeof(Referee_UI_Drawgrapic_5_t); + Referee_UI_Drawgrapic_5_t *address_5 = + (Referee_UI_Drawgrapic_5_t *)send_data; + address_5->header.sof = REF_HEADER_SOF; + address_5->header.data_length = + sizeof(UI_Drawgrapic_5_t) + sizeof(Referee_Interactive_Header_t); + address_5->header.crc8 = + CRC8_Calc((const uint8_t *)&(address_5->header), + sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT); + address_5->cmd_id = REF_CMD_ID_INTER_STUDENT; + Referee_SetHeader(&(address_5->IA_header), REF_STDNT_CMD_ID_UI_DRAW5, + ref->robot_status.robot_id); + Referee_MoveData(&(ui->grapic), &(address_5->data.grapic), + sizeof(UI_Drawgrapic_5_t)); + address_5->crc16 = CRC16_Calc( + (const uint8_t *)address_5, + sizeof(Referee_UI_Drawgrapic_5_t) - sizeof(uint16_t), CRC16_INIT); + break; + case 6: + case 7: + size = sizeof(Referee_UI_Drawgrapic_7_t); + Referee_UI_Drawgrapic_7_t *address_7 = + (Referee_UI_Drawgrapic_7_t *)send_data; + address_7->header.sof = REF_HEADER_SOF; + address_7->header.data_length = + sizeof(UI_Drawgrapic_7_t) + sizeof(Referee_Interactive_Header_t); + address_7->header.crc8 = + CRC8_Calc((const uint8_t *)&(address_7->header), + sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT); + address_7->cmd_id = REF_CMD_ID_INTER_STUDENT; + Referee_SetHeader(&(address_7->IA_header), REF_STDNT_CMD_ID_UI_DRAW7, + ref->robot_status.robot_id); + Referee_MoveData(&(ui->grapic), &(address_7->data.grapic), + sizeof(UI_Drawgrapic_7_t)); + address_7->crc16 = CRC16_Calc( + (const uint8_t *)address_7, + sizeof(Referee_UI_Drawgrapic_7_t) - sizeof(uint16_t), CRC16_INIT); + break; + default: + return DEVICE_ERR; + } + if (Referee_StartSend(send_data, size) == HAL_OK) { + ui->grapic_counter = 0; + return DEVICE_OK; + } + } else if (ui->character_counter != 0) { + if (ui->character_counter < 0 || + ui->character_counter > REF_UI_MAX_STRING_NUM) + return DEVICE_ERR; + Referee_UI_Drawcharacter_t *address = + (Referee_UI_Drawcharacter_t *)send_data; + address->header.sof = REF_HEADER_SOF; + address->header.data_length = + sizeof(UI_Drawcharacter_t) + sizeof(Referee_Interactive_Header_t); + address->header.crc8 = + CRC8_Calc((const uint8_t *)&(address->header), + sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT); + address->cmd_id = REF_CMD_ID_INTER_STUDENT; + Referee_SetHeader(&(address->IA_header), REF_STDNT_CMD_ID_UI_STR, + ref->robot_status.robot_id); + Referee_MoveData(&(ui->character_data[--ui->character_counter]), + &(address->data.grapic), sizeof(UI_Drawcharacter_t)); + address->crc16 = CRC16_Calc( + (const uint8_t *)address, + sizeof(Referee_UI_Drawcharacter_t) - sizeof(uint16_t), CRC16_INIT); + size = sizeof(Referee_UI_Drawcharacter_t); + + Referee_StartSend(send_data, size); + return DEVICE_OK; + } + return DEVICE_ERR_NULL; +} + +UI_Ele_t *Referee_GetGrapicAdd(Referee_UI_t *ref_ui) { + if (ref_ui->grapic_counter >= REF_UI_MAX_GRAPIC_NUM || + ref_ui->grapic_counter < 0) + return NULL; + else + return &(ref_ui->grapic[ref_ui->grapic_counter++]); +} + +UI_Drawcharacter_t *Referee_GetCharacterAdd(Referee_UI_t *ref_ui) { + if (ref_ui->character_counter >= REF_UI_MAX_STRING_NUM || + ref_ui->character_counter < 0) + return NULL; + else + return &(ref_ui->character_data[ref_ui->character_counter++]); +} + +UI_Del_t *Referee_GetDelAdd(Referee_UI_t *ref_ui) { + if (ref_ui->del_counter >= REF_UI_MAX_DEL_NUM || ref_ui->del_counter < 0) + return NULL; + else + return &(ref_ui->del[ref_ui->del_counter++]); +} + +uint8_t Referee_PraseCmd(Referee_UI_t *ref_ui, Referee_UI_CMD_t cmd) { + switch (cmd) { + /* Demo */ + case UI_NOTHING: + /* 字符 */ + UI_DrawCharacter(Referee_GetCharacterAdd(ref_ui), "0", + UI_GRAPIC_OPERATION_ADD, UI_GRAPIC_LAYER_AUTOAIM, + RED_BLUE, UI_DEFAULT_WIDTH, 100, 100, 200, 200, "Demo"); + /* 直线 */ + UI_DrawLine(Referee_GetGrapicAdd(ref_ui), "2", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_AUTOAIM, RED_BLUE, UI_DEFAULT_WIDTH, 960, 540, + 960, 240); + /* 圆形 */ + UI_DrawCycle(Referee_GetGrapicAdd(ref_ui), "1", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_AUTOAIM, RED_BLUE, UI_DEFAULT_WIDTH, 900, + 500, 10); + /* 删除 */ + UI_DelLayer(Referee_GetDelAdd(ref_ui), UI_DEL_OPERATION_DEL, + UI_GRAPIC_LAYER_AUTOAIM); + break; + case UI_AUTO_AIM_START: + UI_DrawCharacter(Referee_GetCharacterAdd(ref_ui), "1", + UI_GRAPIC_OPERATION_ADD, UI_GRAPIC_LAYER_AUTOAIM, + RED_BLUE, UI_DEFAULT_WIDTH * 10, 50, UI_DEFAULT_WIDTH, + ref_ui->screen->width * 0.8, + ref_ui->screen->height * 0.5, "AUTO"); + break; + case UI_AUTO_AIM_STOP: + UI_DelLayer(Referee_GetDelAdd(ref_ui), UI_DEL_OPERATION_DEL, + UI_GRAPIC_LAYER_AUTOAIM); + + default: + return -1; + } + return 0; +} + +uint8_t Referee_PackCap(Referee_ForCap_t *cap, const Referee_t *ref) { + cap->chassis_power_limit = ref->robot_status.chassis_power_limit; + cap->chassis_pwr_buff = ref->power_heat.chassis_pwr_buff; + cap->chassis_watt = ref->power_heat.chassis_watt; + cap->ref_status = ref->ref_status; + return 0; +} + +uint8_t Referee_PackAI(Referee_ForAI_t *ai, const Referee_t *ref) { + ai->ref_status = ref->ref_status; + return 0; +} + +uint8_t Referee_PackChassis(Referee_ForChassis_t *chassis, + const Referee_t *ref) { + chassis->chassis_power_limit = ref->robot_status.chassis_power_limit; + chassis->chassis_pwr_buff = ref->power_heat.chassis_pwr_buff; + chassis->ref_status = ref->ref_status; + return 0; +} + +uint8_t Referee_PackShoot(Referee_ForShoot_t *shoot, Referee_t *ref) { + memcpy(&(shoot->power_heat), &(ref->power_heat), sizeof(shoot->power_heat)); + memcpy(&(shoot->robot_status), &(ref->robot_status), + sizeof(shoot->robot_status)); + memcpy(&(shoot->shoot_data), &(ref->shoot_data), sizeof(shoot->shoot_data)); + shoot->ref_status = ref->ref_status; + return 0; +} + +uint8_t Referee_UIRefresh(Referee_UI_t *ui) { + static uint8_t fsm = 0; + if (osThreadFlagsGet() & SIGNAL_REFEREE_FAST_REFRESH_UI) { + osThreadFlagsClear(SIGNAL_REFEREE_FAST_REFRESH_UI); + switch (fsm) { + case 0: { + fsm++; + UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL, + UI_GRAPIC_LAYER_CHASSIS); + UI_DrawLine(Referee_GetGrapicAdd(ui), "6", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CHASSIS, GREEN, UI_DEFAULT_WIDTH * 12, + ui->screen->width * 0.4, ui->screen->height * 0.2, + ui->screen->width * 0.4f + sinf(ui->chassis_ui.angle) * 46.0f, + ui->screen->height * 0.2f + cosf(ui->chassis_ui.angle) * 46.0f); + float start_pos_h = 0.0f; + switch (ui->chassis_ui.mode) { + case CHASSIS_MODE_RELAX: + start_pos_h = 0.68f; + break; + case CHASSIS_MODE_WHELL_LEG_BALANCE: + start_pos_h = 0.66f; + break; + case CHASSIS_MODE_BALANCE_ROTOR: + start_pos_h = 0.64f; + break; + default: + break; + } + if (start_pos_h != 0.0f) + UI_DrawRectangle( + Referee_GetGrapicAdd(ui), "8", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CHASSIS, GREEN, UI_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS - 6, + ui->screen->height * start_pos_h + REF_UI_BOX_UP_OFFSET, + ui->screen->width * REF_UI_RIGHT_START_POS + 44, + ui->screen->height * start_pos_h + REF_UI_BOX_BOT_OFFSET); + break; + } + case 1: + fsm++; UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL, + UI_GRAPIC_LAYER_CAP); + switch (ui->cap_ui.status) { + case SUPERCAP_STATUS_OFFLINE: + UI_DrawArc(Referee_GetGrapicAdd(ui), "9", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CAP, YELLOW, 0, 360, + UI_DEFAULT_WIDTH * 5, ui->screen->width * 0.6, + ui->screen->height * 0.2, 50, 50); + break; + break; + case SUPERCAP_STATUS_RUNNING: + UI_DrawArc(Referee_GetGrapicAdd(ui), "9", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CAP, GREEN, 0, + ui->cap_ui.percentage * 360, UI_DEFAULT_WIDTH * 5, + ui->screen->width * 0.6, ui->screen->height * 0.2, 50, + 50); + break; + } + + break; + case 2: { + fsm++; + UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL, + UI_GRAPIC_LAYER_GIMBAL); + float start_pos_h = 0.0f; + switch (ui->gimbal_ui.mode) { + case GIMBAL_MODE_RELAX: + start_pos_h = 0.68f; + break; + case GIMBAL_MODE_RELATIVE: + start_pos_h = 0.66f; + break; + case GIMBAL_MODE_ABSOLUTE: + start_pos_h = 0.64f; + break; + default: + break; + } + UI_DrawRectangle( + Referee_GetGrapicAdd(ui), "a", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_GIMBAL, GREEN, UI_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS + 54, + ui->screen->height * start_pos_h + REF_UI_BOX_UP_OFFSET, + ui->screen->width * REF_UI_RIGHT_START_POS + 102, + ui->screen->height * start_pos_h + REF_UI_BOX_BOT_OFFSET); + break; + } + case 3: { + fsm++; + UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL, + UI_GRAPIC_LAYER_SHOOT); + float start_pos_h = 0.0f; + switch (ui->shoot_ui.fire) { + case SHOOT_STATE_IDLE: + start_pos_h = 0.68f; + break; + case SHOOT_STATE_READY: + start_pos_h = 0.66f; + break; + case SHOOT_STATE_FIRE: + start_pos_h = 0.64f; + break; + default: + break; + } + UI_DrawRectangle( + Referee_GetGrapicAdd(ui), "b", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_SHOOT, GREEN, UI_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS + 114, + ui->screen->height * start_pos_h + REF_UI_BOX_UP_OFFSET, + ui->screen->width * REF_UI_RIGHT_START_POS + 162, + ui->screen->height * start_pos_h + REF_UI_BOX_BOT_OFFSET); + + switch (ui->shoot_ui.mode) { + case SHOOT_MODE_SAFE: + start_pos_h = 0.68f; + break; + case SHOOT_MODE_SINGLE: + start_pos_h = 0.66f; + break; + case SHOOT_MODE_BURST: + start_pos_h = 0.64f; + default: + break; + } + UI_DrawRectangle( + Referee_GetGrapicAdd(ui), "f", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_SHOOT, GREEN, UI_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS + 174, + ui->screen->height * start_pos_h + REF_UI_BOX_UP_OFFSET, + ui->screen->width * REF_UI_RIGHT_START_POS + 222, + ui->screen->height * start_pos_h + REF_UI_BOX_BOT_OFFSET); + break; + } + case 4: + fsm++; + UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL, + UI_GRAPIC_LAYER_CMD); + if (ui->cmd_pc) { + UI_DrawRectangle(Referee_GetGrapicAdd(ui), "c", + UI_GRAPIC_OPERATION_ADD, UI_GRAPIC_LAYER_CMD, GREEN, + UI_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS + 96, + ui->screen->height * 0.4 + REF_UI_BOX_UP_OFFSET, + ui->screen->width * REF_UI_RIGHT_START_POS + 120, + ui->screen->height * 0.4 + REF_UI_BOX_BOT_OFFSET); + } else { + UI_DrawRectangle(Referee_GetGrapicAdd(ui), "c", + UI_GRAPIC_OPERATION_ADD, UI_GRAPIC_LAYER_CMD, GREEN, + UI_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS + 56, + ui->screen->height * 0.4 + REF_UI_BOX_UP_OFFSET, + ui->screen->width * REF_UI_RIGHT_START_POS + 80, + ui->screen->height * 0.4 + REF_UI_BOX_BOT_OFFSET); + } + break; + + default: + fsm = 0; + if (ui->del_counter >= REF_UI_MAX_DEL_NUM || + ui->character_counter > REF_UI_MAX_STRING_NUM || + ui->grapic_counter > REF_UI_MAX_GRAPIC_NUM) + BSP_UART_GetHandle(BSP_UART_REF)->gState = HAL_UART_STATE_READY; + } + } + + if (osThreadFlagsGet() & SIGNAL_REFEREE_SLOW_REFRESH_UI) { + osThreadFlagsClear(SIGNAL_REFEREE_SLOW_REFRESH_UI); + UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL, + UI_GRAPIC_LAYER_CONST); + UI_DrawCharacter(Referee_GetCharacterAdd(ui), "1", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 10, 80, + UI_CHAR_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS, + ui->screen->height * 0.7, "CHAS GMBL SHOT FIRE"); + UI_DrawCharacter(Referee_GetCharacterAdd(ui), "2", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 10, 80, + UI_CHAR_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS, + ui->screen->height * 0.68, "FLLW RELX RELX SNGL"); + UI_DrawCharacter(Referee_GetCharacterAdd(ui), "3", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 10, 80, + UI_CHAR_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS, + ui->screen->height * 0.66, "FL35 ABSL SAFE BRST"); + UI_DrawCharacter(Referee_GetCharacterAdd(ui), "4", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 10, 80, + UI_CHAR_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS, + ui->screen->height * 0.64, "ROTR RLTV LOAD CONT"); + UI_DrawLine(Referee_GetGrapicAdd(ui), "5", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 3, + ui->screen->width * 0.4, ui->screen->height * 0.2, + ui->screen->width * 0.4, ui->screen->height * 0.2 + 50); + UI_DrawCharacter(Referee_GetCharacterAdd(ui), "d", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 10, 80, + UI_CHAR_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS, + ui->screen->height * 0.4, "CTRL RC PC"); + UI_DrawCharacter(Referee_GetCharacterAdd(ui), "e", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 20, 80, + UI_CHAR_DEFAULT_WIDTH * 2, ui->screen->width * 0.6 - 26, + ui->screen->height * 0.2 + 10, "CAP"); + } + + return 0; +} diff --git a/User/device/referee.h b/User/device/referee.h new file mode 100644 index 0000000..a771bb5 --- /dev/null +++ b/User/device/referee.h @@ -0,0 +1,676 @@ +/* + 裁判系统抽象。 +*/ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include +#include +#include "component\ui.h" +#include "component\user_math.h" +#include "device\device.h" +#include "device\referee_proto_types.h" +#include "device\supercap.h" +#include "module\balance_chassis.h" +#include "module\gimbal.h" +#include "module\shoot.h" + +/* Exported constants ------------------------------------------------------- */ +/* Exported macro ----------------------------------------------------------- */ +#define REF_SWITCH_STATUS(ref, stat) ((ref).ref_status = (stat)) +#define CHASSIS_POWER_MAX_WITHOUT_REF 50.0f /* 裁判系统离线底盘最大功率 */ + +#define REF_UI_MAX_GRAPIC_NUM (7) +#define REF_UI_MAX_STRING_NUM (7) +#define REF_UI_MAX_DEL_NUM (3) +#define REF_USER_DATA_MAX_LEN 112 +/* Exported types ----------------------------------------------------------- */ +typedef struct __packed { + uint8_t sof; + uint16_t data_length; + uint8_t seq; + uint8_t crc8; +} Referee_Header_t; + + /* 分辨率配置 */ + +/* Referee_Status_t, PowerHeat_t, RobotStatus_t, ShootData_t, + ForCap/AI/Chassis/Shoot_t, Screen_t, UI_CMD_t + 均定义在 device/referee_proto_types.h（已在上方 include）*/ + + + +typedef enum { + REF_CMD_ID_GAME_STATUS = 0x0001, + REF_CMD_ID_GAME_RESULT = 0x0002, + REF_CMD_ID_GAME_ROBOT_HP = 0x0003, +// REF_CMD_ID_DART_STATUS = 0x0004, + REF_CMD_ID_FIELD_EVENTS = 0x0101, + REF_CMD_ID_WARNING = 0x0104, + REF_CMD_ID_DART_COUNTDOWN = 0x0105, + REF_CMD_ID_ROBOT_STATUS = 0x0201, + REF_CMD_ID_POWER_HEAT_DATA = 0x0202, + REF_CMD_ID_ROBOT_POS = 0x0203, + REF_CMD_ID_ROBOT_BUFF = 0x0204, + REF_CMD_ID_ROBOT_DMG = 0x0206, + REF_CMD_ID_SHOOT_DATA = 0x0207, + REF_CMD_ID_BULLET_REMAINING = 0x0208, + REF_CMD_ID_RFID = 0x0209, + REF_CMD_ID_DART_CLIENT = 0x020A, + REF_CMD_ID_GROUND_ROBOT_POS = 0x020B, + REF_CMD_ID_RADAR_MASK_PROC = 0x020C, + REF_CMD_ID_SENTRY_AUTO_DEC = 0x020D, + REF_CMD_ID_RADAR_AUTO_DEC = 0x020E, + REF_CMD_ID_INTER_STUDENT = 0x0301, + REF_CMD_ID_INTER_STUDENT_CUSTOM = 0x0302, + REF_CMD_ID_CLIENT_MAP = 0x0303, + REF_CMD_ID_KEYBOARD_MOUSE = 0x0304, + REF_CMD_ID_CLIENT_MAP_REC_RADAR = 0x0305, + REF_CMD_ID_CUSTOMER_CONTROLLER_CLIENT_INTERACT = 0x0306, + REF_CMD_ID_CLIENT_MAP_REC_ROUTE = 0x0307, + REF_CMD_ID_CLIENT_MAP_REC_ROBOT = 0x0308, + REF_CMD_ID_CUSTOMER_CONTROLLER_CLIENT_REC_ROBOT = 0x0309, + REF_CMD_ID_ROBOT_TO_CUSTOMER_CONTROLLER_CLIENT_REC = 0x0310, + + + + REF_CMD_ID_SET_PICTURE_CHANNEL = 0x0F01, + REF_CMD_ID_QUERY_PICTURE_CHANNEL = 0x0F02, + REF_CMD_ID_OPPSITE_ROBOT_POS = 0x0A01, + REF_CMD_ID_OPPSITE_ROBOT_HP = 0x0A02, + REF_CMD_ID_OPPSITE_ROBOT_BULLET_REMAINING = 0x0A03, + REF_CMD_ID_OPPSITE_ROBOT_STATUs = 0x0A04, + REF_CMD_ID_OPPSITE_ROBOT_BUFF= 0x0A05, + REF_CMD_ID_OPPSITE_ROBOT_INTERF_WAVE_SRCRET_KEY= 0x0A06, + +} Referee_CMDID_t; + +typedef struct __packed { + uint8_t game_type : 4; + uint8_t game_progress : 4; + uint16_t stage_remain_time; + uint64_t sync_time_stamp; +} Referee_GameStatus_t; + +typedef struct __packed { + uint8_t winner; +} Referee_GameResult_t; + +typedef struct __packed { +uint16_t ally_1_robot_HP; +uint16_t ally_2_robot_HP; +uint16_t ally_3_robot_HP; +uint16_t ally_4_robot_HP; +uint16_t reserved; +uint16_t ally_7_robot_HP; +uint16_t ally_outpost_HP; +uint16_t ally_base_HP; +} Referee_GameRobotHP_t; + +typedef struct __packed { + uint32_t event_data; +} Referee_Event_t; + +typedef struct __packed { + uint8_t level; + uint8_t offending_robot_id; + uint8_t count; +} Referee_Warning_t; + +typedef struct __packed { + uint8_t dart_remaining_time; + uint16_t dart_info; +} Referee_DartInfo_t; + + + +typedef struct __packed { + float x; + float y; + float angle; +} Referee_RobotPos_t; + +typedef struct { + uint8_t recovery_buff; + uint16_t cooling_buff; + uint8_t defence_buff; + uint8_t vulnerability_buff; + uint16_t attack_buff; + uint8_t remaining_energy; +} Referee_RobotBuff_t; + +typedef struct __packed { + uint8_t armor_id : 4; + uint8_t damage_type : 4; +} Referee_RobotDamage_t; + + +typedef struct __packed { + uint16_t bullet_17_remain; + uint16_t bullet_42_remain; + uint16_t coin_remain; + uint16_t fortress_remain; +}Referee_BulletRemain_t; + +typedef struct { + uint32_t rfid_status; + uint8_t rfid_status_2; +}Referee_RFID_t; + +typedef struct __packed { + uint8_t dart_launch_opening_status; + uint8_t reserved; + uint16_t target_change_time; + uint16_t latest_launch_cmd_time; +}Referee_DartClient_t; + +typedef struct { + float hero_x; + float hero_y; + float engineer_x; + float engineer_y; + float standard_3_x; + float standard_3_y; + float standard_4_x; + float standard_4_y; + float reserved_1; + float reserved_2; +} Referee_GroundRobotPos_t; + +typedef struct __packed { + uint16_t mark_progress; +} Referee_RadarMark_t; + +typedef struct __packed { + uint32_t sentry_info; + uint16_t sentry_info_2; +} Referee_SentryInfo_t; + +typedef struct __packed { + uint8_t radar_info; +} Referee_RadarInfo_t; + +typedef struct __packed { + uint16_t data_cmd_id; + uint16_t sender_id; + uint16_t receiver_id; + uint8_t user_data[REF_USER_DATA_MAX_LEN]; +} Referee_RobotInteraction_t; + +typedef struct __packed +{ +uint8_t delete_type; +uint8_t layer; +}Referee_RobotInteractionLayerDelete_t; + +typedef struct __packed { +uint8_t figure_name[3]; +uint32_t operate_type:3; +uint32_t figure_type:3; +uint32_t layer:4; +uint32_t color:4; +uint32_t details_a:9; +uint32_t details_b:9; +uint32_t width:10; +uint32_t start_x:11; +uint32_t start_y:11; +uint32_t details_c:10; +uint32_t details_d:11; +uint32_t details_e:11; +} Referee_InteractionFigure_t; + + + +typedef struct __packed { + Referee_InteractionFigure_t interaction_figure[2]; +} Referee_InteractionFigure2_t; + +typedef struct __packed { + + Referee_InteractionFigure_t interaction_figure[5]; +} Referee_InteractionFigure3_t; + +typedef struct __packed { + Referee_InteractionFigure_t interaction_figure[7]; +} Referee_InteractionFigure4_t; + +typedef struct __packed { +//graphic_data_struct_t grapic_data_struct; +uint8_t data[30]; +}Referee_ExtClientCustomCharacter_t; + +typedef struct __packed { + uint32_t sentry_cmd; +} Referee_SentryCmd_t; + +typedef struct __packed { + uint8_t radar_cmd; + uint8_t password_cmd; +uint8_t password_1; +uint8_t password_2; +uint8_t password_3; +uint8_t password_4; +uint8_t password_5; +uint8_t password_6; +} Referee_RadarCmd_t; + +typedef struct __packed { +float target_position_x; +float target_position_y; +uint8_t cmd_keyboard; +uint8_t target_robot_id; +uint16_t cmd_source; +}Referee_MapCommand_t; + +typedef struct __packed { +uint16_t hero_position_x; +uint16_t hero_position_y; +uint16_t engineer_position_x; +uint16_t engineer_position_y; +uint16_t infantry_3_position_x; +uint16_t infantry_3_position_y; +uint16_t infantry_4_position_x; +uint16_t infantry_4_position_y; +uint16_t infantry_5_position_x; +uint16_t infantry_5_position_y; +uint16_t sentry_position_x; +int16_t sentry_position_y; +} Referee_MapRobotData_t; + +typedef struct +{ +uint8_t intention; +uint16_t start_position_x; +uint16_t start_position_y; +int8_t delta_x[49]; +int8_t delta_y[49]; +uint16_t sender_id; +}Referee_MapData_t; + +typedef struct +{ +uint16_t sender_id; +uint16_t receiver_id; +uint8_t user_data[30]; +}Referee_CustomInfo_t; + +typedef struct +{ +uint8_t data[30]; +}Referee_CustomRobot_t; + +typedef struct +{ +uint8_t data[30]; +}Referee_RobotCustom_t; + +typedef struct +{ +uint8_t data[30]; +}Referee_RobotCustom2_t; + +/* 适配 V1.2.0: 0x0311 新增指令 */ +typedef struct __packed { + uint8_t data[30]; +} Referee_RobotCustom3_t; + +typedef struct __packed { + int16_t mouse_x; + int16_t mouse_y; + int16_t mouse_wheel; + int8_t button_l; + int8_t button_r; + uint16_t keyboard_value; + uint16_t res; +} Referee_KeyboardMouse_t; + +typedef struct +{ +uint16_t key_value; + uint16_t x_position:12; + uint16_t mouse_left:4; + uint16_t y_position:12; + uint16_t mouse_right:4; + uint16_t reserved; +}Referee_CustomClient_t; + +typedef struct __packed { + uint8_t place_holder; +} Referee_InterStudent_Custom_t; + +typedef struct __packed { +uint16_t ally_1_robot_HP; +uint16_t ally_2_robot_HP; +uint16_t ally_3_robot_HP; +uint16_t ally_4_robot_HP; +uint16_t reserved; +uint16_t ally_7_robot_HP; +} Referee_OppisiteGameRobotHP_t; + +typedef struct __packed { + uint16_t hero_bullet; + uint16_t infantry3_bullet; + uint16_t infantry4_bullet; + uint16_t drone_bullet; + uint16_t sentry_bullet; +} Referee_OppsiteBulletRemain_t; + + +typedef struct __packed { + uint16_t remain_coins; + uint16_t total_coins; + uint32_t macro_status; +} Referee_OppsiteRobotState_t; + +typedef struct __packed { + uint8_t data[36]; +} Referee_OppsiteRobotBuff_t; + +typedef struct __packed { + uint8_t data[6]; +} Referee_OppsiteDisturbingWaveKey_t; + + + +typedef struct __packed { + uint8_t f1_status : 1; + uint8_t f1_buff_status : 3; + uint8_t f2_status : 1; + uint8_t f2_buff_status : 3; + uint8_t f3_status : 1; + uint8_t f3_buff_status : 3; + uint8_t f4_status : 1; + uint8_t f4_buff_status : 3; + uint8_t f5_status : 1; + uint8_t f5_buff_status : 3; + uint8_t f6_status : 1; + uint8_t f6_buff_status : 3; + uint16_t red1_bullet_remain; + uint16_t red2_bullet_remain; + uint16_t blue1_bullet_remain; + uint16_t blue2_bullet_remain; +} Referee_ICRAZoneStatus_t; + +typedef struct __packed { + uint8_t copter_pad : 2; + uint8_t energy_mech : 2; + uint8_t virtual_shield : 1; + uint32_t res : 27; +} Referee_FieldEvents_t; + +typedef struct __packed { + uint8_t supply_id; + uint8_t robot_id; + uint8_t supply_step; + uint8_t supply_sum; +} Referee_SupplyAction_t; + +typedef struct __packed { + uint8_t place_holder; /* TODO */ +} Referee_RequestSupply_t; + +typedef struct __packed { + uint8_t countdown; +} Referee_DartCountdown_t; + + +typedef struct __packed { + uint8_t attack_countdown; +} Referee_DroneEnergy_t; + + + + +/*typedef struct __packed { + uint8_t opening; + uint8_t target; + uint8_t target_changable_countdown; + uint8_t dart1_speed; + uint8_t dart2_speed; + uint8_t dart3_speed; + uint8_t dart4_speed; + uint16_t last_dart_launch_time; + uint16_t operator_cmd_launch_time; +} Referee_DartClient_t;*/ + + + + + +typedef struct __packed { + float position_x; + float position_y; + float position_z; + uint8_t commd_keyboard; + uint16_t robot_id; +} Referee_ClientMap_t; + +typedef uint16_t Referee_Tail_t; + +typedef enum { + REF_BOT_RED_HERO = 1, + REF_BOT_RED_ENGINEER = 2, + REF_BOT_RED_INFANTRY_1 = 3, + REF_BOT_RED_INFANTRY_2 = 4, + REF_BOT_RED_INFANTRY_3 = 5, + REF_BOT_RED_DRONE = 6, + REF_BOT_RED_SENTRY = 7, + REF_BOT_RED_RADER = 9, + REF_BOT_RED_OUTPOST=10, + REF_BOT_RED_BASE=11, + REF_BOT_BLU_HERO = 101, + REF_BOT_BLU_ENGINEER = 102, + REF_BOT_BLU_INFANTRY_1 = 103, + REF_BOT_BLU_INFANTRY_2 = 104, + REF_BOT_BLU_INFANTRY_3 = 105, + REF_BOT_BLU_DRONE = 106, + REF_BOT_BLU_SENTRY = 107, + REF_BOT_BLU_RADER = 109, + REF_BOT_BUL_OUTPOST=110, + REF_BOT_BUL_BASE=111, +} Referee_RobotID_t; + +typedef enum { + REF_CL_RED_HERO = 0x0101, + REF_CL_RED_ENGINEER = 0x0102, + REF_CL_RED_INFANTRY_1 = 0x0103, + REF_CL_RED_INFANTRY_2 = 0x0104, + REF_CL_RED_INFANTRY_3 = 0x0105, + REF_CL_RED_DRONE = 0x0106, + REF_CL_BLU_HERO = 0x0165, + REF_CL_BLU_ENGINEER = 0x0166, + REF_CL_BLU_INFANTRY_1 = 0x0167, + REF_CL_BLU_INFANTRY_2 = 0x0168, + REF_CL_BLU_INFANTRY_3 = 0x0169, + REF_CL_BLU_DRONE = 0x016A, + +} Referee_ClientID_t; + +typedef enum { + REF_STDNT_CMD_ID_UI_DEL = 0x0100, + REF_STDNT_CMD_ID_UI_DRAW1 = 0x0101, + REF_STDNT_CMD_ID_UI_DRAW2 = 0x0102, + REF_STDNT_CMD_ID_UI_DRAW5 = 0x0103, + REF_STDNT_CMD_ID_UI_DRAW7 = 0x0104, + REF_STDNT_CMD_ID_UI_STR = 0x0110, + + REF_STDNT_CMD_ID_CUSTOM = 0x0200, +} Referee_StudentCMDID_t; + +typedef struct __packed { + Referee_StudentCMDID_t data_cmd_id; + uint16_t id_sender; + uint16_t id_receiver; + uint8_t *data; +} Referee_InterStudent_t; + + + +typedef struct { + Referee_Status_t ref_status; + Referee_GameStatus_t game_status; + Referee_GameResult_t game_result; + Referee_GameRobotHP_t game_robot_hp; + Referee_Event_t event; + Referee_Warning_t warning; + Referee_DartInfo_t dartinfo; + Referee_RobotStatus_t robot_status; + Referee_PowerHeat_t power_heat; + Referee_RobotPos_t robot_pos; + Referee_RobotBuff_t robot_buff; + Referee_RobotDamage_t robot_danage; + Referee_ShootData_t shoot_data; + Referee_BulletRemain_t bullet_remain; + Referee_RFID_t rfid; + Referee_DartClient_t dart_client; + Referee_GroundRobotPos_t ground_robot_pos; + Referee_RadarMark_t radar_mark; + Referee_SentryInfo_t sentry_info; + Referee_RadarInfo_t radar_info; + Referee_RobotInteraction_t robot_interaction; + Referee_RobotInteractionLayerDelete_t robot_interaction_layer_delete; + Referee_InteractionFigure_t interaction_figure; + Referee_InteractionFigure2_t interaction_figure2; + Referee_InteractionFigure3_t interaction_figure3; + Referee_InteractionFigure4_t interaction_figure4; + Referee_ExtClientCustomCharacter_t ext_client_custom_character; + Referee_SentryCmd_t sentry_cmd; + Referee_RadarCmd_t radar_cmd; + Referee_MapCommand_t map_command; + Referee_MapRobotData_t map_robot_data; + Referee_MapData_t map_data; + Referee_CustomInfo_t custom_info; + Referee_CustomRobot_t custom_robot; + Referee_RobotCustom_t robot_custom; + Referee_RobotCustom2_t robot_custom2; + Referee_KeyboardMouse_t keyboard_mouse_t; + Referee_CustomClient_t custom_client; + Referee_MapRobotData_t map_oppsite_robot_data; + Referee_OppisiteGameRobotHP_t oppsite_robotHP; + Referee_OppsiteBulletRemain_t oppsite_bullet_remain; + Referee_OppsiteRobotState_t oppsite_robot_satate; + Referee_OppsiteRobotBuff_t oppsite_robot_buff; + Referee_OppsiteDisturbingWaveKey_t opsite_DisturbingWave_key; + + + + + + + Referee_ICRAZoneStatus_t icra_zone; + Referee_FieldEvents_t field_event; + Referee_SupplyAction_t supply_action; + Referee_RequestSupply_t request_supply; + Referee_DartCountdown_t dart_countdown; + Referee_DroneEnergy_t drone_energy; + Referee_InterStudent_Custom_t custom; + Referee_ClientMap_t client_map; + osTimerId_t ui_fast_timer_id; + osTimerId_t ui_slow_timer_id; +} Referee_t; + +typedef struct __packed { + /* UI缓冲数据 */ + UI_Ele_t grapic[REF_UI_MAX_GRAPIC_NUM]; + UI_Drawcharacter_t character_data[REF_UI_MAX_STRING_NUM]; + UI_Del_t del[REF_UI_MAX_DEL_NUM]; + /* 待发送数量 */ + uint8_t grapic_counter; + uint8_t character_counter; + uint8_t del_counter; + /* UI所需信息 */ + Cap_RefereeUI_t cap_ui; + Chassis_RefereeUI_t chassis_ui; + Shoot_RefereeUI_t shoot_ui; + Gimbal_RefereeUI_t gimbal_ui; + bool cmd_pc; + /* 屏幕分辨率 */ + const Referee_Screen_t *screen; +} Referee_UI_t; + + +typedef struct __packed { + uint16_t data_cmd_id; + uint16_t sender_ID; + uint16_t receiver_ID; +} Referee_Interactive_Header_t; + +typedef struct __packed { + Referee_Header_t header; + uint16_t cmd_id; + Referee_Interactive_Header_t IA_header; + UI_Drawgrapic_1_t data; + uint16_t crc16; +} Referee_UI_Drawgrapic_1_t; + +typedef struct __packed { + Referee_Header_t header; + uint16_t cmd_id; + Referee_Interactive_Header_t IA_header; + UI_Drawgrapic_2_t data; + uint16_t crc16; +} Referee_UI_Drawgrapic_2_t; + +typedef struct __packed { + Referee_Header_t header; + uint16_t cmd_id; + Referee_Interactive_Header_t IA_header; + UI_Drawgrapic_5_t data; + uint16_t crc16; +} Referee_UI_Drawgrapic_5_t; + +typedef struct __packed { + Referee_Header_t header; + uint16_t cmd_id; + Referee_Interactive_Header_t IA_header; + UI_Drawgrapic_7_t data; + uint16_t crc16; +} Referee_UI_Drawgrapic_7_t; + +typedef struct __packed { + Referee_Header_t header; + uint16_t cmd_id; + Referee_Interactive_Header_t IA_header; + UI_Drawcharacter_t data; + uint16_t crc16; +} Referee_UI_Drawcharacter_t; + +typedef struct __packed { + Referee_Header_t header; + uint16_t cmd_id; + Referee_Interactive_Header_t IA_header; + UI_Del_t data; + uint16_t crc16; +} Referee_UI_Del_t; + + +/* Exported functions prototypes -------------------------------------------- */ +int8_t Referee_Init(Referee_t *ref, Referee_UI_t *ui, + const Referee_Screen_t *screen); +int8_t Referee_Restart(void); + +int8_t Referee_StartReceiving(Referee_t *ref); +int8_t Referee_Parse(Referee_t *ref); +void Referee_HandleOffline(Referee_t *referee); +int8_t Referee_SetHeader(Referee_Interactive_Header_t *header, + Referee_StudentCMDID_t cmd_id, uint8_t sender_id); +int8_t Referee_StartSend(uint8_t *data, uint32_t len); +int8_t Referee_MoveData(void *data, void *tmp, uint32_t len); +int8_t Referee_PackUI(Referee_UI_t *ui, Referee_t *ref); +UI_Ele_t *Referee_GetGrapicAdd(Referee_UI_t *ref_ui); +UI_Drawcharacter_t *Referee_GetCharacterAdd(Referee_UI_t *ref_ui); +uint8_t Referee_PraseCmd(Referee_UI_t *ref_ui, Referee_UI_CMD_t cmd); +uint8_t Referee_PackCap(Referee_ForCap_t *cap, const Referee_t *ref); +uint8_t Referee_PackShoot(Referee_ForShoot_t *ai, Referee_t *ref); +uint8_t Referee_PackChassis(Referee_ForChassis_t *chassis, + const Referee_t *ref); +uint8_t Referee_PackAI(Referee_ForAI_t *shoot, const Referee_t *ref); +uint8_t Referee_UIRefresh(Referee_UI_t *ui); +#ifdef __cplusplus +} +#endif diff --git a/User/device/referee_proto_types.h b/User/device/referee_proto_types.h new file mode 100644 index 0000000..b07ccfe --- /dev/null +++ b/User/device/referee_proto_types.h @@ -0,0 +1,88 @@ +/* + * 裁判系统协议基础类型（叶节点头文件） + */ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include + +/* ---- 在线状态 ---- */ +typedef enum { REF_STATUS_OFFLINE = 0, REF_STATUS_RUNNING } Referee_Status_t; + +/* ---- 协议报文字段子集 ---- */ +typedef struct __attribute__((packed)) { + uint8_t robot_id; + uint8_t robot_level; + uint16_t current_HP; + uint16_t maximum_HP; + uint16_t shooter_barrel_cooling_value; + uint16_t shooter_barrel_heat_limit; + uint16_t chassis_power_limit; + uint8_t power_management_gimbal_output : 1; + uint8_t power_management_chassis_output : 1; + uint8_t power_management_shooter_output : 1; +} Referee_RobotStatus_t; + +typedef struct __attribute__((packed)) { + uint16_t chassis_volt; + uint16_t chassis_amp; + float chassis_watt; + uint16_t chassis_pwr_buff; + uint16_t shooter_17mm_barrel_heat; + uint16_t shooter_42mm_barrel_heat; +} Referee_PowerHeat_t; + +typedef struct __attribute__((packed)) { + uint8_t bullet_type; + uint8_t shooter_id; + uint8_t bullet_freq; + float bullet_speed; +} Referee_ShootData_t; + +/* ---- 转发包：各 module/task 消费 ---- */ +typedef struct { + Referee_Status_t ref_status; + float chassis_watt; + float chassis_power_limit; + float chassis_pwr_buff; +} Referee_ForCap_t; + +typedef struct { + Referee_Status_t ref_status; +} Referee_ForAI_t; + +typedef struct { + Referee_Status_t ref_status; + float chassis_power_limit; + float chassis_pwr_buff; +} Referee_ForChassis_t; + +typedef struct { + Referee_Status_t ref_status; + Referee_PowerHeat_t power_heat; + Referee_RobotStatus_t robot_status; + Referee_ShootData_t shoot_data; +} Referee_ForShoot_t; + +/* ---- 屏幕分辨率 & UI 指令 ---- */ +typedef struct { + uint16_t width; + uint16_t height; +} Referee_Screen_t; + +typedef enum { + UI_NOTHING, + UI_AUTO_AIM_START, + UI_AUTO_AIM_STOP, + UI_HIT_SWITCH_START, + UI_HIT_SWITCH_STOP +} Referee_UI_CMD_t; + +#ifdef __cplusplus +} +#endif + diff --git a/User/device/supercap.c b/User/device/supercap.c new file mode 100644 index 0000000..d62d7bb --- /dev/null +++ b/User/device/supercap.c @@ -0,0 +1,158 @@ +#include "device/supercap.h" + +/* 全局变量 */ +CAN_SuperCapRXDataTypeDef CAN_SuperCapRXData = {0}; + +uint8_t PowerOffset =0; + +uint32_t LastCapTick = 0; //上一次收到超电信号的时间戳 +uint32_t NowCapTick = 0; //现在收到超电信号的时间戳 + +uint32_t chassis_energy_in_gamming =0; + +/* 静态变量 - 用于CAN接收管理 */ +static bool supercap_inited = false; +static osMessageQueueId_t supercap_rx_queue = NULL; + +/** + * @brief 获取超级电容在线状态，1在线，0离线 + */ +uint8_t get_supercap_online_state(void){ + + NowCapTick = HAL_GetTick(); //更新时间戳 + + uint32_t DeltaCapTick = 0; + DeltaCapTick = NowCapTick - LastCapTick; //计算时间差 + +// if(get_game_progress() == 4){ +// //比赛开始的时候，开始统计消耗的能量 + + chassis_energy_in_gamming += CAN_SuperCapRXData.BatPower * DeltaCapTick *0.001f; + // 因为STM32的系统定时器是1ms的周期，所以*0.001，单位化为秒（S），能量单位才是焦耳（J） +// } + + if(DeltaCapTick > 1000){ + //如果时间差大于1s，说明超电信号丢失，返回超电离线的标志 + return 0; + }else { + //如果时间差小于1s，说明超电信号正常，返回超电在线的标志 + return 1; + } +} + +/** + * @brief 获取根据超级电容功率统计的底盘消耗能量，单位：焦耳（J） + */ +uint32_t get_chassis_energy_from_supercap(void){ + + return chassis_energy_in_gamming; + +} + +/******************超级电容数据从CAN传到结构体******************/ +int8_t SuperCap_Init(void) +{ + if (supercap_inited) { + return DEVICE_OK; // 已经初始化过 + } + + if (BSP_FDCAN_RegisterId( SUPERCAP_CAN , SUPERCAP_RX_ID, 3) != BSP_OK) { + return DEVICE_ERR; + } + + supercap_inited = true; + return DEVICE_OK; +} + +int8_t SuperCap_Update(void) +{ + if (!supercap_inited) { + return DEVICE_ERR; + } + + BSP_FDCAN_Message_t rx_msg; + + // 从CAN队列获取数据 + if (BSP_FDCAN_GetMessage( SUPERCAP_CAN , SUPERCAP_RX_ID, &rx_msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) { + // 处理接收到的数据 + transfer_SuperCap_measure(rx_msg.data); + return DEVICE_OK; + } + + return DEVICE_ERR; // 没有新数据 +} + +void transfer_SuperCap_measure(uint8_t *data) +{ + LastCapTick = HAL_GetTick(); + CAN_SuperCapRXData.SuperCapReady = (SuperCap_Status_t)data[0]; + CAN_SuperCapRXData.SuperCapState = (SuperCap_Status_t)data[1]; + CAN_SuperCapRXData.SuperCapEnergy = data[2]; + CAN_SuperCapRXData.ChassisPower = data[3] << 1; //左移一位是为了扩大范围，超电发出来的的时候右移了一位 + CAN_SuperCapRXData.BatVoltage = data[4]; + CAN_SuperCapRXData.BatPower = data[5]; +} + +/** + * @brief 获取超级电容的运行状态，具体查看枚举SuperCapStateEnum + * @retval none + */ +SuperCapStateEnum get_supercap_state(void){ + return (SuperCapStateEnum)CAN_SuperCapRXData.SuperCapState; +} + +/** + * @brief 获取超级电容读到的电池电压，单位伏（V） + * @retval none + */ +float get_battery_voltage_from_supercap(void){ + return (float)CAN_SuperCapRXData.BatVoltage * 0.1f; +} + +/** + * @brief 获取超级电容可用能量，范围：0-100% + * @retval none + */ +uint8_t get_supercap_energy(void){ + return CAN_SuperCapRXData.SuperCapEnergy; +} + +/** + * @brief 设置超级电容功率补偿 + * @retval none + */ +void set_supercap_power_offset(uint8_t offset){ + PowerOffset = offset; +} + +/** + * @brief 发送超级电容数据 + * @param[in] Enable: 超级电容使能 + * @param[in] Charge: 超级电容充电，在PLUS版本中无效 + * @param[in] PowerLimit: 裁判系统功率限制 + * @param[in] Chargepower: 超级电容充电功率，在PLUS版本中无效 + * @retval none + */ +int8_t CAN_TX_SuperCapData(CAN_SuperCapTXDataTypeDef * TX_Temp) +{ + if (TX_Temp == NULL) return DEVICE_ERR_NULL; + + BSP_FDCAN_StdDataFrame_t tx_frame; + + tx_frame.id = SUPERCAP_TX_ID; + tx_frame.dlc = 0x08; + + tx_frame.data[0] = TX_Temp-> Enable; + tx_frame.data[1] = TX_Temp-> Charge;//PLUS disabled + tx_frame.data[2] = TX_Temp-> Powerlimit - PowerOffset; + tx_frame.data[3] = TX_Temp-> ChargePower;//PLUS disabled + + tx_frame.data[4] = 0; + tx_frame.data[5] = 0; + tx_frame.data[6] = 0; + tx_frame.data[7] = 0; + + return BSP_FDCAN_TransmitStdDataFrame( SUPERCAP_CAN , &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} + + diff --git a/User/device/supercap.h b/User/device/supercap.h new file mode 100644 index 0000000..07a638c --- /dev/null +++ b/User/device/supercap.h @@ -0,0 +1,108 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +#include "bsp/fdcan.h" +#include "device/device.h" +//#include "referee.h" + +#define SUPERCAP_CAN BSP_FDCAN_1 +//#define SUPERCAP_CAN BSP_FDCAN_2 + +#define SUPERCAP_TX_ID 0x001 //C板发给超级电容的ID +#define SUPERCAP_RX_ID 0x100 //超级电容发给C板的ID + + +//超级电容的状态标志位，超级电容运行或者保护的具体状态反馈 +typedef enum +{ + DISCHARGE =0 , //放电状态 + CHARGE =1, //充电状态 + WAIT =2, //待机状态 + SOFTSTART_PROTECTION =3,//处于软起动状态 + OVER_LOAD_PROTECTION = 4, //超电过载保护状态 + BAT_OVER_VOLTAGE_PROTECTION =5, //过压保护状态 + BAT_UNDER_VOLTAGE_PROTECTION =6, //电池欠压保护，电池要没电了，换电池 + CAP_UNDER_VOLTAGE_PROTECTION =7, //超级电容欠压保护，超级电容用完电了，要充一会才能用 + OVER_TEMPERATURE_PROTECTION =8, //过温保护，太热了 + BOOM = 9, //超电爆炸了 +}SuperCapStateEnum; + +//超级电容准备状态，用于判断超级电容是否可以使用 +typedef enum +{ + SUPERCAP_STATUS_OFFLINE =0 , + SUPERCAP_STATUS_RUNNING =1, +}SuperCap_Status_t; + +// 发送给超级电容的数据 +typedef struct { + FunctionalState Enable ; //超级电容使能。1使能，0失能 + SuperCapStateEnum Charge ; //V1.1超级电容充电。1充电，0放电，在PLUS版本中，此标志位无效，超电的充放电是自动的 + uint8_t Powerlimit; //裁判系统功率限制 + uint8_t ChargePower; //V1.1超级电容充电功率，在PLUS版本中，此参数，超电的充电功率随着底盘功率变化 +}CAN_SuperCapTXDataTypeDef; + +// 从超级电容接收到的数据 +typedef struct { + uint8_t SuperCapEnergy;//超级电容可用能量：0-100% + uint16_t ChassisPower; //底盘功率，0-512，由于传输的时候为了扩大量程右移了一位，所以接收的时候需要左移还原（丢精度）。 + SuperCap_Status_t SuperCapReady;//超级电容【可用标志】：1为可用，0为不可用 + SuperCapStateEnum SuperCapState;//超级电容【状态标志】：各个状态对应的状态码查看E_SuperCapState枚举。 + uint8_t BatVoltage; //通过超级电容监控电池电压*10， + uint8_t BatPower; +}CAN_SuperCapRXDataTypeDef; + +extern CAN_SuperCapRXDataTypeDef CAN_SuperCapRXData; + +void set_supercap_power_offset(uint8_t offset); + + +// 以下函数是超电控制所需要调用的函数 +void transfer_SuperCap_measure( uint8_t *data); +int8_t CAN_TX_SuperCapData(CAN_SuperCapTXDataTypeDef * TX_Temp); + + +/** + * @brief 获取超级电容在线状态，1在线，0离线 + */ +uint8_t get_supercap_online_state(void); + + +/** + * @brief 获取超级电容的运行状态，具体查看枚举SuperCapStateEnum + */ +SuperCapStateEnum get_supercap_state(void); + + +/** + * @brief 获取超级电容读到的电池电压，单位伏（V） + */ +float get_battery_voltage_from_supercap(void); + + +/** + * @brief 获取超级电容可用能量，范围：0-100% + */ +uint8_t get_supercap_energy(void); + + +/** + * @brief 获取根据超级电容功率统计的底盘消耗能量，单位：焦耳（J） + */ +uint32_t get_chassis_energy_from_supercap(void); + +int8_t SuperCap_Init(void); +int8_t SuperCap_Update(void); + +/* UI 导出结构（供 referee 系统绘制） */ +typedef struct { + float percentage; + SuperCap_Status_t status; +} Cap_RefereeUI_t; + +#ifdef __cplusplus +} +#endif /*SUPERCAP_H*/ diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c index e7601ed..60d1fb6 100644 --- a/User/module/balance_chassis.c +++ b/User/module/balance_chassis.c @@ -1098,3 +1098,15 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) { return CHASSIS_OK; } + +/** + * @brief 导出底盘数据 + * + * @param chassis 底盘数据结构体 + * @param ui UI数据结构体 + */ +void Chassis_DumpUI(const Chassis_t *c, Chassis_RefereeUI_t *ui) { + ui->mode = c->mode; + // ui->angle = c->feedback.yaw.rotor_abs_angle - c->mech_zero; + // #error "右边那个mech_zero应该是跟随云台的那个角,我没找着在哪" +} \ No newline at end of file diff --git a/User/module/balance_chassis.h b/User/module/balance_chassis.h index 6f04b0e..363a487 100644 --- a/User/module/balance_chassis.h +++ b/User/module/balance_chassis.h @@ -87,6 +87,11 @@ typedef struct { float wheel[2]; /* 两个轮子电机输出 */ }Chassis_Output_t; +/* UI 导出结构（供 referee 系统绘制） */ +typedef struct { + Chassis_Mode_t mode; + float angle; +} Chassis_RefereeUI_t; /* 底盘参数的结构体，包含所有初始化用的参数，通常是const，存好几组 */ typedef struct { @@ -294,6 +299,8 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd); */ void Chassis_Output(Chassis_t *c); +void Chassis_DumpUI(const Chassis_t *c, Chassis_RefereeUI_t *ui); + #ifdef __cplusplus } #endif diff --git a/User/module/cmd/cmd.c b/User/module/cmd/cmd.c new file mode 100644 index 0000000..c13f9e5 --- /dev/null +++ b/User/module/cmd/cmd.c @@ -0,0 +1,744 @@ +/* + * CMD 模块 V2 - 主控制模块实现 + */ +#include "cmd.h" +#include "bsp/time.h" +#include +#include + +/* ========================================================================== */ +/* 命令构建函数 */ +/* ========================================================================== */ + +/* 从RC输入生成底盘命令 */ +#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_CHASSIS +static void CMD_RC_BuildChassisCmd(CMD_t *ctx) { + CMD_RCModeMap_t *map = &ctx->config->rc_mode_map; + + /* 根据左拨杆位置选择模式 */ + switch (ctx->input.rc.sw[0]) { + case CMD_SW_UP: + ctx->output.chassis.cmd.mode = map->sw_left_up; + break; + case CMD_SW_MID: + ctx->output.chassis.cmd.mode = map->sw_left_mid; + break; + case CMD_SW_DOWN: + ctx->output.chassis.cmd.mode = map->sw_left_down; + break; + default: + ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX; + break; + } + + /* 摇杆控制移动 */ + ctx->output.chassis.cmd.ctrl_vec.vx = ctx->input.rc.joy_right.x; + ctx->output.chassis.cmd.ctrl_vec.vy = ctx->input.rc.joy_right.y; + ctx->output.chassis.cmd.ctrl_vec.wz = ctx->input.rc.joy_left.x; +} +#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_CHASSIS */ + +/* 从 RC 输入生成云台命令 */ +#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_GIMBAL +static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) { + CMD_RCModeMap_t *map = &ctx->config->rc_mode_map; + /* 根据拨杆选择云台模式 */ + switch (ctx->input.rc.sw[0]) { + case CMD_SW_UP: + ctx->output.gimbal.cmd.mode = map->gimbal_sw_up; + break; + case CMD_SW_MID: + ctx->output.gimbal.cmd.mode = map->gimbal_sw_mid; + break; + case CMD_SW_DOWN: + ctx->output.gimbal.cmd.mode = map->gimbal_sw_down; + break; + default: + ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX; + break; + } + + /* 左摇杆控制云台 */ + ctx->output.gimbal.cmd.delta_yaw = -ctx->input.rc.joy_right.x * 5.0f; + ctx->output.gimbal.cmd.delta_pit = ctx->input.rc.joy_right.y * 5.0f; +} +#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_GIMBAL */ + +/* 从 RC 输入生成射击命令 */ +#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_SHOOT +static void CMD_RC_BuildShootCmd(CMD_t *ctx) { + if (ctx->input.online[CMD_SRC_RC]) { + ctx->output.shoot.cmd.mode = SHOOT_MODE_BURST; + } else { + ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE; + } + + /* 根据右拨杆控制射击 */ + switch (ctx->input.rc.sw[1]) { + case CMD_SW_DOWN: + ctx->output.shoot.cmd.ready = true; + ctx->output.shoot.cmd.firecmd = true; + break; + case CMD_SW_MID: + ctx->output.shoot.cmd.ready = true; + ctx->output.shoot.cmd.firecmd = false; + break; + case CMD_SW_UP: + default: + ctx->output.shoot.cmd.ready = false; + ctx->output.shoot.cmd.firecmd = false; + break; + } +} +#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_SHOOT */ + +/* 从 RC 输入生成履带命令 */ +#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_TRACK +static void CMD_RC_BuildTrackCmd(CMD_t *ctx) { + CMD_RCModeMap_t *map = &ctx->config->rc_mode_map; + + if (!ctx->input.online[CMD_SRC_RC]) { + ctx->output.track.cmd.enable = false; + ctx->output.track.cmd.vel = 0.0f; + ctx->output.track.cmd.omega = 0.0f; + return; + } + switch (ctx->input.rc.sw[0]) { + case CMD_SW_UP: + ctx->output.track.cmd.enable = map->track_sw_up; + break; + case CMD_SW_MID: + ctx->output.track.cmd.enable = map->track_sw_mid; + break; + case CMD_SW_DOWN: + ctx->output.track.cmd.enable = map->track_sw_down; + break; + default: + ctx->output.track.cmd.enable = false; + break; + } + ctx->output.track.cmd.enable = ctx->input.online[CMD_SRC_RC]; + ctx->output.track.cmd.vel = ctx->input.rc.joy_right.y * 2.0f; + if(fabsf(ctx->input.rc.joy_right.y * 2.0f) > 1.0f) + ctx->output.track.cmd.vel = ctx->output.track.cmd.vel > 0 ? 1.0f + : -1.0f; + + CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_TRACK); +} +#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_TRACK */ + +/* 从PC输入生成底盘命令 */ +#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_CHASSIS +static void CMD_PC_BuildChassisCmd(CMD_t *ctx) { + + if (!ctx->input.online[CMD_SRC_PC]) { + ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX; + return; + } + + ctx->output.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL; + + /* WASD控制移动 */ + ctx->output.chassis.cmd.ctrl_vec.vx = 0.0f; + ctx->output.chassis.cmd.ctrl_vec.vy = 0.0f; + CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_CHASSIS); +} +#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_CHASSIS */ + +/* 从PC输入生成云台命令 */ +#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_GIMBAL +static void CMD_PC_BuildGimbalCmd(CMD_t *ctx) { + CMD_Sensitivity_t *sens = &ctx->config->sensitivity; + + if (!ctx->input.online[CMD_SRC_PC]) { + ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX; + return; + } + ctx->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE; + + /* 鼠标控制云台 */ + ctx->output.gimbal.cmd.delta_yaw = (float)-ctx->input.pc.mouse.x * ctx->timer.dt * sens->mouse_sens; + ctx->output.gimbal.cmd.delta_pit = (float)ctx->input.pc.mouse.y * ctx->timer.dt * sens->mouse_sens * 1.5f; + CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_GIMBAL); +} +#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_GIMBAL */ + +/* 从PC输入生成射击命令 */ +#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_SHOOT +static void CMD_PC_BuildShootCmd(CMD_t *ctx) { + if (!ctx->input.online[CMD_SRC_PC]) { + ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE; + return; + } + + ctx->output.shoot.cmd.ready = true; + ctx->output.shoot.cmd.firecmd = ctx->input.pc.mouse.l_click; + + CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_SHOOT); + +} +#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_SHOOT */ + +/* 从PC输入生成履带命令 */ +#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_TRACK +static void CMD_PC_BuildTrackCmd(CMD_t *ctx) { + if (!ctx->input.online[CMD_SRC_PC]) { + ctx->output.track.cmd.enable = false; + ctx->output.track.cmd.vel = 0.0f; + ctx->output.track.cmd.omega = 0.0f; + return; + } + + ctx->output.track.cmd.enable = true; + /* 可根据需要添加PC对履带的控制，例如键盘按键 */ + ctx->output.track.cmd.vel = 0.0f; + ctx->output.track.cmd.omega = 0.0f; + + CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_TRACK); +} +#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_TRACK */ + +/* 从NUC/AI输入生成云台命令 */ +#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_GIMBAL +static void CMD_NUC_BuildGimbalCmd(CMD_t *ctx) { + if (!ctx->input.online[CMD_SRC_NUC]) { + ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX; + return; + } + + /* 使用AI提供的云台控制数据 */ + + if (ctx->input.nuc.mode!=0) { + ctx->output.gimbal.cmd.mode = GIMBAL_MODE_AI_CONTROL; + ctx->output.gimbal.cmd.setpoint_yaw = ctx->input.nuc.gimbal.setpoint.yaw; + ctx->output.gimbal.cmd.setpoint_pit = ctx->input.nuc.gimbal.setpoint.pit; + } + +} +#endif /* CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_GIMBAL */ + +/* 从 NUC/AI 输入生成射击命令 */ +#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_SHOOT +static void CMD_NUC_BuildShootCmd(CMD_t *ctx) { + if (!ctx->input.online[CMD_SRC_NUC]) { + ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE; + return; + } + + /* 根据AI模式决定射击行为 */ + switch (ctx->input.nuc.mode) { + case 0: + ctx->output.shoot.cmd.ready = false; + ctx->output.shoot.cmd.firecmd = false; + break; + case 1: + ctx->output.shoot.cmd.ready = true; + ctx->output.shoot.cmd.firecmd = false; + break; + case 2: + if (ctx->input.rc.sw[1]==CMD_SW_DOWN) { + ctx->output.shoot.cmd.ready = true; + ctx->output.shoot.cmd.firecmd = true; + }else { + ctx->output.shoot.cmd.ready = true; + ctx->output.shoot.cmd.firecmd = false; + } + + break; + } +} +#endif /* CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_SHOOT */ + +/* 从 RC 输入生成机械臂命令 */ +#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_ARM +static void CMD_RC_BuildArmCmd(CMD_t *ctx) { + /* + * 遥控器控制机械臂末端位姿 —— 笛卡尔增量方案 + * + * 左拨杆 SW_L (sw[0]) —— 整体使能: + * UP → 失能（电机松弛/重力补偿） + * MID → 使能，笛卡尔增量控制 + * DOWN → 使能（保留备用） + * + * 右拨杆 SW_R (sw[1]) —— 自由度分组: + * + * UP 【位置模式】3轴平移 + 偏航（最常用操作放第一层） + * 右摇杆X (RX) → X 平移（末端左右移动） + * 右摇杆Y (RY) → Y 平移（末端前后移动） + * 左摇杆Y (LY) → Z 平移（末端升降） + * 左摇杆X (LX) → Yaw 偏航旋转 + * + * MID 【姿态模式】俯仰/横滚全姿态，同时保留 Z 和偏航可调 + * 右摇杆X (RX) → Yaw 偏航旋转（持续可调，避免强制切换模式） + * 右摇杆Y (RY) → Pitch 俯仰旋转 + * 左摇杆X (LX) → Roll 横滚旋转 + * 左摇杆Y (LY) → Z 平移（升降保持可调，避免强制切换模式） + * + * DOWN → set_target_as_current（目标位姿吸附当前实际位姿，消除累积漂移） + * + * 摇杆直觉映射总结: + * 右摇杆 = "末端去哪里"（XY平移，最自然） + * 左Y = "臂的高低" （Z升降，推上=升高） + * 左X = 位置模式→偏航 / 姿态模式→横滚 + */ + ctx->output.arm.cmd.set_target_as_current = false; + if (ctx->input.rc.sw[1] == CMD_SW_DOWN) { + ctx->output.arm.cmd.set_target_as_current = true; + } + + switch (ctx->input.rc.sw[0]) { + case CMD_SW_MID: + case CMD_SW_DOWN: + ctx->output.arm.cmd.enable = true; + break; + default: + ctx->output.arm.cmd.enable = false; + goto end; + } + + /* 遥控器模式使用笛卡尔位姿累积控制 */ + ctx->output.arm.cmd.ctrl_type = ARM_CTRL_REMOTE_CARTESIAN; + + /* set_target_as_current 置位时不叠加摇杆增量，由上层负责同步位姿基准 */ + if (ctx->output.arm.cmd.set_target_as_current) return; + + /* 输出摇杆速度命令（m/s, rad/s）——不含 dt，由arm_main在正确坐标系下积分到世界系 target_pose */ + float pos_scale = 0.3f; /* 末端线速度上限 (m/s) */ + float rot_scale = 1.0f; /* 末端角速度上限 (rad/s) */ + + memset(&ctx->output.arm.cmd.joy_vel, 0, sizeof(ctx->output.arm.cmd.joy_vel)); + + switch (ctx->input.rc.sw[1]) { + case CMD_SW_UP: + /* 位置模式：3轴平移 + 偏航 */ + ctx->output.arm.cmd.joy_vel.x = ctx->input.rc.joy_right.x * pos_scale; + ctx->output.arm.cmd.joy_vel.y = ctx->input.rc.joy_right.y * pos_scale; + ctx->output.arm.cmd.joy_vel.z = ctx->input.rc.joy_left.y * pos_scale; + ctx->output.arm.cmd.joy_vel.yaw = ctx->input.rc.joy_left.x * rot_scale; + break; + case CMD_SW_MID: + /* 姿态模式：俯仰 + 横滚 + 偏航 + 升降（全6自由度可达，Z/Yaw持续可调） */ + ctx->output.arm.cmd.joy_vel.yaw = ctx->input.rc.joy_right.x * rot_scale; + ctx->output.arm.cmd.joy_vel.pitch = ctx->input.rc.joy_right.y * rot_scale; + ctx->output.arm.cmd.joy_vel.roll = ctx->input.rc.joy_left.x * rot_scale; + ctx->output.arm.cmd.joy_vel.z = ctx->input.rc.joy_left.y * pos_scale; + break; + default: + break; + } + end: + return; +} +#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_ARM */ + +/* 从 PC 输入生成机械臂命令 */ +#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_ARM +static void CMD_PC_BuildArmCmd(CMD_t *ctx) { + if (!ctx->input.online[CMD_SRC_PC]) { + ctx->output.arm.cmd.enable = false; + return; + } + ctx->output.arm.cmd.enable = true; + ctx->output.arm.cmd.ctrl_type = ARM_CTRL_REMOTE_CARTESIAN; + + /* 鼠标控制末端位坐 XY，其他轴可根据需要扩展 */ + float sens = ctx->config->sensitivity.mouse_sens * 0.001f; + ctx->output.arm.cmd.target_pose.x += (float)ctx->input.pc.mouse.x * sens * ctx->timer.dt; + ctx->output.arm.cmd.target_pose.y += (float)ctx->input.pc.mouse.y * sens * ctx->timer.dt; +} +#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_ARM */ + +/* 从 RC 输入生成平衡底盘命令 */ +#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_BALANCE_CHASSIS +static void CMD_RC_BuildBalanceChassisCmd(CMD_t *ctx) { + CMD_RCModeMap_t *map = &ctx->config->rc_mode_map; + + switch (ctx->input.rc.sw[0]) { + case CMD_SW_UP: + ctx->output.balance_chassis.cmd.mode = map->balance_sw_up; + break; + case CMD_SW_MID: + ctx->output.balance_chassis.cmd.mode = map->balance_sw_mid; + break; + case CMD_SW_DOWN: + ctx->output.balance_chassis.cmd.mode = map->balance_sw_down; + break; + default: + ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_RELAX; + break; + } + + /* 左摩杆Y/X → 平移，右摩杆X → 转向 */ + ctx->output.balance_chassis.cmd.move_vec.vx = ctx->input.rc.joy_left.y; + ctx->output.balance_chassis.cmd.move_vec.vy = ctx->input.rc.joy_left.x; + ctx->output.balance_chassis.cmd.move_vec.wz = ctx->input.rc.joy_right.x; + /* 拨轮传递目标高度 */ + ctx->output.balance_chassis.cmd.height = ctx->input.rc.dial; + ctx->output.balance_chassis.cmd.jump_trigger = false; +} +#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_BALANCE_CHASSIS */ + +/* 从 PC 输入生成平衡底盘命令 */ +#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_BALANCE_CHASSIS +static void CMD_PC_BuildBalanceChassisCmd(CMD_t *ctx) { + CMD_Sensitivity_t *sens = &ctx->config->sensitivity; + + if (!ctx->input.online[CMD_SRC_PC]) { + ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_RELAX; + return; + } + + ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_WHELL_LEG_BALANCE; + + float vx = 0.0f, wz = 0.0f; + uint32_t kb = ctx->input.pc.keyboard.bitmap; + + //案件的命令要放到behavior里， + // if (kb & CMD_KEY_W) vx += sens->move_sens; + // if (kb & CMD_KEY_S) vx -= sens->move_sens; + // if (kb & CMD_KEY_A) wz += sens->move_sens; + // if (kb & CMD_KEY_D) wz -= sens->move_sens; + // if (kb & CMD_KEY_SHIFT) { vx *= sens->move_fast_mult; wz *= sens->move_fast_mult; } + // if (kb & CMD_KEY_CTRL) { vx *= sens->move_slow_mult; wz *= sens->move_slow_mult; } + + ctx->output.balance_chassis.cmd.move_vec.vx = vx; + ctx->output.balance_chassis.cmd.move_vec.wz = wz; + ctx->output.balance_chassis.cmd.move_vec.vy = 0.0f; +} +#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_BALANCE_CHASSIS */ +#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_REFUI +static void CMD_NUC_BuildRefUICmd(CMD_t *ctx) { + if (!ctx->input.online[CMD_SRC_NUC]) { + ctx->output.refui.cmd = UI_AUTO_AIM_STOP; + return; + } + ctx->output.refui.cmd = (ctx->input.nuc.mode != 0) ? UI_AUTO_AIM_START : UI_AUTO_AIM_STOP; +} +#endif /* CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_REFUI */ + +/* 离线安全模式 */ +static void CMD_SetOfflineMode(CMD_t *ctx) { +#if CMD_ENABLE_MODULE_CHASSIS + ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX; +#endif +#if CMD_ENABLE_MODULE_GIMBAL + ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX; +#endif +#if CMD_ENABLE_MODULE_SHOOT + ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE; +#endif +#if CMD_ENABLE_MODULE_TRACK + ctx->output.track.cmd.enable = false; +#endif +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS + ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_RELAX; +#endif +#if CMD_ENABLE_MODULE_ARM + ctx->output.arm.cmd.enable = false; +#endif +#if CMD_ENABLE_MODULE_REFUI + ctx->output.refui.cmd = UI_NOTHING; +#endif +} + +/* ========================================================================== */ +/* 公开API实现 */ +/* ========================================================================== */ + +int8_t CMD_Init(CMD_t *ctx, CMD_Config_t *config) { + if (ctx == NULL || config == NULL) { + return CMD_ERR_NULL; + } + + memset(ctx, 0, sizeof(CMD_t)); + ctx->config = config; + + /* 初始化适配器 */ + CMD_Adapter_InitAll(); + + /* 初始化行为处理器 */ + CMD_Behavior_Init(); + + return CMD_OK; +} + +int8_t CMD_UpdateInput(CMD_t *ctx) { + if (ctx == NULL) { + return CMD_ERR_NULL; + } + + /* 保存上一帧输入 */ + memcpy(&ctx->last_input, &ctx->input, sizeof(ctx->input)); + + /* 更新所有输入源 */ + for (int i = 0; i < CMD_SRC_NUM; i++) { + CMD_Adapter_GetInput((CMD_InputSource_t)i, &ctx->input); + } + + return CMD_OK; +} +typedef void (*CMD_BuildCommandFunc)(CMD_t *cmd); +typedef struct { + CMD_InputSource_t source; + CMD_BuildCommandFunc chassisFunc; + CMD_BuildCommandFunc gimbalFunc; + CMD_BuildCommandFunc shootFunc; + CMD_BuildCommandFunc trackFunc; + CMD_BuildCommandFunc armFunc; + CMD_BuildCommandFunc refuiFunc; + CMD_BuildCommandFunc balanceChassisFunc; +} CMD_SourceHandler_t; + +/* Build-function conditional references */ +#if CMD_ENABLE_MODULE_CHASSIS && CMD_ENABLE_SRC_RC + #define _FN_RC_CHASSIS CMD_RC_BuildChassisCmd +#else + #define _FN_RC_CHASSIS NULL +#endif +#if CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_SRC_RC + #define _FN_RC_GIMBAL CMD_RC_BuildGimbalCmd +#else + #define _FN_RC_GIMBAL NULL +#endif +#if CMD_ENABLE_MODULE_SHOOT && CMD_ENABLE_SRC_RC + #define _FN_RC_SHOOT CMD_RC_BuildShootCmd +#else + #define _FN_RC_SHOOT NULL +#endif +#if CMD_ENABLE_MODULE_TRACK && CMD_ENABLE_SRC_RC + #define _FN_RC_TRACK CMD_RC_BuildTrackCmd +#else + #define _FN_RC_TRACK NULL +#endif +#if CMD_ENABLE_MODULE_CHASSIS && CMD_ENABLE_SRC_PC + #define _FN_PC_CHASSIS CMD_PC_BuildChassisCmd +#else + #define _FN_PC_CHASSIS NULL +#endif +#if CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_SRC_PC + #define _FN_PC_GIMBAL CMD_PC_BuildGimbalCmd +#else + #define _FN_PC_GIMBAL NULL +#endif +#if CMD_ENABLE_MODULE_SHOOT && CMD_ENABLE_SRC_PC + #define _FN_PC_SHOOT CMD_PC_BuildShootCmd +#else + #define _FN_PC_SHOOT NULL +#endif +#if CMD_ENABLE_MODULE_TRACK && CMD_ENABLE_SRC_PC + #define _FN_PC_TRACK CMD_PC_BuildTrackCmd +#else + #define _FN_PC_TRACK NULL +#endif +#if CMD_ENABLE_MODULE_ARM && CMD_ENABLE_SRC_RC + #define _FN_RC_ARM CMD_RC_BuildArmCmd +#else + #define _FN_RC_ARM NULL +#endif +#if CMD_ENABLE_MODULE_ARM && CMD_ENABLE_SRC_PC + #define _FN_PC_ARM CMD_PC_BuildArmCmd +#else + #define _FN_PC_ARM NULL +#endif +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS && CMD_ENABLE_SRC_RC + #define _FN_RC_BALANCE_CHASSIS CMD_RC_BuildBalanceChassisCmd +#else + #define _FN_RC_BALANCE_CHASSIS NULL +#endif +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS && CMD_ENABLE_SRC_PC + #define _FN_PC_BALANCE_CHASSIS CMD_PC_BuildBalanceChassisCmd +#else + #define _FN_PC_BALANCE_CHASSIS NULL +#endif +#if CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_SRC_NUC + #define _FN_NUC_GIMBAL CMD_NUC_BuildGimbalCmd +#else + #define _FN_NUC_GIMBAL NULL +#endif +#if CMD_ENABLE_MODULE_SHOOT && CMD_ENABLE_SRC_NUC + #define _FN_NUC_SHOOT CMD_NUC_BuildShootCmd +#else + #define _FN_NUC_SHOOT NULL +#endif + +CMD_SourceHandler_t sourceHandlers[CMD_SRC_NUM] = { +#if CMD_ENABLE_SRC_RC + [CMD_SRC_RC] = {CMD_SRC_RC, _FN_RC_CHASSIS, _FN_RC_GIMBAL, _FN_RC_SHOOT, _FN_RC_TRACK, _FN_RC_ARM, NULL, _FN_RC_BALANCE_CHASSIS}, +#endif +#if CMD_ENABLE_SRC_PC + [CMD_SRC_PC] = {CMD_SRC_PC, _FN_PC_CHASSIS, _FN_PC_GIMBAL, _FN_PC_SHOOT, _FN_PC_TRACK, _FN_PC_ARM, NULL, _FN_PC_BALANCE_CHASSIS}, +#endif +#if CMD_ENABLE_SRC_NUC + #if CMD_ENABLE_MODULE_REFUI + #define _FN_NUC_REFUI CMD_NUC_BuildRefUICmd + #else + #define _FN_NUC_REFUI NULL + #endif + [CMD_SRC_NUC] = {CMD_SRC_NUC, NULL, _FN_NUC_GIMBAL, _FN_NUC_SHOOT, NULL, NULL, _FN_NUC_REFUI, NULL}, +#endif +#if CMD_ENABLE_SRC_REF + [CMD_SRC_REF] = {CMD_SRC_REF, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#endif +}; + +int8_t CMD_Arbitrate(CMD_t *ctx) { + if (ctx == NULL) { + return CMD_ERR_NULL; + } + + /* RC > PC priority arbitration */ + CMD_InputSource_t candidates[] = { +#if CMD_ENABLE_SRC_RC + CMD_SRC_RC, +#endif +#if CMD_ENABLE_SRC_PC + CMD_SRC_PC, +#endif + }; + const int num_candidates = sizeof(candidates) / sizeof(candidates[0]); + + /* keep current source if still online */ + if (ctx->active_source < CMD_SRC_NUM && +#if CMD_ENABLE_SRC_REF + ctx->active_source != CMD_SRC_REF && +#endif + ctx->input.online[ctx->active_source]) { + goto seize; + } + + /* 否则选择第一个可用的控制输入源 */ + for (int i = 0; i < num_candidates; i++) { + CMD_InputSource_t src = candidates[i]; + if (ctx->input.online[src]) { + ctx->active_source = src; + break; + }else { + ctx->active_source = CMD_SRC_NUM; + continue; + } + } + + /* 优先级抢占逻辑 */ + seize: + + /* reset output sources */ +#if CMD_ENABLE_MODULE_CHASSIS + ctx->output.chassis.source = ctx->active_source; +#endif +#if CMD_ENABLE_MODULE_GIMBAL + ctx->output.gimbal.source = ctx->active_source; +#endif +#if CMD_ENABLE_MODULE_SHOOT + ctx->output.shoot.source = ctx->active_source; +#endif +#if CMD_ENABLE_MODULE_TRACK + ctx->output.track.source = ctx->active_source; +#endif +#if CMD_ENABLE_MODULE_ARM + ctx->output.arm.source = ctx->active_source; +#endif +#if CMD_ENABLE_MODULE_REFUI + ctx->output.refui.source = ctx->active_source; +#endif +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS + ctx->output.balance_chassis.source = ctx->active_source; +#endif + + CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_NONE); + +#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_MODULE_SHOOT + if (ctx->input.online[CMD_SRC_NUC]) { + if (ctx->active_source==CMD_SRC_RC) { + if (ctx->input.rc.sw[0] == CMD_SW_DOWN) { + ctx->output.gimbal.source = CMD_SRC_NUC; + ctx->output.shoot.source = CMD_SRC_NUC; +#if CMD_ENABLE_MODULE_REFUI + ctx->output.refui.source = CMD_SRC_NUC; +#endif + } + } + } +#endif + + return CMD_OK; +} + +int8_t CMD_GenerateCommands(CMD_t *ctx) { + if (ctx == NULL) { + return CMD_ERR_NULL; + } + + /* 更新时间 */ + uint64_t now_us = BSP_TIME_Get_us(); + ctx->timer.now = now_us / 1000000.0f; + ctx->timer.dt = (now_us - ctx->timer.last_us) / 1000000.0f; + ctx->timer.last_us = now_us; + + /* 没有有效输入源 */ + if (ctx->active_source >= CMD_SRC_NUM) { + CMD_SetOfflineMode(ctx); + return CMD_ERR_NO_INPUT; + } + +#if CMD_ENABLE_MODULE_GIMBAL + if (sourceHandlers[ctx->output.gimbal.source].gimbalFunc != NULL) { + sourceHandlers[ctx->output.gimbal.source].gimbalFunc(ctx); + } +#endif +#if CMD_ENABLE_MODULE_CHASSIS + if (sourceHandlers[ctx->output.chassis.source].chassisFunc != NULL) { + sourceHandlers[ctx->output.chassis.source].chassisFunc(ctx); + } +#endif +#if CMD_ENABLE_MODULE_SHOOT + if (sourceHandlers[ctx->output.shoot.source].shootFunc != NULL) { + sourceHandlers[ctx->output.shoot.source].shootFunc(ctx); + } +#endif +#if CMD_ENABLE_MODULE_TRACK + if (sourceHandlers[ctx->output.track.source].trackFunc != NULL) { + sourceHandlers[ctx->output.track.source].trackFunc(ctx); + } +#endif +#if CMD_ENABLE_MODULE_ARM + if (sourceHandlers[ctx->output.arm.source].armFunc != NULL) { + sourceHandlers[ctx->output.arm.source].armFunc(ctx); + } +#endif +#if CMD_ENABLE_MODULE_REFUI + if (sourceHandlers[ctx->output.refui.source].refuiFunc != NULL) { + sourceHandlers[ctx->output.refui.source].refuiFunc(ctx); + } else { + ctx->output.refui.cmd = UI_NOTHING; + } +#endif +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS + if (sourceHandlers[ctx->output.balance_chassis.source].balanceChassisFunc != NULL) { + sourceHandlers[ctx->output.balance_chassis.source].balanceChassisFunc(ctx); + } +#endif + return CMD_OK; +} + +#if CMD_ENABLE_SRC_REF +static void CMD_REF_BuildOutput(CMD_t *ctx) { + ctx->output.ref = ctx->input.ref; +} +#endif + +int8_t CMD_Update(CMD_t *ctx) { + int8_t ret; + + ret = CMD_UpdateInput(ctx); + if (ret != CMD_OK) return ret; + + CMD_Arbitrate(ctx); + + ret = CMD_GenerateCommands(ctx); + +#if CMD_ENABLE_SRC_REF + CMD_REF_BuildOutput(ctx); +#endif + + return ret; +} diff --git a/User/module/cmd/cmd.h b/User/module/cmd/cmd.h new file mode 100644 index 0000000..58d58c2 --- /dev/null +++ b/User/module/cmd/cmd.h @@ -0,0 +1,306 @@ +/* + * CMD 模块 V2 - 主控制模块 + * 统一的命令控制接口 + */ +#pragma once + +#include "cmd_types.h" +#include "cmd_adapter.h" +#include "cmd_behavior.h" + +/* 按需引入输出模块的命令类型 */ +#if CMD_ENABLE_MODULE_CHASSIS + #include "module/chassis.h" +#endif +#if CMD_ENABLE_MODULE_GIMBAL + #include "module/gimbal.h" +#endif +#if CMD_ENABLE_MODULE_SHOOT + #include "module/shoot.h" +#endif +#if CMD_ENABLE_MODULE_TRACK + #include "module/track.h" +#endif +#if CMD_ENABLE_MODULE_ARM + #include "component/arm_kinematics/arm6dof.h" +#endif +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS + #include "module/balance_chassis.h" +#endif + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/* ========================================================================== */ +/* 输出命令结构 */ +/* ========================================================================== */ + +/* 每个模块的输出包含源信息和命令 */ +#if CMD_ENABLE_MODULE_CHASSIS +typedef struct { + CMD_InputSource_t source; + Chassis_CMD_t cmd; +} CMD_ChassisOutput_t; +#endif + +#if CMD_ENABLE_MODULE_GIMBAL +typedef struct { + CMD_InputSource_t source; + Gimbal_CMD_t cmd; +} CMD_GimbalOutput_t; +#endif + +#if CMD_ENABLE_MODULE_SHOOT +typedef struct { + CMD_InputSource_t source; + Shoot_CMD_t cmd; +} CMD_ShootOutput_t; +#endif + +#if CMD_ENABLE_MODULE_TRACK +typedef struct { + CMD_InputSource_t source; + Track_CMD_t cmd; +} CMD_TrackOutput_t; +#endif + +#if CMD_ENABLE_MODULE_ARM +typedef struct { + CMD_InputSource_t source; + Arm_CMD_t cmd; +} CMD_ArmOutput_t; +#endif + +#if CMD_ENABLE_MODULE_REFUI +typedef struct { + CMD_InputSource_t source; + Referee_UI_CMD_t cmd; +} CMD_RefUIOutput_t; +#endif + +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS +typedef struct { + CMD_InputSource_t source; + Chassis_CMD_t cmd; +} CMD_BalanceChassisOutput_t; +#endif + +#if CMD_ENABLE_SRC_REF +// /* REF 透传输出：裁判数据直通各模块，不参与仲裁 */ +// typedef CMD_RawInput_REF_t CMD_RawInput_REF_t; +#endif + +/* ========================================================================== */ +/* 配置结构 */ +/* ========================================================================== */ + +/* 灵敏度配置 */ +typedef struct { + float mouse_sens; /* 鼠标灵敏度 */ + float move_sens; /* 移动灵敏度 */ + float move_fast_mult; /* 快速移动倍率 */ + float move_slow_mult; /* 慢速移动倍率 */ +} CMD_Sensitivity_t; + +/* RC模式映射配置 - 定义开关位置到模式的映射 */ +typedef struct { +#if CMD_ENABLE_MODULE_CHASSIS + /* 左拨杆映射 - 底盘模式 */ + Chassis_Mode_t sw_left_up; + Chassis_Mode_t sw_left_mid; + Chassis_Mode_t sw_left_down; +#endif + +#if CMD_ENABLE_MODULE_GIMBAL + /* 右拨杆映射 - 云台/射击模式 */ + Gimbal_Mode_t gimbal_sw_up; + Gimbal_Mode_t gimbal_sw_mid; + Gimbal_Mode_t gimbal_sw_down; +#endif + +#if CMD_ENABLE_MODULE_TRACK + /* 左拨杆映射 - 履带使能 */ + bool track_sw_up; + bool track_sw_mid; + bool track_sw_down; +#endif +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS + /* 左拨杆映射 - 平衡底盘模式 */ + Chassis_Mode_t balance_sw_up; + Chassis_Mode_t balance_sw_mid; + Chassis_Mode_t balance_sw_down; +#endif +} CMD_RCModeMap_t; + +/* 整体配置 */ +typedef struct { + /* 输入源优先级，索引越小优先级越高 */ + CMD_InputSource_t source_priority[CMD_SRC_NUM]; + + /* 灵敏度设置 */ + CMD_Sensitivity_t sensitivity; + + /* RC模式映射 */ + CMD_RCModeMap_t rc_mode_map; + +} CMD_Config_t; + +/* ========================================================================== */ +/* 主控制上下文 */ +/* ========================================================================== */ + +typedef struct { + float now; + float dt; + uint32_t last_us; +} CMD_Timer_t; + +typedef struct CMD_Context { + /* 配置 */ + CMD_Config_t *config; + + /* 时间 */ + CMD_Timer_t timer; + + /* 当前帧和上一帧的原始输入 */ + CMD_RawInput_t input; + CMD_RawInput_t last_input; + + /* 仲裁后的活跃输入源 */ + CMD_InputSource_t active_source; + + /* 输出 */ + struct { +#if CMD_ENABLE_MODULE_CHASSIS + CMD_ChassisOutput_t chassis; +#endif +#if CMD_ENABLE_MODULE_GIMBAL + CMD_GimbalOutput_t gimbal; +#endif +#if CMD_ENABLE_MODULE_SHOOT + CMD_ShootOutput_t shoot; +#endif +#if CMD_ENABLE_MODULE_TRACK + CMD_TrackOutput_t track; +#endif +#if CMD_ENABLE_MODULE_ARM + CMD_ArmOutput_t arm; +#endif +#if CMD_ENABLE_MODULE_REFUI + CMD_RefUIOutput_t refui; +#endif +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS + CMD_BalanceChassisOutput_t balance_chassis; +#endif +#if CMD_ENABLE_SRC_REF + CMD_RawInput_REF_t ref; +#endif + } output; +} CMD_t; + +/* ========================================================================== */ +/* 主API接口 */ +/* ========================================================================== */ + +/** + * @brief 初始化CMD模块 + * @param ctx CMD上下文 + * @param config 配置指针 + * @return CMD_OK成功，其他失败 + */ +int8_t CMD_Init(CMD_t *ctx, CMD_Config_t *config); + +/** + * @brief 更新所有输入源的数据 + * @param ctx CMD上下文 + * @return CMD_OK成功 + */ +int8_t CMD_UpdateInput(CMD_t *ctx); + +/** + * @brief 执行仲裁，决定使用哪个输入源 + * @param ctx CMD上下文 + * @return 选中的输入源 + */ +int8_t CMD_Arbitrate(CMD_t *ctx); + +/** + * @brief 生成所有模块的控制命令 + * @param ctx CMD上下文 + * @return CMD_OK成功 + */ +int8_t CMD_GenerateCommands(CMD_t *ctx); + +/** + * @brief 一键更新（包含UpdateInput + Arbitrate + GenerateCommands） + * @param ctx CMD上下文 + * @return CMD_OK成功 + */ +int8_t CMD_Update(CMD_t *ctx); + +/* ========================================================================== */ +/* 输出获取接口 */ +/* ========================================================================== */ + +/* 获取底盘命令 */ +#if CMD_ENABLE_MODULE_CHASSIS +static inline Chassis_CMD_t* CMD_GetChassisCmd(CMD_t *ctx) { + return &ctx->output.chassis.cmd; + } +#endif + +/* 获取云台命令 */ +#if CMD_ENABLE_MODULE_GIMBAL +static inline Gimbal_CMD_t* CMD_GetGimbalCmd(CMD_t *ctx) { + return &ctx->output.gimbal.cmd; +} +#endif + +/* 获取射击命令 */ +#if CMD_ENABLE_MODULE_SHOOT +static inline Shoot_CMD_t* CMD_GetShootCmd(CMD_t *ctx) { + return &ctx->output.shoot.cmd; +} +#endif + +/* 获取履带命令 */ +#if CMD_ENABLE_MODULE_TRACK +static inline Track_CMD_t* CMD_GetTrackCmd(CMD_t *ctx) { + return &ctx->output.track.cmd; +} +#endif + +/* 获取机械臂命令 */ +#if CMD_ENABLE_MODULE_ARM +static inline Arm_CMD_t* CMD_GetArmCmd(CMD_t *ctx) { + return &ctx->output.arm.cmd; +} +#endif + +/* 获取裁判系UI命令 */ +#if CMD_ENABLE_MODULE_REFUI +static inline Referee_UI_CMD_t* CMD_GetRefUICmd(CMD_t *ctx) { + return &ctx->output.refui.cmd; +} +#endif + +/* 获取平衡底盘命令 */ +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS +static inline Chassis_CMD_t* CMD_GetBalanceChassisCmd(CMD_t *ctx) { + return &ctx->output.balance_chassis.cmd; +} +#endif + +/* 获取裁判系透传数据 */ +#if CMD_ENABLE_SRC_REF +static inline CMD_RawInput_REF_t* CMD_GetRefData(CMD_t *ctx) { + return &ctx->output.ref; +} +#endif + +#ifdef __cplusplus +} +#endif diff --git a/User/module/cmd/cmd_adapter.c b/User/module/cmd/cmd_adapter.c new file mode 100644 index 0000000..ca92383 --- /dev/null +++ b/User/module/cmd/cmd_adapter.c @@ -0,0 +1,258 @@ +/* + * CMD 模块 V2 - 输入适配器实现 + */ +#include "cmd_adapter.h" +#include "module/cmd/cmd_adapter.h" +#include +#include + +/* ========================================================================== */ +/* 适配器存储 */ +/* ========================================================================== */ +// static CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0}; +CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0}; +/* ========================================================================== */ +/* DR16 适配器实现 */ +/* ========================================================================== */ +#if CMD_RC_DEVICE_TYPE == 0 + +int8_t CMD_DR16_Init(void *data) { + DR16_t *dr16 = (DR16_t *)data; + return DR16_Init(dr16); +} + +int8_t CMD_DR16_RC_GetInput(void *data, CMD_RawInput_t *output) { + DR16_t *dr16 = (DR16_t *)data; + + memset(&output->rc, 0, sizeof(CMD_RawInput_RC_t)); + + output->online[CMD_SRC_RC] = dr16->header.online; + + /* 遥控器摇杆映射 */ + output->rc.joy_left.x = dr16->data.ch_l_x; + output->rc.joy_left.y = dr16->data.ch_l_y; + output->rc.joy_right.x = dr16->data.ch_r_x; + output->rc.joy_right.y = dr16->data.ch_r_y; + + /* 拨杆映射 */ + switch (dr16->data.sw_l) { + case DR16_SW_UP: output->rc.sw[0] = CMD_SW_UP; break; + case DR16_SW_MID: output->rc.sw[0] = CMD_SW_MID; break; + case DR16_SW_DOWN: output->rc.sw[0] = CMD_SW_DOWN; break; + default: output->rc.sw[0] = CMD_SW_ERR; break; + } + switch (dr16->data.sw_r) { + case DR16_SW_UP: output->rc.sw[1] = CMD_SW_UP; break; + case DR16_SW_MID: output->rc.sw[1] = CMD_SW_MID; break; + case DR16_SW_DOWN: output->rc.sw[1] = CMD_SW_DOWN; break; + default: output->rc.sw[1] = CMD_SW_ERR; break; + } + + /* 拨轮映射 */ + output->rc.dial = dr16->data.ch_res; + + return CMD_OK; +} + +int8_t CMD_DR16_PC_GetInput(void *data, CMD_RawInput_t *output) { + DR16_t *dr16 = (DR16_t *)data; + + memset(&output->pc, 0, sizeof(CMD_RawInput_PC_t)); + + output->online[CMD_SRC_PC] = dr16->header.online; + + /* PC端鼠标映射 */ + output->pc.mouse.x = dr16->data.mouse.x; + output->pc.mouse.y = dr16->data.mouse.y; + output->pc.mouse.l_click = dr16->data.mouse.l_click; + output->pc.mouse.r_click = dr16->data.mouse.r_click; + + /* 键盘映射 */ + output->pc.keyboard.bitmap = dr16->raw_data.key; + + return CMD_OK; +} + +bool CMD_DR16_IsOnline(void *data) { + DR16_t *dr16 = (DR16_t *)data; + return dr16->header.online; +} +extern DR16_t cmd_dr16; +/* 定义适配器实例 */ +CMD_DEFINE_ADAPTER(DR16_RC, cmd_dr16, CMD_SRC_RC, CMD_DR16_Init, CMD_DR16_RC_GetInput, CMD_DR16_IsOnline) +CMD_DEFINE_ADAPTER(DR16_PC, cmd_dr16, CMD_SRC_PC, CMD_DR16_Init, CMD_DR16_PC_GetInput, CMD_DR16_IsOnline) + +#endif /* CMD_RC_DEVICE_TYPE == 0 */ + +/* ========================================================================== */ +/* AT9S 适配器实现 (示例框架) */ +/* ========================================================================== */ +#if CMD_RC_DEVICE_TYPE == 1 + +int8_t CMD_AT9S_Init(void *data) { + AT9S_t *at9s = (AT9S_t *)data; + return AT9S_Init(at9s); +} + +int8_t CMD_AT9S_GetInput(void *data, CMD_RawInput_t *output) { + AT9S_t *at9s = (AT9S_t *)data; + + memset(output, 0, sizeof(CMD_RawInput_RC_t)); + + output->online[CMD_SRC_RC] = at9s->header.online; + + /* TODO: 按照AT9S的数据格式进行映射 */ + output->joy_left.x = at9s->data.ch_l_x; + output->joy_left.y = at9s->data.ch_l_y; + output->joy_right.x = at9s->data.ch_r_x; + output->joy_right.y = at9s->data.ch_r_y; + + /* 拨杆映射需要根据AT9S的实际定义 */ + + return CMD_OK; +} + +bool CMD_AT9S_IsOnline(void *data) { + AT9S_t *at9s = (AT9S_t *)data; + return at9s->header.online; +} + +CMD_DEFINE_ADAPTER(AT9S, at9s, CMD_SRC_RC, CMD_AT9S_Init, CMD_AT9S_GetInput, CMD_AT9S_IsOnline) + +#endif /* CMD_RC_DEVICE_TYPE == 1 */ + +/* ========================================================================== */ +/* NUC/AI 适配器实现 */ +/* ========================================================================== */ +/* ========================================================================== */ +/* REF/裁判系统 适配器实现 */ +/* ========================================================================== */ +#if CMD_ENABLE_SRC_REF + +int8_t CMD_REF_AdapterInit(void *data) { + (void)data; + return CMD_OK; +} + +int8_t CMD_REF_GetInput(void *data, CMD_RawInput_t *output) { + CMD_RawInput_REF_t *ref = (CMD_RawInput_REF_t *)data; + output->online[CMD_SRC_REF] = CMD_REF_IsOnline(ref); + output->ref = *ref; + return CMD_OK; +} + +bool CMD_REF_IsOnline(void *data) { + CMD_RawInput_REF_t *ref = (CMD_RawInput_REF_t *)data; + return !(ref->chassis.ref_status == REF_STATUS_OFFLINE&& + ref->ai.ref_status == REF_STATUS_OFFLINE&& + ref->cap.ref_status == REF_STATUS_OFFLINE&& + ref->shoot.ref_status == REF_STATUS_OFFLINE); +} + +CMD_DEFINE_ADAPTER(REF, cmd_ref, CMD_SRC_REF, CMD_REF_AdapterInit, CMD_REF_GetInput, CMD_REF_IsOnline) + +#endif /* CMD_ENABLE_SRC_REF */ + +#if CMD_ENABLE_SRC_NUC + +int8_t CMD_NUC_AdapterInit(void *data) { + /* NUC适配器不需要特殊初始化 */ + return CMD_OK; +} + +int8_t CMD_NUC_GetInput(void *data, CMD_RawInput_t *output) { + AI_cmd_t *ai_cmd = (AI_cmd_t *)data; + + output->online[CMD_SRC_NUC] = true; + + /* 映射AI数据到NUC输入结构 */ + output->nuc.mode = ai_cmd->mode; + output->nuc.gimbal.setpoint.yaw = ai_cmd->gimbal.setpoint.yaw; + output->nuc.gimbal.setpoint.pit = ai_cmd->gimbal.setpoint.pit; + output->nuc.gimbal.accl.pit = ai_cmd->gimbal.accl.pit; + output->nuc.gimbal.accl.yaw = ai_cmd->gimbal.accl.yaw; + output->nuc.gimbal.vel.pit = ai_cmd->gimbal.vel.pit; + output->nuc.gimbal.vel.yaw = ai_cmd->gimbal.vel.yaw; + + return CMD_OK; +} + +bool CMD_NUC_IsOnline(void *data) { + return true; +} + +/* 定义NUC适配器实例 */ +extern AI_cmd_t ai_cmd; +CMD_DEFINE_ADAPTER(NUC, cmd_ai, CMD_SRC_NUC, CMD_NUC_AdapterInit, CMD_NUC_GetInput, CMD_NUC_IsOnline) + +#endif /* CMD_ENABLE_SRC_NUC */ + +/* ========================================================================== */ +/* 适配器管理实现 */ +/* ========================================================================== */ + +int8_t CMD_Adapter_Register(CMD_InputAdapter_t *adapter) { + if (adapter == NULL || adapter->source >= CMD_SRC_NUM) { + return CMD_ERR_NULL; + } + g_adapters[adapter->source] = adapter; + return CMD_OK; +} + +int8_t CMD_Adapter_InitAll(void) { + /* 注册编译时选择的RC设备适配器 */ +#if CMD_RC_DEVICE_TYPE == 0 + /* DR16 支持 RC 和 PC 输入 */ + CMD_Adapter_Register(&g_adapter_DR16_RC); + CMD_Adapter_Register(&g_adapter_DR16_PC); +#elif CMD_RC_DEVICE_TYPE == 1 + /* AT9S 目前只支持 RC 输入 */ + CMD_Adapter_Register(&g_adapter_AT9S); +#endif + +#if CMD_ENABLE_SRC_NUC + /* 注册NUC适配器 */ + CMD_Adapter_Register(&g_adapter_NUC); +#endif + +#if CMD_ENABLE_SRC_REF + /* 注册REF适配器 */ + CMD_Adapter_Register(&g_adapter_REF); +#endif + + /* 初始化所有已注册的适配器 */ + for (int i = 0; i < CMD_SRC_NUM; i++) { + if (g_adapters[i] != NULL && g_adapters[i]->init != NULL) { + g_adapters[i]->init(g_adapters[i]->device_data); + } + } + + return CMD_OK; +} + +int8_t CMD_Adapter_GetInput(CMD_InputSource_t source, CMD_RawInput_t *output) { + if (source >= CMD_SRC_NUM || output == NULL) { + return CMD_ERR_NULL; + } + + CMD_InputAdapter_t *adapter = g_adapters[source]; + if (adapter == NULL || adapter->get_input == NULL) { + output->online[adapter->source] = false; + return CMD_ERR_NO_INPUT; + } + + return adapter->get_input(adapter->device_data, output); +} + +bool CMD_Adapter_IsOnline(CMD_InputSource_t source) { + if (source >= CMD_SRC_NUM) { + return false; + } + + CMD_InputAdapter_t *adapter = g_adapters[source]; + if (adapter == NULL || adapter->is_online == NULL) { + return false; + } + + return adapter->is_online(adapter->device_data); +} diff --git a/User/module/cmd/cmd_adapter.h b/User/module/cmd/cmd_adapter.h new file mode 100644 index 0000000..e8aa285 --- /dev/null +++ b/User/module/cmd/cmd_adapter.h @@ -0,0 +1,131 @@ +/* + * CMD 模块 V2 - 输入适配器接口 + * 定义设备到统一输入结构的转换接口 + */ +#pragma once + +#include "cmd_types.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/* ========================================================================== */ +/* 适配器接口定义 */ +/* ========================================================================== */ + +/* 适配器操作函数指针类型 */ +typedef int8_t (*CMD_AdapterInitFunc)(void *device_data); +typedef int8_t (*CMD_AdapterGetInputFunc)(void *device_data, CMD_RawInput_t *output); +typedef bool (*CMD_AdapterIsOnlineFunc)(void *device_data); + +/* 适配器描述结构 */ +typedef struct { + const char *name; /* 适配器名称 */ + CMD_InputSource_t source; /* 对应的输入源 */ + void *device_data; /* 设备数据指针 */ + CMD_AdapterInitFunc init; /* 初始化函数 */ + CMD_AdapterGetInputFunc get_input; /* 获取输入函数 */ + CMD_AdapterIsOnlineFunc is_online; /* 在线检测函数 */ +} CMD_InputAdapter_t; + +/* ========================================================================== */ +/* 适配器注册宏 */ +/* ========================================================================== */ + +/* + * 声明适配器 + * 使用示例: + * CMD_DECLARE_ADAPTER(DR16, dr16, DR16_t) + * + * 会生成: + * - extern DR16_t dr16; // 设备实例声明 + * - int8_t CMD_DR16_Init(void *data); + * - int8_t CMD_DR16_GetInput(void *data, CMD_RawInput_t *output); + * - bool CMD_DR16_IsOnline(void *data); + */ +#define CMD_DECLARE_ADAPTER(NAME, var, TYPE) \ + int8_t CMD_##NAME##_Init(void *data); \ + int8_t CMD_##NAME##_GetInput(void *data, CMD_RawInput_t *output); \ + bool CMD_##NAME##_IsOnline(void *data); + +/* + * 定义适配器实例 + * 使用示例: + * CMD_DEFINE_ADAPTER(DR16_RC, dr16, CMD_SRC_RC, CMD_DR16_Init, CMD_DR16_RC_GetInput, CMD_DR16_RC_IsOnline) + */ +#define CMD_DEFINE_ADAPTER(NAME, var, source_enum, init_func, get_func, online_func) \ + static CMD_InputAdapter_t g_adapter_##NAME = { \ + .name = #NAME, \ + .source = source_enum, \ + .device_data = (void*)&var, \ + .init = init_func, \ + .get_input = get_func, \ + .is_online = online_func, \ + }; + +/* ========================================================================== */ +/* RC设备适配器配置 */ +/* ========================================================================== */ + +/* 选择使用的RC设备 - 只需修改这里 */ +#define CMD_RC_DEVICE_TYPE 0 /* 0:DR16, 1:AT9S, 2:VT13 */ + +#if CMD_RC_DEVICE_TYPE == 0 + #include "device/dr16.h" + CMD_DECLARE_ADAPTER(DR16_RC, dr16, DR16_t) + CMD_DECLARE_ADAPTER(DR16_PC, dr16, DR16_t) + #define CMD_RC_ADAPTER_NAME DR16 + #define CMD_RC_ADAPTER_VAR dr16 +#elif CMD_RC_DEVICE_TYPE == 1 + #include "device/at9s_pro.h" + CMD_DECLARE_ADAPTER(AT9S, at9s, AT9S_t) + #define CMD_RC_ADAPTER_NAME AT9S + #define CMD_RC_ADAPTER_VAR at9s +#elif CMD_RC_DEVICE_TYPE == 2 + #include "device/vt13.h" + CMD_DECLARE_ADAPTER(VT13, vt13, VT13_t) + #define CMD_RC_ADAPTER_NAME VT13 + #define CMD_RC_ADAPTER_VAR vt13 +#endif + +/* ========================================================================== */ +/* NUC/AI适配器配置 */ +/* ========================================================================== */ +#if CMD_ENABLE_SRC_NUC + #include "module/vision_bridge.h" + extern AI_cmd_t cmd_ai; + int8_t CMD_NUC_AdapterInit(void *data); + int8_t CMD_NUC_GetInput(void *data, CMD_RawInput_t *output); + bool CMD_NUC_IsOnline(void *data); +#endif + +/* ========================================================================== */ +/* REF/裁判系统适配器配置 */ +/* ========================================================================== */ +#if CMD_ENABLE_SRC_REF + extern CMD_RawInput_REF_t cmd_ref; + int8_t CMD_REF_AdapterInit(void *data); + int8_t CMD_REF_GetInput(void *data, CMD_RawInput_t *output); + bool CMD_REF_IsOnline(void *data); +#endif + +/* ========================================================================== */ +/* 适配器管理接口 */ +/* ========================================================================== */ + +/* 初始化所有适配器 */ +int8_t CMD_Adapter_InitAll(void); + +/* 获取指定输入源的原始输入 */ +int8_t CMD_Adapter_GetInput(CMD_InputSource_t source, CMD_RawInput_t *output); + +/* 检查输入源是否在线 */ +bool CMD_Adapter_IsOnline(CMD_InputSource_t source); + +/* 注册适配器 (运行时注册，可选) */ +int8_t CMD_Adapter_Register(CMD_InputAdapter_t *adapter); + +#ifdef __cplusplus +} +#endif diff --git a/User/module/cmd/cmd_behavior.c b/User/module/cmd/cmd_behavior.c new file mode 100644 index 0000000..32e6d65 --- /dev/null +++ b/User/module/cmd/cmd_behavior.c @@ -0,0 +1,223 @@ +/* + * CMD 模块 V2 - 行为处理器实现 + */ +#include "cmd_behavior.h" +#include "cmd.h" +#if CMD_ENABLE_MODULE_GIMBAL + #include "module/gimbal.h" +#endif +#include + +/* ========================================================================== */ +/* 行为回调函数 */ +/* ========================================================================== */ + +/* 行为处理函数实现 */ +int8_t CMD_Behavior_Handle_FORE(CMD_t *ctx) { +#if CMD_ENABLE_MODULE_CHASSIS + ctx->output.chassis.cmd.ctrl_vec.vy += ctx->config->sensitivity.move_sens; +#endif + return CMD_OK; +} + +int8_t CMD_Behavior_Handle_BACK(CMD_t *ctx) { +#if CMD_ENABLE_MODULE_CHASSIS + ctx->output.chassis.cmd.ctrl_vec.vy -= ctx->config->sensitivity.move_sens; +#endif + return CMD_OK; +} + +int8_t CMD_Behavior_Handle_LEFT(CMD_t *ctx) { +#if CMD_ENABLE_MODULE_CHASSIS + ctx->output.chassis.cmd.ctrl_vec.vx -= ctx->config->sensitivity.move_sens; +#endif + return CMD_OK; +} + +int8_t CMD_Behavior_Handle_RIGHT(CMD_t *ctx) { +#if CMD_ENABLE_MODULE_CHASSIS + ctx->output.chassis.cmd.ctrl_vec.vx += ctx->config->sensitivity.move_sens; +#endif + return CMD_OK; +} + +int8_t CMD_Behavior_Handle_ACCELERATE(CMD_t *ctx) { +#if CMD_ENABLE_MODULE_CHASSIS + ctx->output.chassis.cmd.ctrl_vec.vx *= ctx->config->sensitivity.move_fast_mult; + ctx->output.chassis.cmd.ctrl_vec.vy *= ctx->config->sensitivity.move_fast_mult; +#endif + return CMD_OK; +} + +int8_t CMD_Behavior_Handle_DECELERATE(CMD_t *ctx) { +#if CMD_ENABLE_MODULE_CHASSIS + ctx->output.chassis.cmd.ctrl_vec.vx *= ctx->config->sensitivity.move_slow_mult; + ctx->output.chassis.cmd.ctrl_vec.vy *= ctx->config->sensitivity.move_slow_mult; +#endif + return CMD_OK; +} + +int8_t CMD_Behavior_Handle_FIRE(CMD_t *ctx) { +#if CMD_ENABLE_MODULE_SHOOT + ctx->output.shoot.cmd.firecmd = true; +#endif + return CMD_OK; +} + +int8_t CMD_Behavior_Handle_FIRE_MODE(CMD_t *ctx) { +#if CMD_ENABLE_MODULE_SHOOT + ctx->output.shoot.cmd.mode = (ctx->output.shoot.cmd.mode + 1) % SHOOT_MODE_NUM; +#endif + return CMD_OK; +} + +int8_t CMD_Behavior_Handle_ROTOR(CMD_t *ctx) { +#if CMD_ENABLE_MODULE_CHASSIS + ctx->output.chassis.cmd.mode = CHASSIS_MODE_ROTOR; + ctx->output.chassis.cmd.mode_rotor = ROTOR_MODE_RAND; +#endif +#if CMD_ENABLE_MODULE_GIMBAL + ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELATIVE; +#endif + return CMD_OK; +} + +int8_t CMD_Behavior_Handle_AUTOAIM(CMD_t *ctx) { + /* 自瞄模式切换 */ +#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_MODULE_SHOOT + if (ctx->input.online[CMD_SRC_NUC]) { + if (ctx->active_source == CMD_SRC_PC){ + ctx->output.gimbal.source = CMD_SRC_NUC; + ctx->output.shoot.source = CMD_SRC_NUC; +#if CMD_ENABLE_MODULE_REFUI + ctx->output.refui.source = CMD_SRC_NUC; +#endif + } + } +#endif + return CMD_OK; +} + +int8_t CMD_Behavior_Handle_CHECKSOURCERCPC(CMD_t *ctx) { + /* 切换RC和PC输入源 */ + if (ctx->active_source == CMD_SRC_PC) { + ctx->active_source = CMD_SRC_RC; +#if CMD_ENABLE_MODULE_CHASSIS + ctx->output.chassis.source = CMD_SRC_RC; +#endif +#if CMD_ENABLE_MODULE_GIMBAL + ctx->output.gimbal.source = CMD_SRC_RC; +#endif +#if CMD_ENABLE_MODULE_SHOOT + ctx->output.shoot.source = CMD_SRC_RC; +#endif +#if CMD_ENABLE_MODULE_ARM + ctx->output.arm.source = CMD_SRC_RC; +#endif + } else if(ctx->active_source == CMD_SRC_RC) { + ctx->active_source = CMD_SRC_PC; +#if CMD_ENABLE_MODULE_CHASSIS + ctx->output.chassis.source = CMD_SRC_PC; +#endif +#if CMD_ENABLE_MODULE_GIMBAL + ctx->output.gimbal.source = CMD_SRC_PC; +#endif +#if CMD_ENABLE_MODULE_SHOOT + ctx->output.shoot.source = CMD_SRC_PC; +#endif +#if CMD_ENABLE_MODULE_ARM + ctx->output.arm.source = CMD_SRC_PC; +#endif + } + return CMD_OK; +} + +/* 行为配置表 - 由宏生成 */ +static const CMD_BehaviorConfig_t g_behavior_configs[] = { + CMD_BEHAVIOR_TABLE(BUILD_BEHAVIOR_CONFIG) +}; + +/* ========================================================================== */ +/* API实现 */ +/* ========================================================================== */ + +int8_t CMD_Behavior_Init(void) { + /* 当前静态配置，无需初始化 */ + return CMD_OK; +} + +bool CMD_Behavior_IsTriggered(const CMD_RawInput_t *current, + const CMD_RawInput_t *last, + const CMD_BehaviorConfig_t *config) { + if (config == NULL || current == NULL) { + return false; + } + + bool now_pressed = false; + bool last_pressed = false; + + // 鼠标特殊按键处理 + if (config->key == (CMD_KEY_L_CLICK)) { + now_pressed = current->pc.mouse.l_click; + last_pressed = last ? last->pc.mouse.l_click : false; + } else if (config->key == (CMD_KEY_R_CLICK)) { + now_pressed = current->pc.mouse.r_click; + last_pressed = last ? last->pc.mouse.r_click : false; + } else if (config->key == (CMD_KEY_M_CLICK)) { + now_pressed = current->pc.mouse.m_click; + last_pressed = last ? last->pc.mouse.m_click : false; + } else if (config->key == 0) { + return false; + } else { + // 多按键组合检测 + now_pressed = ((current->pc.keyboard.bitmap & config->key) == config->key); + last_pressed = last ? ((last->pc.keyboard.bitmap & config->key) == config->key) : false; + } + + switch (config->trigger) { + case CMD_ACTIVE_PRESSED: + return now_pressed; + case CMD_ACTIVE_RISING_EDGE: + return now_pressed && !last_pressed; + case CMD_ACTIVE_FALLING_EDGE: + return !now_pressed && last_pressed; + default: + return false; + } +} + +int8_t CMD_Behavior_ProcessAll(CMD_t *ctx, + const CMD_RawInput_t *current, + const CMD_RawInput_t *last, + CMD_ModuleMask_t active_modules) { + if (ctx == NULL || current == NULL) { + return CMD_ERR_NULL; + } + + for (size_t i = 0; i < BEHAVIOR_CONFIG_COUNT; i++) { + const CMD_BehaviorConfig_t *config = &g_behavior_configs[i]; + + /* 过滤模块掩码 */ + if ((config->module_mask & active_modules) == 0) { + continue; + } + + /* 检查是否触发 */ + if (CMD_Behavior_IsTriggered(current, last, config)) { + if (config->handler != NULL) { + config->handler(ctx); + } + } + } + + return CMD_OK; +} + +const CMD_BehaviorConfig_t* CMD_Behavior_GetConfig(CMD_Behavior_t behavior) { + for (size_t i = 0; i < BEHAVIOR_CONFIG_COUNT; i++) { + if (g_behavior_configs[i].behavior == behavior) { + return &g_behavior_configs[i]; + } + } + return NULL; +} diff --git a/User/module/cmd/cmd_behavior.h b/User/module/cmd/cmd_behavior.h new file mode 100644 index 0000000..fda9074 --- /dev/null +++ b/User/module/cmd/cmd_behavior.h @@ -0,0 +1,69 @@ +/* + * CMD 模块 V2 - 行为处理器 + * 实现PC端按键到行为的映射和处理 + */ +#pragma once + +#include "cmd_types.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/* ========================================================================== */ +/* 行为处理器接口 */ +/* ========================================================================== */ + +/* 行为处理函数类型 */ +struct CMD_Context; /* 前向声明 */ +typedef int8_t (*CMD_BehaviorHandler)(struct CMD_Context *ctx); + +/* 行为配置项 */ +typedef struct { + CMD_Behavior_t behavior; /* 行为枚举 */ + uint32_t key; /* 绑定的按键 */ + CMD_TriggerType_t trigger; /* 触发类型 */ + CMD_ModuleMask_t module_mask; /* 影响的模块 */ + CMD_BehaviorHandler handler; /* 处理函数 */ +} CMD_BehaviorConfig_t; + +/* ========================================================================== */ +/* 行为表生成宏 */ +/* ========================================================================== */ + +/* 从宏表生成配置数组 */ +#define BUILD_BEHAVIOR_CONFIG(name, key, trigger, mask) \ + { CMD_BEHAVIOR_##name, key, trigger, mask, CMD_Behavior_Handle_##name }, + +/* 声明所有行为处理函数 */ +#define DECLARE_BEHAVIOR_HANDLER(name, key, trigger, mask) \ + int8_t CMD_Behavior_Handle_##name(struct CMD_Context *ctx); + +/* 展开声明 */ +CMD_BEHAVIOR_TABLE(DECLARE_BEHAVIOR_HANDLER) +#undef DECLARE_BEHAVIOR_HANDLER + +/* ========================================================================== */ +/* 行为处理器API */ +/* ========================================================================== */ + +/* 初始化行为处理器 */ +int8_t CMD_Behavior_Init(void); + +/* 检查行为是否被触发 */ +bool CMD_Behavior_IsTriggered(const CMD_RawInput_t *current, + const CMD_RawInput_t *last, + const CMD_BehaviorConfig_t *config); + +/* 处理所有触发的行为 */ +int8_t CMD_Behavior_ProcessAll(struct CMD_Context *ctx, + const CMD_RawInput_t *current, + const CMD_RawInput_t *last, + CMD_ModuleMask_t active_modules); + +/* 获取行为配置 */ +const CMD_BehaviorConfig_t* CMD_Behavior_GetConfig(CMD_Behavior_t behavior); + +#ifdef __cplusplus +} +#endif diff --git a/User/module/cmd/cmd_example.c b/User/module/cmd/cmd_example.c new file mode 100644 index 0000000..476c32e --- /dev/null +++ b/User/module/cmd/cmd_example.c @@ -0,0 +1,167 @@ +/* + * CMD 模块 V2 - 使用示例和配置模板 + * + * 本文件展示如何配置和使用新的CMD模块 + */ +#include "cmd.h" + +/* ========================================================================== */ +/* config示例 */ +/* ========================================================================== */ + +/* 默认配置 */ +// static CMD_Config_t g_cmd_config = { +// /* 灵敏度设置 */ +// .sensitivity = { +// .mouse_sens = 0.8f, +// .move_sens = 1.0f, +// .move_fast_mult = 1.5f, +// .move_slow_mult = 0.5f, +// }, + +// /* RC拨杆模式映射 */ +// .rc_mode_map = { +// /* 左拨杆控制底盘模式 */ +// .sw_left_up = CHASSIS_MODE_BREAK, +// .sw_left_mid = CHASSIS_MODE_FOLLOW_GIMBAL, +// .sw_left_down = CHASSIS_MODE_ROTOR, + +// /* 用于云台模式 */ +// .gimbal_sw_up = GIMBAL_MODE_ABSOLUTE, +// .gimbal_sw_mid = GIMBAL_MODE_ABSOLUTE, +// .gimbal_sw_down = GIMBAL_MODE_RELATIVE, +// }, + +// }; + +// /* CMD上下文 */ +// static CMD_t g_cmd_ctx; + +/* ========================================================================== */ +/* 队列创建示例 */ +/* ========================================================================== */ +// #if CMD_RCTypeTable_Index == 0 +// task_runtime.msgq.cmd.rc= osMessageQueueNew(3u, sizeof(DR16_t), NULL); +// #elif CMD_RCTypeTable_Index == 1 +// task_runtime.msgq.cmd.rc= osMessageQueueNew(3u, sizeof(AT9S_t), NULL); +// #endif + +/* ========================================================================== */ +/* 任务示例 */ +/* ========================================================================== */ + +// #if CMD_RCTypeTable_Index == 0 +// DR16_t cmd_dr16; +// #elif CMD_RCTypeTable_Index == 1 +// AT9S_t cmd_at9s; +// #endif +// Shoot_CMD_t *cmd_for_shoot; +// Chassis_CMD_t *cmd_for_chassis; +// Gimbal_CMD_t *cmd_for_gimbal; + +// static CMD_t cmd; + +// void Task_cmd() { + +// CMD_Init(&cmd, &Config_GetRobotParam()->cmd_param); + +// while (1) { +// #if CMD_RCTypeTable_Index == 0 +// osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_dr16, NULL, 0); +// #elif CMD_RCTypeTable_Index == 1 +// osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_at9s, NULL, 0); +// #endif +// CMD_Update(&cmd); + +// /* 获取命令发送到各模块 */ +// cmd_for_chassis = CMD_GetChassisCmd(&cmd); +// cmd_for_gimbal = CMD_GetGimbalCmd(&cmd); +// cmd_for_shoot = CMD_GetShootCmd(&cmd); +// osMessageQueueReset(task_runtime.msgq.gimbal.cmd); +// osMessageQueuePut(task_runtime.msgq.gimbal.cmd, cmd_for_gimbal, 0, 0); +// osMessageQueueReset(task_runtime.msgq.shoot.cmd); +// osMessageQueuePut(task_runtime.msgq.shoot.cmd, cmd_for_shoot, 0, 0); +// osMessageQueueReset(task_runtime.msgq.chassis.cmd); +// osMessageQueuePut(task_runtime.msgq.chassis.cmd, cmd_for_chassis, 0, 0); +// } + +// } + + + +/* ========================================================================== */ +/* 架构说明 */ +/* ========================================================================== */ + +/* + * ## 新架构优势 + * + * ### 1. 统一的输入抽象层 (CMD_RawInput_t) + * - 所有设备（DR16/AT9S/VT13等）都转换成相同格式 + * - 上层代码无需关心具体设备类型 + * - 添加新设备只需实现适配器，不改动主逻辑 + * + * ### 2. 适配器模式 + * - 每个设备一个适配器文件 + * - 实现 Init, GetInput, IsOnline 三个函数 + * - 通过宏选择编译哪个适配器 + * + * ### 3. X-Macro配置表 + * - CMD_INPUT_SOURCE_TABLE: 配置输入源 + * - CMD_OUTPUT_MODULE_TABLE: 配置输出模块 + * - CMD_BEHAVIOR_TABLE: 配置按键行为映射 + * - 编译时生成枚举、配置数组、处理函数 + * + * ### 4. 行为驱动设计 + * - 行为与按键解耦 + * - 运行时可修改映射 + * - 支持边沿触发和持续触发 + * + * ### 5. 清晰的分层 + * + * ┌──────────────────────────────────────┐ + * │ 应用层 (cmd.c) │ + * │ - CMD_Update() │ + * │ - 仲裁、命令生成 │ + * └──────────────┬───────────────────────┘ + * │ + * ┌──────────────▼───────────────────────┐ + * │ 行为处理层 (cmd_behavior.c) │ + * │ - 按键触发检测 │ + * │ - 行为函数调用 │ + * └──────────────┬───────────────────────┘ + * │ + * ┌──────────────▼──────────────────────────┐ + * │ 抽象输入层 (cmd_types.h) │ + * │ - 多输入源操作同一CMD_RawInput_t不同分区 │ + * │ - 统一的摇杆、开关、键鼠结构 │ + * └──────────────┬──────────────────────────┘ + * │ + * ┌──────────────▼───────────────────────┐ + * │ 适配器层 (cmd_adapter.c) │ + * │ - DR16_Adapter │ + * │ - AT9S_Adapter │ + * │ - 设备数据 → CMD_RawInput_t │ + * └──────────────────────────────────────┘ + * + * ## 扩展指南 + * + * ### 添加新遥控器设备 + * 1. 在 cmd_adapter.h 中添加宏定义选项 + * 2. 在 cmd_adapter.c 中实现三个适配器函数 + * 3. 修改 CMD_RC_DEVICE_TYPE 宏选择新设备 + * + * ### 添加新输入源（如自定义协议） + * 1. 在 CMD_INPUT_SOURCE_TABLE 添加条目 + * 2. 实现对应的适配器 + * 3. 在 CMD_GenerateCommands 添加处理分支 + * + * ### 添加新行为 + * 1. 在 CMD_BEHAVIOR_TABLE 添加条目,并修正BEHAVIOR_CONFIG_COUNT + * 2. 实现 CMD_Behavior_Handle_XXX 函数 + * + * ### 添加新输出模块 + * 1. 在 CMD_OUTPUT_MODULE_TABLE 添加条目 + * 2. 在 CMD_t 中添加输出成员 + * 3. 实现对应的 BuildXXXCmd 函数 + */ diff --git a/User/module/cmd/cmd_feature.h b/User/module/cmd/cmd_feature.h new file mode 100644 index 0000000..e76a57a --- /dev/null +++ b/User/module/cmd/cmd_feature.h @@ -0,0 +1,66 @@ +/* + * CMD 模块 V2 - 功能特性开关配置 + * + * 修改此文件来快速使能/失能各个模块和输入源。 + * 失能后，对应的代码和头文件依赖将被完全排除在编译之外。 + */ +#pragma once + +/* ========================================================================== */ +/* 输入源使能开关 */ +/* ========================================================================== */ + +/** 遥控器输入 (DR16 / AT9S 等) */ +#define CMD_ENABLE_SRC_RC 1 + +/** PC 端键鼠输入 (通过 DR16 转发) */ +#define CMD_ENABLE_SRC_PC 1 + +/** NUC / AI 输入 (需要 vision_bridge 模块) */ +#define CMD_ENABLE_SRC_NUC 0 + +/** + * 裁判系统数据中转开关 + * 1 (比赛模式): cmd 将 referee 数据转发到各模块的 .ref 队列 + * 0 (调试模式): cmd 不转发，裁判系统可断开，不影响其他功能 + */ +#define CMD_ENABLE_SRC_REF 1 + +/* ========================================================================== */ +/* 输出模块使能开关 */ +/* ========================================================================== */ + +/** 底盘模块 (需要 module/chassis.h) */ +#define CMD_ENABLE_MODULE_CHASSIS 0 + +/** 云台模块 (需要 module/gimbal.h) */ +#define CMD_ENABLE_MODULE_GIMBAL 1 + +/** 射击模块 (需要 module/shoot.h) */ +#define CMD_ENABLE_MODULE_SHOOT 1 + +/** 履带模块 (需要 module/track.h) */ +#define CMD_ENABLE_MODULE_TRACK 0 + +/** 机械臂模块 (需要 component/arm_kinematics/arm6dof.h) */ +#define CMD_ENABLE_MODULE_ARM 0 + +/** 裁判系统UI命令模块 (需要 device/referee.h) */ +#define CMD_ENABLE_MODULE_REFUI 0 + +/** 平衡底盘模块 (需要 module/balance_chassis.h) */ +#define CMD_ENABLE_MODULE_BALANCE_CHASSIS 1 + +/* ========================================================================== */ +/* 合法性检查 */ +/* ========================================================================== */ + +/* PC输入源依赖RC适配器共同存在（DR16同时提供RC和PC数据） */ +#if CMD_ENABLE_SRC_PC && !CMD_ENABLE_SRC_RC + #error "CMD_ENABLE_SRC_PC requires CMD_ENABLE_SRC_RC (both share the DR16 adapter)" +#endif + +/* NUC依赖vision_bridge模块，确保已包含相关模块 */ +/* #if CMD_ENABLE_SRC_NUC && !defined(VISION_BRIDGE_ENABLED) + #error "CMD_ENABLE_SRC_NUC requires vision_bridge module" +#endif */ diff --git a/User/module/cmd/cmd_types.h b/User/module/cmd/cmd_types.h new file mode 100644 index 0000000..818a593 --- /dev/null +++ b/User/module/cmd/cmd_types.h @@ -0,0 +1,299 @@ +/* + * CMD 模块 V2 - 类型定义 + * 统一的输入/输出抽象层 + */ +#pragma once + +#include +#include +#include "cmd_feature.h" /* 功能特性开关 */ + +#ifdef __cplusplus +extern "C" { +#endif + +/* ========================================================================== */ +/* 错误码定义 */ +/* ========================================================================== */ +#define CMD_OK (0) +#define CMD_ERR_NULL (-1) +#define CMD_ERR_MODE (-2) +#define CMD_ERR_SOURCE (-3) +#define CMD_ERR_NO_INPUT (-4) + +/* ========================================================================== */ +/* 输入源配置宏表 */ +/* ========================================================================== */ +/* + * 使用方法：在 cmd_feature.h 中设置各 CMD_ENABLE_SRC_xxx 宏。 + * 格式: X(枚举名, 适配器初始化函数, 获取数据函数) + */ + +/* 各输入源条件展开辅助宏 */ +#if CMD_ENABLE_SRC_RC + #define _X_SRC_RC(X) X(RC, CMD_RC_AdapterInit, CMD_RC_GetInput) +#else + #define _X_SRC_RC(X) +#endif + +#if CMD_ENABLE_SRC_PC + #define _X_SRC_PC(X) X(PC, CMD_PC_AdapterInit, CMD_PC_GetInput) +#else + #define _X_SRC_PC(X) +#endif + +#if CMD_ENABLE_SRC_NUC + #define _X_SRC_NUC(X) X(NUC, CMD_NUC_AdapterInit, CMD_NUC_GetInput) +#else + #define _X_SRC_NUC(X) +#endif + +#if CMD_ENABLE_SRC_REF + #define _X_SRC_REF(X) X(REF, CMD_REF_AdapterInit, CMD_REF_GetInput) +#else + #define _X_SRC_REF(X) +#endif + +#define CMD_INPUT_SOURCE_TABLE(X) \ + _X_SRC_RC(X) \ + _X_SRC_PC(X) \ + _X_SRC_NUC(X) \ + _X_SRC_REF(X) + +/* 各输出模块条件展开辅助宏 */ +#if CMD_ENABLE_MODULE_CHASSIS + #define _X_MOD_CHASSIS(X) X(CHASSIS, Chassis_CMD_t, chassis) +#else + #define _X_MOD_CHASSIS(X) +#endif + +#if CMD_ENABLE_MODULE_GIMBAL + #define _X_MOD_GIMBAL(X) X(GIMBAL, Gimbal_CMD_t, gimbal) +#else + #define _X_MOD_GIMBAL(X) +#endif + +#if CMD_ENABLE_MODULE_SHOOT + #define _X_MOD_SHOOT(X) X(SHOOT, Shoot_CMD_t, shoot) +#else + #define _X_MOD_SHOOT(X) +#endif + +#if CMD_ENABLE_MODULE_TRACK + #define _X_MOD_TRACK(X) X(TRACK, Track_CMD_t, track) +#else + #define _X_MOD_TRACK(X) +#endif + +#if CMD_ENABLE_MODULE_ARM + #define _X_MOD_ARM(X) X(ARM, Arm_CMD_t, arm) +#else + #define _X_MOD_ARM(X) +#endif + +#if CMD_ENABLE_MODULE_REFUI + #define _X_MOD_REFUI(X) X(REFUI, Referee_UI_CMD_t, refui) +#else + #define _X_MOD_REFUI(X) +#endif + +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS + #define _X_MOD_BALANCE_CHASSIS(X) X(BALANCE_CHASSIS, Chassis_CMD_t, balance_chassis) +#else + #define _X_MOD_BALANCE_CHASSIS(X) +#endif + +/* 输出模块配置宏表 */ +#define CMD_OUTPUT_MODULE_TABLE(X) \ + _X_MOD_CHASSIS(X) \ + _X_MOD_GIMBAL(X) \ + _X_MOD_SHOOT(X) \ + _X_MOD_TRACK(X) \ + _X_MOD_ARM(X) \ + _X_MOD_REFUI(X) \ + _X_MOD_BALANCE_CHASSIS(X) \ + +/* ========================================================================== */ +/* 输入源枚举 */ +/* ========================================================================== */ +#define ENUM_INPUT_SOURCE(name, ...) CMD_SRC_##name, +typedef enum { + CMD_INPUT_SOURCE_TABLE(ENUM_INPUT_SOURCE) + CMD_SRC_NUM +} CMD_InputSource_t; +#undef ENUM_INPUT_SOURCE + +/* ========================================================================== */ +/* 统一输入数据结构 */ +/* ========================================================================== */ + +/* 摇杆数据 - 统一为-1.0 ~ 1.0 */ +typedef struct { + float x; + float y; +} CMD_Joystick_t; + +/* 开关位置 */ +typedef enum { + CMD_SW_ERR = 0, + CMD_SW_UP, + CMD_SW_MID, + CMD_SW_DOWN, +} CMD_SwitchPos_t; + +/* 鼠标数据 */ +typedef struct { + int16_t x; /* 鼠标X轴移动速度 */ + int16_t y; /* 鼠标Y轴移动速度 */ + int16_t z; /* 鼠标滚轮 */ + bool l_click; /* 左键 */ + bool r_click; /* 右键 */ + bool m_click; /* 中键 */ +} CMD_Mouse_t; + +/* 键盘数据 - 最多支持32个按键 */ +typedef struct { + uint32_t bitmap; /* 按键位图 */ +} CMD_Keyboard_t; + +/* 键盘按键索引 */ +typedef enum { + CMD_KEY_W = (1 << 0), CMD_KEY_S = (1 << 1), CMD_KEY_A = (1 << 2), CMD_KEY_D = (1 << 3), + CMD_KEY_SHIFT = (1 << 4), CMD_KEY_CTRL = (1 << 5), CMD_KEY_Q = (1 << 6), CMD_KEY_E = (1 << 7), + CMD_KEY_R = (1 << 8), CMD_KEY_F = (1 << 9), CMD_KEY_G = (1 << 10), CMD_KEY_Z = (1 << 11), + CMD_KEY_X = (1 << 12), CMD_KEY_C = (1 << 13), CMD_KEY_V = (1 << 14), CMD_KEY_B = (1 << 15), + CMD_KEY_NUM +} CMD_KeyIndex_t; + +typedef struct { + CMD_Joystick_t joy_left; /* 左摇杆 */ + CMD_Joystick_t joy_right; /* 右摇杆 */ + CMD_SwitchPos_t sw[4]; /* 4个拨杆 */ + float dial; /* 拨轮 */ +} CMD_RawInput_RC_t; + +typedef struct { + CMD_Mouse_t mouse; + CMD_Keyboard_t keyboard; +} CMD_RawInput_PC_t; + +/* AI输入数据 */ +typedef struct { + uint8_t mode; + struct { + struct { + float yaw; + float pit; + } setpoint; + struct { + float pit; + float yaw; + } accl; + struct { + float pit; + float yaw; + } vel; + } gimbal; +} CMD_RawInput_NUC_t; + +#if CMD_ENABLE_SRC_REF +#include "device/referee_proto_types.h" +/* 裁判系统原始输入，包含需转发给各模块的完整子集 */ +typedef struct { + Referee_ForChassis_t chassis; + Referee_ForShoot_t shoot; + Referee_ForCap_t cap; + Referee_ForAI_t ai; +} CMD_RawInput_REF_t; +#endif + +/* 统一的原始输入结构 - 所有设备适配后都转换成这个格式 */ +typedef struct { + bool online[CMD_SRC_NUM]; + +#if CMD_ENABLE_SRC_RC + /* 遥控器部分 */ + CMD_RawInput_RC_t rc; +#endif + +#if CMD_ENABLE_SRC_PC + /* PC部分 */ + CMD_RawInput_PC_t pc; +#endif + +#if CMD_ENABLE_SRC_NUC + /* NUC部分 */ + CMD_RawInput_NUC_t nuc; +#endif + +#if CMD_ENABLE_SRC_REF + /* REF部分 - 裁判系统数据 */ + CMD_RawInput_REF_t ref; +#endif +} CMD_RawInput_t; + +/* ========================================================================== */ +/* 模块掩码 */ +/* ========================================================================== */ +typedef enum { + CMD_MODULE_NONE = (1 << 0), + CMD_MODULE_CHASSIS = (1 << 1), + CMD_MODULE_GIMBAL = (1 << 2), + CMD_MODULE_SHOOT = (1 << 3), + CMD_MODULE_TRACK = (1 << 4), + CMD_MODULE_ARM = (1 << 5), + CMD_MODULE_REFUI = (1 << 6), + CMD_MODULE_BALANCE_CHASSIS = (1 << 7), + CMD_MODULE_ALL = 0xFE + +} CMD_ModuleMask_t; + +/* ========================================================================== */ +/* 行为定义 */ +/* ========================================================================== */ +/* 行为-按键映射宏表 */ +#define BEHAVIOR_CONFIG_COUNT (11) +#define CMD_BEHAVIOR_TABLE(X) \ + X(FORE, CMD_KEY_W, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ + X(BACK, CMD_KEY_S, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ + X(LEFT, CMD_KEY_A, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ + X(RIGHT, CMD_KEY_D, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ + X(ACCELERATE, CMD_KEY_SHIFT, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ + X(DECELERATE, CMD_KEY_CTRL, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ + X(FIRE, CMD_KEY_L_CLICK, CMD_ACTIVE_PRESSED, CMD_MODULE_SHOOT) \ + X(FIRE_MODE, CMD_KEY_B, CMD_ACTIVE_RISING_EDGE, CMD_MODULE_SHOOT) \ + X(ROTOR, CMD_KEY_E, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ + X(AUTOAIM, CMD_KEY_R_CLICK, CMD_ACTIVE_PRESSED, CMD_MODULE_NONE) \ + X(CHECKSOURCERCPC, CMD_KEY_CTRL|CMD_KEY_SHIFT|CMD_KEY_V, CMD_ACTIVE_RISING_EDGE, CMD_MODULE_NONE) +/* 触发类型 */ +typedef enum { + CMD_ACTIVE_PRESSED, /* 按住时触发 */ + CMD_ACTIVE_RISING_EDGE, /* 按下瞬间触发 */ + CMD_ACTIVE_FALLING_EDGE, /* 松开瞬间触发 */ +} CMD_TriggerType_t; + +/* 特殊按键值 */ +#define CMD_KEY_NONE 0xFF +#define CMD_KEY_L_CLICK (1 << 31) +#define CMD_KEY_R_CLICK (1 << 30) +#define CMD_KEY_M_CLICK (1 << 29) + +/* 行为枚举 - 由宏表自动生成 */ +#define ENUM_BEHAVIOR(name, key, trigger, mask) CMD_BEHAVIOR_##name, +typedef enum { + CMD_BEHAVIOR_TABLE(ENUM_BEHAVIOR) + CMD_BEHAVIOR_NUM +} CMD_Behavior_t; +#undef ENUM_BEHAVIOR + +/* ========================================================================== */ +/* 键盘辅助宏 */ +/* ========================================================================== */ +#define CMD_KEY_PRESSED(kb, key) (((kb)->bitmap >> (key)) & 1) +#define CMD_KEY_SET(kb, key) ((kb)->bitmap |= (1 << (key))) +#define CMD_KEY_CLEAR(kb, key) ((kb)->bitmap &= ~(1 << (key))) + + +#ifdef __cplusplus +} +#endif diff --git a/User/module/config.c b/User/module/config.c index 0aaff69..35e95c3 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -20,7 +20,10 @@ */ Config_RobotParam_t robot_config = { /* USER CODE BEGIN robot_config */ - + .ref_screen={ + .width=1920, + .height=1080, + }, .gimbal_param = { .pid = { .yaw_omega = { @@ -103,30 +106,59 @@ Config_RobotParam_t robot_config = { .shoot_param = { - .trig_step_angle=M_2PI/8, - .shot_delay_time=0.05f, - .shot_burst_num=1, - .fric_motor_param[0] = { - .can = BSP_CAN_1, - .id = 0x201, - .module = MOTOR_M3508, - .reverse = false, - .gear=false, + .basic={ + .projectileType=SHOOT_PROJECTILE_17MM, + .fric_num=2, + .extra_deceleration_ratio=1.0f, + .num_trig_tooth=8, + .shot_freq=1.0f, + .shot_burst_num=3, + .ratio_multilevel = {1.0f}, + }, + .jamDetection={ + .enable=true, + .threshold=200.0f, + .suspectedTime=0.5f, + }, + .heatControl={ + .enable=true, + .nmax=18.0f, // 最大射频 Hz + .Hwarn=200.0f, // 热量预警值 + .Hsatu=100.0f, // 热量饱和值 + .Hthres=50.0f, // 热量阈值 + }, + .motor={ + .fric = { + { + .param = { + .can = BSP_CAN_1, + .id = 0x201, + .module = MOTOR_M3508, + .reverse = false, + .gear=false, + }, + .level=1, }, - .fric_motor_param[1] = { - .can = BSP_CAN_1, - .id = 0x202, - .module = MOTOR_M3508, - .reverse = true, - .gear=false, + { + .param = { + .can = BSP_CAN_1, + .id = 0x202, + .module = MOTOR_M3508, + .reverse = true, + .gear=false, + }, + .level=1, + } }, - .trig_motor_param = { + .trig = { .can = BSP_CAN_1, .id = 0x203, .module = MOTOR_M2006, .reverse = true, .gear=true, }, + }, + .pid={ .fric_follow = { .k=1.0f, .p=1.5f, @@ -137,28 +169,17 @@ Config_RobotParam_t robot_config = { .d_cutoff_freq=30.0f, .range=-1.0f, }, - .fric_err = { - .k=1.0f, - .p=4.0f, - .i=0.4f, - .d=0.04f, - .i_limit=0.25f, - .out_limit=0.25f, - .d_cutoff_freq=40.0f, + .k=0.0f, + .p=0.0f, + .i=0.0f, + .d=0.0f, + .i_limit=0.0f, + .out_limit=0.0f, + .d_cutoff_freq=0.0f, .range=-1.0f, }, - .trig_omg = { - .k=1.0f, - .p=1.5f, - .i=0.3f, - .d=0.5f, - .i_limit=0.2f, - .out_limit=0.9f, - .d_cutoff_freq=-1.0f, - .range=-1.0f, - }, - .trig = { + .trig_2006 = { .k=1.0f, .p=1.0f, .i=0.1f, @@ -168,16 +189,48 @@ Config_RobotParam_t robot_config = { .d_cutoff_freq=-1.0f, .range=M_2PI, }, - .filter.fric = { - .in = 30.0f, - .out = 30.0f, + .trig_omg_2006 = { + .k=1.0f, + .p=1.5f, + .i=0.3f, + .d=0.5f, + .i_limit=0.2f, + .out_limit=0.9f, + .d_cutoff_freq=-1.0f, + .range=-1.0f, }, - .filter.trig = { - .in = 30.0f, - .out = 30.0f, + .trig_3508 = { + .k=0.5f, + .p=1.8f, + .i=0.3f, + .d=0.1f, + .i_limit=0.15f, + .out_limit=1.0f, + .d_cutoff_freq=-1.0f, + .range=M_2PI, + }, + .trig_omg_3508 = { + .k=1.0f, + .p=1.0f, + .i=0.0f, + .d=0.0f, + .i_limit=0.0f, + .out_limit=1.0f, + .d_cutoff_freq=-1.0f, + .range=-1.0f, }, }, - + .filter={ + .fric = { + .in = 30.0f, + .out = 30.0f, + }, + .trig = { + .in = 30.0f, + .out = 30.0f, + }, + }, + }, .chassis_param = { .yaw={ .k=1.0f, @@ -385,6 +438,36 @@ Config_RobotParam_t robot_config = { .can = BSP_FDCAN_2, .vision_id = 0x104, }, + + .cmd_param = { + .source_priority = { +#if CMD_ENABLE_SRC_RC + [0] = CMD_SRC_RC, +#endif +#if CMD_ENABLE_SRC_PC + [1] = CMD_SRC_PC, +#endif + }, + .sensitivity = { + .mouse_sens = 60.0f, + .move_sens = 1.0f, + .move_fast_mult = 2.0f, + .move_slow_mult = 0.4f, + }, + .rc_mode_map = { +#if CMD_ENABLE_MODULE_GIMBAL + .gimbal_sw_up = GIMBAL_MODE_RELAX, + .gimbal_sw_mid = GIMBAL_MODE_RELATIVE, + .gimbal_sw_down = GIMBAL_MODE_RELATIVE, +#endif +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS + .balance_sw_up = CHASSIS_MODE_RELAX, + .balance_sw_mid = CHASSIS_MODE_RELAX, + .balance_sw_down = CHASSIS_MODE_WHELL_LEG_BALANCE, +#endif + }, + }, + /* USER CODE END robot_config */ }; diff --git a/User/module/config.h b/User/module/config.h index b5d0b61..abdf5b0 100644 --- a/User/module/config.h +++ b/User/module/config.h @@ -13,7 +13,9 @@ extern "C" { #include "module/shoot.h" #include "module/balance_chassis.h" #include "module/gimbal.h" -#include "device/vision_bridge.h" +#include "module/vision_bridge.h" +#include "module/cmd/cmd.h" +#include "device/referee_proto_types.h" /** * @brief 机器人参数配置结构体 * @note 在此添加您的配置参数 @@ -24,6 +26,8 @@ typedef struct { Chassis_Params_t chassis_param; Gimbal_Params_t gimbal_param; AI_Param_t ai_param; + CMD_Config_t cmd_param; + Referee_Screen_t ref_screen; /* USER CODE END Config_RobotParam */ } Config_RobotParam_t; diff --git a/User/module/gimbal.c b/User/module/gimbal.c index 6a45d28..47daf19 100644 --- a/User/module/gimbal.c +++ b/User/module/gimbal.c @@ -258,3 +258,12 @@ void Gimbal_Output(Gimbal_t *g){ MOTOR_RM_Ctrl(&g->param->pit_motor); MOTOR_DM_MITCtrl(&g->param->yaw_motor, &output); } +/** + * @brief 导出云台UI数据 + * + * @param g 云台结构体 + * @param ui UI结构体 + */ +void Gimbal_DumpUI(const Gimbal_t *g, Gimbal_RefereeUI_t *ui) { + ui->mode = g->mode; +} diff --git a/User/module/gimbal.h b/User/module/gimbal.h index 695cdee..e9a03e9 100644 --- a/User/module/gimbal.h +++ b/User/module/gimbal.h @@ -33,6 +33,11 @@ typedef enum { GIMBAL_MODE_AI_CONTROL /* AI控制模式，直接接受AI下发的目标角度 */ } Gimbal_Mode_t; +/* UI 导出结构（供 referee 系统绘制） */ +typedef struct { + Gimbal_Mode_t mode; +} Gimbal_RefereeUI_t; + typedef struct { Gimbal_Mode_t mode; float delta_yaw; diff --git a/User/module/shoot.c b/User/module/shoot.c index 46b13ad..1774165 100644 --- a/User/module/shoot.c +++ b/User/module/shoot.c @@ -1,54 +1,111 @@ +/* + * far♂蛇模块 + */ + +/********************************* 使用示例 **********************************/ +/*1.配置config参数以及Config_ShootInit函数参数*/ +/*2. +COMP_AT9S_CMD_t shoot_ctrl_cmd_rc; +Shoot_t shoot; +Shoot_CMD_t shoot_cmd; -#include "shoot.h" +void Task(void *argument) { + + Config_ShootInit(); + Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ); + Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE); 关于模式选择：初始化一个模式 + + while (1) { + + shoot_cmd.online =shoot_ctrl_cmd_rc.online; + shoot_cmd.ready =shoot_ctrl_cmd_rc.shoot.ready; + shoot_cmd.firecmd =shoot_ctrl_cmd_rc.shoot.firecmd; + + shoot.mode =shoot_ctrl_cmd_rc.mode; 关于模式选择：或者用遥控器随时切换模式，二选一 + + Chassis_UpdateFeedback(&shoot); + Shoot_Control(&shoot,&shoot_cmd); + } +} +*******************************************************************************/ + + +/* Includes ----------------------------------------------------------------- */ +#include #include +#include "shoot.h" +#include "bsp/mm.h" +#include "bsp/time.h" #include "component/filter.h" #include "component/user_math.h" -#include -#include "bsp/time.h" -#include "device/motor_rm.h" +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +#define MAX_FRIC_RPM 7000.0f +#define MAX_TRIG_RPM 7000.0f//这里可能也会影响最高发射频率，待测试 +/* 发射检测参数 */ +#define SHOT_DETECT_RPM_DROP_THRESHOLD 100.0f /* 摩擦轮转速下降阈值，单位rpm */ +#define SHOT_DETECT_SUSPECTED_TIME 0.0005f /* 发射嫌疑持续时间阈值，单位秒 */ + +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ static bool last_firecmd; +/* Private function -------------------------------------------------------- */ -static inline void ScaleSumTo1(float *a, float *b) { - float sum = *a + *b; - if (sum > 1.0f) { - float scale = 1.0f / sum; - *a *= scale; - *b *= scale; - } -} - - +/** + * \brief 设置射击模式 + * + * \param s 包含射击数据的结构体 + * \param mode 要设置的模式 + * + * \return 函数运行结果 + */ int8_t Shoot_SetMode(Shoot_t *s, Shoot_Mode_t mode) { if (s == NULL) { - return -1; // 参数错误 + return SHOOT_ERR_NULL; // 参数错误 } s->mode=mode; - return 0; + return SHOOT_OK; } +/** + * \brief 重置PID积分 + * + * \param s 包含射击数据的结构体 + * + * \return 函数运行结果 + */ int8_t Shoot_ResetIntegral(Shoot_t *s) { if (s == NULL) { - return -1; // 参数错误 + return SHOOT_ERR_NULL; // 参数错误 } - for(int i=0;iparam->basic.fric_num; + for(int i=0;ipid.fric_follow[i]); PID_ResetIntegral(&s->pid.fric_err[i]); } PID_ResetIntegral(&s->pid.trig); PID_ResetIntegral(&s->pid.trig_omg); - return 0; + return SHOOT_OK; } +/** + * \brief 重置计算模块 + * + * \param s 包含射击数据的结构体 + * + * \return 函数运行结果 + */ int8_t Shoot_ResetCalu(Shoot_t *s) { if (s == NULL) { - return -1; // 参数错误 + return SHOOT_ERR_NULL; // 参数错误 } - for(int i=0;iparam->basic.fric_num; + for(int i=0;ipid.fric_follow[i]); PID_Reset(&s->pid.fric_err[i]); @@ -59,15 +116,23 @@ int8_t Shoot_ResetCalu(Shoot_t *s) PID_Reset(&s->pid.trig_omg); LowPassFilter2p_Reset(&s->filter.trig.in, 0.0f); LowPassFilter2p_Reset(&s->filter.trig.out, 0.0f); - return 0; + return SHOOT_OK; } +/** + * \brief 重置输出 + * + * \param s 包含射击数据的结构体 + * + * \return 函数运行结果 + */ int8_t Shoot_ResetOutput(Shoot_t *s) { if (s == NULL) { - return -1; // 参数错误 + return SHOOT_ERR_NULL; // 参数错误 } - for(int i=0;iparam->basic.fric_num; + for(int i=0;ioutput.out_follow[i]=0.0f; s->output.out_err[i]=0.0f; @@ -77,149 +142,545 @@ int8_t Shoot_ResetOutput(Shoot_t *s) s->output.outagl_trig=0.0f; s->output.outomg_trig=0.0f; s->output.outlpf_trig=0.0f; - return 0; + return SHOOT_OK; } +//float last_angle=0.0f; +//float speed=0.0f; +//int8_t Shoot_CalufeedbackRPM(Shoot_t *s) +//{ +// if (s == NULL) { +// return SHOOT_ERR_NULL; // 参数错误 +// } +//// static +// float err; +// err=CircleError(s->feedback.fric[0].rotor_abs_angle,last_angle,M_2PI); +// speed=err/s->dt/M_2PI*60.0f; +// last_angle=s->feedback.fric->rotor_abs_angle; + +// return SHOOT_OK; +//} + +/** + * \brief 根据目标弹丸速度计算摩擦轮目标转速 + * + * \param s 包含射击数据的结构体 + * \param target_speed 目标弹丸速度，单位m/s + * + * \return 函数运行结果 + */ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed) { if (s == NULL) { - return -1; // 参数错误 + return SHOOT_ERR_NULL; // 参数错误 } - s->target_variable.target_rpm=4000.0f/MAX_FRIC_RPM; - return 0; + switch(s->param->basic.projectileType) + { + case SHOOT_PROJECTILE_17MM: + s->target_variable.fric_rpm=5000.0f; + break; + case SHOOT_PROJECTILE_42MM: + s->target_variable.fric_rpm=6500.0f;//6500 + break; + } + return SHOOT_OK; } + +/** + * \brief 更新热量控制数据（使用融合后的热量值） + * + * \param s 包含发射数据的结构体 + * + * \return 函数运行结果 + */ +static int8_t Shoot_UpdateHeatControl(Shoot_t *s) +{ + if (s == NULL) { + return SHOOT_ERR_NULL; + } + + /* 使用融合后的热量值计算剩余热量 */ + s->heatcontrol.Hres = s->heatcontrol.Hmax - s->heatcontrol.Hnow_fused; + + /* 计算冷却射频 ncd = Hcd / Hgen */ + if (s->heatcontrol.Hgen > 0.0f) { + s->heatcontrol.ncd = s->heatcontrol.Hcd / s->heatcontrol.Hgen; + } else { + s->heatcontrol.ncd = 0.0f; + } + + return SHOOT_OK; +} + +/** + * \brief 计算摩擦轮平均转速 + * + * \param s 包含发射数据的结构体 + * + * \return 平均转速 + */ +static float Shoot_CalcAvgFricRpm(Shoot_t *s) +{ + if (s == NULL) { + return 0.0f; + } + + float sum = 0.0f; + uint8_t fric_num = s->param->basic.fric_num; + + for (int i = 0; i < fric_num; i++) { + sum += fabs(s->var_fric.fil_rpm[i]); + } + + return (fric_num > 0) ? (sum / fric_num) : 0.0f; +} + +/** + * \brief 热量数据融合：用裁判系统数据修正自主估计 + * + * \param s 包含发射数据的结构体 + * + * \return 函数运行结果 + * + * \note 裁判系统数据准确但更新慢，自主计算实时但可能误差累积 + * 只在裁判系统数据更新时才修正估计值，保证准确性和实时性 + */ +static int8_t Shoot_FuseHeatData(Shoot_t *s) +{ + if (s == NULL) { + return SHOOT_ERR_NULL; + } + + /* 如果裁判系统数据有效（Hmax > 0） */ + if (s->heatcontrol.Hmax > 0.0f && s->heatcontrol.Hnow >= 0.0f) { + /* 检测裁判系统数据是否有更新 */ + if (s->heatcontrol.Hnow != s->heatcontrol.Hnow_last) { + /* 数据更新了，用裁判系统数据修正估计值 */ + s->heatcontrol.Hnow_estimated = s->heatcontrol.Hnow; + s->heatcontrol.Hnow_last = s->heatcontrol.Hnow; /* 记录本次值 */ + } + + /* 融合值就是裁判系统值（作为基准） */ + s->heatcontrol.Hnow_fused = s->heatcontrol.Hnow; + } else { + /* 裁判系统数据无效，仅使用自主估计值 */ + s->heatcontrol.Hnow_fused = s->heatcontrol.Hnow_estimated; + } + + return SHOOT_OK; +} + +/** + * \brief 计算可发射弹数 + * + * \param s 包含发射数据的结构体 + * + * \return 函数运行结果 + */ +static int8_t Shoot_CalcAvailableShots(Shoot_t *s) +{ + if (s == NULL) { + return SHOOT_ERR_NULL; + } + + /* 计算剩余热量 */ + float heat_available = s->heatcontrol.Hmax - s->heatcontrol.Hnow_fused; + + /* 计算可发射弹数 */ + if (s->heatcontrol.Hgen > 0.0f && heat_available > 0.0f) { + s->heatcontrol.shots_available = (uint16_t)(heat_available / s->heatcontrol.Hgen); + } else { + s->heatcontrol.shots_available = 0; + } + + return SHOOT_OK; +} + + +/** + * \brief 热量检测状态机 + * + * \param s 包含发射数据的结构体 + * + * \return 函数运行结果 + */ +static int8_t Shoot_HeatDetectionFSM(Shoot_t *s) +{ + if (s == NULL) { + return SHOOT_ERR_NULL; + } + + switch (s->heatcontrol.detectState) { + case SHOOT_HEAT_DETECT_IDLE: + /* 停机状态：等待摩擦轮启动并加速到目标速度附近 */ + if (s->running_state == SHOOT_STATE_READY || + s->running_state == SHOOT_STATE_FIRE) { + /* 计算当前平均转速 */ + s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s); + + /* 检查摩擦轮是否初步达到设定速度 */ + if (s->target_variable.fric_rpm - s->heatcontrol.avgFricRpm < SHOT_DETECT_RPM_DROP_THRESHOLD * 0.8f) { + s->heatcontrol.detectState = SHOOT_HEAT_DETECT_READY; + s->heatcontrol.baselineRpm = s->heatcontrol.avgFricRpm; // 记录初始基准转速 + } + } + break; + + case SHOOT_HEAT_DETECT_READY: + /* 准备检测状态：监测摩擦轮相对当前的基准发生掉速 */ + s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s); + + /* 动态更新平稳时的基准转速：若当前转速比基准高，迅速成为新基准；若更低，基准非常缓慢地衰减，以适应正常波动 */ + if (s->heatcontrol.avgFricRpm > s->heatcontrol.baselineRpm) { + s->heatcontrol.baselineRpm = s->heatcontrol.avgFricRpm; + } else { + s->heatcontrol.baselineRpm = s->heatcontrol.baselineRpm * 0.999f + s->heatcontrol.avgFricRpm * 0.001f; + } + + s->heatcontrol.rpmDrop = s->heatcontrol.baselineRpm - s->heatcontrol.avgFricRpm; + + /* 检测掉速（当前转速低于动态基准超过阈值） */ + if (s->heatcontrol.rpmDrop > SHOT_DETECT_RPM_DROP_THRESHOLD) { + s->heatcontrol.detectState = SHOOT_HEAT_DETECT_SUSPECTED; + s->heatcontrol.detectTime = s->timer.now; /* 记录进入嫌疑状态的时间 */ + } + + /* 如果摩擦轮停止 */ + if (s->running_state == SHOOT_STATE_IDLE) { + s->heatcontrol.detectState = SHOOT_HEAT_DETECT_IDLE; + } + break; + + case SHOOT_HEAT_DETECT_SUSPECTED: + /* 发射嫌疑状态：持续检测掉速 */ + s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s); + s->heatcontrol.rpmDrop = s->heatcontrol.baselineRpm - s->heatcontrol.avgFricRpm; + + /* 若掉速消失（转速刚掉下又马上弹回基准附近），回到准备状态 (阈值的 60%) */ + if (s->heatcontrol.rpmDrop < SHOT_DETECT_RPM_DROP_THRESHOLD * 0.6f) { + s->heatcontrol.detectState = SHOOT_HEAT_DETECT_READY; + } + /* 若掉速状态持续超过设定的嫌疑时间，确认这是一次发射 */ + else if ((s->timer.now - s->heatcontrol.detectTime) >= SHOT_DETECT_SUSPECTED_TIME) { + s->heatcontrol.detectState = SHOOT_HEAT_DETECT_CONFIRMED; + } + break; + + case SHOOT_HEAT_DETECT_CONFIRMED: + if (s->heatcontrol.unverified_shots > 0) { + s->heatcontrol.unverified_shots--; + } + s->heatcontrol.detectState = SHOOT_HEAT_DETECT_RECOVERING; + s->heatcontrol.valleyRpm = s->heatcontrol.avgFricRpm; /* 记录进入此时的转速为谷底初值 */ + break; + + case SHOOT_HEAT_DETECT_RECOVERING: + + s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s); + + if (s->heatcontrol.avgFricRpm < s->heatcontrol.valleyRpm) { + s->heatcontrol.valleyRpm = s->heatcontrol.avgFricRpm; + } + + if ((s->heatcontrol.avgFricRpm - s->heatcontrol.valleyRpm > 30.0f) || + (s->target_variable.fric_rpm - s->heatcontrol.avgFricRpm < SHOT_DETECT_RPM_DROP_THRESHOLD * 0.8f)) { + + s->heatcontrol.detectState = SHOOT_HEAT_DETECT_READY; + + s->heatcontrol.baselineRpm = s->heatcontrol.avgFricRpm; + } + + /* 如果摩擦轮停止 */ + if (s->running_state == SHOOT_STATE_IDLE) { + s->heatcontrol.detectState = SHOOT_HEAT_DETECT_IDLE; + } + break; + + default: + s->heatcontrol.detectState = SHOOT_HEAT_DETECT_IDLE; + break; + } + + /* 热量冷却*/ + if (s->heatcontrol.Hnow_estimated > 0.0f && s->heatcontrol.Hcd > 0.0f) { + s->heatcontrol.Hnow_estimated -= s->heatcontrol.Hcd * s->timer.dt; + if (s->heatcontrol.Hnow_estimated < 0.0f) { + s->heatcontrol.Hnow_estimated = 0.0f; + } + } + + /* 空弹链检测与修正：拨盘触发后超过0.4秒内仍未有对应的摩擦轮掉速确认 */ + if (s->heatcontrol.unverified_shots > 0 && (s->timer.now - s->var_trig.time_lastShoot) > 0.4f) { + /* 这些弹丸确定未射出（空发） */ + float refund_heat = 0.0f; + switch (s->param->basic.projectileType) { + case SHOOT_PROJECTILE_17MM: refund_heat = 10.0f; break; + case SHOOT_PROJECTILE_42MM: refund_heat = 100.0f; break; + default: refund_heat = s->heatcontrol.Hgen; break; + } + refund_heat *= s->heatcontrol.unverified_shots; + + s->heatcontrol.Hnow_estimated -= refund_heat; + if (s->heatcontrol.Hnow_estimated < 0.0f) { + s->heatcontrol.Hnow_estimated = 0.0f; + } + + if (s->var_trig.num_shooted >= s->heatcontrol.unverified_shots) { + s->var_trig.num_shooted -= s->heatcontrol.unverified_shots; + } else { + s->var_trig.num_shooted = 0; + } + + if (s->heatcontrol.shots_detected >= s->heatcontrol.unverified_shots) { + s->heatcontrol.shots_detected -= s->heatcontrol.unverified_shots; + } else { + s->heatcontrol.shots_detected = 0; + } + + s->heatcontrol.unverified_shots = 0; + } + /* 数据融合 */ + Shoot_FuseHeatData(s); + + /* 计算可发射弹数 */ + Shoot_CalcAvailableShots(s); + + return SHOOT_OK; +} + +/** + * \brief 根据热量控制计算射频 + * + * \param s 包含发射数据的结构体 + * + * \return 计算出的射频值，单位Hz + */ +static float Shoot_CaluFreqByHeat(Shoot_t *s) +{ + if (s == NULL) { + return 0.0f; + } + + /* 如果热量控制未启用，返回配置的射频 */ + if (!s->param->heatControl.enable) { + return s->param->basic.shot_freq; + } + + /* 检查Hmax和Hcd是否有效 */ + if (s->heatcontrol.Hmax <= 0.0f || s->heatcontrol.Hcd <= 0.0f) { + return s->param->basic.shot_freq; /* 数据无效，使用默认射频 */ + } + + float Hres = s->heatcontrol.Hres; + float Hwarn = s->param->heatControl.Hwarn; + float Hsatu = s->param->heatControl.Hsatu; + float Hthres = s->param->heatControl.Hthres; + float nmax = s->param->heatControl.nmax; + float ncd = s->heatcontrol.ncd; + + /* 剩余热量大于预警值：最大射频 */ + if (Hres > Hwarn) { + return nmax; + } + /* 剩余热量在预警值和饱和值之间：线性映射 */ + else if (Hres > Hsatu) { + /* 线性插值: n = ncd + (nmax - ncd) * (Hres - Hsatu) / (Hwarn - Hsatu) */ + float ratio = (Hres - Hsatu) / (Hwarn - Hsatu); + return ncd + (nmax - ncd) * ratio; + } + /* 剩余热量在饱和值和阈值之间：冷却射频 */ + else if (Hres > Hthres) { + return ncd; + } + /* 剩余热量小于阈值：停止射击 */ + else { + return 0.0f; + } +} + /** * \brief 根据发射弹丸数量及发射频率计算拨弹电机目标角度 * * \param s 包含发射数据的结构体 - * \param num 需要发射的弹丸数量 + * \param cmd 包含射击指令的结构体 + * + * \return 函数运行结果 */ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd) { - if (s == NULL || s->shoot_Anglecalu.num_to_shoot == 0) { - return -1; + if (s == NULL) { + return SHOOT_ERR_NULL; } - if(s->now - s->shoot_Anglecalu.time_last_shoot >= s->param->shot_delay_time && cmd->firecmd) + + /* 更新热量控制数据 */ + Shoot_UpdateHeatControl(s); + + if (s->var_trig.num_toShoot == 0) { + return SHOOT_OK; /* 即使没有弹丸待发，热量更新照常执行 */ + } + + /* 根据热量控制计算实际射频 */ + float actual_freq = Shoot_CaluFreqByHeat(s); + + float dt = s->timer.now - s->var_trig.time_lastShoot; + float dpos; + dpos = CircleError(s->target_variable.trig_angle, s->var_trig.trig_agl, M_2PI); + + /* 使用热量控制计算出的射频，而不是配置的固定射频 */ + if(actual_freq > 0.0f && dt >= 1.0f/actual_freq && cmd->firecmd && dpos<=1.0f) { - s->shoot_Anglecalu.time_last_shoot=s->now; - s->target_variable.target_angle += s->param->trig_step_angle; - if(s->target_variable.target_angle>M_PI)s->target_variable.target_angle-=M_2PI; - else if((s->target_variable.target_angle<-M_PI))s->target_variable.target_angle+=M_2PI; - s->shoot_Anglecalu.num_to_shoot--; + s->var_trig.time_lastShoot=s->timer.now; + CircleAdd(&s->target_variable.trig_angle, M_2PI/s->param->basic.num_trig_tooth, M_2PI); + s->var_trig.num_toShoot--; + s->var_trig.num_shooted++; + + /* 预测性发射：拨盘拨动即认为弹丸会射出，立即增加热量与发射计数 */ + float add_heat = 0.0f; + switch (s->param->basic.projectileType) { + case SHOOT_PROJECTILE_17MM: add_heat = 10.0f; break; + case SHOOT_PROJECTILE_42MM: add_heat = 100.0f; break; + default: add_heat = s->heatcontrol.Hgen; break; + } + s->heatcontrol.Hnow_estimated += add_heat; + if (s->heatcontrol.Hnow_estimated > s->heatcontrol.Hmax) { + s->heatcontrol.Hnow_estimated = s->heatcontrol.Hmax; + } + s->heatcontrol.shots_detected++; + + /* 增加等待摩擦轮掉速确认的弹丸数 */ + s->heatcontrol.unverified_shots++; } - return 0; + return SHOOT_OK; } -int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq) +static float Shoot_CaluCoupledWeight(Shoot_t *s, uint8_t fric_index) { - if (s == NULL || param == NULL || target_freq <= 0.0f) { - return -1; // 参数错误 + if (s == NULL) { + return SHOOT_ERR_NULL; // 参数错误 } - s->param=param; - BSP_CAN_Init(); - for(int i=0;ifric_motor_param[i]); - PID_Init(&s->pid.fric_follow[i], KPID_MODE_CALC_D, target_freq,¶m->fric_follow); - PID_Init(&s->pid.fric_err[i], KPID_MODE_CALC_D, target_freq,¶m->fric_err); - LowPassFilter2p_Init(&s->filter.fric.in[i], target_freq, s->param->filter.fric.in); - LowPassFilter2p_Init(&s->filter.fric.out[i], target_freq, s->param->filter.fric.out); + float Threshold; + switch (s->param->basic.projectileType) { + case SHOOT_PROJECTILE_17MM: + Threshold=50.0f; + break; + case SHOOT_PROJECTILE_42MM: + Threshold=400.0f; + break; + default: + return 0.0f; } - MOTOR_RM_Register(¶m->trig_motor_param); - PID_Init(&s->pid.trig, KPID_MODE_CALC_D, target_freq,¶m->trig); - PID_Init(&s->pid.trig_omg, KPID_MODE_CALC_D, target_freq,¶m->trig_omg); - LowPassFilter2p_Init(&s->filter.trig.in, target_freq, s->param->filter.trig.in); - LowPassFilter2p_Init(&s->filter.trig.out, target_freq, s->param->filter.trig.out); - - memset(&s->shoot_Anglecalu,0,sizeof(s->shoot_Anglecalu)); - memset(&s->output,0,sizeof(s->output)); - s->target_variable.target_rpm=6800.0f; /* 归一化目标转速 */ - - return 0; + float err; + err=fabs((s->param->basic.ratio_multilevel[fric_index] + *s->target_variable.fric_rpm) + -s->feedback.fric[fric_index].rotor_speed); + if (errvar_fric.coupled_control_weights=1.0f-(err*err)/(Threshold*Threshold); + } + else + { + s->var_fric.coupled_control_weights=0.0f; + } + return s->var_fric.coupled_control_weights; } +/** + * \brief 更新射击模块的电机反馈信息 + * + * \param s 包含射击数据的结构体 + * + * \return 函数运行结果 + */ int8_t Shoot_UpdateFeedback(Shoot_t *s) { if (s == NULL) { - return -1; // 参数错误 + return SHOOT_ERR_NULL; // 参数错误 } - float rpm_sum=0.0f; - for(int i = 0; i < SHOOT_FRIC_NUM; i++) { - /* 更新摩擦电机反馈 */ - MOTOR_RM_Update(&s->param->fric_motor_param[i]); - MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->fric_motor_param[i]); + uint8_t fric_num = s->param->basic.fric_num; + for(int i = 0; i < fric_num; i++) { + /* 更新摩擦轮电机反馈 */ + MOTOR_RM_Update(&s->param->motor.fric[i].param); + MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->motor.fric[i].param); if(motor_fed!=NULL) { s->feedback.fric[i]=motor_fed->motor.feedback; } - /* 滤波反馈rpm */ - s->feedback.fil_fric_rpm[i] = LowPassFilter2p_Apply(&s->filter.fric.in[i], s->feedback.fric[i].rotor_speed); - /* 归一化rpm */ - s->feedback.fric_rpm[i] = s->feedback.fil_fric_rpm[i] / MAX_FRIC_RPM; - if(s->feedback.fric_rpm[i]>1.0f)s->feedback.fric_rpm[i]=1.0f; - if(s->feedback.fric_rpm[i]<-1.0f)s->feedback.fric_rpm[i]=-1.0f; - /* 计算平均rpm */ - rpm_sum+=s->feedback.fric_rpm[i]; + /* 滤波摩擦轮电机转速反馈 */ + s->var_fric.fil_rpm[i] = LowPassFilter2p_Apply(&s->filter.fric.in[i], s->feedback.fric[i].rotor_speed); + /* 归一化摩擦轮电机转速反馈 */ + s->var_fric.normalized_fil_rpm[i] = s->var_fric.fil_rpm[i] / MAX_FRIC_RPM; + if(s->var_fric.normalized_fil_rpm[i]>1.0f)s->var_fric.normalized_fil_rpm[i]=1.0f; + if(s->var_fric.normalized_fil_rpm[i]<-1.0f)s->var_fric.normalized_fil_rpm[i]=-1.0f; + /* 计算平均摩擦轮电机转速反馈 */ + s->var_fric.normalized_fil_avgrpm[s->param->motor.fric[i].level-1]+=s->var_fric.normalized_fil_rpm[i]; + } + for (int i=1; ivar_fric.normalized_fil_avgrpm[i]=s->var_fric.normalized_fil_avgrpm[i]/fric_num/MAX_NUM_MULTILEVEL; } - s->feedback.fric_avgrpm=rpm_sum/SHOOT_FRIC_NUM; /* 更新拨弹电机反馈 */ - MOTOR_RM_Update(&s->param->trig_motor_param); - MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->trig_motor_param); - if(motor_fed!=NULL) - { - s->feedback.trig=motor_fed->feedback; - } - /* 将多圈角度归化到单圈 (-M_PI, M_PI) */ - s->feedback.trig_angle_cicle = s->feedback.trig.rotor_abs_angle; - s->feedback.trig_angle_cicle = fmod(s->feedback.trig_angle_cicle, M_2PI); // 将角度限制在 [-2π, 2π] - if (s->feedback.trig_angle_cicle > M_PI) { - s->feedback.trig_angle_cicle -= M_2PI; // 调整到 [-π, π] - }else if (s->feedback.trig_angle_cicle < -M_PI) { - s->feedback.trig_angle_cicle += M_2PI; // 调整到 [-π, π] - } - - s->feedback.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.rotor_speed); - s->feedback.trig_rpm = s->feedback.trig.rotor_speed / MAX_TRIG_RPM; - if(s->feedback.trig_rpm>1.0f)s->feedback.trig_rpm=1.0f; //如果单环效果好就删 - if(s->feedback.trig_rpm<-1.0f)s->feedback.trig_rpm=-1.0f; + MOTOR_RM_Update(&s->param->motor.trig); + s->feedback.trig = *MOTOR_RM_GetMotor(&s->param->motor.trig); + s->var_trig.trig_agl=s->param->basic.extra_deceleration_ratio*s->feedback.trig.gearbox_total_angle; + while(s->var_trig.trig_agl<0)s->var_trig.trig_agl+=M_2PI; + while(s->var_trig.trig_agl>=M_2PI)s->var_trig.trig_agl-=M_2PI; + if (s->feedback.trig.motor.reverse) { + s->var_trig.trig_agl = M_2PI - s->var_trig.trig_agl; + } + s->var_trig.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.feedback.rotor_speed); + s->var_trig.trig_rpm = s->feedback.trig.feedback.rotor_speed / MAX_TRIG_RPM; + if(s->var_trig.trig_rpm>1.0f)s->var_trig.trig_rpm=1.0f; + if(s->var_trig.trig_rpm<-1.0f)s->var_trig.trig_rpm=-1.0f; s->errtosee = s->feedback.fric[0].rotor_speed - s->feedback.fric[1].rotor_speed; - return 0; + return SHOOT_OK; } -int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd) +/** + * \brief 射击模块运行状态机 + * + * \param s 包含射击数据的结构体 + * \param cmd 包含射击指令的结构体 + * + * \return 函数运行结果 + */float a; +int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd) { if (s == NULL || cmd == NULL) { - return -1; // 参数错误 + return SHOOT_ERR_NULL; // 参数错误 } - s->now = BSP_TIME_Get_us() / 1000000.0f; - s->dt = (BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f; - s->lask_wakeup = BSP_TIME_Get_us(); - s->online = cmd->online; - if(!s->online /*|| s->mode==SHOOT_MODE_SAFE*/){ - for(int i=0;iparam->fric_motor_param[i]); - } - MOTOR_RM_Relax(&s->param->trig_motor_param); + uint8_t fric_num = s->param->basic.fric_num; + + if(s->mode==SHOOT_MODE_SAFE){ + for(int i=0;iparam->motor.fric[i].param); + } + MOTOR_RM_Relax(&s->param->motor.trig); + s->target_variable.trig_angle=s->var_trig.trig_agl; } else{ + Shoot_CaluTargetAngle(s, cmd); switch(s->running_state) { case SHOOT_STATE_IDLE:/*熄火等待*/ - for(int i=0;ioutput.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],0.0f,s->feedback.fric_rpm[i],0,s->dt); + for(int i=0;ipid.fric_follow[i]); + s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],0.0f,s->var_fric.normalized_fil_rpm[i],0,s->timer.dt); s->output.out_fric[i]=s->output.out_follow[i]; s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]); - MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]); + MOTOR_RM_SetOutput(&s->param->motor.fric[i].param, s->output.lpfout_fric[i]); } - s->output.outagl_trig =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,0,s->dt); - s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt); + + s->output.outagl_trig =PID_Calc(&s->pid.trig,s->target_variable.trig_angle,s->var_trig.trig_agl,0,s->timer.dt); + s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->var_trig.trig_rpm,0,s->timer.dt); s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig); - MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig); + MOTOR_RM_SetOutput(&s->param->motor.trig, s->output.outlpf_trig); + + /* 检查状态机 */ if(cmd->ready) { Shoot_ResetCalu(s); @@ -228,25 +689,47 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd) s->running_state=SHOOT_STATE_READY; } break; - case SHOOT_STATE_READY:/*准备射击*/ - for(int i=0;ioutput.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],s->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt); - s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt); - /* 按比例缩放并加和输出 */ - ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]); - s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i]; - /* 滤波 */ - s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]); - /* 输出 */ - MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]); - } - /* 拨弹电机输出 */ - s->output.outagl_trig =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,0,s->dt); - s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt); + case SHOOT_STATE_READY:/*准备射击*/ + for(int i=0;iparam->motor.fric[i].level-1; + float target_rpm=s->param->basic.ratio_multilevel[level] + *s->target_variable.fric_rpm/MAX_FRIC_RPM; + /* 计算耦合控制权重 */ + float w=Shoot_CaluCoupledWeight(s,i); + /* 计算跟随输出、计算修正输出 */ + s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i], + target_rpm, + s->var_fric.normalized_fil_rpm[i], + 0, + s->timer.dt); + s->output.out_err[i]=w*PID_Calc(&s->pid.fric_err[i], + s->var_fric.normalized_fil_avgrpm[s->param->motor.fric[i].level-1], + s->var_fric.normalized_fil_rpm[i], + 0, + s->timer.dt); + /* 按比例缩放并加和输出 */ + ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]); + s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i]; + /* 滤波 */ + s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]); + /* 设置输出 */ + MOTOR_RM_SetOutput(&s->param->motor.fric[i].param, s->output.lpfout_fric[i]); + } + /* 设置拨弹电机输出 */ + s->output.outagl_trig =PID_Calc(&s->pid.trig, + s->target_variable.trig_angle, + s->var_trig.trig_agl, + 0, + s->timer.dt); + s->output.outomg_trig =PID_Calc(&s->pid.trig_omg, + s->output.outagl_trig, + s->var_trig.trig_rpm, + 0, + s->timer.dt); s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig); - MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig); + MOTOR_RM_SetOutput(&s->param->motor.trig, s->output.outlpf_trig); /* 检查状态机 */ if(!cmd->ready) @@ -255,50 +738,278 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd) Shoot_ResetOutput(s); s->running_state=SHOOT_STATE_IDLE; } - else if(last_firecmd==false&&cmd->firecmd==true) + else if(last_firecmd==false&&cmd->firecmd==true) { - Shoot_ResetOutput(s); s->running_state=SHOOT_STATE_FIRE; - s->shoot_Anglecalu.num_to_shoot+=s->param->shot_burst_num; - + /* 根据模式设置待发射弹数 */ + switch(s->mode) + { + case SHOOT_MODE_SINGLE: + s->var_trig.num_toShoot=1; + break; + case SHOOT_MODE_BURST: + s->var_trig.num_toShoot=s->param->basic.shot_burst_num; + break; + case SHOOT_MODE_CONTINUE: + s->var_trig.num_toShoot=6666; + break; + default: + s->var_trig.num_toShoot=0; + break; + } } break; - case SHOOT_STATE_FIRE: - Shoot_CaluTargetAngle(s, cmd); - for(int i=0;ioutput.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],s->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt); - s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt); + uint8_t level=s->param->motor.fric[i].level-1; + float target_rpm=s->param->basic.ratio_multilevel[level] + *s->target_variable.fric_rpm/MAX_FRIC_RPM; + /* 计算耦合控制权重 */ + float w=Shoot_CaluCoupledWeight(s,i); + /* 计算跟随输出、计算修正输出 */ + s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i], + target_rpm, + s->var_fric.normalized_fil_rpm[i], + 0, + s->timer.dt); + s->output.out_err[i]=w*PID_Calc(&s->pid.fric_err[i], + s->var_fric.normalized_fil_avgrpm[s->param->motor.fric[i].level-1], + s->var_fric.normalized_fil_rpm[i], + 0, + s->timer.dt); + /* 按比例缩放并加和输出 */ ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]); s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i]; + /* 滤波 */ s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]); - MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]); + /* 设置输出 */ + MOTOR_RM_SetOutput(&s->param->motor.fric[i].param, s->output.lpfout_fric[i]); } - s->output.outagl_trig =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,0,s->dt); - s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt); + /* 设置拨弹电机输出 */ + s->output.outagl_trig =PID_Calc(&s->pid.trig, + s->target_variable.trig_angle, + s->var_trig.trig_agl, + 0, + s->timer.dt); + s->output.outomg_trig =PID_Calc(&s->pid.trig_omg, + s->output.outagl_trig, + s->var_trig.trig_rpm, + 0, + s->timer.dt); s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig); - MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig); + MOTOR_RM_SetOutput(&s->param->motor.trig, s->output.outlpf_trig); + + /* 检查状态机 */ if(!cmd->firecmd) { - Shoot_ResetOutput(s); - s->running_state=SHOOT_STATE_READY; + s->running_state=SHOOT_STATE_READY; + s->target_variable.trig_angle=s->var_trig.trig_agl; + s->var_trig.num_toShoot=0; } break; + default: s->running_state=SHOOT_STATE_IDLE; break; } } - MOTOR_RM_Ctrl(&s->param->fric_motor_param[0]); + /* 输出 */ + MOTOR_RM_Ctrl(&s->param->motor.fric[0].param); + if(s->param->basic.fric_num>4) + { + MOTOR_RM_Ctrl(&s->param->motor.fric[4].param); + } + MOTOR_RM_Ctrl(&s->param->motor.trig); last_firecmd = cmd->firecmd; - return 0; + return SHOOT_OK; } +/** + * \brief 射击模块堵塞检测状态机 + * + * \param s 包含射击数据的结构体 + * \param cmd 包含射击指令的结构体 + * + * \return 函数运行结果 + */ +int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd) +{ + if (s == NULL) { + return SHOOT_ERR_NULL; // 参数错误 + } + if(s->param->jamDetection.enable){ + switch (s->jamdetection.fsmState) { + case SHOOT_JAMFSM_STATE_NORMAL:/* 正常运行 */ + /* 检测电流是否超过阈值 */ + if (s->feedback.trig.feedback.torque_current/1000.0f > s->param->jamDetection.threshold) { + s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_SUSPECTED; + s->jamdetection.lastTime = s->timer.now; /* 记录怀疑开始时间 */ + } + /* 正常运行射击状态机 */ + Shoot_RunningFSM(s, cmd); + break; + case SHOOT_JAMFSM_STATE_SUSPECTED:/* 怀疑堵塞 */ + /* 检测电流是否低于阈值 */ + if (s->feedback.trig.feedback.torque_current/1000.0f < s->param->jamDetection.threshold) { + s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_NORMAL; + break; + } + /* 检测高阈值状态是否超过设定怀疑时间 */ + else if ((s->timer.now - s->jamdetection.lastTime) >= s->param->jamDetection.suspectedTime) { + s->jamdetection.detected =true; + s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_CONFIRMED; + break; + } + /* 正常运行射击状态机 */ + Shoot_RunningFSM(s, cmd); + break; + case SHOOT_JAMFSM_STATE_CONFIRMED:/* 确认堵塞 */ + /* 清空待发射弹 */ + s->var_trig.num_toShoot=0; + /* 修改拨弹盘目标角度 */ + s->target_variable.trig_angle = s->var_trig.trig_agl-(M_2PI/s->param->basic.num_trig_tooth); + /* 切换状态 */ + s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_DEAL; + /* 记录处理开始时间 */ + s->jamdetection.lastTime = s->timer.now; + case SHOOT_JAMFSM_STATE_DEAL:/* 堵塞处理 */ + /* 正常运行射击状态机 */ + Shoot_RunningFSM(s, cmd); + /* 给予0.3秒响应时间并检测电流小于20A，认为堵塞已解除 */ + if ((s->timer.now - s->jamdetection.lastTime)>=0.3f&&s->feedback.trig.feedback.torque_current/1000.0f < 20.0f) { + s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_NORMAL; + } + break; + default: + s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_NORMAL; + break; + } + } + else{ + s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_NORMAL; + s->jamdetection.detected = false; + Shoot_RunningFSM(s, cmd); + } + return SHOOT_OK; +} +/* Exported functions ------------------------------------------------------- */ +/** + * \brief 初始化射击模块 + * + * \param s 包含射击数据的结构体 + * \param param 包含射击参数的结构体 + * \param target_freq 控制循环频率，单位Hz + * + * \return 函数运行结果 + */ +int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq) +{ + if (s == NULL || param == NULL || target_freq <= 0.0f) { + return SHOOT_ERR_NULL; // 参数错误 + } + uint8_t fric_num = param->basic.fric_num; + s->param=param; + BSP_FDCAN_Init(); + /* 初始化摩擦轮PID和滤波器 */ + for(int i=0;imotor.fric[i].param); + PID_Init(&s->pid.fric_follow[i], + KPID_MODE_CALC_D, + target_freq, + ¶m->pid.fric_follow); + PID_Init(&s->pid.fric_err[i], + KPID_MODE_CALC_D, + target_freq, + ¶m->pid.fric_err); + LowPassFilter2p_Init(&s->filter.fric.in[i], + target_freq, + s->param->filter.fric.in); + LowPassFilter2p_Init(&s->filter.fric.out[i], + target_freq, + s->param->filter.fric.out); + } + /* 初始化拨弹PID和滤波器 */ + MOTOR_RM_Register(¶m->motor.trig); + switch(s->param->motor.trig.module) + { + case MOTOR_M3508: + PID_Init(&s->pid.trig, + KPID_MODE_CALC_D, + target_freq, + ¶m->pid.trig_3508); + PID_Init(&s->pid.trig_omg, + KPID_MODE_CALC_D, + target_freq, + ¶m->pid.trig_omg_3508); + break; + case MOTOR_M2006: + PID_Init(&s->pid.trig, + KPID_MODE_CALC_D, + target_freq, + ¶m->pid.trig_2006); + PID_Init(&s->pid.trig_omg, + KPID_MODE_CALC_D, + target_freq, + ¶m->pid.trig_omg_2006); + break; + default: + return SHOOT_ERR_MOTOR; + break; + } + LowPassFilter2p_Init(&s->filter.trig.in, + target_freq, + s->param->filter.trig.in); + LowPassFilter2p_Init(&s->filter.trig.out, + target_freq, + s->param->filter.trig.out); + /* 归零变量 */ + memset(&s->var_trig,0,sizeof(s->var_trig)); + /* 初始化热量控制 */ + memset(&s->heatcontrol, 0, sizeof(s->heatcontrol)); + return SHOOT_OK; +} +/** + * \brief 射击模块控制主函数 + * + * \param s 包含射击数据的结构体 + * \param cmd 包含射击指令的结构体 + * + * \return 函数运行结果 + */ +int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd) +{ + if (s == NULL || cmd == NULL) { + return SHOOT_ERR_NULL; // 参数错误 + } + s->timer.now = BSP_TIME_Get_us() / 1000000.0f; + s->timer.dt = (BSP_TIME_Get_us() - s->timer.lask_wakeup) / 1000000.0f; + s->timer.lask_wakeup = BSP_TIME_Get_us(); + Shoot_CaluTargetRPM(s,233); + /* 运行热量检测状态机 */ + Shoot_HeatDetectionFSM(s); + /* 运行卡弹检测状态机 */ + Shoot_JamDetectionFSM(s, cmd); +// Shoot_CalufeedbackRPM(s); + return SHOOT_OK; +} + +/** + * @brief 导出射击UI数据 + * + * @param s 射击结构体 + * @param ui UI结构体 + */ +void Shoot_DumpUI(Shoot_t *s, Shoot_RefereeUI_t *ui) { + ui->mode = s->mode; + ui->fire = s->running_state; +} diff --git a/User/module/shoot.h b/User/module/shoot.h index 57f1f94..cd50342 100644 --- a/User/module/shoot.h +++ b/User/module/shoot.h @@ -1,156 +1,243 @@ /* - * far蛇模组 + * far♂蛇模块 */ #pragma once +#include #ifdef __cplusplus extern "C" { #endif #include "main.h" -#include #include "component/pid.h" #include "device/motor_rm.h" - - /* Exported constants ------------------------------------------------------- */ -#define SHOOT_OK (0) /* 运行正常 */ -#define SHOOT_ERR (-1) /* 运行时发现了其他错误 */ -#define SHOOT_ERR_NULL (-2) /* 运行时发现NULL指针 */ -#define SHOOT_ERR_MODE (-3) /* 运行时配置了错误的CMD_ChassisMode_t */ -#define SHOOT_ERR_TYPE (-4) /* 运行时配置了错误的Chassis_Type_t */ +#define MAX_FRIC_NUM 2 +#define MAX_NUM_MULTILEVEL 1 /* 多级发射级数 */ -#define SHOOT_FRIC_NUM (2) /* 摩擦轮数量 */ -#define MAX_FRIC_RPM 7000.0f -#define MAX_TRIG_RPM 5000.0f +#define SHOOT_OK (0) /* 运行正常 */ +#define SHOOT_ERR_NULL (-1) /* 运行时发现NULL指针 */ +#define SHOOT_ERR_ERR (-2) /* 运行时发现了其他错误 */ +#define SHOOT_ERR_MODE (-3) /* 运行时配置了错误的Mode */ +#define SHOOT_ERR_MOTOR (-4) /* 运行时配置了不存在的电机类型 */ +#define SHOOT_ERR_MALLOC (-5) /* 内存分配失败 */ /* Exported macro ----------------------------------------------------------- */ /* Exported types ----------------------------------------------------------- */ +typedef enum { + SHOOT_JAMFSM_STATE_NORMAL = 0,/* 常规状态 */ + SHOOT_JAMFSM_STATE_SUSPECTED, /* 怀疑状态 */ + SHOOT_JAMFSM_STATE_CONFIRMED, /* 确认状态 */ + SHOOT_JAMFSM_STATE_DEAL /* 处理状态 */ +}Shoot_JamDetectionFSM_State_t; typedef enum { - SHOOT_STATE_IDLE = 0, // 熄火 - SHOOT_STATE_READY, // 准备射击 - SHOOT_STATE_FIRE // 射击 -} Shoot_State_t; + SHOOT_HEAT_DETECT_IDLE = 0, /* 停机状态 */ + SHOOT_HEAT_DETECT_READY, /* 准备检测状态 */ + SHOOT_HEAT_DETECT_SUSPECTED, /* 发射嫌疑状态 */ + SHOOT_HEAT_DETECT_CONFIRMED, /* 确认发射状态 */ + SHOOT_HEAT_DETECT_RECOVERING /* 发射恢复状态 */ +}Shoot_HeatDetectionFSM_State_t; +typedef enum { + SHOOT_STATE_IDLE = 0,/* 熄火 */ + SHOOT_STATE_READY, /* 准备射击 */ + SHOOT_STATE_FIRE /* 射击 */ +}Shoot_Running_State_t; typedef enum { - SHOOT_MODE_SAFE = 0, // 安全模式 - SHOOT_MODE_SINGLE, // 单发模式 - SHOOT_MODE_BURST, // 多发模式 - SHOOT_MODE_CONTINUE // 连发模式 -} Shoot_Mode_t; + SHOOT_MODE_SAFE = 0,/* 安全模式 */ + SHOOT_MODE_SINGLE, /* 单发模式 */ + SHOOT_MODE_BURST, /* 多发模式 */ + SHOOT_MODE_CONTINUE,/* 连发模式 */ + SHOOT_MODE_NUM +}Shoot_Mode_t; + +/* UI 导出结构（供 referee 系统绘制） */ typedef struct { - bool online; - - bool ready; /* 准备射击 */ - bool firecmd; /* 射击指令 */ + Shoot_Mode_t mode; + Shoot_Running_State_t fire; +} Shoot_RefereeUI_t; + +typedef enum { + SHOOT_PROJECTILE_17MM, + SHOOT_PROJECTILE_42MM, +}Shoot_Projectile_t; + +typedef struct{ + MOTOR_RM_Param_t param; + uint8_t level; /* 电机属于第几级发射；1起始 */ +}Shoot_MOTOR_RM_Param_t; -} Shoot_CMD_t; typedef struct { - MOTOR_Feedback_t fric[SHOOT_FRIC_NUM]; /* 摩擦轮电机反馈 */ - MOTOR_Feedback_t trig; /* 拨弹电机反馈 */ - - float fil_fric_rpm[SHOOT_FRIC_NUM]; /* 滤波后的摩擦轮转速 */ - float fil_trig_rpm; /* 滤波后的拨弹电机转速*/ - - float trig_angle_cicle; /* 拨弹电机减速输出轴单圈角度（0~M_2PI） */ - - float fric_rpm[SHOOT_FRIC_NUM]; /* 归一化摩擦轮转速 */ - float fric_avgrpm; /* 归一化摩擦轮平均转速*/ - float trig_rpm; /* 归一化拨弹电机转速*/ - + MOTOR_Feedback_t fric[MAX_FRIC_NUM];/* 摩擦轮电机反馈 */ + MOTOR_RM_t trig; /* 拨弹电机反馈 */ + }Shoot_Feedback_t; typedef struct{ - float time_last_shoot; - uint8_t num_to_shoot; - uint8_t num_shooted; -}Shoot_AngleCalu_t; + float fil_rpm[MAX_FRIC_NUM]; /* 滤波后的摩擦轮原始转速 */ + float normalized_fil_rpm[MAX_FRIC_NUM]; /* 归一化摩擦轮转速 */ + float normalized_fil_avgrpm[MAX_NUM_MULTILEVEL]; /* 归一化摩擦轮平均转速 */ + float coupled_control_weights; /* 耦合控制权重 */ +}Shoot_VARSForFricCtrl_t; + +typedef struct{ + float time_lastShoot;/* 上次射击时间 */ + uint16_t num_toShoot;/* 剩余待发射弹数 */ + uint16_t num_shooted;/* 已发射弹数 */ + + float trig_agl; /*计算所有减速比后的拨弹盘的角度*/ + float fil_trig_rpm; /* 滤波后的拨弹电机转速*/ + float trig_rpm; /* 归一化拨弹电机转速 */ +}Shoot_VARSForTrigCtrl_t; typedef struct { - float out_follow[SHOOT_FRIC_NUM]; - float out_err[SHOOT_FRIC_NUM]; - float out_fric[SHOOT_FRIC_NUM]; - float lpfout_fric[SHOOT_FRIC_NUM]; + bool detected; /* 卡弹检测结果 */ + float lastTime;/* 用于记录怀疑状态或处理状态的开始时间 */ + Shoot_JamDetectionFSM_State_t fsmState; /* 卡弹检测状态机 */ +}Shoot_JamDetection_t; +typedef struct { + /* 从裁判系统读取的常量 */ + float Hmax; // 热量上限 + float Hcd; // 热量冷却速度 + float Hgen; // 每发射一发产生的热量 + /* 实时数据 */ + float Hnow; // 当前热量（从裁判系统实时读取） + float Hnow_last; // 上次裁判系统热量值（用于检测更新） + float Hres; // 剩余热量 (Hmax - Hnow) + + /* 控制变量 */ + float ncd; // 冷却射频（消耗热量 = 自然恢复热量） + + /* 发射检测状态机 */ + Shoot_HeatDetectionFSM_State_t detectState; // 检测状态 + float detectTime; // 检测计时器 + float avgFricRpm; // 摩擦轮平均转速 + float baselineRpm; // 动态基准转速，用于连发掉速检测的参照 + float valleyRpm; // 掉速谷底转速，用于判断掉速回升 + float rpmDrop; // 转速下降量 + bool shotDetected; // 检测到发射标志 + + /* 自主热量估计 */ + float Hnow_estimated; // 估计的当前热量 + float Hnow_fused; // 融合后的热量值 + uint16_t shots_detected; // 检测到的发射数 + uint16_t shots_available;// 当前热量可发射弹数 + uint16_t unverified_shots; // 已经拨弹但等待摩擦轮掉速确认的弹丸数 +}Shoot_HeatControl_t; + +typedef struct { + float out_follow[MAX_FRIC_NUM]; + float out_err[MAX_FRIC_NUM]; + float out_fric[MAX_FRIC_NUM]; + float lpfout_fric[MAX_FRIC_NUM]; + float outagl_trig; float outomg_trig; float outlpf_trig; }Shoot_Output_t; - +typedef struct { + Shoot_Mode_t mode;/* 射击模式 */ + bool ready; /* 准备射击 */ + bool firecmd; /* 射击 */ +}Shoot_CMD_t; /* 底盘参数的结构体，包含所有初始化用的参数，通常是const，存好几组 */ typedef struct { - float trig_step_angle; /* 每发弹丸拨弹电机转动的角度 */ - float shot_delay_time; /* 射击间隔时间，单位秒 */ - uint8_t shot_burst_num; /* 多发模式下一次射击的发数 */ - - MOTOR_RM_Param_t fric_motor_param[SHOOT_FRIC_NUM]; - MOTOR_RM_Param_t trig_motor_param; - - - KPID_Params_t fric_follow; /* 摩擦轮电机PID控制参数，用于跟随目标速度 */ - KPID_Params_t fric_err; /* 摩擦轮电机PID控制参数，用于消除转速误差 */ - KPID_Params_t trig; /* 拨弹电机PID控制参数 */ - KPID_Params_t trig_omg; /* 拨弹电机PID控制参数 */ - - /* 低通滤波器截止频率 */ + struct{ + Shoot_Projectile_t projectileType; /* 发射弹丸类型 */; + size_t fric_num; /* 摩擦轮电机数量 */ + float ratio_multilevel[MAX_NUM_MULTILEVEL]; /* 多级发射各级速度比例 */ + float extra_deceleration_ratio; /*电机出轴到拨盘的额外减速比；没有写1*/ + size_t num_trig_tooth; /* 拨弹盘每圈弹丸数量 */ + float shot_freq; /* 射击频率，单位Hz */ + size_t shot_burst_num; /* 多发模式一次射击的数量 */ + }basic;/* 发射基础参数 */ + struct { + bool enable; /* 是否启用卡弹检测 */ + float threshold; /* 卡弹检测阈值，单位A (dji2006建议设置为120A，dji3508建议设置为235A,根据实际测试调整)*/ + float suspectedTime;/* 卡弹怀疑时间，单位秒 */ + }jamDetection;/* 卡弹检测参数 */ + struct { + bool enable; /* 是否启用热量控制 */ + float nmax;//最大射频 + float Hwarn;//热量预警值 + float Hsatu;//热量饱和值 + float Hthres;//热量阈值，超过这个值将无法射击 + }heatControl;/* 热量控制参数 */ + struct { + Shoot_MOTOR_RM_Param_t fric[MAX_FRIC_NUM]; + MOTOR_RM_Param_t trig; + }motor; /* 电机参数 */ + struct{ + KPID_Params_t fric_follow; /* 摩擦轮电机PID控制参数，用于跟随目标速度 */ + KPID_Params_t fric_err; /* 摩擦轮电机PID控制参数，用于消除转速误差 */ + KPID_Params_t trig_2006; /* 拨弹电机PID控制参数 */ + KPID_Params_t trig_omg_2006;/* 拨弹电机PID控制参数 */ + KPID_Params_t trig_3508; /* 拨弹电机PID控制参数 */ + KPID_Params_t trig_omg_3508;/* 拨弹电机PID控制参数 */ + }pid; /* PID参数 */ struct { struct{ - float in; /* 反馈值滤波器 */ - float out; /* 输出值滤波器 */ + float in; /* 反馈值滤波器截止频率 */ + float out; /* 输出值滤波器截止频率 */ }fric; struct{ - float in; /* 反馈值滤波器 */ - float out; /* 输出值滤波器 */ + float in; /* 反馈值滤波器截止频率 */ + float out; /* 输出值滤波器截止频率 */ }trig; - } filter; + } filter;/* 滤波器截止频率参数 */ } Shoot_Params_t; +typedef struct { + float now; /* 当前时间，单位秒 */ + uint64_t lask_wakeup; /* 上次唤醒时间，单位微秒 */ + float dt; /* 两次唤醒间隔时间，单位秒 */ +}Shoot_Timer_t; + /* * 运行的主结构体，所有这个文件里的函数都在操作这个结构体 * 包含了初始化参数，中间变量，输出变量 */ typedef struct { - bool online; - - float now; - uint64_t lask_wakeup; - float dt; - - Shoot_Params_t *param; /* */ - /* 模块通用 */ - Shoot_State_t running_state; /* 运行状态机 */ - Shoot_Mode_t mode; - /* 反馈信息 */ + Shoot_Timer_t timer; /* 计时器 */ + Shoot_Params_t *param; /* 发射参数 */ + /* 模块通用 */ + Shoot_Mode_t mode; /* 射击模式 */ + /* 反馈信息 */ Shoot_Feedback_t feedback; - /* 控制信息*/ - Shoot_AngleCalu_t shoot_Anglecalu; - Shoot_Output_t output; - /* 目标控制量 */ - struct { - float target_rpm; /* 目标摩擦轮转速 */ - float target_angle; /* 目标拨弹位置 */ + /* 控制信息*/ + Shoot_Running_State_t running_state; /* 运行状态机 */ + Shoot_JamDetection_t jamdetection; /* 卡弹检测控制信息 */ + Shoot_HeatControl_t heatcontrol; /* 热量控制信息 */ + Shoot_VARSForFricCtrl_t var_fric; /* 摩擦轮控制信息 */ + Shoot_VARSForTrigCtrl_t var_trig; /* 角度计算控制信息 */ + Shoot_Output_t output; /* 输出信息 */ + /* 目标控制量 */ + struct { + float fric_rpm; /* 目标摩擦轮转速 */ + float trig_angle;/* 目标拨弹位置 */ }target_variable; /* 反馈控制用的PID */ struct { - KPID_t fric_follow[SHOOT_FRIC_NUM]; /* */ - KPID_t fric_err[SHOOT_FRIC_NUM]; /* */ - KPID_t trig; - KPID_t trig_omg; + KPID_t fric_follow[MAX_FRIC_NUM];/* 摩擦轮PID主结构体 */ + KPID_t fric_err[MAX_FRIC_NUM]; /* 摩擦轮PID主结构体 */ + KPID_t trig; /* 拨弹PID主结构体 */ + KPID_t trig_omg; /* 拨弹PID主结构体 */ } pid; /* 滤波器 */ struct { - struct{ - LowPassFilter2p_t in[SHOOT_FRIC_NUM]; /* 反馈值滤波器 */ - LowPassFilter2p_t out[SHOOT_FRIC_NUM]; /* 输出值滤波器 */ + struct{ + LowPassFilter2p_t in[MAX_FRIC_NUM]; /* 反馈值滤波器 */ + LowPassFilter2p_t out[MAX_FRIC_NUM];/* 输出值滤波器 */ }fric; struct{ - LowPassFilter2p_t in; /* 反馈值滤波器 */ - LowPassFilter2p_t out; /* 输出值滤波器 */ + LowPassFilter2p_t in; /* 反馈值滤波器 */ + LowPassFilter2p_t out;/* 输出值滤波器 */ }trig; } filter; @@ -171,6 +258,16 @@ typedef struct { */ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq); +/** + * \brief 设置发射模式 + * + * \param s 包含发射数据的结构体 + * \param mode 包含发射模式的枚举 + * + * \return 函数运行结果 + */ +int8_t Shoot_SetMode(Shoot_t *s, Shoot_Mode_t mode); + /** * \brief 更新反馈 * @@ -190,6 +287,13 @@ int8_t Shoot_UpdateFeedback(Shoot_t *s); */ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd); +/** + * @brief 导出射击UI数据 + * + * @param s 射击结构体 + * @param ui UI结构体 + */ +void Shoot_DumpUI(Shoot_t *s, Shoot_RefereeUI_t *ui); #ifdef __cplusplus diff --git a/User/device/vision_bridge.c b/User/module/vision_bridge.c similarity index 100% rename from User/device/vision_bridge.c rename to User/module/vision_bridge.c diff --git a/User/device/vision_bridge.h b/User/module/vision_bridge.h similarity index 100% rename from User/device/vision_bridge.h rename to User/module/vision_bridge.h diff --git a/User/task/ai.c b/User/task/ai.c index 6fd6395..ea31f72 100644 --- a/User/task/ai.c +++ b/User/task/ai.c @@ -9,7 +9,7 @@ #include "bsp/fdcan.h" #include "module/config.h" #include "module/gimbal.h" -#include "device/vision_bridge.h" +#include "module/vision_bridge.h" /* USER INCLUDE END */ /* Private typedef ---------------------------------------------------------- */ diff --git a/User/task/cmd.c b/User/task/cmd.c new file mode 100644 index 0000000..58f338f --- /dev/null +++ b/User/task/cmd.c @@ -0,0 +1,140 @@ +/* + cmd Task + +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "task/user_task.h" +/* USER INCLUDE BEGIN */ +#include "device/dr16.h" +#include "module/config.h" +#include "module/balance_chassis.h" +#include "module/gimbal.h" +#include "module/shoot.h" +#include "module/cmd/cmd.h" +#include "bsp/fdcan.h" +#include "module/vision_bridge.h" +//#define DEAD_AREA 0.05f +/* USER INCLUDE END */ + +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private variables ----------- +--------------------------------------------- */ +/* USER STRUCT BEGIN */ +#if CMD_RCTypeTable_Index == 0 +DR16_t cmd_dr16; +#elif CMD_RCTypeTable_Index == 1 +AT9S_t cmd_at9s; +#endif +// AI_cmd_t cmd_ai; + +#if CMD_ENABLE_SRC_REF +CMD_RawInput_REF_t cmd_ref; +#endif + +static CMD_t cmd; + +// AI_t ai; +/* USER STRUCT END */ + +/* Private function --------------------------------------------------------- */ +/* Exported functions ------------------------------------------------------- */ +void Task_cmd(void *argument) { + (void)argument; /* 未使用argument，消除警告 */ + + + /* 计算任务运行到指定频率需要等待的tick数 */ + const uint32_t delay_tick = osKernelGetTickFreq() / CMD_FREQ; + + osDelay(CMD_INIT_DELAY); /* 延时一段时间再开启任务 */ + + uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ + /* USER CODE INIT BEGIN */ + CMD_Init(&cmd, &Config_GetRobotParam()->cmd_param); + // AI_Init(&ai, &Config_GetRobotParam()->ai_param); + /* 注册CAN接收ID */ + /* USER CODE INIT END */ + + while (1) { + tick += delay_tick; /* 计算下一个唤醒时刻 */ + /* USER CODE BEGIN */ + #if CMD_RCTypeTable_Index == 0 + osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_dr16, NULL, 0); + #elif CMD_RCTypeTable_Index == 1 + osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_at9s, NULL, 0); + #endif + + // /* 从CAN2接收AI命令 */ + // AI_ParseCmdFromCan( &ai,&cmd_ai); + // #error "弄好自瞄之后统一改" + +#if CMD_ENABLE_SRC_REF + /* 从裁判系统读取最新数据（非阻塞） */ + osMessageQueueGet(task_runtime.msgq.referee.tocmd.chassis, &cmd_ref.chassis, NULL, 0); + osMessageQueueGet(task_runtime.msgq.referee.tocmd.shoot, &cmd_ref.shoot, NULL, 0); + osMessageQueueGet(task_runtime.msgq.referee.tocmd.cap, &cmd_ref.cap, NULL, 0); + osMessageQueueGet(task_runtime.msgq.referee.tocmd.ai, &cmd_ref.ai, NULL, 0); +#endif + + CMD_Update(&cmd); + + /* 获取命令发送到各模块 */ + #if CMD_ENABLE_MODULE_CHASSIS + Chassis_CMD_t *cmd_for_chassis = CMD_GetChassisCmd(&cmd); + osMessageQueueReset(task_runtime.msgq.chassis.cmd); + osMessageQueuePut(task_runtime.msgq.chassis.cmd, cmd_for_chassis, 0, 0); + #endif + + #if CMD_ENABLE_MODULE_GIMBAL + Gimbal_CMD_t *cmd_for_gimbal = CMD_GetGimbalCmd(&cmd); + osMessageQueueReset(task_runtime.msgq.gimbal.cmd); + osMessageQueuePut(task_runtime.msgq.gimbal.cmd, cmd_for_gimbal, 0, 0); + #endif + + #if CMD_ENABLE_MODULE_SHOOT + Shoot_CMD_t *cmd_for_shoot = CMD_GetShootCmd(&cmd); + + osMessageQueueReset(task_runtime.msgq.shoot.cmd); + osMessageQueuePut(task_runtime.msgq.shoot.cmd, cmd_for_shoot, 0, 0); + #endif + + #if CMD_ENABLE_MODULE_TRACK + Track_CMD_t *cmd_for_track = CMD_GetTrackCmd(&cmd); + osMessageQueueReset(task_runtime.msgq.track.cmd); + osMessageQueuePut(task_runtime.msgq.track.cmd, cmd_for_track, 0, 0); + #endif + + #if CMD_ENABLE_MODULE_REFUI + Referee_UI_CMD_t *cmd_for_ui = CMD_GetRefUICmd(&cmd); + osMessageQueueReset(task_runtime.msgq.referee.ui.frcmd); + osMessageQueuePut(task_runtime.msgq.referee.ui.frcmd, cmd_for_ui, 0, 0); + #endif + + #if CMD_ENABLE_MODULE_BALANCE_CHASSIS + Chassis_CMD_t *cmd_for_balance_chassis = CMD_GetBalanceChassisCmd(&cmd); + osMessageQueueReset(task_runtime.msgq.chassis.cmd); + osMessageQueuePut(task_runtime.msgq.chassis.cmd, cmd_for_balance_chassis, 0, 0); + #endif + +#if CMD_ENABLE_SRC_REF + /* 将裁判数据转发到各模块的 .ref 队列 */ + { + CMD_RawInput_REF_t *ref = CMD_GetRefData(&cmd); + osMessageQueueReset(task_runtime.msgq.chassis.ref); + osMessageQueuePut(task_runtime.msgq.chassis.ref, &ref->chassis, 0, 0); + osMessageQueueReset(task_runtime.msgq.shoot.ref); + osMessageQueuePut(task_runtime.msgq.shoot.ref, &ref->shoot, 0, 0); + osMessageQueueReset(task_runtime.msgq.cap.ref); + osMessageQueuePut(task_runtime.msgq.cap.ref, &ref->cap, 0, 0); + osMessageQueueReset(task_runtime.msgq.ai.ref); + osMessageQueuePut(task_runtime.msgq.ai.ref, &ref->ai, 0, 0); + } +#endif + + /* USER CODE END */ + osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ + } + +} \ No newline at end of file diff --git a/User/task/ctrl_chassis.c b/User/task/ctrl_chassis.c index 5e9b2df..1d14ecd 100644 --- a/User/task/ctrl_chassis.c +++ b/User/task/ctrl_chassis.c @@ -30,6 +30,7 @@ Chassis_CMD_t chassis_cmd = { .height = 0.0f, }; Chassis_IMU_t chassis_imu; +Referee_ForChassis_t chassis_ref; /* 裁判系统底盘数据 */ /* USER STRUCT END */ /* Private function --------------------------------------------------------- */ @@ -95,10 +96,19 @@ void Task_ctrl_chassis(void *argument) { chassis.feedback.imu = chassis_imu; } osMessageQueueGet(task_runtime.msgq.chassis.yaw, &chassis.feedback.yaw, NULL, 0); - + osMessageQueueGet(task_runtime.msgq.chassis.ref, &chassis_ref, NULL, 0); + Chassis_UpdateFeedback(&chassis); Chassis_Control(&chassis, &chassis_cmd); + + // /* 功率限制：裁判系统在线时使用下发上限，否则使用保守默认值 */ + // float power_limit = (chassis_ref.ref_status == REF_STATUS_RUNNING) + // ? chassis_ref.chassis_power_limit + // : 500.0f; + // Chassis_Power_Control(&chassis, power_limit); + + osMessageQueueReset(task_runtime.msgq.chassis.vofa); // 重置消息队列，防止阻塞 osMessageQueuePut(task_runtime.msgq.chassis.vofa, &chassis, 0, 0); /* USER CODE END */ diff --git a/User/task/ctrl_shoot.c b/User/task/ctrl_shoot.c index b78e3a0..4c232b3 100644 --- a/User/task/ctrl_shoot.c +++ b/User/task/ctrl_shoot.c @@ -9,6 +9,7 @@ #include "device/mrobot.h" #include "module/shoot.h" #include "module/config.h" +#include "device/referee_proto_types.h" /* USER INCLUDE END */ /* Private typedef ---------------------------------------------------------- */ @@ -18,6 +19,7 @@ /* USER STRUCT BEGIN */ Shoot_t shoot; Shoot_CMD_t shoot_cmd; +Referee_ForShoot_t shoot_ref; /* USER STRUCT END */ /* Private function --------------------------------------------------------- */ @@ -36,10 +38,10 @@ static int print_shoot(const void *data, char *buf, size_t size) { " Trig : %.1f rpm (angle: %.2f deg)\r\n" " Output : Fric0=%.1f Fric1=%.1f Trig=%.1f\r\n", shoot->running_state, - shoot->feedback.fric_rpm[0], shoot->target_variable.target_rpm, - shoot->feedback.fric_rpm[1], shoot->target_variable.target_rpm, - shoot->feedback.fric_avgrpm, - shoot->feedback.trig_rpm, shoot->feedback.trig_angle_cicle, + shoot->feedback.fric[0].rotor_speed, shoot->target_variable.fric_rpm, + shoot->feedback.fric[1].rotor_speed, shoot->target_variable.fric_rpm, + shoot->var_fric.normalized_fil_avgrpm, + shoot->feedback.trig.feedback.rotor_speed, shoot->feedback.trig.feedback.rotor_abs_angle, shoot->output.out_fric[0], shoot->output.out_fric[1], shoot->output.outagl_trig); return 0; } @@ -66,10 +68,18 @@ void Task_ctrl_shoot(void *argument) { while (1) { tick += delay_tick; /* 计算下一个唤醒时刻 */ /* USER CODE BEGIN */ - osMessageQueueGet(task_runtime.msgq.shoot.shoot_cmd, &shoot_cmd, NULL, 0); - Shoot_UpdateFeedback(&shoot); - // Shoot_Test(&shoot); - Shoot_Control(&shoot,&shoot_cmd); + osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0); + osMessageQueueGet(task_runtime.msgq.shoot.ref, &shoot_ref, NULL, 0); + + if (shoot_ref.ref_status == REF_STATUS_RUNNING) { + shoot.heatcontrol.Hmax = (float)shoot_ref.robot_status.shooter_barrel_heat_limit; + shoot.heatcontrol.Hcd = (float)shoot_ref.robot_status.shooter_barrel_cooling_value; + shoot.heatcontrol.Hnow = (float)shoot_ref.power_heat.shooter_42mm_barrel_heat; + shoot.heatcontrol.Hgen = 100.0f; /* 42mm弹丸每发产生热量 */ + } + Shoot_UpdateFeedback(&shoot); + Shoot_SetMode(&shoot,shoot_cmd.mode); + Shoot_Control(&shoot,&shoot_cmd); /* USER CODE END */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ diff --git a/User/task/init.c b/User/task/init.c index 92671a5..a58c4e2 100644 --- a/User/task/init.c +++ b/User/task/init.c @@ -10,6 +10,9 @@ #include "module/shoot.h" #include "module/balance_chassis.h" #include "module/gimbal.h" +#include "device/dr16.h" +#include "device/referee.h" + /* USER INCLUDE END */ /* Private typedef ---------------------------------------------------------- */ @@ -43,11 +46,13 @@ void Task_Init(void *argument) { // task_runtime.thread.vofa = osThreadNew(Task_vofa, NULL, &attr_vofa); task_runtime.thread.cli = osThreadNew(Task_cli, NULL, &attr_cli); // task_runtime.thread.debug = osThreadNew(Task_debug, NULL, &attr_debug); + task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd); + task_runtime.thread.referee = osThreadNew(Task_referee, NULL, &attr_referee); - // 创建消息队列 + // 创建消息队列 /* USER MESSAGE BEGIN */ task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL); - task_runtime.msgq.shoot.shoot_cmd = osMessageQueueNew(2u, sizeof(Shoot_CMD_t), NULL); + task_runtime.msgq.shoot.cmd = osMessageQueueNew(2u, sizeof(Shoot_CMD_t), NULL); task_runtime.msgq.chassis.imu = osMessageQueueNew(2u, sizeof(Chassis_IMU_t), NULL); task_runtime.msgq.chassis.cmd = osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL); task_runtime.msgq.chassis.yaw = osMessageQueueNew(2u, sizeof(MOTOR_Feedback_t), NULL); @@ -55,6 +60,25 @@ void Task_Init(void *argument) { task_runtime.msgq.gimbal.cmd = osMessageQueueNew(2u, sizeof(Gimbal_CMD_t), NULL); task_runtime.msgq.gimbal.ai_cmd = osMessageQueueNew(2u, sizeof(Gimbal_AI_t), NULL); + task_runtime.msgq.cmd.rc= osMessageQueueNew(3u, sizeof(DR16_t), NULL); + /* 裁判系统 */ + task_runtime.msgq.referee.tocmd.ai= osMessageQueueNew(2u, sizeof(Referee_ForAI_t), NULL); + task_runtime.msgq.referee.tocmd.cap= osMessageQueueNew(2u, sizeof(Referee_ForCap_t), NULL); + task_runtime.msgq.referee.tocmd.chassis= osMessageQueueNew(2u, sizeof(Referee_ForChassis_t), NULL); + task_runtime.msgq.referee.tocmd.shoot= osMessageQueueNew(2u, sizeof(Referee_ForShoot_t), NULL); + /* cmd转发给各模块的裁判数据队列 */ + task_runtime.msgq.chassis.ref = osMessageQueueNew(2u, sizeof(Referee_ForChassis_t), NULL); + task_runtime.msgq.shoot.ref = osMessageQueueNew(2u, sizeof(Referee_ForShoot_t), NULL); + task_runtime.msgq.ai.ref = osMessageQueueNew(2u, sizeof(Referee_ForAI_t), NULL); + task_runtime.msgq.cap.ref = osMessageQueueNew(2u, sizeof(Referee_ForCap_t), NULL); + /* UI */ + task_runtime.msgq.referee.ui.tochassis =osMessageQueueNew(2u, sizeof(Chassis_RefereeUI_t), NULL); + task_runtime.msgq.referee.ui.tocap =osMessageQueueNew(2u, sizeof(Cap_RefereeUI_t), NULL); + task_runtime.msgq.referee.ui.togimbal =osMessageQueueNew(2u, sizeof(Gimbal_RefereeUI_t), NULL); + task_runtime.msgq.referee.ui.toshoot =osMessageQueueNew(2u, sizeof(Shoot_RefereeUI_t), NULL); + task_runtime.msgq.referee.ui.tocmd = osMessageQueueNew(2u, sizeof(bool), NULL); + task_runtime.msgq.referee.ui.frcmd = osMessageQueueNew(2u, sizeof(Referee_UI_CMD_t), NULL); + /* USER MESSAGE END */ osKernelUnlock(); // 解锁内核 diff --git a/User/task/rc.c b/User/task/rc.c index 0105f82..b46ddab 100644 --- a/User/task/rc.c +++ b/User/task/rc.c @@ -8,10 +8,6 @@ /* USER INCLUDE BEGIN */ #include "device/dr16.h" #include "device/mrobot.h" -#include "module/shoot.h" -#include "module/balance_chassis.h" -#include "module/gimbal.h" -#include "component/user_math.h" /* USER INCLUDE END */ /* Private typedef ---------------------------------------------------------- */ @@ -20,9 +16,6 @@ /* Private variables -------------------------------------------------------- */ /* USER STRUCT BEGIN */ DR16_t dr16; -Shoot_CMD_t for_shoot; -Chassis_CMD_t cmd_for_chassis; -Gimbal_CMD_t cmd_for_gimbal; /* USER STRUCT END */ /* Private function --------------------------------------------------------- */ @@ -74,161 +67,13 @@ void Task_rc(void *argument) { DR16_StartDmaRecv(&dr16); if (DR16_WaitDmaCplt(20)) { DR16_ParseData(&dr16); - } else { DR16_Offline(&dr16); } - // switch (dr16.data.sw_l) { - // case DR16_SW_UP: - // cmd_for_chassis.mode = CHASSIS_MODE_RELAX; - // break; - // case DR16_SW_MID: - // // cmd_for_chassis.mode = CHASSIS_MODE_RECOVER; - // cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE; - // break; - // case DR16_SW_DOWN: - // // cmd_for_chassis.mode = CHASSIS_MODE_ROTOR; - // // cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE; - // cmd_for_chassis.mode = CHASSIS_MODE_JUMP; - // break; - // default: - // cmd_for_chassis.mode = CHASSIS_MODE_RELAX; - // break; - // } - // cmd_for_chassis.move_vec.vx = dr16.data.ch_l_y; - // cmd_for_chassis.move_vec.vy = dr16.data.ch_l_x; - // cmd_for_chassis.move_vec.wz = dr16.data.ch_r_x; - // cmd_for_chassis.height = dr16.data.ch_res; - - // osMessageQueueReset( - // task_runtime.msgq.chassis.cmd); // 重置消息队列，防止阻塞 - // osMessageQueuePut(task_runtime.msgq.chassis.cmd, &cmd_for_chassis, 0, - // 0); // 非阻塞发送底盘控制命令 -/************************* 云台命令 **************************************/ - switch (dr16.data.sw_l) { - case DR16_SW_UP: - cmd_for_gimbal.mode = GIMBAL_MODE_RELAX; - cmd_for_gimbal.delta_yaw = 0.0f; - cmd_for_gimbal.delta_pit = 0.0f; - break; - case DR16_SW_MID: - if (dr16.data.sw_r == DR16_SW_UP || dr16.data.sw_r == DR16_SW_ERR) { - cmd_for_gimbal.mode = GIMBAL_MODE_RELATIVE; - } else { - cmd_for_gimbal.mode = GIMBAL_MODE_AI_CONTROL; - } - cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x * 5.0f; - cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 5.0f; - break; - case DR16_SW_DOWN: - if (dr16.data.sw_r == DR16_SW_UP || dr16.data.sw_r == DR16_SW_ERR) { - cmd_for_gimbal.mode = GIMBAL_MODE_RELATIVE; - } else { - cmd_for_gimbal.mode = GIMBAL_MODE_AI_CONTROL; - } - cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x * 5.0f; - cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 5.0f; - break; - default: - cmd_for_gimbal.mode = GIMBAL_MODE_RELAX; - cmd_for_gimbal.delta_yaw = 0.0f; - cmd_for_gimbal.delta_pit = 0.0f; - break; - } - - osMessageQueueReset(task_runtime.msgq.gimbal.cmd); - osMessageQueuePut(task_runtime.msgq.gimbal.cmd, &cmd_for_gimbal, 0, 0); - -/************************* 底盘命令 **************************************/ - /* 蓄力-释放跳跃逻辑：向上推蓄力收腿，松开回弹时触发跳跃 */ - static float last_ch_res = 0.0f; /* 上一次拨杆位置 */ - static float min_ch_res = 0.0f; /* 记录最小值（最大蓄力） */ - static uint8_t jump_trigger_hold_cnt = 0; /* 触发保持计数 */ - static bool in_charge_state = false; /* 是否处于蓄力状态 */ - - const float CHARGE_THRESHOLD = -0.4f; /* 蓄力阈值：低于此值开始蓄力 */ - const float RELEASE_THRESHOLD = -0.2f; /* 释放阈值：回到此值以上触发跳跃 */ - const float MIN_CHARGE = -0.5f; /* 最小蓄力量：至少要推到此值才能触发 */ - - /* 检测蓄力：拨杆向上推 */ - if (dr16.data.ch_res < CHARGE_THRESHOLD) { - in_charge_state = true; - if (dr16.data.ch_res < min_ch_res) { - min_ch_res = dr16.data.ch_res; /* 更新最小值 */ - } - } - - /* 检测释放：拨杆回弹到阈值以上 && 之前有足够蓄力 */ - if (in_charge_state && - dr16.data.ch_res > RELEASE_THRESHOLD && - min_ch_res < MIN_CHARGE) { - jump_trigger_hold_cnt = 5; /* 触发跳跃，保持5个RC周期 */ - in_charge_state = false; /* 退出蓄力状态 */ - min_ch_res = 0.0f; /* 重置蓄力状态 */ - } - - /* 拨杆回到中位，重置蓄力 */ - if (dr16.data.ch_res > -0.1f) { - in_charge_state = false; - min_ch_res = 0.0f; - } - - cmd_for_chassis.jump_trigger = (jump_trigger_hold_cnt > 0); - if (jump_trigger_hold_cnt > 0) { - jump_trigger_hold_cnt--; - } - - last_ch_res = dr16.data.ch_res; /* 保存当前值 */ - -switch (dr16.data.sw_l) { - case DR16_SW_UP: - cmd_for_chassis.mode = CHASSIS_MODE_RELAX; - break; - case DR16_SW_MID: - // cmd_for_chassis.mode = CHASSIS_MODE_RECOVER; - cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE; - break; - case DR16_SW_DOWN: - cmd_for_chassis.mode = CHASSIS_MODE_BALANCE_ROTOR; - break; - default: - cmd_for_chassis.mode = CHASSIS_MODE_RELAX; - break; - } - cmd_for_chassis.move_vec.vx = dr16.data.ch_l_y; - cmd_for_chassis.move_vec.vy = dr16.data.ch_l_x; - cmd_for_chassis.move_vec.wz = dr16.data.ch_r_x; - /* height 传递拨杆位置，负值表示下推收腿，正值表示上推伸腿 */ - cmd_for_chassis.height = dr16.data.ch_res; - - osMessageQueueReset( - task_runtime.msgq.chassis.cmd); // 重置消息队列，防止阻塞 - osMessageQueuePut(task_runtime.msgq.chassis.cmd, &cmd_for_chassis, 0, - 0); // 非阻塞发送底盘控制命令 - -/************************* 发射命令 **************************************/ - for_shoot.online = dr16.header.online; - switch (dr16.data.sw_r) { - case DR16_SW_UP: - for_shoot.ready = false; - for_shoot.firecmd = false; - break; - case DR16_SW_MID: - for_shoot.ready = true; - for_shoot.firecmd = false; - break; - case DR16_SW_DOWN: - for_shoot.ready = true; - for_shoot.firecmd = true; - break; - default: - for_shoot.ready = false; - for_shoot.firecmd = false; - break; - } - osMessageQueueReset(task_runtime.msgq.shoot.shoot_cmd); - osMessageQueuePut(task_runtime.msgq.shoot.shoot_cmd, &for_shoot, 0, 0); + /* 将 DR16 原始数据推入消息队列，cmd 模块负责解析 */ + osMessageQueueReset(task_runtime.msgq.cmd.rc); + osMessageQueuePut(task_runtime.msgq.cmd.rc, &dr16, 0, 0); /* USER CODE END */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ diff --git a/User/task/ref_main.c b/User/task/ref_main.c new file mode 100644 index 0000000..d38fcda --- /dev/null +++ b/User/task/ref_main.c @@ -0,0 +1,99 @@ +/* + referee Task + +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "task/user_task.h" +/* USER INCLUDE BEGIN */ +#include "device/referee.h" + #include "module/config.h" +/* USER INCLUDE END */ + +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +/* USER STRUCT BEGIN */ +Referee_t ref; +Referee_UI_t ui; +Referee_UI_CMD_t ref_cmd; +Referee_ForCap_t for_cap; +Referee_ForAI_t for_ai; +Referee_ForChassis_t for_chassis; +Referee_ForShoot_t for_shoot; +uint8_t send_data[6]={1,2,3,4}; +/* USER STRUCT END */ + +/* Private function --------------------------------------------------------- */ +/* USER PRIVATE CODE BEGIN */ + +/* USER PRIVATE CODE END */ +/* Exported functions ------------------------------------------------------- */ +void Task_referee(void *argument) { + (void)argument; /* 未使用argument，消除警告 */ + + + /* 计算任务运行到指定频率需要等待的tick数 */ + const uint32_t delay_tick = osKernelGetTickFreq() / REFEREE_FREQ; + + osDelay(REFEREE_INIT_DELAY); /* 延时一段时间再开启任务 */ + + uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ + /* USER CODE INIT BEGIN */ + uint32_t last_online_tick = 0; + /* 初始化裁判系统 */ + + Referee_Init(&ref, &ui, &Config_GetRobotParam()->ref_screen); + /* USER CODE INIT END */ + + while (1) { + tick += delay_tick; /* 计算下一个唤醒时刻 */ + /* USER CODE BEGIN */ + Referee_StartReceiving(&ref); + + if (osThreadFlagsWait(SIGNAL_REFEREE_RAW_REDY, osFlagsWaitAll, 10) != + SIGNAL_REFEREE_RAW_REDY) { + if (osKernelGetTickCount() - last_online_tick > 2500) + Referee_HandleOffline(&ref); + } else { + Referee_Parse(&ref); + last_online_tick = osKernelGetTickCount(); + } + Referee_PackCap(&for_cap, &ref); + Referee_PackAI(&for_ai, &ref); + Referee_PackShoot(&for_shoot, &ref); + Referee_PackChassis(&for_chassis, &ref); + { + /* 裁判系统数据读取 */ + osMessageQueueReset(task_runtime.msgq.referee.tocmd.cap); + osMessageQueuePut(task_runtime.msgq.referee.tocmd.cap, &for_cap, 0, 0); + osMessageQueueReset(task_runtime.msgq.referee.tocmd.ai); + osMessageQueuePut(task_runtime.msgq.referee.tocmd.ai, &for_ai, 0, 0); + osMessageQueueReset(task_runtime.msgq.referee.tocmd.chassis); + osMessageQueuePut(task_runtime.msgq.referee.tocmd.chassis, &for_chassis, 0, 0); + osMessageQueueReset(task_runtime.msgq.referee.tocmd.shoot); + osMessageQueuePut(task_runtime.msgq.referee.tocmd.shoot, &for_shoot, 0, 0); + /* UI数据获取 */ + osMessageQueueGet(task_runtime.msgq.referee.ui.tocap, &(ui.cap_ui), NULL, 0); + osMessageQueueGet(task_runtime.msgq.referee.ui.tochassis, &(ui.chassis_ui), NULL,0); + osMessageQueueGet(task_runtime.msgq.referee.ui.togimbal, &(ui.gimbal_ui), NULL, 0); + osMessageQueueGet(task_runtime.msgq.referee.ui.toshoot, &(ui.shoot_ui), NULL, 0); + osMessageQueueGet(task_runtime.msgq.referee.ui.tocmd, &(ui.cmd_pc), NULL, 0); + Referee_UIRefresh(&ui); + + while (osMessageQueueGet(task_runtime.msgq.referee.ui.frcmd, &ref_cmd, NULL, + 0) == osOK) { + ref_cmd=UI_AUTO_AIM_START; + Referee_PraseCmd(&ui, ref_cmd); + // Referee_StartSend(send_data, sizeof(send_data)); + } + + Referee_PackUI(&ui, &ref); + } + + /* USER CODE END */ + osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ + } + +} \ No newline at end of file diff --git a/User/task/user_task.c b/User/task/user_task.c index e292216..7669e78 100644 --- a/User/task/user_task.c +++ b/User/task/user_task.c @@ -63,4 +63,14 @@ const osThreadAttr_t attr_debug = { .name = "debug", .priority = osPriorityNormal, .stack_size = 256 * 4, +}; +const osThreadAttr_t attr_cmd = { + .name = "cmd", + .priority = osPriorityNormal, + .stack_size = 256 * 4, +}; +const osThreadAttr_t attr_referee = { + .name = "referee", + .priority = osPriorityNormal, + .stack_size = 512 * 4, }; \ No newline at end of file diff --git a/User/task/user_task.h b/User/task/user_task.h index 627e6af..082c1e9 100644 --- a/User/task/user_task.h +++ b/User/task/user_task.h @@ -22,6 +22,8 @@ extern "C" { #define AI_FREQ (500.0) #define VOFA_FREQ (500.0) #define DEBUG_FREQ (10.0) +#define CMD_FREQ (500.0) +#define REFEREE_FREQ (500.0) /* 任务初始化延时ms */ #define TASK_INIT_DELAY (100u) @@ -36,6 +38,8 @@ extern "C" { #define VOFA_INIT_DELAY (0) #define CLI_INIT_DELAY (0) #define DEBUG_INIT_DELAY (0) +#define CMD_INIT_DELAY (0) +#define REFEREE_INIT_DELAY (0) /* Exported defines --------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */ @@ -56,6 +60,9 @@ typedef struct { osThreadId_t vofa; osThreadId_t cli; osThreadId_t debug; + osThreadId_t cmd; + osThreadId_t referee; + } thread; /* USER MESSAGE BEGIN */ @@ -66,6 +73,7 @@ typedef struct { osMessageQueueId_t cmd; osMessageQueueId_t yaw; osMessageQueueId_t vofa; + osMessageQueueId_t ref; }chassis; struct { osMessageQueueId_t imu; @@ -73,7 +81,8 @@ typedef struct { osMessageQueueId_t ai_cmd; }gimbal; struct { - osMessageQueueId_t shoot_cmd; /* 发射命令队列 */ + osMessageQueueId_t cmd; /* 发射命令队列 */ + osMessageQueueId_t ref; }shoot; struct { osMessageQueueId_t rc; @@ -85,7 +94,27 @@ typedef struct { osMessageQueueId_t move_vec; osMessageQueueId_t eulr; osMessageQueueId_t fire; + osMessageQueueId_t ref; }ai; + struct{ + osMessageQueueId_t ref; /* Referee_ForCap_t, cmd转发 */ + }cap; + struct { + struct { + osMessageQueueId_t cap; + osMessageQueueId_t chassis; + osMessageQueueId_t ai; + osMessageQueueId_t shoot; + } tocmd; + struct { + osMessageQueueId_t tocap; + osMessageQueueId_t tochassis; + osMessageQueueId_t togimbal; + osMessageQueueId_t toshoot; + osMessageQueueId_t tocmd; + osMessageQueueId_t frcmd; + } ui; + }referee; } msgq; /* USER MESSAGE END */ @@ -113,6 +142,9 @@ typedef struct { UBaseType_t vofa; UBaseType_t cli; UBaseType_t debug; + UBaseType_t cmd; + UBaseType_t referee; + } stack_water_mark; /* 各任务运行频率 */ @@ -126,6 +158,8 @@ typedef struct { float ai; float vofa; float debug; + float cmd; + float referee; } freq; /* 任务最近运行时间 */ @@ -139,6 +173,8 @@ typedef struct { float ai; float vofa; float debug; + float cmd; + float referee; } last_up_time; } Task_Runtime_t; @@ -159,6 +195,8 @@ extern const osThreadAttr_t attr_ai; extern const osThreadAttr_t attr_vofa; extern const osThreadAttr_t attr_cli; extern const osThreadAttr_t attr_debug; +extern const osThreadAttr_t attr_cmd; +extern const osThreadAttr_t attr_referee; /* 任务函数声明 */ void Task_Init(void *argument); @@ -173,6 +211,8 @@ void Task_ai(void *argument); void Task_vofa(void *argument); void Task_cli(void *argument); void Task_debug(void *argument); +void Task_cmd(void *argument); +void Task_referee(void *argument); #ifdef __cplusplus }