diff --git a/CMakeLists.txt b/CMakeLists.txt
index fd57a16..f3b594a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -82,10 +82,11 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
# User/module sources
User/module/balance_chassis.c
User/module/config.c
- User/module/shoot.c
User/module/gimbal.c
+ User/module/shoot.c
# User/task sources
+ User/task/ai.c
User/task/atti_esit.c
User/task/blink.c
User/task/ctrl_chassis.c
diff --git a/MDK-ARM/CtrBoard-H7_ALL.uvoptx b/MDK-ARM/CtrBoard-H7_ALL.uvoptx
index ebfd28b..cf9e08b 100644
--- a/MDK-ARM/CtrBoard-H7_ALL.uvoptx
+++ b/MDK-ARM/CtrBoard-H7_ALL.uvoptx
@@ -188,7 +188,17 @@
6
1
- chassis
+ ai
+
+
+ 7
+ 1
+ cmd_ai
+
+
+ 8
+ 1
+ gimbal
@@ -1289,6 +1299,18 @@
0
0
+
+ 8
+ 83
+ 1
+ 0
+ 0
+ 0
+ ..\User\device\vision_bridge.c
+ vision_bridge.c
+ 0
+ 0
+
@@ -1299,7 +1321,7 @@
0
9
- 83
+ 84
1
0
0
@@ -1311,7 +1333,7 @@
9
- 84
+ 85
1
0
0
@@ -1323,7 +1345,7 @@
9
- 85
+ 86
1
0
0
@@ -1335,7 +1357,7 @@
9
- 86
+ 87
1
0
0
@@ -1355,7 +1377,7 @@
0
10
- 87
+ 88
1
0
0
@@ -1367,7 +1389,7 @@
10
- 88
+ 89
1
0
0
@@ -1379,7 +1401,7 @@
10
- 89
+ 90
1
0
0
@@ -1391,7 +1413,7 @@
10
- 90
+ 91
1
0
0
@@ -1403,7 +1425,7 @@
10
- 91
+ 92
1
0
0
@@ -1415,7 +1437,7 @@
10
- 92
+ 93
1
0
0
@@ -1427,7 +1449,7 @@
10
- 93
+ 94
1
0
0
@@ -1439,7 +1461,7 @@
10
- 94
+ 95
1
0
0
@@ -1451,7 +1473,7 @@
10
- 95
+ 96
1
0
0
@@ -1463,7 +1485,7 @@
10
- 96
+ 97
5
0
0
@@ -1473,6 +1495,18 @@
0
0
+
+ 10
+ 98
+ 1
+ 0
+ 0
+ 0
+ ..\User\task\ai.c
+ ai.c
+ 0
+ 0
+
diff --git a/MDK-ARM/CtrBoard-H7_ALL.uvprojx b/MDK-ARM/CtrBoard-H7_ALL.uvprojx
index c7042b2..fb85768 100644
--- a/MDK-ARM/CtrBoard-H7_ALL.uvprojx
+++ b/MDK-ARM/CtrBoard-H7_ALL.uvprojx
@@ -829,6 +829,11 @@
1
..\User\device\gimbal_imu.c
+
+ vision_bridge.c
+ 1
+ ..\User\device\vision_bridge.c
+
@@ -909,6 +914,11 @@
5
..\User\task\user_task.h
+
+ ai.c
+ 1
+ ..\User\task\ai.c
+
diff --git a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf
index 6677f66..e8a33b6 100644
Binary files a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf and b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf differ
diff --git a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex
index ee42a86..3d1db81 100644
--- a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex
+++ b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex
@@ -1,29 +1,29 @@
:020000040800F2
-:1000000040850124AD03000801960108715B0108D9
-:10001000E1930108593C0008B1DF0108000000002D
-:10002000000000000000000000000000B1A4010872
-:10003000E963000800000000819D010889B1010802
+:10000000D0850124AD03000841980108B15D0108C5
+:1000100021960108893D000801E301080000000065
+:10002000000000000000000000000000F1A6010830
+:100030001965000800000000C19F0108C9B301084C
:10004000CB030008CB030008CB030008CB03000858
:10005000CB030008CB030008CB030008CB03000848
-:10006000CB030008CB030008CB0300084955000868
-:10007000595500086955000879550008CB03000858
-:10008000CB030008CB030008CB0300084164000841
-:10009000616400085164000871640008CB03000823
+:10006000CB030008CB030008CB0300087956000837
+:100070008956000899560008A9560008CB030008C5
+:10008000CB030008CB030008CB0300087165000810
+:100090009165000881650008A1650008CB03000890
:1000A000CB030008CB030008CB030008CB030008F8
:1000B000CB030008CB030008CB030008CB030008E8
:1000C000CB030008CB030008CB030008CB030008D8
-:1000D00089A1010831D9010841D9010851D9010884
-:1000E000F1630008CB03000800000000CB03000808
+:1000D000C9A3010881DC010891DC0108A1DC010849
+:1000E00021650008CB03000800000000CB030008D6
:1000F000CB030008CB030008CB030008CB030008A8
:10010000CB030008CB030008CB030008CB03000897
-:10011000CB03000811C60108CB030008CB0300087D
+:10011000CB03000861C90108CB030008CB0300082A
:10012000CB030008CB030008CB030008CB03000877
:10013000CB030008CB030008CB030008CB03000867
:1001400000000000000000000000000000000000AF
:10015000CB030008CB030008CB030008CB03000847
:10016000CB030008CB030008CB030008CB03000837
:10017000CB030008CB030008CB03000800000000FD
-:10018000CB030008CB03000821C60108CB030008FD
+:10018000CB030008CB03000871C90108CB030008AA
:10019000CB030008CB030008CB030008CB03000807
:1001A000CB030008CB030008CB03000800000000CD
:1001B000CB030008CB030008CB030008CB030008E7
@@ -42,12 +42,12 @@
:10028000CB030008CB030008CB030008CB03000816
:1002900000000000CB030008CB03000800000000B2
:1002A00000000000CB030008CB030008CB030008CC
-:1002B00021D90108CB030008CB03000881640008A2
-:1002C00091640008F9B30108CB03000800F002F8BC
+:1002B00071DC0108CB030008CB030008B16500081E
+:1002C000C165000839B60108CB03000800F002F848
:1002D00000F05CF80AA090E8000C82448344AAF184
:1002E0000107DA4501D100F051F8AFF2090EBAE882
:1002F0000F0013F0010F18BFFB1A43F0010318475A
-:10030000B84F0200D84F02000A444FF0000C10F81A
+:1003000030530200505302000A444FF0000C10F822
:10031000013B13F0070408BF10F8014B1D1108BF83
:1003200010F8015B641E05D010F8016B641E01F823
:10033000016BF9D113F0080F1EBF10F8014BAD1C73
@@ -55,14 +55,14 @@
:1003500014F8016B01F8016B6D1EF9D59142D6D3EB
:10036000704700000023002400250026103A28BF13
:1003700078C1FBD8520728BF30C148BF0B60704717
-:100380001FB524F0C9FC1FBD10B510BD00F088F9E1
-:100390001146FFF7F5FF1EF043FD00F0A6F903B488
+:100380001FB524F071FE1FBD10B510BD00F088F937
+:100390001146FFF7F5FF1EF0EBFE00F0A6F903B4DF
:1003A000FFF7F2FF03BC00F0A9F900000A488047FC
:1003B0000A4880470A480047FEE7FEE7FEE7FEE7F7
:1003C000FEE7FEE7FEE7FEE7FEE7FEE70548064933
-:1003D000064A074B704700001964000891B20108F3
-:1003E000CD020008405501244085012440650124C8
-:1003F0004065012453EA020C00F069802DE9F04BBE
+:1003D000064A074B7047000049650008D1B4010880
+:1003E000CD020008D0550124D0850124D065012418
+:1003F000D065012453EA020C00F069802DE9F04B2E
:100400004FF00006002B1FBFB3FA83F503FA05F483
:1004100024FA05F65E4012BF1643B2FA82F502FADC
:1004200005F4C5F120051EBF22FA05FC44EA0C04C0
@@ -104,7 +104,7 @@
:10066000704748BF20F8022B11F0804F18BF00F8E8
:10067000012B704770477047704710B500F008F8BD
:10068000006810BD10B5044600F002F8046010BD0B
-:1006900000487047880300240048704788030024FE
+:1006900000487047900300240048704790030024EE
:1006A0007546FFF7F9FFAE4605006946534620F050
:1006B0000700854618B020B5FFF788FEBDE820404A
:1006C0004FF000064FF000074FF000084FF0000B0E
@@ -117,11 +117,11 @@
:10073000C4F20201884209D1FFE742F20830C4F254
:100740000200006810F4403F09D129E046F2083069
:10075000C5F60200006810F4403F21D0FFE710F01A
-:1007600087FD0290039840680190B0F5803F0AD061
+:10076000A7FE0290039840680190B0F5803F0AD040
:10077000FFE70198B0F5003F05D0FFE70198B0F51D
:10078000403F07D00AE00398C1880298B0FBF1F01F
:10079000029004E002988008029000E0FFE75FE02A
-:1007A0004FF4002000210EF06FFD02900398406886
+:1007A0004FF4002000210EF08FFE02900398406865
:1007B0000090B0F5802F32D0FFE70098B0F5002F01
:1007C0002DD0FFE70098B0F5402F28D0FFE7009824
:1007D000B0F5801F23D0FFE70098B0F5A01F1ED012
@@ -149,18 +149,18 @@
:10093000000A8DED060A079890ED011A90ED020A63
:1009400020EE000A01EE010A30EE001AB7EE000AAE
:100950008DED010A30EE410A8DED050A9DED060A86
-:10096000DDED050A23F004F89DED011A089880EDED
+:10096000DDED050A23F0ACF99DED011A089880ED44
:10097000010A079890ED000A90ED013A90ED024AC5
:1009800090ED032A20EE040A02EE430A30EE000A3C
:100990008DED040A9DED040AB0EEC00AB4EE410AE2
:1009A000F1EE10FA0ADBFFE7DDED040A9FED210A04
-:1009B0001EF07EF9089880ED020A07E09DED040A1A
-:1009C00022F06EFD089880ED020AFFE7079890ED8F
+:1009B0001EF026FB089880ED020A07E09DED040A70
+:1009C00022F016FF089880ED020AFFE7079890EDE5
:1009D000001A90ED010A90ED023A90ED032A20EE04
:1009E000030A01EE020A30EE000A8DED030A0798B1
:1009F00090ED021A90ED030A20EE000A01EE010AC2
:100A000030EE001AB7EE000A30EE410A8DED020A10
-:100A10009DED030ADDED020A22F0AAFF089880EDA1
+:100A10009DED030ADDED020A23F052F9089880EDFE
:100A2000000A00208DF82700FFE79DF927000AB093
:100A300080BD00BFDB0FC93F80B586B00490039135
:100A40008DED020A049820B9FFE7FF208DF817000A
@@ -168,7 +168,7 @@
:100A600080ED040A04994FF07E500860049900203C
:100A70004860049988600499C8600398002800F0D1
:100A8000FB80FFE7039890ED001A90ED010AB7EEA6
-:100A9000C00AB7EEC11A22F087FEB1EE400BB7EEE6
+:100A9000C00AB7EEC11A23F02FF8B1EE400BB7EE43
:100AA000C00B8DED010A039890ED000AB5EE400AE7
:100AB000F1EE10FA2BD1FFE7039890ED010AB5EEA5
:100AC000400AF1EE10FA22D1FFE7039890ED020AF6
@@ -232,12 +232,12 @@
:100E6000050AB5EE400AF1EE10FA09D1FFE79DED53
:100E7000040AB5EE400AF1EE10FA00F00B84FFE729
:100E80009DED061A9DED050A20EE000A01EE010A0D
-:100E90009DED041A01EE010A14F06EFE8DED2C0A90
+:100E90009DED041A01EE010A14F08EFF8DED2C0A6F
:100EA0009DED2C1A9DED060A20EE010A8DED060A35
:100EB0009DED2C1A9DED050A20EE010A8DED050A27
:100EC0009DED2C1A9DED040A20EE010A8DED040A19
:100ED0009DED091A9DED080A20EE000A01EE010AB7
-:100EE0009DED071A01EE010A14F046FE8DED2C0A65
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:100EF0009DED2C1A9DED090A20EE010A8DED090ADF
:100F00009DED2C1A9DED080A20EE010A8DED080AD0
:100F10009DED2C1A9DED070A20EE010A8DED070AC2
@@ -275,7 +275,7 @@
:101110009DED0F2A01EE420A9DED0C2A01EE020A16
:101120009DED172A9DED074A22EE042A02EE030ADE
:101130009DED0A2A01EE420A8DED220A9DED231A49
-:101140009DED220A20EE000A01EE010A14F014FDC2
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:1011600030989DED200A90ED015A90ED022A90ED05
:10117000033A20EE050A01EE420A9DED071A9DEDA5
@@ -350,7 +350,7 @@
:1015C000042A9DED073A32EE432A01EE020A8DED20
:1015D000280A9DED2B1A9DED2A0A20EE000A01EE45
:1015E000010A9DED291A01EE010A9DED281A01EE6E
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:101610002A0A20EE010A8DED2A0A9DED2C1A9DED75
:10162000290A20EE010A8DED290A9DED2C1A9DED67
@@ -368,7 +368,7 @@
:1016E00090ED042A01EE020A80ED030A309890ED95
:1016F000003A90ED010A90ED022A90ED031A20EED7
:10170000000A03EE030A02EE020A01EE010A14F0D7
-:1017100033FA8DED2C0A9DED2C1A309890ED000ACD
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@@ -397,7 +397,7 @@
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@@ -432,7 +432,7 @@
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diff --git a/User/device/ai.c b/User/device/ai.c
deleted file mode 100644
index 6ee1e3e..0000000
--- a/User/device/ai.c
+++ /dev/null
@@ -1,152 +0,0 @@
-/*
-AI
-*/
-
-/* Includes ----------------------------------------------------------------- */
-#include "ai.h"
-
-#include
-
-#include "bsp\delay.h"
-#include "bsp\uart.h"
-#include "component\crc16.h"
-#include "component\crc8.h"
-#include "component\user_math.h"
-#include "component\filter.h"
-
-
-/* Private define ----------------------------------------------------------- */
-#define AI_LEN_RX_BUFF (sizeof(Protocol_DownPackage_t))
-
-/* Private macro ------------------------------------------------------------ */
-/* Private typedef ---------------------------------------------------------- */
-/* Private variables -------------------------------------------------------- */
-static volatile uint32_t drop_message = 0;
-
-static uint8_t rxbuf[AI_LEN_RX_BUFF];
-
-static bool inited = false;
-
-static osThreadId_t thread_alert;
-
-/* Private function -------------------------------------------------------- */
-
-static void Ai_RxCpltCallback(void) {
- osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY);
-}
-
-static void Ai_IdleLineCallback(void) {
- osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY);
-}
-
-/* Exported functions ------------------------------------------------------- */
-int8_t AI_Init(AI_t *ai) {
- UNUSED(ai);
- ASSERT(ai);
- if (inited) return DEVICE_ERR_INITED;
- VERIFY((thread_alert = osThreadGetId()) != NULL);
-
- BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB,
- Ai_RxCpltCallback);
- BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB,
- Ai_IdleLineCallback);
-
- inited = true;
- return 0;
-}
-
-int8_t AI_Restart(void) {
- __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_AI));
- __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_AI));
- return DEVICE_OK;
-}
-
-int8_t AI_StartReceiving(AI_t *ai) {
- UNUSED(ai);
- if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI), rxbuf,
- AI_LEN_RX_BUFF) == HAL_OK)
- return DEVICE_OK;
- return DEVICE_ERR;
-}
-
-bool AI_WaitDmaCplt(void) {
- return (osThreadFlagsWait(SIGNAL_AI_RAW_REDY, osFlagsWaitAll, 0) ==
- SIGNAL_AI_RAW_REDY);
-}
-
-int8_t AI_ParseHost(AI_t *ai) {
- if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->from_host)))
- goto error;
- ai->ai_online = true;
- memcpy(&(ai->from_host), rxbuf, sizeof(ai->from_host));
- memset(rxbuf, 0, AI_LEN_RX_BUFF);
- return DEVICE_OK;
-
-error:
- drop_message++;
- return DEVICE_ERR;
-}
-
-void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) {
- cmd_host->gimbal_delta.yaw = ai->from_host.data.gimbal.yaw;
- cmd_host->gimbal_delta.pit = ai->from_host.data.gimbal.pit;
- cmd_host->fire = (ai->from_host.data.notice & AI_NOTICE_FIRE);
- cmd_host->chassis_move_vec.vx = ai->from_host.data.chassis_move_vec.vx;
- cmd_host->chassis_move_vec.vy = ai->from_host.data.chassis_move_vec.vy;
- cmd_host->chassis_move_vec.wz = ai->from_host.data.chassis_move_vec.wz;
-}
-
-int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host) {
- if (ai == NULL) return DEVICE_ERR_NULL;
- if (cmd_host == NULL) return DEVICE_ERR_NULL;
- ai->ai_online = false;
- memset(&(ai->from_host), 0, sizeof(ai->from_host));
- memset(cmd_host, 0, sizeof(*cmd_host));
- return 0;
-}
-
-int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat) {
- ai->to_host.mcu.id = AI_ID_MCU;
- memcpy((void *)&(ai->to_host.mcu.package.data.quat), (const void *)quat,
- sizeof(*quat));
- ai->to_host.mcu.package.data.notice = 0;
- if (ai->status == AI_STATUS_AUTOAIM)
- ai->to_host.mcu.package.data.notice |= AI_NOTICE_AUTOAIM;
- else if (ai->status == AI_STATUS_HITSWITCH)
- ai->to_host.mcu.package.data.notice |= AI_NOTICE_HITBUFF;
- else if (ai->status == AI_STATUS_AUTOMATIC)
- ai->to_host.mcu.package.data.notice |= AI_NOTICE_AUTOMATIC;
-
- ai->to_host.mcu.package.crc16 = CRC16_Calc(
- (const uint8_t *)&(ai->to_host.mcu.package),
- sizeof(ai->to_host.mcu.package) - sizeof(uint16_t), CRC16_INIT);
- return DEVICE_OK;
-}
-
-int8_t AI_PackRef(AI_t *ai, const Referee_ForAI_t *ref) {
- (void)ref;
- ai->to_host.ref.id = AI_ID_REF;
- ai->to_host.ref.package.crc16 = CRC16_Calc(
- (const uint8_t *)&(ai->to_host.ref.package),
- sizeof(ai->to_host.ref.package) - sizeof(uint16_t), CRC16_INIT);
- return DEVICE_OK;
-}
-
-int8_t AI_StartSend(AI_t *ai, bool ref_update) {
- if (ref_update) {
- if (HAL_UART_Transmit_DMA(
- BSP_UART_GetHandle(BSP_UART_AI), (uint8_t *)&(ai->to_host),
- sizeof(ai->to_host.ref) + sizeof(ai->to_host.mcu)) == HAL_OK)
- return DEVICE_OK;
- else
- return DEVICE_ERR;
- } else {
- if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_AI),
- (uint8_t *)&(ai->to_host.mcu),
- sizeof(ai->to_host.mcu)) == HAL_OK)
- return DEVICE_OK;
- else
- return DEVICE_ERR;
- }
-}
-
diff --git a/User/device/ai.h b/User/device/ai.h
deleted file mode 100644
index 4434da3..0000000
--- a/User/device/ai.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
- AI
-*/
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ----------------------------------------------------------------- */
-#include
-#include
-#include
-
-#include "component\ahrs.h"
-#include "component\cmd.h"
-#include "component\user_math.h"
-#include "component\filter.h"
-#include "device\device.h"
-#include "device\referee.h"
-#include "protocol.h"
-
-/* Exported constants ------------------------------------------------------- */
-/* Exported macro ----------------------------------------------------------- */
-/* Exported types ----------------------------------------------------------- */
-
-typedef struct __packed {
- uint8_t id;
- Protocol_UpPackageReferee_t package;
-} AI_UpPackageReferee_t;
-
-typedef struct __packed {
- uint8_t id;
- Protocol_UpPackageMCU_t package;
-} AI_UpPackageMCU_t;
-
-typedef struct __packed {
- osThreadId_t thread_alert;
-
- Protocol_DownPackage_t from_host;
-
- struct {
- AI_UpPackageReferee_t ref;
- AI_UpPackageMCU_t mcu;
- } to_host;
-
- CMD_AI_Status_t status;
- bool ai_online;
-} AI_t;
-
-/* Exported functions prototypes -------------------------------------------- */
-int8_t AI_Init(AI_t *ai);
-int8_t AI_Restart(void);
-
-int8_t AI_StartReceiving(AI_t *ai);
-bool AI_WaitDmaCplt(void);
-int8_t AI_ParseHost(AI_t *ai);
-int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host);
-int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat);
-int8_t AI_PackRef(AI_t *ai, const Referee_ForAI_t *ref);
-int8_t AI_StartSend(AI_t *ai, bool option);
-void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host);
-#ifdef __cplusplus
-}
-#endif
-
-
-
diff --git a/User/module/config.c b/User/module/config.c
index 391b0bf..bdaf695 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -344,7 +344,12 @@ Config_RobotParam_t robot_config = {
.x = 0.0f,
.phi = -0.1f,
- }
+ },
+
+ .ai_param = {
+ .can = BSP_FDCAN_2,
+ .vision_id = 0x104,
+ },
/* USER CODE END robot_config */
};
diff --git a/User/module/config.h b/User/module/config.h
index 9d54464..b5d0b61 100644
--- a/User/module/config.h
+++ b/User/module/config.h
@@ -13,6 +13,7 @@ extern "C" {
#include "module/shoot.h"
#include "module/balance_chassis.h"
#include "module/gimbal.h"
+#include "device/vision_bridge.h"
/**
* @brief 机器人参数配置结构体
* @note 在此添加您的配置参数
@@ -22,6 +23,7 @@ typedef struct {
Shoot_Params_t shoot_param;
Chassis_Params_t chassis_param;
Gimbal_Params_t gimbal_param;
+ AI_Param_t ai_param;
/* USER CODE END Config_RobotParam */
} Config_RobotParam_t;
diff --git a/User/module/gimbal.c b/User/module/gimbal.c
index b377d6b..617637a 100644
--- a/User/module/gimbal.c
+++ b/User/module/gimbal.c
@@ -163,7 +163,7 @@ int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal){
*
* \return 函数运行结果
*/
-int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
+int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd, Gimbal_AI_t *g_ai) {
if (g == NULL || g_cmd == NULL) {
return -1;
}
@@ -222,20 +222,44 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
g->out.yaw = 0.0f;
g->out.pit = 0.0f;
break;
-
+ case GIMBAL_MODE_AI_CONTROL:
+ if (g_ai != NULL && g_ai->ctrl) {
+ g->setpoint.eulr.yaw = g_ai->yaw;
+ g->setpoint.eulr.pit = g_ai->pit;
+
+ /* 限位处理 - 使用圆周误差保持一致性 */
+ if (g->param->travel.yaw > 0) {
+ if (CircleError(g->setpoint.eulr.yaw, g->limit.yaw.max, M_2PI) > 0) {
+ g->setpoint.eulr.yaw = g->limit.yaw.max;
+ }
+ if (CircleError(g->setpoint.eulr.yaw, g->limit.yaw.min, M_2PI) < 0) {
+ g->setpoint.eulr.yaw = g->limit.yaw.min;
+ }
+ }
+ if (g->param->travel.pit > 0) {
+ if (CircleError(g->setpoint.eulr.pit, g->limit.pit.max, M_2PI) > 0) {
+ g->setpoint.eulr.pit = g->limit.pit.max;
+ }
+ if (CircleError(g->setpoint.eulr.pit, g->limit.pit.min, M_2PI) < 0) {
+ g->setpoint.eulr.pit = g->limit.pit.min;
+ }
+ }
+ }
+
case GIMBAL_MODE_ABSOLUTE:
case GIMBAL_MODE_RELATIVE:
+ /* AI 控制模式：直接使用 AI 下发的目标角度 */
+
+ /* PID 控制计算 - AI 和手动控制都需要执行 */
yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
g->feedback.imu.eulr.yaw, 0.0f, g->dt);
- g->out.yaw = PID_Calc(&(g->pid.pit_omega), yaw_omega_set_point,
- g->feedback.imu.gyro.z, 0.f, g->dt);
+ g->out.yaw = PID_Calc(&(g->pid.yaw_omega), yaw_omega_set_point,
+ g->feedback.imu.gyro.z, 0.0f, g->dt);
pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
g->feedback.imu.eulr.rol, 0.0f, g->dt);
g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
- g->feedback.imu.gyro.y, 0.f, g->dt);
-
-
+ g->feedback.imu.gyro.y, 0.0f, g->dt);
break;
}
diff --git a/User/module/gimbal.h b/User/module/gimbal.h
index 7d22424..695cdee 100644
--- a/User/module/gimbal.h
+++ b/User/module/gimbal.h
@@ -30,6 +30,7 @@ typedef enum {
GIMBAL_MODE_RELAX, /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
+ GIMBAL_MODE_AI_CONTROL /* AI控制模式，直接接受AI下发的目标角度 */
} Gimbal_Mode_t;
typedef struct {
@@ -38,6 +39,12 @@ typedef struct {
float delta_pit;
} Gimbal_CMD_t;
+typedef struct {
+ bool ctrl;
+ float yaw;
+ float pit;
+} Gimbal_AI_t;
+
/* 软件限位 */
typedef struct {
float max;
@@ -168,7 +175,7 @@ int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal);
*
* \return 函数运行结果
*/
-int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd);
+int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd, Gimbal_AI_t *g_ai);
/**
* \brief 云台输出
diff --git a/User/task/ai.c b/User/task/ai.c
new file mode 100644
index 0000000..83e474f
--- /dev/null
+++ b/User/task/ai.c
@@ -0,0 +1,48 @@
+/*
+ ai Task
+
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "bsp/fdcan.h"
+#include "module/config.h"
+#include "device/vision_bridge.h"
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+AI_cmd_t cmd_ai;
+AI_t ai;
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_ai(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() / AI_FREQ;
+
+ osDelay(AI_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 */
+ 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 */
+ AI_ParseCmdFromCan( &ai,&cmd_ai);
+ /* 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/config.yaml b/User/task/config.yaml
index 79d617d..716c111 100644
--- a/User/task/config.yaml
+++ b/User/task/config.yaml
@@ -46,3 +46,10 @@
function: Task_ctrl_shoot
name: ctrl_shoot
stack: 256
+- delay: 0
+ description: ''
+ freq_control: true
+ frequency: 500.0
+ function: Task_ai
+ name: ai
+ stack: 256
diff --git a/User/task/ctrl_chassis.c b/User/task/ctrl_chassis.c
index e03e1a2..398e444 100644
--- a/User/task/ctrl_chassis.c
+++ b/User/task/ctrl_chassis.c
@@ -67,6 +67,4 @@ void Task_ctrl_chassis(void *argument) {
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_gimbal.c b/User/task/ctrl_gimbal.c
index 0b90375..2da711e 100644
--- a/User/task/ctrl_gimbal.c
+++ b/User/task/ctrl_gimbal.c
@@ -19,6 +19,7 @@
/* USER STRUCT BEGIN */
Gimbal_t gimbal;
Gimbal_CMD_t gimbal_cmd;
+Gimbal_AI_t gimbal_ai;
// BSP_FDCAN_StdDataFrame_t can_frame;
/* USER STRUCT END */
@@ -54,8 +55,8 @@ void Task_ctrl_gimbal(void *argument) {
osMessageQueueReset(task_runtime.msgq.chassis.yaw); // 重置消息队列，防止阻塞
osMessageQueuePut(task_runtime.msgq.chassis.yaw, &gimbal.feedback.motor.yaw, 0, 0);
-
- Gimbal_Control(&gimbal, &gimbal_cmd);
+ osMessageQueueGet(task_runtime.msgq.gimbal.ai_cmd, &gimbal_ai, NULL, 0);
+ Gimbal_Control(&gimbal, &gimbal_cmd, &gimbal_ai);
Gimbal_Output(&gimbal);
diff --git a/User/task/ctrl_shoot.c b/User/task/ctrl_shoot.c
index 3ebe140..c1c387f 100644
--- a/User/task/ctrl_shoot.c
+++ b/User/task/ctrl_shoot.c
@@ -4,7 +4,6 @@
*/
/* Includes ----------------------------------------------------------------- */
-#include "device/motor_rm.h"
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "module/shoot.h"
diff --git a/User/task/init.c b/User/task/init.c
index db84b64..502c8b7 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -39,6 +39,7 @@ void Task_Init(void *argument) {
task_runtime.thread.monitor = osThreadNew(Task_monitor, NULL, &attr_monitor);
task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink);
task_runtime.thread.ctrl_shoot = osThreadNew(Task_ctrl_shoot, NULL, &attr_ctrl_shoot);
+ task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
// 创建消息队列
/* USER MESSAGE BEGIN */
diff --git a/User/task/rc.c b/User/task/rc.c
index e5df403..46b76b0 100644
--- a/User/task/rc.c
+++ b/User/task/rc.c
@@ -85,12 +85,20 @@ void Task_rc(void *argument) {
cmd_for_gimbal.delta_pit = 0.0f;
break;
case DR16_SW_MID:
- cmd_for_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
+ 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:
- cmd_for_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
+ 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;
@@ -160,4 +168,4 @@ switch (dr16.data.sw_l) {
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 0c84e3d..9301bed 100644
--- a/User/task/user_task.c
+++ b/User/task/user_task.c
@@ -22,12 +22,12 @@ const osThreadAttr_t attr_atti_esit = {
const osThreadAttr_t attr_ctrl_chassis = {
.name = "ctrl_chassis",
.priority = osPriorityNormal,
- .stack_size = 256 * 8,
+ .stack_size = 256 * 4,
};
const osThreadAttr_t attr_ctrl_gimbal = {
.name = "ctrl_gimbal",
.priority = osPriorityNormal,
- .stack_size = 256 * 8,
+ .stack_size = 256 * 4,
};
const osThreadAttr_t attr_monitor = {
.name = "monitor",
@@ -42,5 +42,10 @@ const osThreadAttr_t attr_blink = {
const osThreadAttr_t attr_ctrl_shoot = {
.name = "ctrl_shoot",
.priority = osPriorityNormal,
- .stack_size = 256 * 8,
+ .stack_size = 256 * 4,
+};
+const osThreadAttr_t attr_ai = {
+ .name = "ai",
+ .priority = osPriorityNormal,
+ .stack_size = 256 * 4,
};
\ No newline at end of file
diff --git a/User/task/user_task.h b/User/task/user_task.h
index 2ca104d..f0f56e2 100644
--- a/User/task/user_task.h
+++ b/User/task/user_task.h
@@ -19,6 +19,7 @@ extern "C" {
#define MONITOR_FREQ (500.0)
#define BLINK_FREQ (500.0)
#define CTRL_SHOOT_FREQ (500.0)
+#define AI_FREQ (500.0)
/* 任务初始化延时ms */
#define TASK_INIT_DELAY (100u)
@@ -29,6 +30,7 @@ extern "C" {
#define MONITOR_INIT_DELAY (0)
#define BLINK_INIT_DELAY (0)
#define CTRL_SHOOT_INIT_DELAY (0)
+#define AI_INIT_DELAY (0)
/* Exported defines --------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
@@ -45,6 +47,7 @@ typedef struct {
osThreadId_t monitor;
osThreadId_t blink;
osThreadId_t ctrl_shoot;
+ osThreadId_t ai;
} thread;
/* USER MESSAGE BEGIN */
@@ -58,6 +61,7 @@ typedef struct {
struct {
osMessageQueueId_t imu;
osMessageQueueId_t cmd;
+ osMessageQueueId_t ai_cmd;
}gimbal;
struct {
osMessageQueueId_t shoot_cmd; /* 发射命令队列 */
@@ -96,6 +100,7 @@ typedef struct {
UBaseType_t monitor;
UBaseType_t blink;
UBaseType_t ctrl_shoot;
+ UBaseType_t ai;
} stack_water_mark;
/* 各任务运行频率 */
@@ -106,6 +111,7 @@ typedef struct {
float monitor;
float blink;
float ctrl_shoot;
+ float ai;
} freq;
/* 任务最近运行时间 */
@@ -116,6 +122,7 @@ typedef struct {
float monitor;
float blink;
float ctrl_shoot;
+ float ai;
} last_up_time;
} Task_Runtime_t;
@@ -132,6 +139,7 @@ extern const osThreadAttr_t attr_ctrl_gimbal;
extern const osThreadAttr_t attr_monitor;
extern const osThreadAttr_t attr_blink;
extern const osThreadAttr_t attr_ctrl_shoot;
+extern const osThreadAttr_t attr_ai;
/* 任务函数声明 */
void Task_Init(void *argument);
@@ -142,6 +150,7 @@ void Task_ctrl_gimbal(void *argument);
void Task_monitor(void *argument);
void Task_blink(void *argument);
void Task_ctrl_shoot(void *argument);
+void Task_ai(void *argument);
#ifdef __cplusplus
}