加ai

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

MDK-ARM/CtrBoard-H7_ALL.uvoptx

@@ -188,7 +188,17 @@
         <Ww>
           <count>6</count>
           <WinNumber>1</WinNumber>
-          <ItemText>chassis</ItemText>
+          <ItemText>ai</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cmd_ai</ItemText>
+        </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>gimbal</ItemText>
         </Ww>
       </WatchWindow1>
       <Tracepoint>
@@ -1289,6 +1299,18 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>8</GroupNumber>
+      <FileNumber>83</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\device\vision_bridge.c</PathWithFileName>
+      <FilenameWithoutPath>vision_bridge.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>
@@ -1299,7 +1321,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>83</FileNumber>
+      <FileNumber>84</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1311,7 +1333,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>84</FileNumber>
+      <FileNumber>85</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1323,7 +1345,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>85</FileNumber>
+      <FileNumber>86</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1335,7 +1357,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>86</FileNumber>
+      <FileNumber>87</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1355,7 +1377,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>87</FileNumber>
+      <FileNumber>88</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1367,7 +1389,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>88</FileNumber>
+      <FileNumber>89</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1379,7 +1401,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>89</FileNumber>
+      <FileNumber>90</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1391,7 +1413,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>90</FileNumber>
+      <FileNumber>91</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1403,7 +1425,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>91</FileNumber>
+      <FileNumber>92</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1415,7 +1437,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>92</FileNumber>
+      <FileNumber>93</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1427,7 +1449,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>93</FileNumber>
+      <FileNumber>94</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1439,7 +1461,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>94</FileNumber>
+      <FileNumber>95</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1451,7 +1473,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>95</FileNumber>
+      <FileNumber>96</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1463,7 +1485,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>96</FileNumber>
+      <FileNumber>97</FileNumber>
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1473,6 +1495,18 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>10</GroupNumber>
+      <FileNumber>98</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\task\ai.c</PathWithFileName>
+      <FilenameWithoutPath>ai.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>

MDK-ARM/CtrBoard-H7_ALL.uvprojx

@@ -829,6 +829,11 @@
               <FileType>1</FileType>
               <FilePath>..\User\device\gimbal_imu.c</FilePath>
             </File>
+            <File>
+              <FileName>vision_bridge.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\device\vision_bridge.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
@@ -909,6 +914,11 @@
               <FileType>5</FileType>
               <FilePath>..\User\task\user_task.h</FilePath>
             </File>
+            <File>
+              <FileName>ai.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\task\ai.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>

User/device/ai.c

@@ -1,152 +0,0 @@
-/*
-AI
-*/
-
-/* Includes ----------------------------------------------------------------- */
-#include "ai.h"
-
-#include <string.h>
-
-#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;
-  }
-}
-

User/device/ai.h

@@ -1,69 +0,0 @@
-/*
-  AI
-*/
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ----------------------------------------------------------------- */
-#include <cmsis_os2.h>
-#include <stdbool.h>
-#include <stdint.h>
-
-#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
-
-
-

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 */
 };
 

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;
 

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->out.yaw = PID_Calc(&(g->pid.yaw_omega), yaw_omega_set_point,
-                          g->feedback.imu.gyro.z, 0.f, g->dt);
+                          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;
   }
   

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

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 */
+  }
+  
+}

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

User/task/ctrl_chassis.c

@@ -68,5 +68,3 @@ void Task_ctrl_chassis(void *argument) {
   }
   
 }
-
-

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);
-    
+    osMessageQueueGet(task_runtime.msgq.gimbal.ai_cmd, &gimbal_ai, NULL, 0);
-    Gimbal_Control(&gimbal, &gimbal_cmd);
+    Gimbal_Control(&gimbal, &gimbal_cmd, &gimbal_ai);
 
     Gimbal_Output(&gimbal);
 

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"

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 */

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;

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,
 };

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
 }