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增加了pc操作和按键行为

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xxxxm 2026-03-16 22:06:24 +08:00
parent 8ab6208ff1
commit d5d9628cf2
8 changed files with 78 additions and 41 deletions
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26
User/module/cmd/cmd.c
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@ -233,14 +233,14 @@ static void CMD_NUC_BuildShootCmd(CMD_t *ctx) {
ctx->output.shoot.cmd.firecmd = false; ctx->output.shoot.cmd.firecmd = false;
break; break;
case 2: case 2:
if (ctx->input.rc.sw[1]==CMD_SW_DOWN) { if ((ctx->active_source == CMD_SRC_PC && ctx->input.pc.mouse.l_click) ||
ctx->output.shoot.cmd.ready = true; (ctx->active_source == CMD_SRC_RC && ctx->input.rc.sw[1] == CMD_SW_DOWN)) {
ctx->output.shoot.cmd.firecmd = true; ctx->output.shoot.cmd.ready = true;
}else { ctx->output.shoot.cmd.firecmd = true;
ctx->output.shoot.cmd.ready = true; } else {
ctx->output.shoot.cmd.firecmd = false; ctx->output.shoot.cmd.ready = true;
} ctx->output.shoot.cmd.firecmd = false;
}
break; break;
} }
} }
@ -388,19 +388,11 @@ static void CMD_PC_BuildBalanceChassisCmd(CMD_t *ctx) {
ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_WHELL_LEG_BALANCE; ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
float vx = 0.0f, wz = 0.0f; 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.vx = vx;
ctx->output.balance_chassis.cmd.move_vec.wz = wz; ctx->output.balance_chassis.cmd.move_vec.wz = wz;
ctx->output.balance_chassis.cmd.move_vec.vy = 0.0f; ctx->output.balance_chassis.cmd.move_vec.vy = 0.0f;
} }
#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_BALANCE_CHASSIS */ #endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_BALANCE_CHASSIS */
#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_REFUI #if CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_REFUI

1
User/module/cmd/cmd_adapter.c
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@ -64,6 +64,7 @@ int8_t CMD_DR16_PC_GetInput(void *data, CMD_RawInput_t *output) {
/* PC端鼠标映射 */ /* PC端鼠标映射 */
output->pc.mouse.x = dr16->data.mouse.x; output->pc.mouse.x = dr16->data.mouse.x;
output->pc.mouse.y = dr16->data.mouse.y; output->pc.mouse.y = dr16->data.mouse.y;
output->pc.mouse.z = dr16->data.mouse.z;
output->pc.mouse.l_click = dr16->data.mouse.l_click; output->pc.mouse.l_click = dr16->data.mouse.l_click;
output->pc.mouse.r_click = dr16->data.mouse.r_click; output->pc.mouse.r_click = dr16->data.mouse.r_click;

41
User/module/cmd/cmd_behavior.c
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@ -3,6 +3,7 @@
*/ */
#include "cmd_behavior.h" #include "cmd_behavior.h"
#include "cmd.h" #include "cmd.h"
#include "module/balance_chassis.h"
#if CMD_ENABLE_MODULE_GIMBAL #if CMD_ENABLE_MODULE_GIMBAL
#include "module/gimbal.h" #include "module/gimbal.h"
#endif #endif
@ -16,6 +17,9 @@
int8_t CMD_Behavior_Handle_FORE(CMD_t *ctx) { int8_t CMD_Behavior_Handle_FORE(CMD_t *ctx) {
#if CMD_ENABLE_MODULE_CHASSIS #if CMD_ENABLE_MODULE_CHASSIS
ctx->output.chassis.cmd.ctrl_vec.vy += ctx->config->sensitivity.move_sens; ctx->output.chassis.cmd.ctrl_vec.vy += ctx->config->sensitivity.move_sens;
#endif
#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
ctx->output.balance_chassis.cmd.move_vec.vy += ctx->config->sensitivity.move_sens;
#endif #endif
return CMD_OK; return CMD_OK;
} }
@ -23,6 +27,9 @@ int8_t CMD_Behavior_Handle_FORE(CMD_t *ctx) {
int8_t CMD_Behavior_Handle_BACK(CMD_t *ctx) { int8_t CMD_Behavior_Handle_BACK(CMD_t *ctx) {
#if CMD_ENABLE_MODULE_CHASSIS #if CMD_ENABLE_MODULE_CHASSIS
ctx->output.chassis.cmd.ctrl_vec.vy -= ctx->config->sensitivity.move_sens; ctx->output.chassis.cmd.ctrl_vec.vy -= ctx->config->sensitivity.move_sens;
#endif
#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
ctx->output.balance_chassis.cmd.move_vec.vy -= ctx->config->sensitivity.move_sens;
#endif #endif
return CMD_OK; return CMD_OK;
} }
@ -30,6 +37,9 @@ int8_t CMD_Behavior_Handle_BACK(CMD_t *ctx) {
int8_t CMD_Behavior_Handle_LEFT(CMD_t *ctx) { int8_t CMD_Behavior_Handle_LEFT(CMD_t *ctx) {
#if CMD_ENABLE_MODULE_CHASSIS #if CMD_ENABLE_MODULE_CHASSIS
ctx->output.chassis.cmd.ctrl_vec.vx -= ctx->config->sensitivity.move_sens; ctx->output.chassis.cmd.ctrl_vec.vx -= ctx->config->sensitivity.move_sens;
#endif
#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
ctx->output.balance_chassis.cmd.move_vec.vx -= ctx->config->sensitivity.move_sens;
#endif #endif
return CMD_OK; return CMD_OK;
} }
@ -37,6 +47,9 @@ int8_t CMD_Behavior_Handle_LEFT(CMD_t *ctx) {
int8_t CMD_Behavior_Handle_RIGHT(CMD_t *ctx) { int8_t CMD_Behavior_Handle_RIGHT(CMD_t *ctx) {
#if CMD_ENABLE_MODULE_CHASSIS #if CMD_ENABLE_MODULE_CHASSIS
ctx->output.chassis.cmd.ctrl_vec.vx += ctx->config->sensitivity.move_sens; ctx->output.chassis.cmd.ctrl_vec.vx += ctx->config->sensitivity.move_sens;
#endif
#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
ctx->output.balance_chassis.cmd.move_vec.vx += ctx->config->sensitivity.move_sens;
#endif #endif
return CMD_OK; return CMD_OK;
} }
@ -45,14 +58,17 @@ int8_t CMD_Behavior_Handle_ACCELERATE(CMD_t *ctx) {
#if CMD_ENABLE_MODULE_CHASSIS #if CMD_ENABLE_MODULE_CHASSIS
ctx->output.chassis.cmd.ctrl_vec.vx *= ctx->config->sensitivity.move_fast_mult; 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; ctx->output.chassis.cmd.ctrl_vec.vy *= ctx->config->sensitivity.move_fast_mult;
#endif
#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
ctx->output.balance_chassis.cmd.move_vec.vx *= ctx->config->sensitivity.move_fast_mult;
ctx->output.balance_chassis.cmd.move_vec.vy *= ctx->config->sensitivity.move_fast_mult;
#endif #endif
return CMD_OK; return CMD_OK;
} }
int8_t CMD_Behavior_Handle_DECELERATE(CMD_t *ctx) { int8_t CMD_Behavior_Handle_CLIMB(CMD_t *ctx) {
#if CMD_ENABLE_MODULE_CHASSIS #if CMD_ENABLE_MODULE_BALANCE_CHASSIS
ctx->output.chassis.cmd.ctrl_vec.vx *= ctx->config->sensitivity.move_slow_mult; ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_CLIMB_STEP;
ctx->output.chassis.cmd.ctrl_vec.vy *= ctx->config->sensitivity.move_slow_mult;
#endif #endif
return CMD_OK; return CMD_OK;
} }
@ -72,12 +88,15 @@ int8_t CMD_Behavior_Handle_FIRE_MODE(CMD_t *ctx) {
} }
int8_t CMD_Behavior_Handle_ROTOR(CMD_t *ctx) { 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 #if CMD_ENABLE_MODULE_GIMBAL
ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELATIVE; ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELATIVE;
#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_BALANCE_CHASSIS
ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_BALANCE_ROTOR;
#endif
#endif #endif
return CMD_OK; return CMD_OK;
} }
@ -131,7 +150,11 @@ int8_t CMD_Behavior_Handle_CHECKSOURCERCPC(CMD_t *ctx) {
} }
return CMD_OK; return CMD_OK;
} }
extern bool reset;
int8_t CMD_Behavior_Handle_RESET(CMD_t *ctx) {
reset = !reset;
return CMD_OK;
}
/* 行为配置表 - 由宏生成 */ /* 行为配置表 - 由宏生成 */
static const CMD_BehaviorConfig_t g_behavior_configs[] = { static const CMD_BehaviorConfig_t g_behavior_configs[] = {
CMD_BEHAVIOR_TABLE(BUILD_BEHAVIOR_CONFIG) CMD_BEHAVIOR_TABLE(BUILD_BEHAVIOR_CONFIG)

21
User/module/cmd/cmd_types.h
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@ -252,19 +252,20 @@ typedef enum {
/* 行为定义 */ /* 行为定义 */
/* ========================================================================== */ /* ========================================================================== */
/* 行为-按键映射宏表 */ /* 行为-按键映射宏表 */
#define BEHAVIOR_CONFIG_COUNT (11) #define BEHAVIOR_CONFIG_COUNT (12)
#define CMD_BEHAVIOR_TABLE(X) \ #define CMD_BEHAVIOR_TABLE(X) \
X(FORE, CMD_KEY_W, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ X(FORE, CMD_KEY_W, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS|CMD_MODULE_BALANCE_CHASSIS) \
X(BACK, CMD_KEY_S, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ X(BACK, CMD_KEY_S, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS|CMD_MODULE_BALANCE_CHASSIS) \
X(LEFT, CMD_KEY_A, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ X(LEFT, CMD_KEY_A, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS|CMD_MODULE_BALANCE_CHASSIS) \
X(RIGHT, CMD_KEY_D, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ X(RIGHT, CMD_KEY_D, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS|CMD_MODULE_BALANCE_CHASSIS) \
X(ACCELERATE, CMD_KEY_SHIFT, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ X(ACCELERATE, CMD_KEY_SHIFT, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS|CMD_MODULE_BALANCE_CHASSIS) \
X(DECELERATE, CMD_KEY_CTRL, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ X(ROTOR, CMD_KEY_CTRL, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS|CMD_MODULE_BALANCE_CHASSIS) \
X(FIRE, CMD_KEY_L_CLICK, CMD_ACTIVE_PRESSED, CMD_MODULE_SHOOT) \ 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(FIRE_MODE, CMD_KEY_B, CMD_ACTIVE_RISING_EDGE, CMD_MODULE_SHOOT) \
X(ROTOR, CMD_KEY_E, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ X(CLIMB, CMD_KEY_R, CMD_ACTIVE_PRESSED, CMD_MODULE_BALANCE_CHASSIS) \
X(AUTOAIM, CMD_KEY_R_CLICK, CMD_ACTIVE_PRESSED, CMD_MODULE_NONE) \ 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) X(CHECKSOURCERCPC,CMD_KEY_CTRL|CMD_KEY_SHIFT|CMD_KEY_V, CMD_ACTIVE_RISING_EDGE, CMD_MODULE_NONE) \
X(RESET, CMD_KEY_G, CMD_ACTIVE_RISING_EDGE, CMD_MODULE_NONE)
/* 触发类型 */ /* 触发类型 */
typedef enum { typedef enum {
CMD_ACTIVE_PRESSED, /* 按住时触发 */ CMD_ACTIVE_PRESSED, /* 按住时触发 */

4
User/module/config.c
View File

@ -113,8 +113,8 @@ Config_RobotParam_t robot_config = {
.shoot_param = { .shoot_param = {
.basic={ .basic={
.projectileType=SHOOT_PROJECTILE_17MM, .projectileType=SHOOT_PROJECTILE_17MM,
.fric_num=2, .fric_num=2,
.extra_deceleration_ratio=1.0f, .extra_deceleration_ratio=1.0f,
.num_trig_tooth=8, .num_trig_tooth=8,
.shot_freq=1.0f, .shot_freq=1.0f,
.shot_burst_num=3, .shot_burst_num=3,

4
User/module/shoot.c
View File

@ -971,10 +971,10 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
s->timer.now = BSP_TIME_Get_us() / 1000000.0f; s->timer.now = BSP_TIME_Get_us() / 1000000.0f;
s->timer.dt = (BSP_TIME_Get_us() - s->timer.lask_wakeup) / 1000000.0f; s->timer.dt = (BSP_TIME_Get_us() - s->timer.lask_wakeup) / 1000000.0f;
s->timer.lask_wakeup = BSP_TIME_Get_us(); s->timer.lask_wakeup = BSP_TIME_Get_us();
// Shoot_CaluTargetRPM(s,233); Shoot_CaluTargetRPM(s,233);
/* 运行热量检测状态机 */ /* 运行热量检测状态机 */
// Shoot_HeatDetectionFSM(s); Shoot_HeatDetectionFSM(s);
/* 运行卡弹检测状态机 */ /* 运行卡弹检测状态机 */
Shoot_JamDetectionFSM(s, cmd); Shoot_JamDetectionFSM(s, cmd);

5
User/task/blink.c
View File

@ -17,6 +17,7 @@
/* USER STRUCT BEGIN */ /* USER STRUCT BEGIN */
BUZZER_t buzzer; BUZZER_t buzzer;
static uint16_t count; static uint16_t count;
bool reset=0;
/* USER STRUCT END */ /* USER STRUCT END */
/* Private function --------------------------------------------------------- */ /* Private function --------------------------------------------------------- */
@ -54,6 +55,10 @@ void Task_blink(void *argument) {
/* 播放100ms后停止 (50/500Hz = 0.1s) */ /* 播放100ms后停止 (50/500Hz = 0.1s) */
BUZZER_Stop(&buzzer); BUZZER_Stop(&buzzer);
} }
if (reset) {
__set_FAULTMASK(1); /* 关闭所有中断 */
NVIC_SystemReset(); /* 系统复位 */
}
/* USER CODE END */ /* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
} }

15
User/task/rc.c
View File

@ -8,6 +8,7 @@
/* USER INCLUDE BEGIN */ /* USER INCLUDE BEGIN */
#include "device/dr16.h" #include "device/dr16.h"
#include "device/mrobot.h" #include "device/mrobot.h"
#include "stm32h7xx.h"
/* USER INCLUDE END */ /* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */ /* Private typedef ---------------------------------------------------------- */
@ -16,6 +17,8 @@
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */ /* USER STRUCT BEGIN */
DR16_t dr16; DR16_t dr16;
static DR16_SwitchPos_t last_sw_l = DR16_SW_ERR; /* 记录左拨杆上一次状态 */
extern bool reset;
/* USER STRUCT END */ /* USER STRUCT END */
/* Private function --------------------------------------------------------- */ /* Private function --------------------------------------------------------- */
@ -75,6 +78,18 @@ void Task_rc(void *argument) {
osMessageQueueReset(task_runtime.msgq.cmd.rc); osMessageQueueReset(task_runtime.msgq.cmd.rc);
osMessageQueuePut(task_runtime.msgq.cmd.rc, &dr16, 0, 0); osMessageQueuePut(task_runtime.msgq.cmd.rc, &dr16, 0, 0);
/* 检测左拨杆切换到UP位置时触发软件复位 */
if (dr16.header.online) {
/* 拨杆从非UP状态切换到UP状态，且复位功能已使能，触发系统复位 */
if (
dr16.data.sw_l == DR16_SW_UP &&
last_sw_l != DR16_SW_UP) {
reset=!reset;
}
last_sw_l = dr16.data.sw_l; /* 更新拨杆状态 */
}
/* USER CODE END */ /* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
} }