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3c4f62e041
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55403f1f87
@ -89,7 +89,6 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
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User/module/config.c
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User/module/gimbal.c
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User/module/shoot.c
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User/module/cap.c
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User/module/cmd/cmd.c
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User/module/cmd/cmd_adapter.c
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User/module/cmd/cmd_behavior.c
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@ -108,7 +107,6 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
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User/task/monitor.c
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User/task/rc.c
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User/task/cli.c
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User/task/cap.c
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User/task/user_task.c
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User/task/vofa.c
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User/task/cmd.c
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@ -8,8 +8,8 @@ extern "C" {
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#include "device/device.h"
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//#include "referee.h"
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#define SUPERCAP_CAN BSP_FDCAN_2
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// #define SUPERCAP_CAN BSP_FDCAN_3
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#define SUPERCAP_CAN BSP_FDCAN_1
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//#define SUPERCAP_CAN BSP_FDCAN_2
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//#define SUPERCAP_TX_ID 0x301 //C板发给超级电容的ID
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//#define SUPERCAP_RX_ID 0x100 //超级电容发给C板的ID
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@ -501,7 +501,7 @@ Config_RobotParam_t robot_config = {
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.rc_mode_map = {
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#if CMD_ENABLE_MODULE_GIMBAL
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.gimbal_sw_up = GIMBAL_MODE_RELAX,
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.gimbal_sw_mid = GIMBAL_MODE_RELATIVE,
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.gimbal_sw_mid = GIMBAL_MODE_RECOVER,
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.gimbal_sw_down = GIMBAL_MODE_RELATIVE,
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#endif
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#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
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@ -219,7 +219,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd, Gimbal_AI_t *g_ai) {
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g->out.yaw = 0.0f;
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g->out.pit = 0.0f;
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/* fallthrough - AI控制模式也需要执行PID计算 */
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break;
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case GIMBAL_MODE_ABSOLUTE:
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case GIMBAL_MODE_RELATIVE:
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yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
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@ -28,10 +28,10 @@ extern "C" {
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typedef enum {
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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 */
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GIMBAL_MODE_RECOVER, /* 回中模式，使用编码器双环PID控制yaw回零点，pitch锁定限位中心 */
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GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
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GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
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GIMBAL_MODE_AI_CONTROL, /* AI控制模式，直接接受AI下发的目标角度 */
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GIMBAL_MODE_RECOVER /* 回中模式，使用编码器双环PID控制yaw回零点，pitch锁定限位中心 */
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GIMBAL_MODE_AI_CONTROL /* AI控制模式，直接接受AI下发的目标角度 */
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} Gimbal_Mode_t;
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/* UI 导出结构（供 referee 系统绘制） */
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@ -28,14 +28,14 @@ Cap_RefereeUI_t cap_ui;
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/* USER PRIVATE CODE END */
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/* Exported functions ------------------------------------------------------- */
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void Task_cap(void *argument) {
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void Task_super_cap(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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/* 计算任务运行到指定频率需要等待的tick数 */
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const uint32_t delay_tick = osKernelGetTickFreq() / CAP_FREQ;
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const uint32_t delay_tick = osKernelGetTickFreq() / SUPER_CAP_FREQ;
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osDelay(CAP_INIT_DELAY); /* 延时一段时间再开启任务 */
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osDelay(SUPER_CAP_INIT_DELAY); /* 延时一段时间再开启任务 */
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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/* USER CODE INIT BEGIN */
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@ -53,13 +53,13 @@ void Task_cap(void *argument) {
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cap_online = get_supercap_online_state();
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// osKernelLock(); /* 锁住RTOS内核防止控制过程中断，造成错误 */
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osKernelLock(); /* 锁住RTOS内核防止控制过程中断，造成错误 */
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/* 根据裁判系统数据计算输出功率 */
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SuperCap_CanTX.Powerlimit = power_limit;
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Cap_Control(&CAN_SuperCapRXData, &referee_cap);
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SuperCap_Update();
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CAN_TX_SuperCapData(&SuperCap_CanTX);
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// osKernelUnlock();
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osKernelUnlock();
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/* 将电容状态发送到Chassis */
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// osMessageQueueReset(task_runtime.msgq.cap.for_chassis);
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// osMessageQueuePut(task_runtime.msgq.cap.for_chassis, &CAN_SuperCapRXData, 0, 0);
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@ -106,7 +106,7 @@ void Task_ctrl_chassis(void *argument) {
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// float power_limit = (chassis_ref.ref_status == REF_STATUS_RUNNING)
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// ? chassis_ref.chassis_power_limit
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// : 500.0f;
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//(&chassis, power_limit);
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// Chassis_Power_Control(&chassis, power_limit);
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osMessageQueueReset(task_runtime.msgq.chassis.vofa); // 重置消息队列，防止阻塞
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@ -43,7 +43,6 @@ void Task_Init(void *argument) {
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task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink);
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task_runtime.thread.ctrl_shoot = osThreadNew(Task_ctrl_shoot, NULL, &attr_ctrl_shoot);
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task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
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task_runtime.thread.cap = osThreadNew(Task_cap, NULL, &attr_cap);
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// task_runtime.thread.vofa = osThreadNew(Task_vofa, NULL, &attr_vofa);
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task_runtime.thread.cli = osThreadNew(Task_cli, NULL, &attr_cli);
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// task_runtime.thread.debug = osThreadNew(Task_debug, NULL, &attr_debug);
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@ -80,18 +80,14 @@ void Task_rc(void *argument) {
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/* 检测左拨杆切换到UP位置时触发软件复位 */
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if (dr16.header.online) {
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if (last_sw_l == DR16_SW_ERR) {
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/* 首次上线，仅同步状态，不触发动作 */
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last_sw_l = dr16.data.sw_l;
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} else {
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if (dr16.data.sw_l == DR16_SW_UP && last_sw_l != DR16_SW_UP) {
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reset = !reset;
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/* 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 */
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if (
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dr16.data.sw_l == DR16_SW_UP &&
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last_sw_l != DR16_SW_UP) {
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reset=!reset;
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}
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last_sw_l = dr16.data.sw_l;
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}
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} else {
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/* 离线时重置为ERR，下次上线重新同步 */
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last_sw_l = DR16_SW_ERR;
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last_sw_l = dr16.data.sw_l; /* 更新拨杆状态 */
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}
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/* USER CODE END */
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@ -74,8 +74,3 @@ const osThreadAttr_t attr_referee = {
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.priority = osPriorityNormal,
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.stack_size = 512 * 4,
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};
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const osThreadAttr_t attr_cap = {
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.name = "cap",
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.priority = osPriorityNormal,
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.stack_size = 256 * 4,
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};
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@ -24,7 +24,7 @@ extern "C" {
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#define DEBUG_FREQ (10.0)
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#define CMD_FREQ (500.0)
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#define REFEREE_FREQ (500.0)
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#define CAP_FREQ (500.0)
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#define SUPER_CAP_FREQ (500.0)
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/* 任务初始化延时ms */
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#define TASK_INIT_DELAY (100u)
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@ -41,7 +41,7 @@ extern "C" {
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#define DEBUG_INIT_DELAY (0)
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#define CMD_INIT_DELAY (0)
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#define REFEREE_INIT_DELAY (0)
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#define CAP_INIT_DELAY (0)
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#define SUPER_CAP_INIT_DELAY (0)
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/* Exported defines --------------------------------------------------------- */
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/* Exported macro ----------------------------------------------------------- */
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@ -64,7 +64,7 @@ typedef struct {
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osThreadId_t debug;
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osThreadId_t cmd;
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osThreadId_t referee;
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osThreadId_t cap;
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} thread;
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/* USER MESSAGE BEGIN */
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@ -144,7 +144,6 @@ typedef struct {
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UBaseType_t ai;
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UBaseType_t vofa;
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UBaseType_t cli;
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UBaseType_t cap;
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UBaseType_t debug;
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UBaseType_t cmd;
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UBaseType_t referee;
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@ -164,7 +163,6 @@ typedef struct {
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float debug;
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float cmd;
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float referee;
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float cap;
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} freq;
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/* 任务最近运行时间 */
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@ -180,7 +178,6 @@ typedef struct {
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float debug;
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float cmd;
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float referee;
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float cap;
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} last_up_time;
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} Task_Runtime_t;
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@ -202,7 +199,6 @@ extern const osThreadAttr_t attr_vofa;
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extern const osThreadAttr_t attr_cli;
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extern const osThreadAttr_t attr_debug;
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extern const osThreadAttr_t attr_cmd;
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extern const osThreadAttr_t attr_cap;
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extern const osThreadAttr_t attr_referee;
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/* 任务函数声明 */
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@ -220,7 +216,7 @@ void Task_cli(void *argument);
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void Task_debug(void *argument);
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void Task_cmd(void *argument);
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void Task_referee(void *argument);
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void Task_cap(void *argument);
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#ifdef __cplusplus
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}
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#endif
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