237 lines
8.2 KiB
C
237 lines
8.2 KiB
C
/*
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rc Task
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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#include "device/dr16.h"
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#include "device/mrobot.h"
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#include "module/shoot.h"
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#include "module/balance_chassis.h"
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#include "module/gimbal.h"
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#include "component/user_math.h"
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/* USER INCLUDE END */
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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/* USER STRUCT BEGIN */
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DR16_t dr16;
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Shoot_CMD_t for_shoot;
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Chassis_CMD_t cmd_for_chassis;
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Gimbal_CMD_t cmd_for_gimbal;
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/* USER STRUCT END */
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/* Private function --------------------------------------------------------- */
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/* USER PRIVATE CODE BEGIN */
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/**
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* @brief DR16数据打印回调
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*/
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static int print_dr16(const void *data, char *buf, size_t size) {
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const DR16_t *dr16 = (const DR16_t *)data;
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return MRobot_Snprintf(buf, size,
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" Status : %s\r\n"
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" ChLX : %.3f ChLY : %.3f\r\n"
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" ChRX : %.3f ChRY : %.3f\r\n"
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" ChRes : %.3f\r\n"
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" SwL : %d SwR : %d\r\n"
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" Mouse : X=%d Y=%d Z=%d (L:%d R:%d)\r\n"
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" Keys : 0x%04X\r\n",
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dr16->header.online ? "Online" : "Offline",
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dr16->data.ch_l_x, dr16->data.ch_l_y,
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dr16->data.ch_r_x, dr16->data.ch_r_y,
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dr16->data.ch_res,
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dr16->data.sw_l, dr16->data.sw_r,
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dr16->data.mouse.x, dr16->data.mouse.y, dr16->data.mouse.z,
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dr16->data.mouse.l_click, dr16->data.mouse.r_click,
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dr16->data.keyboard.value);
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}
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/* USER PRIVATE CODE END */
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/* Exported functions ------------------------------------------------------- */
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void Task_rc(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() / RC_FREQ;
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osDelay(RC_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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DR16_Init(&dr16);
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MRobot_RegisterDevice("dr16", &dr16, print_dr16);
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/* USER CODE INIT END */
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while (1) {
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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/* USER CODE BEGIN */
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DR16_StartDmaRecv(&dr16);
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if (DR16_WaitDmaCplt(20)) {
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DR16_ParseData(&dr16);
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} else {
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DR16_Offline(&dr16);
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}
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// switch (dr16.data.sw_l) {
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// case DR16_SW_UP:
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// cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
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// break;
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// case DR16_SW_MID:
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// // cmd_for_chassis.mode = CHASSIS_MODE_RECOVER;
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// cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
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// break;
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// case DR16_SW_DOWN:
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// // cmd_for_chassis.mode = CHASSIS_MODE_ROTOR;
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// // cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
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// cmd_for_chassis.mode = CHASSIS_MODE_JUMP;
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// break;
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// default:
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// cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
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// break;
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// }
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// cmd_for_chassis.move_vec.vx = dr16.data.ch_l_y;
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// cmd_for_chassis.move_vec.vy = dr16.data.ch_l_x;
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// cmd_for_chassis.move_vec.wz = dr16.data.ch_r_x;
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// cmd_for_chassis.height = dr16.data.ch_res;
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// osMessageQueueReset(
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// task_runtime.msgq.chassis.cmd); // 重置消息队列，防止阻塞
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// osMessageQueuePut(task_runtime.msgq.chassis.cmd, &cmd_for_chassis, 0,
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// 0); // 非阻塞发送底盘控制命令
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/************************* 云台命令 **************************************/
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switch (dr16.data.sw_l) {
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case DR16_SW_UP:
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cmd_for_gimbal.mode = GIMBAL_MODE_RELAX;
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cmd_for_gimbal.delta_yaw = 0.0f;
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cmd_for_gimbal.delta_pit = 0.0f;
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break;
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case DR16_SW_MID:
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if (dr16.data.sw_r == DR16_SW_UP || dr16.data.sw_r == DR16_SW_ERR) {
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cmd_for_gimbal.mode = GIMBAL_MODE_RELATIVE;
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} else {
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cmd_for_gimbal.mode = GIMBAL_MODE_AI_CONTROL;
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}
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cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x * 5.0f;
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cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 5.0f;
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break;
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case DR16_SW_DOWN:
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if (dr16.data.sw_r == DR16_SW_UP || dr16.data.sw_r == DR16_SW_ERR) {
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cmd_for_gimbal.mode = GIMBAL_MODE_RELATIVE;
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} else {
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cmd_for_gimbal.mode = GIMBAL_MODE_AI_CONTROL;
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}
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cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x * 5.0f;
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cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 5.0f;
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break;
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default:
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cmd_for_gimbal.mode = GIMBAL_MODE_RELAX;
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cmd_for_gimbal.delta_yaw = 0.0f;
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cmd_for_gimbal.delta_pit = 0.0f;
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break;
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}
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osMessageQueueReset(task_runtime.msgq.gimbal.cmd);
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osMessageQueuePut(task_runtime.msgq.gimbal.cmd, &cmd_for_gimbal, 0, 0);
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/************************* 底盘命令 **************************************/
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/* 蓄力-释放跳跃逻辑：向上推蓄力收腿，松开回弹时触发跳跃 */
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static float last_ch_res = 0.0f; /* 上一次拨杆位置 */
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static float min_ch_res = 0.0f; /* 记录最小值（最大蓄力） */
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static uint8_t jump_trigger_hold_cnt = 0; /* 触发保持计数 */
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static bool in_charge_state = false; /* 是否处于蓄力状态 */
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const float CHARGE_THRESHOLD = -0.4f; /* 蓄力阈值：低于此值开始蓄力 */
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const float RELEASE_THRESHOLD = -0.2f; /* 释放阈值：回到此值以上触发跳跃 */
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const float MIN_CHARGE = -0.5f; /* 最小蓄力量：至少要推到此值才能触发 */
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/* 检测蓄力：拨杆向上推 */
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if (dr16.data.ch_res < CHARGE_THRESHOLD) {
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in_charge_state = true;
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if (dr16.data.ch_res < min_ch_res) {
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min_ch_res = dr16.data.ch_res; /* 更新最小值 */
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}
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}
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/* 检测释放：拨杆回弹到阈值以上 && 之前有足够蓄力 */
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if (in_charge_state &&
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dr16.data.ch_res > RELEASE_THRESHOLD &&
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min_ch_res < MIN_CHARGE) {
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jump_trigger_hold_cnt = 5; /* 触发跳跃，保持5个RC周期 */
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in_charge_state = false; /* 退出蓄力状态 */
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min_ch_res = 0.0f; /* 重置蓄力状态 */
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}
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/* 拨杆回到中位，重置蓄力 */
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if (dr16.data.ch_res > -0.1f) {
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in_charge_state = false;
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min_ch_res = 0.0f;
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}
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cmd_for_chassis.jump_trigger = (jump_trigger_hold_cnt > 0);
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if (jump_trigger_hold_cnt > 0) {
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jump_trigger_hold_cnt--;
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}
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last_ch_res = dr16.data.ch_res; /* 保存当前值 */
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switch (dr16.data.sw_l) {
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case DR16_SW_UP:
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cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
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break;
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case DR16_SW_MID:
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// cmd_for_chassis.mode = CHASSIS_MODE_RECOVER;
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cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
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break;
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case DR16_SW_DOWN:
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cmd_for_chassis.mode = CHASSIS_MODE_BALANCE_ROTOR;
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break;
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default:
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cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
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break;
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}
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cmd_for_chassis.move_vec.vx = dr16.data.ch_l_y;
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cmd_for_chassis.move_vec.vy = dr16.data.ch_l_x;
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cmd_for_chassis.move_vec.wz = dr16.data.ch_r_x;
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/* height 传递拨杆位置，负值表示下推收腿，正值表示上推伸腿 */
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cmd_for_chassis.height = dr16.data.ch_res;
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osMessageQueueReset(
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task_runtime.msgq.chassis.cmd); // 重置消息队列，防止阻塞
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osMessageQueuePut(task_runtime.msgq.chassis.cmd, &cmd_for_chassis, 0,
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0); // 非阻塞发送底盘控制命令
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/************************* 发射命令 **************************************/
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for_shoot.online = dr16.header.online;
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switch (dr16.data.sw_r) {
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case DR16_SW_UP:
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for_shoot.ready = false;
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for_shoot.firecmd = false;
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break;
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case DR16_SW_MID:
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for_shoot.ready = true;
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for_shoot.firecmd = false;
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break;
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case DR16_SW_DOWN:
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for_shoot.ready = true;
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for_shoot.firecmd = true;
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break;
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default:
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for_shoot.ready = false;
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for_shoot.firecmd = false;
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break;
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}
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osMessageQueueReset(task_runtime.msgq.shoot.shoot_cmd);
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osMessageQueuePut(task_runtime.msgq.shoot.shoot_cmd, &for_shoot, 0, 0);
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/* USER CODE END */
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osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
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}
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} |