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-> 1104772 bytes .../Src/stm32f4xx_hal_gpio.c.obj | Bin 1113268 -> 1113400 bytes .../Src/stm32f4xx_hal_pwr.c.obj | Bin 1114376 -> 1114476 bytes .../Src/stm32f4xx_hal_pwr_ex.c.obj | Bin 1109680 -> 1109832 bytes .../Src/stm32f4xx_hal_rcc.c.obj | Bin 1119484 -> 1119612 bytes .../Src/stm32f4xx_hal_rcc_ex.c.obj | Bin 1112176 -> 1112332 bytes .../Src/stm32f4xx_hal_spi.c.obj | Bin 1147316 -> 1147408 bytes .../Src/stm32f4xx_hal_tim.c.obj | Bin 1199228 -> 1199188 bytes .../Src/stm32f4xx_hal_tim_ex.c.obj | Bin 1143184 -> 1143288 bytes .../Src/stm32f4xx_hal_uart.c.obj | Bin 1161868 -> 1161924 bytes .../cmake/stm32cubemx/cmake_install.cmake | 8 +- build/Debug/cmake_install.cmake | 12 +- build/Debug/compile_commands.json | 760 +++++----- 165 files changed, 4652 insertions(+), 5644 deletions(-) create mode 100644 .clangd create mode 100644 .gitignore create mode 100644 .settings/bundles-lock.store.json create mode 100644 .settings/bundles.store.json create mode 100644 .settings/ide.store.json create mode 100644 .vscode/c_cpp_properties.json create mode 100644 .vscode/settings.json create mode 100644 User/device/CMakeLists.txt create mode 100644 User/device/referee_proto_types.h create mode 100644 User/module/aimbot.c create mode 100644 User/module/aimbot.h delete mode 100644 User/module/cmd.c create mode 100644 User/module/cmd/cmd.c rename User/module/{ => cmd}/cmd.h (58%) rename User/module/{ => cmd}/cmd_adapter.c (62%) rename User/module/{ => cmd}/cmd_adapter.h (79%) rename User/module/{ => cmd}/cmd_behavior.c (67%) rename User/module/{ => cmd}/cmd_behavior.h (98%) rename User/module/{ => cmd}/cmd_example.c (99%) create mode 100644 User/module/cmd/cmd_feature.h rename User/module/{ => cmd}/cmd_types.h (58%) create mode 100644 User/module/vision_bridge.c create mode 100644 User/module/vision_bridge.h delete mode 100644 build/Debug/.cmake/api/v1/reply/cache-v2-4c5028c5e3aae1ad4776.json delete mode 100644 build/Debug/.cmake/api/v1/reply/cmakeFiles-v1-2fcb4b80fda6b3324f8b.json delete mode 100644 build/Debug/.cmake/api/v1/reply/codemodel-v2-46489f7879a9c47dc474.json delete mode 100644 build/Debug/.cmake/api/v1/reply/directory-.-Debug-f5ebdc15457944623624.json delete mode 100644 build/Debug/.cmake/api/v1/reply/directory-cmake.stm32cubemx-Debug-4b19649788072bcc790a.json delete mode 100644 build/Debug/.cmake/api/v1/reply/index-2026-03-19T16-52-54-0808.json delete mode 100644 build/Debug/.cmake/api/v1/reply/target-FreeRTOS-Debug-c652e4fc77b4f28337ba.json delete mode 100644 build/Debug/.cmake/api/v1/reply/target-STM32_Drivers-Debug-b0aa5fd7c17851fa1380.json delete mode 100644 build/Debug/.cmake/api/v1/reply/target-lll0121-Debug-1d767958bec70da90eaa.json delete mode 100644 build/Debug/.cmake/api/v1/reply/toolchains-v1-cce5960ef8dd127cae49.json delete mode 100644 build/Debug/CMakeFiles/lll0121.dir/User/module/cap.c.obj delete mode 100644 build/Debug/CMakeFiles/lll0121.dir/User/module/cmd.c.obj delete mode 100644 build/Debug/CMakeFiles/lll0121.dir/User/module/cmd_adapter.c.obj delete mode 100644 build/Debug/CMakeFiles/lll0121.dir/User/module/cmd_behavior.c.obj delete mode 100644 build/Debug/CMakeFiles/lll0121.dir/User/module/cmd_example.c.obj delete mode 100644 build/Debug/CMakeFiles/lll0121.dir/User/module/config.c.obj delete mode 100644 build/Debug/CMakeFiles/lll0121.dir/User/task/ai.c.obj delete mode 100644 build/Debug/CMakeFiles/lll0121.dir/User/task/chassis.c.obj delete mode 100644 build/Debug/CMakeFiles/lll0121.dir/User/task/cmd.c.obj delete mode 100644 build/Debug/CMakeFiles/lll0121.dir/User/task/gimbal.c.obj delete mode 100644 build/Debug/CMakeFiles/lll0121.dir/User/task/init.c.obj delete mode 100644 build/Debug/CMakeFiles/lll0121.dir/User/task/referee.c.obj delete mode 100644 build/Debug/CMakeFiles/lll0121.dir/User/task/shoot.c.obj delete mode 100644 build/Debug/CMakeFiles/lll0121.dir/User/task/super_cap.c.obj diff --git a/.clangd b/.clangd new file mode 100644 index 0000000..50c62c4 --- /dev/null +++ b/.clangd @@ -0,0 +1,11 @@ +CompileFlags: + Add: + - '-ferror-limit=0' + - '-Wno-implicit-int' + CompilationDatabase: build/Debug +Diagnostics: + Suppress: + - unused-includes + - unknown_typename + - unknown_typename_suggest + - typename_requires_specqual diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..185b49a --- /dev/null +++ b/.gitignore @@ -0,0 +1,3 @@ +build +mx.scratch +!.settings \ No newline at end of file diff --git a/.settings/bundles-lock.store.json b/.settings/bundles-lock.store.json new file mode 100644 index 0000000..1568284 --- /dev/null +++ b/.settings/bundles-lock.store.json @@ -0,0 +1,158 @@ +{ + "resolved": [ + { + "name": "cmake", + "version": "4.0.1+st.3", + "platform": "darwin", + "selected_by": [ + { + "name": "cmake", + "version": "4.0.1+st.3" + } + ] + }, + { + "name": "cmake", + "version": "4.0.1+st.3", + "platform": "x86_64-linux", + "selected_by": [ + { + "name": "cmake", + "version": "4.0.1+st.3" + } + ] + }, + { + "name": "cmake", + "version": "4.0.1+st.3", + "platform": "x86_64-windows", + "selected_by": [ + { + "name": "cmake", + "version": "4.0.1+st.3" + } + ] + }, + { + "name": "gnu-tools-for-stm32", + "version": "14.3.1+st.2", + "platform": "aarch64-darwin", + "selected_by": [ + { + "name": "gnu-tools-for-stm32", + "version": "14.3.1+st.2" + } + ] + }, + { + "name": "gnu-tools-for-stm32", + "version": "14.3.1+st.2", + "platform": "x86_64-darwin", + "selected_by": [ + { + "name": "gnu-tools-for-stm32", + "version": "14.3.1+st.2" + } + ] + }, + { + "name": "gnu-tools-for-stm32", + "version": "14.3.1+st.2", + "platform": "x86_64-linux", + "selected_by": [ + { + "name": "gnu-tools-for-stm32", + "version": "14.3.1+st.2" + } + ] + }, + { + "name": "gnu-tools-for-stm32", + "version": "14.3.1+st.2", + "platform": "x86_64-windows", + "selected_by": [ + { + "name": "gnu-tools-for-stm32", + "version": "14.3.1+st.2" + } + ] + }, + { + "name": "gnu-tools-for-stm32-14_3_1-description", + "version": 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a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json new file mode 100644 index 0000000..233ee1f --- /dev/null +++ b/.vscode/c_cpp_properties.json @@ -0,0 +1,8 @@ +{ + "configurations": [ + { + "name": "STM32", + "compileCommands": "${workspaceFolder}/build/Debug/compile_commands.json" + } + ] +} \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..6456ac2 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,15 @@ +{ + "cmake.cmakePath": "cube-cmake", + "cmake.configureArgs": [ + "-DCMAKE_COMMAND=cube-cmake" + ], + "cmake.preferredGenerators": [ + "Ninja" + ], + "stm32cube-ide-clangd.path": "cube", + "stm32cube-ide-clangd.arguments": [ + "starm-clangd", + "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-gcc*", + "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-g++*" + ] +} \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt index ecc39ec..28f8167 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -81,14 +81,14 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE User/device/referee.c User/device/remote_control.c User/device/supercap.c - + User/device/referee.c # User/module sources User/module/cap.c User/module/chassis.c - User/module/cmd.c - User/module/cmd_adapter.c - User/module/cmd_behavior.c - User/module/cmd_example.c + User/module/cmd/cmd.c + User/module/cmd/cmd_adapter.c + User/module/cmd/cmd_behavior.c + User/module/cmd/cmd_example.c User/module/config.c User/module/gimbal.c User/module/shoot.c diff --git a/User/device/CMakeLists.txt b/User/device/CMakeLists.txt new file mode 100644 index 0000000..ed5915f --- /dev/null +++ b/User/device/CMakeLists.txt @@ -0,0 +1,138 @@ +cmake_minimum_required(VERSION 3.22) + +# +# This file is generated only once, +# and is not re-generated if converter is called multiple times. +# +# User is free to modify the file as much as necessary +# + +# Setup compiler settings +set(CMAKE_C_STANDARD 11) +set(CMAKE_C_STANDARD_REQUIRED ON) +set(CMAKE_C_EXTENSIONS ON) + + +# Define the build type +if(NOT CMAKE_BUILD_TYPE) + set(CMAKE_BUILD_TYPE "Debug") +endif() + +# Set the project name +set(CMAKE_PROJECT_NAME CtrBoard-H7_ALL) + +# Enable compile command to ease indexing with e.g. clangd +set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE) + +# Core project settings +project(${CMAKE_PROJECT_NAME}) +message("Build type: " ${CMAKE_BUILD_TYPE}) + +# Enable CMake support for ASM and C languages +enable_language(C ASM) + +# Create an executable object type +add_executable(${CMAKE_PROJECT_NAME}) + +# Add STM32CubeMX generated sources +add_subdirectory(cmake/stm32cubemx) + +# Link directories setup +target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE + # Add user defined library search paths +) + +# Add sources to executable +target_sources(${CMAKE_PROJECT_NAME} PRIVATE + # Add user sources here + # User/bsp sources + User/bsp/fdcan.c + User/bsp/flash.c + User/bsp/gpio.c + User/bsp/mm.c + User/bsp/pwm.c + User/bsp/spi.c + User/bsp/time.c + User/bsp/uart.c + + # User/component sources + User/component/QuaternionEKF.c + User/component/ahrs.c + User/component/crc16.c + User/component/crc8.c + User/component/error_detect.c + User/component/filter.c + User/component/freertos_cli.c + User/component/kalman_filter.c + User/component/limiter.c + User/component/lqr.c + User/component/pid.c + User/component/user_math.c + User/component/vmc.c + User/component/ui.c + # User/device sources + User/device/bmi088.c + User/device/buzzer.c + User/device/dr16.c + User/device/gimbal_imu.c + User/device/motor.c + User/device/motor_dm.c + User/device/motor_lk.c + User/device/motor_lz.c + User/device/motor_rm.c + User/device/vofa.c + User/device/mrobot.c + User/device/referee.c + User/device/supercap.c + # User/module sources + User/module/balance_chassis.c + User/module/config.c + User/module/gimbal.c + User/module/shoot.c + User/module/cap.c + User/module/cmd/cmd.c + User/module/cmd/cmd_adapter.c + User/module/cmd/cmd_behavior.c + User/module/cmd/cmd_example.c + User/module/vision_bridge.c + User/module/aimbot.c + # User/task sources + User/task/ai.c + User/task/atti_esit.c + User/task/blink.c + User/task/ctrl_chassis.c + User/task/ctrl_gimbal.c + User/task/ctrl_shoot.c + User/task/debug.c + User/task/init.c + User/task/monitor.c + User/task/rc.c + User/task/cli.c + User/task/cap.c + User/task/user_task.c + User/task/vofa.c + User/task/cmd.c + User/task/ref_main.c +) + +# Add include paths +target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE + # Add user defined include paths + User +) + +# Add project symbols (macros) +target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE + # Add user defined symbols +) + +# Remove wrong libob.a library dependency when using cpp files +list(REMOVE_ITEM CMAKE_C_IMPLICIT_LINK_LIBRARIES ob) + +# Add linked libraries +target_link_libraries(${CMAKE_PROJECT_NAME} + stm32cubemx + ${CMAKE_SOURCE_DIR}/Drivers/CMSIS/DSP/Lib/GCC/libarm_cortexM7lfsp_math.a + + # Add user defined libraries +) diff --git a/User/device/dr16.c b/User/device/dr16.c index b0bf495..650f748 100644 --- a/User/device/dr16.c +++ b/User/device/dr16.c @@ -1,169 +1,218 @@ -// /* -// DR16接收机 -// Example： +/* + DR16接收机 + Example： -// DR16_Init(&dr16); + DR16_Init(&dr16); -// while (1) { -// DR16_StartDmaRecv(&dr16); -// if (DR16_WaitDmaCplt(20)) { -// DR16_ParseData(&dr16); -// } else { -// DR16_Offline(&dr16); -// } -// } -// */ + while (1) { + DR16_StartDmaRecv(&dr16); + if (DR16_WaitDmaCplt(20)) { + DR16_ParseData(&dr16); + } else { + DR16_Offline(&dr16); + } +} +*/ -// /* Includes ----------------------------------------------------------------- */ -// #include "dr16.h" -// #include "bsp/uart.h" -// #include "bsp/time.h" -// #include "device.h" +/* Includes ----------------------------------------------------------------- */ +#include "dr16.h" +#include "bsp/uart.h" +#include "bsp/time.h" +#include "device.h" -// #include -// #include +#include +#include -// /* USER INCLUDE BEGIN */ +/* USER INCLUDE BEGIN */ -// /* USER INCLUDE END */ -// /* Private define ----------------------------------------------------------- */ -// #define DR16_CH_VALUE_MIN (364u) -// #define DR16_CH_VALUE_MID (1024u) -// #define DR16_CH_VALUE_MAX (1684u) +/* USER INCLUDE END */ +/* Private define ----------------------------------------------------------- */ +#define DR16_CH_VALUE_MIN (364u) +#define DR16_CH_VALUE_MID (1024u) +#define DR16_CH_VALUE_MAX (1684u) -// /* USER DEFINE BEGIN */ +/* USER DEFINE BEGIN */ -// /* USER DEFINE END */ +/* USER DEFINE END */ -// /* Private macro ------------------------------------------------------------ */ -// /* Private typedef ---------------------------------------------------------- */ -// /* Private variables -------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private typedef ---------------------------------------------------------- */ +/* Private variables -------------------------------------------------------- */ -// static osThreadId_t thread_alert; -// static bool inited = false; +static osThreadId_t thread_alert; +static bool inited = false; +static DR16_t *dr16_instance = NULL; /* 用于空闲中断回调中访问实例 */ +static uint8_t sync_buf[32]; /* 帧同步时的丢弃缓冲区 */ -// /* Private function -------------------------------------------------------- */ -// static void DR16_RxCpltCallback(void) { -// osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY); -// } +/* Private function -------------------------------------------------------- */ +static void DR16_RxCpltCallback(void) { + osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY); +} -// static bool DR16_DataCorrupted(const DR16_t *dr16) { -// if (dr16 == NULL) return DEVICE_ERR_NULL; +/** + * @brief 空闲中断回调 - 用于帧同步 + * 空闲中断表示一帧传输结束（总线空闲），此时停止当前DMA接收， + * 丢弃不完整的数据，这样下一次 StartDmaRecv 就能从帧头开始。 + */ +static void DR16_IdleCallback(void) { + /* 停止当前DMA接收（无论收了多少字节） */ + HAL_UART_AbortReceive(BSP_UART_GetHandle(BSP_UART_DR16)); + /* 通知任务：可以启动下一次对齐的接收了 */ + osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY); +} -// if ((dr16->raw_data.ch_r_x < DR16_CH_VALUE_MIN) || -// (dr16->raw_data.ch_r_x > DR16_CH_VALUE_MAX)) -// return DEVICE_ERR; +static bool DR16_DataCorrupted(const DR16_t *dr16) { + if (dr16 == NULL) return DEVICE_ERR_NULL; -// if ((dr16->raw_data.ch_r_y < DR16_CH_VALUE_MIN) || -// (dr16->raw_data.ch_r_y > DR16_CH_VALUE_MAX)) -// return DEVICE_ERR; + if ((dr16->raw_data.ch_r_x < DR16_CH_VALUE_MIN) || + (dr16->raw_data.ch_r_x > DR16_CH_VALUE_MAX)) + return DEVICE_ERR; -// if ((dr16->raw_data.ch_l_x < DR16_CH_VALUE_MIN) || -// (dr16->raw_data.ch_l_x > DR16_CH_VALUE_MAX)) -// return DEVICE_ERR; + if ((dr16->raw_data.ch_r_y < DR16_CH_VALUE_MIN) || + (dr16->raw_data.ch_r_y > DR16_CH_VALUE_MAX)) + return DEVICE_ERR; -// if ((dr16->raw_data.ch_l_y < DR16_CH_VALUE_MIN) || -// (dr16->raw_data.ch_l_y > DR16_CH_VALUE_MAX)) -// return DEVICE_ERR; + if ((dr16->raw_data.ch_l_x < DR16_CH_VALUE_MIN) || + (dr16->raw_data.ch_l_x > DR16_CH_VALUE_MAX)) + return DEVICE_ERR; -// if (dr16->raw_data.sw_l == 0) return DEVICE_ERR; + if ((dr16->raw_data.ch_l_y < DR16_CH_VALUE_MIN) || + (dr16->raw_data.ch_l_y > DR16_CH_VALUE_MAX)) + return DEVICE_ERR; -// if (dr16->raw_data.sw_r == 0) return DEVICE_ERR; + if (dr16->raw_data.sw_l == 0) return DEVICE_ERR; -// return DEVICE_OK; -// } + if (dr16->raw_data.sw_r == 0) return DEVICE_ERR; -// /* Exported functions ------------------------------------------------------- */ -// int8_t DR16_Init(DR16_t *dr16) { -// if (dr16 == NULL) return DEVICE_ERR_NULL; -// if (inited) return DEVICE_ERR_INITED; -// if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; + return DEVICE_OK; +} -// BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_RX_CPLT_CB, -// DR16_RxCpltCallback); +/* Exported functions ------------------------------------------------------- */ +int8_t DR16_Init(DR16_t *dr16) { + if (dr16 == NULL) return DEVICE_ERR_NULL; + if (inited) return DEVICE_ERR_INITED; + if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; -// inited = true; -// return DEVICE_OK; -// } + dr16_instance = dr16; -// int8_t DR16_Restart(void) { -// __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_DR16)); -// __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_DR16)); -// return DEVICE_OK; -// } + /* 注册 DMA 接收完成回调 */ + BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_RX_CPLT_CB, + DR16_RxCpltCallback); -// int8_t DR16_StartDmaRecv(DR16_t *dr16) { -// if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16), -// (uint8_t *)&(dr16->raw_data), -// sizeof(dr16->raw_data)) == HAL_OK) -// return DEVICE_OK; -// return DEVICE_ERR; -// } + /* 注册空闲中断回调并使能空闲中断，用于帧同步 */ + BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_IDLE_LINE_CB, + DR16_IdleCallback); + __HAL_UART_ENABLE_IT(BSP_UART_GetHandle(BSP_UART_DR16), UART_IT_IDLE); -// bool DR16_WaitDmaCplt(uint32_t timeout) { -// return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) == -// SIGNAL_DR16_RAW_REDY); -// } + /* + * 首次帧同步：启动一次丢弃式DMA接收。 + * 如果遥控器已经在发送，DMA会从帧中间开始收，空闲中断到来时 + * IdleCallback 会 Abort 这次接收并通知任务，下一次 StartDmaRecv + * 就能从完整帧头开始。 + */ + HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16), + sync_buf, sizeof(sync_buf)); + /* 等待空闲中断完成首次同步（最多50ms，足够等一帧） */ + osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, 50); -// int8_t DR16_ParseData(DR16_t *dr16){ -// if (dr16 == NULL) return DEVICE_ERR_NULL; + inited = true; + return DEVICE_OK; +} -// if (DR16_DataCorrupted(dr16)) { -// return DEVICE_ERR; -// } +int8_t DR16_Restart(void) { + UART_HandleTypeDef *huart = BSP_UART_GetHandle(BSP_UART_DR16); -// dr16->header.online = true; -// dr16->header.last_online_time = BSP_TIME_Get_us(); + /* 先终止当前DMA接收 */ + HAL_UART_AbortReceive(huart); + + /* 重置串口 */ + __HAL_UART_DISABLE(huart); + __HAL_UART_ENABLE(huart); + + /* 重新使能空闲中断 */ + __HAL_UART_ENABLE_IT(huart, UART_IT_IDLE); + + /* 重新做帧同步：丢弃式接收，等空闲中断对齐 */ + HAL_UART_Receive_DMA(huart, sync_buf, sizeof(sync_buf)); + osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, 50); + + return DEVICE_OK; +} + +int8_t DR16_StartDmaRecv(DR16_t *dr16) { + if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16), + (uint8_t *)&(dr16->raw_data), + sizeof(dr16->raw_data)) == HAL_OK) + return DEVICE_OK; + return DEVICE_ERR; +} + +bool DR16_WaitDmaCplt(uint32_t timeout) { + return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) == + SIGNAL_DR16_RAW_REDY); +} + +int8_t DR16_ParseData(DR16_t *dr16){ + if (dr16 == NULL) return DEVICE_ERR_NULL; + + if (DR16_DataCorrupted(dr16)) { + /* 数据损坏说明帧错位了，重启串口并重新同步 */ + DR16_Restart(); + return DEVICE_ERR; + } + + dr16->header.online = true; + dr16->header.last_online_time = BSP_TIME_Get_us(); -// memset(&(dr16->data), 0, sizeof(dr16->data)); + memset(&(dr16->data), 0, sizeof(dr16->data)); -// float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN); + float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN); -// // 解析摇杆数据 -// dr16->data.ch_r_x = 2.0f * ((float)dr16->raw_data.ch_r_x - DR16_CH_VALUE_MID) / full_range; -// dr16->data.ch_r_y = 2.0f * ((float)dr16->raw_data.ch_r_y - DR16_CH_VALUE_MID) / full_range; -// dr16->data.ch_l_x = 2.0f * ((float)dr16->raw_data.ch_l_x - DR16_CH_VALUE_MID) / full_range; -// dr16->data.ch_l_y = 2.0f * ((float)dr16->raw_data.ch_l_y - DR16_CH_VALUE_MID) / full_range; + // 解析摇杆数据 + dr16->data.ch_r_x = 2.0f * ((float)dr16->raw_data.ch_r_x - DR16_CH_VALUE_MID) / full_range; + dr16->data.ch_r_y = 2.0f * ((float)dr16->raw_data.ch_r_y - DR16_CH_VALUE_MID) / full_range; + dr16->data.ch_l_x = 2.0f * ((float)dr16->raw_data.ch_l_x - DR16_CH_VALUE_MID) / full_range; + dr16->data.ch_l_y = 2.0f * ((float)dr16->raw_data.ch_l_y - DR16_CH_VALUE_MID) / full_range; -// // 解析拨杆位置 -// dr16->data.sw_l = (DR16_SwitchPos_t)dr16->raw_data.sw_l; -// dr16->data.sw_r = (DR16_SwitchPos_t)dr16->raw_data.sw_r; + // 解析拨杆位置 + dr16->data.sw_l = (DR16_SwitchPos_t)dr16->raw_data.sw_l; + dr16->data.sw_r = (DR16_SwitchPos_t)dr16->raw_data.sw_r; -// // 解析鼠标数据 -// dr16->data.mouse.x = dr16->raw_data.x; -// dr16->data.mouse.y = dr16->raw_data.y; -// dr16->data.mouse.z = dr16->raw_data.z; + // 解析鼠标数据 + dr16->data.mouse.x = dr16->raw_data.x; + dr16->data.mouse.y = dr16->raw_data.y; + dr16->data.mouse.z = dr16->raw_data.z; -// dr16->data.mouse.l_click = dr16->raw_data.press_l; -// dr16->data.mouse.r_click = dr16->raw_data.press_r; + dr16->data.mouse.l_click = dr16->raw_data.press_l; + dr16->data.mouse.r_click = dr16->raw_data.press_r; -// // 解析键盘按键 - 使用union简化代码 -// uint16_t key_value = dr16->raw_data.key; + // 解析键盘按键 - 使用union简化代码 + uint16_t key_value = dr16->raw_data.key; -// // 解析键盘位映射（W-B键，位0-15） -// for (int i = DR16_KEY_W; i <= DR16_KEY_B; i++) { -// dr16->data.keyboard.key[i] = (key_value & (1 << i)) != 0; -// } + // 解析键盘位映射（W-B键，位0-15） + for (int i = DR16_KEY_W; i <= DR16_KEY_B; i++) { + dr16->data.keyboard.key[i] = (key_value & (1 << i)) != 0; + } -// // 解析鼠标点击 -// dr16->data.keyboard.key[DR16_L_CLICK] = dr16->data.mouse.l_click; -// dr16->data.keyboard.key[DR16_R_CLICK] = dr16->data.mouse.r_click; + // 解析鼠标点击 + dr16->data.keyboard.key[DR16_L_CLICK] = dr16->data.mouse.l_click; + dr16->data.keyboard.key[DR16_R_CLICK] = dr16->data.mouse.r_click; -// // 解析第五通道 -// dr16->data.ch_res = 2.0f * ((float)dr16->raw_data.res - DR16_CH_VALUE_MID) / full_range; + // 解析第五通道 + dr16->data.ch_res = 2.0f * ((float)dr16->raw_data.res - DR16_CH_VALUE_MID) / full_range; -// return DEVICE_OK; -// } + return DEVICE_OK; +} -// int8_t DR16_Offline(DR16_t *dr16){ -// if (dr16 == NULL) return DEVICE_ERR_NULL; +int8_t DR16_Offline(DR16_t *dr16){ + if (dr16 == NULL) return DEVICE_ERR_NULL; -// dr16->header.online = false; -// memset(&(dr16->data), 0, sizeof(dr16->data)); + dr16->header.online = false; + memset(&(dr16->data), 0, sizeof(dr16->data)); -// return DEVICE_OK; -// } + return DEVICE_OK; +} -// /* USER FUNCTION BEGIN */ +/* USER FUNCTION BEGIN */ -// /* USER FUNCTION END */ +/* USER FUNCTION END */ diff --git a/User/device/dr16.h b/User/device/dr16.h index 567d155..03fa526 100644 --- a/User/device/dr16.h +++ b/User/device/dr16.h @@ -1,117 +1,117 @@ -// #pragma once +#pragma once -// #ifdef __cplusplus -// extern "C" { -// #endif +#ifdef __cplusplus +extern "C" { +#endif -// /* Includes ----------------------------------------------------------------- */ -// #include +/* Includes ----------------------------------------------------------------- */ +#include -// #include "component/user_math.h" -// #include "device.h" +#include "component/user_math.h" +#include "device.h" -// /* USER INCLUDE BEGIN */ +/* USER INCLUDE BEGIN */ -// // // // ///* USER INCLUDE END */ +/* USER INCLUDE END */ -// /* USER DEFINE BEGIN */ +/* USER DEFINE BEGIN */ -// // // // ///* USER DEFINE END */ +/* USER DEFINE END */ -// /* Exported constants ------------------------------------------------------- */ -// /* Exported macro ----------------------------------------------------------- */ -// /* Exported types ----------------------------------------------------------- */ -// typedef struct __packed { -// uint16_t ch_r_x : 11; -// uint16_t ch_r_y : 11; -// uint16_t ch_l_x : 11; -// uint16_t ch_l_y : 11; -// uint8_t sw_r : 2; -// uint8_t sw_l : 2; -// int16_t x; -// int16_t y; -// int16_t z; -// uint8_t press_l; -// uint8_t press_r; -// uint16_t key; -// uint16_t res; -// } DR16_RawData_t; +/* Exported constants ------------------------------------------------------- */ +/* Exported macro ----------------------------------------------------------- */ +/* Exported types ----------------------------------------------------------- */ +typedef struct __packed { + uint16_t ch_r_x : 11; + uint16_t ch_r_y : 11; + uint16_t ch_l_x : 11; + uint16_t ch_l_y : 11; + uint8_t sw_r : 2; + uint8_t sw_l : 2; + int16_t x; + int16_t y; + int16_t z; + uint8_t press_l; + uint8_t press_r; + uint16_t key; + uint16_t res; +} DR16_RawData_t; -// typedef enum { -// DR16_SW_ERR = 0, -// DR16_SW_UP = 1, -// DR16_SW_MID = 3, -// DR16_SW_DOWN = 2, -// } DR16_SwitchPos_t; +typedef enum { + DR16_SW_ERR = 0, + DR16_SW_UP = 1, + DR16_SW_MID = 3, + DR16_SW_DOWN = 2, +} DR16_SwitchPos_t; -// /* 键盘按键值 */ -// typedef enum { -// DR16_KEY_W = 0, -// DR16_KEY_S, -// DR16_KEY_A, -// DR16_KEY_D, -// DR16_KEY_SHIFT, -// DR16_KEY_CTRL, -// DR16_KEY_Q, -// DR16_KEY_E, -// DR16_KEY_R, -// DR16_KEY_F, -// DR16_KEY_G, -// DR16_KEY_Z, -// DR16_KEY_X, -// DR16_KEY_C, -// DR16_KEY_V, -// DR16_KEY_B, -// DR16_L_CLICK, -// DR16_R_CLICK, -// DR16_KEY_NUM, -// } DR16_Key_t; +/* 键盘按键值 */ +typedef enum { + DR16_KEY_W = 0, + DR16_KEY_S, + DR16_KEY_A, + DR16_KEY_D, + DR16_KEY_SHIFT, + DR16_KEY_CTRL, + DR16_KEY_Q, + DR16_KEY_E, + DR16_KEY_R, + DR16_KEY_F, + DR16_KEY_G, + DR16_KEY_Z, + DR16_KEY_X, + DR16_KEY_C, + DR16_KEY_V, + DR16_KEY_B, + DR16_L_CLICK, + DR16_R_CLICK, + DR16_KEY_NUM, +} DR16_Key_t; -// typedef struct { -// float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */ -// float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */ -// float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */ -// float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */ +typedef struct { + float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */ + float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */ + float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */ + float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */ -// float ch_res; /* 第五通道值 */ + float ch_res; /* 第五通道值 */ -// DR16_SwitchPos_t sw_r; /* 右侧拨杆位置 */ -// DR16_SwitchPos_t sw_l; /* 左侧拨杆位置 */ + DR16_SwitchPos_t sw_r; /* 右侧拨杆位置 */ + DR16_SwitchPos_t sw_l; /* 左侧拨杆位置 */ -// struct { -// int16_t x; -// int16_t y; -// int16_t z; -// bool l_click; /* 左键 */ -// bool r_click; /* 右键 */ -// } mouse; /* 鼠标值 */ + struct { + int16_t x; + int16_t y; + int16_t z; + bool l_click; /* 左键 */ + bool r_click; /* 右键 */ + } mouse; /* 鼠标值 */ -// union { -// bool key[DR16_KEY_NUM]; /* 键盘按键值 */ -// uint16_t value; /* 键盘按键值的位映射 */ -// } keyboard; + union { + bool key[DR16_KEY_NUM]; /* 键盘按键值 */ + uint16_t value; /* 键盘按键值的位映射 */ + } keyboard; -// uint16_t res; /* 保留，未启用 */ -// } DR16_Data_t; + uint16_t res; /* 保留，未启用 */ +} DR16_Data_t; -// typedef struct { -// DEVICE_Header_t header; -// DR16_RawData_t raw_data; -// DR16_Data_t data; -// } DR16_t; +typedef struct { + DEVICE_Header_t header; + DR16_RawData_t raw_data; + DR16_Data_t data; +} DR16_t; -// /* Exported functions prototypes -------------------------------------------- */ -// int8_t DR16_Init(DR16_t *dr16); -// int8_t DR16_Restart(void); -// int8_t DR16_StartDmaRecv(DR16_t *dr16); -// bool DR16_WaitDmaCplt(uint32_t timeout); -// int8_t DR16_ParseData(DR16_t *dr16); -// int8_t DR16_Offline(DR16_t *dr16); +/* Exported functions prototypes -------------------------------------------- */ +int8_t DR16_Init(DR16_t *dr16); +int8_t DR16_Restart(void); +int8_t DR16_StartDmaRecv(DR16_t *dr16); +bool DR16_WaitDmaCplt(uint32_t timeout); +int8_t DR16_ParseData(DR16_t *dr16); +int8_t DR16_Offline(DR16_t *dr16); -// /* USER FUNCTION BEGIN */ +/* USER FUNCTION BEGIN */ -// // // // ///* USER FUNCTION END */ +/* USER FUNCTION END */ -// #ifdef __cplusplus -// } -// #endif +#ifdef __cplusplus +} +#endif diff --git a/User/device/referee.c b/User/device/referee.c index 565e017..badb195 100644 --- a/User/device/referee.c +++ b/User/device/referee.c @@ -12,7 +12,7 @@ #include "component/crc8.h" #include "component/user_math.h" #include "device/referee.h" -#include "module/cmd.h" +// #include "module/cmd/cmd.h" /* Private define ----------------------------------------------------------- */ #define REF_HEADER_SOF (0xA5) @@ -31,7 +31,8 @@ /* Private variables -------------------------------------------------------- */ static volatile uint32_t drop_message = 0; -static uint8_t rxbuf[REF_LEN_RX_BUFF]; +// static uint8_t rxbuf[REF_LEN_RX_BUFF]; + uint8_t rxbuf[REF_LEN_RX_BUFF]; static osThreadId_t thread_alert; static bool inited = false; @@ -61,7 +62,7 @@ static void RefereeSlowRefreshTimerCallback(void *arg) { /* Exported functions ------------------------------------------------------- */ int8_t Referee_Init(Referee_t *ref, Referee_UI_t *ui, - const CMD_Screen_t *screen) { + const Referee_Screen_t *screen) { if (ref == NULL) return DEVICE_ERR_NULL; if (inited) return DEVICE_ERR_INITED; @@ -88,7 +89,7 @@ int8_t Referee_Init(Referee_t *ref, Referee_UI_t *ui, osTimerStart(ref->ui_fast_timer_id, fast_period_ms); osTimerStart(ref->ui_slow_timer_id, slow_period_ms); - __HAL_UART_ENABLE_IT(BSP_UART_GetHandle(BSP_UART_REF), UART_IT_IDLE); + // __HAL_UART_ENABLE_IT(BSP_UART_GetHandle(BSP_UART_REF), UART_IT_IDLE); inited = true; return 0; @@ -103,7 +104,7 @@ int8_t Referee_Restart(void) { int8_t Referee_StartReceiving(Referee_t *ref) { (void)ref; - if ( BSP_UART_Receive(BSP_UART_REF, rxbuf, REF_LEN_RX_BUFF,true) + if ( BSP_UART_Receive(BSP_UART_REF, rxbuf, REF_LEN_RX_BUFF,0) == BSP_OK) return DEVICE_OK; return DEVICE_ERR; @@ -567,7 +568,7 @@ UI_Del_t *Referee_GetDelAdd(Referee_UI_t *ref_ui) { return &(ref_ui->del[ref_ui->del_counter++]); } -uint8_t Referee_PraseCmd(Referee_UI_t *ref_ui, CMD_UI_t cmd) { +uint8_t Referee_PraseCmd(Referee_UI_t *ref_ui, Referee_UI_CMD_t cmd) { switch (cmd) { /* Demo */ case UI_NOTHING: @@ -614,8 +615,6 @@ uint8_t Referee_PackCap(Referee_ForCap_t *cap, const Referee_t *ref) { uint8_t Referee_PackAI(Referee_ForAI_t *ai, const Referee_t *ref) { ai->ref_status = ref->ref_status; - memcpy(&(ai->robot_status), &(ref->robot_status), sizeof(ai->robot_status)); - memcpy(&(ai->game_status), &(ref->game_status), sizeof(ai->game_status)); return 0; } @@ -648,11 +647,31 @@ uint8_t Referee_UIRefresh(Referee_UI_t *ui) { UI_DrawLine(Referee_GetGrapicAdd(ui), "6", UI_GRAPIC_OPERATION_ADD, UI_GRAPIC_LAYER_CHASSIS, GREEN, UI_DEFAULT_WIDTH * 12, ui->screen->width * 0.4, ui->screen->height * 0.2, - ui->screen->width * 0.4 + sin(ui->chassis_ui.angle) * 46, - ui->screen->height * 0.2 + cos(ui->chassis_ui.angle) * 46); + ui->screen->width * 0.4f + sinf(ui->chassis_ui.angle) * 46.0f, + ui->screen->height * 0.2f + cosf(ui->chassis_ui.angle) * 46.0f); + UI_DrawLine(Referee_GetGrapicAdd(ui), "7", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CHASSIS, GREEN, UI_DEFAULT_WIDTH * 12, + ui->screen->width * 0.4, ui->screen->height * 0.4, + ui->screen->width * 0.4f - sinf(ui->chassis_ui.l0[0]) * 46.0f, + ui->screen->height * 0.4f - cosf(ui->chassis_ui.l0[0]) * 46.0f); + UI_DrawLine(Referee_GetGrapicAdd(ui), "8", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CHASSIS, GREEN, UI_DEFAULT_WIDTH * 12, + ui->screen->width * 0.4, ui->screen->height * 0.6, + ui->screen->width * 0.4f - sinf(ui->chassis_ui.theta[0]) * 46.0f, + ui->screen->height * 0.6f - cosf(ui->chassis_ui.theta[0]) * 46.0f); + UI_DrawLine(Referee_GetGrapicAdd(ui), "9", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CHASSIS, GREEN, UI_DEFAULT_WIDTH * 12, + ui->screen->width * 0.4, ui->screen->height * 0.4, + ui->screen->width * 0.4f - sinf(ui->chassis_ui.l0[1]) * 46.0f, + ui->screen->height * 0.4f - cosf(ui->chassis_ui.l0[1]) * 46.0f); + UI_DrawLine(Referee_GetGrapicAdd(ui), "a", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CHASSIS, GREEN, UI_DEFAULT_WIDTH * 12, + ui->screen->width * 0.4, ui->screen->height * 0.8, + ui->screen->width * 0.4f - sinf(ui->chassis_ui.theta[1]) * 46.0f, + ui->screen->height * 0.8f - cosf(ui->chassis_ui.theta[1]) * 46.0f); float start_pos_h = 0.0f; switch (ui->chassis_ui.mode) { - case STOP: + case CHASSIS_MODE_RELAX: start_pos_h = 0.68f; break; case CHASSIS_MODE_FOLLOW_GIMBAL: diff --git a/User/device/referee.h b/User/device/referee.h index c74b5a1..0f89cab 100644 --- a/User/device/referee.h +++ b/User/device/referee.h @@ -13,12 +13,12 @@ extern "C" { #include #include "component/ui.h" #include "component/user_math.h" -//#include "device/can.h" -#include "module/shoot.h" #include "device/device.h" -#include "module/cmd.h" -#include "module/config.h" +#include "device/referee_proto_types.h" #include "device/supercap.h" +#include "module/chassis.h" +#include "module/gimbal.h" +#include "module/shoot.h" /* Exported constants ------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */ @@ -37,7 +37,13 @@ typedef struct __packed { uint8_t crc8; } Referee_Header_t; -typedef enum { REF_STATUS_OFFLINE = 0, REF_STATUS_RUNNING } Referee_Status_t; + /* 分辨率配置 */ + +/* Referee_Status_t, PowerHeat_t, RobotStatus_t, ShootData_t, + ForCap/AI/Chassis/Shoot_t, Screen_t, UI_CMD_t + 均定义在 device/referee_proto_types.h（已在上方 include）*/ + + typedef enum { REF_CMD_ID_GAME_STATUS = 0x0001, @@ -121,29 +127,7 @@ typedef struct __packed { uint16_t dart_info; } Referee_DartInfo_t; -typedef struct __packed -{ - uint8_t robot_id; - uint8_t robot_level; - uint16_t current_HP; - uint16_t maximum_HP; - uint16_t shooter_barrel_cooling_value; - uint16_t shooter_barrel_heat_limit; - uint16_t chassis_power_limit; - uint8_t power_management_gimbal_output : 1; - uint8_t power_management_chassis_output : 1; - uint8_t power_management_shooter_output : 1; -}Referee_RobotStatus_t; - -typedef struct __packed { - uint16_t chassis_volt; - uint16_t chassis_amp; - float chassis_watt; - uint16_t chassis_pwr_buff; - uint16_t shooter_17mm_barrel_heat; - uint16_t shooter_42mm_barrel_heat; -} Referee_PowerHeat_t; typedef struct __packed { float x; @@ -166,13 +150,6 @@ typedef struct __packed { } Referee_RobotDamage_t; -typedef struct __packed { - uint8_t bullet_type; - uint8_t shooter_id; - uint8_t bullet_freq; - float bullet_speed; -} Referee_ShootData_t;/* 0x0207 */ - typedef struct __packed { uint16_t bullet_17_remain; uint16_t bullet_42_remain; @@ -597,28 +574,6 @@ typedef struct { osTimerId_t ui_slow_timer_id; } Referee_t; -typedef struct { - Chassis_Mode_t mode; - float angle; -} Referee_ChassisUI_t; - -typedef struct { - float percentage; - SuperCapReadyEnum ready;//超电状态 - SuperCapStateEnum status;//超电是否可用 - uint8_t online;//超电是否离线 - // CAN_CapStatus_t status; -} Referee_CapUI_t; - -typedef struct { - Gimbal_Mode_t mode; -} Referee_GimbalUI_t; - -typedef struct { - Shoot_Mode_t mode; - Shoot_Running_State_t fire; -} Referee_ShootUI_t; - typedef struct __packed { /* UI缓冲数据 */ UI_Ele_t grapic[REF_UI_MAX_GRAPIC_NUM]; @@ -629,15 +584,16 @@ typedef struct __packed { uint8_t character_counter; uint8_t del_counter; /* UI所需信息 */ - Referee_CapUI_t cap_ui; - Referee_ChassisUI_t chassis_ui; - Referee_ShootUI_t shoot_ui; - Referee_GimbalUI_t gimbal_ui; + Cap_RefereeUI_t cap_ui; + Chassis_RefereeUI_t chassis_ui; + Shoot_RefereeUI_t shoot_ui; + Gimbal_RefereeUI_t gimbal_ui; bool cmd_pc; /* 屏幕分辨率 */ - const CMD_Screen_t *screen; + const Referee_Screen_t *screen; } Referee_UI_t; + typedef struct __packed { uint16_t data_cmd_id; uint16_t sender_ID; @@ -692,35 +648,10 @@ typedef struct __packed { uint16_t crc16; } Referee_UI_Del_t; -typedef struct { - Referee_Status_t ref_status; - float chassis_watt; - float chassis_power_limit; - float chassis_pwr_buff; -} Referee_ForCap_t; - -typedef struct { - Referee_Status_t ref_status; - Referee_RobotStatus_t robot_status; - Referee_GameStatus_t game_status; -} Referee_ForAI_t; - -typedef struct { - Referee_Status_t ref_status; - float chassis_power_limit; - float chassis_pwr_buff; -} Referee_ForChassis_t; - -typedef struct { - Referee_Status_t ref_status; - Referee_PowerHeat_t power_heat; - Referee_RobotStatus_t robot_status; - Referee_ShootData_t shoot_data; -} Referee_ForShoot_t; /* Exported functions prototypes -------------------------------------------- */ int8_t Referee_Init(Referee_t *ref, Referee_UI_t *ui, - const CMD_Screen_t *screen); + const Referee_Screen_t *screen); int8_t Referee_Restart(void); int8_t Referee_StartReceiving(Referee_t *ref); @@ -733,7 +664,7 @@ int8_t Referee_MoveData(void *data, void *tmp, uint32_t len); int8_t Referee_PackUI(Referee_UI_t *ui, Referee_t *ref); UI_Ele_t *Referee_GetGrapicAdd(Referee_UI_t *ref_ui); UI_Drawcharacter_t *Referee_GetCharacterAdd(Referee_UI_t *ref_ui); -uint8_t Referee_PraseCmd(Referee_UI_t *ref_ui, CMD_UI_t cmd); +uint8_t Referee_PraseCmd(Referee_UI_t *ref_ui, Referee_UI_CMD_t cmd); uint8_t Referee_PackCap(Referee_ForCap_t *cap, const Referee_t *ref); uint8_t Referee_PackShoot(Referee_ForShoot_t *ai, Referee_t *ref); uint8_t Referee_PackChassis(Referee_ForChassis_t *chassis, diff --git a/User/device/referee_proto_types.h b/User/device/referee_proto_types.h new file mode 100644 index 0000000..97d9364 --- /dev/null +++ b/User/device/referee_proto_types.h @@ -0,0 +1,89 @@ +/* + * 裁判系统协议基础类型（叶节点头文件） + */ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include + +/* ---- 在线状态 ---- */ +typedef enum { REF_STATUS_OFFLINE = 0, REF_STATUS_RUNNING } Referee_Status_t; + +/* ---- 协议报文字段子集 ---- */ +typedef struct __attribute__((packed)) { + uint8_t robot_id; + uint8_t robot_level; + uint16_t current_HP; + uint16_t maximum_HP; + uint16_t shooter_barrel_cooling_value; + uint16_t shooter_barrel_heat_limit; + uint16_t chassis_power_limit; + uint8_t power_management_gimbal_output : 1; + uint8_t power_management_chassis_output : 1; + uint8_t power_management_shooter_output : 1; +} Referee_RobotStatus_t; + +typedef struct __attribute__((packed)) { + uint16_t chassis_volt; + uint16_t chassis_amp; + float chassis_watt; + uint16_t chassis_pwr_buff; + uint16_t shooter_17mm_barrel_heat; + uint16_t shooter_42mm_barrel_heat; +} Referee_PowerHeat_t; + +typedef struct __attribute__((packed)) { + uint8_t bullet_type; + uint8_t shooter_id; + uint8_t bullet_freq; + float bullet_speed; +} Referee_ShootData_t; + +/* ---- 转发包：各 module/task 消费 ---- */ +typedef struct { + Referee_Status_t ref_status; + float chassis_watt; + float chassis_power_limit; + float chassis_pwr_buff; +} Referee_ForCap_t; + +typedef struct { + Referee_Status_t ref_status; +} Referee_ForAI_t; + +typedef struct { + Referee_Status_t ref_status; + float chassis_power_limit; + float chassis_pwr_buff; + +} Referee_ForChassis_t; + +typedef struct { + Referee_Status_t ref_status; + Referee_PowerHeat_t power_heat; + Referee_RobotStatus_t robot_status; + Referee_ShootData_t shoot_data; +} Referee_ForShoot_t; + +/* ---- 屏幕分辨率 & UI 指令 ---- */ +typedef struct { + uint16_t width; + uint16_t height; +} Referee_Screen_t; + +typedef enum { + UI_NOTHING, + UI_AUTO_AIM_START, + UI_AUTO_AIM_STOP, + UI_HIT_SWITCH_START, + UI_HIT_SWITCH_STOP +} Referee_UI_CMD_t; + +#ifdef __cplusplus +} +#endif + diff --git a/User/device/supercap.h b/User/device/supercap.h index 12f68c9..fc920b0 100644 --- a/User/device/supercap.h +++ b/User/device/supercap.h @@ -96,7 +96,14 @@ uint8_t get_supercap_energy(void); uint32_t get_chassis_energy_from_supercap(void); int8_t PowerLimit_Output(float power_limit, float *motor_out, uint32_t len); - +/* UI 导出结构（供 referee 系统绘制） */ +typedef struct { + float percentage; + SuperCapReadyEnum ready;//超电状态 + SuperCapStateEnum status;//超电是否可用 + uint8_t online;//超电是否离线 + // CAN_CapStatus_t status; +} Cap_RefereeUI_t; #ifdef __cplusplus } #endif /*SUPERCAP_H*/ diff --git a/User/module/aimbot.c b/User/module/aimbot.c new file mode 100644 index 0000000..09e2c84 --- /dev/null +++ b/User/module/aimbot.c @@ -0,0 +1,269 @@ +#include "module/aimbot.h" +#include "device/device.h" +#include "bsp/uart.h" +#include "component/crc16.h" +#include + +/* ===================================================================== + * FDCAN 帧索引（反馈方向：下层板?上层板） + * 注：上层板使用自己的IMU，下层板只发送射击数据与模式 + * ===================================================================== */ +#define FB_FRAME_DATA 0u /* 弹速(4B)+弹数(2B)+模式(1B)+保留(1B) */ + +/* ===================================================================== + * UART 通信接口（上层板 �?上位�?PC�? + * ===================================================================== */ + +int8_t Aimbot_AIStartRecv(Aimbot_AI_t *ai) { + if (BSP_UART_Receive(BSP_UART_AI, (uint8_t *)ai, sizeof(*ai), true) == DEVICE_OK) { + return DEVICE_OK; + } + return DEVICE_ERR; +} + +int8_t Aimbot_AIGetResult(Aimbot_AI_t *ai, Aimbot_AIResult_t *result) { + if (ai->head[0] != 'M' || ai->head[1] != 'R') { + return DEVICE_ERR; + } + if (!CRC16_Verify((const uint8_t *)ai, sizeof(*ai))) { + return DEVICE_ERR; + } + result->mode = ai->mode; + result->gimbal_t.setpoint.yaw = ai->yaw; + result->gimbal_t.vel.yaw = ai->yaw_vel; + result->gimbal_t.accl.yaw = ai->yaw_acc; + result->gimbal_t.setpoint.pit = ai->pitch; + result->gimbal_t.vel.pit = ai->pitch_vel; + result->gimbal_t.accl.pit = ai->pitch_acc; + return DEVICE_OK; +} + +/** + * @brief 打包 MCU 数据（UART 发给上位机格式），修正了原始实现中的字段错误�? + * 四元数来�?quat 参数；欧拉角、角速度来自 gimbal_fb->imu�? + */ +int8_t Aimbot_MCUPack(Aimbot_MCU_t *mcu, const Gimbal_Feedback_t *gimbal_fb, + const AHRS_Quaternion_t *quat, + float bullet_speed, uint16_t bullet_count, uint8_t mode) { + if (mcu == NULL || gimbal_fb == NULL || quat == NULL) { + return DEVICE_ERR_NULL; + } + mcu->head[0] = 'M'; + mcu->head[1] = 'R'; + mcu->mode = mode; + mcu->q[0] = quat->q0; + mcu->q[1] = quat->q1; + mcu->q[2] = quat->q2; + mcu->q[3] = quat->q3; + mcu->yaw = gimbal_fb->imu.eulr.yaw; + mcu->yaw_vel = gimbal_fb->imu.gyro.z; + mcu->pitch = gimbal_fb->imu.eulr.pit; + mcu->pitch_vel = gimbal_fb->imu.gyro.x; + mcu->bullet_speed = bullet_speed; + mcu->bullet_count = bullet_count; + mcu->crc16 = CRC16_Calc((const uint8_t *)mcu, + sizeof(*mcu) - sizeof(uint16_t), CRC16_INIT); + if (!CRC16_Verify((const uint8_t *)mcu, sizeof(*mcu))) { + return DEVICE_ERR; + } + return DEVICE_OK; +} + +int8_t Aimbot_MCUStartSend(Aimbot_MCU_t *mcu) { + if (BSP_UART_Transmit(BSP_UART_AI, (uint8_t *)mcu, sizeof(*mcu), true) == DEVICE_OK) { + return DEVICE_OK; + } + return DEVICE_ERR; +} + +/* ===================================================================== + * CAN 通信接口（下层板 �?上层板） + * ===================================================================== */ + +/** + * @brief 初始�?Aimbot CAN 通信：注册指令接收队列和反馈收发队列�? + * 下层板只需注册 cmd_id；上层板只需注册 fb_base_id �?6 �?ID�? + * 本函数同时注册两侧所需 ID，上/下层板共用同一初始化流程即可�? + */ +int8_t Aimbot_Init(Aimbot_Param_t *param) { + if (param == NULL) return DEVICE_ERR_NULL; + + BSP_FDCAN_Init(); + + /* 注册 AI 指令帧队列（下层板接收／上层板发送） */ + BSP_FDCAN_RegisterId(param->can, param->cmd_id, + BSP_FDCAN_DEFAULT_QUEUE_SIZE); + for (uint8_t i = 0; i < 3; i++) { + BSP_CAN_RegisterId(param->can, param->cmd_id + i, + 10); + } + /* 注册反馈数据帧队列（上层板接收／下层板发送） */ + for (uint8_t i = 0; i < AIMBOT_FB_FRAME_NUM; i++) { + BSP_FDCAN_RegisterId(param->can, param->fb_base_id + i, + BSP_FDCAN_DEFAULT_QUEUE_SIZE); + } + + return DEVICE_OK; +} + +/** + * @brief �?Gimbal/IMU/Shoot 数据打包 CAN 反馈结构体�? +/** + * @brief 【下层板】打包 CAN 反馈结构体。 + */ +int8_t Aimbot_PackFeedback(Aimbot_FeedbackData_t *fb, + float bullet_speed, uint16_t bullet_count, + uint8_t mode) { + if (fb == NULL) { + return DEVICE_ERR_NULL; + } + fb->mode = mode; + fb->bullet_speed = bullet_speed; + fb->bullet_count = bullet_count; + return DEVICE_OK; +} + +/** + * @brief 【下层板】将反馈数据打成 1 个 CAN 标准帧发给上层板。 + * + * 帧格式（每帧 8 字节）： + * 帧0: bullet_speed(float,4B) bullet_count(uint16,2B) mode(1B) rsv(1B) + */ +void Aimbot_SendFeedbackOnCAN(const Aimbot_Param_t *param, + const Aimbot_FeedbackData_t *fb) { + if (param == NULL || fb == NULL) return; + + BSP_FDCAN_StdDataFrame_t frame; + frame.dlc = AIMBOT_CAN_DLC; + + /* 帧0: 弹速 + 弹数 + 模式 */ + frame.id = param->fb_base_id + FB_FRAME_DATA; + memcpy(&frame.data[0], &fb->bullet_speed, 4); + frame.data[4] = (uint8_t)(fb->bullet_count & 0xFFu); + frame.data[5] = (uint8_t)((fb->bullet_count >> 8u) & 0xFFu); + frame.data[6] = fb->mode; + frame.data[7] = 0u; + BSP_FDCAN_TransmitStdDataFrame(param->can, &frame); +} + +/** + * @brief 【下层板】从 CAN 队列中非阻塞地取出上层板发来�?AI 指令并解析�? + * + * 指令帧格式（8 字节，与 vision_bridge 一致）�? + * data[0] : mode (1B) + * data[1..3.5] : yaw (28bit 有符号定点数�?.1µrad/LSB) + * data[4.5..7] : pit (28bit 有符号定点数�?.1µrad/LSB) + * + * @return DEVICE_OK 成功解析到新指令 + * DEVICE_ERR 队列空，无新数据 + */ +int8_t Aimbot_ParseCmdFromCAN(const Aimbot_Param_t *param, + Aimbot_AIResult_t *result) { + if (param == NULL || result == NULL) return DEVICE_ERR_NULL; + + BSP_FDCAN_Message_t msg; + int8_t ret = DEVICE_ERR; + + if (BSP_FDCAN_GetMessage(param->can, param->cmd_id, &msg, + BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) { + result->mode = msg.data[0]; + + /* 解析 yaw（高 28 位），符号扩展为 int32 */ + int32_t yaw_raw = (int32_t)(((uint32_t)msg.data[1] << 20u) | + ((uint32_t)msg.data[2] << 12u) | + ((uint32_t)msg.data[3] << 4u) | + ((uint32_t)(msg.data[4] >> 4u) & 0xFu)); + if (yaw_raw & 0x08000000) yaw_raw |= (int32_t)0xF0000000; + result->gimbal_t.setpoint.yaw = (float)yaw_raw / AIMBOT_ANGLE_SCALE; + + /* 解析 pit（低 28 位），符号扩展为 int32 */ + int32_t pit_raw = (int32_t)(((uint32_t)(msg.data[4] & 0xFu) << 24u) | + ((uint32_t)msg.data[5] << 16u) | + ((uint32_t)msg.data[6] << 8u) | + (uint32_t)msg.data[7]); + if (pit_raw & 0x08000000) pit_raw |= (int32_t)0xF0000000; + result->gimbal_t.setpoint.pit = (float)pit_raw / AIMBOT_ANGLE_SCALE; + ret = DEVICE_OK; + } + + if (BSP_FDCAN_GetMessage(param->can, param->cmd_id + 1, &msg, + BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) { + memcpy(&result->gimbal_t.vel.yaw, &msg.data[0], 4); + memcpy(&result->gimbal_t.vel.pit, &msg.data[4], 4); + ret = DEVICE_OK; + } + + if (BSP_FDCAN_GetMessage(param->can, param->cmd_id + 2, &msg, + BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) { + memcpy(&result->gimbal_t.accl.yaw, &msg.data[0], 4); + memcpy(&result->gimbal_t.accl.pit, &msg.data[4], 4); + ret = DEVICE_OK; + } + + return ret; +} + +/** + * @brief 【上层板】将 AI 指令通过 CAN 发送给下层板（单帧 8 字节）�? + * + * �?vision_bridge.c �?AI_SendCmdOnFDCAN 编码格式完全一致， + * 上层板可直接调用本函数替�?vision_bridge 中的同名函数�? + */ +void Aimbot_SendCmdOnCAN(const Aimbot_Param_t *param, + const Aimbot_AIResult_t *cmd) { + if (param == NULL || cmd == NULL) return; + + const int32_t yaw = (int32_t)(cmd->gimbal_t.setpoint.yaw * AIMBOT_ANGLE_SCALE); + const int32_t pit = (int32_t)(cmd->gimbal_t.setpoint.pit * AIMBOT_ANGLE_SCALE); + + BSP_FDCAN_StdDataFrame_t frame = {0}; + frame.id = param->cmd_id; + frame.dlc = AIMBOT_CAN_DLC; + + frame.data[0] = cmd->mode; + frame.data[1] = (uint8_t)((yaw >> 20) & 0xFF); + frame.data[2] = (uint8_t)((yaw >> 12) & 0xFF); + frame.data[3] = (uint8_t)((yaw >> 4) & 0xFF); + frame.data[4] = (uint8_t)(((yaw & 0xF) << 4) | ((pit >> 24) & 0xF)); + frame.data[5] = (uint8_t)((pit >> 16) & 0xFF); + frame.data[6] = (uint8_t)((pit >> 8) & 0xFF); + frame.data[7] = (uint8_t)(pit & 0xFF); + + BSP_FDCAN_TransmitStdDataFrame(param->can, &frame); + + /* 第二帧：发速度 */ + frame.id = param->cmd_id + 1; + memcpy(&frame.data[0], &cmd->gimbal_t.vel.yaw, 4); + memcpy(&frame.data[4], &cmd->gimbal_t.vel.pit, 4); + BSP_FDCAN_TransmitStdDataFrame(param->can, &frame); + + /* 第三帧：发加速度 */ + frame.id = param->cmd_id + 2; + memcpy(&frame.data[0], &cmd->gimbal_t.accl.yaw, 4); + memcpy(&frame.data[4], &cmd->gimbal_t.accl.pit, 4); + BSP_FDCAN_TransmitStdDataFrame(param->can, &frame); +} + +/** + * @brief 【上层板】从 CAN 队列中非阻塞地解析下层板发来的反馈数据（共1帧）。 + * + * @return DEVICE_OK + */ +int8_t Aimbot_ParseFeedbackFromCAN(const Aimbot_Param_t *param, + Aimbot_FeedbackData_t *fb) { + if (param == NULL || fb == NULL) return DEVICE_ERR_NULL; + + BSP_FDCAN_Message_t msg; + + /* 帧0: 弹速 + 弹数 + 模式 */ + if (BSP_FDCAN_GetMessage(param->can, + param->fb_base_id + FB_FRAME_DATA, + &msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) { + memcpy(&fb->bullet_speed, &msg.data[0], 4); + fb->bullet_count = (uint16_t)(msg.data[4] | ((uint16_t)msg.data[5] << 8u)); + fb->mode = msg.data[6]; + } + + return DEVICE_OK; +} + diff --git a/User/module/aimbot.h b/User/module/aimbot.h new file mode 100644 index 0000000..19d4eaf --- /dev/null +++ b/User/module/aimbot.h @@ -0,0 +1,174 @@ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include "component/user_math.h" +#include "module/gimbal.h" +#include "bsp/can.h" +#include + +// 数据包协议定义（UART 通信使用 head[2]={'M', 'R'} 标识） + +/* ============================ CAN 通信定义 ============================ + * 通路：上位机 <--串口--> 上层板 <--CAN--> 下层板 + * + * 注：上层板使用自己的IMU（atti_esti），下层板只需反馈电机和射击数据 + * + * 下层板 → 上层板：反馈数据，单帧 8 字节 + * 帧0 (fb_base_id+0): 弹速(4B) + 弹数(2B) + 模式(1B) + 保留(1B) + * + * 上层板 → 下层板：AI 指令，单帧 8 字节 + * 帧 (cmd_id): mode(1B) + yaw(28bit) + pit(28bit)，定点数精度 0.1µrad + * ====================================================================== */ +#define AIMBOT_FB_FRAME_NUM 1u /* 反馈数据帧总数（仅下层三字段） */ +#define AIMBOT_CAN_DLC 8u /* CAN 帧数据长度 */ +#define AIMBOT_ANGLE_SCALE 10000000.0f /* 指令角度定点数比例（0.1µrad/LSB） */ + +/* CAN 通信参数结构体 */ +typedef struct { + BSP_CAN_t can; /* 使用的 CAN 总线实例 */ + uint32_t cmd_id; /* 上层板→下层板 AI 指令帧 CAN ID */ + uint32_t fb_base_id; /* 下层板→上层板 反馈数据起始 CAN ID */ +} Aimbot_Param_t; + +/* CAN 反馈数据结构体（下层板打包后经 CAN 发给上层板的内容） + * 注：下层板只反馈 bullet_speed / bullet_count / mode */ +typedef struct { + uint8_t mode; /* 下层板当前工作模式 */ + float bullet_speed; /* 弹速（m/s） */ + uint16_t bullet_count; /* 子弹累计发射次数 */ +} Aimbot_FeedbackData_t; + +/*-----------------------------to上位机---------------------------------*/ +typedef struct __attribute__((packed)) +{ + uint8_t head[2]; // 数据包头: {'M', 'R'} + uint8_t mode; // 0: 空闲, 1: 自瞄, 2: 小符, 3: 大符 + float q[4]; // 四元数 wxyz 顺序 + float yaw; // 偏航角 + float yaw_vel; // 偏航角速度 + float pitch; // 俯仰角 + float pitch_vel; // 俯仰角速度 + float bullet_speed; // 弹速 + uint16_t bullet_count; // 子弹累计发送次数 + uint16_t crc16; // CRC16 校验 +} Aimbot_MCU_t; + +// 裁判系统数据结构 +typedef struct __attribute__((packed)) +{ + uint16_t remain_hp; // 剩余血量 + uint8_t game_progress : 4; // 比赛进度 + uint16_t stage_remain_time; // 比赛剩余时间 +} Aimbot_RefereeData_t; + +typedef struct __attribute__((packed)) +{ + uint8_t id; // 数据包 ID: 0xA8 + Aimbot_RefereeData_t data; + uint16_t crc16; +} Aimbot_Referee_t; + +/*------------------------------------上位机back-------------------------------------*/ +typedef struct __attribute__((packed)) +{ + uint8_t head[2]; // 数据包头: {'M', 'R'} + uint8_t mode; // 0: 不控制, 1: 控制云台但不开火，2: 控制云台且开火 + float yaw; // 目标偏航角 + float yaw_vel; // 偏航角速度 + float yaw_acc; // 偏航角加速度 + float pitch; // 目标俯仰角 + float pitch_vel; // 俯仰角速度 + float pitch_acc; // 俯仰角加速度 + uint16_t crc16; // CRC16 校验 +} Aimbot_AI_t; + +typedef struct __attribute__((packed)) { + uint8_t mode; // 0: 不控制, 1: 控制云台但不开火, 2: 控制云台且开火 + struct{ +// Gimbal_CMD_t g_cmd; + struct{ + float yaw; // 目标偏航角 + float pit; // 目标俯仰角 + }setpoint; + + struct{ + float pit; // 俯仰角加速度 + float yaw; // 偏航角加速度 + }accl; + struct{ + float pit; // 俯仰角速度 + float yaw; // 偏航角速度 + }vel; + }gimbal_t; + + struct{ + float Vx; // X 方向速度 + float Vy; // Y 方向速度 + float Vw; // Z 方向角速度 + }chassis_t; + + uint8_t reserved; // 预留字段 +} Aimbot_AIResult_t; // 解析后的AI控制指令 + +/* ---------- UART 通信接口（上层板与上位机 PC 间） ---------- */ +int8_t Aimbot_MCUPack(Aimbot_MCU_t *mcu, const Gimbal_feedback_t *gimbal_fb, + const AHRS_Quaternion_t *quat, + float bullet_speed, uint16_t bullet_count, uint8_t mode); +int8_t Aimbot_MCUStartSend(Aimbot_MCU_t *mcu); +int8_t Aimbot_AIGetResult(Aimbot_AI_t *ai, Aimbot_AIResult_t *result); +int8_t Aimbot_AIStartRecv(Aimbot_AI_t *ai); + +/* ---------- CAN 通信接口（下层板与上层板间） ---------- */ + +/** + * @brief 初始化 Aimbot CAN 通信，注册所有收发 CAN ID 队列 + * @param param CAN 通信参数 + * @return DEVICE_OK / DEVICE_ERR_NULL + */ +int8_t Aimbot_Init(Aimbot_Param_t *param); + +/** + * @brief 【下层板】打包反馈结构体 + * @param fb 输出：反馈数据 + * @param bullet_speed 弹速（m/s） + * @param bullet_count 已发射子弹数 + * @param mode 当前工作模式 + */ +int8_t Aimbot_PackFeedback(Aimbot_FeedbackData_t *fb, + float bullet_speed, uint16_t bullet_count, + uint8_t mode); + +/** + * @brief 【下层板】将反馈数据经 CAN 发送给上层板（1 帧） + */ +void Aimbot_SendFeedbackOnCAN(const Aimbot_Param_t *param, + const Aimbot_FeedbackData_t *fb); + +/** + * @brief 【下层板】从 CAN 解析上层板发来的 AI 指令 + * @return DEVICE_OK 表示成功取到新数据；DEVICE_ERR 表示队列暂无数据 + */ +int8_t Aimbot_ParseCmdFromCAN(const Aimbot_Param_t *param, + Aimbot_AIResult_t *result); + +/** + * @brief 【上层板】通过 CAN 将 AI 指令发送给下层板（单帧 8 字节） + */ +void Aimbot_SendCmdOnCAN(const Aimbot_Param_t *param, + const Aimbot_AIResult_t *cmd); + +/** + * @brief 【上层板】从 CAN 解析下层板发来的反馈数据（逐帧读取，非阻塞） + * @return DEVICE_OK（部分或全部帧已更新均返回 OK） + */ +int8_t Aimbot_ParseFeedbackFromCAN(const Aimbot_Param_t *param, + Aimbot_FeedbackData_t *fb); + +#ifdef __cplusplus +} +#endif diff --git a/User/module/chassis.c b/User/module/chassis.c index 55a6141..fc80505 100644 --- a/User/module/chassis.c +++ b/User/module/chassis.c @@ -40,7 +40,7 @@ chassis_init(&chassis,&Config_GetRobotParam()->chassis,CHASSIS_FREQ); #include "math.h" #include "component/pid.h" #include "component/filter.h" -#include "module/cmd.h" +#include "module/cmd/cmd.h" #include "stdlib.h" /*舵轮舵向校准方法：注释掉关于6020反馈角度的处理以及6020数据的发送这两处(define.h里有快捷方法)， diff --git a/User/module/chassis.h b/User/module/chassis.h index 9f6f36f..dcc9918 100644 --- a/User/module/chassis.h +++ b/User/module/chassis.h @@ -84,6 +84,7 @@ extern "C" } Chassis_out_t; + /*底盘模式*/ typedef enum { @@ -104,6 +105,15 @@ typedef enum }Chassis_ctrl_mode_t; +/* UI 导出结构（供 referee 系统绘制） */ +typedef struct { + Chassis_Mode_t mode; + float angle; + /* 轮腿角度和距轮长 */ + float l0[2]; + float theta[2]; +} Chassis_RefereeUI_t; + typedef struct { int cmd_power_on_safe; // 上电安全标志 diff --git a/User/module/cmd.c b/User/module/cmd.c deleted file mode 100644 index df69bff..0000000 --- a/User/module/cmd.c +++ /dev/null @@ -1,316 +0,0 @@ -/* - * CMD 模块 V2 - 主控制模块实现 - */ -#include "module/cmd.h" -#include "bsp/time.h" -#include "chassis.h" -#include -#include - -/* ========================================================================== */ -/* 命令构建函数 */ -/* ========================================================================== */ - -/* 从RC输入生成底盘命令 */ -static void CMD_RC_BuildChassisCmd(CMD_t *ctx) { - CMD_RCModeMap_t *map = &ctx->config->rc_mode_map; - - /* 根据左拨杆位置选择模式 */ - switch (ctx->input.rc.sw[0]) { - case CMD_SW_UP: - ctx->output.chassis.cmd.mode = map->sw_left_up; - - break; - case CMD_SW_MID: - ctx->output.chassis.cmd.mode = map->sw_left_mid; - - - break; - case CMD_SW_DOWN: - ctx->output.chassis.cmd.mode = map->sw_left_down; - - break; - default: - ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX; - break; - } - - /* 左摇杆控制移动 */ - ctx->output.chassis.cmd.Vx = ctx->input.rc.joy_right.x; - ctx->output.chassis.cmd.Vy = ctx->input.rc.joy_right.y; -} - -/* 从RC输入生成云台命令 */ -static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) { - CMD_RCModeMap_t *map = &ctx->config->rc_mode_map; - - /* 根据拨杆选择云台模式 */ - switch (ctx->input.rc.sw[4]) { - case CMD_SW_UP: - ctx->output.gimbal.cmd.mode = map->gimbal_sw_up; - break; - case CMD_SW_MID: - ctx->output.gimbal.cmd.mode = map->gimbal_sw_mid; - break; - case CMD_SW_DOWN: - ctx->output.gimbal.cmd.mode = map->gimbal_sw_down; - break; - default: - ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX; - break; - } - - /* 右摇杆控制云台 */ - ctx->output.gimbal.cmd.delta_yaw_6020 = -ctx->input.rc.joy_left.x * 2.0f; - ctx->output.gimbal.cmd.delta_yaw_4310 = -ctx->input.rc.joy_left.x * 1.2f; - ctx->output.gimbal.cmd.delta_pitch_4310 = -ctx->input.rc.joy_left.y * 1.5f; -} - -/* 从RC输入生成射击命令 */ -static void CMD_RC_BuildShootCmd(CMD_t *ctx) { - if (ctx->input.online[CMD_SRC_RC]) { - ctx->output.shoot.cmd.mode = SHOOT_MODE_SINGLE; - } else { - ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE; - } - /* C拨杆选择发弹模式：上单发，中多发，下连发 */ - switch (ctx->input.rc.sw[2]) { - case CMD_SW_DOWN: - ctx->output.shoot.cmd.mode = SHOOT_MODE_CONTINUE; - break; - case CMD_SW_MID: - ctx->output.shoot.cmd.mode = SHOOT_MODE_BURST; - break; - case CMD_SW_UP: - ctx->output.shoot.cmd.mode = SHOOT_MODE_SINGLE; - break; - default: - ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE; - break; - } - /* 根据D拨杆控制射击 */ - switch (ctx->input.rc.sw[3]) { - case CMD_SW_DOWN: - ctx->output.shoot.cmd.ready = true; - ctx->output.shoot.cmd.firecmd = true; - break; - case CMD_SW_MID: - ctx->output.shoot.cmd.ready = true; - ctx->output.shoot.cmd.firecmd = false; - break; - case CMD_SW_UP: - ctx->output.shoot.cmd.ready = false; - ctx->output.shoot.cmd.firecmd = false; - default: - ctx->output.shoot.cmd.ready = false; - ctx->output.shoot.cmd.firecmd = false; - break; - } - switch (ctx->input.rc.sw[1]) { - case CMD_SW_UP: - ctx->output.chassis.cmd.ctrl_mode = CHASSIS_MODE_RC; - ctx->output.gimbal.cmd.ctrl_mode = GIMBAL_MODE_REMOTE; - ctx->output.shoot.cmd.control_mode = SHOOT_REMOTE; - break; - case CMD_SW_MID: - ctx->output.chassis.cmd.ctrl_mode = CHASSIS_MODE_DAOHANG; - ctx->output.gimbal.cmd.mode = GIMBAL_MODE_DAOHANG; - ctx->output.shoot.cmd.control_mode = SHOOT_REMOTE; - break; - case CMD_SW_DOWN: - ctx->output.chassis.cmd.ctrl_mode = CHASSIS_MODE_FOLLOW_GIMBAL; - ctx->output.gimbal.cmd.ctrl_mode = GIMBAL_MODE_SCAN; - ctx->output.shoot.cmd.control_mode = SHOOT_AI; - break; - default: - ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX; - ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX; - ctx->output.shoot.cmd.control_mode = SHOOT_REMOTE; - break; - } - - /* sw[5] (F拨杆): 下=纯AI自瞄(无扫描), 上/中=保持B拨杆的设定 */ - if (ctx->input.rc.sw[5] == CMD_SW_DOWN) { - ctx->output.gimbal.cmd.ctrl_mode = GIMBAL_MODE_AI; - ctx->output.shoot.cmd.control_mode = SHOOT_AI; - } - -} - -/* 从PC输入生成底盘命令 */ -static void CMD_PC_BuildChassisCmd(CMD_t *ctx) { - - if (!ctx->input.online[CMD_SRC_PC]) { - ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX; - return; - } - - ctx->output.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL; - - /* WASD控制移动 */ - ctx->output.chassis.cmd.Vx = 0.0f; - ctx->output.chassis.cmd.Vy = 0.0f; - CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_CHASSIS); -} - -/* 从PC输入生成云台命令 */ -static void CMD_PC_BuildGimbalCmd(CMD_t *ctx) { - CMD_Sensitivity_t *sens = &ctx->config->sensitivity; - - if (!ctx->input.online[CMD_SRC_PC]) { - ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX; - return; - } - - ctx->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE; - - /* 鼠标控制云台 */ - ctx->output.gimbal.cmd.delta_yaw_6020 = (float)-ctx->input.pc.mouse.x * ctx->timer.dt * sens->mouse_sens; - ctx->output.gimbal.cmd.delta_pitch_4310 = (float)ctx->input.pc.mouse.y * ctx->timer.dt * sens->mouse_sens * 1.5f; - CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_GIMBAL); -} - -/* 从PC输入生成射击命令 */ -static void CMD_PC_BuildShootCmd(CMD_t *ctx) { - if (!ctx->input.online[CMD_SRC_PC]) { - ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE; - return; - } - - ctx->output.shoot.cmd.ready = true; - ctx->output.shoot.cmd.firecmd = ctx->input.pc.mouse.l_click; - - CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_SHOOT); - -} - -/* 离线安全模式 */ -static void CMD_SetOfflineMode(CMD_t *ctx) { - ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX; - ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX; - ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE; -} - -/* ========================================================================== */ -/* 公开API实现 */ -/* ========================================================================== */ - -int8_t CMD_Init(CMD_t *ctx, CMD_Config_t *config) { - if (ctx == NULL || config == NULL) { - return CMD_ERR_NULL; - } - - memset(ctx, 0, sizeof(CMD_t)); - ctx->config = config; - - /* 初始化适配器 */ - CMD_Adapter_InitAll(); - - /* 初始化行为处理器 */ - CMD_Behavior_Init(); - - return CMD_OK; -} - -int8_t CMD_UpdateInput(CMD_t *ctx) { - if (ctx == NULL) { - return CMD_ERR_NULL; - } - - /* 保存上一帧输入 */ - memcpy(&ctx->last_input, &ctx->input, sizeof(ctx->input)); - - /* 更新所有输入源 */ - for (int i = 0; i < CMD_SRC_NUM; i++) { - CMD_Adapter_GetInput((CMD_InputSource_t)i, &ctx->input); - } - - return CMD_OK; -} -typedef void (*CMD_BuildCommandFunc)(CMD_t *cmd); -typedef struct { - CMD_InputSource_t source; - CMD_BuildCommandFunc chassisFunc; - CMD_BuildCommandFunc gimbalFunc; - CMD_BuildCommandFunc shootFunc; -} CMD_SourceHandler_t; - -CMD_SourceHandler_t sourceHandlers[CMD_SRC_NUM] = { - {CMD_SRC_RC, CMD_RC_BuildChassisCmd, CMD_RC_BuildGimbalCmd, CMD_RC_BuildShootCmd}, - {CMD_SRC_PC, CMD_PC_BuildChassisCmd, CMD_PC_BuildGimbalCmd, CMD_PC_BuildShootCmd}, - {CMD_SRC_NUC, NULL, NULL, NULL}, - {CMD_SRC_REF, NULL, NULL, NULL}, -}; - -int8_t CMD_Arbitrate(CMD_t *ctx) { - if (ctx == NULL) { - return CMD_ERR_NULL; - } - - /* 自动仲裁：优先级 PC > RC > NUC */ - CMD_InputSource_t candidates[] = {CMD_SRC_RC, CMD_SRC_PC, CMD_SRC_NUC}; - const int num_candidates = sizeof(candidates) / sizeof(candidates[0]); - - /* 如果当前输入源仍然在线且有效，保持使用 */ - if (ctx->active_source < CMD_SRC_NUM && - ctx->active_source != CMD_SRC_REF && - ctx->input.online[ctx->active_source]) { - goto seize; - } - - /* 否则选择第一个可用的控制输入源 */ - for (int i = 0; i < num_candidates; i++) { - CMD_InputSource_t src = candidates[i]; - if (ctx->input.online[src]) { - ctx->active_source = src; - break; - }else { - ctx->active_source = CMD_SRC_NUM; - continue; - } - } - ctx->output.chassis.source = ctx->active_source; - ctx->output.gimbal.source = ctx->active_source; - ctx->output.shoot.source = ctx->active_source; - - /* 优先级抢占逻辑 */ - seize: - CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_NONE); - - return CMD_OK; -} - -int8_t CMD_GenerateCommands(CMD_t *ctx) { - if (ctx == NULL) { - return CMD_ERR_NULL; - } - - /* 更新时间 */ - uint64_t now_us = BSP_TIME_Get_us(); - ctx->timer.now = now_us / 1000000.0f; - ctx->timer.dt = (now_us - ctx->timer.last_us) / 1000000.0f; - ctx->timer.last_us = now_us; - - /* 没有有效输入源 */ - if (ctx->active_source >= CMD_SRC_NUM) { - CMD_SetOfflineMode(ctx); - return CMD_ERR_NO_INPUT; - } - - sourceHandlers[ctx->output.gimbal.source].gimbalFunc(ctx); - sourceHandlers[ctx->output.chassis.source].chassisFunc(ctx); - sourceHandlers[ctx->output.shoot.source].shootFunc(ctx); - return CMD_OK; -} - -int8_t CMD_Update(CMD_t *ctx) { - int8_t ret; - - ret = CMD_UpdateInput(ctx); - if (ret != CMD_OK) return ret; - - CMD_Arbitrate(ctx); - - ret = CMD_GenerateCommands(ctx); - return ret; -} diff --git a/User/module/cmd/cmd.c b/User/module/cmd/cmd.c new file mode 100644 index 0000000..bedb1ce --- /dev/null +++ b/User/module/cmd/cmd.c @@ -0,0 +1,748 @@ +/* + * CMD 模块 V2 - 主控制模块实现 + */ +#include "cmd.h" +#include "bsp/time.h" +#include "module/cmd/cmd_types.h" +#include "module/gimbal.h" +#include "module/shoot.h" +#include +#include + +/* ========================================================================== */ +/* 命令构建函数 */ +/* ========================================================================== */ + +/* 从RC输入生成底盘命令 */ +#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_CHASSIS +static void CMD_RC_BuildChassisCmd(CMD_t *ctx) { + CMD_RCModeMap_t *map = &ctx->config->rc_mode_map; + + /* 根据左拨杆位置选择模式 */ + switch (ctx->input.rc.sw[0]) { + case CMD_SW_UP: + ctx->output.chassis.cmd.mode = map->sw_left_up; + break; + case CMD_SW_MID: + ctx->output.chassis.cmd.mode = map->sw_left_mid; + break; + case CMD_SW_DOWN: + ctx->output.chassis.cmd.mode = map->sw_left_down; + break; + default: + ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX; + break; + } + + /* 摇杆控制移动 */ + ctx->output.chassis.cmd.Vx = ctx->input.rc.joy_right.x; + ctx->output.chassis.cmd.Vy = ctx->input.rc.joy_right.y; + ctx->output.chassis.cmd.Vw = ctx->input.rc.joy_left.x; +} +#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_CHASSIS */ + +/* 从 RC 输入生成云台命令 */ +#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_GIMBAL +static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) { + CMD_RCModeMap_t *map = &ctx->config->rc_mode_map; + /* 根据拨杆选择云台模式 */ + switch (ctx->input.rc.sw[0]) { + case CMD_SW_UP: + ctx->output.gimbal.cmd.mode = map->gimbal_sw_up; + break; + case CMD_SW_MID: + ctx->output.gimbal.cmd.mode = map->gimbal_sw_mid; + break; + case CMD_SW_DOWN: + ctx->output.gimbal.cmd.mode = map->gimbal_sw_down; + break; + default: + ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX; + break; + } + + /* 左摇杆控制云台 */ + ctx->output.gimbal.cmd.delta_yaw_4310 = -ctx->input.rc.joy_right.x * 5.0f; + ctx->output.gimbal.cmd.delta_pitch_4310 = ctx->input.rc.joy_right.y * 5.0f; +} +#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_GIMBAL */ + +/* 从 RC 输入生成射击命令 */ +#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_SHOOT +static void CMD_RC_BuildShootCmd(CMD_t *ctx) { + if (ctx->input.online[CMD_SRC_RC]) { + ctx->output.shoot.cmd.mode = SHOOT_MODE_SINGLE; + } else { + ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE; + } + + /* 根据右拨杆控制射击 */ + switch (ctx->input.rc.sw[1]) { + case CMD_SW_DOWN: + ctx->output.shoot.cmd.ready = true; + ctx->output.shoot.cmd.firecmd = true; + break; + case CMD_SW_MID: + ctx->output.shoot.cmd.ready = true; + ctx->output.shoot.cmd.firecmd = false; + break; + case CMD_SW_UP: + default: + ctx->output.shoot.cmd.ready = false; + ctx->output.shoot.cmd.firecmd = false; + break; + } +} +#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_SHOOT */ + +/* 从 RC 输入生成履带命令 */ +#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_TRACK +static void CMD_RC_BuildTrackCmd(CMD_t *ctx) { + CMD_RCModeMap_t *map = &ctx->config->rc_mode_map; + + if (!ctx->input.online[CMD_SRC_RC]) { + ctx->output.track.cmd.enable = false; + ctx->output.track.cmd.vel = 0.0f; + ctx->output.track.cmd.omega = 0.0f; + return; + } + switch (ctx->input.rc.sw[0]) { + case CMD_SW_UP: + ctx->output.track.cmd.enable = map->track_sw_up; + break; + case CMD_SW_MID: + ctx->output.track.cmd.enable = map->track_sw_mid; + break; + case CMD_SW_DOWN: + ctx->output.track.cmd.enable = map->track_sw_down; + break; + default: + ctx->output.track.cmd.enable = false; + break; + } + ctx->output.track.cmd.enable = ctx->input.online[CMD_SRC_RC]; + ctx->output.track.cmd.vel = ctx->input.rc.joy_right.y * 2.0f; + if(fabsf(ctx->input.rc.joy_right.y * 2.0f) > 1.0f) + ctx->output.track.cmd.vel = ctx->output.track.cmd.vel > 0 ? 1.0f + : -1.0f; + + CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_TRACK); +} +#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_TRACK */ + +/* 从PC输入生成底盘命令 */ +#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_CHASSIS +static void CMD_PC_BuildChassisCmd(CMD_t *ctx) { + + if (!ctx->input.online[CMD_SRC_PC]) { + ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX; + return; + } + + ctx->output.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL; + + /* WASD控制移动 */ + ctx->output.chassis.cmd.Vx = 0.0f; + ctx->output.chassis.cmd.Vy = 0.0f; + CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_CHASSIS); +} +#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_CHASSIS */ + +/* 从PC输入生成云台命令 */ +#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_GIMBAL +static void CMD_PC_BuildGimbalCmd(CMD_t *ctx) { + CMD_Sensitivity_t *sens = &ctx->config->sensitivity; + + if (!ctx->input.online[CMD_SRC_PC]) { + ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX; + return; + } + ctx->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE; + + /* 鼠标控制云台 */ + ctx->output.gimbal.cmd.delta_yaw_4310 = (float)-ctx->input.pc.mouse.x * ctx->timer.dt * sens->mouse_sens; + ctx->output.gimbal.cmd.delta_pitch_4310 = (float)ctx->input.pc.mouse.y * ctx->timer.dt * sens->mouse_sens * 1.5f; + CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_GIMBAL); +} +#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_GIMBAL */ + +/* 从PC输入生成射击命令 */ +#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_SHOOT +static void CMD_PC_BuildShootCmd(CMD_t *ctx) { + if (!ctx->input.online[CMD_SRC_PC]) { + ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE; + return; + } + + ctx->output.shoot.cmd.ready = true; + ctx->output.shoot.cmd.firecmd = ctx->input.pc.mouse.l_click; +} +#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_SHOOT */ + +/* 从PC输入生成履带命令 */ +#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_TRACK +static void CMD_PC_BuildTrackCmd(CMD_t *ctx) { + if (!ctx->input.online[CMD_SRC_PC]) { + ctx->output.track.cmd.enable = false; + ctx->output.track.cmd.vel = 0.0f; + ctx->output.track.cmd.omega = 0.0f; + return; + } + + ctx->output.track.cmd.enable = true; + /* 可根据需要添加PC对履带的控制，例如键盘按键 */ + ctx->output.track.cmd.vel = 0.0f; + ctx->output.track.cmd.omega = 0.0f; + + CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_TRACK); +} +#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_TRACK */ + +/* 从NUC/AI输入生成云台命令 */ +#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_GIMBAL +static void CMD_NUC_BuildGimbalCmd(CMD_t *ctx) { + if (!ctx->input.online[CMD_SRC_NUC]) { + ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX; + return; + } + ctx->output.chassis.cmd.Vx = ctx->input.nuc.chassis.vx; + ctx->output.chassis.cmd.Vy = ctx->input.nuc.chassis.vy; + ctx->output.chassis.cmd.Vw = ctx->input.nuc.chassis.vw; + /* 使用AI提供的云台控制数据 */ + + #error "gimbal未写完" + // if (ctx->input.nuc.mode!=0) { + // ctx->output.gimbal.cmd.mode = GIMBAL_MODE_AI_CONTROL; + // ctx->output.gimbal.cmd.mode_ai = (uint8_t)ctx->input.nuc.mode; /* 直接使用AI模式细分字段 */ + // ctx->output.gimbal.cmd.setpoint_yaw = ctx->input.nuc.gimbal.setpoint.yaw; + // ctx->output.gimbal.cmd.setpoint_pit = ctx->input.nuc.gimbal.setpoint.pit; + // ctx->output.gimbal.cmd.ff_vel_yaw = ctx->input.nuc.gimbal.vel.yaw; + // ctx->output.gimbal.cmd.ff_vel_pit = ctx->input.nuc.gimbal.vel.pit; + // ctx->output.gimbal.cmd.ff_accl_yaw = ctx->input.nuc.gimbal.accl.yaw; + // ctx->output.gimbal.cmd.ff_accl_pit = ctx->input.nuc.gimbal.accl.pit; + // } + +} +#endif /* CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_GIMBAL */ + +/* 从 NUC/AI 输入生成射击命令 */ +#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_SHOOT +static void CMD_NUC_BuildShootCmd(CMD_t *ctx) { + if (!ctx->input.online[CMD_SRC_NUC]) { + ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE; + return; + } + + /* 根据AI模式决定射击行为 */ + switch (ctx->input.nuc.mode) { + case 0: + case 1: + /* mode=1 只控云台，不让射击机构进入 ready，避免摩擦轮继续预转。 */ + ctx->output.shoot.cmd.ready = false; + ctx->output.shoot.cmd.firecmd = false; + break; + case 2: + if ((ctx->active_source == CMD_SRC_PC && ctx->input.pc.mouse.l_click) || + (ctx->active_source == CMD_SRC_RC && ctx->input.rc.sw[1] == CMD_SW_DOWN)) { + ctx->output.shoot.cmd.ready = true; + ctx->output.shoot.cmd.firecmd = true; + } else { + ctx->output.shoot.cmd.ready = true; + ctx->output.shoot.cmd.firecmd = false; + } + break; + default: + ctx->output.shoot.cmd.ready = false; + ctx->output.shoot.cmd.firecmd = false; + break; + } +} +#endif /* CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_SHOOT */ + +/* 从 RC 输入生成机械臂命令 */ +#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_ARM +static void CMD_RC_BuildArmCmd(CMD_t *ctx) { + /* + * 遥控器控制机械臂末端位姿 —— 笛卡尔增量方案 + * + * 左拨杆 SW_L (sw[0]) —— 整体使能: + * UP → 失能（电机松弛/重力补偿） + * MID → 使能，笛卡尔增量控制 + * DOWN → 使能（保留备用） + * + * 右拨杆 SW_R (sw[1]) —— 自由度分组: + * + * UP 【位置模式】3轴平移 + 偏航（最常用操作放第一层） + * 右摇杆X (RX) → X 平移（末端左右移动） + * 右摇杆Y (RY) → Y 平移（末端前后移动） + * 左摇杆Y (LY) → Z 平移（末端升降） + * 左摇杆X (LX) → Yaw 偏航旋转 + * + * MID 【姿态模式】俯仰/横滚全姿态，同时保留 Z 和偏航可调 + * 右摇杆X (RX) → Yaw 偏航旋转（持续可调，避免强制切换模式） + * 右摇杆Y (RY) → Pitch 俯仰旋转 + * 左摇杆X (LX) → Roll 横滚旋转 + * 左摇杆Y (LY) → Z 平移（升降保持可调，避免强制切换模式） + * + * DOWN → set_target_as_current（目标位姿吸附当前实际位姿，消除累积漂移） + * + * 摇杆直觉映射总结: + * 右摇杆 = "末端去哪里"（XY平移，最自然） + * 左Y = "臂的高低" （Z升降，推上=升高） + * 左X = 位置模式→偏航 / 姿态模式→横滚 + */ + ctx->output.arm.cmd.set_target_as_current = false; + if (ctx->input.rc.sw[1] == CMD_SW_DOWN) { + ctx->output.arm.cmd.set_target_as_current = true; + } + + switch (ctx->input.rc.sw[0]) { + case CMD_SW_MID: + case CMD_SW_DOWN: + ctx->output.arm.cmd.enable = true; + break; + default: + ctx->output.arm.cmd.enable = false; + goto end; + } + + /* 遥控器模式使用笛卡尔位姿累积控制 */ + ctx->output.arm.cmd.ctrl_type = ARM_CTRL_REMOTE_CARTESIAN; + + /* set_target_as_current 置位时不叠加摇杆增量，由上层负责同步位姿基准 */ + if (ctx->output.arm.cmd.set_target_as_current) return; + + /* 输出摇杆速度命令（m/s, rad/s）——不含 dt，由arm_main在正确坐标系下积分到世界系 target_pose */ + float pos_scale = 0.3f; /* 末端线速度上限 (m/s) */ + float rot_scale = 1.0f; /* 末端角速度上限 (rad/s) */ + + memset(&ctx->output.arm.cmd.joy_vel, 0, sizeof(ctx->output.arm.cmd.joy_vel)); + + switch (ctx->input.rc.sw[1]) { + case CMD_SW_UP: + /* 位置模式：3轴平移 + 偏航 */ + ctx->output.arm.cmd.joy_vel.x = ctx->input.rc.joy_right.x * pos_scale; + ctx->output.arm.cmd.joy_vel.y = ctx->input.rc.joy_right.y * pos_scale; + ctx->output.arm.cmd.joy_vel.z = ctx->input.rc.joy_left.y * pos_scale; + ctx->output.arm.cmd.joy_vel.yaw = ctx->input.rc.joy_left.x * rot_scale; + break; + case CMD_SW_MID: + /* 姿态模式：俯仰 + 横滚 + 偏航 + 升降（全6自由度可达，Z/Yaw持续可调） */ + ctx->output.arm.cmd.joy_vel.yaw = ctx->input.rc.joy_right.x * rot_scale; + ctx->output.arm.cmd.joy_vel.pitch = ctx->input.rc.joy_right.y * rot_scale; + ctx->output.arm.cmd.joy_vel.roll = ctx->input.rc.joy_left.x * rot_scale; + ctx->output.arm.cmd.joy_vel.z = ctx->input.rc.joy_left.y * pos_scale; + break; + default: + break; + } + end: + return; +} +#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_ARM */ + +/* 从 PC 输入生成机械臂命令 */ +#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_ARM +static void CMD_PC_BuildArmCmd(CMD_t *ctx) { + if (!ctx->input.online[CMD_SRC_PC]) { + ctx->output.arm.cmd.enable = false; + return; + } + ctx->output.arm.cmd.enable = true; + ctx->output.arm.cmd.ctrl_type = ARM_CTRL_REMOTE_CARTESIAN; + + /* 鼠标控制末端位坐 XY，其他轴可根据需要扩展 */ + float sens = ctx->config->sensitivity.mouse_sens * 0.001f; + ctx->output.arm.cmd.target_pose.x += (float)ctx->input.pc.mouse.x * sens * ctx->timer.dt; + ctx->output.arm.cmd.target_pose.y += (float)ctx->input.pc.mouse.y * sens * ctx->timer.dt; +} +#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_ARM */ + +/* 从 RC 输入生成平衡底盘命令 */ +#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_BALANCE_CHASSIS +static void CMD_RC_BuildBalanceChassisCmd(CMD_t *ctx) { + CMD_RCModeMap_t *map = &ctx->config->rc_mode_map; + + switch (ctx->input.rc.sw[0]) { + case CMD_SW_UP: + ctx->output.balance_chassis.cmd.mode = map->balance_sw_up; + break; + case CMD_SW_MID: + ctx->output.balance_chassis.cmd.mode = map->balance_sw_mid; + break; + case CMD_SW_DOWN: + ctx->output.balance_chassis.cmd.mode = map->balance_sw_down; + break; + default: + ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_RELAX; + break; + } + + /* 左摩杆Y/X → 平移，右摩杆X → 转向 */ + ctx->output.balance_chassis.cmd.move_vec.vx = ctx->input.rc.joy_left.y; + ctx->output.balance_chassis.cmd.move_vec.vy = ctx->input.rc.joy_left.x; + ctx->output.balance_chassis.cmd.move_vec.wz = ctx->input.rc.joy_right.x; + /* 拨轮传递目标高度 */ + ctx->output.balance_chassis.cmd.height = ctx->input.rc.dial; + ctx->output.balance_chassis.cmd.jump_trigger = false; + +} +#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_BALANCE_CHASSIS */ + +/* 从 PC 输入生成平衡底盘命令 */ +#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_BALANCE_CHASSIS +static void CMD_PC_BuildBalanceChassisCmd(CMD_t *ctx) { + CMD_Sensitivity_t *sens = &ctx->config->sensitivity; + + if (!ctx->input.online[CMD_SRC_PC]) { + ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_RELAX; + return; + } + + ctx->output.balance_chassis.cmd.move_vec.vx = 0.0f; + ctx->output.balance_chassis.cmd.move_vec.vy = 0.0f; + ctx->output.balance_chassis.cmd.move_vec.wz = 0.0f; + + ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_WHELL_LEG_BALANCE; + CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_BALANCE_CHASSIS); + +} +#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_BALANCE_CHASSIS */ +#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_REFUI +static void CMD_NUC_BuildRefUICmd(CMD_t *ctx) { + if (!ctx->input.online[CMD_SRC_NUC]) { + ctx->output.refui.cmd = UI_AUTO_AIM_STOP; + return; + } + ctx->output.refui.cmd = (ctx->input.nuc.mode != 0) ? UI_AUTO_AIM_START : UI_AUTO_AIM_STOP; +} +#endif /* CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_REFUI */ + +/* 离线安全模式 */ +static void CMD_SetOfflineMode(CMD_t *ctx) { +#if CMD_ENABLE_MODULE_CHASSIS + ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX; +#endif +#if CMD_ENABLE_MODULE_GIMBAL + ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX; +#endif +#if CMD_ENABLE_MODULE_SHOOT + ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE; +#endif +#if CMD_ENABLE_MODULE_TRACK + ctx->output.track.cmd.enable = false; +#endif +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS + ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_RELAX; +#endif +#if CMD_ENABLE_MODULE_ARM + ctx->output.arm.cmd.enable = false; +#endif +#if CMD_ENABLE_MODULE_REFUI + ctx->output.refui.cmd = UI_NOTHING; +#endif +} + +/* ========================================================================== */ +/* 公开API实现 */ +/* ========================================================================== */ + +int8_t CMD_Init(CMD_t *ctx, CMD_Config_t *config) { + if (ctx == NULL || config == NULL) { + return CMD_ERR_NULL; + } + + memset(ctx, 0, sizeof(CMD_t)); + ctx->config = config; + + /* 初始化适配器 */ + CMD_Adapter_InitAll(); + + /* 初始化行为处理器 */ + CMD_Behavior_Init(); + + return CMD_OK; +} + +int8_t CMD_UpdateInput(CMD_t *ctx) { + if (ctx == NULL) { + return CMD_ERR_NULL; + } + + /* 保存上一帧输入 */ + memcpy(&ctx->last_input, &ctx->input, sizeof(ctx->input)); + + /* 更新所有输入源 */ + for (int i = 0; i < CMD_SRC_NUM; i++) { + CMD_Adapter_GetInput((CMD_InputSource_t)i, &ctx->input); + } + + return CMD_OK; +} +typedef void (*CMD_BuildCommandFunc)(CMD_t *cmd); +typedef struct { + CMD_InputSource_t source; + CMD_BuildCommandFunc chassisFunc; + CMD_BuildCommandFunc gimbalFunc; + CMD_BuildCommandFunc shootFunc; + CMD_BuildCommandFunc trackFunc; + CMD_BuildCommandFunc armFunc; + CMD_BuildCommandFunc refuiFunc; + CMD_BuildCommandFunc balanceChassisFunc; +} CMD_SourceHandler_t; + +/* Build-function conditional references */ +#if CMD_ENABLE_MODULE_CHASSIS && CMD_ENABLE_SRC_RC + #define _FN_RC_CHASSIS CMD_RC_BuildChassisCmd +#else + #define _FN_RC_CHASSIS NULL +#endif +#if CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_SRC_RC + #define _FN_RC_GIMBAL CMD_RC_BuildGimbalCmd +#else + #define _FN_RC_GIMBAL NULL +#endif +#if CMD_ENABLE_MODULE_SHOOT && CMD_ENABLE_SRC_RC + #define _FN_RC_SHOOT CMD_RC_BuildShootCmd +#else + #define _FN_RC_SHOOT NULL +#endif +#if CMD_ENABLE_MODULE_TRACK && CMD_ENABLE_SRC_RC + #define _FN_RC_TRACK CMD_RC_BuildTrackCmd +#else + #define _FN_RC_TRACK NULL +#endif +#if CMD_ENABLE_MODULE_CHASSIS && CMD_ENABLE_SRC_PC + #define _FN_PC_CHASSIS CMD_PC_BuildChassisCmd +#else + #define _FN_PC_CHASSIS NULL +#endif +#if CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_SRC_PC + #define _FN_PC_GIMBAL CMD_PC_BuildGimbalCmd +#else + #define _FN_PC_GIMBAL NULL +#endif +#if CMD_ENABLE_MODULE_SHOOT && CMD_ENABLE_SRC_PC + #define _FN_PC_SHOOT CMD_PC_BuildShootCmd +#else + #define _FN_PC_SHOOT NULL +#endif +#if CMD_ENABLE_MODULE_TRACK && CMD_ENABLE_SRC_PC + #define _FN_PC_TRACK CMD_PC_BuildTrackCmd +#else + #define _FN_PC_TRACK NULL +#endif +#if CMD_ENABLE_MODULE_ARM && CMD_ENABLE_SRC_RC + #define _FN_RC_ARM CMD_RC_BuildArmCmd +#else + #define _FN_RC_ARM NULL +#endif +#if CMD_ENABLE_MODULE_ARM && CMD_ENABLE_SRC_PC + #define _FN_PC_ARM CMD_PC_BuildArmCmd +#else + #define _FN_PC_ARM NULL +#endif +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS && CMD_ENABLE_SRC_RC + #define _FN_RC_BALANCE_CHASSIS CMD_RC_BuildBalanceChassisCmd +#else + #define _FN_RC_BALANCE_CHASSIS NULL +#endif +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS && CMD_ENABLE_SRC_PC + #define _FN_PC_BALANCE_CHASSIS CMD_PC_BuildBalanceChassisCmd +#else + #define _FN_PC_BALANCE_CHASSIS NULL +#endif +#if CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_SRC_NUC + #define _FN_NUC_GIMBAL CMD_NUC_BuildGimbalCmd +#else + #define _FN_NUC_GIMBAL NULL +#endif +#if CMD_ENABLE_MODULE_SHOOT && CMD_ENABLE_SRC_NUC + #define _FN_NUC_SHOOT CMD_NUC_BuildShootCmd +#else + #define _FN_NUC_SHOOT NULL +#endif + +CMD_SourceHandler_t sourceHandlers[CMD_SRC_NUM] = { +#if CMD_ENABLE_SRC_RC + [CMD_SRC_RC] = {CMD_SRC_RC, _FN_RC_CHASSIS, _FN_RC_GIMBAL, _FN_RC_SHOOT, _FN_RC_TRACK, _FN_RC_ARM, NULL, _FN_RC_BALANCE_CHASSIS}, +#endif +#if CMD_ENABLE_SRC_PC + [CMD_SRC_PC] = {CMD_SRC_PC, _FN_PC_CHASSIS, _FN_PC_GIMBAL, _FN_PC_SHOOT, _FN_PC_TRACK, _FN_PC_ARM, NULL, _FN_PC_BALANCE_CHASSIS}, +#endif +#if CMD_ENABLE_SRC_NUC + #if CMD_ENABLE_MODULE_REFUI + #define _FN_NUC_REFUI CMD_NUC_BuildRefUICmd + #else + #define _FN_NUC_REFUI NULL + #endif + [CMD_SRC_NUC] = {CMD_SRC_NUC, NULL, _FN_NUC_GIMBAL, _FN_NUC_SHOOT, NULL, NULL, _FN_NUC_REFUI, NULL}, +#endif +#if CMD_ENABLE_SRC_REF + [CMD_SRC_REF] = {CMD_SRC_REF, NULL, NULL, NULL, NULL, NULL, NULL, NULL} +#endif +}; + +int8_t CMD_Arbitrate(CMD_t *ctx) { + if (ctx == NULL) { + return CMD_ERR_NULL; + } + + /* RC > PC priority arbitration */ + CMD_InputSource_t candidates[] = { +#if CMD_ENABLE_SRC_RC + CMD_SRC_RC, +#endif +#if CMD_ENABLE_SRC_PC + CMD_SRC_PC, +#endif + }; + const int num_candidates = sizeof(candidates) / sizeof(candidates[0]); + + /* keep current source if still online */ + if (ctx->active_source < CMD_SRC_NUM && +#if CMD_ENABLE_SRC_REF + ctx->active_source != CMD_SRC_REF && +#endif + ctx->input.online[ctx->active_source]) { + goto seize; + } + + /* 否则选择第一个可用的控制输入源 */ + for (int i = 0; i < num_candidates; i++) { + CMD_InputSource_t src = candidates[i]; + if (ctx->input.online[src]) { + ctx->active_source = src; + break; + }else { + ctx->active_source = CMD_SRC_NUM; + continue; + } + } + + /* 优先级抢占逻辑 */ + seize: + + /* reset output sources */ +#if CMD_ENABLE_MODULE_CHASSIS + ctx->output.chassis.source = ctx->active_source; +#endif +#if CMD_ENABLE_MODULE_GIMBAL + ctx->output.gimbal.source = ctx->active_source; +#endif +#if CMD_ENABLE_MODULE_SHOOT + ctx->output.shoot.source = ctx->active_source; +#endif +#if CMD_ENABLE_MODULE_TRACK + ctx->output.track.source = ctx->active_source; +#endif +#if CMD_ENABLE_MODULE_ARM + ctx->output.arm.source = ctx->active_source; +#endif +#if CMD_ENABLE_MODULE_REFUI + ctx->output.refui.source = ctx->active_source; +#endif +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS + ctx->output.balance_chassis.source = ctx->active_source; +#endif + + CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_NONE); + +#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_MODULE_SHOOT + if (ctx->input.online[CMD_SRC_NUC]) { + if (ctx->active_source==CMD_SRC_RC) { + if (ctx->input.rc.sw[0] == CMD_SW_DOWN) { + //用遥控器调自瞄的时候打开下面两行 + ctx->output.gimbal.source = CMD_SRC_NUC; + ctx->output.shoot.source = CMD_SRC_NUC; + ctx->output.chassis.source = CMD_SRC_NUC; +#if CMD_ENABLE_MODULE_REFUI + ctx->output.refui.source = CMD_SRC_NUC; +#endif + } + } +} +#endif + + return CMD_OK; +} + +int8_t CMD_GenerateCommands(CMD_t *ctx) { + if (ctx == NULL) { + return CMD_ERR_NULL; + } + + /* 更新时间 */ + uint64_t now_us = BSP_TIME_Get_us(); + ctx->timer.now = now_us / 1000000.0f; + ctx->timer.dt = (now_us - ctx->timer.last_us) / 1000000.0f; + ctx->timer.last_us = now_us; + + /* 没有有效输入源 */ + if (ctx->active_source >= CMD_SRC_NUM) { + CMD_SetOfflineMode(ctx); + return CMD_ERR_NO_INPUT; + } + +#if CMD_ENABLE_MODULE_GIMBAL + if (sourceHandlers[ctx->output.gimbal.source].gimbalFunc != NULL) { + sourceHandlers[ctx->output.gimbal.source].gimbalFunc(ctx); + } +#endif +#if CMD_ENABLE_MODULE_CHASSIS + if (sourceHandlers[ctx->output.chassis.source].chassisFunc != NULL) { + sourceHandlers[ctx->output.chassis.source].chassisFunc(ctx); + } +#endif +#if CMD_ENABLE_MODULE_SHOOT + if (sourceHandlers[ctx->output.shoot.source].shootFunc != NULL) { + sourceHandlers[ctx->output.shoot.source].shootFunc(ctx); + } +#endif +#if CMD_ENABLE_MODULE_TRACK + if (sourceHandlers[ctx->output.track.source].trackFunc != NULL) { + sourceHandlers[ctx->output.track.source].trackFunc(ctx); + } +#endif +#if CMD_ENABLE_MODULE_ARM + if (sourceHandlers[ctx->output.arm.source].armFunc != NULL) { + sourceHandlers[ctx->output.arm.source].armFunc(ctx); + } +#endif +#if CMD_ENABLE_MODULE_REFUI + if (sourceHandlers[ctx->output.refui.source].refuiFunc != NULL) { + sourceHandlers[ctx->output.refui.source].refuiFunc(ctx); + } else { + ctx->output.refui.cmd = UI_NOTHING; + } +#endif +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS + if (sourceHandlers[ctx->output.balance_chassis.source].balanceChassisFunc != NULL) { + sourceHandlers[ctx->output.balance_chassis.source].balanceChassisFunc(ctx); + } +#endif + return CMD_OK; +} + +#if CMD_ENABLE_SRC_REF +static void CMD_REF_BuildOutput(CMD_t *ctx) { + ctx->output.ref = ctx->input.ref; +} +#endif + +int8_t CMD_Update(CMD_t *ctx) { + int8_t ret; + + ret = CMD_UpdateInput(ctx); + if (ret != CMD_OK) return ret; + + CMD_Arbitrate(ctx); + + ret = CMD_GenerateCommands(ctx); + +#if CMD_ENABLE_SRC_REF + CMD_REF_BuildOutput(ctx); +#endif + + return ret; +} diff --git a/User/module/cmd.h b/User/module/cmd/cmd.h similarity index 58% rename from User/module/cmd.h rename to User/module/cmd/cmd.h index 8d6383b..58d58c2 100644 --- a/User/module/cmd.h +++ b/User/module/cmd/cmd.h @@ -4,15 +4,30 @@ */ #pragma once -#include "gimbal.h" -#include "module/cmd_types.h" -#include "module/cmd_adapter.h" -#include "module/cmd_behavior.h" +#include "cmd_types.h" +#include "cmd_adapter.h" +#include "cmd_behavior.h" + +/* 按需引入输出模块的命令类型 */ +#if CMD_ENABLE_MODULE_CHASSIS + #include "module/chassis.h" +#endif +#if CMD_ENABLE_MODULE_GIMBAL + #include "module/gimbal.h" +#endif +#if CMD_ENABLE_MODULE_SHOOT + #include "module/shoot.h" +#endif +#if CMD_ENABLE_MODULE_TRACK + #include "module/track.h" +#endif +#if CMD_ENABLE_MODULE_ARM + #include "component/arm_kinematics/arm6dof.h" +#endif +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS + #include "module/balance_chassis.h" +#endif -/* 引入输出模块的命令类型 */ -#include "module/chassis.h" -#include "module/gimbal.h" -#include "module/shoot.h" #include #ifdef __cplusplus @@ -24,42 +39,64 @@ extern "C" { /* ========================================================================== */ /* 每个模块的输出包含源信息和命令 */ +#if CMD_ENABLE_MODULE_CHASSIS typedef struct { CMD_InputSource_t source; Chassis_CMD_t cmd; } CMD_ChassisOutput_t; +#endif +#if CMD_ENABLE_MODULE_GIMBAL typedef struct { CMD_InputSource_t source; Gimbal_CMD_t cmd; } CMD_GimbalOutput_t; +#endif +#if CMD_ENABLE_MODULE_SHOOT typedef struct { CMD_InputSource_t source; Shoot_CMD_t cmd; } CMD_ShootOutput_t; +#endif + +#if CMD_ENABLE_MODULE_TRACK +typedef struct { + CMD_InputSource_t source; + Track_CMD_t cmd; +} CMD_TrackOutput_t; +#endif + +#if CMD_ENABLE_MODULE_ARM +typedef struct { + CMD_InputSource_t source; + Arm_CMD_t cmd; +} CMD_ArmOutput_t; +#endif + +#if CMD_ENABLE_MODULE_REFUI +typedef struct { + CMD_InputSource_t source; + Referee_UI_CMD_t cmd; +} CMD_RefUIOutput_t; +#endif + +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS +typedef struct { + CMD_InputSource_t source; + Chassis_CMD_t cmd; +} CMD_BalanceChassisOutput_t; +#endif + +#if CMD_ENABLE_SRC_REF +// /* REF 透传输出：裁判数据直通各模块，不参与仲裁 */ +// typedef CMD_RawInput_REF_t CMD_RawInput_REF_t; +#endif /* ========================================================================== */ /* 配置结构 */ /* ========================================================================== */ - /* AI行为状态 */ -typedef enum { - AI_STATUS_STOP, /* 停止状态 */ - AI_STATUS_AUTOAIM, /* 自瞄状态 */ - AI_STATUS_HITSWITCH, /* 打符状态 */ - AI_STATUS_AUTOMATIC /* 自动状态 */ -} CMD_AI_Status_t; - -/* UI所用行为状态 */ -typedef enum { - UI_NOTHING, /* 当前无状态 */ - UI_AUTO_AIM_START, /* 自瞄状态开启 */ - UI_AUTO_AIM_STOP, /* 自瞄状态关闭 */ - UI_HIT_SWITCH_START, /* 打符状态开启 */ - UI_HIT_SWITCH_STOP /* 打符状态关闭 */ -} CMD_UI_t; - /* 灵敏度配置 */ typedef struct { float mouse_sens; /* 鼠标灵敏度 */ @@ -68,37 +105,34 @@ typedef struct { float move_slow_mult; /* 慢速移动倍率 */ } CMD_Sensitivity_t; - /* 分辨率配置 */ -typedef struct { - uint16_t width; - uint16_t height; -} CMD_Screen_t; - /* RC模式映射配置 - 定义开关位置到模式的映射 */ typedef struct { +#if CMD_ENABLE_MODULE_CHASSIS /* 左拨杆映射 - 底盘模式 */ Chassis_Mode_t sw_left_up; Chassis_Mode_t sw_left_mid; Chassis_Mode_t sw_left_down; +#endif - Chassis_ctrl_mode_t chassis_ctrl_mode_sw_up; - Chassis_ctrl_mode_t chassis_ctrl_mode_sw_mid; - Chassis_ctrl_mode_t chassis_ctrl_mode_sw_down; - +#if CMD_ENABLE_MODULE_GIMBAL /* 右拨杆映射 - 云台/射击模式 */ Gimbal_Mode_t gimbal_sw_up; Gimbal_Mode_t gimbal_sw_mid; Gimbal_Mode_t gimbal_sw_down; +#endif - GIMBAL_Ctrl_mode_t gimmbal_ctrl_mode_sw_up; - GIMBAL_Ctrl_mode_t gimmbal_ctrl_mode_sw_mid; - GIMBAL_Ctrl_mode_t gimmbal_ctrl_mode_sw_down; - - Shoot_Mode_t shoot_sw_up; - Shoot_Mode_t shoot_sw_mid; - Shoot_Mode_t shoot_sw_down; - - +#if CMD_ENABLE_MODULE_TRACK + /* 左拨杆映射 - 履带使能 */ + bool track_sw_up; + bool track_sw_mid; + bool track_sw_down; +#endif +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS + /* 左拨杆映射 - 平衡底盘模式 */ + Chassis_Mode_t balance_sw_up; + Chassis_Mode_t balance_sw_mid; + Chassis_Mode_t balance_sw_down; +#endif } CMD_RCModeMap_t; /* 整体配置 */ @@ -108,8 +142,7 @@ typedef struct { /* 灵敏度设置 */ CMD_Sensitivity_t sensitivity; - /* 分辨率设置 */ - CMD_Screen_t screen; + /* RC模式映射 */ CMD_RCModeMap_t rc_mode_map; @@ -141,10 +174,30 @@ typedef struct CMD_Context { /* 输出 */ struct { +#if CMD_ENABLE_MODULE_CHASSIS CMD_ChassisOutput_t chassis; +#endif +#if CMD_ENABLE_MODULE_GIMBAL CMD_GimbalOutput_t gimbal; +#endif +#if CMD_ENABLE_MODULE_SHOOT CMD_ShootOutput_t shoot; - +#endif +#if CMD_ENABLE_MODULE_TRACK + CMD_TrackOutput_t track; +#endif +#if CMD_ENABLE_MODULE_ARM + CMD_ArmOutput_t arm; +#endif +#if CMD_ENABLE_MODULE_REFUI + CMD_RefUIOutput_t refui; +#endif +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS + CMD_BalanceChassisOutput_t balance_chassis; +#endif +#if CMD_ENABLE_SRC_REF + CMD_RawInput_REF_t ref; +#endif } output; } CMD_t; @@ -193,19 +246,60 @@ int8_t CMD_Update(CMD_t *ctx); /* ========================================================================== */ /* 获取底盘命令 */ +#if CMD_ENABLE_MODULE_CHASSIS static inline Chassis_CMD_t* CMD_GetChassisCmd(CMD_t *ctx) { return &ctx->output.chassis.cmd; } +#endif /* 获取云台命令 */ +#if CMD_ENABLE_MODULE_GIMBAL static inline Gimbal_CMD_t* CMD_GetGimbalCmd(CMD_t *ctx) { return &ctx->output.gimbal.cmd; } +#endif /* 获取射击命令 */ +#if CMD_ENABLE_MODULE_SHOOT static inline Shoot_CMD_t* CMD_GetShootCmd(CMD_t *ctx) { return &ctx->output.shoot.cmd; } +#endif + +/* 获取履带命令 */ +#if CMD_ENABLE_MODULE_TRACK +static inline Track_CMD_t* CMD_GetTrackCmd(CMD_t *ctx) { + return &ctx->output.track.cmd; +} +#endif + +/* 获取机械臂命令 */ +#if CMD_ENABLE_MODULE_ARM +static inline Arm_CMD_t* CMD_GetArmCmd(CMD_t *ctx) { + return &ctx->output.arm.cmd; +} +#endif + +/* 获取裁判系UI命令 */ +#if CMD_ENABLE_MODULE_REFUI +static inline Referee_UI_CMD_t* CMD_GetRefUICmd(CMD_t *ctx) { + return &ctx->output.refui.cmd; +} +#endif + +/* 获取平衡底盘命令 */ +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS +static inline Chassis_CMD_t* CMD_GetBalanceChassisCmd(CMD_t *ctx) { + return &ctx->output.balance_chassis.cmd; +} +#endif + +/* 获取裁判系透传数据 */ +#if CMD_ENABLE_SRC_REF +static inline CMD_RawInput_REF_t* CMD_GetRefData(CMD_t *ctx) { + return &ctx->output.ref; +} +#endif #ifdef __cplusplus } diff --git a/User/module/cmd_adapter.c b/User/module/cmd/cmd_adapter.c similarity index 62% rename from User/module/cmd_adapter.c rename to User/module/cmd/cmd_adapter.c index ed0dade..9638392 100644 --- a/User/module/cmd_adapter.c +++ b/User/module/cmd/cmd_adapter.c @@ -1,7 +1,9 @@ /* * CMD 模块 V2 - 输入适配器实现 */ -#include "module/cmd_adapter.h" +#include "cmd_adapter.h" +#include "module/cmd/cmd_adapter.h" +#include #include /* ========================================================================== */ @@ -9,7 +11,6 @@ /* ========================================================================== */ // static CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0}; CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0}; - /* ========================================================================== */ /* DR16 适配器实现 */ /* ========================================================================== */ @@ -63,6 +64,7 @@ int8_t CMD_DR16_PC_GetInput(void *data, CMD_RawInput_t *output) { /* PC端鼠标映射 */ output->pc.mouse.x = dr16->data.mouse.x; 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.r_click = dr16->data.mouse.r_click; @@ -121,92 +123,70 @@ CMD_DEFINE_ADAPTER(AT9S, at9s, CMD_SRC_RC, CMD_AT9S_Init, CMD_AT9S_GetInput, CMD #endif /* CMD_RC_DEVICE_TYPE == 1 */ /* ========================================================================== */ -/* ET16s 适配器实现 */ +/* NUC/AI 适配器实现 */ /* ========================================================================== */ -#if CMD_RC_DEVICE_TYPE == 3 -int8_t CMD_ET16s_Init(void *data) { +/* ========================================================================== */ +/* REF/裁判系统 适配器实现 */ +/* ========================================================================== */ +#if CMD_ENABLE_SRC_REF + +int8_t CMD_REF_AdapterInit(void *data) { (void)data; - /* RC DMA/IRQ is owned by Task_rc; avoid re-initializing REMOTE here. - Re-init would overwrite ET16s.c static thread_alert and lose RC flags. */ return CMD_OK; } -int8_t CMD_ET16s_GetInput(void *data, CMD_RawInput_t *output) { - - ET16s_t *et16s = (ET16s_t *)data; +int8_t CMD_REF_GetInput(void *data, CMD_RawInput_t *output) { + CMD_RawInput_REF_t *ref = (CMD_RawInput_REF_t *)data; + output->online[CMD_SRC_REF] = CMD_REF_IsOnline(ref); + output->ref = *ref; + return CMD_OK; +} + +bool CMD_REF_IsOnline(void *data) { + CMD_RawInput_REF_t *ref = (CMD_RawInput_REF_t *)data; + return !(ref->chassis.ref_status == REF_STATUS_OFFLINE&& + ref->ai.ref_status == REF_STATUS_OFFLINE&& + ref->cap.ref_status == REF_STATUS_OFFLINE&& + ref->shoot.ref_status == REF_STATUS_OFFLINE); +} + +CMD_DEFINE_ADAPTER(REF, cmd_ref, CMD_SRC_REF, CMD_REF_AdapterInit, CMD_REF_GetInput, CMD_REF_IsOnline) + +#endif /* CMD_ENABLE_SRC_REF */ + +#if CMD_ENABLE_SRC_NUC + +int8_t CMD_NUC_AdapterInit(void *data) { + /* NUC适配器不需要特殊初始化 */ + return CMD_OK; +} + +int8_t CMD_NUC_GetInput(void *data, CMD_RawInput_t *output) { + AI_cmd_t *ai_cmd = (AI_cmd_t *)data; - memset(output, 0, sizeof(CMD_RawInput_RC_t)); -// memset(output, 0, sizeof(CMD_RawInput_RC_t)); - - output->online[CMD_SRC_RC] = et16s->header.online; - - /* TODO: 按照AT9S的数据格式进行映射 */ - output->rc.joy_left.x = et16s->ET16s.ch_l_x; - output->rc.joy_left.y = et16s->ET16s.ch_l_y; - output->rc.joy_right.x = et16s->ET16s.ch_r_x; - output->rc.joy_right.y = et16s->ET16s.ch_r_y; - /* 拨杆映射需要根据AT9S的实际定义 */ - switch (et16s->ET16s.key_A) { - case ET16S_SW_UP: output->rc.sw[0] = CMD_SW_UP; break; - case ET16S_SW_MID: output->rc.sw[0] = CMD_SW_MID; break; - case ET16S_SW_DOWN: output->rc.sw[0] = CMD_SW_DOWN; break; - default: output->rc.sw[0] = CMD_SW_ERR; break; - } - switch (et16s->ET16s.key_B) { - case ET16S_SW_UP: output->rc.sw[1] = CMD_SW_UP; break; - case ET16S_SW_MID: output->rc.sw[1] = CMD_SW_MID; break; - case ET16S_SW_DOWN: output->rc.sw[1] = CMD_SW_DOWN; break; - default: output->rc.sw[1] = CMD_SW_ERR; break; - } - switch (et16s->ET16s.key_C) { - case ET16S_SW_UP: output->rc.sw[2] = CMD_SW_UP; break; - case ET16S_SW_MID: output->rc.sw[2] = CMD_SW_MID; break; - case ET16S_SW_DOWN: output->rc.sw[2] = CMD_SW_DOWN; break; - default: output->rc.sw[2] = CMD_SW_ERR; break; - } - switch (et16s->ET16s.key_D) { - case ET16S_SW_UP: output->rc.sw[3] = CMD_SW_UP; break; - case ET16S_SW_MID: output->rc.sw[3] = CMD_SW_MID; break; - case ET16S_SW_DOWN: output->rc.sw[3] = CMD_SW_DOWN; break; - default: output->rc.sw[3] = CMD_SW_ERR; break; - } - switch (et16s->ET16s.key_E) { - case ET16S_SW_UP: output->rc.sw[4] = CMD_SW_UP; break; - case ET16S_SW_MID: output->rc.sw[4] = CMD_SW_MID; break; - case ET16S_SW_DOWN: output->rc.sw[4] = CMD_SW_DOWN; break; - default: output->rc.sw[4] = CMD_SW_ERR; break; - } - switch (et16s->ET16s.key_F) { - case ET16S_SW_UP: output->rc.sw[5] = CMD_SW_UP; break; - case ET16S_SW_MID: output->rc.sw[5] = CMD_SW_MID; break; - case ET16S_SW_DOWN: output->rc.sw[5] = CMD_SW_DOWN; break; - default: output->rc.sw[5] = CMD_SW_ERR; break; - } - switch (et16s->ET16s.key_G) { - case ET16S_SW_UP: output->rc.sw[6] = CMD_SW_UP; break; - case ET16S_SW_MID: output->rc.sw[6] = CMD_SW_MID; break; - case ET16S_SW_DOWN: output->rc.sw[6] = CMD_SW_DOWN; break; - default: output->rc.sw[6] = CMD_SW_ERR; break; - } - switch (et16s->ET16s.key_H) { - case ET16S_SW_UP: output->rc.sw[7] = CMD_SW_UP; break; - case ET16S_SW_MID: output->rc.sw[7] = CMD_SW_MID; break; - case ET16S_SW_DOWN: output->rc.sw[7] = CMD_SW_DOWN; break; - default: output->rc.sw[7] = CMD_SW_ERR; break; - } + output->online[CMD_SRC_NUC] = true; + + /* 映射AI数据到NUC输入结构 */ + output->nuc.mode = ai_cmd->mode; + output->nuc.gimbal.setpoint.yaw = ai_cmd->gimbal.setpoint.yaw; + output->nuc.gimbal.setpoint.pit = ai_cmd->gimbal.setpoint.pit; + output->nuc.gimbal.accl.pit = ai_cmd->gimbal.accl.pit; + output->nuc.gimbal.accl.yaw = ai_cmd->gimbal.accl.yaw; + output->nuc.gimbal.vel.pit = ai_cmd->gimbal.vel.pit; + output->nuc.gimbal.vel.yaw = ai_cmd->gimbal.vel.yaw; return CMD_OK; } -bool CMD_ET16s_IsOnline(void *data) { - ET16s_t *et16s = (ET16s_t *)data; - return et16s->header.online; +bool CMD_NUC_IsOnline(void *data) { + return true; } -CMD_DEFINE_ADAPTER(ET16s, cmd_et16s, CMD_SRC_RC, CMD_ET16s_Init, CMD_ET16s_GetInput, CMD_ET16s_IsOnline) -#endif /* CMD_RC_DEVICE_TYPE == 3 */ - +/* 定义NUC适配器实例 */ +extern AI_cmd_t ai_cmd; +CMD_DEFINE_ADAPTER(NUC, cmd_ai, CMD_SRC_NUC, CMD_NUC_AdapterInit, CMD_NUC_GetInput, CMD_NUC_IsOnline) +#endif /* CMD_ENABLE_SRC_NUC */ /* ========================================================================== */ /* 适配器管理实现 */ @@ -229,12 +209,16 @@ int8_t CMD_Adapter_InitAll(void) { #elif CMD_RC_DEVICE_TYPE == 1 /* AT9S 目前只支持 RC 输入 */ CMD_Adapter_Register(&g_adapter_AT9S); -#elif CMD_RC_DEVICE_TYPE == 2 - /* 目前只支持 RC 输入 */ - -#elif CMD_RC_DEVICE_TYPE == 3 - /* ET16s 目前只支持 RC 输入 */ - CMD_Adapter_Register(&g_adapter_ET16s); +#endif + +#if CMD_ENABLE_SRC_NUC + /* 注册NUC适配器 */ + CMD_Adapter_Register(&g_adapter_NUC); +#endif + +#if CMD_ENABLE_SRC_REF + /* 注册REF适配器 */ + CMD_Adapter_Register(&g_adapter_REF); #endif /* 初始化所有已注册的适配器 */ diff --git a/User/module/cmd_adapter.h b/User/module/cmd/cmd_adapter.h similarity index 79% rename from User/module/cmd_adapter.h rename to User/module/cmd/cmd_adapter.h index 56a6cc5..e8aa285 100644 --- a/User/module/cmd_adapter.h +++ b/User/module/cmd/cmd_adapter.h @@ -4,7 +4,7 @@ */ #pragma once -#include "module/cmd_types.h" +#include "cmd_types.h" #ifdef __cplusplus extern "C" { @@ -45,7 +45,6 @@ typedef struct { * - bool CMD_DR16_IsOnline(void *data); */ #define CMD_DECLARE_ADAPTER(NAME, var, TYPE) \ - extern TYPE var; \ int8_t CMD_##NAME##_Init(void *data); \ int8_t CMD_##NAME##_GetInput(void *data, CMD_RawInput_t *output); \ bool CMD_##NAME##_IsOnline(void *data); @@ -70,7 +69,7 @@ typedef struct { /* ========================================================================== */ /* 选择使用的RC设备 - 只需修改这里 */ - #define CMD_RC_DEVICE_TYPE 3 /* 0:DR16, 1:AT9S, 2:VT13 3:ET16s*/ +#define CMD_RC_DEVICE_TYPE 0 /* 0:DR16, 1:AT9S, 2:VT13 */ #if CMD_RC_DEVICE_TYPE == 0 #include "device/dr16.h" @@ -88,11 +87,27 @@ typedef struct { CMD_DECLARE_ADAPTER(VT13, vt13, VT13_t) #define CMD_RC_ADAPTER_NAME VT13 #define CMD_RC_ADAPTER_VAR vt13 -#elif CMD_RC_DEVICE_TYPE == 3 - #include "device/ET16s.h" - CMD_DECLARE_ADAPTER(ET16s, cmd_et16s, ET16s_t) - #define CMD_RC_ADAPTER_NAME ET16s - #define CMD_RC_ADAPTER_VAR ET16s +#endif + +/* ========================================================================== */ +/* NUC/AI适配器配置 */ +/* ========================================================================== */ +#if CMD_ENABLE_SRC_NUC + #include "module/vision_bridge.h" + extern AI_cmd_t cmd_ai; + int8_t CMD_NUC_AdapterInit(void *data); + int8_t CMD_NUC_GetInput(void *data, CMD_RawInput_t *output); + bool CMD_NUC_IsOnline(void *data); +#endif + +/* ========================================================================== */ +/* REF/裁判系统适配器配置 */ +/* ========================================================================== */ +#if CMD_ENABLE_SRC_REF + extern CMD_RawInput_REF_t cmd_ref; + int8_t CMD_REF_AdapterInit(void *data); + int8_t CMD_REF_GetInput(void *data, CMD_RawInput_t *output); + bool CMD_REF_IsOnline(void *data); #endif /* ========================================================================== */ diff --git a/User/module/cmd_behavior.c b/User/module/cmd/cmd_behavior.c similarity index 67% rename from User/module/cmd_behavior.c rename to User/module/cmd/cmd_behavior.c index 8f6c571..7fa8c58 100644 --- a/User/module/cmd_behavior.c +++ b/User/module/cmd/cmd_behavior.c @@ -1,9 +1,12 @@ /* * CMD 模块 V2 - 行为处理器实现 */ -#include "module/cmd_behavior.h" -#include "module/cmd.h" -#include "module/gimbal.h" +#include "cmd_behavior.h" +#include "cmd.h" +#include "module/chassis.h" +#if CMD_ENABLE_MODULE_GIMBAL + #include "module/gimbal.h" +#endif #include /* ========================================================================== */ @@ -12,75 +15,151 @@ /* 行为处理函数实现 */ int8_t CMD_Behavior_Handle_FORE(CMD_t *ctx) { +#if CMD_ENABLE_MODULE_CHASSIS ctx->output.chassis.cmd.Vy += 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 return CMD_OK; } int8_t CMD_Behavior_Handle_BACK(CMD_t *ctx) { +#if CMD_ENABLE_MODULE_CHASSIS ctx->output.chassis.cmd.Vy -= 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 return CMD_OK; } int8_t CMD_Behavior_Handle_LEFT(CMD_t *ctx) { +#if CMD_ENABLE_MODULE_CHASSIS ctx->output.chassis.cmd.Vx -= 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 return CMD_OK; } int8_t CMD_Behavior_Handle_RIGHT(CMD_t *ctx) { +#if CMD_ENABLE_MODULE_CHASSIS ctx->output.chassis.cmd.Vx += 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 return CMD_OK; } int8_t CMD_Behavior_Handle_ACCELERATE(CMD_t *ctx) { +#if CMD_ENABLE_MODULE_CHASSIS ctx->output.chassis.cmd.Vx *= ctx->config->sensitivity.move_fast_mult; ctx->output.chassis.cmd.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 return CMD_OK; } -int8_t CMD_Behavior_Handle_DECELERATE(CMD_t *ctx) { - ctx->output.chassis.cmd.Vx *= ctx->config->sensitivity.move_slow_mult; - ctx->output.chassis.cmd.Vy *= ctx->config->sensitivity.move_slow_mult; +int8_t CMD_Behavior_Handle_CLIMB(CMD_t *ctx) { +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS + ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_CLIMB_STEP; +#endif return CMD_OK; } int8_t CMD_Behavior_Handle_FIRE(CMD_t *ctx) { +#if CMD_ENABLE_MODULE_SHOOT ctx->output.shoot.cmd.firecmd = true; +#endif return CMD_OK; } int8_t CMD_Behavior_Handle_FIRE_MODE(CMD_t *ctx) { +#if CMD_ENABLE_MODULE_SHOOT ctx->output.shoot.cmd.mode = (ctx->output.shoot.cmd.mode + 1) % SHOOT_MODE_NUM; +#endif return CMD_OK; } int8_t CMD_Behavior_Handle_ROTOR(CMD_t *ctx) { - ctx->output.chassis.cmd.mode = CHASSIS_MODE_ROTOR; -// ctx->output.chassis.cmd.mode_rotor = ROTOR_MODE_RAND; +#if CMD_ENABLE_MODULE_GIMBAL ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELATIVE; + #if CMD_ENABLE_MODULE_CHASSIS + ctx->output.chassis.cmd.mode = CHASSIS_MODE_ROTOR; + #endif + #if CMD_ENABLE_MODULE_BALANCE_CHASSIS + ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_BALANCE_ROTOR; + #endif +#endif return CMD_OK; } int8_t CMD_Behavior_Handle_AUTOAIM(CMD_t *ctx) { - /* TODO: 自瞄模式切换 */ - return CMD_OK; + /* 自瞄模式切换 */ +#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_MODULE_SHOOT + if (ctx->input.online[CMD_SRC_NUC]) { + if (ctx->active_source == CMD_SRC_PC){ + ctx->output.gimbal.source = CMD_SRC_NUC; + ctx->output.shoot.source = CMD_SRC_NUC; +#if CMD_ENABLE_MODULE_REFUI + ctx->output.refui.source = CMD_SRC_NUC; +#endif + } + } +#endif + return CMD_OK; } int8_t CMD_Behavior_Handle_CHECKSOURCERCPC(CMD_t *ctx) { - /* TODO: 切换RC和PC输入源 */ + /* 切换RC和PC输入源 */ if (ctx->active_source == CMD_SRC_PC) { ctx->active_source = CMD_SRC_RC; +#if CMD_ENABLE_MODULE_CHASSIS ctx->output.chassis.source = CMD_SRC_RC; +#endif +#if CMD_ENABLE_MODULE_GIMBAL ctx->output.gimbal.source = CMD_SRC_RC; +#endif +#if CMD_ENABLE_MODULE_SHOOT ctx->output.shoot.source = CMD_SRC_RC; +#endif +#if CMD_ENABLE_MODULE_ARM + ctx->output.arm.source = CMD_SRC_RC; +#endif +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS + ctx->output.balance_chassis.source = CMD_SRC_RC; +#endif } else if(ctx->active_source == CMD_SRC_RC) { ctx->active_source = CMD_SRC_PC; +#if CMD_ENABLE_MODULE_CHASSIS ctx->output.chassis.source = CMD_SRC_PC; +#endif +#if CMD_ENABLE_MODULE_GIMBAL ctx->output.gimbal.source = CMD_SRC_PC; +#endif +#if CMD_ENABLE_MODULE_SHOOT ctx->output.shoot.source = CMD_SRC_PC; +#endif +#if CMD_ENABLE_MODULE_ARM + ctx->output.arm.source = CMD_SRC_PC; +#endif +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS + ctx->output.balance_chassis.source = CMD_SRC_PC; +#endif } 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 */ static const CMD_BehaviorConfig_t g_behavior_configs[] = { CMD_BEHAVIOR_TABLE(BUILD_BEHAVIOR_CONFIG) diff --git a/User/module/cmd_behavior.h b/User/module/cmd/cmd_behavior.h similarity index 98% rename from User/module/cmd_behavior.h rename to User/module/cmd/cmd_behavior.h index 1df0cee..fda9074 100644 --- a/User/module/cmd_behavior.h +++ b/User/module/cmd/cmd_behavior.h @@ -4,7 +4,7 @@ */ #pragma once -#include "module/cmd_types.h" +#include "cmd_types.h" #ifdef __cplusplus extern "C" { diff --git a/User/module/cmd_example.c b/User/module/cmd/cmd_example.c similarity index 99% rename from User/module/cmd_example.c rename to User/module/cmd/cmd_example.c index f934420..476c32e 100644 --- a/User/module/cmd_example.c +++ b/User/module/cmd/cmd_example.c @@ -3,7 +3,7 @@ * * 本文件展示如何配置和使用新的CMD模块 */ -#include "module/cmd.h" +#include "cmd.h" /* ========================================================================== */ /* config示例 */ diff --git a/User/module/cmd/cmd_feature.h b/User/module/cmd/cmd_feature.h new file mode 100644 index 0000000..d9d0366 --- /dev/null +++ b/User/module/cmd/cmd_feature.h @@ -0,0 +1,66 @@ +/* + * CMD 模块 V2 - 功能特性开关配置 + * + * 修改此文件来快速使能/失能各个模块和输入源。 + * 失能后，对应的代码和头文件依赖将被完全排除在编译之外。 + */ +#pragma once + +/* ========================================================================== */ +/* 输入源使能开关 */ +/* ========================================================================== */ + +/** 遥控器输入 (DR16 / AT9S 等) */ +#define CMD_ENABLE_SRC_RC 1 + +/** PC 端键鼠输入 (通过 DR16 转发) */ +#define CMD_ENABLE_SRC_PC 1 + +/** NUC / AI 输入 */ +#define CMD_ENABLE_SRC_NUC 1 + +/** + * 裁判系统数据中转开关 + * 1 (比赛模式): cmd 将 referee 数据转发到各模块的 .ref 队列 + * 0 (调试模式): cmd 不转发，裁判系统可断开，不影响其他功能 + */ +#define CMD_ENABLE_SRC_REF 1 + +/* ========================================================================== */ +/* 输出模块使能开关 */ +/* ========================================================================== */ + +/** 底盘模块 (需要 module/chassis.h) */ +#define CMD_ENABLE_MODULE_CHASSIS 1 + +/** 云台模块 (需要 module/gimbal.h) */ +#define CMD_ENABLE_MODULE_GIMBAL 1 + +/** 射击模块 (需要 module/shoot.h) */ +#define CMD_ENABLE_MODULE_SHOOT 1 + +/** 履带模块 (需要 module/track.h) */ +#define CMD_ENABLE_MODULE_TRACK 0 + +/** 机械臂模块 (需要 component/arm_kinematics/arm6dof.h) */ +#define CMD_ENABLE_MODULE_ARM 0 + +/** 裁判系统UI命令模块 (需要 device/referee.h) */ +#define CMD_ENABLE_MODULE_REFUI 1 + +/** 平衡底盘模块 (需要 module/balance_chassis.h) */ +#define CMD_ENABLE_MODULE_BALANCE_CHASSIS 0 + +/* ========================================================================== */ +/* 合法性检查 */ +/* ========================================================================== */ + +/* PC输入源依赖RC适配器共同存在（DR16同时提供RC和PC数据） */ +#if CMD_ENABLE_SRC_PC && !CMD_ENABLE_SRC_RC + #error "CMD_ENABLE_SRC_PC requires CMD_ENABLE_SRC_RC (both share the DR16 adapter)" +#endif + +/* NUC依赖vision_bridge模块，确保已包含相关模块 */ +/* #if CMD_ENABLE_SRC_NUC && !defined(VISION_BRIDGE_ENABLED) + #error "CMD_ENABLE_SRC_NUC requires vision_bridge module" +#endif */ diff --git a/User/module/cmd_types.h b/User/module/cmd/cmd_types.h similarity index 58% rename from User/module/cmd_types.h rename to User/module/cmd/cmd_types.h index d357796..aab6caf 100644 --- a/User/module/cmd_types.h +++ b/User/module/cmd/cmd_types.h @@ -6,6 +6,7 @@ #include #include +#include "cmd_feature.h" /* 功能特性开关 */ #ifdef __cplusplus extern "C" { @@ -23,22 +24,94 @@ extern "C" { /* ========================================================================== */ /* 输入源配置宏表 */ /* ========================================================================== */ -/* - * 使用方法：在config中定义需要启用的输入源 - * 格式: X(枚举名, 优先级, 适配器初始化函数, 获取数据函数) +/* + * 使用方法：在 cmd_feature.h 中设置各 CMD_ENABLE_SRC_xxx 宏。 + * 格式: X(枚举名, 适配器初始化函数, 获取数据函数) */ + +/* 各输入源条件展开辅助宏 */ +#if CMD_ENABLE_SRC_RC + #define _X_SRC_RC(X) X(RC, CMD_RC_AdapterInit, CMD_RC_GetInput) +#else + #define _X_SRC_RC(X) +#endif + +#if CMD_ENABLE_SRC_PC + #define _X_SRC_PC(X) X(PC, CMD_PC_AdapterInit, CMD_PC_GetInput) +#else + #define _X_SRC_PC(X) +#endif + +#if CMD_ENABLE_SRC_NUC + #define _X_SRC_NUC(X) X(NUC, CMD_NUC_AdapterInit, CMD_NUC_GetInput) +#else + #define _X_SRC_NUC(X) +#endif + +#if CMD_ENABLE_SRC_REF + #define _X_SRC_REF(X) X(REF, CMD_REF_AdapterInit, CMD_REF_GetInput) +#else + #define _X_SRC_REF(X) +#endif + #define CMD_INPUT_SOURCE_TABLE(X) \ - X(RC, CMD_RC_AdapterInit, CMD_RC_GetInput) \ - X(PC, CMD_PC_AdapterInit, CMD_PC_GetInput) \ - X(NUC, CMD_NUC_AdapterInit, CMD_NUC_GetInput) \ - X(REF, CMD_REF_AdapterInit, CMD_REF_GetInput) + _X_SRC_RC(X) \ + _X_SRC_PC(X) \ + _X_SRC_NUC(X) \ + _X_SRC_REF(X) + +/* 各输出模块条件展开辅助宏 */ +#if CMD_ENABLE_MODULE_CHASSIS + #define _X_MOD_CHASSIS(X) X(CHASSIS, Chassis_CMD_t, chassis) +#else + #define _X_MOD_CHASSIS(X) +#endif + +#if CMD_ENABLE_MODULE_GIMBAL + #define _X_MOD_GIMBAL(X) X(GIMBAL, Gimbal_CMD_t, gimbal) +#else + #define _X_MOD_GIMBAL(X) +#endif + +#if CMD_ENABLE_MODULE_SHOOT + #define _X_MOD_SHOOT(X) X(SHOOT, Shoot_CMD_t, shoot) +#else + #define _X_MOD_SHOOT(X) +#endif + +#if CMD_ENABLE_MODULE_TRACK + #define _X_MOD_TRACK(X) X(TRACK, Track_CMD_t, track) +#else + #define _X_MOD_TRACK(X) +#endif + +#if CMD_ENABLE_MODULE_ARM + #define _X_MOD_ARM(X) X(ARM, Arm_CMD_t, arm) +#else + #define _X_MOD_ARM(X) +#endif + +#if CMD_ENABLE_MODULE_REFUI + #define _X_MOD_REFUI(X) X(REFUI, Referee_UI_CMD_t, refui) +#else + #define _X_MOD_REFUI(X) +#endif + +#if CMD_ENABLE_MODULE_BALANCE_CHASSIS + #define _X_MOD_BALANCE_CHASSIS(X) X(BALANCE_CHASSIS, Chassis_CMD_t, balance_chassis) +#else + #define _X_MOD_BALANCE_CHASSIS(X) +#endif /* 输出模块配置宏表 */ #define CMD_OUTPUT_MODULE_TABLE(X) \ - X(CHASSIS, Chassis_CMD_t, chassis) \ - X(GIMBAL, Gimbal_CMD_t, gimbal) \ - X(SHOOT, Shoot_CMD_t, shoot) - + _X_MOD_CHASSIS(X) \ + _X_MOD_GIMBAL(X) \ + _X_MOD_SHOOT(X) \ + _X_MOD_TRACK(X) \ + _X_MOD_ARM(X) \ + _X_MOD_REFUI(X) \ + _X_MOD_BALANCE_CHASSIS(X) \ /* ========================================================================== */ /* 输入源枚举 */ @@ -92,15 +165,10 @@ typedef enum { CMD_KEY_NUM } CMD_KeyIndex_t; -/* 裁判系统数据 */ -typedef struct { - uint8_t game_status; /* 比赛状态 */ -} CMD_Referee_t; - typedef struct { CMD_Joystick_t joy_left; /* 左摇杆 */ CMD_Joystick_t joy_right; /* 右摇杆 */ - CMD_SwitchPos_t sw[8]; /* 4个拨杆 */ + CMD_SwitchPos_t sw[4]; /* 4个拨杆 */ float dial; /* 拨轮 */ } CMD_RawInput_RC_t; @@ -109,60 +177,100 @@ typedef struct { CMD_Keyboard_t keyboard; } CMD_RawInput_PC_t; +/* AI输入数据 */ typedef struct { - int a; + uint8_t mode; + struct { + struct { + float yaw; + float pit; + } setpoint; + struct { + float pit; + float yaw; + } accl; + struct { + float pit; + float yaw; + } vel; + } gimbal; + struct { + float vx; + float vy; + float vw; + } chassis; } CMD_RawInput_NUC_t; +#if CMD_ENABLE_SRC_REF +#include "device/referee_proto_types.h" +/* 裁判系统原始输入，包含需转发给各模块的完整子集 */ typedef struct { - CMD_Referee_t referee; + Referee_ForChassis_t chassis; + Referee_ForShoot_t shoot; + Referee_ForCap_t cap; + Referee_ForAI_t ai; } CMD_RawInput_REF_t; +#endif /* 统一的原始输入结构 - 所有设备适配后都转换成这个格式 */ typedef struct { bool online[CMD_SRC_NUM]; +#if CMD_ENABLE_SRC_RC /* 遥控器部分 */ CMD_RawInput_RC_t rc; +#endif +#if CMD_ENABLE_SRC_PC /* PC部分 */ CMD_RawInput_PC_t pc; +#endif +#if CMD_ENABLE_SRC_NUC /* NUC部分 */ - /* 暂无定义，预留扩展 */ CMD_RawInput_NUC_t nuc; +#endif +#if CMD_ENABLE_SRC_REF /* REF部分 - 裁判系统数据 */ CMD_RawInput_REF_t ref; +#endif } CMD_RawInput_t; /* ========================================================================== */ /* 模块掩码 */ /* ========================================================================== */ typedef enum { - CMD_MODULE_NONE = (1 << 0), - CMD_MODULE_CHASSIS = (1 << 1), - CMD_MODULE_GIMBAL = (1 << 2), - CMD_MODULE_SHOOT = (1 << 3), - CMD_MODULE_ALL = 0x0E + CMD_MODULE_NONE = (1 << 0), + CMD_MODULE_CHASSIS = (1 << 1), + CMD_MODULE_GIMBAL = (1 << 2), + CMD_MODULE_SHOOT = (1 << 3), + CMD_MODULE_TRACK = (1 << 4), + CMD_MODULE_ARM = (1 << 5), + CMD_MODULE_REFUI = (1 << 6), + CMD_MODULE_BALANCE_CHASSIS = (1 << 7), + CMD_MODULE_ALL = 0xFE + } CMD_ModuleMask_t; /* ========================================================================== */ /* 行为定义 */ /* ========================================================================== */ /* 行为-按键映射宏表 */ -#define BEHAVIOR_CONFIG_COUNT (11) +#define BEHAVIOR_CONFIG_COUNT (12) #define CMD_BEHAVIOR_TABLE(X) \ - X(FORE, CMD_KEY_W, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ - X(BACK, CMD_KEY_S, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ - X(LEFT, CMD_KEY_A, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ - X(RIGHT, CMD_KEY_D, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ - X(ACCELERATE, CMD_KEY_SHIFT, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ - X(DECELERATE, CMD_KEY_CTRL, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ - X(FIRE, CMD_KEY_L_CLICK, CMD_ACTIVE_PRESSED, CMD_MODULE_SHOOT) \ + X(FORE, CMD_KEY_W, CMD_ACTIVE_PRESSED, CMD_MODULE_BALANCE_CHASSIS) \ + X(BACK, CMD_KEY_S, CMD_ACTIVE_PRESSED, CMD_MODULE_BALANCE_CHASSIS) \ + X(LEFT, CMD_KEY_A, CMD_ACTIVE_PRESSED, CMD_MODULE_BALANCE_CHASSIS) \ + X(RIGHT, CMD_KEY_D, CMD_ACTIVE_PRESSED, CMD_MODULE_BALANCE_CHASSIS) \ + X(ACCELERATE, CMD_KEY_SHIFT, CMD_ACTIVE_PRESSED, CMD_MODULE_BALANCE_CHASSIS) \ + X(ROTOR, CMD_KEY_CTRL, CMD_ACTIVE_PRESSED, CMD_MODULE_BALANCE_CHASSIS) \ + 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(ROTOR, CMD_KEY_E, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ - X(AUTOAIM, CMD_KEY_R, CMD_ACTIVE_RISING_EDGE, CMD_MODULE_GIMBAL | CMD_MODULE_SHOOT) \ - X(CHECKSOURCERCPC, CMD_KEY_CTRL|CMD_KEY_SHIFT|CMD_KEY_V, CMD_ACTIVE_RISING_EDGE, CMD_MODULE_NONE) + 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(CHECKSOURCERCPC,CMD_KEY_CTRL|CMD_KEY_SHIFT|CMD_KEY_V, CMD_ACTIVE_RISING_EDGE, CMD_MODULE_NONE) \ + X(RESET, CMD_KEY_CTRL|CMD_KEY_SHIFT|CMD_KEY_G, CMD_ACTIVE_RISING_EDGE, CMD_MODULE_NONE) /* 触发类型 */ typedef enum { CMD_ACTIVE_PRESSED, /* 按住时触发 */ @@ -191,6 +299,7 @@ typedef enum { #define CMD_KEY_SET(kb, key) ((kb)->bitmap |= (1 << (key))) #define CMD_KEY_CLEAR(kb, key) ((kb)->bitmap &= ~(1 << (key))) + #ifdef __cplusplus } #endif diff --git a/User/module/config.c b/User/module/config.c index e1420f8..7731b20 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -369,12 +369,10 @@ Config_Param_t config = { CMD_SRC_NUC, CMD_SRC_REF, }, - .screen={ - .width=1920, - .height=1080, - - - }, + .ref_screen={ + .width=1920, + .height=1080, + }, .sensitivity = { .mouse_sens = 2.0f, @@ -390,20 +388,6 @@ Config_Param_t config = { .gimbal_sw_up = GIMBAL_MODE_RELAX, .gimbal_sw_mid = GIMBAL_MODE_ABSOLUTE, .gimbal_sw_down = GIMBAL_MODE_RELATIVE, - - .shoot_sw_up = SHOOT_MODE_SAFE, - .shoot_sw_mid = SHOOT_MODE_SINGLE, - .shoot_sw_down = SHOOT_MODE_CONTINUE, - - .gimmbal_ctrl_mode_sw_up = GIMBAL_MODE_REMOTE, - .gimmbal_ctrl_mode_sw_mid = GIMBAL_MODE_AI, - .gimmbal_ctrl_mode_sw_down = GIMBAL_MODE_REMOTE, - - - .chassis_ctrl_mode_sw_up = CHASSIS_MODE_RC, - .chassis_ctrl_mode_sw_mid = CHASSIS_MODE_DAOHANG, - .chassis_ctrl_mode_sw_down = CHASSIS_MODE_RC, - }, }, diff --git a/User/module/config.h b/User/module/config.h index 4ec71e6..33789fb 100644 --- a/User/module/config.h +++ b/User/module/config.h @@ -12,13 +12,15 @@ extern "C" { #include "module/chassis.h" #include "module/gimbal.h" #include "module/shoot.h" -#include "module/cmd.h" +#include "module/cmd/cmd.h" +#include "device/referee_proto_types.h" +#include "module/aimbot.h" typedef struct{ Chassis_Param_t chassis; /**/ Gimbal_Param_t gimbal; Shoot_Params_t shoot; CMD_Config_t cmd_param; - + Referee_Screen_t ref_screen; AHRS_Eulr_t mech_zero[4]; }Config_Param_t; diff --git a/User/module/gimbal.c b/User/module/gimbal.c index bcb7a87..943db7e 100644 --- a/User/module/gimbal.c +++ b/User/module/gimbal.c @@ -38,7 +38,7 @@ Gimbal_Output(&gimbal); #include "bsp/time.h" #include "component/filter.h" #include "math.h" -#include "module/cmd.h" +#include "module/cmd/cmd.h" #include "device/motor_rm.h" #include "device/motor.h" @@ -471,6 +471,15 @@ void Gimbal_Output(Gimbal_t *g) MOTOR_DM_MITCtrl(&g->param->pitch_4310_motor, &output_pitch_4310); } +/** + * @brief 导出云台UI数据 + * + * @param g 云台结构体 + * @param ui UI结构体 + */ +void Gimbal_DumpUI(const Gimbal_t *g, Gimbal_RefereeUI_t *ui) { + ui->mode = g->mode; +} diff --git a/User/module/gimbal.h b/User/module/gimbal.h index ada187c..2b98bd5 100644 --- a/User/module/gimbal.h +++ b/User/module/gimbal.h @@ -118,7 +118,10 @@ extern "C" GIMBAL_MODE_AI, GIMBAL_MODE_SCAN, }GIMBAL_Ctrl_mode_t; - +/* UI 导出结构（供 referee 系统绘制） */ +typedef struct { + Gimbal_Mode_t mode; +} Gimbal_RefereeUI_t; typedef struct { Gimbal_Mode_t mode; float delta_yaw_4310; @@ -243,6 +246,14 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd); */ void Gimbal_Output(Gimbal_t *g); +/** + * \brief 云台输出 + * + * \param s 包含云台数据的结构体 + * \param out CAN设备云台输出结构体 + */ +void Gimbal_Output(Gimbal_t *g); + #ifdef __cplusplus } #endif \ No newline at end of file diff --git a/User/module/shoot.c b/User/module/shoot.c index 820a986..12301ad 100644 --- a/User/module/shoot.c +++ b/User/module/shoot.c @@ -38,14 +38,21 @@ void Task(void *argument) { #include "bsp/time.h" #include "component/filter.h" #include "component/user_math.h" -#include "module/cmd.h" /* Private typedef ---------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */ #define MAX_FRIC_RPM 7000.0f #define MAX_TRIG_RPM 6000.0f//这里可能也会影响最高发射频率，待测试 + +/* 发射检测参数 */ +#define SHOT_DETECT_RPM_DROP_THRESHOLD 100.0f /* 摩擦轮转速下降阈值，单位rpm */ +#define SHOT_DETECT_SUSPECTED_TIME 0.0005f /* 发射嫌疑持续时间阈值，单位秒 */ +#define FRIC_READY_RPM_RATIO 0.95f /* 摩擦轮准备好的转速比例 */ + /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ static bool last_firecmd; + + /* Private function -------------------------------------------------------- */ /** @@ -176,12 +183,336 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed) s->target_variable.fric_rpm=6500.0f; break; case SHOOT_PROJECTILE_42MM: - s->target_variable.fric_rpm=4000.0f; - break; + s->target_variable.fric_rpm=4000.0f;//6500 + break; } return SHOOT_OK; } +/** + * \brief 更新热量控制数据（使用融合后的热量值） + * + * \param s 包含发射数据的结构体 + * + * \return 函数运行结果 + */ +static int8_t Shoot_UpdateHeatControl(Shoot_t *s) +{ + if (s == NULL) { + return SHOOT_ERR_NULL; + } + + if (!s->param->heatControl.enable || !s->heatcontrol.ref_online) { + s->heatcontrol.Hres = 0.0f; + s->heatcontrol.ncd = s->param->basic.shot_freq; + return SHOOT_OK; + } + + /* 使用融合后的热量值计算剩余热量 */ + s->heatcontrol.Hres = s->heatcontrol.Hmax - s->heatcontrol.Hnow_fused; + + /* 计算冷却射频 ncd = Hcd / Hgen */ + if (s->heatcontrol.Hgen > 0.0f) { + s->heatcontrol.ncd = s->heatcontrol.Hcd / s->heatcontrol.Hgen; + } else { + s->heatcontrol.ncd = 0.0f; + } + + return SHOOT_OK; +} + +/** + * \brief 计算摩擦轮平均转速 + * + * \param s 包含发射数据的结构体 + * + * \return 平均转速 + */ +static float Shoot_CalcAvgFricRpm(Shoot_t *s) +{ + if (s == NULL) { + return 0.0f; + } + + float sum = 0.0f; + uint8_t fric_num = s->param->basic.fric_num; + + for (int i = 0; i < fric_num; i++) { + sum += fabs(s->var_fric.fil_rpm[i]); + } + + return (fric_num > 0) ? (sum / fric_num) : 0.0f; +} + +/** + * \brief 发射检测：通过摩擦轮掉速检测发射 + * + * \param s 包含发射数据的结构体 + * + * \return 是否检测到掉速超过阈值 + */ +static bool Shoot_DetectShotByRpmDrop(Shoot_t *s) +{ + if (s == NULL) { + return false; + } + + /* 只在READY和FIRE状态下检测，避免停机时误判 */ + if (s->running_state != SHOOT_STATE_READY && + s->running_state != SHOOT_STATE_FIRE) { + return false; + } + + /* 计算当前摩擦轮平均转速 */ + s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s); + + /* 计算当前转速与目标转速的差值（掉速量） */ + s->heatcontrol.rpmDrop = s->target_variable.fric_rpm - s->heatcontrol.avgFricRpm; + + /* 判断是否发生明显掉速 */ + if (s->heatcontrol.rpmDrop > SHOT_DETECT_RPM_DROP_THRESHOLD) { + return true; + } + + return false; +} + + +/** + * \brief 热量数据融合：用裁判系统数据修正自主估计 + * + * \param s 包含发射数据的结构体 + * + * \return 函数运行结果 + * + * \note 裁判系统数据准确但更新慢，自主计算实时但可能误差累积 + * 只在裁判系统数据更新时才修正估计值，保证准确性和实时性 + */ +static int8_t Shoot_FuseHeatData(Shoot_t *s) +{ + if (s == NULL) { + return SHOOT_ERR_NULL; + } + + if (!s->param->heatControl.enable || !s->heatcontrol.ref_online) { + return SHOOT_OK; + } + + /* 如果裁判系统数据有效（Hmax > 0） */ + if (s->heatcontrol.Hmax > 0.0f && s->heatcontrol.Hnow >= 0.0f) { + /* 检测裁判系统数据是否有更新 */ + if (s->heatcontrol.Hnow != s->heatcontrol.Hnow_last) { + /* 数据更新了，用裁判系统数据修正估计值 */ + s->heatcontrol.Hnow_estimated = s->heatcontrol.Hnow; + s->heatcontrol.Hnow_last = s->heatcontrol.Hnow; /* 记录本次值 */ + } + + /* 融合值就是裁判系统值（作为基准） */ + s->heatcontrol.Hnow_fused = s->heatcontrol.Hnow; + } else { + /* 裁判系统数据无效，仅使用自主估计值 */ + s->heatcontrol.Hnow_fused = s->heatcontrol.Hnow_estimated; + } + + return SHOOT_OK; +} + +/** + * \brief 计算可发射弹数 + * + * \param s 包含发射数据的结构体 + * + * \return 函数运行结果 + */ +static int8_t Shoot_CalcAvailableShots(Shoot_t *s) +{ + if (s == NULL) { + return SHOOT_ERR_NULL; + } + + if (!s->param->heatControl.enable || !s->heatcontrol.ref_online) { + s->heatcontrol.shots_available = UINT16_MAX; + return SHOOT_OK; + } + + /* 计算剩余热量 */ + float heat_available = s->heatcontrol.Hmax - s->heatcontrol.Hnow_fused; + + /* 计算可发射弹数 */ + if (s->heatcontrol.Hgen > 0.0f && heat_available > 0.0f) { + s->heatcontrol.shots_available = (uint16_t)(heat_available / s->heatcontrol.Hgen); + } else { + s->heatcontrol.shots_available = 0; + } + + return SHOOT_OK; +} + + +/** + * \brief 热量检测状态机 + * + * \param s 包含发射数据的结构体 + * + * \return 函数运行结果 + */ +static int8_t Shoot_HeatDetectionFSM(Shoot_t *s) +{ + if (s == NULL) { + return SHOOT_ERR_NULL; + } + + if (!s->param->heatControl.enable || !s->heatcontrol.ref_online) { + s->heatcontrol.detectState = SHOOT_HEAT_DETECT_IDLE; + s->heatcontrol.shotDetected = false; + return SHOOT_OK; + } + + switch (s->heatcontrol.detectState) { + case SHOOT_HEAT_DETECT_IDLE: + /* 停机状态：等待摩擦轮启动并加速到目标速度附近 */ + if (s->running_state == SHOOT_STATE_READY || + s->running_state == SHOOT_STATE_FIRE) { + /* 计算当前平均转速 */ + s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s); + + /* 检查摩擦轮是否达到目标转速的85%以上 */ + if (s->heatcontrol.avgFricRpm >= s->target_variable.fric_rpm * FRIC_READY_RPM_RATIO) { + s->heatcontrol.detectState = SHOOT_HEAT_DETECT_READY; + s->heatcontrol.lastAvgFricRpm = s->heatcontrol.avgFricRpm; + } + } + break; + + case SHOOT_HEAT_DETECT_READY: + /* 准备检测状态：监测摩擦轮掉速 */ + /* 检测掉速（当前转速低于目标转速超过阈值） */ + if (Shoot_DetectShotByRpmDrop(s)) { + s->heatcontrol.detectState = SHOOT_HEAT_DETECT_SUSPECTED; + s->heatcontrol.detectTime = s->timer.now; /* 记录进入嫌疑状态的时间 */ + } + + /* 如果摩擦轮停止 */ + if (s->running_state == SHOOT_STATE_IDLE) { + s->heatcontrol.detectState = SHOOT_HEAT_DETECT_IDLE; + } + break; + + case SHOOT_HEAT_DETECT_SUSPECTED: + /* 发射嫌疑状态：持续检测掉速 */ + /* 更新掉速量 */ + s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s); + s->heatcontrol.rpmDrop = s->target_variable.fric_rpm - s->heatcontrol.avgFricRpm; + + /* 若掉速消失（转速恢复正常），回到准备状态 */ + if (s->heatcontrol.rpmDrop < SHOT_DETECT_RPM_DROP_THRESHOLD) { + s->heatcontrol.detectState = SHOOT_HEAT_DETECT_READY; + } + /* 若嫌疑状态持续超过阈值时间，确认发射 */ + else if ((s->timer.now - s->heatcontrol.detectTime) >= SHOT_DETECT_SUSPECTED_TIME) { + s->heatcontrol.detectState = SHOOT_HEAT_DETECT_CONFIRMED; + } + break; + + case SHOOT_HEAT_DETECT_CONFIRMED: + /* 确认发射状态：增加热量并返回准备状态 */ + /* 根据弹丸类型增加估计热量 */ + switch (s->param->basic.projectileType) { + case SHOOT_PROJECTILE_17MM: + s->heatcontrol.Hnow_estimated += 10.0f; + break; + case SHOOT_PROJECTILE_42MM: + s->heatcontrol.Hnow_estimated += 100.0f; + break; + default: + s->heatcontrol.Hnow_estimated += s->heatcontrol.Hgen; + break; + } + + /* 限制估计热量不超过最大值 */ + if (s->heatcontrol.Hnow_estimated > s->heatcontrol.Hmax) { + s->heatcontrol.Hnow_estimated = s->heatcontrol.Hmax; + } + + /* 增加发射计数 */ + s->heatcontrol.shots_detected++; + + /* 返回准备检测状态 */ + s->heatcontrol.detectState = SHOOT_HEAT_DETECT_READY; + break; + + default: + s->heatcontrol.detectState = SHOOT_HEAT_DETECT_IDLE; + break; + } + + /* 善后工作：热量冷却（每个周期都执行） */ + if (s->heatcontrol.Hnow_estimated > 0.0f && s->heatcontrol.Hcd > 0.0f) { + s->heatcontrol.Hnow_estimated -= s->heatcontrol.Hcd * s->timer.dt; + if (s->heatcontrol.Hnow_estimated < 0.0f) { + s->heatcontrol.Hnow_estimated = 0.0f; + } + } + + /* 数据融合 */ + Shoot_FuseHeatData(s); + + /* 计算可发射弹数 */ + Shoot_CalcAvailableShots(s); + + return SHOOT_OK; +} + +/** + * \brief 根据热量控制计算射频 + * + * \param s 包含发射数据的结构体 + * + * \return 计算出的射频值，单位Hz + */ +static float Shoot_CaluFreqByHeat(Shoot_t *s) +{ + if (s == NULL) { + return 0.0f; + } + + /* 如果热量控制未启用，返回配置的射频 */ + if (!s->param->heatControl.enable || !s->heatcontrol.ref_online) { + return s->param->basic.shot_freq; + } + + /* 检查Hmax和Hcd是否有效 */ + if (s->heatcontrol.Hmax <= 0.0f || s->heatcontrol.Hcd <= 0.0f) { + return s->param->basic.shot_freq; /* 数据无效，使用默认射频 */ + } + + float Hres = s->heatcontrol.Hres; + float Hwarn = s->param->heatControl.Hwarn; + float Hsatu = s->param->heatControl.Hsatu; + float Hthres = s->param->heatControl.Hthres; + float nmax = s->param->heatControl.nmax; + float ncd = s->heatcontrol.ncd; + + /* 剩余热量大于预警值：最大射频 */ + if (Hres > Hwarn) { + return nmax; + } + /* 剩余热量在预警值和饱和值之间：线性映射 */ + else if (Hres > Hsatu) { + /* 线性插值: n = ncd + (nmax - ncd) * (Hres - Hsatu) / (Hwarn - Hsatu) */ + float ratio = (Hres - Hsatu) / (Hwarn - Hsatu); + return ncd + (nmax - ncd) * ratio; + } + /* 剩余热量在饱和值和阈值之间：冷却射频 */ + else if (Hres > Hthres) { + return ncd; + } + /* 剩余热量小于阈值：停止射击 */ + else { + return 0.0f; + } +} + /** * \brief 根据发射弹丸数量及发射频率计算拨弹电机目标角度 * @@ -192,18 +523,37 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed) */ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd) { - if (s == NULL || s->var_trig.num_toShoot == 0) { + if (s == NULL || cmd == NULL || s->var_trig.num_toShoot == 0 || s->param->basic.num_trig_tooth == 0) { return SHOOT_ERR_NULL; } + + /* 更新热量控制数据 */ + Shoot_UpdateHeatControl(s); + + /* 根据热量控制计算实际射频 */ + float actual_freq = Shoot_CaluFreqByHeat(s); + + /* 检查可发射弹丸数是否满足安全余量 */ + if (s->param->heatControl.enable && + s->heatcontrol.shots_available <= s->param->heatControl.safe_shots) { + actual_freq = 0.0f; /* 禁止发弹 */ + } + float dt = s->timer.now - s->var_trig.time_lastShoot; - float dpos; + float dpos; + float dpos_abs; dpos = CircleError(s->target_variable.trig_angle, s->var_trig.trig_agl, M_2PI); - if(dt >= 1.0f/s->param->basic.shot_freq && cmd->firecmd && dpos<=1.0f) + dpos_abs = fabsf(dpos); + + /* 使用热量控制计算出的射频，而不是配置的固定射频 */ + if(actual_freq > 0.0f && dt >= 1.0f/actual_freq && cmd->firecmd && dpos_abs <= 1.0f) { s->var_trig.time_lastShoot=s->timer.now; CircleAdd(&s->target_variable.trig_angle, M_2PI/s->param->basic.num_trig_tooth, M_2PI); s->var_trig.num_toShoot--; + s->var_trig.num_shooted++; } + return SHOOT_OK; } @@ -299,8 +649,7 @@ int8_t Shoot_UpdateFeedback(Shoot_t *s) * \param cmd 包含射击指令的结构体 * * \return 函数运行结果 - */ -// float a; + */float a; int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd) { if (s == NULL || cmd == NULL) { @@ -351,8 +700,8 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd) float target_rpm=s->param->basic.ratio_multilevel[level] *s->target_variable.fric_rpm/MAX_FRIC_RPM; /* 计算耦合控制权重 */ - float w=Shoot_CaluCoupledWeight(s,i); - /* 计算跟随输出、计算修正输出 */ + float w=Shoot_CaluCoupledWeight(s,i); + /* 计算跟随输出、计算修正输出 */ s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i], target_rpm, s->var_fric.normalized_fil_rpm[i], @@ -395,6 +744,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd) else if(last_firecmd==false&&cmd->firecmd==true) { s->running_state=SHOOT_STATE_FIRE; + s->target_variable.trig_angle = s->var_trig.trig_agl; /* 根据模式设置待发射弹数 */ switch(s->mode) { @@ -422,9 +772,9 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd) float target_rpm=s->param->basic.ratio_multilevel[level] *s->target_variable.fric_rpm/MAX_FRIC_RPM; /* 计算耦合控制权重 */ - float w=Shoot_CaluCoupledWeight(s,i); - /* 计算跟随输出、计算修正输出 */ - s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i], + float w=Shoot_CaluCoupledWeight(s,i); + /* 计算跟随输出、计算修正输出 */ + s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i], target_rpm, s->var_fric.normalized_fil_rpm[i], 0, @@ -461,6 +811,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd) { s->running_state=SHOOT_STATE_READY; pos=s->var_trig.trig_agl; + s->target_variable.trig_angle = pos; s->var_trig.num_toShoot=0; } break; @@ -524,7 +875,10 @@ int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd) /* 清空待发射弹 */ s->var_trig.num_toShoot=0; /* 修改拨弹盘目标角度 */ - s->target_variable.trig_angle = s->var_trig.trig_agl-(M_2PI/s->param->basic.num_trig_tooth); + s->target_variable.trig_angle = s->var_trig.trig_agl; + CircleAdd(&s->target_variable.trig_angle, + -(M_2PI / s->param->basic.num_trig_tooth), + M_2PI); /* 切换状态 */ s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_DEAL; /* 记录处理开始时间 */ @@ -623,6 +977,10 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq) /* 归零变量 */ memset(&s->var_trig,0,sizeof(s->var_trig)); + + /* 初始化热量控制 */ + memset(&s->heatcontrol, 0, sizeof(s->heatcontrol)); + return SHOOT_OK; } @@ -644,15 +1002,27 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd) s->timer.lask_wakeup = BSP_TIME_Get_us(); Shoot_CaluTargetRPM(s,233); + /* 运行热量检测状态机 */ + Shoot_HeatDetectionFSM(s); + + /* 运行卡弹检测状态机 */ Shoot_JamDetectionFSM(s, cmd); // Shoot_CalufeedbackRPM(s); return SHOOT_OK; } +/** + * @brief 导出射击UI数据 + * + * @param s 射击结构体 + * @param ui UI结构体 + */ +void Shoot_DumpUI(Shoot_t *s, Shoot_RefereeUI_t *ui) { + ui->mode = s->mode; + ui->fire = s->running_state; +} - - - - - - +void Shoot_DumpAI(Shoot_t *s, Shoot_AI_t *ai) { + ai->num_shooted=s->var_trig.num_shooted; + ai->bullet_speed=12.0f; +} diff --git a/User/module/shoot.h b/User/module/shoot.h index 6dbddca..2773d8a 100644 --- a/User/module/shoot.h +++ b/User/module/shoot.h @@ -30,13 +30,37 @@ typedef enum { SHOOT_JAMFSM_STATE_CONFIRMED, /* 确认状态 */ SHOOT_JAMFSM_STATE_DEAL /* 处理状态 */ }Shoot_JamDetectionFSM_State_t; + +typedef enum { + SHOOT_HEAT_DETECT_IDLE = 0, /* 停机状态 */ + SHOOT_HEAT_DETECT_READY, /* 准备检测状态 */ + SHOOT_HEAT_DETECT_SUSPECTED, /* 发射嫌疑状态 */ + SHOOT_HEAT_DETECT_CONFIRMED /* 确认发射状态 */ +}Shoot_HeatDetectionFSM_State_t; typedef enum { SHOOT_STATE_IDLE = 0,/* 熄火 */ SHOOT_STATE_READY, /* 准备射击 */ SHOOT_STATE_FIRE /* 射击 */ }Shoot_Running_State_t; +typedef enum { + SHOOT_MODE_SAFE = 0,/* 安全模式 */ + SHOOT_MODE_SINGLE, /* 单发模式 */ + SHOOT_MODE_BURST, /* 多发模式 */ + SHOOT_MODE_CONTINUE,/* 连发模式 */ + SHOOT_MODE_NUM +}Shoot_Mode_t; +typedef struct { + uint16_t num_shooted;/* 已发射弹数 */ + float bullet_speed;/* 目标弹速 */ +}Shoot_AI_t; + +/* UI 导出结构（供 referee 系统绘制） */ +typedef struct { + Shoot_Mode_t mode; + Shoot_Running_State_t fire; +} Shoot_RefereeUI_t; typedef enum { SHOOT_PROJECTILE_17MM, @@ -76,6 +100,37 @@ typedef struct { float lastTime;/* 用于记录怀疑状态或处理状态的开始时间 */ Shoot_JamDetectionFSM_State_t fsmState; /* 卡弹检测状态机 */ }Shoot_JamDetection_t; + +typedef struct { + bool ref_online; /* 裁判系统数据是否在线 */ + /* 从裁判系统读取的常量 */ + float Hmax; // 热量上限 + float Hcd; // 热量冷却速度 + float Hgen; // 每发射一发产生的热量 + + /* 实时数据 */ + float Hnow; // 当前热量（从裁判系统实时读取） + float Hnow_last; // 上次裁判系统热量值（用于检测更新） + float Hres; // 剩余热量 (Hmax - Hnow) + + /* 控制变量 */ + float ncd; // 冷却射频（消耗热量 = 自然恢复热量） + + /* 发射检测状态机 */ + Shoot_HeatDetectionFSM_State_t detectState; // 检测状态 + float detectTime; // 检测计时器 + float avgFricRpm; // 摩擦轮平均转速 + float lastAvgFricRpm; // 上次摩擦轮平均转速 + float rpmDrop; // 转速下降量 + bool shotDetected; // 检测到发射标志 + + /* 自主热量估计 */ + float Hnow_estimated; // 估计的当前热量 + float Hnow_fused; // 融合后的热量值 + uint16_t shots_detected; // 检测到的发射数 + uint16_t shots_available;// 当前热量可发射弹数 +}Shoot_HeatControl_t; + typedef struct { float out_follow[MAX_FRIC_NUM]; float out_err[MAX_FRIC_NUM]; @@ -87,7 +142,11 @@ typedef struct { float outlpf_trig; }Shoot_Output_t; - +typedef struct { + Shoot_Mode_t mode;/* 射击模式 */ + bool ready; /* 准备射击 */ + bool firecmd; /* 射击 */ +}Shoot_CMD_t; /* 底盘参数的结构体，包含所有初始化用的参数，通常是const，存好几组 */ typedef struct { struct{ @@ -104,6 +163,14 @@ typedef struct { float threshold; /* 卡弹检测阈值，单位A (dji2006建议设置为120A，dji3508建议设置为235A,根据实际测试调整)*/ float suspectedTime;/* 卡弹怀疑时间，单位秒 */ }jamDetection;/* 卡弹检测参数 */ + struct { + bool enable; /* 是否启用热量控制 */ + uint16_t safe_shots;/* 安全余量，当shots_available小于等于该值时禁止发弹 */ + float nmax;//最大射频 + float Hwarn;//热量预警值 + float Hsatu;//热量饱和值 + float Hthres;//热量阈值，超过这个值将无法射击 + }heatControl;/* 热量控制参数 */ struct { Shoot_MOTOR_RM_Param_t fric[MAX_FRIC_NUM]; MOTOR_RM_Param_t trig; @@ -134,28 +201,6 @@ typedef struct { float dt; /* 两次唤醒间隔时间，单位秒 */ }Shoot_Timer_t; - -typedef enum { - SHOOT_MODE_SAFE = 0,/* 安全模式 */ - SHOOT_MODE_SINGLE, /* 单发模式 */ - SHOOT_MODE_BURST, /* 多发模式 */ - SHOOT_MODE_CONTINUE,/* 连发模式 */ - SHOOT_MODE_NUM -}Shoot_Mode_t; - -typedef enum { - SHOOT_REMOTE = 0,/* 遥控器控制 */ - SHOOT_AI, /* AI控制 */ -} Shoot_Control_Mode_t; - -typedef struct { - Shoot_Mode_t mode;/* 射击模式 */ - - Shoot_Control_Mode_t control_mode;/* 控制模式 */ - bool ready; /* 准备射击 */ - bool firecmd; /* 射击 */ -}Shoot_CMD_t; - /* * 运行的主结构体，所有这个文件里的函数都在操作这个结构体 * 包含了初始化参数，中间变量，输出变量 @@ -170,6 +215,7 @@ typedef struct { /* 控制信息*/ Shoot_Running_State_t running_state; /* 运行状态机 */ Shoot_JamDetection_t jamdetection; /* 卡弹检测控制信息 */ + Shoot_HeatControl_t heatcontrol; /* 热量控制信息 */ Shoot_VARSForFricCtrl_t var_fric; /* 摩擦轮控制信息 */ Shoot_VARSForTrigCtrl_t var_trig; /* 角度计算控制信息 */ Shoot_Output_t output; /* 输出信息 */ @@ -177,6 +223,7 @@ typedef struct { struct { float fric_rpm; /* 目标摩擦轮转速 */ float trig_angle;/* 目标拨弹位置 */ + float bullet_speed;/* 目标弹速 */ }target_variable; /* 反馈控制用的PID */ @@ -245,8 +292,15 @@ int8_t Shoot_UpdateFeedback(Shoot_t *s); */ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd); +/** + * @brief 导出射击UI数据 + * + * @param s 射击结构体 + * @param ui UI结构体 + */ +void Shoot_DumpUI(Shoot_t *s, Shoot_RefereeUI_t *ui); - +void Shoot_DumpAI(Shoot_t *s, Shoot_AI_t *ai) ; #ifdef __cplusplus } #endif diff --git a/User/module/vision_bridge.c b/User/module/vision_bridge.c new file mode 100644 index 0000000..8e97ef6 --- /dev/null +++ b/User/module/vision_bridge.c @@ -0,0 +1,120 @@ +#include "vision_bridge.h" +#include "device/device.h" +#include "bsp/uart.h" +#include "component/crc16.h" +#include +#include "bsp/fdcan.h" + +#define AI_CMD_CAN_DLC (8u) /* 1字节mode + 3.5字节yaw + 3.5字节pit */ +#define AI_CMD_ANGLE_SCALE (10000000.0f) /* 0.0000001 rad per LSB */ + +int8_t AI_Init(AI_t *ai, AI_Param_t *param) { + if (ai == NULL) return DEVICE_ERR_NULL; + + BSP_FDCAN_Init(); + + memset(ai, 0, sizeof(AI_t)); + + ai->param = param; + BSP_FDCAN_RegisterId(ai->param->can, ai->param->vision_id, 3); + + return 0; +} + + +int8_t AI_ParseForHost(AI_t* ai, AI_RawData_t* raw_data){ + ai->tohost.head[0]='M'; + ai->tohost.head[1]='R'; + ai->tohost.mode=raw_data->mode; + ai->tohost.pitch=raw_data->pitch; + ai->tohost.yaw=raw_data->yaw; + ai->tohost.pitch_vel=raw_data->pitch_vel; + ai->tohost.yaw_vel=raw_data->yaw_vel; + ai->tohost.q[0]=raw_data->q[0]; + ai->tohost.q[1]=raw_data->q[1]; + ai->tohost.q[2]=raw_data->q[2]; + ai->tohost.q[3]=raw_data->q[3]; + ai->tohost.bullet_count=10; + ai->tohost.bullet_speed=10.5; + + ai->tohost.crc16=CRC16_Calc(((const uint8_t*)&(ai->tohost)),sizeof(ai->tohost)-sizeof(uint16_t), CRC16_INIT ); + if(CRC16_Verify(((const uint8_t*)&(ai->tohost)), sizeof(ai->tohost))!=true){ + return DEVICE_ERR; + } + return DEVICE_OK; +} + +int8_t AI_Get(AI_t *ai, AI_cmd_t* outcmd) { + if(ai->fromhost.head[0]!='M'&&ai->fromhost.head[1]!='R'){ + return DEVICE_ERR; + } +// CRC16_Calc(&ai->fromhost,sizeof(ai->fromhost),ai->fromhost.crc16); + if(CRC16_Verify((const uint8_t*)&(ai->fromhost), sizeof(ai->fromhost))!=true){ + return DEVICE_ERR; + } + outcmd->gimbal.setpoint.pit = ai->fromhost.pitch; + outcmd->gimbal.setpoint.yaw = ai->fromhost.yaw; + outcmd->mode = ai->fromhost.mode; + outcmd->gimbal.accl.pit = ai->fromhost.pitch_acc; + outcmd->gimbal.vel.pit = ai->fromhost.pitch_vel; + outcmd->gimbal.accl.yaw = ai->fromhost.yaw_acc; + outcmd->gimbal.vel.yaw = ai->fromhost.yaw_vel; + return DEVICE_OK; +} + + +/* 打包并通过 CAN2 发送AI命令给下层板（mode + yaw + pit） */ +void AI_SendCmdOnFDCAN(AI_t *ai, const AI_cmd_t *cmd) { + if (cmd == NULL) return; + + /* 将float角度转换为int32_t定点数（0.0000001 rad/LSB） */ + const int32_t yaw = (int32_t)(cmd->gimbal.setpoint.yaw * AI_CMD_ANGLE_SCALE); + const int32_t pit = (int32_t)(cmd->gimbal.setpoint.pit * AI_CMD_ANGLE_SCALE); + + BSP_FDCAN_StdDataFrame_t frame = {0}; + frame.id = ai->param->vision_id; + frame.dlc = AI_CMD_CAN_DLC; + + /* mode(1字节) + yaw(3.5字节) + pit(3.5字节) */ + frame.data[0] = cmd->mode; + frame.data[1] = (uint8_t)((yaw >> 20) & 0xFF); + frame.data[2] = (uint8_t)((yaw >> 12) & 0xFF); + frame.data[3] = (uint8_t)((yaw >> 4) & 0xFF); + frame.data[4] = (uint8_t)(((yaw & 0xF) << 4) | ((pit >> 24) & 0xF)); + frame.data[5] = (uint8_t)((pit >> 16) & 0xFF); + frame.data[6] = (uint8_t)((pit >> 8) & 0xFF); + frame.data[7] = (uint8_t)(pit & 0xFF); + + (void)BSP_FDCAN_TransmitStdDataFrame(ai->param->can, &frame); +} + +/* 从CAN消息解析AI命令 (mode + yaw + pit) */ + void AI_ParseCmdFromCan(AI_t *ai, AI_cmd_t *cmd) { + + if (cmd == NULL) { + return; + } + BSP_FDCAN_Message_t msg; + if (BSP_FDCAN_GetMessage(ai->param->can, ai->param->vision_id, &msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) != 0) { + return; + } + + /* 解析mode (1字节) */ + cmd->mode = msg.data[0]; + + /* 解析yaw (3.5字节) */ + int32_t yaw_raw = (int32_t)((msg.data[1] << 20) | (msg.data[2] << 12) | (msg.data[3] << 4) | ((msg.data[4] >> 4) & 0xF)); + if (yaw_raw & 0x08000000) yaw_raw |= 0xF0000000; + cmd->gimbal.setpoint.yaw = (float)yaw_raw / AI_CMD_ANGLE_SCALE; + + /* 解析pit (3.5字节) */ + int32_t pit_raw = (int32_t)(((msg.data[4] & 0xF) << 24) | (msg.data[5] << 16) | (msg.data[6] << 8) | msg.data[7]); + if (pit_raw & 0x08000000) pit_raw |= 0xF0000000; + cmd->gimbal.setpoint.pit = (float)pit_raw / AI_CMD_ANGLE_SCALE; + + /* 其他字段根据需要可以初始化为0 */ + cmd->gimbal.vel.yaw = 0.0f; + cmd->gimbal.vel.pit = 0.0f; + cmd->gimbal.accl.yaw = 0.0f; + cmd->gimbal.accl.pit = 0.0f; +} \ No newline at end of file diff --git a/User/module/vision_bridge.h b/User/module/vision_bridge.h new file mode 100644 index 0000000..28413da --- /dev/null +++ b/User/module/vision_bridge.h @@ -0,0 +1,99 @@ +/* + * 自瞄模组 + */ + +#pragma once + +#include "component/user_math.h" +#include "bsp/can.h" +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ + +struct __attribute__((packed)) AI_ToHost +{ + uint8_t head[2]; + uint8_t mode; // 0: 空闲, 1: 自瞄, 2: 小符, 3: 大符 + float q[4]; // wxyz顺序 /q4,q0,q1,q2/ + float yaw; + float yaw_vel; + float pitch; + float pitch_vel; + float bullet_speed; + uint16_t bullet_count; // 子弹累计发送次数 + uint16_t crc16; +}; + +struct __attribute__((packed)) AI_FromHost +{ + uint8_t head[2]; + uint8_t mode; // 0: 不控制, 1: 控制云台但不开火，2: 控制云台且开火 + float yaw; + float yaw_vel; + float yaw_acc; + float pitch; + float pitch_vel; + float pitch_acc; + uint16_t crc16; +}; + +typedef struct { + uint8_t mode; + struct{ + struct{ + float yaw; + float pit; + }setpoint; + struct{ + float pit; + float yaw; + }accl; + struct{ + float pit; + float yaw; + }vel; + }gimbal; + +}AI_cmd_t; + +typedef struct { + uint8_t mode; // 0: 空闲, 1: 自瞄, 2: 小符, 3: 大符 + float q[4]; // wxyz顺序 /q4,q0,q1,q2/ + float yaw; + float yaw_vel; + float pitch; + float pitch_vel; + float bullet_speed; + uint16_t bullet_count; // 子弹累计发送次数 +}AI_RawData_t; + +typedef struct { + BSP_CAN_t can; + uint16_t vision_id; +}AI_Param_t; + +typedef struct __attribute__((packed)) { + struct AI_ToHost tohost; + struct AI_FromHost fromhost; + AI_Param_t *param; +}AI_t; + + +int8_t AI_Init(AI_t *ai, AI_Param_t *param); + +int8_t AI_StartReceiving(AI_t *ai); + +int8_t AI_Get(AI_t *ai, AI_cmd_t* ai_cmd); + +int8_t AI_ParseForHost(AI_t* ai, AI_RawData_t* raw_data); + +int8_t AI_StartSend(AI_t *ai); + +void AI_SendCmdOnCan(AI_t *ai, const AI_cmd_t *cmd); + + void AI_ParseCmdFromCan(AI_t *ai, AI_cmd_t *cmd); +#ifdef __cplusplus +} +#endif diff --git a/User/task/cmd.c b/User/task/cmd.c index 848f861..deb95e2 100644 --- a/User/task/cmd.c +++ b/User/task/cmd.c @@ -9,10 +9,10 @@ #include "device/ET16s.h" #include "device/dr16.h" #include "module/config.h" -#include "module/cmd.h" -#include "module/cmd_adapter.h" -#include "module/cmd_behavior.h" -#include "module/cmd_types.h" +#include "module/cmd/cmd.h" +#include "module/cmd/cmd_adapter.h" +#include "module/cmd/cmd_behavior.h" +#include "module/cmd/cmd_types.h" #include "module/gimbal.h" /* USER INCLUDE END */ diff --git a/User/task/init.c b/User/task/init.c index d6091be..6846422 100644 --- a/User/task/init.c +++ b/User/task/init.c @@ -68,6 +68,7 @@ void Task_Init(void *argument) { task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count = osMessageQueueNew(2u, sizeof(PackageMCU_t),NULL); task_runtime.msgq.navi.c_cmd = osMessageQueueNew(2u, sizeof(AI_result_t),NULL); /* 新增的 ai 消息队列 主要是给底盘发送导航相关的命令*/ /* 裁判系统 */ + task_runtime.msgq.referee.ai= osMessageQueueNew(2u, sizeof(Referee_ForAI_t), NULL); task_runtime.msgq.referee.cap= osMessageQueueNew(2u, sizeof(Referee_ForCap_t), NULL); task_runtime.msgq.referee.cap= osMessageQueueNew(2u, sizeof(Referee_ForChassis_t), NULL); diff --git a/User/task/referee.c b/User/task/referee.c index 3dd53df..d38fcda 100644 --- a/User/task/referee.c +++ b/User/task/referee.c @@ -7,6 +7,7 @@ #include "task/user_task.h" /* USER INCLUDE BEGIN */ #include "device/referee.h" + #include "module/config.h" /* USER INCLUDE END */ /* Private typedef ---------------------------------------------------------- */ @@ -16,15 +17,18 @@ /* USER STRUCT BEGIN */ Referee_t ref; Referee_UI_t ui; -CMD_UI_t ref_cmd; +Referee_UI_CMD_t ref_cmd; Referee_ForCap_t for_cap; Referee_ForAI_t for_ai; Referee_ForChassis_t for_chassis; Referee_ForShoot_t for_shoot; - +uint8_t send_data[6]={1,2,3,4}; /* USER STRUCT END */ /* Private function --------------------------------------------------------- */ +/* USER PRIVATE CODE BEGIN */ + +/* USER PRIVATE CODE END */ /* Exported functions ------------------------------------------------------- */ void Task_referee(void *argument) { (void)argument; /* 未使用argument，消除警告 */ @@ -39,18 +43,18 @@ void Task_referee(void *argument) { /* USER CODE INIT BEGIN */ uint32_t last_online_tick = 0; /* 初始化裁判系统 */ - Referee_Init(&ref, &ui,&Config_GetRobotParam()->cmd_param.screen); + Referee_Init(&ref, &ui, &Config_GetRobotParam()->ref_screen); /* USER CODE INIT END */ while (1) { tick += delay_tick; /* 计算下一个唤醒时刻 */ /* USER CODE BEGIN */ Referee_StartReceiving(&ref); - + if (osThreadFlagsWait(SIGNAL_REFEREE_RAW_REDY, osFlagsWaitAll, 10) != SIGNAL_REFEREE_RAW_REDY) { - if (osKernelGetTickCount() - last_online_tick > 3000) + if (osKernelGetTickCount() - last_online_tick > 2500) Referee_HandleOffline(&ref); } else { Referee_Parse(&ref); @@ -60,30 +64,31 @@ void Task_referee(void *argument) { Referee_PackAI(&for_ai, &ref); Referee_PackShoot(&for_shoot, &ref); Referee_PackChassis(&for_chassis, &ref); - if (osKernelGetTickCount() > delay_tick){ - tick += delay_tick; + { /* 裁判系统数据读取 */ - osMessageQueueReset(task_runtime.msgq.referee.cap); - osMessageQueuePut(task_runtime.msgq.referee.cap, &for_cap, 0, 0); - osMessageQueueReset(task_runtime.msgq.referee.ai); - osMessageQueuePut(task_runtime.msgq.referee.ai, &for_ai, 0, 0); - osMessageQueueReset(task_runtime.msgq.referee.chassis); - osMessageQueuePut(task_runtime.msgq.referee.chassis, &for_chassis, 0, 0); - osMessageQueueReset(task_runtime.msgq.referee.shoot); - osMessageQueuePut(task_runtime.msgq.referee.shoot, &for_shoot, 0, 0); + osMessageQueueReset(task_runtime.msgq.referee.tocmd.cap); + osMessageQueuePut(task_runtime.msgq.referee.tocmd.cap, &for_cap, 0, 0); + osMessageQueueReset(task_runtime.msgq.referee.tocmd.ai); + osMessageQueuePut(task_runtime.msgq.referee.tocmd.ai, &for_ai, 0, 0); + osMessageQueueReset(task_runtime.msgq.referee.tocmd.chassis); + osMessageQueuePut(task_runtime.msgq.referee.tocmd.chassis, &for_chassis, 0, 0); + osMessageQueueReset(task_runtime.msgq.referee.tocmd.shoot); + osMessageQueuePut(task_runtime.msgq.referee.tocmd.shoot, &for_shoot, 0, 0); /* UI数据获取 */ - osMessageQueueGet(task_runtime.msgq.ui.cap, &(ui.cap_ui), NULL, 0); - osMessageQueueGet(task_runtime.msgq.ui.chassis, &(ui.chassis_ui), NULL,0); - osMessageQueueGet(task_runtime.msgq.ui.gimbal, &(ui.gimbal_ui), NULL, 0); - osMessageQueueGet(task_runtime.msgq.ui.shoot, &(ui.shoot_ui), NULL, 0); - osMessageQueueGet(task_runtime.msgq.ui.cmd, &(ui.cmd_pc), NULL, 0); + osMessageQueueGet(task_runtime.msgq.referee.ui.tocap, &(ui.cap_ui), NULL, 0); + osMessageQueueGet(task_runtime.msgq.referee.ui.tochassis, &(ui.chassis_ui), NULL,0); + osMessageQueueGet(task_runtime.msgq.referee.ui.togimbal, &(ui.gimbal_ui), NULL, 0); + osMessageQueueGet(task_runtime.msgq.referee.ui.toshoot, &(ui.shoot_ui), NULL, 0); + osMessageQueueGet(task_runtime.msgq.referee.ui.tocmd, &(ui.cmd_pc), NULL, 0); Referee_UIRefresh(&ui); - while (osMessageQueueGet(task_runtime.msgq.referee.ui, &ref_cmd, NULL, + while (osMessageQueueGet(task_runtime.msgq.referee.ui.frcmd, &ref_cmd, NULL, 0) == osOK) { + ref_cmd=UI_AUTO_AIM_START; Referee_PraseCmd(&ui, ref_cmd); -// Referee_StartSend(send_data, sizeof(send_data)); + // Referee_StartSend(send_data, sizeof(send_data)); } + Referee_PackUI(&ui, &ref); } diff --git a/User/task/shoot.c b/User/task/shoot.c index 25a52db..f920bed 100644 --- a/User/task/shoot.c +++ b/User/task/shoot.c @@ -1,14 +1,16 @@ /* - shoot Task + ctrl_shoot Task */ /* Includes ----------------------------------------------------------------- */ +#include "cmsis_os.h" #include "task/user_task.h" /* USER INCLUDE BEGIN */ + #include "module/shoot.h" #include "module/config.h" -#include "device/ai.h" +#include "device/referee_proto_types.h" /* USER INCLUDE END */ /* Private typedef ---------------------------------------------------------- */ @@ -18,95 +20,53 @@ /* USER STRUCT BEGIN */ Shoot_t shoot; Shoot_CMD_t shoot_cmd; -AI_result_t shoot_ai_result_cmd; -PackageMCU_t shoot_ai_mcu_package; - +Referee_ForShoot_t shoot_ref; +Shoot_AI_t shoot_forai; /* USER STRUCT END */ /* Private function --------------------------------------------------------- */ +/* USER PRIVATE CODE BEGIN */ +/* USER PRIVATE CODE END */ /* Exported functions ------------------------------------------------------- */ -void Task_shoot(void *argument) { +void Task_ctrl_shoot(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() / SHOOT_FREQ; + const uint32_t delay_tick = osKernelGetTickFreq() / CTRL_SHOOT_FREQ; - osDelay(SHOOT_INIT_DELAY); /* 延时一段时间再开启任务 */ + osDelay(MONITOR_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 */ -Shoot_Init(&shoot,&Config_GetRobotParam()->shoot,SHOOT_FREQ); -Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE); -shoot_ai_mcu_package.data.bullet_count = 0; -static bool last_fire_state = false; -bool current_fire_state = false; // 当前是否需要发射 -static uint32_t ai_last_fire_tick = 0; -static const uint32_t ai_single_interval_ms = 220; -static const uint32_t ai_burst_interval_ms = 110; -static const uint32_t ai_continue_interval_ms = 0; -/* USER CODE INIT END */ + + Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,CTRL_SHOOT_FREQ); + MRobot_RegisterDevice("shoot", &shoot, print_shoot); + + /* USER CODE INIT END */ while (1) { tick += delay_tick; /* 计算下一个唤醒时刻 */ /* USER CODE BEGIN */ -osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0); -osMessageQueueGet(task_runtime.msgq.shoot.ai.s_cmd, &shoot_ai_result_cmd, NULL, 0); - -if(shoot_cmd.control_mode==SHOOT_REMOTE) -{ - //do nothing，使用遥控器的指令 - current_fire_state = shoot_cmd.firecmd; -} -else if(shoot_cmd.control_mode==SHOOT_AI) -{ - uint32_t now_ms = osKernelGetTickCount(); - uint32_t interval_ms = ai_single_interval_ms; + osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0); + osMessageQueueGet(task_runtime.msgq.shoot.ref, &shoot_ref, NULL, 0); + - shoot_cmd.ready = true; - - if (shoot_ai_result_cmd.mode == 2) { - switch (shoot_cmd.mode) { - case SHOOT_MODE_CONTINUE: - interval_ms = ai_continue_interval_ms; - break; - case SHOOT_MODE_BURST: - interval_ms = ai_burst_interval_ms; - break; - case SHOOT_MODE_SINGLE: - default: - interval_ms = ai_single_interval_ms; - break; - } - - if (interval_ms == 0) { - shoot_cmd.firecmd = true; - } else if ((now_ms - ai_last_fire_tick) >= interval_ms) { - shoot_cmd.firecmd = true; - ai_last_fire_tick = now_ms; + Shoot_DumpAI(&shoot, &shoot_forai); + osMessageQueuePut(task_runtime.msgq.ai.rawdata_FromShoot, &shoot_forai, 0, 0); + if (shoot_ref.ref_status == REF_STATUS_RUNNING) { + shoot.heatcontrol.ref_online = true; + shoot.heatcontrol.Hmax = (float)shoot_ref.robot_status.shooter_barrel_heat_limit; + shoot.heatcontrol.Hcd = (float)shoot_ref.robot_status.shooter_barrel_cooling_value; + shoot.heatcontrol.Hnow = (float)shoot_ref.power_heat.shooter_42mm_barrel_heat; + shoot.heatcontrol.Hgen = 10.0f; /* 42mm弹丸每发产生热量 */ } else { - shoot_cmd.firecmd = false; + shoot.heatcontrol.ref_online = false; } - } else { - shoot_cmd.firecmd = false; - ai_last_fire_tick = now_ms; - } - - current_fire_state = shoot_cmd.firecmd; - } - - if(current_fire_state == true && last_fire_state == false) - { - shoot_ai_mcu_package.data.bullet_count++; /* 每次射击时增加射击数量 */ - } -last_fire_state = current_fire_state; - - Shoot_UpdateFeedback(&shoot); + Shoot_UpdateFeedback(&shoot); Shoot_SetMode(&shoot,shoot_cmd.mode); - Shoot_Control(&shoot,&shoot_cmd); + Shoot_Control(&shoot,&shoot_cmd); - osMessageQueueReset(task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count); - osMessageQueuePut(task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count, &shoot_ai_mcu_package, 0, 0); /* USER CODE END */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ } diff --git a/build/Debug/.cmake/api/v1/reply/cache-v2-4c5028c5e3aae1ad4776.json b/build/Debug/.cmake/api/v1/reply/cache-v2-4c5028c5e3aae1ad4776.json deleted file mode 100644 index 194452b..0000000 --- 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C:/Users/Lenovo/AppData/Local/stm32cube/bundles/gnu-tools-for-stm32/14.3.1+st.2/lib/gcc/../../lib/gcc/arm-none-eabi/14.3.1/../../../../arm-none-eabi/include End of search list. - Compiler executable checksum: d5cacd652ef845a866ce4c9a09fdc7d8 - COLLECT_GCC_OPTIONS='-mfpu=fpv4-sp-d16' '-mfloat-abi=hard' '-mcpu=cortex-m4' '-mfpu=fpv4-sp-d16' '-mfloat-abi=hard' '-Wall' '-fdata-sections' '-ffunction-sections' '-std=gnu11' '-v' '-o' 'CMakeFiles/cmTC_f424f.dir/CMakeCCompilerABI.c.obj' '-c' '-mthumb' '-mlibarch=armv7e-m+fp' '-march=armv7e-m+fp' '-dumpdir' 'CMakeFiles/cmTC_f424f.dir/' - /Users/lvzucheng/Library/Application Support/stm32cube/bundles/gnu-tools-for-stm32/13.3.1+st.9/bin/../lib/gcc/arm-none-eabi/13.3.1/../../../../arm-none-eabi/bin/as -v -march=armv7e-m+fp -mfloat-abi=hard -mfloat-abi=hard -mfpu=fpv4-sp-d16 -mfpu=fpv4-sp-d16 -meabi=5 -o CMakeFiles/cmTC_f424f.dir/CMakeCCompilerABI.c.obj /var/folders/pk/x11ksr_n5mv431gnyr9stk300000gn/T//ccQs9Zya.s - GNU assembler version 2.42.0 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