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This commit is contained in:
Robofish 2026-01-12 17:53:57 +08:00
parent 68d12f34eb
commit 63f9dac29e
10 changed files with 985 additions and 716 deletions
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16
.mxproject
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File diff suppressed because one or more lines are too long

1
CMakeLists.txt
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@ -67,6 +67,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
# User/device sources
User/device/bmi088.c
User/device/buzzer.c
User/device/ai.c
# User/task sources
User/task/ai.c

2
Core/Inc/stm32f4xx_it.h
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@ -58,6 +58,7 @@ void EXTI3_IRQHandler(void);
void EXTI4_IRQHandler(void);
void DMA1_Stream1_IRQHandler(void);
void DMA1_Stream2_IRQHandler(void);
void CAN1_TX_IRQHandler(void);
void CAN1_RX0_IRQHandler(void);
void CAN1_RX1_IRQHandler(void);
void EXTI9_5_IRQHandler(void);
@ -68,6 +69,7 @@ void TIM7_IRQHandler(void);
void DMA2_Stream1_IRQHandler(void);
void DMA2_Stream2_IRQHandler(void);
void DMA2_Stream3_IRQHandler(void);
void CAN2_TX_IRQHandler(void);
void CAN2_RX0_IRQHandler(void);
void CAN2_RX1_IRQHandler(void);
void OTG_FS_IRQHandler(void);

6
Core/Src/can.c
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@ -122,6 +122,8 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/* CAN1 interrupt Init */
HAL_NVIC_SetPriority(CAN1_TX_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 5, 0);
@ -155,6 +157,8 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* CAN2 interrupt Init */
HAL_NVIC_SetPriority(CAN2_TX_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
@ -186,6 +190,7 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
/* CAN1 interrupt Deinit */
HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
/* USER CODE BEGIN CAN1_MspDeInit 1 */
@ -211,6 +216,7 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6);
/* CAN2 interrupt Deinit */
HAL_NVIC_DisableIRQ(CAN2_TX_IRQn);
HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
/* USER CODE BEGIN CAN2_MspDeInit 1 */

4
Core/Src/freertos.c
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@ -126,7 +126,7 @@ void MX_FREERTOS_Init(void) {
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务
/* USER CODE END RTOS_THREADS */
/* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_EVENTS */
/* add events, ... */
@ -147,7 +147,7 @@ void StartDefaultTask(void *argument)
MX_USB_DEVICE_Init();
/* USER CODE BEGIN StartDefaultTask */
osThreadTerminate(osThreadGetId());
/* USER CODE END StartDefaultTask */
/* USER CODE END StartDefaultTask */
}
/* Private application code --------------------------------------------------*/

28
Core/Src/stm32f4xx_it.c
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@ -268,6 +268,20 @@ void DMA1_Stream2_IRQHandler(void)
/* USER CODE END DMA1_Stream2_IRQn 1 */
}
/**
* @brief This function handles CAN1 TX interrupts.
*/
void CAN1_TX_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_TX_IRQn 0 */
/* USER CODE END CAN1_TX_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_TX_IRQn 1 */
/* USER CODE END CAN1_TX_IRQn 1 */
}
/**
* @brief This function handles CAN1 RX0 interrupts.
*/
@ -409,6 +423,20 @@ void DMA2_Stream3_IRQHandler(void)
/* USER CODE END DMA2_Stream3_IRQn 1 */
}
/**
* @brief This function handles CAN2 TX interrupts.
*/
void CAN2_TX_IRQHandler(void)
{
/* USER CODE BEGIN CAN2_TX_IRQn 0 */
/* USER CODE END CAN2_TX_IRQn 0 */
HAL_CAN_IRQHandler(&hcan2);
/* USER CODE BEGIN CAN2_TX_IRQn 1 */
/* USER CODE END CAN2_TX_IRQn 1 */
}
/**
* @brief This function handles CAN2 RX0 interrupts.
*/

2
DevC.ioc
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@ -270,8 +270,10 @@ MxDb.Version=DB.6.0.150
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.CAN1_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN2_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN2_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.DMA1_Stream1_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA1_Stream7_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true

152
User/device/ai.c Normal file
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@ -0,0 +1,152 @@
/*
AI
*/
/* Includes ----------------------------------------------------------------- */
#include "ai.h"
#include <string.h>
#include "bsp\delay.h"
#include "bsp\uart.h"
#include "component\crc16.h"
#include "component\crc8.h"
#include "component\user_math.h"
#include "component\filter.h"
/* Private define ----------------------------------------------------------- */
#define AI_LEN_RX_BUFF (sizeof(Protocol_DownPackage_t))
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* Private variables -------------------------------------------------------- */
static volatile uint32_t drop_message = 0;
static uint8_t rxbuf[AI_LEN_RX_BUFF];
static bool inited = false;
static osThreadId_t thread_alert;
/* Private function -------------------------------------------------------- */
static void Ai_RxCpltCallback(void) {
osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY);
}
static void Ai_IdleLineCallback(void) {
osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY);
}
/* Exported functions ------------------------------------------------------- */
int8_t AI_Init(AI_t *ai) {
UNUSED(ai);
ASSERT(ai);
if (inited) return DEVICE_ERR_INITED;
VERIFY((thread_alert = osThreadGetId()) != NULL);
BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB,
Ai_RxCpltCallback);
BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB,
Ai_IdleLineCallback);
inited = true;
return 0;
}
int8_t AI_Restart(void) {
__HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_AI));
__HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_AI));
return DEVICE_OK;
}
int8_t AI_StartReceiving(AI_t *ai) {
UNUSED(ai);
if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI), rxbuf,
AI_LEN_RX_BUFF) == HAL_OK)
return DEVICE_OK;
return DEVICE_ERR;
}
bool AI_WaitDmaCplt(void) {
return (osThreadFlagsWait(SIGNAL_AI_RAW_REDY, osFlagsWaitAll, 0) ==
SIGNAL_AI_RAW_REDY);
}
int8_t AI_ParseHost(AI_t *ai) {
if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->from_host)))
goto error;
ai->ai_online = true;
memcpy(&(ai->from_host), rxbuf, sizeof(ai->from_host));
memset(rxbuf, 0, AI_LEN_RX_BUFF);
return DEVICE_OK;
error:
drop_message++;
return DEVICE_ERR;
}
void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) {
cmd_host->gimbal_delta.yaw = ai->from_host.data.gimbal.yaw;
cmd_host->gimbal_delta.pit = ai->from_host.data.gimbal.pit;
cmd_host->fire = (ai->from_host.data.notice & AI_NOTICE_FIRE);
cmd_host->chassis_move_vec.vx = ai->from_host.data.chassis_move_vec.vx;
cmd_host->chassis_move_vec.vy = ai->from_host.data.chassis_move_vec.vy;
cmd_host->chassis_move_vec.wz = ai->from_host.data.chassis_move_vec.wz;
}
int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host) {
if (ai == NULL) return DEVICE_ERR_NULL;
if (cmd_host == NULL) return DEVICE_ERR_NULL;
ai->ai_online = false;
memset(&(ai->from_host), 0, sizeof(ai->from_host));
memset(cmd_host, 0, sizeof(*cmd_host));
return 0;
}
int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat) {
ai->to_host.mcu.id = AI_ID_MCU;
memcpy((void *)&(ai->to_host.mcu.package.data.quat), (const void *)quat,
sizeof(*quat));
ai->to_host.mcu.package.data.notice = 0;
if (ai->status == AI_STATUS_AUTOAIM)
ai->to_host.mcu.package.data.notice |= AI_NOTICE_AUTOAIM;
else if (ai->status == AI_STATUS_HITSWITCH)
ai->to_host.mcu.package.data.notice |= AI_NOTICE_HITBUFF;
else if (ai->status == AI_STATUS_AUTOMATIC)
ai->to_host.mcu.package.data.notice |= AI_NOTICE_AUTOMATIC;
ai->to_host.mcu.package.crc16 = CRC16_Calc(
(const uint8_t *)&(ai->to_host.mcu.package),
sizeof(ai->to_host.mcu.package) - sizeof(uint16_t), CRC16_INIT);
return DEVICE_OK;
}
int8_t AI_PackRef(AI_t *ai, const Referee_ForAI_t *ref) {
(void)ref;
ai->to_host.ref.id = AI_ID_REF;
ai->to_host.ref.package.crc16 = CRC16_Calc(
(const uint8_t *)&(ai->to_host.ref.package),
sizeof(ai->to_host.ref.package) - sizeof(uint16_t), CRC16_INIT);
return DEVICE_OK;
}
int8_t AI_StartSend(AI_t *ai, bool ref_update) {
if (ref_update) {
if (HAL_UART_Transmit_DMA(
BSP_UART_GetHandle(BSP_UART_AI), (uint8_t *)&(ai->to_host),
sizeof(ai->to_host.ref) + sizeof(ai->to_host.mcu)) == HAL_OK)
return DEVICE_OK;
else
return DEVICE_ERR;
} else {
if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_AI),
(uint8_t *)&(ai->to_host.mcu),
sizeof(ai->to_host.mcu)) == HAL_OK)
return DEVICE_OK;
else
return DEVICE_ERR;
}
}

75
User/device/ai.h Normal file
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@ -0,0 +1,75 @@
/*
AI
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include <cmsis_os2.h>
#include <stdbool.h>
#include <stdint.h>
#include "component/ahrs.h"
#include "component/user_math.h"
#include "component/filter.h"
#include "device/device.h"
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
/* AI命令状态 */
typedef struct __packed {
float vx;
float vy;
float wz;
} AI_ChassisMoveVec_t;
typedef struct __packed {
uint8_t id;
Protocol_UpPackageReferee_t package;
} AI_UpPackageReferee_t;
typedef struct __packed {
uint8_t id;
Protocol_UpPackageMCU_t package;
} AI_UpPackageMCU_t;
typedef struct __packed {
osThreadId_t thread_alert;
Protocol_DownPackage_t from_host;
struct {
AI_UpPackageReferee_t ref;
AI_UpPackageMCU_t mcu;
} to_host;
CMD_AI_Status_t status;
bool ai_online;
} AI_t;
/* Exported functions prototypes -------------------------------------------- */
int8_t AI_Init(AI_t *ai);
int8_t AI_Restart(void);
int8_t AI_StartReceiving(AI_t *ai);
bool AI_WaitDmaCplt(void);
int8_t AI_ParseHost(AI_t *ai);
int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host);
int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat);
int8_t AI_PackRef(AI_t *ai, const Referee_ForAI_t *ref);
int8_t AI_StartSend(AI_t *ai, bool option);
void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host);
#ifdef __cplusplus
}
#endif

81
User/task/imu.c
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@ -44,13 +44,13 @@ static AHRS_All_t imu_data;
/**
* @brief 浮点数转换为无符号整数函数
*/
static uint16_t float_to_uint(float x, float x_min, float x_max, int bits) {
static uint32_t float_to_uint(float x, float x_min, float x_max, int bits) {
float span = x_max - x_min;
float offset = x_min;
// 限幅
if (x > x_max) x = x_max;
if (x < x_min) x = x_min;
return (uint16_t)((x - offset) * ((float)((1 << bits) - 1)) / span);
return (uint32_t)((x - offset) * ((float)((1 << bits) - 1)) / span);
}
/* Exported functions ------------------------------------------------------- */
@ -65,7 +65,7 @@ void Task_imu(void *argument) {
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */
BSP_CAN_Init();
/* USER CODE INIT END */
while (1) {
@ -75,52 +75,55 @@ void Task_imu(void *argument) {
if (osMessageQueueGet(task_runtime.msgq.gimbal_imu, &imu_data, NULL, 0) == osOK) {
BSP_CAN_StdDataFrame_t can_frame;
/* 包1: 加速度计数据 (temp, acc_x, acc_y, acc_z) */
/* 包1: 加速度计数据 (acc_x, acc_y, acc_z) - 使用21位精度 */
can_frame.id = CAN_ID_IMU_ACCEL;
can_frame.dlc = 8;
can_frame.data[0] = 0; // 预留
can_frame.data[1] = 0; // 温度数据（如需要可添加）
uint16_t acc_x = float_to_uint(imu_data.accl.x, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 16);
uint16_t acc_y = float_to_uint(imu_data.accl.y, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 16);
uint16_t acc_z = float_to_uint(imu_data.accl.z, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 16);
can_frame.data[2] = acc_x & 0xFF;
can_frame.data[3] = (acc_x >> 8) & 0xFF;
can_frame.data[4] = acc_y & 0xFF;
can_frame.data[5] = (acc_y >> 8) & 0xFF;
can_frame.data[6] = acc_z & 0xFF;
can_frame.data[7] = (acc_z >> 8) & 0xFF;
uint32_t acc_x = float_to_uint(imu_data.accl.x, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 21);
uint32_t acc_y = float_to_uint(imu_data.accl.y, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 21);
uint32_t acc_z = float_to_uint(imu_data.accl.z, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 21);
// 打包: acc_x(21bit) acc_y(21bit) acc_z(21bit) = 63bits
can_frame.data[0] = (acc_x >> 13) & 0xFF;
can_frame.data[1] = (acc_x >> 5) & 0xFF;
can_frame.data[2] = ((acc_x << 3) & 0xF8) | ((acc_y >> 18) & 0x07);
can_frame.data[3] = (acc_y >> 10) & 0xFF;
can_frame.data[4] = (acc_y >> 2) & 0xFF;
can_frame.data[5] = ((acc_y << 6) & 0xC0) | ((acc_z >> 15) & 0x3F);
can_frame.data[6] = (acc_z >> 7) & 0xFF;
can_frame.data[7] = (acc_z << 1) & 0xFE;
BSP_CAN_TransmitStdDataFrame(BSP_CAN_2, &can_frame);
/* 包2: 陀螺仪数据 (gyro_x, gyro_y, gyro_z) */
/* 包2: 陀螺仪数据 (gyro_x, gyro_y, gyro_z) - 使用21位精度 */
can_frame.id = CAN_ID_IMU_GYRO;
can_frame.dlc = 8;
can_frame.data[0] = 0; // 预留
can_frame.data[1] = 0; // 预留
uint16_t gyro_x = float_to_uint(imu_data.gyro.x, GYRO_CAN_MIN, GYRO_CAN_MAX, 16);
uint16_t gyro_y = float_to_uint(imu_data.gyro.y, GYRO_CAN_MIN, GYRO_CAN_MAX, 16);
uint16_t gyro_z = float_to_uint(imu_data.gyro.z, GYRO_CAN_MIN, GYRO_CAN_MAX, 16);
can_frame.data[2] = gyro_x & 0xFF;
can_frame.data[3] = (gyro_x >> 8) & 0xFF;
can_frame.data[4] = gyro_y & 0xFF;
can_frame.data[5] = (gyro_y >> 8) & 0xFF;
can_frame.data[6] = gyro_z & 0xFF;
can_frame.data[7] = (gyro_z >> 8) & 0xFF;
uint32_t gyro_x = float_to_uint(imu_data.gyro.x, GYRO_CAN_MIN, GYRO_CAN_MAX, 21);
uint32_t gyro_y = float_to_uint(imu_data.gyro.y, GYRO_CAN_MIN, GYRO_CAN_MAX, 21);
uint32_t gyro_z = float_to_uint(imu_data.gyro.z, GYRO_CAN_MIN, GYRO_CAN_MAX, 21);
// 打包: gyro_x(21bit) gyro_y(21bit) gyro_z(21bit) = 63bits
can_frame.data[0] = (gyro_x >> 13) & 0xFF;
can_frame.data[1] = (gyro_x >> 5) & 0xFF;
can_frame.data[2] = ((gyro_x << 3) & 0xF8) | ((gyro_y >> 18) & 0x07);
can_frame.data[3] = (gyro_y >> 10) & 0xFF;
can_frame.data[4] = (gyro_y >> 2) & 0xFF;
can_frame.data[5] = ((gyro_y << 6) & 0xC0) | ((gyro_z >> 15) & 0x3F);
can_frame.data[6] = (gyro_z >> 7) & 0xFF;
can_frame.data[7] = (gyro_z << 1) & 0xFE;
BSP_CAN_TransmitStdDataFrame(BSP_CAN_2, &can_frame);
/* 包3: 欧拉角数据 (pit, yaw, rol) */
/* 包3: 欧拉角数据 (pit, yaw, rol) - 使用21位精度 */
can_frame.id = CAN_ID_IMU_EULER;
can_frame.dlc = 8;
can_frame.data[0] = 0; // 预留
can_frame.data[1] = 0; // 预留
uint16_t pit = float_to_uint(imu_data.eulr.pit, PITCH_CAN_MIN, PITCH_CAN_MAX, 16);
uint16_t yaw = float_to_uint(imu_data.eulr.yaw, YAW_CAN_MIN, YAW_CAN_MAX, 16);
uint16_t rol = float_to_uint(imu_data.eulr.rol, ROLL_CAN_MIN, ROLL_CAN_MAX, 16);
can_frame.data[2] = pit & 0xFF;
can_frame.data[3] = (pit >> 8) & 0xFF;
can_frame.data[4] = yaw & 0xFF;
can_frame.data[5] = (yaw >> 8) & 0xFF;
can_frame.data[6] = rol & 0xFF;
can_frame.data[7] = (rol >> 8) & 0xFF;
uint32_t pit = float_to_uint(imu_data.eulr.pit, PITCH_CAN_MIN, PITCH_CAN_MAX, 21);
uint32_t yaw = float_to_uint(imu_data.eulr.yaw, YAW_CAN_MIN, YAW_CAN_MAX, 21);
uint32_t rol = float_to_uint(imu_data.eulr.rol, ROLL_CAN_MIN, ROLL_CAN_MAX, 21);
// 打包: pit(21bit) yaw(21bit) rol(21bit) = 63bits
can_frame.data[0] = (pit >> 13) & 0xFF;
can_frame.data[1] = (pit >> 5) & 0xFF;
can_frame.data[2] = ((pit << 3) & 0xF8) | ((yaw >> 18) & 0x07);
can_frame.data[3] = (yaw >> 10) & 0xFF;
can_frame.data[4] = (yaw >> 2) & 0xFF;
can_frame.data[5] = ((yaw << 6) & 0xC0) | ((rol >> 15) & 0x3F);
can_frame.data[6] = (rol >> 7) & 0xFF;
can_frame.data[7] = (rol << 1) & 0xFE;
BSP_CAN_TransmitStdDataFrame(BSP_CAN_2, &can_frame);
/* 包4: 四元数数据 (q0, q1, q2, q3) - 使用14位精度打包 */