加了裁判系统
This commit is contained in:
parent
0d7fb62f50
commit
4453a0a333
@ -71,27 +71,30 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
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User/component/user_math.c
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User/component/user_math.c
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# User/device sources
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# User/device sources
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User/device/ET16s.c
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User/device/ai.c
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User/device/ai.c
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User/device/bmi088.c
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User/device/bmi088.c
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User/device/dr16.c
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User/device/dr16.c
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User/device/motor.c
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User/device/motor.c
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User/device/motor_dm.c
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User/device/motor_dm.c
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User/device/motor_rm.c
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User/device/motor_rm.c
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User/device/referee.c
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User/device/remote_control.c
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User/device/remote_control.c
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User/device/ET16s.c
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User/device/supercap.c
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# User/module sources
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# User/module sources
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User/module/cap.c
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User/module/chassis.c
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User/module/chassis.c
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User/module/cmd.c
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User/module/cmd.c
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User/module/config.c
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User/module/gimbal.c
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User/module/shoot.c
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User/module/cmd_adapter.c
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User/module/cmd_adapter.c
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User/module/cmd_behavior.c
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User/module/cmd_behavior.c
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User/module/cmd_example.c
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User/module/cmd_example.c
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User/module/config.c
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User/module/gimbal.c
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User/module/shoot.c
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# User/task sources
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# User/task sources
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User/task/Task8.c
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User/task/Task9.c
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User/task/ai.c
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User/task/ai.c
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User/task/atti_esti.c
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User/task/atti_esti.c
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User/task/chassis.c
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User/task/chassis.c
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@ -99,7 +102,9 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
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User/task/gimbal.c
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User/task/gimbal.c
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User/task/init.c
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User/task/init.c
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User/task/rc.c
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User/task/rc.c
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User/task/referee.c
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User/task/shoot.c
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User/task/shoot.c
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User/task/super_cap.c
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User/task/tempCodeRunnerFile.c
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User/task/tempCodeRunnerFile.c
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User/task/user_task.c
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User/task/user_task.c
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)
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)
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@ -226,7 +226,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
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hdma_usart3_rx.Init.MemInc = DMA_MINC_ENABLE;
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hdma_usart3_rx.Init.MemInc = DMA_MINC_ENABLE;
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hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma_usart3_rx.Init.Mode = DMA_NORMAL;
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hdma_usart3_rx.Init.Mode = DMA_CIRCULAR;
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hdma_usart3_rx.Init.Priority = DMA_PRIORITY_LOW;
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hdma_usart3_rx.Init.Priority = DMA_PRIORITY_LOW;
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hdma_usart3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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hdma_usart3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK)
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if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK)
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File diff suppressed because one or more lines are too long
@ -1,58 +0,0 @@
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lll0121/atti_esti.o: ..\User\task\atti_esti.c ..\User\task\user_task.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
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C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
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C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
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..\Core\Inc\FreeRTOSConfig.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
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..\User\module\config.h ..\User\device\bmi088.h \
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C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
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..\User\component\ahrs.h ..\User\component\user_math.h \
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C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
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C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h \
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..\User\module\chassis.h ..\User\bsp\struct_typedef.h \
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..\User\component\filter.h ..\User\component\pid.h \
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..\User\device\motor_rm.h ..\User\device\motor.h ..\User\bsp\can.h \
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..\Core\Inc\can.h ..\Core\Inc\main.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
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..\Core\Inc\stm32f4xx_hal_conf.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
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..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
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..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
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..\Drivers\CMSIS\Include\core_cm4.h \
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..\Drivers\CMSIS\Include\cmsis_version.h \
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..\Drivers\CMSIS\Include\cmsis_compiler.h \
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..\Drivers\CMSIS\Include\cmsis_armclang.h \
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..\Drivers\CMSIS\Include\mpu_armv7.h \
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..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
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..\User\bsp\bsp.h ..\User\bsp\mm.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
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..\User\module\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h \
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..\User\module\shoot.h ..\Core\Inc\main.h ..\User\bsp\pwm.h \
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..\Core\Inc\tim.h ..\User\bsp\gpio.h ..\User\bsp\time.h
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Binary file not shown.
@ -1,48 +0,0 @@
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lll0121/can_1.o: ..\User\bsp\can.c ..\User\bsp\can.h ..\Core\Inc\can.h \
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..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
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..\Core\Inc\stm32f4xx_hal_conf.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
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..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
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..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
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..\Drivers\CMSIS\Include\core_cm4.h \
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C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
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..\Drivers\CMSIS\Include\cmsis_version.h \
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..\Drivers\CMSIS\Include\cmsis_compiler.h \
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..\Drivers\CMSIS\Include\cmsis_armclang.h \
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..\Drivers\CMSIS\Include\mpu_armv7.h \
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..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
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C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
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..\User\bsp\bsp.h ..\User\bsp\mm.h \
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C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
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..\Core\Inc\FreeRTOSConfig.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
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C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
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Binary file not shown.
@ -1,56 +0,0 @@
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lll0121/chassis.o: ..\User\module\chassis.c ..\User\module\chassis.h \
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..\User\bsp\struct_typedef.h ..\User\component\filter.h \
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..\User\component\user_math.h \
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C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
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C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
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C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
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C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
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C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
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..\User\component\pid.h ..\User\component\ahrs.h \
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..\User\device\bmi088.h ..\User\device\device.h \
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..\User\device\motor_rm.h ..\User\device\motor.h ..\User\bsp\can.h \
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..\Core\Inc\can.h ..\Core\Inc\main.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
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..\Core\Inc\stm32f4xx_hal_conf.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
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..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
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..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
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..\Drivers\CMSIS\Include\core_cm4.h \
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..\Drivers\CMSIS\Include\cmsis_version.h \
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..\Drivers\CMSIS\Include\cmsis_compiler.h \
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..\Drivers\CMSIS\Include\cmsis_armclang.h \
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..\Drivers\CMSIS\Include\mpu_armv7.h \
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..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
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..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
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..\User\bsp\bsp.h ..\User\bsp\mm.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
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..\Core\Inc\FreeRTOSConfig.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
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..\User\module\cmd.h ..\User\bsp\time.h \
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C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdlib.h
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Binary file not shown.
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lll0121/chassis_1.o: ..\User\task\chassis.c ..\User\task\user_task.h \
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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|
||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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|
||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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|
||||||
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|
|
||||||
Binary file not shown.
@ -1,53 +0,0 @@
|
|||||||
lll0121/cmsis_os2.o: \
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|
||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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|
||||||
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|
||||||
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||||||
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||||||
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|
||||||
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||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
|
||||||
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|
|||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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||||||
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||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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|
||||||
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||||||
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|
||||||
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|
||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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|||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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||||||
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|
||||||
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||||||
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||||||
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|
||||||
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||||||
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||||||
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|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
|
|
||||||
..\User\bsp\bsp.h ..\User\bsp\mm.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
|
||||||
..\User\module\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h \
|
|
||||||
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\device\ai.h \
|
|
||||||
..\User\component\user_math.h ..\User\device\remote_control.h
|
|
||||||
Binary file not shown.
@ -1,14 +0,0 @@
|
|||||||
lll0121/heap_4.o: \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdlib.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
|
|
||||||
..\Core\Inc\FreeRTOSConfig.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h
|
|
||||||
Binary file not shown.
@ -1,58 +0,0 @@
|
|||||||
lll0121/init.o: ..\User\task\init.c ..\User\task\user_task.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
|
|
||||||
..\Core\Inc\FreeRTOSConfig.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
|
||||||
..\User\module\config.h ..\User\device\bmi088.h \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
|
|
||||||
..\User\component\ahrs.h ..\User\component\user_math.h \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h \
|
|
||||||
..\User\module\chassis.h ..\User\bsp\struct_typedef.h \
|
|
||||||
..\User\component\filter.h ..\User\component\pid.h \
|
|
||||||
..\User\device\motor_rm.h ..\User\device\motor.h ..\User\bsp\can.h \
|
|
||||||
..\Core\Inc\can.h ..\Core\Inc\main.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
|
|
||||||
..\Core\Inc\stm32f4xx_hal_conf.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
|
|
||||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
|
|
||||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
|
|
||||||
..\Drivers\CMSIS\Include\core_cm4.h \
|
|
||||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
|
||||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
|
||||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
|
||||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
|
||||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
|
|
||||||
..\User\bsp\bsp.h ..\User\bsp\mm.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
|
||||||
..\User\module\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h \
|
|
||||||
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\device\ai.h \
|
|
||||||
..\User\component\user_math.h ..\User\device\remote_control.h
|
|
||||||
Binary file not shown.
@ -1,12 +0,0 @@
|
|||||||
lll0121/list.o: ..\Middlewares\Third_Party\FreeRTOS\Source\list.c \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdlib.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
|
|
||||||
..\Core\Inc\FreeRTOSConfig.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h
|
|
||||||
Binary file not shown.
Binary file not shown.
@ -22,7 +22,7 @@ Dialog DLL: TCM.DLL V1.48.0.0
|
|||||||
|
|
||||||
<h2>Project:</h2>
|
<h2>Project:</h2>
|
||||||
D:\STM32CubeMX\103\Er(Sentry)\MDK-ARM\lll0121.uvprojx
|
D:\STM32CubeMX\103\Er(Sentry)\MDK-ARM\lll0121.uvprojx
|
||||||
Project File Date: 03/02/2026
|
Project File Date: 03/13/2026
|
||||||
|
|
||||||
<h2>Output:</h2>
|
<h2>Output:</h2>
|
||||||
*** Using Compiler 'V6.16', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
|
*** Using Compiler 'V6.16', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
|
||||||
@ -34,7 +34,321 @@ Note: source file '..\User\task\chassis.c' - object file renamed from 'lll0121\c
|
|||||||
Note: source file '..\User\task\cmd.c' - object file renamed from 'lll0121\cmd.o' to 'lll0121\cmd_1.o'.
|
Note: source file '..\User\task\cmd.c' - object file renamed from 'lll0121\cmd.o' to 'lll0121\cmd_1.o'.
|
||||||
Note: source file '..\User\task\gimbal.c' - object file renamed from 'lll0121\gimbal.o' to 'lll0121\gimbal_1.o'.
|
Note: source file '..\User\task\gimbal.c' - object file renamed from 'lll0121\gimbal.o' to 'lll0121\gimbal_1.o'.
|
||||||
Note: source file '..\User\task\shoot.c' - object file renamed from 'lll0121\shoot.o' to 'lll0121\shoot_1.o'.
|
Note: source file '..\User\task\shoot.c' - object file renamed from 'lll0121\shoot.o' to 'lll0121\shoot_1.o'.
|
||||||
"lll0121\lll0121.axf" - 0 Error(s), 0 Warning(s).
|
compiling spi.c...
|
||||||
|
compiling tim.c...
|
||||||
|
../Core/Src/stm32f4xx_it.c(23): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling stm32f4xx_it.c...
|
||||||
|
compiling dma.c...
|
||||||
|
compiling can.c...
|
||||||
|
compiling stm32f4xx_hal_msp.c...
|
||||||
|
compiling stm32f4xx_hal_flash.c...
|
||||||
|
../Core/Src/freertos.c(21): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling freertos.c...
|
||||||
|
compiling stm32f4xx_hal_rcc.c...
|
||||||
|
../Core/Src/main.c(21): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling main.c...
|
||||||
|
compiling gpio.c...
|
||||||
|
compiling stm32f4xx_hal_flash_ramfunc.c...
|
||||||
|
compiling usart.c...
|
||||||
|
compiling stm32f4xx_hal_flash_ex.c...
|
||||||
|
compiling stm32f4xx_hal_rcc_ex.c...
|
||||||
|
compiling stm32f4xx_hal_can.c...
|
||||||
|
compiling stm32f4xx_hal_gpio.c...
|
||||||
|
compiling stm32f4xx_hal_dma_ex.c...
|
||||||
|
compiling stm32f4xx_hal_pwr.c...
|
||||||
|
compiling stm32f4xx_hal_dma.c...
|
||||||
|
compiling stm32f4xx_hal_pwr_ex.c...
|
||||||
|
compiling stm32f4xx_hal_cortex.c...
|
||||||
|
compiling stm32f4xx_hal.c...
|
||||||
|
compiling stm32f4xx_hal_exti.c...
|
||||||
|
compiling stm32f4xx_hal_spi.c...
|
||||||
|
compiling stm32f4xx_hal_tim_ex.c...
|
||||||
|
compiling system_stm32f4xx.c...
|
||||||
|
compiling stm32f4xx_hal_tim.c...
|
||||||
|
compiling stm32f4xx_hal_uart.c...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/croutine.c(28): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling croutine.c...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c(37): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling event_groups.c...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/list.c(30): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling list.c...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/queue.c(36): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling queue.c...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c(38): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling stream_buffer.c...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c(38): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling tasks.c...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/timers.c(36): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling timers.c...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c(43): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling heap_4.c...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c(28): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling cmsis_os2.c...
|
||||||
|
ArmClang: error: no such file or directory: '../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c'
|
||||||
|
ArmClang: error: no input files
|
||||||
|
compiling port.c...
|
||||||
|
../User/bsp/can.c(2): warning: In file included from...
|
||||||
|
../User\bsp/can.h(13): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling can.c...
|
||||||
|
compiling dwt.c...
|
||||||
|
compiling gpio.c...
|
||||||
|
../User/bsp/mm.c(4): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling mm.c...
|
||||||
|
compiling pwm.c...
|
||||||
|
compiling spi.c...
|
||||||
|
../User/bsp/time.c(6): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling time.c...
|
||||||
|
compiling uart.c...
|
||||||
|
compiling calc_lib.c...
|
||||||
|
compiling bmi088.c...
|
||||||
|
compiling dr16.c...
|
||||||
|
compiling motor.c...
|
||||||
|
../User/device/motor_dm.c(7): warning: In file included from...
|
||||||
|
../User\device/motor_dm.h(10): warning: In file included from...
|
||||||
|
../User\bsp/can.h(13): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling motor_dm.c...
|
||||||
|
../User/device/motor_rm.c(5): warning: In file included from...
|
||||||
|
../User/device/motor_rm.h(11): warning: In file included from...
|
||||||
|
../User\bsp/can.h(13): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling motor_rm.c...
|
||||||
|
compiling remote_control.c...
|
||||||
|
compiling ahrs.c...
|
||||||
|
compiling crc8.c...
|
||||||
|
compiling capacity.c...
|
||||||
|
compiling crc16.c...
|
||||||
|
compiling error_detect.c...
|
||||||
|
compiling filter.c...
|
||||||
|
../User/component/freertos_cli.c(33): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling freertos_cli.c...
|
||||||
|
compiling limiter.c...
|
||||||
|
compiling mixer.c...
|
||||||
|
compiling pid.c...
|
||||||
|
compiling ui.c...
|
||||||
|
compiling user_math.c...
|
||||||
|
../User/module/chassis.c(36): warning: In file included from...
|
||||||
|
../User/module/chassis.h(16): warning: In file included from...
|
||||||
|
../User\device/motor_rm.h(11): warning: In file included from...
|
||||||
|
../User\bsp/can.h(13): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling chassis.c...
|
||||||
|
../User/module/cmd.c(4): warning: In file included from...
|
||||||
|
../User\module/cmd.h(7): warning: In file included from...
|
||||||
|
../User/module/gimbal.h(9): warning: In file included from...
|
||||||
|
../User\device/motor_dm.h(10): warning: In file included from...
|
||||||
|
../User\bsp/can.h(13): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling cmd.c...
|
||||||
|
../User/module/config.c(1): warning: In file included from...
|
||||||
|
../User/module/config.h(12): warning: In file included from...
|
||||||
|
../User\module/chassis.h(16): warning: In file included from...
|
||||||
|
../User\device/motor_rm.h(11): warning: In file included from...
|
||||||
|
../User\bsp/can.h(13): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling config.c...
|
||||||
|
../User/module/gimbal.c(34): warning: In file included from...
|
||||||
|
../User/module/gimbal.h(9): warning: In file included from...
|
||||||
|
../User\device/motor_dm.h(10): warning: In file included from...
|
||||||
|
../User\bsp/can.h(13): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling gimbal.c...
|
||||||
|
../User/module/shoot.c(36): warning: In file included from...
|
||||||
|
../User/module/shoot.h(14): warning: In file included from...
|
||||||
|
../User\device/motor_rm.h(11): warning: In file included from...
|
||||||
|
../User\bsp/can.h(13): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling shoot.c...
|
||||||
|
../User/task/atti_esti.c(7): warning: In file included from...
|
||||||
|
../User\task/user_task.h(8): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling atti_esti.c...
|
||||||
|
../User/task/chassis.c(8): warning: In file included from...
|
||||||
|
../User\device/ai.h(11): warning: In file included from...
|
||||||
|
../User\module/gimbal.h(9): warning: In file included from...
|
||||||
|
../User\device/motor_dm.h(10): warning: In file included from...
|
||||||
|
../User\bsp/can.h(13): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling chassis.c...
|
||||||
|
../User/task/cmd.c(7): warning: In file included from...
|
||||||
|
../User\task/user_task.h(8): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling cmd.c...
|
||||||
|
../User/task/gimbal.c(7): warning: In file included from...
|
||||||
|
../User\task/user_task.h(8): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling gimbal.c...
|
||||||
|
../User/task/init.c(7): warning: In file included from...
|
||||||
|
../User\task/user_task.h(8): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling init.c...
|
||||||
|
../User/task/rc.c(7): warning: In file included from...
|
||||||
|
../User\task/user_task.h(8): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling rc.c...
|
||||||
|
../User/task/shoot.c(8): warning: In file included from...
|
||||||
|
../User\module/cmd.h(7): warning: In file included from...
|
||||||
|
../User\module/gimbal.h(9): warning: In file included from...
|
||||||
|
../User\device/motor_dm.h(10): warning: In file included from...
|
||||||
|
../User\bsp/can.h(13): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling shoot.c...
|
||||||
|
../User/task/user_task.c(1): warning: In file included from...
|
||||||
|
../User\task/user_task.h(8): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
|
||||||
|
../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found
|
||||||
|
#include "portmacro.h"
|
||||||
|
^~~~~~~~~~~~~
|
||||||
|
1 error generated.
|
||||||
|
compiling user_task.c...
|
||||||
|
"lll0121\lll0121.axf" - 33 Error(s), 0 Warning(s).
|
||||||
|
|
||||||
<h2>Software Packages used:</h2>
|
<h2>Software Packages used:</h2>
|
||||||
|
|
||||||
@ -58,7 +372,8 @@ Package Vendor: Keil
|
|||||||
|
|
||||||
* Component: ARM::CMSIS:CORE:5.4.0
|
* Component: ARM::CMSIS:CORE:5.4.0
|
||||||
Include file: CMSIS\Core\Include\tz_context.h
|
Include file: CMSIS\Core\Include\tz_context.h
|
||||||
Build Time Elapsed: 00:00:01
|
Target not created.
|
||||||
|
Build Time Elapsed: 00:00:13
|
||||||
</pre>
|
</pre>
|
||||||
</body>
|
</body>
|
||||||
</html>
|
</html>
|
||||||
|
|||||||
File diff suppressed because it is too large
Load Diff
@ -1,47 +0,0 @@
|
|||||||
lll0121/main.o: ..\Core\Src\main.c ..\Core\Inc\main.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
|
|
||||||
..\Core\Inc\stm32f4xx_hal_conf.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
|
|
||||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
|
|
||||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
|
|
||||||
..\Drivers\CMSIS\Include\core_cm4.h \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
|
|
||||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
|
||||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
|
||||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
|
||||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
|
||||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
|
|
||||||
..\Core\Inc\FreeRTOSConfig.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
|
||||||
..\Core\Inc\can.h ..\Core\Inc\main.h ..\Core\Inc\dma.h \
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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|||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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|
||||||
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|
||||||
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|
|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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||||||
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||||||
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|
||||||
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|
||||||
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|
||||||
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|
|
||||||
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|
|||||||
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|
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|
||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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|
|
||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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|||||||
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|
||||||
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|
||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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||||||
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||||||
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||||||
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|
||||||
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||||||
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||||||
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||||||
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|
||||||
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|
||||||
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|
||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\timers.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h
|
|
||||||
Binary file not shown.
@ -1,44 +0,0 @@
|
|||||||
lll0121/time.o: ..\User\bsp\time.c ..\User\bsp\time.h \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h ..\User\bsp\bsp.h \
|
|
||||||
..\User\bsp\bsp.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
|
|
||||||
..\Core\Inc\FreeRTOSConfig.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
|
|
||||||
..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
|
|
||||||
..\Core\Inc\stm32f4xx_hal_conf.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
|
|
||||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
|
|
||||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
|
|
||||||
..\Drivers\CMSIS\Include\core_cm4.h \
|
|
||||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
|
||||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
|
||||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
|
||||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
|
||||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h
|
|
||||||
Binary file not shown.
@ -1,16 +0,0 @@
|
|||||||
lll0121/timers.o: ..\Middlewares\Third_Party\FreeRTOS\Source\timers.c \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdlib.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
|
|
||||||
..\Core\Inc\FreeRTOSConfig.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\queue.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\timers.h
|
|
||||||
Binary file not shown.
Binary file not shown.
@ -1,57 +0,0 @@
|
|||||||
lll0121/user_task.o: ..\User\task\user_task.c ..\User\task\user_task.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
|
|
||||||
..\Core\Inc\FreeRTOSConfig.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
|
||||||
..\User\module\config.h ..\User\device\bmi088.h \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
|
|
||||||
..\User\component\ahrs.h ..\User\component\user_math.h \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
|
|
||||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h \
|
|
||||||
..\User\module\chassis.h ..\User\bsp\struct_typedef.h \
|
|
||||||
..\User\component\filter.h ..\User\component\pid.h \
|
|
||||||
..\User\device\motor_rm.h ..\User\device\motor.h ..\User\bsp\can.h \
|
|
||||||
..\Core\Inc\can.h ..\Core\Inc\main.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
|
|
||||||
..\Core\Inc\stm32f4xx_hal_conf.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
|
|
||||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
|
|
||||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
|
|
||||||
..\Drivers\CMSIS\Include\core_cm4.h \
|
|
||||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
|
||||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
|
||||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
|
||||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
|
||||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
|
|
||||||
..\User\bsp\bsp.h ..\User\bsp\mm.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
|
||||||
..\User\module\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h \
|
|
||||||
..\User\module\shoot.h ..\Core\Inc\main.h
|
|
||||||
Binary file not shown.
@ -63,8 +63,8 @@ FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 1024K
|
|||||||
/* Highest address of the user mode stack */
|
/* Highest address of the user mode stack */
|
||||||
_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of RAM */
|
_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of RAM */
|
||||||
/* Generate a link error if heap and stack don't fit into RAM */
|
/* Generate a link error if heap and stack don't fit into RAM */
|
||||||
_Min_Heap_Size = 0x1000; /* required amount of heap */
|
_Min_Heap_Size = 0x400; /* required amount of heap */
|
||||||
_Min_Stack_Size = 0x2000; /* required amount of stack */
|
_Min_Stack_Size = 0x800; /* required amount of stack */
|
||||||
|
|
||||||
/* Define output sections */
|
/* Define output sections */
|
||||||
SECTIONS
|
SECTIONS
|
||||||
|
|||||||
@ -71,7 +71,7 @@ uart:
|
|||||||
- instance: USART3
|
- instance: USART3
|
||||||
name: DR16
|
name: DR16
|
||||||
- instance: USART6
|
- instance: USART6
|
||||||
name: NUC
|
name: REF
|
||||||
- instance: USART1
|
- instance: USART1
|
||||||
name: '1'
|
name: '1'
|
||||||
enabled: true
|
enabled: true
|
||||||
|
|||||||
@ -26,7 +26,7 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
|
|||||||
if (huart->Instance == USART3)
|
if (huart->Instance == USART3)
|
||||||
return BSP_UART_DR16;
|
return BSP_UART_DR16;
|
||||||
else if (huart->Instance == USART6)
|
else if (huart->Instance == USART6)
|
||||||
return BSP_UART_NUC;
|
return BSP_UART_REF;
|
||||||
else if (huart->Instance == USART1)
|
else if (huart->Instance == USART1)
|
||||||
return BSP_UART_1;
|
return BSP_UART_1;
|
||||||
else
|
else
|
||||||
@ -119,7 +119,7 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
|
|||||||
switch (uart) {
|
switch (uart) {
|
||||||
case BSP_UART_DR16:
|
case BSP_UART_DR16:
|
||||||
return &huart3;
|
return &huart3;
|
||||||
case BSP_UART_NUC:
|
case BSP_UART_REF:
|
||||||
return &huart6;
|
return &huart6;
|
||||||
case BSP_UART_1:
|
case BSP_UART_1:
|
||||||
return &huart1;
|
return &huart1;
|
||||||
|
|||||||
@ -28,7 +28,7 @@ extern "C" {
|
|||||||
/* UART实体枚举，与设备对应 */
|
/* UART实体枚举，与设备对应 */
|
||||||
typedef enum {
|
typedef enum {
|
||||||
BSP_UART_DR16,
|
BSP_UART_DR16,
|
||||||
BSP_UART_NUC,
|
BSP_UART_REF,
|
||||||
BSP_UART_1,
|
BSP_UART_1,
|
||||||
BSP_UART_NUM,
|
BSP_UART_NUM,
|
||||||
BSP_UART_ERR,
|
BSP_UART_ERR,
|
||||||
|
|||||||
@ -2,6 +2,7 @@
|
|||||||
#include "device/ET16s.h"
|
#include "device/ET16s.h"
|
||||||
#include "device/device.h"
|
#include "device/device.h"
|
||||||
#include <string.h>
|
#include <string.h>
|
||||||
|
#include <stdbool.h>
|
||||||
//#include "error_detect.h"
|
//#include "error_detect.h"
|
||||||
#include "bsp/uart.h"
|
#include "bsp/uart.h"
|
||||||
#include "bsp/calc_lib.h"
|
#include "bsp/calc_lib.h"
|
||||||
@ -37,6 +38,7 @@
|
|||||||
|
|
||||||
|
|
||||||
static osThreadId_t thread_alert;
|
static osThreadId_t thread_alert;
|
||||||
|
static bool inited = false;
|
||||||
//uint8_t cbuf[FRAME_LEN]; //此处设置为两帧字节的长度 若为一帧会出现乱码的情况
|
//uint8_t cbuf[FRAME_LEN]; //此处设置为两帧字节的长度 若为一帧会出现乱码的情况
|
||||||
//uint8_t cbuf[sizeof(LD_raw_t)];
|
//uint8_t cbuf[sizeof(LD_raw_t)];
|
||||||
uint8_t cbuf[25u];
|
uint8_t cbuf[25u];
|
||||||
@ -53,11 +55,13 @@ static void REMOTE_RxCpltCallback(void) {
|
|||||||
}
|
}
|
||||||
//遥控器初始化
|
//遥控器初始化
|
||||||
int8_t REMOTE_Init(void) {
|
int8_t REMOTE_Init(void) {
|
||||||
|
if (inited) return DEVICE_OK;
|
||||||
if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
|
if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
|
||||||
|
|
||||||
BSP_UART_RegisterCallback(BSP_UART_DR16,BSP_UART_RX_CPLT_CB,
|
BSP_UART_RegisterCallback(BSP_UART_DR16,BSP_UART_RX_CPLT_CB,
|
||||||
REMOTE_RxCpltCallback);
|
REMOTE_RxCpltCallback);
|
||||||
memset(cbuf, 0, sizeof(cbuf));//初始化清空数据包
|
memset(cbuf, 0, sizeof(cbuf));//初始化清空数据包
|
||||||
|
inited = true;
|
||||||
return DEVICE_OK;
|
return DEVICE_OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@ -30,7 +30,9 @@ extern "C" {
|
|||||||
/* AUTO GENERATED SIGNALS END */
|
/* AUTO GENERATED SIGNALS END */
|
||||||
|
|
||||||
/* USER SIGNALS BEGIN */
|
/* USER SIGNALS BEGIN */
|
||||||
|
#define SIGNAL_REFEREE_RAW_REDY (1u << 5)
|
||||||
|
#define SIGNAL_REFEREE_FAST_REFRESH_UI (1u << 6)
|
||||||
|
#define SIGNAL_REFEREE_SLOW_REFRESH_UI (1u << 7)
|
||||||
/* USER SIGNALS END */
|
/* USER SIGNALS END */
|
||||||
/*设备层通用Header*/
|
/*设备层通用Header*/
|
||||||
typedef struct {
|
typedef struct {
|
||||||
|
|||||||
@ -12,11 +12,11 @@
|
|||||||
|
|
||||||
// /* 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 constants ------------------------------------------------------- */
|
||||||
// /* Exported macro ----------------------------------------------------------- */
|
// /* Exported macro ----------------------------------------------------------- */
|
||||||
@ -110,7 +110,7 @@
|
|||||||
|
|
||||||
// /* USER FUNCTION BEGIN */
|
// /* USER FUNCTION BEGIN */
|
||||||
|
|
||||||
// // ///* USER FUNCTION END */
|
// // // // ///* USER FUNCTION END */
|
||||||
|
|
||||||
// #ifdef __cplusplus
|
// #ifdef __cplusplus
|
||||||
// }
|
// }
|
||||||
|
|||||||
842
User/device/referee.c
Normal file
842
User/device/referee.c
Normal file
@ -0,0 +1,842 @@
|
|||||||
|
/*
|
||||||
|
裁判系统抽象。
|
||||||
|
*/
|
||||||
|
|
||||||
|
/* Includes ---------------------------------------------------------------- */
|
||||||
|
#include "device.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 "device/referee.h"
|
||||||
|
#include "module/cmd.h"
|
||||||
|
|
||||||
|
/* Private define ----------------------------------------------------------- */
|
||||||
|
#define REF_HEADER_SOF (0xA5)
|
||||||
|
#define REF_LEN_RX_BUFF (0xFF)
|
||||||
|
|
||||||
|
#define REF_UI_FAST_REFRESH_FREQ (50)
|
||||||
|
#define REF_UI_SLOW_REFRESH_FREQ (0.2f)
|
||||||
|
|
||||||
|
#define REF_UI_BOX_UP_OFFSET (4)
|
||||||
|
#define REF_UI_BOX_BOT_OFFSET (-14)
|
||||||
|
|
||||||
|
#define REF_UI_RIGHT_START_POS (0.85f)
|
||||||
|
|
||||||
|
/* Private macro ------------------------------------------------------------ */
|
||||||
|
/* Private typedef ---------------------------------------------------------- */
|
||||||
|
/* Private variables -------------------------------------------------------- */
|
||||||
|
static volatile uint32_t drop_message = 0;
|
||||||
|
|
||||||
|
static uint8_t rxbuf[REF_LEN_RX_BUFF];
|
||||||
|
|
||||||
|
static osThreadId_t thread_alert;
|
||||||
|
static bool inited = false;
|
||||||
|
|
||||||
|
/* Private function -------------------------------------------------------- */
|
||||||
|
static void Referee_RxCpltCallback(void) {
|
||||||
|
osThreadFlagsSet(thread_alert, SIGNAL_REFEREE_RAW_REDY);
|
||||||
|
}
|
||||||
|
|
||||||
|
static void Referee_IdleLineCallback(void) {
|
||||||
|
HAL_UART_AbortReceive_IT(BSP_UART_GetHandle(BSP_UART_REF));
|
||||||
|
}
|
||||||
|
|
||||||
|
static void Referee_AbortRxCpltCallback(void) {
|
||||||
|
osThreadFlagsSet(thread_alert, SIGNAL_REFEREE_RAW_REDY);
|
||||||
|
}
|
||||||
|
|
||||||
|
static void RefereeFastRefreshTimerCallback(void *arg) {
|
||||||
|
(void)arg;
|
||||||
|
osThreadFlagsSet(thread_alert, SIGNAL_REFEREE_FAST_REFRESH_UI);
|
||||||
|
}
|
||||||
|
|
||||||
|
static void RefereeSlowRefreshTimerCallback(void *arg) {
|
||||||
|
(void)arg;
|
||||||
|
osThreadFlagsSet(thread_alert, SIGNAL_REFEREE_SLOW_REFRESH_UI);
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Exported functions ------------------------------------------------------- */
|
||||||
|
int8_t Referee_Init(Referee_t *ref, Referee_UI_t *ui,
|
||||||
|
const CMD_Screen_t *screen) {
|
||||||
|
if (ref == NULL) return DEVICE_ERR_NULL;
|
||||||
|
if (inited) return DEVICE_ERR_INITED;
|
||||||
|
|
||||||
|
if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
|
||||||
|
|
||||||
|
ui->screen = screen;
|
||||||
|
|
||||||
|
BSP_UART_RegisterCallback(BSP_UART_REF, BSP_UART_RX_CPLT_CB,
|
||||||
|
Referee_RxCpltCallback);
|
||||||
|
BSP_UART_RegisterCallback(BSP_UART_REF, BSP_UART_ABORT_RX_CPLT_CB,
|
||||||
|
Referee_AbortRxCpltCallback);
|
||||||
|
BSP_UART_RegisterCallback(BSP_UART_REF, BSP_UART_IDLE_LINE_CB,
|
||||||
|
Referee_IdleLineCallback);
|
||||||
|
|
||||||
|
uint32_t fast_period_ms = (uint32_t)(1000.0f / REF_UI_FAST_REFRESH_FREQ);
|
||||||
|
uint32_t slow_period_ms = (uint32_t)(1000.0f / REF_UI_SLOW_REFRESH_FREQ);
|
||||||
|
|
||||||
|
ref->ui_fast_timer_id =
|
||||||
|
osTimerNew(RefereeFastRefreshTimerCallback, osTimerPeriodic, NULL, NULL);
|
||||||
|
|
||||||
|
ref->ui_slow_timer_id =
|
||||||
|
osTimerNew(RefereeSlowRefreshTimerCallback, osTimerPeriodic, NULL, NULL);
|
||||||
|
|
||||||
|
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);
|
||||||
|
|
||||||
|
inited = true;
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
int8_t Referee_Restart(void) {
|
||||||
|
__HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_REF));
|
||||||
|
__HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_REF));
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
int8_t Referee_StartReceiving(Referee_t *ref) {
|
||||||
|
(void)ref;
|
||||||
|
|
||||||
|
if ( BSP_UART_Receive(BSP_UART_REF, rxbuf, REF_LEN_RX_BUFF,true)
|
||||||
|
== BSP_OK)
|
||||||
|
return DEVICE_OK;
|
||||||
|
return DEVICE_ERR;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool Referee_CheckTXReady() {
|
||||||
|
return BSP_UART_GetHandle(BSP_UART_REF)->gState == HAL_UART_STATE_READY;
|
||||||
|
}
|
||||||
|
|
||||||
|
void Referee_HandleOffline(Referee_t *referee) {
|
||||||
|
referee->ref_status = REF_STATUS_OFFLINE;
|
||||||
|
}
|
||||||
|
|
||||||
|
int8_t Referee_Parse(Referee_t *ref) {
|
||||||
|
REF_SWITCH_STATUS(*ref, REF_STATUS_RUNNING);
|
||||||
|
uint32_t data_length =
|
||||||
|
REF_LEN_RX_BUFF -
|
||||||
|
__HAL_DMA_GET_COUNTER(BSP_UART_GetHandle(BSP_UART_REF)->hdmarx);
|
||||||
|
|
||||||
|
uint8_t index = 0;
|
||||||
|
uint8_t packet_shift;
|
||||||
|
uint8_t packet_length;
|
||||||
|
|
||||||
|
while (index < data_length && rxbuf[index] == REF_HEADER_SOF) {
|
||||||
|
packet_shift = index;
|
||||||
|
Referee_Header_t *header = (Referee_Header_t *)(rxbuf + index);
|
||||||
|
index += sizeof(*header);
|
||||||
|
if (index - packet_shift >= data_length) goto error;
|
||||||
|
|
||||||
|
if (!CRC8_Verify((uint8_t *)header, sizeof(*header))) goto error;
|
||||||
|
|
||||||
|
if (header->sof != REF_HEADER_SOF) goto error;
|
||||||
|
|
||||||
|
Referee_CMDID_t *cmd_id = (Referee_CMDID_t *)(rxbuf + index);
|
||||||
|
index += sizeof(*cmd_id);
|
||||||
|
if (index - packet_shift >= data_length) goto error;
|
||||||
|
|
||||||
|
void *target = (rxbuf + index);
|
||||||
|
void *origin;
|
||||||
|
size_t size;
|
||||||
|
|
||||||
|
switch (*cmd_id) {
|
||||||
|
case REF_CMD_ID_GAME_STATUS:
|
||||||
|
origin = &(ref->game_status);
|
||||||
|
size = sizeof(ref->game_status);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_GAME_RESULT:
|
||||||
|
origin = &(ref->game_result);
|
||||||
|
size = sizeof(ref->game_result);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_GAME_ROBOT_HP:
|
||||||
|
origin = &(ref->game_robot_hp);
|
||||||
|
size = sizeof(ref->game_robot_hp);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_WARNING:
|
||||||
|
origin = &(ref->warning);
|
||||||
|
size = sizeof(ref->warning);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_DART_COUNTDOWN:
|
||||||
|
origin = &(ref->dart_countdown);
|
||||||
|
size = sizeof(ref->dart_countdown);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_ROBOT_STATUS:
|
||||||
|
origin = &(ref->robot_status);
|
||||||
|
size = sizeof(ref->robot_status);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_POWER_HEAT_DATA:
|
||||||
|
origin = &(ref->power_heat);
|
||||||
|
size = sizeof(ref->power_heat);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_ROBOT_POS:
|
||||||
|
origin = &(ref->robot_pos);
|
||||||
|
size = sizeof(ref->robot_pos);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_ROBOT_BUFF:
|
||||||
|
origin = &(ref->robot_buff);
|
||||||
|
size = sizeof(ref->robot_buff);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_ROBOT_DMG:
|
||||||
|
origin = &(ref->robot_danage);
|
||||||
|
size = sizeof(ref->robot_danage);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_SHOOT_DATA:
|
||||||
|
origin = &(ref->shoot_data);
|
||||||
|
size = sizeof(ref->shoot_data);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_BULLET_REMAINING:
|
||||||
|
origin = &(ref->bullet_remain);
|
||||||
|
size = sizeof(ref->bullet_remain);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_RFID:
|
||||||
|
origin = &(ref->rfid);
|
||||||
|
size = sizeof(ref->rfid);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_DART_CLIENT:
|
||||||
|
origin = &(ref->dart_client);
|
||||||
|
size = sizeof(ref->dart_client);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_GROUND_ROBOT_POS:
|
||||||
|
origin = &(ref->ground_robot_pos);
|
||||||
|
size = sizeof(ref->ground_robot_pos);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_RADAR_MASK_PROC:
|
||||||
|
origin = &(ref->radar_mark);
|
||||||
|
size = sizeof(ref->radar_mark);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_SENTRY_AUTO_DEC:
|
||||||
|
origin = &(ref->sentry_info);
|
||||||
|
size = sizeof(ref->sentry_info);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_RADAR_AUTO_DEC:
|
||||||
|
origin = &(ref->radar_info);
|
||||||
|
size = sizeof(ref->radar_info);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_INTER_STUDENT:
|
||||||
|
origin = &(ref->robot_interaction);
|
||||||
|
size = sizeof(ref->robot_interaction);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_INTER_STUDENT_CUSTOM:
|
||||||
|
origin = &(ref->custom_robot);
|
||||||
|
size = sizeof(ref->custom_robot);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_CLIENT_MAP:
|
||||||
|
origin = &(ref->map_command);
|
||||||
|
size = sizeof(ref->map_command);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_KEYBOARD_MOUSE:
|
||||||
|
origin = &(ref->keyboard_mouse_t);
|
||||||
|
size = sizeof(ref->keyboard_mouse_t);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_CLIENT_MAP_REC_RADAR:
|
||||||
|
origin = &(ref->map_robot_data);
|
||||||
|
size = sizeof(ref->map_robot_data);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_CUSTOMER_CONTROLLER_CLIENT_INTERACT:
|
||||||
|
origin = &(ref->custom_client);
|
||||||
|
size = sizeof(ref->custom_client);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_CLIENT_MAP_REC_ROUTE:
|
||||||
|
origin = &(ref->map_data);
|
||||||
|
size = sizeof(ref->map_data);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_CLIENT_MAP_REC_ROBOT:
|
||||||
|
origin = &(ref->custom_info);
|
||||||
|
size = sizeof(ref->custom_info);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_CUSTOMER_CONTROLLER_CLIENT_REC_ROBOT:
|
||||||
|
origin = &(ref->robot_custom);
|
||||||
|
size = sizeof(ref->robot_custom);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_ROBOT_TO_CUSTOMER_CONTROLLER_CLIENT_REC:
|
||||||
|
origin = &(ref->robot_custom2);
|
||||||
|
size = sizeof(ref->robot_custom2);
|
||||||
|
break;
|
||||||
|
|
||||||
|
case REF_CMD_ID_OPPSITE_ROBOT_POS:/*0xA01*/
|
||||||
|
origin = &(ref->robot_custom2);
|
||||||
|
size = sizeof(ref->robot_custom2);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_OPPSITE_ROBOT_HP:/*0xA02*/
|
||||||
|
origin = &(ref->oppsite_robotHP);
|
||||||
|
size = sizeof(ref->oppsite_robotHP);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_OPPSITE_ROBOT_BULLET_REMAINING:/*0xA03*/
|
||||||
|
origin = &(ref->oppsite_bullet_remain);
|
||||||
|
size = sizeof(ref->oppsite_bullet_remain);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_OPPSITE_ROBOT_STATUs:/*0xA04*/
|
||||||
|
origin = &(ref->oppsite_robot_satate);
|
||||||
|
size = sizeof(ref->oppsite_robot_satate);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_OPPSITE_ROBOT_BUFF:/*0xA05*/
|
||||||
|
origin = &(ref->oppsite_robot_buff);
|
||||||
|
size = sizeof(ref->oppsite_robot_buff);
|
||||||
|
break;
|
||||||
|
case REF_CMD_ID_OPPSITE_ROBOT_INTERF_WAVE_SRCRET_KEY:/*0xA06*/
|
||||||
|
origin = &(ref->opsite_DisturbingWave_key);
|
||||||
|
size = sizeof(ref->opsite_DisturbingWave_key);
|
||||||
|
break;
|
||||||
|
// case REF_CMD_ID_CLIENT_MAP:
|
||||||
|
// origin = &(ref->client_map);
|
||||||
|
// size = sizeof(ref->client_map);
|
||||||
|
default:
|
||||||
|
return DEVICE_ERR;
|
||||||
|
}
|
||||||
|
packet_length = sizeof(Referee_Header_t) + sizeof(Referee_CMDID_t) + size +
|
||||||
|
sizeof(Referee_Tail_t);
|
||||||
|
index += size;
|
||||||
|
if (index - packet_shift >= data_length) goto error;
|
||||||
|
|
||||||
|
index += sizeof(Referee_Tail_t);
|
||||||
|
if (index - packet_shift != packet_length) goto error;
|
||||||
|
|
||||||
|
if (CRC16_Verify((uint8_t *)(rxbuf + packet_shift), packet_length))
|
||||||
|
memcpy(origin, target, size);
|
||||||
|
else
|
||||||
|
goto error;
|
||||||
|
}
|
||||||
|
return DEVICE_OK;
|
||||||
|
|
||||||
|
error:
|
||||||
|
drop_message++;
|
||||||
|
return DEVICE_ERR;
|
||||||
|
}
|
||||||
|
|
||||||
|
int8_t Referee_StartSend(uint8_t *data, uint32_t len) {
|
||||||
|
if (BSP_UART_Transmit(BSP_UART_REF,data, (size_t)len, true) == BSP_OK) {
|
||||||
|
return DEVICE_OK;
|
||||||
|
} else
|
||||||
|
return DEVICE_ERR;
|
||||||
|
}
|
||||||
|
|
||||||
|
int8_t Referee_MoveData(void *data, void *tmp, uint32_t len) {
|
||||||
|
if (len <= 0 || data == NULL || tmp == NULL) return DEVICE_ERR;
|
||||||
|
memcpy(tmp, (const void *)data, (size_t)len);
|
||||||
|
memset(data, 0, (size_t)len);
|
||||||
|
return DEVICE_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
int8_t Referee_SetHeader(Referee_Interactive_Header_t *header,
|
||||||
|
Referee_StudentCMDID_t cmd_id, uint8_t sender_id) {
|
||||||
|
header->data_cmd_id = cmd_id;
|
||||||
|
if (sender_id <= REF_BOT_RED_RADER) switch (sender_id) {
|
||||||
|
case REF_BOT_RED_HERO:
|
||||||
|
header->sender_ID = REF_BOT_RED_HERO;
|
||||||
|
header->receiver_ID = REF_CL_RED_HERO;
|
||||||
|
break;
|
||||||
|
case REF_BOT_RED_ENGINEER:
|
||||||
|
header->sender_ID = REF_BOT_RED_ENGINEER;
|
||||||
|
header->receiver_ID = REF_CL_RED_ENGINEER;
|
||||||
|
break;
|
||||||
|
case REF_BOT_RED_INFANTRY_1:
|
||||||
|
header->sender_ID = REF_BOT_RED_INFANTRY_1;
|
||||||
|
header->receiver_ID = REF_CL_RED_INFANTRY_1;
|
||||||
|
break;
|
||||||
|
case REF_BOT_RED_INFANTRY_2:
|
||||||
|
header->sender_ID = REF_BOT_RED_INFANTRY_2;
|
||||||
|
header->receiver_ID = REF_CL_RED_INFANTRY_2;
|
||||||
|
break;
|
||||||
|
case REF_BOT_RED_INFANTRY_3:
|
||||||
|
header->sender_ID = REF_BOT_RED_INFANTRY_3;
|
||||||
|
header->receiver_ID = REF_CL_RED_INFANTRY_3;
|
||||||
|
break;
|
||||||
|
case REF_BOT_RED_DRONE:
|
||||||
|
header->sender_ID = REF_BOT_RED_DRONE;
|
||||||
|
header->receiver_ID = REF_CL_RED_DRONE;
|
||||||
|
break;
|
||||||
|
case REF_BOT_RED_SENTRY:
|
||||||
|
header->sender_ID = REF_BOT_RED_SENTRY;
|
||||||
|
break;
|
||||||
|
case REF_BOT_RED_RADER:
|
||||||
|
header->sender_ID = REF_BOT_RED_RADER;
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
switch (sender_id) {
|
||||||
|
case REF_BOT_BLU_HERO:
|
||||||
|
header->sender_ID = REF_BOT_BLU_HERO;
|
||||||
|
header->receiver_ID = REF_CL_BLU_HERO;
|
||||||
|
break;
|
||||||
|
case REF_BOT_BLU_ENGINEER:
|
||||||
|
header->sender_ID = REF_BOT_BLU_ENGINEER;
|
||||||
|
header->receiver_ID = REF_CL_BLU_ENGINEER;
|
||||||
|
break;
|
||||||
|
case REF_BOT_BLU_INFANTRY_1:
|
||||||
|
header->sender_ID = REF_BOT_BLU_INFANTRY_1;
|
||||||
|
header->receiver_ID = REF_CL_BLU_INFANTRY_1;
|
||||||
|
break;
|
||||||
|
case REF_BOT_BLU_INFANTRY_2:
|
||||||
|
header->sender_ID = REF_BOT_BLU_INFANTRY_2;
|
||||||
|
header->receiver_ID = REF_CL_BLU_INFANTRY_2;
|
||||||
|
break;
|
||||||
|
case REF_BOT_BLU_INFANTRY_3:
|
||||||
|
header->sender_ID = REF_BOT_BLU_INFANTRY_3;
|
||||||
|
header->receiver_ID = REF_CL_BLU_INFANTRY_3;
|
||||||
|
break;
|
||||||
|
case REF_BOT_BLU_DRONE:
|
||||||
|
header->sender_ID = REF_BOT_BLU_DRONE;
|
||||||
|
header->receiver_ID = REF_CL_BLU_DRONE;
|
||||||
|
break;
|
||||||
|
case REF_BOT_BLU_SENTRY:
|
||||||
|
header->sender_ID = REF_BOT_BLU_SENTRY;
|
||||||
|
break;
|
||||||
|
case REF_BOT_BLU_RADER:
|
||||||
|
header->sender_ID = REF_BOT_BLU_RADER;
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
int8_t Referee_PackUI(Referee_UI_t *ui, Referee_t *ref) {
|
||||||
|
if (!Referee_CheckTXReady()) return 0;
|
||||||
|
if (ui->character_counter == 0 && ui->grapic_counter == 0 &&
|
||||||
|
ui->del_counter == 0)
|
||||||
|
return 0;
|
||||||
|
|
||||||
|
static uint8_t send_data[sizeof(Referee_UI_Drawgrapic_7_t)] = {0};
|
||||||
|
uint16_t size;
|
||||||
|
if (ui->del_counter != 0) {
|
||||||
|
if (ui->del_counter < 0 || ui->del_counter > REF_UI_MAX_STRING_NUM)
|
||||||
|
return DEVICE_ERR;
|
||||||
|
Referee_UI_Del_t *address = (Referee_UI_Del_t *)send_data;
|
||||||
|
address->header.sof = REF_HEADER_SOF;
|
||||||
|
address->header.data_length =
|
||||||
|
sizeof(UI_Del_t) + sizeof(Referee_Interactive_Header_t);
|
||||||
|
address->header.crc8 =
|
||||||
|
CRC8_Calc((const uint8_t *)&(address->header),
|
||||||
|
sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT);
|
||||||
|
address->cmd_id = REF_CMD_ID_INTER_STUDENT;
|
||||||
|
Referee_SetHeader(&(address->IA_header), REF_STDNT_CMD_ID_UI_DEL,
|
||||||
|
ref->robot_status.robot_id);
|
||||||
|
Referee_MoveData(&(ui->del[--ui->del_counter]), &(address->data),
|
||||||
|
sizeof(UI_Del_t));
|
||||||
|
address->crc16 =
|
||||||
|
CRC16_Calc((const uint8_t *)address,
|
||||||
|
sizeof(Referee_UI_Del_t) - sizeof(uint16_t), CRC16_INIT);
|
||||||
|
size = sizeof(Referee_UI_Del_t);
|
||||||
|
|
||||||
|
Referee_StartSend(send_data, size);
|
||||||
|
return DEVICE_OK;
|
||||||
|
} else if (ui->grapic_counter != 0) {
|
||||||
|
switch (ui->grapic_counter) {
|
||||||
|
case 1:
|
||||||
|
size = sizeof(Referee_UI_Drawgrapic_1_t);
|
||||||
|
Referee_UI_Drawgrapic_1_t *address_1 =
|
||||||
|
(Referee_UI_Drawgrapic_1_t *)send_data;
|
||||||
|
address_1->header.sof = REF_HEADER_SOF;
|
||||||
|
address_1->header.data_length =
|
||||||
|
sizeof(UI_Drawgrapic_1_t) + sizeof(Referee_Interactive_Header_t);
|
||||||
|
address_1->header.crc8 =
|
||||||
|
CRC8_Calc((const uint8_t *)&(address_1->header),
|
||||||
|
sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT);
|
||||||
|
address_1->cmd_id = REF_CMD_ID_INTER_STUDENT;
|
||||||
|
Referee_SetHeader(&(address_1->IA_header), REF_STDNT_CMD_ID_UI_DRAW1,
|
||||||
|
ref->robot_status.robot_id);
|
||||||
|
Referee_MoveData(&(ui->grapic), &(address_1->data.grapic),
|
||||||
|
sizeof(UI_Drawgrapic_1_t));
|
||||||
|
address_1->crc16 = CRC16_Calc(
|
||||||
|
(const uint8_t *)address_1,
|
||||||
|
sizeof(Referee_UI_Drawgrapic_1_t) - sizeof(uint16_t), CRC16_INIT);
|
||||||
|
break;
|
||||||
|
case 2:
|
||||||
|
size = sizeof(Referee_UI_Drawgrapic_2_t);
|
||||||
|
Referee_UI_Drawgrapic_2_t *address_2 =
|
||||||
|
(Referee_UI_Drawgrapic_2_t *)send_data;
|
||||||
|
address_2->header.sof = REF_HEADER_SOF;
|
||||||
|
address_2->header.data_length =
|
||||||
|
sizeof(UI_Drawgrapic_2_t) + sizeof(Referee_Interactive_Header_t);
|
||||||
|
address_2->header.crc8 =
|
||||||
|
CRC8_Calc((const uint8_t *)&(address_2->header),
|
||||||
|
sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT);
|
||||||
|
address_2->cmd_id = REF_CMD_ID_INTER_STUDENT;
|
||||||
|
Referee_SetHeader(&(address_2->IA_header), REF_STDNT_CMD_ID_UI_DRAW2,
|
||||||
|
ref->robot_status.robot_id);
|
||||||
|
Referee_MoveData(&(ui->grapic), &(address_2->data.grapic),
|
||||||
|
sizeof(UI_Drawgrapic_2_t));
|
||||||
|
address_2->crc16 = CRC16_Calc(
|
||||||
|
(const uint8_t *)address_2,
|
||||||
|
sizeof(Referee_UI_Drawgrapic_2_t) - sizeof(uint16_t), CRC16_INIT);
|
||||||
|
break;
|
||||||
|
case 3:
|
||||||
|
case 4:
|
||||||
|
case 5:
|
||||||
|
size = sizeof(Referee_UI_Drawgrapic_5_t);
|
||||||
|
Referee_UI_Drawgrapic_5_t *address_5 =
|
||||||
|
(Referee_UI_Drawgrapic_5_t *)send_data;
|
||||||
|
address_5->header.sof = REF_HEADER_SOF;
|
||||||
|
address_5->header.data_length =
|
||||||
|
sizeof(UI_Drawgrapic_5_t) + sizeof(Referee_Interactive_Header_t);
|
||||||
|
address_5->header.crc8 =
|
||||||
|
CRC8_Calc((const uint8_t *)&(address_5->header),
|
||||||
|
sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT);
|
||||||
|
address_5->cmd_id = REF_CMD_ID_INTER_STUDENT;
|
||||||
|
Referee_SetHeader(&(address_5->IA_header), REF_STDNT_CMD_ID_UI_DRAW5,
|
||||||
|
ref->robot_status.robot_id);
|
||||||
|
Referee_MoveData(&(ui->grapic), &(address_5->data.grapic),
|
||||||
|
sizeof(UI_Drawgrapic_5_t));
|
||||||
|
address_5->crc16 = CRC16_Calc(
|
||||||
|
(const uint8_t *)address_5,
|
||||||
|
sizeof(Referee_UI_Drawgrapic_5_t) - sizeof(uint16_t), CRC16_INIT);
|
||||||
|
break;
|
||||||
|
case 6:
|
||||||
|
case 7:
|
||||||
|
size = sizeof(Referee_UI_Drawgrapic_7_t);
|
||||||
|
Referee_UI_Drawgrapic_7_t *address_7 =
|
||||||
|
(Referee_UI_Drawgrapic_7_t *)send_data;
|
||||||
|
address_7->header.sof = REF_HEADER_SOF;
|
||||||
|
address_7->header.data_length =
|
||||||
|
sizeof(UI_Drawgrapic_7_t) + sizeof(Referee_Interactive_Header_t);
|
||||||
|
address_7->header.crc8 =
|
||||||
|
CRC8_Calc((const uint8_t *)&(address_7->header),
|
||||||
|
sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT);
|
||||||
|
address_7->cmd_id = REF_CMD_ID_INTER_STUDENT;
|
||||||
|
Referee_SetHeader(&(address_7->IA_header), REF_STDNT_CMD_ID_UI_DRAW7,
|
||||||
|
ref->robot_status.robot_id);
|
||||||
|
Referee_MoveData(&(ui->grapic), &(address_7->data.grapic),
|
||||||
|
sizeof(UI_Drawgrapic_7_t));
|
||||||
|
address_7->crc16 = CRC16_Calc(
|
||||||
|
(const uint8_t *)address_7,
|
||||||
|
sizeof(Referee_UI_Drawgrapic_7_t) - sizeof(uint16_t), CRC16_INIT);
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
return DEVICE_ERR;
|
||||||
|
}
|
||||||
|
if (Referee_StartSend(send_data, size) == HAL_OK) {
|
||||||
|
ui->grapic_counter = 0;
|
||||||
|
return DEVICE_OK;
|
||||||
|
}
|
||||||
|
} else if (ui->character_counter != 0) {
|
||||||
|
if (ui->character_counter < 0 ||
|
||||||
|
ui->character_counter > REF_UI_MAX_STRING_NUM)
|
||||||
|
return DEVICE_ERR;
|
||||||
|
Referee_UI_Drawcharacter_t *address =
|
||||||
|
(Referee_UI_Drawcharacter_t *)send_data;
|
||||||
|
address->header.sof = REF_HEADER_SOF;
|
||||||
|
address->header.data_length =
|
||||||
|
sizeof(UI_Drawcharacter_t) + sizeof(Referee_Interactive_Header_t);
|
||||||
|
address->header.crc8 =
|
||||||
|
CRC8_Calc((const uint8_t *)&(address->header),
|
||||||
|
sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT);
|
||||||
|
address->cmd_id = REF_CMD_ID_INTER_STUDENT;
|
||||||
|
Referee_SetHeader(&(address->IA_header), REF_STDNT_CMD_ID_UI_STR,
|
||||||
|
ref->robot_status.robot_id);
|
||||||
|
Referee_MoveData(&(ui->character_data[--ui->character_counter]),
|
||||||
|
&(address->data.grapic), sizeof(UI_Drawcharacter_t));
|
||||||
|
address->crc16 = CRC16_Calc(
|
||||||
|
(const uint8_t *)address,
|
||||||
|
sizeof(Referee_UI_Drawcharacter_t) - sizeof(uint16_t), CRC16_INIT);
|
||||||
|
size = sizeof(Referee_UI_Drawcharacter_t);
|
||||||
|
|
||||||
|
Referee_StartSend(send_data, size);
|
||||||
|
return DEVICE_OK;
|
||||||
|
}
|
||||||
|
return DEVICE_ERR_NULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
UI_Ele_t *Referee_GetGrapicAdd(Referee_UI_t *ref_ui) {
|
||||||
|
if (ref_ui->grapic_counter >= REF_UI_MAX_GRAPIC_NUM ||
|
||||||
|
ref_ui->grapic_counter < 0)
|
||||||
|
return NULL;
|
||||||
|
else
|
||||||
|
return &(ref_ui->grapic[ref_ui->grapic_counter++]);
|
||||||
|
}
|
||||||
|
|
||||||
|
UI_Drawcharacter_t *Referee_GetCharacterAdd(Referee_UI_t *ref_ui) {
|
||||||
|
if (ref_ui->character_counter >= REF_UI_MAX_STRING_NUM ||
|
||||||
|
ref_ui->character_counter < 0)
|
||||||
|
return NULL;
|
||||||
|
else
|
||||||
|
return &(ref_ui->character_data[ref_ui->character_counter++]);
|
||||||
|
}
|
||||||
|
|
||||||
|
UI_Del_t *Referee_GetDelAdd(Referee_UI_t *ref_ui) {
|
||||||
|
if (ref_ui->del_counter >= REF_UI_MAX_DEL_NUM || ref_ui->del_counter < 0)
|
||||||
|
return NULL;
|
||||||
|
else
|
||||||
|
return &(ref_ui->del[ref_ui->del_counter++]);
|
||||||
|
}
|
||||||
|
|
||||||
|
uint8_t Referee_PraseCmd(Referee_UI_t *ref_ui, CMD_UI_t cmd) {
|
||||||
|
switch (cmd) {
|
||||||
|
/* Demo */
|
||||||
|
case UI_NOTHING:
|
||||||
|
/* 字符 */
|
||||||
|
UI_DrawCharacter(Referee_GetCharacterAdd(ref_ui), "0",
|
||||||
|
UI_GRAPIC_OPERATION_ADD, UI_GRAPIC_LAYER_AUTOAIM,
|
||||||
|
RED_BLUE, UI_DEFAULT_WIDTH, 100, 100, 200, 200, "Demo");
|
||||||
|
/* 直线 */
|
||||||
|
UI_DrawLine(Referee_GetGrapicAdd(ref_ui), "2", UI_GRAPIC_OPERATION_ADD,
|
||||||
|
UI_GRAPIC_LAYER_AUTOAIM, RED_BLUE, UI_DEFAULT_WIDTH, 960, 540,
|
||||||
|
960, 240);
|
||||||
|
/* 圆形 */
|
||||||
|
UI_DrawCycle(Referee_GetGrapicAdd(ref_ui), "1", UI_GRAPIC_OPERATION_ADD,
|
||||||
|
UI_GRAPIC_LAYER_AUTOAIM, RED_BLUE, UI_DEFAULT_WIDTH, 900,
|
||||||
|
500, 10);
|
||||||
|
/* 删除 */
|
||||||
|
UI_DelLayer(Referee_GetDelAdd(ref_ui), UI_DEL_OPERATION_DEL,
|
||||||
|
UI_GRAPIC_LAYER_AUTOAIM);
|
||||||
|
break;
|
||||||
|
case UI_AUTO_AIM_START:
|
||||||
|
UI_DrawCharacter(Referee_GetCharacterAdd(ref_ui), "1",
|
||||||
|
UI_GRAPIC_OPERATION_ADD, UI_GRAPIC_LAYER_AUTOAIM,
|
||||||
|
RED_BLUE, UI_DEFAULT_WIDTH * 10, 50, UI_DEFAULT_WIDTH,
|
||||||
|
ref_ui->screen->width * 0.8,
|
||||||
|
ref_ui->screen->height * 0.5, "AUTO");
|
||||||
|
break;
|
||||||
|
case UI_AUTO_AIM_STOP:
|
||||||
|
UI_DelLayer(Referee_GetDelAdd(ref_ui), UI_DEL_OPERATION_DEL,
|
||||||
|
UI_GRAPIC_LAYER_AUTOAIM);
|
||||||
|
|
||||||
|
default:
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint8_t Referee_PackCap(Referee_ForCap_t *cap, const Referee_t *ref) {
|
||||||
|
cap->chassis_power_limit = ref->robot_status.chassis_power_limit;
|
||||||
|
cap->chassis_pwr_buff = ref->power_heat.chassis_pwr_buff;
|
||||||
|
cap->chassis_watt = ref->power_heat.chassis_watt;
|
||||||
|
cap->ref_status = ref->ref_status;
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint8_t Referee_PackAI(Referee_ForAI_t *ai, const Referee_t *ref) {
|
||||||
|
ai->ref_status = ref->ref_status;
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint8_t Referee_PackChassis(Referee_ForChassis_t *chassis,
|
||||||
|
const Referee_t *ref) {
|
||||||
|
chassis->chassis_power_limit = ref->robot_status.chassis_power_limit;
|
||||||
|
chassis->chassis_pwr_buff = ref->power_heat.chassis_pwr_buff;
|
||||||
|
chassis->ref_status = ref->ref_status;
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint8_t Referee_PackShoot(Referee_ForShoot_t *shoot, Referee_t *ref) {
|
||||||
|
memcpy(&(shoot->power_heat), &(ref->power_heat), sizeof(shoot->power_heat));
|
||||||
|
memcpy(&(shoot->robot_status), &(ref->robot_status),
|
||||||
|
sizeof(shoot->robot_status));
|
||||||
|
memcpy(&(shoot->shoot_data), &(ref->shoot_data), sizeof(shoot->shoot_data));
|
||||||
|
shoot->ref_status = ref->ref_status;
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint8_t Referee_UIRefresh(Referee_UI_t *ui) {
|
||||||
|
static uint8_t fsm = 0;
|
||||||
|
if (osThreadFlagsGet() & SIGNAL_REFEREE_FAST_REFRESH_UI) {
|
||||||
|
osThreadFlagsClear(SIGNAL_REFEREE_FAST_REFRESH_UI);
|
||||||
|
switch (fsm) {
|
||||||
|
case 0: {
|
||||||
|
fsm++;
|
||||||
|
UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL,
|
||||||
|
UI_GRAPIC_LAYER_CHASSIS);
|
||||||
|
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);
|
||||||
|
float start_pos_h = 0.0f;
|
||||||
|
switch (ui->chassis_ui.mode) {
|
||||||
|
case STOP:
|
||||||
|
start_pos_h = 0.68f;
|
||||||
|
break;
|
||||||
|
case CHASSIS_MODE_FOLLOW_GIMBAL:
|
||||||
|
start_pos_h = 0.66f;
|
||||||
|
break;
|
||||||
|
case CHASSIS_MODE_ROTOR:
|
||||||
|
start_pos_h = 0.64f;
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
if (start_pos_h != 0.0f)
|
||||||
|
UI_DrawRectangle(
|
||||||
|
Referee_GetGrapicAdd(ui), "8", UI_GRAPIC_OPERATION_ADD,
|
||||||
|
UI_GRAPIC_LAYER_CHASSIS, GREEN, UI_DEFAULT_WIDTH,
|
||||||
|
ui->screen->width * REF_UI_RIGHT_START_POS - 6,
|
||||||
|
ui->screen->height * start_pos_h + REF_UI_BOX_UP_OFFSET,
|
||||||
|
ui->screen->width * REF_UI_RIGHT_START_POS + 44,
|
||||||
|
ui->screen->height * start_pos_h + REF_UI_BOX_BOT_OFFSET);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case 1:
|
||||||
|
fsm++; UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL,
|
||||||
|
UI_GRAPIC_LAYER_CAP);
|
||||||
|
switch (ui->cap_ui.status) {
|
||||||
|
case UNREADY:
|
||||||
|
UI_DrawArc(Referee_GetGrapicAdd(ui), "9", UI_GRAPIC_OPERATION_ADD,
|
||||||
|
UI_GRAPIC_LAYER_CAP, YELLOW, 0, 360,
|
||||||
|
UI_DEFAULT_WIDTH * 5, ui->screen->width * 0.6,
|
||||||
|
ui->screen->height * 0.2, 50, 50);
|
||||||
|
break;
|
||||||
|
break;
|
||||||
|
case READY:
|
||||||
|
UI_DrawArc(Referee_GetGrapicAdd(ui), "9", UI_GRAPIC_OPERATION_ADD,
|
||||||
|
UI_GRAPIC_LAYER_CAP, GREEN, 0,
|
||||||
|
ui->cap_ui.percentage * 360, UI_DEFAULT_WIDTH * 5,
|
||||||
|
ui->screen->width * 0.6, ui->screen->height * 0.2, 50,
|
||||||
|
50);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
break;
|
||||||
|
case 2: {
|
||||||
|
fsm++;
|
||||||
|
UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL,
|
||||||
|
UI_GRAPIC_LAYER_GIMBAL);
|
||||||
|
float start_pos_h = 0.0f;
|
||||||
|
switch (ui->gimbal_ui.mode) {
|
||||||
|
case GIMBAL_MODE_RELAX:
|
||||||
|
start_pos_h = 0.68f;
|
||||||
|
break;
|
||||||
|
case GIMBAL_MODE_RELATIVE:
|
||||||
|
start_pos_h = 0.66f;
|
||||||
|
break;
|
||||||
|
case GIMBAL_MODE_ABSOLUTE:
|
||||||
|
start_pos_h = 0.64f;
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
UI_DrawRectangle(
|
||||||
|
Referee_GetGrapicAdd(ui), "a", UI_GRAPIC_OPERATION_ADD,
|
||||||
|
UI_GRAPIC_LAYER_GIMBAL, GREEN, UI_DEFAULT_WIDTH,
|
||||||
|
ui->screen->width * REF_UI_RIGHT_START_POS + 54,
|
||||||
|
ui->screen->height * start_pos_h + REF_UI_BOX_UP_OFFSET,
|
||||||
|
ui->screen->width * REF_UI_RIGHT_START_POS + 102,
|
||||||
|
ui->screen->height * start_pos_h + REF_UI_BOX_BOT_OFFSET);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case 3: {
|
||||||
|
fsm++;
|
||||||
|
UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL,
|
||||||
|
UI_GRAPIC_LAYER_SHOOT);
|
||||||
|
float start_pos_h = 0.0f;
|
||||||
|
switch (ui->shoot_ui.fire) {
|
||||||
|
case SHOOT_STATE_IDLE:
|
||||||
|
start_pos_h = 0.68f;
|
||||||
|
break;
|
||||||
|
case SHOOT_STATE_READY:
|
||||||
|
start_pos_h = 0.66f;
|
||||||
|
break;
|
||||||
|
case SHOOT_STATE_FIRE:
|
||||||
|
start_pos_h = 0.64f;
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
UI_DrawRectangle(
|
||||||
|
Referee_GetGrapicAdd(ui), "b", UI_GRAPIC_OPERATION_ADD,
|
||||||
|
UI_GRAPIC_LAYER_SHOOT, GREEN, UI_DEFAULT_WIDTH,
|
||||||
|
ui->screen->width * REF_UI_RIGHT_START_POS + 114,
|
||||||
|
ui->screen->height * start_pos_h + REF_UI_BOX_UP_OFFSET,
|
||||||
|
ui->screen->width * REF_UI_RIGHT_START_POS + 162,
|
||||||
|
ui->screen->height * start_pos_h + REF_UI_BOX_BOT_OFFSET);
|
||||||
|
|
||||||
|
switch (ui->shoot_ui.mode) {
|
||||||
|
case SHOOT_MODE_SAFE:
|
||||||
|
start_pos_h = 0.68f;
|
||||||
|
break;
|
||||||
|
case SHOOT_MODE_SINGLE:
|
||||||
|
start_pos_h = 0.66f;
|
||||||
|
break;
|
||||||
|
case SHOOT_MODE_BURST:
|
||||||
|
start_pos_h = 0.64f;
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
UI_DrawRectangle(
|
||||||
|
Referee_GetGrapicAdd(ui), "f", UI_GRAPIC_OPERATION_ADD,
|
||||||
|
UI_GRAPIC_LAYER_SHOOT, GREEN, UI_DEFAULT_WIDTH,
|
||||||
|
ui->screen->width * REF_UI_RIGHT_START_POS + 174,
|
||||||
|
ui->screen->height * start_pos_h + REF_UI_BOX_UP_OFFSET,
|
||||||
|
ui->screen->width * REF_UI_RIGHT_START_POS + 222,
|
||||||
|
ui->screen->height * start_pos_h + REF_UI_BOX_BOT_OFFSET);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
case 4:
|
||||||
|
fsm++;
|
||||||
|
UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL,
|
||||||
|
UI_GRAPIC_LAYER_CMD);
|
||||||
|
if (ui->cmd_pc) {
|
||||||
|
UI_DrawRectangle(Referee_GetGrapicAdd(ui), "c",
|
||||||
|
UI_GRAPIC_OPERATION_ADD, UI_GRAPIC_LAYER_CMD, GREEN,
|
||||||
|
UI_DEFAULT_WIDTH,
|
||||||
|
ui->screen->width * REF_UI_RIGHT_START_POS + 96,
|
||||||
|
ui->screen->height * 0.4 + REF_UI_BOX_UP_OFFSET,
|
||||||
|
ui->screen->width * REF_UI_RIGHT_START_POS + 120,
|
||||||
|
ui->screen->height * 0.4 + REF_UI_BOX_BOT_OFFSET);
|
||||||
|
} else {
|
||||||
|
UI_DrawRectangle(Referee_GetGrapicAdd(ui), "c",
|
||||||
|
UI_GRAPIC_OPERATION_ADD, UI_GRAPIC_LAYER_CMD, GREEN,
|
||||||
|
UI_DEFAULT_WIDTH,
|
||||||
|
ui->screen->width * REF_UI_RIGHT_START_POS + 56,
|
||||||
|
ui->screen->height * 0.4 + REF_UI_BOX_UP_OFFSET,
|
||||||
|
ui->screen->width * REF_UI_RIGHT_START_POS + 80,
|
||||||
|
ui->screen->height * 0.4 + REF_UI_BOX_BOT_OFFSET);
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
fsm = 0;
|
||||||
|
if (ui->del_counter >= REF_UI_MAX_DEL_NUM ||
|
||||||
|
ui->character_counter > REF_UI_MAX_STRING_NUM ||
|
||||||
|
ui->grapic_counter > REF_UI_MAX_GRAPIC_NUM)
|
||||||
|
BSP_UART_GetHandle(BSP_UART_REF)->gState = HAL_UART_STATE_READY;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (osThreadFlagsGet() & SIGNAL_REFEREE_SLOW_REFRESH_UI) {
|
||||||
|
osThreadFlagsClear(SIGNAL_REFEREE_SLOW_REFRESH_UI);
|
||||||
|
UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL,
|
||||||
|
UI_GRAPIC_LAYER_CONST);
|
||||||
|
UI_DrawCharacter(Referee_GetCharacterAdd(ui), "1", UI_GRAPIC_OPERATION_ADD,
|
||||||
|
UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 10, 80,
|
||||||
|
UI_CHAR_DEFAULT_WIDTH,
|
||||||
|
ui->screen->width * REF_UI_RIGHT_START_POS,
|
||||||
|
ui->screen->height * 0.7, "CHAS GMBL SHOT FIRE");
|
||||||
|
UI_DrawCharacter(Referee_GetCharacterAdd(ui), "2", UI_GRAPIC_OPERATION_ADD,
|
||||||
|
UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 10, 80,
|
||||||
|
UI_CHAR_DEFAULT_WIDTH,
|
||||||
|
ui->screen->width * REF_UI_RIGHT_START_POS,
|
||||||
|
ui->screen->height * 0.68, "FLLW RELX RELX SNGL");
|
||||||
|
UI_DrawCharacter(Referee_GetCharacterAdd(ui), "3", UI_GRAPIC_OPERATION_ADD,
|
||||||
|
UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 10, 80,
|
||||||
|
UI_CHAR_DEFAULT_WIDTH,
|
||||||
|
ui->screen->width * REF_UI_RIGHT_START_POS,
|
||||||
|
ui->screen->height * 0.66, "FL35 ABSL SAFE BRST");
|
||||||
|
UI_DrawCharacter(Referee_GetCharacterAdd(ui), "4", UI_GRAPIC_OPERATION_ADD,
|
||||||
|
UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 10, 80,
|
||||||
|
UI_CHAR_DEFAULT_WIDTH,
|
||||||
|
ui->screen->width * REF_UI_RIGHT_START_POS,
|
||||||
|
ui->screen->height * 0.64, "ROTR RLTV LOAD CONT");
|
||||||
|
UI_DrawLine(Referee_GetGrapicAdd(ui), "5", UI_GRAPIC_OPERATION_ADD,
|
||||||
|
UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 3,
|
||||||
|
ui->screen->width * 0.4, ui->screen->height * 0.2,
|
||||||
|
ui->screen->width * 0.4, ui->screen->height * 0.2 + 50);
|
||||||
|
UI_DrawCharacter(Referee_GetCharacterAdd(ui), "d", UI_GRAPIC_OPERATION_ADD,
|
||||||
|
UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 10, 80,
|
||||||
|
UI_CHAR_DEFAULT_WIDTH,
|
||||||
|
ui->screen->width * REF_UI_RIGHT_START_POS,
|
||||||
|
ui->screen->height * 0.4, "CTRL RC PC");
|
||||||
|
UI_DrawCharacter(Referee_GetCharacterAdd(ui), "e", UI_GRAPIC_OPERATION_ADD,
|
||||||
|
UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 20, 80,
|
||||||
|
UI_CHAR_DEFAULT_WIDTH * 2, ui->screen->width * 0.6 - 26,
|
||||||
|
ui->screen->height * 0.2 + 10, "CAP");
|
||||||
|
}
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
743
User/device/referee.h
Normal file
743
User/device/referee.h
Normal file
@ -0,0 +1,743 @@
|
|||||||
|
/*
|
||||||
|
裁判系统抽象。
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C" {
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Includes ----------------------------------------------------------------- */
|
||||||
|
#include <cmsis_os2.h>
|
||||||
|
#include <stdbool.h>
|
||||||
|
#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\supercap.h"
|
||||||
|
|
||||||
|
/* Exported constants ------------------------------------------------------- */
|
||||||
|
/* Exported macro ----------------------------------------------------------- */
|
||||||
|
#define REF_SWITCH_STATUS(ref, stat) ((ref).ref_status = (stat))
|
||||||
|
#define CHASSIS_POWER_MAX_WITHOUT_REF 50.0f /* 裁判系统离线底盘最大功率 */
|
||||||
|
|
||||||
|
#define REF_UI_MAX_GRAPIC_NUM (7)
|
||||||
|
#define REF_UI_MAX_STRING_NUM (7)
|
||||||
|
#define REF_UI_MAX_DEL_NUM (3)
|
||||||
|
#define REF_USER_DATA_MAX_LEN 112
|
||||||
|
/* Exported types ----------------------------------------------------------- */
|
||||||
|
typedef struct __packed {
|
||||||
|
uint8_t sof;
|
||||||
|
uint16_t data_length;
|
||||||
|
uint8_t seq;
|
||||||
|
uint8_t crc8;
|
||||||
|
} Referee_Header_t;
|
||||||
|
|
||||||
|
typedef enum { REF_STATUS_OFFLINE = 0, REF_STATUS_RUNNING } Referee_Status_t;
|
||||||
|
|
||||||
|
typedef enum {
|
||||||
|
REF_CMD_ID_GAME_STATUS = 0x0001,
|
||||||
|
REF_CMD_ID_GAME_RESULT = 0x0002,
|
||||||
|
REF_CMD_ID_GAME_ROBOT_HP = 0x0003,
|
||||||
|
// REF_CMD_ID_DART_STATUS = 0x0004,
|
||||||
|
REF_CMD_ID_FIELD_EVENTS = 0x0101,
|
||||||
|
REF_CMD_ID_WARNING = 0x0104,
|
||||||
|
REF_CMD_ID_DART_COUNTDOWN = 0x0105,
|
||||||
|
REF_CMD_ID_ROBOT_STATUS = 0x0201,
|
||||||
|
REF_CMD_ID_POWER_HEAT_DATA = 0x0202,
|
||||||
|
REF_CMD_ID_ROBOT_POS = 0x0203,
|
||||||
|
REF_CMD_ID_ROBOT_BUFF = 0x0204,
|
||||||
|
REF_CMD_ID_ROBOT_DMG = 0x0206,
|
||||||
|
REF_CMD_ID_SHOOT_DATA = 0x0207,
|
||||||
|
REF_CMD_ID_BULLET_REMAINING = 0x0208,
|
||||||
|
REF_CMD_ID_RFID = 0x0209,
|
||||||
|
REF_CMD_ID_DART_CLIENT = 0x020A,
|
||||||
|
REF_CMD_ID_GROUND_ROBOT_POS = 0x020B,
|
||||||
|
REF_CMD_ID_RADAR_MASK_PROC = 0x020C,
|
||||||
|
REF_CMD_ID_SENTRY_AUTO_DEC = 0x020D,
|
||||||
|
REF_CMD_ID_RADAR_AUTO_DEC = 0x020E,
|
||||||
|
REF_CMD_ID_INTER_STUDENT = 0x0301,
|
||||||
|
REF_CMD_ID_INTER_STUDENT_CUSTOM = 0x0302,
|
||||||
|
REF_CMD_ID_CLIENT_MAP = 0x0303,
|
||||||
|
REF_CMD_ID_KEYBOARD_MOUSE = 0x0304,
|
||||||
|
REF_CMD_ID_CLIENT_MAP_REC_RADAR = 0x0305,
|
||||||
|
REF_CMD_ID_CUSTOMER_CONTROLLER_CLIENT_INTERACT = 0x0306,
|
||||||
|
REF_CMD_ID_CLIENT_MAP_REC_ROUTE = 0x0307,
|
||||||
|
REF_CMD_ID_CLIENT_MAP_REC_ROBOT = 0x0308,
|
||||||
|
REF_CMD_ID_CUSTOMER_CONTROLLER_CLIENT_REC_ROBOT = 0x0309,
|
||||||
|
REF_CMD_ID_ROBOT_TO_CUSTOMER_CONTROLLER_CLIENT_REC = 0x0310,
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
REF_CMD_ID_SET_PICTURE_CHANNEL = 0x0F01,
|
||||||
|
REF_CMD_ID_QUERY_PICTURE_CHANNEL = 0x0F02,
|
||||||
|
REF_CMD_ID_OPPSITE_ROBOT_POS = 0x0A01,
|
||||||
|
REF_CMD_ID_OPPSITE_ROBOT_HP = 0x0A02,
|
||||||
|
REF_CMD_ID_OPPSITE_ROBOT_BULLET_REMAINING = 0x0A03,
|
||||||
|
REF_CMD_ID_OPPSITE_ROBOT_STATUs = 0x0A04,
|
||||||
|
REF_CMD_ID_OPPSITE_ROBOT_BUFF= 0x0A05,
|
||||||
|
REF_CMD_ID_OPPSITE_ROBOT_INTERF_WAVE_SRCRET_KEY= 0x0A06,
|
||||||
|
|
||||||
|
} Referee_CMDID_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint8_t game_type : 4;
|
||||||
|
uint8_t game_progress : 4;
|
||||||
|
uint16_t stage_remain_time;
|
||||||
|
uint64_t sync_time_stamp;
|
||||||
|
} Referee_GameStatus_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint8_t winner;
|
||||||
|
} Referee_GameResult_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint16_t ally_1_robot_HP;
|
||||||
|
uint16_t ally_2_robot_HP;
|
||||||
|
uint16_t ally_3_robot_HP;
|
||||||
|
uint16_t ally_4_robot_HP;
|
||||||
|
uint16_t reserved;
|
||||||
|
uint16_t ally_7_robot_HP;
|
||||||
|
uint16_t ally_outpost_HP;
|
||||||
|
uint16_t ally_base_HP;
|
||||||
|
} Referee_GameRobotHP_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint32_t event_data;
|
||||||
|
} Referee_Event_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint8_t level;
|
||||||
|
uint8_t offending_robot_id;
|
||||||
|
uint8_t count;
|
||||||
|
} Referee_Warning_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint8_t dart_remaining_time;
|
||||||
|
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;
|
||||||
|
float y;
|
||||||
|
float angle;
|
||||||
|
} Referee_RobotPos_t;
|
||||||
|
|
||||||
|
typedef struct {
|
||||||
|
uint8_t recovery_buff;
|
||||||
|
uint16_t cooling_buff;
|
||||||
|
uint8_t defence_buff;
|
||||||
|
uint8_t vulnerability_buff;
|
||||||
|
uint16_t attack_buff;
|
||||||
|
uint8_t remaining_energy;
|
||||||
|
} Referee_RobotBuff_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint8_t armor_id : 4;
|
||||||
|
uint8_t damage_type : 4;
|
||||||
|
} 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;
|
||||||
|
uint16_t coin_remain;
|
||||||
|
uint16_t fortress_remain;
|
||||||
|
}Referee_BulletRemain_t;
|
||||||
|
|
||||||
|
typedef struct {
|
||||||
|
uint32_t rfid_status;
|
||||||
|
uint8_t rfid_status_2;
|
||||||
|
}Referee_RFID_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint8_t dart_launch_opening_status;
|
||||||
|
uint8_t reserved;
|
||||||
|
uint16_t target_change_time;
|
||||||
|
uint16_t latest_launch_cmd_time;
|
||||||
|
}Referee_DartClient_t;
|
||||||
|
|
||||||
|
typedef struct {
|
||||||
|
float hero_x;
|
||||||
|
float hero_y;
|
||||||
|
float engineer_x;
|
||||||
|
float engineer_y;
|
||||||
|
float standard_3_x;
|
||||||
|
float standard_3_y;
|
||||||
|
float standard_4_x;
|
||||||
|
float standard_4_y;
|
||||||
|
float reserved_1;
|
||||||
|
float reserved_2;
|
||||||
|
} Referee_GroundRobotPos_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint16_t mark_progress;
|
||||||
|
} Referee_RadarMark_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint32_t sentry_info;
|
||||||
|
uint16_t sentry_info_2;
|
||||||
|
} Referee_SentryInfo_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint8_t radar_info;
|
||||||
|
} Referee_RadarInfo_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint16_t data_cmd_id;
|
||||||
|
uint16_t sender_id;
|
||||||
|
uint16_t receiver_id;
|
||||||
|
uint8_t user_data[REF_USER_DATA_MAX_LEN];
|
||||||
|
} Referee_RobotInteraction_t;
|
||||||
|
|
||||||
|
typedef struct __packed
|
||||||
|
{
|
||||||
|
uint8_t delete_type;
|
||||||
|
uint8_t layer;
|
||||||
|
}Referee_RobotInteractionLayerDelete_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint8_t figure_name[3];
|
||||||
|
uint32_t operate_type:3;
|
||||||
|
uint32_t figure_type:3;
|
||||||
|
uint32_t layer:4;
|
||||||
|
uint32_t color:4;
|
||||||
|
uint32_t details_a:9;
|
||||||
|
uint32_t details_b:9;
|
||||||
|
uint32_t width:10;
|
||||||
|
uint32_t start_x:11;
|
||||||
|
uint32_t start_y:11;
|
||||||
|
uint32_t details_c:10;
|
||||||
|
uint32_t details_d:11;
|
||||||
|
uint32_t details_e:11;
|
||||||
|
} Referee_InteractionFigure_t;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
Referee_InteractionFigure_t interaction_figure[2];
|
||||||
|
} Referee_InteractionFigure2_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
|
||||||
|
Referee_InteractionFigure_t interaction_figure[5];
|
||||||
|
} Referee_InteractionFigure3_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
Referee_InteractionFigure_t interaction_figure[7];
|
||||||
|
} Referee_InteractionFigure4_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
//graphic_data_struct_t grapic_data_struct;
|
||||||
|
uint8_t data[30];
|
||||||
|
}Referee_ExtClientCustomCharacter_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint32_t sentry_cmd;
|
||||||
|
} Referee_SentryCmd_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint8_t radar_cmd;
|
||||||
|
uint8_t password_cmd;
|
||||||
|
uint8_t password_1;
|
||||||
|
uint8_t password_2;
|
||||||
|
uint8_t password_3;
|
||||||
|
uint8_t password_4;
|
||||||
|
uint8_t password_5;
|
||||||
|
uint8_t password_6;
|
||||||
|
} Referee_RadarCmd_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
float target_position_x;
|
||||||
|
float target_position_y;
|
||||||
|
uint8_t cmd_keyboard;
|
||||||
|
uint8_t target_robot_id;
|
||||||
|
uint16_t cmd_source;
|
||||||
|
}Referee_MapCommand_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint16_t hero_position_x;
|
||||||
|
uint16_t hero_position_y;
|
||||||
|
uint16_t engineer_position_x;
|
||||||
|
uint16_t engineer_position_y;
|
||||||
|
uint16_t infantry_3_position_x;
|
||||||
|
uint16_t infantry_3_position_y;
|
||||||
|
uint16_t infantry_4_position_x;
|
||||||
|
uint16_t infantry_4_position_y;
|
||||||
|
uint16_t infantry_5_position_x;
|
||||||
|
uint16_t infantry_5_position_y;
|
||||||
|
uint16_t sentry_position_x;
|
||||||
|
int16_t sentry_position_y;
|
||||||
|
} Referee_MapRobotData_t;
|
||||||
|
|
||||||
|
typedef struct
|
||||||
|
{
|
||||||
|
uint8_t intention;
|
||||||
|
uint16_t start_position_x;
|
||||||
|
uint16_t start_position_y;
|
||||||
|
int8_t delta_x[49];
|
||||||
|
int8_t delta_y[49];
|
||||||
|
uint16_t sender_id;
|
||||||
|
}Referee_MapData_t;
|
||||||
|
|
||||||
|
typedef struct
|
||||||
|
{
|
||||||
|
uint16_t sender_id;
|
||||||
|
uint16_t receiver_id;
|
||||||
|
uint8_t user_data[30];
|
||||||
|
}Referee_CustomInfo_t;
|
||||||
|
|
||||||
|
typedef struct
|
||||||
|
{
|
||||||
|
uint8_t data[30];
|
||||||
|
}Referee_CustomRobot_t;
|
||||||
|
|
||||||
|
typedef struct
|
||||||
|
{
|
||||||
|
uint8_t data[30];
|
||||||
|
}Referee_RobotCustom_t;
|
||||||
|
|
||||||
|
typedef struct
|
||||||
|
{
|
||||||
|
uint8_t data[30];
|
||||||
|
}Referee_RobotCustom2_t;
|
||||||
|
|
||||||
|
/* 适配 V1.2.0: 0x0311 新增指令 */
|
||||||
|
typedef struct __packed {
|
||||||
|
uint8_t data[30];
|
||||||
|
} Referee_RobotCustom3_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
int16_t mouse_x;
|
||||||
|
int16_t mouse_y;
|
||||||
|
int16_t mouse_wheel;
|
||||||
|
int8_t button_l;
|
||||||
|
int8_t button_r;
|
||||||
|
uint16_t keyboard_value;
|
||||||
|
uint16_t res;
|
||||||
|
} Referee_KeyboardMouse_t;
|
||||||
|
|
||||||
|
typedef struct
|
||||||
|
{
|
||||||
|
uint16_t key_value;
|
||||||
|
uint16_t x_position:12;
|
||||||
|
uint16_t mouse_left:4;
|
||||||
|
uint16_t y_position:12;
|
||||||
|
uint16_t mouse_right:4;
|
||||||
|
uint16_t reserved;
|
||||||
|
}Referee_CustomClient_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint8_t place_holder;
|
||||||
|
} Referee_InterStudent_Custom_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint16_t ally_1_robot_HP;
|
||||||
|
uint16_t ally_2_robot_HP;
|
||||||
|
uint16_t ally_3_robot_HP;
|
||||||
|
uint16_t ally_4_robot_HP;
|
||||||
|
uint16_t reserved;
|
||||||
|
uint16_t ally_7_robot_HP;
|
||||||
|
} Referee_OppisiteGameRobotHP_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint16_t hero_bullet;
|
||||||
|
uint16_t infantry3_bullet;
|
||||||
|
uint16_t infantry4_bullet;
|
||||||
|
uint16_t drone_bullet;
|
||||||
|
uint16_t sentry_bullet;
|
||||||
|
} Referee_OppsiteBulletRemain_t;
|
||||||
|
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint16_t remain_coins;
|
||||||
|
uint16_t total_coins;
|
||||||
|
uint32_t macro_status;
|
||||||
|
} Referee_OppsiteRobotState_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint8_t data[36];
|
||||||
|
} Referee_OppsiteRobotBuff_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint8_t data[6];
|
||||||
|
} Referee_OppsiteDisturbingWaveKey_t;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint8_t f1_status : 1;
|
||||||
|
uint8_t f1_buff_status : 3;
|
||||||
|
uint8_t f2_status : 1;
|
||||||
|
uint8_t f2_buff_status : 3;
|
||||||
|
uint8_t f3_status : 1;
|
||||||
|
uint8_t f3_buff_status : 3;
|
||||||
|
uint8_t f4_status : 1;
|
||||||
|
uint8_t f4_buff_status : 3;
|
||||||
|
uint8_t f5_status : 1;
|
||||||
|
uint8_t f5_buff_status : 3;
|
||||||
|
uint8_t f6_status : 1;
|
||||||
|
uint8_t f6_buff_status : 3;
|
||||||
|
uint16_t red1_bullet_remain;
|
||||||
|
uint16_t red2_bullet_remain;
|
||||||
|
uint16_t blue1_bullet_remain;
|
||||||
|
uint16_t blue2_bullet_remain;
|
||||||
|
} Referee_ICRAZoneStatus_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint8_t copter_pad : 2;
|
||||||
|
uint8_t energy_mech : 2;
|
||||||
|
uint8_t virtual_shield : 1;
|
||||||
|
uint32_t res : 27;
|
||||||
|
} Referee_FieldEvents_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint8_t supply_id;
|
||||||
|
uint8_t robot_id;
|
||||||
|
uint8_t supply_step;
|
||||||
|
uint8_t supply_sum;
|
||||||
|
} Referee_SupplyAction_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint8_t place_holder; /* TODO */
|
||||||
|
} Referee_RequestSupply_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint8_t countdown;
|
||||||
|
} Referee_DartCountdown_t;
|
||||||
|
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint8_t attack_countdown;
|
||||||
|
} Referee_DroneEnergy_t;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
/*typedef struct __packed {
|
||||||
|
uint8_t opening;
|
||||||
|
uint8_t target;
|
||||||
|
uint8_t target_changable_countdown;
|
||||||
|
uint8_t dart1_speed;
|
||||||
|
uint8_t dart2_speed;
|
||||||
|
uint8_t dart3_speed;
|
||||||
|
uint8_t dart4_speed;
|
||||||
|
uint16_t last_dart_launch_time;
|
||||||
|
uint16_t operator_cmd_launch_time;
|
||||||
|
} Referee_DartClient_t;*/
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
float position_x;
|
||||||
|
float position_y;
|
||||||
|
float position_z;
|
||||||
|
uint8_t commd_keyboard;
|
||||||
|
uint16_t robot_id;
|
||||||
|
} Referee_ClientMap_t;
|
||||||
|
|
||||||
|
typedef uint16_t Referee_Tail_t;
|
||||||
|
|
||||||
|
typedef enum {
|
||||||
|
REF_BOT_RED_HERO = 1,
|
||||||
|
REF_BOT_RED_ENGINEER = 2,
|
||||||
|
REF_BOT_RED_INFANTRY_1 = 3,
|
||||||
|
REF_BOT_RED_INFANTRY_2 = 4,
|
||||||
|
REF_BOT_RED_INFANTRY_3 = 5,
|
||||||
|
REF_BOT_RED_DRONE = 6,
|
||||||
|
REF_BOT_RED_SENTRY = 7,
|
||||||
|
REF_BOT_RED_RADER = 9,
|
||||||
|
REF_BOT_RED_OUTPOST=10,
|
||||||
|
REF_BOT_RED_BASE=11,
|
||||||
|
REF_BOT_BLU_HERO = 101,
|
||||||
|
REF_BOT_BLU_ENGINEER = 102,
|
||||||
|
REF_BOT_BLU_INFANTRY_1 = 103,
|
||||||
|
REF_BOT_BLU_INFANTRY_2 = 104,
|
||||||
|
REF_BOT_BLU_INFANTRY_3 = 105,
|
||||||
|
REF_BOT_BLU_DRONE = 106,
|
||||||
|
REF_BOT_BLU_SENTRY = 107,
|
||||||
|
REF_BOT_BLU_RADER = 109,
|
||||||
|
REF_BOT_BUL_OUTPOST=110,
|
||||||
|
REF_BOT_BUL_BASE=111,
|
||||||
|
} Referee_RobotID_t;
|
||||||
|
|
||||||
|
typedef enum {
|
||||||
|
REF_CL_RED_HERO = 0x0101,
|
||||||
|
REF_CL_RED_ENGINEER = 0x0102,
|
||||||
|
REF_CL_RED_INFANTRY_1 = 0x0103,
|
||||||
|
REF_CL_RED_INFANTRY_2 = 0x0104,
|
||||||
|
REF_CL_RED_INFANTRY_3 = 0x0105,
|
||||||
|
REF_CL_RED_DRONE = 0x0106,
|
||||||
|
REF_CL_BLU_HERO = 0x0165,
|
||||||
|
REF_CL_BLU_ENGINEER = 0x0166,
|
||||||
|
REF_CL_BLU_INFANTRY_1 = 0x0167,
|
||||||
|
REF_CL_BLU_INFANTRY_2 = 0x0168,
|
||||||
|
REF_CL_BLU_INFANTRY_3 = 0x0169,
|
||||||
|
REF_CL_BLU_DRONE = 0x016A,
|
||||||
|
|
||||||
|
} Referee_ClientID_t;
|
||||||
|
|
||||||
|
typedef enum {
|
||||||
|
REF_STDNT_CMD_ID_UI_DEL = 0x0100,
|
||||||
|
REF_STDNT_CMD_ID_UI_DRAW1 = 0x0101,
|
||||||
|
REF_STDNT_CMD_ID_UI_DRAW2 = 0x0102,
|
||||||
|
REF_STDNT_CMD_ID_UI_DRAW5 = 0x0103,
|
||||||
|
REF_STDNT_CMD_ID_UI_DRAW7 = 0x0104,
|
||||||
|
REF_STDNT_CMD_ID_UI_STR = 0x0110,
|
||||||
|
|
||||||
|
REF_STDNT_CMD_ID_CUSTOM = 0x0200,
|
||||||
|
} Referee_StudentCMDID_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
Referee_StudentCMDID_t data_cmd_id;
|
||||||
|
uint16_t id_sender;
|
||||||
|
uint16_t id_receiver;
|
||||||
|
uint8_t *data;
|
||||||
|
} Referee_InterStudent_t;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
typedef struct {
|
||||||
|
Referee_Status_t ref_status;
|
||||||
|
Referee_GameStatus_t game_status;
|
||||||
|
Referee_GameResult_t game_result;
|
||||||
|
Referee_GameRobotHP_t game_robot_hp;
|
||||||
|
Referee_Event_t event;
|
||||||
|
Referee_Warning_t warning;
|
||||||
|
Referee_DartInfo_t dartinfo;
|
||||||
|
Referee_RobotStatus_t robot_status;
|
||||||
|
Referee_PowerHeat_t power_heat;
|
||||||
|
Referee_RobotPos_t robot_pos;
|
||||||
|
Referee_RobotBuff_t robot_buff;
|
||||||
|
Referee_RobotDamage_t robot_danage;
|
||||||
|
Referee_ShootData_t shoot_data;
|
||||||
|
Referee_BulletRemain_t bullet_remain;
|
||||||
|
Referee_RFID_t rfid;
|
||||||
|
Referee_DartClient_t dart_client;
|
||||||
|
Referee_GroundRobotPos_t ground_robot_pos;
|
||||||
|
Referee_RadarMark_t radar_mark;
|
||||||
|
Referee_SentryInfo_t sentry_info;
|
||||||
|
Referee_RadarInfo_t radar_info;
|
||||||
|
Referee_RobotInteraction_t robot_interaction;
|
||||||
|
Referee_RobotInteractionLayerDelete_t robot_interaction_layer_delete;
|
||||||
|
Referee_InteractionFigure_t interaction_figure;
|
||||||
|
Referee_InteractionFigure2_t interaction_figure2;
|
||||||
|
Referee_InteractionFigure3_t interaction_figure3;
|
||||||
|
Referee_InteractionFigure4_t interaction_figure4;
|
||||||
|
Referee_ExtClientCustomCharacter_t ext_client_custom_character;
|
||||||
|
Referee_SentryCmd_t sentry_cmd;
|
||||||
|
Referee_RadarCmd_t radar_cmd;
|
||||||
|
Referee_MapCommand_t map_command;
|
||||||
|
Referee_MapRobotData_t map_robot_data;
|
||||||
|
Referee_MapData_t map_data;
|
||||||
|
Referee_CustomInfo_t custom_info;
|
||||||
|
Referee_CustomRobot_t custom_robot;
|
||||||
|
Referee_RobotCustom_t robot_custom;
|
||||||
|
Referee_RobotCustom2_t robot_custom2;
|
||||||
|
Referee_KeyboardMouse_t keyboard_mouse_t;
|
||||||
|
Referee_CustomClient_t custom_client;
|
||||||
|
Referee_MapRobotData_t map_oppsite_robot_data;
|
||||||
|
Referee_OppisiteGameRobotHP_t oppsite_robotHP;
|
||||||
|
Referee_OppsiteBulletRemain_t oppsite_bullet_remain;
|
||||||
|
Referee_OppsiteRobotState_t oppsite_robot_satate;
|
||||||
|
Referee_OppsiteRobotBuff_t oppsite_robot_buff;
|
||||||
|
Referee_OppsiteDisturbingWaveKey_t opsite_DisturbingWave_key;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
Referee_ICRAZoneStatus_t icra_zone;
|
||||||
|
Referee_FieldEvents_t field_event;
|
||||||
|
Referee_SupplyAction_t supply_action;
|
||||||
|
Referee_RequestSupply_t request_supply;
|
||||||
|
Referee_DartCountdown_t dart_countdown;
|
||||||
|
Referee_DroneEnergy_t drone_energy;
|
||||||
|
Referee_InterStudent_Custom_t custom;
|
||||||
|
Referee_ClientMap_t client_map;
|
||||||
|
osTimerId_t ui_fast_timer_id;
|
||||||
|
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];
|
||||||
|
UI_Drawcharacter_t character_data[REF_UI_MAX_STRING_NUM];
|
||||||
|
UI_Del_t del[REF_UI_MAX_DEL_NUM];
|
||||||
|
/* 待发送数量 */
|
||||||
|
uint8_t grapic_counter;
|
||||||
|
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;
|
||||||
|
bool cmd_pc;
|
||||||
|
/* 屏幕分辨率 */
|
||||||
|
const CMD_Screen_t *screen;
|
||||||
|
} Referee_UI_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
uint16_t data_cmd_id;
|
||||||
|
uint16_t sender_ID;
|
||||||
|
uint16_t receiver_ID;
|
||||||
|
} Referee_Interactive_Header_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
Referee_Header_t header;
|
||||||
|
uint16_t cmd_id;
|
||||||
|
Referee_Interactive_Header_t IA_header;
|
||||||
|
UI_Drawgrapic_1_t data;
|
||||||
|
uint16_t crc16;
|
||||||
|
} Referee_UI_Drawgrapic_1_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
Referee_Header_t header;
|
||||||
|
uint16_t cmd_id;
|
||||||
|
Referee_Interactive_Header_t IA_header;
|
||||||
|
UI_Drawgrapic_2_t data;
|
||||||
|
uint16_t crc16;
|
||||||
|
} Referee_UI_Drawgrapic_2_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
Referee_Header_t header;
|
||||||
|
uint16_t cmd_id;
|
||||||
|
Referee_Interactive_Header_t IA_header;
|
||||||
|
UI_Drawgrapic_5_t data;
|
||||||
|
uint16_t crc16;
|
||||||
|
} Referee_UI_Drawgrapic_5_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
Referee_Header_t header;
|
||||||
|
uint16_t cmd_id;
|
||||||
|
Referee_Interactive_Header_t IA_header;
|
||||||
|
UI_Drawgrapic_7_t data;
|
||||||
|
uint16_t crc16;
|
||||||
|
} Referee_UI_Drawgrapic_7_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
Referee_Header_t header;
|
||||||
|
uint16_t cmd_id;
|
||||||
|
Referee_Interactive_Header_t IA_header;
|
||||||
|
UI_Drawcharacter_t data;
|
||||||
|
uint16_t crc16;
|
||||||
|
} Referee_UI_Drawcharacter_t;
|
||||||
|
|
||||||
|
typedef struct __packed {
|
||||||
|
Referee_Header_t header;
|
||||||
|
uint16_t cmd_id;
|
||||||
|
Referee_Interactive_Header_t IA_header;
|
||||||
|
UI_Del_t data;
|
||||||
|
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_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);
|
||||||
|
int8_t Referee_Restart(void);
|
||||||
|
|
||||||
|
int8_t Referee_StartReceiving(Referee_t *ref);
|
||||||
|
int8_t Referee_Parse(Referee_t *ref);
|
||||||
|
void Referee_HandleOffline(Referee_t *referee);
|
||||||
|
int8_t Referee_SetHeader(Referee_Interactive_Header_t *header,
|
||||||
|
Referee_StudentCMDID_t cmd_id, uint8_t sender_id);
|
||||||
|
int8_t Referee_StartSend(uint8_t *data, uint32_t len);
|
||||||
|
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_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,
|
||||||
|
const Referee_t *ref);
|
||||||
|
uint8_t Referee_PackAI(Referee_ForAI_t *shoot, const Referee_t *ref);
|
||||||
|
uint8_t Referee_UIRefresh(Referee_UI_t *ui);
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
@ -41,6 +41,47 @@
|
|||||||
|
|
||||||
// } LD_raw_t;
|
// } LD_raw_t;
|
||||||
|
|
||||||
|
// typedef struct
|
||||||
|
// {
|
||||||
|
|
||||||
|
// rc_type_t rc_type;
|
||||||
|
|
||||||
|
// 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 */
|
||||||
|
|
||||||
|
// CMD_SwitchPos_t sw_r; /* 右侧拨杆位置 */
|
||||||
|
// CMD_SwitchPos_t sw_l; /* 左侧拨杆位置 */
|
||||||
|
|
||||||
|
// } __attribute__((packed)) DJ;
|
||||||
|
// struct
|
||||||
|
// {
|
||||||
|
|
||||||
|
// uint8_t head;
|
||||||
|
// 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 */
|
||||||
|
|
||||||
|
// CMD_SwitchPos_t key_A;
|
||||||
|
// CMD_SwitchPos_t key_B;
|
||||||
|
// CMD_SwitchPos_t key_C;
|
||||||
|
// CMD_SwitchPos_t key_D;
|
||||||
|
// CMD_SwitchPos_t key_E;
|
||||||
|
// CMD_SwitchPos_t key_F;
|
||||||
|
// CMD_SwitchPos_t key_G;
|
||||||
|
// CMD_SwitchPos_t key_H;
|
||||||
|
|
||||||
|
|
||||||
|
// uint8_t end;
|
||||||
|
// int16_t knob_left; // 左旋钮
|
||||||
|
// int16_t knob_right; // 右旋钮
|
||||||
|
// } __attribute__((packed)) ET16s;
|
||||||
|
|
||||||
|
// } __attribute__((packed)) CMD_RC_t;
|
||||||
// typedef struct
|
// typedef struct
|
||||||
// {
|
// {
|
||||||
// float ch[4];
|
// float ch[4];
|
||||||
|
|||||||
183
User/device/supercap.c
Normal file
183
User/device/supercap.c
Normal file
@ -0,0 +1,183 @@
|
|||||||
|
#include "device/supercap.h"
|
||||||
|
#include "device/referee.h"
|
||||||
|
/* 全局变量 */
|
||||||
|
CAN_SuperCapRXDataTypeDef CAN_SuperCapRXData = {0};
|
||||||
|
|
||||||
|
uint8_t PowerOffset =0;
|
||||||
|
|
||||||
|
uint32_t LastCapTick = 0; //上一次收到超电信号的时间戳
|
||||||
|
uint32_t NowCapTick = 0; //现在收到超电信号的时间戳
|
||||||
|
|
||||||
|
uint32_t chassis_energy_in_gamming =0;
|
||||||
|
|
||||||
|
/* 静态变量 - 用于CAN接收管理 */
|
||||||
|
static bool supercap_inited = false;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 获取超级电容在线状态，1在线，0离线
|
||||||
|
*/
|
||||||
|
uint8_t get_supercap_online_state(void){
|
||||||
|
|
||||||
|
NowCapTick = HAL_GetTick(); //更新时间戳
|
||||||
|
|
||||||
|
uint32_t DeltaCapTick = 0;
|
||||||
|
DeltaCapTick = NowCapTick - LastCapTick; //计算时间差
|
||||||
|
|
||||||
|
// if(get_game_progress() == 4){
|
||||||
|
// //比赛开始的时候，开始统计消耗的能量
|
||||||
|
|
||||||
|
chassis_energy_in_gamming += CAN_SuperCapRXData.BatPower * DeltaCapTick *0.001f;
|
||||||
|
// 因为STM32的系统定时器是1ms的周期，所以*0.001，单位化为秒（S），能量单位才是焦耳（J）
|
||||||
|
// }
|
||||||
|
|
||||||
|
if(DeltaCapTick > 1000){
|
||||||
|
//如果时间差大于1s，说明超电信号丢失，返回超电离线的标志
|
||||||
|
return 0;
|
||||||
|
}else {
|
||||||
|
//如果时间差小于1s，说明超电信号正常，返回超电在线的标志
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 获取根据超级电容功率统计的底盘消耗能量，单位：焦耳（J）
|
||||||
|
*/
|
||||||
|
uint32_t get_chassis_energy_from_supercap(void){
|
||||||
|
|
||||||
|
return chassis_energy_in_gamming;
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
/******************超级电容数据从CAN传到结构体******************/
|
||||||
|
int8_t SuperCap_Init(void)
|
||||||
|
{
|
||||||
|
if (supercap_inited) {
|
||||||
|
return DEVICE_OK; // 已经初始化过
|
||||||
|
}
|
||||||
|
|
||||||
|
if (BSP_CAN_RegisterId( BSP_CAN_1 , SUPERCAP_RX_ID, 3) != BSP_OK) {
|
||||||
|
return DEVICE_ERR;
|
||||||
|
}
|
||||||
|
|
||||||
|
supercap_inited = true;
|
||||||
|
return DEVICE_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
int8_t SuperCap_Update(void)
|
||||||
|
{
|
||||||
|
if (!supercap_inited) {
|
||||||
|
return DEVICE_ERR;
|
||||||
|
}
|
||||||
|
|
||||||
|
BSP_CAN_Message_t rx_msg;
|
||||||
|
|
||||||
|
// 从CAN队列获取数据
|
||||||
|
if (BSP_CAN_GetMessage( BSP_CAN_1 , SUPERCAP_RX_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
|
||||||
|
// 处理接收到的数据
|
||||||
|
transfer_SuperCap_measure(rx_msg.data);
|
||||||
|
return DEVICE_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
return DEVICE_ERR; // 没有新数据
|
||||||
|
}
|
||||||
|
|
||||||
|
void transfer_SuperCap_measure(uint8_t *data)
|
||||||
|
{
|
||||||
|
LastCapTick = HAL_GetTick();
|
||||||
|
CAN_SuperCapRXData.SuperCapReady = (SuperCapReadyEnum)data[0];
|
||||||
|
CAN_SuperCapRXData.SuperCapState = (SuperCapStateEnum)data[1];
|
||||||
|
CAN_SuperCapRXData.SuperCapEnergy = data[2];
|
||||||
|
CAN_SuperCapRXData.ChassisPower = data[3] << 1; //左移一位是为了扩大范围，超电发出来的的时候右移了一位
|
||||||
|
CAN_SuperCapRXData.BatVoltage = data[4];
|
||||||
|
CAN_SuperCapRXData.BatPower = data[5];
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 获取超级电容的运行状态，具体查看枚举SuperCapStateEnum
|
||||||
|
* @retval none
|
||||||
|
*/
|
||||||
|
SuperCapStateEnum get_supercap_state(void){
|
||||||
|
return (SuperCapStateEnum)CAN_SuperCapRXData.SuperCapState;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 获取超级电容读到的电池电压，单位伏（V）
|
||||||
|
* @retval none
|
||||||
|
*/
|
||||||
|
float get_battery_voltage_from_supercap(void){
|
||||||
|
return (float)CAN_SuperCapRXData.BatVoltage * 0.1f;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 获取超级电容可用能量，范围：0-100%
|
||||||
|
* @retval none
|
||||||
|
*/
|
||||||
|
uint8_t get_supercap_energy(void){
|
||||||
|
return CAN_SuperCapRXData.SuperCapEnergy;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 设置超级电容功率补偿
|
||||||
|
* @retval none
|
||||||
|
*/
|
||||||
|
void set_supercap_power_offset(uint8_t offset){
|
||||||
|
PowerOffset = offset;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 发送超级电容数据
|
||||||
|
* @param[in] Enable: 超级电容使能
|
||||||
|
* @param[in] Charge: 超级电容充电，在PLUS版本中无效
|
||||||
|
* @param[in] PowerLimit: 裁判系统功率限制
|
||||||
|
* @param[in] Chargepower: 超级电容充电功率，在PLUS版本中无效
|
||||||
|
* @retval none
|
||||||
|
*/
|
||||||
|
int8_t CAN_TX_SuperCapData(CAN_SuperCapTXDataTypeDef * TX_Temp)
|
||||||
|
{
|
||||||
|
if (TX_Temp == NULL) return DEVICE_ERR_NULL;
|
||||||
|
|
||||||
|
BSP_CAN_StdDataFrame_t tx_frame;
|
||||||
|
|
||||||
|
tx_frame.id = SUPERCAP_TX_ID;
|
||||||
|
tx_frame.dlc = 0x08;
|
||||||
|
|
||||||
|
tx_frame.data[0] = TX_Temp-> Enable;
|
||||||
|
tx_frame.data[1] = TX_Temp-> Charge;//PLUS disabled
|
||||||
|
tx_frame.data[2] = TX_Temp-> Powerlimit - PowerOffset;
|
||||||
|
tx_frame.data[3] = TX_Temp-> ChargePower;//PLUS disabled
|
||||||
|
|
||||||
|
tx_frame.data[4] = 0;
|
||||||
|
tx_frame.data[5] = 0;
|
||||||
|
tx_frame.data[6] = 0;
|
||||||
|
tx_frame.data[7] = 0;
|
||||||
|
|
||||||
|
return BSP_CAN_TransmitStdDataFrame( BSP_CAN_1 , &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 限制功率不超过power_limit
|
||||||
|
*
|
||||||
|
* @param power_limit 最大功率
|
||||||
|
* @param motor_out 电机输出值
|
||||||
|
* @param speed 电机转速
|
||||||
|
* @param len 电机数量
|
||||||
|
* @return int8_t 0对应没有错误
|
||||||
|
*/
|
||||||
|
int8_t PowerLimit_Output(float power_limit, float *motor_out, uint32_t len)
|
||||||
|
{
|
||||||
|
/* power_limit小于0时不进行限制 */
|
||||||
|
if (motor_out == NULL || power_limit < 0) return -1;
|
||||||
|
|
||||||
|
float ChassisPower = CAN_SuperCapRXData.ChassisPower ;
|
||||||
|
|
||||||
|
/* 保持每个电机输出值缩小时比例不变 */
|
||||||
|
if (ChassisPower > power_limit) {
|
||||||
|
for (uint32_t i = 0; i < len; i++) {
|
||||||
|
motor_out[i] *= power_limit / ChassisPower;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
102
User/device/supercap.h
Normal file
102
User/device/supercap.h
Normal file
@ -0,0 +1,102 @@
|
|||||||
|
#pragma once
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C" {
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include "bsp\can.h"
|
||||||
|
#include "device\device.h"
|
||||||
|
//#include "referee.h"
|
||||||
|
|
||||||
|
#define SUPERCAP_CAN BSP_FDCAN_3
|
||||||
|
|
||||||
|
#define SUPERCAP_TX_ID 0x001 //C板发给超级电容的ID
|
||||||
|
#define SUPERCAP_RX_ID 0x100 //超级电容发给C板的ID
|
||||||
|
|
||||||
|
|
||||||
|
//超级电容的状态标志位，超级电容运行或者保护的具体状态反馈
|
||||||
|
typedef enum
|
||||||
|
{
|
||||||
|
DISCHARGE =0 , //放电状态
|
||||||
|
CHARGE =1, //充电状态
|
||||||
|
WAIT =2, //待机状态
|
||||||
|
SOFTSTART_PROTECTION =3,//处于软起动状态
|
||||||
|
OVER_LOAD_PROTECTION = 4, //超电过载保护状态
|
||||||
|
BAT_OVER_VOLTAGE_PROTECTION =5, //过压保护状态
|
||||||
|
BAT_UNDER_VOLTAGE_PROTECTION =6, //电池欠压保护，电池要没电了，换电池
|
||||||
|
CAP_UNDER_VOLTAGE_PROTECTION =7, //超级电容欠压保护，超级电容用完电了，要充一会才能用
|
||||||
|
OVER_TEMPERATURE_PROTECTION =8, //过温保护，太热了
|
||||||
|
BOOM = 9, //超电爆炸了
|
||||||
|
}SuperCapStateEnum;
|
||||||
|
|
||||||
|
//超级电容准备状态，用于判断超级电容是否可以使用
|
||||||
|
typedef enum
|
||||||
|
{
|
||||||
|
UNREADY =0 ,
|
||||||
|
READY =1,
|
||||||
|
}SuperCapReadyEnum;
|
||||||
|
|
||||||
|
// 发送给超级电容的数据
|
||||||
|
typedef struct {
|
||||||
|
FunctionalState Enable ; //超级电容使能。1使能，0失能
|
||||||
|
SuperCapStateEnum Charge ; //V1.1超级电容充电。1充电，0放电，在PLUS版本中，此标志位无效，超电的充放电是自动的
|
||||||
|
uint8_t Powerlimit; //裁判系统功率限制
|
||||||
|
uint8_t ChargePower; //V1.1超级电容充电功率，在PLUS版本中，此参数，超电的充电功率随着底盘功率变化
|
||||||
|
}CAN_SuperCapTXDataTypeDef;
|
||||||
|
|
||||||
|
// 从超级电容接收到的数据
|
||||||
|
typedef struct {
|
||||||
|
uint8_t SuperCapEnergy;//超级电容可用能量：0-100%
|
||||||
|
uint16_t ChassisPower; //底盘功率，0-512，由于传输的时候为了扩大量程右移了一位，所以接收的时候需要左移还原（丢精度）。
|
||||||
|
SuperCapReadyEnum SuperCapReady;//超级电容【可用标志】：1为可用，0为不可用
|
||||||
|
SuperCapStateEnum SuperCapState;//超级电容【状态标志】：各个状态对应的状态码查看SuperCapStateEnum枚举。
|
||||||
|
uint8_t BatVoltage; //通过超级电容监控电池电压*10，
|
||||||
|
uint8_t BatPower;
|
||||||
|
}CAN_SuperCapRXDataTypeDef;
|
||||||
|
|
||||||
|
extern CAN_SuperCapRXDataTypeDef CAN_SuperCapRXData;
|
||||||
|
|
||||||
|
void set_supercap_power_offset(uint8_t offset);
|
||||||
|
|
||||||
|
|
||||||
|
// 以下函数是超电控制所需要调用的函数
|
||||||
|
int8_t SuperCap_Init(void);
|
||||||
|
int8_t SuperCap_Update(void);
|
||||||
|
void transfer_SuperCap_measure( uint8_t *data);
|
||||||
|
int8_t CAN_TX_SuperCapData(CAN_SuperCapTXDataTypeDef * TX_Temp);
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 获取超级电容在线状态，1在线，0离线
|
||||||
|
*/
|
||||||
|
uint8_t get_supercap_online_state(void);
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 获取超级电容的运行状态，具体查看枚举SuperCapStateEnum
|
||||||
|
*/
|
||||||
|
SuperCapStateEnum get_supercap_state(void);
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 获取超级电容读到的电池电压，单位伏（V）
|
||||||
|
*/
|
||||||
|
float get_battery_voltage_from_supercap(void);
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 获取超级电容可用能量，范围：0-100%
|
||||||
|
*/
|
||||||
|
uint8_t get_supercap_energy(void);
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 获取根据超级电容功率统计的底盘消耗能量，单位：焦耳（J）
|
||||||
|
*/
|
||||||
|
uint32_t get_chassis_energy_from_supercap(void);
|
||||||
|
|
||||||
|
int8_t PowerLimit_Output(float power_limit, float *motor_out, uint32_t len);
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif /*SUPERCAP_H*/
|
||||||
51
User/module/cap.c
Normal file
51
User/module/cap.c
Normal file
@ -0,0 +1,51 @@
|
|||||||
|
/*
|
||||||
|
* 电容模组
|
||||||
|
*/
|
||||||
|
|
||||||
|
/* Includes ----------------------------------------------------------------- */
|
||||||
|
#include "cap.h"
|
||||||
|
|
||||||
|
#include "component\capacity.h"
|
||||||
|
#include "component\limiter.h"
|
||||||
|
#include "device\referee.h"
|
||||||
|
|
||||||
|
/* Private typedef ---------------------------------------------------------- */
|
||||||
|
/* Private define ----------------------------------------------------------- */
|
||||||
|
#define CAP_CUTOFF_VOLT 12.0f
|
||||||
|
|
||||||
|
/* Private macro ------------------------------------------------------------ */
|
||||||
|
/* Private variables -------------------------------------------------------- */
|
||||||
|
/* Private function -------------------------------------------------------- */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 运行电容控制逻辑
|
||||||
|
*
|
||||||
|
* @param cap 电容数据结构体
|
||||||
|
* @param referee 裁判系统数据
|
||||||
|
* @param cap_out 电容输出结构体
|
||||||
|
*/
|
||||||
|
void Cap_Control(CAN_SuperCapRXDataTypeDef *cap, const Referee_ForCap_t *referee,
|
||||||
|
float *power_limit) {
|
||||||
|
if (referee->ref_status != REF_STATUS_RUNNING) {
|
||||||
|
/* 当裁判系统离线时，依然使用裁判系统进程传来的数据 */
|
||||||
|
* power_limit = referee->chassis_power_limit;
|
||||||
|
} else {
|
||||||
|
/* 当裁判系统在线时，使用算法控制裁判系统输出（即电容输入） */
|
||||||
|
* power_limit =
|
||||||
|
PowerLimit_CapInput(referee->chassis_watt, referee->chassis_power_limit,
|
||||||
|
referee->chassis_pwr_buff);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 导出电容数据
|
||||||
|
*
|
||||||
|
* @param cap 电容数据
|
||||||
|
* @param ui 结构体
|
||||||
|
*/
|
||||||
|
void Cap_DumpUI(CAN_SuperCapRXDataTypeDef *cap, Referee_CapUI_t *ui) {
|
||||||
|
ui->percentage = cap->SuperCapEnergy;
|
||||||
|
ui->status = cap->SuperCapState;
|
||||||
|
ui->ready = cap->SuperCapReady;
|
||||||
|
ui->online = get_supercap_online_state();
|
||||||
|
}
|
||||||
40
User/module/cap.h
Normal file
40
User/module/cap.h
Normal file
@ -0,0 +1,40 @@
|
|||||||
|
/*
|
||||||
|
* 电容模组
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C" {
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Includes ----------------------------------------------------------------- */
|
||||||
|
#include "device\supercap.h"
|
||||||
|
#include "device\referee.h"
|
||||||
|
|
||||||
|
/* Exported constants ------------------------------------------------------- */
|
||||||
|
/* Exported macro ----------------------------------------------------------- */
|
||||||
|
/* Exported types ----------------------------------------------------------- */
|
||||||
|
/* Exported functions prototypes -------------------------------------------- */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 运行电容控制逻辑
|
||||||
|
*
|
||||||
|
* @param cap 电容数据结构体
|
||||||
|
* @param referee 裁判系统数据
|
||||||
|
* @param cap_out 电容输出结构体
|
||||||
|
*/
|
||||||
|
void Cap_Control(CAN_SuperCapRXDataTypeDef *cap, const Referee_ForCap_t *referee,
|
||||||
|
float *power_limit);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 导出电容数据
|
||||||
|
*
|
||||||
|
* @param cap 电容数据
|
||||||
|
* @param ui 结构体
|
||||||
|
*/
|
||||||
|
void Cap_DumpUI(CAN_SuperCapRXDataTypeDef *cap, Referee_CapUI_t *ui);
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
@ -112,6 +112,7 @@ int8_t chassis_init(Chassis_t *c, Chassis_Param_t *param, float target_freq)
|
|||||||
}
|
}
|
||||||
c->param = param;
|
c->param = param;
|
||||||
c->mode = CHASSIS_MODE_RELAX; // 默认模式为停止锁死底盘
|
c->mode = CHASSIS_MODE_RELAX; // 默认模式为停止锁死底盘
|
||||||
|
// c->ctrl_mode = CHASSIS_MODE_RC;
|
||||||
c->mech_zero = c->param->mech_zero;/*云台6020的机械中点*/
|
c->mech_zero = c->param->mech_zero;/*云台6020的机械中点*/
|
||||||
c->travel = c->param->travel ;/*云台6020的机械行程*/
|
c->travel = c->param->travel ;/*云台6020的机械行程*/
|
||||||
c->mech_zero_4310 = c->param->mech_zero_4310;/*云台4310的机械中点*/
|
c->mech_zero_4310 = c->param->mech_zero_4310;/*云台4310的机械中点*/
|
||||||
@ -461,8 +462,8 @@ if(c->ctrl_mode == CHASSIS_MODE_RC)
|
|||||||
}
|
}
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
if(c->ctrl_mode == CHASSIS_MODE_DAOHANG)
|
// if(c->ctrl_mode == CHASSIS_MODE_DAOHANG)
|
||||||
{
|
// {
|
||||||
|
|
||||||
for(int i=0;i<4;i++)
|
for(int i=0;i<4;i++)
|
||||||
{
|
{
|
||||||
@ -483,7 +484,7 @@ for(int i=0;i<4;i++)
|
|||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
}
|
// }
|
||||||
return CHASSIS_OK;
|
return CHASSIS_OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@ -81,7 +81,9 @@ typedef struct {
|
|||||||
Chassis_Mode_t sw_left_mid;
|
Chassis_Mode_t sw_left_mid;
|
||||||
Chassis_Mode_t sw_left_down;
|
Chassis_Mode_t sw_left_down;
|
||||||
|
|
||||||
|
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;
|
||||||
|
|
||||||
/* 右拨杆映射 - 云台/射击模式 */
|
/* 右拨杆映射 - 云台/射击模式 */
|
||||||
Gimbal_Mode_t gimbal_sw_up;
|
Gimbal_Mode_t gimbal_sw_up;
|
||||||
|
|||||||
@ -125,8 +125,10 @@ CMD_DEFINE_ADAPTER(AT9S, at9s, CMD_SRC_RC, CMD_AT9S_Init, CMD_AT9S_GetInput, CMD
|
|||||||
/* ========================================================================== */
|
/* ========================================================================== */
|
||||||
#if CMD_RC_DEVICE_TYPE == 3
|
#if CMD_RC_DEVICE_TYPE == 3
|
||||||
int8_t CMD_ET16s_Init(void *data) {
|
int8_t CMD_ET16s_Init(void *data) {
|
||||||
ET16s_t *et16s = (ET16s_t *)data;
|
(void)data;
|
||||||
return REMOTE_Init();
|
/* 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) {
|
int8_t CMD_ET16s_GetInput(void *data, CMD_RawInput_t *output) {
|
||||||
|
|||||||
@ -1,18 +1,18 @@
|
|||||||
#include "config.h"
|
#include "config.h"
|
||||||
#include "string.h"
|
#include "string.h"
|
||||||
|
|
||||||
#define DEBUG
|
// #define DEBUG
|
||||||
|
|
||||||
#define CONFIG_BASE_ADDRESS (ADDR_FLASH_SECTOR_11)
|
// #define CONFIG_BASE_ADDRESS (ADDR_FLASH_SECTOR_11)
|
||||||
|
|
||||||
|
// #ifdef DEBUG
|
||||||
|
//Config_Param_t config = {
|
||||||
|
|
||||||
|
//#else
|
||||||
|
|
||||||
#ifdef DEBUG
|
|
||||||
Config_Param_t config = {
|
Config_Param_t config = {
|
||||||
|
|
||||||
#else
|
// #endif
|
||||||
|
|
||||||
static const Config_Param_t config = {
|
|
||||||
|
|
||||||
#endif
|
|
||||||
|
|
||||||
.chassis = {
|
.chassis = {
|
||||||
|
|
||||||
@ -384,8 +384,8 @@ static const Config_Param_t config = {
|
|||||||
},
|
},
|
||||||
.rc_mode_map = {
|
.rc_mode_map = {
|
||||||
.sw_left_up = CHASSIS_MODE_RELAX,
|
.sw_left_up = CHASSIS_MODE_RELAX,
|
||||||
.sw_left_mid = RC,
|
.sw_left_mid = CHASSIS_MODE_FOLLOW_GIMBAL,
|
||||||
.sw_left_down = CHASSIS_MODE_FOLLOW_GIMBAL,
|
.sw_left_down = CHASSIS_MODE_ROTOR,
|
||||||
|
|
||||||
.gimbal_sw_up = GIMBAL_MODE_RELAX,
|
.gimbal_sw_up = GIMBAL_MODE_RELAX,
|
||||||
.gimbal_sw_mid = GIMBAL_MODE_ABSOLUTE,
|
.gimbal_sw_mid = GIMBAL_MODE_ABSOLUTE,
|
||||||
@ -400,6 +400,9 @@ static const Config_Param_t config = {
|
|||||||
.gimmbal_ctrl_mode_sw_down = GIMBAL_MODE_REMOTE,
|
.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,
|
||||||
|
|
||||||
},
|
},
|
||||||
},
|
},
|
||||||
|
|||||||
@ -1,5 +1,5 @@
|
|||||||
/*
|
/*
|
||||||
Task8 Task
|
Task9 Task
|
||||||
|
|
||||||
*/
|
*/
|
||||||
|
|
||||||
@ -19,14 +19,14 @@
|
|||||||
|
|
||||||
/* Private function --------------------------------------------------------- */
|
/* Private function --------------------------------------------------------- */
|
||||||
/* Exported functions ------------------------------------------------------- */
|
/* Exported functions ------------------------------------------------------- */
|
||||||
void Task_Task8(void *argument) {
|
void Task_Task9(void *argument) {
|
||||||
(void)argument; /* 未使用argument，消除警告 */
|
(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 */
|
/* 计算任务运行到指定频率需要等待的tick数 */
|
||||||
const uint32_t delay_tick = osKernelGetTickFreq() / TASK8_FREQ;
|
const uint32_t delay_tick = osKernelGetTickFreq() / TASK9_FREQ;
|
||||||
|
|
||||||
osDelay(TASK8_INIT_DELAY); /* 延时一段时间再开启任务 */
|
osDelay(TASK9_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 */
|
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
|
||||||
/* USER CODE INIT BEGIN */
|
/* USER CODE INIT BEGIN */
|
||||||
@ -36,10 +36,6 @@ void Task_Task8(void *argument) {
|
|||||||
while (1) {
|
while (1) {
|
||||||
tick += delay_tick; /* 计算下一个唤醒时刻 */
|
tick += delay_tick; /* 计算下一个唤醒时刻 */
|
||||||
/* USER CODE BEGIN */
|
/* USER CODE BEGIN */
|
||||||
// osMessageQueueGet(task_runtime.msgq.RC_REMOTE, &remote, NULL, 0);
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
/* USER CODE END */
|
/* USER CODE END */
|
||||||
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
||||||
@ -4,12 +4,11 @@
|
|||||||
*/
|
*/
|
||||||
|
|
||||||
/* Includes ----------------------------------------------------------------- */
|
/* Includes ----------------------------------------------------------------- */
|
||||||
#include "cmsis_os2.h"
|
|
||||||
#include "device/ai.h"
|
|
||||||
#include "task/user_task.h"
|
#include "task/user_task.h"
|
||||||
/* USER INCLUDE BEGIN */
|
/* USER INCLUDE BEGIN */
|
||||||
#include "module/chassis.h"
|
#include "module/chassis.h"
|
||||||
#include "module/config.h"
|
#include "module/config.h"
|
||||||
|
#include "device/ai.h"
|
||||||
/* USER INCLUDE END */
|
/* USER INCLUDE END */
|
||||||
|
|
||||||
/* Private typedef ---------------------------------------------------------- */
|
/* Private typedef ---------------------------------------------------------- */
|
||||||
@ -50,11 +49,16 @@ osMessageQueueGet(task_runtime.msgq.navi.c_cmd, &c_cmd_ai_result, NULL, 0);
|
|||||||
/*接受cmd任务数据*/
|
/*接受cmd任务数据*/
|
||||||
if(osMessageQueueGet(task_runtime.msgq.chassis.cmd, &cmd_chassis, NULL, 0)==osOK)
|
if(osMessageQueueGet(task_runtime.msgq.chassis.cmd, &cmd_chassis, NULL, 0)==osOK)
|
||||||
{
|
{
|
||||||
if(cmd_chassis.mode == CHASSIS_MODE_DAOHANG){
|
if(cmd_chassis.ctrl_mode == CHASSIS_MODE_DAOHANG){
|
||||||
cmd_chassis.Vx = c_cmd_ai_result.chassis_t.Vx;
|
cmd_chassis.Vx = c_cmd_ai_result.chassis_t.Vx;
|
||||||
cmd_chassis.Vy = c_cmd_ai_result.chassis_t.Vy;
|
cmd_chassis.Vy = c_cmd_ai_result.chassis_t.Vy;
|
||||||
cmd_chassis.Vw = c_cmd_ai_result.chassis_t.Vw;
|
cmd_chassis.Vw = c_cmd_ai_result.chassis_t.Vw;
|
||||||
}
|
}
|
||||||
|
else{
|
||||||
|
cmd_chassis.Vx = cmd_chassis.Vx;
|
||||||
|
cmd_chassis.Vy = cmd_chassis.Vy;
|
||||||
|
cmd_chassis.Vw = cmd_chassis.Vw;
|
||||||
|
}
|
||||||
Chassis_update(&chassis);
|
Chassis_update(&chassis);
|
||||||
Chassis_Control(&chassis, &cmd_chassis,tick);
|
Chassis_Control(&chassis, &cmd_chassis,tick);
|
||||||
}else
|
}else
|
||||||
|
|||||||
@ -61,7 +61,7 @@ void Task_cmd(void *argument) {
|
|||||||
while (1) {
|
while (1) {
|
||||||
tick += delay_tick; /* 计算下一个唤醒时刻 */
|
tick += delay_tick; /* 计算下一个唤醒时刻 */
|
||||||
/* USER CODE BEGIN */
|
/* USER CODE BEGIN */
|
||||||
osKernelLock(); /*锁住RTOS内核调度*/
|
osKernelLock(); /* 锁住RTOS内核调度 */
|
||||||
/*接受遥控器数据*/
|
/*接受遥控器数据*/
|
||||||
#if CMD_RCTypeTable_Index == 0
|
#if CMD_RCTypeTable_Index == 0
|
||||||
osMessageQueueGet(task_runtime.msgq.rc.dr16, &cmd_dr16, NULL, 0);
|
osMessageQueueGet(task_runtime.msgq.rc.dr16, &cmd_dr16, NULL, 0);
|
||||||
@ -83,6 +83,7 @@ void Task_cmd(void *argument) {
|
|||||||
osMessageQueuePut(task_runtime.msgq.chassis.cmd, cmd_for_chassis, 0, 0);
|
osMessageQueuePut(task_runtime.msgq.chassis.cmd, cmd_for_chassis, 0, 0);
|
||||||
// ui_cmd=UI_AUTO_AIM_START;
|
// ui_cmd=UI_AUTO_AIM_START;
|
||||||
// osMessageQueuePut(task_runtime.msgq.referee.ui,&(ui_cmd), 0, 0);
|
// osMessageQueuePut(task_runtime.msgq.referee.ui,&(ui_cmd), 0, 0);
|
||||||
|
osKernelUnlock(); /* 及时解锁，避免阻塞RC等其他任务调度 */
|
||||||
/* USER CODE END */
|
/* USER CODE END */
|
||||||
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
||||||
}
|
}
|
||||||
|
|||||||
@ -51,6 +51,20 @@
|
|||||||
description: ''
|
description: ''
|
||||||
freq_control: true
|
freq_control: true
|
||||||
frequency: 500.0
|
frequency: 500.0
|
||||||
function: Task_Task8
|
function: Task_referee
|
||||||
name: Task8
|
name: referee
|
||||||
|
stack: 256
|
||||||
|
- delay: 0
|
||||||
|
description: ''
|
||||||
|
freq_control: true
|
||||||
|
frequency: 500.0
|
||||||
|
function: Task_Task9
|
||||||
|
name: Task9
|
||||||
|
stack: 256
|
||||||
|
- delay: 0
|
||||||
|
description: ''
|
||||||
|
freq_control: true
|
||||||
|
frequency: 500.0
|
||||||
|
function: Task_super_cap
|
||||||
|
name: super_cap
|
||||||
stack: 256
|
stack: 256
|
||||||
|
|||||||
@ -12,8 +12,9 @@
|
|||||||
#include "module/shoot.h"
|
#include "module/shoot.h"
|
||||||
#include "device/dr16.h"
|
#include "device/dr16.h"
|
||||||
#include "device/et16s.h"
|
#include "device/et16s.h"
|
||||||
// #include "device/referee.h"
|
#include "device/referee.h"
|
||||||
#include "device/ai.h"
|
#include "device/ai.h"
|
||||||
|
#include "device/supercap.h"
|
||||||
/* USER INCLUDE END */
|
/* USER INCLUDE END */
|
||||||
|
|
||||||
/* Private typedef ---------------------------------------------------------- */
|
/* Private typedef ---------------------------------------------------------- */
|
||||||
@ -42,8 +43,10 @@ void Task_Init(void *argument) {
|
|||||||
task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
|
task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
|
||||||
task_runtime.thread.gimbal = osThreadNew(Task_gimbal, NULL, &attr_gimbal);
|
task_runtime.thread.gimbal = osThreadNew(Task_gimbal, NULL, &attr_gimbal);
|
||||||
task_runtime.thread.shoot = osThreadNew(Task_shoot, NULL, &attr_shoot);
|
task_runtime.thread.shoot = osThreadNew(Task_shoot, NULL, &attr_shoot);
|
||||||
task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
|
task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
|
||||||
// task_runtime.thread.Task8 = osThreadNew(Task_Task8, NULL, &attr_Task8);
|
task_runtime.thread.referee = osThreadNew(Task_referee, NULL, &attr_referee);
|
||||||
|
task_runtime.thread.Task9 = osThreadNew(Task_Task9, NULL, &attr_Task9);
|
||||||
|
task_runtime.thread.super_cap = osThreadNew(Task_super_cap, NULL, &attr_super_cap);
|
||||||
|
|
||||||
// 创建消息队列
|
// 创建消息队列
|
||||||
/* USER MESSAGE BEGIN */
|
/* USER MESSAGE BEGIN */
|
||||||
@ -63,6 +66,21 @@ void Task_Init(void *argument) {
|
|||||||
task_runtime.msgq.shoot.ai.s_cmd = osMessageQueueNew(2u, sizeof(AI_result_t),NULL);
|
task_runtime.msgq.shoot.ai.s_cmd = osMessageQueueNew(2u, sizeof(AI_result_t),NULL);
|
||||||
task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count = osMessageQueueNew(2u, sizeof(PackageMCU_t),NULL);
|
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*/
|
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);
|
||||||
|
task_runtime.msgq.referee.shoot= osMessageQueueNew(2u, sizeof(Referee_ForShoot_t), NULL);
|
||||||
|
task_runtime.msgq.referee.ui= osMessageQueueNew(2u, sizeof(CMD_UI_t), NULL);
|
||||||
|
/* UI */
|
||||||
|
task_runtime.msgq.ui.chassis =osMessageQueueNew(2u, sizeof(Referee_ChassisUI_t), NULL);
|
||||||
|
task_runtime.msgq.ui.cap =osMessageQueueNew(2u, sizeof(Referee_CapUI_t), NULL);
|
||||||
|
task_runtime.msgq.ui.gimbal =osMessageQueueNew(2u, sizeof(Referee_GimbalUI_t), NULL);
|
||||||
|
task_runtime.msgq.ui.shoot =osMessageQueueNew(2u, sizeof(Referee_ShootUI_t), NULL);
|
||||||
|
task_runtime.msgq.ui.cmd = osMessageQueueNew(2u, sizeof(bool), NULL);
|
||||||
|
/*超电*/
|
||||||
|
task_runtime.msgq.cap.for_chassis = osMessageQueueNew(2u, sizeof(CAN_SuperCapRXDataTypeDef), NULL);
|
||||||
|
task_runtime.msgq.cap.power_limit = osMessageQueueNew(2u, sizeof(float), NULL);
|
||||||
/* USER MESSAGE END */
|
/* USER MESSAGE END */
|
||||||
|
|
||||||
osKernelUnlock(); // 解锁内核
|
osKernelUnlock(); // 解锁内核
|
||||||
|
|||||||
@ -19,8 +19,8 @@
|
|||||||
/* USER STRUCT BEGIN */
|
/* USER STRUCT BEGIN */
|
||||||
// DR16_t dr16;
|
// DR16_t dr16;
|
||||||
ET16s_t et16s;
|
ET16s_t et16s;
|
||||||
|
// CMD_RC_t cmd_rc;
|
||||||
|
|
||||||
int f,i;
|
|
||||||
|
|
||||||
/* USER STRUCT END */
|
/* USER STRUCT END */
|
||||||
|
|
||||||
@ -38,8 +38,9 @@ void Task_rc(void *argument) {
|
|||||||
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
|
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
|
||||||
/* USER CODE INIT BEGIN */
|
/* USER CODE INIT BEGIN */
|
||||||
// DR16_Init(&dr16);
|
// DR16_Init(&dr16);
|
||||||
|
// et16s.rc_type = Control_loss;
|
||||||
REMOTE_Init();
|
REMOTE_Init();
|
||||||
|
|
||||||
/* USER CODE INIT END */
|
/* USER CODE INIT END */
|
||||||
|
|
||||||
while (1) {
|
while (1) {
|
||||||
@ -51,17 +52,16 @@ void Task_rc(void *argument) {
|
|||||||
// } else {
|
// } else {
|
||||||
// DR16_Offline(&dr16);
|
// DR16_Offline(&dr16);
|
||||||
// }
|
// }
|
||||||
REMOTE_StartDmaRecv();
|
REMOTE_StartDmaRecv();
|
||||||
if (REMOTE_WaitDmaCplt(20)) {
|
if (REMOTE_WaitDmaCplt(20)) {
|
||||||
|
|
||||||
ET16S_ParseRC(&et16s);
|
ET16S_ParseRC(&et16s);
|
||||||
} else {
|
} else {
|
||||||
|
|
||||||
ET16s_HandleOffline(&et16s);
|
ET16s_HandleOffline( &et16s );
|
||||||
}
|
}
|
||||||
osMessageQueueReset(task_runtime.msgq.rc.et16s);
|
osMessageQueueReset(task_runtime.msgq.rc.et16s);
|
||||||
osMessageQueuePut(task_runtime.msgq.rc.et16s, &et16s, 0, 0);
|
osMessageQueuePut(task_runtime.msgq.rc.et16s, &et16s, 0, 0);
|
||||||
|
|
||||||
|
|
||||||
/* USER CODE END */
|
/* USER CODE END */
|
||||||
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
||||||
|
|||||||
97
User/task/referee.c
Normal file
97
User/task/referee.c
Normal file
@ -0,0 +1,97 @@
|
|||||||
|
/*
|
||||||
|
referee Task
|
||||||
|
|
||||||
|
*/
|
||||||
|
|
||||||
|
/* Includes ----------------------------------------------------------------- */
|
||||||
|
#include "task/user_task.h"
|
||||||
|
/* USER INCLUDE BEGIN */
|
||||||
|
#include "device/referee.h"
|
||||||
|
/* USER INCLUDE END */
|
||||||
|
|
||||||
|
/* Private typedef ---------------------------------------------------------- */
|
||||||
|
/* Private define ----------------------------------------------------------- */
|
||||||
|
/* Private macro ------------------------------------------------------------ */
|
||||||
|
/* Private variables -------------------------------------------------------- */
|
||||||
|
/* USER STRUCT BEGIN */
|
||||||
|
Referee_t ref;
|
||||||
|
Referee_UI_t ui;
|
||||||
|
CMD_UI_t ref_cmd;
|
||||||
|
Referee_ForCap_t for_cap;
|
||||||
|
Referee_ForAI_t for_ai;
|
||||||
|
Referee_ForChassis_t for_chassis;
|
||||||
|
Referee_ForShoot_t for_shoot;
|
||||||
|
int hhh;
|
||||||
|
/* 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 */
|
||||||
|
|
||||||
|
|
||||||
|
/* 计算任务运行到指定频率需要等待的tick数 */
|
||||||
|
const uint32_t delay_tick = osKernelGetTickFreq() / REFEREE_FREQ;
|
||||||
|
|
||||||
|
osDelay(REFEREE_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 */
|
||||||
|
uint32_t last_online_tick = 0;
|
||||||
|
/* 初始化裁判系统 */
|
||||||
|
Referee_Init(&ref, &ui,&Config_GetRobotParam()->cmd_param.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(ref.ref_status==0){hhh++;}
|
||||||
|
if (osThreadFlagsWait(SIGNAL_REFEREE_RAW_REDY, osFlagsWaitAll, 10) !=
|
||||||
|
SIGNAL_REFEREE_RAW_REDY) {
|
||||||
|
if (osKernelGetTickCount() - last_online_tick > 3000)
|
||||||
|
Referee_HandleOffline(&ref);
|
||||||
|
} else {
|
||||||
|
Referee_Parse(&ref);
|
||||||
|
last_online_tick = osKernelGetTickCount();
|
||||||
|
}
|
||||||
|
Referee_PackCap(&for_cap, &ref);
|
||||||
|
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);
|
||||||
|
/* 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);
|
||||||
|
Referee_UIRefresh(&ui);
|
||||||
|
|
||||||
|
while (osMessageQueueGet(task_runtime.msgq.referee.ui, &ref_cmd, NULL,
|
||||||
|
0) == osOK) {
|
||||||
|
Referee_PraseCmd(&ui, ref_cmd);
|
||||||
|
// Referee_StartSend(send_data, sizeof(send_data));
|
||||||
|
}
|
||||||
|
Referee_PackUI(&ui, &ref);
|
||||||
|
}
|
||||||
|
|
||||||
|
/* USER CODE END */
|
||||||
|
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
@ -4,8 +4,6 @@
|
|||||||
*/
|
*/
|
||||||
|
|
||||||
/* Includes ----------------------------------------------------------------- */
|
/* Includes ----------------------------------------------------------------- */
|
||||||
#include "cmsis_os2.h"
|
|
||||||
#include "module/cmd.h"
|
|
||||||
#include "task/user_task.h"
|
#include "task/user_task.h"
|
||||||
/* USER INCLUDE BEGIN */
|
/* USER INCLUDE BEGIN */
|
||||||
#include "module/shoot.h"
|
#include "module/shoot.h"
|
||||||
@ -37,7 +35,7 @@ void Task_shoot(void *argument) {
|
|||||||
osDelay(SHOOT_INIT_DELAY); /* 延时一段时间再开启任务 */
|
osDelay(SHOOT_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 */
|
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
|
||||||
/* USER CODE INIT BEGIN */
|
/* USER CODE INIT BEGIN */
|
||||||
Shoot_Init(&shoot,&Config_GetRobotParam()->shoot,SHOOT_FREQ);
|
Shoot_Init(&shoot,&Config_GetRobotParam()->shoot,SHOOT_FREQ);
|
||||||
Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);
|
Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);
|
||||||
shoot_ai_mcu_package.data.bullet_count = 0;
|
shoot_ai_mcu_package.data.bullet_count = 0;
|
||||||
|
|||||||
73
User/task/super_cap.c
Normal file
73
User/task/super_cap.c
Normal file
@ -0,0 +1,73 @@
|
|||||||
|
/*
|
||||||
|
super_cap Task
|
||||||
|
|
||||||
|
*/
|
||||||
|
|
||||||
|
/* Includes ----------------------------------------------------------------- */
|
||||||
|
#include "task/user_task.h"
|
||||||
|
/* USER INCLUDE BEGIN */
|
||||||
|
#include "device/supercap.h"
|
||||||
|
#include "device/referee.h"
|
||||||
|
#include "module/cap.h"
|
||||||
|
/* USER INCLUDE END */
|
||||||
|
|
||||||
|
/* Private typedef ---------------------------------------------------------- */
|
||||||
|
/* Private define ----------------------------------------------------------- */
|
||||||
|
/* Private macro ------------------------------------------------------------ */
|
||||||
|
/* Private variables -------------------------------------------------------- */
|
||||||
|
/* USER STRUCT BEGIN */
|
||||||
|
float power_limit;
|
||||||
|
CAN_SuperCapTXDataTypeDef SuperCap_CanTX;
|
||||||
|
Referee_ForCap_t referee_cap;
|
||||||
|
Referee_CapUI_t cap_ui;
|
||||||
|
/* USER STRUCT END */
|
||||||
|
|
||||||
|
/* Private function --------------------------------------------------------- */
|
||||||
|
/* USER PRIVATE CODE BEGIN */
|
||||||
|
|
||||||
|
/* USER PRIVATE CODE END */
|
||||||
|
/* Exported functions ------------------------------------------------------- */
|
||||||
|
void Task_super_cap(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() / SUPER_CAP_FREQ;
|
||||||
|
|
||||||
|
osDelay(SUPER_CAP_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 */
|
||||||
|
SuperCap_Init();
|
||||||
|
SuperCap_CanTX.Enable = 1 ; //超级电容使能。1使能，0失能
|
||||||
|
SuperCap_CanTX.Charge = 0 ; //此标志位无效，超电的充放电是自动的
|
||||||
|
SuperCap_CanTX.Powerlimit = 120 ; //裁判系统功率限制
|
||||||
|
SuperCap_CanTX.ChargePower = 1 ; //此参数无效，超电的充电功率随着底盘功率变化
|
||||||
|
/* 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.referee.cap, &SuperCap_CanTX.Powerlimit , NULL, 0);
|
||||||
|
SuperCap_Update();
|
||||||
|
CAN_TX_SuperCapData(&SuperCap_CanTX);
|
||||||
|
/* 锁住RTOS内核防止控制过程中断，造成错误 */
|
||||||
|
osKernelLock();
|
||||||
|
/* 根据裁判系统数据计算输出功率 */
|
||||||
|
Cap_Control(&CAN_SuperCapRXData, &referee_cap, &power_limit);
|
||||||
|
osKernelUnlock();
|
||||||
|
|
||||||
|
osMessageQueueReset(task_runtime.msgq.cap.for_chassis);
|
||||||
|
osMessageQueuePut(task_runtime.msgq.cap.for_chassis, &CAN_SuperCapRXData, 0, 0);
|
||||||
|
osMessageQueueReset(task_runtime.msgq.cap.power_limit);
|
||||||
|
osMessageQueuePut(task_runtime.msgq.cap.power_limit, &power_limit, 0, 0);
|
||||||
|
/* 超电UI */
|
||||||
|
Cap_DumpUI(&CAN_SuperCapRXData,&cap_ui);
|
||||||
|
osMessageQueueReset(task_runtime.msgq.ui.cap);
|
||||||
|
osMessageQueuePut(task_runtime.msgq.ui.cap, &cap_ui, 0, 0);
|
||||||
|
|
||||||
|
/* USER CODE END */
|
||||||
|
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue
Block a user