new Sentry

CMakeLists.txt

@@ -95,6 +95,8 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/task/rc.c
     User/task/shoot.c
     User/task/user_task.c
+    User/task/ai.c
+    User/task/Task8.c
 )
 
 # Add include paths

User/device/ai.c

@@ -1,15 +1,15 @@
 #include "ai.h"
 #include "bsp/uart.h"
 #include "component/crc16.h"
-#include "module/gimbal.h"
 
 
-void ai_init(AI_t* ai){
+
-		ai->RX.head[0]="M";
+// void ai_init(AI_t* ai){
-		ai->RX.head[0]="R";	
+// 		ai->RX.head[0]="M";
-		ai->TX.head[0]="M";
+// 		ai->RX.head[0]="R";	
-		ai->TX.head[0]="R";		
+// 		ai->TX.head[0]="M";
-} 
+// 		ai->TX.head[0]="R";		
+// } 
 
 
 
@@ -49,10 +49,10 @@ int8_t AI_ParseHost(AI_t *ai,Gimbal_feedback_t* motor,AHRS_Quaternion_t* quat) {
 		ai->TX.yaw=motor->motor.yaw_4310_motor_feedback.rotor_abs_angle;	
 		ai->TX.pitch_vel=motor->motor.pitch_4310_motor_feedback.rotor_speed;
 		ai->TX.yaw_vel=motor->motor.yaw_4310_motor_feedback.rotor_speed;	
-		ai->TX.q[0]=quat->q1;	
+		ai->TX.q[0]=motor->imu.quat.q1;	
-		ai->TX.q[1]=quat->q2;	
+		ai->TX.q[1]=motor->imu.quat.q2;	
-		ai->TX.q[2]=quat->q3;	
+		ai->TX.q[2]=motor->imu.quat.q3;	
-		ai->TX.q[3]=quat->q0;		
+		ai->TX.q[3]=motor->imu.quat.q0;	
 
 		ai->TX.bullet_count=10;
 		ai->TX.bullet_speed=10;	

User/device/ai.h

@@ -8,6 +8,7 @@ extern "C" {
 /* Includes ----------------------------------------------------------------- */
 #include "component\user_math.h"
 #include "remote_control.h"
+#include "module/gimbal.h"
 
 struct __attribute__((packed)) GimbalToVision
 {
@@ -63,6 +64,18 @@ typedef struct __attribute__((packed)) {
 	struct GimbalToVision TX;
 	struct VisionToGimbal RX;
 }AI_t;
+
+
+
+int8_t AI_StartReceiving(AI_t *ai) ;
+
+int8_t AI_Get_NUC(AI_t * ai,AI_cmd_t* ai_cmd) ;
+
+
+int8_t AI_ParseHost(AI_t * ai,Gimbal_feedback_t* motor,AHRS_Quaternion_t* quat) ;
+
+int8_t AI_StartSend(AI_t *ai) ;
+
 #ifdef __cplusplus
 }
 #endif

User/device/remote_control.c

@@ -212,7 +212,7 @@ int8_t REMOTE_ParseRC(DR16_t *dr16, CMD_RC_t *rc,ET16s_raw_t *et16s) {
   // rc->ET16s.knob_left = ET16s->sw[7]; //200 330 479 629 778 928 1075 1224 1373 1522 1670 1800
 
 //  /*离线处理，和dr16位置不同*/
-	if(et16s->sw[3]==1695)
+	if(et16s->sw[6]==1695)
 	{
 		ET16s_HandleOffline(et16s,rc);
 //    memset(cbuf, 0, sizeof(cbuf));	//有时候会出现消息数组错位，所以直接清空，在离线和指定按键不对的情况下，原数据不可信	

User/module/chassis.c

@@ -129,7 +129,7 @@ int8_t chassis_init(Chassis_t *c, Chassis_Param_t *param, float target_freq)
 
   // 舵轮安装时的6020机械误差，机械校准时1号轮在左前方，所有轮的编码器朝向右面
   MotorOffset_t motor_offset = {{3.67848611 / M_PI * 180.0f, 2.61390328 / M_PI * 180.0f, 
-                                 4.71852493 / M_PI * 180.0f, 2.62694216 / M_PI * 180.0f}}; // 右右右右
+                                 2.11075759 / M_PI * 180.0f, 2.62694216 / M_PI * 180.0f}}; // 右右右右
   
   c->motoroffset = motor_offset;
   /*对3508的速度环和6020的角速度以及位置环pid进行初始化*/
@@ -416,7 +416,7 @@ int8_t Chassis_Control(Chassis_t *c, Chassis_CMD_t *c_cmd,uint32_t now)
 
   for (int i = 0; i < 4; i++)
   {
-    float chassis6020_detangle[4]; // 6020解算出的角度
+    float chassis6020_detangle[4]; // 6020解算出的角度                  
     c->hopemotorout.motor6020_target[i] = c->hopemotorout.rotor6020_jiesuan_2[i];
     chassis6020_detangle[i] = PID_Calc(&(c->pid.chassis_6020anglePid[i]), c->hopemotorout.motor6020_target[i],
                                        c->motorfeedback.rotor_angle6020[i], 0.0f, c->dt);

User/module/cmd.c

@@ -177,15 +177,21 @@ int8_t CMD_CtrlSet(Chassis_CMD_t *c_cmd, const CMD_RC_t *rc, Gimbal_CMD_t *g_cmd
         {
             case CMD_SW_UP:
                 s_cmd->firecmd = false;
+                s_cmd->ready = false;
+
                 break;
             case CMD_SW_MID:
                 s_cmd->firecmd = false;
+                s_cmd->ready = true;
+
                 break;
             case CMD_SW_DOWN:
                 s_cmd->firecmd = true;
+                s_cmd->ready = true;
                 break;
             case CMD_SW_ERR:
                 s_cmd->firecmd = false;
+                s_cmd->ready = false;
                 break;
         }
     }

User/module/config.c

@@ -213,16 +213,16 @@ static const Config_Param_t config = {
 
     },
     .shoot = {
-        .motor.fric[0] = {BSP_CAN_2, 0x205, MOTOR_M3508, false, false},
+        .motor.fric[0] = {{BSP_CAN_2, 0x201, MOTOR_M3508, false, false},.level=1},
-        .motor.fric[1] = {BSP_CAN_2, 0x206, MOTOR_M3508, false, false}, 
+        .motor.fric[1] = {{BSP_CAN_2, 0x202, MOTOR_M3508, true, false},.level=1}, 
-        .motor.trig = {BSP_CAN_2, 0x207, MOTOR_M2006, false, true},
+        .motor.trig = {BSP_CAN_2, 0x203, MOTOR_M2006, false, true},
 
               .basic.projectileType = SHOOT_PROJECTILE_17MM,
               .basic.fric_num = 2,
-              .basic.ratio_multilevel = {1.0f, 1.0f},
               .basic.extra_deceleration_ratio = 1,
+              .basic.ratio_multilevel[0] = 1.0f,
               .basic.num_trig_tooth = 8,
-              .basic.shot_freq = 1.0f,
+              .basic.shot_freq = 20.0f,
               .basic.shot_burst_num = 5,
 
               .jamDetection.enable = true,
@@ -253,20 +253,20 @@ static const Config_Param_t config = {
                 },
 
                 .trig_2006={
-                .k=2.5f,
+                .k=0.5f,
-                .p=1.0f,
+                .p=0.5f,
-                .i=0.1f,
+                .i=0.5f,
-                .d=0.04f,
+                .d=0.05f,
-                .i_limit=0.4f,
+                .i_limit=0.2f,
                 .out_limit=1.0f,
                 .d_cutoff_freq=-1.0f,
                 .range=M_2PI,
                 },
 
                 .trig_omg_2006={
-                .k=1.0f,
+                .k=3.0f,
-                .p=1.5f,
+                .p=2.0f,
-                .i=0.3f,
+                .i=0.2f,
                 .d=0.5f,
                 .i_limit=0.2f,
                 .out_limit=1.0f,

User/module/gimbal.c

@@ -245,8 +245,8 @@ const float delta_min_6020 = CircleError(g->limit.yaw_6020.min,
     if(delta_yaw_6020 > delta_max_6020) delta_yaw_6020 = delta_max_6020;
     if(delta_yaw_6020 < delta_min_6020) delta_yaw_6020 = delta_min_6020;
 }
-  // CircleAdd(&(g->setpoint.eulr.yaw), delta_yaw_6020, M_2PI);
+  CircleAdd(&(g->setpoint.eulr.yaw), delta_yaw_6020, M_2PI);
-  g->setpoint.eulr.yaw = g->setpoint.NUC_Yaw;
+  // g->setpoint.eulr.yaw = g->setpoint.NUC_Yaw;
 
  /*处理大yaw控制命令，软件限位 - 使用电机绝对角度*/
  /*获得小YAW的中点位置，如果小YAW大于中点的一定范围，大YAW开始运动，
@@ -280,8 +280,8 @@ if(g->param->travel.pitch_4310 > 0)  // 有限位才处理
     if (delta_pitch_4310 > delta_max_pitch) delta_pitch_4310 = delta_max_pitch;
     if (delta_pitch_4310 < delta_min_pitch) delta_pitch_4310 = delta_min_pitch;
 }
-  // CircleAdd(&(g->setpoint.eulr.pit), delta_pitch_4310, M_2PI);
+  CircleAdd(&(g->setpoint.eulr.pit), delta_pitch_4310, M_2PI);
-  g->setpoint.eulr.pit = g->setpoint.NUC_Pitch;
+  // g->setpoint.eulr.pit = g->setpoint.NUC_Pitch;
 
 /* 控制相关逻辑 */
   float yaw_omega_set_point, pitch_omega_set_point,yaw_6020_omega_set_point;

User/module/shoot.c

@@ -42,12 +42,10 @@ void Task(void *argument) {
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
 #define MAX_FRIC_RPM 7000.0f
-#define MAX_TRIG_RPM 1500.0f//这里可能也会影响最高发射频率，待测试
+#define MAX_TRIG_RPM 6000.0f//这里可能也会影响最高发射频率，待测试
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 static bool last_firecmd;
-
-float maxTrigrpm=4000.0f;
 /* Private function  -------------------------------------------------------- */
 
 /**
@@ -286,7 +284,7 @@ int8_t Shoot_UpdateFeedback(Shoot_t *s)
         s->var_trig.trig_agl = M_2PI - s->var_trig.trig_agl;
 	}
     s->var_trig.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.feedback.rotor_speed);
-    s->var_trig.trig_rpm = s->feedback.trig.feedback.rotor_speed / maxTrigrpm;
+    s->var_trig.trig_rpm = s->feedback.trig.feedback.rotor_speed / MAX_TRIG_RPM;
     if(s->var_trig.trig_rpm>1.0f)s->var_trig.trig_rpm=1.0f;
     if(s->var_trig.trig_rpm<-1.0f)s->var_trig.trig_rpm=-1.0f;
     

User/module/shoot.h

@@ -14,8 +14,8 @@ extern "C" {
 #include "device/motor_rm.h"
 #include "module/cmd.h"
 /* Exported constants ------------------------------------------------------- */
-#define MAX_FRIC_NUM 6
+#define MAX_FRIC_NUM 2
-#define MAX_NUM_MULTILEVEL 2 /* 多级发射级数 */
+#define MAX_NUM_MULTILEVEL 1 /* 多级发射级数 */
 
 #define SHOOT_OK (0)        /* 运行正常 */
 #define SHOOT_ERR_NULL (-1) /* 运行时发现NULL指针 */    

User/task/Task8.c

@@ -0,0 +1,44 @@
+/*
+    Task8 Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_Task8(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() / TASK8_FREQ;
+
+  osDelay(TASK8_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 */
+
+  /* USER CODE INIT END */
+  
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}

User/task/ai.c

@@ -0,0 +1,56 @@
+/*
+    ai Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "device/ai.h"
+#include "module/gimbal.h"
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+AI_t ai;
+AI_cmd_t ai_cmd;
+AHRS_Quaternion_t quat;
+Gimbal_feedback_t gimbal_motor;
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_ai(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() / AI_FREQ;
+
+  osDelay(AI_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 */
+
+  /* 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.gimbal.ai.quat, &quat, NULL, 0);  
+    osMessageQueueGet(task_runtime.msgq.gimbal.ai.feedback, &gimbal_motor, NULL, 0);
+		AI_ParseHost(&ai,&gimbal_motor,&quat);
+		AI_StartSend(&ai);
+		
+		AI_StartReceiving(&ai);		
+		AI_Get_NUC(&ai,&ai_cmd);		
+    osMessageQueueReset(task_runtime.msgq.gimbal.ai.g_cmd);
+    osMessageQueuePut(task_runtime.msgq.gimbal.ai.g_cmd, &ai_cmd, 0, 0);	
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}

User/task/atti_esti.c

@@ -1,9 +1,6 @@
 /*
     atti_esti Task
-        任务一用来进行c板自带的陀螺仪bmi088的数据采集和姿态解算，同时对陀螺仪进行温控
+    
-  控制IMU加热到指定温度防止温漂，收集IMU数据给AHRS算法。
-  收集BMI088的数据，解算后得到四元数，转换为欧拉角之后放到消息队列中，
-  等待其他任务取用。
 */
 
 /* Includes ----------------------------------------------------------------- */

User/task/chassis.c

@@ -53,7 +53,7 @@ chassis_init(&chassis,&Config_GetRobotParam()->chassis,CHASSIS_FREQ);
 	 Chassis_CMD_t safe_cmd = {.mode = STOP, .Vx = 0, .Vy = 0, .Vw = 0};
     Chassis_Control(&chassis, &safe_cmd,tick);
 }
-    // Chassis_Setoutput(&chassis);
+    Chassis_Setoutput(&chassis);
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }

User/task/cmd.c

@@ -4,7 +4,6 @@
 */
 
 /* Includes ----------------------------------------------------------------- */
-#include "cmsis_os2.h"
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
 #include "module/cmd.h"

User/task/config.yaml

@@ -40,3 +40,17 @@
   function: Task_shoot
   name: shoot
   stack: 256
+- delay: 0
+  description: ''
+  freq_control: true
+  frequency: 250.0
+  function: Task_ai
+  name: ai
+  stack: 256
+- delay: 0
+  description: ''
+  freq_control: true
+  frequency: 500.0
+  function: Task_Task8
+  name: Task8
+  stack: 256

User/task/gimbal.c

@@ -48,6 +48,8 @@ Gimbal_UpdateFeedback(&gimbal);
 osMessageQueueReset(task_runtime.msgq.gimbal.yaw6020);
 osMessageQueuePut(task_runtime.msgq.gimbal.yaw6020, &gimbal.feedback.motor.yaw_4310_motor_feedback, 0, 0);
 
+osMessageQueueReset(task_runtime.msgq.gimbal.ai.feedback);
+osMessageQueuePut(task_runtime.msgq.gimbal.ai.feedback, &gimbal.feedback, 0, 0);
 
 
 Gimbal_Control(&gimbal, &cmd_gimbal);

User/task/init.c

@@ -36,11 +36,13 @@ void Task_Init(void *argument) {
   task_runtime.thread.chassis = osThreadNew(Task_chassis, NULL, &attr_chassis);
   task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
   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.Task8 = osThreadNew(Task_Task8, NULL, &attr_Task8);
 
   // 创建消息队列
   /* USER MESSAGE BEGIN */
-  task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL);
+  task_runtime.msgq.user_msg= osMessageQueueNew(2u, 15, NULL);
   task_runtime.msgq.cmd.raw.rc = osMessageQueueNew(2u, sizeof(CMD_RC_t), NULL);
   task_runtime.msgq.chassis.cmd = osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL);
     task_runtime.msgq.imu.eulr = osMessageQueueNew(2u, sizeof(AHRS_Eulr_t), NULL);
@@ -50,7 +52,9 @@ void Task_Init(void *argument) {
   task_runtime.msgq.gimbal.cmd = osMessageQueueNew(2u, sizeof(Gimbal_CMD_t), NULL);
   task_runtime.msgq.gimbal.yaw6020 = osMessageQueueNew(2u, sizeof(MOTOR_Feedback_t), NULL);
   task_runtime.msgq.shoot.cmd = osMessageQueueNew(2u, sizeof(Shoot_CMD_t),NULL);
-  task_runtime.msgq.gimbal.ai = osMessageQueueNew(2u, sizeof(AI_t),NULL);
+  task_runtime.msgq.gimbal.ai.feedback = osMessageQueueNew(2u, sizeof(Gimbal_feedback_t),NULL);
+  task_runtime.msgq.gimbal.ai.g_cmd = osMessageQueueNew(2u, sizeof(AI_cmd_t),NULL);
+
   /* USER MESSAGE END */
 
   osKernelUnlock(); // 解锁内核

User/task/shoot.c

@@ -1,4 +1,3 @@
-
 /*
     shoot Task
     
@@ -26,7 +25,7 @@ Shoot_CMD_t shoot_cmd;
 void Task_shoot(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
 
-   
+  
   /* 计算任务运行到指定频率需要等待的tick数 */
   const uint32_t delay_tick = osKernelGetTickFreq() / SHOOT_FREQ;
 
@@ -35,7 +34,7 @@ void Task_shoot(void *argument) {
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
 Shoot_Init(&shoot,&Config_GetRobotParam()->shoot,SHOOT_FREQ);
-
+Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);
 
   /* USER CODE INIT END */
   
@@ -43,9 +42,12 @@ Shoot_Init(&shoot,&Config_GetRobotParam()->shoot,SHOOT_FREQ);
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
 osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0);
-//     Shoot_UpdateFeedback(&shoot);
+
-//     Shoot_SetMode(&shoot,shoot_cmd.mode);
+  
-//     Shoot_Control(&shoot,&shoot_cmd);
+
+    Shoot_UpdateFeedback(&shoot);
+    Shoot_SetMode(&shoot,shoot_cmd.mode);
+    Shoot_Control(&shoot,&shoot_cmd);
 
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */

User/task/tempCodeRunnerFile.c

@@ -0,0 +1 @@
+feedback

User/task/user_task.c

@@ -17,17 +17,17 @@ const osThreadAttr_t attr_atti_esti = {
 const osThreadAttr_t attr_rc = {
     .name = "rc",
     .priority = osPriorityNormal,
-    .stack_size = 512 * 4,
+    .stack_size = 256 * 4,
 };
 const osThreadAttr_t attr_chassis = {
     .name = "chassis",
     .priority = osPriorityNormal,
-    .stack_size = 512 * 4,
+    .stack_size = 256 * 4,
 };
 const osThreadAttr_t attr_cmd = {
     .name = "cmd",
     .priority = osPriorityNormal,
-    .stack_size = 512 * 4,
+    .stack_size = 256 * 4,
 };
 const osThreadAttr_t attr_gimbal = {
     .name = "gimbal",
@@ -38,4 +38,14 @@ const osThreadAttr_t attr_shoot = {
     .name = "shoot",
     .priority = osPriorityNormal,
     .stack_size = 256 * 4,
+};
+const osThreadAttr_t attr_ai = {
+    .name = "ai",
+    .priority = osPriorityNormal,
+    .stack_size = 256 * 4,
+};
+const osThreadAttr_t attr_Task8 = {
+    .name = "Task8",
+    .priority = osPriorityNormal,
+    .stack_size = 256 * 4,
 };

User/task/user_task.h

@@ -1,8 +1,7 @@
 #pragma once
 
 #ifdef __cplusplus
-extern "C"
+extern "C" {
-{
 #endif
 /* Includes ----------------------------------------------------------------- */
 #include <cmsis_os2.h>
@@ -20,6 +19,8 @@ extern "C"
 #define CMD_FREQ (500.0)
 #define GIMBAL_FREQ (500.0)
 #define SHOOT_FREQ (500.0)
+#define AI_FREQ (250.0)
+#define TASK8_FREQ (500.0)
 
 /* 任务初始化延时ms */
 #define TASK_INIT_DELAY (100u)
@@ -29,26 +30,28 @@ extern "C"
 #define CMD_INIT_DELAY (0)
 #define GIMBAL_INIT_DELAY (0)
 #define SHOOT_INIT_DELAY (0)
+#define AI_INIT_DELAY (0)
+#define TASK8_INIT_DELAY (0)
 
-    /* Exported defines --------------------------------------------------------- */
+/* Exported defines --------------------------------------------------------- */
-    /* Exported macro ----------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
-    /* Exported types ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
 
-    /* 任务运行时结构体 */
+/* 任务运行时结构体 */
-    typedef struct
+typedef struct {
-    {
+    /* 各任务，也可以叫做线程 */
-        /* 各任务，也可以叫做线程 */
+    struct {
-        struct
+        osThreadId_t atti_esti;
-        {
+        osThreadId_t rc;
-            osThreadId_t atti_esti;
+        osThreadId_t chassis;
-            osThreadId_t rc;
+        osThreadId_t cmd;
-            osThreadId_t chassis;
+        osThreadId_t gimbal;
-            osThreadId_t cmd;
+        osThreadId_t shoot;
-            osThreadId_t gimbal;
+        osThreadId_t ai;
-            osThreadId_t shoot;
+        osThreadId_t Task8;
-        } thread;
+    } thread;
 
-        /* USER MESSAGE BEGIN */
+    /* USER MESSAGE BEGIN */
         struct
         {
             osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
@@ -84,7 +87,12 @@ extern "C"
                 osMessageQueueId_t imu;
                 osMessageQueueId_t cmd;
                 osMessageQueueId_t yaw6020; /* 新增的 yaw_6020 消息队列 主要是给底盘传6020位置的反馈*/
-                osMessageQueueId_t ai; /* 新增的 ai 消息队列 主要是给自瞄*/
+                struct{
+               osMessageQueueId_t quat;                  
+                osMessageQueueId_t feedback;
+                osMessageQueueId_t g_cmd;
+                }ai;
+                 /* 新增的 ai 消息队列 主要是给自瞄*/
             } gimbal;
 
             struct 
@@ -95,72 +103,79 @@ extern "C"
         } msgq;
         /* USER MESSAGE END */
 
-        /* 机器人状态 */
+    /* 机器人状态 */
-        struct
+    struct {
-        {
+        float battery; /* 电池电量百分比 */
-            float battery;  /* 电池电量百分比 */
+        float vbat; /* 电池电压 */
-            float vbat;     /* 电池电压 */
+        float cpu_temp; /* CPU温度 */
-            float cpu_temp; /* CPU温度 */
+    } status;
-        } status;
 
-        /* USER CONFIG BEGIN */
+    /* USER CONFIG BEGIN */
         Config_t config;
         /* USER CONFIG END */
 
-        /* 各任务的stack使用 */
+    /* 各任务的stack使用 */
-        struct
+    struct {
-        {
+        UBaseType_t atti_esti;
-            UBaseType_t atti_esti;
+        UBaseType_t rc;
-            UBaseType_t rc;
+        UBaseType_t chassis;
-            UBaseType_t chassis;
+        UBaseType_t cmd;
-            UBaseType_t cmd;
+        UBaseType_t gimbal;
-            UBaseType_t gimbal;
+        UBaseType_t shoot;
-            UBaseType_t shoot;
+        UBaseType_t ai;
-        } stack_water_mark;
+        UBaseType_t Task8;
+    } stack_water_mark;
 
-        /* 各任务运行频率 */
+    /* 各任务运行频率 */
-        struct
+    struct {
-        {
+        float atti_esti;
-            float atti_esti;
+        float rc;
-            float rc;
+        float chassis;
-            float chassis;
+        float cmd;
-            float cmd;
+        float gimbal;
-            float gimbal;
+        float shoot;
-            float shoot;
+        float ai;
-        } freq;
+        float Task8;
+    } freq;
 
-        /* 任务最近运行时间 */
+    /* 任务最近运行时间 */
-        struct
+    struct {
-        {
+        float atti_esti;
-            float atti_esti;
+        float rc;
-            float rc;
+        float chassis;
-            float chassis;
+        float cmd;
-            float cmd;
+        float gimbal;
-            float gimbal;
+        float shoot;
-            float shoot;
+        float ai;
-        } last_up_time;
+        float Task8;
-    } Task_Runtime_t;
+    } last_up_time;
 
-    /* 任务运行时结构体 */
+} Task_Runtime_t;
-    extern Task_Runtime_t task_runtime;
 
-    /* 初始化任务句柄 */
+/* 任务运行时结构体 */
-    extern const osThreadAttr_t attr_init;
+extern Task_Runtime_t task_runtime;
-    extern const osThreadAttr_t attr_atti_esti;
-    extern const osThreadAttr_t attr_rc;
-    extern const osThreadAttr_t attr_chassis;
-    extern const osThreadAttr_t attr_cmd;
-    extern const osThreadAttr_t attr_gimbal;
-    extern const osThreadAttr_t attr_shoot;
 
-    /* 任务函数声明 */
+/* 初始化任务句柄 */
-    void Task_Init(void *argument);
+extern const osThreadAttr_t attr_init;
-    void Task_atti_esti(void *argument);
+extern const osThreadAttr_t attr_atti_esti;
-    void Task_rc(void *argument);
+extern const osThreadAttr_t attr_rc;
-    void Task_chassis(void *argument);
+extern const osThreadAttr_t attr_chassis;
-    void Task_cmd(void *argument);
+extern const osThreadAttr_t attr_cmd;
-    void Task_gimbal(void *argument);
+extern const osThreadAttr_t attr_gimbal;
-    void Task_shoot(void *argument);
+extern const osThreadAttr_t attr_shoot;
+extern const osThreadAttr_t attr_ai;
+extern const osThreadAttr_t attr_Task8;
+
+/* 任务函数声明 */
+void Task_Init(void *argument);
+void Task_atti_esti(void *argument);
+void Task_rc(void *argument);
+void Task_chassis(void *argument);
+void Task_cmd(void *argument);
+void Task_gimbal(void *argument);
+void Task_shoot(void *argument);
+void Task_ai(void *argument);
+void Task_Task8(void *argument);
 
 #ifdef __cplusplus
 }