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Xiaocheng 2026-03-16 22:41:37 +08:00
parent a1084cd371
commit dbf000d55d
8 changed files with 59 additions and 21 deletions
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6
User/device/supercap.h
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@ -8,10 +8,10 @@ extern "C" {
#include "device\device.h"
//#include "referee.h"
#define SUPERCAP_CAN BSP_FDCAN_3
#define SUPERCAP_CAN BSP_CAN_2
#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
#define SUPERCAP_TX_ID 0x30F //C板发给超级电容的ID
#define SUPERCAP_RX_ID 0x300 //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

2
User/module/chassis.c
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@ -488,10 +488,10 @@ int8_t Chassis_Control(Chassis_t *c, Chassis_CMD_t *c_cmd,uint32_t now)
// }
return CHASSIS_OK;
}
/*电机输出设定和发送*/
void Chassis_Setoutput(Chassis_t *c)
{
for (int i = 0; i < 4; i++)
{
MOTOR_RM_SetOutput(&(c->param->motor_3508_param[i]), c->out.rotor3508_out[i]);

44
User/task/chassis.c
View File

@ -9,6 +9,7 @@
#include "module/chassis.h"
#include "module/config.h"
#include "device/ai.h"
#include "device/supercap.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
@ -19,6 +20,8 @@
Chassis_t chassis;
Chassis_CMD_t cmd_chassis;
AI_result_t c_cmd_ai_result; /* 新增的 ai 结果变量 主要是给底盘接收自瞄相关的命令*/
float temp_for_cap[7];//cap-add//supercap-add
float P3508[4],P6020[4],I6020[4],S6020[4],I3508[4],S3508[4],power_limit_3508=300;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
@ -66,6 +69,47 @@ osMessageQueueGet(task_runtime.msgq.navi.c_cmd, &c_cmd_ai_result, NULL, 0);
Chassis_CMD_t safe_cmd = {.mode = STOP, .Vx = 0, .Vy = 0, .Vw = 0};
Chassis_Control(&chassis, &safe_cmd,tick);
}
// float P3=0,P6=0;
// for(int i=0;i<4;i++)
// {
// S6020[i] = MOTOR_GetRotorSpeed(&(MOTOR_RM_GetMotor(&chassis.param->motor_6020_param[i])->motor));
// I6020[i] = MOTOR_GetTorqueCurrent(&(MOTOR_RM_GetMotor(&chassis.param->motor_6020_param[i])->motor));
// S3508[i] = MOTOR_GetRotorSpeed(&(MOTOR_RM_GetMotor(&chassis.param->motor_3508_param[i])->motor));
// I3508[i] = MOTOR_GetTorqueCurrent(&(MOTOR_RM_GetMotor(&chassis.param->motor_3508_param[i])->motor));
// P3508[i]=fabsf(S3508[i]*I3508[i]);
// P6020[i]=fabsf(S6020[i]*I6020[i]);
// P3+=P3508[i];
// P6+=P6020[i];
// }
// temp_for_cap[0] = P6*0.000012; // 计算6020总功率 P6
// temp_for_cap[1] = P3*0.0000048;
// float P_3508 = 0; // 计算3508总功率 P3
// for(int i=0;i<4;i++)
// {
// P_3508+=chassis.out.rotor3508_out[i]*S3508[i]*0.0000048;
// }
if(CAN_SuperCapRXData.SuperCapReady == 1)
{
if(CAN_SuperCapRXData.SuperCapEnergy<=10)
power_limit_3508 = 100;
else
power_limit_3508 = 320;
}
else
{
//启动老方案进行限制
}
if(CAN_SuperCapRXData.ChassisPower>power_limit_3508&&power_limit_3508>=0)
{
for(int i=0;i<4;i++)
{
chassis.out.rotor3508_out[i]*=(power_limit_3508)/
CAN_SuperCapRXData.ChassisPower>power_limit_3508; // 如果总功率超过限制，按比例降低3508的输出
}
}
Chassis_Setoutput(&chassis);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */

2
User/task/config.yaml
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@ -64,7 +64,7 @@
- delay: 0
description: ''
freq_control: true
frequency: 500.0
frequency: 10.0
function: Task_super_cap
name: super_cap
stack: 256

3
User/task/referee.c
View File

@ -25,9 +25,6 @@ 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 */

17
User/task/super_cap.c
View File

@ -23,9 +23,6 @@ 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 */
@ -38,19 +35,19 @@ void Task_super_cap(void *argument) {
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
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);
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 */

4
User/task/user_task.c
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@ -17,7 +17,7 @@ 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",
@ -27,7 +27,7 @@ const osThreadAttr_t attr_chassis = {
const osThreadAttr_t attr_cmd = {
.name = "cmd",
.priority = osPriorityNormal,
.stack_size = 512 * 4,
.stack_size = 256 * 4,
};
const osThreadAttr_t attr_gimbal = {
.name = "gimbal",

2
User/task/user_task.h
View File

@ -22,7 +22,7 @@ extern "C" {
#define AI_FREQ (250.0)
#define REFEREE_FREQ (500.0)
#define TASK9_FREQ (500.0)
#define SUPER_CAP_FREQ (500.0)
#define SUPER_CAP_FREQ (10.0)
/* 任务初始化延时ms */
#define TASK_INIT_DELAY (100u)