diff --git a/Ozone/ozone.jdebug.user b/Ozone/ozone.jdebug.user index 3a7dae1..fd12283 100644 --- a/Ozone/ozone.jdebug.user +++ b/Ozone/ozone.jdebug.user @@ -1,26 +1,29 @@ -OpenDocument="rc.c", FilePath="D:/STM32CubeMX/103/Er(Sentry)/User/task/rc.c", Line=31 -OpenDocument="atti_esti.c", FilePath="D:/STM32CubeMX/103/Er(Sentry)/User/task/atti_esti.c", Line=0 -OpenDocument="cmd.c", FilePath="D:/STM32CubeMX/103/Er(Sentry)/User/task/cmd.c", Line=0 +GraphedExpression="temp_for_cap[0]", Color=#e56a6f, Show=0 +GraphedExpression="temp_for_cap[1]", Color=#35792b, Show=0 +OpenDocument="ai.c", FilePath="D:/STM32CubeMX/103/Er(Sentry)/User/task/ai.c", Line=24 +OpenDocument="gimbal.c", FilePath="D:/STM32CubeMX/103/Er(Sentry)/User/task/gimbal.c", Line=0 +OpenDocument="port.c", FilePath="D:/STM32CubeMX/103/Er(Sentry)/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c", Line=407 +OpenDocument="tasks.c", FilePath="D:/STM32CubeMX/103/Er(Sentry)/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3640 +OpenDocument="can.c", FilePath="D:/STM32CubeMX/103/Er(Sentry)/User/bsp/can.c", Line=380 OpenDocument="startup_stm32f407xx.s", FilePath="D:/STM32CubeMX/103/Er(Sentry)/startup_stm32f407xx.s", Line=51 -OpenDocument="chassis.c", FilePath="D:/STM32CubeMX/103/Er(Sentry)/User/task/chassis.c", Line=0 -OpenDocument="ai.c", FilePath="D:/STM32CubeMX/103/Er(Sentry)/User/task/ai.c", Line=0 OpenDocument="main.c", FilePath="D:/STM32CubeMX/103/Er(Sentry)/Core/Src/main.c", Line=62 +OpenDocument="supercap.c", FilePath="D:/STM32CubeMX/103/Er(Sentry)/User/device/supercap.c", Line=0 OpenToolbar="Debug", Floating=0, x=0, y=0 -OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=273, h=577, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1 -OpenWindow="Source Files", DockArea=LEFT, x=0, y=1, w=738, h=315, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=273, h=114, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=0, w=738, h=376, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Data Sampling", DockArea=BOTTOM, x=0, y=0, w=422, h=292, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 -OpenWindow="Timeline", DockArea=BOTTOM, x=1, y=0, w=1497, h=292, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=1, CodePaneShown=1, PinCursor="Cursor Movable", TimePerDiv="1 ns / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="1295;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=1, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1294;0", CodeGraphLegendShown=1, CodeGraphLegendPosition="1253;4" +OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=273, h=566, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1 +OpenWindow="Source Files", DockArea=LEFT, x=0, y=1, w=738, h=351, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=273, h=125, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=0, w=738, h=340, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Data Sampling", DockArea=BOTTOM, x=0, y=0, w=575, h=292, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 +OpenWindow="Timeline", DockArea=BOTTOM, x=1, y=0, w=1344, h=292, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=1, CodePaneShown=1, PinCursor="Cursor Movable", TimePerDiv="2 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="997;1", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=1, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1141;0", CodeGraphLegendShown=1, CodeGraphLegendPosition="1100;0" SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1" +TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[210;144;100;263] TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[191;100;100;100;931] -TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;100] -TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[100;100;100;100;100;100;100;107;107] +TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" temp_for_cap[0]";" temp_for_cap[1]"], ColWidths=[100;100;100;100] +TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[100;100;126;126;126;126;100;107;107] TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100] TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;118;259] -TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[210;144;100;263] TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[] TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;351] WatchedExpression="shoot_mcu_package", RefreshRate=5, Window=Watched Data 1 @@ -31,4 +34,7 @@ WatchedExpression="cmd_chassis", RefreshRate=5, Window=Watched Data 1 WatchedExpression="rc_c", RefreshRate=5, Window=Watched Data 1 WatchedExpression="imu_eulr", RefreshRate=5, Window=Watched Data 1 WatchedExpression="ai_result", RefreshRate=5, Window=Watched Data 1 -WatchedExpression="et16s", Window=Watched Data 1 \ No newline at end of file +WatchedExpression="et16s", RefreshRate=5, Window=Watched Data 1 +WatchedExpression="temp_for_cap", RefreshRate=5, Window=Watched Data 1 +WatchedExpression="CAN_SuperCapRXData", Window=Watched Data 1 +WatchedExpression="gimbal", RefreshRate=5, Window=Watched Data 1 \ No newline at end of file diff --git a/User/device/ai.c b/User/device/ai.c index b689b74..56fc4ee 100644 --- a/User/device/ai.c +++ b/User/device/ai.c @@ -2,6 +2,41 @@ #include "device/device.h" #include "bsp/uart.h" #include "component/crc16.h" +#include "device/referee.h" + +static int8_t Package_BuildAndVerify(uint8_t *raw, uint16_t len, uint8_t id) { + uint16_t *crc = NULL; + + if (raw == NULL || len <= sizeof(uint16_t)) { + return DEVICE_ERR; + } + + raw[0] = id; + crc = (uint16_t *)(void *)(raw + len - sizeof(uint16_t)); + *crc = CRC16_Calc(raw, len - sizeof(uint16_t), CRC16_INIT); + + if (CRC16_Verify(raw, len) != true) { + return DEVICE_ERR; + } + + return DEVICE_OK; +} + +static int8_t Package_Check(const uint8_t *raw, uint16_t len, uint8_t expected_id) { + if (raw == NULL || len <= sizeof(uint16_t)) { + return DEVICE_ERR; + } + + if (raw[0] != expected_id) { + return DEVICE_ERR; + } + + if (CRC16_Verify(raw, len) != true) { + return DEVICE_ERR; + } + + return DEVICE_OK; +} int8_t AI_StartReceiving(PackageAI_t *ai) { @@ -11,10 +46,14 @@ int8_t AI_StartReceiving(PackageAI_t *ai) { } int8_t AI_Get_NUC(PackageAI_t *ai,AI_result_t* result) { + if (ai == NULL || result == NULL) { + return DEVICE_ERR; + } + + if (Package_Check((const uint8_t *)ai, sizeof(*ai), ID_AI) != DEVICE_OK) { + return DEVICE_ERR; + } - if(ai->id==ID_AI){ - // if(CRC16_Verify((const uint8_t*)&(ai), sizeof(&ai))==true) - // { result->mode=ai->data.mode; result->gimbal_t.setpoint.yaw=ai->data.yaw; result->gimbal_t.vel.yaw=ai->data.yaw_vel; @@ -22,20 +61,21 @@ int8_t AI_Get_NUC(PackageAI_t *ai,AI_result_t* result) { result->gimbal_t.setpoint.pit=ai->data.pitch; result->gimbal_t.vel.pit=ai->data.pitch_vel; result->gimbal_t.accl.pit=ai->data.pitch_acc; - + result->chassis_t.Vx=ai->data.vx; result->chassis_t.Vy=ai->data.vy; result->chassis_t.Vw=ai->data.wz; - // } - - return DEVICE_OK; - } + + return DEVICE_OK; } -int8_t MCU_Send(PackageMCU_t* mcu,Gimbal_feedback_t* motor,AHRS_Quaternion_t* quat) { +int8_t MCU_Send(PackageMCU_t* mcu,Gimbal_feedback_t* motor,AHRS_Quaternion_t* quat ){ + (void)quat; + if (mcu == NULL || motor == NULL) { + return DEVICE_ERR; + } - mcu->id=ID_MCU; mcu->data.mode=0; mcu->data.q[0]=motor->imu.quat.q0; mcu->data.q[1]=motor->imu.quat.q1; @@ -47,17 +87,37 @@ int8_t MCU_Send(PackageMCU_t* mcu,Gimbal_feedback_t* motor,AHRS_Quaternion_t* qu mcu->data.pitch_vel=motor->imu.gyro.x; mcu->data.bullet_count=0; mcu->data.bullet_speed=22; - - mcu->crc16=CRC16_Calc(((const uint8_t*)&(mcu)),sizeof(&mcu)-sizeof(uint16_t), CRC16_INIT ); - if(CRC16_Verify(((const uint8_t*)&(mcu)), sizeof(&mcu))!=true){ - return DEVICE_ERR; - } - return DEVICE_OK; + + return Package_BuildAndVerify((uint8_t *)mcu, sizeof(*mcu), ID_MCU); } +int8_t REF_Send(PackageReferee_t *referee,Referee_RobotStatus_t* robot_status,Referee_GameStatus_t *game_status) { + if (referee == NULL || robot_status == NULL || game_status == NULL) { + return DEVICE_ERR; + } + + referee->data.remain_hp=robot_status->current_HP; + referee->data.game_progress = game_status->game_progress & 0x0F; + referee->data.stage_remain_time= game_status->stage_remain_time; + + return Package_BuildAndVerify((uint8_t *)referee, sizeof(*referee), ID_REF); +} + +int8_t REF_StartSend(PackageReferee_t *referee) { + if (referee == NULL) { + return DEVICE_ERR; + } + + if(BSP_UART_Transmit(BSP_UART_1, (uint8_t *)referee, sizeof(*referee), true)==HAL_OK) + return DEVICE_OK; + return DEVICE_ERR; +} + + int8_t MCU_StartSend(PackageMCU_t *mcu) { if(BSP_UART_Transmit(BSP_UART_1, (uint8_t *)mcu, sizeof(*mcu), true)==HAL_OK) return DEVICE_OK; + return DEVICE_ERR; } diff --git a/User/device/ai.h b/User/device/ai.h index 427e935..938c713 100644 --- a/User/device/ai.h +++ b/User/device/ai.h @@ -9,6 +9,7 @@ extern "C" { #include "component\user_math.h" #include "remote_control.h" #include "module/gimbal.h" +#include "device/referee.h" #include "stdint.h" // struct __attribute__((packed)) GimbalToVision // { @@ -162,6 +163,8 @@ typedef struct __attribute__((packed)) { int8_t MCU_Send(PackageMCU_t* mcu,Gimbal_feedback_t* motor,AHRS_Quaternion_t* quat); +int8_t REF_Send(PackageReferee_t *referee,Referee_RobotStatus_t* robot_status,Referee_GameStatus_t *game_status); +int8_t REF_StartSend(PackageReferee_t *referee); int8_t MCU_StartSend(PackageMCU_t *mcu); int8_t AI_Get_NUC(PackageAI_t *ai,AI_result_t* result); int8_t AI_StartReceiving(PackageAI_t *ai); diff --git a/User/device/referee.c b/User/device/referee.c index f620342..a0b17dd 100644 --- a/User/device/referee.c +++ b/User/device/referee.c @@ -614,6 +614,8 @@ uint8_t Referee_PackCap(Referee_ForCap_t *cap, const Referee_t *ref) { uint8_t Referee_PackAI(Referee_ForAI_t *ai, const Referee_t *ref) { ai->ref_status = ref->ref_status; + memcpy(&(ai->robot_status), &(ref->robot_status), sizeof(ai->robot_status)); + memcpy(&(ai->game_status), &(ref->game_status), sizeof(ai->game_status)); return 0; } diff --git a/User/device/referee.h b/User/device/referee.h index b9ffabd..a778638 100644 --- a/User/device/referee.h +++ b/User/device/referee.h @@ -701,6 +701,8 @@ typedef struct { typedef struct { Referee_Status_t ref_status; + Referee_RobotStatus_t robot_status; + Referee_GameStatus_t game_status; } Referee_ForAI_t; typedef struct { diff --git a/User/module/chassis.c b/User/module/chassis.c index 7ff1377..b6f6e03 100644 --- a/User/module/chassis.c +++ b/User/module/chassis.c @@ -130,7 +130,7 @@ 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 = {{1.6467284 / M_PI * 180.0f, 5.77390385 / M_PI * 180.0f, + MotorOffset_t motor_offset = {{1.6359905 / M_PI * 180.0f, 6.26170969 / M_PI * 180.0f, 1.56696141 / M_PI * 180.0f, 5.77160311 / M_PI * 180.0f}}; // 右右右右 c->motoroffset = motor_offset; diff --git a/User/task/ai.c b/User/task/ai.c index ed89989..2a64c14 100644 --- a/User/task/ai.c +++ b/User/task/ai.c @@ -17,7 +17,9 @@ /* USER STRUCT BEGIN */ PackageAI_t ai; PackageMCU_t mcu; +PackageReferee_t ref_pkg; AI_result_t ai_result; +Referee_ForAI_t ref_for_ai; AHRS_Quaternion_t quat; Gimbal_feedback_t gimbal_motor; PackageMCU_t shoot_mcu_package; /* 新增的 ai 数据包 主要是给自瞄发送射击数量*/ @@ -45,9 +47,14 @@ void Task_ai(void *argument) { osMessageQueueGet(task_runtime.msgq.gimbal.ai.quat, &quat, NULL, 0); osMessageQueueGet(task_runtime.msgq.gimbal.ai.feedback, &gimbal_motor, NULL, 0); osMessageQueueGet(task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count, &shoot_mcu_package, NULL, 0); + osMessageQueueGet(task_runtime.msgq.referee.ai, &ref_for_ai, NULL, 0); MCU_Send(&mcu,&gimbal_motor,&quat); mcu.data.bullet_count=shoot_mcu_package.data.bullet_count; /* 从 shoot 任务获取射击数量并放入 mcu 数据包中 */ MCU_StartSend(&mcu); + + if (REF_Send(&ref_pkg, &ref_for_ai.robot_status, &ref_for_ai.game_status) == DEVICE_OK) { + REF_StartSend(&ref_pkg); + } AI_StartReceiving(&ai); AI_Get_NUC(&ai,&ai_result); diff --git a/User/task/chassis.c b/User/task/chassis.c index 64973f5..c20b325 100644 --- a/User/task/chassis.c +++ b/User/task/chassis.c @@ -10,6 +10,7 @@ #include "module/config.h" #include "device/ai.h" #include "device/supercap.h" +#include "component/limiter.h" /* USER INCLUDE END */ /* Private typedef ---------------------------------------------------------- */ @@ -21,7 +22,7 @@ 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; +float P3508[4],P6020[4],I6020[4],S6020[4],I3508[4],S3508[4],power_limit_3508=100; /* USER STRUCT END */ /* Private function --------------------------------------------------------- */ @@ -75,7 +76,7 @@ osMessageQueueGet(task_runtime.msgq.navi.c_cmd, &c_cmd_ai_result, NULL, 0); // { // 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)); + // 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]); @@ -89,26 +90,33 @@ osMessageQueueGet(task_runtime.msgq.navi.c_cmd, &c_cmd_ai_result, NULL, 0); // { // 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 - } - } + + // if(CAN_SuperCapRXData.SuperCapReady == 1) + // { + // if(CAN_SuperCapRXData.SuperCapEnergy<=10) + // power_limit_3508 = 100; + // else + // power_limit_3508 = 320; + + // 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 + // } + + // } + // } + // else + // { + // //启动老方案进行限制 + // PowerLimit_ChassicOutput(power_limit_3508,chassis.out.rotor3508_out, + // chassis.motorfeedback.rotor_rpm3508, 4); // 根据功率限制调整3508输出 + + // } + Chassis_Setoutput(&chassis); /* USER CODE END */ diff --git a/User/task/referee.c b/User/task/referee.c index 8b3e41f..3dd53df 100644 --- a/User/task/referee.c +++ b/User/task/referee.c @@ -21,7 +21,7 @@ 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 --------------------------------------------------------- */ @@ -47,7 +47,7 @@ void Task_referee(void *argument) { 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) diff --git a/User/task/super_cap.c b/User/task/super_cap.c index 275b991..b976b73 100644 --- a/User/task/super_cap.c +++ b/User/task/super_cap.c @@ -35,19 +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 */