xiaocheng/Er_sentry
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Compare commits

base: xiaocheng:a05a69cba58048121f43b1bf8027d43ec42a0706
Branches Tags
xiaocheng:main
xiaocheng:bache
..
compare: xiaocheng:88acd92609c9c8b8116bed852e7dcb2868d8022b
Branches Tags
xiaocheng:main
xiaocheng:bache

No commits in common. "a05a69cba58048121f43b1bf8027d43ec42a0706" and "88acd92609c9c8b8116bed852e7dcb2868d8022b" have entirely different histories.
a05a69cba5 ... 88acd92609

19 changed files with 265 additions and 374 deletions
Show Stats Expand all files Collapse all files

1
Core/Src/stm32f4xx_it.c
View File

@ -287,7 +287,6 @@ void USART1_IRQHandler(void)
/* USER CODE END USART1_IRQn 0 */ /* USER CODE END USART1_IRQn 0 */
HAL_UART_IRQHandler(&huart1); HAL_UART_IRQHandler(&huart1);
/* USER CODE BEGIN USART1_IRQn 1 */ /* USER CODE BEGIN USART1_IRQn 1 */
BSP_UART_IRQHandler(&huart1);
/* USER CODE END USART1_IRQn 1 */ /* USER CODE END USART1_IRQn 1 */
} }

2
User/bsp/bsp_config.yaml
View File

@ -72,6 +72,4 @@ uart:
name: DR16 name: DR16
- instance: USART6 - instance: USART6
name: NUC name: NUC
- instance: USART1
name: '1'
enabled: true enabled: true

24
User/bsp/gpio.c
View File

@ -73,20 +73,14 @@ int8_t BSP_GPIO_RegisterCallback(BSP_GPIO_t gpio, void (*callback)(void)) {
int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio) { int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio) {
switch (gpio) { switch (gpio) {
case BSP_GPIO_KEY: case BSP_GPIO_KEY:
#if defined(KEY_EXTI_IRQn)
HAL_NVIC_EnableIRQ(KEY_EXTI_IRQn); HAL_NVIC_EnableIRQ(KEY_EXTI_IRQn);
#endif break;
return BSP_OK;
case BSP_GPIO_ACCL_INT: case BSP_GPIO_ACCL_INT:
#if defined(ACCL_INT_EXTI_IRQn)
HAL_NVIC_EnableIRQ(ACCL_INT_EXTI_IRQn); HAL_NVIC_EnableIRQ(ACCL_INT_EXTI_IRQn);
#endif break;
return BSP_OK;
case BSP_GPIO_GYRO_INT: case BSP_GPIO_GYRO_INT:
#if defined(GYRO_INT_EXTI_IRQn)
HAL_NVIC_EnableIRQ(GYRO_INT_EXTI_IRQn); HAL_NVIC_EnableIRQ(GYRO_INT_EXTI_IRQn);
#endif break;
return BSP_OK;
default: default:
return BSP_ERR; return BSP_ERR;
} }
@ -96,20 +90,14 @@ int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio) {
int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio) { int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio) {
switch (gpio) { switch (gpio) {
case BSP_GPIO_KEY: case BSP_GPIO_KEY:
#if defined(KEY_EXTI_IRQn)
HAL_NVIC_DisableIRQ(KEY_EXTI_IRQn); HAL_NVIC_DisableIRQ(KEY_EXTI_IRQn);
#endif break;
return BSP_OK;
case BSP_GPIO_ACCL_INT: case BSP_GPIO_ACCL_INT:
#if defined(ACCL_INT_EXTI_IRQn)
HAL_NVIC_DisableIRQ(ACCL_INT_EXTI_IRQn); HAL_NVIC_DisableIRQ(ACCL_INT_EXTI_IRQn);
#endif break;
return BSP_OK;
case BSP_GPIO_GYRO_INT: case BSP_GPIO_GYRO_INT:
#if defined(GYRO_INT_EXTI_IRQn)
HAL_NVIC_DisableIRQ(GYRO_INT_EXTI_IRQn); HAL_NVIC_DisableIRQ(GYRO_INT_EXTI_IRQn);
#endif break;
return BSP_OK;
default: default:
return BSP_ERR; return BSP_ERR;
} }

4
User/bsp/uart.c
View File

@ -27,8 +27,6 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
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_NUC;
else if (huart->Instance == USART1)
return BSP_UART_1;
else else
return BSP_UART_ERR; return BSP_UART_ERR;
} }
@ -121,8 +119,6 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
return &huart3; return &huart3;
case BSP_UART_NUC: case BSP_UART_NUC:
return &huart6; return &huart6;
case BSP_UART_1:
return &huart1;
default: default:
return NULL; return NULL;
} }

1
User/bsp/uart.h
View File

@ -29,7 +29,6 @@ extern "C" {
typedef enum { typedef enum {
BSP_UART_DR16, BSP_UART_DR16,
BSP_UART_NUC, BSP_UART_NUC,
BSP_UART_1,
BSP_UART_NUM, BSP_UART_NUM,
BSP_UART_ERR, BSP_UART_ERR,
} BSP_UART_t; } BSP_UART_t;

16
User/component/user_math.c
View File

@ -12,14 +12,14 @@ inline float InvSqrt(float x) {
//#if 0 //#if 0
/* Fast inverse square-root */ /* Fast inverse square-root */
/* See: http://en.wikipedia.org/wiki/Fast_inverse_square_root */ /* See: http://en.wikipedia.org/wiki/Fast_inverse_square_root */
float halfx = 0.5f * x; float halfx = 0.5f * x;
float y = x; float y = x;
long i = *(long*)&y; long i = *(long*)&y;
i = 0x5f3759df - (i>>1); i = 0x5f3759df - (i>>1);
y = *(float*)&i; y = *(float*)&i;
y = y * (1.5f - (halfx * y * y)); y = y * (1.5f - (halfx * y * y));
y = y * (1.5f - (halfx * y * y)); y = y * (1.5f - (halfx * y * y));
return y; return y;
//#else //#else
// return 1.0f / sqrtf(x); // return 1.0f / sqrtf(x);
//#endif //#endif

258
User/device/dr16.c
View File

@ -1,169 +1,169 @@
// /* ///*
// DR16接收机 // DR16接收机
// Example： // Example：
// DR16_Init(&dr16); // DR16_Init(&dr16);
//
// while (1) {
// DR16_StartDmaRecv(&dr16);
// if (DR16_WaitDmaCplt(20)) {
// DR16_ParseData(&dr16);
// } else {
// DR16_Offline(&dr16);
// }
//}
//*/
// while (1) { ///* Includes ----------------------------------------------------------------- */
// DR16_StartDmaRecv(&dr16); //#include "dr16.h"
// if (DR16_WaitDmaCplt(20)) { //#include "bsp/uart.h"
// DR16_ParseData(&dr16); //#include "bsp/time.h"
// } else { //#include "device.h"
// DR16_Offline(&dr16);
// }
// }
// */
// /* Includes ----------------------------------------------------------------- */ //#include <string.h>
// #include "dr16.h" //#include <stdbool.h>
// #include "bsp/uart.h"
// #include "bsp/time.h"
// #include "device.h"
// #include <string.h> ///* USER INCLUDE BEGIN */
// #include <stdbool.h>
// /* USER INCLUDE BEGIN */ ///* USER INCLUDE END */
///* Private define ----------------------------------------------------------- */
//#define DR16_CH_VALUE_MIN (364u)
//#define DR16_CH_VALUE_MID (1024u)
//#define DR16_CH_VALUE_MAX (1684u)
// /* USER INCLUDE END */ ///* USER DEFINE BEGIN */
// /* Private define ----------------------------------------------------------- */
// #define DR16_CH_VALUE_MIN (364u)
// #define DR16_CH_VALUE_MID (1024u)
// #define DR16_CH_VALUE_MAX (1684u)
// /* USER DEFINE BEGIN */ ///* USER DEFINE END */
// /* USER DEFINE END */ ///* Private macro ------------------------------------------------------------ */
///* Private typedef ---------------------------------------------------------- */
///* Private variables -------------------------------------------------------- */
// /* Private macro ------------------------------------------------------------ */ //static osThreadId_t thread_alert;
// /* Private typedef ---------------------------------------------------------- */ //static bool inited = false;
// /* Private variables -------------------------------------------------------- */
// static osThreadId_t thread_alert; ///* Private function -------------------------------------------------------- */
// static bool inited = false; //static void DR16_RxCpltCallback(void) {
// osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
//}
// /* Private function -------------------------------------------------------- */ //static bool DR16_DataCorrupted(const DR16_t *dr16) {
// static void DR16_RxCpltCallback(void) { // if (dr16 == NULL) return DEVICE_ERR_NULL;
// osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
// }
// static bool DR16_DataCorrupted(const DR16_t *dr16) { // if ((dr16->raw_data.ch_r_x < DR16_CH_VALUE_MIN) ||
// if (dr16 == NULL) return DEVICE_ERR_NULL; // (dr16->raw_data.ch_r_x > DR16_CH_VALUE_MAX))
// return DEVICE_ERR;
// if ((dr16->raw_data.ch_r_x < DR16_CH_VALUE_MIN) || // if ((dr16->raw_data.ch_r_y < DR16_CH_VALUE_MIN) ||
// (dr16->raw_data.ch_r_x > DR16_CH_VALUE_MAX)) // (dr16->raw_data.ch_r_y > DR16_CH_VALUE_MAX))
// return DEVICE_ERR; // return DEVICE_ERR;
// if ((dr16->raw_data.ch_r_y < DR16_CH_VALUE_MIN) || // if ((dr16->raw_data.ch_l_x < DR16_CH_VALUE_MIN) ||
// (dr16->raw_data.ch_r_y > DR16_CH_VALUE_MAX)) // (dr16->raw_data.ch_l_x > DR16_CH_VALUE_MAX))
// return DEVICE_ERR; // return DEVICE_ERR;
// if ((dr16->raw_data.ch_l_x < DR16_CH_VALUE_MIN) || // if ((dr16->raw_data.ch_l_y < DR16_CH_VALUE_MIN) ||
// (dr16->raw_data.ch_l_x > DR16_CH_VALUE_MAX)) // (dr16->raw_data.ch_l_y > DR16_CH_VALUE_MAX))
// return DEVICE_ERR; // return DEVICE_ERR;
// if ((dr16->raw_data.ch_l_y < DR16_CH_VALUE_MIN) || // if (dr16->raw_data.sw_l == 0) return DEVICE_ERR;
// (dr16->raw_data.ch_l_y > DR16_CH_VALUE_MAX))
// return DEVICE_ERR;
// if (dr16->raw_data.sw_l == 0) return DEVICE_ERR; // if (dr16->raw_data.sw_r == 0) return DEVICE_ERR;
// if (dr16->raw_data.sw_r == 0) return DEVICE_ERR; // return DEVICE_OK;
//}
// return DEVICE_OK; ///* Exported functions ------------------------------------------------------- */
// } //int8_t DR16_Init(DR16_t *dr16) {
// if (dr16 == NULL) return DEVICE_ERR_NULL;
// if (inited) return DEVICE_ERR_INITED;
// if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
// /* Exported functions ------------------------------------------------------- */ // BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_RX_CPLT_CB,
// int8_t DR16_Init(DR16_t *dr16) { // DR16_RxCpltCallback);
// if (dr16 == NULL) return DEVICE_ERR_NULL;
// if (inited) return DEVICE_ERR_INITED;
// if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
// BSP_UART_RegisterCallback(BSP_UART_DR16, BSP_UART_RX_CPLT_CB, // inited = true;
// DR16_RxCpltCallback); // return DEVICE_OK;
//}
// inited = true; //int8_t DR16_Restart(void) {
// return DEVICE_OK; // __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_DR16));
// } // __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_DR16));
// return DEVICE_OK;
//}
// int8_t DR16_Restart(void) { //int8_t DR16_StartDmaRecv(DR16_t *dr16) {
// __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_DR16)); // if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16),
// __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_DR16)); // (uint8_t *)&(dr16->raw_data),
// return DEVICE_OK; // sizeof(dr16->raw_data)) == HAL_OK)
// } // return DEVICE_OK;
// return DEVICE_ERR;
//}
// int8_t DR16_StartDmaRecv(DR16_t *dr16) { //bool DR16_WaitDmaCplt(uint32_t timeout) {
// if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16), // return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) ==
// (uint8_t *)&(dr16->raw_data), // SIGNAL_DR16_RAW_REDY);
// sizeof(dr16->raw_data)) == HAL_OK) //}
// return DEVICE_OK;
// return DEVICE_ERR;
// }
// bool DR16_WaitDmaCplt(uint32_t timeout) { //int8_t DR16_ParseData(DR16_t *dr16){
// return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) == // if (dr16 == NULL) return DEVICE_ERR_NULL;
// SIGNAL_DR16_RAW_REDY);
// }
// int8_t DR16_ParseData(DR16_t *dr16){ // if (DR16_DataCorrupted(dr16)) {
// if (dr16 == NULL) return DEVICE_ERR_NULL; // return DEVICE_ERR;
// }
// if (DR16_DataCorrupted(dr16)) { // dr16->header.online = true;
// return DEVICE_ERR; // dr16->header.last_online_time = BSP_TIME_Get_us();
// } //
// memset(&(dr16->data), 0, sizeof(dr16->data));
// dr16->header.online = true; // float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN);
// dr16->header.last_online_time = BSP_TIME_Get_us();
// memset(&(dr16->data), 0, sizeof(dr16->data)); // // 解析摇杆数据
// dr16->data.ch_r_x = 2.0f * ((float)dr16->raw_data.ch_r_x - DR16_CH_VALUE_MID) / full_range;
// dr16->data.ch_r_y = 2.0f * ((float)dr16->raw_data.ch_r_y - DR16_CH_VALUE_MID) / full_range;
// dr16->data.ch_l_x = 2.0f * ((float)dr16->raw_data.ch_l_x - DR16_CH_VALUE_MID) / full_range;
// dr16->data.ch_l_y = 2.0f * ((float)dr16->raw_data.ch_l_y - DR16_CH_VALUE_MID) / full_range;
// float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN); // // 解析拨杆位置
// dr16->data.sw_l = (DR16_SwitchPos_t)dr16->raw_data.sw_l;
// dr16->data.sw_r = (DR16_SwitchPos_t)dr16->raw_data.sw_r;
// // 解析摇杆数据 // // 解析鼠标数据
// dr16->data.ch_r_x = 2.0f * ((float)dr16->raw_data.ch_r_x - DR16_CH_VALUE_MID) / full_range; // dr16->data.mouse.x = dr16->raw_data.x;
// dr16->data.ch_r_y = 2.0f * ((float)dr16->raw_data.ch_r_y - DR16_CH_VALUE_MID) / full_range; // dr16->data.mouse.y = dr16->raw_data.y;
// dr16->data.ch_l_x = 2.0f * ((float)dr16->raw_data.ch_l_x - DR16_CH_VALUE_MID) / full_range; // dr16->data.mouse.z = dr16->raw_data.z;
// dr16->data.ch_l_y = 2.0f * ((float)dr16->raw_data.ch_l_y - DR16_CH_VALUE_MID) / full_range;
// // 解析拨杆位置 // dr16->data.mouse.l_click = dr16->raw_data.press_l;
// dr16->data.sw_l = (DR16_SwitchPos_t)dr16->raw_data.sw_l; // dr16->data.mouse.r_click = dr16->raw_data.press_r;
// dr16->data.sw_r = (DR16_SwitchPos_t)dr16->raw_data.sw_r;
// // 解析鼠标数据 // // 解析键盘按键 - 使用union简化代码
// dr16->data.mouse.x = dr16->raw_data.x; // uint16_t key_value = dr16->raw_data.key;
// dr16->data.mouse.y = dr16->raw_data.y; //
// dr16->data.mouse.z = dr16->raw_data.z; // // 解析键盘位映射（W-B键，位0-15）
// for (int i = DR16_KEY_W; i <= DR16_KEY_B; i++) {
// dr16->data.keyboard.key[i] = (key_value & (1 << i)) != 0;
// }
// dr16->data.mouse.l_click = dr16->raw_data.press_l; // // 解析鼠标点击
// dr16->data.mouse.r_click = dr16->raw_data.press_r; // dr16->data.keyboard.key[DR16_L_CLICK] = dr16->data.mouse.l_click;
// dr16->data.keyboard.key[DR16_R_CLICK] = dr16->data.mouse.r_click;
// // 解析键盘按键 - 使用union简化代码 // // 解析第五通道
// uint16_t key_value = dr16->raw_data.key; // dr16->data.ch_res = 2.0f * ((float)dr16->raw_data.res - DR16_CH_VALUE_MID) / full_range;
//
// return DEVICE_OK;
//}
// // 解析键盘位映射（W-B键，位0-15） //int8_t DR16_Offline(DR16_t *dr16){
// for (int i = DR16_KEY_W; i <= DR16_KEY_B; i++) { // if (dr16 == NULL) return DEVICE_ERR_NULL;
// dr16->data.keyboard.key[i] = (key_value & (1 << i)) != 0;
// }
// // 解析鼠标点击 // dr16->header.online = false;
// dr16->data.keyboard.key[DR16_L_CLICK] = dr16->data.mouse.l_click; // memset(&(dr16->data), 0, sizeof(dr16->data));
// dr16->data.keyboard.key[DR16_R_CLICK] = dr16->data.mouse.r_click;
// // 解析第五通道 // return DEVICE_OK;
// dr16->data.ch_res = 2.0f * ((float)dr16->raw_data.res - DR16_CH_VALUE_MID) / full_range; //}
// return DEVICE_OK; ///* USER FUNCTION BEGIN */
// }
// int8_t DR16_Offline(DR16_t *dr16){ ///* USER FUNCTION END */
// if (dr16 == NULL) return DEVICE_ERR_NULL;
// dr16->header.online = false;
// memset(&(dr16->data), 0, sizeof(dr16->data));
// return DEVICE_OK;
// }
// /* USER FUNCTION BEGIN */
// /* USER FUNCTION END */

192
User/device/dr16.h
View File

@ -1,117 +1,117 @@
// #pragma once //#pragma once
// #ifdef __cplusplus //#ifdef __cplusplus
// extern "C" { //extern "C" {
// #endif //#endif
// /* Includes ----------------------------------------------------------------- */ ///* Includes ----------------------------------------------------------------- */
// #include <cmsis_os2.h> //#include <cmsis_os2.h>
// #include "component/user_math.h" //#include "component/user_math.h"
// #include "device.h" //#include "device.h"
// /* 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 ----------------------------------------------------------- */
// /* Exported types ----------------------------------------------------------- */ ///* Exported types ----------------------------------------------------------- */
// typedef struct __packed { //typedef struct __packed {
// uint16_t ch_r_x : 11; // uint16_t ch_r_x : 11;
// uint16_t ch_r_y : 11; // uint16_t ch_r_y : 11;
// uint16_t ch_l_x : 11; // uint16_t ch_l_x : 11;
// uint16_t ch_l_y : 11; // uint16_t ch_l_y : 11;
// uint8_t sw_r : 2; // uint8_t sw_r : 2;
// uint8_t sw_l : 2; // uint8_t sw_l : 2;
// int16_t x; // int16_t x;
// int16_t y; // int16_t y;
// int16_t z; // int16_t z;
// uint8_t press_l; // uint8_t press_l;
// uint8_t press_r; // uint8_t press_r;
// uint16_t key; // uint16_t key;
// uint16_t res; // uint16_t res;
// } DR16_RawData_t; //} DR16_RawData_t;
// typedef enum { //typedef enum {
// DR16_SW_ERR = 0, // DR16_SW_ERR = 0,
// DR16_SW_UP = 1, // DR16_SW_UP = 1,
// DR16_SW_MID = 3, // DR16_SW_MID = 3,
// DR16_SW_DOWN = 2, // DR16_SW_DOWN = 2,
// } DR16_SwitchPos_t; //} DR16_SwitchPos_t;
// /* 键盘按键值 */ ///* 键盘按键值 */
// typedef enum { //typedef enum {
// DR16_KEY_W = 0, // DR16_KEY_W = 0,
// DR16_KEY_S, // DR16_KEY_S,
// DR16_KEY_A, // DR16_KEY_A,
// DR16_KEY_D, // DR16_KEY_D,
// DR16_KEY_SHIFT, // DR16_KEY_SHIFT,
// DR16_KEY_CTRL, // DR16_KEY_CTRL,
// DR16_KEY_Q, // DR16_KEY_Q,
// DR16_KEY_E, // DR16_KEY_E,
// DR16_KEY_R, // DR16_KEY_R,
// DR16_KEY_F, // DR16_KEY_F,
// DR16_KEY_G, // DR16_KEY_G,
// DR16_KEY_Z, // DR16_KEY_Z,
// DR16_KEY_X, // DR16_KEY_X,
// DR16_KEY_C, // DR16_KEY_C,
// DR16_KEY_V, // DR16_KEY_V,
// DR16_KEY_B, // DR16_KEY_B,
// DR16_L_CLICK, // DR16_L_CLICK,
// DR16_R_CLICK, // DR16_R_CLICK,
// DR16_KEY_NUM, // DR16_KEY_NUM,
// } DR16_Key_t; //} DR16_Key_t;
// typedef struct { //typedef struct {
// float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */ // 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_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_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 */ // float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
// float ch_res; /* 第五通道值 */ // float ch_res; /* 第五通道值 */
// DR16_SwitchPos_t sw_r; /* 右侧拨杆位置 */ // DR16_SwitchPos_t sw_r; /* 右侧拨杆位置 */
// DR16_SwitchPos_t sw_l; /* 左侧拨杆位置 */ // DR16_SwitchPos_t sw_l; /* 左侧拨杆位置 */
// struct { // struct {
// int16_t x; // int16_t x;
// int16_t y; // int16_t y;
// int16_t z; // int16_t z;
// bool l_click; /* 左键 */ // bool l_click; /* 左键 */
// bool r_click; /* 右键 */ // bool r_click; /* 右键 */
// } mouse; /* 鼠标值 */ // } mouse; /* 鼠标值 */
// union { // union {
// bool key[DR16_KEY_NUM]; /* 键盘按键值 */ // bool key[DR16_KEY_NUM]; /* 键盘按键值 */
// uint16_t value; /* 键盘按键值的位映射 */ // uint16_t value; /* 键盘按键值的位映射 */
// } keyboard; // } keyboard;
// uint16_t res; /* 保留，未启用 */ // uint16_t res; /* 保留，未启用 */
// } DR16_Data_t; //} DR16_Data_t;
// typedef struct { //typedef struct {
// DEVICE_Header_t header; // DEVICE_Header_t header;
// DR16_RawData_t raw_data; // DR16_RawData_t raw_data;
// DR16_Data_t data; // DR16_Data_t data;
// } DR16_t; //} DR16_t;
// /* Exported functions prototypes -------------------------------------------- */ ///* Exported functions prototypes -------------------------------------------- */
// int8_t DR16_Init(DR16_t *dr16); //int8_t DR16_Init(DR16_t *dr16);
// int8_t DR16_Restart(void); //int8_t DR16_Restart(void);
// int8_t DR16_StartDmaRecv(DR16_t *dr16); //int8_t DR16_StartDmaRecv(DR16_t *dr16);
// bool DR16_WaitDmaCplt(uint32_t timeout); //bool DR16_WaitDmaCplt(uint32_t timeout);
// int8_t DR16_ParseData(DR16_t *dr16); //int8_t DR16_ParseData(DR16_t *dr16);
// int8_t DR16_Offline(DR16_t *dr16); //int8_t DR16_Offline(DR16_t *dr16);
// /* USER FUNCTION BEGIN */ ///* USER FUNCTION BEGIN */
// ///* USER FUNCTION END */ ///* USER FUNCTION END */
// #ifdef __cplusplus //#ifdef __cplusplus
// } //}
// #endif //#endif

6
User/device/motor_rm.c
View File

@ -56,12 +56,12 @@ static int8_t MOTOR_RM_GetLogicalIndex(uint16_t can_id, MOTOR_RM_Module_t module
switch (module) { switch (module) {
case MOTOR_M2006: case MOTOR_M2006:
case MOTOR_M3508: case MOTOR_M3508:
if (can_id >= M3508_M2006_FB_ID_BASE && can_id <= M3508_M2006_FB_ID_BASE + 7) { if (can_id >= M3508_M2006_FB_ID_BASE && can_id < M3508_M2006_FB_ID_BASE + 7) {
return can_id - M3508_M2006_FB_ID_BASE; return can_id - M3508_M2006_FB_ID_BASE;
} }
break; break;
case MOTOR_GM6020: case MOTOR_GM6020:
if (can_id >= GM6020_FB_ID_BASE && can_id <= GM6020_FB_ID_BASE + 6) { if (can_id >= GM6020_FB_ID_BASE && can_id < GM6020_FB_ID_BASE + 6) {
return can_id - GM6020_FB_ID_BASE + 4; return can_id - GM6020_FB_ID_BASE + 4;
} }
break; break;
@ -74,7 +74,7 @@ static int8_t MOTOR_RM_GetLogicalIndex(uint16_t can_id, MOTOR_RM_Module_t module
static float MOTOR_RM_GetRatio(MOTOR_RM_Module_t module) { static float MOTOR_RM_GetRatio(MOTOR_RM_Module_t module) {
switch (module) { switch (module) {
case MOTOR_M2006: return 36.0f; case MOTOR_M2006: return 36.0f;
case MOTOR_M3508: return 3591.0f / 187.0f; case MOTOR_M3508: return 268.0f/17.0f ; // 通用3508减速比3591.0f / 187.0f;前面的是舵轮减速箱减速比
case MOTOR_GM6020: return 1.0f; case MOTOR_GM6020: return 1.0f;
default: return 1.0f; default: return 1.0f;
} }

4
User/module/cmd.c
View File

@ -146,19 +146,15 @@ int8_t CMD_CtrlSet(Chassis_CMD_t *c_cmd, const CMD_RC_t *rc, Gimbal_CMD_t *g_cmd
{ {
case CMD_SW_UP: case CMD_SW_UP:
g_cmd->ctrl_mode = GIMBAL_MODE_REMOTE; g_cmd->ctrl_mode = GIMBAL_MODE_REMOTE;
s_cmd->control_mode = SHOOT_REMOTE;
break; break;
case CMD_SW_MID: case CMD_SW_MID:
g_cmd->ctrl_mode = GIMBAL_MODE_AI; g_cmd->ctrl_mode = GIMBAL_MODE_AI;
s_cmd->control_mode = SHOOT_AI;
break; break;
case CMD_SW_DOWN: case CMD_SW_DOWN:
g_cmd->ctrl_mode = GIMBAL_MODE_AI; g_cmd->ctrl_mode = GIMBAL_MODE_AI;
s_cmd->control_mode = SHOOT_AI;
break; break;
case CMD_SW_ERR: case CMD_SW_ERR:
g_cmd->ctrl_mode = GIMBAL_MODE_REMOTE; g_cmd->ctrl_mode = GIMBAL_MODE_REMOTE;
s_cmd->control_mode = SHOOT_REMOTE;
break; break;
} }

9
User/module/cmd.h
View File

@ -47,8 +47,6 @@ typedef struct
struct struct
{ {
float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */ 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_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_x; /* 遥控器右侧摇杆横轴值，上为正 */
@ -128,15 +126,8 @@ typedef enum {
SHOOT_MODE_NUM SHOOT_MODE_NUM
}Shoot_Mode_t; }Shoot_Mode_t;
typedef enum {
SHOOT_REMOTE = 0,/* 遥控器控制 */
SHOOT_AI, /* AI控制 */
} Shoot_Control_Mode_t;
typedef struct { typedef struct {
Shoot_Mode_t mode;/* 射击模式 */ Shoot_Mode_t mode;/* 射击模式 */
Shoot_Control_Mode_t control_mode;/* 控制模式 */
bool ready; /* 准备射击 */ bool ready; /* 准备射击 */
bool firecmd; /* 射击 */ bool firecmd; /* 射击 */
}Shoot_CMD_t; }Shoot_CMD_t;

36
User/module/config.c
View File

@ -145,7 +145,7 @@ static const Config_Param_t config = {
}, },
.pid.yaw_4310_motor_omega = { .pid.yaw_4310_motor_omega = {
.k = 0.1f, .k = 0.0f,
.p = 0.3f, .p = 0.3f,
.i = 0.0f, .i = 0.0f,
.d = 0.0f, .d = 0.0f,
@ -165,19 +165,10 @@ static const Config_Param_t config = {
// .d_cutoff_freq = 0.0f, // .d_cutoff_freq = 0.0f,
// .range = M_2PI // .range = M_2PI
/*上面一组pid会导致电机超调，可能是因为pid计算错误，正在进行重新修改pid*/ /*上面一组pid会导致电机超调，可能是因为pid计算错误，正在进行重新修改pid*/
// .k = 2.0f,
// .p = 5.0f,
// .i = 0.0f,
// .d = 0.0f,
// .i_limit = 1.0f,
// .out_limit = 10.0f,
// .d_cutoff_freq = 0.0f,
// .range = M_2PI
.k = 2.0f, .k = 2.0f,
.p = 7.0f, .p = 5.0f,
.i = 0.5f, .i = 0.0f,
.d = 1.0f, .d = 0.0f,
.i_limit = 1.0f, .i_limit = 1.0f,
.out_limit = 10.0f, .out_limit = 10.0f,
.d_cutoff_freq = 0.0f, .d_cutoff_freq = 0.0f,
@ -194,17 +185,8 @@ static const Config_Param_t config = {
// .d_cutoff_freq = -1.0f, // .d_cutoff_freq = -1.0f,
// .range = -1.0f // .range = -1.0f
// .k = 0.35f,
// .p = 0.3f,
// .i = 0.0f,
// .d = 0.0f,
// .i_limit = 1.0f,
// .out_limit = 1.0f,
// .d_cutoff_freq = -1.0f,
// .range = -1.0f
.k = 0.35f, .k = 0.35f,
.p = 0.35f, .p = 0.3f,
.i = 0.0f, .i = 0.0f,
.d = 0.0f, .d = 0.0f,
.i_limit = 1.0f, .i_limit = 1.0f,
@ -240,8 +222,8 @@ static const Config_Param_t config = {
.basic.extra_deceleration_ratio = 1, .basic.extra_deceleration_ratio = 1,
.basic.ratio_multilevel[0] = 1.0f, .basic.ratio_multilevel[0] = 1.0f,
.basic.num_trig_tooth = 8, .basic.num_trig_tooth = 8,
.basic.shot_freq = 5.0f, .basic.shot_freq = 20.0f,
.basic.shot_burst_num = 1, .basic.shot_burst_num = 5,
.jamDetection.enable = true, .jamDetection.enable = true,
.jamDetection.threshold = 120.0f, .jamDetection.threshold = 120.0f,
@ -271,8 +253,8 @@ static const Config_Param_t config = {
}, },
.trig_2006={ .trig_2006={
.k=0.7f, .k=0.5f,
.p=0.7f, .p=0.5f,
.i=0.5f, .i=0.5f,
.d=0.05f, .d=0.05f,
.i_limit=0.2f, .i_limit=0.2f,

36
User/module/gimbal.c
View File

@ -115,7 +115,6 @@ int8_t Gimbal_Init(Gimbal_t *g, Gimbal_Param_t *param,float target_freq)
PID_Init(&g->pid.yaw_6020_omega,KPID_MODE_CALC_D, target_freq,&g->param->pid.yaw_6020_motor_omega ); PID_Init(&g->pid.yaw_6020_omega,KPID_MODE_CALC_D, target_freq,&g->param->pid.yaw_6020_motor_omega );
/*4310大yaw pid初始化 大yaw单环控*/ /*4310大yaw pid初始化 大yaw单环控*/
PID_Init(&g->pid.yaw_4310_angle,KPID_MODE_SET_D, target_freq,&g->param->pid.yaw_4310_motor_angle ); PID_Init(&g->pid.yaw_4310_angle,KPID_MODE_SET_D, target_freq,&g->param->pid.yaw_4310_motor_angle );
PID_Init(&g->pid.yaw_4310_omega,KPID_MODE_CALC_D, target_freq,&g->param->pid.yaw_4310_motor_omega );
/*4310 pitch pid初始化 单环*/ /*4310 pitch pid初始化 单环*/
PID_Init(&g->pid.pitch_4310_angle,KPID_MODE_NO_D, target_freq,&g->param->pid.pitch_4310_motor_angle ); PID_Init(&g->pid.pitch_4310_angle,KPID_MODE_NO_D, target_freq,&g->param->pid.pitch_4310_motor_angle );
PID_Init(&g->pid.pitch_4310_omega,KPID_MODE_CALC_D, target_freq,&g->param->pid.pitch_4310_motor_omega ); PID_Init(&g->pid.pitch_4310_omega,KPID_MODE_CALC_D, target_freq,&g->param->pid.pitch_4310_motor_omega );
@ -247,7 +246,7 @@ int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu){
Gimbal_SetMode(g, g_cmd->mode); Gimbal_SetMode(g, g_cmd->mode);
/*处理小yaw轴控制命令*/ /*处理小yaw轴控制命令*/
float delta_yaw_6020 = 10.0f*g_cmd->delta_yaw_6020 * g->dt; float delta_yaw_6020 = 5.0f*g_cmd->delta_yaw_6020 * g->dt;
if(g->param->travel.yaw_6020 > 0) // 有限位才处理 if(g->param->travel.yaw_6020 > 0) // 有限位才处理
{ {
@ -277,7 +276,7 @@ const float delta_min_6020 = CircleError(g->limit.yaw_6020.min,
g->setpoint.yaw_4310=small_yaw_center_offset; g->setpoint.yaw_4310=small_yaw_center_offset;
/*处理大pitch控制命令*/ /*处理大pitch控制命令*/
float delta_pitch_4310 = 8.0f*g_cmd->delta_pitch_4310*g->dt; float delta_pitch_4310 = 5.0f*g_cmd->delta_pitch_4310*g->dt;
if(g->param->travel.pitch_4310 > 0) // 有限位才处理 if(g->param->travel.pitch_4310 > 0) // 有限位才处理
{ {
/* 计算当前电机角度与IMU角度的偏差 */ /* 计算当前电机角度与IMU角度的偏差 */
@ -331,29 +330,11 @@ g->setpoint.eulr.pit = g_cmd->set_pitch;
/*4310大YAW控制 /*4310大YAW控制
这里是单环控制的，有需要加双环 这里是单环控制的，有需要加双环
*/ */
// /* 大YAW角度环：使用环形误差，避免过零点抽搐 */ yaw_omega_set_point =PID_Calc(&g->pid.yaw_4310_angle,g->setpoint.yaw_4310,
// float yaw4310_err = CircleError( g->feedback.motor.yaw_6020_motor_feedback.rotor_abs_angle,g->feedback.motor.yaw_6020_motor_feedback.rotor_speed,g->dt);
// g->setpoint.yaw_4310, // g->out.yaw_4310 = PID_Calc(&g->pid.yaw_4310_omega,yaw_omega_set_point,
// g->feedback.motor.yaw_6020_motor_feedback.rotor_abs_angle, // g->feedback.imu.gyro.z,0.0f,g->dt);
// M_2PI g->out.yaw_4310 = yaw_omega_set_point; // 直接输出速度环目标值作为电机输出
// );
// /* 构造等效的包角设定值，使 PID 内部误差=set-ref=环形误差 */
// float yaw4310_set_wrapped = g->feedback.motor.yaw_6020_motor_feedback.rotor_abs_angle + yaw4310_err;
// yaw_omega_set_point = PID_Calc(
// &g->pid.yaw_4310_angle,
// yaw4310_set_wrapped,
// g->feedback.motor.yaw_6020_motor_feedback.rotor_abs_angle,
// g->feedback.motor.yaw_6020_motor_feedback.rotor_speed,
// g->dt
// );
yaw_omega_set_point =PID_Calc(&g->pid.yaw_4310_angle,3.90f,
g->feedback.motor.yaw_4310_motor_feedback.rotor_abs_angle,g->feedback.motor.yaw_6020_motor_feedback.rotor_speed,g->dt);
g->out.yaw_4310 = PID_Calc(&g->pid.yaw_4310_omega,yaw_omega_set_point,
g->feedback.motor.yaw_4310_motor_feedback.rotor_speed,0.0f,g->dt);
// g->out.yaw_4310 = yaw_omega_set_point; // 直接输出速度环目标值作为电机输出
/*控制云台4310电机 也是单环，但是加了重力补偿函数，可以根据不一样的情况去拟合函数*/ /*控制云台4310电机 也是单环，但是加了重力补偿函数，可以根据不一样的情况去拟合函数*/
pitch_omega_set_point =PID_Calc(&g->pid.pitch_4310_angle,g->setpoint.eulr.pit, pitch_omega_set_point =PID_Calc(&g->pid.pitch_4310_angle,g->setpoint.eulr.pit,
g->feedback.imu.eulr.rol,0.0f,g->dt); g->feedback.imu.eulr.rol,0.0f,g->dt);
@ -395,8 +376,7 @@ void Gimbal_Output(Gimbal_t *g)
MOTOR_RM_SetOutput(&g->param->yaw_6020_motor, g->out.yaw_6020); MOTOR_RM_SetOutput(&g->param->yaw_6020_motor, g->out.yaw_6020);
MOTOR_MIT_Output_t output_yaw_4310 = {0}; MOTOR_MIT_Output_t output_yaw_4310 = {0};
output_yaw_4310.torque = g->out.yaw_4310 * 2.0f; output_yaw_4310.torque = g->out.yaw_4310 * 1.0f;
// output_yaw_4310.kp = 0.2f;
output_yaw_4310.kd = 0.1f; output_yaw_4310.kd = 0.1f;
// output_yaw_4310.kd=0.1f; // output_yaw_4310.kd=0.1f;

10
User/task/Task8.c
View File

@ -6,8 +6,7 @@
/* Includes ----------------------------------------------------------------- */ /* Includes ----------------------------------------------------------------- */
#include "task/user_task.h" #include "task/user_task.h"
/* USER INCLUDE BEGIN */ /* USER INCLUDE BEGIN */
#include "module/cmd.h"
#include "bsp/uart.h"
/* USER INCLUDE END */ /* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */ /* Private typedef ---------------------------------------------------------- */
@ -15,7 +14,7 @@
/* Private macro ------------------------------------------------------------ */ /* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */ /* USER STRUCT BEGIN */
CMD_RC_t remote;
/* USER STRUCT END */ /* USER STRUCT END */
/* Private function --------------------------------------------------------- */ /* Private function --------------------------------------------------------- */
@ -37,11 +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);
BSP_UART_Transmit(BSP_UART_1, (uint8_t *)&remote, sizeof(CMD_RC_t), false);
/* 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 */

1
User/task/ai.c
View File

@ -49,7 +49,6 @@ void Task_ai(void *argument) {
AI_Get_NUC(&ai,&ai_cmd); AI_Get_NUC(&ai,&ai_cmd);
osMessageQueueReset(task_runtime.msgq.gimbal.ai.g_cmd); osMessageQueueReset(task_runtime.msgq.gimbal.ai.g_cmd);
osMessageQueuePut(task_runtime.msgq.gimbal.ai.g_cmd, &ai_cmd, 0, 0); osMessageQueuePut(task_runtime.msgq.gimbal.ai.g_cmd, &ai_cmd, 0, 0);
osMessageQueuePut(task_runtime.msgq.shoot.ai.s_cmd, &ai_cmd, 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 */
} }

5
User/task/init.c
View File

@ -37,7 +37,7 @@ 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.Task8 = osThreadNew(Task_Task8, NULL, &attr_Task8);
// 创建消息队列 // 创建消息队列
@ -54,8 +54,7 @@ void Task_Init(void *argument) {
task_runtime.msgq.shoot.cmd = osMessageQueueNew(2u, sizeof(Shoot_CMD_t),NULL); task_runtime.msgq.shoot.cmd = osMessageQueueNew(2u, sizeof(Shoot_CMD_t),NULL);
task_runtime.msgq.gimbal.ai.feedback = osMessageQueueNew(2u, sizeof(Gimbal_feedback_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); task_runtime.msgq.gimbal.ai.g_cmd = osMessageQueueNew(2u, sizeof(AI_cmd_t),NULL);
task_runtime.msgq.shoot.ai.s_cmd = osMessageQueueNew(2u, sizeof(AI_cmd_t),NULL);
task_runtime.msgq.RC_REMOTE = osMessageQueueNew(2u, sizeof(CMD_RC_t), NULL);
/* USER MESSAGE END */ /* USER MESSAGE END */
osKernelUnlock(); // 解锁内核 osKernelUnlock(); // 解锁内核

2
User/task/rc.c
View File

@ -60,8 +60,6 @@ void Task_rc(void *argument) {
osMessageQueueReset(task_runtime.msgq.cmd.raw.rc); osMessageQueueReset(task_runtime.msgq.cmd.raw.rc);
osMessageQueuePut(task_runtime.msgq.cmd.raw.rc, &cmd_rc, 0, 0); osMessageQueuePut(task_runtime.msgq.cmd.raw.rc, &cmd_rc, 0, 0);
osMessageQueueReset(task_runtime.msgq.RC_REMOTE);
osMessageQueuePut(task_runtime.msgq.RC_REMOTE, &cmd_rc, 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 */

24
User/task/shoot.c
View File

@ -4,12 +4,11 @@
*/ */
/* Includes ----------------------------------------------------------------- */ /* Includes ----------------------------------------------------------------- */
#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"
#include "module/config.h" #include "module/config.h"
#include "device/ai.h"
/* USER INCLUDE END */ /* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */ /* Private typedef ---------------------------------------------------------- */
@ -19,7 +18,6 @@
/* USER STRUCT BEGIN */ /* USER STRUCT BEGIN */
Shoot_t shoot; Shoot_t shoot;
Shoot_CMD_t shoot_cmd; Shoot_CMD_t shoot_cmd;
AI_cmd_t shoot_ai_cmd;
/* USER STRUCT END */ /* USER STRUCT END */
/* Private function --------------------------------------------------------- */ /* Private function --------------------------------------------------------- */
@ -44,28 +42,8 @@ Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);
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.shoot.cmd, &shoot_cmd, NULL, 0); osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0);
osMessageQueueGet(task_runtime.msgq.shoot.ai.s_cmd, &shoot_ai_cmd, NULL, 0);
// if(shoot_cmd.control_mode==SHOOT_REMOTE)
// {
// //do nothing，使用遥控器的指令
// }
// else if(shoot_cmd.control_mode==SHOOT_AI)
// {
// shoot_cmd.mode = SHOOT_MODE_SINGLE;
// if(shoot_ai_cmd.mode==0 || shoot_ai_cmd.mode==1)
// {
// shoot_cmd.firecmd=false;
// shoot_cmd.ready=true;
// }
// else if(shoot_ai_cmd.mode==2)
// {
// shoot_cmd.firecmd=true;
// shoot_cmd.ready=true;
// }
// }
Shoot_UpdateFeedback(&shoot); Shoot_UpdateFeedback(&shoot);
Shoot_SetMode(&shoot,shoot_cmd.mode); Shoot_SetMode(&shoot,shoot_cmd.mode);

6
User/task/user_task.h
View File

@ -91,7 +91,6 @@ typedef struct {
osMessageQueueId_t quat; osMessageQueueId_t quat;
osMessageQueueId_t feedback; osMessageQueueId_t feedback;
osMessageQueueId_t g_cmd; osMessageQueueId_t g_cmd;
}ai; }ai;
/* 新增的 ai 消息队列 主要是给自瞄*/ /* 新增的 ai 消息队列 主要是给自瞄*/
} gimbal; } gimbal;
@ -99,13 +98,8 @@ typedef struct {
struct struct
{ {
osMessageQueueId_t cmd; osMessageQueueId_t cmd;
struct{
osMessageQueueId_t s_cmd;
}ai;
}shoot; }shoot;
osMessageQueueId_t RC_REMOTE;
} msgq; } msgq;
/* USER MESSAGE END */ /* USER MESSAGE END */