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2 Commits
main ... bache

Author SHA1 Message Date
Xiaocheng
5bf4f99113 yongzhege 2026-01-14 17:38:32 +08:00
Xiaocheng
72a4e5b073 烧饼自瞄 2026-01-13 11:11:19 +08:00
21 changed files with 365 additions and 329 deletions
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7
CMakeLists.txt
View File

@ -71,13 +71,13 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
User/component/user_math.c User/component/user_math.c
# User/device sources # User/device sources
User/device/ai.c
User/device/bmi088.c User/device/bmi088.c
User/device/dr16.c User/device/dr16.c
User/device/motor.c User/device/motor.c
User/device/motor_dm.c User/device/motor_dm.c
User/device/motor_rm.c User/device/motor_rm.c
User/device/remote_control.c User/device/remote_control.c
User/device/ai.c
# User/module sources # User/module sources
User/module/chassis.c User/module/chassis.c
@ -87,8 +87,6 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
User/module/shoot.c User/module/shoot.c
# User/task sources # User/task sources
User/task/Task8.c
User/task/ai.c
User/task/atti_esti.c User/task/atti_esti.c
User/task/chassis.c User/task/chassis.c
User/task/cmd.c User/task/cmd.c
@ -96,8 +94,9 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
User/task/init.c User/task/init.c
User/task/rc.c User/task/rc.c
User/task/shoot.c User/task/shoot.c
User/task/tempCodeRunnerFile.c
User/task/user_task.c User/task/user_task.c
User/task/ai.c
User/task/Task8.c
) )
# Add include paths # Add include paths

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;

94
User/device/dr16.c
View File

@ -1,9 +1,9 @@
// /* ///*
// DR16接收机 // DR16接收机
// Example： // Example：
// DR16_Init(&dr16); // DR16_Init(&dr16);
//
// while (1) { // while (1) {
// DR16_StartDmaRecv(&dr16); // DR16_StartDmaRecv(&dr16);
// if (DR16_WaitDmaCplt(20)) { // if (DR16_WaitDmaCplt(20)) {
@ -11,43 +11,43 @@
// } else { // } else {
// DR16_Offline(&dr16); // DR16_Offline(&dr16);
// } // }
// } //}
// */ //*/
// /* Includes ----------------------------------------------------------------- */ ///* Includes ----------------------------------------------------------------- */
// #include "dr16.h" //#include "dr16.h"
// #include "bsp/uart.h" //#include "bsp/uart.h"
// #include "bsp/time.h" //#include "bsp/time.h"
// #include "device.h" //#include "device.h"
// #include <string.h> //#include <string.h>
// #include <stdbool.h> //#include <stdbool.h>
// /* USER INCLUDE BEGIN */ ///* USER INCLUDE BEGIN */
// /* USER INCLUDE END */ ///* USER INCLUDE END */
// /* Private define ----------------------------------------------------------- */ ///* Private define ----------------------------------------------------------- */
// #define DR16_CH_VALUE_MIN (364u) //#define DR16_CH_VALUE_MIN (364u)
// #define DR16_CH_VALUE_MID (1024u) //#define DR16_CH_VALUE_MID (1024u)
// #define DR16_CH_VALUE_MAX (1684u) //#define DR16_CH_VALUE_MAX (1684u)
// /* USER DEFINE BEGIN */ ///* USER DEFINE BEGIN */
// /* USER DEFINE END */ ///* USER DEFINE END */
// /* Private macro ------------------------------------------------------------ */ ///* Private macro ------------------------------------------------------------ */
// /* Private typedef ---------------------------------------------------------- */ ///* Private typedef ---------------------------------------------------------- */
// /* Private variables -------------------------------------------------------- */ ///* Private variables -------------------------------------------------------- */
// static osThreadId_t thread_alert; //static osThreadId_t thread_alert;
// static bool inited = false; //static bool inited = false;
// /* Private function -------------------------------------------------------- */ ///* Private function -------------------------------------------------------- */
// static void DR16_RxCpltCallback(void) { //static void DR16_RxCpltCallback(void) {
// osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY); // osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
// } //}
// static bool DR16_DataCorrupted(const DR16_t *dr16) { //static bool DR16_DataCorrupted(const DR16_t *dr16) {
// if (dr16 == NULL) return DEVICE_ERR_NULL; // if (dr16 == NULL) return DEVICE_ERR_NULL;
// if ((dr16->raw_data.ch_r_x < DR16_CH_VALUE_MIN) || // if ((dr16->raw_data.ch_r_x < DR16_CH_VALUE_MIN) ||
@ -71,10 +71,10 @@
// 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 ------------------------------------------------------- */ ///* Exported functions ------------------------------------------------------- */
// int8_t DR16_Init(DR16_t *dr16) { //int8_t DR16_Init(DR16_t *dr16) {
// if (dr16 == NULL) return DEVICE_ERR_NULL; // if (dr16 == NULL) return DEVICE_ERR_NULL;
// if (inited) return DEVICE_ERR_INITED; // if (inited) return DEVICE_ERR_INITED;
// if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; // if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
@ -84,28 +84,28 @@
// inited = true; // inited = true;
// return DEVICE_OK; // return DEVICE_OK;
// } //}
// int8_t DR16_Restart(void) { //int8_t DR16_Restart(void) {
// __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_DR16)); // __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_DR16));
// __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_DR16)); // __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_DR16));
// return DEVICE_OK; // return DEVICE_OK;
// } //}
// int8_t DR16_StartDmaRecv(DR16_t *dr16) { //int8_t DR16_StartDmaRecv(DR16_t *dr16) {
// if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16), // if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16),
// (uint8_t *)&(dr16->raw_data), // (uint8_t *)&(dr16->raw_data),
// sizeof(dr16->raw_data)) == HAL_OK) // sizeof(dr16->raw_data)) == HAL_OK)
// return DEVICE_OK; // return DEVICE_OK;
// return DEVICE_ERR; // return DEVICE_ERR;
// } //}
// bool DR16_WaitDmaCplt(uint32_t timeout) { //bool DR16_WaitDmaCplt(uint32_t timeout) {
// return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) == // return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) ==
// SIGNAL_DR16_RAW_REDY); // SIGNAL_DR16_RAW_REDY);
// } //}
// int8_t DR16_ParseData(DR16_t *dr16){ //int8_t DR16_ParseData(DR16_t *dr16){
// if (dr16 == NULL) return DEVICE_ERR_NULL; // if (dr16 == NULL) return DEVICE_ERR_NULL;
// if (DR16_DataCorrupted(dr16)) { // if (DR16_DataCorrupted(dr16)) {
@ -114,7 +114,7 @@
// dr16->header.online = true; // dr16->header.online = true;
// dr16->header.last_online_time = BSP_TIME_Get_us(); // dr16->header.last_online_time = BSP_TIME_Get_us();
//
// memset(&(dr16->data), 0, sizeof(dr16->data)); // memset(&(dr16->data), 0, sizeof(dr16->data));
// float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN); // float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN);
@ -139,7 +139,7 @@
// // 解析键盘按键 - 使用union简化代码 // // 解析键盘按键 - 使用union简化代码
// uint16_t key_value = dr16->raw_data.key; // uint16_t key_value = dr16->raw_data.key;
//
// // 解析键盘位映射（W-B键，位0-15） // // 解析键盘位映射（W-B键，位0-15）
// for (int i = DR16_KEY_W; i <= DR16_KEY_B; i++) { // for (int i = DR16_KEY_W; i <= DR16_KEY_B; i++) {
// dr16->data.keyboard.key[i] = (key_value & (1 << i)) != 0; // dr16->data.keyboard.key[i] = (key_value & (1 << i)) != 0;
@ -151,19 +151,19 @@
// // 解析第五通道 // // 解析第五通道
// dr16->data.ch_res = 2.0f * ((float)dr16->raw_data.res - DR16_CH_VALUE_MID) / full_range; // dr16->data.ch_res = 2.0f * ((float)dr16->raw_data.res - DR16_CH_VALUE_MID) / full_range;
//
// return DEVICE_OK; // return DEVICE_OK;
// } //}
// int8_t DR16_Offline(DR16_t *dr16){ //int8_t DR16_Offline(DR16_t *dr16){
// if (dr16 == NULL) return DEVICE_ERR_NULL; // if (dr16 == NULL) return DEVICE_ERR_NULL;
// dr16->header.online = false; // dr16->header.online = false;
// memset(&(dr16->data), 0, sizeof(dr16->data)); // memset(&(dr16->data), 0, sizeof(dr16->data));
// return DEVICE_OK; // return DEVICE_OK;
// } //}
// /* USER FUNCTION BEGIN */ ///* USER FUNCTION BEGIN */
// /* USER FUNCTION END */ ///* USER FUNCTION END */

76
User/device/dr16.h
View File

@ -1,27 +1,27 @@
// #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;
@ -35,17 +35,17 @@
// 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,
@ -65,9 +65,9 @@
// 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 */
@ -92,26 +92,26 @@
// } 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;
} }

11
User/module/cmd.c
View File

@ -146,19 +146,19 @@ 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; 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; 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; 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; s_cmd->control_mode=SHOOT_REMOTE;
break; break;
} }
@ -187,7 +187,7 @@ int8_t CMD_CtrlSet(Chassis_CMD_t *c_cmd, const CMD_RC_t *rc, Gimbal_CMD_t *g_cmd
s_cmd->mode = SHOOT_MODE_SINGLE; s_cmd->mode = SHOOT_MODE_SINGLE;
break; break;
case CMD_SW_DOWN: case CMD_SW_DOWN:
s_cmd->mode = SHOOT_MODE_CONTINUE; s_cmd->mode = SHOOT_MODE_BURST;
break; break;
case CMD_SW_ERR: case CMD_SW_ERR:
s_cmd->mode = SHOOT_MODE_SAFE; s_cmd->mode = SHOOT_MODE_SAFE;
@ -195,6 +195,7 @@ int8_t CMD_CtrlSet(Chassis_CMD_t *c_cmd, const CMD_RC_t *rc, Gimbal_CMD_t *g_cmd
} }
switch(rc->ET16s.key_D) switch(rc->ET16s.key_D)
{ {
case CMD_SW_UP: case CMD_SW_UP:
s_cmd->firecmd = false; s_cmd->firecmd = false;
s_cmd->ready = false; s_cmd->ready = false;

15
User/module/cmd.h
View File

@ -47,8 +47,6 @@ typedef struct
struct struct
{ {
uint8_t head;
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 */
@ -63,8 +61,6 @@ typedef struct
CMD_SwitchPos_t key_G; CMD_SwitchPos_t key_G;
CMD_SwitchPos_t key_H; CMD_SwitchPos_t key_H;
uint8_t end;
int16_t knob_left; // 左旋钮 int16_t knob_left; // 左旋钮
int16_t knob_right; // 右旋钮 int16_t knob_right; // 右旋钮
} __attribute__((packed)) ET16s; } __attribute__((packed)) ET16s;
@ -130,15 +126,14 @@ typedef enum {
SHOOT_MODE_NUM SHOOT_MODE_NUM
}Shoot_Mode_t; }Shoot_Mode_t;
typedef enum { typedef enum{
SHOOT_REMOTE = 0,/* 遥控器控制 */ SHOOT_REMOTE,
SHOOT_AI, /* AI控制 */ SHOOT_AI
} Shoot_Control_Mode_t; }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;
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;

4
User/module/config.c
View File

@ -145,8 +145,8 @@ static const Config_Param_t config = {
}, },
.pid.yaw_4310_motor_omega = { .pid.yaw_4310_motor_omega = {
.k = 0.5f, .k = 0.0f,
.p = 0.5f, .p = 0.3f,
.i = 0.0f, .i = 0.0f,
.d = 0.0f, .d = 0.0f,
.i_limit = 0.0f, .i_limit = 0.0f,

22
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 */
@ -331,15 +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
*/ */
yaw_omega_set_point =PID_Calc(&g->pid.yaw_4310_angle,g->setpoint.yaw_4310,
yaw_omega_set_point =PID_Calc(&g->pid.yaw_4310_angle,g->setpoint.yaw_4310,
g->feedback.motor.yaw_6020_motor_feedback.rotor_abs_angle,g->feedback.motor.yaw_6020_motor_feedback.rotor_speed,g->dt); g->feedback.motor.yaw_6020_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.imu.gyro.z,0.0f,g->dt);
g->out.yaw_4310 = PID_Calc(&g->pid.yaw_4310_omega,yaw_omega_set_point, g->out.yaw_4310 = yaw_omega_set_point; // 直接输出速度环目标值作为电机输出
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);
@ -381,9 +376,8 @@ 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 = 0.2f;
output_yaw_4310.kd = 0.1f;
// output_yaw_4310.kd=0.1f; // output_yaw_4310.kd=0.1f;
MOTOR_MIT_Output_t output_pitch_4310 = {0}; MOTOR_MIT_Output_t output_pitch_4310 = {0};

72
User/task/Task8.c
View File

@ -6,6 +6,9 @@
/* Includes ----------------------------------------------------------------- */ /* Includes ----------------------------------------------------------------- */
#include "task/user_task.h" #include "task/user_task.h"
/* USER INCLUDE BEGIN */ /* USER INCLUDE BEGIN */
#include "bsp/can.h"
#include "device/motor_rm.h"
#include "component/pid.h"
/* USER INCLUDE END */ /* USER INCLUDE END */
@ -14,7 +17,57 @@
/* Private macro ------------------------------------------------------------ */ /* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */ /* USER STRUCT BEGIN */
MOTOR_RM_t motor_6020;
MOTOR_RM_t motor_3508;
MOTOR_RM_Param_t motor_6020_param = {
.can = BSP_CAN_1,
.id = 0x205,
.module = MOTOR_GM6020,
.reverse = false,
.gear = false,
};
MOTOR_RM_Param_t motor_3508_param = {
.can = BSP_CAN_1,
.id = 0x201,
.module = MOTOR_M3508,
.reverse = false,
.gear = false,
};
KPID_t motor_6020_speed;
KPID_t motor_3508_angle;
KPID_t motor_3508_omega;
KPID_Params_t motor_6020_speed_param = {
.k = 0.1f,
.p = 0.2f,
.i = 0.1f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = 30.0f,
};
KPID_Params_t motor_3508_angle_param = {
.k = 1.0f,
.p = 5.0f,
.i = 0.1f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = 30.0f,
};
KPID_Params_t motor_3508_omega_param = {
.k = 1.0f,
.p = 5.0f,
.i = 0.1f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = 30.0f,
};
float motor_3508_target_angle = 5*M_2PI;
float motor_6020_target_speed = 33.0f;
/* USER STRUCT END */ /* USER STRUCT END */
/* Private function --------------------------------------------------------- */ /* Private function --------------------------------------------------------- */
@ -30,17 +83,34 @@ void Task_Task8(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 */
BSP_CAN_Init();
MOTOR_RM_Register( &motor_6020_param);
MOTOR_RM_Register(&motor_3508_param);
PID_Init(&motor_6020_speed, KPID_MODE_CALC_D, TASK8_FREQ, &motor_6020_speed_param);
PID_Init(&motor_3508_angle, KPID_MODE_NO_D, TASK8_FREQ, &motor_3508_angle_param);
PID_Init(&motor_3508_omega, KPID_MODE_NO_D, TASK8_FREQ, &motor_3508_omega_param);
/* USER CODE INIT END */ /* USER CODE INIT END */
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); MOTOR_RM_UpdateAll();
motor_6020.feedback.rotor_speed= (MOTOR_GetRotorSpeed(&(MOTOR_RM_GetMotor(&motor_6020_param)->motor)) );
motor_3508.feedback.rotor_abs_angle= MOTOR_RM_GetMotor(&motor_3508_param)->gearbox_total_angle;
motor_3508.feedback.rotor_speed= (MOTOR_GetRotorSpeed(&(MOTOR_RM_GetMotor(&motor_3508_param)->motor)) );
float motor_6020out,motor_3508_ommega,motor_3508_out;
motor_6020out = PID_Calc(&motor_6020_speed, motor_6020_target_speed, motor_6020.feedback.rotor_speed, 0.0f,0.0f);
// motor_3508_ommega = PID_Calc(&motor_3508_omega, motor_3508_target_angle, motor_3508.feedback.rotor_abs_angle, 0.0f,0.0f);
// motor_3508_out = PID_Calc(&motor_3508_angle, motor_3508_ommega, motor_3508.feedback.rotor_speed, 0.0f,0.0f);
MOTOR_RM_SetOutput(&motor_6020_param, motor_6020out);
MOTOR_RM_Ctrl(&motor_6020_param);
/* 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
User/task/ai.c
View File

@ -49,7 +49,9 @@ 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);
osMessageQueueReset(task_runtime.msgq.gimbal.ai.s_cmd);
osMessageQueuePut(task_runtime.msgq.gimbal.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

@ -38,7 +38,7 @@ void Task_Init(void *argument) {
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
/* USER MESSAGE BEGIN */ /* USER MESSAGE BEGIN */
@ -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.gimbal.ai.s_cmd = osMessageQueueNew(2u, sizeof(AI_cmd_t),NULL);
/* USER MESSAGE END */ /* USER MESSAGE END */
osKernelUnlock(); // 解锁内核 osKernelUnlock(); // 解锁内核

38
User/task/shoot.c
View File

@ -44,28 +44,28 @@ 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); osMessageQueueGet(task_runtime.msgq.gimbal.ai.s_cmd, &shoot_ai_cmd, NULL, 0);
// if(shoot_cmd.control_mode==SHOOT_REMOTE) if(shoot_cmd.control_mode==SHOOT_REMOTE)
// { {
// //do nothing，使用遥控器的指令 //do nothing，使用遥控器的指令
// } }
// else if(shoot_cmd.control_mode==SHOOT_AI) else if(shoot_cmd.control_mode==SHOOT_AI)
// { {
// shoot_cmd.mode = SHOOT_MODE_SINGLE; shoot_cmd.mode = SHOOT_MODE_SINGLE;
// if(shoot_ai_cmd.mode==0 || shoot_ai_cmd.mode==1) if(shoot_ai_cmd.mode==0 || shoot_ai_cmd.mode==1)
// { {
// shoot_cmd.firecmd=false; shoot_cmd.firecmd=false;
// shoot_cmd.ready=true; shoot_cmd.ready=true;
// } }
// else if(shoot_ai_cmd.mode==2) else if(shoot_ai_cmd.mode==2)
// { {
// shoot_cmd.firecmd=true; shoot_cmd.firecmd=true;
// shoot_cmd.ready=true; shoot_cmd.ready=true;
// } }
// } }
Shoot_UpdateFeedback(&shoot); Shoot_UpdateFeedback(&shoot);
Shoot_SetMode(&shoot,shoot_cmd.mode); Shoot_SetMode(&shoot,shoot_cmd.mode);

1
User/task/tempCodeRunnerFile.c
View File

@ -0,0 +1 @@
feedback

7
User/task/user_task.h
View File

@ -91,7 +91,7 @@ typedef struct {
osMessageQueueId_t quat; osMessageQueueId_t quat;
osMessageQueueId_t feedback; osMessageQueueId_t feedback;
osMessageQueueId_t g_cmd; osMessageQueueId_t g_cmd;
osMessageQueueId_t s_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 +99,8 @@ typedef struct {
struct struct
{ {
osMessageQueueId_t cmd; osMessageQueueId_t cmd;
struct{
osMessageQueueId_t s_cmd;
}ai;
}shoot; }shoot;
} msgq; } msgq;
/* USER MESSAGE END */ /* USER MESSAGE END */