diff --git a/.vscode/settings.json b/.vscode/settings.json index cd585b9..a2e750c 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -14,5 +14,16 @@ "starm-clangd", "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc.exe", "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-g++.exe" - ] + ], + "[c]": { + "editor.tabSize": 2, + "editor.insertSpaces": true, + "editor.detectIndentation": false + }, + "[cpp]": { + "editor.tabSize": 2, + "editor.insertSpaces": true, + "editor.detectIndentation": false + } + } \ No newline at end of file diff --git a/User/device/AT9S_Pro.c b/User/device/AT9S_Pro.c index 2127ab0..14d1d7a 100644 --- a/User/device/AT9S_Pro.c +++ b/User/device/AT9S_Pro.c @@ -80,7 +80,7 @@ void AT9S_ParseRaw(const uint8_t raw[AT9S_FRAME_LEN], AT9S_t *out) ((v) >= 500 && (v) < 1500) ? AT9S_CMD_SW_MID : \ ((v) >= 1500 && (v) < 1700) ? AT9S_CMD_SW_UP : AT9S_CMD_SW_ERR - #define MAP_SWITCH_2(v) \ + #define MAP_SWITCH_RESERVE(v) \ ((v) > 300 && (v) < 500) ? AT9S_CMD_SW_UP : \ ((v) >= 500 && (v) < 1500) ? AT9S_CMD_SW_MID : \ ((v) >= 1500 && (v) < 1700) ? AT9S_CMD_SW_DOWN : AT9S_CMD_SW_ERR @@ -104,13 +104,13 @@ void AT9S_ParseRaw(const uint8_t raw[AT9S_FRAME_LEN], AT9S_t *out) // out->data.ch_l_y = r.ch[2]; // out->data.ch_l_x = r.ch[3]; - out->data.rc.key_A = MAP_SWITCH_2(r.sw[0]); - out->data.rc.key_B = MAP_SWITCH_2(r.sw[1]); - out->data.rc.key_C = MAP_SWITCH_2(r.sw[2]); + out->data.rc.key_A = MAP_SWITCH_RESERVE(r.sw[0]); + out->data.rc.key_B = MAP_SWITCH_RESERVE(r.sw[1]); + out->data.rc.key_C = MAP_SWITCH_RESERVE(r.sw[2]); out->data.rc.key_D = MAP_SWITCH(r.sw[3]); out->data.rc.key_E = MAP_SWITCH(r.sw[4]); out->data.rc.key_F = MAP_SWITCH(r.sw[5]); - out->data.rc.key_G = MAP_SWITCH_2(r.sw[6]); + out->data.rc.key_G = MAP_SWITCH_RESERVE(r.sw[6]); out->data.rc.key_H = MAP_SWITCH(r.sw[7]); // out->knob_left = MAP_SWITCH(r.sw[6]); // out->knob_right = MAP_SWITCH(r.sw[7]); diff --git a/User/module/cmd.c b/User/module/cmd.c index abbd4d3..8769d15 100644 --- a/User/module/cmd.c +++ b/User/module/cmd.c @@ -6,42 +6,23 @@ #include #include #include "bsp/time.h" -#include "device/vt13.h" -#include "module/shoot.h" +#include "module/gimbal.h" /*************************************************************************************************************************************/ /****************************************************************RC*******************************************************************/ /*************************************************************************************************************************************/ -/* 扩展接口 */ -#if CMD_RCTypeTable_Index == 0 -#define CMD_RCType_TABLE(X) X(dr16, DR16) -#elif CMD_RCTypeTable_Index == 1 -#define CMD_RCType_TABLE(X) X(at9s, AT9S) -#elif CMD_RCTypeTable_Index == 2 -#define CMD_RCType_TABLE(X) X(vt13, VT13) -#endif -/* Includes ----------------------------------------------------------------- */ -#if CMD_RCTypeTable_Index == 0 -#include "device/dr16.h" -#elif CMD_RCTypeTable_Index == 1 -#include "device/at9s_pro.h" -#elif CMD_RCTypeTable_Index == 2 -#include "device/vt13.h" -#endif /* Private macro ------------------------------------------------------------ */ /* 声明外部rc数据变量 */ #define CMDMACRO_EXTERNAL_RCDATA(name, NAME) extern NAME##_t name; + +#define CMDMACRO_NAME_EXPANSION_1(name, NAME) name /* 声明CMD结构体的RC数据变量 */ #define CMDMACRO_VAR_RCDATA(name, NAME) NAME##_DataRC_t name; /* 宏生成Cmd_RC_Get函数内容 */ #define CMDMACRO_Cmd_RC_Get(name, NAME) \ - bool online= name.header.online; \ - rc_buffer.name= name.data.rc; \ - rc->online=online; \ - rc->type = CMD_RCTypeTable_Index; -union CMD_RC_Data_t{ - CMD_RCType_TABLE(CMDMACRO_VAR_RCDATA) -}; + c->input.rc.name= name.data.rc; \ + c->input.rc.online=name.header.online; \ + c->input.rc.type=CMD_RCTypeTable_Index; CMD_RCType_TABLE(CMDMACRO_EXTERNAL_RCDATA) /* Private typedef ---------------------------------------------------------- */ @@ -49,10 +30,13 @@ CMD_RCType_TABLE(CMDMACRO_EXTERNAL_RCDATA) /* Private variables -------------------------------------------------------- */ /*静态缓冲区*/ -CMD_RC_Data_t rc_buffer; /* Private function -------------------------------------------------------- */ -int8_t Cmd_RC_Get(CMD_Input_RC_t *rc){ +int8_t Cmd_RC_Get(CMD_t *c, CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION)){ + // bool online= dr16->header.online; + // rc_buffer.dr16=dr16->data.rc; + // c->input.rc.online=online; + // c->input.rc.type=CMD_RCTypeTable_Index; CMD_RCType_TABLE(CMDMACRO_Cmd_RC_Get); return CMD_OK; } @@ -62,7 +46,7 @@ int8_t Cmd_RC_BuildChassisCommandFromInput(CMD_t *c) { return CMD_ERR_NULL; // 参数错误 } #if CMD_RCTypeTable_Index == 0 - switch (c->input.rc.data->dr16.sw_l) { + switch (c->input.rc.dr16.sw_l) { case DR16_SW_DOWN: c->output.chassis.cmd.mode = CHASSIS_MODE_ROTOR; break; @@ -76,8 +60,8 @@ int8_t Cmd_RC_BuildChassisCommandFromInput(CMD_t *c) { c->output.chassis.cmd.mode = CHASSIS_MODE_RELAX; break; } - c->output.chassis.cmd.ctrl_vec.vx = c->input.rc.data->dr16.ch_r_x; - c->output.chassis.cmd.ctrl_vec.vy = c->input.rc.data->dr16.ch_r_y; + c->output.chassis.cmd.ctrl_vec.vx = c->input.rc.dr16.ch_r_x; + c->output.chassis.cmd.ctrl_vec.vy = c->input.rc.dr16.ch_r_y; #elif CMD_RCTypeTable_Index == 1 switch (c->input.rc.data->at9s.key_E) { case AT9S_CMD_SW_DOWN: @@ -104,21 +88,21 @@ int8_t Cmd_RC_BuildGimbalCommandFromInput(CMD_t *c) { return CMD_ERR_NULL; // 参数错误 } #if CMD_RCTypeTable_Index == 0 - switch (c->input.rc.data->dr16.sw_l) { + switch (c->input.rc.dr16.sw_l) { case DR16_SW_DOWN: - c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE; - c->output.gimbal.cmd.delta_yaw = 0.0f; - c->output.gimbal.cmd.delta_pit = 0.0f; + c->output.gimbal.cmd.mode = GIMBAL_MODE_RELATIVE; + c->output.gimbal.cmd.delta_yaw = -c->input.rc.dr16.ch_l_x * 2.0f; + c->output.gimbal.cmd.delta_pit = -c->input.rc.dr16.ch_l_y * 1.5f; break; case DR16_SW_MID: c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE; - c->output.gimbal.cmd.delta_yaw = -c->input.rc.data->dr16.ch_l_x * 2.0f; - c->output.gimbal.cmd.delta_pit = -c->input.rc.data->dr16.ch_l_y * 1.5f; + c->output.gimbal.cmd.delta_yaw = -c->input.rc.dr16.ch_l_x * 2.0f; + c->output.gimbal.cmd.delta_pit = -c->input.rc.dr16.ch_l_y * 1.5f; break; case DR16_SW_UP: - c->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX; - c->output.gimbal.cmd.delta_yaw = -c->input.rc.data->dr16.ch_l_x * 2.0f; - c->output.gimbal.cmd.delta_pit = -c->input.rc.data->dr16.ch_l_y * 1.5f; + c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE; + c->output.gimbal.cmd.delta_yaw = -c->input.rc.dr16.ch_l_x * 2.0f; + c->output.gimbal.cmd.delta_pit = -c->input.rc.dr16.ch_l_y * 1.5f; break; default: c->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX; @@ -159,13 +143,12 @@ int8_t Cmd_RC_BuildShootCommandFromInput(CMD_t *c) { return CMD_ERR_NULL; // 参数错误 } #if CMD_RCTypeTable_Index == 0 - c->output.shoot.cmd.online = c->input.rc.online; - if (c->output.shoot.cmd.online) { + if (c->input.rc.online) { c->output.shoot.cmd.mode=SHOOT_MODE_SINGLE; } else { c->output.shoot.cmd.mode=SHOOT_MODE_SAFE; } - switch (c->input.rc.data->dr16.sw_r) { + switch (c->input.rc.dr16.sw_r) { case DR16_SW_DOWN: c->output.shoot.cmd.ready = true; c->output.shoot.cmd.firecmd = true; @@ -226,75 +209,107 @@ int8_t Cmd_RC_BuildShootCommandFromInput(CMD_t *c) { #ifndef CMD_NOPC_FLAG /* Private macro ------------------------------------------------------------ */ #define CMD_PCBehavior_TABLE(X) \ - X(FORE, CMD_MODULE_CHASSIS) \ - X(BACK, CMD_MODULE_CHASSIS) \ - X(LEFT, CMD_MODULE_CHASSIS) \ - X(RIGHT, CMD_MODULE_CHASSIS) \ - X(ACCELERATE, CMD_MODULE_CHASSIS) \ - X(DECELEBRATE, CMD_MODULE_CHASSIS) \ - X(FIRE, CMD_MODULE_SHOOT) \ - X(FIRE_MODE, CMD_MODULE_SHOOT) \ - X(BUFF, CMD_MODULE_SHOOT) \ - X(AUTOAIM, CMD_MODULE_GIMBAL | CMD_MODULE_SHOOT) \ - X(OPENCOVER, CMD_MODULE_SHOOT) \ - X(ROTOR, CMD_MODULE_CHASSIS) \ - X(REVTRIG, CMD_MODULE_SHOOT) \ - X(FOLLOWGIMBAL35, CMD_MODULE_CHASSIS) + X(FORE, CMD_MODULE_CHASSIS) \ + X(BACK, CMD_MODULE_CHASSIS) \ + X(LEFT, CMD_MODULE_CHASSIS) \ + X(RIGHT, CMD_MODULE_CHASSIS) \ + X(ACCELERATE, CMD_MODULE_CHASSIS) \ + X(DECELEBRATE, CMD_MODULE_CHASSIS) \ + X(FIRE, CMD_MODULE_SHOOT) \ + X(FIRE_MODE, CMD_MODULE_SHOOT) \ + X(BUFF, CMD_MODULE_SHOOT) \ + X(AUTOAIM, CMD_MODULE_GIMBAL | CMD_MODULE_SHOOT) \ + X(OPENCOVER, CMD_MODULE_SHOOT) \ + X(ROTOR, CMD_MODULE_CHASSIS) \ + X(REVTRIG, CMD_MODULE_SHOOT) \ + X(FOLLOWGIMBAL35, CMD_MODULE_CHASSIS) \ + X(GIMBAL_MODE, CMD_MODULE_GIMBAL) /* 行为处理函数声明宏 */ #define CMDMACRO_FOR_DECLARE_BEHAVIOR_HANDLER_FUNCTION(BEHAVIOR, MODULE_MASK) \ - static int8_t Cmd_PC_HandleBehavior##BEHAVIOR(CMD_t *c); + static int8_t Cmd_PC_HandleBehavior##BEHAVIOR(CMD_t *c); /* 行为处理函数指针数组构建宏 */ #define CMDMACRO_FOR_BUILD_BEHAVIOR_HANDLER_ARRAY(BEHAVIOR, MODULE_MASK) \ - {CMD_BEHAVIOR_##BEHAVIOR, Cmd_PC_HandleBehavior##BEHAVIOR}, + {CMD_BEHAVIOR_##BEHAVIOR, Cmd_PC_HandleBehavior##BEHAVIOR}, /* 行为模块映射表构建宏 */ #define CMDMACRO_FOR_BUILD_MODULE_TABLE(BEHAVIOR, MODULE_MASK) \ - [CMD_BEHAVIOR_##BEHAVIOR] = MODULE_MASK, + [CMD_BEHAVIOR_##BEHAVIOR] = MODULE_MASK, /* 行为处理函数声明 */ CMD_PCBehavior_TABLE(CMDMACRO_FOR_DECLARE_BEHAVIOR_HANDLER_FUNCTION) -#define CMDMACRO_VAR_PCDATA(name, NAME) NAME##_DataPC_t name; /* 宏展开函数内容 */ #define CMDMACRO_Cmd_PC_Get(name, NAME) \ - bool online= name.header.online; \ - pc_buffer.name= name.data.pc; \ - pc->online=online; + c->input.pc.online=name.header.online;\ + c->input.pc.name= name.data.pc; +#define CMDMACRO_PC_IsBehaviorTriggered(name, NAME) \ + CMD_PCValue_t value = CMD_PC_BehaviorToValue(c, behavior); \ + CMD_TriggerType_t active = CMD_PC_BehaviorToActive(c, behavior); \ + bool now_key_pressed, last_key_pressed; \ + /* 按下按键为鼠标左、右键 */ \ + if (value == CMD_L_CLICK) { \ + now_key_pressed = c->input.pc.name.mouse.l_click; \ + last_key_pressed = c->input.pc.last##name.mouse.l_click; \ + } else if (value == CMD_R_CLICK) { \ + now_key_pressed = c->input.pc.name.mouse.r_click; \ + last_key_pressed = c->input.pc.last##name.mouse.r_click; \ + } else { \ + now_key_pressed = c->input.pc.name.keyboard.key[value]; \ + last_key_pressed = c->input.pc.last##name.keyboard.key[value]; \ + } \ + switch (active) { \ + case CMD_ACTIVE_RISING_EDGE: \ + return !now_key_pressed && last_key_pressed; \ + case CMD_ACTIVE_FALLING_EDGE: \ + return now_key_pressed && !last_key_pressed; \ + case CMD_ACTIVE_PRESSED: \ + return now_key_pressed; \ + } \ + return false; #define CMDMACRO_PC_BuildChassisCommandFromInput(name, NAME) \ - c->output.chassis.cmd.ctrl_vec.vx = 0.0f; \ - c->output.chassis.cmd.ctrl_vec.vy = 0.0f; \ - for (size_t i = 0; i < CMD_BEHAVIOR_NUM; i++) { \ - CMD_ModuleMask_t moduleMask = behaviorModuleTable[i]; \ - if (CMD_PC_IsMaskMatch(c, moduleMask)) { \ - if (CMD_PC_IsBehaviorTriggered(c, i)) { \ - behaviorHandlerFuncTable[i].func(c); \ - } \ - } \ - } + if (c->input.pc.online) {c->output.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL;} \ + else {c->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;} \ + c->output.chassis.cmd.ctrl_vec.vx = 0.0f; \ + c->output.chassis.cmd.ctrl_vec.vy = 0.0f; \ + for (size_t i = 0; i < CMD_BEHAVIOR_NUM; i++) { \ + CMD_ModuleMask_t moduleMask = behaviorModuleTable[i]; \ + if (CMD_PC_IsMaskMatch(c, moduleMask)) { \ + if (CMD_PC_IsBehaviorTriggered(c, i)) { \ + behaviorHandlerFuncTable[i].func(c); \ + } \ + } \ + }\ + return CMD_OK; #define CMDMACRO_PC_BuildGimbalCommandFromInput(name, NAME) \ - c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE; \ - c->output.gimbal.cmd.delta_yaw = (float)c->input.pc.data->name.mouse.x * c->timer.dt * c->params->pc.sensitivity.sens_mouse; \ - c->output.gimbal.cmd.delta_pit = (float)c->input.pc.data->name.mouse.y * c->timer.dt * c->params->pc.sensitivity.sens_mouse; \ - for (size_t i = 0; i < CMD_BEHAVIOR_NUM; i++) { \ - CMD_ModuleMask_t moduleMask = behaviorModuleTable[i]; \ - if (CMD_PC_IsMaskMatch(c, moduleMask)) { \ - if (CMD_PC_IsBehaviorTriggered(c, i)) { \ - behaviorHandlerFuncTable[i].func(c); \ - } \ - } \ - } + static bool init = false; \ + if (!init) {c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;init=!init;}\ + if(!c->input.pc.online) {c->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;} \ + c->output.gimbal.cmd.delta_yaw = (float)-c->input.pc.name.mouse.x * c->timer.dt * c->params->pc.sensitivity.sens_mouse; \ + c->output.gimbal.cmd.delta_pit = (float)1.5f*c->input.pc.name.mouse.y * c->timer.dt * c->params->pc.sensitivity.sens_mouse; \ + for (size_t i = 0; i < CMD_BEHAVIOR_NUM; i++) { \ + CMD_ModuleMask_t moduleMask = behaviorModuleTable[i]; \ + if (CMD_PC_IsMaskMatch(c, moduleMask)) { \ + if (CMD_PC_IsBehaviorTriggered(c, i)) { \ + behaviorHandlerFuncTable[i].func(c); \ + } \ + } \ + }\ + return CMD_OK; #define CMDMACRO_PC_BuildShootCommandFromInput(name, NAME) \ - c->output.shoot.cmd.firecmd = false; \ - for (size_t i = 0; i < CMD_BEHAVIOR_NUM; i++) { \ - CMD_ModuleMask_t moduleMask = behaviorModuleTable[i]; \ - if (CMD_PC_IsMaskMatch(c, moduleMask)) { \ - if (CMD_PC_IsBehaviorTriggered(c, i)) { \ - behaviorHandlerFuncTable[i].func(c); \ - } \ - } \ - } \ - memcpy(c->input.pc.lastData->name.keyboard.key, c->input.pc.data->name.keyboard.key, sizeof(c->input.pc.data->name.keyboard.key)); \ - c->input.pc.lastData->name.mouse.l_click = c->input.pc.data->name.mouse.l_click; \ - c->input.pc.lastData->name.mouse.r_click = c->input.pc.data->name.mouse.r_click; + if (!c->input.pc.online) {c->output.shoot.cmd.mode = SHOOT_MODE_SAFE;} \ + c->output.shoot.cmd.ready = true; \ + c->output.shoot.cmd.firecmd = false; \ + for (size_t i = 0; i < CMD_BEHAVIOR_NUM; i++) { \ + CMD_ModuleMask_t moduleMask = behaviorModuleTable[i]; \ + if (CMD_PC_IsMaskMatch(c, moduleMask)) { \ + if (CMD_PC_IsBehaviorTriggered(c, i)) { \ + behaviorHandlerFuncTable[i].func(c); \ + } \ + } \ + } \ + return CMD_OK;\ + memcpy(c->input.pc.last##name.keyboard.key, c->input.pc.name.keyboard.key, sizeof(c->input.pc.name.keyboard.key)); \ + c->input.pc.last##name.mouse.l_click = c->input.pc.name.mouse.l_click; \ + c->input.pc.last##name.mouse.r_click = c->input.pc.name.mouse.r_click; /* Private typedef ---------------------------------------------------------- */ typedef int8_t (*CMD_BehaviorFunc)(CMD_t *c); typedef struct { @@ -302,65 +317,55 @@ typedef struct { CMD_BehaviorFunc func; } CMD_BehaviorHandlerFunc_t; -union CMD_PC_Data_t { - CMD_RCType_TABLE(CMDMACRO_VAR_PCDATA) - }; -union CMD_PC_LastData_t { - CMD_RCType_TABLE(CMDMACRO_VAR_PCDATA) - }; /* Private variables -------------------------------------------------------- */ /* 行为处理函数指针数组 */ CMD_BehaviorHandlerFunc_t behaviorHandlerFuncTable[CMD_BEHAVIOR_NUM] = { - CMD_PCBehavior_TABLE(CMDMACRO_FOR_BUILD_BEHAVIOR_HANDLER_ARRAY) + CMD_PCBehavior_TABLE(CMDMACRO_FOR_BUILD_BEHAVIOR_HANDLER_ARRAY) }; /* 行为模块映射表 */ static const CMD_ModuleMask_t behaviorModuleTable[CMD_BEHAVIOR_NUM] = { - CMD_PCBehavior_TABLE(CMDMACRO_FOR_BUILD_MODULE_TABLE) + CMD_PCBehavior_TABLE(CMDMACRO_FOR_BUILD_MODULE_TABLE) }; - -/* 静态缓冲区 */ -CMD_PC_Data_t pc_buffer; -CMD_PC_LastData_t pc_lastdata_buffer; /* Private function -------------------------------------------------------- */ -int8_t Cmd_PC_Get(CMD_Input_PC_t *pc){ - CMD_RCType_TABLE(CMDMACRO_Cmd_PC_Get); - return CMD_OK; +int8_t Cmd_PC_Get(CMD_t *c, CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION)){ + CMD_RCType_TABLE(CMDMACRO_Cmd_PC_Get); + return CMD_OK; } static int8_t Cmd_PC_HandleBehaviorFORE(CMD_t *c){ - c->output.chassis.cmd.ctrl_vec.vy += c->params->pc.sensitivity.move_sense; - return CMD_OK; + c->output.chassis.cmd.ctrl_vec.vy += c->params->pc.sensitivity.move_sense; + return CMD_OK; } static int8_t Cmd_PC_HandleBehaviorBACK(CMD_t *c){ - c->output.chassis.cmd.ctrl_vec.vy -= c->params->pc.sensitivity.move_sense; - return CMD_OK; + c->output.chassis.cmd.ctrl_vec.vy -= c->params->pc.sensitivity.move_sense; + return CMD_OK; } static int8_t Cmd_PC_HandleBehaviorLEFT(CMD_t *c){ - c->output.chassis.cmd.ctrl_vec.vx -= c->params->pc.sensitivity.move_sense; - return CMD_OK; + c->output.chassis.cmd.ctrl_vec.vx -= c->params->pc.sensitivity.move_sense; + return CMD_OK; } static int8_t Cmd_PC_HandleBehaviorRIGHT(CMD_t *c){ - c->output.chassis.cmd.ctrl_vec.vx += c->params->pc.sensitivity.move_sense; - return CMD_OK; + c->output.chassis.cmd.ctrl_vec.vx += c->params->pc.sensitivity.move_sense; + return CMD_OK; } static int8_t Cmd_PC_HandleBehaviorACCELERATE(CMD_t *c){ - c->output.chassis.cmd.ctrl_vec.vx *= c->params->pc.sensitivity.move_fast_sense; - c->output.chassis.cmd.ctrl_vec.vy *= c->params->pc.sensitivity.move_fast_sense; - return CMD_OK; + c->output.chassis.cmd.ctrl_vec.vx *= c->params->pc.sensitivity.move_fast_sense; + c->output.chassis.cmd.ctrl_vec.vy *= c->params->pc.sensitivity.move_fast_sense; + return CMD_OK; } static int8_t Cmd_PC_HandleBehaviorDECELEBRATE(CMD_t *c){ - c->output.chassis.cmd.ctrl_vec.vx *= c->params->pc.sensitivity.move_slow_sense; - c->output.chassis.cmd.ctrl_vec.vy *= c->params->pc.sensitivity.move_slow_sense; - return CMD_OK; + c->output.chassis.cmd.ctrl_vec.vx *= c->params->pc.sensitivity.move_slow_sense; + c->output.chassis.cmd.ctrl_vec.vy *= c->params->pc.sensitivity.move_slow_sense; + return CMD_OK; } static int8_t Cmd_PC_HandleBehaviorFIRE(CMD_t *c){ - c->output.shoot.cmd.firecmd = true; - return CMD_OK; + c->output.shoot.cmd.firecmd = true; + return CMD_OK; } static int8_t Cmd_PC_HandleBehaviorFIRE_MODE(CMD_t *c){ - c->output.shoot.cmd.mode++; - c->output.shoot.cmd.mode %= SHOOT_MODE_NUM; - return CMD_OK; + c->output.shoot.cmd.mode++; + c->output.shoot.cmd.mode %= SHOOT_MODE_NUM; + return CMD_OK; } static int8_t Cmd_PC_HandleBehaviorBUFF(CMD_t *c){ // if (cmd->ai_status == AI_STATUS_HITSWITCH) { @@ -390,20 +395,27 @@ static int8_t Cmd_PC_HandleBehaviorAUTOAIM(CMD_t *c){ } static int8_t Cmd_PC_HandleBehaviorOPENCOVER(CMD_t *c){ // c->shoot.cover_open = !c->shoot.cover_open; - return CMD_OK; + return CMD_OK; } static int8_t Cmd_PC_HandleBehaviorROTOR(CMD_t *c){ - c->output.chassis.cmd.mode = CHASSIS_MODE_ROTOR; - c->output.chassis.cmd.mode_rotor = ROTOR_MODE_RAND; - return CMD_OK; + c->output.chassis.cmd.mode = CHASSIS_MODE_ROTOR; + c->output.chassis.cmd.mode_rotor = ROTOR_MODE_RAND; + return CMD_OK; } static int8_t Cmd_PC_HandleBehaviorREVTRIG(CMD_t *c){ // c->output.shoot.cmd.reverse_trig = true; - return CMD_OK; + return CMD_OK; } static int8_t Cmd_PC_HandleBehaviorFOLLOWGIMBAL35(CMD_t *c){ - c->output.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL_35; - return CMD_OK; + c->output.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL_35; + return CMD_OK; +} +static int8_t Cmd_PC_HandleBehaviorGIMBAL_MODE(CMD_t *c){ + + c->output.gimbal.cmd.mode++; + c->output.gimbal.cmd.mode %= GIMBAL_MODE_NUM; + while (c->output.gimbal.cmd.mode<=0) {c->output.gimbal.cmd.mode++;} + return CMD_OK; } static inline CMD_PCValue_t CMD_PC_BehaviorToValue(CMD_t *c, @@ -417,131 +429,67 @@ static inline CMD_TriggerType_t CMD_PC_BehaviorToActive(CMD_t *c, } static inline bool CMD_PC_IsMaskMatch(CMD_t *c, CMD_ModuleMask_t module_mask) { - /* 构建当前各模块输入源状态的掩码 */ - CMD_ModuleMask_t current_pc_mask = 0; - if (c->output.chassis.source == CMD_SRC_PC) current_pc_mask |= CMD_MODULE_CHASSIS; - if (c->output.gimbal.source == CMD_SRC_PC) current_pc_mask |= CMD_MODULE_GIMBAL; - if (c->output.shoot.source == CMD_SRC_PC) current_pc_mask |= CMD_MODULE_SHOOT; - - /* 检测并集 */ - return (module_mask & current_pc_mask) == module_mask; - /* 检测交集 */ + /* 构建当前各模块输入源状态的掩码 */ + CMD_ModuleMask_t current_pc_mask = 0; + if (c->output.chassis.source == CMD_SRC_PC) current_pc_mask |= CMD_MODULE_CHASSIS; + if (c->output.gimbal.source == CMD_SRC_PC) current_pc_mask |= CMD_MODULE_GIMBAL; + if (c->output.shoot.source == CMD_SRC_PC) current_pc_mask |= CMD_MODULE_SHOOT; + + /* 检测并集 */ + return (module_mask & current_pc_mask) == module_mask; + /* 检测交集 */ // return (module_mask & current_pc_mask) != 0; } static inline bool CMD_PC_IsBehaviorTriggered(CMD_t *c, CMD_Behavior_t behavior) { - CMD_PCValue_t value = CMD_PC_BehaviorToValue(c, behavior); - CMD_TriggerType_t active = CMD_PC_BehaviorToActive(c, behavior); - - bool now_key_pressed, last_key_pressed; - - /* 按下按键为鼠标左、右键 */ - if (value == CMD_L_CLICK) { - now_key_pressed = c->input.pc.data->dr16.mouse.l_click; - last_key_pressed = c->input.pc.lastData->dr16.mouse.l_click; - } else if (value == CMD_R_CLICK) { - now_key_pressed = c->input.pc.data->dr16.mouse.r_click; - last_key_pressed = c->input.pc.lastData->dr16.mouse.r_click; - } else { - /* 直接用布尔值 */ - now_key_pressed = c->input.pc.data->dr16.keyboard.key[value]; - last_key_pressed = c->input.pc.lastData->dr16.keyboard.key[value]; - /* 或者用位掩码 */ - // now_key_pressed = c->input.pc.data.keyboard.bitmask & (1u << value); - // last_key_pressed = c->input.pc.lastData.keyboard.bitmask & (1u << value); + if (c == NULL) { + return CMD_ERR_NULL; // 参数错误 } - - switch (active) { - case CMD_ACTIVE_RISING_EDGE: - return !now_key_pressed && last_key_pressed; - case CMD_ACTIVE_FALLING_EDGE: - return now_key_pressed && !last_key_pressed; - case CMD_ACTIVE_PRESSED: - return now_key_pressed; - } - return false; + CMD_RCType_TABLE(CMDMACRO_PC_IsBehaviorTriggered); } static int8_t Cmd_PC_BuildChassisCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - // c->output.chassis.cmd.ctrl_vec.vx = c->output.chassis.cmd.ctrl_vec.vy = 0.0f; - // for (size_t i = 0; i < CMD_RCType_TABLE(CMDMACRO_KEYNUM); i++) { - // CMD_ModuleMask_t moduleMask = behaviorModuleTable[i]; - // if (CMD_PC_IsMaskMatch(c, moduleMask)) { - // if (CMD_PC_IsBehaviorTriggered(c, i)) { - // behaviorHandlerFuncTable[i].func(c); - // } - // } - // } - CMD_RCType_TABLE(CMDMACRO_PC_BuildChassisCommandFromInput); - return CMD_OK; + if (c == NULL) { + return CMD_ERR_NULL; // 参数错误 + } + CMD_RCType_TABLE(CMDMACRO_PC_BuildChassisCommandFromInput); } static int8_t Cmd_PC_BuildGimbalCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - // c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE; - // c->output.gimbal.cmd.delta_yaw = (float)c->input.pc.data->dr16.mouse.x * c->timer.dt * c->params->pc.sensitivity.sens_mouse; - // c->output.gimbal.cmd.delta_pit = (float)c->input.pc.data->dr16.mouse.y * c->timer.dt * c->params->pc.sensitivity.sens_mouse; - // for (size_t i = 0; i < CMD_RCType_TABLE(CMDMACRO_KEYNUM); i++) { - // CMD_ModuleMask_t moduleMask = behaviorModuleTable[i]; - // if (CMD_PC_IsMaskMatch(c, moduleMask)) { - // if (CMD_PC_IsBehaviorTriggered(c, i)) { - // behaviorHandlerFuncTable[i].func(c); - // } - // } - // } - CMD_RCType_TABLE(CMDMACRO_PC_BuildGimbalCommandFromInput); - return CMD_OK; + if (c == NULL) { + return CMD_ERR_NULL; // 参数错误 + } + CMD_RCType_TABLE(CMDMACRO_PC_BuildGimbalCommandFromInput); } static int8_t Cmd_PC_BuildShootCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - // c->output.shoot.cmd.firecmd = false; - // for (size_t i = 0; i < CMD_RCType_TABLE(CMDMACRO_KEYNUM); i++) { - // CMD_ModuleMask_t moduleMask = behaviorModuleTable[i]; - // if (CMD_PC_IsMaskMatch(c, moduleMask)) { - // if (CMD_PC_IsBehaviorTriggered(c, i)) { - // behaviorHandlerFuncTable[i].func(c); - // } - // } - // } - // memcpy(c->input.pc.lastData->dr16.keyboard.key, c->input.pc.data->dr16.keyboard.key, sizeof(c->input.pc.data->dr16.keyboard.key)); - // c->input.pc.lastData->dr16.mouse.l_click = c->input.pc.data->dr16.mouse.l_click; - // c->input.pc.lastData->dr16.mouse.r_click = c->input.pc.data->dr16.mouse.r_click; - CMD_RCType_TABLE(CMDMACRO_PC_BuildShootCommandFromInput); - return CMD_OK; + if (c == NULL) { + return CMD_ERR_NULL; // 参数错误 + } + CMD_RCType_TABLE(CMDMACRO_PC_BuildShootCommandFromInput); } #else static int8_t Cmd_PC_Get(CMD_Input_PC_t *pc) { - pc->online=false; - return CMD_OK; + pc->online=false; + return CMD_OK; } static int8_t Cmd_PC_BuildChassisCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - - return CMD_OK; + if (c == NULL) { + return CMD_ERR_NULL; // 参数错误 + } + return CMD_OK; } static int8_t Cmd_PC_BuildGimbalCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - - return CMD_OK; + if (c == NULL) { + return CMD_ERR_NULL; // 参数错误 + } + return CMD_OK; } static int8_t Cmd_PC_BuildShootCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - - return CMD_OK; + if (c == NULL) { + return CMD_ERR_NULL; // 参数错误 + } + return CMD_OK; } #endif @@ -556,32 +504,29 @@ static int8_t Cmd_PC_BuildShootCommandFromInput(CMD_t *c) { /* Private variables -------------------------------------------------------- */ /* Private function -------------------------------------------------------- */ int8_t Cmd_NUC_Get(CMD_Input_NUC_t *nuc) { - nuc->online=0; - return CMD_OK; + nuc->online=0; + return CMD_OK; } /* Exported functions ------------------------------------------------------- */ int8_t Cmd_NUC_BuildChassisCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - - return CMD_OK; + if (c == NULL) { + return CMD_ERR_NULL; // 参数错误 + } + return CMD_OK; } int8_t Cmd_NUC_BuildGimbalCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - - return CMD_OK; + if (c == NULL) { + return CMD_ERR_NULL; // 参数错误 + } + return CMD_OK; } int8_t Cmd_NUC_BuildShootCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - - return CMD_OK; + if (c == NULL) { + return CMD_ERR_NULL; // 参数错误 + } + return CMD_OK; } /*************************************************************************************************************************************/ @@ -595,32 +540,29 @@ int8_t Cmd_NUC_BuildShootCommandFromInput(CMD_t *c) { /* Private variables -------------------------------------------------------- */ /* Private function -------------------------------------------------------- */ int8_t Cmd_REF_Get(CMD_Input_REF_t *nuc) { - nuc->online=0; - return CMD_OK; + nuc->online=0; + return CMD_OK; } /* Exported functions ------------------------------------------------------- */ int8_t Cmd_REF_BuildChassisCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - - return CMD_OK; + if (c == NULL) { + return CMD_ERR_NULL; // 参数错误 + } + return CMD_OK; } int8_t Cmd_REF_BuildGimbalCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - - return CMD_OK; + if (c == NULL) { + return CMD_ERR_NULL; // 参数错误 + } + return CMD_OK; } int8_t Cmd_REF_BuildShootCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - - return CMD_OK; + if (c == NULL) { + return CMD_ERR_NULL; // 参数错误 + } + return CMD_OK; } /*************************************************************************************************************************************/ /***************************************************************仲裁器****************************************************************/ @@ -637,54 +579,53 @@ static inline bool Cmd_isNUCOnline(CMD_t *c){return c->input.nuc.online;} static inline bool Cmd_isRCOnline(CMD_t *c){return c->input.rc.online;} static inline bool Cmd_isPCOnline(CMD_t *c){return c->input.pc.online;} CMD_InputSource_t Cmd_GetHighestPrioritySource(CMD_t *c) { - for (int i = 0; i < CMD_SRC_NUM; i++) { - CMD_InputSource_t source = c->params->sourcePriorityConfigs[i].source; - switch (source) { - case CMD_SRC_REF: - if (Cmd_isREFOnline(c)) { - return CMD_SRC_REF; - } - break; - case CMD_SRC_NUC: - if (Cmd_isNUCOnline(c)) { - return CMD_SRC_NUC; - } - break; - case CMD_SRC_RC: - if (Cmd_isRCOnline(c)) { - return CMD_SRC_RC; - } - break; - case CMD_SRC_PC: - if (Cmd_isPCOnline(c)) { - return CMD_SRC_PC; - } + for (int i = 0; i < CMD_SRC_NUM; i++) { + CMD_InputSource_t source = c->params->sourcePriorityConfigs[i]; + switch (source) { + case CMD_SRC_REF: + if (Cmd_isREFOnline(c)) { + return CMD_SRC_REF; } + break; + case CMD_SRC_NUC: + if (Cmd_isNUCOnline(c)) { + return CMD_SRC_NUC; + } + break; + case CMD_SRC_RC: + if (Cmd_isRCOnline(c)) { + return CMD_SRC_RC; + } + break; + case CMD_SRC_PC: + if (Cmd_isPCOnline(c)) { + return CMD_SRC_PC; + } + break; + case CMD_SRC_NUM: + return CMD_ERR_SOURCE; } - return CMD_SRC_ERR; + } + return CMD_ERR_SOURCE; } int8_t Cmd_Arbiter(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - CMD_InputSource_t source = Cmd_GetHighestPrioritySource(c); - - c->output.chassis.source = source; - c->output.gimbal.source = source; - c->output.shoot.source = source; - - - - return CMD_OK; + if (c == NULL) { + return CMD_ERR_NULL; // 参数错误 + } + CMD_InputSource_t source = Cmd_GetHighestPrioritySource(c); + c->output.chassis.source = source; + c->output.gimbal.source = source; + c->output.shoot.source = source; + return CMD_OK; } int8_t Cmd_Switch_RCorPC(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - - return CMD_OK; + if (c == NULL) { + return CMD_ERR_NULL; // 参数错误 + } + + return CMD_OK; } /*************************************************************************************************************************************/ @@ -695,62 +636,68 @@ int8_t Cmd_Switch_RCorPC(CMD_t *c) { /* Private typedef ---------------------------------------------------------- */ typedef int8_t (*CMD_BuildCommandFunc)(CMD_t *c); typedef struct { - CMD_InputSource_t source; - CMD_BuildCommandFunc chassisFunc; - CMD_BuildCommandFunc gimbalFunc; - CMD_BuildCommandFunc shootFunc; + CMD_InputSource_t source; + CMD_BuildCommandFunc chassisFunc; + CMD_BuildCommandFunc gimbalFunc; + CMD_BuildCommandFunc shootFunc; } CMD_SourceHandler_t; /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ CMD_SourceHandler_t sourceHandlers[CMD_SRC_NUM] = { - {CMD_SRC_RC, Cmd_RC_BuildChassisCommandFromInput, Cmd_RC_BuildGimbalCommandFromInput, Cmd_RC_BuildShootCommandFromInput}, - {CMD_SRC_PC, Cmd_PC_BuildChassisCommandFromInput, Cmd_PC_BuildGimbalCommandFromInput, Cmd_PC_BuildShootCommandFromInput}, - {CMD_SRC_NUC, Cmd_NUC_BuildChassisCommandFromInput, Cmd_NUC_BuildGimbalCommandFromInput, Cmd_NUC_BuildShootCommandFromInput}, - {CMD_SRC_REF, Cmd_REF_BuildChassisCommandFromInput, Cmd_REF_BuildGimbalCommandFromInput, Cmd_REF_BuildShootCommandFromInput}, + {CMD_SRC_RC, Cmd_RC_BuildChassisCommandFromInput, Cmd_RC_BuildGimbalCommandFromInput, Cmd_RC_BuildShootCommandFromInput}, + {CMD_SRC_PC, Cmd_PC_BuildChassisCommandFromInput, Cmd_PC_BuildGimbalCommandFromInput, Cmd_PC_BuildShootCommandFromInput}, + {CMD_SRC_NUC, Cmd_NUC_BuildChassisCommandFromInput, Cmd_NUC_BuildGimbalCommandFromInput, Cmd_NUC_BuildShootCommandFromInput}, + {CMD_SRC_REF, Cmd_REF_BuildChassisCommandFromInput, Cmd_REF_BuildGimbalCommandFromInput, Cmd_REF_BuildShootCommandFromInput}, }; /* Private function -------------------------------------------------------- */ int8_t Cmd_OFFLINE(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - c->output.chassis.cmd.mode =CHASSIS_MODE_RELAX; - c->output.gimbal.cmd.mode =GIMBAL_MODE_RELAX; - c->output.shoot.cmd.mode =SHOOT_MODE_SAFE; - return CMD_OK; + if (c == NULL) { + return CMD_ERR_NULL; // 参数错误 + } + c->output.chassis.cmd.mode =CHASSIS_MODE_RELAX; + c->output.gimbal.cmd.mode =GIMBAL_MODE_RELAX; + c->output.shoot.cmd.mode =SHOOT_MODE_SAFE; + return CMD_OK; } /* Exported functions ------------------------------------------------------- */ int8_t Cmd_Init(CMD_t *c, CMD_Params_t *params) { + if (c == NULL || params == NULL) { + return CMD_ERR_NULL; // 参数错误 + } + c->params = params; + return CMD_OK; +} - if (c == NULL || params == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - c->params = params; - c->input.rc.data=&rc_buffer; - #ifndef CMD_NOPC_FLAG - c->input.pc.lastData=&pc_lastdata_buffer; - c->input.pc.data=&pc_buffer; - #endif - return CMD_OK; +int8_t Cmd_Get(CMD_t *c, + CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION)){ + // CMD_Input_NUC_t *nuc, + // CMD_Input_REF_t *ref) { + if (c == NULL) { + return CMD_ERR_NULL; // 参数错误 + } + Cmd_RC_Get(c,CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION_1)); + Cmd_PC_Get(c,CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION_1)); + // Cmd_NUC_Get(&c->input.nuc); + // Cmd_REF_Get(&c->input.ref); + + return CMD_OK; } int8_t Cmd_GenerateCommand(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - Cmd_Arbiter(c); - Cmd_RC_Get(&c->input.rc); - Cmd_PC_Get(&c->input.pc); - Cmd_NUC_Get(&c->input.nuc); - Cmd_REF_Get(&c->input.ref); - c->timer.now =BSP_TIME_Get_us() / 1000000.0f; - c->timer.dt =(BSP_TIME_Get_us() - c->timer.last) / 1000000.0f; - c->timer.last =BSP_TIME_Get_us(); - if (c->output.chassis.source >= CMD_SRC_NUM || c->output.gimbal.source >= CMD_SRC_NUM || c->output.shoot.source >= CMD_SRC_NUM) { - Cmd_OFFLINE(c); - return CMD_ERR_SOURCE; // 输入源错误 - } - sourceHandlers[c->output.chassis.source].chassisFunc(c); - sourceHandlers[c->output.gimbal.source].gimbalFunc(c); - sourceHandlers[c->output.shoot.source].shootFunc(c); - return CMD_OK; + if (c == NULL) { + return CMD_ERR_NULL; // 参数错误 + } + Cmd_Arbiter(c); + + c->timer.now =BSP_TIME_Get_us() / 1000000.0f; + c->timer.dt =(BSP_TIME_Get_us() - c->timer.last) / 1000000.0f; + c->timer.last =BSP_TIME_Get_us(); + if (c->output.chassis.source >= CMD_SRC_NUM || c->output.gimbal.source >= CMD_SRC_NUM || c->output.shoot.source >= CMD_SRC_NUM) { + Cmd_OFFLINE(c); + return CMD_ERR_SOURCE; // 输入源错误 + } + sourceHandlers[c->output.chassis.source].chassisFunc(c); + sourceHandlers[c->output.gimbal.source].gimbalFunc(c); + sourceHandlers[c->output.shoot.source].shootFunc(c); + return CMD_OK; } diff --git a/User/module/cmd.h b/User/module/cmd.h index 54aaf8c..9757230 100644 --- a/User/module/cmd.h +++ b/User/module/cmd.h @@ -7,44 +7,60 @@ #ifdef __cplusplus extern "C" { #endif - +/* Includes ----------------------------------------------------------------- */ #include "module/chassis.h" #include "module/gimbal.h" #include "module/shoot.h" - +#if CMD_RCTypeTable_Index == 0 +#include "device/dr16.h" +#elif CMD_RCTypeTable_Index == 1 +#include "device/at9s_pro.h" +#elif CMD_RCTypeTable_Index == 2 +#include "device/vt13.h" +#endif /* Exported constants ------------------------------------------------------- */ #define CMD_OK (0) /* 运行正常 */ #define CMD_ERR_NULL (-1) /* 运行时发现NULL指针 */ #define CMD_ERR_ERR (-2) /* 运行时发现了其他错误 */ #define CMD_ERR_SOURCE (-3) /* 运行时配置了不存在的输入源 */ + /* Exported macro ----------------------------------------------------------- */ #define CMD_RCTypeTable_Index 0 /* 0:DR16 1:AT9S 2:VT13 */ +#if CMD_RCTypeTable_Index == 0 +#define CMD_RCType_TABLE(X) X(dr16, DR16) +#elif CMD_RCTypeTable_Index == 1 +#define CMD_RCType_TABLE(X) X(at9s, AT9S) +#elif CMD_RCTypeTable_Index == 2 +#define CMD_RCType_TABLE(X) X(vt13, VT13) +#endif + #if CMD_RCTypeTable_Index == 1 #define CMD_NOPC_FLAG #endif -/* Exported types ----------------------------------------------------------- */ - -typedef union CMD_RC_Data_t CMD_RC_Data_t; - +#define CMDMACRO_NAME_EXPANSION(name, NAME) NAME##_t name +#define CMDMACRO_VAR_RCDATA(name, NAME) NAME##_DataRC_t name; +#define CMDMACRO_VAR_PCDATA(name, NAME) NAME##_DataPC_t name; +#define CMDMACRO_VAR_LASTPCDATA(name, NAME) NAME##_DataPC_t last##name; +/* Exported types ----------------------------------------------------------- */ #define CMD_REFEREE_MAX_NUM (3) /* 发送命令限定的最大数量 */ - /* 输入源枚举 */ typedef enum { CMD_SRC_RC=0, /* 遥控器 */ CMD_SRC_PC, /* 键盘鼠标 */ CMD_SRC_NUC, /* 上位机 */ CMD_SRC_REF, /* 裁判系统 */ - CMD_SRC_NUM, - CMD_SRC_ERR + CMD_SRC_NUM } CMD_InputSource_t; /* RC part begin-------------------------------------- */ + typedef struct { bool online; enum {DR16=0, AT9S} type; - CMD_RC_Data_t *data; + CMD_RCType_TABLE(CMDMACRO_VAR_RCDATA) + #undef CMDMACRO_VAR_RCDATA } CMD_Input_RC_t;//或者这里直接把CMD_Input_RC_t前向声明了，看哪个好看 /* RC part end---------------------------------------- */ @@ -77,6 +93,7 @@ typedef enum { CMD_KEY_B, CMD_L_CLICK, CMD_R_CLICK, + CMD_M_CLICK, CMD_KEY_NUM, } CMD_PCValue_t; typedef enum { @@ -101,6 +118,7 @@ typedef enum { CMD_BEHAVIOR_ROTOR, /* 小陀螺模式 */ CMD_BEHAVIOR_REVTRIG, /* 反转拨弹 */ CMD_BEHAVIOR_FOLLOWGIMBAL35, /* 跟随云台呈35度 */ + CMD_BEHAVIOR_GIMBAL_MODE, /* 切换云台模式 */ CMD_BEHAVIOR_NUM, } CMD_Behavior_t; typedef struct { @@ -125,13 +143,12 @@ typedef struct { CMD_PC_Sensitivity_t sensitivity; /* PC灵敏度设置 */ }CMD_PCParams_t; #ifndef CMD_NOPC_FLAG -typedef union CMD_PC_Data_t CMD_PC_Data_t; -typedef union CMD_PC_LastData_t CMD_PC_LastData_t; - typedef struct { bool online; - CMD_PC_Data_t *data; - CMD_PC_LastData_t *lastData; + CMD_RCType_TABLE(CMDMACRO_VAR_PCDATA) + CMD_RCType_TABLE(CMDMACRO_VAR_LASTPCDATA) + #undef CMDMACRO_VAR_PCDATA + #undef CMDMACRO_VAR_LASTPCDATA }CMD_Input_PC_t; #else typedef struct { @@ -143,6 +160,14 @@ typedef struct { /* NUC part begin------------------------------------- */ typedef struct { bool online; + struct { + float delta_yaw; + float delta_pit; + }gimbal; + struct { + float expectedSpeed; + bool fire; + }shoot; }CMD_Input_NUC_t; /* NUC part end--------------------------------------- */ @@ -183,13 +208,9 @@ typedef struct { CMD_Output_GIMBAL_t gimbal; CMD_Output_SHOOT_t shoot; } CMD_Output_t; -typedef struct { - CMD_InputSource_t source; - uint8_t priority; -} CMD_SourcePriorityConfig_t; typedef struct { - CMD_SourcePriorityConfig_t sourcePriorityConfigs[CMD_SRC_NUM];/* 输入源优先级配置 */ + CMD_InputSource_t sourcePriorityConfigs[CMD_SRC_NUM];/* 输入源优先级配置 */ CMD_PCParams_t pc; } CMD_Params_t; @@ -208,6 +229,7 @@ typedef struct { /* Exported functions prototypes -------------------------------------------- */ int8_t Cmd_Init(CMD_t *c, CMD_Params_t *params); +int8_t Cmd_Get(CMD_t *c, CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION)); int8_t Cmd_GenerateCommand(CMD_t *c); #ifdef __cplusplus } diff --git a/User/module/config.c b/User/module/config.c index 2f1736c..1d64626 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -6,6 +6,7 @@ #include "module/config.h" #include "bsp/can.h" #include "device/motor_dm.h" +#include "module/cmd.h" #include /* Private typedef ---------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */ @@ -166,17 +167,17 @@ Config_RobotParam_t robot_config = { .shoot_param = { .basic={ - .projectileType=SHOOT_PROJECTILE_42MM, - .fric_num=6, - .extra_deceleration_ratio=1.0f, - .num_trig_tooth=5, - .shot_freq=1.0f, - .shot_burst_num=3, - .ratio_multilevel = {0.8f, 1.0f}, + .projectileType=SHOOT_PROJECTILE_42MM, + .fric_num=6, + .extra_deceleration_ratio=1.0f, + .num_trig_tooth=5, + .shot_freq=1.0f, + .shot_burst_num=3, + .ratio_multilevel = {0.8f, 1.0f}, }, .jamDetection={ .enable=true, - .threshold=240.0f, + .threshold=310.0f, .suspectedTime=0.5f, }, .motor={ @@ -325,12 +326,12 @@ Config_RobotParam_t robot_config = { }, .cmd_param={ .sourcePriorityConfigs={ - {CMD_SRC_RC,1}, - {CMD_SRC_PC,2}, - {CMD_SRC_NUC,3}, - {CMD_SRC_REF,4} + CMD_SRC_RC, + CMD_SRC_PC, + CMD_SRC_NUC, + CMD_SRC_REF }, - .pc.map = { + .pc.map = { /*1<param->pit_motor)); AHRS_ResetEulr(&(g->setpoint.eulr)); /* 切换模式后重置设定值 */ - // if (g->mode == GIMBAL_MODE_RELAX) { - // if (mode == GIMBAL_MODE_ABSOLUTE) { - // g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw; - // } else if (mode == GIMBAL_MODE_RELATIVE) { - // g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw; - // } - // } + g->setpoint.eulr.pit = g->feedback.motor.pit.rotor_abs_angle; - g->setpoint.eulr.yaw = g->feedback.motor.yaw.rotor_abs_angle; + + // g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw; + // g->setpoint.eulr.yaw = g->feedback.motor.yaw.rotor_abs_angle; + if (mode == GIMBAL_MODE_ABSOLUTE) { + g->setpoint.eulr.yaw = g->feedback.motor.yaw.rotor_abs_angle; + } else if (mode == GIMBAL_MODE_RELATIVE) { + g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw; + } g->mode = mode; return 0; @@ -165,7 +166,15 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) { float delta_yaw = g_cmd->delta_yaw * g->dt * 1.5f; if (g->param->travel.yaw > 0) { /* 计算当前电机角度与IMU角度的偏差 */ - float motor_imu_offset = g->feedback.motor.yaw.rotor_abs_angle - g->feedback.motor.yaw.rotor_abs_angle; + float motor_imu_offset; + switch (g->mode) { + case GIMBAL_MODE_ABSOLUTE: + motor_imu_offset = g->feedback.motor.yaw.rotor_abs_angle - g->feedback.motor.yaw.rotor_abs_angle; + break; + case GIMBAL_MODE_RELATIVE: + motor_imu_offset = g->feedback.motor.yaw.rotor_abs_angle - g->feedback.imu.eulr.yaw; + break; + } /* 处理跨越±π的情况 */ if (motor_imu_offset > M_PI) motor_imu_offset -= M_2PI; if (motor_imu_offset < -M_PI) motor_imu_offset += M_2PI; @@ -186,7 +195,15 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) { float delta_pit = g_cmd->delta_pit * g->dt; if (g->param->travel.pit > 0) { /* 计算当前电机角度与IMU角度的偏差 */ - float motor_imu_offset = g->feedback.motor.pit.rotor_abs_angle - g->feedback.motor.pit.rotor_abs_angle; + float motor_imu_offset; + switch (g->mode) { + case GIMBAL_MODE_ABSOLUTE: + motor_imu_offset = g->feedback.motor.pit.rotor_abs_angle - g->feedback.motor.pit.rotor_abs_angle; + break; + case GIMBAL_MODE_RELATIVE: + motor_imu_offset = g->feedback.motor.pit.rotor_abs_angle - g->feedback.imu.eulr.pit; + break; + } /* 处理跨越±π的情况 */ if (motor_imu_offset > M_PI) motor_imu_offset -= M_2PI; if (motor_imu_offset < -M_PI) motor_imu_offset += M_2PI; @@ -202,7 +219,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) { if (delta_pit < delta_min) delta_pit = delta_min; } CircleAdd(&(g->setpoint.eulr.pit), delta_pit, M_2PI); - g->setpoint.eulr.pit = (g_cmd->delta_pit)/3.0f + 2.98f + 1/3.0f; //2.98f为机械零点位置 + // g->setpoint.eulr.pit = (g_cmd->delta_pit)/3.0f + 2.98f + 1/3.0f; //2.98f为机械零点位置 /* 控制相关逻辑 */ float yaw_omega_set_point, pit_omega_set_point; @@ -229,9 +246,19 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) { break; case GIMBAL_MODE_RELATIVE: - /* 相对模式暂未实现 */ - g->out.yaw = 0.0f; - g->out.pit = 0.0f; + yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw, + g->feedback.imu.eulr.yaw, 0.0f, g->dt); + g->out.yaw = PID_Calc(&(g->pid.pit_omega), yaw_omega_set_point, + g->feedback.imu.gyro.z, 0.f, g->dt); + + pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit, + g->feedback.imu.eulr.pit, 0.0f, g->dt); + g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point, + g->feedback.imu.gyro.x, 0.f, g->dt); + + /* 输出滤波 */ + g->out.yaw = LowPassFilter2p_Apply(&g->filter_out.yaw, g->out.yaw); + g->out.pit = LowPassFilter2p_Apply(&g->filter_out.pit, g->out.pit); break; } diff --git a/User/module/gimbal.h b/User/module/gimbal.h index 47fa5db..caf289c 100644 --- a/User/module/gimbal.h +++ b/User/module/gimbal.h @@ -29,6 +29,7 @@ typedef enum { GIMBAL_MODE_RELAX, /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */ GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */ GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */ + GIMBAL_MODE_NUM } Gimbal_Mode_t; typedef struct { diff --git a/User/module/shoot.c b/User/module/shoot.c index ef4fd23..b8902a3 100644 --- a/User/module/shoot.c +++ b/User/module/shoot.c @@ -40,9 +40,13 @@ void Task(void *argument) { #include "component/user_math.h" /* 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 /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ static bool last_firecmd; + +float maxTrigrpm=1500.0f; /* Private function -------------------------------------------------------- */ /** @@ -281,7 +285,7 @@ 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 / MAX_TRIG_RPM; + s->var_trig.trig_rpm = s->feedback.trig.feedback.rotor_speed / maxTrigrpm; 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; @@ -303,15 +307,16 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd) return SHOOT_ERR_NULL; // 参数错误 } uint8_t fric_num = s->param->basic.fric_num; - if(!s->online || s->mode==SHOOT_MODE_SAFE){ - for(int i=0;iparam->motor.fric[i].param); - } - MOTOR_RM_Relax(&s->param->motor.trig); + static float pos; + if(s->mode==SHOOT_MODE_SAFE){ + for(int i=0;iparam->motor.fric[i].param); + } + MOTOR_RM_Relax(&s->param->motor.trig);\ + pos=s->target_variable.trig_angle=s->var_trig.trig_agl; } else{ - static float pos; switch(s->running_state) { case SHOOT_STATE_IDLE:/*熄火等待*/ @@ -454,9 +459,9 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd) /* 检查状态机 */ if(!cmd->firecmd) { - s->running_state=SHOOT_STATE_READY; - pos=s->var_trig.trig_agl; - s->var_trig.num_toShoot=0; + s->running_state=SHOOT_STATE_READY; + pos=s->var_trig.trig_agl; + s->var_trig.num_toShoot=0; } break; @@ -637,7 +642,6 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd) s->timer.now = BSP_TIME_Get_us() / 1000000.0f; s->timer.dt = (BSP_TIME_Get_us() - s->timer.lask_wakeup) / 1000000.0f; s->timer.lask_wakeup = BSP_TIME_Get_us(); - s->online = cmd->online; Shoot_CaluTargetRPM(s,233); Shoot_JamDetectionFSM(s, cmd); diff --git a/User/module/shoot.h b/User/module/shoot.h index 87fe885..1972543 100644 --- a/User/module/shoot.h +++ b/User/module/shoot.h @@ -13,18 +13,15 @@ extern "C" { #include "component/pid.h" #include "device/motor_rm.h" /* Exported constants ------------------------------------------------------- */ +#define MAX_FRIC_NUM 6 +#define MAX_NUM_MULTILEVEL 2 /* 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 */ #define SHOOT_ERR_ERR (-2) /* 运行时发现了其他错误 */ #define SHOOT_ERR_MODE (-3) /* 运行时配置了错误的Mode */ #define SHOOT_ERR_MOTOR (-4) /* 运行时配置了不存在的电机类型 */ #define SHOOT_ERR_MALLOC (-5) /* 内存分配失败 */ - -#define MAX_FRIC_RPM 7000.0f -#define MAX_TRIG_RPM 2000.0f//这里可能也会影响最高发射频率，待测试 - -#define MAX_FRIC_NUM 6 -#define MAX_NUM_MULTILEVEL 2 /* 多级发射级数 */ /* Exported macro ----------------------------------------------------------- */ /* Exported types ----------------------------------------------------------- */ typedef enum { @@ -69,9 +66,7 @@ typedef struct{ float normalized_fil_avgrpm[MAX_NUM_MULTILEVEL]; /* 归一化摩擦轮平均转速 */ float coupled_control_weights; /* 耦合控制权重 */ }Shoot_VARSForFricCtrl_t; -// float fil_rpm[MAX_FRIC_NUM]; /* 滤波后的摩擦轮原始转速 */ -// float normalized_fil_rpm[MAX_FRIC_NUM]; /* 归一化且滤波后的摩擦轮转速 */ -// float normalized_fil_avgrpm; /* 归一化摩擦轮平均转速 */ + typedef struct{ float time_lastShoot;/* 上次射击时间 */ uint16_t num_toShoot;/* 剩余待发射弹数 */ @@ -99,7 +94,6 @@ typedef struct { }Shoot_Output_t; typedef struct { - bool online; /* 在线标志 */ Shoot_Mode_t mode;/* 射击模式 */ bool ready; /* 准备射击 */ bool firecmd; /* 射击 */ @@ -155,7 +149,6 @@ typedef struct { * 包含了初始化参数，中间变量，输出变量 */ typedef struct { - bool online; /*在线检测*/ Shoot_Timer_t timer; /* 计时器 */ Shoot_Params_t *param; /* 发射参数 */ /* 模块通用 */ diff --git a/User/task/cmd.c b/User/task/cmd.c index 6c3450f..7e46188 100644 --- a/User/task/cmd.c +++ b/User/task/cmd.c @@ -21,6 +21,11 @@ /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ /* USER STRUCT BEGIN */ +#if CMD_RCTypeTable_Index == 0 +DR16_t cmd_dr16; +#elif CMD_RCTypeTable_Index == 1 +AT9S_t cmd_at9s; +#endif Shoot_CMD_t cmd_for_shoot; Chassis_CMD_t cmd_for_chassis; Gimbal_CMD_t cmd_for_gimbal; @@ -47,6 +52,12 @@ void Task_cmd(void *argument) { while (1) { tick += delay_tick; /* 计算下一个唤醒时刻 */ /* USER CODE BEGIN */ + #if CMD_RCTypeTable_Index == 0 + osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_dr16, NULL, 0); + #elif CMD_RCTypeTable_Index == 1 + osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_at9s, NULL, 0); + #endif + Cmd_Get(&cmd,cmd_dr16); Cmd_GenerateCommand(&cmd); cmd_for_shoot=cmd.output.shoot.cmd; cmd_for_chassis=cmd.output.chassis.cmd; diff --git a/User/task/init.c b/User/task/init.c index db429ec..40404c3 100644 --- a/User/task/init.c +++ b/User/task/init.c @@ -46,8 +46,11 @@ void Task_Init(void *argument) { // 创建消息队列 /* USER MESSAGE BEGIN */ task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL); +#if CMD_RCTypeTable_Index == 0 + task_runtime.msgq.cmd.rc= osMessageQueueNew(3u, sizeof(DR16_t), NULL); +#elif CMD_RCTypeTable_Index == 1 task_runtime.msgq.cmd.rc= osMessageQueueNew(3u, sizeof(AT9S_t), NULL); - task_runtime.msgq.cmd.pc= osMessageQueueNew(3u, sizeof(DR16_t), NULL); +#endif task_runtime.msgq.chassis.yaw = osMessageQueueNew(2u, sizeof(float), NULL); task_runtime.msgq.chassis.cmd= osMessageQueueNew(3u, sizeof(Chassis_CMD_t), NULL); task_runtime.msgq.gimbal.imu= osMessageQueueNew(2u, sizeof(Gimbal_IMU_t), NULL); diff --git a/User/task/rc.c b/User/task/rc.c index a1457aa..cdbe090 100644 --- a/User/task/rc.c +++ b/User/task/rc.c @@ -3,8 +3,8 @@ */ - #define AT9S -// #define DR16 +// #define AT9S +#define DR16 /* Includes ----------------------------------------------------------------- */ #include "task/user_task.h" /* USER INCLUDE BEGIN */ @@ -70,6 +70,7 @@ void Task_rc(void *argument) { } else { DR16_Offline(&dr16); } + osMessageQueueReset(task_runtime.msgq.cmd.rc); osMessageQueuePut(task_runtime.msgq.cmd.rc, &dr16, 0, 0); #endif /* USER CODE END */ diff --git a/User/task/user_task.h b/User/task/user_task.h index df88695..303cd95 100644 --- a/User/task/user_task.h +++ b/User/task/user_task.h @@ -18,7 +18,7 @@ extern "C" { #define BLINK_FREQ (100.0) #define CTRL_CHASSIS_FREQ (500.0) #define CTRL_GIMBAL_FREQ (500.0) -#define CTRL_SHOOT_FREQ (500.0) +#define CTRL_SHOOT_FREQ (1000.0) #define CMD_FREQ (500.0) /* 任务初始化延时ms */ diff --git a/ozone/hero.jdebug.user b/ozone/hero.jdebug.user index 8ca9502..f3a8f50 100644 --- a/ozone/hero.jdebug.user +++ b/ozone/hero.jdebug.user @@ -1,29 +1,34 @@ -Breakpoint=D:/CUBEMX/hero/god-yuan-hero/User/module/shoot.c:364:7, State=BP_STATE_DISABLED -GraphedExpression="(((shoot).feedback).fric[0]).rotor_speed", Color=#e56a6f, Show=0 -GraphedExpression="(((shoot).feedback).fric[1]).rotor_speed", Color=#35792b, Show=0 -GraphedExpression="(((shoot).feedback).fric[3]).rotor_speed", Color=#769dda, Show=0 -GraphedExpression="(((shoot).feedback).fric[2]).rotor_speed", Color=#b14f0d, Show=0 -GraphedExpression="(((shoot).feedback).fric[4]).rotor_speed", Color=#b3c38e, Show=0 -GraphedExpression="(((shoot).feedback).fric[5]).rotor_speed", Color=#ab7b05, Show=0 -GraphedExpression="((((shoot).feedback).trig).feedback).rotor_speed", Color=#7fd3b7 -GraphedExpression="((((shoot).feedback).trig).feedback).rotor_abs_angle", Color=#50328f +Breakpoint=D:/CUBEMX/hero/god-yuan-hero/User/module/shoot.c:367:7, State=BP_STATE_DISABLED +GraphedExpression="(((shoot).feedback).fric[0]).rotor_speed", Color=#e56a6f +GraphedExpression="(((shoot).feedback).fric[1]).rotor_speed", Color=#35792b +GraphedExpression="(((shoot).feedback).fric[2]).rotor_speed", Color=#769dda +GraphedExpression="(((shoot).feedback).fric[3]).rotor_speed", Color=#b14f0d +GraphedExpression="(((shoot).feedback).fric[4]).rotor_speed", Color=#b3c38e +GraphedExpression="(((shoot).feedback).fric[5]).rotor_speed", Color=#ab7b05 +GraphedExpression="(shoot).errtosee", Color=#7fd3b7, Show=0 OpenDocument="memcpy.c", FilePath="/build/gnu-tools-for-stm32_13.3.rel1.20250523-0900/src/newlib/newlib/libc/string/memcpy.c", Line=0 +OpenDocument="can.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/can.c", Line=69 +OpenDocument="tasks.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3419 +OpenDocument="device.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/device.h", Line=5 +OpenDocument="cmd.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd.h", Line=60 +OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd.c", Line=416 +OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/cmd.c", Line=0 +OpenDocument="pid.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/component/pid.h", Line=53 OpenDocument="startup_stm32f407xx.s", FilePath="D:/CUBEMX/hero/god-yuan-hero/startup_stm32f407xx.s", Line=48 OpenDocument="motor_dm.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/motor_dm.h", Line=45 OpenDocument="can.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/can.h", Line=0 OpenDocument="shoot.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/shoot.h", Line=78 -OpenDocument="ctrl_gimbal.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_gimbal.c", Line=14 +OpenDocument="ctrl_gimbal.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_gimbal.c", Line=11 OpenDocument="main.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/main.c", Line=60 OpenDocument="rc.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/rc.c", Line=0 -OpenDocument="tasks.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3419 OpenDocument="shoot.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/shoot.c", Line=346 OpenDocument="config.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/config.c", Line=0 OpenDocument="config.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/config.h", Line=0 -OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/cmd.c", Line=22 -OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd.c", Line=80 +OpenDocument="chassis.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/chassis.h", Line=133 +OpenDocument="stm32f4xx_hal_dma.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c", Line=710 OpenDocument="stm32f4xx_hal_can.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c", Line=1994 OpenDocument="stm32f4xx_hal_msp.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/stm32f4xx_hal_msp.c", Line=28 OpenDocument="usart.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/usart.c", Line=179 @@ -33,25 +38,25 @@ OpenDocument="ctrl_shoot.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ct OpenDocument="user_task.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/user_task.c", Line=0 OpenDocument="stm32f4xx_it.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/stm32f4xx_it.c", Line=83 OpenToolbar="Debug", Floating=0, x=0, y=0 -OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=726, h=521, TabPos=2, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1 +OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=726, h=515, TabPos=2, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1 OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=726, h=397, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=521, TabPos=1, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=726, h=403, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=515, TabPos=1, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Data Sampling", DockArea=BOTTOM, x=1, y=0, w=587, h=536, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 -OpenWindow="Timeline", DockArea=BOTTOM, x=0, y=0, w=1972, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="2 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="0;165", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1059;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1074;0" -OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=587, h=536, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Watched Data 2", DockArea=RIGHT, x=0, y=1, w=726, h=521, TabPos=0, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Data Sampling", DockArea=BOTTOM, x=1, y=0, w=291, h=536, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 +OpenWindow="Timeline", DockArea=BOTTOM, x=0, y=0, w=2268, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="500 ms / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="34;98", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1266;0", CodeGraphLegendShown=0, CodeGraphLegendPosition="1282;0" +OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=291, h=536, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Watched Data 2", DockArea=RIGHT, x=0, y=1, w=726, h=515, TabPos=0, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1" -TableHeader="Watched Data 2", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[100;100;100;426] +TableHeader="Watched Data 2", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[170;352;100;104] TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[250;282;91;100] TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[120;144;462] TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1594;104;100;100;100] TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100] TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[] TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[215;100;100;100;1014] -TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" (((shoot).feedback).fric[0]).rotor_speed";" (((shoot).feedback).fric[1]).rotor_speed";" (((shoot).feedback).fric[3]).rotor_speed";" (((shoot).feedback).fric[2]).rotor_speed";" (((shoot).feedback).fric[4]).rotor_speed";" (((shoot).feedback).fric[5]).rotor_speed";" ((((shoot).feedback).trig).feedback).rotor_speed";" ((((shoot).feedback).trig).feedback).rotor_abs_angle"], ColWidths=[100;100;100;100;100;100;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=[118;100;134;104;114;114;110;126;126] +TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" (((shoot).feedback).fric[0]).rotor_speed";" (((shoot).feedback).fric[1]).rotor_speed";" (((shoot).feedback).fric[2]).rotor_speed";" (((shoot).feedback).fric[3]).rotor_speed";" (((shoot).feedback).fric[4]).rotor_speed";" (((shoot).feedback).fric[5]).rotor_speed";" (shoot).errtosee"], ColWidths=[100;100;100;100;100;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=[118;100;100;100;100;124;110;126;126] TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;366] WatchedExpression="0x20008DD8", Window=Watched Data 1 WatchedExpression="cmd", RefreshRate=5, Window=Watched Data 1 @@ -64,4 +69,10 @@ WatchedExpression="chassis", RefreshRate=5, Window=Watched Data 1 WatchedExpression="chassis_cmd", RefreshRate=5, Window=Watched Data 1 WatchedExpression="gimbal_cmd", RefreshRate=5, Window=Watched Data 1 WatchedExpression="gimbal", RefreshRate=5, Window=Watched Data 1 -WatchedExpression="at9s_out", RefreshRate=5, Window=Watched Data 1 \ No newline at end of file +WatchedExpression="at9s_out", RefreshRate=5, Window=Watched Data 1 +WatchedExpression="cmd_dr16", RefreshRate=5, Window=Watched Data 1 +WatchedExpression="rc_buffer", RefreshRate=5, Window=Watched Data 1 +WatchedExpression="cmd", RefreshRate=5, Window=Watched Data 2 +WatchedExpression="cmd_dr16", Window=Watched Data 2 +WatchedExpression="dr16", RefreshRate=5, Window=Watched Data 2 +WatchedExpression="gimbal", RefreshRate=5, Window=Watched Data 2 \ No newline at end of file