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xxxxm 2026-03-14 16:39:41 +08:00
parent 7c883d09d8
commit 5c8c1fc474
13 changed files with 172 additions and 280 deletions
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197
User/module/aimbot.c
View File

@ -1,22 +1,17 @@
#include "module/aimbot.h" #include "module/aimbot.h"
#include "device/device.h" #include "device/device.h"
#include "bsp/uart.h" #include "bsp/uart.h"
#include "bsp/fdcan.h"
#include "component/crc16.h" #include "component/crc16.h"
#include <string.h> #include <string.h>
/* ===================================================================== /* =====================================================================
* CAN 帧索引（反馈方向：下层板 → 上层板） * FDCAN 帧索引（反馈方向：下层板?上层板）
* 注：上层板使用自己的IMU，下层板只发送射击数据与模式
* ===================================================================== */ * ===================================================================== */
#define FB_FRAME_Q01 0u /* IMU 四元数 q[0](w), q[1](x) */ #define FB_FRAME_DATA 0u /* 弹速(4B)+弹数(2B)+模式(1B)+保留(1B) */
#define FB_FRAME_Q23 1u /* IMU 四元数 q[2](y), q[3](z) */
#define FB_FRAME_EULR 2u /* IMU 欧拉角 yaw, pitch (float x2) */
#define FB_FRAME_VEL 3u /* IMU 角速度 yaw_vel, pitch_vel (float x2) */
#define FB_FRAME_SHOOT 4u /* 弹速(4B)+弹数(2B)+模式(1B)+保留(1B) */
#define FB_FRAME_MOTOR 5u /* 云台电机绝对角度 yaw, pit (float x2) */
/* ===================================================================== /* =====================================================================
* UART 通信接口（上层板 ↔ 上位机 PC） * UART 通信接口（上层板 <EFBFBD>?上位<EFBFBD>?PC<EFBFBD>?
* ===================================================================== */ * ===================================================================== */
int8_t Aimbot_AIStartRecv(Aimbot_AI_t *ai) { int8_t Aimbot_AIStartRecv(Aimbot_AI_t *ai) {
@ -27,47 +22,45 @@ int8_t Aimbot_AIStartRecv(Aimbot_AI_t *ai) {
} }
int8_t Aimbot_AIGetResult(Aimbot_AI_t *ai, Aimbot_AIResult_t *result) { int8_t Aimbot_AIGetResult(Aimbot_AI_t *ai, Aimbot_AIResult_t *result) {
if (ai->id != ID_AI) { if (ai->head[0] != 'M' || ai->head[1] != 'R') {
return DEVICE_ERR; return DEVICE_ERR;
} }
if (!CRC16_Verify((const uint8_t *)ai, sizeof(*ai))) { if (!CRC16_Verify((const uint8_t *)ai, sizeof(*ai))) {
return DEVICE_ERR; return DEVICE_ERR;
} }
result->mode = ai->data.mode; result->mode = ai->mode;
result->gimbal_t.setpoint.yaw = ai->data.yaw; result->gimbal_t.setpoint.yaw = ai->yaw;
result->gimbal_t.vel.yaw = ai->data.yaw_vel; result->gimbal_t.vel.yaw = ai->yaw_vel;
result->gimbal_t.accl.yaw = ai->data.yaw_acc; result->gimbal_t.accl.yaw = ai->yaw_acc;
result->gimbal_t.setpoint.pit = ai->data.pitch; result->gimbal_t.setpoint.pit = ai->pitch;
result->gimbal_t.vel.pit = ai->data.pitch_vel; result->gimbal_t.vel.pit = ai->pitch_vel;
result->gimbal_t.accl.pit = ai->data.pitch_acc; result->gimbal_t.accl.pit = ai->pitch_acc;
result->chassis_t.Vx = ai->data.vx;
result->chassis_t.Vy = ai->data.vy;
result->chassis_t.Vw = ai->data.wz;
return DEVICE_OK; return DEVICE_OK;
} }
/** /**
* @brief 打包 MCU 数据（UART 发给上位机格式），修正了原始实现中的字段错误。 * @brief 打包 MCU 数据（UART 发给上位机格式），修正了原始实现中的字段错误<EFBFBD>?
* 四元数来自 quat 参数；欧拉角、角速度来自 gimbal_fb->imu。 * 四元数来<EFBFBD>?quat 参数；欧拉角、角速度来自 gimbal_fb->imu<EFBFBD>?
*/ */
int8_t Aimbot_MCUPack(Aimbot_MCU_t *mcu, const Gimbal_Feedback_t *gimbal_fb, int8_t Aimbot_MCUPack(Aimbot_MCU_t *mcu, const Gimbal_Feedback_t *gimbal_fb,
const AHRS_Quaternion_t *quat, const AHRS_Quaternion_t *quat,
float bullet_speed, uint16_t bullet_count) { float bullet_speed, uint16_t bullet_count, uint8_t mode) {
if (mcu == NULL || gimbal_fb == NULL || quat == NULL) { if (mcu == NULL || gimbal_fb == NULL || quat == NULL) {
return DEVICE_ERR_NULL; return DEVICE_ERR_NULL;
} }
mcu->id = ID_MCU; mcu->head[0] = 'M';
mcu->data.mode = 0; mcu->head[1] = 'R';
mcu->data.q[0] = quat->q0; mcu->mode = mode;
mcu->data.q[1] = quat->q1; mcu->q[0] = quat->q0;
mcu->data.q[2] = quat->q2; mcu->q[1] = quat->q1;
mcu->data.q[3] = quat->q3; mcu->q[2] = quat->q2;
mcu->data.yaw = gimbal_fb->imu.eulr.yaw; mcu->q[3] = quat->q3;
mcu->data.yaw_vel = gimbal_fb->imu.gyro.z; mcu->yaw = gimbal_fb->imu.eulr.yaw;
mcu->data.pitch = gimbal_fb->imu.eulr.pit; mcu->yaw_vel = gimbal_fb->imu.gyro.z;
mcu->data.pitch_vel = gimbal_fb->imu.gyro.x; mcu->pitch = gimbal_fb->imu.eulr.pit;
mcu->data.bullet_speed = bullet_speed; mcu->pitch_vel = gimbal_fb->imu.gyro.x;
mcu->data.bullet_count = bullet_count; mcu->bullet_speed = bullet_speed;
mcu->bullet_count = bullet_count;
mcu->crc16 = CRC16_Calc((const uint8_t *)mcu, mcu->crc16 = CRC16_Calc((const uint8_t *)mcu,
sizeof(*mcu) - sizeof(uint16_t), CRC16_INIT); sizeof(*mcu) - sizeof(uint16_t), CRC16_INIT);
if (!CRC16_Verify((const uint8_t *)mcu, sizeof(*mcu))) { if (!CRC16_Verify((const uint8_t *)mcu, sizeof(*mcu))) {
@ -84,13 +77,13 @@ int8_t Aimbot_MCUStartSend(Aimbot_MCU_t *mcu) {
} }
/* ===================================================================== /* =====================================================================
* CAN 通信接口（下层板 ↔ 上层板） * CAN 通信接口（下层板 <EFBFBD>?上层板）
* ===================================================================== */ * ===================================================================== */
/** /**
* @brief 初始化 Aimbot CAN 通信：注册指令接收队列和反馈收发队列。 * @brief 初始<EFBFBD>?Aimbot CAN 通信：注册指令接收队列和反馈收发队列<EFBFBD>?
* 下层板只需注册 cmd_id；上层板只需注册 fb_base_id 的 6 个 ID。 * 下层板只需注册 cmd_id；上层板只需注册 fb_base_id <EFBFBD>?6 <EFBFBD>?ID<EFBFBD>?
* 本函数同时注册两侧所需 ID，上/下层板共用同一初始化流程即可。 * 本函数同时注册两侧所需 ID，上/下层板共用同一初始化流程即可<EFBFBD>?
*/ */
int8_t Aimbot_Init(Aimbot_Param_t *param) { int8_t Aimbot_Init(Aimbot_Param_t *param) {
if (param == NULL) return DEVICE_ERR_NULL; if (param == NULL) return DEVICE_ERR_NULL;
@ -111,42 +104,27 @@ int8_t Aimbot_Init(Aimbot_Param_t *param) {
} }
/** /**
* @brief 从 Gimbal/IMU/Shoot 数据打包 CAN 反馈结构体。 * @brief <EFBFBD>?Gimbal/IMU/Shoot 数据打包 CAN 反馈结构体<EFBFBD>?
/**
* @brief 【下层板】打包 CAN 反馈结构体。
*/ */
int8_t Aimbot_PackFeedback(Aimbot_FeedbackData_t *fb, int8_t Aimbot_PackFeedback(Aimbot_FeedbackData_t *fb,
const Gimbal_Feedback_t *gimbal_fb,
const AHRS_Quaternion_t *quat,
float bullet_speed, uint16_t bullet_count, float bullet_speed, uint16_t bullet_count,
uint8_t mode) { uint8_t mode) {
if (fb == NULL || gimbal_fb == NULL || quat == NULL) { if (fb == NULL) {
return DEVICE_ERR_NULL; return DEVICE_ERR_NULL;
} }
fb->mode = mode; fb->mode = mode;
fb->q[0] = quat->q0;
fb->q[1] = quat->q1;
fb->q[2] = quat->q2;
fb->q[3] = quat->q3;
fb->yaw = gimbal_fb->imu.eulr.yaw;
fb->pitch = gimbal_fb->imu.eulr.pit;
fb->yaw_vel = gimbal_fb->imu.gyro.z;
fb->pitch_vel = gimbal_fb->imu.gyro.x;
fb->bullet_speed = bullet_speed; fb->bullet_speed = bullet_speed;
fb->bullet_count = bullet_count; fb->bullet_count = bullet_count;
fb->gimbal_yaw = gimbal_fb->motor.yaw.rotor_abs_angle;
fb->gimbal_pit = gimbal_fb->motor.pit.rotor_abs_angle;
return DEVICE_OK; return DEVICE_OK;
} }
/** /**
* @brief 【下层板】将反馈数据打成 6 个 CAN 标准帧发给上层板。 * @brief 【下层板】将反馈数据打成 1 个 CAN 标准帧发给上层板。
* *
* 帧格式（每帧 8 字节）： * 帧格式（每帧 8 字节）：
* 帧0: q[0](float,4B) q[1](float,4B) * 帧0: bullet_speed(float,4B) bullet_count(uint16,2B) mode(1B) rsv(1B)
* 帧1: q[2](float,4B) q[3](float,4B)
* 帧2: yaw(float,4B) pitch(float,4B)
* 帧3: yaw_vel(float,4B) pitch_vel(float,4B)
* 帧4: bullet_speed(float,4B) bullet_count(uint16,2B) mode(1B) rsv(1B)
* 帧5: gimbal_yaw(float,4B) gimbal_pit(float,4B)
*/ */
void Aimbot_SendFeedbackOnCAN(const Aimbot_Param_t *param, void Aimbot_SendFeedbackOnCAN(const Aimbot_Param_t *param,
const Aimbot_FeedbackData_t *fb) { const Aimbot_FeedbackData_t *fb) {
@ -155,53 +133,23 @@ void Aimbot_SendFeedbackOnCAN(const Aimbot_Param_t *param,
BSP_FDCAN_StdDataFrame_t frame; BSP_FDCAN_StdDataFrame_t frame;
frame.dlc = AIMBOT_CAN_DLC; frame.dlc = AIMBOT_CAN_DLC;
/* 帧0: IMU 四元数 q[0], q[1] */ /* 帧0: 弹速 + 弹数 + 模式 */
frame.id = param->fb_base_id + FB_FRAME_Q01; frame.id = param->fb_base_id + FB_FRAME_DATA;
memcpy(&frame.data[0], &fb->q[0], 4);
memcpy(&frame.data[4], &fb->q[1], 4);
BSP_FDCAN_TransmitStdDataFrame(param->can, &frame);
/* 帧1: IMU 四元数 q[2], q[3] */
frame.id = param->fb_base_id + FB_FRAME_Q23;
memcpy(&frame.data[0], &fb->q[2], 4);
memcpy(&frame.data[4], &fb->q[3], 4);
BSP_FDCAN_TransmitStdDataFrame(param->can, &frame);
/* 帧2: IMU 欧拉角 yaw, pitch */
frame.id = param->fb_base_id + FB_FRAME_EULR;
memcpy(&frame.data[0], &fb->yaw, 4);
memcpy(&frame.data[4], &fb->pitch, 4);
BSP_FDCAN_TransmitStdDataFrame(param->can, &frame);
/* 帧3: IMU 角速度 yaw_vel, pitch_vel */
frame.id = param->fb_base_id + FB_FRAME_VEL;
memcpy(&frame.data[0], &fb->yaw_vel, 4);
memcpy(&frame.data[4], &fb->pitch_vel, 4);
BSP_FDCAN_TransmitStdDataFrame(param->can, &frame);
/* 帧4: 弹速 + 弹数 + 模式 */
frame.id = param->fb_base_id + FB_FRAME_SHOOT;
memcpy(&frame.data[0], &fb->bullet_speed, 4); memcpy(&frame.data[0], &fb->bullet_speed, 4);
frame.data[4] = (uint8_t)(fb->bullet_count & 0xFFu); frame.data[4] = (uint8_t)(fb->bullet_count & 0xFFu);
frame.data[5] = (uint8_t)((fb->bullet_count >> 8u) & 0xFFu); frame.data[5] = (uint8_t)((fb->bullet_count >> 8u) & 0xFFu);
frame.data[6] = fb->mode; frame.data[6] = fb->mode;
frame.data[7] = 0u; frame.data[7] = 0u;
BSP_FDCAN_TransmitStdDataFrame(param->can, &frame); BSP_FDCAN_TransmitStdDataFrame(param->can, &frame);
/* 帧5: 云台电机绝对角度 yaw, pit */
frame.id = param->fb_base_id + FB_FRAME_MOTOR;
memcpy(&frame.data[0], &fb->gimbal_yaw, 4);
memcpy(&frame.data[4], &fb->gimbal_pit, 4);
BSP_FDCAN_TransmitStdDataFrame(param->can, &frame);
} }
/** /**
* @brief 【下层板】从 CAN 队列中非阻塞地取出上层板发来的 AI 指令并解析。 * @brief 【下层板】从 CAN 队列中非阻塞地取出上层板发来<EFBFBD>?AI 指令并解析<EFBFBD>?
* *
* 指令帧格式（8 字节，与 vision_bridge 一致）： * 指令帧格式（8 字节，与 vision_bridge 一致）<EFBFBD>?
* data[0] : mode (1B) * data[0] : mode (1B)
* data[1..3.5] : yaw (28bit 有符号定点数，0.1µrad/LSB) * data[1..3.5] : yaw (28bit 有符号定点数<EFBFBD>?.1µrad/LSB)
* data[4.5..7] : pit (28bit 有符号定点数，0.1µrad/LSB) * data[4.5..7] : pit (28bit 有符号定点数<EFBFBD>?.1µrad/LSB)
* *
* @return DEVICE_OK 成功解析到新指令 * @return DEVICE_OK 成功解析到新指令
* DEVICE_ERR 队列空，无新数据 * DEVICE_ERR 队列空，无新数据
@ -234,7 +182,7 @@ int8_t Aimbot_ParseCmdFromCAN(const Aimbot_Param_t *param,
if (pit_raw & 0x08000000) pit_raw |= (int32_t)0xF0000000; if (pit_raw & 0x08000000) pit_raw |= (int32_t)0xF0000000;
result->gimbal_t.setpoint.pit = (float)pit_raw / AIMBOT_ANGLE_SCALE; result->gimbal_t.setpoint.pit = (float)pit_raw / AIMBOT_ANGLE_SCALE;
/* 速度/加速度前馈由上层板另行扩展，此处置零 */ /* 速度/加速度前馈由上层板另行扩展，此处置<EFBFBD>?*/
result->gimbal_t.vel.yaw = 0.0f; result->gimbal_t.vel.yaw = 0.0f;
result->gimbal_t.vel.pit = 0.0f; result->gimbal_t.vel.pit = 0.0f;
result->gimbal_t.accl.yaw = 0.0f; result->gimbal_t.accl.yaw = 0.0f;
@ -244,10 +192,10 @@ int8_t Aimbot_ParseCmdFromCAN(const Aimbot_Param_t *param,
} }
/** /**
* @brief 【上层板】将 AI 指令通过 CAN 发送给下层板（单帧 8 字节）。 * @brief 【上层板】将 AI 指令通过 CAN 发送给下层板（单帧 8 字节）<EFBFBD>?
* *
* 与 vision_bridge.c 的 AI_SendCmdOnFDCAN 编码格式完全一致， * <EFBFBD>?vision_bridge.c <EFBFBD>?AI_SendCmdOnFDCAN 编码格式完全一致，
* 上层板可直接调用本函数替代 vision_bridge 中的同名函数。 * 上层板可直接调用本函数替<EFBFBD>?vision_bridge 中的同名函数<EFBFBD>?
*/ */
void Aimbot_SendCmdOnCAN(const Aimbot_Param_t *param, void Aimbot_SendCmdOnCAN(const Aimbot_Param_t *param,
const Aimbot_AIResult_t *cmd) { const Aimbot_AIResult_t *cmd) {
@ -273,10 +221,9 @@ void Aimbot_SendCmdOnCAN(const Aimbot_Param_t *param,
} }
/** /**
* @brief 【上层板】从 CAN 队列中逐帧非阻塞地解析下层板发来的反馈数据。 * @brief 【上层板】从 CAN 队列中非阻塞地解析下层板发来的反馈数据（共1帧）。
* 各帧独立读取，缺失的帧保留上一次的旧值，不影响其他帧。
* *
* @return DEVICE_OK（始终返回，允许部分帧缺失） * @return DEVICE_OK
*/ */
int8_t Aimbot_ParseFeedbackFromCAN(const Aimbot_Param_t *param, int8_t Aimbot_ParseFeedbackFromCAN(const Aimbot_Param_t *param,
Aimbot_FeedbackData_t *fb) { Aimbot_FeedbackData_t *fb) {
@ -284,55 +231,15 @@ int8_t Aimbot_ParseFeedbackFromCAN(const Aimbot_Param_t *param,
BSP_FDCAN_Message_t msg; BSP_FDCAN_Message_t msg;
/* 帧0: IMU 四元数 q[0], q[1] */ /* 帧0: 弹速 + 弹数 + 模式 */
if (BSP_FDCAN_GetMessage(param->can, if (BSP_FDCAN_GetMessage(param->can,
param->fb_base_id + FB_FRAME_Q01, param->fb_base_id + FB_FRAME_DATA,
&msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) {
memcpy(&fb->q[0], &msg.data[0], 4);
memcpy(&fb->q[1], &msg.data[4], 4);
}
/* 帧1: IMU 四元数 q[2], q[3] */
if (BSP_FDCAN_GetMessage(param->can,
param->fb_base_id + FB_FRAME_Q23,
&msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) {
memcpy(&fb->q[2], &msg.data[0], 4);
memcpy(&fb->q[3], &msg.data[4], 4);
}
/* 帧2: IMU 欧拉角 yaw, pitch */
if (BSP_FDCAN_GetMessage(param->can,
param->fb_base_id + FB_FRAME_EULR,
&msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) {
memcpy(&fb->yaw, &msg.data[0], 4);
memcpy(&fb->pitch, &msg.data[4], 4);
}
/* 帧3: IMU 角速度 yaw_vel, pitch_vel */
if (BSP_FDCAN_GetMessage(param->can,
param->fb_base_id + FB_FRAME_VEL,
&msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) {
memcpy(&fb->yaw_vel, &msg.data[0], 4);
memcpy(&fb->pitch_vel, &msg.data[4], 4);
}
/* 帧4: 弹速 + 弹数 + 模式 */
if (BSP_FDCAN_GetMessage(param->can,
param->fb_base_id + FB_FRAME_SHOOT,
&msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) { &msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) {
memcpy(&fb->bullet_speed, &msg.data[0], 4); memcpy(&fb->bullet_speed, &msg.data[0], 4);
fb->bullet_count = (uint16_t)(msg.data[4] | ((uint16_t)msg.data[5] << 8u)); fb->bullet_count = (uint16_t)(msg.data[4] | ((uint16_t)msg.data[5] << 8u));
fb->mode = msg.data[6]; fb->mode = msg.data[6];
} }
/* 帧5: 云台电机绝对角度 yaw, pit */
if (BSP_FDCAN_GetMessage(param->can,
param->fb_base_id + FB_FRAME_MOTOR,
&msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) {
memcpy(&fb->gimbal_yaw, &msg.data[0], 4);
memcpy(&fb->gimbal_pit, &msg.data[4], 4);
}
return DEVICE_OK; return DEVICE_OK;
} }

67
User/module/aimbot.h
View File

@ -7,31 +7,24 @@ extern "C" {
/* Includes ----------------------------------------------------------------- */ /* Includes ----------------------------------------------------------------- */
#include "component\user_math.h" #include "component\user_math.h"
// #include "remote_control.h"
#include "module/gimbal.h" #include "module/gimbal.h"
#include "bsp/fdcan.h" #include "bsp/fdcan.h"
#include <stdint.h> #include <stdint.h>
// 数据包 ID 定义 // 数据包协议定义（UART 通信使用 head[2]={'M', 'R'} 标识）
#define ID_MCU (0xC4) // MCU 数据包
#define ID_REF (0xA8) // 裁判系统数据包
#define ID_AI (0xB5) // AI 控制数据包
/* ============================ CAN 通信定义 ============================ /* ============================ CAN 通信定义 ============================
* 通路：上位机 <--串口--> 上层板 <--CAN--> 下层板（本代码） * 通路：上位机 <--串口--> 上层板 <--CAN--> 下层板
* *
* 下层板 → 上层板：反馈数据，共 AIMBOT_FB_FRAME_NUM 帧，CAN ID 连续 * 注：上层板使用自己的IMU（atti_esti），下层板只需反馈电机和射击数据
* 帧0 (fb_base_id+0): IMU 四元数 q[0], q[1] *
* 帧1 (fb_base_id+1): IMU 四元数 q[2], q[3] * 下层板 → 上层板：反馈数据，单帧 8 字节
* 帧2 (fb_base_id+2): IMU 欧拉角 yaw, pitch (rad) * 帧0 (fb_base_id+0): 弹速(4B) + 弹数(2B) + 模式(1B) + 保留(1B)
* 帧3 (fb_base_id+3): IMU 角速度 yaw_vel, pitch_vel (rad/s)
* 帧4 (fb_base_id+4): 弹速(4B) + 弹数(2B) + 模式(1B) + 保留(1B)
* 帧5 (fb_base_id+5): 云台电机绝对角度 yaw, pit (rad)
* *
* 上层板 → 下层板：AI 指令，单帧 8 字节 * 上层板 → 下层板：AI 指令，单帧 8 字节
* 帧 (cmd_id): mode(1B) + yaw(28bit) + pit(28bit)，定点数精度 0.1µrad * 帧 (cmd_id): mode(1B) + yaw(28bit) + pit(28bit)，定点数精度 0.1µrad
* ====================================================================== */ * ====================================================================== */
#define AIMBOT_FB_FRAME_NUM 6u /* 反馈数据帧总数 */ #define AIMBOT_FB_FRAME_NUM 1u /* 反馈数据帧总数（仅下层三字段） */
#define AIMBOT_CAN_DLC 8u /* CAN 帧数据长度 */ #define AIMBOT_CAN_DLC 8u /* CAN 帧数据长度 */
#define AIMBOT_ANGLE_SCALE 10000000.0f /* 指令角度定点数比例（0.1µrad/LSB） */ #define AIMBOT_ANGLE_SCALE 10000000.0f /* 指令角度定点数比例（0.1µrad/LSB） */
@ -39,26 +32,21 @@ extern "C" {
typedef struct { typedef struct {
BSP_FDCAN_t can; /* 使用的 CAN 总线实例 */ BSP_FDCAN_t can; /* 使用的 CAN 总线实例 */
uint32_t cmd_id; /* 上层板→下层板 AI 指令帧 CAN ID */ uint32_t cmd_id; /* 上层板→下层板 AI 指令帧 CAN ID */
uint32_t fb_base_id; /* 下层板→上层板 反馈数据起始 CAN ID（共6帧，ID连续递增） */ uint32_t fb_base_id; /* 下层板→上层板 反馈数据起始 CAN ID */
} Aimbot_Param_t; } Aimbot_Param_t;
/* CAN 反馈数据结构体（下层板打包后经 CAN 发给上层板的内容） */ /* CAN 反馈数据结构体（下层板打包后经 CAN 发给上层板的内容）
* 注：下层板只反馈 bullet_speed / bullet_count / mode */
typedef struct { typedef struct {
uint8_t mode; /* 下层板当前工作模式 */ uint8_t mode; /* 下层板当前工作模式 */
float q[4]; /* IMU 四元数 q0(w) q1(x) q2(y) q3(z) */
float yaw; /* IMU yaw 角（rad） */
float yaw_vel; /* IMU yaw 角速度（rad/s） */
float pitch; /* IMU pitch 角（rad） */
float pitch_vel; /* IMU pitch 角速度（rad/s） */
float bullet_speed; /* 弹速（m/s） */ float bullet_speed; /* 弹速（m/s） */
uint16_t bullet_count; /* 子弹累计发射次数 */ uint16_t bullet_count; /* 子弹累计发射次数 */
float gimbal_yaw; /* 云台 yaw 电机绝对角度（rad） */
float gimbal_pit; /* 云台 pitch 电机绝对角度（rad） */
} Aimbot_FeedbackData_t; } Aimbot_FeedbackData_t;
/*-----------------------------to上位机---------------------------------*/ /*-----------------------------to上位机---------------------------------*/
typedef struct __attribute__((packed)) typedef struct __attribute__((packed))
{ {
uint8_t head[2]; // 数据包头: {'M', 'R'}
uint8_t mode; // 0: 空闲, 1: 自瞄, 2: 小符, 3: 大符 uint8_t mode; // 0: 空闲, 1: 自瞄, 2: 小符, 3: 大符
float q[4]; // 四元数 wxyz 顺序 float q[4]; // 四元数 wxyz 顺序
float yaw; // 偏航角 float yaw; // 偏航角
@ -67,13 +55,7 @@ typedef struct __attribute__((packed))
float pitch_vel; // 俯仰角速度 float pitch_vel; // 俯仰角速度
float bullet_speed; // 弹速 float bullet_speed; // 弹速
uint16_t bullet_count; // 子弹累计发送次数 uint16_t bullet_count; // 子弹累计发送次数
} Aimbot_MCUData_t; uint16_t crc16; // CRC16 校验
typedef struct __attribute__((packed))
{
uint8_t id; // 数据包 ID: 0xC4
Aimbot_MCUData_t data;
uint16_t crc16;
} Aimbot_MCU_t; } Aimbot_MCU_t;
// 裁判系统数据结构 // 裁判系统数据结构
@ -94,24 +76,15 @@ typedef struct __attribute__((packed))
/*------------------------------------上位机back-------------------------------------*/ /*------------------------------------上位机back-------------------------------------*/
typedef struct __attribute__((packed)) typedef struct __attribute__((packed))
{ {
uint8_t mode; // 0: 不控制, 1: 控制云台但不开火, 2: 控制云台且开火 uint8_t head[2]; // 数据包头: {'M', 'R'}
uint8_t mode; // 0: 不控制, 1: 控制云台但不开火，2: 控制云台且开火
float yaw; // 目标偏航角 float yaw; // 目标偏航角
float yaw_vel; // 偏航角速度 float yaw_vel; // 偏航角速度
float yaw_acc; // 偏航角加速度 float yaw_acc; // 偏航角加速度
float pitch; // 目标俯仰角 float pitch; // 目标俯仰角
float pitch_vel; // 俯仰角速度 float pitch_vel; // 俯仰角速度
float pitch_acc; // 俯仰角加速度 float pitch_acc; // 俯仰角加速度
float vx; // X 方向速度 uint16_t crc16; // CRC16 校验
float vy; // Y 方向速度
float wz; // Z 方向角速度
uint8_t reserved; // 预留字段
} Aimbot_AIData_t;
typedef struct __attribute__((packed))
{
uint8_t id; // 数据包 ID: 0xB5
Aimbot_AIData_t data;
uint16_t crc16;
} Aimbot_AI_t; } Aimbot_AI_t;
typedef struct __attribute__((packed)) { typedef struct __attribute__((packed)) {
@ -145,7 +118,7 @@ typedef struct __attribute__((packed)) {
/* ---------- UART 通信接口（上层板与上位机 PC 间） ---------- */ /* ---------- UART 通信接口（上层板与上位机 PC 间） ---------- */
int8_t Aimbot_MCUPack(Aimbot_MCU_t *mcu, const Gimbal_Feedback_t *gimbal_fb, int8_t Aimbot_MCUPack(Aimbot_MCU_t *mcu, const Gimbal_Feedback_t *gimbal_fb,
const AHRS_Quaternion_t *quat, const AHRS_Quaternion_t *quat,
float bullet_speed, uint16_t bullet_count); float bullet_speed, uint16_t bullet_count, uint8_t mode);
int8_t Aimbot_MCUStartSend(Aimbot_MCU_t *mcu); int8_t Aimbot_MCUStartSend(Aimbot_MCU_t *mcu);
int8_t Aimbot_AIGetResult(Aimbot_AI_t *ai, Aimbot_AIResult_t *result); int8_t Aimbot_AIGetResult(Aimbot_AI_t *ai, Aimbot_AIResult_t *result);
int8_t Aimbot_AIStartRecv(Aimbot_AI_t *ai); int8_t Aimbot_AIStartRecv(Aimbot_AI_t *ai);
@ -160,22 +133,18 @@ int8_t Aimbot_AIStartRecv(Aimbot_AI_t *ai);
int8_t Aimbot_Init(Aimbot_Param_t *param); int8_t Aimbot_Init(Aimbot_Param_t *param);
/** /**
* @brief 从 Gimbal/IMU/Shoot 数据中打包反馈结构体 * @brief 【下层板】打包反馈结构体
* @param fb 输出：反馈数据 * @param fb 输出：反馈数据
* @param gimbal_fb 云台反馈（含 IMU 欧拉角/角速度、电机角度）
* @param quat IMU 四元数
* @param bullet_speed 弹速（m/s） * @param bullet_speed 弹速（m/s）
* @param bullet_count 已发射子弹数 * @param bullet_count 已发射子弹数
* @param mode 当前工作模式 * @param mode 当前工作模式
*/ */
int8_t Aimbot_PackFeedback(Aimbot_FeedbackData_t *fb, int8_t Aimbot_PackFeedback(Aimbot_FeedbackData_t *fb,
const Gimbal_Feedback_t *gimbal_fb,
const AHRS_Quaternion_t *quat,
float bullet_speed, uint16_t bullet_count, float bullet_speed, uint16_t bullet_count,
uint8_t mode); uint8_t mode);
/** /**
* @brief 【下层板】将反馈数据经 CAN 发送给上层板（6 帧） * @brief 【下层板】将反馈数据经 CAN 发送给上层板（1 帧）
*/ */
void Aimbot_SendFeedbackOnCAN(const Aimbot_Param_t *param, void Aimbot_SendFeedbackOnCAN(const Aimbot_Param_t *param,
const Aimbot_FeedbackData_t *fb); const Aimbot_FeedbackData_t *fb);

5
User/module/cmd/cmd.c
View File

@ -42,7 +42,6 @@ static void CMD_RC_BuildChassisCmd(CMD_t *ctx) {
#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_GIMBAL #if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_GIMBAL
static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) { static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) {
CMD_RCModeMap_t *map = &ctx->config->rc_mode_map; CMD_RCModeMap_t *map = &ctx->config->rc_mode_map;
ctx->output.gimbal.cmd.is_ai = false;
/* 根据拨杆选择云台模式 */ /* 根据拨杆选择云台模式 */
switch (ctx->input.rc.sw[0]) { switch (ctx->input.rc.sw[0]) {
case CMD_SW_UP: case CMD_SW_UP:
@ -156,7 +155,6 @@ static void CMD_PC_BuildGimbalCmd(CMD_t *ctx) {
ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX; ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
return; return;
} }
ctx->output.gimbal.cmd.is_ai = false;
ctx->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE; ctx->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
/* 鼠标控制云台 */ /* 鼠标控制云台 */
@ -211,7 +209,6 @@ static void CMD_NUC_BuildGimbalCmd(CMD_t *ctx) {
/* 使用AI提供的云台控制数据 */ /* 使用AI提供的云台控制数据 */
if (ctx->input.nuc.mode!=0) {
ctx->output.gimbal.cmd.mode = GIMBAL_MODE_AI_CONTROL; ctx->output.gimbal.cmd.mode = GIMBAL_MODE_AI_CONTROL;
ctx->output.gimbal.cmd.setpoint_yaw = ctx->input.nuc.gimbal.setpoint.yaw; ctx->output.gimbal.cmd.setpoint_yaw = ctx->input.nuc.gimbal.setpoint.yaw;
ctx->output.gimbal.cmd.setpoint_pit = ctx->input.nuc.gimbal.setpoint.pit; ctx->output.gimbal.cmd.setpoint_pit = ctx->input.nuc.gimbal.setpoint.pit;
@ -219,7 +216,7 @@ static void CMD_NUC_BuildGimbalCmd(CMD_t *ctx) {
ctx->output.gimbal.cmd.ff_vel_pit = ctx->input.nuc.gimbal.vel.pit; ctx->output.gimbal.cmd.ff_vel_pit = ctx->input.nuc.gimbal.vel.pit;
ctx->output.gimbal.cmd.ff_accl_yaw = ctx->input.nuc.gimbal.accl.yaw; ctx->output.gimbal.cmd.ff_accl_yaw = ctx->input.nuc.gimbal.accl.yaw;
ctx->output.gimbal.cmd.ff_accl_pit = ctx->input.nuc.gimbal.accl.pit; ctx->output.gimbal.cmd.ff_accl_pit = ctx->input.nuc.gimbal.accl.pit;
}
} }
#endif /* CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_GIMBAL */ #endif /* CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_GIMBAL */

3
User/module/cmd/cmd_types.h
View File

@ -7,7 +7,7 @@
#include <stdint.h> #include <stdint.h>
#include <stdbool.h> #include <stdbool.h>
#include "cmd_feature.h" /* 功能特性开关 */ #include "cmd_feature.h" /* 功能特性开关 */
#include "device/referee_proto_types.h" /* 裁判转发包基础类型（叶节点，无循环依赖） */
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
@ -192,6 +192,7 @@ typedef struct {
} CMD_RawInput_NUC_t; } CMD_RawInput_NUC_t;
#if CMD_ENABLE_SRC_REF #if CMD_ENABLE_SRC_REF
#include "device/referee_proto_types.h"
/* 裁判系统原始输入，包含需转发给各模块的完整子集 */ /* 裁判系统原始输入，包含需转发给各模块的完整子集 */
typedef struct { typedef struct {
Referee_ForChassis_t chassis; Referee_ForChassis_t chassis;

8
User/module/config.c
View File

@ -29,11 +29,9 @@ Config_RobotParam_t robot_config = {
.vision_id = 0x104, .vision_id = 0x104,
}, },
.aimbot_param = { .aimbot_param = {
/* 下层板接收AI指令帧 ID（上层板发→下层板收） */
.can = BSP_FDCAN_2, .can = BSP_FDCAN_2,
.cmd_id = 0x250u, .cmd_id = 0x520u,
/* 下层板反馈帧起始 ID（占连续6个ID:0x251-0x256） */ .fb_base_id = 0x521u,
.fb_base_id = 0x251u,
}, },
.imu_param = { .imu_param = {
.can=BSP_FDCAN_2, .can=BSP_FDCAN_2,
@ -418,7 +416,7 @@ Config_RobotParam_t robot_config = {
.sw_left_down = CHASSIS_MODE_RELAX, .sw_left_down = CHASSIS_MODE_RELAX,
.gimbal_sw_up = GIMBAL_MODE_ABSOLUTE, .gimbal_sw_up = GIMBAL_MODE_ABSOLUTE,
.gimbal_sw_mid = GIMBAL_MODE_RELATIVE, .gimbal_sw_mid = GIMBAL_MODE_RELATIVE,
.gimbal_sw_down = GIMBAL_MODE_ABSOLUTE, .gimbal_sw_down = GIMBAL_MODE_AI_CONTROL,
.track_sw_up = false, .track_sw_up = false,
.track_sw_mid = true, .track_sw_mid = true,
.track_sw_down = false, .track_sw_down = false,

7
User/module/gimbal.c
View File

@ -57,8 +57,8 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) {
} else if (mode == GIMBAL_MODE_RELATIVE) { } else if (mode == GIMBAL_MODE_RELATIVE) {
g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw; g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
} else if (mode == GIMBAL_MODE_AI_CONTROL) { } else if (mode == GIMBAL_MODE_AI_CONTROL) {
g->setpoint.eulr.yaw = g->feedback.motor.yaw.rotor_abs_angle; g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
g->setpoint.eulr.pit = g->feedback.motor.pit.rotor_abs_angle; g->setpoint.eulr.pit =g->feedback.imu.eulr.pit;
} }
g->mode = mode; g->mode = mode;
@ -244,9 +244,6 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
/* AI 模式：直接从指令获取角度设定值（每周期刷新） */ /* AI 模式：直接从指令获取角度设定值（每周期刷新） */
g->setpoint.eulr.yaw = g_cmd->setpoint_yaw; g->setpoint.eulr.yaw = g_cmd->setpoint_yaw;
g->setpoint.eulr.pit = g_cmd->setpoint_pit; g->setpoint.eulr.pit = g_cmd->setpoint_pit;
} else if (g_cmd->is_ai) {
g->setpoint.eulr.yaw = g_cmd->setpoint_yaw;
g->setpoint.eulr.pit = g_cmd->setpoint_pit;
} }
/* 控制相关逻辑 */ /* 控制相关逻辑 */
float yaw_omega_set_point, pit_omega_set_point; float yaw_omega_set_point, pit_omega_set_point;

8
User/module/shoot.c
View File

@ -522,7 +522,9 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
s->var_trig.time_lastShoot=s->timer.now; s->var_trig.time_lastShoot=s->timer.now;
CircleAdd(&s->target_variable.trig_angle, M_2PI/s->param->basic.num_trig_tooth, M_2PI); CircleAdd(&s->target_variable.trig_angle, M_2PI/s->param->basic.num_trig_tooth, M_2PI);
s->var_trig.num_toShoot--; s->var_trig.num_toShoot--;
s->var_trig.num_shooted++;
} }
return SHOOT_OK; return SHOOT_OK;
} }
@ -967,7 +969,7 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
Shoot_CaluTargetRPM(s,233); Shoot_CaluTargetRPM(s,233);
/* 运行热量检测状态机 */ /* 运行热量检测状态机 */
Shoot_HeatDetectionFSM(s); // Shoot_HeatDetectionFSM(s);
/* 运行卡弹检测状态机 */ /* 运行卡弹检测状态机 */
Shoot_JamDetectionFSM(s, cmd); Shoot_JamDetectionFSM(s, cmd);
@ -986,3 +988,7 @@ void Shoot_DumpUI(Shoot_t *s, Shoot_RefereeUI_t *ui) {
ui->fire = s->running_state; ui->fire = s->running_state;
} }
void Shoot_DumpAI(Shoot_t *s, Shoot_AI_t *ai) {
ai->num_shooted=s->var_trig.num_shooted;
ai->bullet_speed=12.0f;
}

8
User/module/shoot.h
View File

@ -51,6 +51,11 @@ typedef enum {
SHOOT_MODE_NUM SHOOT_MODE_NUM
}Shoot_Mode_t; }Shoot_Mode_t;
typedef struct {
uint16_t num_shooted;/* 已发射弹数 */
float bullet_speed;/* 目标弹速 */
}Shoot_AI_t;
/* UI 导出结构（供 referee 系统绘制） */ /* UI 导出结构（供 referee 系统绘制） */
typedef struct { typedef struct {
Shoot_Mode_t mode; Shoot_Mode_t mode;
@ -216,6 +221,7 @@ typedef struct {
struct { struct {
float fric_rpm; /* 目标摩擦轮转速 */ float fric_rpm; /* 目标摩擦轮转速 */
float trig_angle;/* 目标拨弹位置 */ float trig_angle;/* 目标拨弹位置 */
float bullet_speed;/* 目标弹速 */
}target_variable; }target_variable;
/* 反馈控制用的PID */ /* 反馈控制用的PID */
@ -292,7 +298,7 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd);
*/ */
void Shoot_DumpUI(Shoot_t *s, Shoot_RefereeUI_t *ui); void Shoot_DumpUI(Shoot_t *s, Shoot_RefereeUI_t *ui);
void Shoot_DumpAI(Shoot_t *s, Shoot_AI_t *ai) ;
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

71
User/task/ai.c
View File

@ -1,10 +1,12 @@
/* /*
ai Task AI Task - 下层板
通路：上位机 <--串口--> 上层板 <--CAN--> 下层板（本文件） 数据链路：
下层板职责： 上层板 <--CAN--> 下层板（本板）
1. 将云台/IMU 反馈数据通过 CAN 发送给上层板 流程：
2. 从 CAN 解析上层板转发的 AI 控制指令 1. 从消息队列获取本板 射击反馈数据/裁判系统等数据
3. 将解析结果写入 cmd.nuc 队列供 cmd task 消费 2. 打包弹速、弹数、模式，通过CAN发给上层板 (Aimbot_SendFeedbackOnCAN)
3. 从 CAN 接收上层板下发的 AI 指令 (Aimbot_ParseCmdFromCAN)
4. 将解析后的 AI 指令发送到 cmd task 的 nuc 队列
*/ */
/* Includes ----------------------------------------------------------------- */ /* Includes ----------------------------------------------------------------- */
@ -13,9 +15,10 @@
#include "module/aimbot.h" #include "module/aimbot.h"
#include "module/config.h" #include "module/config.h"
#include "module/vision_bridge.h" #include "module/vision_bridge.h"
#include "component/ahrs/ahrs.h"
#include "module/gimbal.h" #include "module/gimbal.h"
#include "module/shoot.h"
#include "device/referee_proto_types.h" #include "device/referee_proto_types.h"
#include <string.h>
/* USER INCLUDE END */ /* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */ /* Private typedef ---------------------------------------------------------- */
@ -24,12 +27,12 @@
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */ /* USER STRUCT BEGIN */
static Aimbot_Param_t aimbot_can; /* CAN 通信参数（从 config 拷贝） */ static Aimbot_Param_t aimbot_can; /* CAN 通信参数（从 config 拷贝） */
static Aimbot_FeedbackData_t aimbot_fb; /* 打包好的反馈数据 */ static Aimbot_FeedbackData_t lower_board_fb; /* 打包好发给上层板的数据 */
static Aimbot_AIResult_t aimbot_cmd; /* 从 CAN 解析到的 AI 指令 */ static Aimbot_AIResult_t ai_cmd_from_can; /* 上层板下发并传到底板的指令 */
static Gimbal_Feedback_t ai_gimbal_fb; /* 来自云台任务的反馈 */
static AHRS_Quaternion_t ai_imu_quat; /* 来自姿态估计任务的四元数 */
static Referee_ForAI_t ai_ref; /* 裁判系统转发给 AI 的数据 */
static AI_cmd_t ai_cmd_for_nuc; /* 转换后发往 cmd.nuc 的指令 */ static AI_cmd_t ai_cmd_for_nuc; /* 转换后发往 cmd.nuc 的指令 */
static Referee_ForAI_t ai_ref; /* 裁判系统转发给 AI 的数据 */
static Shoot_AI_t raw_shoot; /* 发射机构反馈 */
/* USER STRUCT END */ /* USER STRUCT END */
/* Private function --------------------------------------------------------- */ /* Private function --------------------------------------------------------- */
@ -52,33 +55,35 @@ void Task_ai(void *argument) {
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 */
/* 读取裁判系统状态（非阻塞） */ /* 1. 读取裁判系统数据（获知机器人系统状态/弹速等） */
osMessageQueueGet(task_runtime.msgq.ai.ref, &ai_ref, NULL, 0); osMessageQueueGet(task_runtime.msgq.ai.ref, &ai_ref, NULL, 0);
/* 读取云台反馈数据（非阻塞） */ /* 2. 读取发射机构反馈数据（非阻塞），以获取弹速、弹数等信息
osMessageQueueGet(task_runtime.msgq.ai.rawdata_FromGimbal, &ai_gimbal_fb, NULL, 0); todo: 检查是否有单独发弹速消息队列
*/
osMessageQueueGet(task_runtime.msgq.ai.rawdata_FromShoot, &raw_shoot, NULL, 0);
/* 读取 IMU 四元数（非阻塞） */ /* 3. 打包当前底层板的数据（弹速、弹数、模式），通过CAN发送给上层板
osMessageQueueGet(task_runtime.msgq.ai.rawdata_FromIMU, &ai_imu_quat, NULL, 0); 由于现在只能拿到一部分，预留测试值，实车时接入射击模块返回的信息
*/
// TODO: 使用实际读取到的 bullet_speed 和 bullet_count
float current_bullet_speed = raw_shoot.bullet_speed;
uint16_t current_bullet_count = raw_shoot.num_shooted;
uint8_t current_mode = 1;
/* 打包反馈并通过 CAN 发给上层板（6 帧） Aimbot_PackFeedback(&lower_board_fb, current_bullet_speed, current_bullet_count, current_mode);
* bullet_speed / bullet_count 暂无独立队列，置零； Aimbot_SendFeedbackOnCAN(&aimbot_can, &lower_board_fb);
* 如有裁判系统弹速信息可在此处填入。 */
Aimbot_PackFeedback(&aimbot_fb, &ai_gimbal_fb, &ai_imu_quat,
0.0f, 0u,
(uint8_t)(ai_ref.ref_status == REF_STATUS_RUNNING ? 1u : 0u));
Aimbot_SendFeedbackOnCAN(&aimbot_can, &aimbot_fb);
/* 解析上层板发来的 AI 指令（非阻塞） */ /* 4. 解析上层板发来的 AI 指令（非阻塞提取） */
if (Aimbot_ParseCmdFromCAN(&aimbot_can, &aimbot_cmd) == DEVICE_OK) { if (Aimbot_ParseCmdFromCAN(&aimbot_can, &ai_cmd_from_can) == DEVICE_OK) {
/* 将 Aimbot_AIResult_t 转换为 AI_cmd_t 并推送到 cmd.nuc 队列 */ /* 将 Aimbot_AIResult_t 转换为 AI_cmd_t 并推送到 cmd.nuc 队列 */
ai_cmd_for_nuc.mode = aimbot_cmd.mode; ai_cmd_for_nuc.mode = ai_cmd_from_can.mode;
ai_cmd_for_nuc.gimbal.setpoint.yaw = aimbot_cmd.gimbal_t.setpoint.yaw; ai_cmd_for_nuc.gimbal.setpoint.yaw = ai_cmd_from_can.gimbal_t.setpoint.yaw;
ai_cmd_for_nuc.gimbal.setpoint.pit = aimbot_cmd.gimbal_t.setpoint.pit; ai_cmd_for_nuc.gimbal.setpoint.pit = ai_cmd_from_can.gimbal_t.setpoint.pit;
ai_cmd_for_nuc.gimbal.vel.yaw = aimbot_cmd.gimbal_t.vel.yaw; ai_cmd_for_nuc.gimbal.vel.yaw = ai_cmd_from_can.gimbal_t.vel.yaw;
ai_cmd_for_nuc.gimbal.vel.pit = aimbot_cmd.gimbal_t.vel.pit; ai_cmd_for_nuc.gimbal.vel.pit = ai_cmd_from_can.gimbal_t.vel.pit;
ai_cmd_for_nuc.gimbal.accl.yaw = aimbot_cmd.gimbal_t.accl.yaw; ai_cmd_for_nuc.gimbal.accl.yaw = ai_cmd_from_can.gimbal_t.accl.yaw;
ai_cmd_for_nuc.gimbal.accl.pit = aimbot_cmd.gimbal_t.accl.pit; ai_cmd_for_nuc.gimbal.accl.pit = ai_cmd_from_can.gimbal_t.accl.pit;
osMessageQueueReset(task_runtime.msgq.cmd.nuc); osMessageQueueReset(task_runtime.msgq.cmd.nuc);
osMessageQueuePut(task_runtime.msgq.cmd.nuc, &ai_cmd_for_nuc, 0, 0); osMessageQueuePut(task_runtime.msgq.cmd.nuc, &ai_cmd_for_nuc, 0, 0);

4
User/task/ctrl_chassis.c
View File

@ -66,14 +66,14 @@ void Task_ctrl_chassis(void *argument) {
: 500.0f; : 500.0f;
Chassis_Power_Control(&chassis, power_limit); Chassis_Power_Control(&chassis, power_limit);
Chassis_Output(&chassis); // Chassis_Output(&chassis);
track.middle_val.seata=chassis.feedback.encoder_gimbalYawMotor-chassis.mech_zero; track.middle_val.seata=chassis.feedback.encoder_gimbalYawMotor-chassis.mech_zero;
Track_UpdateFeedback(&track); Track_UpdateFeedback(&track);
Track_Control(&track, &track_cmd ); Track_Control(&track, &track_cmd );
// Track_AutoControl(&track,&chassis); // Track_AutoControl(&track,&chassis);
Track_Output(&track); // Track_Output(&track);
/* 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 */

6
User/task/ctrl_shoot.c
View File

@ -4,6 +4,7 @@
*/ */
/* Includes ----------------------------------------------------------------- */ /* Includes ----------------------------------------------------------------- */
#include "cmsis_os2.h"
#include "task/user_task.h" #include "task/user_task.h"
/* USER INCLUDE BEGIN */ /* USER INCLUDE BEGIN */
#include "module/shoot.h" #include "module/shoot.h"
@ -19,6 +20,7 @@
Shoot_t shoot; Shoot_t shoot;
Shoot_CMD_t shoot_cmd; Shoot_CMD_t shoot_cmd;
Referee_ForShoot_t shoot_ref; /* 裁判系统发射数据 */ Referee_ForShoot_t shoot_ref; /* 裁判系统发射数据 */
Shoot_AI_t shoot_forai;
/* USER STRUCT END */ /* USER STRUCT END */
/* Private function --------------------------------------------------------- */ /* Private function --------------------------------------------------------- */
@ -43,6 +45,10 @@ void Task_ctrl_shoot(void *argument) {
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.ref, &shoot_ref, NULL, 0); osMessageQueueGet(task_runtime.msgq.shoot.ref, &shoot_ref, NULL, 0);
Shoot_DumpAI(&shoot, &shoot_forai);
osMessageQueuePut(task_runtime.msgq.ai.rawdata_FromShoot, &shoot_forai, 0, 0);
/* 消费裁判系统发射数据：在线时更新热量控制参数 */ /* 消费裁判系统发射数据：在线时更新热量控制参数 */
if (shoot_ref.ref_status == REF_STATUS_RUNNING) { if (shoot_ref.ref_status == REF_STATUS_RUNNING) {
shoot.heatcontrol.Hmax = (float)shoot_ref.robot_status.shooter_barrel_heat_limit; shoot.heatcontrol.Hmax = (float)shoot_ref.robot_status.shooter_barrel_heat_limit;

2
User/task/init.c
View File

@ -49,7 +49,7 @@ void Task_Init(void *argument) {
task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd); task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
task_runtime.thread.supercap = osThreadNew(Task_supercap, NULL, &attr_supercap); task_runtime.thread.supercap = osThreadNew(Task_supercap, NULL, &attr_supercap);
task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai); task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
// task_runtime.thread.referee = osThreadNew(Task_referee, NULL, &attr_referee); task_runtime.thread.referee = osThreadNew(Task_referee, NULL, &attr_referee);
// 创建消息队列 // 创建消息队列
/* USER MESSAGE BEGIN */ /* USER MESSAGE BEGIN */

36
ozone/hero.jdebug.user
View File

@ -1,29 +1,28 @@
OpenDocument="ctrl_gimbal.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_gimbal.c", Line=30 OpenDocument="referee_proto_types.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/referee_proto_types.h", Line=15
OpenDocument="startup_stm32h723xx.s", FilePath="D:/CUBEMX/hero/god-yuan-hero/startup_stm32h723xx.s", Line=51 OpenDocument="ctrl_gimbal.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_gimbal.c", Line=0
OpenDocument="startup_stm32h723xx.s", FilePath="D:/CUBEMX/hero/god-yuan-hero/startup_stm32h723xx.s", Line=48
OpenDocument="shoot.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/shoot.c", Line=33 OpenDocument="shoot.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/shoot.c", Line=33
OpenDocument="ref_main.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ref_main.c", Line=12 OpenDocument="ref_main.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ref_main.c", Line=12
OpenDocument="memcpy.c", FilePath="/build/gnu-tools-for-stm32_13.3.rel1.20250523-0900/src/newlib/newlib/libc/string/memcpy.c", Line=0
OpenDocument="referee.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/referee.h", Line=0 OpenDocument="referee.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/referee.h", Line=0
OpenDocument="referee.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/referee.c", Line=0 OpenDocument="uart.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/uart.c", Line=111
OpenDocument="uart.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/uart.c", Line=119
OpenDocument="supercap.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/supercap.c", Line=0 OpenDocument="supercap.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/supercap.c", Line=0
OpenDocument="stm32h7xx_it.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/stm32h7xx_it.c", Line=351 OpenDocument="stm32h7xx_it.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/stm32h7xx_it.c", Line=351
OpenDocument="cmsis_os2.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c", Line=515 OpenDocument="cmsis_os2.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c", Line=515
OpenDocument="config.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/config.c", Line=466 OpenDocument="config.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/config.c", Line=455
OpenDocument="ctrl_shoot.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_shoot.c", Line=0 OpenDocument="ctrl_shoot.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_shoot.c", Line=0
OpenDocument="referee.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/referee.c", Line=21 OpenDocument="referee.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/referee.c", Line=21
OpenDocument="main.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/main.c", Line=60 OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/cmd.c", Line=51
OpenDocument="stm32h7xx_hal_fdcan.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c", Line=5367 OpenDocument="stm32h7xx_hal_fdcan.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c", Line=5367
OpenDocument="track.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/track.c", Line=87 OpenDocument="track.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/track.c", Line=87
OpenDocument="fdcan.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/fdcan.c", Line=240 OpenDocument="main.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/main.c", Line=60
OpenDocument="cmsis_gcc.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/CMSIS/Include/cmsis_gcc.h", Line=1193 OpenDocument="cmsis_gcc.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/CMSIS/Include/cmsis_gcc.h", Line=1193
OpenDocument="referee_proto_types.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/referee_proto_types.h", Line=15 OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd/cmd.c", Line=192
OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/cmd.c", Line=51 OpenDocument="fdcan.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/fdcan.c", Line=98
OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd/cmd.c", Line=0 OpenDocument="cmd.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd/cmd.h", Line=0
OpenDocument="vision_bridge.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/vision_bridge.c", Line=78 OpenDocument="vision_bridge.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/vision_bridge.c", Line=78
OpenDocument="ctrl_chassis.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_chassis.c", Line=44 OpenDocument="ctrl_chassis.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_chassis.c", Line=36
OpenDocument="motor.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/motor.h", Line=20 OpenDocument="motor.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/motor.h", Line=20
OpenDocument="filter.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/component/filter/filter.c", Line=54 OpenDocument="filter.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/component/filter/filter.c", Line=54
OpenDocument="user_math.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/component/user_math.c", Line=45 OpenDocument="user_math.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/component/user_math.c", Line=45
@ -34,29 +33,29 @@ OpenDocument="motor_rm.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/mo
OpenDocument="stm32h7xx_hal_uart_ex.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c", Line=964 OpenDocument="stm32h7xx_hal_uart_ex.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c", Line=964
OpenDocument="queue.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/queue.c", Line=1275 OpenDocument="queue.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/queue.c", Line=1275
OpenDocument="chassis.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/chassis.c", Line=213 OpenDocument="chassis.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/chassis.c", Line=213
OpenDocument="supercap.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/supercap.c", Line=27 OpenDocument="supercap.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/supercap.c", Line=18
OpenDocument="atti_esti.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/atti_esti.c", Line=121 OpenDocument="atti_esti.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/atti_esti.c", Line=121
OpenDocument="fdcan.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/fdcan.c", Line=0 OpenDocument="fdcan.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/fdcan.c", Line=0
OpenDocument="time.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/time.c", Line=17 OpenDocument="time.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/time.c", Line=17
OpenToolbar="Debug", Floating=0, x=0, y=0 OpenToolbar="Debug", Floating=0, x=0, y=0
OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=728, h=594, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1 OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=728, h=589, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=328, h=930, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=328, h=930, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=728, h=335, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=728, h=340, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Memory 1", DockArea=BOTTOM, x=0, y=0, w=239, h=544, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0xFFFF5088 OpenWindow="Memory 1", DockArea=BOTTOM, x=0, y=0, w=239, h=544, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0xFFFF5088
OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=728, h=594, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=728, h=589, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=328, h=930, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=328, h=930, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=866, h=525, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=866, h=525, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
OpenWindow="Timeline", DockArea=BOTTOM, x=1, y=0, w=1453, h=544, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="5 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="21;187", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1157;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1164;0" OpenWindow="Timeline", DockArea=BOTTOM, x=1, y=0, w=1453, h=544, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="5 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="21;187", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1157;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1164;0"
OpenWindow="Console", DockArea=BOTTOM, x=2, y=0, w=866, h=525, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Console", DockArea=BOTTOM, x=2, y=0, w=866, h=525, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1" SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;100]
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;100;100;100;100;100;110;126;126]
TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[120;144;464] TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[120;144;464]
TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1594;104;100;100;100] 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="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[] 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;1022] TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[215;100;100;100;1022]
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[298;229;145;100] TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[298;229;145;100]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;100]
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;100;100;100;100;100;110;126;126]
TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;340] TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;340]
WatchedExpression="cmd", RefreshRate=5, Window=Watched Data 1 WatchedExpression="cmd", RefreshRate=5, Window=Watched Data 1
WatchedExpression="bmi088", RefreshRate=5, Window=Watched Data 1 WatchedExpression="bmi088", RefreshRate=5, Window=Watched Data 1
@ -74,3 +73,4 @@ WatchedExpression="imu_to_can", RefreshRate=5, Window=Watched Data 1
WatchedExpression="ref", RefreshRate=5, Window=Watched Data 1 WatchedExpression="ref", RefreshRate=5, Window=Watched Data 1
WatchedExpression="rxbuf", RefreshRate=5, Window=Watched Data 1 WatchedExpression="rxbuf", RefreshRate=5, Window=Watched Data 1
WatchedExpression="shoot_ref", RefreshRate=5, Window=Watched Data 1 WatchedExpression="shoot_ref", RefreshRate=5, Window=Watched Data 1
WatchedExpression="gimbal_cmd", RefreshRate=5, Window=Watched Data 1