bc

User/module/shoot.c

@@ -177,7 +177,7 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
 		s->target_variable.fric_rpm=5000.0f;
 		break;
 		case SHOOT_PROJECTILE_42MM:
-		s->target_variable.fric_rpm=4000.0f;
+		s->target_variable.fric_rpm=6500.0f;
 		break;	
 	}
     return SHOOT_OK;

User/task/ai.c

@@ -7,10 +7,10 @@
 
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-#include "module/vision_bridge.h"
+// #include "module/vision_bridge.h"
-#include "component/ahrs/ahrs.h"
+// #include "component/ahrs/ahrs.h"
-#include "module/gimbal.h"
+// #include "module/gimbal.h"
-#include "module/shoot.h"
+// #include "module/shoot.h"
 /* USER INCLUDE END */
  
 /* Private typedef ---------------------------------------------------------- */
@@ -18,12 +18,12 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
-AI_t ai;
+// AI_t ai;
-AI_cmd_t aiToCmd;
+// AI_cmd_t aiToCmd;
 
-AI_RawData_t rawdata;
+// AI_RawData_t rawdata;
-AHRS_Quaternion_t quat_from_imu;
+// AHRS_Quaternion_t quat_from_imu;
-Gimbal_Feedback_t rawdata_from_gimbal;
+// Gimbal_Feedback_t rawdata_from_gimbal;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -46,24 +46,24 @@ void Task_ai(void *argument) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
 		
-		osMessageQueueGet(task_runtime.msgq.ai.rawdata_FromGimbal, &rawdata_from_gimbal, NULL, 0);	
+		// osMessageQueueGet(task_runtime.msgq.ai.rawdata_FromGimbal, &rawdata_from_gimbal, NULL, 0);	
-		osMessageQueueGet(task_runtime.msgq.ai.rawdata_FromIMU, &quat_from_imu, NULL, 0);		
+		// osMessageQueueGet(task_runtime.msgq.ai.rawdata_FromIMU, &quat_from_imu, NULL, 0);		
-    rawdata.mode=1;
+    // rawdata.mode=1;
-    rawdata.pitch=rawdata_from_gimbal.motor.pit.rotor_abs_angle;
+    // rawdata.pitch=rawdata_from_gimbal.motor.pit.rotor_abs_angle;
-    rawdata.yaw=rawdata_from_gimbal.motor.yaw.rotor_abs_angle;
+    // rawdata.yaw=rawdata_from_gimbal.motor.yaw.rotor_abs_angle;
-    rawdata.pitch_vel=rawdata_from_gimbal.motor.pit.rotor_speed;
+    // rawdata.pitch_vel=rawdata_from_gimbal.motor.pit.rotor_speed;
-    rawdata.yaw_vel=rawdata_from_gimbal.motor.yaw.rotor_speed;
+    // rawdata.yaw_vel=rawdata_from_gimbal.motor.yaw.rotor_speed;
-    rawdata.q[0]=quat_from_imu.q0;
+    // rawdata.q[0]=quat_from_imu.q0;
-    rawdata.q[1]=quat_from_imu.q1;
+    // rawdata.q[1]=quat_from_imu.q1;
-    rawdata.q[2]=quat_from_imu.q2;
+    // rawdata.q[2]=quat_from_imu.q2;
-    rawdata.q[3]=quat_from_imu.q3;
+    // rawdata.q[3]=quat_from_imu.q3;
-    AI_ParseForHost(&ai,&rawdata);
+    // AI_ParseForHost(&ai,&rawdata);
-		AI_StartSend(&ai);
+		// AI_StartSend(&ai);
 		
-		AI_StartReceiving(&ai);		
+		// AI_StartReceiving(&ai);		
-		AI_Get(&ai,&aiToCmd);		
+		// AI_Get(&ai,&aiToCmd);		
-    osMessageQueueReset(task_runtime.msgq.cmd.nuc);
+    // osMessageQueueReset(task_runtime.msgq.cmd.nuc);
-    osMessageQueuePut(task_runtime.msgq.cmd.nuc, &aiToCmd, 0, 0);		
+    // osMessageQueuePut(task_runtime.msgq.cmd.nuc, &aiToCmd, 0, 0);		
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }

User/task/atti_esti.c

@@ -21,7 +21,7 @@
 
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
-#define ATTI_EULR_CAN_ID  (0x321u)
+#define ATTI_EULR_CAN_ID  (0x100u)
 #define ATTI_EULR_SCALE   (10000.0f)  /* 0.0001 rad per LSB */
 #define ATTI_EULR_CAN_DLC (6u)
 /* Private macro ------------------------------------------------------------ */

User/task/cmd.c

@@ -14,11 +14,15 @@
 #include "module/shoot.h"
 #include "module/track.h"
 #include "module/cmd/cmd.h"
+#include "bsp/fdcan.h"
 //#define DEAD_AREA 0.05f
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
+#define AI_CMD_CAN_ID        (0x101u)
+#define AI_CMD_CAN_DLC       (5u)  /* 1字节mode + 2字节yaw + 2字节pit */
+#define AI_CMD_ANGLE_SCALE   (10000.0f)  /* 0.0001 rad per LSB */
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
@@ -37,6 +41,7 @@ static CMD_t cmd;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
+static void AI_ParseCmdFromCan(const BSP_FDCAN_Message_t *msg, AI_cmd_t *cmd);
 /* Exported functions ------------------------------------------------------- */
 void Task_cmd(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
@@ -50,6 +55,9 @@ void Task_cmd(void *argument) {
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
   CMD_Init(&cmd, &Config_GetRobotParam()->cmd_param);
+  
+  /* 注册CAN接收ID */
+  BSP_FDCAN_RegisterId(BSP_FDCAN_2, AI_CMD_CAN_ID, BSP_FDCAN_DEFAULT_QUEUE_SIZE);
   /* USER CODE INIT END */
   
   while (1) {
@@ -60,8 +68,13 @@ void Task_cmd(void *argument) {
     #elif CMD_RCTypeTable_Index == 1
     osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_at9s, NULL, 0);
     #endif
-    osMessageQueueGet(task_runtime.msgq.cmd.nuc, &cmd_ai, NULL, 0);
     
+    /* 从CAN2接收AI命令 */
+    BSP_FDCAN_Message_t can_msg;
+    if (BSP_FDCAN_GetMessage(BSP_FDCAN_2, AI_CMD_CAN_ID, &can_msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) {
+      AI_ParseCmdFromCan(&can_msg, &cmd_ai);
+    }
+
     CMD_Update(&cmd);
     
     /* 获取命令发送到各模块 */
@@ -81,4 +94,28 @@ void Task_cmd(void *argument) {
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }
   
+}
+
+/* 从CAN消息解析AI命令 (mode + yaw + pit) */
+static void AI_ParseCmdFromCan(const BSP_FDCAN_Message_t *msg, AI_cmd_t *cmd) {
+  if (msg == NULL || cmd == NULL || msg->dlc < AI_CMD_CAN_DLC) {
+    return;
+  }
+  
+  /* 解析mode (1字节) */
+  cmd->mode = msg->data[0];
+  
+  /* 解析yaw (2字节，高字节在前) */
+  int16_t yaw_raw = (int16_t)((msg->data[1] << 8) | msg->data[2]);
+  cmd->gimbal.setpoint.yaw = (float)yaw_raw / AI_CMD_ANGLE_SCALE;
+  
+  /* 解析pit (2字节，高字节在前) */
+  int16_t pit_raw = (int16_t)((msg->data[3] << 8) | msg->data[4]);
+  cmd->gimbal.setpoint.pit = (float)pit_raw / AI_CMD_ANGLE_SCALE;
+  
+  /* 其他字段根据需要可以初始化为0 */
+  cmd->gimbal.vel.yaw = 0.0f;
+  cmd->gimbal.vel.pit = 0.0f;
+  cmd->gimbal.accl.yaw = 0.0f;
+  cmd->gimbal.accl.pit = 0.0f;
 }

User/task/init.c

@@ -43,7 +43,7 @@ void Task_Init(void *argument) {
   task_runtime.thread.ctrl_shoot = osThreadNew(Task_ctrl_shoot, NULL, &attr_ctrl_shoot);
   task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
   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);
 
   // 创建消息队列
   /* USER MESSAGE BEGIN */