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小修改了逻辑，添加了注释

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This commit is contained in:
yxming66 2025-10-03 18:18:25 +08:00
parent a5b600866b
commit c628b431a9
17 changed files with 4126 additions and 4327 deletions
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72
MDK-ARM/shoot.uvguix.yxm23
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MDK-ARM/shoot/config.o
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MDK-ARM/shoot/shoot.axf
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MDK-ARM/shoot/shoot.build_log.htm
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@ -28,6 +28,10 @@ Project File Date: 10/02/2025
*** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin'
Build target 'shoot'
Note: source file '..\User\bsp\can.c' - object file renamed from 'shoot\can.o' to 'shoot\can_1.o'.
compiling shoot_control.c...
linking...
Program Size: Code=30760 RO-data=660 RW-data=236 ZI-data=23076
FromELF: creating hex file...
"shoot\shoot.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>

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MDK-ARM/shoot/shoot.hex
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MDK-ARM/shoot/shoot.htm
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MDK-ARM/shoot/shoot.map
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MDK-ARM/shoot/shoot_ctrl.o
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14
MDK-ARM/shoot/shoot_shoot.dep
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@ -1268,7 +1268,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
I (..\User\bsp\bsp.h)(0x68D3FFDB)
F (..\User\device\AT9S_Pro.h)(0x68CE6AC0)()
F (..\User\component\user_math.c)(0x68DE7D66)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/user_math.o -MD)
F (..\User\component\user_math.c)(0x68DF79D0)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/user_math.o -MD)
I (..\User\component\user_math.h)(0x68D3FFDB)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
@ -1309,8 +1309,8 @@ I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
F (..\User\component\pid.h)(0x68DD0ECB)()
F (..\User\module\shoot_control.c)(0x68DE97A5)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/shoot_control.o -MD)
I (..\User\module\shoot_control.h)(0x68DE8F09)
F (..\User\module\shoot_control.c)(0x68DF961C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/shoot_control.o -MD)
I (..\User\module\shoot_control.h)(0x68DF960C)
I (..\Core\Inc\main.h)(0x68D1384A)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)
@ -1367,8 +1367,8 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\time.h)(0x68D3FFDB)
F (..\User\module\shoot_control.h)(0x68DE8F09)()
F (..\User\module\config.c)(0x68DE90D3)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/config.o -MD)
F (..\User\module\shoot_control.h)(0x68DF960C)()
F (..\User\module\config.c)(0x68DF817A)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/config.o -MD)
I (..\User\module\config.h)(0x68DABE70)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\pid.h)(0x68DD0ECB)
@ -1424,7 +1424,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (..\User\module\shoot_control.h)(0x68DE8F09)
I (..\User\module\shoot_control.h)(0x68DF960C)
F (..\User\module\config.h)(0x68DABE70)()
F (..\User\task\init.c)(0x68D4AE2D)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/init.o -MD)
I (..\User\task\user_task.h)(0x68D3E4B9)
@ -1489,7 +1489,7 @@ I (..\User\component\user_math.h)(0x68D3FFDB)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68D400B4)
I (..\User\module\shoot_control.h)(0x68DE8F09)
I (..\User\module\shoot_control.h)(0x68DF960C)
I (..\Core\Inc\main.h)(0x68D1384A)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)

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MDK-ARM/shoot/user_math.o
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2
Ozone/shoot.jdebug
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@ -32,7 +32,7 @@ void OnProjectLoad (void) {
//
// User settings
//
Edit.SysVar (VAR_HSS_SPEED, "100 Hz");
Edit.SysVar (VAR_HSS_SPEED, "500 Hz");
Project.SetOSPlugin ("FreeRTOSPlugin_Cortex-M");
File.Open ("D:/CUBEMX/shoot/MDK-ARM/shoot/shoot.axf");
Util.Error("==== 脚本已加载，路径请看标题栏", 0);

35
Ozone/shoot.jdebug.user
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@ -4,45 +4,44 @@
Breakpoint=D:/CUBEMX/shoot/User/device/motor_rm.c:145:32, State=BP_STATE_DISABLED
Breakpoint=D:/CUBEMX/shoot/User/device/motor_rm.c:148:22, State=BP_STATE_DISABLED
Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:114, State=BP_STATE_DISABLED
GraphedExpression="((shoot).target_variable).target_angle", Color=#e56a6f
GraphedExpression="((shoot).output).outagl_trig", Color=#35792b, Show=0
GraphedExpression="((shoot).output).outomg_trig", Color=#769dda, Show=0
GraphedExpression="((shoot).output).outlpf_trig", Color=#b14f0d, Show=0
GraphedExpression="(((shoot).feedback).trig).torque_current", Color=#b3c38e, Show=0
GraphedExpression="((shoot).feedback).trig_angle_cicle", Color=#ab7b05
OpenDocument="tasks.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3617
GraphedExpression="(((shoot).feedback).fric[0]).rotor_speed", Color=#e56a6f, Show=0
GraphedExpression="((shoot).output).out_err[0]", Color=#35792b
GraphedExpression="((shoot).output).out_fric[0]", Color=#769dda, Show=0
GraphedExpression="((shoot).output).out_follow[0]", Color=#b14f0d
OpenDocument="tasks.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3637
OpenDocument="startup_stm32f407xx.s", FilePath="D:/CUBEMX/shoot/MDK-ARM/startup_stm32f407xx.s", Line=161
OpenDocument="main.c", FilePath="D:/CUBEMX/shoot/Core/Src/main.c", Line=66
OpenDocument="stm32f4xx_hal_can.c", FilePath="D:/CUBEMX/shoot/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c", Line=1558
OpenDocument="shoot_control.h", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.h", Line=111
OpenDocument="shoot_control.h", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.h", Line=58
OpenDocument="config.c", FilePath="D:/CUBEMX/shoot/User/module/config.c", Line=39
OpenDocument="queue.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/queue.c", Line=854
OpenDocument="queue.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/queue.c", Line=2062
OpenDocument="filter.c", FilePath="D:/CUBEMX/shoot/User/component/filter.c", Line=49
OpenDocument="shoot_ctrl.c", FilePath="D:/CUBEMX/shoot/User/task/shoot_ctrl.c", Line=1
OpenDocument="rc.c", FilePath="D:/CUBEMX/shoot/User/task/rc.c", Line=0
OpenDocument="shoot_control.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=191
OpenDocument="shoot_control.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=164
OpenDocument="motor.h", FilePath="D:/CUBEMX/shoot/User/device/motor.h", Line=0
OpenDocument="motor_rm.c", FilePath="D:/CUBEMX/shoot/User/device/motor_rm.c", Line=120
OpenDocument="motor_rm.c", FilePath="D:/CUBEMX/shoot/User/device/motor_rm.c", Line=148
OpenToolbar="Debug", Floating=0, x=0, y=0
OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=0, w=726, h=919, TabPos=1, 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="Watched Data 1", DockArea=RIGHT, x=0, y=0, w=726, h=919, TabPos=0, 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=0, y=0, w=1007, h=536, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
OpenWindow="Timeline", DockArea=BOTTOM, x=1, y=0, w=1552, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="200 ms / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="668;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1328;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1344;0"
OpenWindow="Timeline", DockArea=BOTTOM, x=1, y=0, w=1552, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="240;101", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1327;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1343;0"
OpenWindow="Console", DockArea=BOTTOM, x=0, y=0, w=1007, h=536, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;144;294]
TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1594;104;100;100;286]
TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;144;482]
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="Task List", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Name";"Run Count";"Priority";"Status";"Timeout";"Stack Info";"ID";"Mutex Count";"Notified Value";"Notify State"], ColWidths=[110;110;110;110;110;110;110;110;110;110]
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;734]
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[250;282;91;103]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" ((shoot).target_variable).target_angle";" ((shoot).output).outagl_trig";" ((shoot).output).outomg_trig";" ((shoot).output).outlpf_trig";" (((shoot).feedback).trig).torque_current";" ((shoot).feedback).trig_angle_cicle"], ColWidths=[100;100;100;100;100;100;100;307]
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;100;144;134;144;144;110;154;144]
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[250;282;91;100]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" (((shoot).feedback).fric[0]).rotor_speed";" ((shoot).output).out_err[0]";" ((shoot).output).out_fric[0]";" ((shoot).output).out_follow[0]"], ColWidths=[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;154;164;154;164;110;164;154]
TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;340]
WatchedExpression="shoot_ctrl_cmd_rc", RefreshRate=5, Window=Watched Data 1
WatchedExpression="shoot_cmd", RefreshRate=5, Window=Watched Data 1
WatchedExpression="shoot", RefreshRate=5, Window=Watched Data 1
WatchedExpression="pos", RefreshRate=5, Window=Watched Data 1
WatchedExpression="pos", RefreshRate=5, Window=Watched Data 1
WatchedExpression="feedback_current", Window=Watched Data 1

3
User/component/user_math.c
View File

@ -74,8 +74,7 @@ inline float CircleError(float sp, float fb, float range) {
/**
* \brief 循环加法，适用于被操作的值在（x,y）范围内循环的情况，range应设定为y-x
* 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b;
* \brief 循环加法，适用于被操作的值在（0,range）范围内循环的情况
*
* \param origin 被操作的值
* \param delta 变化量

4
User/module/config.c
View File

@ -67,8 +67,8 @@ Config_RobotParam_t robot_config = {
.gear=false,
},
.trig_motor_param = {
.can = BSP_CAN_1,
.id = 0x203,
.can = BSP_CAN_2,
.id = 0x207,
.module = MOTOR_M2006,
.reverse = false,
.gear=true,

254
User/module/shoot_control.c
View File

@ -1,4 +1,8 @@
/*
* far♂蛇模块
*/
/* Includes ----------------------------------------------------------------- */
#include "shoot_control.h"
#include <string.h>
#include "can.h"
@ -7,8 +11,12 @@
#include <math.h>
#include "bsp/time.h"
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
static bool last_firecmd;
/* Private function -------------------------------------------------------- */
static inline void ScaleSumTo1(float *a, float *b) {
float sum = *a + *b;
if (sum > 1.0f) {
@ -18,7 +26,14 @@ static inline void ScaleSumTo1(float *a, float *b) {
}
}
/**
* \brief 设置射击模式
*
* \param s 包含射击数据的结构体
* \param mode 要设置的模式
*
* \return 函数运行结果
*/
int8_t Shoot_SetMode(Shoot_t *s, Shoot_Mode_t mode)
{
if (s == NULL) {
@ -28,6 +43,13 @@ int8_t Shoot_SetMode(Shoot_t *s, Shoot_Mode_t mode)
return 0;
}
/**
* \brief 重置PID积分
*
* \param s 包含射击数据的结构体
*
* \return 函数运行结果
*/
int8_t Shoot_ResetIntegral(Shoot_t *s)
{
if (s == NULL) {
@ -43,6 +65,13 @@ int8_t Shoot_ResetIntegral(Shoot_t *s)
return 0;
}
/**
* \brief 重置计算模块
*
* \param s 包含射击数据的结构体
*
* \return 函数运行结果
*/
int8_t Shoot_ResetCalu(Shoot_t *s)
{
if (s == NULL) {
@ -62,6 +91,13 @@ int8_t Shoot_ResetCalu(Shoot_t *s)
return 0;
}
/**
* \brief 重置输出
*
* \param s 包含射击数据的结构体
*
* \return 函数运行结果
*/
int8_t Shoot_ResetOutput(Shoot_t *s)
{
if (s == NULL) {
@ -80,6 +116,14 @@ int8_t Shoot_ResetOutput(Shoot_t *s)
return 0;
}
/**
* \brief 根据目标弹丸速度计算摩擦轮目标转速
*
* \param s 包含射击数据的结构体
* \param target_speed 目标弹丸速度，单位m/s
*
* \return 函数运行结果
*/
int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
{
if (s == NULL) {
@ -88,11 +132,14 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
s->target_variable.target_rpm=4000.0f/MAX_FRIC_RPM;
return 0;
}
/**
* \brief 根据发射弹丸数量及发射频率计算拨弹电机目标角度
*
* \param s 包含发射数据的结构体
* \param num 需要发射的弹丸数量
* \param cmd 包含射击指令的结构体
*
* \return 函数运行结果
*/
int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
{
@ -102,42 +149,22 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
if(s->now - s->anglecalu.time_last_shoot >= s->param->shot_delay_time && cmd->firecmd)
{
s->anglecalu.time_last_shoot=s->now;
s->target_variable.target_angle += s->param->trig_step_angle;
if(s->target_variable.target_angle>M_PI)s->target_variable.target_angle-=M_2PI;
else if((s->target_variable.target_angle<-M_PI))s->target_variable.target_angle+=M_2PI;
CircleAdd(&s->target_variable.target_angle, s->param->trig_step_angle, M_2PI);
// s->target_variable.target_angle += s->param->trig_step_angle;
// if(s->target_variable.target_angle>M_PI)s->target_variable.target_angle-=M_2PI;
// else if((s->target_variable.target_angle<-M_PI))s->target_variable.target_angle+=M_2PI;
s->anglecalu.num_to_shoot--;
}
return 0;
}
int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
{
if (s == NULL || param == NULL || target_freq <= 0.0f) {
return -1; // 参数错误
}
s->param=param;
BSP_CAN_Init();
for(int i=0;i<SHOOT_FRIC_NUM;i++){
MOTOR_RM_Register(&param->fric_motor_param[i]);
PID_Init(&s->pid.fric_follow[i], KPID_MODE_CALC_D, target_freq,&param->fric_follow);
PID_Init(&s->pid.fric_err[i], KPID_MODE_CALC_D, target_freq,&param->fric_err);
LowPassFilter2p_Init(&s->filter.fric.in[i], target_freq, s->param->filter.fric.in);
LowPassFilter2p_Init(&s->filter.fric.out[i], target_freq, s->param->filter.fric.out);
}
MOTOR_RM_Register(&param->trig_motor_param);
PID_Init(&s->pid.trig, KPID_MODE_CALC_D, target_freq,&param->trig);
PID_Init(&s->pid.trig_omg, KPID_MODE_CALC_D, target_freq,&param->trig_omg);
LowPassFilter2p_Init(&s->filter.trig.in, target_freq, s->param->filter.trig.in);
LowPassFilter2p_Init(&s->filter.trig.out, target_freq, s->param->filter.trig.out);
memset(&s->anglecalu,0,sizeof(s->anglecalu));
memset(&s->output,0,sizeof(s->output));
return 0;
}
/**
* \brief 更新射击模块的电机反馈信息
*
* \param s 包含射击数据的结构体
*
* \return 函数运行结果
*/
int8_t Chassis_UpdateFeedback(Shoot_t *s)
{
if (s == NULL) {
@ -145,20 +172,20 @@ int8_t Chassis_UpdateFeedback(Shoot_t *s)
}
float rpm_sum=0.0f;
for(int i = 0; i < SHOOT_FRIC_NUM; i++) {
/* 更新摩擦电机反馈 */
/* 更新摩擦轮电机反馈 */
MOTOR_RM_Update(&s->param->fric_motor_param[i]);
MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->fric_motor_param[i]);
if(motor_fed!=NULL)
{
s->feedback.fric[i]=motor_fed->motor.feedback;
}
/* 滤波反馈rpm */
/* 滤波摩擦轮电机转速反馈 */
s->feedback.fil_fric_rpm[i] = LowPassFilter2p_Apply(&s->filter.fric.in[i], s->feedback.fric[i].rotor_speed);
/* 归一化rpm */
/* 归一化摩擦轮电机转速反馈 */
s->feedback.fric_rpm[i] = s->feedback.fil_fric_rpm[i] / MAX_FRIC_RPM;
if(s->feedback.fric_rpm[i]>1.0f)s->feedback.fric_rpm[i]=1.0f;
if(s->feedback.fric_rpm[i]<-1.0f)s->feedback.fric_rpm[i]=-1.0f;
/* 计算平均rpm */
/* 计算平均摩擦轮电机转速反馈 */
rpm_sum+=s->feedback.fric_rpm[i];
}
s->feedback.fric_avgrpm=rpm_sum/SHOOT_FRIC_NUM;
@ -168,16 +195,7 @@ int8_t Chassis_UpdateFeedback(Shoot_t *s)
if(motor_fed!=NULL)
{
s->feedback.trig=motor_fed->feedback;
}
/* 将多圈角度归化到单圈 (-M_PI, M_PI) */
s->feedback.trig_angle_cicle = s->feedback.trig.rotor_abs_angle;
s->feedback.trig_angle_cicle = fmod(s->feedback.trig_angle_cicle, M_2PI); // 将角度限制在 [-2π, 2π]
if (s->feedback.trig_angle_cicle > M_PI) {
s->feedback.trig_angle_cicle -= M_2PI; // 调整到 [-π, π]
}else if (s->feedback.trig_angle_cicle < -M_PI) {
s->feedback.trig_angle_cicle += M_2PI; // 调整到 [-π, π]
}
}
s->feedback.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.rotor_speed);
s->feedback.trig_rpm = s->feedback.trig.rotor_speed / MAX_TRIG_RPM;
if(s->feedback.trig_rpm>1.0f)s->feedback.trig_rpm=1.0f; //如果单环效果好就删
@ -187,6 +205,14 @@ int8_t Chassis_UpdateFeedback(Shoot_t *s)
return 0;
}
/**
* \brief 射击模块运行状态机
*
* \param s 包含射击数据的结构体
* \param cmd 包含射击指令的结构体
*
* \return 函数运行结果
*/
int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
{
if (s == NULL || cmd == NULL) {
@ -206,7 +232,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
case SHOOT_STATE_IDLE:/*熄火等待*/
for(int i=0;i<SHOOT_FRIC_NUM;i++)
{
{ /* 转速归零 */
PID_ResetIntegral(&s->pid.fric_follow[i]);
s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],0.0f,s->feedback.fric_rpm[i],0,s->dt);
s->output.out_fric[i]=s->output.out_follow[i];
@ -214,10 +240,12 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
}
s->output.outagl_trig =PID_Calc(&s->pid.trig,pos,s->feedback.trig_angle_cicle,0,s->dt);
s->output.outagl_trig =PID_Calc(&s->pid.trig,pos,s->feedback.trig.rotor_abs_angle,0,s->dt);
s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
/* 检查状态机 */
if(cmd->ready)
{
Shoot_ResetCalu(s);
@ -226,8 +254,8 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
s->running_state=SHOOT_STATE_READY;
}
break;
case SHOOT_STATE_READY:/*准备射击*/
case SHOOT_STATE_READY:/*准备射击*/
for(int i=0;i<SHOOT_FRIC_NUM;i++)
{ /* 计算跟随输出、计算修正输出 */
s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],s->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt);
@ -237,12 +265,12 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i];
/* 滤波 */
s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
/* 输出 */
/* 设置输出 */
MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
}
/* 拨弹电机输出 */
s->output.outagl_trig =PID_Calc(&s->pid.trig,pos,s->feedback.trig_angle_cicle,0,s->dt);
s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
/* 设置拨弹电机输出 */
s->output.outagl_trig =PID_Calc(&s->pid.trig,pos,s->feedback.trig.rotor_abs_angle,0,s->dt);
s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
@ -260,39 +288,55 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
}
break;
case SHOOT_STATE_FIRE:
case SHOOT_STATE_FIRE:/*射击*/
Shoot_CaluTargetAngle(s, cmd);
for(int i=0;i<SHOOT_FRIC_NUM;i++)
{
{ /* 计算跟随输出、计算修正输出 */
s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],s->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt);
s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt);
/* 按比例缩放并加和输出 */
ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]);
s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i];
/* 滤波 */
s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
/* 设置输出 */
MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
}
s->output.outagl_trig =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,0,s->dt);
s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
/* 设置拨弹电机输出 */
s->output.outagl_trig =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig.rotor_abs_angle,0,s->dt);
s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
/* 检查状态机 */
if(!cmd->firecmd)
{
s->running_state=SHOOT_STATE_READY;
pos=s->feedback.trig_angle_cicle;
pos=s->feedback.trig.rotor_abs_angle;
}
break;
default:
s->running_state=SHOOT_STATE_IDLE;
break;
}
}
/* 输出 */
MOTOR_RM_Ctrl(&s->param->fric_motor_param[0]);
MOTOR_RM_Ctrl(&s->param->fric_motor_param[4]);
last_firecmd = cmd->firecmd;
return 0;
}
/**
* \brief 射击模块堵塞检测状态机
*
* \param s 包含射击数据的结构体
* \param cmd 包含射击指令的结构体
*
* \return 函数运行结果
*/
int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
{
if (s == NULL) {
@ -300,36 +344,43 @@ int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
}
switch (s->jamdetection.jamfsm_state) {
case SHOOT_JAMFSM_STATE_NORMAL:
case SHOOT_JAMFSM_STATE_NORMAL:/* 正常运行 */
/* 检测电流是否超过阈值 */
if (s->feedback.trig.torque_current/1000.0f > s->param->jam_threshold) {
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_SUSPECTED;
s->jamdetection.jam_last_time = s->now; // 记录怀疑开始时间
s->jamdetection.jam_last_time = s->now; /* 记录怀疑开始时间 */
}
Shoot_RunningFSM(s, cmd); // 正常运行状态下继续执行射击状态机
/* 正常运行射击状态机 */
Shoot_RunningFSM(s, cmd);
break;
case SHOOT_JAMFSM_STATE_SUSPECTED:
case SHOOT_JAMFSM_STATE_SUSPECTED:/* 怀疑堵塞 */
/* 检测电流是否低于阈值 */
if (s->feedback.trig.torque_current/1000.0f < s->param->jam_threshold) {
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
break;
} else {
if ((s->now - s->jamdetection.jam_last_time) >= s->param->jam_suspected_time) {
s->jamdetection.jam_detected =true;
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_CONFIRMED;
break;
}
}
/* 检测高阈值状态是否超过设定怀疑时间 */
else if ((s->now - s->jamdetection.jam_last_time) >= s->param->jam_suspected_time) {
s->jamdetection.jam_detected =true;
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_CONFIRMED;
break;
}
/* 正常运行射击状态机 */
Shoot_RunningFSM(s, cmd);
break;
case SHOOT_JAMFSM_STATE_CONFIRMED:
// 进入处理状态，修改拨弹盘目标角度
s->target_variable.target_angle = s->feedback.trig_angle_cicle-0.5f*s->param->trig_step_angle;
case SHOOT_JAMFSM_STATE_CONFIRMED:/* 确认堵塞 */
/* 进入处理状态，修改拨弹盘目标角度 */
s->target_variable.target_angle = s->feedback.trig.rotor_abs_angle-0.5f*s->param->trig_step_angle;
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_DEAL;
s->jamdetection.jam_last_time = s->now; // 记录处理开始时间
case SHOOT_JAMFSM_STATE_DEAL:
s->jamdetection.jam_last_time = s->now; /* 记录处理开始时间 */
case SHOOT_JAMFSM_STATE_DEAL:/* 堵塞处理 */
/* 正常运行射击状态机 */
Shoot_RunningFSM(s, cmd);
if ((s->now - s->jamdetection.jam_last_time)>=0.3f&&s->output.outlpf_trig < 0.1f) { /* 给予0.3秒响应时间并检测输出，认为堵塞已解除 */
/* 给予0.3秒响应时间并检测电流小于20A，认为堵塞已解除 */
if ((s->now - s->jamdetection.jam_last_time)>=0.3f&&s->feedback.trig.torque_current/1000.0f < 20.0f) {
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
}
break;
@ -341,7 +392,54 @@ int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
return 0;
}
/* Exported functions ------------------------------------------------------- */
/**
* \brief 初始化射击模块
*
* \param s 包含射击数据的结构体
* \param param 包含射击参数的结构体
* \param target_freq 控制循环频率，单位Hz
*
* \return 函数运行结果
*/
int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
{
if (s == NULL || param == NULL || target_freq <= 0.0f) {
return -1; // 参数错误
}
s->param=param;
BSP_CAN_Init();
/* 初始化摩擦轮PID和滤波器 */
for(int i=0;i<SHOOT_FRIC_NUM;i++){
MOTOR_RM_Register(&param->fric_motor_param[i]);
PID_Init(&s->pid.fric_follow[i], KPID_MODE_CALC_D, target_freq,&param->fric_follow);
PID_Init(&s->pid.fric_err[i], KPID_MODE_CALC_D, target_freq,&param->fric_err);
LowPassFilter2p_Init(&s->filter.fric.in[i], target_freq, s->param->filter.fric.in);
LowPassFilter2p_Init(&s->filter.fric.out[i], target_freq, s->param->filter.fric.out);
}
/* 初始化拨弹PID和滤波器 */
MOTOR_RM_Register(&param->trig_motor_param);
PID_Init(&s->pid.trig, KPID_MODE_CALC_D, target_freq,&param->trig);
PID_Init(&s->pid.trig_omg, KPID_MODE_CALC_D, target_freq,&param->trig_omg);
LowPassFilter2p_Init(&s->filter.trig.in, target_freq, s->param->filter.trig.in);
LowPassFilter2p_Init(&s->filter.trig.out, target_freq, s->param->filter.trig.out);
/* 归零变量 */
memset(&s->anglecalu,0,sizeof(s->anglecalu));
memset(&s->output,0,sizeof(s->output));
return 0;
}
/**
* \brief 射击模块控制主函数
*
* \param s 包含射击数据的结构体
* \param cmd 包含射击指令的结构体
*
* \return 函数运行结果
*/
int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
{
if (s == NULL || cmd == NULL) {

61
User/module/shoot_control.h
View File

@ -1,5 +1,5 @@
/*
* far蛇模组
* far♂蛇模块
*/
#pragma once
@ -58,8 +58,6 @@ typedef struct {
float fil_fric_rpm[SHOOT_FRIC_NUM]; /* 滤波后的摩擦轮转速 */
float fil_trig_rpm; /* 滤波后的拨弹电机转速*/
float trig_angle_cicle; /* 拨弹电机减速输出轴单圈角度（0~M_2PI） */
float fric_rpm[SHOOT_FRIC_NUM]; /* 归一化摩擦轮转速 */
float fric_avgrpm; /* 归一化摩擦轮平均转速*/
float trig_rpm; /* 归一化拨弹电机转速*/
@ -99,7 +97,7 @@ typedef struct {
float jam_threshold; /* 卡弹检测阈值，单位A */
float jam_suspected_time; /* 卡弹怀疑时间，单位秒 */
MOTOR_RM_Param_t fric_motor_param[SHOOT_FRIC_NUM];
MOTOR_RM_Param_t fric_motor_param[SHOOT_FRIC_NUM];
MOTOR_RM_Param_t trig_motor_param;
@ -126,45 +124,44 @@ typedef struct {
* 包含了初始化参数，中间变量，输出变量
*/
typedef struct {
bool online;
bool online;//待完善，电机或遥控器在线检测
float now;
uint64_t lask_wakeup;
float dt;
Shoot_Params_t *param; /* 发射参数 */
/* 模块通用 */
Shoot_Running_State_t running_state; /* 运行状态机 */
Shoot_Mode_t mode;
/* 反馈信息 */
Shoot_Feedback_t feedback;
/* 控制信息*/
Shoot_JamDetection_t jamdetection;
Shoot_AngleCalu_t anglecalu;
Shoot_Output_t output;
/* 目标控制量 */
struct {
float target_rpm; /* 目标摩擦轮转速 */
float target_angle; /* 目标拨弹位置 */
float now; /* 当前时间，单位秒 */
uint64_t lask_wakeup; /* 上次唤醒时间，单位微秒 */
float dt; /* 两次唤醒间隔时间，单位秒 */
Shoot_Params_t *param; /* 发射参数 */
/* 模块通用 */
Shoot_Running_State_t running_state; /* 运行状态机 */
Shoot_Mode_t mode; /* 射击模式 */
/* 反馈信息 */
Shoot_Feedback_t feedback; /* 反馈信息 */
/* 控制信息*/
Shoot_JamDetection_t jamdetection;
Shoot_AngleCalu_t anglecalu;
Shoot_Output_t output;
/* 目标控制量 */
struct {
float target_rpm; /* 目标摩擦轮转速 */
float target_angle; /* 目标拨弹位置 */
}target_variable;
/* 反馈控制用的PID */
struct {
KPID_t fric_follow[SHOOT_FRIC_NUM]; /* */
KPID_t fric_err[SHOOT_FRIC_NUM]; /* */
KPID_t trig;
KPID_t trig_omg;
KPID_t fric_follow[SHOOT_FRIC_NUM]; /* */
KPID_t fric_err[SHOOT_FRIC_NUM]; /* */
KPID_t trig;
KPID_t trig_omg;
} pid;
/* 滤波器 */
struct {
struct{
LowPassFilter2p_t in[SHOOT_FRIC_NUM]; /* 反馈值滤波器 */
LowPassFilter2p_t out[SHOOT_FRIC_NUM]; /* 输出值滤波器 */
struct{
LowPassFilter2p_t in[SHOOT_FRIC_NUM]; /* 反馈值滤波器 */
LowPassFilter2p_t out[SHOOT_FRIC_NUM]; /* 输出值滤波器 */
}fric;
struct{
LowPassFilter2p_t in; /* 反馈值滤波器 */
LowPassFilter2p_t out; /* 输出值滤波器 */
LowPassFilter2p_t in; /* 反馈值滤波器 */
LowPassFilter2p_t out; /* 输出值滤波器 */
}trig;
} filter;