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更新超电云台底盘UI

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This commit is contained in:
yunhai8432 2026-03-06 23:53:55 +08:00
parent 84729977be
commit 1c5c0f6752
55 changed files with 9269 additions and 564747 deletions
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557848
MDK-ARM/JLinkLog.txt
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77
MDK-ARM/referee.uvguix.yunha
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576
MDK-ARM/referee.uvoptx
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@ -117,10 +117,6 @@
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199
MDK-ARM/referee.uvprojx
View File

@ -340,7 +340,7 @@
<MiscControls></MiscControls>
<Define>USE_HAL_DRIVER,STM32F407xx</Define>
<Undefine></Undefine>
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@ -832,6 +832,11 @@
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@ -887,16 +892,31 @@
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@ -918,114 +938,39 @@
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@ -1064,6 +1009,76 @@
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BIN
MDK-ARM/referee/atti_esti.o
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14
MDK-ARM/referee/chassis.d
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@ -55,4 +55,16 @@ referee/chassis.o: ..\User\module\chassis.c ..\User\module\chassis.h \
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D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdlib.h ..\User\bsp\time.h \
..\User\device\referee.h \
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BIN
MDK-ARM/referee/chassis.o
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58
MDK-ARM/referee/chassis_ctrl.d
View File

@ -11,4 +11,60 @@ referee/chassis_ctrl.o: ..\User\task\chassis_ctrl.c \
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BIN
MDK-ARM/referee/chassis_ctrl.o
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51
MDK-ARM/referee/cmd.d
View File

@ -1,26 +1,20 @@
referee/cmd.o: ..\User\task\cmd.c ..\User\task\user_task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
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D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
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D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
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D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h \
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D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\component\pid.h \
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@ -55,11 +49,16 @@ referee/cmd.o: ..\User\task\cmd.c ..\User\task\user_task.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
..\User\bsp\bsp.h ..\User\bsp\mm.h \
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..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
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..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\chassis.h \
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..\User\module\shoot.h ..\Core\Inc\main.h ..\User\bsp\time.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h

BIN
MDK-ARM/referee/cmd.o
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54
MDK-ARM/referee/cmd_1.d
View File

@ -1,20 +1,26 @@
referee/cmd_1.o: ..\User\module\cmd\cmd.c ..\User\module\cmd\cmd.h \
..\User\module\cmd\cmd_types.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\User\module\cmd\cmd_adapter.h ..\User\module\cmd\cmd_types.h \
..\User\device\ET16s.h ..\User\device\device.h \
referee/cmd_1.o: ..\User\task\cmd.c ..\User\task\user_task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
..\User\module\cmd\cmd_behavior.h ..\User\module\chassis.h \
..\User\module\struct_typedef.h ..\User\component\filter.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
..\Core\Inc\FreeRTOSConfig.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\User\device\ET16s.h ..\User\device\device.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h ..\User\device\dr16.h \
..\User\component\user_math.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\component\pid.h \
..\User\component\filter.h ..\User\component\ahrs.h \
..\User\device\bmi088.h ..\User\component\user_math.h \
..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\device\motor.h ..\User\bsp\can.h ..\Core\Inc\can.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h \
..\User\module\config.h ..\User\module\gimbal.h \
..\User\component\ahrs.h ..\User\component\user_math.h \
..\User\component\filter.h ..\User\component\pid.h \
..\User\component\filter.h ..\User\device\motor.h \
..\User\device\motor_dm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\Core\Inc\stm32f4xx_hal_conf.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
@ -49,16 +55,14 @@ referee/cmd_1.o: ..\User\module\cmd\cmd.c ..\User\module\cmd\cmd.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
..\User\bsp\bsp.h ..\User\bsp\mm.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
..\Core\Inc\FreeRTOSConfig.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\module\gimbal.h ..\User\device\motor_dm.h \
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\bsp\time.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\chassis.h \
..\User\module\struct_typedef.h ..\User\device\bmi088.h \
..\User\module\shoot.h ..\User\module\cmd\cmd.h \
..\User\module\cmd\cmd_types.h ..\User\module\cmd\cmd_adapter.h \
..\User\module\cmd\cmd_types.h ..\User\device\ET16s.h \
..\User\module\cmd\cmd_behavior.h ..\User\module\gimbal.h \
..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_adapter.h \
..\User\module\cmd\cmd_behavior.h ..\User\module\cmd\cmd_types.h \
..\User\module\gimbal.h

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14
MDK-ARM/referee/gimbal.d
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@ -53,4 +53,16 @@ referee/gimbal.o: ..\User\module\gimbal.c ..\User\module\gimbal.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\device\motor_rm.h ..\User\device\motor.h ..\User\bsp\time.h
..\User\device\motor_rm.h ..\User\device\motor.h ..\User\bsp\time.h \
..\User\device\referee.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\component\ui.h D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h \
..\User\component\user_math.h ..\User\component\user_math.h \
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\device\device.h \
..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
..\User\module\cmd\cmd_adapter.h ..\User\module\cmd\cmd_types.h \
..\User\device\ET16s.h ..\User\module\cmd\cmd_behavior.h \
..\User\module\chassis.h ..\User\module\struct_typedef.h \
..\User\device\bmi088.h ..\User\module\gimbal.h ..\User\module\shoot.h \
..\User\module\config.h ..\User\module\shoot.h \
..\User\module\cmd\cmd.h ..\User\device\supercap.h ..\User\bsp\can.h

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59
MDK-ARM/referee/gimbal_ctrl.d
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@ -11,4 +11,61 @@ referee/gimbal_ctrl.o: ..\User\task\gimbal_ctrl.c \
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\User\module\gimbal.h ..\User\component\ahrs.h \
..\User\component\user_math.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\User\component\filter.h ..\User\component\pid.h \
..\User\component\filter.h ..\User\device\motor.h \
..\User\device\device.h ..\User\device\motor_dm.h ..\User\bsp\can.h \
..\Core\Inc\can.h ..\Core\Inc\main.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\Core\Inc\stm32f4xx_hal_conf.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
..\Drivers\CMSIS\Include\core_cm4.h \
..\Drivers\CMSIS\Include\cmsis_version.h \
..\Drivers\CMSIS\Include\cmsis_compiler.h \
..\Drivers\CMSIS\Include\cmsis_armclang.h \
..\Drivers\CMSIS\Include\mpu_armv7.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
..\User\bsp\bsp.h ..\User\bsp\mm.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\module\config.h ..\User\module\gimbal.h ..\User\module\shoot.h \
..\Core\Inc\main.h ..\User\module\chassis.h \
..\User\module\struct_typedef.h ..\User\device\bmi088.h \
..\User\component\user_math.h ..\User\module\shoot.h \
..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
..\User\module\cmd\cmd_adapter.h ..\User\module\cmd\cmd_types.h \
..\User\device\ET16s.h ..\User\module\cmd\cmd_behavior.h \
..\User\module\gimbal.h ..\User\device\referee.h \
..\User\component\ui.h D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h \
..\User\component\user_math.h ..\User\module\shoot.h \
..\User\device\device.h ..\User\module\cmd\cmd.h \
..\User\module\config.h ..\User\device\supercap.h ..\User\bsp\can.h

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2
MDK-ARM/referee/init.d
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@ -68,4 +68,4 @@ referee/init.o: ..\User\task\init.c ..\User\task\user_task.h \
..\User\module\cmd\cmd_types.h ..\User\device\ET16s.h \
..\User\module\cmd\cmd_behavior.h ..\User\module\config.h \
..\User\module\gimbal.h ..\User\module\shoot.h \
..\User\module\cmd\cmd.h
..\User\module\cmd\cmd.h ..\User\device\supercap.h ..\User\bsp\can.h

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4
MDK-ARM/referee/referee.build_log.htm
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@ -31,11 +31,11 @@ Note: source file '..\User\bsp\can.c' - object file renamed from 'referee\can.o'
Note: source file '..\User\bsp\gpio.c' - object file renamed from 'referee\gpio.o' to 'referee\gpio_1.o'.
Note: source file '..\User\bsp\spi.c' - object file renamed from 'referee\spi.o' to 'referee\spi_1.o'.
Note: source file '..\User\bsp\i2c.c' - object file renamed from 'referee\i2c.o' to 'referee\i2c_1.o'.
Note: source file '..\User\task\cmd.c' - object file renamed from 'referee\cmd.o' to 'referee\cmd_1.o'.
Note: source file '..\User\task\dr16.c' - object file renamed from 'referee\dr16.o' to 'referee\dr16_1.o'.
Note: source file '..\User\task\et16s.c' - object file renamed from 'referee\et16s.o' to 'referee\et16s_1.o'.
Note: source file '..\User\task\referee.c' - object file renamed from 'referee\referee.o' to 'referee\referee_1.o'.
Note: source file '..\User\task\vofa.c' - object file renamed from 'referee\vofa.o' to 'referee\vofa_1.o'.
Note: source file '..\User\module\cmd\cmd.c' - object file renamed from 'referee\cmd.o' to 'referee\cmd_1.o'.
"referee\referee.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>
@ -60,7 +60,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h
Build Time Elapsed: 00:00:03
Build Time Elapsed: 00:00:02
</pre>
</body>
</html>

3
MDK-ARM/referee/referee.d
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@ -66,4 +66,5 @@ referee/referee.o: ..\User\device\referee.c ..\User\device\device.h \
..\User\component\ahrs.h ..\User\device\bmi088.h \
..\User\module\gimbal.h ..\User\device\motor_dm.h \
..\User\module\shoot.h ..\User\module\config.h ..\User\module\gimbal.h \
..\User\module\shoot.h ..\User\module\cmd\cmd.h
..\User\module\shoot.h ..\User\module\cmd\cmd.h \
..\User\device\supercap.h ..\User\bsp\can.h

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35
MDK-ARM/referee/referee.lnp
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@ -52,6 +52,7 @@
"referee\uart.o"
"referee\i2c_1.o"
"referee\ahrs.o"
"referee\calc_lib.o"
"referee\capacity.o"
"referee\crc8.o"
"referee\crc16.o"
@ -63,37 +64,39 @@
"referee\pid.o"
"referee\ui.o"
"referee\user_math.o"
"referee\calc_lib.o"
"referee\bmi088.o"
"referee\dr16.o"
"referee\et16s.o"
"referee\ist8310.o"
"referee\led.o"
"referee\motor.o"
"referee\motor_dm.o"
"referee\motor_rm.o"
"referee\et16s.o"
"referee\ist8310.o"
"referee\bmi088.o"
"referee\dr16.o"
"referee\vofa.o"
"referee\referee.o"
"referee\supercap.o"
"referee\vofa.o"
"referee\chassis.o"
"referee\config.o"
"referee\deformation_chassis.o"
"referee\gimbal.o"
"referee\shoot.o"
"referee\cmd.o"
"referee\cmd_adapter.o"
"referee\cmd_behavior.o"
"referee\cmd_example.o"
"referee\ai.o"
"referee\atti_esti.o"
"referee\chassis_ctrl.o"
"referee\cmd.o"
"referee\cmd_1.o"
"referee\dr16_1.o"
"referee\gimbal_ctrl.o"
"referee\et16s_1.o"
"referee\gimbal_ctrl.o"
"referee\init.o"
"referee\referee_1.o"
"referee\shoot_ctrl.o"
"referee\user_task.o"
"referee\vofa_1.o"
"referee\config.o"
"referee\chassis.o"
"referee\gimbal.o"
"referee\shoot.o"
"referee\cmd_1.o"
"referee\cmd_adapter.o"
"referee\cmd_behavior.o"
"referee\cmd_example.o"
"referee\super_cap.o"
--strict --scatter "referee\referee.sct"
--summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
--info sizes --info totals --info unused --info veneers

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3
MDK-ARM/referee/referee_1.d
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@ -65,4 +65,5 @@ referee/referee_1.o: ..\User\task\referee.c ..\User\task\user_task.h \
..\User\component\ahrs.h ..\User\device\bmi088.h \
..\User\module\gimbal.h ..\User\device\motor_dm.h \
..\User\module\shoot.h ..\User\module\config.h ..\User\module\gimbal.h \
..\User\module\shoot.h ..\User\module\cmd\cmd.h
..\User\module\shoot.h ..\User\module\cmd\cmd.h \
..\User\device\supercap.h ..\User\bsp\can.h

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2
MDK-ARM/referee/shoot.d
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@ -66,4 +66,4 @@ referee/shoot.o: ..\User\module\shoot.c \
..\User\component\ahrs.h ..\User\device\bmi088.h \
..\User\module\gimbal.h ..\User\device\motor_dm.h \
..\User\module\config.h ..\User\module\gimbal.h ..\User\module\shoot.h \
..\User\module\cmd\cmd.h
..\User\module\cmd\cmd.h ..\User\device\supercap.h ..\User\bsp\can.h

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2
MDK-ARM/referee/shoot_ctrl.d
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@ -66,4 +66,4 @@ referee/shoot_ctrl.o: ..\User\task\shoot_ctrl.c ..\User\task\user_task.h \
..\User\component\ui.h D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h \
..\User\component\user_math.h ..\User\module\shoot.h \
..\User\device\device.h ..\User\module\cmd\cmd.h \
..\User\module\config.h
..\User\module\config.h ..\User\device\supercap.h ..\User\bsp\can.h

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69
MDK-ARM/referee/super_cap.d Normal file
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@ -0,0 +1,69 @@
referee/super_cap.o: ..\User\task\super_cap.c ..\User\task\user_task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
..\Core\Inc\FreeRTOSConfig.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\User\device\supercap.h ..\User\bsp\can.h ..\Core\Inc\can.h \
..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\Core\Inc\stm32f4xx_hal_conf.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
..\Drivers\CMSIS\Include\core_cm4.h \
..\Drivers\CMSIS\Include\cmsis_version.h \
..\Drivers\CMSIS\Include\cmsis_compiler.h \
..\Drivers\CMSIS\Include\cmsis_armclang.h \
..\Drivers\CMSIS\Include\mpu_armv7.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
..\User\bsp\bsp.h ..\User\bsp\mm.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\device\device.h ..\User\device\referee.h \
..\User\component\ui.h D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h \
..\User\component\user_math.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
..\User\component\user_math.h ..\User\module\shoot.h \
..\Core\Inc\main.h ..\User\component\pid.h ..\User\component\filter.h \
..\User\component\user_math.h ..\User\device\motor_rm.h \
..\User\device\motor.h ..\User\device\device.h ..\User\device\motor.h \
..\User\bsp\can.h ..\User\module\cmd\cmd.h \
..\User\module\cmd\cmd_types.h ..\User\module\cmd\cmd_adapter.h \
..\User\module\cmd\cmd_types.h ..\User\device\ET16s.h \
..\User\module\cmd\cmd_behavior.h ..\User\module\chassis.h \
..\User\module\struct_typedef.h ..\User\component\filter.h \
..\User\component\ahrs.h ..\User\device\bmi088.h \
..\User\module\gimbal.h ..\User\device\motor_dm.h \
..\User\module\shoot.h ..\User\module\config.h ..\User\module\gimbal.h \
..\User\module\shoot.h ..\User\module\cmd\cmd.h \
..\User\device\supercap.h

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69
MDK-ARM/referee/supercap.d Normal file
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@ -0,0 +1,69 @@
referee/supercap.o: ..\User\device\supercap.c ..\User\device\supercap.h \
..\User\bsp\can.h ..\Core\Inc\can.h ..\Core\Inc\main.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\Core\Inc\stm32f4xx_hal_conf.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
..\Drivers\CMSIS\Include\core_cm4.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
..\Drivers\CMSIS\Include\cmsis_version.h \
..\Drivers\CMSIS\Include\cmsis_compiler.h \
..\Drivers\CMSIS\Include\cmsis_armclang.h \
..\Drivers\CMSIS\Include\mpu_armv7.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
..\User\bsp\bsp.h ..\User\bsp\mm.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
..\Core\Inc\FreeRTOSConfig.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\device\device.h ..\User\device\referee.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\component\ui.h D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h \
..\User\component\user_math.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
..\User\component\user_math.h ..\User\module\shoot.h \
..\Core\Inc\main.h ..\User\component\pid.h ..\User\component\filter.h \
..\User\component\user_math.h ..\User\device\motor_rm.h \
..\User\device\motor.h ..\User\device\device.h ..\User\device\motor.h \
..\User\bsp\can.h ..\User\module\cmd\cmd.h \
..\User\module\cmd\cmd_types.h ..\User\module\cmd\cmd_adapter.h \
..\User\module\cmd\cmd_types.h ..\User\device\ET16s.h \
..\User\module\cmd\cmd_behavior.h ..\User\module\chassis.h \
..\User\module\struct_typedef.h ..\User\component\filter.h \
..\User\component\ahrs.h ..\User\device\bmi088.h \
..\User\module\gimbal.h ..\User\device\motor_dm.h \
..\User\module\shoot.h ..\User\module\config.h ..\User\module\gimbal.h \
..\User\module\shoot.h ..\User\module\cmd\cmd.h \
..\User\device\supercap.h

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38
User/device/referee.c
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@ -673,25 +673,25 @@ uint8_t Referee_UIRefresh(Referee_UI_t *ui) {
break;
}
case 1:
fsm++;
// UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL,
// UI_GRAPIC_LAYER_CAP);
// switch (ui->cap_ui.status) {
// case CAN_CAP_STATUS_OFFLINE:
// UI_DrawArc(Referee_GetGrapicAdd(ui), "9", UI_GRAPIC_OPERATION_ADD,
// UI_GRAPIC_LAYER_CAP, YELLOW, 0, 360,
// UI_DEFAULT_WIDTH * 5, ui->screen->width * 0.6,
// ui->screen->height * 0.2, 50, 50);
// break;
// break;
// case CAN_CAP_STATUS_RUNNING:
// UI_DrawArc(Referee_GetGrapicAdd(ui), "9", UI_GRAPIC_OPERATION_ADD,
// UI_GRAPIC_LAYER_CAP, GREEN, 0,
// ui->cap_ui.percentage * 360, UI_DEFAULT_WIDTH * 5,
// ui->screen->width * 0.6, ui->screen->height * 0.2, 50,
// 50);
// break;
// }
fsm++; UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL,
UI_GRAPIC_LAYER_CAP);
switch (ui->cap_ui.status) {
case UNREADY:
UI_DrawArc(Referee_GetGrapicAdd(ui), "9", UI_GRAPIC_OPERATION_ADD,
UI_GRAPIC_LAYER_CAP, YELLOW, 0, 360,
UI_DEFAULT_WIDTH * 5, ui->screen->width * 0.6,
ui->screen->height * 0.2, 50, 50);
break;
break;
case READY:
UI_DrawArc(Referee_GetGrapicAdd(ui), "9", UI_GRAPIC_OPERATION_ADD,
UI_GRAPIC_LAYER_CAP, GREEN, 0,
ui->cap_ui.percentage * 360, UI_DEFAULT_WIDTH * 5,
ui->screen->width * 0.6, ui->screen->height * 0.2, 50,
50);
break;
}
break;
case 2: {
fsm++;

3
User/device/referee.h
View File

@ -18,7 +18,7 @@ extern "C" {
#include "device\device.h"
#include "module\cmd\cmd.h"
#include "module\config.h"
#include "device\supercap.h"
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
@ -604,6 +604,7 @@ typedef struct {
typedef struct {
float percentage;
SuperCapReadyEnum status;
// CAN_CapStatus_t status;
} Referee_CapUI_t;

186
User/device/supercap.c Normal file
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@ -0,0 +1,186 @@
#include "device/supercap.h"
#include "device/referee.h"
/* 全局变量 */
CAN_SuperCapRXDataTypeDef CAN_SuperCapRXData = {0};
uint8_t PowerOffset =0;
uint32_t LastCapTick = 0; //上一次收到超电信号的时间戳
uint32_t NowCapTick = 0; //现在收到超电信号的时间戳
uint32_t chassis_energy_in_gamming =0;
/* 静态变量 - 用于CAN接收管理 */
static bool supercap_inited = false;
/**
* @brief 获取超级电容在线状态，1在线，0离线
*/
uint8_t get_supercap_online_state(void){
NowCapTick = HAL_GetTick(); //更新时间戳
uint32_t DeltaCapTick = 0;
DeltaCapTick = NowCapTick - LastCapTick; //计算时间差
// if(get_game_progress() == 4){
// //比赛开始的时候，开始统计消耗的能量
chassis_energy_in_gamming += CAN_SuperCapRXData.BatPower * DeltaCapTick *0.001f;
// 因为STM32的系统定时器是1ms的周期，所以*0.001，单位化为秒（S），能量单位才是焦耳（J）
// }
if(DeltaCapTick > 1000){
//如果时间差大于1s，说明超电信号丢失，返回超电离线的标志
return 0;
}else {
//如果时间差小于1s，说明超电信号正常，返回超电在线的标志
return 1;
}
}
/**
* @brief 获取根据超级电容功率统计的底盘消耗能量，单位：焦耳（J）
*/
uint32_t get_chassis_energy_from_supercap(void){
return chassis_energy_in_gamming;
}
/******************超级电容数据从CAN传到结构体******************/
int8_t SuperCap_Init(void)
{
if (supercap_inited) {
return DEVICE_OK; // 已经初始化过
}
if (BSP_CAN_RegisterId( BSP_CAN_1 , SUPERCAP_RX_ID, 3) != BSP_OK) {
return DEVICE_ERR;
}
supercap_inited = true;
return DEVICE_OK;
}
int8_t SuperCap_Update(void)
{
if (!supercap_inited) {
return DEVICE_ERR;
}
BSP_CAN_Message_t rx_msg;
// 从CAN队列获取数据
if (BSP_CAN_GetMessage( BSP_CAN_1 , SUPERCAP_RX_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
// 处理接收到的数据
transfer_SuperCap_measure(rx_msg.data);
return DEVICE_OK;
}
return DEVICE_ERR; // 没有新数据
}
void transfer_SuperCap_measure(uint8_t *data)
{
LastCapTick = HAL_GetTick();
CAN_SuperCapRXData.SuperCapReady = (SuperCapReadyEnum)data[0];
CAN_SuperCapRXData.SuperCapState = (SuperCapStateEnum)data[1];
CAN_SuperCapRXData.SuperCapEnergy = data[2];
CAN_SuperCapRXData.ChassisPower = data[3] << 1; //左移一位是为了扩大范围，超电发出来的的时候右移了一位
CAN_SuperCapRXData.BatVoltage = data[4];
CAN_SuperCapRXData.BatPower = data[5];
}
/**
* @brief 获取超级电容的运行状态，具体查看枚举SuperCapStateEnum
* @retval none
*/
SuperCapStateEnum get_supercap_state(void){
return (SuperCapStateEnum)CAN_SuperCapRXData.SuperCapState;
}
/**
* @brief 获取超级电容读到的电池电压，单位伏（V）
* @retval none
*/
float get_battery_voltage_from_supercap(void){
return (float)CAN_SuperCapRXData.BatVoltage * 0.1f;
}
/**
* @brief 获取超级电容可用能量，范围：0-100%
* @retval none
*/
uint8_t get_supercap_energy(void){
return CAN_SuperCapRXData.SuperCapEnergy;
}
/**
* @brief 设置超级电容功率补偿
* @retval none
*/
void set_supercap_power_offset(uint8_t offset){
PowerOffset = offset;
}
/**
* @brief 发送超级电容数据
* @param[in] Enable: 超级电容使能
* @param[in] Charge: 超级电容充电，在PLUS版本中无效
* @param[in] PowerLimit: 裁判系统功率限制
* @param[in] Chargepower: 超级电容充电功率，在PLUS版本中无效
* @retval none
*/
int8_t CAN_TX_SuperCapData(CAN_SuperCapTXDataTypeDef * TX_Temp)
{
if (TX_Temp == NULL) return DEVICE_ERR_NULL;
BSP_CAN_StdDataFrame_t tx_frame;
tx_frame.id = SUPERCAP_TX_ID;
tx_frame.dlc = 0x08;
tx_frame.data[0] = TX_Temp-> Enable;
tx_frame.data[1] = TX_Temp-> Charge;//PLUS disabled
tx_frame.data[2] = TX_Temp-> Powerlimit - PowerOffset;
tx_frame.data[3] = TX_Temp-> ChargePower;//PLUS disabled
tx_frame.data[4] = 0;
tx_frame.data[5] = 0;
tx_frame.data[6] = 0;
tx_frame.data[7] = 0;
return BSP_CAN_TransmitStdDataFrame( BSP_CAN_1 , &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
/**
* @brief 限制功率不超过power_limit
*
* @param power_limit 最大功率
* @param motor_out 电机输出值
* @param speed 电机转速
* @param len 电机数量
* @return int8_t 0对应没有错误
*/
int8_t PowerLimit_Output(float power_limit, float *motor_out, uint32_t len)
{
/* power_limit小于0时不进行限制 */
if (motor_out == NULL || power_limit < 0) return -1;
float ChassisPower = CAN_SuperCapRXData.ChassisPower ;
/* 保持每个电机输出值缩小时比例不变 */
if (ChassisPower > power_limit) {
for (uint32_t i = 0; i < len; i++) {
motor_out[i] *= power_limit / ChassisPower;
}
}
return 0;
}
/* */
void Cap_DumpUI(Referee_CapUI_t *ui) {
ui->percentage = CAN_SuperCapRXData.SuperCapEnergy;
ui->status = CAN_SuperCapRXData.SuperCapReady;
}

102
User/device/supercap.h Normal file
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@ -0,0 +1,102 @@
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include "bsp\can.h"
#include "device\device.h"
//#include "referee.h"
#define SUPERCAP_CAN BSP_FDCAN_3
#define SUPERCAP_TX_ID 0x001 //C板发给超级电容的ID
#define SUPERCAP_RX_ID 0x100 //超级电容发给C板的ID
//超级电容的状态标志位，超级电容运行或者保护的具体状态反馈
typedef enum
{
DISCHARGE =0 , //放电状态
CHARGE =1, //充电状态
WAIT =2, //待机状态
SOFTSTART_PROTECTION =3,//处于软起动状态
OVER_LOAD_PROTECTION = 4, //超电过载保护状态
BAT_OVER_VOLTAGE_PROTECTION =5, //过压保护状态
BAT_UNDER_VOLTAGE_PROTECTION =6, //电池欠压保护，电池要没电了，换电池
CAP_UNDER_VOLTAGE_PROTECTION =7, //超级电容欠压保护，超级电容用完电了，要充一会才能用
OVER_TEMPERATURE_PROTECTION =8, //过温保护，太热了
BOOM = 9, //超电爆炸了
}SuperCapStateEnum;
//超级电容准备状态，用于判断超级电容是否可以使用
typedef enum
{
UNREADY =0 ,
READY =1,
}SuperCapReadyEnum;
// 发送给超级电容的数据
typedef struct {
FunctionalState Enable ; //超级电容使能。1使能，0失能
SuperCapStateEnum Charge ; //V1.1超级电容充电。1充电，0放电，在PLUS版本中，此标志位无效，超电的充放电是自动的
uint8_t Powerlimit; //裁判系统功率限制
uint8_t ChargePower; //V1.1超级电容充电功率，在PLUS版本中，此参数，超电的充电功率随着底盘功率变化
}CAN_SuperCapTXDataTypeDef;
// 从超级电容接收到的数据
typedef struct {
uint8_t SuperCapEnergy;//超级电容可用能量：0-100%
uint16_t ChassisPower; //底盘功率，0-512，由于传输的时候为了扩大量程右移了一位，所以接收的时候需要左移还原（丢精度）。
SuperCapReadyEnum SuperCapReady;//超级电容【可用标志】：1为可用，0为不可用
SuperCapStateEnum SuperCapState;//超级电容【状态标志】：各个状态对应的状态码查看SuperCapStateEnum枚举。
uint8_t BatVoltage; //通过超级电容监控电池电压*10，
uint8_t BatPower;
}CAN_SuperCapRXDataTypeDef;
extern CAN_SuperCapRXDataTypeDef CAN_SuperCapRXData;
void set_supercap_power_offset(uint8_t offset);
// 以下函数是超电控制所需要调用的函数
int8_t SuperCap_Init(void);
int8_t SuperCap_Update(void);
void transfer_SuperCap_measure( uint8_t *data);
int8_t CAN_TX_SuperCapData(CAN_SuperCapTXDataTypeDef * TX_Temp);
/**
* @brief 获取超级电容在线状态，1在线，0离线
*/
uint8_t get_supercap_online_state(void);
/**
* @brief 获取超级电容的运行状态，具体查看枚举SuperCapStateEnum
*/
SuperCapStateEnum get_supercap_state(void);
/**
* @brief 获取超级电容读到的电池电压，单位伏（V）
*/
float get_battery_voltage_from_supercap(void);
/**
* @brief 获取超级电容可用能量，范围：0-100%
*/
uint8_t get_supercap_energy(void);
/**
* @brief 获取根据超级电容功率统计的底盘消耗能量，单位：焦耳（J）
*/
uint32_t get_chassis_energy_from_supercap(void);
int8_t PowerLimit_Output(float power_limit, float *motor_out, uint32_t len);
#ifdef __cplusplus
}
#endif /*SUPERCAP_H*/

19
User/module/chassis.c
View File

@ -34,13 +34,15 @@ chassis_init(&chassis,&Config_GetRobotParam()->chassis,CHASSIS_FREQ);
/* Includes ----------------------------------------------------------------- */
#include "chassis.h"
#include "device/motor_rm.h"
#include "math.h"
#include "stdlib.h"
#include "bsp/time.h"
#include "bsp/can.h"
#include "math.h"
#include "device/motor_rm.h"
#include "device/referee.h"
#include "component/pid.h"
#include "component/filter.h"
#include "stdlib.h"
/*舵轮舵向校准方法：注释掉关于6020反馈角度的处理以及6020数据的发送这两处(define.h里有快捷方法)，
进debug将四个轮子编码器朝右（左右无所谓，可能会导致5065方向反，在解算里加个负号就行）
@ -480,3 +482,14 @@ void Chassis_Setoutput(Chassis_t *c)
/* 正数展开 */
}
/**
* @brief 导出底盘数据
*
* @param chassis 底盘数据结构体
* @param ui UI数据结构体
*/
void Chassis_DumpUI(const Chassis_t *c, Referee_ChassisUI_t *ui) {
ui->mode = c->mode;
ui->angle = c->feedback.motor.gimbal_yaw.rotor_abs_angle - c->mech_zero;
}

10
User/module/gimbal.c
View File

@ -28,6 +28,7 @@
#include "component/pid.h"
#include "device/motor_rm.h"
#include "device/motor_dm.h"
#include "device\referee.h"
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
@ -573,3 +574,12 @@ void Gimbal_Output(Gimbal_t *g){
}
/**
* @brief 导出云台UI数据
*
* @param g 云台结构体
* @param ui UI结构体
*/
void Gimbal_DumpUI(const Gimbal_t *g, Referee_GimbalUI_t *ui) {
ui->mode = g->mode;
}

23
User/task/chassis_ctrl.c
View File

@ -6,7 +6,9 @@
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "device/referee.h"
#include "module/chassis.h"
#include "module/config.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
@ -14,13 +16,12 @@
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
Chassis_t chassis;
Chassis_CMD_t cmd_chassis;
Referee_ChassisUI_t chassis_ui;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
/* USER PRIVATE CODE BEGIN */
/* USER PRIVATE CODE END */
/* Exported functions ------------------------------------------------------- */
void Task_chassis_ctrl(void *argument) {
(void)argument; /* 未使用argument，消除警告 */
@ -33,12 +34,22 @@ void Task_chassis_ctrl(void *argument) {
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */
chassis_init(&chassis, &Config_GetRobotParam()->chassis, CHASSIS_CTRL_FREQ);
/* USER CODE INIT END */
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
/*接受cmd任务数据*/
if(osMessageQueueGet(task_runtime.msgq.chassis.cmd, &cmd_chassis, NULL, 0)==osOK);
Chassis_update(&chassis);
Chassis_Control(&chassis, &cmd_chassis,tick);
Chassis_Setoutput(&chassis);
/* 底盘UI */
Chassis_DumpUI(&chassis, &chassis_ui);
osMessageQueueReset(task_runtime.msgq.ui.chassis);
osMessageQueuePut(task_runtime.msgq.ui.chassis, &chassis_ui, 0, 0);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */

16
User/task/cmd.c
View File

@ -6,14 +6,14 @@
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "device/ET16s.h"
#include "device/dr16.h"
#include "module/config.h"
#include "module/cmd/cmd.h"
#include "module/cmd/cmd_adapter.h"
#include "module/cmd/cmd_behavior.h"
#include "module/cmd/cmd_types.h"
#include "module/gimbal.h"
#include "device\ET16s.h"
#include "device\dr16.h"
#include "module\config.h"
#include "module\cmd\cmd.h"
#include "module\cmd\cmd_adapter.h"
#include "module\cmd\cmd_behavior.h"
#include "module\cmd\cmd_types.h"
#include "module\gimbal.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */

7
User/task/config.yaml
View File

@ -68,3 +68,10 @@
function: Task_chassis_ctrl
name: chassis_ctrl
stack: 256
- delay: 0
description: ''
freq_control: true
frequency: 500.0
function: Task_super_cap
name: super_cap
stack: 256

26
User/task/gimbal_ctrl.c
View File

@ -6,7 +6,9 @@
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "gimbal.h"
#include "module/config.h"
#include "device/referee.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
@ -14,13 +16,13 @@
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
Gimbal_t gimbal;
Gimbal_IMU_t gimbal_imu;
Gimbal_CMD_t gimbal_cmd;
Referee_GimbalUI_t gimbal_ui;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
/* USER PRIVATE CODE BEGIN */
/* USER PRIVATE CODE END */
/* Exported functions ------------------------------------------------------- */
void Task_gimbal_ctrl(void *argument) {
(void)argument; /* 未使用argument，消除警告 */
@ -33,13 +35,25 @@ void Task_gimbal_ctrl(void *argument) {
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */
Gimbal_Init(&gimbal,&Config_GetRobotParam()->gimbal_param,GIMBAL_CTRL_FREQ);
/* USER CODE INIT END */
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
if(osMessageQueueGet(task_runtime.msgq.gimbal.imu, &gimbal_imu, NULL, 0)==osOK)
Gimbal_UpdateIMU(&gimbal, &gimbal_imu);
osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &gimbal_cmd, NULL, 0);
Gimbal_UpdateFeedback(&gimbal);
gimbal_cmd.mode=GIMBAL_MODE_ABSOLUTE;
Gimbal_Control(&gimbal,&gimbal_cmd);
Gimbal_Output(&gimbal);
/* 云台ui */
Gimbal_DumpUI(&gimbal,&gimbal_ui);
osMessageQueueReset(task_runtime.msgq.ui.gimbal);
osMessageQueuePut(task_runtime.msgq.ui.gimbal, &gimbal_ui, 0, 0);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}

3
User/task/init.c
View File

@ -45,6 +45,7 @@ void Task_Init(void *argument) {
task_runtime.thread.shoot_ctrl = osThreadNew(Task_shoot_ctrl, NULL, &attr_shoot_ctrl);
task_runtime.thread.gimbal_ctrl = osThreadNew(Task_gimbal_ctrl, NULL, &attr_gimbal_ctrl);
task_runtime.thread.chassis_ctrl = osThreadNew(Task_chassis_ctrl, NULL, &attr_chassis_ctrl);
task_runtime.thread.super_cap = osThreadNew(Task_super_cap, NULL, &attr_super_cap);
// 创建消息队列
/* USER MESSAGE BEGIN */
@ -52,7 +53,9 @@ void Task_Init(void *argument) {
/* 云台 */
task_runtime.msgq.gimbal.imu= osMessageQueueNew(2u, sizeof(Gimbal_IMU_t), NULL);
task_runtime.msgq.gimbal.cmd= osMessageQueueNew(2u, sizeof(Gimbal_CMD_t), NULL);
/* 底盘 */
task_runtime.msgq.chassis.cmd= osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL);
/* 发射 */
task_runtime.msgq.shoot.cmd= osMessageQueueNew(2u, sizeof(Shoot_CMD_t), NULL);
/* 遥控器 */
task_runtime.msgq.rc.dr16= osMessageQueueNew(2u, sizeof(DR16_t), NULL);

2
User/task/referee.c
View File

@ -64,6 +64,7 @@ void Task_referee(void *argument) {
Referee_PackChassis(&for_chassis, &ref);
if (osKernelGetTickCount() > delay_tick){
tick += delay_tick;
/* 裁判系统数据读取 */
osMessageQueueReset(task_runtime.msgq.referee.cap);
osMessageQueuePut(task_runtime.msgq.referee.cap, &for_cap, 0, 0);
osMessageQueueReset(task_runtime.msgq.referee.ai);
@ -72,6 +73,7 @@ void Task_referee(void *argument) {
osMessageQueuePut(task_runtime.msgq.referee.chassis, &for_chassis, 0, 0);
osMessageQueueReset(task_runtime.msgq.referee.shoot);
osMessageQueuePut(task_runtime.msgq.referee.shoot, &for_shoot, 0, 0);
/* UI数据获取 */
osMessageQueueGet(task_runtime.msgq.ui.cap, &(ui.cap_ui), NULL, 0);
osMessageQueueGet(task_runtime.msgq.ui.chassis, &(ui.chassis_ui), NULL,0);
osMessageQueueGet(task_runtime.msgq.ui.gimbal, &(ui.gimbal_ui), NULL, 0);

4
User/task/shoot_ctrl.c
View File

@ -21,6 +21,9 @@ Referee_ShootUI_t shoot_ui;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
/* USER PRIVATE CODE BEGIN */
/* USER PRIVATE CODE END */
/* Exported functions ------------------------------------------------------- */
void Task_shoot_ctrl(void *argument) {
(void)argument; /* 未使用argument，消除警告 */
@ -46,6 +49,7 @@ void Task_shoot_ctrl(void *argument) {
shoot.mode=SHOOT_MODE_SINGLE;
Shoot_UpdateFeedback(&shoot);
Shoot_Control(&shoot,&shoot_cmd);
/* 发射UI */
Shoot_DumpUI(&shoot, &shoot_ui);
osMessageQueueReset(task_runtime.msgq.ui.shoot);
osMessageQueuePut(task_runtime.msgq.ui.shoot, &shoot_ui, 0, 0);

60
User/task/super_cap.c Normal file
View File

@ -0,0 +1,60 @@
/*
super_cap Task
*/
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "device/supercap.h"
#include "device/referee.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
CAN_SuperCapTXDataTypeDef SuperCap_CanTX;
Referee_ForCap_t referee_cap;
Referee_CapUI_t cap_ui;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
/* USER PRIVATE CODE BEGIN */
/* USER PRIVATE CODE END */
/* Exported functions ------------------------------------------------------- */
void Task_super_cap(void *argument) {
(void)argument; /* 未使用argument，消除警告 */
/* 计算任务运行到指定频率需要等待的tick数 */
const uint32_t delay_tick = osKernelGetTickFreq() / SUPER_CAP_FREQ;
osDelay(SUPER_CAP_INIT_DELAY); /* 延时一段时间再开启任务 */
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */
SuperCap_Init();
SuperCap_CanTX.Enable = 1 ; //超级电容使能。1使能，0失能
SuperCap_CanTX.Charge = 0 ; //此标志位无效，超电的充放电是自动的
SuperCap_CanTX.Powerlimit = 120 ; //裁判系统功率限制
SuperCap_CanTX.ChargePower = 1 ; //此参数无效，超电的充电功率随着底盘功率变化
/* USER CODE INIT END */
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
SuperCap_Update();
CAN_TX_SuperCapData(&SuperCap_CanTX);
/* 超电UI */
Cap_DumpUI(&cap_ui);
osMessageQueueReset(task_runtime.msgq.ui.cap);
osMessageQueuePut(task_runtime.msgq.ui.cap, &cap_ui, 0, 0);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}
}

5
User/task/user_task.c
View File

@ -58,4 +58,9 @@ const osThreadAttr_t attr_chassis_ctrl = {
.name = "chassis_ctrl",
.priority = osPriorityNormal,
.stack_size = 256 * 4,
};
const osThreadAttr_t attr_super_cap = {
.name = "super_cap",
.priority = osPriorityNormal,
.stack_size = 256 * 4,
};

8
User/task/user_task.h
View File

@ -23,6 +23,7 @@ extern "C" {
#define SHOOT_CTRL_FREQ (500.0)
#define GIMBAL_CTRL_FREQ (500.0)
#define CHASSIS_CTRL_FREQ (500.0)
#define SUPER_CAP_FREQ (500.0)
/* 任务初始化延时ms */
#define TASK_INIT_DELAY (100u)
@ -36,6 +37,7 @@ extern "C" {
#define SHOOT_CTRL_INIT_DELAY (0)
#define GIMBAL_CTRL_INIT_DELAY (0)
#define CHASSIS_CTRL_INIT_DELAY (0)
#define SUPER_CAP_INIT_DELAY (0)
/* Exported defines --------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
@ -55,6 +57,7 @@ typedef struct {
osThreadId_t shoot_ctrl;
osThreadId_t gimbal_ctrl;
osThreadId_t chassis_ctrl;
osThreadId_t super_cap;
} thread;
/* USER MESSAGE BEGIN */
@ -125,6 +128,7 @@ typedef struct {
UBaseType_t shoot_ctrl;
UBaseType_t gimbal_ctrl;
UBaseType_t chassis_ctrl;
UBaseType_t super_cap;
} stack_water_mark;
/* 各任务运行频率 */
@ -139,6 +143,7 @@ typedef struct {
float shoot_ctrl;
float gimbal_ctrl;
float chassis_ctrl;
float super_cap;
} freq;
/* 任务最近运行时间 */
@ -153,6 +158,7 @@ typedef struct {
float shoot_ctrl;
float gimbal_ctrl;
float chassis_ctrl;
float super_cap;
} last_up_time;
} Task_Runtime_t;
@ -172,6 +178,7 @@ extern const osThreadAttr_t attr_cmd;
extern const osThreadAttr_t attr_shoot_ctrl;
extern const osThreadAttr_t attr_gimbal_ctrl;
extern const osThreadAttr_t attr_chassis_ctrl;
extern const osThreadAttr_t attr_super_cap;
/* 任务函数声明 */
void Task_Init(void *argument);
@ -185,6 +192,7 @@ void Task_cmd(void *argument);
void Task_shoot_ctrl(void *argument);
void Task_gimbal_ctrl(void *argument);
void Task_chassis_ctrl(void *argument);
void Task_super_cap(void *argument);
#ifdef __cplusplus
}