c1a0c821c3
modified: MDK-ARM/DevC.uvprojx modified: MDK-ARM/DevC/DevC.axf modified: MDK-ARM/DevC/DevC.hex modified: User/bsp/uart.c modified: User/bsp/uart.h modified: User/module/config.c modified: User/module/gimbal.c modified: User/module/gimbal.h modified: User/module/shoot.c modified: User/task/ai.c modified: User/task/atti_esti.c modified: User/task/ctrl_gimbal.c modified: User/task/rc.c
198 lines
7.0 KiB
C
198 lines
7.0 KiB
C
/*
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ai Task
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功能：
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1. 接收姿态任务 (atti_esti) 发送的四元数。
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2. 直接读取全局云台(gimbal)与发射机构(shoot)状态，打包发送给上位机。
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3. 解析上位机指令并转化为系统的云台与发射控制信号。
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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#include <stdint.h>
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#include <string.h>
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#include "bsp/uart.h"
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#include "component/crc16.h"
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#include "module/gimbal.h" /* 引用云台结构体获取反馈 */
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#include "module/shoot.h" /* 引用发射机构结构体获取反馈 */
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/* USER INCLUDE END */
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/* Private typedef ---------------------------------------------------------- */
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extern uint8_t AI_mode; // AI 模式变量，供其他模块查询当前AI控制模式
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#define MAX_RX_BUF_SIZE 128 // 或 (sizeof(VisionToGimbal_t) * 2)
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// MCU 数据结构（MCU -> 上位机）
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typedef struct __attribute__((packed)) {
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uint8_t head[2]; // {'M', 'R'}
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uint8_t mode; // 0: 空闲, 1: 自瞄, 2: 小符, 3: 大符
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float q[4]; // wxyz顺序
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float yaw; // 偏航角
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float yaw_vel; // 偏航角速度
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float pitch; // 俯仰角
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float pitch_vel; // 俯仰角速度
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float bullet_speed; // 弹速
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uint16_t bullet_count; // 子弹累计发送次数
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uint16_t crc16;
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} GimbalToVision_t;
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Gimbal_Vision_t vision_data1;
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// 确保结构体大小符合要求 (C11 标准)
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#if defined(__STDC_VERSION__) && __STDC_VERSION__ >= 201112L
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_Static_assert(sizeof(GimbalToVision_t) <= 64, "GimbalToVision_t size exceeds 64 bytes");
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#endif
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// AI 控制数据结构（上位机 -> MCU）
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typedef struct __attribute__((packed)) {
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uint8_t head[2]; // {'M', 'R'}
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uint8_t mode; // 0: 不控制, 1: 控制云台但不开火，2: 控制云台且开火
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float yaw; // 目标偏航角/偏移量
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float yaw_vel; // 偏航角速度
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float yaw_acc; // 偏航角加速度
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float pitch; // 目标俯仰角/偏移量
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float pitch_vel; // 俯仰角速度
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float pitch_acc; // 俯仰角加速度
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uint16_t crc16;
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} VisionToGimbal_t;
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#if defined(__STDC_VERSION__) && __STDC_VERSION__ >= 201112L
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_Static_assert(sizeof(VisionToGimbal_t) <= 64, "VisionToGimbal_t size exceeds 64 bytes");
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#endif
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/* Private variables -------------------------------------------------------- */
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static uint8_t ai_rx_buf[sizeof(VisionToGimbal_t)];
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static VisionToGimbal_t ai_rx_data;
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/* 声明外部全局变量，用于直接获取高频反馈数据 */
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extern Gimbal_t gimbal;
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extern Shoot_t shoot;
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GimbalToVision_t tx_pkg;
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/* USER FUNCTION BEGIN */
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/**
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* @brief AI串口空闲中断回调函数 (适配无参 BSP 架构)
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*/
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static void AI_RxIdleCallback(void) {
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/* 1. 获取本次空闲中断触发时的实际接收长度 */
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uint16_t Size = BSP_UART_GetRxCount(BSP_UART_AI, MAX_RX_BUF_SIZE);
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/* 2. 必须手动停止当前 DMA，以便在函数末尾重新对齐接收指针 */
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HAL_UART_DMAStop(BSP_UART_GetHandle(BSP_UART_AI));
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/* 3. 长度校验：严格匹配结构体长度 */
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if (Size != sizeof(VisionToGimbal_t)) {
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goto RESTART_RX;
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}
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/* 4. 包头校验 */
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if (ai_rx_buf[0] != 'M' || ai_rx_buf[1] != 'R') {
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goto RESTART_RX;
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}
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/* 5. CRC校验 */
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if (!CRC16_Verify(ai_rx_buf, Size)) {
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goto RESTART_RX;
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}
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/* --- 下方保留原有的解析和入队逻辑 --- */
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VisionToGimbal_t *p_rx_data = (VisionToGimbal_t *)ai_rx_buf;
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Gimbal_Vision_t vision_data;
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memset(&vision_data, 0, sizeof(Gimbal_Vision_t));
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uint8_t is_valid_packet = 1;
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switch (p_rx_data->mode) {
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case 0:
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vision_data.target_found = 0;
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__NOP();
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break;
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case 1:
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case 2:
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vision_data.target_found = 1;
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vision_data.yaw = p_rx_data->yaw;
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vision_data.pit = p_rx_data->pitch;
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vision_data.yaw_v_ff = p_rx_data->yaw_vel;
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vision_data.pit_v_ff = p_rx_data->pitch_vel;
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break;
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default:
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is_valid_packet = 0;
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break;
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}
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if (is_valid_packet) {
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osMessageQueuePut(task_runtime.msgq.vision.data, &vision_data, 0, 0);
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vision_data1 = vision_data;
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}
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RESTART_RX:
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/* 6. 重新开启空闲中断定长接收 */
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BSP_UART_Receive_IDLE(BSP_UART_AI, ai_rx_buf, MAX_RX_BUF_SIZE);
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}
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/**
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* @brief 向上位机发送MCU状态数据
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*/
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static void AI_Send_MCU_Data(void) {
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AHRS_Quaternion_t current_quat;
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memset(&tx_pkg, 0, sizeof(GimbalToVision_t));
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/* 写入包头 */
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tx_pkg.head[0] = 'M';
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tx_pkg.head[1] = 'R';
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/* 1. 获取四元数 (从消息队列读取) */
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if (osMessageQueueGet(task_runtime.msgq.ai.quat, ¤t_quat, NULL, 0) == osOK) {
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tx_pkg.q[0] = current_quat.q0;
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tx_pkg.q[1] = current_quat.q1;
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tx_pkg.q[2] = current_quat.q2;
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tx_pkg.q[3] = current_quat.q3;
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}
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/* 2. 获取云台状态 (直接读取全局 gimbal 结构体) */
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tx_pkg.yaw = gimbal.feedback.imu.eulr.yaw;
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tx_pkg.yaw_vel = gimbal.feedback.imu.gyro.z;
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tx_pkg.pitch = gimbal.feedback.imu.eulr.rol; /* 电控中 Pitch 对应 IMU 的 Rol */
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tx_pkg.pitch_vel = gimbal.feedback.imu.gyro.y;
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/* 3. 获取发射机构与模式状态 (直接读取全局 shoot 结构体) */
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/* 模式回传，取值为实际枚举映射 */
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tx_pkg.mode = AI_mode; /* 直接回传当前AI模式，供上位机显示 */
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/* 弹速反馈：暂用摩擦轮目标转速或估算转速代替。若接入裁判系统，应替换为真实弹速。 */
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tx_pkg.bullet_speed = shoot.target_variable.target_rpm;
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/* 弹量统计：如有独立计数变量，可进行赋值 */
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tx_pkg.bullet_count = -1;
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/* 4. 计算 CRC16（扣除末尾 2 字节） */
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tx_pkg.crc16 = CRC16_Calc((const uint8_t *)&tx_pkg, sizeof(GimbalToVision_t) - 2, CRC16_INIT);
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/* 5. 通过 DMA 发送至上位机 */
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BSP_UART_Transmit(BSP_UART_AI, (uint8_t *)&tx_pkg, sizeof(GimbalToVision_t), true);
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}
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/* USER FUNCTION END */
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void Task_ai(void *argument) {
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(void)argument;
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/* 计算任务运行到指定频率需要等待的tick数 */
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const uint32_t delay_tick = osKernelGetTickFreq() / AI_FREQ;
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osDelay(AI_INIT_DELAY);
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uint32_t tick = osKernelGetTickCount();
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/* USER CODE INIT BEGIN */
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/* 注册串口接收完成回调并启动第一次DMA接收 */
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// 假设 BSP 已添加 IDLE 中断回调对应的枚举 BSP_UART_IDLE_CB
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BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB, AI_RxIdleCallback);
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BSP_UART_Receive(BSP_UART_AI, ai_rx_buf, sizeof(VisionToGimbal_t), true);
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/* USER CODE INIT END */
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while (1) {
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tick += delay_tick;
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/* USER CODE BEGIN */
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/* 定期向上位机发送包含姿态、云台、射击反馈的 MCU 状态包 */
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AI_Send_MCU_Data();
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/* USER CODE END */
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osDelayUntil(tick);
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}
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} |