From 26e53fa916874ac037356ac6902805f82e385ecc Mon Sep 17 00:00:00 2001 From: Zhou Chujie Date: Sat, 27 Jan 2024 10:41:36 +0800 Subject: [PATCH] =?UTF-8?q?=E5=BA=95=E7=9B=98=E8=B7=9F=E9=9A=8F=EF=BC=8C5V?= =?UTF-8?q?=E6=BF=80=E5=85=89=EF=BC=8C=E6=8B=A8=E5=BC=B9=E8=BD=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CMakeLists.txt | 6 +- application/chassis/chassis.c | 2 +- application/cmd/robot_cmd.c | 66 +++++++-- modules/algorithm/crc16.c | 69 +++++++-- modules/algorithm/crc16.h | 1 + modules/auto_aim/auto_aim.c | 188 ++++++++++++++++++++++++ modules/auto_aim/auto_aim.h | 77 ++++++++++ modules/imu/ins_task.c | 8 +- modules/master_machine/master_process.c | 69 ++++++--- modules/master_machine/master_process.h | 53 ++++++- modules/referee/referee_protocol.h | 4 +- modules/referee/referee_task.c | 2 +- 12 files changed, 481 insertions(+), 64 deletions(-) create mode 100644 modules/auto_aim/auto_aim.c create mode 100644 modules/auto_aim/auto_aim.h diff --git a/CMakeLists.txt b/CMakeLists.txt index b5c42ce..ae8d357 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -4,7 +4,6 @@ set(CMAKE_SYSTEM_VERSION 1) cmake_minimum_required(VERSION 3.25) # specify cross-compilers and tools -set(CMAKE_C_COMPILER arm-none-eabi-gcc) set(CMAKE_CXX_COMPILER arm-none-eabi-g++) set(CMAKE_ASM_COMPILER arm-none-eabi-gcc) set(CMAKE_AR arm-none-eabi-ar) @@ -53,7 +52,7 @@ include_directories(Inc Drivers/STM32F4xx_HAL_Driver/Inc Drivers/STM32F4xx_HAL_D bsp bsp/adc bsp/can bsp/dwt bsp/flash bsp/gpio bsp/iic bsp/log bsp/pwm bsp/spi bsp/usart bsp/usb modules modules/alarm modules/algorithm modules/BMI088 modules/can_comm modules/daemon modules/encoder modules/imu modules/ist8310 modules/led modules/master_machine modules/message_center modules/motor modules/oled modules/referee modules/remote modules/standard_cmd - modules/super_cap modules/TFminiPlus modules/unicomm modules/vofa + modules/super_cap modules/TFminiPlus modules/unicomm modules/vofa modules/auto_aim modules/motor/DJImotor modules/motor/HTmotor modules/motor/LKmotor modules/motor/servo_motor modules/motor/step_motor application application/chassis application/cmd application/gimbal application/shoot Middlewares/Third_Party/SEGGER/RTT Middlewares/Third_Party/SEGGER/Config) @@ -68,7 +67,8 @@ add_definitions(-DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx) file(GLOB_RECURSE SOURCES "Startup/*.*" "Src/*.*" "Middlewares/*.*" "Drivers/*.*" "bsp/*.*" "application/*.*" "modules/*.*") -set(LINKER_SCRIPT ${CMAKE_SOURCE_DIR}/STM32F407IGHX_FLASH.ld) +set(LINKER_SCRIPT ${CMAKE_SOURCE_DIR}/STM32F407IGHX_FLASH.ld + ) add_link_options(-Wl,-gc-sections,--print-memory-usage,-Map=${PROJECT_BINARY_DIR}/${PROJECT_NAME}.map) add_link_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 4e2a291..39bf046 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -242,7 +242,7 @@ void ChassisTask() // // 获取裁判系统数据 建议将裁判系统与底盘分离，所以此处数据应使用消息中心发送 // // 我方颜色id小于7是红色,大于7是蓝色,注意这里发送的是对方的颜色, 0:blue , 1:red - // chassis_feedback_data.enemy_color = referee_data->GameRobotState.robot_id > 7 ? 1 : 0; + chassis_feedback_data.enemy_color = !referee_data->referee_id.Robot_Color; // // 当前只做了17mm热量的数据获取,后续根据robot_def中的宏切换双枪管和英雄42mm的情况 // chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit; // chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0; diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 4dcfb37..416f575 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -8,6 +8,7 @@ #include "message_center.h" #include "general_def.h" #include "dji_motor.h" +#include "auto_aim.h" // bsp #include "bsp_dwt.h" #include "bsp_log.h" @@ -30,8 +31,16 @@ static Chassis_Ctrl_Cmd_s chassis_cmd_send; // 发送给底盘应用的信 static Chassis_Upload_Data_s chassis_fetch_data; // 从底盘应用接收的反馈信息信息,底盘功率枪口热量与底盘运动状态等 static RC_ctrl_t *rc_data; // 遥控器数据,初始化时返回 -static Vision_Recv_s *vision_recv_data; // 视觉接收数据指针,初始化时返回 -static Vision_Send_s vision_send_data; // 视觉发送数据 +//static Vision_Recv_s *vision_recv_data; // 视觉接收数据指针,初始化时返回 +//static Vision_Send_s vision_send_data; // 视觉发送数据 +static RecievePacket_t *vision_recv_data; // 视觉接收数据指针,初始化时返回 +static SendPacket_t vision_send_data; // 视觉发送数据 + +//自瞄相关信息 +static Trajectory_Type_t trajectory_cal; +static Aim_Select_Type_t aim_select; +static uint32_t no_find_cnt; // 未发现目标计数 +static uint8_t auto_aim_flag = 0; //辅助瞄准标志位 视野内有目标开启 目标丢失关闭 static Publisher_t *gimbal_cmd_pub; // 云台控制消息发布者 static Subscriber_t *gimbal_feed_sub; // 云台反馈信息订阅者 @@ -122,27 +131,58 @@ static void RemoteControlSet() chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; } - else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘和云台分离,底盘保持不转动 + else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘跟随云台 { chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE; } // 云台参数,确定云台控制数据 - if (switch_is_mid(rc_data[TEMP].rc.switch_left)) // 左侧开关状态为[中],视觉模式 + if (switch_is_mid(rc_data[TEMP].rc.switch_left) || + (vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0 + && vision_recv_data->vx == 0 && vision_recv_data->vy == 0 && + vision_recv_data->vz == 0)) // 左侧开关状态为[中],或视觉未识别到目标,纯遥控器拨杆控制 + { - // 待添加,视觉会发来和目标的误差,同样将其转化为total angle的增量进行控制 - // ... - } - // 左侧开关状态为[下],或视觉未识别到目标,纯遥控器拨杆控制 - if (switch_is_down(rc_data[TEMP].rc.switch_left) || vision_recv_data->target_state == NO_TARGET) - { // 按照摇杆的输出大小进行角度增量,增益系数需调整 gimbal_cmd_send.yaw += 0.003f * (float)rc_data[TEMP].rc.rocker_l_; gimbal_cmd_send.pitch += 0.0007f * (float)rc_data[TEMP].rc.rocker_l1; if(gimbal_cmd_send.pitch>=18.0) gimbal_cmd_send.pitch=18.0f; if(gimbal_cmd_send.pitch<=-40.0) gimbal_cmd_send.pitch=-40.0f; } + // 左侧开关状态为[下],视觉模式 + if (switch_is_down(rc_data[TEMP].rc.switch_left)) { + trajectory_cal.v0 = 30; //弹速30 + if (vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0 + && vision_recv_data->vx == 0 && vision_recv_data->vy == 0 && vision_recv_data->vz == 0) { + aim_select.suggest_fire = 0; + //未发现目标 + no_find_cnt++; + + if (no_find_cnt >= 2000) { + //gimbal_scan_flag = 1; + //auto_aim_flag = 0; + } + //else + //auto_aim_flag = 1; + } else { + //弹道解算 + no_find_cnt = 0; + auto_aim_flag = 1; + + auto_aim(&aim_select, &trajectory_cal, vision_recv_data); + + gimbal_cmd_send.yaw = trajectory_cal.cmd_yaw * 180 / PI; + + gimbal_cmd_send.pitch = trajectory_cal.cmd_pitch * 180 / PI; + + float yaw_err = fabsf(trajectory_cal.cmd_yaw - gimbal_cmd_send.yaw); + if (yaw_err <= 0.008) //3度 + aim_select.suggest_fire = 1; + else + aim_select.suggest_fire = 0; + } + } // 云台软件限位 // 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整 @@ -298,7 +338,8 @@ void RobotCMDTask() // 根据gimbal的反馈值计算云台和底盘正方向的夹角,不需要传参,通过static私有变量完成 CalcOffsetAngle(); // 根据遥控器左侧开关,确定当前使用的控制模式为遥控器调试还是键鼠 - if (switch_is_down(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[下],遥控器控制 + if (switch_is_down(rc_data[TEMP].rc.switch_left) || + switch_is_mid(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[下],[中],遥控器控制 RemoteControlSet(); else if (switch_is_up(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[上],键盘控制 MouseKeySet(); @@ -306,7 +347,8 @@ void RobotCMDTask() EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况 // 设置视觉发送数据,还需增加加速度和角速度数据 - // VisionSetFlag(chassis_fetch_data.enemy_color,,chassis_fetch_data.bullet_speed) + VisionSetFlag(chassis_fetch_data.enemy_color); + // 推送消息,双板通信,视觉通信等 // 其他应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置 diff --git a/modules/algorithm/crc16.c b/modules/algorithm/crc16.c index 2833689..5beae67 100644 --- a/modules/algorithm/crc16.c +++ b/modules/algorithm/crc16.c @@ -1,7 +1,29 @@ #include "crc16.h" static uint8_t crc_tab16_init = 0; -static uint16_t crc_tab16[256]; +static uint16_t crc_tab16[256] = { + 0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48, 0x9dc1, 0xaf5a, 0xbed3, + 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, + 0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, 0x308b, 0x0210, 0x1399, + 0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5, + 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c, 0xbdcb, 0xac42, 0x9ed9, 0x8f50, + 0xfbef, 0xea66, 0xd8fd, 0xc974, 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb, + 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 0x5285, 0x430c, 0x7197, 0x601e, + 0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, + 0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5, + 0xa96a, 0xb8e3, 0x8a78, 0x9bf1, 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738, + 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693, + 0xc22c, 0xd3a5, 0xe13e, 0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff, + 0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1, 0x0948, 0x3bd3, 0x2a5a, + 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5, + 0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 0xb58b, 0xa402, 0x9699, 0x8710, + 0xf3af, 0xe226, 0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c, + 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df, + 0x0c60, 0x1de9, 0x2f72, 0x3efb, 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232, + 0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, 0xe70e, 0xf687, 0xc41c, 0xd595, + 0xa12a, 0xb0a3, 0x8238, 0x93b1, 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9, + 0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c, + 0x3de3, 0x2c6a, 0x1ef1, 0x0f78}; /* * uint16_t crc_16( const unsigned char *input_str, size_t num_bytes ); @@ -13,19 +35,28 @@ static uint16_t crc_tab16[256]; */ uint16_t crc_16(const uint8_t *input_str, uint16_t num_bytes) { - uint16_t crc; - const uint8_t *ptr; - uint16_t a; - if (!crc_tab16_init) - init_crc16_tab(); - crc = CRC_START_16; - ptr = input_str; - if (ptr != NULL) - for (a = 0; a < num_bytes; a++) - { - crc = (crc >> 8) ^ crc_tab16[(crc ^ (uint16_t)*ptr++) & 0x00FF]; - } - return crc; +// uint16_t crc; +// const uint8_t *ptr; +// uint16_t a; +//// if (!crc_tab16_init) +//// init_crc16_tab(); +// crc = CRC_START_16; +// ptr = input_str; +// if (ptr != NULL) +// for (a = 0; a < num_bytes; a++) { +// crc = (crc >> 8) ^ crc_tab16[(crc ^ (uint16_t) *ptr++) & 0x00FF]; +// } +// return crc; + uint8_t ch_data; + uint16_t wCRC = 0xFFFF; + + if (input_str == NULL) return 0xFFFF; + while (num_bytes--) { + ch_data = *input_str++; + (wCRC) = + ((uint16_t)(wCRC) >> 8) ^ crc_tab16[((uint16_t)(wCRC) ^ (uint16_t)(ch_data)) & 0x00ff]; + } + return wCRC; } /* @@ -99,3 +130,13 @@ void init_crc16_tab(void) } crc_tab16_init = 1; } +uint32_t VerifyCRC16CheckSum(uint8_t *pchMessage, uint32_t dwLength) +{ + uint16_t wExpected = 0; + if ((pchMessage == NULL) || (dwLength <= 2)) + { + return 0; + } + wExpected = crc_16(pchMessage, dwLength - 2); + return ((wExpected & 0xff) == pchMessage[dwLength - 2] && ((wExpected >> 8) & 0xff) == pchMessage[dwLength - 1]); +} \ No newline at end of file diff --git a/modules/algorithm/crc16.h b/modules/algorithm/crc16.h index 7baffd8..3a0c585 100644 --- a/modules/algorithm/crc16.h +++ b/modules/algorithm/crc16.h @@ -10,5 +10,6 @@ uint16_t crc_16(const uint8_t *input_str, uint16_t num_bytes); uint16_t crc_modbus(const uint8_t *input_str, uint16_t num_bytes); uint16_t update_crc_16(uint16_t crc, uint8_t c); void init_crc16_tab(void); +uint32_t VerifyCRC16CheckSum(uint8_t *pchMessage, uint32_t dwLength); #endif diff --git a/modules/auto_aim/auto_aim.c b/modules/auto_aim/auto_aim.c new file mode 100644 index 0000000..82d08d3 --- /dev/null +++ b/modules/auto_aim/auto_aim.c @@ -0,0 +1,188 @@ +// +// Created by sph on 2024/1/21. +// +#include "auto_aim.h" +#include "arm_math.h" + +/** + * @brief 选择目标装甲板 + * @author SJQ + * @param[in] trajectory_cal:弹道解算结构体 + * @retval 返回空 + */ +void aim_armor_select(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_cal) { + aim_sel->delay_time = trajectory_cal->fly_time + trajectory_cal->extra_delay_time; + aim_sel->target_state.yaw += aim_sel->target_state.v_yaw * aim_sel->delay_time; + + //计算四块装甲板的位置 + int use_1 = 1; + int i = 0; + int idx = 0; // 选择的装甲板 + // 为平衡步兵 + if (aim_sel->target_state.armor_num == 2) { + for (i = 0; i < 2; i++) { + float tmp_yaw = aim_sel->target_state.yaw + i * PI; + float r = aim_sel->target_state.r1; + + aim_sel->armor_pose[i].x = aim_sel->target_state.x - r * arm_cos_f32(tmp_yaw); + aim_sel->armor_pose[i].y = aim_sel->target_state.y - r * arm_sin_f32(tmp_yaw); + aim_sel->armor_pose[i].z = aim_sel->target_state.z; + aim_sel->armor_pose[i].yaw = aim_sel->target_state.yaw + i * PI; + } + + float yaw_diff_min = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[0].yaw); + + //因为是平衡步兵 只需判断两块装甲板即可 + float temp_yaw_diff = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[1].yaw); + if (temp_yaw_diff < yaw_diff_min) { + yaw_diff_min = temp_yaw_diff; + idx = 1; + } + } else if (aim_sel->target_state.armor_num == 3)//前哨站 + { + for (i = 0; i < 3; i++) { + float tmp_yaw; + if (aim_sel->target_state.v_yaw <= 0) + tmp_yaw = aim_sel->target_state.yaw + i * (2.0 * PI / 3.0); + else + tmp_yaw = aim_sel->target_state.yaw - i * (2.0 * PI / 3.0); + float r = use_1 ? aim_sel->target_state.r1 : aim_sel->target_state.r2; + aim_sel->armor_pose[i].x = aim_sel->target_state.x - r * cos(tmp_yaw); + aim_sel->armor_pose[i].y = aim_sel->target_state.y - r * sin(tmp_yaw); + aim_sel->armor_pose[i].z = use_1 ? aim_sel->target_state.z : aim_sel->target_state.z + + aim_sel->target_state.dz; + aim_sel->armor_pose[i].yaw = aim_sel->target_state.yaw + i * (2.0 * PI / 3.0); + use_1 = !use_1; + } + + //计算枪管到目标装甲板yaw最小的那个装甲板 + float yaw_diff_min = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[0].yaw); + for (i = 1; i < 3; i++) { + float temp_yaw_diff = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[i].yaw); + if (temp_yaw_diff < yaw_diff_min) { + yaw_diff_min = temp_yaw_diff; + idx = i; + } + } + } else { + for (i = 0; i < 4; i++) { + float tmp_yaw = aim_sel->target_state.yaw + i * PI / 2.0; + float r = use_1 ? aim_sel->target_state.r1 : aim_sel->target_state.r2; + + aim_sel->armor_pose[i].x = aim_sel->target_state.x - r * arm_cos_f32(tmp_yaw); + aim_sel->armor_pose[i].y = aim_sel->target_state.y - r * arm_sin_f32(tmp_yaw); + aim_sel->armor_pose[i].z = use_1 ? aim_sel->target_state.z : aim_sel->target_state.z + + aim_sel->target_state.dz; + aim_sel->armor_pose[i].yaw = tmp_yaw; + use_1 = !use_1; + } + + //计算枪管到目标装甲板yaw最小的那个装甲板 + float yaw_diff_min = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[0].yaw); + for (i = 1; i < 4; i++) { + float temp_yaw_diff = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[i].yaw); + if (temp_yaw_diff < yaw_diff_min) { + yaw_diff_min = temp_yaw_diff; + idx = i; + } + } + } + aim_sel->aim_point[0] = aim_sel->armor_pose[idx].x + aim_sel->target_state.vx * aim_sel->delay_time; + aim_sel->aim_point[1] = aim_sel->armor_pose[idx].y + aim_sel->target_state.vy * aim_sel->delay_time; + aim_sel->aim_point[2] = aim_sel->armor_pose[idx].z + aim_sel->target_state.vz * aim_sel->delay_time; +} + +/** + * @brief 子弹飞行时间解算 + * @author SJQ + * @param[in] x:瞄准时shooter_link下目标x坐标 + * @param[in] vx:瞄准时shooter_link下目标x速度 + * @param[in] v_x0:弹速水平分量 + * @retval 返回空 + */ +const float k1 = 0.0761; //标准大气压25度下空气阻力系数 +float get_fly_time(float x, float vx, float v_x0) { + float t = 0; + float f_ti = 0, df_ti = 0; + for (int i = 0; i < 5; i++) { + f_ti = log(k1 * v_x0 * t + 1) / k1 - x - vx * t; + df_ti = v_x0 / (k1 * v_x0 * t + 1) - vx; + t = t - f_ti / df_ti; + } + return t; +} + +/** + * @brief 解算期望云台角度（考虑子弹飞行时间） + * @author SJQ + * @param[in] trajectory_cal:弹道解算结构体 + * @retval 返回空 + */ +void get_cmd_angle(Trajectory_Type_t *trajectory_cal) { + + arm_power_f32(trajectory_cal->position_xy, 2, &trajectory_cal->dis2); + arm_sqrt_f32(trajectory_cal->dis2, &trajectory_cal->dis); + + trajectory_cal->dis = trajectory_cal->dis - 0.20; + + trajectory_cal->theta_0 = atan2f(trajectory_cal->z, trajectory_cal->dis); + trajectory_cal->alpha = atan2f(trajectory_cal->position_xy[1], trajectory_cal->position_xy[0]); + //将目标的xyz速度转化为平行枪管与垂直枪管的速度 + trajectory_cal->vx = trajectory_cal->velocity[0] * arm_cos_f32(trajectory_cal->alpha) + + trajectory_cal->velocity[1] * arm_sin_f32(trajectory_cal->alpha); + trajectory_cal->vy = -trajectory_cal->velocity[0] * arm_sin_f32(trajectory_cal->alpha) + + trajectory_cal->velocity[1] * arm_cos_f32(trajectory_cal->alpha); + + float v_x0 = trajectory_cal->v0 * arm_cos_f32(trajectory_cal->theta_0);//水平方向弹速 + float v_y0 = trajectory_cal->v0 * arm_sin_f32(trajectory_cal->theta_0);//竖直方向弹速 + + trajectory_cal->fly_time = get_fly_time(trajectory_cal->dis, trajectory_cal->vx, v_x0); + arm_power_f32(&trajectory_cal->fly_time, 1, &trajectory_cal->fly_time2); + trajectory_cal->h_r = trajectory_cal->z + trajectory_cal->velocity[2] * trajectory_cal->fly_time; + //开始迭代 + trajectory_cal->theta_k = trajectory_cal->theta_0; + trajectory_cal->k = 0; + while (trajectory_cal->k < 10) { + v_y0 = trajectory_cal->v0 * arm_sin_f32(trajectory_cal->theta_k);//竖直方向弹速 + trajectory_cal->h_k = v_y0 * trajectory_cal->fly_time - 0.5 * 9.8 * trajectory_cal->fly_time2; + trajectory_cal->err_k = trajectory_cal->h_r - trajectory_cal->h_k; + trajectory_cal->theta_k += 0.1 * trajectory_cal->err_k; + trajectory_cal->k++; + if (trajectory_cal->err_k < 0.005) break; + } + + trajectory_cal->cmd_yaw = atan2f(trajectory_cal->position_xy[1], + trajectory_cal->position_xy[0]); + + trajectory_cal->cmd_pitch = trajectory_cal->theta_k; +} + +void auto_aim(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_cal, RecievePacket_t *receive_packet) { + trajectory_cal->extra_delay_time = 0.025;//0.025 + + aim_sel->target_state.armor_type = receive_packet->id; + aim_sel->target_state.armor_num = receive_packet->armors_num; + aim_sel->target_state.x = receive_packet->x; + aim_sel->target_state.y = receive_packet->y; + aim_sel->target_state.z = receive_packet->z; + aim_sel->target_state.vx = receive_packet->vx; + aim_sel->target_state.vy = receive_packet->vy; + aim_sel->target_state.vz = receive_packet->vz; + aim_sel->target_state.yaw = receive_packet->yaw; + aim_sel->target_state.v_yaw = receive_packet->v_yaw; + aim_sel->target_state.r1 = receive_packet->r1; + aim_sel->target_state.r2 = receive_packet->r2; + aim_sel->target_state.dz = receive_packet->dz; + + aim_armor_select(aim_sel, trajectory_cal); + + trajectory_cal->position_xy[0] = aim_sel->aim_point[0]; + trajectory_cal->position_xy[1] = aim_sel->aim_point[1]; + trajectory_cal->z = aim_sel->aim_point[2]; + trajectory_cal->velocity[0] = aim_sel->target_state.vx; + trajectory_cal->velocity[1] = aim_sel->target_state.vy; + trajectory_cal->velocity[2] = aim_sel->target_state.vz; + + get_cmd_angle(trajectory_cal); + +} diff --git a/modules/auto_aim/auto_aim.h b/modules/auto_aim/auto_aim.h new file mode 100644 index 0000000..1bcf134 --- /dev/null +++ b/modules/auto_aim/auto_aim.h @@ -0,0 +1,77 @@ +// +// Created by sph on 2024/1/21. +// + +#ifndef BASIC_FRAMEWORK_AUTO_AIM_H +#define BASIC_FRAMEWORK_AUTO_AIM_H + +#include "master_process.h" +//弹道解算 +typedef struct +{ + float v0; //子弹射速 + float velocity[3];//目标xyz速度 + float vx; //目标相对枪口方向的速度 + float vy; + float alpha; //目标初始航向角 + float position_xy[2];//目标xy坐标 + float z; //目标z坐标 + float fly_time; //子弹飞行时间 + float fly_time2; //子弹飞行时间平方 + float extra_delay_time ; + float theta_0; //初始目标角度 + float theta_k; //迭代目标角度 + float dis; //目标距离 + float dis2; //目标距离平方 + float err_k; //迭代误差 + uint8_t k; //迭代次数 + float h_k; //迭代高度 + float h_r; //目标真实高度 + + float cmd_yaw; + float cmd_pitch; +} Trajectory_Type_t; + +//整车状态 +typedef struct +{ + float x; + float y; + float z; + float yaw; + float vx; + float vy; + float vz; + float v_yaw; + float r1; + float r2; + float dz; + uint8_t armor_type; + uint8_t armor_num; +}Target_State_Type_t; + +//预瞄点 +typedef struct +{ + float x; + float y; + float z; + float yaw; +}Armor_Pose_Type_t; + +typedef struct +{ + Target_State_Type_t target_state; //整车状态 + Armor_Pose_Type_t armor_pose[4]; //四个装甲板状态 + float aim_point[3]; //预瞄点 + float delay_time; //预瞄时间差 + uint8_t suggest_fire; +}Aim_Select_Type_t; + + +void aim_armor_select(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_cal); +float get_fly_time(float x, float vx, float v_x0); +void get_cmd_angle(Trajectory_Type_t *trajectory_cal); +void auto_aim(Aim_Select_Type_t *aim_sel,Trajectory_Type_t *trajectory_cal,RecievePacket_t *receive_packet); + +#endif //BASIC_FRAMEWORK_AUTO_AIM_H \ No newline at end of file diff --git a/modules/imu/ins_task.c b/modules/imu/ins_task.c index ec084b6..501dec5 100644 --- a/modules/imu/ins_task.c +++ b/modules/imu/ins_task.c @@ -19,6 +19,7 @@ #include "user_lib.h" #include "general_def.h" #include "master_process.h" +#include "crc16.h" static INS_t INS; static IMU_Param_t IMU_Param; @@ -158,8 +159,8 @@ void INS_Task(void) EarthFrameToBodyFrame(gravity, gravity_b, INS.q); for (uint8_t i = 0; i < 3; ++i) // 同样过一个低通滤波 { - INS.MotionAccel_b[i] = (INS.Accel[i] - gravity_b[i]) * dt / (INS.AccelLPF + dt) + INS.MotionAccel_b[i] * INS.AccelLPF / (INS.AccelLPF + dt); - } + INS.MotionAccel_b[i] = (INS.Accel[i] - gravity_b[i]) * dt / (INS.AccelLPF + dt) + + INS.MotionAccel_b[i] * INS.AccelLPF / (INS.AccelLPF + dt); } BodyFrameToEarthFrame(INS.MotionAccel_b, INS.MotionAccel_n, INS.q); // 转换回导航系n INS.Yaw = QEKF_INS.Yaw; @@ -167,7 +168,8 @@ void INS_Task(void) INS.Roll = QEKF_INS.Roll; INS.YawTotalAngle = QEKF_INS.YawTotalAngle; - VisionSetAltitude(INS.Yaw, INS.Pitch, INS.Roll); + //VisionSetAltitude(INS.Yaw, INS.Pitch, INS.Roll); + VisionSetAltitude(INS.Yaw * PI / 180, INS.Pitch * PI / 180); } // temperature control diff --git a/modules/master_machine/master_process.c b/modules/master_machine/master_process.c index 057c8fd..871aab1 100644 --- a/modules/master_machine/master_process.c +++ b/modules/master_machine/master_process.c @@ -13,25 +13,36 @@ #include "daemon.h" #include "bsp_log.h" #include "robot_def.h" +#include "crc16.h" -static Vision_Recv_s recv_data; -static Vision_Send_s send_data; +static RecievePacket_t recv_data; +static SendPacket_t send_data; static DaemonInstance *vision_daemon_instance; -void VisionSetFlag(Enemy_Color_e enemy_color, Work_Mode_e work_mode, Bullet_Speed_e bullet_speed) +//void VisionSetFlag(Enemy_Color_e enemy_color, Work_Mode_e work_mode, Bullet_Speed_e bullet_speed) +//{ +// send_data.enemy_color = enemy_color; +// send_data.work_mode = work_mode; +// send_data.bullet_speed = bullet_speed; +//} +void VisionSetFlag(Enemy_Color_e enemy_color) { - send_data.enemy_color = enemy_color; - send_data.work_mode = work_mode; - send_data.bullet_speed = bullet_speed; + send_data.detect_color = enemy_color; + send_data.reserved = 0; } -void VisionSetAltitude(float yaw, float pitch, float roll) +void VisionSetAltitude(float yaw, float pitch) { send_data.yaw = yaw; send_data.pitch = pitch; - send_data.roll = roll; } +void VisionSetAim(float aim_x, float aim_y, float aim_z) +{ + send_data.aim_x = aim_x; + send_data.aim_y = aim_y; + send_data.aim_z = aim_z; +} /** * @brief 离线回调函数,将在daemon.c中被daemon task调用 * @attention 由于HAL库的设计问题,串口开启DMA接收之后同时发送有概率出现__HAL_LOCK()导致的死锁,使得无法 @@ -113,17 +124,24 @@ void VisionSend() #ifdef VISION_USE_VCP #include "bsp_usb.h" -static uint8_t *vis_recv_buff; +static uint8_t *vis_recv_buff; //接收到的原始数据 static void DecodeVision(uint16_t recv_len) { - uint16_t flag_register; - get_protocol_info(vis_recv_buff, &flag_register, (uint8_t *)&recv_data.pitch); - // TODO: code to resolve flag_register; +// uint16_t flag_register; +// get_protocol_info(vis_recv_buff, &flag_register, (uint8_t *)&recv_data.pitch); +// // TODO: code to resolve flag_register; + if(vis_recv_buff[0]==0xA5) + { + if(VerifyCRC16CheckSum(vis_recv_buff,sizeof(recv_data))) + { + memcpy(&recv_data,vis_recv_buff,sizeof(recv_data)); + } + } } /* 视觉通信初始化 */ -Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle) +RecievePacket_t *VisionInit(UART_HandleTypeDef *_handle) { UNUSED(_handle); // 仅为了消除警告 USB_Init_Config_s conf = {.rx_cbk = DecodeVision}; @@ -142,14 +160,23 @@ Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle) void VisionSend() { - static uint16_t flag_register; - static uint8_t send_buff[VISION_SEND_SIZE]; - static uint16_t tx_len; - // TODO: code to set flag_register - flag_register = 30 << 8 | 0b00000001; - // 将数据转化为seasky协议的数据包 - get_protocol_send_data(0x02, flag_register, &send_data.yaw, 3, send_buff, &tx_len); - USBTransmit(send_buff, tx_len); +// static uint16_t flag_register; +// static uint8_t send_buff[VISION_SEND_SIZE]; +// static uint16_t tx_len; +// // TODO: code to set flag_register +// flag_register = 30 << 8 | 0b00000001; +// // 将数据转化为seasky协议的数据包 +// get_protocol_send_data(0x02, flag_register, &send_data.yaw, 3, send_buff, &tx_len); +// USBTransmit(send_buff, tx_len); + static uint8_t send_buffer[24]={0}; + + send_data.header = 0x5A; +// VisionSetFlag(1); + VisionSetAim(recv_data.x,recv_data.y,recv_data.z); + send_data.checksum = crc_16(&send_data.header,sizeof(send_data)-2); + + memcpy(send_buffer,&send_data,sizeof(send_data)); + USBTransmit(send_buffer, sizeof(send_data)); } #endif // VISION_USE_VCP diff --git a/modules/master_machine/master_process.h b/modules/master_machine/master_process.h index e8668be..c50c2b4 100644 --- a/modules/master_machine/master_process.h +++ b/modules/master_machine/master_process.h @@ -47,9 +47,11 @@ typedef struct typedef enum { - COLOR_NONE = 0, - COLOR_BLUE = 1, - COLOR_RED = 2, +// COLOR_NONE = 0, +// COLOR_BLUE = 1, +// COLOR_RED = 2, + ENEMY_COLOR_RED = 0, + ENEMY_COLOR_BLUE = 1, } Enemy_Color_e; typedef enum @@ -79,6 +81,40 @@ typedef struct float pitch; float roll; } Vision_Send_s; + +typedef __packed struct { + uint8_t header;//0x5A + uint8_t detect_color: 1; + uint8_t reserved: 7; + float pitch; + float yaw; + float aim_x; + float aim_y; + float aim_z; + uint16_t checksum; +} SendPacket_t; + +typedef __packed struct +{ + uint8_t header; //= 0xA5; + uint8_t tracking: 1; + uint8_t id: 3; // 0-outpost 6-guard 7-base + uint8_t armors_num: 3; // 2-balance 3-outpost 4-normal + uint8_t reserved: 1; + float x; + float y; + float z; + float yaw; + float vx; + float vy; + float vz; + float v_yaw; + float r1; + float r2; + float dz; + uint16_t checksum; +} RecievePacket_t; + #pragma pack() /** @@ -86,7 +122,8 @@ typedef struct * * @param handle 用于和视觉通信的串口handle(C板上一般为USART1,丝印为USART2,4pin) */ -Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle); +//Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle); +RecievePacket_t *VisionInit(UART_HandleTypeDef *_handle); /** * @brief 发送视觉数据 @@ -101,14 +138,16 @@ void VisionSend(); * @param work_mode * @param bullet_speed */ -void VisionSetFlag(Enemy_Color_e enemy_color, Work_Mode_e work_mode, Bullet_Speed_e bullet_speed); - +//void VisionSetFlag(Enemy_Color_e enemy_color, Work_Mode_e work_mode, Bullet_Speed_e bullet_speed); +void VisionSetFlag(Enemy_Color_e enemy_color); /** * @brief 设置发送数据的姿态部分 * * @param yaw * @param pitch */ -void VisionSetAltitude(float yaw, float pitch, float roll); +//void VisionSetAltitude(float yaw, float pitch, float roll); +void VisionSetAltitude(float yaw, float pitch); +void VisionSetAim(float aim_x, float aim_y,float aim_z); #endif // !MASTER_PROCESS_H \ No newline at end of file diff --git a/modules/referee/referee_protocol.h b/modules/referee/referee_protocol.h index 22416b3..0070412 100644 --- a/modules/referee/referee_protocol.h +++ b/modules/referee/referee_protocol.h @@ -16,8 +16,8 @@ /****************************宏定义部分****************************/ #define REFEREE_SOF 0xA5 // 起始字节,协议固定为0xA5 -#define Robot_Red 0 -#define Robot_Blue 1 +#define Robot_Red 1 +#define Robot_Blue 0 #define Communicate_Data_LEN 5 // 自定义交互数据长度，该长度决定了我方发送和他方接收，自定义交互数据协议更改时只需要更改此宏定义即可 #pragma pack(1) diff --git a/modules/referee/referee_task.c b/modules/referee/referee_task.c index 7971265..9950066 100644 --- a/modules/referee/referee_task.c +++ b/modules/referee/referee_task.c @@ -28,7 +28,7 @@ uint8_t UI_Seq; // 包序号，供整个ref */ static void DeterminRobotID() { - // id小于7是红色,大于7是蓝色,0为红色，1为蓝色 #define Robot_Red 0 #define Robot_Blue 1 + // id小于7是红色,大于7是蓝色 #define Robot_Red 0 #define Robot_Blue 1 referee_recv_info->referee_id.Robot_Color = referee_recv_info->GameRobotState.robot_id > 7 ? Robot_Blue : Robot_Red; referee_recv_info->referee_id.Robot_ID = referee_recv_info->GameRobotState.robot_id; referee_recv_info->referee_id.Cilent_ID = 0x0100 + referee_recv_info->referee_id.Robot_ID; // 计算客户端ID