超电上车成功，pitch限位写好，侧向发射
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@ -51,10 +51,7 @@ static SuperCapInstance *cap; // 超级电
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static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left right forward back
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static PowerMeterInstance *power_meter;
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float chassis_power = 0;
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static first_order_filter_type_t vx_filter;
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static first_order_filter_type_t vy_filter;
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const static float32_t chassis_x_order_filter=0.05f;
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const static float32_t chassis_y_order_filter=0.05f;
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/* 用于自旋变速策略的时间变量 */
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// static float t;
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@ -116,15 +113,16 @@ void ChassisInit()
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SuperCap_Init_Config_s cap_conf = {
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.can_config = {
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.can_handle = &hcan2,
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.tx_id = 0x302, // 超级电容默认接收id
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.rx_id = 0x301, // 超级电容默认发送id,注意tx和rx在其他人看来是反的
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}};
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cap = SuperCapInit(&cap_conf); // 超级电容初始化
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first_order_filter_init(&vy_filter,0.002f,&chassis_y_order_filter);
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first_order_filter_init(&vx_filter,0.002f,&chassis_x_order_filter);
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// SuperCap_Init_Config_s cap_conf = {
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// .can_config = {
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// .can_handle = &hcan2,
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// .tx_id = 0x210,
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// .rx_id = 0x211,
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// }};
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// cap = SuperCapInit(&cap_conf); // 超级电容初始化
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// SuperCapSetPower(cap,70); // 超级电容限制功率
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// PowerMeter_Init_Config_s power_conf = {
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// .can_config = {
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// .can_handle = &hcan2,
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@ -268,6 +266,14 @@ void ChassisTask()
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case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略
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chassis_cmd_recv.wz = 4500;
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break;
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case CHASSIS_VERTICAL_YAW:
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chassis_cmd_recv.offset_angle -= 90;
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chassis_cmd_recv.wz = 2.0f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
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if(chassis_cmd_recv.wz > 4500)
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chassis_cmd_recv.wz = 4500;
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if(chassis_cmd_recv.wz < -4500)
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chassis_cmd_recv.wz = -4500;
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default:
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break;
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}
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@ -278,12 +284,6 @@ void ChassisTask()
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cos_theta = arm_cos_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD);
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sin_theta = arm_sin_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD);
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first_order_filter_cali(&vx_filter,chassis_cmd_recv.vx);
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first_order_filter_cali(&vy_filter,chassis_cmd_recv.vy);
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chassis_cmd_recv.vy = vy_filter.out;
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chassis_cmd_recv.vx = vx_filter.out;
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chassis_vx = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta;
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chassis_vy = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta;
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@ -311,7 +311,7 @@ void ChassisTask()
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// chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit;
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// chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;
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chassis_feedback_data.cap_power = cap->cap_msg.power;
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chassis_feedback_data.cap_vol = cap->cap_msg.cap_vol;
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// 推送反馈消息
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#ifdef ONE_BOARD
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PubPushMessage(chassis_pub, (void *)&chassis_feedback_data);
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@ -61,9 +61,8 @@ static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息
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static Robot_Status_e robot_state; // 机器人整体工作状态
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static referee_info_t* referee_data; // 用于获取裁判系统的数据
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static referee_info_vt_t* referee_vt_data;
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extern float horizontal_angle;
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//static int target_index = -1;
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static uint16_t base_HP;
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float DeltaPitchAngle=0,PitchMotorAngle=0;
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static float base_HP=12.0f;
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void RobotCMDInit()
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{
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@ -141,23 +140,23 @@ static void death_check()
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static void update_ui_data()
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{
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base_HP+=0.01f;
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if(base_HP >=24)
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{base_HP=12.0f;}
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ui_data.chassis_mode = chassis_cmd_send.chassis_mode;
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ui_data.gimbal_mode = gimbal_cmd_send.gimbal_mode;
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ui_data.friction_mode = shoot_cmd_send.friction_mode;
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ui_data.shoot_mode = shoot_cmd_send.shoot_mode;
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ui_data.Chassis_Power_Data.chassis_power_mx = referee_data->GameRobotState.chassis_power_limit;
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ui_data.Vision_fire = aim_select.suggest_fire;
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//ui_data.Chassis_Power_Data.cap_power =
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ui_data.Chassis_Power_Data.cap_vol = base_HP;
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}
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static void pitch_limit()
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{
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// if(gimbal_fetch_data.pitch_motor_total_angle > horizontal_angle + 1500)
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// gimbal_cmd_send.pitch -= 0.1f;
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// if(gimbal_fetch_data.pitch_motor_total_angle < horizontal_angle - 4000)
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// gimbal_cmd_send.pitch += 0.1f;
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//@TODO:把限位去掉了，记得加回来
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// if(gimbal_cmd_send.pitch>18) gimbal_cmd_send.pitch = 18;
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// if(gimbal_cmd_send.pitch<-38) gimbal_cmd_send.pitch = -38;
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PitchMotorAngle = -0.0019f * gimbal_fetch_data.pitch_motor_total_angle - 0.4059;//电机旋转导致的云台相对底盘角度
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DeltaPitchAngle = gimbal_fetch_data.gimbal_imu_data.Pitch - PitchMotorAngle;
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gimbal_cmd_send.pitch = LIMIT_MIN_MAX(gimbal_cmd_send.pitch, PITCH_MIN_ANGLE-DeltaPitchAngle, PITCH_MAX_ANGLE-DeltaPitchAngle);
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}
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static void auto_aim_mode()
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{
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@ -343,46 +342,6 @@ static void MouseKeySet()
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break;
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}
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// switch (rc_data[TEMP].mouse.press_r) // 右键自瞄模式
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// {
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// case 1:
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// if((vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
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// && vision_recv_data->vx == 0 && vision_recv_data->vy == 0 &&
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// vision_recv_data->vz == 0))
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// hand_aim_mode();
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// else
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// auto_aim_mode();
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// break;
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// default:
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// hand_aim_mode();
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// break;
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// }
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//
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// switch (rc_data[TEMP].mouse.press_l) // 左键发射模式
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// {
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// case 1:
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// if(shoot_cmd_send.friction_mode == FRICTION_ON)
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// {
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// if(rc_data[TEMP].mouse.press_r && rc_data[TEMP].mouse.press_l)
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// {
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// if(aim_select.suggest_fire == 1)
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// shoot_cmd_send.load_mode = LOAD_1_BULLET;
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// else
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// shoot_cmd_send.load_mode = LOAD_STOP;
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// break;
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// }
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// shoot_cmd_send.load_mode = LOAD_1_BULLET;
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// }
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// else
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// shoot_cmd_send.load_mode = LOAD_STOP;
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// break;
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// default:
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// shoot_cmd_send.load_mode = LOAD_STOP;
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// break;
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// }
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switch (rc_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键手动刷新UI
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{
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case 1:
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@ -414,13 +373,22 @@ static void MouseKeySet()
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{
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case 0:
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chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
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gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
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gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
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break;
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default:
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chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
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gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
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break;
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}
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switch (rc_data[TEMP].key[KEY_PRESS].z) // Z键侧身用于瞄准
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{
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case 0:
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chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
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break;
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case 1:
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chassis_cmd_send.chassis_mode = CHASSIS_VERTICAL_YAW;
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break;
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}
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switch (rc_data[TEMP].key[KEY_PRESS].shift) // 待添加 按shift允许超功率 消耗缓冲能量
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{
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@ -442,13 +410,66 @@ static void MouseKeySet()
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*/
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static void VTMouseKeySet()
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{
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chassis_cmd_send.vx = vt_data[TEMP].key[KEY_PRESS].a * 1500 - vt_data[TEMP].key[KEY_PRESS].d * 1500; // 系数待测
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chassis_cmd_send.vy = vt_data[TEMP].key[KEY_PRESS].w * 800 - vt_data[TEMP].key[KEY_PRESS].s * 800;
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chassis_cmd_send.vx = vt_data[TEMP].key[KEY_PRESS].a * 10000 - vt_data[TEMP].key[KEY_PRESS].d * 10000; // 系数待测
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chassis_cmd_send.vy = vt_data[TEMP].key[KEY_PRESS].w * 10000 - vt_data[TEMP].key[KEY_PRESS].s * 10000;
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gimbal_cmd_send.yaw -= (float)vt_data[TEMP].mouse.x / 660 * 5; // 系数待测
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gimbal_cmd_send.yaw -= (float)vt_data[TEMP].mouse.x / 660 * 10; // 系数待测
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gimbal_cmd_send.pitch += (float)vt_data[TEMP].mouse.y / 660 * 10;
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aim_select.suggest_fire = 0;
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if (vt_data[TEMP].mouse.press_l && (!vt_data[TEMP].mouse.press_r)) // 左键发射模式
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{
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if (shoot_cmd_send.friction_mode == FRICTION_ON) {
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shoot_cmd_send.load_mode = LOAD_1_BULLET;
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}
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} else if ((!vt_data[TEMP].mouse.press_l) && (!vt_data[TEMP].mouse.press_r))
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{
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shoot_cmd_send.load_mode = LOAD_STOP;
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}
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if (vt_data[TEMP].mouse.press_r) // 右键自瞄模式
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{
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if ((vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
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&& vision_recv_data->vx == 0 && vision_recv_data->vy == 0 &&
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vision_recv_data->vz == 0))
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{
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shoot_cmd_send.load_mode = LOAD_STOP;
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}
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else {
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auto_aim_mode();
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if (aim_select.suggest_fire == 1 && vt_data[TEMP].mouse.press_l &&
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shoot_cmd_send.friction_mode == FRICTION_ON) {
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shoot_cmd_send.load_mode = LOAD_1_BULLET;
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} else {
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shoot_cmd_send.load_mode = LOAD_STOP;
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}
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}
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}
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switch (vt_data[TEMP].key[KEY_PRESS].v) // V键开启连发//
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{
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case 0:
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shoot_cmd_send.shoot_rate= 300;
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break;
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case 1:
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shoot_cmd_send.shoot_rate = 50;
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break;
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}
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switch (vt_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键手动刷新UI
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{
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case 1:
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MyUIInit();
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vt_data[TEMP].key_count[KEY_PRESS][Key_R]++;
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break;
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default:
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break;
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}
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switch (vt_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮
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{
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case 0:
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@ -458,6 +479,57 @@ static void VTMouseKeySet()
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shoot_cmd_send.friction_mode = FRICTION_ON;
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break;
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}
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switch (vt_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关倍镜
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{
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case 0:
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shoot_cmd_send.tele_mode = TELE_CLOSE;
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break;
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case 1:
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shoot_cmd_send.tele_mode = TELE_OPEN;
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break;
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}
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switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
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{
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case 0:
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if(!vt_data[TEMP].key[KEY_PRESS].z)
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{
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chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
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gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
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}
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else
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{
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chassis_cmd_send.chassis_mode = CHASSIS_VERTICAL_YAW;
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gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
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}
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break;
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default:
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chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
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gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
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break;
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}
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// switch (vt_data[TEMP].key[KEY_PRESS].z) // Z键侧身用于瞄准
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// {
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// case 0:
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// chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
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// break;
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// case 1:
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// chassis_cmd_send.chassis_mode = CHASSIS_VERTICAL_YAW;
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// break;
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// }
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switch (vt_data[TEMP].key[KEY_PRESS].shift) // 待添加 按shift允许超功率 消耗缓冲能量
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{
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case 1:
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break;
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default:
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break;
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}
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pitch_limit();
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death_check();
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}
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@ -511,8 +583,11 @@ void RobotCMDTask()
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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
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RemoteControlSet();
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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
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{
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//MouseKeySet();
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VTMouseKeySet();
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}
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EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
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// 设置视觉发送数据,还需增加加速度和角速度数据
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@ -16,7 +16,7 @@ static Publisher_t *gimbal_pub; // 云台应用消息发布者
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static Subscriber_t *gimbal_sub; // cmd控制消息订阅者
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static Gimbal_Upload_Data_s gimbal_feedback_data; // 回传给cmd的云台状态信息
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static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息
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float horizontal_angle=0;
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void GimbalInit()
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{
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@ -103,18 +103,13 @@ void GimbalInit()
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gimbal_pub = PubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
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gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
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}
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void horizontal_check()
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{
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if(fabsf(gimba_IMU_data->Pitch) <= 1e-2)
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horizontal_angle = pitch_motor->measure.total_angle;
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}
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/* 机器人云台控制核心任务,后续考虑只保留IMU控制,不再需要电机的反馈 */
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void GimbalTask()
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{
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// 获取云台控制数据
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// 后续增加未收到数据的处理
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SubGetMessage(gimbal_sub, &gimbal_cmd_recv);
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// @todo:现在已不再需要电机反馈,实际上可以始终使用IMU的姿态数据来作为云台的反馈,yaw电机的offset只是用来跟随底盘
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// 根据控制模式进行电机反馈切换和过渡,视觉模式在robot_cmd模块就已经设置好,gimbal只看yaw_ref和pitch_ref
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switch (gimbal_cmd_recv.gimbal_mode)
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@ -26,11 +26,11 @@
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/* 机器人重要参数定义,注意根据不同机器人进行修改,浮点数需要以.0或f结尾,无符号以u结尾 */
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// 云台参数
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#define YAW_CHASSIS_ALIGN_ECD 2.691132 // 云台和底盘对齐指向相同方向时的电机position值,需要加上PI，因为单圈角度计算里增加了PI若对云台有机械改动需要修改
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#define YAW_CHASSIS_ALIGN_ECD 2.812502 // 云台和底盘对齐指向相同方向时的电机position值,需要加上PI，因为单圈角度计算里增加了PI若对云台有机械改动需要修改
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#define YAW_ECD_GREATER_THAN_4096 1 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度
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#define PITCH_HORIZON_ECD 3412 // 云台处于水平位置时编码器值,若对云台有机械改动需要修改
|
||||
#define PITCH_MAX_ANGLE 0 // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
|
||||
#define PITCH_MIN_ANGLE 0 // 云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
|
||||
#define PITCH_MAX_ANGLE 13 // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
|
||||
#define PITCH_MIN_ANGLE -35 // 云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
|
||||
// 发射参数
|
||||
#define ONE_BULLET_DELTA_ANGLE 1933.272 // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出
|
||||
#define REDUCTION_RATIO_LOADER 27.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f//初始是49，增加为27
|
||||
|
|
@ -86,6 +86,7 @@ typedef enum
|
|||
CHASSIS_ROTATE, // 小陀螺模式
|
||||
CHASSIS_NO_FOLLOW, // 不跟随，允许全向平移
|
||||
CHASSIS_FOLLOW_GIMBAL_YAW, // 跟随模式，底盘叠加角度环控制
|
||||
CHASSIS_VERTICAL_YAW,
|
||||
} chassis_mode_e;
|
||||
|
||||
// 云台模式设置
|
||||
|
|
@ -128,7 +129,7 @@ typedef enum
|
|||
typedef struct
|
||||
{ // 功率控制
|
||||
uint16_t chassis_power_mx;
|
||||
float cap_power;
|
||||
float cap_vol;
|
||||
} Chassis_Power_Data_s;
|
||||
|
||||
/* ----------------CMD应用发布的控制数据,应当由gimbal/chassis/shoot订阅---------------- */
|
||||
|
|
@ -189,7 +190,7 @@ typedef struct
|
|||
// float real_vx;
|
||||
// float real_vy;
|
||||
// float real_wz;
|
||||
float cap_power;
|
||||
float cap_vol;
|
||||
uint8_t rest_heat; // 剩余枪口热量
|
||||
Enemy_Color_e enemy_color; // 0 for blue, 1 for red
|
||||
|
||||
|
|
|
|||
|
|
@ -103,7 +103,7 @@ typedef enum
|
|||
LEN_robot_hurt = 1, // 0x0206
|
||||
LEN_shoot_data = 7, // 0x0207
|
||||
LEN_receive_data = 6 + Communicate_Data_LEN, // 0x0301
|
||||
LEN_self_control = 12, // 0x0304
|
||||
LEN_self_control = 12, // 0x0303
|
||||
LEN_remote_control = 12, // 0x0304
|
||||
|
||||
} JudgeDataLength_e;
|
||||
|
|
|
|||
|
|
@ -92,8 +92,7 @@ void MyUIInit()
|
|||
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[2]);
|
||||
UICharDraw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 600, "frict:");
|
||||
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[3]);
|
||||
// UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550, "lid:");
|
||||
// UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[4]);
|
||||
|
||||
|
||||
// 绘制车辆状态标志，动态
|
||||
// 由于初始化时xxx_last_mode默认为0，所以此处对应UI也应该设为0时对应的UI，防止模式不变的情况下无法置位flag，导致UI无法刷新
|
||||
|
|
@ -118,7 +117,7 @@ void MyUIInit()
|
|||
// 底盘功率显示,动态
|
||||
UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 850, 230, referee_recv_info->GameRobotState.chassis_power_limit*1000);
|
||||
// 能量条初始状态
|
||||
// UILineDraw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160);
|
||||
UILineDraw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160);
|
||||
|
||||
UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
|
||||
}
|
||||
|
|
@ -254,10 +253,17 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i
|
|||
if (_Interactive_data->Referee_Interactive_Flag.Power_flag == 1)
|
||||
{
|
||||
UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_Change, 8, UI_Color_Green, 18, 2, 2, 850, 230, _Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000);
|
||||
// UILineDraw(&UI_Energy[2], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)750 + _Interactive_data->Chassis_Power_Data.chassis_power_mx * 30, 160);
|
||||
UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
|
||||
UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[1]);
|
||||
_Interactive_data->Referee_Interactive_Flag.Power_flag = 0;
|
||||
}
|
||||
//Cap
|
||||
if (_Interactive_data->Referee_Interactive_Flag.Cap_flag == 1)
|
||||
{
|
||||
UILineDraw(&UI_Energy[2], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, 720 + (_Interactive_data->Chassis_Power_Data.cap_vol-12) * 42, 160);
|
||||
UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[2]);
|
||||
_Interactive_data->Referee_Interactive_Flag.Cap_flag = 0;
|
||||
}
|
||||
|
||||
//line
|
||||
if (_Interactive_data->Referee_Interactive_Flag.Vision_flag == 1)
|
||||
{
|
||||
|
|
@ -322,6 +328,11 @@ static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data)
|
|||
_Interactive_data->Referee_Interactive_Flag.Power_flag = 1;
|
||||
_Interactive_data->Chassis_last_Power_Data.chassis_power_mx = _Interactive_data->Chassis_Power_Data.chassis_power_mx;
|
||||
}
|
||||
if (_Interactive_data->Chassis_Power_Data.cap_vol != _Interactive_data->Chassis_last_Power_Data.cap_vol)
|
||||
{
|
||||
_Interactive_data->Referee_Interactive_Flag.Cap_flag = 1;
|
||||
_Interactive_data->Chassis_last_Power_Data.cap_vol = _Interactive_data->Chassis_Power_Data.cap_vol;
|
||||
}
|
||||
if (_Interactive_data->Vision_fire != _Interactive_data->last_Vision_fire)
|
||||
{
|
||||
_Interactive_data->Referee_Interactive_Flag.Vision_flag = 1;
|
||||
|
|
|
|||
|
|
@ -55,6 +55,7 @@ typedef struct
|
|||
uint32_t lid_flag : 1;
|
||||
uint32_t friction_flag : 1;
|
||||
uint32_t Power_flag : 1;
|
||||
uint32_t Cap_flag : 1;
|
||||
uint32_t Vision_flag :1;
|
||||
} Referee_Interactive_Flag_t;
|
||||
|
||||
|
|
|
|||
|
|
@ -1,14 +1,8 @@
|
|||
/*
|
||||
* @Descripttion:
|
||||
* @version:
|
||||
* @Author: Chenfu
|
||||
* @Date: 2022-12-02 21:32:47
|
||||
* @LastEditTime: 2022-12-05 15:29:49
|
||||
*/
|
||||
#include "super_cap.h"
|
||||
#include "memory.h"
|
||||
#include "stdlib.h"
|
||||
|
||||
|
||||
static SuperCapInstance *super_cap_instance = NULL; // 可以由app保存此指针
|
||||
|
||||
static void SuperCapRxCallback(CANInstance *_instance)
|
||||
|
|
@ -17,16 +11,17 @@ static void SuperCapRxCallback(CANInstance *_instance)
|
|||
SuperCap_Msg_s *Msg;
|
||||
rxbuff = _instance->rx_buff;
|
||||
Msg = &super_cap_instance->cap_msg;
|
||||
Msg->vol = (uint16_t)(rxbuff[0] << 8 | rxbuff[1]);
|
||||
Msg->current = (uint16_t)(rxbuff[2] << 8 | rxbuff[3]);
|
||||
Msg->power = (uint16_t)(rxbuff[4] << 8 | rxbuff[5]);
|
||||
Msg->input_vol = (int16_t)(rxbuff[1] << 8 | rxbuff[0]);
|
||||
Msg->cap_vol = (int16_t)(rxbuff[3] << 8 | rxbuff[2]);
|
||||
Msg->input_cur = (int16_t)(rxbuff[5] << 8 | rxbuff[4]);
|
||||
Msg->power_set = (int16_t)(rxbuff[7] << 8 | rxbuff[6]);
|
||||
}
|
||||
|
||||
SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s *supercap_config)
|
||||
{
|
||||
super_cap_instance = (SuperCapInstance *)malloc(sizeof(SuperCapInstance));
|
||||
memset(super_cap_instance, 0, sizeof(SuperCapInstance));
|
||||
|
||||
|
||||
supercap_config->can_config.can_module_callback = SuperCapRxCallback;
|
||||
super_cap_instance->can_ins = CANRegister(&supercap_config->can_config);
|
||||
return super_cap_instance;
|
||||
|
|
@ -38,6 +33,15 @@ void SuperCapSend(SuperCapInstance *instance, uint8_t *data)
|
|||
CANTransmit(instance->can_ins,1);
|
||||
}
|
||||
|
||||
void SuperCapSetPower(SuperCapInstance *instance, float power_set)
|
||||
{
|
||||
uint16_t tmpPower = (uint16_t)(power_set * 100);
|
||||
uint8_t data[8] = {0};
|
||||
data[0] = tmpPower >> 8;
|
||||
data[1] = tmpPower;
|
||||
SuperCapSend(instance,data);
|
||||
}
|
||||
|
||||
SuperCap_Msg_s SuperCapGet(SuperCapInstance *instance)
|
||||
{
|
||||
return instance->cap_msg;
|
||||
|
|
|
|||
|
|
@ -1,10 +1,3 @@
|
|||
/*
|
||||
* @Descripttion:
|
||||
* @version:
|
||||
* @Author: Chenfu
|
||||
* @Date: 2022-12-02 21:32:47
|
||||
* @LastEditTime: 2022-12-05 15:25:46
|
||||
*/
|
||||
#ifndef SUPER_CAP_H
|
||||
#define SUPER_CAP_H
|
||||
|
||||
|
|
@ -13,9 +6,10 @@
|
|||
#pragma pack(1)
|
||||
typedef struct
|
||||
{
|
||||
uint16_t vol; // 电压
|
||||
uint16_t current; // 电流
|
||||
uint16_t power; // 功率
|
||||
int16_t input_vol; // 输入电压
|
||||
int16_t cap_vol; // 电容电压
|
||||
int16_t input_cur; // 输入电流
|
||||
int16_t power_set; // 设定功率
|
||||
} SuperCap_Msg_s;
|
||||
#pragma pack()
|
||||
|
||||
|
|
@ -34,7 +28,7 @@ typedef struct
|
|||
|
||||
/**
|
||||
* @brief 初始化超级电容
|
||||
*
|
||||
*
|
||||
* @param supercap_config 超级电容初始化配置
|
||||
* @return SuperCapInstance* 超级电容实例指针
|
||||
*/
|
||||
|
|
@ -42,10 +36,18 @@ SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s *supercap_config);
|
|||
|
||||
/**
|
||||
* @brief 发送超级电容控制信息
|
||||
*
|
||||
*
|
||||
* @param instance 超级电容实例
|
||||
* @param data 超级电容控制信息
|
||||
*/
|
||||
void SuperCapSend(SuperCapInstance *instance, uint8_t *data);
|
||||
|
||||
/**
|
||||
* @brief 发送超级电容目标功率
|
||||
*
|
||||
* @param instance 超级电容实例
|
||||
* @param power_set 超级电容目标功率
|
||||
*/
|
||||
void SuperCapSetPower(SuperCapInstance *instance, float power_set);
|
||||
|
||||
#endif // !SUPER_CAP_Hd
|
||||
|
|
|
|||
Loading…
Reference in New Issue