diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index be86d12..fec25b4 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -51,10 +51,7 @@ static SuperCapInstance *cap; // 超级电 static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left right forward back static PowerMeterInstance *power_meter; float chassis_power = 0; -static first_order_filter_type_t vx_filter; -static first_order_filter_type_t vy_filter; -const static float32_t chassis_x_order_filter=0.05f; -const static float32_t chassis_y_order_filter=0.05f; + /* 用于自旋变速策略的时间变量 */ // static float t; @@ -116,15 +113,16 @@ void ChassisInit() - SuperCap_Init_Config_s cap_conf = { - .can_config = { - .can_handle = &hcan2, - .tx_id = 0x302, // 超级电容默认接收id - .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 - }}; - cap = SuperCapInit(&cap_conf); // 超级电容初始化 - first_order_filter_init(&vy_filter,0.002f,&chassis_y_order_filter); - first_order_filter_init(&vx_filter,0.002f,&chassis_x_order_filter); +// SuperCap_Init_Config_s cap_conf = { +// .can_config = { +// .can_handle = &hcan2, +// .tx_id = 0x210, +// .rx_id = 0x211, +// }}; +// cap = SuperCapInit(&cap_conf); // 超级电容初始化 +// SuperCapSetPower(cap,70); // 超级电容限制功率 + + // PowerMeter_Init_Config_s power_conf = { // .can_config = { // .can_handle = &hcan2, @@ -268,6 +266,14 @@ void ChassisTask() 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 chassis_cmd_recv.wz = 4500; break; + case CHASSIS_VERTICAL_YAW: + chassis_cmd_recv.offset_angle -= 90; + chassis_cmd_recv.wz = 2.0f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle); + if(chassis_cmd_recv.wz > 4500) + chassis_cmd_recv.wz = 4500; + if(chassis_cmd_recv.wz < -4500) + chassis_cmd_recv.wz = -4500; + default: break; } @@ -278,12 +284,6 @@ void ChassisTask() cos_theta = arm_cos_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD); sin_theta = arm_sin_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD); - first_order_filter_cali(&vx_filter,chassis_cmd_recv.vx); - first_order_filter_cali(&vy_filter,chassis_cmd_recv.vy); - - chassis_cmd_recv.vy = vy_filter.out; - chassis_cmd_recv.vx = vx_filter.out; - chassis_vx = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta; chassis_vy = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta; @@ -311,7 +311,7 @@ void ChassisTask() // chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit; // chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0; - chassis_feedback_data.cap_power = cap->cap_msg.power; + chassis_feedback_data.cap_vol = cap->cap_msg.cap_vol; // 推送反馈消息 #ifdef ONE_BOARD PubPushMessage(chassis_pub, (void *)&chassis_feedback_data); diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index f466bbc..05e9dc6 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -61,9 +61,8 @@ static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息 static Robot_Status_e robot_state; // 机器人整体工作状态 static referee_info_t* referee_data; // 用于获取裁判系统的数据 static referee_info_vt_t* referee_vt_data; -extern float horizontal_angle; -//static int target_index = -1; -static uint16_t base_HP; +float DeltaPitchAngle=0,PitchMotorAngle=0; +static float base_HP=12.0f; void RobotCMDInit() { @@ -141,23 +140,23 @@ static void death_check() static void update_ui_data() { + base_HP+=0.01f; + if(base_HP >=24) + {base_HP=12.0f;} + ui_data.chassis_mode = chassis_cmd_send.chassis_mode; ui_data.gimbal_mode = gimbal_cmd_send.gimbal_mode; ui_data.friction_mode = shoot_cmd_send.friction_mode; ui_data.shoot_mode = shoot_cmd_send.shoot_mode; ui_data.Chassis_Power_Data.chassis_power_mx = referee_data->GameRobotState.chassis_power_limit; ui_data.Vision_fire = aim_select.suggest_fire; - //ui_data.Chassis_Power_Data.cap_power = + ui_data.Chassis_Power_Data.cap_vol = base_HP; } static void pitch_limit() { -// if(gimbal_fetch_data.pitch_motor_total_angle > horizontal_angle + 1500) -// gimbal_cmd_send.pitch -= 0.1f; -// if(gimbal_fetch_data.pitch_motor_total_angle < horizontal_angle - 4000) -// gimbal_cmd_send.pitch += 0.1f; -//@TODO:把限位去掉了，记得加回来 -// if(gimbal_cmd_send.pitch>18) gimbal_cmd_send.pitch = 18; -// if(gimbal_cmd_send.pitch<-38) gimbal_cmd_send.pitch = -38; + 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 + DeltaPitchAngle = gimbal_fetch_data.gimbal_imu_data.Pitch - PitchMotorAngle; + gimbal_cmd_send.pitch = LIMIT_MIN_MAX(gimbal_cmd_send.pitch, PITCH_MIN_ANGLE-DeltaPitchAngle, PITCH_MAX_ANGLE-DeltaPitchAngle); } static void auto_aim_mode() { @@ -343,46 +342,6 @@ static void MouseKeySet() break; } - - -// switch (rc_data[TEMP].mouse.press_r) // 右键自瞄模式 -// { -// case 1: -// 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)) -// hand_aim_mode(); -// else -// auto_aim_mode(); -// break; -// default: -// hand_aim_mode(); -// break; -// } -// -// switch (rc_data[TEMP].mouse.press_l) // 左键发射模式 -// { -// case 1: -// if(shoot_cmd_send.friction_mode == FRICTION_ON) -// { -// if(rc_data[TEMP].mouse.press_r && rc_data[TEMP].mouse.press_l) -// { -// if(aim_select.suggest_fire == 1) -// shoot_cmd_send.load_mode = LOAD_1_BULLET; -// else -// shoot_cmd_send.load_mode = LOAD_STOP; -// break; -// } -// shoot_cmd_send.load_mode = LOAD_1_BULLET; -// } -// else -// shoot_cmd_send.load_mode = LOAD_STOP; -// break; -// default: -// shoot_cmd_send.load_mode = LOAD_STOP; -// break; -// } - switch (rc_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键手动刷新UI { case 1: @@ -414,13 +373,22 @@ static void MouseKeySet() { case 0: chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; - gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE; + gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; break; default: chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; break; } + switch (rc_data[TEMP].key[KEY_PRESS].z) // Z键侧身用于瞄准 + { + case 0: + chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; + break; + case 1: + chassis_cmd_send.chassis_mode = CHASSIS_VERTICAL_YAW; + break; + } switch (rc_data[TEMP].key[KEY_PRESS].shift) // 待添加 按shift允许超功率 消耗缓冲能量 { @@ -442,13 +410,66 @@ static void MouseKeySet() */ static void VTMouseKeySet() { - chassis_cmd_send.vx = vt_data[TEMP].key[KEY_PRESS].a * 1500 - vt_data[TEMP].key[KEY_PRESS].d * 1500; // 系数待测 - chassis_cmd_send.vy = vt_data[TEMP].key[KEY_PRESS].w * 800 - vt_data[TEMP].key[KEY_PRESS].s * 800; + chassis_cmd_send.vx = vt_data[TEMP].key[KEY_PRESS].a * 10000 - vt_data[TEMP].key[KEY_PRESS].d * 10000; // 系数待测 + chassis_cmd_send.vy = vt_data[TEMP].key[KEY_PRESS].w * 10000 - vt_data[TEMP].key[KEY_PRESS].s * 10000; - gimbal_cmd_send.yaw -= (float)vt_data[TEMP].mouse.x / 660 * 5; // 系数待测 + gimbal_cmd_send.yaw -= (float)vt_data[TEMP].mouse.x / 660 * 10; // 系数待测 gimbal_cmd_send.pitch += (float)vt_data[TEMP].mouse.y / 660 * 10; + aim_select.suggest_fire = 0; + if (vt_data[TEMP].mouse.press_l && (!vt_data[TEMP].mouse.press_r)) // 左键发射模式 + { + if (shoot_cmd_send.friction_mode == FRICTION_ON) { + shoot_cmd_send.load_mode = LOAD_1_BULLET; + } + + } else if ((!vt_data[TEMP].mouse.press_l) && (!vt_data[TEMP].mouse.press_r)) + { + shoot_cmd_send.load_mode = LOAD_STOP; + + } + + if (vt_data[TEMP].mouse.press_r) // 右键自瞄模式 + { + 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)) + { + shoot_cmd_send.load_mode = LOAD_STOP; + } + + + else { + auto_aim_mode(); + if (aim_select.suggest_fire == 1 && vt_data[TEMP].mouse.press_l && + shoot_cmd_send.friction_mode == FRICTION_ON) { + shoot_cmd_send.load_mode = LOAD_1_BULLET; + } else { + shoot_cmd_send.load_mode = LOAD_STOP; + } + } + } + + switch (vt_data[TEMP].key[KEY_PRESS].v) // V键开启连发// + { + case 0: + shoot_cmd_send.shoot_rate= 300; + break; + case 1: + shoot_cmd_send.shoot_rate = 50; + break; + } + + switch (vt_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键手动刷新UI + { + case 1: + MyUIInit(); + vt_data[TEMP].key_count[KEY_PRESS][Key_R]++; + break; + default: + break; + } switch (vt_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮 { case 0: @@ -458,6 +479,57 @@ static void VTMouseKeySet() shoot_cmd_send.friction_mode = FRICTION_ON; break; } + switch (vt_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关倍镜 + { + case 0: + shoot_cmd_send.tele_mode = TELE_CLOSE; + break; + case 1: + shoot_cmd_send.tele_mode = TELE_OPEN; + break; + } + switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺 + { + case 0: + if(!vt_data[TEMP].key[KEY_PRESS].z) + { + chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; + gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; + } + else + { + chassis_cmd_send.chassis_mode = CHASSIS_VERTICAL_YAW; + gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; + } + break; + default: + chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; + gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; + break; + + } +// switch (vt_data[TEMP].key[KEY_PRESS].z) // Z键侧身用于瞄准 +// { +// case 0: +// chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; +// break; +// case 1: +// chassis_cmd_send.chassis_mode = CHASSIS_VERTICAL_YAW; +// break; +// } + switch (vt_data[TEMP].key[KEY_PRESS].shift) // 待添加 按shift允许超功率 消耗缓冲能量 + { + case 1: + + break; + + default: + + break; + } + + pitch_limit(); + death_check(); } @@ -511,8 +583,11 @@ void RobotCMDTask() 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(); VTMouseKeySet(); + } + 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 diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c index aad291c..16caab1 100644 --- a/application/gimbal/gimbal.c +++ b/application/gimbal/gimbal.c @@ -16,7 +16,7 @@ static Publisher_t *gimbal_pub; // 云台应用消息发布者 static Subscriber_t *gimbal_sub; // cmd控制消息订阅者 static Gimbal_Upload_Data_s gimbal_feedback_data; // 回传给cmd的云台状态信息 static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息 -float horizontal_angle=0; + void GimbalInit() { @@ -103,18 +103,13 @@ void GimbalInit() gimbal_pub = PubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s)); gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s)); } -void horizontal_check() -{ - if(fabsf(gimba_IMU_data->Pitch) <= 1e-2) - horizontal_angle = pitch_motor->measure.total_angle; -} + /* 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 */ void GimbalTask() { // 获取云台控制数据 // 后续增加未收到数据的处理 SubGetMessage(gimbal_sub, &gimbal_cmd_recv); - // @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 // 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 switch (gimbal_cmd_recv.gimbal_mode) diff --git a/application/robot_def.h b/application/robot_def.h index 18c0abf..42a5ade 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -26,11 +26,11 @@ /* 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 */ // 云台参数 -#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 +#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 #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 #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 diff --git a/modules/referee/referee_protocol.h b/modules/referee/referee_protocol.h index 7d76816..86cefb7 100644 --- a/modules/referee/referee_protocol.h +++ b/modules/referee/referee_protocol.h @@ -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; diff --git a/modules/referee/referee_task.c b/modules/referee/referee_task.c index f0213b1..e8bb5b4 100644 --- a/modules/referee/referee_task.c +++ b/modules/referee/referee_task.c @@ -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; diff --git a/modules/referee/rm_referee.h b/modules/referee/rm_referee.h index db5190b..8a99be4 100644 --- a/modules/referee/rm_referee.h +++ b/modules/referee/rm_referee.h @@ -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; diff --git a/modules/super_cap/super_cap.c b/modules/super_cap/super_cap.c index eb86749..a75d507 100644 --- a/modules/super_cap/super_cap.c +++ b/modules/super_cap/super_cap.c @@ -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; diff --git a/modules/super_cap/super_cap.h b/modules/super_cap/super_cap.h index 81c5f8e..171c851 100644 --- a/modules/super_cap/super_cap.h +++ b/modules/super_cap/super_cap.h @@ -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