超电上车成功，pitch限位写好，侧向发射

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 = {
+//    SuperCap_Init_Config_s cap_conf = {
-        .can_config = {
+//        .can_config = {
-            .can_handle = &hcan2,
+//            .can_handle = &hcan2,
-            .tx_id = 0x302, // 超级电容默认接收id
+//            .tx_id = 0x210,
-            .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
+//            .rx_id = 0x211,
-        }};
+//        }};
-    cap = SuperCapInit(&cap_conf); // 超级电容初始化
+//    cap = SuperCapInit(&cap_conf); // 超级电容初始化
-    first_order_filter_init(&vy_filter,0.002f,&chassis_y_order_filter);
+//    SuperCapSetPower(cap,70);  // 超级电容限制功率
-    first_order_filter_init(&vx_filter,0.002f,&chassis_x_order_filter);
+
+
 //    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);

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;
+float  DeltaPitchAngle=0,PitchMotorAngle=0;
-//static int target_index = -1;
+static float base_HP=12.0f;
-static uint16_t base_HP;
 
 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)
+    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
-//        gimbal_cmd_send.pitch -= 0.1f;
+    DeltaPitchAngle = gimbal_fetch_data.gimbal_imu_data.Pitch - PitchMotorAngle;
-//    if(gimbal_fetch_data.pitch_motor_total_angle < horizontal_angle - 4000)
+    gimbal_cmd_send.pitch = LIMIT_MIN_MAX(gimbal_cmd_send.pitch, PITCH_MIN_ANGLE-DeltaPitchAngle, PITCH_MAX_ANGLE-DeltaPitchAngle);
-//        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;
 }
 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.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 * 800 - vt_data[TEMP].key[KEY_PRESS].s * 800;
+    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

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)

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_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 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_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
 

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;

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, 1, UI_Energy[1]);
-        UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
         _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;

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;
 

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->input_vol = (int16_t)(rxbuff[1] << 8 | rxbuff[0]);
-    Msg->current = (uint16_t)(rxbuff[2] << 8 | rxbuff[3]);
+    Msg->cap_vol = (int16_t)(rxbuff[3] << 8 | rxbuff[2]);
-    Msg->power = (uint16_t)(rxbuff[4] << 8 | rxbuff[5]);
+    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;

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
+    int16_t input_vol; // 输入电压
-    uint16_t current; // 电流
+    int16_t cap_vol;   // 电容电压
-    uint16_t power; // 功率
+    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