更新dmmotor驱动文件

Reviewed-on: http://povoq.moe:1145/HFUT_Firmament_EC/basic_framework/pulls/1

CMakeLists.txt

@@ -52,9 +52,9 @@ endif ()
 include_directories(Inc Drivers/STM32F4xx_HAL_Driver/Inc Drivers/STM32F4xx_HAL_Driver/Inc/Legacy Middlewares/Third_Party/FreeRTOS/Source/include Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F Middlewares/ST/STM32_USB_Device_Library/Core/Inc Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc Drivers/CMSIS/Device/ST/STM32F4xx/Include Drivers/CMSIS/Include Middlewares/ST/ARM/DSP/Inc
         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/led modules/master_machine modules/message_center modules/motor modules/oled modules/referee modules/remote modules/RGB 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
+        modules/motor/DJImotor modules/motor/HTmotor modules/motor/LKmotor modules/motor/servo_motor modules/motor/step_motor modules/motor/ECmotor modules/motor/DMmotor
         application application/chassis application/cmd application/gimbal application/shoot
         Middlewares/Third_Party/SEGGER/RTT Middlewares/Third_Party/SEGGER/Config)
 

Inc/main.h

@@ -31,7 +31,8 @@ extern "C" {
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-
+#include "robot.h"
+#include "bsp_log.h"
 /* USER CODE END Includes */
 
 /* Exported types ------------------------------------------------------------*/

Src/main.c

@@ -35,8 +35,7 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-#include "robot.h"
+
-#include "bsp_log.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/

application/chassis/chassis.c

@@ -22,12 +22,17 @@
 #include "bsp_dwt.h"
 #include "referee_UI.h"
 #include "arm_math.h"
+#include "user_lib.h"
+
+#include "vofa.h"
 
 /* 根据robot_def.h中的macro自动计算的参数 */
 #define HALF_WHEEL_BASE (WHEEL_BASE / 2.0f)     // 半轴距
 #define HALF_TRACK_WIDTH (TRACK_WIDTH / 2.0f)   // 半轮距
 #define PERIMETER_WHEEL (RADIUS_WHEEL * 2 * PI) // 轮子周长
 
+#define P_MAX 50.0f//功率控制 单位：W
+
 /* 底盘应用包含的模块和信息存储,底盘是单例模式,因此不需要为底盘建立单独的结构体 */
 #ifdef CHASSIS_BOARD // 如果是底盘板,使用板载IMU获取底盘转动角速度
 #include "can_comm.h"
@@ -41,11 +46,13 @@ static Subscriber_t *chassis_sub;                   // 用于订阅底盘的控
 #endif                                              // !ONE_BOARD
 static Chassis_Ctrl_Cmd_s chassis_cmd_recv;         // 底盘接收到的控制命令
 static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据
+static Chassis_Ctrl_Cmd_s Chassis_Power_Mx;
+const static float CHASSIS_ACCEL_X_NUM=0.1f;
+const static float CHASSIS_ACCEL_Y_NUM=0.1f;
 
-static referee_info_t* referee_data; // 用于获取裁判系统的数据
+// 超级电容
-static Referee_Interactive_info_t ui_data; // UI数据，将底盘中的数据传入此结构体的对应变量中，UI会自动检测是否变化，对应显示UI
+SuperCapInstance *cap;    // 超级电容全局
-
+static uint16_t last_chassis_power_limit=0;//超级电容更新
-static SuperCapInstance *cap;                                       // 超级电容
 static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left right forward back
 
 /* 用于自旋变速策略的时间变量 */
@@ -54,25 +61,28 @@ static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left righ
 /* 私有函数计算的中介变量,设为静态避免参数传递的开销 */
 static float chassis_vx, chassis_vy;     // 将云台系的速度投影到底盘
 static float vt_lf, vt_rf, vt_lb, vt_rb; // 底盘速度解算后的临时输出,待进行限幅
+first_order_filter_type_t vx_filter;
+first_order_filter_type_t vy_filter;
+static float P_cmd;
 
-void ChassisInit()
+
-{
+void ChassisInit() {
     // 四个轮子的参数一样,改tx_id和反转标志位即可
     Motor_Init_Config_s chassis_motor_config = {
             .can_init_config.can_handle = &hcan1,
             .controller_param_init_config = {
                     .speed_PID = {
-                .Kp = 10, // 4.5
+                            .Kp = 5.0f,
-                .Ki = 0,  // 0
+                            .Ki = 0.01f,
-                .Kd = 0,  // 0
+                            .Kd = 0.002f,
                             .IntegralLimit = 3000,
                             .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
-                .MaxOut = 12000,
+                            .MaxOut = 30000,
                     },
                     .current_PID = {
-                .Kp = 0.5, // 0.4
+                            .Kp = 0.0f,
-                .Ki = 0,   // 0
+                            .Ki = 0.0f,
-                .Kd = 0,
+                            .Kd = 0.0f,
                             .IntegralLimit = 3000,
                             .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                             .MaxOut = 15000,
@@ -82,12 +92,15 @@ void ChassisInit()
                     .angle_feedback_source = MOTOR_FEED,
                     .speed_feedback_source = MOTOR_FEED,
                     .outer_loop_type = SPEED_LOOP,
-            .close_loop_type = SPEED_LOOP | CURRENT_LOOP,
+                    .close_loop_type = SPEED_LOOP, // CURRENT_LOOP,
+                    .power_limit_flag = POWER_LIMIT_ON,
             },
             .motor_type = M3508,
     };
     //  @todo: 当前还没有设置电机的正反转,仍然需要手动添加reference的正负号,需要电机module的支持,待修改.
-    chassis_motor_config.can_init_config.tx_id = 1;
+    // 四个轮子pid分开
+    //右前
+    chassis_motor_config.can_init_config.tx_id = 3;
     chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
     motor_lf = DJIMotorInit(&chassis_motor_config);
 
@@ -96,23 +109,35 @@ void ChassisInit()
     motor_rf = DJIMotorInit(&chassis_motor_config);
 
     chassis_motor_config.can_init_config.tx_id = 4;
+
     chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
     motor_lb = DJIMotorInit(&chassis_motor_config);
 
-    chassis_motor_config.can_init_config.tx_id = 3;
+    chassis_motor_config.can_init_config.tx_id = 1;
     chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
     motor_rb = DJIMotorInit(&chassis_motor_config);
 
-    referee_data = UITaskInit(&huart6,&ui_data); // 裁判系统初始化,会同时初始化UI
+    //超级电容
-
     SuperCap_Init_Config_s cap_conf = {
             .can_config = {
-            .can_handle = &hcan2,
+                    .can_handle = &hcan1,
-            .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,
-        }};
+
+            },
+            .buffer_config_pid = {
+                    .Kp = 1.0f,
+                    .Ki = 0,
+                    .Kd = 0,
+                    .MaxOut = 300,
+            },
+    };
     cap = SuperCapInit(&cap_conf); // 超级电容初始化
 
+    //用一阶滤波代替斜波函数生成                                     //增大更能刹住
+    first_order_filter_init(&vx_filter, 0.007f, &CHASSIS_ACCEL_X_NUM);
+    first_order_filter_init(&vy_filter, 0.007f, &CHASSIS_ACCEL_Y_NUM);
+
     // 发布订阅初始化,如果为双板,则需要can comm来传递消息
 #ifdef CHASSIS_BOARD
     Chassis_IMU_data = INS_Init(); // 底盘IMU初始化
@@ -143,46 +168,106 @@ void ChassisInit()
  * @brief 计算每个轮毂电机的输出,正运动学解算
  *        用宏进行预替换减小开销,运动解算具体过程参考教程
  */
-static void MecanumCalculate()
+//全向轮解算
-{
+static void OmniCalculate() {
-    vt_lf = -chassis_vx - chassis_vy - chassis_cmd_recv.wz * LF_CENTER;
+    vt_rf = HALF_WHEEL_BASE * chassis_cmd_recv.wz + chassis_vx * 0.707f + chassis_vy * 0.707f;
-    vt_rf = -chassis_vx + chassis_vy - chassis_cmd_recv.wz * RF_CENTER;
+    vt_rb = HALF_WHEEL_BASE * chassis_cmd_recv.wz + chassis_vx * 0.707f - chassis_vy * 0.707f;
-    vt_lb = chassis_vx - chassis_vy - chassis_cmd_recv.wz * LB_CENTER;
+    vt_lb = HALF_WHEEL_BASE * chassis_cmd_recv.wz - chassis_vx * 0.707f - chassis_vy * 0.707f;
-    vt_rb = chassis_vx + chassis_vy - chassis_cmd_recv.wz * RB_CENTER;
+    vt_lf = HALF_WHEEL_BASE * chassis_cmd_recv.wz - chassis_vx * 0.707f + chassis_vy * 0.707f;
+
+    vt_rf = (vt_rf / RADIUS_WHEEL) * 180 / PI * REDUCTION_RATIO_WHEEL;
+    vt_rb = (vt_rb / RADIUS_WHEEL) * 180 / PI * REDUCTION_RATIO_WHEEL;
+    vt_lb = (vt_lb / RADIUS_WHEEL) * 180 / PI * REDUCTION_RATIO_WHEEL;
+    vt_lf = (vt_lf / RADIUS_WHEEL) * 180 / PI * REDUCTION_RATIO_WHEEL;
 }
 
+static const float motor_power_K[3] = {1.6301e-6f,5.7501e-7f,2.5863e-7f};
+float input;
+
+float P_max = 0;
+
+///依据3508电机功率模型，预测电机输出功率
+static float EstimatePower(DJIMotorInstance* chassis_motor)
+{
+
+    float I_cmd = chassis_motor->motor_controller.current_PID.Output;
+    float w = chassis_motor->measure.speed_aps /6 ;//aps to rpm
+
+    float power = motor_power_K[0] * I_cmd * w + motor_power_K[1]*w*w  + motor_power_K[2]*I_cmd*I_cmd;
+
+    return power;
+}
 /**
  * @brief 根据裁判系统和电容剩余容量对输出进行限制并设置电机参考值
  *
  */
 static void LimitChassisOutput()
 {
-    // 功率限制待添加
+//    float Plimit = 1.0f;
-    // referee_data->PowerHeatData.chassis_power;
+    P_cmd = motor_rf->motor_controller.motor_power_predict +
-    // referee_data->PowerHeatData.chassis_power_buffer;
+            motor_rb->motor_controller.motor_power_predict +
+            motor_lb->motor_controller.motor_power_predict +
+            motor_lf->motor_controller.motor_power_predict + 3.6f;
 
-    // 完成功率限制后进行电机参考输入设定
+//    if(chassis_cmd_recv.buffer_energy<50&&chassis_cmd_recv.buffer_energy>=40)	    Plimit=0.9f;
+//    else if(chassis_cmd_recv.buffer_energy<40&&chassis_cmd_recv.buffer_energy>=35)	Plimit=0.75f;
+//    else if(chassis_cmd_recv.buffer_energy<35&&chassis_cmd_recv.buffer_energy>=30)	Plimit=0.5f;
+//    else if(chassis_cmd_recv.buffer_energy<30&&chassis_cmd_recv.buffer_energy>=20)	Plimit=0.25f;
+//    else if(chassis_cmd_recv.buffer_energy<20&&chassis_cmd_recv.buffer_energy>=10)	Plimit=0.125f;
+//    else if(chassis_cmd_recv.buffer_energy<10&&chassis_cmd_recv.buffer_energy>=0)	Plimit=0.05f;
+//    else if(chassis_cmd_recv.buffer_energy==60)					                    Plimit=1.0f;
+
+    if (cap->cap_msg.cap_vol>1800)
+    {
+        P_max = input + chassis_cmd_recv.buffer_supercap ;
+    }
+    else
+    {
+        P_max = input;
+    }
+    float K = P_max / P_cmd;
+
+    motor_rf->motor_controller.motor_power_scale = K;
+    motor_rb->motor_controller.motor_power_scale = K;
+    motor_lf->motor_controller.motor_power_scale = K;
+    motor_lb->motor_controller.motor_power_scale = K;
+
+    {
         DJIMotorSetRef(motor_lf, vt_lf);
         DJIMotorSetRef(motor_rf, vt_rf);
         DJIMotorSetRef(motor_lb, vt_lb);
         DJIMotorSetRef(motor_rb, vt_rb);
-}
+    }
 
+}
+/**
+ * @brief 超电功率对缓冲功率进行闭环
+ *
+ *
+ */
+static void SuperCapSetUpdate()
+{
+
+    PIDCalculate(&cap->buffer_pid, chassis_cmd_recv.buffer_energy,15);//对缓冲功率进行闭环
+    input = chassis_cmd_recv.chassis_power_limit - cap->buffer_pid.Output;
+    LIMIT_MIN_MAX(input, 30, 130);
+    SuperCapSetPower(cap,input);
+
+}
 /**
  * @brief 根据每个轮子的速度反馈,计算底盘的实际运动速度,逆运动解算
  *        对于双板的情况,考虑增加来自底盘板IMU的数据
  *
  */
-static void EstimateSpeed()
+static void EstimateSpeed() {
-{
     // 根据电机速度和陀螺仪的角速度进行解算,还可以利用加速度计判断是否打滑(如果有)
     // chassis_feedback_data.vx vy wz =
     //  ...
 }
-
+static chassis_mode_e last_chassis_mode;
+static float rotate_speed = 70000;
 /* 机器人底盘控制核心任务 */
-void ChassisTask()
+void ChassisTask() {
-{
     // 后续增加没收到消息的处理(双板的情况)
     // 获取新的控制信息
 #ifdef ONE_BOARD
@@ -192,15 +277,12 @@ void ChassisTask()
     chassis_cmd_recv = *(Chassis_Ctrl_Cmd_s *)CANCommGet(chasiss_can_comm);
 #endif // CHASSIS_BOARD
 
-    if (chassis_cmd_recv.chassis_mode == CHASSIS_ZERO_FORCE)
+    if (chassis_cmd_recv.chassis_mode == CHASSIS_ZERO_FORCE) { // 如果出现重要模块离线或遥控器设置为急停,让电机停止
-    { // 如果出现重要模块离线或遥控器设置为急停,让电机停止
         DJIMotorStop(motor_lf);
         DJIMotorStop(motor_rf);
         DJIMotorStop(motor_lb);
         DJIMotorStop(motor_rb);
-    }
+    } else { // 正常工作
-    else
-    { // 正常工作
         DJIMotorEnable(motor_lf);
         DJIMotorEnable(motor_rf);
         DJIMotorEnable(motor_lb);
@@ -208,48 +290,77 @@ void ChassisTask()
     }
 
     // 根据控制模式设定旋转速度
-    switch (chassis_cmd_recv.chassis_mode)
+    switch (chassis_cmd_recv.chassis_mode) {
-    {
         case CHASSIS_NO_FOLLOW: // 底盘不旋转,但维持全向机动,一般用于调整云台姿态
             chassis_cmd_recv.wz = 0;
             break;
         case CHASSIS_FOLLOW_GIMBAL_YAW: // 跟随云台,不单独设置pid,以误差角度平方为速度输出
-        chassis_cmd_recv.wz = -1.5f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
+            chassis_cmd_recv.wz = 40.0f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
+            LIMIT_MIN_MAX(chassis_cmd_recv.wz,-35000,35000);
+            break;
+        case CHASSIS_SIDEWAYS: // 侧向,不单独设置pid,以误差角度平方为速度输出
+            chassis_cmd_recv.wz = 20.0f * (chassis_cmd_recv.offset_angle - 45)* abs(chassis_cmd_recv.offset_angle - 45);
+            LIMIT_MIN_MAX(chassis_cmd_recv.wz,-35000,35000);
             break;
         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 = 4000;
+            if(last_chassis_mode != CHASSIS_ROTATE){
+                rotate_speed = -rotate_speed;
+            }
+            chassis_cmd_recv.wz = rotate_speed;
             break;
         default:
             break;
     }
 
+    last_chassis_mode = chassis_cmd_recv.chassis_mode;
     // 根据云台和底盘的角度offset将控制量映射到底盘坐标系上
     // 底盘逆时针旋转为角度正方向;云台命令的方向以云台指向的方向为x,采用右手系(x指向正北时y在正东)
     static float sin_theta, cos_theta;
     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);
+
+    //一阶低通滤波计算
+    first_order_filter_cali(&vx_filter, chassis_cmd_recv.vx);
+    first_order_filter_cali(&vy_filter, chassis_cmd_recv.vy);
+
+    chassis_cmd_recv.vx = vx_filter.out;
+    chassis_cmd_recv.vy = vy_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;
 
-    // 根据控制模式进行正运动学解算,计算底盘输出
+//    chassis_vx = (1.0f - 0.30f) * chassis_vx + 0.30f * (chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta);
-    MecanumCalculate();
+//    chassis_vy = (1.0f - 0.30f) * chassis_vy + 0.30f * (chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta);
 
+
+    // 根据控制模式进行正运动学解算,计算底盘输出
+    //MecanumCalculate();
+    OmniCalculate();
+    ////对缓冲功率进行闭环
+    SuperCapSetUpdate();
     // 根据裁判系统的反馈数据和电容数据对输出限幅并设定闭环参考值
     LimitChassisOutput();
 
+//    float vofa_send_data[2];
+//    vofa_send_data[0] = motor_lb->motor_controller.speed_PID.Ref;
+//    vofa_send_data[1] = motor_lb->motor_controller.speed_PID.Measure;
+//    vofa_justfloat_output(vofa_send_data, 8, &huart1);
+
     // 根据电机的反馈速度和IMU(如果有)计算真实速度
     EstimateSpeed();
 
-    // // 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
+    //todo: 裁判系统信息移植到消息中心发送
-    // // 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
+    // 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
-    // chassis_feedback_data.enemy_color = referee_data->GameRobotState.robot_id > 7 ? 1 : 0;
+    // 发送敌方方颜色id
-    // // 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.enemy_color = !referee_data->referee_id.Robot_Color;
-    // chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit;
+    // 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.rest_heat = referee_data->PowerHeatData.shooter_heat0;
+    //chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit;
+
+    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);
+    PubPushMessage(chassis_pub, (void *) &chassis_feedback_data);
 #endif
 #ifdef CHASSIS_BOARD
     CANCommSend(chasiss_can_comm, (void *)&chassis_feedback_data);

application/cmd/robot_cmd.c

@@ -8,9 +8,15 @@
 #include "message_center.h"
 #include "general_def.h"
 #include "dji_motor.h"
+#include "auto_aim.h"
+#include "super_cap.h"
+#include "user_lib.h"
 // bsp
 #include "bsp_dwt.h"
 #include "bsp_log.h"
+#include "referee_task.h"
+#include "vision_transfer.h"
+
 
 // 私有宏,自动将编码器转换成角度值
 #define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360
@@ -19,6 +25,8 @@
 /* cmd应用包含的模块实例指针和交互信息存储*/
 #ifdef GIMBAL_BOARD // 对双板的兼容,条件编译
 #include "can_comm.h"
+#include "user_lib.h"
+
 static CANCommInstance *cmd_can_comm; // 双板通信
 #endif
 #ifdef ONE_BOARD
@@ -28,10 +36,22 @@ static Subscriber_t *chassis_feed_sub; // 底盘反馈信息订阅者
 
 static Chassis_Ctrl_Cmd_s chassis_cmd_send;      // 发送给底盘应用的信息,包括控制信息和UI绘制相关
 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
-
+extern SuperCapInstance *cap;             // 超级电容
 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 VT_ctrl_t *vt_data;               // 图传链路下发的键鼠遥控数据 与遥控器数据格式保持一致
-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 uint8_t choose_amor_id = 0;
+static float yaw_err_for_test;
 
 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
@@ -45,10 +65,14 @@ 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
 
-void RobotCMDInit()
+static referee_info_t *referee_data; // 用于获取裁判系统的数据
-{
+static uint8_t loader_flag = 0;      //拨弹模式选择标志位
+
+void RobotCMDInit() {
     rc_data = RemoteControlInit(&huart3);   // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个
-    vision_recv_data = VisionInit(&huart1); // 视觉通信串口
+    vision_recv_data = VisionInit(); // 视觉通信串口
+    vt_data = VTRefereeInit(&huart1);   // 图传通信串口
+    referee_data = UITaskInit(&huart6, &ui_data); // 裁判系统初始化,会同时初始化UI
 
     gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
     gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
@@ -81,8 +105,7 @@ void RobotCMDInit()
  *        单圈绝对角度的范围是0~360,说明文档中有图示
  *
  */
-static void CalcOffsetAngle()
+static void CalcOffsetAngle() {
-{
     // 别名angle提高可读性,不然太长了不好看,虽然基本不会动这个函数
     static float angle;
     angle = gimbal_fetch_data.yaw_motor_single_round_angle; // 从云台获取的当前yaw电机单圈角度
@@ -103,146 +126,485 @@ static void CalcOffsetAngle()
 #endif
 }
 
+//功能：死亡后清除小陀螺的状态
+static void death_check() {
+    if (referee_data->GameRobotState.current_HP <= 0 ||
+        referee_data->GameRobotState.power_management_chassis_output == 0) {
+        rc_data[TEMP].key_count[KEY_PRESS][Key_E] = 0;
+        gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
+    }
+}
+
+//功能：等级提升弹频提高
+static void shoot_rate_improve() {
+    if (referee_data->GameRobotState.robot_level < 5)
+        shoot_cmd_send.shoot_rate = 12;
+    if (referee_data->GameRobotState.robot_level >= 5)
+        shoot_cmd_send.shoot_rate = 25;
+}
+
+static void update_ui_data() {
+    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.lid_mode = shoot_cmd_send.lid_mode;
+    ui_data.heat_mode = shoot_cmd_send.heat_mode;
+    ui_data.aim_fire = aim_select.suggest_fire;
+    //ui_data.loader_mode = shoot_cmd_send.loader_mode;
+
+    ui_data.Chassis_Power_Data.chassis_power_mx = referee_data->GameRobotState.chassis_power_limit;
+    ui_data.Cap_Data.cap_vol = chassis_fetch_data.cap_vol;
+}
+
+static void auto_aim_mode() {
+    trajectory_cal.v0 = 26; //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;
+
+        choose_amor_id = auto_aim(&aim_select, &trajectory_cal, vision_recv_data);
+
+        VisionSetAim(aim_select.aim_point[0], aim_select.aim_point[1], aim_select.aim_point[2]);
+
+        float single_angle_yaw_now = gimbal_fetch_data.gimbal_imu_data.Yaw;
+        float diff_yaw = trajectory_cal.cmd_yaw * 180 / PI - single_angle_yaw_now;
+        float yaw_err = diff_yaw;
+        yaw_err_for_test = yaw_err;
+
+        if (diff_yaw > 180)
+            diff_yaw -= 360;
+        else if (diff_yaw < -180)
+            diff_yaw += 360;
+
+        gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle + diff_yaw;
+
+        gimbal_cmd_send.pitch = -trajectory_cal.cmd_pitch * 180 / PI;
+
+        if (yaw_err <= 2) //3度
+        {
+            aim_select.suggest_fire = 1;
+        } else
+            aim_select.suggest_fire = 0;
+    }
+}
+
 /**
  * @brief 控制输入为遥控器(调试时)的模式和控制量设置
  *
  */
-static void RemoteControlSet()
+static void RemoteControlSet() {
-{
     // 控制底盘和云台运行模式,云台待添加,云台是否始终使用IMU数据?
-    if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],底盘跟随云台
+    if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],小陀螺
     {
         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_NO_FOLLOW;
+        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;
+        shoot_cmd_send.lid_mode = LID_CLOSE;
+    } else if (switch_is_up(rc_data[TEMP].rc.switch_right))// 右侧开关状态[上]
+    {
+        shoot_cmd_send.lid_mode = LID_OPEN;
     }
 
     // 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
         // ...
+        aim_select.suggest_fire = 0;
+        gimbal_cmd_send.yaw -= 0.0025f * (float) rc_data[TEMP].rc.rocker_l_;
+        gimbal_cmd_send.pitch -= 0.001f * (float) rc_data[TEMP].rc.rocker_l1;
+
+        float delta_yaw_total = gimbal_cmd_send.yaw - gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
+        float delta_yaw = theta_format(delta_yaw_total);
+        gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle + delta_yaw;
+
+        if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
+        if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
+
     }
-    // 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
+    // 左侧开关状态为[下],视觉模式
-    if (switch_is_down(rc_data[TEMP].rc.switch_left) || vision_recv_data->target_state == NO_TARGET)
+    if (switch_is_down(rc_data[TEMP].rc.switch_left)) {
-    { // 按照摇杆的输出大小进行角度增量,增益系数需调整
+        auto_aim_mode();
-        gimbal_cmd_send.yaw += 0.005f * (float)rc_data[TEMP].rc.rocker_l_;
-        gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_l1;
     }
     // 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
+    // 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，遥控器输入灵敏度
-    chassis_cmd_send.vx = 10.0f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向
+    chassis_cmd_send.vx = 0.001f * (float) rc_data[TEMP].rc.rocker_r_; // _水平方向
-    chassis_cmd_send.vy = 10.0f * (float)rc_data[TEMP].rc.rocker_r1; // 1数值方向
+    chassis_cmd_send.vy = 0.001f * (float) rc_data[TEMP].rc.rocker_r1; // 1数值方向
 
     // 发射参数
     if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开
         ;                                            // 弹舱舵机控制,待添加servo_motor模块,开启
-    else
+    else; // 弹舱舵机控制,待添加servo_motor模块,关闭
-        ; // 弹舱舵机控制,待添加servo_motor模块,关闭
+
 
     // 摩擦轮控制,拨轮向上打为负,向下为正
     if (rc_data[TEMP].rc.dial < -100) // 向上超过100,打开摩擦轮
         shoot_cmd_send.friction_mode = FRICTION_ON;
     else
         shoot_cmd_send.friction_mode = FRICTION_OFF;
+
     // 拨弹控制,遥控器固定为一种拨弹模式,可自行选择
-    if (rc_data[TEMP].rc.dial < -500)
+    if (rc_data[TEMP].rc.dial < -500)//
-        shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
+        shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
     else
-        shoot_cmd_send.load_mode = LOAD_STOP;
+        shoot_cmd_send.loader_mode = LOAD_STOP;
+
+    // 视觉控制发射
+//    if (aim_select.suggest_fire == 1) {
+//        //shoot_cmd_send.friction_mode = FRICTION_ON;
+//        //shoot_cmd_send.shoot_mode = SHOOT_ON;
+//        shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
+//    } else {
+//        //shoot_cmd_send.friction_mode = FRICTION_OFF;
+//        shoot_cmd_send.load_mode = LOAD_STOP;
+//    }
+
     // 射频控制,固定每秒1发,后续可以根据左侧拨轮的值大小切换射频,
-    shoot_cmd_send.shoot_rate = 8;
+    shoot_cmd_send.shoot_rate = 18;
+
+    if (shoot_fetch_data.stalled_flag == 1)
+        shoot_cmd_send.loader_mode = LOAD_REVERSE;
+}
+
+static void hand_aim_mode() {
+//    gimbal_cmd_send.yaw += (float) rc_data[TEMP].mouse.x / 660 * 6; // 系数待测
+//    gimbal_cmd_send.pitch -= (float) rc_data[TEMP].mouse.y / 660 * 6;
 }
 
 /**
  * @brief 输入为键鼠时模式和控制量设置
  *
  */
-static void MouseKeySet()
+static void MouseKeySet() {
-{
+    chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 1 - rc_data[TEMP].key[KEY_PRESS].s * 1; // 系数待测
-    chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].w * 300 - rc_data[TEMP].key[KEY_PRESS].s * 300; // 系数待测
+    chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 1 - rc_data[TEMP].key[KEY_PRESS].d * 1;
-    chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].s * 300 - rc_data[TEMP].key[KEY_PRESS].d * 300;
 
-    gimbal_cmd_send.yaw += (float)rc_data[TEMP].mouse.x / 660 * 10; // 系数待测
+    gimbal_cmd_send.yaw -= (float) rc_data[TEMP].mouse.x / 660 * 4; // 系数待测
-    gimbal_cmd_send.pitch += (float)rc_data[TEMP].mouse.y / 660 * 10;
+    gimbal_cmd_send.pitch += (float) rc_data[TEMP].mouse.y / 660 * 6;
 
-    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Z] % 3) // Z键设置弹速
+    float delta_yaw_total = gimbal_cmd_send.yaw - gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
+    float delta_yaw = theta_format(delta_yaw_total);
+    gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle + delta_yaw;
+
+    if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
+    if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
+
+    aim_select.suggest_fire = 0;
+    if (rc_data[TEMP].mouse.press_l && (!rc_data[TEMP].mouse.press_r)) // 左键发射模式
+    {
+        if (shoot_cmd_send.friction_mode == FRICTION_ON) {
+            shoot_cmd_send.shoot_mode = SHOOT_ON;
+            if (loader_flag == 0) {
+                shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
+            } else if (loader_flag == 1) {
+                shoot_cmd_send.loader_mode = LOAD_3_BULLET;
+            } else
+                shoot_cmd_send.loader_mode = LOAD_1_BULLET;
+        }
+    } else if ((!rc_data[TEMP].mouse.press_l) && (!rc_data[TEMP].mouse.press_r)) {
+        shoot_cmd_send.loader_mode = LOAD_STOP;
+    }
+    if (rc_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.loader_mode = LOAD_STOP;
+        } else {
+            auto_aim_mode();
+            if (aim_select.suggest_fire == 1 && rc_data[TEMP].mouse.press_l &&
+                shoot_cmd_send.friction_mode == FRICTION_ON) {
+                shoot_cmd_send.shoot_mode = SHOOT_ON;
+                shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
+            } else {
+                shoot_cmd_send.loader_mode = LOAD_STOP;
+            }
+        }
+    }
+
+    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键手动刷新UI
     {
-    case 0:
-        shoot_cmd_send.bullet_speed = 15;
-        break;
         case 1:
-        shoot_cmd_send.bullet_speed = 18;
+            MyUIInit();
+            rc_data[TEMP].key_count[KEY_PRESS][Key_R]++;
             break;
         default:
-        shoot_cmd_send.bullet_speed = 30;
             break;
     }
-    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 4) // E键设置发射模式
+    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_V] % 2) // V键开关红点激光
     {
         case 0:
-        shoot_cmd_send.load_mode = LOAD_STOP;
+            HAL_GPIO_WritePin(GPIOC, GPIO_PIN_8, GPIO_PIN_SET);
-        break;
-    case 1:
-        shoot_cmd_send.load_mode = LOAD_1_BULLET;
-        break;
-    case 2:
-        shoot_cmd_send.load_mode = LOAD_3_BULLET;
             break;
         default:
-        shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
+            HAL_GPIO_WritePin(GPIOC, GPIO_PIN_8, GPIO_PIN_RESET);
-        break;
-    }
-    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键开关弹舱
-    {
-    case 0:
-        shoot_cmd_send.lid_mode = LID_OPEN;
-        break;
-    default:
-        shoot_cmd_send.lid_mode = LID_CLOSE;
             break;
     }
     switch (rc_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮
     {
         case 0:
+            shoot_cmd_send.shoot_mode = SHOOT_OFF;
             shoot_cmd_send.friction_mode = FRICTION_OFF;
             break;
         default:
+            shoot_cmd_send.shoot_mode = SHOOT_ON;
             shoot_cmd_send.friction_mode = FRICTION_ON;
             break;
     }
-    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_C] % 4) // C键设置底盘速度
+    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // B键开关弹舱盖
     {
         case 0:
-        chassis_cmd_send.chassis_speed_buff = 40;
+            shoot_cmd_send.lid_mode = LID_CLOSE;
-        break;
-    case 1:
-        chassis_cmd_send.chassis_speed_buff = 60;
-        break;
-    case 2:
-        chassis_cmd_send.chassis_speed_buff = 80;
             break;
         default:
-        chassis_cmd_send.chassis_speed_buff = 100;
+            shoot_cmd_send.lid_mode = LID_OPEN;
             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
+//    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
+//    {
+//        case 0:
+//            chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
+//            gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
+//            break;
+//        default:
+//            chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
+//            gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
+//            break;
+//    }
+    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关热控
+    {
+        case 0:
+            shoot_cmd_send.heat_mode = HEAT_OPEN;
+            break;
+        default:
+            shoot_cmd_send.heat_mode = HEAT_CLOSE;
+            break;
+    }
+    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_C] % 2) // C键侧向
+    {
+        case 0:
+            switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
+            {
+                case 0:
+                    chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
+                    gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
+                    break;
+                default:
+                    chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
+                    gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
+                    break;
+            }
+            break;
+        case 1:
+            chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS;
+            break;
+    }
+//    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式
+//    {
+//        case 0:
+//            loader_flag = 0;
+//            break;
+//        case 1:
+//            loader_flag = 1;
+//            break;
+//        default:
+//            loader_flag = 3;
+//            break;
+//    }
+    switch (rc_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量
+    {
+        case 0:
+            chassis_cmd_send.buffer_supercap = 5;
+            break;
+        case 1:
+            chassis_cmd_send.buffer_supercap = 200;
+            chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 15000 - rc_data[TEMP].key[KEY_PRESS].d * 15000;
+            break;
+    }
+
+    shoot_rate_improve();
+
+    if (shoot_fetch_data.stalled_flag == 1)
+        shoot_cmd_send.loader_mode = LOAD_REVERSE;
+
+    death_check();
+}
+
+/**
+ * @brief 输入为（图传链路）键鼠时模式和控制量设置
+ *
+ */
+static void VTMouseKeySet() {
+    chassis_cmd_send.vy =
+            vt_data[TEMP].key[KEY_PRESS].w * 1 - vt_data[TEMP].key[KEY_PRESS].s * 1; // 系数待测 小 3000 3000
+    chassis_cmd_send.vx = vt_data[TEMP].key[KEY_PRESS].a * 1 - vt_data[TEMP].key[KEY_PRESS].d * 1;
+
+    gimbal_cmd_send.yaw -= (float) vt_data[TEMP].mouse.x / 660 * 4; // 系数待测
+    gimbal_cmd_send.pitch += (float) vt_data[TEMP].mouse.y / 660 * 6;
+
+    if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
+    if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
+
+    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.shoot_mode = SHOOT_ON;
+            shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
+        }
+    } else if ((!vt_data[TEMP].mouse.press_l) && (!vt_data[TEMP].mouse.press_r)) {
+        shoot_cmd_send.loader_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.loader_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.shoot_mode = SHOOT_ON;
+                shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
+            } else {
+                shoot_cmd_send.loader_mode = LOAD_STOP;
+            }
+        }
+    }
+
+    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_V] % 2) // V键开关红点激光
+    {
+        case 0:
+            HAL_GPIO_WritePin(GPIOC, GPIO_PIN_8, GPIO_PIN_SET);
+            break;
+        default:
+            HAL_GPIO_WritePin(GPIOC, GPIO_PIN_8, GPIO_PIN_RESET);
+            break;
+    }
+    switch (vt_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮
+    {
+        case 0:
+            shoot_cmd_send.shoot_mode = SHOOT_OFF;
+            shoot_cmd_send.friction_mode = FRICTION_OFF;
+            break;
+        default:
+            shoot_cmd_send.shoot_mode = SHOOT_ON;
+            shoot_cmd_send.friction_mode = FRICTION_ON;
+            break;
+    }
+    switch (vt_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // B键开关弹舱盖
+    {
+        case 0:
+            shoot_cmd_send.lid_mode = LID_CLOSE;
+            break;
+        default:
+            shoot_cmd_send.lid_mode = LID_OPEN;
+            break;
+    }
+//    switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
+//    {
+//        case 0:
+//            chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
+//            gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
+//            break;
+//        default:
+//            chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
+//            gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
+//            break;
+//    }
+    switch (vt_data[TEMP].key_count[KEY_PRESS][Key_C] % 2) // C键侧向
+    {
+        case 0:
+            switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
+            {
+                case 0:
+                    chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
+                    gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
+                    break;
+                default:
+                    chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
+                    gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
+                    break;
+            }
+            break;
+        case 1:
+            chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS;
+            break;
+    }
+    switch (vt_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关热控
+    {
+        case 0:
+            shoot_cmd_send.heat_mode = HEAT_OPEN;
+            break;
+        default:
+            shoot_cmd_send.heat_mode = HEAT_CLOSE;
+            break;
+    }
+//    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式
+//    {
+//        case 0:
+//            loader_flag = 0;
+//            break;
+//        case 1:
+//            loader_flag = 1;
+//            break;
+//        default:
+//            loader_flag = 3;
+//            break;
+//    }
+    switch (vt_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量
+    {
+        case 0:
+            chassis_cmd_send.buffer_supercap = 5;
+            break;
+        case 1:
+            chassis_cmd_send.buffer_supercap = 200;
+            chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 1 - rc_data[TEMP].key[KEY_PRESS].d * 1;
+            break;
+    }
+
+    shoot_rate_improve();
+
+    if (shoot_fetch_data.stalled_flag == 1)
+        shoot_cmd_send.loader_mode = LOAD_REVERSE;
+
+    death_check();
 }
 
+
 /**
  * @brief  紧急停止,包括遥控器左上侧拨轮打满/重要模块离线/双板通信失效等
  *         停止的阈值'300'待修改成合适的值,或改为开关控制.
@@ -250,8 +612,7 @@ static void MouseKeySet()
  * @todo   后续修改为遥控器离线则电机停止(关闭遥控器急停),通过给遥控器模块添加daemon实现
  *
  */
-static void EmergencyHandler()
+static void EmergencyHandler() {
-{
     // 拨轮的向下拨超过一半进入急停模式.注意向打时下拨轮是正
     if (rc_data[TEMP].rc.dial > 300 || robot_state == ROBOT_STOP) // 还需添加重要应用和模块离线的判断
     {
@@ -260,53 +621,79 @@ static void EmergencyHandler()
         chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
         shoot_cmd_send.shoot_mode = SHOOT_OFF;
         shoot_cmd_send.friction_mode = FRICTION_OFF;
-        shoot_cmd_send.load_mode = LOAD_STOP;
+        shoot_cmd_send.loader_mode = LOAD_STOP;
         LOGERROR("[CMD] emergency stop!");
     }
     // 遥控器右侧开关为[上],恢复正常运行
-    if (switch_is_up(rc_data[TEMP].rc.switch_right))
+    if (switch_is_up(rc_data[TEMP].rc.switch_right)) {
-    {
         robot_state = ROBOT_READY;
         shoot_cmd_send.shoot_mode = SHOOT_ON;
+        gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
         LOGINFO("[CMD] reinstate, robot ready");
     }
 }
 
 /* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */
-void RobotCMDTask()
+void RobotCMDTask() {
-{
     // 从其他应用获取回传数据
 #ifdef ONE_BOARD
-    SubGetMessage(chassis_feed_sub, (void *)&chassis_fetch_data);
+    SubGetMessage(chassis_feed_sub, (void *) &chassis_fetch_data);
 #endif // ONE_BOARD
 #ifdef GIMBAL_BOARD
     chassis_fetch_data = *(Chassis_Upload_Data_s *)CANCommGet(cmd_can_comm);
 #endif // GIMBAL_BOARD
     SubGetMessage(shoot_feed_sub, &shoot_fetch_data);
     SubGetMessage(gimbal_feed_sub, &gimbal_fetch_data);
-
+    update_ui_data();
     // 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
-        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();
-
     EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
+    if (robot_state != ROBOT_STOP) {
+        // 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) ||
+            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) &&
+                 switch_is_mid(rc_data[TEMP].rc.switch_right)) // 遥控器左侧开关状态为[上],键盘控制,遥控器右侧开关状态为[中],遥控器通道
+            MouseKeySet();
+        else if (switch_is_up(rc_data[TEMP].rc.switch_left) &&
+                 switch_is_up(rc_data[TEMP].rc.switch_right)) // 遥控器左侧开关状态为[上],键盘控制，遥控器右侧开关状态为[上],图传链路通道
+            VTMouseKeySet();
+    }
 
     // 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(!referee_data->referee_id.Robot_Color);
+
+    //根据裁判系统反馈确定底盘功率上限
+    chassis_cmd_send.chassis_power_limit = referee_data->GameRobotState.chassis_power_limit;
+    //根据裁判系统反馈确定缓冲功率
+    chassis_cmd_send.buffer_energy = referee_data->PowerHeatData.buffer_energy;
+    //根据裁判系统反馈确定枪管热量控制
+    shoot_cmd_send.heat = referee_data->PowerHeatData.shooter_17mm_1_barrel_heat;
+    shoot_cmd_send.heat_limit = referee_data->GameRobotState.shooter_barrel_heat_limit;
+    shoot_cmd_send.heat_cool = referee_data->GameRobotState.shooter_barrel_cooling_value;
+
+    if (referee_data->GameRobotState.power_management_chassis_output == 0) {
+        chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
+    }
+    if (referee_data->GameRobotState.power_management_gimbal_output == 0) {
+        gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
+    }
+    if (referee_data->GameRobotState.power_management_shooter_output == 0) {
+        shoot_cmd_send.shoot_mode = SHOOT_OFF;
+    }
+
+    death_check();
 
     // 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
 #ifdef ONE_BOARD
-    PubPushMessage(chassis_cmd_pub, (void *)&chassis_cmd_send);
+    PubPushMessage(chassis_cmd_pub, (void *) &chassis_cmd_send);
 #endif // ONE_BOARD
 #ifdef GIMBAL_BOARD
     CANCommSend(cmd_can_comm, (void *)&chassis_cmd_send);
 #endif // GIMBAL_BOARD
-    PubPushMessage(shoot_cmd_pub, (void *)&shoot_cmd_send);
+    PubPushMessage(shoot_cmd_pub, (void *) &shoot_cmd_send);
-    PubPushMessage(gimbal_cmd_pub, (void *)&gimbal_cmd_send);
+    PubPushMessage(gimbal_cmd_pub, (void *) &gimbal_cmd_send);
-    VisionSend(&vision_send_data);
+
 }

application/gimbal/gimbal.c

@@ -4,8 +4,8 @@
 #include "ins_task.h"
 #include "message_center.h"
 #include "general_def.h"
-
 #include "bmi088.h"
+#include "vofa.h"
 
 static attitude_t *gimba_IMU_data; // 云台IMU数据
 static DJIMotorInstance *yaw_motor, *pitch_motor;
@@ -15,8 +15,32 @@ 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
 
-void GimbalInit()
+static float gravity_current = 0;
-{
+static void LimitPitchAngleAuto() {
+    /** 注意电机角度与陀螺仪角度方向是否相同
+     * 目前 add > 0, 向下转动
+     * 电机角度值减小
+     * 陀螺仪角度值增大
+     **/
+    float add;
+    float angle_set;
+
+    add = gimbal_cmd_recv.pitch - gimba_IMU_data->Pitch;
+
+    if(pitch_motor->measure.angle_single_round - add > PITCH_MAX_RELATIVE_ANGLE){
+        if(add < 0.0f ){
+            add = PITCH_MAX_ANGLE - pitch_motor->measure.angle_single_round;
+        }
+    }else if(pitch_motor->measure.angle_single_round - add < PITCH_MIN_RELATIVE_ANGLE){
+        if(add > 0.0f){
+            add = PITCH_MIN_RELATIVE_ANGLE - pitch_motor->measure.angle_single_round;
+        }
+    }
+    angle_set = gimba_IMU_data->Pitch;
+    DJIMotorSetRef(pitch_motor, angle_set+add);
+}
+
+void GimbalInit() {
     gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源
     // YAW
     Motor_Init_Config_s yaw_config = {
@@ -26,22 +50,21 @@ void GimbalInit()
             },
             .controller_param_init_config = {
                     .angle_PID = {
-                .Kp = 8, // 8
+                            .Kp = 0.8f,//1.2
-                .Ki = 0,
+                            .Ki = 0.0f,//0
-                .Kd = 0,
+                            .Kd = 0.04f,//0.05
-                .DeadBand = 0.1,
+                            .DeadBand = 0.0f,
                             .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                             .IntegralLimit = 100,
-
                             .MaxOut = 500,
                     },
                     .speed_PID = {
-                .Kp = 50,  // 50
+                            .Kp = 5000,  //4000
-                .Ki = 200, // 200
+                            .Ki = 100.0f, //100
-                .Kd = 0,
+                            .Kd = 0.03f, //0
                             .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
-                .IntegralLimit = 3000,
+                            .IntegralLimit = 10000,
-                .MaxOut = 20000,
+                            .MaxOut = 15000,
                     },
                     .other_angle_feedback_ptr = &gimba_IMU_data->YawTotalAngle,
                     // 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明
@@ -51,45 +74,51 @@ void GimbalInit()
                     .angle_feedback_source = OTHER_FEED,
                     .speed_feedback_source = OTHER_FEED,
                     .outer_loop_type = ANGLE_LOOP,
-            .close_loop_type = ANGLE_LOOP | SPEED_LOOP,
+                    .close_loop_type = SPEED_LOOP | ANGLE_LOOP,
                     .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
             },
-        .motor_type = GM6020};
+            .motor_type = GM6020,
+            .motor_control_type = CURRENT_CONTROL
+    };
     // PITCH
     Motor_Init_Config_s pitch_config = {
             .can_init_config = {
                     .can_handle = &hcan2,
-            .tx_id = 2,
+                    .tx_id = 1,
             },
             .controller_param_init_config = {
                     .angle_PID = {
-                .Kp = 10, // 10
+                            .Kp = 1.0f,
-                .Ki = 0,
+                            .Ki = 0.0f,
-                .Kd = 0,
+                            .Kd = 0.02f,
                             .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                             .IntegralLimit = 100,
                             .MaxOut = 500,
                     },
                     .speed_PID = {
-                .Kp = 50,  // 50
+                            .Kp = 6000.0f,
-                .Ki = 350, // 350
+                            .Ki = 900.0f,
-                .Kd = 0,   // 0
+                            .Kd = 0.0f,   // 0
                             .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
-                .IntegralLimit = 2500,
+                            .IntegralLimit = 10000,
-                .MaxOut = 20000,
+                            .MaxOut = 15000,
                     },
-            .other_angle_feedback_ptr = &gimba_IMU_data->Pitch,
+                    .other_angle_feedback_ptr = &gimba_IMU_data->Roll,
                     // 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明
-            .other_speed_feedback_ptr = (&gimba_IMU_data->Gyro[0]),
+                    .other_speed_feedback_ptr = &gimba_IMU_data->Gyro[1],
+                    .current_feedforward_ptr = &gravity_current,
             },
             .controller_setting_init_config = {
                     .angle_feedback_source = OTHER_FEED,
                     .speed_feedback_source = OTHER_FEED,
                     .outer_loop_type = ANGLE_LOOP,
                     .close_loop_type = SPEED_LOOP | ANGLE_LOOP,
-            .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
+                    .motor_reverse_flag = MOTOR_DIRECTION_REVERSE,
+                    .feedforward_flag = CURRENT_FEEDFORWARD,
+                    .feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE
             },
             .motor_type = GM6020,
+            .motor_control_type = CURRENT_CONTROL
     };
     // 电机对total_angle闭环,上电时为零,会保持静止,收到遥控器数据再动
     yaw_motor = DJIMotorInit(&yaw_config);
@@ -100,16 +129,16 @@ void GimbalInit()
 }
 
 /* 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()
+void GimbalTask() {
-{
+    //红点激光
+    //HAL_GPIO_WritePin(GPIOC,GPIO_PIN_8,GPIO_PIN_SET);
     // 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)
+    switch (gimbal_cmd_recv.gimbal_mode) {
-    {
         // 停止
         case GIMBAL_ZERO_FORCE:
             DJIMotorStop(yaw_motor);
@@ -125,6 +154,7 @@ void GimbalTask()
             DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
             DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
             DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
+            //LimitPitchAngleAuto();
             break;
             // 云台自由模式,使用编码器反馈,底盘和云台分离,仅云台旋转,一般用于调整云台姿态(英雄吊射等)/能量机关
         case GIMBAL_FREE_MODE: // 后续删除,或加入云台追地盘的跟随模式(响应速度更快)
@@ -144,11 +174,27 @@ void GimbalTask()
     // 在合适的地方添加pitch重力补偿前馈力矩
     // 根据IMU姿态/pitch电机角度反馈计算出当前配重下的重力矩
     // ...
+    float theta = - gimba_IMU_data->Roll/180*PI;
+    gravity_current = (5000)*arm_cos_f32(theta);
+
+//    float vofa_send_data[4];
+//    vofa_send_data[0] = pitch_motor->motor_controller.speed_PID.Ref;
+//    vofa_send_data[1] = pitch_motor->motor_controller.speed_PID.Measure;
+//    vofa_send_data[2] = pitch_motor->motor_controller.angle_PID.Ref;
+//    vofa_send_data[3] = pitch_motor->motor_controller.angle_PID.Measure;
+//    vofa_justfloat_output(vofa_send_data, 16, &huart1);
+//    float vofa_send_data[4];
+//    vofa_send_data[0] = yaw_motor->motor_controller.speed_PID.Ref;
+//    vofa_send_data[1] = yaw_motor->motor_controller.speed_PID.Measure;
+//    vofa_send_data[2] = yaw_motor->motor_controller.angle_PID.Ref;
+//    vofa_send_data[3] = yaw_motor->motor_controller.angle_PID.Measure;
+//    vofa_justfloat_output(vofa_send_data, 16, &huart1);
+
 
     // 设置反馈数据,主要是imu和yaw的ecd
     gimbal_feedback_data.gimbal_imu_data = *gimba_IMU_data;
     gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->measure.angle_single_round;
 
     // 推送消息
-    PubPushMessage(gimbal_pub, (void *)&gimbal_feedback_data);
+    PubPushMessage(gimbal_pub, (void *) &gimbal_feedback_data);
 }

application/robot.c

@@ -31,6 +31,7 @@ void RobotInit()
 
 #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
     RobotCMDInit();
+
     GimbalInit();
     ShootInit();
 #endif
@@ -49,6 +50,7 @@ void RobotTask()
 {
 #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
     RobotCMDTask();
+    //暂时注释云台和发射任务  调试底盘
     GimbalTask();
     ShootTask();
 #endif

application/robot.h

@@ -1,5 +1,8 @@
 #ifndef ROBOT_H
 #define ROBOT_H
+#ifdef __cplusplus
+extern "C"{
+#endif
 
 /* Robot利用robot_def.h中的宏对不同的机器人进行了大量的兼容,同时兼容了两个开发板(云台板和底盘板)的配置 */
 
@@ -15,4 +18,8 @@ void RobotInit();
  */
 void RobotTask();
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif

application/robot_def.h

@@ -26,21 +26,25 @@
 
 /* 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 2711  // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
+#define YAW_CHASSIS_ALIGN_ECD 2053 // 小 1443 大2053 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
 #define YAW_ECD_GREATER_THAN_4096 0 // 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_HORIZON_ECD 4422    // 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 25           // 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 -24          // 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_RELATIVE_ANGLE 123        // 云台相对底盘最大角度
+#define PITCH_MIN_RELATIVE_ANGLE 80          // 云台相对底盘最小角度
+
 // 发射参数
-#define ONE_BULLET_DELTA_ANGLE 36    // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出
+#define ONE_BULLET_DELTA_ANGLE 1620    // 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 49.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f
+#define REDUCTION_RATIO_LOADER 36.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f 2006-36.0f
-#define NUM_PER_CIRCLE 10            // 拨盘一圈的装载量
+#define NUM_PER_CIRCLE 8            // 拨盘一圈的装载量
-// 机器人底盘修改的参数,单位为mm(毫米)
+// 机器人底盘修改的参数,单位为m(米)
-#define WHEEL_BASE 350              // 纵向轴距(前进后退方向)
+#define WHEEL_BASE 0.1f              // 纵向轴距(前进后退方向)
-#define TRACK_WIDTH 300             // 横向轮距(左右平移方向)
+#define TRACK_WIDTH 0.1f              // 横向轮距(左右平移方向)
 #define CENTER_GIMBAL_OFFSET_X 0    // 云台旋转中心距底盘几何中心的距离,前后方向,云台位于正中心时默认设为0
 #define CENTER_GIMBAL_OFFSET_Y 0    // 云台旋转中心距底盘几何中心的距离,左右方向,云台位于正中心时默认设为0
-#define RADIUS_WHEEL 60             // 轮子半径
+#define RADIUS_WHEEL 0.08f            // 轮子半径
 #define REDUCTION_RATIO_WHEEL 19.0f // 电机减速比,因为编码器量测的是转子的速度而不是输出轴的速度故需进行转换
 
 #define GYRO2GIMBAL_DIR_YAW 1   // 陀螺仪数据相较于云台的yaw的方向,1为相同,-1为相反
@@ -86,6 +90,7 @@ 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_SIDEWAYS,          // 侧向
 } chassis_mode_e;
 
 // 云台模式设置
@@ -110,7 +115,7 @@ typedef enum
 
 typedef enum
 {
-    LID_OPEN = 0, // 弹舱盖打开
+    LID_OPEN , // 弹舱盖打开
     LID_CLOSE,    // 弹舱盖关闭
 } lid_mode_e;
 
@@ -122,13 +127,22 @@ typedef enum
     LOAD_3_BULLET,  // 三发
     LOAD_BURSTFIRE, // 连发
 } loader_mode_e;
-
+typedef enum
+{
+    HEAT_OPEN , // 热控打开
+    HEAT_CLOSE, // 热控关闭
+}heat_mode_e;
 // 功率限制,从裁判系统获取,是否有必要保留?
 typedef struct
-{ // 功率控制
+{
-    float chassis_power_mx;
+    uint16_t chassis_power_mx; // 功率限制
 } Chassis_Power_Data_s;
 
+// 电容信息
+typedef struct
+{
+    int16_t cap_vol;
+} Cap_Data_s;
 /* ----------------CMD应用发布的控制数据,应当由gimbal/chassis/shoot订阅---------------- */
 /**
  * @brief 对于双板情况,遥控器和pc在云台,裁判系统在底盘
@@ -144,6 +158,11 @@ typedef struct
     float offset_angle; // 底盘和归中位置的夹角
     chassis_mode_e chassis_mode;
     int chassis_speed_buff;
+
+    uint16_t chassis_power_limit;
+    uint16_t buffer_energy;
+    uint16_t buffer_supercap;
+    uint8_t chassic_flag;
     // UI部分
     //  ...
 
@@ -163,12 +182,16 @@ typedef struct
 typedef struct
 {
     shoot_mode_e shoot_mode;
-    loader_mode_e load_mode;
+    loader_mode_e loader_mode;
     lid_mode_e lid_mode;
     friction_mode_e friction_mode;
+    heat_mode_e heat_mode;
     Bullet_Speed_e bullet_speed; // 弹速枚举
-    uint8_t rest_heat;
     float shoot_rate; // 连续发射的射频,unit per s,发/秒
+
+    uint16_t heat;       // 实时热量
+    uint16_t heat_limit;  // 热量上限
+    uint16_t heat_cool;  // 热量每秒冷却值
 } Shoot_Ctrl_Cmd_s;
 
 /* ----------------gimbal/shoot/chassis发布的反馈数据----------------*/
@@ -187,23 +210,24 @@ typedef struct
     // float real_vy;
     // float real_wz;
 
-    uint8_t rest_heat;           // 剩余枪口热量
     Bullet_Speed_e bullet_speed; // 弹速限制
-    Enemy_Color_e enemy_color;   // 0 for blue, 1 for red
+    Enemy_Color_e enemy_color;   // 0 for red, 1 for blue
-
+    uint16_t chassis_power_mx;
+    int16_t cap_vol;
 } Chassis_Upload_Data_s;
 
 
 typedef struct
 {
     attitude_t gimbal_imu_data;
-    uint16_t yaw_motor_single_round_angle;
+    float yaw_motor_single_round_angle;
 } Gimbal_Upload_Data_s;
 
 typedef struct
 {
     // code to go here
     // ...
+    uint8_t stalled_flag;  //堵转标志
 } Shoot_Upload_Data_s;
 
 #pragma pack() // 开启字节对齐,结束前面的#pragma pack(1)

application/robot_task.h

@@ -17,6 +17,8 @@
 
 #include "bsp_log.h"
 
+
+
 osThreadId insTaskHandle;
 osThreadId robotTaskHandle;
 osThreadId motorTaskHandle;
@@ -119,9 +121,9 @@ __attribute__((noreturn)) void StartROBOTTASK(void const *argument)
         robot_start = DWT_GetTimeline_ms();
         RobotTask();
         robot_dt = DWT_GetTimeline_ms() - robot_start;
-        if (robot_dt > 5)
+        if (robot_dt > 1)
             LOGERROR("[freeRTOS] ROBOT core Task is being DELAY! dt = [%f]", &robot_dt);
-        osDelay(5);
+        osDelay(1);
     }
 }
 

application/shoot/shoot.c

@@ -5,10 +5,11 @@
 #include "message_center.h"
 #include "bsp_dwt.h"
 #include "general_def.h"
+#include "servo_motor.h"
 
 /* 对于双发射机构的机器人,将下面的数据封装成结构体即可,生成两份shoot应用实例 */
 static DJIMotorInstance *friction_l, *friction_r, *loader; // 拨盘电机
-// static servo_instance *lid; 需要增加弹舱盖
+static ServoInstance *lid;
 
 static Publisher_t *shoot_pub;
 static Shoot_Ctrl_Cmd_s shoot_cmd_recv; // 来自cmd的发射控制信息
@@ -16,7 +17,7 @@ static Subscriber_t *shoot_sub;
 static Shoot_Upload_Data_s shoot_feedback_data; // 来自cmd的发射控制信息
 
 // dwt定时,计算冷却用
-static float hibernate_time = 0, dead_time = 0;
+static float hibernate_time = 0,last_hibernate_time = 0, dead_time = 0;
 
 void ShootInit()
 {
@@ -27,16 +28,16 @@ void ShootInit()
             },
             .controller_param_init_config = {
                     .speed_PID = {
-                .Kp = 0, // 20
+                            .Kp = 1.5f,
-                .Ki = 0, // 1
+                            .Ki = 0.2f,
                             .Kd = 0,
                             .Improve = PID_Integral_Limit,
                             .IntegralLimit = 10000,
                             .MaxOut = 15000,
                     },
                     .current_PID = {
-                .Kp = 0, // 0.7
+                            .Kp = 0,
-                .Ki = 0, // 0.1
+                            .Ki = 0,
                             .Kd = 0,
                             .Improve = PID_Integral_Limit,
                             .IntegralLimit = 10000,
@@ -46,16 +47,15 @@ void ShootInit()
             .controller_setting_init_config = {
                     .angle_feedback_source = MOTOR_FEED,
                     .speed_feedback_source = MOTOR_FEED,
-
                     .outer_loop_type = SPEED_LOOP,
-            .close_loop_type = SPEED_LOOP | CURRENT_LOOP,
+                    .close_loop_type = SPEED_LOOP,
-            .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
             },
             .motor_type = M3508};
-    friction_config.can_init_config.tx_id = 1,
+    friction_config.can_init_config.tx_id = 2,
+            friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
     friction_l = DJIMotorInit(&friction_config);
 
-    friction_config.can_init_config.tx_id = 2; // 右摩擦轮,改txid和方向就行
+    friction_config.can_init_config.tx_id = 3; // 右摩擦轮,改txid和方向就行
     friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
     friction_r = DJIMotorInit(&friction_config);
 
@@ -63,23 +63,23 @@ void ShootInit()
     Motor_Init_Config_s loader_config = {
             .can_init_config = {
                     .can_handle = &hcan2,
-            .tx_id = 3,
+                    .tx_id = 1
             },
             .controller_param_init_config = {
                     .angle_PID = {
                             // 如果启用位置环来控制发弹,需要较大的I值保证输出力矩的线性度否则出现接近拨出的力矩大幅下降
-                .Kp = 0, // 10
+                            .Kp = 500,
-                .Ki = 0,
+                            .Ki = 100,
                             .Kd = 0,
-                .MaxOut = 200,
+                            .MaxOut = 5000,
                     },
                     .speed_PID = {
-                .Kp = 0, // 10
+                            .Kp = 2, // 3
                             .Ki = 0, // 1
                             .Kd = 0,
                             .Improve = PID_Integral_Limit,
                             .IntegralLimit = 5000,
-                .MaxOut = 5000,
+                            .MaxOut = 10000,
                     },
                     .current_PID = {
                             .Kp = 0, // 0.7
@@ -91,10 +91,12 @@ void ShootInit()
                     },
             },
             .controller_setting_init_config = {
-            .angle_feedback_source = MOTOR_FEED, .speed_feedback_source = MOTOR_FEED,
+                    .angle_feedback_source = MOTOR_FEED,
+                    .speed_feedback_source = MOTOR_FEED,
                     .outer_loop_type = SPEED_LOOP, // 初始化成SPEED_LOOP,让拨盘停在原地,防止拨盘上电时乱转
-            .close_loop_type = CURRENT_LOOP | SPEED_LOOP,
+                    .close_loop_type = SPEED_LOOP | ANGLE_LOOP,
                     .motor_reverse_flag = MOTOR_DIRECTION_NORMAL, // 注意方向设置为拨盘的拨出的击发方向
+                    //.feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE,
             },
             .motor_type = M2006 // 英雄使用m3508
     };
@@ -102,19 +104,79 @@ void ShootInit()
 
     shoot_pub = PubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
     shoot_sub = SubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
+
+    Servo_Init_Config_s lid_config = {
+            .htim = &htim1,
+            .Channel = TIM_CHANNEL_1,
+            .Servo_type = Servo180,
+            .Servo_Angle_Type = Free_Angle_mode,
+    };
+
+    lid = ServoInit(&lid_config);
+
+//    SPI_Init_Config_s rgb_config = {
+//           .spi_handle = ;
+//           .GPIOx = GPIOx;
+//           .cs_pin = cs_pin;
+//           .spi_work_mode = spi_work_mode;
+//           .callback = callback;
+//           .id = 1;
+//    }
 }
 
+//卡弹检测
+void stalled_detect()
+{
+    static float last_detect_time = 0,detect_time = 0;
+    static float last_total_angle = 0;
+    static uint8_t stalled_cnt = 0;
+
+    detect_time = DWT_GetTimeline_ms();
+
+    //last_detect_time + 200 > detect_time
+    if(detect_time - last_detect_time < 200)  // 200ms 检测一次
+        return;
+//    reference_angle = (detect_time - last_detect_time) * loader->motor_controller.speed_PID.Ref * 1e-3f;
+//    real_angle = loader->measure.total_angle - last_total_angle;
+    if(shoot_cmd_recv.loader_mode == LOAD_BURSTFIRE)
+    {
+        //if(real_angle < reference_angle * 0.2f)
+        if(abs(loader->measure.real_current)>=9500)
+        {
+            //stalled_cnt ++;
+            shoot_feedback_data.stalled_flag = 1;
+
+        }
+        last_detect_time = DWT_GetTimeline_ms();
+    }
+//    last_detect_time = DWT_GetTimeline_ms();
+//    last_total_angle = loader->measure.total_angle;
+}
+
+// 热量控制
+//void Heat_control()
+//{
+//    if(shoot_cmd_recv.heat>=(0.9*shoot_cmd_recv.heat_limit))
+//    {
+//        DJIMotorStop(loader);
+//    }
+//    else
+//    {
+//        DJIMotorEnable(loader);
+//    }
+//}
+
 /* 机器人发射机构控制核心任务 */
 void ShootTask()
 {
-    // 从cmd获取控制数据
+    //从cmd获取控制数据
     SubGetMessage(shoot_sub, &shoot_cmd_recv);
 
     // 对shoot mode等于SHOOT_STOP的情况特殊处理,直接停止所有电机(紧急停止)
     if (shoot_cmd_recv.shoot_mode == SHOOT_OFF)
     {
-        DJIMotorStop(friction_l);
+        DJIMotorSetRef(friction_l, 0);
-        DJIMotorStop(friction_r);
+        DJIMotorSetRef(friction_r, 0);
         DJIMotorStop(loader);
     }
     else // 恢复运行
@@ -126,11 +188,11 @@ void ShootTask()
 
     // 如果上一次触发单发或3发指令的时间加上不应期仍然大于当前时间(尚未休眠完毕),直接返回即可
     // 单发模式主要提供给能量机关激活使用(以及英雄的射击大部分处于单发)
-    // if (hibernate_time + dead_time > DWT_GetTimeline_ms())
+    if (hibernate_time + dead_time > DWT_GetTimeline_ms())
-    //     return;
+        return;
 
     // 若不在休眠状态,根据robotCMD传来的控制模式进行拨盘电机参考值设定和模式切换
-    switch (shoot_cmd_recv.load_mode)
+    switch (shoot_cmd_recv.loader_mode)
     {
         // 停止拨盘
         case LOAD_STOP:
@@ -140,27 +202,32 @@ void ShootTask()
             // 单发模式,根据鼠标按下的时间,触发一次之后需要进入不响应输入的状态(否则按下的时间内可能多次进入,导致多次发射)
         case LOAD_1_BULLET:                                                                     // 激活能量机关/干扰对方用,英雄用.
             DJIMotorOuterLoop(loader, ANGLE_LOOP);                              // 切换到角度环
-        DJIMotorSetRef(loader, loader->measure.total_angle + ONE_BULLET_DELTA_ANGLE); // 控制量增加一发弹丸的角度
+            DJIMotorSetRef(loader, loader->measure.total_angle - ONE_BULLET_DELTA_ANGLE); // 控制量增加一发弹丸的角度
             hibernate_time = DWT_GetTimeline_ms();                                              // 记录触发指令的时间
             dead_time = 150;                                                                    // 完成1发弹丸发射的时间
             break;
             // 三连发,如果不需要后续可能删除
         case LOAD_3_BULLET:
-        DJIMotorOuterLoop(loader, ANGLE_LOOP);                                                  // 切换到速度环
+            DJIMotorOuterLoop(loader, ANGLE_LOOP);                                     // 切换到角度环
-        DJIMotorSetRef(loader, loader->measure.total_angle + 3 * ONE_BULLET_DELTA_ANGLE); // 增加3发
+            DJIMotorSetRef(loader, loader->measure.total_angle - 3 * ONE_BULLET_DELTA_ANGLE); // 增加3发
             hibernate_time = DWT_GetTimeline_ms();                                                  // 记录触发指令的时间
-        dead_time = 300;                                                                        // 完成3发弹丸发射的时间
+            dead_time = 1000;                                                                       // 完成3发弹丸发射的时间
             break;
             // 连发模式,对速度闭环,射频后续修改为可变,目前固定为1Hz
         case LOAD_BURSTFIRE:
             DJIMotorOuterLoop(loader, SPEED_LOOP);
-        DJIMotorSetRef(loader, shoot_cmd_recv.shoot_rate * 360 * REDUCTION_RATIO_LOADER / 8);
+            DJIMotorSetRef(loader, -(shoot_cmd_recv.shoot_rate * 360 * REDUCTION_RATIO_LOADER / 8));
+
             // x颗/秒换算成速度: 已知一圈的载弹量,由此计算出1s需要转的角度,注意换算角速度(DJIMotor的速度单位是angle per second)
             break;
             // 拨盘反转,对速度闭环,后续增加卡弹检测(通过裁判系统剩余热量反馈和电机电流)
             // 也有可能需要从switch-case中独立出来
         case LOAD_REVERSE:
             DJIMotorOuterLoop(loader, SPEED_LOOP);
+            DJIMotorSetRef(loader, 8 * 360 * REDUCTION_RATIO_LOADER / 8);             // 固定速度反转
+            hibernate_time = DWT_GetTimeline_ms();                                              // 记录触发指令的时间
+            dead_time = 100;                                                                    // 翻转500ms
+            shoot_feedback_data.stalled_flag = 0 ; //清除堵转标志
             // ...
             break;
         default:
@@ -172,25 +239,25 @@ void ShootTask()
     if (shoot_cmd_recv.friction_mode == FRICTION_ON)
     {
         // 根据收到的弹速设置设定摩擦轮电机参考值,需实测后填入
-        switch (shoot_cmd_recv.bullet_speed)
+//        switch (shoot_cmd_recv.bullet_speed)
-        {
+//        {
-        case SMALL_AMU_15:
+//            case SMALL_AMU_15:
-            DJIMotorSetRef(friction_l, 0);
+//                DJIMotorSetRef(friction_l, 0);
-            DJIMotorSetRef(friction_r, 0);
+//                DJIMotorSetRef(friction_r, 0);
-            break;
+//                break;
-        case SMALL_AMU_18:
+//            case SMALL_AMU_18:
-            DJIMotorSetRef(friction_l, 0);
+//                DJIMotorSetRef(friction_l, 0);
-            DJIMotorSetRef(friction_r, 0);
+//                DJIMotorSetRef(friction_r, 0);
-            break;
+//                break;
-        case SMALL_AMU_30:
+//            case SMALL_AMU_30:
-            DJIMotorSetRef(friction_l, 0);
+//                DJIMotorSetRef(friction_l, 0);
-            DJIMotorSetRef(friction_r, 0);
+//                DJIMotorSetRef(friction_r, 0);
-            break;
+//                break;
-        default: // 当前为了调试设定的默认值4000,因为还没有加入裁判系统无法读取弹速.
+        //default: // 当前为了调试设定的默认值4000,因为还没有加入裁判系统无法读取弹速.
-            DJIMotorSetRef(friction_l, 30000);
+        DJIMotorSetRef(friction_l, 39000);
-            DJIMotorSetRef(friction_r, 30000);
+        DJIMotorSetRef(friction_r, 39000);
-            break;
+//                break;
-        }
+//        }
     }
     else // 关闭摩擦轮
     {
@@ -201,13 +268,33 @@ void ShootTask()
     // 开关弹舱盖
     if (shoot_cmd_recv.lid_mode == LID_CLOSE)
     {
-        //...
+        Servo_Motor_FreeAngle_Set(lid,115);// 小107 大115
     }
     else if (shoot_cmd_recv.lid_mode == LID_OPEN)
     {
-        //...
+        Servo_Motor_FreeAngle_Set(lid,10);
     }
 
+    // 开关热控
+    if(shoot_cmd_recv.heat_mode == HEAT_OPEN)
+    {
+        if(shoot_cmd_recv.heat>=(0.85*shoot_cmd_recv.heat_limit))
+        {
+            DJIMotorStop(loader);
+        }
+        else
+        {
+            DJIMotorEnable(loader);
+        }
+    }
+    else if(shoot_cmd_recv.heat_mode == HEAT_CLOSE) {
+        DJIMotorEnable(loader);
+    }
+    //卡弹检测
+    stalled_detect();
+    // 热量控制
+    //Heat_control();
+
     // 反馈数据,目前暂时没有要设定的反馈数据,后续可能增加应用离线监测以及卡弹反馈
     PubPushMessage(shoot_pub, (void *)&shoot_feedback_data);
 }

bsp/usb/bsp_usb.c

@@ -27,5 +27,5 @@ uint8_t *USBInit(USB_Init_Config_s usb_conf)
 
 void USBTransmit(uint8_t *buffer, uint16_t len)
 {
-    CDC_Transmit_FS(buffer, len); // 发送
+    //CDC_Transmit_FS(buffer, len); // 发送
 }

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 );
@@ -11,21 +33,29 @@ static uint16_t crc_tab16[256];
  *要检查的字节也是一个参数。字符串中的字节数为
  *受恒定大小最大值的限制。
  */
-uint16_t crc_16(const uint8_t *input_str, uint16_t num_bytes)
+uint16_t crc_16(const uint8_t *input_str, uint16_t num_bytes) {
-{
+//    uint16_t crc;
-    uint16_t crc;
+//    const uint8_t *ptr;
-    const uint8_t *ptr;
+//    uint16_t a;
-    uint16_t a;
+////    if (!crc_tab16_init)
-    if (!crc_tab16_init)
+////        init_crc16_tab();
-        init_crc16_tab();
+//    crc = CRC_START_16;
-    crc = CRC_START_16;
+//    ptr = input_str;
-    ptr = input_str;
+//    if (ptr != NULL)
-    if (ptr != NULL)
+//        for (a = 0; a < num_bytes; a++) {
-        for (a = 0; a < num_bytes; a++)
+//            crc = (crc >> 8) ^ crc_tab16[(crc ^ (uint16_t) *ptr++) & 0x00FF];
-        {
+//        }
-            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 crc;
+    return wCRC;
 }
 
 /*
@@ -36,8 +66,7 @@ uint16_t crc_16(const uint8_t *input_str, uint16_t num_bytes)
  *要检查的字节数也是一个参数。
  */
 
-uint16_t crc_modbus(const uint8_t *input_str, uint16_t num_bytes)
+uint16_t crc_modbus(const uint8_t *input_str, uint16_t num_bytes) {
-{
     uint16_t crc;
     const uint8_t *ptr;
     uint16_t a;
@@ -48,10 +77,9 @@ uint16_t crc_modbus(const uint8_t *input_str, uint16_t num_bytes)
     crc = CRC_START_MODBUS;
     ptr = input_str;
     if (ptr != NULL)
-        for (a = 0; a < num_bytes; a++)
+        for (a = 0; a < num_bytes; a++) {
-        {
 
-            crc = (crc >> 8) ^ crc_tab16[(crc ^ (uint16_t)*ptr++) & 0x00FF];
+            crc = (crc >> 8) ^ crc_tab16[(crc ^ (uint16_t) *ptr++) & 0x00FF];
         }
     return crc;
 }
@@ -62,11 +90,10 @@ uint16_t crc_modbus(const uint8_t *input_str, uint16_t num_bytes)
  *函数update_crc_16()根据
  *前一个循环冗余校验值和下一个要检查的数据字节。
  */
-uint16_t update_crc_16(uint16_t crc, uint8_t c)
+uint16_t update_crc_16(uint16_t crc, uint8_t c) {
-{
     if (!crc_tab16_init)
         init_crc16_tab();
-    return (crc >> 8) ^ crc_tab16[(crc ^ (uint16_t)c) & 0x00FF];
+    return (crc >> 8) ^ crc_tab16[(crc ^ (uint16_t) c) & 0x00FF];
 }
 
 /*
@@ -77,18 +104,15 @@ uint16_t update_crc_16(uint16_t crc, uint8_t c)
  *查找表首次由init_crc16_tab()例程计算
  *调用循环冗余校验函数。
  */
-void init_crc16_tab(void)
+void init_crc16_tab(void) {
-{
     uint16_t i;
     uint16_t j;
     uint16_t crc;
     uint16_t c;
-    for (i = 0; i < 256; i++)
+    for (i = 0; i < 256; i++) {
-    {
         crc = 0;
         c = i;
-        for (j = 0; j < 8; j++)
+        for (j = 0; j < 8; j++) {
-        {
             if ((crc ^ c) & 0x0001)
                 crc = (crc >> 1) ^ CRC_POLY_16;
             else
@@ -99,3 +123,12 @@ 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]);
+}

modules/algorithm/crc16.h

@@ -10,5 +10,5 @@ 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

modules/algorithm/user_lib.c

@@ -212,3 +212,47 @@ void MatInit(mat *m, uint8_t row, uint8_t col)
     m->numRows = row;
     m->pData = (float *)zmalloc(row * col * sizeof(float));
 }
+/* 两个用于将uint值和float值进行映射的函数,在设定发送值和解析反馈值时使用 */
+uint16_t float_to_uint(float x, float x_min, float x_max, uint8_t bits)
+{
+    float span = x_max - x_min;
+    float offset = x_min;
+    return (uint16_t)((x - offset) * ((float)((1 << bits) - 1)) / span);
+}
+
+float uint_to_float(int x_int, float x_min, float x_max, int bits)
+{
+    float span = x_max - x_min;
+    float offset = x_min;
+    return ((float)x_int) * span / ((float)((1 << bits) - 1)) + offset;
+}
+/**
+  * @brief          一阶低通滤波初始化
+  * @author         RM
+  * @param[in]      一阶低通滤波结构体
+  * @param[in]      间隔的时间，单位 s
+  * @param[in]      滤波参数
+  * @retval         返回空
+  */
+void first_order_filter_init(first_order_filter_type_t *first_order_filter_type, float frame_period, const float num[1])
+{
+    first_order_filter_type->frame_period = frame_period;
+    first_order_filter_type->num[0] = num[0];
+    first_order_filter_type->input = 0.0f;
+    first_order_filter_type->out = 0.0f;
+}
+
+/**
+  * @brief          一阶低通滤波计算
+  * @author         RM
+  * @param[in]      一阶低通滤波结构体
+  * @param[in]      间隔的时间，单位 s
+  * @retval         返回空
+  */
+void first_order_filter_cali(first_order_filter_type_t *first_order_filter_type, float input)
+{
+    first_order_filter_type->input = input;
+    first_order_filter_type->out =
+            first_order_filter_type->num[0] / (first_order_filter_type->num[0] + first_order_filter_type->frame_period) * first_order_filter_type->out + first_order_filter_type->frame_period / (first_order_filter_type->num[0] + first_order_filter_type->frame_period) * first_order_filter_type->input;
+}
+

modules/algorithm/user_lib.h

@@ -53,6 +53,22 @@ void MatInit(mat *m, uint8_t row, uint8_t col);
 #ifndef PI
 #define PI 3.14159265354f
 #endif
+typedef  struct
+{
+    float input;        //输入数据
+    float out;          //滤波输出的数据
+    float num[1];       //滤波参数
+    float frame_period; //滤波的时间间隔 单位 s
+} first_order_filter_type_t;
+
+typedef struct
+{
+    float input;        //输入数据
+    float out;          //输出数据
+    float min_value;    //限幅最小值
+    float max_value;    //限幅最大值
+    float frame_period; //时间间隔
+} ramp_function_source_t;
 
 #define VAL_LIMIT(val, min, max) \
     do                           \
@@ -120,6 +136,12 @@ void Cross3d(float *v1, float *v2, float *res);
 float Dot3d(float *v1, float *v2);
 
 float AverageFilter(float new_data, float *buf, uint8_t len);
+float uint_to_float(int x_int, float x_min, float x_max, int bits);
+uint16_t float_to_uint(float x, float x_min, float x_max, uint8_t bits);
+//一阶低通滤波初始化
+void first_order_filter_init(first_order_filter_type_t *first_order_filter_type, float frame_period, const float num[1]);
+//一阶低通滤波计算
+void first_order_filter_cali(first_order_filter_type_t *first_order_filter_type, float input);
 
 #define rad_format(Ang) loop_float_constrain((Ang), -PI, PI)
 

modules/auto_aim/auto_aim.c

@@ -0,0 +1,302 @@
+//
+// 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
+ */
+int 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;
+//        }
+        // 平衡步兵选择两块装甲板中较近的装甲板
+        float distance_min = powf(aim_sel->armor_pose[0].x, 2) + powf(aim_sel->armor_pose[0].y, 2);
+        float distance_temp = powf(aim_sel->armor_pose[1].x, 2) + powf(aim_sel->armor_pose[1].y, 2);
+        if (distance_temp < distance_min) {
+            distance_min = distance_temp;
+            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;
+//            }
+//        }
+        // 选择两块较近的装甲板，再选择两块装甲板与自身位置连线，同旋转中心自身位置连线，夹角较小的为目标装甲板
+//         float distance_temp0 = powf(aim_sel->armor_pose[0].x, 2) + powf(aim_sel->armor_pose[0].y, 2);
+//         float distance_temp1 = powf(aim_sel->armor_pose[1].x, 2) + powf(aim_sel->armor_pose[1].y, 2);
+//         float distance_temp2 = powf(aim_sel->armor_pose[2].x, 2) + powf(aim_sel->armor_pose[2].y, 2);
+
+//        int label_first = 0;
+//        int label_second = 1;
+//        if (distance_temp0 > distance_temp1) {
+//            label_first = 1;
+//            if (distance_temp0 > distance_temp2) {
+//                label_second = 2;
+//            } else label_second = 0;
+//        } else {
+//            label_first = 0;
+//            if (distance_temp1 > distance_temp2) {
+//                label_second = 2;
+//            } else label_second = 1;
+//        }
+
+        // 选择两块较近的装甲板
+        float distance[3];
+        for (i = 0; i < 3; i++) {
+            distance[i] = powf(aim_sel->armor_pose[i].x, 2) + powf(aim_sel->armor_pose[i].y, 2);
+        }
+
+        int label_first = 0;
+        int label_second = 0;
+
+        for (i = 1; i < 3; i++) {
+            if (distance[i] < distance[label_first]) {
+                label_second = label_first;
+                label_first = i;
+            }  else if (distance[i] < distance[label_second] && distance[i] < distance[label_first]) {
+                label_second = i;
+            }else if (distance[i] < distance[label_second]) {
+                label_second = i;
+            }
+        }
+
+        //再选择两块装甲板与自身位置连线，同旋转中心自身位置连线，夹角较小的为目标装甲板
+        float center_length = sqrtf(powf(aim_sel->target_state.x, 2) + powf(aim_sel->target_state.y, 2));
+
+        float cos_theta_first = (aim_sel->armor_pose[label_first].x * aim_sel->target_state.x +
+                                 aim_sel->armor_pose[label_first].y * aim_sel->target_state.y) /
+                                (sqrtf(powf(aim_sel->armor_pose[label_first].x, 2) +
+                                       powf(aim_sel->armor_pose[label_first].y, 2)) * center_length);
+        float cos_theta_second = (aim_sel->armor_pose[label_second].x * aim_sel->target_state.x +
+                                  aim_sel->armor_pose[label_second].y * aim_sel->target_state.y) /
+                                 (sqrtf(powf(aim_sel->armor_pose[label_second].x, 2) +
+                                        powf(aim_sel->armor_pose[label_second].y, 2)) * center_length);
+
+        if (cos_theta_first > cos_theta_second)
+            idx = label_first;
+        else
+            idx = label_second;
+
+    } 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;
+//            }
+//        }
+
+        // 选择两块较近的装甲板
+        float distance[4];
+        for (i = 0; i < 4; i++) {
+            distance[i] = powf(aim_sel->armor_pose[i].x, 2) + powf(aim_sel->armor_pose[i].y, 2);
+        }
+
+        int label_first = 0;
+        int label_second = 1;
+
+        if(distance[label_first] > distance[label_second])
+        {
+            label_first = 1;
+            label_second = 0;
+        }
+
+        if(distance[2]<distance[label_first]){
+            label_second = label_first;
+            label_first = 2;
+        }
+        else if(distance[2]<distance[label_second])
+            label_second = 2;
+
+
+        if(distance[3]<distance[label_first]){
+            label_second = label_first;
+            label_first = 3;
+        }
+        else if(distance[3]<distance[label_second])
+            label_second = 3;
+
+        //再选择两块装甲板与自身位置连线，同旋转中心自身位置连线，夹角较小的为目标装甲板
+        float center_length = sqrtf(powf(aim_sel->target_state.x, 2) + powf(aim_sel->target_state.y, 2));
+
+        float cos_theta_first = (aim_sel->armor_pose[label_first].x * aim_sel->target_state.x +
+                                 aim_sel->armor_pose[label_first].y * aim_sel->target_state.y) /
+                                (sqrtf(powf(aim_sel->armor_pose[label_first].x, 2) +
+                                       powf(aim_sel->armor_pose[label_first].y, 2)) * center_length);
+        float cos_theta_second = (aim_sel->armor_pose[label_second].x * aim_sel->target_state.x +
+                                  aim_sel->armor_pose[label_second].y * aim_sel->target_state.y) /
+                                 (sqrtf(powf(aim_sel->armor_pose[label_second].x, 2) +
+                                        powf(aim_sel->armor_pose[label_second].y, 2)) * center_length);
+
+        if (cos_theta_first > cos_theta_second)
+            idx = label_first;
+        else
+            idx = label_second;
+    }
+
+
+    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;
+    return idx;
+}
+
+/**
+  * @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;
+}
+
+int 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;
+
+    int idx = 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);
+    return idx;
+}

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;
+
+
+int 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);
+int auto_aim(Aim_Select_Type_t *aim_sel,Trajectory_Type_t *trajectory_cal,RecievePacket_t *receive_packet);
+
+#endif //BASIC_FRAMEWORK_AUTO_AIM_H

modules/imu/ins_task.c

@@ -20,13 +20,19 @@
 #include "general_def.h"
 #include "master_process.h"
 
+#include "vofa.h"
+
 static INS_t INS;
 static IMU_Param_t IMU_Param;
 static PIDInstance TempCtrl = {0};
 
-const float xb[3] = {1, 0, 0};
+//const float xb[3] = {1, 0, 0};
+//const float yb[3] = {0, 1, 0};
+//const float zb[3] = {0, 0, 1};
+
+const float xb[3] = {0, 0, 1};
 const float yb[3] = {0, 1, 0};
-const float zb[3] = {0, 0, 1};
+const float zb[3] = {-1, 0, 0};
 
 // 用于获取两次采样之间的时间间隔
 static uint32_t INS_DWT_Count = 0;
@@ -60,9 +66,9 @@ static void InitQuaternion(float *init_q4)
     for (uint8_t i = 0; i < 100; ++i)
     {
         BMI088_Read(&BMI088);
-        acc_init[X] += BMI088.Accel[X];
+        acc_init[X] += -BMI088.Accel[2];
         acc_init[Y] += BMI088.Accel[Y];
-        acc_init[Z] += BMI088.Accel[Z];
+        acc_init[Z] += BMI088.Accel[0];
         DWT_Delay(0.001);
     }
     for (uint8_t i = 0; i < 3; ++i)
@@ -72,6 +78,9 @@ static void InitQuaternion(float *init_q4)
     float angle = acosf(Dot3d(acc_init, gravity_norm));
     Cross3d(acc_init, gravity_norm, axis_rot);
     Norm3d(axis_rot);
+
+    //q = cos (a/2) + i(x * sin(a/2)) + j(y * sin(a/2)) + k(z * sin(a/2))
+    //其中a表示旋转角度，(x,y,z)表示旋转轴  计算由实际重力加速度方向(0,0,1)到当前加速度方向的旋转
     init_q4[0] = cosf(angle / 2.0f);
     for (uint8_t i = 0; i < 2; ++i)
         init_q4[i + 1] = axis_rot[i] * sinf(angle / 2.0f); // 轴角公式,第三轴为0(没有z轴分量)
@@ -97,7 +106,7 @@ attitude_t *INS_Init(void)
     IMU_Param.flag = 1;
 
     float init_quaternion[4] = {0};
-    InitQuaternion(init_quaternion);
+    InitQuaternion(init_quaternion);//计算由实际重力加速度方向(0,0,1)到当前加速度方向的旋转
     IMU_QuaternionEKF_Init(init_quaternion, 10, 0.001, 1000000, 1, 0);
     // imu heat init
     PID_Init_Config_s config = {.MaxOut = 2000,
@@ -129,12 +138,12 @@ void INS_Task(void)
     {
         BMI088_Read(&BMI088);
 
-        INS.Accel[X] = BMI088.Accel[X];
+        INS.Accel[X] = -BMI088.Accel[2];
-        INS.Accel[Y] = BMI088.Accel[Y];
+        INS.Accel[Y] = BMI088.Accel[1];
-        INS.Accel[Z] = BMI088.Accel[Z];
+        INS.Accel[Z] = BMI088.Accel[0];
-        INS.Gyro[X] = BMI088.Gyro[X];
+        INS.Gyro[X] = -BMI088.Gyro[2];
-        INS.Gyro[Y] = BMI088.Gyro[Y];
+        INS.Gyro[Y] = BMI088.Gyro[1];
-        INS.Gyro[Z] = BMI088.Gyro[Z];
+        INS.Gyro[Z] = BMI088.Gyro[0];
 
         // demo function,用于修正安装误差,可以不管,本demo暂时没用
         IMU_Param_Correction(&IMU_Param, INS.Gyro, INS.Accel);
@@ -162,12 +171,36 @@ void INS_Task(void)
         }
         BodyFrameToEarthFrame(INS.MotionAccel_b, INS.MotionAccel_n, INS.q); // 转换回导航系n
 
+
         INS.Yaw = QEKF_INS.Yaw;
         INS.Pitch = QEKF_INS.Pitch;
         INS.Roll = QEKF_INS.Roll;
+
+//        // get Yaw total, yaw数据可能会超过360,处理一下方便其他功能使用(如小陀螺)
+//        if (INS.Yaw - INS.YawAngleLast > 180.0f)
+//        {
+//            INS.YawRoundCount--;
+//        }
+//        else if (INS.Yaw - INS.YawAngleLast < -180.0f)
+//        {
+//            INS.YawRoundCount++;
+//        }
+//        INS.YawTotalAngle = 360.0f * INS.YawRoundCount + INS.Yaw;
         INS.YawTotalAngle = QEKF_INS.YawTotalAngle;
 
-        VisionSetAltitude(INS.Yaw, INS.Pitch, INS.Roll);
+//        float vofa_send_data[9];
+//        vofa_send_data[0]=INS.Yaw;
+//        vofa_send_data[1]=INS.Pitch;
+//        vofa_send_data[2]=INS.Roll;
+//        vofa_send_data[3]=INS.Gyro[X];
+//        vofa_send_data[4]=INS.Gyro[Y];
+//        vofa_send_data[5]=INS.Gyro[Z];
+//        vofa_send_data[6]=BMI088.Accel[X];
+//        vofa_send_data[7]=BMI088.Accel[Y];
+//        vofa_send_data[8]=BMI088.Accel[Z];
+//        vofa_justfloat_output(vofa_send_data,36,&huart1);
+
+        VisionSetAltitude(INS.Yaw, INS.Pitch);
     }
 
     // temperature control

modules/imu/ins_task.h

@@ -23,6 +23,10 @@
 #define Y 1
 #define Z 2
 
+//#define X 2
+//#define Y 1
+//#define Z 0
+
 #define INS_TASK_PERIOD 1
 
 typedef struct
@@ -34,6 +38,7 @@ typedef struct
     float Pitch;
     float Yaw;
     float YawTotalAngle;
+
 } attitude_t; // 最终解算得到的角度,以及yaw转动的总角度(方便多圈控制)
 
 typedef struct
@@ -63,6 +68,9 @@ typedef struct
     float Yaw;
     float YawTotalAngle;
 
+    float YawAngleLast;
+    float YawRoundCount;
+
     uint8_t init;
 } INS_t;
 

modules/master_machine/master_process.c

@@ -13,25 +13,42 @@
 #include "daemon.h"
 #include "bsp_log.h"
 #include "robot_def.h"
+#include "crc16.h"
 
-static Vision_Recv_s recv_data;
+static RecievePacket_t recv_data;
-static Vision_Send_s send_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.detect_color = enemy_color;
-    send_data.work_mode = work_mode;
+    send_data.reserved = 0;
-    send_data.bullet_speed = bullet_speed;
 }
 
-void VisionSetAltitude(float yaw, float pitch, float roll)
+//void VisionSetAltitude(float yaw, float pitch)
+//{
+//    send_data.yaw = yaw;
+//    send_data.pitch = pitch;
+//}
+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
@@ -113,19 +130,26 @@ 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;
+//    uint16_t flag_register;
-    get_protocol_info(vis_recv_buff, &flag_register, (uint8_t *)&recv_data.pitch);
+//    get_protocol_info(vis_recv_buff, &flag_register, (uint8_t *)&recv_data.pitch);
-    // TODO: code to resolve flag_register;
+//    // 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(void)
 {
-    UNUSED(_handle); // 仅为了消除警告
+//    UNUSED(_handle); // 仅为了消除警告
     USB_Init_Config_s conf = {.rx_cbk = DecodeVision};
     vis_recv_buff = USBInit(conf);
 
@@ -142,14 +166,23 @@ Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle)
 
 void VisionSend()
 {
-    static uint16_t flag_register;
+//    static uint16_t flag_register;
-    static uint8_t send_buff[VISION_SEND_SIZE];
+//    static uint8_t send_buff[VISION_SEND_SIZE];
-    static uint16_t tx_len;
+//    static uint16_t tx_len;
-    // TODO: code to set flag_register
+//    // TODO: code to set flag_register
-    flag_register = 30 << 8 | 0b00000001;
+//    flag_register = 30 << 8 | 0b00000001;
-    // 将数据转化为seasky协议的数据包
+//    // 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);
+//    get_protocol_send_data(0x02, flag_register, &send_data.yaw, 3, send_buff, &tx_len);
-    USBTransmit(send_buff, tx_len);
+//    USBTransmit(send_buff, tx_len);
+    static uint8_t send_buffer[24]={0};
+
+    send_data.header = 0x5A;
+//    VisionSetFlag(data->detect_color);
+//    VisionSetAim(data->aim_x,data->aim_y,data->aim_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

modules/master_machine/master_process.h

@@ -8,22 +8,19 @@
 #define VISION_SEND_SIZE 36u
 
 #pragma pack(1)
-typedef enum
+typedef enum {
-{
     NO_FIRE = 0,
     AUTO_FIRE = 1,
     AUTO_AIM = 2
 } Fire_Mode_e;
 
-typedef enum
+typedef enum {
-{
     NO_TARGET = 0,
     TARGET_CONVERGING = 1,
     READY_TO_FIRE = 2
 } Target_State_e;
 
-typedef enum
+typedef enum {
-{
     NO_TARGET_NUM = 0,
     HERO1 = 1,
     ENGINEER2 = 2,
@@ -35,8 +32,7 @@ typedef enum
     BASE = 8
 } Target_Type_e;
 
-typedef struct
+typedef struct {
-{
     Fire_Mode_e fire_mode;
     Target_State_e target_state;
     Target_Type_e target_type;
@@ -45,22 +41,21 @@ typedef struct
     float yaw;
 } Vision_Recv_s;
 
-typedef enum
+typedef enum {
-{
+//	COLOR_NONE = 0,
-	COLOR_NONE = 0,
+//	COLOR_BLUE = 1,
-	COLOR_BLUE = 1,
+//	COLOR_RED = 2,
-	COLOR_RED = 2,
+    ENEMY_COLOR_RED = 0,
+    ENEMY_COLOR_BLUE = 1,
 } Enemy_Color_e;
 
-typedef enum
+typedef enum {
-{
     VISION_MODE_AIM = 0,
     VISION_MODE_SMALL_BUFF = 1,
     VISION_MODE_BIG_BUFF = 2
 } Work_Mode_e;
 
-typedef enum
+typedef enum {
-{
     BULLET_SPEED_NONE = 0,
     BIG_AMU_10 = 10,
     SMALL_AMU_15 = 15,
@@ -69,8 +64,7 @@ typedef enum
     SMALL_AMU_30 = 30,
 } Bullet_Speed_e;
 
-typedef struct
+typedef struct {
-{
     Enemy_Color_e enemy_color;
     Work_Mode_e work_mode;
     Bullet_Speed_e bullet_speed;
@@ -79,6 +73,38 @@ typedef struct
     float pitch;
     float roll;
 } Vision_Send_s;
+
+typedef  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  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 +112,8 @@ 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(void);
 
 /**
  * @brief 发送视觉数据
@@ -101,7 +128,8 @@ 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
@@ -109,6 +137,8 @@ void VisionSetFlag(Enemy_Color_e enemy_color, Work_Mode_e work_mode, Bullet_Spee
  * @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

modules/motor/DJImotor/dji_motor.c

@@ -2,6 +2,7 @@
 #include "general_def.h"
 #include "bsp_dwt.h"
 #include "bsp_log.h"
+#include "user_lib.h"
 
 static uint8_t idx = 0; // register idx,是该文件的全局电机索引,在注册时使用
 /* DJI电机的实例,此处仅保存指针,内存的分配将通过电机实例初始化时通过malloc()进行 */
@@ -19,42 +20,52 @@ static DJIMotorInstance *dji_motor_instance[DJI_MOTOR_CNT] = {NULL}; // 会在co
  * can1: [0]:0x1FF,[1]:0x200,[2]:0x2FF
  * can2: [3]:0x1FF,[4]:0x200,[5]:0x2FF
  */
-static CANInstance sender_assignment[6] = {
+static CANInstance sender_assignment[10] = {
-    [0] = {.can_handle = &hcan1, .txconf.StdId = 0x1ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
+        [0] = {.can_handle = &hcan1, .txconf.StdId = 0x1ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {
-    [1] = {.can_handle = &hcan1, .txconf.StdId = 0x200, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
+                0}},
-    [2] = {.can_handle = &hcan1, .txconf.StdId = 0x2ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
+        [1] = {.can_handle = &hcan1, .txconf.StdId = 0x200, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {
-    [3] = {.can_handle = &hcan2, .txconf.StdId = 0x1ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
+                0}},
-    [4] = {.can_handle = &hcan2, .txconf.StdId = 0x200, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
+        [2] = {.can_handle = &hcan1, .txconf.StdId = 0x2ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {
-    [5] = {.can_handle = &hcan2, .txconf.StdId = 0x2ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
+                0}},
+        [3] = {.can_handle = &hcan2, .txconf.StdId = 0x1ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {
+                0}},
+        [4] = {.can_handle = &hcan2, .txconf.StdId = 0x200, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {
+                0}},
+        [5] = {.can_handle = &hcan2, .txconf.StdId = 0x2ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {
+                0}},
+        [6] = {.can_handle = &hcan1, .txconf.StdId = 0x1fe, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {
+                0}},
+        [7] = {.can_handle = &hcan1, .txconf.StdId = 0x2fe, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {
+                0}},
+        [8] = {.can_handle = &hcan2, .txconf.StdId = 0x1fe, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {
+                0}},
+        [9] = {.can_handle = &hcan2, .txconf.StdId = 0x2fe, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {
+                0}}
 };
 
 /**
- * @brief 6个用于确认是否有电机注册到sender_assignment中的标志位,防止发送空帧,此变量将在DJIMotorControl()使用
+ * @brief 10个用于确认是否有电机注册到sender_assignment中的标志位,防止发送空帧,此变量将在DJIMotorControl()使用
  *        flag的初始化在 MotorSenderGrouping()中进行
  */
-static uint8_t sender_enable_flag[6] = {0};
+static uint8_t sender_enable_flag[10] = {0};
 
 /**
  * @brief 根据电调/拨码开关上的ID,根据说明书的默认id分配方式计算发送ID和接收ID,
  *        并对电机进行分组以便处理多电机控制命令
  */
-static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *config)
+static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *config) {
-{
     uint8_t motor_id = config->tx_id - 1; // 下标从零开始,先减一方便赋值
     uint8_t motor_send_num;
     uint8_t motor_grouping;
 
-    switch (motor->motor_type)
+    switch (motor->motor_type) {
-    {
         case M2006:
         case M3508:
             if (motor_id < 4) // 根据ID分组
             {
                 motor_send_num = motor_id;
                 motor_grouping = config->can_handle == &hcan1 ? 1 : 4;
-        }
+            } else {
-        else
-        {
                 motor_send_num = motor_id - 4;
                 motor_grouping = config->can_handle == &hcan1 ? 0 : 3;
             }
@@ -66,11 +77,11 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf
             motor->sender_group = motor_grouping;
 
             // 检查是否发生id冲突
-        for (size_t i = 0; i < idx; ++i)
+            for (size_t i = 0; i < idx; ++i) {
-        {
+                if (dji_motor_instance[i]->motor_can_instance->can_handle == config->can_handle &&
-            if (dji_motor_instance[i]->motor_can_instance->can_handle == config->can_handle && dji_motor_instance[i]->motor_can_instance->rx_id == config->rx_id)
+                    dji_motor_instance[i]->motor_can_instance->rx_id == config->rx_id) {
-            {
+                    LOGERROR(
-                LOGERROR("[dji_motor] ID crash. Check in debug mode, add dji_motor_instance to watch to get more information.");
+                            "[dji_motor] ID crash. Check in debug mode, add dji_motor_instance to watch to get more information.");
                     uint16_t can_bus = config->can_handle == &hcan1 ? 1 : 2;
                     while (1) // 6020的id 1-4和2006/3508的id 5-8会发生冲突(若有注册,即1!5,2!6,3!7,4!8) (1!5!,LTC! (((不是)
                         LOGERROR("[dji_motor] id [%d], can_bus [%d]", config->rx_id, can_bus);
@@ -79,6 +90,19 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf
             break;
 
         case GM6020:
+            if(motor->motor_control_type == CURRENT_CONTROL) //6020电流控制帧id  0x1fe  0x2fe
+            {
+                if (motor_id < 4)
+                {
+                    motor_send_num = motor_id;
+                    motor_grouping = config->can_handle == &hcan1 ? 6 : 8;
+                }
+                else
+                {
+                    motor_send_num = motor_id - 4;
+                    motor_grouping = config->can_handle == &hcan1 ? 7 : 9;
+                }
+            }else{
                 if (motor_id < 4)
                 {
                     motor_send_num = motor_id;
@@ -89,17 +113,18 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf
                     motor_send_num = motor_id - 4;
                     motor_grouping = config->can_handle == &hcan1 ? 2 : 5;
                 }
+            }
 
             config->rx_id = 0x204 + motor_id + 1;   // 把ID+1,进行分组设置
             sender_enable_flag[motor_grouping] = 1; // 只要有电机注册到这个分组,置为1;在发送函数中会通过此标志判断是否有电机注册
             motor->message_num = motor_send_num;
             motor->sender_group = motor_grouping;
 
-        for (size_t i = 0; i < idx; ++i)
+            for (size_t i = 0; i < idx; ++i) {
-        {
+                if (dji_motor_instance[i]->motor_can_instance->can_handle == config->can_handle &&
-            if (dji_motor_instance[i]->motor_can_instance->can_handle == config->can_handle && dji_motor_instance[i]->motor_can_instance->rx_id == config->rx_id)
+                    dji_motor_instance[i]->motor_can_instance->rx_id == config->rx_id) {
-            {
+                    LOGERROR(
-                LOGERROR("[dji_motor] ID crash. Check in debug mode, add dji_motor_instance to watch to get more information.");
+                            "[dji_motor] ID crash. Check in debug mode, add dji_motor_instance to watch to get more information.");
                     uint16_t can_bus = config->can_handle == &hcan1 ? 1 : 2;
                     while (1) // 6020的id 1-4和2006/3508的id 5-8会发生冲突(若有注册,即1!5,2!6,3!7,4!8) (1!5!,LTC! (((不是)
                         LOGERROR("[dji_motor] id [%d], can_bus [%d]", config->rx_id, can_bus);
@@ -119,12 +144,11 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf
  *
  * @param _instance 收到数据的instance,通过遍历与所有电机进行对比以选择正确的实例
  */
-static void DecodeDJIMotor(CANInstance *_instance)
+static void DecodeDJIMotor(CANInstance *_instance) {
-{
     // 这里对can instance的id进行了强制转换,从而获得电机的instance实例地址
     // _instance指针指向的id是对应电机instance的地址,通过强制转换为电机instance的指针,再通过->运算符访问电机的成员motor_measure,最后取地址获得指针
     uint8_t *rxbuff = _instance->rx_buff;
-    DJIMotorInstance *motor = (DJIMotorInstance *)_instance->id;
+    DJIMotorInstance *motor = (DJIMotorInstance *) _instance->id;
     DJI_Motor_Measure_s *measure = &motor->measure; // measure要多次使用,保存指针减小访存开销
 
     DaemonReload(motor->daemon);
@@ -132,12 +156,12 @@ static void DecodeDJIMotor(CANInstance *_instance)
 
     // 解析数据并对电流和速度进行滤波,电机的反馈报文具体格式见电机说明手册
     measure->last_ecd = measure->ecd;
-    measure->ecd = ((uint16_t)rxbuff[0]) << 8 | rxbuff[1];
+    measure->ecd = ((uint16_t) rxbuff[0]) << 8 | rxbuff[1];
-    measure->angle_single_round = ECD_ANGLE_COEF_DJI * (float)measure->ecd;
+    measure->angle_single_round = ECD_ANGLE_COEF_DJI * (float) measure->ecd;
     measure->speed_aps = (1.0f - SPEED_SMOOTH_COEF) * measure->speed_aps +
-                         RPM_2_ANGLE_PER_SEC * SPEED_SMOOTH_COEF * (float)((int16_t)(rxbuff[2] << 8 | rxbuff[3]));
+                         RPM_2_ANGLE_PER_SEC * SPEED_SMOOTH_COEF * (float) ((int16_t) (rxbuff[2] << 8 | rxbuff[3]));
     measure->real_current = (1.0f - CURRENT_SMOOTH_COEF) * measure->real_current +
-                            CURRENT_SMOOTH_COEF * (float)((int16_t)(rxbuff[4] << 8 | rxbuff[5]));
+                            CURRENT_SMOOTH_COEF * (float) ((int16_t) (rxbuff[4] << 8 | rxbuff[5]));
     measure->temperature = rxbuff[6];
 
     // 多圈角度计算,前提是假设两次采样间电机转过的角度小于180°,自己画个图就清楚计算过程了
@@ -148,22 +172,21 @@ static void DecodeDJIMotor(CANInstance *_instance)
     measure->total_angle = measure->total_round * 360 + measure->angle_single_round;
 }
 
-static void DJIMotorLostCallback(void *motor_ptr)
+static void DJIMotorLostCallback(void *motor_ptr) {
-{
+    DJIMotorInstance *motor = (DJIMotorInstance *) motor_ptr;
-    DJIMotorInstance *motor = (DJIMotorInstance *)motor_ptr;
     uint16_t can_bus = motor->motor_can_instance->can_handle == &hcan1 ? 1 : 2;
     LOGWARNING("[dji_motor] Motor lost, can bus [%d] , id [%d]", can_bus, motor->motor_can_instance->tx_id);
 }
 
 // 电机初始化,返回一个电机实例
-DJIMotorInstance *DJIMotorInit(Motor_Init_Config_s *config)
+DJIMotorInstance *DJIMotorInit(Motor_Init_Config_s *config) {
-{
+    DJIMotorInstance *instance = (DJIMotorInstance *) malloc(sizeof(DJIMotorInstance));
-    DJIMotorInstance *instance = (DJIMotorInstance *)malloc(sizeof(DJIMotorInstance));
     memset(instance, 0, sizeof(DJIMotorInstance));
 
     // motor basic setting 电机基本设置
     instance->motor_type = config->motor_type;                         // 6020 or 2006 or 3508
     instance->motor_settings = config->controller_setting_init_config; // 正反转,闭环类型等
+    instance->motor_control_type = config->motor_control_type; //电流控制or电压控制
 
     // motor controller init 电机控制器初始化
     PIDInit(&instance->motor_controller.current_PID, &config->controller_param_init_config.current_PID);
@@ -187,7 +210,7 @@ DJIMotorInstance *DJIMotorInit(Motor_Init_Config_s *config)
     Daemon_Init_Config_s daemon_config = {
             .callback = DJIMotorLostCallback,
             .owner_id = instance,
-        .reload_count = 2, // 20ms未收到数据则丢失
+            .reload_count = 100, // 20ms未收到数据则丢失
     };
     instance->daemon = DaemonRegister(&daemon_config);
 
@@ -197,8 +220,7 @@ DJIMotorInstance *DJIMotorInit(Motor_Init_Config_s *config)
 }
 
 /* 电流只能通过电机自带传感器监测,后续考虑加入力矩传感器应变片等 */
-void DJIMotorChangeFeed(DJIMotorInstance *motor, Closeloop_Type_e loop, Feedback_Source_e type)
+void DJIMotorChangeFeed(DJIMotorInstance *motor, Closeloop_Type_e loop, Feedback_Source_e type) {
-{
     if (loop == ANGLE_LOOP)
         motor->motor_settings.angle_feedback_source = type;
     else if (loop == SPEED_LOOP)
@@ -207,31 +229,38 @@ void DJIMotorChangeFeed(DJIMotorInstance *motor, Closeloop_Type_e loop, Feedback
         LOGERROR("[dji_motor] loop type error, check memory access and func param"); // 检查是否传入了正确的LOOP类型,或发生了指针越界
 }
 
-void DJIMotorStop(DJIMotorInstance *motor)
+void DJIMotorStop(DJIMotorInstance *motor) {
-{
     motor->stop_flag = MOTOR_STOP;
 }
 
-void DJIMotorEnable(DJIMotorInstance *motor)
+void DJIMotorEnable(DJIMotorInstance *motor) {
-{
     motor->stop_flag = MOTOR_ENALBED;
 }
 
 /* 修改电机的实际闭环对象 */
-void DJIMotorOuterLoop(DJIMotorInstance *motor, Closeloop_Type_e outer_loop)
+void DJIMotorOuterLoop(DJIMotorInstance *motor, Closeloop_Type_e outer_loop) {
-{
     motor->motor_settings.outer_loop_type = outer_loop;
 }
 
 // 设置参考值
-void DJIMotorSetRef(DJIMotorInstance *motor, float ref)
+void DJIMotorSetRef(DJIMotorInstance *motor, float ref) {
-{
     motor->motor_controller.pid_ref = ref;
 }
 
-// 为所有电机实例计算三环PID,发送控制报文
+static const float motor_power_K[3] = {1.6301e-6f,5.7501e-7f,2.5863e-7f};
-void DJIMotorControl()
+//依据3508电机功率模型，预测电机输出功率
+static float EstimatePower(DJIMotorInstance* chassis_motor,float output)
 {
+    float I_cmd = chassis_motor->motor_controller.current_PID.Output;
+    float w = chassis_motor->measure.speed_aps /6 ;//aps to rpm
+
+    float power = motor_power_K[0] * I_cmd * w + motor_power_K[1]*w*w  + motor_power_K[2]*I_cmd*I_cmd;
+    return power;
+}
+
+
+// 为所有电机实例计算三环PID,发送控制报文
+void DJIMotorControl() {
     // 直接保存一次指针引用从而减小访存的开销,同样可以提高可读性
     uint8_t group, num; // 电机组号和组内编号
     int16_t set;        // 电机控制CAN发送设定值
@@ -242,8 +271,7 @@ void DJIMotorControl()
     float pid_measure, pid_ref;             // 电机PID测量值和设定值
 
     // 遍历所有电机实例,进行串级PID的计算并设置发送报文的值
-    for (size_t i = 0; i < idx; ++i)
+    for (size_t i = 0; i < idx; ++i) { // 减小访存开销,先保存指针引用
-    { // 减小访存开销,先保存指针引用
         motor = dji_motor_instance[i];
         motor_setting = &motor->motor_settings;
         motor_controller = &motor->motor_controller;
@@ -254,8 +282,7 @@ void DJIMotorControl()
 
         // pid_ref会顺次通过被启用的闭环充当数据的载体
         // 计算位置环,只有启用位置环且外层闭环为位置时会计算速度环输出
-        if ((motor_setting->close_loop_type & ANGLE_LOOP) && motor_setting->outer_loop_type == ANGLE_LOOP)
+        if ((motor_setting->close_loop_type & ANGLE_LOOP) && (motor_setting->outer_loop_type == ANGLE_LOOP)) {
-        {
             if (motor_setting->angle_feedback_source == OTHER_FEED)
                 pid_measure = *motor_controller->other_angle_feedback_ptr;
             else
@@ -265,15 +292,21 @@ void DJIMotorControl()
         }
 
         // 计算速度环,(外层闭环为速度或位置)且(启用速度环)时会计算速度环
-        if ((motor_setting->close_loop_type & SPEED_LOOP) && (motor_setting->outer_loop_type & (ANGLE_LOOP | SPEED_LOOP)))
+        if ((motor_setting->close_loop_type & SPEED_LOOP) &&
-        {
+            (motor_setting->outer_loop_type & (ANGLE_LOOP | SPEED_LOOP))) {
             if (motor_setting->feedforward_flag & SPEED_FEEDFORWARD)
                 pid_ref += *motor_controller->speed_feedforward_ptr;
 
             if (motor_setting->speed_feedback_source == OTHER_FEED)
                 pid_measure = *motor_controller->other_speed_feedback_ptr;
             else // MOTOR_FEED
+            {
+                if(motor_setting->feedback_reverse_flag == FEEDBACK_DIRECTION_REVERSE)
+                    pid_measure = - measure->speed_aps;
+                else //NORMAL
                     pid_measure = measure->speed_aps;
+            }
+
             // 更新pid_ref进入下一个环
             pid_ref = PIDCalculate(&motor_controller->speed_PID, pid_measure, pid_ref);
         }
@@ -281,22 +314,54 @@ void DJIMotorControl()
         // 计算电流环,目前只要启用了电流环就计算,不管外层闭环是什么,并且电流只有电机自身传感器的反馈
         if (motor_setting->feedforward_flag & CURRENT_FEEDFORWARD)
             pid_ref += *motor_controller->current_feedforward_ptr;
-        if (motor_setting->close_loop_type & CURRENT_LOOP)
+        if (motor_setting->close_loop_type & CURRENT_LOOP) {
-        {
+            //现在电调都有内置电流环，无需pid计算
-            pid_ref = PIDCalculate(&motor_controller->current_PID, measure->real_current, pid_ref);
+            //pid_ref = PIDCalculate(&motor_controller->current_PID, measure->real_current, pid_ref);
         }
 
         if (motor_setting->feedback_reverse_flag == FEEDBACK_DIRECTION_REVERSE)
             pid_ref *= -1;
 
+        //功率限制
+        if(motor_setting->power_limit_flag == POWER_LIMIT_ON)
+        {
+            float I_cmd = pid_ref;
+            float w = measure->speed_aps /6 ;//aps to rpm
+            motor_controller->motor_power_predict = motor_power_K[0] * I_cmd * w + motor_power_K[1]*w*w  + motor_power_K[2]*I_cmd*I_cmd;
+            //这里K应该使用所有底盘电机一起计算 (在底盘任务中)
+            //float K = motor_controller->motor_power_max / motor_controller->motor_power_predict;
+            float K = motor_controller->motor_power_scale;
+            if(K>=1 || motor_controller->motor_power_predict < 0)//未超过最大功率 或做负功的电机 不做限制
+            {
+
+            }
+            else if(K<1)
+            {
+                float P_cmd = K * motor_controller->motor_power_predict; //对输出功率进行缩放
+
+                float a = motor_power_K[2] ;
+                float b = motor_power_K[0] * w;
+                float c = motor_power_K[1] * w * w - P_cmd;
+
+                if(pid_ref < 0)
+                    pid_ref = (-b - sqrtf(b*b-4*a*c))/(2*a);
+                else
+                    pid_ref = (-b + sqrtf(b*b-4*a*c))/(2*a);
+            }
+            //if( motor_controller->motor_power_predict < )
+        }
+
+        // 获取最终输出  此处注意set不要超过int16_t能表达的最大数 +-32767
+
+        pid_ref = float_constrain(pid_ref,-16384,16384);
         // 获取最终输出
-        set = (int16_t)pid_ref;
+        set = (int16_t) pid_ref;
 
         // 分组填入发送数据
         group = motor->sender_group;
         num = motor->message_num;
-        sender_assignment[group].tx_buff[2 * num] = (uint8_t)(set >> 8);         // 低八位
+        sender_assignment[group].tx_buff[2 * num] = (uint8_t) (set >> 8);         // 低八位
-        sender_assignment[group].tx_buff[2 * num + 1] = (uint8_t)(set & 0x00ff); // 高八位
+        sender_assignment[group].tx_buff[2 * num + 1] = (uint8_t) (set & 0x00ff); // 高八位
 
         // 若该电机处于停止状态,直接将buff置零
         if (motor->stop_flag == MOTOR_STOP)
@@ -304,10 +369,8 @@ void DJIMotorControl()
     }
 
     // 遍历flag,检查是否要发送这一帧报文
-    for (size_t i = 0; i < 6; ++i)
+    for (size_t i = 0; i < 10; ++i) {
-    {
+        if (sender_enable_flag[i]) {
-        if (sender_enable_flag[i])
-        {
             CANTransmit(&sender_assignment[i], 1);
         }
     }

modules/motor/DJImotor/dji_motor.h

@@ -58,6 +58,7 @@ typedef struct
     uint8_t message_num;
 
     Motor_Type_e motor_type;        // 电机类型
+    Motor_Control_Type_e motor_control_type;//电机控制方式
     Motor_Working_Type_e stop_flag; // 启停标志
 
     DaemonInstance* daemon;

modules/motor/DMmotor/dmmotor.c

@@ -0,0 +1,310 @@
+#include "dmmotor.h"
+#include "memory.h"
+#include "general_def.h"
+#include "user_lib.h"
+#include "cmsis_os.h"
+#include "string.h"
+#include "daemon.h"
+#include "stdlib.h"
+#include "bsp_log.h"
+
+static uint8_t idx;
+static DMMotorInstance *dm_motor_instance[DM_MOTOR_CNT];
+static osThreadId dm_task_handle[DM_MOTOR_CNT];
+/* 两个用于将uint值和float值进行映射的函数,在设定发送值和解析反馈值时使用 */
+
+
+void DMMotorSetMode(DMMotor_Mode_e cmd, DMMotorInstance *motor)
+{
+    memset(motor->motor_can_instance->tx_buff, 0xff, 7);  // 发送电机指令的时候前面7bytes都是0xff
+    motor->motor_can_instance->tx_buff[7] = (uint8_t)cmd; // 最后一位是命令id
+    CANTransmit(motor->motor_can_instance, 1);
+}
+
+static void DMMotorDecode(CANInstance *motor_can)
+{
+    uint16_t tmp; // 用于暂存解析值,稍后转换成float数据,避免多次创建临时变量
+    uint8_t *rxbuff = motor_can->rx_buff;
+    DMMotorInstance *motor = (DMMotorInstance *)motor_can->id;
+    DM_Motor_Measure_s *measure = &(motor->measure); // 将can实例中保存的id转换成电机实例的指针
+
+//    DaemonReload(motor->motor_daemon);
+    //0 失能  1 使能  8 超压 9 欠压  A 过流  B MOS过压  C 电机线圈过温   D 通信丢失  E 过载
+    tmp =  (uint8_t)(rxbuff[0]>>4);
+    measure->state = tmp;
+    if(measure->state){
+        DaemonReload(motor->motor_daemon);
+    }
+
+    measure->last_position = measure->position;
+
+    tmp = (uint16_t)((rxbuff[1] << 8) | rxbuff[2]);
+    measure->position = uint_to_float(tmp, DM_P_MIN, DM_P_MAX, 16);
+
+    //measure->angle_single_round =  RAD_2_DEGREE * (measure->position+3.141593);
+    measure->angle_single_round =  (measure->position);
+
+    tmp = (uint16_t)((rxbuff[3] << 4) | rxbuff[4] >> 4);
+    measure->velocity = uint_to_float(tmp, DM_V_MIN, DM_V_MAX, 12);
+
+    tmp = (uint16_t)(((rxbuff[4] & 0x0f) << 8) | rxbuff[5]);
+    measure->torque = uint_to_float(tmp, DM_T_MIN, DM_T_MAX, 12);
+
+    measure->T_Mos = (float)rxbuff[6];
+    measure->T_Rotor = (float)rxbuff[7];
+
+    // 多圈角度计算,前提是假设两次采样间电机转过的角度小于180°,自己画个图就清楚计算过程了
+    if (measure->position - measure->last_position > PI) //3.1425926
+        measure->total_round--;
+    else if (measure->position - measure->last_position < -PI)
+        measure->total_round++;
+
+    //measure->total_angle = measure->total_round * (DM_P_MAX * DEGREE_2_RAD) + measure->angle_single_round;
+    measure->total_angle = measure->total_round * (DM_P_MAX*2) + measure->angle_single_round;
+}
+
+static void DMMotorLostCallback(void *motor_ptr)
+{
+    DMMotorInstance *motor = (DMMotorInstance *)motor_ptr;
+    uint16_t can_bus = motor->motor_can_instance->can_handle == &hcan1 ? 1 : 2;
+    LOGWARNING("[dm_motor] Motor lost, can bus [%d] , id [%d]", can_bus, motor->motor_can_instance->tx_id);
+
+    DMMotorEnable(motor);
+    DMMotorSetMode(DM_CMD_MOTOR_MODE, motor);
+    LOGWARNING("[dm_motor] Tring to restart motor, can bus [%d] , id [%d]\"", can_bus, motor->motor_can_instance->tx_id);
+}
+void DMMotorCaliEncoder(DMMotorInstance *motor)
+{
+    DMMotorSetMode(DM_CMD_RESET_MODE, motor);
+    DWT_Delay(0.1);
+
+    DMMotorSetMode(DM_CMD_ZERO_POSITION, motor);
+    DWT_Delay(0.1);
+
+    DMMotorSetMode(DM_CMD_MOTOR_MODE, motor);
+    DWT_Delay(0.1);
+}
+DMMotorInstance *DMMotorInit(Motor_Init_Config_s *config)
+{
+    DMMotorInstance *motor = (DMMotorInstance *)malloc(sizeof(DMMotorInstance));
+    memset(motor, 0, sizeof(DMMotorInstance));
+
+    config->can_init_config.rx_id = config->can_init_config.rx_id;
+    config->can_init_config.tx_id = config->can_init_config.tx_id;
+    motor->motor_settings = config->controller_setting_init_config;
+    PIDInit(&motor->motor_controller.current_PID, &config->controller_param_init_config.current_PID);
+    PIDInit(&motor->motor_controller.speed_PID, &config->controller_param_init_config.speed_PID);
+    PIDInit(&motor->motor_controller.angle_PID, &config->controller_param_init_config.angle_PID);
+    motor->motor_controller.other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
+    motor->motor_controller.other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
+
+    motor->motor_controller.current_feedforward_ptr = config->controller_param_init_config.current_feedforward_ptr;
+    motor->motor_controller.speed_feedforward_ptr = config->controller_param_init_config.speed_feedforward_ptr;
+
+    config->can_init_config.can_module_callback = DMMotorDecode;
+    config->can_init_config.id = motor;
+    motor->motor_can_instance = CANRegister(&config->can_init_config);
+
+    Daemon_Init_Config_s conf = {
+            .callback = DMMotorLostCallback,
+            .owner_id = motor,
+            .reload_count = 10,
+    };
+    motor->motor_daemon = DaemonRegister(&conf);
+
+    DMMotorEnable(motor);
+    DMMotorSetMode(DM_CMD_MOTOR_MODE, motor);
+    DWT_Delay(0.1f);
+    dm_motor_instance[idx++] = motor;
+    return motor;
+}
+
+void DMMotorSetRef(DMMotorInstance *motor, float ref)
+{
+    motor->motor_controller.pid_ref = ref;
+}
+
+void DMMotorEnable(DMMotorInstance *motor)
+{
+    motor->stop_flag = MOTOR_ENALBED;
+}
+
+void DMMotorStop(DMMotorInstance *motor)//不使用使能模式是因为需要收到反馈
+{
+    motor->stop_flag = MOTOR_STOP;
+}
+
+void DMMotorOuterLoop(DMMotorInstance *motor, Closeloop_Type_e type)
+{
+    motor->motor_settings.outer_loop_type = type;
+}
+
+
+//还得使用力矩控制
+void DMMotorTask(void const *argument)
+{
+    float  pid_ref, set, pid_measure;
+
+
+
+    DMMotorInstance *motor = (DMMotorInstance *)argument;
+    Motor_Controller_s *motor_controller;   // 电机控制器
+    DM_Motor_Measure_s *measure = &motor->measure;
+    motor_controller = &motor->motor_controller;
+    Motor_Control_Setting_s *setting = &motor->motor_settings;
+    //CANInstance *motor_can = motor->motor_can_instance;
+    //uint16_t tmp;
+    DMMotor_Send_s motor_send_mailbox;
+    while (1)
+    {
+        pid_ref = motor->motor_controller.pid_ref;//保存设定值
+
+        if (setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
+            pid_ref *= -1;
+
+        // pid_ref会顺次通过被启用的闭环充当数据的载体
+        // 计算位置环,只有启用位置环且外层闭环为位置时会计算速度环输出
+        if ((setting->close_loop_type & ANGLE_LOOP) && setting->outer_loop_type == ANGLE_LOOP)
+        {
+            if (setting->angle_feedback_source == OTHER_FEED)
+                pid_measure = *motor_controller->other_angle_feedback_ptr;
+            else
+                pid_measure = measure->position; // MOTOR_FEED,对total angle闭环,防止在边界处出现突跃
+            // 更新pid_ref进入下一个环
+            pid_ref = PIDCalculate(&motor_controller->angle_PID, pid_measure, pid_ref);
+        }
+
+        // 计算速度环,(外层闭环为速度或位置)且(启用速度环)时会计算速度环
+
+
+        if ((setting->close_loop_type & SPEED_LOOP) && (setting->outer_loop_type & (ANGLE_LOOP | SPEED_LOOP)))
+        {
+            if (setting->feedforward_flag & SPEED_FEEDFORWARD)
+                pid_ref += *motor_controller->speed_feedforward_ptr;
+            if (setting->speed_feedback_source == OTHER_FEED)
+                pid_measure = *motor_controller->other_speed_feedback_ptr;
+            else // MOTOR_FEED
+                pid_measure = measure->velocity;
+            // 更新pid_ref进入下一个环
+            pid_ref = PIDCalculate(&motor_controller->speed_PID, pid_measure, pid_ref);
+        }
+        // 电流环前馈
+        if (setting->feedforward_flag & CURRENT_FEEDFORWARD)
+            pid_ref += *motor_controller->current_feedforward_ptr;
+
+        if (setting->feedback_reverse_flag == FEEDBACK_DIRECTION_REVERSE)
+            pid_ref *= -1;
+
+        set = pid_ref;
+
+        if (motor->stop_flag == MOTOR_STOP)
+            set = 0;
+
+        LIMIT_MIN_MAX(set, DM_T_MIN, DM_T_MAX);
+        motor_send_mailbox.position_des = float_to_uint(0, DM_P_MIN, DM_P_MAX, 16);
+        motor_send_mailbox.velocity_des = float_to_uint(0, DM_V_MIN, DM_V_MAX, 12);
+        motor_send_mailbox.torque_des = float_to_uint(set, DM_T_MIN, DM_T_MAX, 12);
+        motor_send_mailbox.Kp = 0;//只使用力矩控制无需kpkd参数
+        motor_send_mailbox.Kd = 0;//只使用力矩控制无需kpkd参数
+
+
+        motor->motor_can_instance->tx_buff[0] = (uint8_t)(motor_send_mailbox.position_des >> 8);
+        motor->motor_can_instance->tx_buff[1] = (uint8_t)(motor_send_mailbox.position_des);
+        motor->motor_can_instance->tx_buff[2] = (uint8_t)(motor_send_mailbox.velocity_des >> 4);
+        motor->motor_can_instance->tx_buff[3] = (uint8_t)(((motor_send_mailbox.velocity_des & 0xF) << 4) | (motor_send_mailbox.Kp >> 8));
+        motor->motor_can_instance->tx_buff[4] = (uint8_t)(motor_send_mailbox.Kp);
+        motor->motor_can_instance->tx_buff[5] = (uint8_t)(motor_send_mailbox.Kd >> 4);
+        motor->motor_can_instance->tx_buff[6] = (uint8_t)(((motor_send_mailbox.Kd & 0xF) << 4) | (motor_send_mailbox.torque_des >> 8));
+        motor->motor_can_instance->tx_buff[7] = (uint8_t)(motor_send_mailbox.torque_des);
+
+
+        CANTransmit(motor->motor_can_instance, 1);
+
+        //osDelay(2);
+        osDelay(5);
+    }
+}
+
+
+void DMMotorControl(){
+    DMMotorInstance *motor;
+    Motor_Controller_s *motor_controller;   // 电机控制器
+    DM_Motor_Measure_s *measure;
+    Motor_Control_Setting_s *setting;
+    //CANInstance *motor_can = motor->motor_can_instance;
+    //uint16_t tmp;
+    DMMotor_Send_s motor_send_mailbox;
+    float  pid_ref, set, pid_measure;
+
+    for (size_t i = 0; i < idx; ++i)
+    {
+        motor = dm_motor_instance[i];
+        setting = &motor->motor_settings;
+        motor_controller = &motor->motor_controller;
+        measure = &motor->measure;
+
+        pid_ref = motor->motor_controller.pid_ref;//保存设定值
+
+        if (setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
+            pid_ref *= -1;
+
+        // pid_ref会顺次通过被启用的闭环充当数据的载体
+        // 计算位置环,只有启用位置环且外层闭环为位置时会计算速度环输出
+        if ((setting->close_loop_type & ANGLE_LOOP) && setting->outer_loop_type == ANGLE_LOOP)
+        {
+            if (setting->angle_feedback_source == OTHER_FEED)
+                pid_measure = *motor_controller->other_angle_feedback_ptr;
+            else
+                pid_measure = measure->position; // MOTOR_FEED,对total angle闭环,防止在边界处出现突跃
+            // 更新pid_ref进入下一个环
+            pid_ref = PIDCalculate(&motor_controller->angle_PID, pid_measure, pid_ref);
+        }
+
+        // 计算速度环,(外层闭环为速度或位置)且(启用速度环)时会计算速度环
+
+
+        if ((setting->close_loop_type & SPEED_LOOP) && (setting->outer_loop_type & (ANGLE_LOOP | SPEED_LOOP)))
+        {
+            if (setting->feedforward_flag & SPEED_FEEDFORWARD)
+                pid_ref += *motor_controller->speed_feedforward_ptr;
+            if (setting->speed_feedback_source == OTHER_FEED)
+                pid_measure = *motor_controller->other_speed_feedback_ptr;
+            else // MOTOR_FEED
+                pid_measure = measure->velocity;
+            // 更新pid_ref进入下一个环
+            pid_ref = PIDCalculate(&motor_controller->speed_PID, pid_measure, pid_ref);
+        }
+        // 电流环前馈
+        if (setting->feedforward_flag & CURRENT_FEEDFORWARD)
+            pid_ref += *motor_controller->current_feedforward_ptr;
+
+        if (setting->feedback_reverse_flag == FEEDBACK_DIRECTION_REVERSE)
+            pid_ref *= -1;
+
+        set = pid_ref;
+
+        if (motor->stop_flag == MOTOR_STOP)
+            set = 0;
+
+        LIMIT_MIN_MAX(set, DM_T_MIN, DM_T_MAX);
+        motor_send_mailbox.position_des = float_to_uint(0, DM_P_MIN, DM_P_MAX, 16);
+        motor_send_mailbox.velocity_des = float_to_uint(0, DM_V_MIN, DM_V_MAX, 12);
+        motor_send_mailbox.torque_des = float_to_uint(set, DM_T_MIN, DM_T_MAX, 12);
+        motor_send_mailbox.Kp = 0;//只使用力矩控制无需kpkd参数
+        motor_send_mailbox.Kd = 0;//只使用力矩控制无需kpkd参数
+
+
+        motor->motor_can_instance->tx_buff[0] = (uint8_t)(motor_send_mailbox.position_des >> 8);
+        motor->motor_can_instance->tx_buff[1] = (uint8_t)(motor_send_mailbox.position_des);
+        motor->motor_can_instance->tx_buff[2] = (uint8_t)(motor_send_mailbox.velocity_des >> 4);
+        motor->motor_can_instance->tx_buff[3] = (uint8_t)(((motor_send_mailbox.velocity_des & 0xF) << 4) | (motor_send_mailbox.Kp >> 8));
+        motor->motor_can_instance->tx_buff[4] = (uint8_t)(motor_send_mailbox.Kp);
+        motor->motor_can_instance->tx_buff[5] = (uint8_t)(motor_send_mailbox.Kd >> 4);
+        motor->motor_can_instance->tx_buff[6] = (uint8_t)(((motor_send_mailbox.Kd & 0xF) << 4) | (motor_send_mailbox.torque_des >> 8));
+        motor->motor_can_instance->tx_buff[7] = (uint8_t)(motor_send_mailbox.torque_des);
+
+
+        CANTransmit(motor->motor_can_instance, 1);
+    }
+
+}

modules/motor/DMmotor/dmmotor.h

@@ -0,0 +1,76 @@
+#ifndef DM4310_H
+#define DM4310_H
+#include <stdint.h>
+#include "bsp_can.h"
+#include "controller.h"
+#include "motor_def.h"
+#include "daemon.h"
+
+#define DM_MOTOR_CNT 6
+
+#define DM_P_MIN  (-12.56637)//(-3.1415926f)
+#define DM_P_MAX  12.56637//3.1415926f
+#define DM_V_MIN  (-45.0f)
+#define DM_V_MAX  45.0f
+#define DM_T_MIN  (-18.0f)
+#define DM_T_MAX   18.0f
+
+typedef struct
+{
+    uint8_t id;
+    uint8_t state;
+    float velocity;     //速度
+    float last_position;    //上次位置
+    float position; //位置
+    float torque;   //力矩
+    float T_Mos;    //mos温度
+    float T_Rotor; //电机温度
+    float angle_single_round; //单圈角度
+    int32_t total_round; //总圈数
+    float total_angle; //总角度
+}DM_Motor_Measure_s;
+
+typedef struct
+{
+    uint16_t position_des;
+    uint16_t velocity_des;
+    uint16_t torque_des;
+    uint16_t Kp;
+    uint16_t Kd;
+}DMMotor_Send_s;
+typedef struct
+{
+    DM_Motor_Measure_s measure;
+    Motor_Control_Setting_s motor_settings;
+    Motor_Controller_s motor_controller;//电机控制器
+
+    CANInstance *motor_can_instance;//电机can实例
+
+    Motor_Type_e motor_type;//电机类型
+    Motor_Working_Type_e stop_flag;
+
+    DaemonInstance* motor_daemon;
+    uint32_t lost_cnt;
+}DMMotorInstance;
+
+typedef enum
+{
+    DM_CMD_MOTOR_MODE = 0xfc,   // 使能,会响应指令
+    DM_CMD_RESET_MODE = 0xfd,   // 停止
+    DM_CMD_ZERO_POSITION = 0xfe, // 将当前的位置设置为编码器零位
+    DM_CMD_CLEAR_ERROR = 0xfb // 清除电机过热错误
+}DMMotor_Mode_e;
+
+DMMotorInstance *DMMotorInit(Motor_Init_Config_s *config);
+
+void DMMotorSetRef(DMMotorInstance *motor, float ref);
+
+void DMMotorOuterLoop(DMMotorInstance *motor,Closeloop_Type_e closeloop_type);
+
+void DMMotorEnable(DMMotorInstance *motor);
+void DMMotorSetMode(DMMotor_Mode_e cmd, DMMotorInstance *motor);
+void DMMotorStop(DMMotorInstance *motor);
+void DMMotorCaliEncoder(DMMotorInstance *motor);
+void DMMotorControlInit();
+void DMMotorControl();
+#endif // !DMMOTOR

modules/motor/ECmotor/ECA8210.c

@@ -0,0 +1,179 @@
+//
+// Created by SJQ on 2023/12/11.
+//
+
+#include "ECA8210.h"
+
+ECMotor_Report_t ECMotor_Report;
+ECMotor_SpdCMD_t ECMotor_SpdCMD;
+ECMotor_PosCMD_t ECMotor_PosCMD;
+static uint8_t idx;
+static ECMotorInstance *ecmotor_instance[EC_MOTOR_MX_CNT] = {NULL};
+
+static void swap ( uint8_t *a ,uint8_t *b )
+{
+    uint8_t temp = *a;
+    *a = *b;
+    *b = temp;
+}
+/**
+ * @brief 电机反馈报文解析
+ *
+ * @param _instance 发生中断的caninstance
+ */
+static void ECMotorDecode(CANInstance *_instance)
+{
+    ECMotorInstance *motor = (ECMotorInstance *)_instance->id; // 通过caninstance保存的father id获取对应的motorinstance
+    ECMotor_Measure_t *measure = &motor->measure;
+    uint8_t *rx_buff = _instance->rx_buff;
+
+    swap(rx_buff+1,rx_buff+2);// 输出端位置  高位在前
+
+    memcpy(&ECMotor_Report,rx_buff,sizeof(ECMotor_Report));
+    //高位在前  这两个12位数据需要做特殊处理
+    ECMotor_Report.speed_raw = (uint16_t)(rx_buff[3]<<4|(rx_buff[4]>>4));
+    ECMotor_Report.current_raw = (uint16_t)(rx_buff[4]<<8|(rx_buff[5]));
+
+    DaemonReload(motor->daemon); // 喂狗
+    measure->feed_dt = DWT_GetDeltaT(&measure->feed_dwt_cnt);
+
+    measure->angle_single_round = (float)(ECMotor_Report.angle_raw-32768) * 0.0003814697;
+    measure->speed_rads = (float)(ECMotor_Report.speed_raw-2048) * 0.008789;
+    measure->real_current = (float)(ECMotor_Report.current_raw-2048) * 0.014648;
+    measure->temperature = (ECMotor_Report.temperature_raw - 50) /2;
+}
+
+static void ECMotorLostCallback(void *motor_ptr)
+{
+    ECMotorInstance *motor = (ECMotorInstance *)motor_ptr;
+    LOGWARNING("[ECMotor] motor lost, id: %d", motor->motor_can_ins->tx_id);
+}
+
+ECMotorInstance *ECMotorInit(Motor_Init_Config_s *config)
+{
+    ECMotorInstance *motor = (ECMotorInstance *)malloc(sizeof(ECMotorInstance));
+    motor = (ECMotorInstance *)malloc(sizeof(ECMotorInstance));
+    memset(motor, 0, sizeof(ECMotorInstance));
+
+    motor->motor_settings = config->controller_setting_init_config;
+    PIDInit(&motor->current_PID, &config->controller_param_init_config.current_PID);
+    PIDInit(&motor->speed_PID, &config->controller_param_init_config.speed_PID);
+    PIDInit(&motor->angle_PID, &config->controller_param_init_config.angle_PID);
+    motor->other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
+    motor->other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
+
+    config->can_init_config.id = motor;
+    config->can_init_config.can_module_callback = ECMotorDecode;
+    config->can_init_config.rx_id = config->can_init_config.tx_id;
+    config->can_init_config.tx_id = config->can_init_config.tx_id;
+    motor->motor_can_ins = CANRegister(&config->can_init_config);
+
+    ECMotorEnable(motor);
+
+    DWT_GetDeltaT(&motor->measure.feed_dwt_cnt);
+    ecmotor_instance[idx++] = motor;
+
+    Daemon_Init_Config_s daemon_config = {
+            .callback = ECMotorLostCallback,
+            .owner_id = motor,
+            .reload_count = 5, // 50ms
+    };
+    motor->daemon = DaemonRegister(&daemon_config);
+
+    return motor;
+}
+
+
+
+void ECMotorControl()
+{
+    float pid_measure, pid_ref;
+    int16_t set;
+    ECMotorInstance *motor;
+    ECMotor_Measure_t *measure;
+    Motor_Control_Setting_s *setting;
+
+    for (size_t i = 0; i < idx; ++i)
+    {
+        motor = ecmotor_instance[i];
+        measure = &motor->measure;
+        setting = &motor->motor_settings;
+        pid_ref = motor->pid_ref;
+
+        if ((setting->close_loop_type & ANGLE_LOOP) && setting->outer_loop_type == ANGLE_LOOP)
+        {
+            if (setting->angle_feedback_source == OTHER_FEED)
+                pid_measure = *motor->other_angle_feedback_ptr;
+            else
+                pid_measure = measure->real_current;
+            pid_ref = PIDCalculate(&motor->angle_PID, pid_measure, pid_ref);
+            if (setting->feedforward_flag & SPEED_FEEDFORWARD)
+                pid_ref += *motor->speed_feedforward_ptr;
+        }
+
+        if ((setting->close_loop_type & SPEED_LOOP) && setting->outer_loop_type & (ANGLE_LOOP | SPEED_LOOP))
+        {
+            if (setting->angle_feedback_source == OTHER_FEED)
+                pid_measure = *motor->other_speed_feedback_ptr;
+            else
+                pid_measure = measure->speed_rads;
+            pid_ref = PIDCalculate(&motor->angle_PID, pid_measure, pid_ref);
+            if (setting->feedforward_flag & CURRENT_FEEDFORWARD)
+                pid_ref += *motor->current_feedforward_ptr;
+        }
+
+        if (setting->close_loop_type & CURRENT_LOOP)
+        {
+            pid_ref = PIDCalculate(&motor->current_PID, measure->real_current, pid_ref);
+        }
+
+        set = pid_ref;
+        if (setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
+            set *= -1;
+
+        ECMotor_SpdCMD.mode = 0b010;
+        ECMotor_SpdCMD.reserve = 0b000;
+        ECMotor_SpdCMD.ack_type = 0b01;
+        ECMotor_SpdCMD.spd_target = set;
+        ECMotor_SpdCMD.max_current = 10;
+        // 这里随便写的,为了兼容多电机命令.后续应该将tx_id以更好的方式表达电机id,单独使用一个CANInstance,而不是用第一个电机的CANInstance
+        //memcpy(sender_instance->tx_buff + (motor->motor_can_ins->tx_id - 0x280) * 2, &set, sizeof(uint16_t));
+        CANSetDLC(motor->motor_can_ins,7);
+        memcpy(motor->motor_can_ins->tx_buff,&ECMotor_SpdCMD,sizeof(ECMotor_SpdCMD));
+        //发送数据高位在前！！ 交换一下顺序
+        swap(motor->motor_can_ins->tx_buff+1,motor->motor_can_ins->tx_buff+4);
+        swap(motor->motor_can_ins->tx_buff+2,motor->motor_can_ins->tx_buff+3);
+        swap(motor->motor_can_ins->tx_buff+5,motor->motor_can_ins->tx_buff+6);
+
+        //memcpy(motor->motor_can_ins->tx_buff+1,&ECMotor_SpdCMD.spd_target,sizeof(float32_t));
+
+        if (motor->stop_flag == MOTOR_STOP)
+        { // 若该电机处于停止状态,直接将发送buff置零
+            memcpy(motor->motor_can_ins->tx_buff,0,sizeof(ECMotor_SpdCMD));
+        }
+
+        CANTransmit(motor->motor_can_ins,0.2);
+    }
+
+
+}
+
+void ECMotorStop(ECMotorInstance *motor)
+{
+    motor->stop_flag = MOTOR_STOP;
+}
+
+void ECMotorEnable(ECMotorInstance *motor)
+{
+    motor->stop_flag = MOTOR_ENALBED;
+}
+
+void ECMotorSetRef(ECMotorInstance *motor, float ref)
+{
+    motor->pid_ref = ref;
+}
+
+uint8_t ECMotorIsOnline(ECMotorInstance *motor)
+{
+    return DaemonIsOnline(motor->daemon);
+}

modules/motor/ECmotor/ECA8210.h

@@ -0,0 +1,130 @@
+//
+// Created by SJQ on 2023/12/11.
+//
+
+#ifndef BASIC_FRAMEWORK_ECA8210_H
+#define BASIC_FRAMEWORK_ECA8210_H
+
+#include "stdint.h"
+#include "bsp_can.h"
+#include "controller.h"
+#include "motor_def.h"
+#include "daemon.h"
+
+#define EC_MOTOR_MX_CNT 4
+
+#pragma pack(1)
+typedef  struct
+{
+    uint8_t bug_info:5;       //错误信息
+    uint8_t report_type:3;    //报文类别
+
+    uint16_t angle_raw:16;    //输出端位置数值范围：0~65536 对应-12.5f~12.5f，单位 rad
+    uint16_t speed_raw:12;    //输出端转速数值范围：0~4095 对应-18.0f~18.0f，单位 rad/s
+    uint16_t current_raw:12;  //实际电流：0~4095 对应-30~30A
+    uint8_t temperature_raw:8;//电机温度：反馈的数值数据类型为无符号 8 位，数值等于实际温度*2+50
+}ECMotor_Report_t;
+#pragma pack()
+typedef  struct
+{
+    uint8_t mode:3;    //控制模式
+    float32_t pos_target;       //错误信息
+    uint16_t spd_target:15;    //输出端位置数值范围：0~65536 对应-12.5f~12.5f，单位 rad
+    uint16_t max_current:12;    //输出端转速数值范围：0~4095 对应-18.0f~18.0f，单位 rad/s
+    uint8_t ack_type:2;  //实际电流：0~4095 对应-30~30A
+
+}ECMotor_PosCMD_t;
+#pragma pack(1)
+typedef  struct
+{
+    uint8_t ack_type:2;
+    uint8_t reserve:3;
+    uint8_t mode:3;    //控制模式
+
+
+    float32_t spd_target;    //输出端速度指令  单位RPM
+    uint16_t max_current;    //电流限幅  电机电流阈值数值解释：0~65536 对应 0~6553.6A，比例为10
+
+}ECMotor_SpdCMD_t;
+
+#pragma pack()
+
+typedef struct // EC-A8120
+{
+    uint16_t last_ecd;        // 上一次读取的编码器值
+    uint16_t ecd;             // 当前编码器值
+    float angle_single_round; // 单圈角度
+    float speed_rads;         // speed rad/s
+    float real_current;     // 实际电流
+    uint8_t temperature;      // 温度,C°
+
+    float total_angle;   // 总角度
+    int32_t total_round; // 总圈数
+
+    float feed_dt;
+    uint32_t feed_dwt_cnt;
+} ECMotor_Measure_t;
+
+typedef struct
+{
+    ECMotor_Measure_t measure;
+
+    Motor_Control_Setting_s motor_settings;
+
+    float *other_angle_feedback_ptr; // 其他反馈来源的反馈数据指针
+    float *other_speed_feedback_ptr;
+    float *speed_feedforward_ptr;   // 速度前馈数据指针,可以通过此指针设置速度前馈值,或LQR等时作为速度状态变量的输入
+    float *current_feedforward_ptr; // 电流前馈指针
+    PIDInstance current_PID;
+    PIDInstance speed_PID;
+    PIDInstance angle_PID;
+    float pid_ref;
+
+    Motor_Working_Type_e stop_flag; // 启停标志
+
+    CANInstance *motor_can_ins;
+
+    DaemonInstance *daemon;
+
+} ECMotorInstance;
+
+/**
+ * @brief 初始化LK电机
+ *
+ * @param config 电机配置
+ * @return LKMotorInstance* 返回实例指针
+ */
+ECMotorInstance *ECMotorInit(Motor_Init_Config_s *config);
+
+/**
+ * @brief 设置参考值
+ * @attention 注意此函数设定的ref是最外层闭环的输入,若要设定内层闭环的值请通过前馈数据指针设置
+ *
+ * @param motor 要设置的电机
+ * @param ref 设定值
+ */
+void ECMotorSetRef(ECMotorInstance *motor, float ref);
+
+/**
+ * @brief 为所有EC电机计算pid/反转/模式控制,并通过bspcan发送电流值(发送CAN报文)
+ *
+ */
+void ECMotorControl();
+
+/**
+ * @brief 停止EC电机,之后电机不会响应任何指令
+ *
+ * @param motor
+ */
+void ECMotorStop(ECMotorInstance *motor);
+
+/**
+ * @brief 启动EC电机
+ *
+ * @param motor
+ */
+void ECMotorEnable(ECMotorInstance *motor);
+
+uint8_t ECMotorIsOnline(ECMotorInstance *motor);
+
+#endif //BASIC_FRAMEWORK_ECA8210_H

modules/motor/HTmotor/HT04.c

@@ -26,19 +26,8 @@ static void HTMotorSetMode(HTMotor_Mode_t cmd, HTMotorInstance *motor)
     CANTransmit(motor->motor_can_instace, 1);
     memcpy(motor->motor_can_instace->tx_buff, zero_buff, 6);
 }
-/* 两个用于将uint值和float值进行映射的函数,在设定发送值和解析反馈值时使用 */
+
-static uint16_t float_to_uint(float x, float x_min, float x_max, uint8_t bits)
+
-{
-    float span = x_max - x_min;
-    float offset = x_min;
-    return (uint16_t)((x - offset) * ((float)((1 << bits) - 1)) / span);
-}
-static float uint_to_float(int x_int, float x_min, float x_max, int bits)
-{
-    float span = x_max - x_min;
-    float offset = x_min;
-    return ((float)x_int) * span / ((float)((1 << bits) - 1)) + offset;
-}
 
 /**
  * @brief 解析电机反馈值

modules/motor/motor_def.h

@@ -68,6 +68,12 @@ typedef enum
     MOTOR_ENALBED = 1,
 } Motor_Working_Type_e;
 
+typedef enum
+{
+    NO_POWER_LIMIT = 0,
+    POWER_LIMIT_ON = 1,
+} Power_Limit_Type_e;
+
 /* 电机控制设置,包括闭环类型,反转标志和反馈来源 */
 typedef struct
 {
@@ -78,9 +84,19 @@ typedef struct
     Feedback_Source_e angle_feedback_source;       // 角度反馈类型
     Feedback_Source_e speed_feedback_source;       // 速度反馈类型
     Feedfoward_Type_e feedforward_flag;            // 前馈标志
+    Power_Limit_Type_e power_limit_flag;            //功率限制标志
 
 } Motor_Control_Setting_s;
 
+/* 电机控制方式枚举 */
+typedef enum
+{
+    CONTROL_TYPE_NONE = 0,
+    CURRENT_CONTROL,
+    VOLTAGE_CONTROL,
+} Motor_Control_Type_e;
+
+
 /* 电机控制器,包括其他来源的反馈数据指针,3环控制器和电机的参考输入*/
 // 后续增加前馈数据指针
 typedef struct
@@ -95,6 +111,10 @@ typedef struct
     PIDInstance angle_PID;
 
     float pid_ref; // 将会作为每个环的输入和输出顺次通过串级闭环
+
+    float motor_power_max;     //每个电机分配的功率上限
+    float motor_power_predict; //根据模型预测的电机功率
+    float motor_power_scale;   //电机功率缩放比例
 } Motor_Controller_s;
 
 /* 电机类型枚举 */
@@ -106,6 +126,8 @@ typedef enum
     M2006,
     LK9025,
     HT04,
+    DM4310,
+    DM6006,
 } Motor_Type_e;
 
 /**
@@ -133,6 +155,7 @@ typedef struct
     Motor_Control_Setting_s controller_setting_init_config;
     Motor_Type_e motor_type;
     CAN_Init_Config_s can_init_config;
+    Motor_Control_Type_e motor_control_type;
 } Motor_Init_Config_s;
 
 #endif // !MOTOR_DEF_H

modules/motor/motor_task.c

@@ -1,9 +1,11 @@
 #include "motor_task.h"
 #include "LK9025.h"
+#include "ECA8210.h"
 #include "HT04.h"
 #include "dji_motor.h"
 #include "step_motor.h"
 #include "servo_motor.h"
+#include "dmmotor.h"
 
 void MotorControlTask()
 {
@@ -14,7 +16,8 @@ void MotorControlTask()
 
     /* 如果有对应的电机则取消注释,可以加入条件编译或者register对应的idx判断是否注册了电机 */
     LKMotorControl();
-
+    ECMotorControl();
+    //DMMotorControl();
     // legacy support
     // 由于ht04电机的反馈方式为接收到一帧消息后立刻回传,以此方式连续发送可能导致总线拥塞
     // 为了保证高频率控制,HTMotor中提供了以任务方式启动控制的接口,可通过宏定义切换

modules/power_meter/power_meter.c

@@ -0,0 +1,38 @@
+//
+// Created by SJQ on 2023/12/19.
+//
+
+#include "power_meter.h"
+#include "memory.h"
+#include "stdlib.h"
+
+static PowerMeterInstance *power_meter_instance = NULL; // 可以由app保存此指针
+
+static void PowerMeterRxCallback(CANInstance *_instance)
+{
+    uint8_t *rxbuff;
+    PowerMeter_Msg_s *Msg;
+    rxbuff = _instance->rx_buff;
+    Msg = &power_meter_instance->power_msg;
+    Msg->vol = (uint16_t)(rxbuff[1] << 8 | rxbuff[0]);
+    Msg->current = (uint16_t)(rxbuff[3] << 8 | rxbuff[2]);
+
+}
+
+PowerMeterInstance *PowerMeterInit(PowerMeter_Init_Config_s *PowerMeter_config)
+{
+    power_meter_instance = (PowerMeterInstance *)malloc(sizeof(PowerMeterInstance));
+    memset(power_meter_instance, 0, sizeof(PowerMeterInstance));
+
+    PowerMeter_config->can_config.can_module_callback = PowerMeterRxCallback;
+    power_meter_instance->can_ins = CANRegister(&PowerMeter_config->can_config);
+    return power_meter_instance;
+}
+
+float PowerMeterGet(PowerMeterInstance *instance)
+{
+    float power = instance->power_msg.current*instance->power_msg.vol/1e4;
+    return power;
+}
+
+#include "power_meter.h"

modules/power_meter/power_meter.h

@@ -0,0 +1,39 @@
+//
+// Created by SJQ on 2023/12/19.
+//
+
+#ifndef BASIC_FRAMEWORK_POWER_METER_H
+#define BASIC_FRAMEWORK_POWER_METER_H
+#include "bsp_can.h"
+
+#pragma pack(1)
+typedef struct
+{
+    uint16_t vol; // 电压
+    uint16_t current; // 电流
+} PowerMeter_Msg_s;
+#pragma pack()
+
+/* 超级电容实例 */
+typedef struct
+{
+    CANInstance *can_ins; // CAN实例
+    PowerMeter_Msg_s power_msg; // 功率计反馈信息
+} PowerMeterInstance;
+
+/* 超级电容初始化配置 */
+typedef struct
+{
+    CAN_Init_Config_s can_config;
+} PowerMeter_Init_Config_s;
+
+/**
+ * @brief 初始化功率计
+ *
+ * @param PowerMeter_config 功率计初始化配置
+ * @return PowerMeterInstance* 功率计实例指针
+ */
+PowerMeterInstance *PowerMeterInit(PowerMeter_Init_Config_s *PowerMeter_config);
+float PowerMeterGet(PowerMeterInstance *instance);
+
+#endif //BASIC_FRAMEWORK_POWER_METER_H

modules/referee/referee_protocol.h

@@ -65,7 +65,7 @@ typedef struct
 
 /****************************cmd_id命令码说明****************************/
 /****************************cmd_id命令码说明****************************/
-
+//  V1.6.1 裁判系统串口协议
 /* 命令码ID,用来判断接收的是什么数据 */
 typedef enum
 {
@@ -83,24 +83,28 @@ typedef enum
 	ID_robot_hurt = 0x0206,				   // 伤害状态数据
 	ID_shoot_data = 0x0207,				   // 实时射击数据
 	ID_student_interactive = 0x0301,	   // 机器人间交互数据
+    ID_custom_robot = 0x302,               // 自定义控制器数据（图传链路）
+    ID_remote_control = 0x304,             // 键鼠遥控数据（图传链路）
 } CmdID_e;
 
 /* 命令码数据段长,根据官方协议来定义长度，还有自定义数据长度 */
 typedef enum
 {
-	LEN_game_state = 3,							 // 0x0001
+	LEN_game_state = 11,							 // 0x0001
 	LEN_game_result = 1,						 // 0x0002
-	LEN_game_robot_HP = 2,						 // 0x0003
+	LEN_game_robot_HP = 32,						 // 0x0003
 	LEN_event_data = 4,							 // 0x0101
 	LEN_supply_projectile_action = 4,			 // 0x0102
-	LEN_game_robot_state = 27,					 // 0x0201
+	LEN_game_robot_state = 13,					 // 0x0201
-	LEN_power_heat_data = 14,					 // 0x0202
+	LEN_power_heat_data = 16,					 // 0x0202
 	LEN_game_robot_pos = 16,					 // 0x0203
-	LEN_buff_musk = 1,							 // 0x0204
+	LEN_buff_musk = 6,							 // 0x0204
-	LEN_aerial_robot_energy = 1,				 // 0x0205
+	LEN_aerial_robot_energy = 2,				 // 0x0205
 	LEN_robot_hurt = 1,							 // 0x0206
 	LEN_shoot_data = 7,							 // 0x0207
 	LEN_receive_data = 6 + Communicate_Data_LEN, // 0x0301
+    LEN__custom_robot = 30,                      // 0x0302
+    LEN_remote_control = 12,                     // 0x0304
 
 } JudgeDataLength_e;
 
@@ -140,7 +144,7 @@ typedef struct
     uint16_t blue_7_robot_HP;
     uint16_t blue_outpost_HP;
     uint16_t blue_base_HP;
-} ext_game_robot_HP_t;
+}ext_game_robot_HP_t;
 
 /* ID: 0x0101  Byte:  4    场地事件数据 */
 typedef struct
@@ -148,7 +152,7 @@ typedef struct
 	uint32_t event_type;
 } ext_event_data_t;
 
-/* ID: 0x0102  Byte:  3    场地补给站动作标识数据 */
+/* ID: 0x0102  Byte:  4    场地补给站动作标识数据 */
 typedef struct
 {
 	uint8_t supply_projectile_id;
@@ -157,37 +161,32 @@ typedef struct
 	uint8_t supply_projectile_num;
 } ext_supply_projectile_action_t;
 
-/* ID: 0X0201  Byte: 27    机器人状态数据 */
+/* ID: 0X0201  Byte: 13    机器人性能体系数据 */
 typedef struct
 {
     uint8_t robot_id;
     uint8_t robot_level;
-	uint16_t remain_HP;
+    uint16_t current_HP;
-	uint16_t max_HP;
+    uint16_t maximum_HP;
-	uint16_t shooter_id1_17mm_cooling_rate;
+    uint16_t shooter_barrel_cooling_value;
-	uint16_t shooter_id1_17mm_cooling_limit;
+    uint16_t shooter_barrel_heat_limit;
-	uint16_t shooter_id1_17mm_speed_limit;
-	uint16_t shooter_id2_17mm_cooling_rate;
-	uint16_t shooter_id2_17mm_cooling_limit;
-	uint16_t shooter_id2_17mm_speed_limit;
-	uint16_t shooter_id1_42mm_cooling_rate;
-	uint16_t shooter_id1_42mm_cooling_limit;
-	uint16_t shooter_id1_42mm_speed_limit;
     uint16_t chassis_power_limit;
-	uint8_t mains_power_gimbal_output : 1;
+
-	uint8_t mains_power_chassis_output : 1;
+    uint8_t power_management_gimbal_output : 1;
-	uint8_t mains_power_shooter_output : 1;
+    uint8_t power_management_chassis_output : 1;
+    uint8_t power_management_shooter_output : 1;
 } ext_game_robot_state_t;
 
-/* ID: 0X0202  Byte: 14    实时功率热量数据 */
+/* ID: 0X0202  Byte: 16    实时功率热量数据 */
 typedef struct
 {
-	uint16_t chassis_volt;
+    uint16_t chassis_voltage;
     uint16_t chassis_current;
-	float chassis_power;		   // 瞬时功率
+    float chassis_power;
-	uint16_t chassis_power_buffer; // 60焦耳缓冲能量
+    uint16_t buffer_energy;
-	uint16_t shooter_heat0;		   // 17mm
+    uint16_t shooter_17mm_1_barrel_heat;
-	uint16_t shooter_heat1;
+    uint16_t shooter_17mm_2_barrel_heat;
+    uint16_t shooter_42mm_barrel_heat;
 } ext_power_heat_data_t;
 
 /* ID: 0x0203  Byte: 16    机器人位置数据 */
@@ -199,16 +198,22 @@ typedef struct
 	float yaw;
 } ext_game_robot_pos_t;
 
-/* ID: 0x0204  Byte:  1    机器人增益数据 */
+/* ID: 0x0204  Byte:  6    机器人增益数据 */
 typedef struct
 {
+    uint8_t recovery_buff;
+    uint8_t cooling_buff;
+    uint8_t defence_buff;
+    uint8_t vulnerability_buff;
+    uint16_t attack_buff;
     uint8_t power_rune_buff;
 } ext_buff_musk_t;
 
-/* ID: 0x0205  Byte:  1    空中机器人能量状态数据 */
+/* ID: 0x0205  Byte: 2    空中机器人能量状态数据 */
 typedef struct
 {
-	uint8_t attack_time;
+    uint8_t airforce_status;
+    uint8_t time_remain;
 } aerial_robot_energy_t;
 
 /* ID: 0x0206  Byte:  1    伤害状态数据 */
@@ -227,6 +232,20 @@ typedef struct
 	float bullet_speed;
 } ext_shoot_data_t;
 
+/****************************图传链路数据****************************/
+/* ID: 0x0304  Byte:  12    图传链路键鼠遥控数据 */
+typedef struct
+{
+    int16_t mouse_x;
+    int16_t mouse_y;
+    int16_t mouse_z;
+    int8_t left_button_down;
+    int8_t right_button_down;
+    uint16_t keyboard_value;
+    uint16_t reserved;
+}vision_transfer_t;
+/****************************图传链路数据****************************/
+
 /****************************机器人交互数据****************************/
 /****************************机器人交互数据****************************/
 /* 发送的内容数据段最大为 113 检测是否超出大小限制?实际上图形段不会超，数据段最多30个，也不会超*/

modules/referee/referee_task.c

@@ -14,10 +14,15 @@
 #include "referee_UI.h"
 #include "string.h"
 #include "cmsis_os.h"
+#include "chassis.h"
+#include "super_cap.h"
 
+extern SuperCapInstance *cap;                        // 超级电容
 static Referee_Interactive_info_t *Interactive_data; // UI绘制需要的机器人状态数据
 static referee_info_t *referee_recv_info;            // 接收到的裁判系统数据
+Referee_Interactive_info_t ui_data;
 uint8_t UI_Seq;                                      // 包序号，供整个referee文件使用
+
 // @todo 不应该使用全局变量
 
 /**
@@ -28,7 +33,7 @@ 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
@@ -49,15 +54,17 @@ referee_info_t *UITaskInit(UART_HandleTypeDef *referee_usart_handle, Referee_Int
 
 void UITask()
 {
-    RobotModeTest(Interactive_data); // 测试用函数，实现模式自动变化,用于检查该任务和裁判系统是否连接正常
+    //RobotModeTest(Interactive_data); // 测试用函数，实现模式自动变化,用于检查该任务和裁判系统是否连接正常
     MyUIRefresh(referee_recv_info, Interactive_data);
 }
 
 static Graph_Data_t UI_shoot_line[10]; // 射击准线
-static Graph_Data_t UI_Energy[3];      // 电容能量条
+static Graph_Data_t UI_shoot_yuan[2];  // 射击圆心
-static String_Data_t UI_State_sta[6];  // 机器人状态,静态只需画一次
+static Graph_Data_t UI_Energy[6];      // 电容能量条
-static String_Data_t UI_State_dyn[6];  // 机器人状态,动态先add才能change
+static String_Data_t UI_State_sta[7];  // 机器人状态,静态只需画一次
+static String_Data_t UI_State_dyn[7];  // 机器人状态,动态先add才能change
 static uint32_t shoot_line_location[10] = {540, 960, 490, 515, 565};
+static String_Data_t UI_prompt_sta[3];  // 操作手提示
 
 void MyUIInit()
 {
@@ -69,108 +76,79 @@ void MyUIInit()
     DeterminRobotID();                                            // 确定ui要发送到的目标客户端
     UIDelete(&referee_recv_info->referee_id, UI_Data_Del_ALL, 0); // 清空UI
 
-    // 绘制发射基准线
+    // 绘制发射基准线和基准圆
     UILineDraw(&UI_shoot_line[0], "sl0", UI_Graph_ADD, 7, UI_Color_White, 3, 710, shoot_line_location[0], 1210, shoot_line_location[0]);
     UILineDraw(&UI_shoot_line[1], "sl1", UI_Graph_ADD, 7, UI_Color_White, 3, shoot_line_location[1], 340, shoot_line_location[1], 740);
     UILineDraw(&UI_shoot_line[2], "sl2", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[2], 1110, shoot_line_location[2]);
-    UILineDraw(&UI_shoot_line[3], "sl3", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[3], 1110, shoot_line_location[3]);
+    UILineDraw(&UI_shoot_line[3], "sl3", UI_Graph_ADD, 7, UI_Color_Orange, 2, 960, 200, 960, 600);
-    UILineDraw(&UI_shoot_line[4], "sl4", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[4], 1110, shoot_line_location[4]);
+    UICircleDraw(&UI_shoot_yuan[0],"sy0",UI_Graph_ADD,7,UI_Color_Yellow,2,960,540,80);
-    UIGraphRefresh(&referee_recv_info->referee_id, 5, UI_shoot_line[0], UI_shoot_line[1], UI_shoot_line[2], UI_shoot_line[3], UI_shoot_line[4]);
+    UIGraphRefresh(&referee_recv_info->referee_id, 5, UI_shoot_line[0], UI_shoot_line[1], UI_shoot_line[2], UI_shoot_line[3],UI_shoot_yuan[0]);
+    UILineDraw(&UI_shoot_line[4], "sl4", UI_Graph_ADD,7, UI_Color_Green, 2, 1020, 450, 1020, 600);
+    UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_shoot_line[4]);
 
-    // 绘制车辆状态标志指示
+    // 绘制车辆状态标志指示，静态
-    UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750, "chassis:");
+    UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 20, 2, 10, 750, "E.spin:");
     UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[0]);
-    UICharDraw(&UI_State_sta[1], "ss1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 150, 700, "gimbal:");
+//    UICharDraw(&UI_State_sta[1], "ss1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 150, 700, "gimbal:");
-    UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[1]);
+//    UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[1]);
-    UICharDraw(&UI_State_sta[2], "ss2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 150, 650, "shoot:");
+//    UICharDraw(&UI_State_sta[2], "ss2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 150, 650, "shoot:");
-    UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[2]);
+//    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:");
+    UICharDraw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 10, 700, "F.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:");
+    UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Main, 20, 2, 10, 650, "B.lid:");
     UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[4]);
+    UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 10, 600, "Q.heat:");
+    UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]);
+    UICharDraw(&UI_State_sta[6], "ss6", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 10, 550, "C.ce:");
+    UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[6]);
+//    UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 800, "load:");
+//    UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]);
+
+    // 操作手提示
+    UICharDraw(&UI_prompt_sta[0], "ss8", UI_Graph_ADD,8, UI_Color_Pink, 30, 4, 1650, 700, "bie huang");
+    UICharRefresh(&referee_recv_info->referee_id, UI_prompt_sta[0]);
+
+    // 底盘功率显示，静态
+//    UICharDraw(&UI_State_sta[6], "ss6", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 620, 230, "MAX:");
+//    UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[6]);
 
     // 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
-    UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce");
+    UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 20, 2, 170, 750, "off");
     UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
-    UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce");
+//    UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce");
-    UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
+//    UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
-    UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 270, 650, "off");
+//    UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 270, 650, "off");
-    UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
+//    UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
-    UICharDraw(&UI_State_dyn[3], "sd3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 600, "off");
+    UICharDraw(&UI_State_dyn[3], "sd3", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 170, 700, "off");
     UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[3]);
-    UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550, "open ");
+    UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 170, 650, "off");
     UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
+    UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 170, 600, "on ");
+    UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[5]);
+    UICharDraw(&UI_State_dyn[6], "sd8", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 170, 550, "off");
+    UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[6]);
+//    UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 800, "999");
+//    UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[5]);
 
-    // 底盘功率显示，静态
-    UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 7, UI_Color_Green, 18, 2, 620, 230, "Power:");
-    UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]);
     // 能量条框
-    UIRectangleDraw(&UI_Energy[0], "ss6", UI_Graph_ADD, 7, UI_Color_Green, 2, 720, 140, 1220, 180);
+//    UIRectangleDraw(&UI_Energy[0], "ss6", UI_Graph_ADD, 7, UI_Color_Green, 2, 720, 140, 1220, 180);
-    UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[0]);
+//    UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[0]);
 
     // 底盘功率显示,动态
-    UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 750, 230, 24000);
+    UIFloatDraw(&UI_Energy[1], "sd6", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 850, 230, Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000);
-    // 能量条初始状态
+    UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[1]);
-    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]);
-}
 
-// 测试用函数，实现模式自动变化,用于检查该任务和裁判系统是否连接正常
+    // 电容电压
-static uint8_t count = 0;
+    UIFloatDraw(&UI_Energy[2], "sd7", UI_Graph_ADD, 8, UI_Color_Pink, 18, 2,2, 850, 280,Interactive_data->Cap_Data.cap_vol);
-static uint16_t count1 = 0;
+    UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[2]);
-static void RobotModeTest(Referee_Interactive_info_t *_Interactive_data) // 测试用函数，实现模式自动变化
+    // 电容能量条
-{
+//    UILineDraw(&UI_Energy[3], "sd8", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)(720 + (Interactive_data->Cap_Data.cap_vol-1200) * 0.416), 160);
-    count++;
+//    UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[3]);
-    if (count >= 50)
+
-    {
+    // 发弹量条框
-        count = 0;
+    UILineDraw(&UI_Energy[4], "ss7", UI_Graph_ADD, 7, UI_Color_Pink, 2, 1325, 500, 1480, 500);
-        count1++;
+    UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[4]);
-    }
-    switch (count1 % 4)
-    {
-    case 0:
-    {
-        _Interactive_data->chassis_mode = CHASSIS_ZERO_FORCE;
-        _Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE;
-        _Interactive_data->shoot_mode = SHOOT_ON;
-        _Interactive_data->friction_mode = FRICTION_ON;
-        _Interactive_data->lid_mode = LID_OPEN;
-        _Interactive_data->Chassis_Power_Data.chassis_power_mx += 3.5;
-        if (_Interactive_data->Chassis_Power_Data.chassis_power_mx >= 18)
-            _Interactive_data->Chassis_Power_Data.chassis_power_mx = 0;
-        break;
-    }
-    case 1:
-    {
-        _Interactive_data->chassis_mode = CHASSIS_ROTATE;
-        _Interactive_data->gimbal_mode = GIMBAL_FREE_MODE;
-        _Interactive_data->shoot_mode = SHOOT_OFF;
-        _Interactive_data->friction_mode = FRICTION_OFF;
-        _Interactive_data->lid_mode = LID_CLOSE;
-        break;
-    }
-    case 2:
-    {
-        _Interactive_data->chassis_mode = CHASSIS_NO_FOLLOW;
-        _Interactive_data->gimbal_mode = GIMBAL_GYRO_MODE;
-        _Interactive_data->shoot_mode = SHOOT_ON;
-        _Interactive_data->friction_mode = FRICTION_ON;
-        _Interactive_data->lid_mode = LID_OPEN;
-        break;
-    }
-    case 3:
-    {
-        _Interactive_data->chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
-        _Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE;
-        _Interactive_data->shoot_mode = SHOOT_OFF;
-        _Interactive_data->friction_mode = FRICTION_OFF;
-        _Interactive_data->lid_mode = LID_CLOSE;
-        break;
-    }
-    default:
-        break;
-    }
 }
 
 static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data)
@@ -180,77 +158,126 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i
     if (_Interactive_data->Referee_Interactive_Flag.chassis_flag == 1)
     {
         switch (_Interactive_data->chassis_mode)
+            // 此处注意字数对齐问题，字数相同才能覆盖掉
         {
             case CHASSIS_ZERO_FORCE:
-            UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce");
+                 UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off");
+                 UICharDraw(&UI_State_dyn[6], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 20, 2, 170, 550,  "off");
                  break;
             case CHASSIS_ROTATE:
-            UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "rotate   ");
+                 UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "on ");
-            // 此处注意字数对齐问题，字数相同才能覆盖掉
+                 UICharDraw(&UI_State_dyn[6], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 20, 2, 170, 550,  "off");
+                 break;
+            case CHASSIS_SIDEWAYS:
+                 UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off");
+                 UICharDraw(&UI_State_dyn[6], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 20, 2, 170, 550,  "on ");
                 break;
             case CHASSIS_NO_FOLLOW:
-            UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "nofollow ");
+                 UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off");
+                 UICharDraw(&UI_State_dyn[6], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 20, 2, 170, 550,  "off");
                 break;
             case CHASSIS_FOLLOW_GIMBAL_YAW:
-            UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "follow   ");
+                 UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off");
+                 UICharDraw(&UI_State_dyn[6], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 20, 2, 170, 550,  "off");
                 break;
         }
-        UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
+        UICharRefresh(&referee_recv_info->referee_id,UI_State_dyn[0]);
+        UICharRefresh(&referee_recv_info->referee_id,UI_State_dyn[6]);
         _Interactive_data->Referee_Interactive_Flag.chassis_flag = 0;
     }
     // gimbal
-    if (_Interactive_data->Referee_Interactive_Flag.gimbal_flag == 1)
+//    if (_Interactive_data->Referee_Interactive_Flag.gimbal_flag == 1)
-    {
+//    {
-        switch (_Interactive_data->gimbal_mode)
+//        switch (_Interactive_data->gimbal_mode)
-        {
+//        {
-        case GIMBAL_ZERO_FORCE:
+//        case GIMBAL_ZERO_FORCE:
-        {
+//        {
-            UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce");
+//            UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce");
-            break;
+//            break;
-        }
+//        }
-        case GIMBAL_FREE_MODE:
+//        case GIMBAL_FREE_MODE:
-        {
+//        {
-            UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "free     ");
+//            UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "free     ");
-            break;
+//            break;
-        }
+//        }
-        case GIMBAL_GYRO_MODE:
+//        case GIMBAL_GYRO_MODE:
-        {
+//        {
-            UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "gyro     ");
+//            UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "gyro     ");
-            break;
+//            break;
-        }
+//        }
-        }
+//        }
-        UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
+//        UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
-        _Interactive_data->Referee_Interactive_Flag.gimbal_flag = 0;
+//        _Interactive_data->Referee_Interactive_Flag.gimbal_flag = 0;
-    }
+//    }
     // shoot
-    if (_Interactive_data->Referee_Interactive_Flag.shoot_flag == 1)
+//    if (_Interactive_data->Referee_Interactive_Flag.shoot_flag == 1)
-    {
+//    {
-        UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 650, _Interactive_data->shoot_mode == SHOOT_ON ? "on " : "off");
+//        UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 650, _Interactive_data->shoot_mode == SHOOT_ON ? "on " : "off");
-        UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
+//        UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
-        _Interactive_data->Referee_Interactive_Flag.shoot_flag = 0;
+//        _Interactive_data->Referee_Interactive_Flag.shoot_flag = 0;
-    }
+//    }
     // friction
     if (_Interactive_data->Referee_Interactive_Flag.friction_flag == 1)
     {
-        UICharDraw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600, _Interactive_data->friction_mode == FRICTION_ON ? "on " : "off");
+        UICharDraw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 20, 2, 170, 700, _Interactive_data->friction_mode == FRICTION_ON ? "on " : "off");
         UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[3]);
         _Interactive_data->Referee_Interactive_Flag.friction_flag = 0;
     }
     // lid
     if (_Interactive_data->Referee_Interactive_Flag.lid_flag == 1)
     {
-        UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550, _Interactive_data->lid_mode == LID_OPEN ? "open " : "close");
+        UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 20, 2, 170, 650, _Interactive_data->lid_mode == LID_OPEN ? "on " : "off");
         UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
         _Interactive_data->Referee_Interactive_Flag.lid_flag = 0;
     }
+    // heat
+    if (_Interactive_data->Referee_Interactive_Flag.heat_flag == 1)
+    {
+        UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_Change, 8, UI_Color_Pink, 20, 2, 170, 600, _Interactive_data->heat_mode == HEAT_OPEN ? "on " : "off");
+        UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[5]);
+        _Interactive_data->Referee_Interactive_Flag.heat_flag = 0;
+    }
+    // loader_mode
+//    if (_Interactive_data->Referee_Interactive_Flag.load_flag == 1)
+//    {
+//        switch (loader_flag)
+//        {
+//            case 2:
+//            {
+//                UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 800, " 1 ");
+//                break;
+//            }
+//            case 1:
+//            {
+//                UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 800, " 3 ");
+//                break;
+//            }
+//            case 0:
+//            {
+//                UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 800, "999");
+//                break;
+//            }
+//        }
+//        UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[5]);
+//        _Interactive_data->Referee_Interactive_Flag.load_flag = 0;
+//    }
     // power
     if (_Interactive_data->Referee_Interactive_Flag.Power_flag == 1)
     {
-        UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_Change, 8, UI_Color_Green, 18, 2, 2, 750, 230, _Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000);
+        UIFloatDraw(&UI_Energy[1], "sd6", 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]);
-        UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
         _Interactive_data->Referee_Interactive_Flag.Power_flag = 0;
     }
+    UIFloatDraw(&UI_Energy[2], "sd7", UI_Graph_Change, 8, UI_Color_Pink, 18, 2,2, 850, 280,Interactive_data->Cap_Data.cap_vol);
+    UIGraphRefresh(&referee_recv_info->referee_id, 1,UI_Energy[2]);
+//    UILineDraw(&UI_Energy[3], "sd8", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)(720 + (Interactive_data->Cap_Data.cap_vol-1200) * 0.416), 160);
+//    UIGraphRefresh(&referee_recv_info->referee_id, 1, &UI_Energy[3]);
+    //绘制开火建议
+    if (_Interactive_data->Referee_Interactive_Flag.aim_flag == 1) {
+        UICircleDraw(&UI_shoot_yuan[0], "sy0", UI_Graph_Change, 7, _Interactive_data->aim_fire == 0 ? UI_Color_Yellow : UI_Color_Main, 2, 960, 540, 80);
+        UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_shoot_yuan[0]);
+        _Interactive_data->Referee_Interactive_Flag.aim_flag = 0;
+    }
 }
 
 /**
@@ -267,17 +294,17 @@ static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data)
         _Interactive_data->chassis_last_mode = _Interactive_data->chassis_mode;
     }
 
-    if (_Interactive_data->gimbal_mode != _Interactive_data->gimbal_last_mode)
+//    if (_Interactive_data->gimbal_mode != _Interactive_data->gimbal_last_mode)
-    {
+//    {
-        _Interactive_data->Referee_Interactive_Flag.gimbal_flag = 1;
+//        _Interactive_data->Referee_Interactive_Flag.gimbal_flag = 1;
-        _Interactive_data->gimbal_last_mode = _Interactive_data->gimbal_mode;
+//        _Interactive_data->gimbal_last_mode = _Interactive_data->gimbal_mode;
-    }
+//    }
 
-    if (_Interactive_data->shoot_mode != _Interactive_data->shoot_last_mode)
+//    if (_Interactive_data->shoot_mode != _Interactive_data->shoot_last_mode)
-    {
+//    {
-        _Interactive_data->Referee_Interactive_Flag.shoot_flag = 1;
+//        _Interactive_data->Referee_Interactive_Flag.shoot_flag = 1;
-        _Interactive_data->shoot_last_mode = _Interactive_data->shoot_mode;
+//        _Interactive_data->shoot_last_mode = _Interactive_data->shoot_mode;
-    }
+//    }
 
     if (_Interactive_data->friction_mode != _Interactive_data->friction_last_mode)
     {
@@ -291,9 +318,33 @@ static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data)
         _Interactive_data->lid_last_mode = _Interactive_data->lid_mode;
     }
 
+    if (_Interactive_data->heat_mode != _Interactive_data->heat_last_mode)
+    {
+        _Interactive_data->Referee_Interactive_Flag.heat_flag = 1;
+        _Interactive_data->heat_last_mode = _Interactive_data->heat_mode;
+    }
+
     if (_Interactive_data->Chassis_Power_Data.chassis_power_mx != _Interactive_data->Chassis_last_Power_Data.chassis_power_mx)
     {
         _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->Cap_Data.cap_vol != _Interactive_data->Cap_last_Data.cap_vol)
+//    {
+//        _Interactive_data->Referee_Interactive_Flag.cap_flag = 1;
+//        _Interactive_data->Cap_last_Data.cap_vol = _Interactive_data->Cap_Data.cap_vol;
+//    }
+
+    if (_Interactive_data->aim_fire != _Interactive_data->aim_last_fire)
+    {
+        _Interactive_data->Referee_Interactive_Flag.aim_flag = 1;
+        _Interactive_data->aim_last_fire = _Interactive_data->aim_fire;
+    }
+
+//    if (_Interactive_data->loader_mode != _Interactive_data->loader_last_mode)
+//    {
+//        _Interactive_data->Referee_Interactive_Flag.load_flag = 1;
+//        _Interactive_data->loader_last_mode = _Interactive_data->loader_mode;
+//    }
 }

modules/referee/referee_task.h

@@ -8,6 +8,7 @@
  * @brief 初始化裁判系统交互任务(UI和多机通信)
  *
  */
+extern Referee_Interactive_info_t ui_data; // UI数据，将底盘中的数据传入此结构体的对应变量中，UI会自动检测是否变化，对应显示UI
 referee_info_t *UITaskInit(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data);
 
 /**

modules/referee/rm_referee.h

@@ -7,6 +7,8 @@
 #include "bsp_usart.h"
 #include "FreeRTOS.h"
 
+
+
 extern uint8_t UI_Seq;
 
 #pragma pack(1)
@@ -54,6 +56,10 @@ typedef struct
 	uint32_t lid_flag : 1;
 	uint32_t friction_flag : 1;
 	uint32_t Power_flag : 1;
+	uint32_t aim_flag : 1;
+	uint32_t cap_flag : 1;
+	uint32_t load_flag : 1;
+	uint32_t heat_flag : 1;
 } Referee_Interactive_Flag_t;
 
 // 此结构体包含UI绘制与机器人车间通信的需要的其他非裁判系统数据
@@ -63,10 +69,14 @@ typedef struct
 	// 为UI绘制以及交互数据所用
 	chassis_mode_e chassis_mode;			 // 底盘模式
 	gimbal_mode_e gimbal_mode;				 // 云台模式
-	shoot_mode_e shoot_mode;				 // 发射模式设置
+	shoot_mode_e shoot_mode;				 // 发射开关设置
 	friction_mode_e friction_mode;			 // 摩擦轮关闭
 	lid_mode_e lid_mode;					 // 弹舱盖打开
 	Chassis_Power_Data_s Chassis_Power_Data; // 功率控制
+    uint8_t aim_fire;                        // 开火建议
+    loader_mode_e loader_mode;               // 发射模式
+    heat_mode_e heat_mode;                   // 热量控制
+    Cap_Data_s Cap_Data;                     // 电容信息
 
 	// 上一次的模式，用于flag判断
 	chassis_mode_e chassis_last_mode;
@@ -75,6 +85,10 @@ typedef struct
 	friction_mode_e friction_last_mode;
 	lid_mode_e lid_last_mode;
 	Chassis_Power_Data_s Chassis_last_Power_Data;
+    uint8_t aim_last_fire;
+    loader_mode_e loader_last_mode;
+    heat_mode_e heat_last_mode;
+    Cap_Data_s Cap_last_Data;
 
 } Referee_Interactive_info_t;
 

modules/referee/vision_transfer.c

@@ -0,0 +1,162 @@
+/**
+ * @file rm_referee.C
+ * @author kidneygood (you@domain.com)
+ * @brief
+ * @version 0.1
+ * @date 2022-11-18
+ *
+ * @copyright Copyright (c) 2022
+ *
+ */
+
+#include "vision_transfer.h"
+#include "string.h"
+#include "crc_ref.h"
+#include "bsp_usart.h"
+#include "task.h"
+#include "daemon.h"
+#include "bsp_log.h"
+#include "cmsis_os.h"
+#include "remote_control.h"
+
+#define RE_RX_BUFFER_SIZE 128u // 裁判系统接收缓冲区大小
+
+static USARTInstance *vt_usart_instance; // 裁判系统串口实例
+static DaemonInstance *vision_transfer_daemon;		  // 裁判系统守护进程
+static referee_info_vt_t referee_info_vt;			  // 裁判系统数据
+static VT_ctrl_t vt_ctrl[2];     //[0]:当前数据TEMP,[1]:上一次的数据LAST.用于按键持续按下和切换的判断
+/**
+ * @brief  读取裁判数据,中断中读取保证速度
+ * @param  buff: 读取到的裁判系统原始数据
+ * @retval 是否对正误判断做处理
+ * @attention  在此判断帧头和CRC校验,无误再写入数据，不重复判断帧头
+ */
+static void JudgeReadVTData(uint8_t *buff)
+{
+    uint16_t judge_length; // 统计一帧数据长度
+    if (buff == NULL)	   // 空数据包，则不作任何处理
+        return;
+
+    // 写入帧头数据(5-byte),用于判断是否开始存储裁判数据
+    memcpy(&referee_info_vt.FrameHeader, buff, LEN_HEADER);
+
+    // 判断帧头数据(0)是否为0xA5
+    if (buff[SOF] == REFEREE_SOF)
+    {
+        // 帧头CRC8校验
+        if (Verify_CRC8_Check_Sum(buff, LEN_HEADER) == TRUE)
+        {
+            // 统计一帧数据长度(byte),用于CR16校验
+            judge_length = buff[DATA_LENGTH] + LEN_HEADER + LEN_CMDID + LEN_TAIL;
+            // 帧尾CRC16校验
+            if (Verify_CRC16_Check_Sum(buff, judge_length) == TRUE)
+            {
+                // 2个8位拼成16位int
+                referee_info_vt.CmdID = (buff[6] << 8 | buff[5]);
+                // 解析数据命令码,将数据拷贝到相应结构体中(注意拷贝数据的长度)
+                // 第8个字节开始才是数据 data=7
+                switch (referee_info_vt.CmdID)
+                {
+                    case  ID_custom_robot: //0x0302
+                        memcpy(&referee_info_vt.ReceiveData, (buff + DATA_Offset), LEN__custom_robot);
+                        break;
+                    case  ID_remote_control: //0x0304
+                        memcpy(&referee_info_vt.VisionTransfer, (buff + DATA_Offset), LEN_remote_control);
+                        break;
+                }
+            }
+        }
+        // 首地址加帧长度,指向CRC16下一字节,用来判断是否为0xA5,从而判断一个数据包是否有多帧数据
+        if (*(buff + sizeof(xFrameHeader) + LEN_CMDID + referee_info_vt.FrameHeader.DataLength + LEN_TAIL) == 0xA5)
+        { // 如果一个数据包出现了多帧数据,则再次调用解析函数,直到所有数据包解析完毕
+            JudgeReadVTData(buff + sizeof(xFrameHeader) + LEN_CMDID + referee_info_vt.FrameHeader.DataLength + LEN_TAIL);
+        }
+    }
+}
+static void vt_to_rc(void)
+{
+    // 鼠标解析
+    vt_ctrl[TEMP].mouse.x = referee_info_vt.VisionTransfer.mouse_x; //!< Mouse X axis
+    vt_ctrl[TEMP].mouse.y = referee_info_vt.VisionTransfer.mouse_y; //!< Mouse Y axis
+    vt_ctrl[TEMP].mouse.press_l = referee_info_vt.VisionTransfer.left_button_down;                 //!< Mouse Left Is Press ?
+    vt_ctrl[TEMP].mouse.press_r = referee_info_vt.VisionTransfer.right_button_down;                //!< Mouse Right Is Press ?
+
+//  位域的按键值解算,直接memcpy即可,注意小端低字节在前,即lsb在第一位,msb在最后
+    *(uint16_t *)&vt_ctrl[TEMP].key[KEY_PRESS] = referee_info_vt.VisionTransfer.keyboard_value;
+
+    if (vt_ctrl[TEMP].key[KEY_PRESS].ctrl) // ctrl键按下
+        vt_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL] = vt_ctrl[TEMP].key[KEY_PRESS];
+    else
+        memset(&vt_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL], 0, sizeof(Key_t));
+    if (vt_ctrl[TEMP].key[KEY_PRESS].shift) // shift键按下
+        vt_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT] = vt_ctrl[TEMP].key[KEY_PRESS];
+    else
+        memset(&vt_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT], 0, sizeof(Key_t));
+
+    uint16_t key_now = vt_ctrl[TEMP].key[KEY_PRESS].keys,                   // 当前按键是否按下
+    key_last = vt_ctrl[LAST].key[KEY_PRESS].keys,                       // 上一次按键是否按下
+    key_with_ctrl = vt_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL].keys,        // 当前ctrl组合键是否按下
+    key_with_shift = vt_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT].keys,      //  当前shift组合键是否按下
+    key_last_with_ctrl = vt_ctrl[LAST].key[KEY_PRESS_WITH_CTRL].keys,   // 上一次ctrl组合键是否按下
+    key_last_with_shift = vt_ctrl[LAST].key[KEY_PRESS_WITH_SHIFT].keys; // 上一次shift组合键是否按下
+
+    for (uint16_t i = 0, j = 0x1; i < 16; j <<= 1, i++)
+    {
+        if (i == 4 || i == 5) // 4,5位为ctrl和shift,直接跳过
+            continue;
+// 如果当前按键按下,上一次按键没有按下,且ctrl和shift组合键没有按下,则按键按下计数加1(检测到上升沿)
+        if ((key_now & j) && !(key_last & j) && !(key_with_ctrl & j) && !(key_with_shift & j))
+            vt_ctrl[TEMP].key_count[KEY_PRESS][i]++;
+// 当前ctrl组合键按下,上一次ctrl组合键没有按下,则ctrl组合键按下计数加1(检测到上升沿)
+        if ((key_with_ctrl & j) && !(key_last_with_ctrl & j))
+            vt_ctrl[TEMP].key_count[KEY_PRESS_WITH_CTRL][i]++;
+// 当前shift组合键按下,上一次shift组合键没有按下,则shift组合键按下计数加1(检测到上升沿)
+        if ((key_with_shift & j) && !(key_last_with_shift & j))
+            vt_ctrl[TEMP].key_count[KEY_PRESS_WITH_SHIFT][i]++;
+    }
+
+    memcpy(&vt_ctrl[LAST], &vt_ctrl[TEMP], sizeof(VT_ctrl_t)); // 保存上一次的数据,用于按键持续按下和切换的判断
+}
+
+/*裁判系统串口接收回调函数,解析数据 */
+static void VTRefereeRxCallback()
+{
+    DaemonReload(vision_transfer_daemon);
+    JudgeReadVTData(vt_usart_instance->recv_buff);
+    vt_to_rc();
+}
+// 裁判系统丢失回调函数,重新初始化裁判系统串口
+static void VTRefereeLostCallback(void *arg)
+{
+    USARTServiceInit(vt_usart_instance);
+    LOGWARNING("[rm_ref] lost referee vision data ");
+}
+
+/* 裁判系统通信初始化 */
+VT_ctrl_t *VTRefereeInit(UART_HandleTypeDef *vt_usart_handle)
+{
+    USART_Init_Config_s conf;
+    conf.module_callback = VTRefereeRxCallback;
+    conf.usart_handle = vt_usart_handle;
+    conf.recv_buff_size = RE_RX_BUFFER_SIZE; // mx 255(u8)
+    vt_usart_instance = USARTRegister(&conf);
+
+    Daemon_Init_Config_s daemon_conf = {
+            .callback = VTRefereeLostCallback,
+            .owner_id = vt_usart_instance,
+            .reload_count = 30, // 0.3s没有收到数据,则认为丢失,重启串口接收
+    };
+    vision_transfer_daemon = DaemonRegister(&daemon_conf);
+
+    return &vt_ctrl;
+}
+
+/**
+ * @brief 裁判系统数据发送函数
+ * @param
+ */
+void VTRefereeSend(uint8_t *send, uint16_t tx_len)
+{
+    USARTSend(vt_usart_instance, send, tx_len, USART_TRANSFER_DMA);
+    osDelay(115);
+}

modules/referee/vision_transfer.h

@@ -0,0 +1,46 @@
+#ifndef VISION_TRANSFER_H
+#define VISION_TRANSFER_H
+
+#include "usart.h"
+#include "referee_protocol.h"
+#include "robot_def.h"
+#include "bsp_usart.h"
+#include "FreeRTOS.h"
+#include "remote_control.h"
+
+#pragma pack(1)
+
+// 此结构体包含裁判系统接收数据以及UI绘制与机器人车间通信的相关信息
+typedef struct
+{
+
+    xFrameHeader FrameHeader; // 接收到的帧头信息
+    uint16_t CmdID;
+
+    vision_transfer_t  VisionTransfer;
+    Communicate_ReceiveData_t ReceiveData;
+
+    uint8_t init_flag;
+
+} referee_info_vt_t;
+
+#pragma pack()
+
+/**
+ * @brief 裁判系统通信初始化,该函数会初始化裁判系统串口,开启中断
+ *
+ * @param vt_usart_handle 串口handle,C板一般用串口6
+ * @return referee_info_t* 返回裁判系统反馈的数据,包括热量/血量/状态等
+ */
+VT_ctrl_t *VTRefereeInit(UART_HandleTypeDef *referee_usart_handle);
+
+/**
+ * @brief UI绘制和交互数的发送接口,由UI绘制任务和多机通信函数调用
+ * @note 内部包含了一个实时系统的延时函数,这是因为裁判系统接收CMD数据至高位10Hz
+ *
+ * @param send 发送数据首地址
+ * @param tx_len 发送长度
+ */
+void VTRefereeSend(uint8_t *send, uint16_t tx_len);
+
+#endif // !REFEREE_H

modules/remote/remote_control.c

@@ -16,6 +16,10 @@ static uint8_t rc_init_flag = 0; // 遥控器初始化标志位
 static USARTInstance *rc_usart_instance;
 static DaemonInstance *rc_daemon_instance;
 
+// 图传拥有的串口实例
+static USARTInstance *vt_usart_instance;
+static DaemonInstance *vt_daemon_instance;
+
 /**
  * @brief 矫正遥控器摇杆的值,超过660或者小于-660的值都认为是无效值,置0
  *
@@ -97,6 +101,12 @@ static void RemoteControlRxCallback()
     sbus_to_rc(rc_usart_instance->recv_buff); // 进行协议解析
 }
 
+//static void RemoteControlvtCallback()
+//{
+//    DaemonReload(vt_daemon_instance);         // 先喂狗
+//    sbus_to_rc(vt_usart_instance->recv_buff); // 进行协议解析
+//}
+
 /**
  * @brief 遥控器离线的回调函数,注册到守护进程中,串口掉线时调用
  *

modules/remote/remote_control.h

@@ -113,6 +113,20 @@ typedef struct
     uint8_t key_count[3][16];
 } RC_ctrl_t;
 
+typedef struct
+{
+    struct
+    {
+        int16_t x;
+        int16_t y;
+        uint8_t press_l;
+        uint8_t press_r;
+    } mouse;
+
+    Key_t key[3];
+    uint8_t key_count[3][16];
+}VT_ctrl_t; //图传链路下发的遥控数据
+
 /* ------------------------- Internal Data ----------------------------------- */
 
 /**
@@ -123,6 +137,8 @@ typedef struct
  */
 RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle);
 
+//VT_ctrl_t *RemoteControlInit(UART_HandleTypeDef *vt_usart_handle);
+
 /**
  * @brief 检查遥控器是否在线,若尚未初始化也视为离线
  *

modules/robotics/matrix.cpp

@@ -0,0 +1,24 @@
+/**
+ ******************************************************************************
+ * @file    matrix.cpp/h
+ * @brief   Matrix/vector calculation. 矩阵/向量运算
+ * @author  Spoon Guan
+ ******************************************************************************
+ * Copyright (c) 2023 Team JiaoLong-SJTU
+ * All rights reserved.
+ ******************************************************************************
+ */
+
+#include "matrix.h"
+
+// hat of vector
+Matrixf<3, 3> vector3f::hat(Matrixf<3, 1> vec) {
+  float hat[9] = {0,          -vec[2][0], vec[1][0], vec[2][0], 0,
+                  -vec[0][0], -vec[1][0], vec[0][0], 0};
+  return Matrixf<3, 3>(hat);
+}
+
+// cross product
+Matrixf<3, 1> vector3f::cross(Matrixf<3, 1> vec1, Matrixf<3, 1> vec2) {
+  return vector3f::hat(vec1) * vec2;
+}

modules/robotics/matrix.h

@@ -0,0 +1,259 @@
+/**
+ ******************************************************************************
+ * @file    matrix.cpp/h
+ * @brief   Matrix/vector calculation. 矩阵/向量运算
+ * @author  Spoon Guan
+ ******************************************************************************
+ * Copyright (c) 2023 Team JiaoLong-SJTU
+ * All rights reserved.
+ ******************************************************************************
+ */
+
+#ifndef MATRIX_H
+#define MATRIX_H
+
+//#include "arm_math.h"
+#include "user_lib.h"
+// Matrix class
+template <int _rows, int _cols>
+class Matrixf {
+ public:
+  // Constructor without input data
+  Matrixf(void) : rows_(_rows), cols_(_cols) {
+    arm_mat_init_f32(&arm_mat_, _rows, _cols, this->data_);
+  }
+  // Constructor with input data
+  Matrixf(float data[_rows * _cols]) : Matrixf() {
+    memcpy(this->data_, data, _rows * _cols * sizeof(float));
+  }
+  // Copy constructor
+  Matrixf(const Matrixf<_rows, _cols>& mat) : Matrixf() {
+    memcpy(this->data_, mat.data_, _rows * _cols * sizeof(float));
+  }
+  // Destructor
+  ~Matrixf(void) {}
+
+  // Row size
+  int rows(void) { return _rows; }
+  // Column size
+  int cols(void) { return _cols; }
+
+  // Element
+  float* operator[](const int& row) { return &this->data_[row * _cols]; }
+
+  // Operators
+  Matrixf<_rows, _cols>& operator=(const Matrixf<_rows, _cols> mat) {
+    memcpy(this->data_, mat.data_, _rows * _cols * sizeof(float));
+    return *this;
+  }
+  Matrixf<_rows, _cols>& operator+=(const Matrixf<_rows, _cols> mat) {
+    arm_status s;
+    s = arm_mat_add_f32(&this->arm_mat_, &mat.arm_mat_, &this->arm_mat_);
+    return *this;
+  }
+  Matrixf<_rows, _cols>& operator-=(const Matrixf<_rows, _cols> mat) {
+    arm_status s;
+    s = arm_mat_sub_f32(&this->arm_mat_, &mat.arm_mat_, &this->arm_mat_);
+    return *this;
+  }
+  Matrixf<_rows, _cols>& operator*=(const float& val) {
+    arm_status s;
+    s = arm_mat_scale_f32(&this->arm_mat_, val, &this->arm_mat_);
+    return *this;
+  }
+  Matrixf<_rows, _cols>& operator/=(const float& val) {
+    arm_status s;
+    s = arm_mat_scale_f32(&this->arm_mat_, 1.f / val, &this->arm_mat_);
+    return *this;
+  }
+  Matrixf<_rows, _cols> operator+(const Matrixf<_rows, _cols>& mat) {
+    arm_status s;
+    Matrixf<_rows, _cols> res;
+    s = arm_mat_add_f32(&this->arm_mat_, &mat.arm_mat_, &res.arm_mat_);
+    return res;
+  }
+  Matrixf<_rows, _cols> operator-(const Matrixf<_rows, _cols>& mat) {
+    arm_status s;
+    Matrixf<_rows, _cols> res;
+    s = arm_mat_sub_f32(&this->arm_mat_, &mat.arm_mat_, &res.arm_mat_);
+    return res;
+  }
+  Matrixf<_rows, _cols> operator*(const float& val) {
+    arm_status s;
+    Matrixf<_rows, _cols> res;
+    s = arm_mat_scale_f32(&this->arm_mat_, val, &res.arm_mat_);
+    return res;
+  }
+  friend Matrixf<_rows, _cols> operator*(const float& val,
+                                         const Matrixf<_rows, _cols>& mat) {
+    arm_status s;
+    Matrixf<_rows, _cols> res;
+    s = arm_mat_scale_f32(&mat.arm_mat_, val, &res.arm_mat_);
+    return res;
+  }
+  Matrixf<_rows, _cols> operator/(const float& val) {
+    arm_status s;
+    Matrixf<_rows, _cols> res;
+    s = arm_mat_scale_f32(&this->arm_mat_, 1.f / val, &res.arm_mat_);
+    return res;
+  }
+  // Matrix multiplication
+  template <int cols>
+  friend Matrixf<_rows, cols> operator*(const Matrixf<_rows, _cols>& mat1,
+                                        const Matrixf<_cols, cols>& mat2) {
+    arm_status s;
+    Matrixf<_rows, cols> res;
+    s = arm_mat_mult_f32(&mat1.arm_mat_, &mat2.arm_mat_, &res.arm_mat_);
+    return res;
+  }
+
+  // Submatrix
+  template <int rows, int cols>
+  Matrixf<rows, cols> block(const int& start_row, const int& start_col) {
+    Matrixf<rows, cols> res;
+    for (int row = start_row; row < start_row + rows; row++) {
+      memcpy((float*)res[0] + (row - start_row) * cols,
+             (float*)this->data_ + row * _cols + start_col,
+             cols * sizeof(float));
+    }
+    return res;
+  }
+  // Specific row
+  Matrixf<1, _cols> row(const int& row) { return block<1, _cols>(row, 0); }
+  // Specific column
+  Matrixf<_rows, 1> col(const int& col) { return block<_rows, 1>(0, col); }
+
+  // Transpose
+  Matrixf<_cols, _rows> trans(void) {
+    Matrixf<_cols, _rows> res;
+    arm_mat_trans_f32(&arm_mat_, &res.arm_mat_);
+    return res;
+  }
+  // Trace
+  float trace(void) {
+    float res = 0;
+    for (int i = 0; i < fmin(_rows, _cols); i++) {
+      res += (*this)[i][i];
+    }
+    return res;
+  }
+  // Norm
+  float norm(void) { return sqrtf((this->trans() * *this)[0][0]); }
+
+ public:
+  // arm matrix instance
+  arm_matrix_instance_f32 arm_mat_;
+
+ protected:
+  // size
+  int rows_, cols_;
+  // data
+  float data_[_rows * _cols];
+};
+
+// Matrix funtions
+namespace matrixf {
+
+// Special Matrices
+// Zero matrix
+template <int _rows, int _cols>
+Matrixf<_rows, _cols> zeros(void) {
+  float data[_rows * _cols] = {0};
+  return Matrixf<_rows, _cols>(data);
+}
+// Ones matrix
+template <int _rows, int _cols>
+Matrixf<_rows, _cols> ones(void) {
+  float data[_rows * _cols] = {0};
+  for (int i = 0; i < _rows * _cols; i++) {
+    data[i] = 1;
+  }
+  return Matrixf<_rows, _cols>(data);
+}
+// Identity matrix
+template <int _rows, int _cols>
+Matrixf<_rows, _cols> eye(void) {
+  float data[_rows * _cols] = {0};
+  for (int i = 0; i < fmin(_rows, _cols); i++) {
+    data[i * _cols + i] = 1;
+  }
+  return Matrixf<_rows, _cols>(data);
+}
+// Diagonal matrix
+template <int _rows, int _cols>
+Matrixf<_rows, _cols> diag(Matrixf<_rows, 1> vec) {
+  Matrixf<_rows, _cols> res = matrixf::zeros<_rows, _cols>();
+  for (int i = 0; i < fmin(_rows, _cols); i++) {
+    res[i][i] = vec[i][0];
+  }
+  return res;
+}
+
+// Inverse
+template <int _dim>
+Matrixf<_dim, _dim> inv(Matrixf<_dim, _dim> mat) {
+  arm_status s;
+  // extended matrix [A|I]
+  Matrixf<_dim, 2 * _dim> ext_mat = matrixf::zeros<_dim, 2 * _dim>();
+  for (int i = 0; i < _dim; i++) {
+    memcpy(ext_mat[i], mat[i], _dim * sizeof(float));
+    ext_mat[i][_dim + i] = 1;
+  }
+  // elimination
+  for (int i = 0; i < _dim; i++) {
+    // find maximum absolute value in the first column in lower right block
+    float abs_max = fabs(ext_mat[i][i]);
+    int abs_max_row = i;
+    for (int row = i; row < _dim; row++) {
+      if (abs_max < fabs(ext_mat[row][i])) {
+        abs_max = fabs(ext_mat[row][i]);
+        abs_max_row = row;
+      }
+    }
+    if (abs_max < 1e-12f) {  // singular
+      return matrixf::zeros<_dim, _dim>();
+      s = ARM_MATH_SINGULAR;
+    }
+    if (abs_max_row != i) {  // row exchange
+      float tmp;
+      Matrixf<1, 2 * _dim> row_i = ext_mat.row(i);
+      Matrixf<1, 2 * _dim> row_abs_max = ext_mat.row(abs_max_row);
+      memcpy(ext_mat[i], row_abs_max[0], 2 * _dim * sizeof(float));
+      memcpy(ext_mat[abs_max_row], row_i[0], 2 * _dim * sizeof(float));
+    }
+    float k = 1.f / ext_mat[i][i];
+    for (int col = i; col < 2 * _dim; col++) {
+      ext_mat[i][col] *= k;
+    }
+    for (int row = 0; row < _dim; row++) {
+      if (row == i) {
+        continue;
+      }
+      k = ext_mat[row][i];
+      for (int j = i; j < 2 * _dim; j++) {
+        ext_mat[row][j] -= k * ext_mat[i][j];
+      }
+    }
+  }
+  // inv = ext_mat(:,n+1:2n)
+  s = ARM_MATH_SUCCESS;
+  Matrixf<_dim, _dim> res;
+  for (int i = 0; i < _dim; i++) {
+    memcpy(res[i], &ext_mat[i][_dim], _dim * sizeof(float));
+  }
+  return res;
+}
+
+}  // namespace matrixf
+
+namespace vector3f {
+
+// hat of vector
+Matrixf<3, 3> hat(Matrixf<3, 1> vec);
+
+// cross product
+Matrixf<3, 1> cross(Matrixf<3, 1> vec1, Matrixf<3, 1> vec2);
+
+}  // namespace vector3f
+
+#endif  // MATRIX_H

modules/robotics/robotics.cpp

@@ -0,0 +1,340 @@
+/**
+ ******************************************************************************
+ * @file    robotics.cpp/h
+ * @brief   Robotic toolbox on STM32. STM32机器人学库
+ * @author  Spoon Guan
+ * @ref     [1] SJTU ME385-2, Robotics, Y.Ding
+ *          [2] Bruno Siciliano, et al., Robotics: Modelling, Planning and
+ *              Control, Springer, 2010.
+ *          [3] R.Murry, Z.X.Li, and S.Sastry, A Mathematical Introduction
+ *              to Robotic Manipulation, CRC Press, 1994.
+ ******************************************************************************
+ * Copyright (c) 2023 Team JiaoLong-SJTU
+ * All rights reserved.
+ ******************************************************************************
+ */
+
+#include "robotics.h"
+
+Matrixf<3, 1> robotics::r2rpy(Matrixf<3, 3> R) {
+  float rpy[3] = {
+      atan2f(R[1][0], R[0][0]),                                        // yaw
+      atan2f(-R[2][0], sqrtf(R[2][1] * R[2][1] + R[2][2] * R[2][2])),  // pitch
+      atan2f(R[2][1], R[2][2])                                         // roll
+  };
+  return Matrixf<3, 1>(rpy);
+}
+
+Matrixf<3, 3> robotics::rpy2r(Matrixf<3, 1> rpy) {
+  float c[3] = {cosf(rpy[0][0]), cosf(rpy[1][0]), cosf(rpy[2][0])};
+  float s[3] = {sinf(rpy[0][0]), sinf(rpy[1][0]), sinf(rpy[2][0])};
+  float R[9] = {
+      c[0] * c[1],                       // R11
+      c[0] * s[1] * s[2] - s[0] * c[2],  // R12
+      c[0] * s[1] * c[2] + s[0] * s[2],  // R13
+      s[0] * c[1],                       // R21
+      s[0] * s[1] * s[2] + c[0] * c[2],  // R22
+      s[0] * s[1] * c[2] - c[0] * s[2],  // R23
+      -s[1],                             // R31
+      c[1] * s[2],                       // R32
+      c[1] * c[2]                        // R33
+  };
+  return Matrixf<3, 3>(R);
+}
+
+Matrixf<4, 1> robotics::r2angvec(Matrixf<3, 3> R) {
+  float theta = acosf(math::limit(0.5f * (R.trace() - 1), -1, 1));
+  if (theta == 0 || theta == PI) {
+    float angvec[4] = {
+        (1 + R[0][0] - R[1][1] - R[2][2]) / 4.0f,  // rx=(1+R11-R22-R33)/4
+        (1 - R[0][0] + R[1][1] - R[2][2]) / 4.0f,  // ry=(1-R11+R22-R33)/4
+        (1 - R[0][0] - R[1][1] + R[2][2]) / 4.0f,  // rz=(1-R11-R22+R33)/4
+        theta                                      // theta
+    };
+    return Matrixf<4, 1>(angvec);
+  }
+  float angvec[4] = {
+      (R[2][1] - R[1][2]) / (2.0f * sinf(theta)),  // rx=(R32-R23)/2sinθ
+      (R[0][2] - R[2][0]) / (2.0f * sinf(theta)),  // ry=(R13-R31)/2sinθ
+      (R[1][0] - R[0][1]) / (2.0f * sinf(theta)),  // rz=(R21-R12)/2sinθ
+      theta                                        // theta
+  };
+  return Matrixf<4, 1>(angvec);
+}
+
+Matrixf<3, 3> robotics::angvec2r(Matrixf<4, 1> angvec) {
+  float theta = angvec[3][0];
+  Matrixf<3, 1> r = angvec.block<3, 1>(0, 0);
+  Matrixf<3, 3> R;
+  // Rodrigues formula: R=I+ω^sinθ+ω^^2(1-cosθ)
+  R = matrixf::eye<3, 3>() + vector3f::hat(r) * sinf(theta) +
+      vector3f::hat(r) * vector3f::hat(r) * (1 - cosf(theta));
+  return R;
+}
+
+Matrixf<4, 1> robotics::r2quat(Matrixf<3, 3> R) {
+  float q[4] = {
+      0.5f * sqrtf(math::limit(R.trace(), -1, 1) + 1),  // q0=cos(θ/2)
+      math::sign(R[2][1] - R[1][2]) * 0.5f *
+          sqrtf(math::limit(R[0][0] - R[1][1] - R[2][2], -1, 1) +
+                1),  // q1=rx*sin(θ/2)
+      math::sign(R[0][2] - R[2][0]) * 0.5f *
+          sqrtf(math::limit(-R[0][0] + R[1][1] - R[2][2], -1, 1) +
+                1),  // q2=ry*sin(θ/2)
+      math::sign(R[1][0] - R[0][1]) * 0.5f *
+          sqrtf(math::limit(-R[0][0] - R[1][1] + R[2][2], -1, 1) +
+                1),  // q3=rz*sin(θ/2)
+  };
+  return (Matrixf<4, 1>(q) / Matrixf<4, 1>(q).norm());
+}
+
+Matrixf<3, 3> robotics::quat2r(Matrixf<4, 1> q) {
+  float R[9] = {
+      1 - 2.0f * (q[2][0] * q[2][0] + q[3][0] * q[3][0]),  // R11
+      2.0f * (q[1][0] * q[2][0] - q[0][0] * q[3][0]),      // R12
+      2.0f * (q[1][0] * q[3][0] + q[0][0] * q[2][0]),      // R13
+      2.0f * (q[1][0] * q[2][0] + q[0][0] * q[3][0]),      // R21
+      1 - 2.0f * (q[1][0] * q[1][0] + q[3][0] * q[3][0]),  // R22
+      2.0f * (q[2][0] * q[3][0] - q[0][0] * q[1][0]),      // R23
+      2.0f * (q[1][0] * q[3][0] - q[0][0] * q[2][0]),      // R31
+      2.0f * (q[2][0] * q[3][0] + q[0][0] * q[1][0]),      // R32
+      1 - 2.0f * (q[1][0] * q[1][0] + q[2][0] * q[2][0])   // R33
+  };
+  return Matrixf<3, 3>(R);
+}
+
+Matrixf<3, 1> robotics::quat2rpy(Matrixf<4, 1> q) {
+  float rpy[3] = {
+      atan2f(2.0f * (q[1][0] * q[2][0] + q[0][0] * q[3][0]),
+             1 - 2.0f * (q[2][0] * q[2][0] + q[3][0] * q[3][0])),  // yaw
+      asinf(2.0f * (q[0][0] * q[2][0] - q[1][0] * q[3][0])),       // pitch
+      atan2f(2.0f * (q[2][0] * q[3][0] + q[0][0] * q[1][0]),
+             1 - 2.0f * (q[1][0] * q[1][0] + q[2][0] * q[2][0]))  // rol
+  };
+  return Matrixf<3, 1>(rpy);
+}
+
+Matrixf<4, 1> robotics::rpy2quat(Matrixf<3, 1> rpy) {
+  float c[3] = {cosf(0.5f * rpy[0][0]), cosf(0.5f * rpy[1][0]),
+                cosf(0.5f * rpy[2][0])};  // cos(*/2)
+  float s[3] = {sinf(0.5f * rpy[0][0]), sinf(0.5f * rpy[1][0]),
+                sinf(0.5f * rpy[2][0])};  // sin(*/2)
+  float q[4] = {
+      c[0] * c[1] * c[2] + s[0] * s[1] * s[2],  // q0=cos(θ/2)
+      c[0] * c[1] * s[2] - s[0] * s[1] * c[2],  // q1=rx*sin(θ/2)
+      c[0] * s[1] * c[2] + s[0] * c[1] * s[2],  // q2=ry*sin(θ/2)
+      s[0] * c[1] * c[2] - c[0] * s[1] * s[2]   // q3=rz*sin(θ/2)
+  };
+  return (Matrixf<4, 1>(q) / Matrixf<4, 1>(q).norm());
+}
+
+Matrixf<4, 1> robotics::quat2angvec(Matrixf<4, 1> q) {
+  float cosq0;
+  float theta = 2.0f * acosf(math::limit(q[0][0], -1, 1));
+  if (theta == 0 || theta == PI) {
+    float angvec[4] = {0, 0, 0, theta};  // θ=0||PI, return[0;θ]
+    return Matrixf<4, 1>(angvec);
+  }
+  Matrixf<3, 1> vec = q.block<3, 1>(1, 0);
+  float angvec[4] = {
+      vec[0][0] / vec.norm(),  // rx
+      vec[1][0] / vec.norm(),  // ry
+      vec[2][0] / vec.norm(),  // rz
+      theta                    // theta
+  };
+  return Matrixf<4, 1>(angvec);
+}
+
+Matrixf<4, 1> robotics::angvec2quat(Matrixf<4, 1> angvec) {
+  float c = cosf(0.5f * angvec[3][0]), s = sinf(0.5f * angvec[3][0]);
+  float q[4] = {
+      c,                 // q0=cos(θ/2)
+      s * angvec[0][0],  // q1=rx*sin(θ/2)
+      s * angvec[1][0],  // q2=ry*sin(θ/2)
+      s * angvec[2][0]   // q3=rz*sin(θ/2)
+  };
+  return Matrixf<4, 1>(q) / Matrixf<4, 1>(q).norm();
+}
+
+Matrixf<3, 3> robotics::t2r(Matrixf<4, 4> T) {
+  return T.block<3, 3>(0, 0);  // R=T(1:3,1:3)
+}
+
+Matrixf<4, 4> robotics::r2t(Matrixf<3, 3> R) {
+  // T=[R,0;0,1]
+  float T[16] = {R[0][0], R[0][1], R[0][2], 0, R[1][0], R[1][1], R[1][2], 0,
+                 R[2][0], R[2][1], R[2][2], 0, 0,       0,       0,       1};
+  return Matrixf<4, 4>(T);
+}
+
+Matrixf<3, 1> robotics::t2p(Matrixf<4, 4> T) {
+  return T.block<3, 1>(0, 3);  // p=T(1:3,4)
+}
+
+Matrixf<4, 4> robotics::p2t(Matrixf<3, 1> p) {
+  // T=[I,P;0,1]
+  float T[16] = {1, 0, 0, p[0][0], 0, 1, 0, p[1][0],
+                 0, 0, 1, p[2][0], 0, 0, 0, 1};
+  return Matrixf<4, 4>(T);
+}
+
+Matrixf<4, 4> robotics::rp2t(Matrixf<3, 3> R, Matrixf<3, 1> p) {
+  // T=[R,P;0,1]
+  float T[16] = {R[0][0], R[0][1], R[0][2], p[0][0], R[1][0], R[1][1],
+                 R[1][2], p[1][0], R[2][0], R[2][1], R[2][2], p[2][0],
+                 0,       0,       0,       1};
+  return Matrixf<4, 4>(T);
+}
+
+Matrixf<4, 4> robotics::invT(Matrixf<4, 4> T) {
+  Matrixf<3, 3> RT = t2r(T).trans();
+  Matrixf<3, 1> p_ = -1.0f * RT * t2p(T);
+  float invT[16] = {RT[0][0], RT[0][1], RT[0][2], p_[0][0], RT[1][0], RT[1][1],
+                    RT[1][2], p_[1][0], RT[2][0], RT[2][1], RT[2][2], p_[2][0],
+                    0,        0,        0,        1};
+  return Matrixf<4, 4>(invT);
+}
+
+Matrixf<3, 1> robotics::t2rpy(Matrixf<4, 4> T) {
+  return r2rpy(t2r(T));
+}
+
+Matrixf<4, 4> robotics::rpy2t(Matrixf<3, 1> rpy) {
+  return r2t(rpy2r(rpy));
+}
+
+Matrixf<4, 1> robotics::t2angvec(Matrixf<4, 4> T) {
+  return r2angvec(t2r(T));
+}
+
+Matrixf<4, 4> robotics::angvec2t(Matrixf<4, 1> angvec) {
+  return r2t(angvec2r(angvec));
+}
+
+Matrixf<4, 1> robotics::t2quat(Matrixf<4, 4> T) {
+  return r2quat(t2r(T));
+}
+
+Matrixf<4, 4> robotics::quat2t(Matrixf<4, 1> quat) {
+  return r2t(quat2r(quat));
+}
+
+Matrixf<6, 1> robotics::t2twist(Matrixf<4, 4> T) {
+  Matrixf<3, 1> p = t2p(T);
+  Matrixf<4, 1> angvec = t2angvec(T);
+  Matrixf<3, 1> phi = angvec.block<3, 1>(0, 0) * angvec[3][0];
+  float twist[6] = {p[0][0], p[1][0], p[2][0], phi[0][0], phi[1][0], phi[2][0]};
+  return Matrixf<6, 1>(twist);
+}
+
+Matrixf<4, 4> robotics::twist2t(Matrixf<6, 1> twist) {
+  Matrixf<3, 1> p = twist.block<3, 1>(0, 0);
+  float theta = twist.block<3, 1>(3, 0).norm();
+  float angvec[4] = {0, 0, 0, theta};
+  if (theta != 0) {
+    angvec[0] = twist[3][0] / theta;
+    angvec[1] = twist[4][0] / theta;
+    angvec[2] = twist[5][0] / theta;
+  }
+  return rp2t(angvec2r(angvec), p);
+}
+
+Matrixf<4, 4> robotics::DH_t::fkine() {
+  float ct = cosf(theta), st = sinf(theta);  // cosθ, sinθ
+  float ca = cosf(alpha), sa = sinf(alpha);  // cosα, sinα
+
+  // T =
+  // | cθ  -sθcα   sθsα   acθ |
+  // | sθ   cθcα  -cθsα   asθ |
+  // |  0     sα     cα     d |
+  // |  0      0      0     1 |
+  T[0][0] = ct;
+  T[0][1] = -st * ca;
+  T[0][2] = st * sa;
+  T[0][3] = a * ct;
+
+  T[1][0] = st;
+  T[1][1] = ct * ca;
+  T[1][2] = -ct * sa;
+  T[1][3] = a * st;
+
+  T[2][0] = 0;
+  T[2][1] = sa;
+  T[2][2] = ca;
+  T[2][3] = d;
+
+  T[3][0] = 0;
+  T[3][1] = 0;
+  T[3][2] = 0;
+  T[3][3] = 1;
+
+  return T;
+}
+
+robotics::Link::Link(float theta,
+                     float d,
+                     float a,
+                     float alpha,
+                     robotics::Joint_Type_e type,
+                     float offset,
+                     float qmin,
+                     float qmax,
+                     float m,
+                     Matrixf<3, 1> rc,
+                     Matrixf<3, 3> I) {
+  dh_.theta = theta;
+  dh_.d = d;
+  dh_.alpha = alpha;
+  dh_.a = a;
+  type_ = type;
+  offset_ = offset;
+  qmin_ = qmin;
+  qmax_ = qmax;
+  m_ = m;
+  rc_ = rc;
+  I_ = I;
+}
+
+robotics::Link::Link(const Link& link) {
+  dh_.theta = link.dh_.theta;
+  dh_.d = link.dh_.d;
+  dh_.alpha = link.dh_.alpha;
+  dh_.a = link.dh_.a;
+  type_ = link.type_;
+  offset_ = link.offset_;
+  qmin_ = link.qmin_;
+  qmax_ = link.qmax_;
+  m_ = link.m_;
+  rc_ = link.rc_;
+  I_ = link.I_;
+}
+
+robotics::Link& robotics::Link::operator=(Link link) {
+  dh_.theta = link.dh_.theta;
+  dh_.d = link.dh_.d;
+  dh_.alpha = link.dh_.alpha;
+  dh_.a = link.dh_.a;
+  type_ = link.type_;
+  offset_ = link.offset_;
+  qmin_ = link.qmin_;
+  qmax_ = link.qmax_;
+  m_ = link.m_;
+  rc_ = link.rc_;
+  I_ = link.I_;
+  return *this;
+}
+
+Matrixf<4, 4> robotics::Link::T(float q) {
+  if (type_ == R) {
+    if (qmin_ >= qmax_)
+      dh_.theta = q + offset_;
+    else
+      dh_.theta = math::limit(q + offset_, qmin_, qmax_);
+  } else {
+    if (qmin_ >= qmax_)
+      dh_.d = q + offset_;
+    else
+      dh_.d = math::limit(q + offset_, qmin_, qmax_);
+  }
+  return dh_.fkine();
+}

modules/robotics/robotics.h

@@ -0,0 +1,407 @@
+/**
+ ******************************************************************************
+ * @file    robotics.cpp/h
+ * @brief   Robotic toolbox on STM32. STM32机器人学库
+ * @author  Spoon Guan
+ * @ref     [1] SJTU ME385-2, Robotics, Y.Ding
+ *          [2] Bruno Siciliano, et al., Robotics: Modelling, Planning and
+ *              Control, Springer, 2010.
+ *          [3] R.Murry, Z.X.Li, and S.Sastry, A Mathematical Introduction
+ *              to Robotic Manipulation, CRC Press, 1994.
+ ******************************************************************************
+ * Copyright (c) 2023 Team JiaoLong-SJTU
+ * All rights reserved.
+ ******************************************************************************
+ */
+
+#ifndef ROBOTICS_H
+#define ROBOTICS_H
+
+#include "utils.h"
+#include "matrix.h"
+
+namespace robotics {
+// rotation matrix(R) -> RPY([yaw;pitch;roll])
+Matrixf<3, 1> r2rpy(Matrixf<3, 3> R);
+// RPY([yaw;pitch;roll]) -> rotation matrix(R)
+Matrixf<3, 3> rpy2r(Matrixf<3, 1> rpy);
+// rotation matrix(R) -> angle vector([r;θ])
+Matrixf<4, 1> r2angvec(Matrixf<3, 3> R);
+// angle vector([r;θ]) -> rotation matrix(R)
+Matrixf<3, 3> angvec2r(Matrixf<4, 1> angvec);
+// rotation matrix(R) -> quaternion, [q0;q1;q2;q3]=[cos(θ/2);rsin(θ/2)]
+Matrixf<4, 1> r2quat(Matrixf<3, 3> R);
+// quaternion, [q0;q1;q2;q3]=[cos(θ/2);rsin(θ/2)] -> rotation matrix(R)
+Matrixf<3, 3> quat2r(Matrixf<4, 1> quat);
+// quaternion, [q0;q1;q2;q3]=[cos(θ/2);rsin(θ/2)] -> RPY([yaw;pitch;roll])
+Matrixf<3, 1> quat2rpy(Matrixf<4, 1> q);
+// RPY([yaw;pitch;roll]) -> quaternion, [q0;q1;q2;q3]=[cos(θ/2);rsin(θ/2)]
+Matrixf<4, 1> rpy2quat(Matrixf<3, 1> rpy);
+// quaternion, [q0;q1;q2;q3]=[cos(θ/2);rsin(θ/2)] -> angle vector([r;θ])
+Matrixf<4, 1> quat2angvec(Matrixf<4, 1> q);
+// angle vector([r;θ]) -> quaternion, [q0;q1;q2;q3]=[cos(θ/2);rsin(θ/2)]
+Matrixf<4, 1> angvec2quat(Matrixf<4, 1> angvec);
+// homogeneous transformation matrix(T) -> rotation matrix(R)
+Matrixf<3, 3> t2r(Matrixf<4, 4> T);
+// rotation matrix(R) -> homogeneous transformation matrix(T)
+Matrixf<4, 4> r2t(Matrixf<3, 3> R);
+// homogeneous transformation matrix(T) -> translation vector(p)
+Matrixf<3, 1> t2p(Matrixf<4, 4> T);
+// translation vector(p) -> homogeneous transformation matrix(T)
+Matrixf<4, 4> p2t(Matrixf<3, 1> p);
+// rotation matrix(R) & translation vector(p) -> homogeneous transformation
+// matrix(T)
+Matrixf<4, 4> rp2t(Matrixf<3, 3> R, Matrixf<3, 1> p);
+// homogeneous transformation matrix(T) -> RPY([yaw;pitch;roll])
+Matrixf<3, 1> t2rpy(Matrixf<4, 4> T);
+// inverse of homogeneous transformation matrix(T^-1=[R',-R'P;0,1])
+Matrixf<4, 4> invT(Matrixf<4, 4> T);
+// RPY([yaw;pitch;roll]) -> homogeneous transformation matrix(T)
+Matrixf<4, 4> rpy2t(Matrixf<3, 1> rpy);
+// homogeneous transformation matrix(T) -> angle vector([r;θ])
+Matrixf<4, 1> t2angvec(Matrixf<4, 4> T);
+// angle vector([r;θ]) -> homogeneous transformation matrix(T)
+Matrixf<4, 4> angvec2t(Matrixf<4, 1> angvec);
+// homogeneous transformation matrix(T) -> quaternion,
+// [q0;q1;q2;q3]=[cos(θ/2);rsin(θ/2)]
+Matrixf<4, 1> t2quat(Matrixf<4, 4> T);
+// quaternion, [q0;q1;q2;q3]=[cos(θ/2);rsin(θ/2)] -> homogeneous transformation
+// matrix(T)
+Matrixf<4, 4> quat2t(Matrixf<4, 1> quat);
+// homogeneous transformation matrix(T) -> twist coordinates vector ([p;rθ])
+Matrixf<6, 1> t2twist(Matrixf<4, 4> T);
+// twist coordinates vector ([p;rθ]) -> homogeneous transformation matrix(T)
+Matrixf<4, 4> twist2t(Matrixf<6, 1> twist);
+
+// joint type: R-revolute joint, P-prismatic joint
+typedef enum joint_type {
+  R = 0,
+  P = 1,
+} Joint_Type_e;
+
+// Denavit–Hartenberg(DH) method
+struct DH_t {
+  // forward kinematic
+  Matrixf<4, 4> fkine();
+  // DH parameter
+  float theta;
+  float d;
+  float a;
+  float alpha;
+  Matrixf<4, 4> T;
+};
+
+class Link {
+ public:
+  Link(){};
+  Link(float theta, float d, float a, float alpha, Joint_Type_e type = R,
+       float offset = 0, float qmin = 0, float qmax = 0, float m = 1,
+       Matrixf<3, 1> rc = matrixf::zeros<3, 1>(),
+       Matrixf<3, 3> I = matrixf::zeros<3, 3>());
+  Link(const Link& link);
+
+  Link& operator=(Link link);
+
+  float qmin() { return qmin_; }
+  float qmax() { return qmax_; }
+  Joint_Type_e type() { return type_; }
+  float m() { return m_; }
+  Matrixf<3, 1> rc() { return rc_; }
+  Matrixf<3, 3> I() { return I_; }
+
+  Matrixf<4, 4> T(float q);  // forward kinematic
+
+ public:
+  // kinematic parameter
+  DH_t dh_;
+  float offset_;
+  // limit(qmin,qmax), no limit if qmin<=qmax
+  float qmin_;
+  float qmax_;
+  // joint type
+  Joint_Type_e type_;
+  // dynamic parameter
+  float m_;           // mass
+  Matrixf<3, 1> rc_;  // centroid(link coordinate)
+  Matrixf<3, 3> I_;   // inertia tensor(3*3)
+};
+
+template <uint16_t _n = 1>
+class Serial_Link {
+ public:
+  Serial_Link(Link links[_n]) {
+    for (int i = 0; i < _n; i++)
+      links_[i] = links[i];
+    gravity_ = matrixf::zeros<3, 1>();
+    gravity_[2][0] = -9.81f;
+  }
+
+  Serial_Link(Link links[_n], Matrixf<3, 1> gravity) {
+    for (int i = 0; i < _n; i++)
+      links_[i] = links[i];
+    gravity_ = gravity;
+  }
+
+  // forward kinematic: T_n^0
+  // param[in] q: joint variable vector
+  // param[out] T_n^0
+  Matrixf<4, 4> fkine(Matrixf<_n, 1> q) {
+    T_ = matrixf::eye<4, 4>();
+    for (int iminus1 = 0; iminus1 < _n; iminus1++)
+      T_ = T_ * links_[iminus1].T(q[iminus1][0]);
+    return T_;
+  }
+
+  // forward kinematic: T_k^0
+  // param[in] q: joint variable vector
+  // param[in] k: joint number
+  // param[out] T_k^0
+  Matrixf<4, 4> fkine(Matrixf<_n, 1> q, uint16_t k) {
+    if (k > _n)
+      k = _n;
+    Matrixf<4, 4> T = matrixf::eye<4, 4>();
+    for (int iminus1 = 0; iminus1 < k; iminus1++)
+      T = T * links_[iminus1].T(q[iminus1][0]);
+    return T;
+  }
+
+  // T_k^k-1: homogeneous transformation matrix of link k
+  // param[in] q: joint variable vector
+  // param[in] kminus: joint number k, input k-1
+  // param[out] T_k^k-1
+  Matrixf<4, 4> T(Matrixf<_n, 1> q, uint16_t kminus1) {
+    if (kminus1 >= _n)
+      kminus1 = _n - 1;
+    return links_[kminus1].T(q[kminus1][0]);
+  }
+
+  // jacobian matrix, J_i = [J_pi;j_oi]
+  // param[in] q: joint variable vector
+  // param[out] jacobian matix J_6*n
+  Matrixf<6, _n> jacob(Matrixf<_n, 1> q) {
+    Matrixf<3, 1> p_e = t2p(fkine(q));               // p_e
+    Matrixf<4, 4> T_iminus1 = matrixf::eye<4, 4>();  // T_i-1^0
+    Matrixf<3, 1> z_iminus1;                         // z_i-1^0
+    Matrixf<3, 1> p_iminus1;                         // p_i-1^0
+    Matrixf<3, 1> J_pi;
+    Matrixf<3, 1> J_oi;
+    for (int iminus1 = 0; iminus1 < _n; iminus1++) {
+      // revolute joint: J_pi = z_i-1x(p_e-p_i-1), J_oi = z_i-1
+      if (links_[iminus1].type() == R) {
+        z_iminus1 = T_iminus1.block<3, 1>(0, 2);
+        p_iminus1 = t2p(T_iminus1);
+        T_iminus1 = T_iminus1 * links_[iminus1].T(q[iminus1][0]);
+        J_pi = vector3f::cross(z_iminus1, p_e - p_iminus1);
+        J_oi = z_iminus1;
+      }
+      // prismatic joint: J_pi = z_i-1, J_oi = 0
+      else {
+        z_iminus1 = T_iminus1.block<3, 1>(0, 2);
+        T_iminus1 = T_iminus1 * links_[iminus1].T(q[iminus1][0]);
+        J_pi = z_iminus1;
+        J_oi = matrixf::zeros<3, 1>();
+      }
+      J_[0][iminus1] = J_pi[0][0];
+      J_[1][iminus1] = J_pi[1][0];
+      J_[2][iminus1] = J_pi[2][0];
+      J_[3][iminus1] = J_oi[0][0];
+      J_[4][iminus1] = J_oi[1][0];
+      J_[5][iminus1] = J_oi[2][0];
+    }
+    return J_;
+  }
+
+  // inverse kinematic, numerical solution(Newton method)
+  // param[in] T: homogeneous transformation matrix of end effector
+  // param[in] q: initial joint variable vector(q0) for Newton method's
+  //              iteration
+  // param[in] tol: tolerance of error (norm(error of twist vector))
+  // param[in] max_iter: maximum iterations, default 30
+  // param[out] q: joint variable vector
+  Matrixf<_n, 1> ikine(Matrixf<4, 4> Td,
+                       Matrixf<_n, 1> q = matrixf::zeros<_n, 1>(),
+                       float tol = 1e-4f, uint16_t max_iter = 50) {
+    Matrixf<4, 4> T;
+    Matrixf<3, 1> pe, we;
+    Matrixf<6, 1> err, new_err;
+    Matrixf<_n, 1> dq;
+    float step = 1;
+    for (int i = 0; i < max_iter; i++) {
+      T = fkine(q);
+      pe = t2p(Td) - t2p(T);
+      // angvec(Td*T^-1), transform angular vector(T->Td) in world coordinate
+      we = t2twist(Td * invT(T)).block<3, 1>(3, 0);
+      for (int i = 0; i < 3; i++) {
+        err[i][0] = pe[i][0];
+        err[i + 3][0] = we[i][0];
+      }
+      if (err.norm() < tol)
+        return q;
+      // adjust iteration step
+      Matrixf<6, _n> J = jacob(q);
+      for (int j = 0; j < 5; j++) {
+        dq = matrixf::inv(J.trans() * J) * (J.trans() * err) * step;
+        if (dq[0][0] == INFINITY)  // J'*J singular
+        {
+          dq = matrixf::inv(J.trans() * J + 0.1f * matrixf::eye<_n, _n>()) *
+               J.trans() * err * step;
+          // SVD<6, _n> JTJ_svd(J.trans() * J);
+          // dq = JTJ_svd.solve(err) * step * 5e-2f;
+          q += dq;
+          for (int i = 0; i < _n; i++) {
+            if (links_[i].type() == R)
+              q[i][0] = math::loopLimit(q[i][0], -PI, PI);
+          }
+          break;
+        }
+        T = fkine(q + dq);
+        pe = t2p(Td) - t2p(T);
+        we = t2twist(Td * invT(T)).block<3, 1>(3, 0);
+        for (int i = 0; i < 3; i++) {
+          new_err[i][0] = pe[i][0];
+          new_err[i + 3][0] = we[i][0];
+        }
+        if (new_err.norm() < err.norm()) {
+          q += dq;
+          for (int i = 0; i < _n; i++) {
+            if (links_[i].type() == robotics::Joint_Type_e::R) {
+              q[i][0] = math::loopLimit(q[i][0], -PI, PI);
+            }
+          }
+          break;
+        } else {
+          step /= 2.0f;
+        }
+      }
+      if (step < 1e-3f)
+        return q;
+    }
+    return q;
+  }
+
+  // (Reserved function) inverse kinematic, analytic solution(geometric method)
+  Matrixf<_n, 1> (*ikine_analytic)(Matrixf<4, 4> T);
+
+  // inverse dynamic, Newton-Euler method
+  // param[in]  q: joint variable vector
+  // param[in]  qv: dq/dt
+  // param[in]  qa: d^2q/dt^2
+  // param[in]  he: load on end effector [f;μ], default 0
+  Matrixf<_n, 1> rne(Matrixf<_n, 1> q,
+                     Matrixf<_n, 1> qv = matrixf::zeros<_n, 1>(),
+                     Matrixf<_n, 1> qa = matrixf::zeros<_n, 1>(),
+                     Matrixf<6, 1> he = matrixf::zeros<6, 1>()) {
+    // forward propagation
+    // record each links' motion state in matrices
+    // [ωi] angular velocity
+    Matrixf<3, _n + 1> w = matrixf::zeros<3, _n + 1>();
+    // [βi] angular acceleration
+    Matrixf<3, _n + 1> b = matrixf::zeros<3, _n + 1>();
+    // [pi] position of joint
+    Matrixf<3, _n + 1> p = matrixf::zeros<3, _n + 1>();
+    // [vi] velocity of joint
+    Matrixf<3, _n + 1> v = matrixf::zeros<3, _n + 1>();
+    // [ai] acceleration of joint
+    Matrixf<3, _n + 1> a = matrixf::zeros<3, _n + 1>();
+    // [aci] acceleration of mass center
+    Matrixf<3, _n + 1> ac = matrixf::zeros<3, _n + 1>();
+    // temperary vectors
+    Matrixf<3, 1> w_i, b_i, p_i, v_i, ai, ac_i;
+    // i & i-1 coordinate convert to 0 coordinate
+    Matrixf<4, 4> T_0i = matrixf::eye<4, 4>();
+    Matrixf<4, 4> T_0iminus1 = matrixf::eye<4, 4>();
+    Matrixf<3, 3> R_0i = matrixf::eye<3, 3>();
+    Matrixf<3, 3> R_0iminus1 = matrixf::eye<3, 3>();
+    // unit vector of z-axis
+    Matrixf<3, 1> ez = matrixf::zeros<3, 1>();
+    ez[2][0] = 1;
+
+    for (int i = 1; i <= _n; i++) {
+      T_0i = T_0i * T(q, i - 1);     // T_i^0
+      R_0i = t2r(T_0i);              // R_i^0
+      R_0iminus1 = t2r(T_0iminus1);  // R_i-1^0
+      // ω_i = ω_i-1+qv_i*R_i-1^0*ez
+      w_i = w.col(i - 1) + qv[i - 1][0] * R_0iminus1 * ez;
+      // β_i = β_i-1+ω_i-1x(qv_i*R_i-1^0*ez)+qa_i*R_i-1^0*ez
+      b_i = b.col(i - 1) +
+            vector3f::cross(w.col(i - 1), qv[i - 1][0] * R_0iminus1 * ez) +
+            qa[i - 1][0] * R_0iminus1 * ez;
+      p_i = t2p(T_0i);  // p_i = T_i^0(1:3,4)
+      // v_i = v_i-1+ω_ix(p_i-p_i-1)
+      v_i = v.col(i - 1) + vector3f::cross(w_i, p_i - p.col(i - 1));
+      // a_i = a_i-1+β_ix(p_i-p_i-1)+ω_ix(ω_ix(p_i-p_i-1))
+      ai = a.col(i - 1) + vector3f::cross(b_i, p_i - p.col(i - 1)) +
+           vector3f::cross(w_i, vector3f::cross(w_i, p_i - p.col(i - 1)));
+      // ac_i = a_i+β_ix(R_0^i*rc_i^i)+ω_ix(ω_ix(R_0^i*rc_i^i))
+      ac_i =
+          ai + vector3f::cross(b_i, R_0i * links_[i - 1].rc()) +
+          vector3f::cross(w_i, vector3f::cross(w_i, R_0i * links_[i - 1].rc()));
+      for (int row = 0; row < 3; row++) {
+        w[row][i] = w_i[row][0];
+        b[row][i] = b_i[row][0];
+        p[row][i] = p_i[row][0];
+        v[row][i] = v_i[row][0];
+        a[row][i] = ai[row][0];
+        ac[row][i] = ac_i[row][0];
+      }
+      T_0iminus1 = T_0i;  // T_i-1^0
+    }
+
+    // backward propagation
+    // record each links' force
+    Matrixf<3, _n + 1> f = matrixf::zeros<3, _n + 1>();   // joint force
+    Matrixf<3, _n + 1> mu = matrixf::zeros<3, _n + 1>();  // joint moment
+    // temperary vector
+    Matrixf<3, 1> f_iminus1, mu_iminus1;
+    // {T,R',P}_i^i-1
+    Matrixf<4, 4> T_iminus1i;
+    Matrixf<3, 3> RT_iminus1i;
+    Matrixf<3, 1> P_iminus1i;
+    // I_i-1(in 0 coordinate)
+    Matrixf<3, 3> I_i;
+    // joint torque
+    Matrixf<_n, 1> torq;
+
+    // load on end effector
+    for (int row = 0; row < 3; row++) {
+      f[row][_n] = he.block<3, 1>(0, 0)[row][0];
+      mu[row][_n] = he.block<3, 1>(3, 0)[row][0];
+    }
+    for (int i = _n; i > 0; i--) {
+      T_iminus1i = T(q, i - 1);               // T_i^i-1
+      P_iminus1i = t2p(T_iminus1i);           // P_i^i-1
+      RT_iminus1i = t2r(T_iminus1i).trans();  // R_i^i-1'
+      R_0iminus1 = R_0i * RT_iminus1i;        // R_i-1^0
+      // I_i^0 = R_i^0*I_i^i*(R_i^0)'
+      I_i = R_0i * links_[i - 1].I() * R_0i.trans();
+      // f_i-1 = f_i+m_i*ac_i-m_i*g
+      f_iminus1 = f.col(i) + links_[i - 1].m() * ac.col(i) -
+                  links_[i - 1].m() * gravity_;
+      // μ_i-1 = μ_i+f_ixrc_i-f_i-1xrc_i-1->ci+I_i*b_i+ω_ix(I_i*ω_i)
+      mu_iminus1 = mu.col(i) +
+                   vector3f::cross(f.col(i), R_0i * links_[i - 1].rc()) -
+                   vector3f::cross(f_iminus1, R_0i * (RT_iminus1i * P_iminus1i +
+                                                      links_[i - 1].rc())) +
+                   I_i * b.col(i) + vector3f::cross(w.col(i), I_i * w.col(i));
+      // τ_i = μ_i-1'*(R_i-1^0*ez)
+      torq[i - 1][0] = (mu_iminus1.trans() * R_0iminus1 * ez)[0][0];
+      for (int row = 0; row < 3; row++) {
+        f[row][i - 1] = f_iminus1[row][0];
+        mu[row][i - 1] = mu_iminus1[row][0];
+      }
+      R_0i = R_0iminus1;
+    }
+
+    return torq;
+  }
+
+ private:
+  Link links_[_n];
+  Matrixf<3, 1> gravity_;
+
+  Matrixf<4, 4> T_;
+  Matrixf<6, _n> J_;
+};
+};  // namespace robotics
+
+#endif  // ROBOTICS_H

modules/robotics/utils.cpp

@@ -0,0 +1,56 @@
+/**
+ ******************************************************************************
+ * @file    utils.cpp/h
+ * @brief   General math utils. 常用数学工具函数
+ * @author  Spoon Guan
+ ******************************************************************************
+ * Copyright (c) 2023 Team JiaoLong-SJTU
+ * All rights reserved.
+ ******************************************************************************
+ */
+
+#include "utils.h"
+
+float math::limit(float val, const float& min, const float& max) {
+  if (min > max)
+    return val;
+  else if (val < min)
+    val = min;
+  else if (val > max)
+    val = max;
+  return val;
+}
+
+float math::limitMin(float val, const float& min) {
+  if (val < min)
+    val = min;
+  return val;
+}
+
+float math::limitMax(float val, const float& max) {
+  if (val > max)
+    val = max;
+  return val;
+}
+
+float math::loopLimit(float val, const float& min, const float& max) {
+  if (min >= max)
+    return val;
+  if (val > max) {
+    while (val > max)
+      val -= (max - min);
+  } else if (val < min) {
+    while (val < min)
+      val += (max - min);
+  }
+  return val;
+}
+
+float math::sign(const float& val) {
+  if (val > 0)
+    return 1;
+  else if (val < 0)
+    return -1;
+  return 0;
+}
+

modules/robotics/utils.h

@@ -0,0 +1,27 @@
+/**
+ ******************************************************************************
+ * @file    utils.cpp/h
+ * @brief   General math utils. 常用数学工具函数
+ * @author  Spoon Guan
+ ******************************************************************************
+ * Copyright (c) 2023 Team JiaoLong-SJTU
+ * All rights reserved.
+ ******************************************************************************
+ */
+
+#ifndef UTILS_H
+#define UTILS_H
+
+#include <stdint.h>
+
+namespace math {
+
+float limit(float val, const float& min, const float& max);
+float limitMin(float val, const float& min);
+float limitMax(float val, const float& max);
+float loopLimit(float val, const float& min, const float& max);
+float sign(const float& val);
+
+}  // namespace math
+
+#endif  // UTILS_H

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)
@@ -17,9 +11,10 @@ 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)
@@ -29,6 +24,8 @@ SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s *supercap_config)
 
     supercap_config->can_config.can_module_callback = SuperCapRxCallback;
     super_cap_instance->can_ins = CANRegister(&supercap_config->can_config);
+
+    PIDInit(&super_cap_instance->buffer_pid, &supercap_config->buffer_config_pid);
     return super_cap_instance;
 }
 
@@ -38,6 +35,15 @@ 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

@@ -1,21 +1,16 @@
-/*
- * @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
 
 #include "bsp_can.h"
+#include "controller.h"
 
 #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()
 
@@ -24,12 +19,14 @@ typedef struct
 {
     CANInstance *can_ins;   // CAN实例
     SuperCap_Msg_s cap_msg; // 超级电容信息
+    PIDInstance buffer_pid; // 对缓冲功率进行闭环
 } SuperCapInstance;
 
 /* 超级电容初始化配置 */
 typedef struct
 {
     CAN_Init_Config_s can_config;
+    PID_Init_Config_s buffer_config_pid;
 } SuperCap_Init_Config_s;
 
 /**
@@ -48,4 +45,12 @@ SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s *supercap_config);
  */
 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

modules/vofa/vofa.c

@@ -6,6 +6,13 @@
  * @LastEditTime: 2022-12-05 14:15:53
  */
 #include "vofa.h"
+#include "usbd_cdc_if.h"
+
+typedef union
+{
+    float float_t;
+    uint8_t uint8_t[4];
+} send_float;
 
 /*VOFA浮点协议*/
 void vofa_justfloat_output(float *data, uint8_t num , UART_HandleTypeDef *huart )
@@ -29,5 +36,57 @@ void vofa_justfloat_output(float *data, uint8_t num , UART_HandleTypeDef *huart
     send_data[4 * num + 2] = 0x80;
     send_data[4 * num + 3] = 0x7f; //加上协议要求的4个尾巴
 
-    HAL_UART_Transmit(huart, (uint8_t *)send_data, 4 * num + 4, 100);
+    //HAL_UART_Transmit(huart, (uint8_t *)send_data, 4 * num + 4, 100);
+    CDC_Transmit_FS((uint8_t *)send_data,4 * num + 4);
+}
+
+#define BYTE0(dwTemp) (*(char*)(&dwTemp))
+#define BYTE1(dwTemp) (*((char*)(&dwTemp)+1))
+#define BYTE2(dwTemp) (*((char*)(&dwTemp)+2))
+#define BYTE3(dwTemp) (*((char*)(&dwTemp)+3))
+
+uint8_t DataSendBuf[100];
+//匿名上位机
+void ANODT_SendF1(int32_t Angle,int32_t speed_rpm,int32_t Angle_target,int32_t speed_target)//F1灵活格式帧
+{
+    uint8_t cnt=0;
+    DataSendBuf[cnt++]=0xAA;  //帧头
+    DataSendBuf[cnt++]=0xFF;  //目标地址
+    DataSendBuf[cnt++]=0xF1;  //功能码
+    DataSendBuf[cnt++]=16;  //数据长度
+
+    DataSendBuf[cnt++]=BYTE0(Angle);
+    DataSendBuf[cnt++]=BYTE1(Angle);
+    DataSendBuf[cnt++]=BYTE2(Angle);
+    DataSendBuf[cnt++]=BYTE3(Angle);
+
+    DataSendBuf[cnt++]=BYTE0(speed_rpm);
+    DataSendBuf[cnt++]=BYTE1(speed_rpm);
+    DataSendBuf[cnt++]=BYTE2(speed_rpm);
+    DataSendBuf[cnt++]=BYTE3(speed_rpm);
+
+    DataSendBuf[cnt++]=BYTE0(Angle_target);
+    DataSendBuf[cnt++]=BYTE1(Angle_target);
+    DataSendBuf[cnt++]=BYTE2(Angle_target);
+    DataSendBuf[cnt++]=BYTE3(Angle_target);
+
+    DataSendBuf[cnt++]=BYTE0(speed_target);
+    DataSendBuf[cnt++]=BYTE1(speed_target);
+    DataSendBuf[cnt++]=BYTE2(speed_target);
+    DataSendBuf[cnt++]=BYTE3(speed_target);
+
+    uint8_t sc=0;  //和校验
+    uint8_t ac=0;  //附加校验
+    for(uint8_t i=0;i<DataSendBuf[3]+4;i++)
+    {
+        sc+=DataSendBuf[i];
+        ac+=sc;
+    }
+    DataSendBuf[cnt++]=sc;
+    DataSendBuf[cnt++]=ac;
+
+//	for(uint8_t i=0;i<cnt;i++)
+//		HAL_UART_Transmit(&huart6,&DataSendBuf[i],1,100);
+    CDC_Transmit_FS(DataSendBuf, cnt);
+
 }

modules/vofa/vofa.h

@@ -11,11 +11,7 @@
 #include "bsp_usart.h"
 #include "usart.h"
 
-typedef union
-{
-    float float_t;
-    uint8_t uint8_t[4];
-} send_float;
-void vofa_justfloat_output(float *data, uint8_t num , UART_HandleTypeDef *huart);
 
+void vofa_justfloat_output(float *data, uint8_t num , UART_HandleTypeDef *huart);
+void ANODT_SendF1(int32_t Angle,int32_t speed_rpm,int32_t Angle_target,int32_t speed_target);
 #endif // !1#define