增加robot_cmd的总控制和急停处理,添加遥控器位域处理,待测试
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NeoZng
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a235aec5df
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df356cf675
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@ -36,6 +36,8 @@ static Chassis_Ctrl_Cmd_s chassis_cmd_send; // 发送给底盘应用的信息,
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static Subscriber_t *chassis_feed_sub;
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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
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static Robot_Status_e robot_state;
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void GimbalCMDInit()
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{
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remote_control_data = RemoteControlInit(&huart3); // 修改为对应串口,注意dbus协议串口需加反相器
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@ -81,6 +83,8 @@ static void CalcOffsetAngle()
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*/
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static void RemoteControlSetMode()
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{
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}
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/**
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@ -91,6 +95,28 @@ static void MouseKeySetMode()
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{
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}
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/**
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* @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
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* '300'待修改成合适的值,或改为开关控制
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*
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*/
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static void EmergencyHandler()
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{
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if(remote_control_data[0].joy_stick.ch[4]<-300)//还需添加重要应用和模块离线的判断
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{
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robot_state=ROBOT_STOP; // 遥控器左上侧拨轮打满,进入紧急停止模式
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gimbal_cmd_send.gimbal_mode==GIMBAL_ZERO_FORCE;
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chassis_cmd_send.chassis_mode==CHASSIS_ZERO_FORCE;
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shoot_cmd_send.shoot_mode==SHOOT_STOP;
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return;
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}
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// if(remote_control_data[0].joy_stick.ch[4]>300 && 各个模块正常)
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// {
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// //恢复运行
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// //...
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// }
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}
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void GimbalCMDTask()
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{
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// 从其他应用获取回传数据
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@ -106,6 +132,8 @@ void GimbalCMDTask()
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else if (0) // 键盘控制
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MouseKeySetMode();
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EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
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// 设置视觉发送数据,work_mode在前一部分设置
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vision_send_data.bullet_speed = chassis_fetch_data.bullet_speed;
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vision_send_data.enemy_color = chassis_fetch_data.enemy_color;
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@ -52,6 +52,13 @@
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* @brief 这些枚举类型和结构体会作为CMD控制数据和各应用的反馈数据的一部分
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*
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*/
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//机器人状态
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typedef enum
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{
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ROBOT_STOP,
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ROBOT_WORKING,
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} Robot_Status_e;
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// 应用状态
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typedef enum
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@ -36,9 +36,10 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf)
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rc_ctrl[0].mouse.press_r = sbus_buf[13]; //!< Mouse Right Is Press ?
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// 按键值,每个键1bit,key_temp共16位;按键顺序在remote_control.h的宏定义中可见
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// 使用位域后不再需要这一中间操作
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rc_ctrl[0].key_temp = sbus_buf[14] | (sbus_buf[15] << 8); //!< KeyBoard value
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// @todo 似乎可以直接用位域操作进行,把key_temp通过强制类型转换变成key类型? 方案见remote_control.md
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// @todo 似乎可以直接用位域操作进行,把key_temp通过强制类型转换变成key类型? 位域方案在下面,尚未测试
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// 按键值解算,利用宏+循环减少代码长度
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for (uint16_t i = 0x0001, j = 0; i < 0x8001; i *= 2, j++) // 依次查看每一个键
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{
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@ -53,6 +54,15 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf)
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rc_ctrl[0].key[KEY_PRESS_WITH_CTRL][j] = rc_ctrl[0].key_temp & i;
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}
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// 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
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*(uint16_t*)&rc_ctrl[0].key_test[KEY_PRESS]= (uint16_t)(sbus_buf[14] | (sbus_buf[15] << 8));
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*(uint16_t*)&rc_ctrl[0].key_test[KEY_STATE]=*(uint16_t*)&rc_ctrl[0].key_test[KEY_PRESS] & ~(*(uint16_t*)&(rc_ctrl[1].key_test[KEY_PRESS]));
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if(rc_ctrl[0].key_test[KEY_PRESS].ctrl)
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rc_ctrl[0].key_test[KEY_PRESS_WITH_CTRL]=rc_ctrl[0].key_test[KEY_PRESS];
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if(rc_ctrl[0].key_test[KEY_PRESS].shift)
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rc_ctrl[0].key_test[Key_Shift]=rc_ctrl[0].key_test[KEY_PRESS];
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// 减去偏置值
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rc_ctrl[0].joy_stick.ch[0] -= RC_CH_VALUE_OFFSET;
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rc_ctrl[0].joy_stick.ch[1] -= RC_CH_VALUE_OFFSET;
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@ -67,7 +77,7 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf)
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* 对sbus_to_rc的简单封装
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*
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*/
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static void RefereeRxCallback()
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static void RemoteControlRxCallback()
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{
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sbus_to_rc(rc_usart_instance->recv_buff);
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}
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@ -75,7 +85,7 @@ static void RefereeRxCallback()
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RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle)
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{
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USART_Init_Config_s conf;
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conf.module_callback = RefereeRxCallback;
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conf.module_callback = RemoteControlRxCallback;
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conf.usart_handle = rc_usart_handle;
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conf.recv_buff_size = REMOTE_CONTROL_FRAME_SIZE;
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rc_usart_instance = USARTRegister(&conf);
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@ -55,27 +55,6 @@
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#define Key_B 15
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/* ----------------------- Data Struct ------------------------------------- */
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typedef struct
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{
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struct
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{
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int16_t ch[5]; // 右|0 ,右-1 ,左-2 ,左|3 ,拨轮4
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uint8_t s[2]; //[0]:left [1]:right
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} joy_stick;
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struct
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{
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int16_t x;
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int16_t y;
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int16_t z;
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uint8_t press_l;
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uint8_t press_r;
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} mouse;
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uint16_t key_temp;
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uint8_t key[4][16];
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} RC_ctrl_t;
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// 待测试的位域结构体,可以极大提升解析速度
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typedef struct
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{
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@ -97,6 +76,30 @@ typedef struct
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uint16_t b : 1;
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} Key_t;
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typedef struct
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{
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struct
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{
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int16_t ch[5]; // 右|0 ,右-1 ,左-2 ,左|3 ,拨轮4
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uint8_t s[2]; //[0]:left [1]:right
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} joy_stick;
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struct
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{
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int16_t x;
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int16_t y;
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int16_t z;
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uint8_t press_l;
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uint8_t press_r;
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} mouse;
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uint16_t key_temp;
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uint8_t key[4][16]; // 当前使用的键盘索引
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Key_t key_test[4]; // 改为位域后的键盘索引,空间减少8倍,速度增加16~倍
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} RC_ctrl_t;
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/* ------------------------- Internal Data ----------------------------------- */
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/**
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