增加了额外的注释
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NeoZng
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bfaae13b59
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f37d813bcd
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@ -2,7 +2,7 @@
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#define CHASSIS_H
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/**
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* @brief 底盘应用初始化,请在开启rtos之前调用
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* @brief 底盘应用初始化,请在开启rtos之前调用(目前会被RobotInit()调用)
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*
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*/
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void ChassisInit();
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@ -134,7 +134,7 @@ static void RemoteControlSet()
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; // 弹舱舵机控制,待添加servo_motor模块,关闭
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// 摩擦轮控制,拨轮向上打为负,向下为正
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if (rc_data[TEMP].rc.dial < -100)
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if (rc_data[TEMP].rc.dial < -100) // 向上超过100,打开摩擦轮
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shoot_cmd_send.friction_mode = FRICTION_ON;
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else
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shoot_cmd_send.friction_mode = FRICTION_OFF;
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@ -1,8 +1,16 @@
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#ifndef GIMBAL_CMD_H
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#define GIMBAL_CMD_H
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/**
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* @brief 机器人核心控制任务初始化,会被RobotInit()调用
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*
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*/
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void RobotCMDInit();
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/**
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* @brief 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率)
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*
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*/
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void RobotCMDTask();
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#endif // !GIMBAL_CMD_H
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@ -2,7 +2,7 @@
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#define GIMBAL_H
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/**
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* @brief 初始化云台
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* @brief 初始化云台,会被RobotInit()调用
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*
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*/
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void GimbalInit();
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@ -5,6 +5,7 @@
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#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
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#include "chassis.h"
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#endif
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#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
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#include "gimbal.h"
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#include "shoot.h"
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@ -1,8 +1,18 @@
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#ifndef ROBOT_H
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#define ROBOT_H
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/* 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 */
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/**
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* @brief 机器人初始化,请在开启rtos之前调用.这也是唯一需要放入main函数的函数
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*
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*/
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void RobotInit();
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/**
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* @brief 机器人任务,放入实时系统以一定频率运行,内部会调用各个应用的任务
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*
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*/
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void RobotTask();
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#endif
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@ -21,6 +21,7 @@
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// #define CHASSIS_BOARD //底盘板
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// #define GIMBAL_BOARD //云台板
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// @todo: 增加机器人类型定义,后续是否要兼容所有机器人?(只兼容步兵英雄哨兵似乎就够了)
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/* 机器人类型定义 */
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// #define ROBOT_HERO 1 // 英雄机器人
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// #define ROBOT_ENINEER 2 // 工程机器人
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@ -46,11 +47,11 @@
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#define RADIUS_WHEEL 60 // 轮子半径
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#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
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// 检查是否出现定义冲突
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// 检查是否出现定义冲突,只允许一个开发板定义存在,否则编译会自动报错
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#if (defined(ONE_BOARD) && defined(CHASSIS_BOARD)) || \
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(defined(ONE_BOARD) && defined(GIMBAL_BOARD)) || \
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(defined(CHASSIS_BOARD) && defined(GIMBAL_BOARD))
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#error Conflict board definition! You can only define one type.
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#error Conflict board definition! You can only define one board type.
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#endif
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#pragma pack(1) // 压缩结构体,取消字节对齐
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@ -205,7 +205,7 @@ void ShootTask()
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DJIMotorSetRef(friction_l, 0);
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DJIMotorSetRef(friction_r, 0);
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break;
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default: // 当前为了调试设定的4000,因为还没有加入裁判系统无法读取弹速.后续修改为while(1);表明模式错误
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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.
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DJIMotorSetRef(friction_l, 4000);
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DJIMotorSetRef(friction_r, 4000);
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break;
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@ -2,7 +2,7 @@
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#define SHOOT_H
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/**
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* @brief 发射初始化
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* @brief 发射初始化,会被RobotInit()调用
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*
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*/
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void ShootInit();
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@ -11,7 +11,7 @@ void BSPInit()
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DWT_Init(168);
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BSPLogInit();
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// 下面都是待删除的,将在实现了module之后移动到app层
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// legacy support，待删除,将在实现了led/tempctrl/buzzer的module之后移动到app层
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LEDInit();
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IMUTempInit();
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BuzzerInit();
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@ -26,16 +26,16 @@ static uint8_t idx; // 全局CAN实例索引,每次有新的模块注册会自
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static void CANAddFilter(CANInstance *_instance)
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{
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CAN_FilterTypeDef can_filter_conf;
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static uint8_t can1_filter_idx = 0, can2_filter_idx = 14;
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can_filter_conf.FilterMode = CAN_FILTERMODE_IDLIST;
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can_filter_conf.FilterScale = CAN_FILTERSCALE_16BIT;
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can_filter_conf.FilterFIFOAssignment = (_instance->tx_id & 1) ? CAN_RX_FIFO0 : CAN_RX_FIFO1;
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can_filter_conf.SlaveStartFilterBank = 14;
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can_filter_conf.FilterIdLow = _instance->rx_id << 5;
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can_filter_conf.FilterBank = _instance->can_handle == &hcan1 ? (can1_filter_idx++) : (can2_filter_idx++);
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can_filter_conf.FilterActivation = CAN_FILTER_ENABLE;
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static uint8_t can1_filter_idx = 0, can2_filter_idx = 14; // 0-13给can1用,14-27给can2用
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can_filter_conf.FilterMode = CAN_FILTERMODE_IDLIST; //使用id list模式,即只有将rxid添加到过滤器中才会接收到,其他报文会被过滤
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can_filter_conf.FilterScale = CAN_FILTERSCALE_16BIT; //使用16位id模式,即只有低16位有效
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can_filter_conf.FilterFIFOAssignment = (_instance->tx_id & 1) ? CAN_RX_FIFO0 : CAN_RX_FIFO1; //奇数id的模块会被分配到FIFO0,偶数id的模块会被分配到FIFO1
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can_filter_conf.SlaveStartFilterBank = 14; // 从第14个过滤器开始配置从机过滤器(在STM32的BxCAN控制器中CAN2是CAN1的从机)
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can_filter_conf.FilterIdLow = _instance->rx_id << 5; // 过滤器寄存器的低16位,因为使用STDID,所以只有低11位有效,高5位要填0
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can_filter_conf.FilterBank = _instance->can_handle == &hcan1 ? (can1_filter_idx++) : (can2_filter_idx++); // 根据can_handle判断是CAN1还是CAN2,然后自增
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can_filter_conf.FilterActivation = CAN_FILTER_ENABLE; // 启用过滤器
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HAL_CAN_ConfigFilter(_instance->can_handle, &can_filter_conf);
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}
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