#include "robot_def.h" #include "robot_cmd.h" #include "remote_control.h" #include "ins_task.h" #include "master_process.h" #include "message_center.h" #include "general_def.h" #include "dji_motor.h" // 自动将编码器转换成角度值 #define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF) #define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF) /* gimbal_cmd应用包含的模块实例指针和交互信息存储*/ #ifndef ONE_BOARD #include "can_comm.h" static CANCommInstance *chasiss_can_comm; // 双板通信 #endif // !ONE_BOARD static RC_ctrl_t *remote_control_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 Vision_Send_s vision_send_data; // 视觉发送数据 static Publisher_t *gimbal_cmd_pub; static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息 static Subscriber_t *gimbal_feed_sub; static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息 static Publisher_t *shoot_cmd_pub; static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息 static Subscriber_t *shoot_feed_sub; static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息 static Publisher_t *chassis_cmd_pub; 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 Subscriber_t *chassis_feed_sub; 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 void GimbalCMDInit() { remote_control_data = RC_init(&huart3); // 修改为对应串口,注意dbus协议串口需加反相器 vision_recv_data = VisionInit(&huart1); // 视觉通信串口 gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s)); gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s)); shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s)); shoot_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s)); chassis_cmd_pub = PubRegister("gimbal2chassis", sizeof(Chassis_Ctrl_Cmd_s)); chassis_feed_sub = SubRegister("chassis2gimbal", sizeof(Chassis_Upload_Data_s)); } /** * @brief 根据gimbal app传回的当前电机角度计算和零位的误差 * 单圈绝对角度的范围是0~360,说明文档中有图示 * */ static void CalcOffsetAngle() { static float 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 angle = gimbal_fetch_data.yaw_motor_single_round_angle; #if YAW_ECD_GREATER_THAN_4096 // 如果大于180度 if (angle > YAW_ALIGN_ANGLE && angle <= 180.0f + YAW_ALIGN_ANGLE) chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE; else if (angle > 180.0f + YAW_ALIGN_ANGLE) chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE - 360.0f; else chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE; #else // 小于180度 if (angle > YAW_ALIGN_ANGLE) chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE; else if (angle <= YAW_ALIGN_ANGLE && angle >= YAW_ALIGN_ANGLE - 180.0f) chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE; else chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE + 360.0f; #endif } /** * @brief 输入为遥控器(调试时)的模式和控制量设置 * */ static void RemoteControlSetMode() { } /** * @brief 输入为键鼠时模式和控制量设置 * */ static void MouseKeySetMode() { } void GimbalCMDTask() { // 从其他应用获取回传数据 SubGetMessage(chassis_feed_sub, &chassis_fetch_data); SubGetMessage(shoot_feed_sub, &shoot_fetch_data); SubGetMessage(gimbal_feed_sub, &gimbal_fetch_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,通过私有变量完成 CalcOffsetAngle(); if (1) // 遥控器控制 RemoteControlSetMode(); else if (0) // 键盘控制 MouseKeySetMode(); // 设置视觉发送数据,work_mode在前一部分设置 vision_send_data.bullet_speed=chassis_fetch_data.bullet_speed; vision_send_data.enemy_color=chassis_fetch_data.enemy_color; vision_send_data.pitch=gimbal_fetch_data.gimbal_imu_data.Pitch; vision_send_data.yaw=gimbal_fetch_data.gimbal_imu_data.Yaw; vision_send_data.roll=gimbal_fetch_data.gimbal_imu_data.Roll; // 推送消息,双板通信,视觉通信等 // 应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置 PubPushMessage(chassis_cmd_pub, &chassis_cmd_send); PubPushMessage(shoot_cmd_pub, &shoot_cmd_send); PubPushMessage(gimbal_cmd_pub, &gimbal_cmd_send); VisionSend(&vision_send_data); }