// app #include "robot_def.h" #include "robot_cmd.h" // module #include "remote_control.h" #include "ins_task.h" #include "master_process.h" #include "message_center.h" #include "general_def.h" #include "dji_motor.h" #include "auto_aim.h" // bsp #include "bsp_dwt.h" #include "bsp_log.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 #define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF_DJI) // pitch水平时电机的角度,0-360 #define PITCH_SCAN -10.0f //扫描阶段PITCH固定角度 #define SHOOT_RATE 15.0f //射频 #define MIN_SHOOT_RATE 5.0f //热量过高降低射频射频 /* 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" static CANCommInstance *cmd_can_comm; // 双板通信 #endif #ifdef ONE_BOARD static Publisher_t *chassis_cmd_pub; // 底盘控制消息发布者 static Subscriber_t *chassis_feed_sub; // 底盘反馈信息订阅者 #endif // ONE_BOARD static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; 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 static RC_ctrl_t *rc_data; // 遥控器数据,初始化时返回 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 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 static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息 static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息 static Publisher_t *shoot_cmd_pub; // 发射控制消息发布者 static Subscriber_t *shoot_feed_sub; // 发射反馈信息订阅者 static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息 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() { 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 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)); #ifdef ONE_BOARD // 双板兼容 chassis_cmd_pub = PubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s)); chassis_feed_sub = SubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s)); #endif // ONE_BOARD #ifdef GIMBAL_BOARD CANComm_Init_Config_s comm_conf = { .can_config = { .can_handle = &hcan2, .tx_id = 0x311, .rx_id = 0x312, }, .recv_data_len = sizeof(Gimbal_Ctrl_Cmd_s), .send_data_len = sizeof(Gimbal_Upload_Data_s), }; cmd_can_comm = CANCommInit(&comm_conf); #endif // GIMBAL_BOARD gimbal_cmd_send.pitch = PITCH_SCAN; gimbal_cmd_send.yaw = 0; robot_state = ROBOT_READY; // 启动时机器人进入工作模式,后续加入所有应用初始化完成之后再进入 } /** * @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() { // 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 #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 控制输入为遥控器(调试时)的模式和控制量设置 * */ static void RemoteControlSet() { //云台保持陀螺仪控制 gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; gimbal_cmd_send.yaw = gimbal_cmd_recv.yaw; gimbal_cmd_send.pitch = gimbal_cmd_recv.pitch; 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; // 云台软件限位 // 摩擦轮控制,拨轮向上打为负,向下为正 // if (gimbal_cmd_recv.shoot_mode == SHOOT_ON)// 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 (gimbal_cmd_recv.shoot_mode == SHOOT_ON) // shoot_cmd_send.load_mode = LOAD_BURSTFIRE; // else // shoot_cmd_send.load_mode = LOAD_STOP; shoot_cmd_send.shoot_mode = gimbal_cmd_recv.shoot_mode; shoot_cmd_send.load_mode = gimbal_cmd_recv.load_mode; shoot_cmd_send.friction_mode = gimbal_cmd_recv.friction_mode; // 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 = SHOOT_RATE; //检测到卡弹 拨弹盘反转 if (shoot_fetch_data.stalled_flag == 1) shoot_cmd_send.load_mode = LOAD_REVERSE; } /** * @brief 自动模式时模式和控制量设置 * */ static void AutoControlSet() { //云台保持陀螺仪控制 gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; static int8_t gimbal_scan_flag = 1; static int8_t yaw_dir = 1; static int8_t pitch_dir = 1; //trajectory_cal.v0 = 30; //弹速30 aim_select.suggest_fire = 0; //小云台扫描 if (gimbal_scan_flag == 1) { gimbal_cmd_send.pitch = PITCH_SCAN; if (yaw_dir == 1) gimbal_cmd_send.yaw -= 0.06f; else gimbal_cmd_send.yaw += 0.06f; if (gimbal_fetch_data.mini_yaw_encode_angle <= YAW_MIN_ENCODE_ANGLE + 2.0f) yaw_dir = -1; if (gimbal_fetch_data.mini_yaw_encode_angle >= YAW_MAX_ENCODE_ANGLE - 2.0f) yaw_dir = 1; shoot_cmd_send.load_mode = LOAD_STOP; } trajectory_cal.v0 = 27; //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 >= 400) { 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; 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]); gimbal_cmd_send.yaw = trajectory_cal.cmd_yaw * 180 / PI; gimbal_cmd_send.pitch = trajectory_cal.cmd_pitch * 180 / PI; float yaw_err = fabsf(gimbal_cmd_send.yaw - gimbal_fetch_data.gimbal_imu_data.Yaw); if (yaw_err <= 5) //3度 { aim_select.suggest_fire = 1; shoot_cmd_send.shoot_mode = SHOOT_ON; shoot_cmd_send.shoot_rate = SHOOT_RATE; shoot_cmd_send.load_mode = LOAD_BURSTFIRE; } else { aim_select.suggest_fire = 0; //shoot_cmd_send.shoot_mode = SHOOT_OFF; shoot_cmd_send.load_mode = LOAD_STOP; } //摩擦轮始终开启 shoot_cmd_send.friction_mode = FRICTION_ON; } shoot_cmd_send.friction_mode = FRICTION_ON; // // // 摩擦轮控制,拨轮向上打为负,向下为正 // if (gimbal_cmd_recv.shoot_mode == SHOOT_ON)// 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; } static void TestControlSet() { //云台保持陀螺仪控制 gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; trajectory_cal.v0 = 28; //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 >= 200) { //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; 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]); gimbal_cmd_send.yaw = trajectory_cal.cmd_yaw * 180 / PI; gimbal_cmd_send.pitch = trajectory_cal.cmd_pitch * 180 / PI; float yaw_err = fabsf(gimbal_cmd_send.yaw - gimbal_fetch_data.gimbal_imu_data.Yaw); } shoot_cmd_send.shoot_mode = gimbal_cmd_recv.shoot_mode; shoot_cmd_send.load_mode = gimbal_cmd_recv.load_mode; shoot_cmd_send.friction_mode = gimbal_cmd_recv.friction_mode; // 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 = SHOOT_RATE; //检测到卡弹 拨弹盘反转 if (shoot_fetch_data.stalled_flag == 1) shoot_cmd_send.load_mode = LOAD_REVERSE; } /** * @brief 输入为键鼠时模式和控制量设置 * */ static void MouseKeySet() { 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.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.pitch += (float) rc_data[TEMP].mouse.y / 660 * 10; switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Z] % 3) // Z键设置弹速 { case 0: shoot_cmd_send.bullet_speed = 15; break; case 1: shoot_cmd_send.bullet_speed = 18; 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 { case 0: shoot_cmd_send.load_mode = LOAD_STOP; 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; 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.friction_mode = FRICTION_OFF; break; default: 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 { case 0: chassis_cmd_send.chassis_speed_buff = 40; 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; 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 { case 1: break; default: break; } } /** * @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. * * @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() { // 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 { robot_state = ROBOT_STOP; gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; 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; 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)) { robot_state = ROBOT_READY; shoot_cmd_send.shoot_mode = SHOOT_ON; gimbal_cmd_send.yaw = gimbal_fetch_data.big_yaw_angle; LOGINFO("[CMD] reinstate, robot ready"); } } static uint8_t cool_down; /* 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() { // 从其他应用获取回传数据 #ifdef ONE_BOARD 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); gimbal_cmd_recv = *(Gimbal_Ctrl_Cmd_s *) CANCommGet(cmd_can_comm); // 根据主控发来的信息，判断自动模式还是遥控模式 if (gimbal_cmd_recv.control_mode == RC_CONTROL) RemoteControlSet(); else if (gimbal_cmd_recv.control_mode == AUTO_CONTROL) AutoControlSet(); else if (gimbal_cmd_recv.control_mode == TEST_CONTROL) TestControlSet(); else if (gimbal_cmd_recv.control_mode == ZERO_FORCE) { gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; shoot_cmd_send.shoot_mode = SHOOT_OFF; } //热量控制 if (gimbal_cmd_recv.rest_heat > 350){ cool_down = 1; //进入冷却状态 }else if(gimbal_cmd_recv.rest_heat < 100){ cool_down = 0; //退出冷却状态 } if(cool_down){ shoot_cmd_send.shoot_rate = MIN_SHOOT_RATE; } EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况 // 设置视觉发送数据,还需增加加速度和角速度数据 // VisionSetFlag(chassis_fetch_data.enemy_color,,chassis_fetch_data.bullet_speed) VisionSetFlag(gimbal_cmd_recv.enemy_color); // 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); #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(gimbal_cmd_pub, (void *) &gimbal_cmd_send); //VisionSend(&vision_send_data); }