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新增图传链路

This commit is contained in:
宋家齐 2024-04-26 11:10:42 +08:00
parent ceec256ff1
commit 59d43f4c7b
21 changed files with 791 additions and 192 deletions
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2
CMakeLists.txt
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@ -53,7 +53,7 @@ include_directories(Inc Drivers/STM32F4xx_HAL_Driver/Inc Drivers/STM32F4xx_HAL_D
bsp bsp/adc bsp/can bsp/dwt bsp/flash bsp/gpio bsp/iic bsp/log bsp/pwm bsp/spi bsp/usart bsp/usb 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 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/standard_cmd
modules/super_cap modules/TFminiPlus modules/unicomm modules/vofa modules/power_meter modules/super_cap modules/TFminiPlus modules/unicomm modules/vofa modules/power_meter modules/auto_aim
modules/motor/DJImotor modules/motor/HTmotor modules/motor/LKmotor modules/motor/servo_motor modules/motor/step_motor modules/motor/ECmotor modules/motor/DJImotor modules/motor/HTmotor modules/motor/LKmotor modules/motor/servo_motor modules/motor/step_motor modules/motor/ECmotor
application application/chassis application/cmd application/gimbal application/shoot application application/chassis application/cmd application/gimbal application/shoot
Middlewares/Third_Party/SEGGER/RTT Middlewares/Third_Party/SEGGER/Config) Middlewares/Third_Party/SEGGER/RTT Middlewares/Third_Party/SEGGER/Config)

5
application/chassis/chassis.c
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@ -43,9 +43,6 @@ static Subscriber_t *chassis_sub; // 用于订阅底盘的控
static Chassis_Ctrl_Cmd_s chassis_cmd_recv; // 底盘接收到的控制命令 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_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据
static referee_info_t* referee_data; // 用于获取裁判系统的数据
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
static SuperCapInstance *cap; // 超级电容 static SuperCapInstance *cap; // 超级电容
static PowerMeterInstance *power_meter; //功率计 static PowerMeterInstance *power_meter; //功率计
static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left right forward back static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left right forward back
@ -110,7 +107,7 @@ void ChassisInit()
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL; chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
motor_rb = DJIMotorInit(&chassis_motor_config); 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
SuperCap_Init_Config_s cap_conf = { SuperCap_Init_Config_s cap_conf = {
.can_config = { .can_config = {

173
application/cmd/robot_cmd.c
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@ -8,6 +8,9 @@
#include "message_center.h" #include "message_center.h"
#include "general_def.h" #include "general_def.h"
#include "dji_motor.h" #include "dji_motor.h"
#include "auto_aim.h"
#include "referee_task.h"
#include "referee_UI.h"
// bsp // bsp
#include "bsp_dwt.h" #include "bsp_dwt.h"
#include "bsp_log.h" #include "bsp_log.h"
@ -19,6 +22,8 @@
/* cmd应用包含的模块实例指针和交互信息存储*/ /* 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 #ifdef GIMBAL_BOARD // 对双板的兼容,条件编译
#include "can_comm.h" #include "can_comm.h"
#include "user_lib.h"
static CANCommInstance *cmd_can_comm; // 双板通信 static CANCommInstance *cmd_can_comm; // 双板通信
#endif #endif
#ifdef ONE_BOARD #ifdef ONE_BOARD
@ -30,8 +35,15 @@ static Chassis_Ctrl_Cmd_s chassis_cmd_send; // 发送给底盘应用的信
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 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 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[2]; // 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 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 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 Subscriber_t *gimbal_feed_sub; // 云台反馈信息订阅者
@ -45,11 +57,16 @@ 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 static Robot_Status_e robot_state; // 机器人整体工作状态
static referee_info_t* referee_data; // 用于获取裁判系统的数据
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
void RobotCMDInit() 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 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(&huart1); // 视觉通信串口
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_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s)); gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s)); shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
@ -73,7 +90,7 @@ void RobotCMDInit()
#endif // GIMBAL_BOARD #endif // GIMBAL_BOARD
gimbal_cmd_send.pitch = 0; gimbal_cmd_send.pitch = 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 robot_state = ROBOT_STOP; // 轮腿 上电后进入ROBOT_STOP 保证安全(对应倒地状态）
} }
/** /**
@ -81,10 +98,12 @@ void RobotCMDInit()
* 单圈绝对角度的范围是0~360,说明文档中有图示 * 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 // 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; static float angle;
static float offset_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 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 YAW_ECD_GREATER_THAN_4096 // 如果大于180度
if (angle > YAW_ALIGN_ANGLE && angle <= 180.0f + YAW_ALIGN_ANGLE) if (angle > YAW_ALIGN_ANGLE && angle <= 180.0f + YAW_ALIGN_ANGLE)
@ -110,36 +129,76 @@ static void CalcOffsetAngle()
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? // 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; chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; 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],底盘跟随模式
{ {
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_FREE_MODE;
} }
// 云台参数,确定云台控制数据 // 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 // 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
// ... // ...
float yaw_add = -0.0005f * (float) rc_data[TEMP].rc.rocker_l_;
float pitch_add = -0.0003f * (float) rc_data[TEMP].rc.rocker_l1;
gimbal_cmd_send.yaw += yaw_add;
gimbal_cmd_send.pitch += pitch_add;
// 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 trajectory_cal.v0 = 30; //弹速30
gimbal_cmd_send.yaw += 0.0002f * (float)rc_data[TEMP].rc.rocker_l_; if (vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
gimbal_cmd_send.pitch += 0.0005f * (float)rc_data[TEMP].rc.rocker_l1; && 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;
auto_aim(&aim_select, &trajectory_cal, vision_recv_data);
gimbal_cmd_send.yaw = trajectory_cal.cmd_yaw * 180 / PI;
gimbal_cmd_send.pitch = trajectory_cal.cmd_pitch * 180 / PI;
float yaw_err = fabsf(trajectory_cal.cmd_yaw - gimbal_cmd_send.yaw);
if (yaw_err <= 0.008) //3度
aim_select.suggest_fire = 1;
else
aim_select.suggest_fire = 0;
}
} }
// 云台软件限位 // 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
chassis_cmd_send.vx = 8.0f * (float)rc_data[TEMP].rc.rocker_r1; // _水平方向 chassis_cmd_send.vx = 8.0f * (float)rc_data[TEMP].rc.rocker_r1; // _水平方向
chassis_cmd_send.vy = 8.0f * (float)rc_data[TEMP].rc.rocker_r_; // 1数值方向 chassis_cmd_send.vy = 8.0f * (float)rc_data[TEMP].rc.rocker_r_; // 1数值方向
//chassis_cmd_send.wz = 8.0f * (float)rc_data[TEMP].rc.rocker_r_; // 1数值方向
chassis_cmd_send.wz = 80.0f * (float)rc_data[TEMP].rc.rocker_l_; // 1数值方向
// 发射参数 // 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 if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开
@ -248,6 +307,84 @@ static void MouseKeySet()
} }
} }
/**
* @brief 输入为（图传链路）键鼠时模式和控制量设置
*
*/
static void VTMouseKeySet()
{
// 鼠标解析
vt_data[TEMP].mouse.x = referee_data->RemoteControl.mouse_x; //!< Mouse X axis
vt_data[TEMP].mouse.y = referee_data->RemoteControl.mouse_y; //!< Mouse Y axis
vt_data[TEMP].mouse.press_l = referee_data->RemoteControl.left_button_down; //!< Mouse Left Is Press ?
vt_data[TEMP].mouse.press_r = referee_data->RemoteControl.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_data[TEMP].key[KEY_PRESS] = referee_data->RemoteControl.keyboard_value;
if (vt_data[TEMP].key[KEY_PRESS].ctrl) // ctrl键按下
vt_data[TEMP].key[KEY_PRESS_WITH_CTRL] = vt_data[TEMP].key[KEY_PRESS];
else
memset(&vt_data[TEMP].key[KEY_PRESS_WITH_CTRL], 0, sizeof(Key_t));
if (vt_data[TEMP].key[KEY_PRESS].shift) // shift键按下
vt_data[TEMP].key[KEY_PRESS_WITH_SHIFT] = vt_data[TEMP].key[KEY_PRESS];
else
memset(&vt_data[TEMP].key[KEY_PRESS_WITH_SHIFT], 0, sizeof(Key_t));
uint16_t key_now = vt_data[TEMP].key[KEY_PRESS].keys, // 当前按键是否按下
key_last = vt_data[LAST].key[KEY_PRESS].keys, // 上一次按键是否按下
key_with_ctrl = vt_data[TEMP].key[KEY_PRESS_WITH_CTRL].keys, // 当前ctrl组合键是否按下
key_with_shift = vt_data[TEMP].key[KEY_PRESS_WITH_SHIFT].keys, // 当前shift组合键是否按下
key_last_with_ctrl = vt_data[LAST].key[KEY_PRESS_WITH_CTRL].keys, // 上一次ctrl组合键是否按下
key_last_with_shift = vt_data[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_data[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_data[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_data[TEMP].key_count[KEY_PRESS_WITH_SHIFT][i]++;
}
memcpy(&vt_data[LAST], &vt_data[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
chassis_cmd_send.vx = vt_data[TEMP].key[KEY_PRESS].w * 1500 - vt_data[TEMP].key[KEY_PRESS].s * 1500; // 系数待测
//chassis_cmd_send.vy = vt_data[TEMP].key[KEY_PRESS].s * 800 - vt_data[TEMP].key[KEY_PRESS].d * 800;
gimbal_cmd_send.yaw -= (float)vt_data[TEMP].mouse.x / 660 * 5; // 系数待测
gimbal_cmd_send.pitch += (float)vt_data[TEMP].mouse.y / 660 * 10;
switch (vt_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 (vt_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键侧身
{
case 0:
//chassis_cmd_send.offset_angle = CalcOffsetAngle();
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
break;
default:
//chassis_cmd_send.offset_angle = loop_float_constrain(CalcOffsetAngle() + 90,-180,180);
chassis_cmd_send.chassis_mode = CHASSIS_LATERAL;
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 * @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. * 停止的阈值'300'待修改成合适的值,或改为开关控制.
@ -294,9 +431,17 @@ void RobotCMDTask()
CalcOffsetAngle(); 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 // 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 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(); 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 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(); MouseKeySet();
}
else if (switch_is_mid(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[上],键盘控制
VTMouseKeySet();
EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况 EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况

15
application/cmd/robot_cmd.h
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@ -1,5 +1,20 @@
#ifndef ROBOT_CMD_H #ifndef ROBOT_CMD_H
#define ROBOT_CMD_H #define ROBOT_CMD_H
#include "remote_control.h"
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
/** /**

32
application/gimbal/gimbal.c
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@ -10,6 +10,7 @@
#include "vofa.h" #include "vofa.h"
#include "power_meter.h" #include "power_meter.h"
#include "referee_task.h"
static attitude_t *gimba_IMU_data; // 云台IMU数据 static attitude_t *gimba_IMU_data; // 云台IMU数据
@ -23,11 +24,12 @@ static Gimbal_Upload_Data_s gimbal_feedback_data; // 回传给cmd的云台状态
static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息 static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息
static float current_feedforward = 3000.0f; static float current_feedforward = 0.0f;//3000.0f;
static float GRAVITY_FEED = 0; //重力补偿前馈力矩系数
sin_input_generate_t sinInputGenerate; sin_input_generate_t sinInputGenerate;
void GimbalInit() 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 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 // YAW
Motor_Init_Config_s yaw_config = { Motor_Init_Config_s yaw_config = {
@ -77,7 +79,7 @@ void GimbalInit()
}, },
.controller_param_init_config = { .controller_param_init_config = {
.angle_PID = { .angle_PID = {
.Kp = 1.3f, // 10 .Kp = 0.8f, // 10
.Ki = 0, .Ki = 0,
.Kd = 0.0f, .Kd = 0.0f,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
@ -85,8 +87,8 @@ void GimbalInit()
.MaxOut = 500, .MaxOut = 500,
}, },
.speed_PID = { .speed_PID = {
.Kp = -2500, // 50 .Kp = 5000.0f,//2500, // 50
.Ki = -200, // 350 .Ki = 2000.0f,//200, // 350
.Kd = 0, // 0 .Kd = 0, // 0
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 10000, .IntegralLimit = 10000,
@ -103,7 +105,7 @@ void GimbalInit()
.outer_loop_type = ANGLE_LOOP, .outer_loop_type = ANGLE_LOOP,
.close_loop_type = ANGLE_LOOP|SPEED_LOOP|CURRENT_LOOP, .close_loop_type = ANGLE_LOOP|SPEED_LOOP|CURRENT_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL, .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
//.feedforward_flag = CURRENT_FEEDFORWARD, .feedforward_flag = CURRENT_FEEDFORWARD,
}, },
.motor_type = GM6020, .motor_type = GM6020,
.motor_control_type = CURRENT_CONTROL,//CURRENT_CONTROL .motor_control_type = CURRENT_CONTROL,//CURRENT_CONTROL
@ -127,6 +129,17 @@ void GimbalTask()
// 后续增加未收到数据的处理 // 后续增加未收到数据的处理
SubGetMessage(gimbal_sub, &gimbal_cmd_recv); SubGetMessage(gimbal_sub, &gimbal_cmd_recv);
// if(gimbal_cmd_recv.pitch_motor_ecd + (pitch_add) >= PITCH_MAX_ECD)
// {
// if(pitch_add > 0) gimbal_cmd_send.pitch = PITCH_MAX_ECD;
// // pitch_add = PITCH_MAX_ECD - gimbal_fetch_data.pitch_motor_ecd;
// }
// else if(gimbal_cmd_recv.pitch_motor_ecd + (pitch_add) <= PITCH_MIN_ECD)
// {
// if(pitch_add < 0) gimbal_cmd_send.pitch = PITCH_MIN_ECD;
// // pitch_add = PITCH_MIN_ECD - gimbal_fetch_data.pitch_motor_ecd;
// }
// @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 // @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 // 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)
@ -170,9 +183,10 @@ void GimbalTask()
//ANODT_SendF1(input*1000,pitch_motor->measure.speed_aps*1000,0,0); //ANODT_SendF1(input*1000,pitch_motor->measure.speed_aps*1000,0,0);
float theta = pitch_motor->measure.angle_single_round - 6200 * ECD_ANGLE_COEF_DJI; float theta = gimba_IMU_data->Pitch * DEGREE_2_RAD;
current_feedforward = GRAVITY_FEED * arm_cos_f32(theta);
float gravity_feed = 3800*arm_cos_f32(theta/180*PI);
float vofa_send_data[6]; float vofa_send_data[6];
vofa_send_data[0] = pitch_motor->measure.speed_aps; vofa_send_data[0] = pitch_motor->measure.speed_aps;
vofa_send_data[1] = gimba_IMU_data->Pitch; vofa_send_data[1] = gimba_IMU_data->Pitch;
@ -187,6 +201,8 @@ void GimbalTask()
// 设置反馈数据,主要是imu和yaw的ecd // 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.gimbal_imu_data = *gimba_IMU_data;
gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->measure.angle_single_round; gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->measure.angle_single_round;
gimbal_feedback_data.pitch_motor_ecd = pitch_motor->measure.angle_single_round + pitch_motor->motor_controller.angle_PID.Err;
// 推送消息 // 推送消息
PubPushMessage(gimbal_pub, (void *)&gimbal_feedback_data); PubPushMessage(gimbal_pub, (void *)&gimbal_feedback_data);

7
application/robot_def.h
View File

@ -26,11 +26,14 @@
/* 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 */ /* 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 // 云台参数
#define YAW_CHASSIS_ALIGN_ECD 8012 // 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 5046 // 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 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 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_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 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_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 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_MAX_ECD 5100 * ECD_ANGLE_COEF_DJI
#define PITCH_MIN_ECD 3900 * ECD_ANGLE_COEF_DJI
// 发射参数 // 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 36 // 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 49.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f
@ -86,6 +89,7 @@ typedef enum
CHASSIS_ROTATE, // 小陀螺模式 CHASSIS_ROTATE, // 小陀螺模式
CHASSIS_NO_FOLLOW, // 不跟随，允许全向平移 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_FOLLOW_GIMBAL_YAW, // 跟随模式，底盘叠加角度环控制
CHASSIS_LATERAL, // 侧向对敌
} chassis_mode_e; } chassis_mode_e;
// 云台模式设置 // 云台模式设置
@ -198,6 +202,7 @@ typedef struct
{ {
attitude_t gimbal_imu_data; attitude_t gimbal_imu_data;
uint16_t yaw_motor_single_round_angle; uint16_t yaw_motor_single_round_angle;
float pitch_motor_ecd;
} Gimbal_Upload_Data_s; } Gimbal_Upload_Data_s;
typedef struct typedef struct

48
application/shoot/shoot.c
View File

@ -52,7 +52,7 @@ void ShootInit()
.motor_reverse_flag = MOTOR_DIRECTION_REVERSE, .motor_reverse_flag = MOTOR_DIRECTION_REVERSE,
}, },
.motor_type = M3508}; .motor_type = M3508};
friction_config.can_init_config.tx_id = 3, friction_config.can_init_config.tx_id = 1,
friction_l = DJIMotorInit(&friction_config); 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 = 2; // 右摩擦轮,改txid和方向就行
@ -63,7 +63,7 @@ void ShootInit()
Motor_Init_Config_s loader_config = { Motor_Init_Config_s loader_config = {
.can_init_config = { .can_init_config = {
.can_handle = &hcan2, .can_handle = &hcan2,
.tx_id = 1 .tx_id = 3
}, },
.controller_param_init_config = { .controller_param_init_config = {
.angle_PID = { .angle_PID = {
@ -110,22 +110,26 @@ void stalled_detect()
static float last_total_angle = 0; static float last_total_angle = 0;
static uint8_t stalled_cnt = 0; static uint8_t stalled_cnt = 0;
last_detect_time = detect_time;
detect_time = DWT_GetTimeline_ms(); detect_time = DWT_GetTimeline_ms();
//last_detect_time + 200 > detect_time
if(detect_time - last_detect_time < 200) // 200ms 检测一次 if(detect_time - last_detect_time < 200) // 200ms 检测一次
return; 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.load_mode == LOAD_BURSTFIRE) if(shoot_cmd_recv.load_mode == LOAD_BURSTFIRE)
{ {
float reference_angle = (detect_time - last_detect_time) * loader->motor_controller.pid_ref * 1e3f; //if(real_angle < reference_angle * 0.2f)
float real_angle = loader->measure.total_angle - last_total_angle; if(abs(loader->measure.real_current)>=9500)
if(real_angle < reference_angle * 0.2f)
{ {
//stalled_cnt ++; //stalled_cnt ++;
shoot_feedback_data.stalled_flag = 1; 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;
} }
@ -179,7 +183,7 @@ void ShootTask()
// 连发模式,对速度闭环,射频后续修改为可变,目前固定为1Hz // 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: case LOAD_BURSTFIRE:
DJIMotorOuterLoop(loader, SPEED_LOOP); DJIMotorOuterLoop(loader, SPEED_LOOP);
DJIMotorSetRef(loader, shoot_cmd_recv.shoot_rate * 360 * REDUCTION_RATIO_LOADER / 8); DJIMotorSetRef(loader, 15* 360 * REDUCTION_RATIO_LOADER / 8);//shoot_cmd_recv.shoot_rate
// 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) // 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; break;
@ -187,9 +191,9 @@ void ShootTask()
// 也有可能需要从switch-case中独立出来 // 也有可能需要从switch-case中独立出来
case LOAD_REVERSE: case LOAD_REVERSE:
DJIMotorOuterLoop(loader, SPEED_LOOP); DJIMotorOuterLoop(loader, SPEED_LOOP);
DJIMotorSetRef(loader, 8 * 360 * REDUCTION_RATIO_LOADER / 8); // 固定速度反转 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 hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间
dead_time = 500; // 翻转500ms dead_time = 1000; // 翻转500ms
shoot_feedback_data.stalled_flag = 0 ; //清除堵转标志 shoot_feedback_data.stalled_flag = 0 ; //清除堵转标志
// ... // ...
break; break;
@ -204,18 +208,18 @@ void ShootTask()
// 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 // 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, 30000);
DJIMotorSetRef(friction_r, 30000); DJIMotorSetRef(friction_r, 30000);

2
bsp/usb/bsp_usb.c
View File

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

6
gimbal.jdebug
View File

@ -22,12 +22,12 @@ void OnProjectLoad (void) {
// //
// Dialog-generated settings // Dialog-generated settings
// //
Project.AddPathSubstitute ("D:/CLion/Project/wheel_legged_gimbal", "$(ProjectDir)");
Project.AddPathSubstitute ("d:/clion/project/wheel_legged_gimbal", "$(ProjectDir)");
Project.SetDevice ("STM32F407IG"); Project.SetDevice ("STM32F407IG");
Project.SetHostIF ("USB", "17935099"); Project.SetHostIF ("USB", "17935099");
Project.SetTargetIF ("SWD"); Project.SetTargetIF ("SWD");
Project.SetTIFSpeed ("Automatic"); Project.SetTIFSpeed ("5 MHz");
Project.AddPathSubstitute ("D:/CLion/Project/wheel_legged_gimbal", "$(ProjectDir)");
Project.AddPathSubstitute ("d:/clion/project/wheel_legged_gimbal", "$(ProjectDir)");
// //
// User settings // User settings
// //

67
gimbal.jdebug.user
View File

@ -1,35 +1,52 @@
OpenDocument="gimbal.c", FilePath="D:/CLion/Project/wheel_legged_gimbal/application/gimbal/gimbal.c", Line=0 GraphedExpression="((vt_data[0]).mouse).x", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#e56a6f
OpenDocument="controller.h", FilePath="D:/CLion/Project/wheel_legged_gimbal/modules/algorithm/controller.h", Line=74 OpenDocument="robot_cmd.c", FilePath="D:/CLion/Project/wheel_legged_gimbal/application/cmd/robot_cmd.c", Line=89
OpenDocument="bsp_dwt.c", FilePath="D:/CLion/Project/wheel_legged_gimbal/bsp/dwt/bsp_dwt.c", Line=101
OpenDocument="main.c", FilePath="D:/CLion/Project/wheel_legged_gimbal/Src/main.c", Line=70 OpenDocument="main.c", FilePath="D:/CLion/Project/wheel_legged_gimbal/Src/main.c", Line=70
OpenDocument="arm_mat_mult_f32.c", FilePath="C:/Users/clamar01/fork3/CMSIS_5/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f32.c", Line=0 OpenDocument="dji_motor.c", FilePath="D:/CLion/Project/wheel_legged_gimbal/modules/motor/DJImotor/dji_motor.c", Line=137
OpenDocument="stm32f4xx_hal_spi.c", FilePath="D:/CLion/Project/wheel_legged_gimbal/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c", Line=3479 OpenDocument="bsp_dwt.c", FilePath="D:/CLion/Project/wheel_legged_gimbal/bsp/dwt/bsp_dwt.c", Line=101
OpenDocument="ins_task.c", FilePath="D:/CLion/Project/wheel_legged_gimbal/modules/imu/ins_task.c", Line=30 OpenDocument="tasks.c", FilePath="D:/CLion/Project/wheel_legged_gimbal/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3414
OpenDocument="tasks.c", FilePath="D:/CLion/Project/wheel_legged_gimbal/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3400 OpenDocument="SEGGER_RTT_printf.c", FilePath="D:/CLion/Project/wheel_legged_gimbal/Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT_printf.c", Line=108
OpenDocument="dji_motor.c", FilePath="D:/CLion/Project/wheel_legged_gimbal/modules/motor/DJImotor/dji_motor.c", Line=157 OpenDocument="shoot.c", FilePath="D:/CLion/Project/wheel_legged_gimbal/application/shoot/shoot.c", Line=99
OpenDocument="robot.c", FilePath="D:/CLion/Project/wheel_legged_gimbal/application/robot.c", Line=8
OpenDocument="master_process.c", FilePath="D:/CLion/Project/wheel_legged_gimbal/modules/master_machine/master_process.c", Line=155
OpenDocument="stm32f4xx_hal_spi.c", FilePath="D:/CLion/Project/wheel_legged_gimbal/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c", Line=1274
OpenDocument="gimbal.c", FilePath="D:/CLion/Project/wheel_legged_gimbal/application/gimbal/gimbal.c", Line=125
OpenDocument="startup_stm32f407ighx.s", FilePath="D:/CLion/Project/wheel_legged_gimbal/Startup/startup_stm32f407ighx.s", Line=52
OpenDocument="controller.c", FilePath="D:/CLion/Project/wheel_legged_gimbal/modules/algorithm/controller.c", Line=57
OpenToolbar="Debug", Floating=0, x=0, y=0 OpenToolbar="Debug", Floating=0, x=0, y=0
OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=695, h=518, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1 OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=695, h=394, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=569, h=219, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=569, h=278, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=695, h=102, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=695, h=226, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Memory 1", DockArea=BOTTOM, x=2, y=0, w=406, h=287, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x0 OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=128, h=287, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x0
OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=569, h=417, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=569, h=358, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Data Sampling", DockArea=BOTTOM, x=1, y=0, w=1022, h=287, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=986, h=287, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Timeline", DockArea=RIGHT, x=0, y=1, w=695, h=518, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="5 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="0;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="541;-9", CodeGraphLegendShown=0, CodeGraphLegendPosition="499;6" OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=264, h=287, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
OpenWindow="Console", DockArea=BOTTOM, x=0, y=0, w=490, h=287, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Timeline", DockArea=RIGHT, x=0, y=1, w=695, h=394, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="2 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="0;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="313;0", CodeGraphLegendShown=0, CodeGraphLegendPosition="326;0"
OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=539, h=287, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1" SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;118;100] TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;118;456]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;922] TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[233;100;100;100;784]
TableHeader="Data Sampling Setup", SortCol="Type", SortOrder="DESCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[359;100;100;100;100;100;100;107;107] TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" ((vt_data[0]).mouse).x"], ColWidths=[100;100;100]
TableHeader="Data Sampling Setup", SortCol="Type", SortOrder="DESCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[359;100;100;100;100;102;100;107;107]
TableHeader="Power Sampling", SortCol="Index", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100] TableHeader="Power Sampling", SortCol="Index", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
TableHeader="Task List", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Name";"Run Count";"Priority";"Status";"Timeout";"Stack Info";"ID";"Mutex Count";"Notified Value";"Notify State"], ColWidths=[110;110;110;110;110;110;110;110;110;110] TableHeader="Task List", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Name";"Run Count";"Priority";"Status";"Timeout";"Stack Info";"ID";"Mutex Count";"Notified Value";"Notify State"], ColWidths=[110;110;110;110;110;110;110;110;110;110]
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[166;134;100;148] TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[166;134;100;148]
TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[] TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;351] TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;351]
TableHeader="Source Files", SortCol="File", SortOrder="DESCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[233;100;100;100;784] WatchedExpression="friction_l", RefreshRate=2, Window=Watched Data 1
WatchedExpression="INS", RefreshRate=2, Window=Watched Data 1 WatchedExpression="yaw_motor", RefreshRate=2, Window=Watched Data 1
WatchedExpression="pitch_motor", Window=Watched Data 1 WatchedExpression="rc_data", RefreshRate=2, Window=Watched Data 1
WatchedExpression="current_feedforward", Window=Watched Data 1 WatchedExpression="gimbal_cmd_recv", RefreshRate=2, Window=Watched Data 1
WatchedExpression="yaw_motor", RefreshRate=5, Window=Watched Data 1 WatchedExpression="pitch_motor", RefreshRate=2, Window=Watched Data 1
WatchedExpression="included", Window=Watched Data 1 WatchedExpression="shoot_feedback_data", RefreshRate=2, Window=Watched Data 1
WatchedExpression="shoot_cmd_recv", RefreshRate=5, Window=Watched Data 1
WatchedExpression="loader", RefreshRate=2, Window=Watched Data 1
WatchedExpression="referee_data", RefreshRate=2, Window=Watched Data 1
WatchedExpression="GRAVITY_FEED", RefreshRate=2, Window=Watched Data 1
WatchedExpression="GRAVITY_FEED", Window=Watched Data 1
WatchedExpression="GRAVITY_FEED", Window=Watched Data 1
WatchedExpression="rc_data", Window=Watched Data 1
WatchedExpression="gimbal_cmd_send", RefreshRate=2, Window=Watched Data 1
WatchedExpression="vt_data", RefreshRate=2, Window=Watched Data 1
WatchedExpression="chassis_cmd_send", RefreshRate=2, Window=Watched Data 1

93
modules/algorithm/crc16.c
View File

@ -1,7 +1,29 @@
#include "crc16.h" #include "crc16.h"
static uint8_t crc_tab16_init = 0; 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 ); * 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 *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。 *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;
return crc; 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 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。 *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; uint16_t crc;
const uint8_t *ptr; const uint8_t *ptr;
uint16_t a; uint16_t a;
@ -48,10 +77,9 @@ uint16_t crc_modbus(const uint8_t *input_str, uint16_t num_bytes)
crc = CRC_START_MODBUS; crc = CRC_START_MODBUS;
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; 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 *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。 *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) if (!crc_tab16_init)
init_crc16_tab(); 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 *查找表首次由init_crc16_tab()例程计算
*调用循环冗余校验函数。 *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 i;
uint16_t j; uint16_t j;
uint16_t crc; uint16_t crc;
uint16_t c; uint16_t c;
for (i = 0; i < 256; i++) for (i = 0; i < 256; i++) {
{
crc = 0; crc = 0;
c = i; c = i;
for (j = 0; j < 8; j++) for (j = 0; j < 8; j++) {
{
if ((crc ^ c) & 0x0001) if ((crc ^ c) & 0x0001)
crc = (crc >> 1) ^ CRC_POLY_16; crc = (crc >> 1) ^ CRC_POLY_16;
else else
@ -99,3 +123,12 @@ void init_crc16_tab(void)
} }
crc_tab16_init = 1; 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]);
}

2
modules/algorithm/crc16.h
View File

@ -11,4 +11,6 @@ uint16_t crc_modbus(const uint8_t *input_str, uint16_t num_bytes);
uint16_t update_crc_16(uint16_t crc, uint8_t c); uint16_t update_crc_16(uint16_t crc, uint8_t c);
void init_crc16_tab(void); void init_crc16_tab(void);
uint32_t VerifyCRC16CheckSum(uint8_t *pchMessage, uint32_t dwLength);
#endif #endif

193
modules/auto_aim/auto_aim.c Normal file
View File

@ -0,0 +1,193 @@
//
// Created by SJQ on 2024/1/26.
//
#include "auto_aim.h"
//
// 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
*/
void 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;
}
} 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;
}
}
} 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;
}
}
}
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;
}
/**
* @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（小弹丸）
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;
}
void 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;
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);
}

83
modules/auto_aim/auto_aim.h Normal file
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@ -0,0 +1,83 @@
//
// Created by SJQ on 2024/1/26.
//
#ifndef WHEEL_LEGGED_GIMBAL_AUTO_AIM_H
#define WHEEL_LEGGED_GIMBAL_AUTO_AIM_H
//
// Created by sph on 2024/1/21.
//
#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;
void 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);
void auto_aim(Aim_Select_Type_t *aim_sel,Trajectory_Type_t *trajectory_cal,RecievePacket_t *receive_packet);
#endif //WHEEL_LEGGED_GIMBAL_AUTO_AIM_H

3
modules/imu/ins_task.c
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@ -168,7 +168,8 @@ void INS_Task(void)
INS.Roll = QEKF_INS.Roll; INS.Roll = QEKF_INS.Roll;
INS.YawTotalAngle = QEKF_INS.YawTotalAngle; INS.YawTotalAngle = QEKF_INS.YawTotalAngle;
VisionSetAltitude(INS.Yaw, INS.Pitch, INS.Roll); //VisionSetAltitude(INS.Yaw, INS.Pitch, INS.Roll);
VisionSetAltitude(INS.Yaw * PI / 180, INS.Pitch * PI / 180);
} }
// temperature control // temperature control

81
modules/master_machine/master_process.c
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@ -13,25 +13,42 @@
#include "daemon.h" #include "daemon.h"
#include "bsp_log.h" #include "bsp_log.h"
#include "robot_def.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; 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.yaw = yaw;
send_data.pitch = pitch; 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 * @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 * @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
@ -113,17 +130,24 @@ void VisionSend()
#ifdef VISION_USE_VCP #ifdef VISION_USE_VCP
#include "bsp_usb.h" #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) 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 */ /* 视觉通信初始化 */
Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle) RecievePacket_t *VisionInit(UART_HandleTypeDef *_handle)
{ {
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}; USB_Init_Config_s conf = {.rx_cbk = DecodeVision};
@ -131,9 +155,9 @@ Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle)
// 为master process注册daemon,用于判断视觉通信是否离线 // 为master process注册daemon,用于判断视觉通信是否离线
Daemon_Init_Config_s daemon_conf = { Daemon_Init_Config_s daemon_conf = {
.callback = VisionOfflineCallback, // 离线时调用的回调函数,会重启串口接收 .callback = VisionOfflineCallback, // 离线时调用的回调函数,会重启串口接收
.owner_id = NULL, .owner_id = NULL,
.reload_count = 5, // 50ms .reload_count = 5, // 50ms
}; };
vision_daemon_instance = DaemonRegister(&daemon_conf); vision_daemon_instance = DaemonRegister(&daemon_conf);
@ -142,14 +166,23 @@ Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle)
void VisionSend() 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(1);
VisionSetAim(recv_data.x,recv_data.y,recv_data.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 #endif // VISION_USE_VCP

144
modules/master_machine/master_process.h
View File

@ -8,77 +8,103 @@
#define VISION_SEND_SIZE 36u #define VISION_SEND_SIZE 36u
#pragma pack(1) #pragma pack(1)
typedef enum typedef enum {
{ NO_FIRE = 0,
NO_FIRE = 0, AUTO_FIRE = 1,
AUTO_FIRE = 1, AUTO_AIM = 2
AUTO_AIM = 2
} Fire_Mode_e; } Fire_Mode_e;
typedef enum typedef enum {
{ NO_TARGET = 0,
NO_TARGET = 0, TARGET_CONVERGING = 1,
TARGET_CONVERGING = 1, READY_TO_FIRE = 2
READY_TO_FIRE = 2
} Target_State_e; } Target_State_e;
typedef enum typedef enum {
{ NO_TARGET_NUM = 0,
NO_TARGET_NUM = 0, HERO1 = 1,
HERO1 = 1, ENGINEER2 = 2,
ENGINEER2 = 2, INFANTRY3 = 3,
INFANTRY3 = 3, INFANTRY4 = 4,
INFANTRY4 = 4, INFANTRY5 = 5,
INFANTRY5 = 5, OUTPOST = 6,
OUTPOST = 6, SENTRY = 7,
SENTRY = 7, BASE = 8
BASE = 8
} Target_Type_e; } Target_Type_e;
typedef struct typedef struct {
{ Fire_Mode_e fire_mode;
Fire_Mode_e fire_mode; Target_State_e target_state;
Target_State_e target_state; Target_Type_e target_type;
Target_Type_e target_type;
float pitch; float pitch;
float yaw; float yaw;
} Vision_Recv_s; } 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; } Enemy_Color_e;
typedef enum typedef enum {
{ VISION_MODE_AIM = 0,
VISION_MODE_AIM = 0, VISION_MODE_SMALL_BUFF = 1,
VISION_MODE_SMALL_BUFF = 1, VISION_MODE_BIG_BUFF = 2
VISION_MODE_BIG_BUFF = 2
} Work_Mode_e; } Work_Mode_e;
typedef enum typedef enum {
{ BULLET_SPEED_NONE = 0,
BULLET_SPEED_NONE = 0, BIG_AMU_10 = 10,
BIG_AMU_10 = 10, SMALL_AMU_15 = 15,
SMALL_AMU_15 = 15, BIG_AMU_16 = 16,
BIG_AMU_16 = 16, SMALL_AMU_18 = 18,
SMALL_AMU_18 = 18, SMALL_AMU_30 = 30,
SMALL_AMU_30 = 30,
} Bullet_Speed_e; } Bullet_Speed_e;
typedef struct typedef struct {
{ Enemy_Color_e enemy_color;
Enemy_Color_e enemy_color; Work_Mode_e work_mode;
Work_Mode_e work_mode; Bullet_Speed_e bullet_speed;
Bullet_Speed_e bullet_speed;
float yaw; float yaw;
float pitch; float pitch;
float roll; float roll;
} Vision_Send_s; } 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() #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) * @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(UART_HandleTypeDef *_handle);
/** /**
* @brief 发送视觉数据 * @brief 发送视觉数据
@ -101,7 +128,8 @@ void VisionSend();
* @param work_mode * @param work_mode
* @param bullet_speed * @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 * @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 yaw
* @param pitch * @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 #endif // !MASTER_PROCESS_H

18
modules/referee/referee_protocol.h
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@ -83,6 +83,8 @@ typedef enum
ID_robot_hurt = 0x0206, // 伤害状态数据 ID_robot_hurt = 0x0206, // 伤害状态数据
ID_shoot_data = 0x0207, // 实时射击数据 ID_shoot_data = 0x0207, // 实时射击数据
ID_student_interactive = 0x0301, // 机器人间交互数据 ID_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; } 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 */ /* 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 */
@ -102,6 +104,8 @@ typedef enum
LEN_shoot_data = 7, // 0x0207 LEN_shoot_data = 7, // 0x0207
LEN_receive_data = 6 + Communicate_Data_LEN, // 0x0301 LEN_receive_data = 6 + Communicate_Data_LEN, // 0x0301
LEN_remote_control = 12, // 0x0304
} JudgeDataLength_e; } JudgeDataLength_e;
/****************************接收数据的详细说明****************************/ /****************************接收数据的详细说明****************************/
@ -227,6 +231,20 @@ typedef struct
float bullet_speed; float bullet_speed;
} ext_shoot_data_t; } ext_shoot_data_t;
/****************************图传链路数据****************************/
/* ID: 0x0304 Byte: 7 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;
}remote_control_t;
/****************************图传链路数据****************************/
/****************************机器人交互数据****************************/ /****************************机器人交互数据****************************/
/****************************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*/ /* 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*/

3
modules/referee/rm_referee.c
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@ -95,6 +95,9 @@ static void JudgeReadData(uint8_t *buff)
case ID_student_interactive: // 0x0301 syhtodo接收代码未测试 case ID_student_interactive: // 0x0301 syhtodo接收代码未测试
memcpy(&referee_info.ReceiveData, (buff + DATA_Offset), LEN_receive_data); memcpy(&referee_info.ReceiveData, (buff + DATA_Offset), LEN_receive_data);
break; break;
case ID_remote_control: // 0x0302
memcpy(&referee_info.RemoteControl, (buff + DATA_Offset), LEN_remote_control);
break;
} }
} }
} }

2
modules/referee/rm_referee.h
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@ -38,6 +38,8 @@ typedef struct
ext_robot_hurt_t RobotHurt; // 0x0206 ext_robot_hurt_t RobotHurt; // 0x0206
ext_shoot_data_t ShootData; // 0x0207 ext_shoot_data_t ShootData; // 0x0207
remote_control_t RemoteControl; // 0x304
// 自定义交互数据的接收 // 自定义交互数据的接收
Communicate_ReceiveData_t ReceiveData; Communicate_ReceiveData_t ReceiveData;

2
modules/remote/remote_control.h
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@ -113,6 +113,8 @@ typedef struct
uint8_t key_count[3][16]; uint8_t key_count[3][16];
} RC_ctrl_t; } RC_ctrl_t;
/* ------------------------- Internal Data ----------------------------------- */ /* ------------------------- Internal Data ----------------------------------- */
/** /**