From 332ff6d7392cf7f3f16ccf58bb37e1fa998eeb04 Mon Sep 17 00:00:00 2001 From: zyx <1323655521@qq.com> Date: Sun, 26 May 2024 11:29:21 +0800 Subject: [PATCH] =?UTF-8?q?=E5=AF=B9=E6=8A=97=E8=B5=9B=E7=89=88=E6=9C=AC?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- application/chassis/chassis.c | 49 +- application/cmd/robot_cmd.c | 141 +- application/robot_def.h | 3 +- application/shoot/shoot.c | 8 +- .../application/chassis/chassis.c.obj | Bin 26032 -> 26496 bytes .../application/cmd/robot_cmd.c.obj | Bin 36904 -> 37424 bytes .../application/gimbal/gimbal.c.obj | Bin 19004 -> 19004 bytes .../application/shoot/shoot.c.obj | Bin 26432 -> 26416 bytes .../modules/referee/referee_task.c.obj | Bin 30876 -> 28844 bytes cmake-build-debug/basic_framework.bin | Bin 138420 -> 138340 bytes cmake-build-debug/basic_framework.elf | Bin 1402804 -> 1403028 bytes cmake-build-debug/basic_framework.hex | 11466 ++++++++-------- cmake-build-debug/basic_framework.map | 3240 ++--- modules/imu/ins_task.c | 2 +- modules/referee/referee_task.c | 15 +- xs.jdebug | 10 +- xs.jdebug.user | 48 +- 17 files changed, 7476 insertions(+), 7506 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index c38af74..bc23d54 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -107,14 +107,14 @@ void ChassisInit() { //左前 chassis_motor_config.can_init_config.tx_id = 2; chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL; - chassis_motor_config.controller_param_init_config.speed_PID.Kp = 4.5f; + chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.0f; chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f; chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f; motor_lf = DJIMotorInit(&chassis_motor_config); //左后 chassis_motor_config.can_init_config.tx_id = 3; chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL; - chassis_motor_config.controller_param_init_config.speed_PID.Kp = 4.5f; + chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.5f; chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f; chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f; motor_lb = DJIMotorInit(&chassis_motor_config); @@ -276,7 +276,8 @@ static void EstimateSpeed() { // chassis_feedback_data.vx vy wz = // ... } - +static chassis_mode_e last_chassis_mode; +static float rotate_speed = 80000; /* 机器人底盘控制核心任务 */ void ChassisTask() { // 后续增加没收到消息的处理(双板的情况) @@ -300,26 +301,30 @@ void ChassisTask() { DJIMotorEnable(motor_rb); } - // 根据控制模式设定旋转速度 - switch (chassis_cmd_recv.chassis_mode) { - case CHASSIS_NO_FOLLOW: // 底盘不旋转,但维持全向机动,一般用于调整云台姿态 - chassis_cmd_recv.wz = 0; - break; - case CHASSIS_FOLLOW_GIMBAL_YAW: // 跟随云台,不单独设置pid,以误差角度平方为速度输出 - chassis_cmd_recv.wz = 10.0f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle); - LIMIT_MIN_MAX(chassis_cmd_recv.wz,-30000,30000); - break; - case CHASSIS_SIDEWAYS: // 侧向,不单独设置pid,以误差角度平方为速度输出 - chassis_cmd_recv.wz = 10.0f * (chassis_cmd_recv.offset_angle - 45)* abs(chassis_cmd_recv.offset_angle - 45); - LIMIT_MIN_MAX(chassis_cmd_recv.wz,-30000,30000); - break; - case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略 - chassis_cmd_recv.wz = 30000; - break; - default: - break; - } + // 根据控制模式设定旋转速度 + switch (chassis_cmd_recv.chassis_mode) { + case CHASSIS_NO_FOLLOW: // 底盘不旋转,但维持全向机动,一般用于调整云台姿态 + chassis_cmd_recv.wz = 0; + break; + case CHASSIS_FOLLOW_GIMBAL_YAW: // 跟随云台,不单独设置pid,以误差角度平方为速度输出 + chassis_cmd_recv.wz = 40.0f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle); + LIMIT_MIN_MAX(chassis_cmd_recv.wz,-40000,40000); + break; + case CHASSIS_SIDEWAYS: // 侧向,不单独设置pid,以误差角度平方为速度输出 + chassis_cmd_recv.wz = 40.0f * (chassis_cmd_recv.offset_angle - 45)* abs(chassis_cmd_recv.offset_angle - 45); + LIMIT_MIN_MAX(chassis_cmd_recv.wz,-40000,40000); + break; + case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略 + if(last_chassis_mode != CHASSIS_ROTATE){ + rotate_speed = -rotate_speed; + } + chassis_cmd_recv.wz = rotate_speed; + break; + default: + break; + } + last_chassis_mode = chassis_cmd_recv.chassis_mode; // 根据云台和底盘的角度offset将控制量映射到底盘坐标系上 // 底盘逆时针旋转为角度正方向;云台命令的方向以云台指向的方向为x,采用右手系(x指向正北时y在正东) static float sin_theta, cos_theta; diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 58dd168..f448b18 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -127,12 +127,22 @@ static void CalcOffsetAngle() { //功能：死亡后清除小陀螺的状态 static void death_check() { - if(referee_data->GameRobotState.current_HP <= 0) + if(referee_data->GameRobotState.current_HP <= 0 || referee_data->GameRobotState.power_management_chassis_output == 0) { rc_data[TEMP].key_count[KEY_PRESS][Key_E] = 0; + gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle; } } +//功能：等级提升弹频提高 +static void shoot_rate_improve() +{ + if(referee_data->GameRobotState.robot_level <= 5) + shoot_cmd_send.shoot_rate = 18; + if(referee_data->GameRobotState.robot_level >= 5) + shoot_cmd_send.shoot_rate = 25; +} + static void update_ui_data() { ui_data.chassis_mode = chassis_cmd_send.chassis_mode; //ui_data.gimbal_mode = gimbal_cmd_send.gimbal_mode; @@ -270,7 +280,7 @@ static void RemoteControlSet() { // } // 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 = 18;// 小 18 + shoot_cmd_send.shoot_rate = 18; if(shoot_fetch_data.stalled_flag ==1) shoot_cmd_send.loader_mode = LOAD_REVERSE; @@ -286,8 +296,8 @@ static void hand_aim_mode() { * */ static void MouseKeySet() { - chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 3000 - rc_data[TEMP].key[KEY_PRESS].s * 3000; // 系数待测 - chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 3000 - rc_data[TEMP].key[KEY_PRESS].d * 3000; + chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 10000 - rc_data[TEMP].key[KEY_PRESS].s * 10000; // 系数待测 + chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 10000 - rc_data[TEMP].key[KEY_PRESS].d * 10000; gimbal_cmd_send.yaw -= (float) rc_data[TEMP].mouse.x / 660 * 4; // 系数待测 gimbal_cmd_send.pitch += (float) rc_data[TEMP].mouse.y / 660 * 6; @@ -368,17 +378,17 @@ static void MouseKeySet() { shoot_cmd_send.lid_mode = LID_OPEN; break; } -// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺 -// { -// case 0: -// chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; -// gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE; -// break; -// default: -// chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; -// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; -// break; -// } + switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺 + { + case 0: + chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; + gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE; + break; + default: + chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; + gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; + break; + } switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关热控 { case 0: @@ -388,25 +398,6 @@ static void MouseKeySet() { shoot_cmd_send.heat_mode = HEAT_CLOSE; break; } - switch (rc_data[TEMP].key_count[KEY_PRESS][Key_C] % 2) // C键侧向 - { - case 0: - switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺 - { - case 0: - chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; - gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE; - break; - default: - chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; - gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; - break; - } - break; - case 1: - chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS; - break; - } // switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式 // { // case 0: @@ -425,11 +416,12 @@ static void MouseKeySet() { chassis_cmd_send.buffer_supercap = 5; break; case 1: - chassis_cmd_send.buffer_supercap = 195; + chassis_cmd_send.buffer_supercap = 200; + chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 15000 - rc_data[TEMP].key[KEY_PRESS].d * 15000; break; } - shoot_cmd_send.shoot_rate = 25; + shoot_rate_improve(); if(shoot_fetch_data.stalled_flag ==1) shoot_cmd_send.loader_mode = LOAD_REVERSE; @@ -443,8 +435,8 @@ static void MouseKeySet() { */ static void VTMouseKeySet() { - chassis_cmd_send.vy = vt_data[TEMP].key[KEY_PRESS].w * 6000 - vt_data[TEMP].key[KEY_PRESS].s * 6000; // 系数待测 小 3000 3000 - chassis_cmd_send.vx = vt_data[TEMP].key[KEY_PRESS].a * 3000 - vt_data[TEMP].key[KEY_PRESS].d * 3000; + chassis_cmd_send.vy = vt_data[TEMP].key[KEY_PRESS].w * 10000 - vt_data[TEMP].key[KEY_PRESS].s * 10000; // 系数待测 小 3000 3000 + chassis_cmd_send.vx = vt_data[TEMP].key[KEY_PRESS].a * 10000 - vt_data[TEMP].key[KEY_PRESS].d * 10000; gimbal_cmd_send.yaw -= (float) vt_data[TEMP].mouse.x / 660 * 4; // 系数待测 gimbal_cmd_send.pitch += (float) vt_data[TEMP].mouse.y / 660 * 6; @@ -521,34 +513,15 @@ static void VTMouseKeySet() shoot_cmd_send.lid_mode = LID_OPEN; break; } -// switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺 -// { -// case 0: -// chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; -// gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE; -// break; -// default: -// chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; -// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; -// break; -// } - switch (vt_data[TEMP].key_count[KEY_PRESS][Key_C] % 2) // C键侧向 + switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺 { case 0: - switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺 - { - case 0: - chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; - gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE; - break; - default: - chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; - gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; - break; - } + chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; + gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE; break; - case 1: - chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS; + default: + chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; + gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; break; } switch (vt_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关热控 @@ -578,11 +551,12 @@ static void VTMouseKeySet() chassis_cmd_send.buffer_supercap = 5; break; case 1: - chassis_cmd_send.buffer_supercap = 195; + chassis_cmd_send.buffer_supercap = 200; + chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 15000 - rc_data[TEMP].key[KEY_PRESS].d * 15000; break; } - shoot_cmd_send.shoot_rate = 25; + shoot_rate_improve(); if(shoot_fetch_data.stalled_flag ==1) shoot_cmd_send.loader_mode = LOAD_REVERSE; @@ -614,6 +588,7 @@ static void EmergencyHandler() { 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.gimbal_imu_data.YawTotalAngle; LOGINFO("[CMD] reinstate, robot ready"); } } @@ -632,18 +607,19 @@ void RobotCMDTask() { update_ui_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static私有变量完成 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 - if (switch_is_down(rc_data[TEMP].rc.switch_left) || - switch_is_mid(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[下],[中],遥控器控制 - RemoteControlSet(); - else if (switch_is_up(rc_data[TEMP].rc.switch_left) && - switch_is_mid(rc_data[TEMP].rc.switch_right)) // 遥控器左侧开关状态为[上],键盘控制,遥控器右侧开关状态为[中],遥控器通道 - MouseKeySet(); - else if (switch_is_up(rc_data[TEMP].rc.switch_left) && - switch_is_up(rc_data[TEMP].rc.switch_right)) // 遥控器左侧开关状态为[上],键盘控制，遥控器右侧开关状态为[上],图传链路通道 - VTMouseKeySet(); - EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况 + if (robot_state != ROBOT_STOP ){ + // 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) || + switch_is_mid(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[下],[中],遥控器控制 + RemoteControlSet(); + else if (switch_is_up(rc_data[TEMP].rc.switch_left) && + switch_is_mid(rc_data[TEMP].rc.switch_right)) // 遥控器左侧开关状态为[上],键盘控制,遥控器右侧开关状态为[中],遥控器通道 + MouseKeySet(); + else if (switch_is_up(rc_data[TEMP].rc.switch_left) && + switch_is_up(rc_data[TEMP].rc.switch_right)) // 遥控器左侧开关状态为[上],键盘控制，遥控器右侧开关状态为[上],图传链路通道 + VTMouseKeySet(); + } // 设置视觉发送数据,还需增加加速度和角速度数据 VisionSetFlag(!referee_data->referee_id.Robot_Color); @@ -657,6 +633,17 @@ void RobotCMDTask() { shoot_cmd_send.heat_limit = referee_data->GameRobotState.shooter_barrel_heat_limit; shoot_cmd_send.heat_cool = referee_data->GameRobotState.shooter_barrel_cooling_value; + if(referee_data->GameRobotState.power_management_chassis_output == 0){ + chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE; + } + if(referee_data->GameRobotState.power_management_gimbal_output == 0){ + gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; + } + if (referee_data->GameRobotState.power_management_shooter_output == 0){ + shoot_cmd_send.shoot_mode = SHOOT_OFF; + } + + death_check(); // 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 @@ -667,5 +654,5 @@ void RobotCMDTask() { #endif // GIMBAL_BOARD PubPushMessage(shoot_cmd_pub, (void *) &shoot_cmd_send); PubPushMessage(gimbal_cmd_pub, (void *) &gimbal_cmd_send); - VisionSend(&vision_send_data); + } diff --git a/application/robot_def.h b/application/robot_def.h index 2d256f1..248e09d 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -26,7 +26,7 @@ /* 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 -#define YAW_CHASSIS_ALIGN_ECD 2053 // 小 1443 大2053 // 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 1393 // 小 1443 大2053 // 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 PITCH_HORIZON_ECD 4422 // 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 25 // 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) @@ -162,6 +162,7 @@ typedef struct uint16_t chassis_power_limit; uint16_t buffer_energy; uint16_t buffer_supercap; + uint8_t chassic_flag; // UI部分 // ... diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c index 4ce1834..c133f2b 100644 --- a/application/shoot/shoot.c +++ b/application/shoot/shoot.c @@ -254,8 +254,8 @@ void ShootTask() // DJIMotorSetRef(friction_r, 0); // 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. - DJIMotorSetRef(friction_l, 39000); - DJIMotorSetRef(friction_r, 39000); + DJIMotorSetRef(friction_l, 40000); + DJIMotorSetRef(friction_r, 40000); // break; // } } @@ -268,7 +268,7 @@ void ShootTask() // 开关弹舱盖 if (shoot_cmd_recv.lid_mode == LID_CLOSE) { - Servo_Motor_FreeAngle_Set(lid,107); + Servo_Motor_FreeAngle_Set(lid,107);// 小107 大115 } else if (shoot_cmd_recv.lid_mode == LID_OPEN) { @@ -278,7 +278,7 @@ void ShootTask() // 开关热控 if(shoot_cmd_recv.heat_mode == HEAT_OPEN) { - if(shoot_cmd_recv.heat>=(0.9*shoot_cmd_recv.heat_limit)) + if(shoot_cmd_recv.heat>=(0.75*shoot_cmd_recv.heat_limit)) { DJIMotorStop(loader); } diff --git 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QEKF_INS.YawTotalAngle; //VisionSetAltitude(INS.Yaw, INS.Pitch, INS.Roll); - VisionSetAltitude(INS.Yaw * PI / 180, -INS.Roll * PI / 180); + VisionSetAltitude(INS.Yaw * PI / 180, -INS.Roll * PI / 180);// 小-INS.Roll 大INS.Roll } // temperature control diff --git a/modules/referee/referee_task.c b/modules/referee/referee_task.c index 306fdc1..a3ab78f 100644 --- a/modules/referee/referee_task.c +++ b/modules/referee/referee_task.c @@ -97,8 +97,6 @@ void MyUIInit() UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[4]); UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 10, 600, "Q.heat:"); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]); - UICharDraw(&UI_State_sta[6], "ss6", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 10, 800, "C.ce:"); - UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[6]); // UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 800, "load:"); // UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]); @@ -107,10 +105,11 @@ void MyUIInit() UICharRefresh(&referee_recv_info->referee_id, UI_prompt_sta[0]); UICharDraw(&UI_prompt_sta[1], "ss9", UI_Graph_ADD, 8,UI_Color_Pink, 30, 4, 1650, 800, "zhi hui"); UICharRefresh(&referee_recv_info->referee_id, UI_prompt_sta[1]); - + UICharDraw(&UI_prompt_sta[2], "ss10", UI_Graph_ADD, 8,UI_Color_Pink, 30, 4, 1650, 600, "bie ji"); + UICharRefresh(&referee_recv_info->referee_id, UI_prompt_sta[2]); // 底盘功率显示，静态 - UICharDraw(&UI_State_sta[6], "ss6", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 620, 230, "MAX:"); - UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[6]); +// UICharDraw(&UI_State_sta[6], "ss6", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 620, 230, "MAX:"); +// UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[6]); // 绘制车辆状态标志，动态 // 由于初始化时xxx_last_mode默认为0，所以此处对应UI也应该设为0时对应的UI，防止模式不变的情况下无法置位flag，导致UI无法刷新 @@ -124,10 +123,8 @@ void MyUIInit() UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[3]); UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 170, 650, "off"); UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]); - UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 170, 600, "on"); + UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 170, 600, "on "); UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[5]); - UICharDraw(&UI_State_dyn[6], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 170, 800, "off"); - UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[6]); // UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 800, "999"); // UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[5]); @@ -167,7 +164,7 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "on "); break; case CHASSIS_SIDEWAYS: - UICharDraw(&UI_State_dyn[6], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 20, 2, 170, 800, _Interactive_data->chassis_mode == CHASSIS_SIDEWAYS ? "on " : "off"); + UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off"); break; case CHASSIS_NO_FOLLOW: UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off"); diff --git a/xs.jdebug b/xs.jdebug index 3f84cd6..9c4e115 100644 --- a/xs.jdebug +++ b/xs.jdebug @@ -4,8 +4,8 @@ * www.segger.com * ********************************************************************** -File : D:/zhandui/cqdm/basic_framework/xs.jdebug -Created : 20 Mar 2024 21:43 +File : D:/zhandui/cqdm/xiaojing/xs.jdebug +Created : 18 May 2024 01:04 Ozone Version : V3.32a */ @@ -22,19 +22,17 @@ void OnProjectLoad (void) { // // Dialog-generated settings // + Project.AddPathSubstitute ("D:/zhandui/cqdm/xiaojing", "$(ProjectDir)"); + Project.AddPathSubstitute ("d:/zhandui/cqdm/xiaojing", "$(ProjectDir)"); Project.SetDevice ("STM32F407IG"); Project.SetHostIF ("USB", "17935099"); Project.SetTargetIF ("SWD"); Project.SetTIFSpeed ("4 MHz"); - Project.AddPathSubstitute ("D:/zhandui/cqdm/basic_framework", "$(ProjectDir)"); - Project.AddPathSubstitute ("d:/zhandui/cqdm/basic_framework", "$(ProjectDir)"); Project.AddSvdFile ("$(InstallDir)/Config/CPU/Cortex-M4F.svd"); Project.AddSvdFile ("D:/Ozone/Ozone/Config/Peripherals/STM32F407IG.svd"); // // User settings // - Edit.SysVar (VAR_HSS_SPEED, FREQ_200_HZ); - Project.SetOSPlugin ("FreeRTOSPlugin_CM4"); File.Open ("$(ProjectDir)/cmake-build-debug/basic_framework.elf"); } diff --git a/xs.jdebug.user b/xs.jdebug.user index 0c43402..eb4eb79 100644 --- a/xs.jdebug.user +++ b/xs.jdebug.user @@ -1,43 +1,25 @@ -GraphedExpression="P_max", Color=#e56a6f, Show=0 -OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/xiaojing/application/chassis/chassis.c", Line=243 -OpenDocument="robot_cmd.c", FilePath="D:/zhandui/cqdm/xiaojing/application/cmd/robot_cmd.c", Line=396 +OpenDocument="tasks.c", FilePath="D:/zhandui/cqdm/xiaojing/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3418 +OpenDocument="gimbal.c", FilePath="D:/zhandui/cqdm/xiaojing/application/gimbal/gimbal.c", Line=0 +OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/xiaojing/application/chassis/chassis.c", Line=21 OpenDocument="main.c", FilePath="D:/zhandui/cqdm/xiaojing/Src/main.c", Line=65 OpenToolbar="Debug", Floating=0, x=0, y=0 -OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=735, h=499, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=435, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C -OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=735, h=537, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=581, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=1023, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 -OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=1123, h=1037, 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;822", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="896;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="912;0" -OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=518, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=735, h=496, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=438, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C +OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=735, h=540, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=817, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=1029, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 +OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=1127, h=1037, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=1, CodePaneShown=1, PinCursor="Cursor Movable", TimePerDiv="1 ns / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="900;-69", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=1, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="900;-69", CodeGraphLegendShown=1, CodeGraphLegendPosition="851;0" +OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=273, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1" TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[263;100;100;100;950] -TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" P_max"], ColWidths=[100;100;100] -TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[438;100;100;154;164;100;110;126;126] +TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;100] +TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[438;100;100;100;100;100;110;126;126] TableHeader="Power Sampling", SortCol="None", 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="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[238;149;104;244] TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[] +TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[27;27;27;26] +WatchedExpression="wz_flag", RefreshRate=2, Window=Watched Data 1 WatchedExpression="yaw_motor", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="pitch_motor", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="motor_rf", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="motor_lf", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="motor_lb", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="motor_rb", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="referee_data", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="chassis_cmd_recv", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="vx_filter", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="loader", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="shoot.c::shoot_cmd_recv", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="loader", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="cap", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="shoot_cmd_recv", RefreshRate=5, Window=Watched Data 1 -WatchedExpression="gimba_IMU_data", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="vt_data", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="ui_data", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="Interactive_data", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="chassis_cmd_send", Window=Watched Data 1 -WatchedExpression="P_max", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="cap", RefreshRate=2, Window=Watched Data 1 \ No newline at end of file +WatchedExpression="gimba_IMU_data", RefreshRate=2, Window=Watched Data 1 \ No newline at end of file