diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 34ff22c..f06fd04 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -97,32 +97,33 @@ void ChassisInit() { }; // @todo: 当前还没有设置电机的正反转,仍然需要手动添加reference的正负号,需要电机module的支持,待修改. // 四个轮子pid分开 + //右前 chassis_motor_config.can_init_config.tx_id = 1; chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL; 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 = 0.001f; + chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f; motor_rf = DJIMotorInit(&chassis_motor_config); - + //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 = 5.0f; + chassis_motor_config.controller_param_init_config.speed_PID.Kp = 4.5f; chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f; - chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.001f; + 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 = 5.0f; + chassis_motor_config.controller_param_init_config.speed_PID.Kp = 4.5f; chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f; - chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.001f; + chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f; motor_lb = DJIMotorInit(&chassis_motor_config); - + //右后 chassis_motor_config.can_init_config.tx_id = 4; chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL; - chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.0f; + 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 = 0.001f; + chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f; motor_rb = DJIMotorInit(&chassis_motor_config); //超级电容 @@ -335,7 +336,7 @@ void ChassisTask() { // 当前只做了17mm热量的数据获取,后续根据robot_def中的宏切换双枪管和英雄42mm的情况 //chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit; - chassis_feedback_data.cap_power = cap->cap_msg.cap_vol; + chassis_feedback_data.cap_vol = cap->cap_msg.cap_vol; //每次随等级更新超电的设定功率 SuperCapSetUpdate(); // 推送反馈消息 diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index c6578b8..7c8cfb8 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -133,15 +133,15 @@ static void death_check() static void update_ui_data() { ui_data.chassis_mode = chassis_cmd_send.chassis_mode; - ui_data.gimbal_mode = gimbal_cmd_send.gimbal_mode; + //ui_data.gimbal_mode = gimbal_cmd_send.gimbal_mode; ui_data.friction_mode = shoot_cmd_send.friction_mode; - ui_data.shoot_mode = shoot_cmd_send.shoot_mode; + //ui_data.shoot_mode = shoot_cmd_send.shoot_mode; ui_data.lid_mode = shoot_cmd_send.lid_mode; ui_data.aim_fire = aim_select.suggest_fire; - ui_data.loader_mode = shoot_cmd_send.loader_mode; + //ui_data.loader_mode = shoot_cmd_send.loader_mode; ui_data.Chassis_Power_Data.chassis_power_mx = referee_data->GameRobotState.chassis_power_limit; - ui_data.Chassis_Power_Data.cap_power = chassis_fetch_data.cap_power; + ui_data.Cap_Data.cap_vol = chassis_fetch_data.cap_vol; } static void auto_aim_mode() { @@ -226,7 +226,6 @@ static void RemoteControlSet() { 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],视觉模式 if (switch_is_down(rc_data[TEMP].rc.switch_left)) { @@ -391,10 +390,10 @@ static void MouseKeySet() { switch (rc_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量 { case 0: - SuperCapSetPower(cap,40); + chassis_cmd_send.buffer_supercap = 0; break; default: - SuperCapSetPower(cap,70); + chassis_cmd_send.buffer_supercap = 195; break; } diff --git a/application/robot_def.h b/application/robot_def.h index aceea89..4604e7f 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -130,10 +130,14 @@ typedef enum // 功率限制,从裁判系统获取,是否有必要保留? typedef struct { - uint16_t chassis_power_mx; // 功率控制 - float cap_power; // 超级电容功率控制 + uint16_t chassis_power_mx; // 功率限制 } Chassis_Power_Data_s; +// 电容信息 +typedef struct +{ + int16_t cap_vol; +} Cap_Data_s; /* ----------------CMD应用发布的控制数据,应当由gimbal/chassis/shoot订阅---------------- */ /** * @brief 对于双板情况,遥控器和pc在云台,裁判系统在底盘 @@ -202,7 +206,7 @@ typedef struct Bullet_Speed_e bullet_speed; // 弹速限制 Enemy_Color_e enemy_color; // 0 for red, 1 for blue uint16_t chassis_power_mx; - float cap_power; + int16_t cap_vol; } Chassis_Upload_Data_s; diff --git a/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/chassis/chassis.c.obj b/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/chassis/chassis.c.obj index 57ea8ca..dd96e1f 100644 Binary files a/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/chassis/chassis.c.obj and b/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/chassis/chassis.c.obj differ diff --git a/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/cmd/robot_cmd.c.obj b/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/cmd/robot_cmd.c.obj index fdab972..c9c4fac 100644 Binary files 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d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-locale.o) 0xd (size before relaxing) - *fill* 0x0802038e 0x2 + *fill* 0x080203ee 0x2 .rodata.str1.4 - 0x08020390 0x2 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-locale.o) + 0x080203f0 0x2 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-locale.o) .rodata._vfiprintf_r.str1.4 - 0x08020392 0x2f d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-vfiprintf.o) - *fill* 0x08020392 0x2 + 0x080203f2 0x2f d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-vfiprintf.o) + *fill* 0x080203f2 0x2 .rodata.blanks.1 - 0x08020394 0x10 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-vfiprintf.o) + 0x080203f4 0x10 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-vfiprintf.o) .rodata.zeroes.0 - 0x080203a4 0x10 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-vfiprintf.o) + 0x08020404 0x10 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-vfiprintf.o) .rodata._ctype_ - 0x080203b4 0x101 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-ctype_.o) - 0x080203b4 _ctype_ + 0x08020414 0x101 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-ctype_.o) + 0x08020414 _ctype_ .rodata.log.str1.4 - 0x080204b5 0x1 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-w_log.o) + 0x08020515 0x1 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-w_log.o) .rodata.acosf.str1.4 - 0x080204b5 0x1 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-wf_acos.o) + 0x08020515 0x1 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-wf_acos.o) .rodata.asinf.str1.4 - 0x080204b5 0x1 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-wf_asin.o) - *fill* 0x080204b5 0x3 + 0x08020515 0x1 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-wf_asin.o) + *fill* 0x08020515 0x3 .rodata.npio2_hw - 0x080204b8 0x80 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-e_rem_pio2.o) + 0x08020518 0x80 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-e_rem_pio2.o) .rodata.two_over_pi - 0x08020538 0x108 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-e_rem_pio2.o) + 0x08020598 0x108 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-e_rem_pio2.o) .rodata.CSWTCH.8 - 0x08020640 0xc d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-ef_atan2.o) + 0x080206a0 0xc d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-ef_atan2.o) .rodata.CSWTCH.9 - 0x0802064c 0xc d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-ef_atan2.o) + 0x080206ac 0xc d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-ef_atan2.o) .rodata.npio2_hw - 0x08020658 0x80 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-ef_rem_pio2.o) + 0x080206b8 0x80 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-ef_rem_pio2.o) .rodata.two_over_pi - 0x080206d8 0x318 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-ef_rem_pio2.o) - .rodata.PIo2 0x080209f0 0x40 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-k_rem_pio2.o) + 0x08020738 0x318 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-ef_rem_pio2.o) + .rodata.PIo2 0x08020a50 0x40 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-k_rem_pio2.o) .rodata.init_jk - 0x08020a30 0x10 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-k_rem_pio2.o) - .rodata.PIo2 0x08020a40 0x2c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-kf_rem_pio2.o) + 0x08020a90 0x10 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-k_rem_pio2.o) + .rodata.PIo2 0x08020aa0 0x2c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-kf_rem_pio2.o) .rodata.init_jk - 0x08020a6c 0xc d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-kf_rem_pio2.o) + 0x08020acc 0xc d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-kf_rem_pio2.o) .rodata.atanhi - 0x08020a78 0x10 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-sf_atan.o) + 0x08020ad8 0x10 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-sf_atan.o) .rodata.atanlo - 0x08020a88 0x10 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-sf_atan.o) - 0x08020a98 . = ALIGN (0x4) + 0x08020ae8 0x10 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-sf_atan.o) + 0x08020af8 . = ALIGN (0x4) -.ARM.extab 0x08020a98 0x0 - 0x08020a98 . = ALIGN (0x4) +.ARM.extab 0x08020af8 0x0 + 0x08020af8 . = ALIGN (0x4) *(.ARM.extab* .gnu.linkonce.armextab.*) - 0x08020a98 . = ALIGN (0x4) + 0x08020af8 . = ALIGN (0x4) -.ARM 0x08020a98 0x8 - 0x08020a98 . = ALIGN (0x4) - 0x08020a98 __exidx_start = . +.ARM 0x08020af8 0x8 + 0x08020af8 . = ALIGN (0x4) + 0x08020af8 __exidx_start = . *(.ARM.exidx*) - .ARM.exidx 0x08020a98 0x8 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/thumb/v7e-m+fp/hard\libgcc.a(_udivmoddi4.o) - 0x08020aa0 __exidx_end = . - 0x08020aa0 . = ALIGN (0x4) + .ARM.exidx 0x08020af8 0x8 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/thumb/v7e-m+fp/hard\libgcc.a(_udivmoddi4.o) + 0x08020b00 __exidx_end = . + 0x08020b00 . = ALIGN (0x4) -.rel.dyn 0x08020aa0 0x0 - .rel.iplt 0x08020aa0 0x0 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/thumb/v7e-m+fp/hard/crtbegin.o +.rel.dyn 0x08020b00 0x0 + .rel.iplt 0x08020b00 0x0 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/thumb/v7e-m+fp/hard/crtbegin.o -.preinit_array 0x08020aa0 0x0 - 0x08020aa0 . = ALIGN (0x4) - 0x08020aa0 PROVIDE (__preinit_array_start = .) +.preinit_array 0x08020b00 0x0 + 0x08020b00 . = ALIGN (0x4) + 0x08020b00 PROVIDE (__preinit_array_start = .) *(.preinit_array*) - 0x08020aa0 PROVIDE (__preinit_array_end = .) - 0x08020aa0 . = ALIGN (0x4) + 0x08020b00 PROVIDE (__preinit_array_end = .) + 0x08020b00 . = ALIGN (0x4) -.init_array 0x08020aa0 0x8 - 0x08020aa0 . = ALIGN (0x4) - 0x08020aa0 PROVIDE (__init_array_start = .) +.init_array 0x08020b00 0x8 + 0x08020b00 . = ALIGN (0x4) + 0x08020b00 PROVIDE (__init_array_start = .) *(SORT_BY_NAME(.init_array.*)) .init_array.00000 - 0x08020aa0 0x4 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-__call_atexit.o) + 0x08020b00 0x4 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-__call_atexit.o) *(.init_array*) - .init_array 0x08020aa4 0x4 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/thumb/v7e-m+fp/hard/crtbegin.o - 0x08020aa8 PROVIDE (__init_array_end = .) - 0x08020aa8 . = ALIGN (0x4) + .init_array 0x08020b04 0x4 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_sidata = LOADADDR (.data) -.data 0x20000000 0x1000 load address 0x08020aac +.data 0x20000000 0x1000 load address 0x08020b0c 0x20000000 . = ALIGN (0x4) 0x20000000 _sdata = . *(.data) @@ -6542,12 +6539,12 @@ LOAD d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/ *(.RamFunc*) 0x20001000 . = ALIGN (0x4) 0x20001000 _edata = . - 0x08021aac _siccmram = LOADADDR (.ccmram) + 0x08021b0c _siccmram = LOADADDR (.ccmram) -.igot.plt 0x20001000 0x0 load address 0x08021aac +.igot.plt 0x20001000 0x0 load address 0x08021b0c .igot.plt 0x20001000 0x0 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/thumb/v7e-m+fp/hard/crtbegin.o -.ccmram 0x10000000 0x0 load address 0x08021aac +.ccmram 0x10000000 0x0 load address 0x08021b0c 0x10000000 . = ALIGN (0x4) 0x10000000 _sccmram = . *(.ccmram) @@ -6556,7 +6553,7 @@ LOAD d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/ 0x10000000 _eccmram = . 0x10000000 . = 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Trajectory_Type_t *trajectory_cal, RecievePacket_t *receive_packet) { - trajectory_cal->extra_delay_time = 0.035;//0.025 + trajectory_cal->extra_delay_time = 0.08;//0.025 aim_sel->target_state.armor_type = receive_packet->id; aim_sel->target_state.armor_num = receive_packet->armors_num; diff --git a/modules/referee/referee_task.c b/modules/referee/referee_task.c index f33f3d0..d784bf7 100644 --- a/modules/referee/referee_task.c +++ b/modules/referee/referee_task.c @@ -60,7 +60,7 @@ void UITask() static Graph_Data_t UI_shoot_line[10]; // 射击准线 static Graph_Data_t UI_shoot_yuan[2]; // 射击圆心 -static Graph_Data_t UI_Energy[4]; // 电容能量条 +static Graph_Data_t UI_Energy[6]; // 电容能量条 static String_Data_t UI_State_sta[7]; // 机器人状态,静态只需画一次 static String_Data_t UI_State_dyn[7]; // 机器人状态,动态先add才能change static uint32_t shoot_line_location[10] = {540, 960, 490, 515, 565}; @@ -85,7 +85,7 @@ void MyUIInit() UIGraphRefresh(&referee_recv_info->referee_id, 5, UI_shoot_line[0], UI_shoot_line[1], UI_shoot_line[2], UI_shoot_line[3],UI_shoot_yuan[0]); // 绘制车辆状态标志指示，静态 - UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 20, 2, 10, 750, "chassis:"); + UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 20, 2, 10, 750, "E.spin:"); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[0]); // UICharDraw(&UI_State_sta[1], "ss1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 150, 700, "gimbal:"); // UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[1]); @@ -93,7 +93,7 @@ void MyUIInit() // UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[2]); UICharDraw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 10, 700, "F.frict:"); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[3]); - UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 10, 650, "Q.lid:"); + UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 10, 650, "B.lid:"); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[4]); // 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]); @@ -110,7 +110,7 @@ void MyUIInit() // 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 - UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 20, 2, 170, 750, "zeroforce"); + UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 20, 2, 170, 750, "off"); UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]); // UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce"); // UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]); @@ -128,15 +128,19 @@ void MyUIInit() UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[0]); // 底盘功率显示,动态 - UIFloatDraw(&UI_Energy[1], "sd6", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 850, 230, referee_recv_info->GameRobotState.chassis_power_limit*1000); + UIFloatDraw(&UI_Energy[1], "sd6", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 850, 230, Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000); UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[1]); - // 能量条初始状态 - //UILineDraw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160); - - //超级电容电压 - UILineDraw(&UI_Energy[3],"sd7",UI_Graph_ADD,8,UI_Color_Pink,30,720,160,(uint32_t)(720 + (cap->cap_msg.cap_vol-1200) * 0.416),160); + // 电容电压 + UIFloatDraw(&UI_Energy[2], "sd7", UI_Graph_ADD, 8, UI_Color_Pink, 18, 2,2, 850, 280,Interactive_data->Cap_Data.cap_vol); + UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[2]); + // 电容能量条 + UILineDraw(&UI_Energy[3], "sd8", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)(720 + (Interactive_data->Cap_Data.cap_vol-1200) * 0.416), 160); UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[3]); + + // 发弹量条框 + UILineDraw(&UI_Energy[4], "ss7", UI_Graph_ADD, 7, UI_Color_Pink, 2, 1325, 500, 1480, 500); + UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[4]); } static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data) @@ -148,17 +152,17 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i switch (_Interactive_data->chassis_mode) { case CHASSIS_ZERO_FORCE: - UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "zeroforce"); + UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off"); break; case CHASSIS_ROTATE: - UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "rotate "); + UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "on "); // 此处注意字数对齐问题，字数相同才能覆盖掉 break; case CHASSIS_NO_FOLLOW: - UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "nofollow "); + UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off"); break; case CHASSIS_FOLLOW_GIMBAL_YAW: - UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "follow "); + UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off"); break; } UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]); @@ -238,20 +242,17 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i { UIFloatDraw(&UI_Energy[1], "sd6", UI_Graph_Change, 8, UI_Color_Green, 18, 2, 2, 850, 230, _Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000); UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1]); - _Interactive_data->Referee_Interactive_Flag.cap_flag = 0; - } - // cap - if (_Interactive_data->Referee_Interactive_Flag.cap_flag == 1) - { - UILineDraw(&UI_Energy[3], "sd7", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)(720 + (cap->cap_msg.cap_vol-1200) * 0.416), 160); - UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[3]); - _Interactive_data->Referee_Interactive_Flag.cap_flag = 0; + _Interactive_data->Referee_Interactive_Flag.Power_flag = 0; } + UIFloatDraw(&UI_Energy[2], "sd7", UI_Graph_Change, 8, UI_Color_Pink, 18, 2,2, 850, 280,Interactive_data->Cap_Data.cap_vol); + UIGraphRefresh(&referee_recv_info->referee_id, 1,UI_Energy[2]); + UILineDraw(&UI_Energy[3], "sd8", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)(720 + (Interactive_data->Cap_Data.cap_vol-1200) * 0.416), 160); + UIGraphRefresh(&referee_recv_info->referee_id, 1, &UI_Energy[3]); //绘制开火建议 if (_Interactive_data->Referee_Interactive_Flag.aim_flag == 1) { UICircleDraw(&UI_shoot_yuan[0], "sy0", UI_Graph_Change, 7, _Interactive_data->aim_fire == 0 ? UI_Color_Yellow : UI_Color_Main, 2, 960, 540, 10); UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_shoot_yuan[0]); - _Interactive_data->Referee_Interactive_Flag.lid_flag = 0; + _Interactive_data->Referee_Interactive_Flag.aim_flag = 0; } } @@ -299,11 +300,11 @@ static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data) _Interactive_data->Chassis_last_Power_Data.chassis_power_mx = _Interactive_data->Chassis_Power_Data.chassis_power_mx; } - if (_Interactive_data->Chassis_Power_Data.cap_power != _Interactive_data->Chassis_last_Power_Data.cap_power) - { - _Interactive_data->Referee_Interactive_Flag.cap_flag = 1; - _Interactive_data->Chassis_last_Power_Data.cap_power = _Interactive_data->Chassis_Power_Data.cap_power; - } +// if (_Interactive_data->Cap_Data.cap_vol != _Interactive_data->Cap_last_Data.cap_vol) +// { +// _Interactive_data->Referee_Interactive_Flag.cap_flag = 1; +// _Interactive_data->Cap_last_Data.cap_vol = _Interactive_data->Cap_Data.cap_vol; +// } if (_Interactive_data->aim_fire != _Interactive_data->aim_last_fire) { diff --git a/modules/referee/rm_referee.h b/modules/referee/rm_referee.h index 991ed17..1abbf20 100644 --- a/modules/referee/rm_referee.h +++ b/modules/referee/rm_referee.h @@ -73,8 +73,8 @@ typedef struct lid_mode_e lid_mode; // 弹舱盖打开 Chassis_Power_Data_s Chassis_Power_Data; // 功率控制 uint8_t aim_fire; // 开火建议 - loader_mode_e loader_mode; // 发射模式 - + loader_mode_e loader_mode; // 发射模式 + Cap_Data_s Cap_Data; // 电容信息 // 上一次的模式，用于flag判断 chassis_mode_e chassis_last_mode; @@ -85,6 +85,7 @@ typedef struct Chassis_Power_Data_s Chassis_last_Power_Data; uint8_t aim_last_fire; loader_mode_e loader_last_mode; + Cap_Data_s Cap_last_Data; } Referee_Interactive_info_t; diff --git a/xs.jdebug.user b/xs.jdebug.user index 98f8724..55d9ebe 100644 --- a/xs.jdebug.user +++ b/xs.jdebug.user @@ -1,24 +1,25 @@ -OpenDocument="gimbal.c", FilePath="D:/zhandui/cqdm/bubing_9/application/gimbal/gimbal.c", Line=0 -OpenDocument="main.c", FilePath="D:/zhandui/cqdm/bubing_9/Src/main.c", Line=51 +OpenDocument="main.c", FilePath="D:/zhandui/cqdm/bubing_9/Src/main.c", Line=65 +OpenDocument="robot_cmd.c", FilePath="D:/zhandui/cqdm/bubing_9/application/cmd/robot_cmd.c", Line=120 +OpenDocument="referee_task.c", FilePath="D:/zhandui/cqdm/bubing_9/modules/referee/referee_task.c", Line=251 OpenDocument="tasks.c", FilePath="D:/zhandui/cqdm/bubing_9/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3418 -OpenDocument="robot_cmd.c", FilePath="D:/zhandui/cqdm/bubing_9/application/cmd/robot_cmd.c", Line=387 +OpenDocument="gimbal.c", FilePath="D:/zhandui/cqdm/bubing_9/application/gimbal/gimbal.c", Line=0 OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/bubing_9/application/chassis/chassis.c", Line=87 OpenDocument="shoot.c", FilePath="D:/zhandui/cqdm/bubing_9/application/shoot/shoot.c", Line=191 OpenDocument="super_cap.c", FilePath="D:/zhandui/cqdm/bubing_9/modules/super_cap/super_cap.c", Line=0 OpenToolbar="Debug", Floating=0, x=0, y=0 -OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=735, h=479, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=621, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C -OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=735, h=577, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=531, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=1456, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 -OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=1197, h=1057, 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;841", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="923;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="939;0" -OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=269, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=735, h=506, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=490, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C +OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=735, h=550, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=1023, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=1151, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 +OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=1541, h=1057, 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;861", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1314;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1330;0" +OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=213, 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"], 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;282] +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;218] @@ -39,4 +40,6 @@ 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 \ No newline at end of file +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 \ No newline at end of file