From b7905068d7d3b49a0c54b6083296ebf39590ab97 Mon Sep 17 00:00:00 2001 From: zyx <1323655521@qq.com> Date: Sat, 4 May 2024 21:39:54 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8F=91=E5=B0=84=E6=A8=A1=E5=BC=8F=E6=89=8B?= =?UTF-8?q?=E5=8A=A8=E5=88=87=E6=8D=A2=EF=BC=8C=E5=9B=BE=E4=BC=A0=E9=93=BE?= =?UTF-8?q?=E8=B7=AF=E9=80=9A=E4=BF=A1=EF=BC=8CUI=E5=AE=8C=E5=96=84?= =?UTF-8?q?=EF=BC=8C=E5=9B=9B=E4=B8=AA=E8=BD=AE=E5=AD=90pid=E5=88=86?= =?UTF-8?q?=E5=BC=80?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Src/usart.c | 2 +- application/chassis/chassis.c | 44 +- application/cmd/robot_cmd.c | 212 +- application/cmd/robot_cmd.h | 3 +- application/robot_def.h | 15 +- application/shoot/shoot.c | 65 +- cmake-build-debug/CMakeCache.txt | 8 +- cmake-build-debug/CMakeFiles/Makefile.cmake | 82 - .../basic_framework.elf.dir/DependInfo.cmake | 1 + .../basic_framework.elf.dir/Src/usart.c.obj | Bin 19044 -> 19044 bytes .../application/chassis/chassis.c.obj | Bin 25036 -> 24928 bytes .../application/cmd/robot_cmd.c.obj | Bin 35896 -> 39540 bytes .../application/cmd/robot_cmd.c.obj.d | 3 +- .../application/gimbal/gimbal.c.obj | Bin 18988 -> 18988 bytes .../application/robot.c.obj | Bin 19004 -> 19004 bytes .../application/robot.c.obj.d | 3 +- .../application/shoot/shoot.c.obj | Bin 25644 -> 26620 bytes .../basic_framework.elf.dir/build.make | 28 +- .../basic_framework.elf.dir/cmake_clean.cmake | 2 + .../compiler_depend.internal | 128 + .../compiler_depend.make | 135 +- .../master_machine/master_process.c.obj | Bin 13576 -> 10184 bytes .../modules/motor/DJImotor/dji_motor.c.obj | Bin 30372 -> 30516 bytes .../modules/referee/referee_UI.c.obj | Bin 26136 -> 26204 bytes .../modules/referee/referee_task.c.obj | Bin 31872 -> 34180 bytes .../modules/referee/rm_referee.c.obj | Bin 18460 -> 18856 bytes .../modules/remote/remote_control.c.obj | Bin 15728 -> 15820 bytes .../basic_framework.elf.dir/objects1.rsp | 2 +- .../basic_framework.elf.dir/progress.make | 139 +- .../CMakeFiles/clion-Debug-log.txt | 16 +- cmake-build-debug/Makefile | 27 + cmake-build-debug/basic_framework.bin | Bin 136876 -> 139036 bytes cmake-build-debug/basic_framework.cbp | 6 + cmake-build-debug/basic_framework.elf | Bin 1394872 -> 1404556 bytes cmake-build-debug/basic_framework.hex | 16931 ++++++++-------- cmake-build-debug/basic_framework.map | 5075 ++--- modules/master_machine/master_process.c | 4 +- modules/master_machine/master_process.h | 2 +- modules/motor/DJImotor/dji_motor.c | 16 +- modules/referee/referee_protocol.h | 86 +- modules/referee/referee_task.c | 120 +- modules/referee/rm_referee.h | 5 +- modules/referee/vision_transfer.c | 162 + modules/referee/vision_transfer.h | 46 + modules/remote/remote_control.c | 10 + modules/remote/remote_control.h | 16 + xiaoshi.jdebug.user | 31 - xs.jdebug | 2 +- xs.jdebug.user | 42 +- 49 files changed, 12138 insertions(+), 11331 deletions(-) create mode 100644 modules/referee/vision_transfer.c create mode 100644 modules/referee/vision_transfer.h delete mode 100644 xiaoshi.jdebug.user diff --git a/Src/usart.c b/Src/usart.c index 7cc1d9c..5380395 100644 --- a/Src/usart.c +++ b/Src/usart.c @@ -46,7 +46,7 @@ void MX_USART1_UART_Init(void) /* USER CODE END USART1_Init 1 */ huart1.Instance = USART1; - huart1.Init.BaudRate = 921600; + huart1.Init.BaudRate = 115200; huart1.Init.WordLength = UART_WORDLENGTH_8B; huart1.Init.StopBits = UART_STOPBITS_1; huart1.Init.Parity = UART_PARITY_NONE; diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 4dd8521..7edff89 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -71,17 +71,17 @@ void ChassisInit() { .can_init_config.can_handle = &hcan1, .controller_param_init_config = { .speed_PID = { - .Kp = 4.25f, // 4.5 - .Ki = 0.6f, // 0.6 - .Kd = 0.01f, // 0.01 + .Kp = 0.0f, + .Ki = 0.0f, + .Kd = 0.0f, .IntegralLimit = 3000, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .MaxOut = 30000, }, .current_PID = { - .Kp = 2.2f, // 2.5 - .Ki = 0.6f, // 0.8 - .Kd = 0.5f, // 0.2 + .Kp = 0.0f, + .Ki = 0.0f, + .Kd = 0.0f, .IntegralLimit = 3000, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .MaxOut = 15000, @@ -91,26 +91,39 @@ void ChassisInit() { .angle_feedback_source = MOTOR_FEED, .speed_feedback_source = MOTOR_FEED, .outer_loop_type = SPEED_LOOP, - .close_loop_type = SPEED_LOOP, //| CURRENT_LOOP, + .close_loop_type = SPEED_LOOP, // CURRENT_LOOP, .power_limit_flag = POWER_LIMIT_ON, }, .motor_type = M3508, }; // @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 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 = 0.01f; motor_rf = DJIMotorInit(&chassis_motor_config); 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 = 5.1f; + chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f; + chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.001f; motor_lf = DJIMotorInit(&chassis_motor_config); 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.Ki = 0.01f; + chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.01f; motor_lb = DJIMotorInit(&chassis_motor_config); 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 = 5.1f; + chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f; + chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.01f; motor_rb = DJIMotorInit(&chassis_motor_config); //超级电容 @@ -124,9 +137,9 @@ void ChassisInit() { power_set = 70; SuperCapSetPower(cap,power_set); // 超级电容限制功率 - //用一阶滤波代替斜波函数生成 - first_order_filter_init(&vx_filter, 0.002f, &CHASSIS_ACCEL_X_NUM); - first_order_filter_init(&vy_filter, 0.002f, &CHASSIS_ACCEL_Y_NUM); + //用一阶滤波代替斜波函数生成 //增大更能刹住 + first_order_filter_init(&vx_filter, 0.007f, &CHASSIS_ACCEL_X_NUM); + first_order_filter_init(&vy_filter, 0.007f, &CHASSIS_ACCEL_Y_NUM); // 发布订阅初始化,如果为双板,则需要can comm来传递消息 #ifdef CHASSIS_BOARD @@ -159,13 +172,6 @@ void ChassisInit() { * @brief 计算每个轮毂电机的输出,正运动学解算 * 用宏进行预替换减小开销,运动解算具体过程参考教程 */ -static void MecanumCalculate() { - vt_lf = -chassis_vx - chassis_vy - chassis_cmd_recv.wz * LF_CENTER; - vt_rf = -chassis_vx + chassis_vy - chassis_cmd_recv.wz * RF_CENTER; - vt_lb = chassis_vx - chassis_vy - chassis_cmd_recv.wz * LB_CENTER; - vt_rb = chassis_vx + chassis_vy - chassis_cmd_recv.wz * RB_CENTER; -} - //全向轮解算 static void OmniCalculate() { vt_rf = -(HALF_TRACK_WIDTH + HALF_WHEEL_BASE) * chassis_cmd_recv.wz + chassis_vx - chassis_vy; @@ -191,7 +197,6 @@ static float EstimatePower(DJIMotorInstance* chassis_motor) return power; } -float vofa_send_data[6]; /** * @brief 根据裁判系统和电容剩余容量对输出进行限制并设置电机参考值 * @@ -294,7 +299,6 @@ void ChassisTask() { chassis_vx = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta; chassis_vy = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta; - // chassis_vx = (1.0f - 0.30f) * chassis_vx + 0.30f * (chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta); // chassis_vy = (1.0f - 0.30f) * chassis_vy + 0.30f * (chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta); @@ -320,7 +324,7 @@ void ChassisTask() { //chassis_feedback_data.enemy_color = !referee_data->referee_id.Robot_Color; // 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.rest_heat = referee_data->PowerHeatData.shooter_heat0; + chassis_feedback_data.cap_power = cap->cap_msg.cap_vol; // 推送反馈消息 diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index e5ff97b..66a0dc9 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -14,6 +14,7 @@ #include "bsp_dwt.h" #include "bsp_log.h" #include "referee_task.h" +#include "vision_transfer.h" // 私有宏,自动将编码器转换成角度值 #define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360 @@ -22,6 +23,8 @@ /* cmd应用包含的模块实例指针和交互信息存储*/ #ifdef GIMBAL_BOARD // 对双板的兼容,条件编译 #include "can_comm.h" +#include "user_lib.h" + static CANCommInstance *cmd_can_comm; // 双板通信 #endif #ifdef ONE_BOARD @@ -33,6 +36,8 @@ 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 extern SuperCapInstance *cap; // 超级电容 static RC_ctrl_t *rc_data; // 遥控器数据,初始化时返回 +static VT_ctrl_t *vt_data; // 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_Recv_s *vision_recv_data; // 视觉接收数据指针,初始化时返回 //static Vision_Send_s vision_send_data; // 视觉发送数据 static RecievePacket_t *vision_recv_data; // 视觉接收数据指针,初始化时返回 @@ -52,17 +57,17 @@ static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息 static Publisher_t *shoot_cmd_pub; // 发射控制消息发布者 static Subscriber_t *shoot_feed_sub; // 发射反馈信息订阅者 static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息 -static Shoot_Ctrl_Cmd_s shoot_cmd_recv; 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 referee_info_t *referee_data; // 用于获取裁判系统的数据 +static uint8_t load_flag = 0; //拨弹模式选择标志位 void RobotCMDInit() { rc_data = RemoteControlInit(&huart3); // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个 - vision_recv_data = VisionInit(&huart1); // 视觉通信串口 - + vision_recv_data = VisionInit(); // 视觉通信串口 + vt_data = VTRefereeInit(&huart1); // 图传通信串口 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)); @@ -117,10 +122,15 @@ static void CalcOffsetAngle() { #endif } -/** - * @brief 控制输入为遥控器(调试时)的模式和控制量设置 - * - */ +//功能：死亡后清除小陀螺的状态 +static void death_check() +{ + if(referee_data->GameRobotState.current_HP <= 0) + { + rc_data[TEMP].key_count[KEY_PRESS][Key_E] = 0; + } +} + static void update_ui_data() { ui_data.chassis_mode = chassis_cmd_send.chassis_mode; ui_data.gimbal_mode = gimbal_cmd_send.gimbal_mode; @@ -128,6 +138,7 @@ static void update_ui_data() { 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.Chassis_Power_Data.chassis_power_mx = referee_data->GameRobotState.chassis_power_limit; ui_data.Chassis_Power_Data.cap_power = chassis_fetch_data.cap_power; @@ -178,6 +189,10 @@ static void auto_aim_mode() { } } +/** + * @brief 控制输入为遥控器(调试时)的模式和控制量设置 + * + */ 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? if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],小陀螺 @@ -238,9 +253,9 @@ static void RemoteControlSet() { // 拨弹控制,遥控器固定为一种拨弹模式,可自行选择 if (rc_data[TEMP].rc.dial < -500)// - shoot_cmd_send.load_mode = LOAD_BURSTFIRE; + shoot_cmd_send.loader_mode = LOAD_BURSTFIRE; else - shoot_cmd_send.load_mode = LOAD_STOP; + shoot_cmd_send.loader_mode = LOAD_STOP; // 视觉控制发射 // if (aim_select.suggest_fire == 1) { @@ -253,15 +268,15 @@ 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 = 8; + shoot_cmd_send.shoot_rate = 18; + if(shoot_fetch_data.stalled_flag ==1) - shoot_cmd_send.load_mode = LOAD_REVERSE; + shoot_cmd_send.loader_mode = LOAD_REVERSE; } static void hand_aim_mode() { // gimbal_cmd_send.yaw += (float) rc_data[TEMP].mouse.x / 660 * 6; // 系数待测 // gimbal_cmd_send.pitch -= (float) rc_data[TEMP].mouse.y / 660 * 6; - } /** @@ -280,34 +295,37 @@ static void MouseKeySet() { { if (shoot_cmd_send.friction_mode == FRICTION_ON) { shoot_cmd_send.shoot_mode = SHOOT_ON; - shoot_cmd_send.load_mode = LOAD_BURSTFIRE; + if(load_flag == 0){ + shoot_cmd_send.loader_mode = LOAD_BURSTFIRE; + }else if(load_flag == 1){ + shoot_cmd_send.loader_mode = LOAD_3_BULLET; + }else + shoot_cmd_send.loader_mode = LOAD_1_BULLET; } } else if ((!rc_data[TEMP].mouse.press_l) && (!rc_data[TEMP].mouse.press_r)) { - shoot_cmd_send.load_mode = LOAD_STOP; + shoot_cmd_send.loader_mode = LOAD_STOP; } if (rc_data[TEMP].mouse.press_r) // 右键自瞄模式 { - if ((vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0 && vision_recv_data->vx == 0 && vision_recv_data->vy == 0 && vision_recv_data->vz == 0)) { - shoot_cmd_send.load_mode = LOAD_STOP; + shoot_cmd_send.loader_mode = LOAD_STOP; } else { auto_aim_mode(); if (aim_select.suggest_fire == 1 && rc_data[TEMP].mouse.press_l && shoot_cmd_send.friction_mode == FRICTION_ON) { shoot_cmd_send.shoot_mode = SHOOT_ON; - shoot_cmd_send.load_mode = LOAD_BURSTFIRE; + shoot_cmd_send.loader_mode = LOAD_BURSTFIRE; } else { - shoot_cmd_send.load_mode = LOAD_STOP; + shoot_cmd_send.loader_mode = LOAD_STOP; } } } - switch (rc_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键手动刷新UI { case 1: @@ -329,7 +347,7 @@ static void MouseKeySet() { switch (rc_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮 { case 0: -// shoot_cmd_send.shoot_mode = SHOOT_OFF; + shoot_cmd_send.shoot_mode = SHOOT_OFF; shoot_cmd_send.friction_mode = FRICTION_OFF; break; default: @@ -357,7 +375,18 @@ static void MouseKeySet() { gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; break; } - + switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式 + { + case 0: + load_flag = 0; + break; + case 1: + load_flag = 1; + break; + default: + load_flag = 3; + break; + } switch (rc_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量 { case 0: @@ -368,12 +397,137 @@ static void MouseKeySet() { break; } - shoot_cmd_send.shoot_rate = 25;//8 + shoot_cmd_send.shoot_rate = 25; if(shoot_fetch_data.stalled_flag ==1) - shoot_cmd_send.load_mode = LOAD_REVERSE; + shoot_cmd_send.loader_mode = LOAD_REVERSE; + + death_check(); } +/** + * @brief 输入为（图传链路）键鼠时模式和控制量设置 + * + */ +static void VTMouseKeySet() +{ + chassis_cmd_send.vy = vt_data[TEMP].key[KEY_PRESS].w * 3000 - vt_data[TEMP].key[KEY_PRESS].s * 3000; // 系数待测 + chassis_cmd_send.vx = vt_data[TEMP].key[KEY_PRESS].a * 3000 - vt_data[TEMP].key[KEY_PRESS].d * 3000; + + 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; + + aim_select.suggest_fire = 0; + if (vt_data[TEMP].mouse.press_l && (!vt_data[TEMP].mouse.press_r)) // 左键发射模式 + { + if (shoot_cmd_send.friction_mode == FRICTION_ON) { + shoot_cmd_send.shoot_mode = SHOOT_ON; + shoot_cmd_send.loader_mode = LOAD_BURSTFIRE; + } + } else if ((!vt_data[TEMP].mouse.press_l) && (!vt_data[TEMP].mouse.press_r)) + { + shoot_cmd_send.loader_mode = LOAD_STOP; + + } + if (vt_data[TEMP].mouse.press_r) // 右键自瞄模式 + { + if ((vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0 + && vision_recv_data->vx == 0 && vision_recv_data->vy == 0 && + vision_recv_data->vz == 0)) + { + shoot_cmd_send.loader_mode = LOAD_STOP; + } else { + auto_aim_mode(); + if (aim_select.suggest_fire == 1 && vt_data[TEMP].mouse.press_l && + shoot_cmd_send.friction_mode == FRICTION_ON) { + shoot_cmd_send.shoot_mode = SHOOT_ON; + shoot_cmd_send.loader_mode = LOAD_BURSTFIRE; + } else { + shoot_cmd_send.loader_mode = LOAD_STOP; + } + } + } + + switch (vt_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键手动刷新UI + { + case 1: + MyUIInit(); + vt_data[TEMP].key_count[KEY_PRESS][Key_R]++; + break; + default: + break; + } + switch (vt_data[TEMP].key_count[KEY_PRESS][Key_V] % 2) // V键开关红点激光 + { + case 0: + HAL_GPIO_WritePin(GPIOC,GPIO_PIN_8,GPIO_PIN_SET); + break; + default: + HAL_GPIO_WritePin(GPIOC,GPIO_PIN_8,GPIO_PIN_RESET); + break; + } + switch (vt_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮 + { + case 0: + shoot_cmd_send.shoot_mode = SHOOT_OFF; + shoot_cmd_send.friction_mode = FRICTION_OFF; + break; + default: + shoot_cmd_send.shoot_mode = SHOOT_ON; + shoot_cmd_send.friction_mode = FRICTION_ON; + break; + } + switch (vt_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关弹舱盖 + { + case 0: + shoot_cmd_send.lid_mode = LID_OPEN; + break; + default: + shoot_cmd_send.lid_mode = LID_CLOSE; + 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 (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式 + { + case 0: + load_flag = 0; + break; + case 1: + load_flag = 1; + break; + default: + load_flag = 3; + break; + } + switch (vt_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量 + { + case 0: + SuperCapSetPower(cap,40); + break; + default: + SuperCapSetPower(cap,70); + break; + } + + shoot_cmd_send.shoot_rate = 25; + + if(shoot_fetch_data.stalled_flag ==1) + shoot_cmd_send.loader_mode = LOAD_REVERSE; + + death_check(); +} + + /** * @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. @@ -390,7 +544,7 @@ static void EmergencyHandler() { chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE; shoot_cmd_send.shoot_mode = SHOOT_OFF; shoot_cmd_send.friction_mode = FRICTION_OFF; - shoot_cmd_send.load_mode = LOAD_STOP; + shoot_cmd_send.loader_mode = LOAD_STOP; LOGERROR("[CMD] emergency stop!"); } // 遥控器右侧开关为[上],恢复正常运行 @@ -419,8 +573,12 @@ void RobotCMDTask() { 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)) // 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) && + 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 @@ -431,6 +589,10 @@ void RobotCMDTask() { chassis_cmd_send.chassis_power_limit = referee_data->GameRobotState.chassis_power_limit; //根据裁判系统反馈确定缓冲功率 chassis_cmd_send.buffer_energy = referee_data->PowerHeatData.buffer_energy; + //根据裁判系统反馈确定枪管热量控制 + shoot_cmd_send.heat = referee_data->PowerHeatData.shooter_17mm_1_barrel_heat; + shoot_cmd_send.heat_limit = referee_data->GameRobotState.shooter_barrel_heat_limit; + shoot_cmd_send.heat_cool = referee_data->GameRobotState.shooter_barrel_cooling_value; // 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 diff --git a/application/cmd/robot_cmd.h b/application/cmd/robot_cmd.h index f42e9ce..5f3905a 100644 --- a/application/cmd/robot_cmd.h +++ b/application/cmd/robot_cmd.h @@ -1,5 +1,6 @@ #ifndef ROBOT_CMD_H #define ROBOT_CMD_H +#include "remote_control.h" /** @@ -14,4 +15,4 @@ void RobotCMDInit(); */ void RobotCMDTask(); -#endif // !ROBOT_CMD_H \ No newline at end of file +#endif // !ROBOT_CMD_H diff --git a/application/robot_def.h b/application/robot_def.h index 283a880..d3d86c5 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 1371 // 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 1443 // 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 18 // 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) @@ -35,10 +35,9 @@ #define PITCH_MAX_RELATIVE_ANGLE 123 // 云台相对底盘最大角度 #define PITCH_MIN_RELATIVE_ANGLE 80 // 云台相对底盘最小角度 - // 发射参数 -#define ONE_BULLET_DELTA_ANGLE 45 // 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 ONE_BULLET_DELTA_ANGLE 1620 // 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 36.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f 2006-36.0f #define NUM_PER_CIRCLE 8 // 拨盘一圈的装载量 // 机器人底盘修改的参数,单位为m(米) #define WHEEL_BASE 0.1f // 纵向轴距(前进后退方向) @@ -172,12 +171,15 @@ typedef struct typedef struct { shoot_mode_e shoot_mode; - loader_mode_e load_mode; + loader_mode_e loader_mode; lid_mode_e lid_mode; friction_mode_e friction_mode; Bullet_Speed_e bullet_speed; // 弹速枚举 - uint8_t rest_heat; float shoot_rate; // 连续发射的射频,unit per s,发/秒 + + uint16_t heat; // 实时热量 + uint16_t heat_limit; // 热量上限 + uint16_t heat_cool; // 热量每秒冷却值 } Shoot_Ctrl_Cmd_s; /* ----------------gimbal/shoot/chassis发布的反馈数据----------------*/ @@ -196,7 +198,6 @@ typedef struct // float real_vy; // float real_wz; - uint8_t rest_heat; // 剩余枪口热量 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; diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c index 295aa7a..2abf9d2 100644 --- a/application/shoot/shoot.c +++ b/application/shoot/shoot.c @@ -68,10 +68,10 @@ void ShootInit() .controller_param_init_config = { .angle_PID = { // 如果启用位置环来控制发弹,需要较大的I值保证输出力矩的线性度否则出现接近拨出的力矩大幅下降 - .Kp = 0, // 10 - .Ki = 0, + .Kp = 500, + .Ki = 100, .Kd = 0, - .MaxOut = 200, + .MaxOut = 5000, }, .speed_PID = { .Kp = 2, // 3 @@ -91,10 +91,12 @@ void ShootInit() }, }, .controller_setting_init_config = { - .angle_feedback_source = MOTOR_FEED, .speed_feedback_source = MOTOR_FEED, + .angle_feedback_source = MOTOR_FEED, + .speed_feedback_source = MOTOR_FEED, .outer_loop_type = SPEED_LOOP, // 初始化成SPEED_LOOP,让拨盘停在原地,防止拨盘上电时乱转 - .close_loop_type = CURRENT_LOOP | SPEED_LOOP, - .motor_reverse_flag = MOTOR_DIRECTION_REVERSE, // 注意方向设置为拨盘的拨出的击发方向 + .close_loop_type = SPEED_LOOP | ANGLE_LOOP, + .motor_reverse_flag = MOTOR_DIRECTION_NORMAL, // 注意方向设置为拨盘的拨出的击发方向 + //.feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE, }, .motor_type = M2006 // 英雄使用m3508 }; @@ -121,6 +123,7 @@ void ShootInit() // .id = 1; // } } + //卡弹检测 void stalled_detect() { @@ -135,7 +138,7 @@ void stalled_detect() 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.loader_mode == LOAD_BURSTFIRE) { //if(real_angle < reference_angle * 0.2f) if(abs(loader->measure.real_current)>=9500) @@ -150,6 +153,18 @@ void stalled_detect() // last_total_angle = loader->measure.total_angle; } +// 热量控制 +void Heat_control() +{ + if(shoot_cmd_recv.heat>=(0.9*shoot_cmd_recv.heat_limit)) + { + DJIMotorStop(loader); + } + else + { + DJIMotorEnable(loader); + } +} /* 机器人发射机构控制核心任务 */ void ShootTask() @@ -160,8 +175,8 @@ void ShootTask() // 对shoot mode等于SHOOT_STOP的情况特殊处理,直接停止所有电机(紧急停止) if (shoot_cmd_recv.shoot_mode == SHOOT_OFF) { - DJIMotorStop(friction_l); - DJIMotorStop(friction_r); + DJIMotorSetRef(friction_l, 0); + DJIMotorSetRef(friction_r, 0); DJIMotorStop(loader); } else // 恢复运行 @@ -170,13 +185,6 @@ void ShootTask() DJIMotorEnable(friction_r); DJIMotorEnable(loader); } - //单独测试波胆 -// DJIMotorEnable(loader); -// -// shoot_cmd_recv.load_mode = LOAD_BURSTFIRE; -// shoot_cmd_recv.shoot_rate = 20; -// if(shoot_feedback_data.stalled_flag ==1) -// shoot_cmd_recv.load_mode = LOAD_REVERSE; // 如果上一次触发单发或3发指令的时间加上不应期仍然大于当前时间(尚未休眠完毕),直接返回即可 // 单发模式主要提供给能量机关激活使用(以及英雄的射击大部分处于单发) @@ -184,7 +192,7 @@ void ShootTask() return; // 若不在休眠状态,根据robotCMD传来的控制模式进行拨盘电机参考值设定和模式切换 - switch (shoot_cmd_recv.load_mode) + switch (shoot_cmd_recv.loader_mode) { // 停止拨盘 case LOAD_STOP: @@ -193,22 +201,22 @@ void ShootTask() break; // 单发模式,根据鼠标按下的时间,触发一次之后需要进入不响应输入的状态(否则按下的时间内可能多次进入,导致多次发射) case LOAD_1_BULLET: // 激活能量机关/干扰对方用,英雄用. - DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到角度环 - DJIMotorSetRef(loader, loader->measure.total_angle + ONE_BULLET_DELTA_ANGLE); // 控制量增加一发弹丸的角度 + DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到角度环 + DJIMotorSetRef(loader, loader->measure.total_angle - ONE_BULLET_DELTA_ANGLE); // 控制量增加一发弹丸的角度 hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间 dead_time = 150; // 完成1发弹丸发射的时间 break; // 三连发,如果不需要后续可能删除 case LOAD_3_BULLET: - DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到速度环 - DJIMotorSetRef(loader, loader->measure.total_angle + 3 * ONE_BULLET_DELTA_ANGLE); // 增加3发 + DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到角度环 + DJIMotorSetRef(loader, loader->measure.total_angle - 3 * ONE_BULLET_DELTA_ANGLE); // 增加3发 hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间 - dead_time = 300; // 完成3发弹丸发射的时间 + dead_time = 1000; // 完成3发弹丸发射的时间 break; // 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: DJIMotorOuterLoop(loader, SPEED_LOOP); - DJIMotorSetRef(loader, shoot_cmd_recv.shoot_rate * 360 * REDUCTION_RATIO_LOADER / 8); + DJIMotorSetRef(loader, -(shoot_cmd_recv.shoot_rate * 360 * REDUCTION_RATIO_LOADER / 8)); // 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; @@ -216,7 +224,7 @@ void ShootTask() // 也有可能需要从switch-case中独立出来 case LOAD_REVERSE: 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 dead_time = 100; // 翻转500ms shoot_feedback_data.stalled_flag = 0 ; //清除堵转标志 @@ -261,7 +269,6 @@ void ShootTask() if (shoot_cmd_recv.lid_mode == LID_CLOSE) { Servo_Motor_FreeAngle_Set(lid,95); - //... } else if (shoot_cmd_recv.lid_mode == LID_OPEN) { @@ -269,12 +276,8 @@ void ShootTask() } //卡弹检测 stalled_detect(); - - -// DJIMotorEnable(friction_l); -// DJIMotorEnable(friction_r); -// DJIMotorSetRef(friction_l, 30000); -// DJIMotorSetRef(friction_r, 30000); + // 热量控制 + Heat_control(); // 反馈数据,目前暂时没有要设定的反馈数据,后续可能增加应用离线监测以及卡弹反馈 PubPushMessage(shoot_pub, (void *)&shoot_feedback_data); diff --git a/cmake-build-debug/CMakeCache.txt b/cmake-build-debug/CMakeCache.txt index fe517db..de50645 100644 --- a/cmake-build-debug/CMakeCache.txt +++ b/cmake-build-debug/CMakeCache.txt @@ -58,8 +58,8 @@ CMAKE_CODEBLOCKS_MAKE_ARGUMENTS:STRING= //Enable colored diagnostics throughout. CMAKE_COLOR_DIAGNOSTICS:BOOL=ON -//CXX compiler -CMAKE_CXX_COMPILER:STRING=D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-g++.exe +//No help, variable specified on the command line. +CMAKE_CXX_COMPILER:UNINITIALIZED=D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-g++.exe //A wrapper around 'ar' adding the appropriate '--plugin' option // for the GCC compiler @@ -84,8 +84,8 @@ CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG //Flags used by the CXX compiler during RELWITHDEBINFO builds. 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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-readr.o) + .debug_frame 0x0000a454 0x20 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(_arm_unorddf2.o) diff --git a/modules/master_machine/master_process.c b/modules/master_machine/master_process.c index 01f9c57..d7b22e9 100644 --- a/modules/master_machine/master_process.c +++ b/modules/master_machine/master_process.c @@ -147,9 +147,9 @@ static void DecodeVision(uint16_t recv_len) } /* 视觉通信初始化 */ -RecievePacket_t *VisionInit(UART_HandleTypeDef *_handle) +RecievePacket_t *VisionInit(void) { - 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}; vis_recv_buff = USBInit(conf); diff --git a/modules/master_machine/master_process.h b/modules/master_machine/master_process.h index 405912a..1e3c45b 100644 --- a/modules/master_machine/master_process.h +++ b/modules/master_machine/master_process.h @@ -113,7 +113,7 @@ typedef __packed 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) */ //Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle); -RecievePacket_t *VisionInit(UART_HandleTypeDef *_handle); +RecievePacket_t *VisionInit(void); /** * @brief 发送视觉数据 diff --git a/modules/motor/DJImotor/dji_motor.c b/modules/motor/DJImotor/dji_motor.c index b2027cc..d9e877b 100644 --- a/modules/motor/DJImotor/dji_motor.c +++ b/modules/motor/DJImotor/dji_motor.c @@ -286,7 +286,13 @@ void DJIMotorControl() { if (motor_setting->angle_feedback_source == OTHER_FEED) pid_measure = *motor_controller->other_angle_feedback_ptr; else - pid_measure = measure->total_angle; // MOTOR_FEED,对total angle闭环,防止在边界处出现突跃 + { + if(motor_setting->feedback_reverse_flag == FEEDBACK_DIRECTION_REVERSE) + pid_measure = -measure->total_angle; + else + pid_measure = measure->total_angle; // MOTOR_FEED,对total angle闭环,防止在边界处出现突跃 + } + // 更新pid_ref进入下一个环 pid_ref = PIDCalculate(&motor_controller->angle_PID, pid_measure, pid_ref); } @@ -300,7 +306,13 @@ void DJIMotorControl() { if (motor_setting->speed_feedback_source == OTHER_FEED) pid_measure = *motor_controller->other_speed_feedback_ptr; else // MOTOR_FEED - pid_measure = measure->speed_aps; + { + if(motor_setting->feedback_reverse_flag == FEEDBACK_DIRECTION_REVERSE) + pid_measure = -measure->speed_aps; + else + pid_measure = measure->speed_aps; + } + // 更新pid_ref进入下一个环 pid_ref = PIDCalculate(&motor_controller->speed_PID, pid_measure, pid_ref); } diff --git a/modules/referee/referee_protocol.h b/modules/referee/referee_protocol.h index 669a712..aa8e15a 100644 --- a/modules/referee/referee_protocol.h +++ b/modules/referee/referee_protocol.h @@ -65,7 +65,7 @@ typedef struct /****************************cmd_id命令码说明****************************/ /****************************cmd_id命令码说明****************************/ - +// V1.6.1 裁判系统串口协议 /* 命令码ID,用来判断接收的是什么数据 */ typedef enum { @@ -83,24 +83,28 @@ typedef enum ID_robot_hurt = 0x0206, // 伤害状态数据 ID_shoot_data = 0x0207, // 实时射击数据 ID_student_interactive = 0x0301, // 机器人间交互数据 + ID_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; /* 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 */ typedef enum { - LEN_game_state = 3, // 0x0001 + LEN_game_state = 11, // 0x0001 LEN_game_result = 1, // 0x0002 - LEN_game_robot_HP = 2, // 0x0003 + LEN_game_robot_HP = 32, // 0x0003 LEN_event_data = 4, // 0x0101 LEN_supply_projectile_action = 4, // 0x0102 - LEN_game_robot_state = 27, // 0x0201 - LEN_power_heat_data = 14, // 0x0202 + LEN_game_robot_state = 13, // 0x0201 + LEN_power_heat_data = 16, // 0x0202 LEN_game_robot_pos = 16, // 0x0203 - LEN_buff_musk = 1, // 0x0204 - LEN_aerial_robot_energy = 1, // 0x0205 + LEN_buff_musk = 6, // 0x0204 + LEN_aerial_robot_energy = 2, // 0x0205 LEN_robot_hurt = 1, // 0x0206 LEN_shoot_data = 7, // 0x0207 LEN_receive_data = 6 + Communicate_Data_LEN, // 0x0301 + LEN__custom_robot = 30, // 0x0302 + LEN_remote_control = 12, // 0x0304 } JudgeDataLength_e; @@ -124,23 +128,23 @@ typedef struct /* ID: 0x0003 Byte: 32 比赛机器人血量数据 */ typedef struct { - uint16_t red_1_robot_HP; - uint16_t red_2_robot_HP; - uint16_t red_3_robot_HP; - uint16_t red_4_robot_HP; - uint16_t red_5_robot_HP; - uint16_t red_7_robot_HP; - uint16_t red_outpost_HP; - uint16_t red_base_HP; - uint16_t blue_1_robot_HP; - uint16_t blue_2_robot_HP; - uint16_t blue_3_robot_HP; - uint16_t blue_4_robot_HP; - uint16_t blue_5_robot_HP; - uint16_t blue_7_robot_HP; - uint16_t blue_outpost_HP; - uint16_t blue_base_HP; -} ext_game_robot_HP_t; + uint16_t red_1_robot_HP; + uint16_t red_2_robot_HP; + uint16_t red_3_robot_HP; + uint16_t red_4_robot_HP; + uint16_t red_5_robot_HP; + uint16_t red_7_robot_HP; + uint16_t red_outpost_HP; + uint16_t red_base_HP; + uint16_t blue_1_robot_HP; + uint16_t blue_2_robot_HP; + uint16_t blue_3_robot_HP; + uint16_t blue_4_robot_HP; + uint16_t blue_5_robot_HP; + uint16_t blue_7_robot_HP; + uint16_t blue_outpost_HP; + uint16_t blue_base_HP; +}ext_game_robot_HP_t; /* ID: 0x0101 Byte: 4 场地事件数据 */ typedef struct @@ -148,7 +152,7 @@ typedef struct uint32_t event_type; } ext_event_data_t; -/* ID: 0x0102 Byte: 3 场地补给站动作标识数据 */ +/* ID: 0x0102 Byte: 4 场地补给站动作标识数据 */ typedef struct { uint8_t supply_projectile_id; @@ -157,7 +161,7 @@ typedef struct uint8_t supply_projectile_num; } ext_supply_projectile_action_t; -/* ID: 0X0201 Byte: 13 V1.6.1 机器人性能体系数据 */ +/* ID: 0X0201 Byte: 13 机器人性能体系数据 */ typedef struct { uint8_t robot_id; @@ -173,7 +177,7 @@ typedef struct uint8_t power_management_shooter_output : 1; } ext_game_robot_state_t; -/* ID: 0X0202 Byte: 14 v1.6.1 实时功率热量数据 */ +/* ID: 0X0202 Byte: 16 实时功率热量数据 */ typedef struct { uint16_t chassis_voltage; @@ -194,16 +198,22 @@ typedef struct float yaw; } ext_game_robot_pos_t; -/* ID: 0x0204 Byte: 1 机器人增益数据 */ +/* ID: 0x0204 Byte: 6 机器人增益数据 */ typedef struct { - uint8_t power_rune_buff; + uint8_t recovery_buff; + uint8_t cooling_buff; + uint8_t defence_buff; + uint8_t vulnerability_buff; + uint16_t attack_buff; + uint8_t power_rune_buff; } ext_buff_musk_t; -/* ID: 0x0205 Byte: 1 空中机器人能量状态数据 */ +/* ID: 0x0205 Byte: 2 空中机器人能量状态数据 */ typedef struct { - uint8_t attack_time; + uint8_t airforce_status; + uint8_t time_remain; } aerial_robot_energy_t; /* ID: 0x0206 Byte: 1 伤害状态数据 */ @@ -222,6 +232,20 @@ typedef struct float bullet_speed; } ext_shoot_data_t; +/****************************图传链路数据****************************/ +/* ID: 0x0304 Byte: 12 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; +}vision_transfer_t; +/****************************图传链路数据****************************/ + /****************************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*/ diff --git a/modules/referee/referee_task.c b/modules/referee/referee_task.c index 1350d82..a9e1ccf 100644 --- a/modules/referee/referee_task.c +++ b/modules/referee/referee_task.c @@ -82,7 +82,7 @@ void MyUIInit() UICircleDraw(&UI_shoot_yuan[0],"sy0",UI_Graph_ADD,7,UI_Color_Yellow,2,960,540,10); 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 + // 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, 15, 2, 150, 750, "chassis:"); 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:"); @@ -93,6 +93,11 @@ void MyUIInit() UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[3]); UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550, "Q.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]); + // 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, "Power_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 @@ -106,84 +111,25 @@ 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, 15, 2, 270, 550, "open "); UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]); - - // 底盘功率显示，静态 - UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 620, 230, "Power_MAX:"); - UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]); + 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]); // 能量条框 UIRectangleDraw(&UI_Energy[0], "ss6", UI_Graph_ADD, 7, UI_Color_Green, 2, 720, 140, 1220, 180); UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[0]); // 底盘功率显示,动态 - UIFloatDraw(&UI_Energy[1], "sd5", 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, referee_recv_info->GameRobotState.chassis_power_limit*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); + //UILineDraw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160); //超级电容电压 - UIIntDraw(&UI_Energy[3],"sd7",UI_Graph_ADD,8,UI_Color_Pink,18,2,1000,300,cap->cap_msg.cap_vol); + 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); UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[3]); } -// 测试用函数，实现模式自动变化,用于检查该任务和裁判系统是否连接正常 -static uint8_t count = 0; -static uint16_t count1 = 0; -static void RobotModeTest(Referee_Interactive_info_t *_Interactive_data) // 测试用函数，实现模式自动变化 -{ - count++; - if (count >= 50) - { - count = 0; - count1++; - } - switch (count1 % 4) - { - case 0: - { - _Interactive_data->chassis_mode = CHASSIS_ZERO_FORCE; - _Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE; - _Interactive_data->shoot_mode = SHOOT_ON; - _Interactive_data->friction_mode = FRICTION_ON; - _Interactive_data->lid_mode = LID_OPEN; - _Interactive_data->Chassis_Power_Data.chassis_power_mx += 3.5; - if (_Interactive_data->Chassis_Power_Data.chassis_power_mx >= 18) - _Interactive_data->Chassis_Power_Data.chassis_power_mx = 0; - break; - } - case 1: - { - _Interactive_data->chassis_mode = CHASSIS_ROTATE; - _Interactive_data->gimbal_mode = GIMBAL_FREE_MODE; - _Interactive_data->shoot_mode = SHOOT_OFF; - _Interactive_data->friction_mode = FRICTION_OFF; - _Interactive_data->lid_mode = LID_CLOSE; - break; - } - case 2: - { - _Interactive_data->chassis_mode = CHASSIS_NO_FOLLOW; - _Interactive_data->gimbal_mode = GIMBAL_GYRO_MODE; - _Interactive_data->shoot_mode = SHOOT_ON; - _Interactive_data->friction_mode = FRICTION_ON; - _Interactive_data->lid_mode = LID_OPEN; - break; - } - case 3: - { - _Interactive_data->chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; - _Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE; - _Interactive_data->shoot_mode = SHOOT_OFF; - _Interactive_data->friction_mode = FRICTION_OFF; - _Interactive_data->lid_mode = LID_CLOSE; - break; - } - default: - break; - } -} - static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data) { UIChangeCheck(_Interactive_data); @@ -254,13 +200,43 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]); _Interactive_data->Referee_Interactive_Flag.lid_flag = 0; } + // load_mode + if (_Interactive_data->Referee_Interactive_Flag.load_flag == 1) + { + switch (_Interactive_data->loader_mode) + { + case LOAD_1_BULLET: + { + UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 800, " 1 "); + break; + } + case LOAD_3_BULLET: + { + UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 800, " 3 "); + break; + } + case LOAD_BURSTFIRE: + { + UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 800, "999"); + break; + } + } + UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[5]); + _Interactive_data->Referee_Interactive_Flag.load_flag = 0; + } // power if (_Interactive_data->Referee_Interactive_Flag.Power_flag == 1) { - UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_Change, 8, UI_Color_Green, 18, 2, 2, 850, 230, _Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000); - UILineDraw(&UI_Energy[2], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)750 + cap->cap_msg.cap_vol * 30, 160); - UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]); - _Interactive_data->Referee_Interactive_Flag.Power_flag = 0; + 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; } //绘制开火建议 if (_Interactive_data->Referee_Interactive_Flag.aim_flag == 1) { @@ -325,4 +301,10 @@ static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data) _Interactive_data->Referee_Interactive_Flag.aim_flag = 1; _Interactive_data->aim_last_fire = _Interactive_data->aim_fire; } + + if (_Interactive_data->loader_mode != _Interactive_data->loader_last_mode) + { + _Interactive_data->Referee_Interactive_Flag.load_flag = 1; + _Interactive_data->loader_last_mode = _Interactive_data->loader_mode; + } } diff --git a/modules/referee/rm_referee.h b/modules/referee/rm_referee.h index 9660663..991ed17 100644 --- a/modules/referee/rm_referee.h +++ b/modules/referee/rm_referee.h @@ -58,6 +58,7 @@ typedef struct uint32_t Power_flag : 1; uint32_t aim_flag : 1; uint32_t cap_flag : 1; + uint32_t load_flag : 1; } Referee_Interactive_Flag_t; // 此结构体包含UI绘制与机器人车间通信的需要的其他非裁判系统数据 @@ -67,11 +68,12 @@ typedef struct // 为UI绘制以及交互数据所用 chassis_mode_e chassis_mode; // 底盘模式 gimbal_mode_e gimbal_mode; // 云台模式 - shoot_mode_e shoot_mode; // 发射模式设置 + shoot_mode_e shoot_mode; // 发射开关设置 friction_mode_e friction_mode; // 摩擦轮关闭 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 // 上一次的模式，用于flag判断 @@ -82,6 +84,7 @@ typedef struct lid_mode_e lid_last_mode; Chassis_Power_Data_s Chassis_last_Power_Data; uint8_t aim_last_fire; + loader_mode_e loader_last_mode; } Referee_Interactive_info_t; diff --git a/modules/referee/vision_transfer.c b/modules/referee/vision_transfer.c new file mode 100644 index 0000000..fa383f2 --- /dev/null +++ b/modules/referee/vision_transfer.c @@ -0,0 +1,162 @@ +/** + * @file rm_referee.C + * @author kidneygood (you@domain.com) + * @brief + * @version 0.1 + * @date 2022-11-18 + * + * @copyright Copyright (c) 2022 + * + */ + +#include "vision_transfer.h" +#include "string.h" +#include "crc_ref.h" +#include "bsp_usart.h" +#include "task.h" +#include "daemon.h" +#include "bsp_log.h" +#include "cmsis_os.h" +#include "remote_control.h" + +#define RE_RX_BUFFER_SIZE 128u // 裁判系统接收缓冲区大小 + +static USARTInstance *vt_usart_instance; // 裁判系统串口实例 +static DaemonInstance *vision_transfer_daemon; // 裁判系统守护进程 +static referee_info_vt_t referee_info_vt; // 裁判系统数据 +static VT_ctrl_t vt_ctrl[2]; //[0]:当前数据TEMP,[1]:上一次的数据LAST.用于按键持续按下和切换的判断 +/** + * @brief 读取裁判数据,中断中读取保证速度 + * @param buff: 读取到的裁判系统原始数据 + * @retval 是否对正误判断做处理 + * @attention 在此判断帧头和CRC校验,无误再写入数据，不重复判断帧头 + */ +static void JudgeReadVTData(uint8_t *buff) +{ + uint16_t judge_length; // 统计一帧数据长度 + if (buff == NULL) // 空数据包，则不作任何处理 + return; + + // 写入帧头数据(5-byte),用于判断是否开始存储裁判数据 + memcpy(&referee_info_vt.FrameHeader, buff, LEN_HEADER); + + // 判断帧头数据(0)是否为0xA5 + if (buff[SOF] == REFEREE_SOF) + { + // 帧头CRC8校验 + if (Verify_CRC8_Check_Sum(buff, LEN_HEADER) == TRUE) + { + // 统计一帧数据长度(byte),用于CR16校验 + judge_length = buff[DATA_LENGTH] + LEN_HEADER + LEN_CMDID + LEN_TAIL; + // 帧尾CRC16校验 + if (Verify_CRC16_Check_Sum(buff, judge_length) == TRUE) + { + // 2个8位拼成16位int + referee_info_vt.CmdID = (buff[6] << 8 | buff[5]); + // 解析数据命令码,将数据拷贝到相应结构体中(注意拷贝数据的长度) + // 第8个字节开始才是数据 data=7 + switch (referee_info_vt.CmdID) + { + case ID_custom_robot: //0x0302 + memcpy(&referee_info_vt.ReceiveData, (buff + DATA_Offset), LEN__custom_robot); + break; + case ID_remote_control: //0x0304 + memcpy(&referee_info_vt.VisionTransfer, (buff + DATA_Offset), LEN_remote_control); + break; + } + } + } + // 首地址加帧长度,指向CRC16下一字节,用来判断是否为0xA5,从而判断一个数据包是否有多帧数据 + if (*(buff + sizeof(xFrameHeader) + LEN_CMDID + referee_info_vt.FrameHeader.DataLength + LEN_TAIL) == 0xA5) + { // 如果一个数据包出现了多帧数据,则再次调用解析函数,直到所有数据包解析完毕 + JudgeReadVTData(buff + sizeof(xFrameHeader) + LEN_CMDID + referee_info_vt.FrameHeader.DataLength + LEN_TAIL); + } + } +} +static void vt_to_rc(void) +{ + // 鼠标解析 + vt_ctrl[TEMP].mouse.x = referee_info_vt.VisionTransfer.mouse_x; //!< Mouse X axis + vt_ctrl[TEMP].mouse.y = referee_info_vt.VisionTransfer.mouse_y; //!< Mouse Y axis + vt_ctrl[TEMP].mouse.press_l = referee_info_vt.VisionTransfer.left_button_down; //!< Mouse Left Is Press ? + vt_ctrl[TEMP].mouse.press_r = referee_info_vt.VisionTransfer.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_ctrl[TEMP].key[KEY_PRESS] = referee_info_vt.VisionTransfer.keyboard_value; + + if (vt_ctrl[TEMP].key[KEY_PRESS].ctrl) // ctrl键按下 + vt_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL] = vt_ctrl[TEMP].key[KEY_PRESS]; + else + memset(&vt_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL], 0, sizeof(Key_t)); + if (vt_ctrl[TEMP].key[KEY_PRESS].shift) // shift键按下 + vt_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT] = vt_ctrl[TEMP].key[KEY_PRESS]; + else + memset(&vt_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT], 0, sizeof(Key_t)); + + uint16_t key_now = vt_ctrl[TEMP].key[KEY_PRESS].keys, // 当前按键是否按下 + key_last = vt_ctrl[LAST].key[KEY_PRESS].keys, // 上一次按键是否按下 + key_with_ctrl = vt_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL].keys, // 当前ctrl组合键是否按下 + key_with_shift = vt_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT].keys, // 当前shift组合键是否按下 + key_last_with_ctrl = vt_ctrl[LAST].key[KEY_PRESS_WITH_CTRL].keys, // 上一次ctrl组合键是否按下 + key_last_with_shift = vt_ctrl[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_ctrl[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_ctrl[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_ctrl[TEMP].key_count[KEY_PRESS_WITH_SHIFT][i]++; + } + + memcpy(&vt_ctrl[LAST], &vt_ctrl[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 +} + +/*裁判系统串口接收回调函数,解析数据 */ +static void VTRefereeRxCallback() +{ + DaemonReload(vision_transfer_daemon); + JudgeReadVTData(vt_usart_instance->recv_buff); + vt_to_rc(); +} +// 裁判系统丢失回调函数,重新初始化裁判系统串口 +static void VTRefereeLostCallback(void *arg) +{ + USARTServiceInit(vt_usart_instance); + LOGWARNING("[rm_ref] lost referee vision data "); +} + +/* 裁判系统通信初始化 */ +VT_ctrl_t *VTRefereeInit(UART_HandleTypeDef *vt_usart_handle) +{ + USART_Init_Config_s conf; + conf.module_callback = VTRefereeRxCallback; + conf.usart_handle = vt_usart_handle; + conf.recv_buff_size = RE_RX_BUFFER_SIZE; // mx 255(u8) + vt_usart_instance = USARTRegister(&conf); + + Daemon_Init_Config_s daemon_conf = { + .callback = VTRefereeLostCallback, + .owner_id = vt_usart_instance, + .reload_count = 30, // 0.3s没有收到数据,则认为丢失,重启串口接收 + }; + vision_transfer_daemon = DaemonRegister(&daemon_conf); + + return &vt_ctrl; +} + +/** + * @brief 裁判系统数据发送函数 + * @param + */ +void VTRefereeSend(uint8_t *send, uint16_t tx_len) +{ + USARTSend(vt_usart_instance, send, tx_len, USART_TRANSFER_DMA); + osDelay(115); +} diff --git a/modules/referee/vision_transfer.h b/modules/referee/vision_transfer.h new file mode 100644 index 0000000..4989f46 --- /dev/null +++ b/modules/referee/vision_transfer.h @@ -0,0 +1,46 @@ +#ifndef VISION_TRANSFER_H +#define VISION_TRANSFER_H + +#include "usart.h" +#include "referee_protocol.h" +#include "robot_def.h" +#include "bsp_usart.h" +#include "FreeRTOS.h" +#include "remote_control.h" + +#pragma pack(1) + +// 此结构体包含裁判系统接收数据以及UI绘制与机器人车间通信的相关信息 +typedef struct +{ + + xFrameHeader FrameHeader; // 接收到的帧头信息 + uint16_t CmdID; + + vision_transfer_t VisionTransfer; + Communicate_ReceiveData_t ReceiveData; + + uint8_t init_flag; + +} referee_info_vt_t; + +#pragma pack() + +/** + * @brief 裁判系统通信初始化,该函数会初始化裁判系统串口,开启中断 + * + * @param vt_usart_handle 串口handle,C板一般用串口6 + * @return referee_info_t* 返回裁判系统反馈的数据,包括热量/血量/状态等 + */ +VT_ctrl_t *VTRefereeInit(UART_HandleTypeDef *referee_usart_handle); + +/** + * @brief UI绘制和交互数的发送接口,由UI绘制任务和多机通信函数调用 + * @note 内部包含了一个实时系统的延时函数,这是因为裁判系统接收CMD数据至高位10Hz + * + * @param send 发送数据首地址 + * @param tx_len 发送长度 + */ +void VTRefereeSend(uint8_t *send, uint16_t tx_len); + +#endif // !REFEREE_H diff --git a/modules/remote/remote_control.c b/modules/remote/remote_control.c index 4035304..b03d19e 100644 --- a/modules/remote/remote_control.c +++ b/modules/remote/remote_control.c @@ -16,6 +16,10 @@ static uint8_t rc_init_flag = 0; // 遥控器初始化标志位 static USARTInstance *rc_usart_instance; static DaemonInstance *rc_daemon_instance; +// 图传拥有的串口实例 +static USARTInstance *vt_usart_instance; +static DaemonInstance *vt_daemon_instance; + /** * @brief 矫正遥控器摇杆的值,超过660或者小于-660的值都认为是无效值,置0 * @@ -97,6 +101,12 @@ static void RemoteControlRxCallback() sbus_to_rc(rc_usart_instance->recv_buff); // 进行协议解析 } +//static void RemoteControlvtCallback() +//{ +// DaemonReload(vt_daemon_instance); // 先喂狗 +// sbus_to_rc(vt_usart_instance->recv_buff); // 进行协议解析 +//} + /** * @brief 遥控器离线的回调函数,注册到守护进程中,串口掉线时调用 * diff --git a/modules/remote/remote_control.h b/modules/remote/remote_control.h index c12f810..de51173 100644 --- a/modules/remote/remote_control.h +++ b/modules/remote/remote_control.h @@ -113,6 +113,20 @@ typedef struct uint8_t key_count[3][16]; } RC_ctrl_t; +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 + /* ------------------------- Internal Data ----------------------------------- */ /** @@ -123,6 +137,8 @@ typedef struct */ RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle); +//VT_ctrl_t *RemoteControlInit(UART_HandleTypeDef *vt_usart_handle); + /** * @brief 检查遥控器是否在线,若尚未初始化也视为离线 * diff --git a/xiaoshi.jdebug.user b/xiaoshi.jdebug.user deleted file mode 100644 index 669ec91..0000000 --- a/xiaoshi.jdebug.user +++ /dev/null @@ -1,31 +0,0 @@ - -GraphedExpression="(((pitch_motor)->motor_controller).speed_PID).Ref", Color=#a00909 -GraphedExpression="(((pitch_motor)->motor_controller).speed_PID).Measure", Color=#09a01b -OpenDocument="main.c", FilePath="D:/zhandui/cqdm/basic_framework/Src/main.c", Line=64 -OpenDocument="tasks.c", FilePath="D:/zhandui/cqdm/basic_framework/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3623 -OpenDocument="controller.h", FilePath="D:/zhandui/cqdm/basic_framework/modules/algorithm/controller.h", Line=48 -OpenDocument="robot_def.h", FilePath="D:/zhandui/cqdm/basic_framework/application/robot_def.h", Line=9 -OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/basic_framework/application/chassis/chassis.c", Line=0 -OpenDocument="gimbal.c", FilePath="D:/zhandui/cqdm/basic_framework/application/gimbal/gimbal.c", Line=141 -OpenDocument="startup_stm32f407ighx.s", FilePath="D:/zhandui/cqdm/basic_framework/Startup/startup_stm32f407ighx.s", Line=46 -OpenToolbar="Debug", Floating=0, x=0, y=0 -OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=651, h=492, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Memory 1", DockArea=BOTTOM, x=2, y=0, w=831, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D700 -OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=651, h=600, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Data Sampling", DockArea=BOTTOM, x=1, y=0, w=615, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 -OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=1153, h=1093, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="2 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=0, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="0;833", PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="926;0", CodeGraphLegendShown=0, CodeGraphLegendPosition="942;0" -OpenWindow="Console", DockArea=BOTTOM, x=0, y=0, w=1112, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -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";" (((pitch_motor)->motor_controller).speed_PID).Ref";" (((pitch_motor)->motor_controller).speed_PID).Measure"], ColWidths=[100;100;100;289] -TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[438;100;154;124;114;164;110;126;126] -TableHeader="Power Sampling", SortCol="Index", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100] -TableHeader="Task List", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Run Count";"Priority";"Status";"Timeout";"Stack Info (Free / Size)";"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;100;104;183] -TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[] -TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[26;26;26;26] -WatchedExpression="pitch_motor", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="yaw_motor", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="YAW_CHASSIS_ALIGN_ECD", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="gimba_IMU_data", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="gravity_current", Window=Watched Data 1 -WatchedExpression="motor_rf", RefreshRate=5, Window=Watched Data 1 \ No newline at end of file diff --git a/xs.jdebug b/xs.jdebug index 3f84cd6..4af9a7d 100644 --- a/xs.jdebug +++ b/xs.jdebug @@ -33,7 +33,7 @@ void OnProjectLoad (void) { // // User settings // - Edit.SysVar (VAR_HSS_SPEED, FREQ_200_HZ); + Edit.SysVar (VAR_HSS_SPEED, FREQ_500_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 ee85923..6419ff9 100644 --- a/xs.jdebug.user +++ b/xs.jdebug.user @@ -1,38 +1,42 @@ - -Breakpoint=D:/zhandui/cqdm/bubing_9/application/shoot/shoot.c:183:5, State=BP_STATE_DISABLED +GraphedExpression="(((motor_lf)->motor_controller).speed_PID).Measure", Color=#e56a6f +GraphedExpression="(((motor_lf)->motor_controller).speed_PID).Ref", Color=#35792b +OpenDocument="robot_cmd.c", FilePath="D:/zhandui/cqdm/bubing_9/application/cmd/robot_cmd.c", Line=387 +OpenDocument="tasks.c", FilePath="D:/zhandui/cqdm/bubing_9/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3418 +OpenDocument="main.c", FilePath="D:/zhandui/cqdm/bubing_9/Src/main.c", Line=65 +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 -OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/bubing_9/application/chassis/chassis.c", Line=81 -OpenDocument="shoot.c", FilePath="D:/zhandui/cqdm/bubing_9/application/shoot/shoot.c", Line=63 -OpenDocument="main.c", FilePath="D:/zhandui/cqdm/bubing_9/Src/main.c", Line=64 OpenToolbar="Debug", Floating=0, x=0, y=0 -OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=556, h=292, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=935, h=205, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=800, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C -OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=556, h=800, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=650, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=979, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 -OpenWindow="Timeline", DockArea=RIGHT, x=0, y=1, w=935, h=887, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 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="601;0", CodeGraphLegendShown=0, CodeGraphLegendPosition="608;0" -OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=128, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=735, h=459, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=1, w=1150, h=319, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=552, 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=473, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=1294, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 +OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=1150, h=717, 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;502", 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=238, 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;126] +TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" (((motor_lf)->motor_controller).speed_PID).Measure";" (((motor_lf)->motor_controller).speed_PID).Ref"], ColWidths=[100;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;114;124;114;124;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;100;104;114] +TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[238;149;104;218] 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="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="referee_recv_info", Window=Watched Data 1 -WatchedExpression="chassis_power_limit", 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 \ No newline at end of file +WatchedExpression="cap", RefreshRate=2, Window=Watched Data 1 +WatchedExpression="shoot_cmd_recv", RefreshRate=5, Window=Watched Data 1 \ No newline at end of file