diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 935a403..4dd8521 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -50,9 +50,10 @@ static Chassis_Ctrl_Cmd_s Chassis_Power_Mx; const static float CHASSIS_ACCEL_X_NUM=0.1f; const static float CHASSIS_ACCEL_Y_NUM=0.1f; +// 超级电容 +SuperCapInstance *cap; // 超级电容全局 +float power_set; // 超级电容功率设置 - -static SuperCapInstance *cap; // 超级电容 static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left right forward back /* 用于自旋变速策略的时间变量 */ @@ -115,16 +116,17 @@ void ChassisInit() { //超级电容 SuperCap_Init_Config_s cap_conf = { .can_config = { - .can_handle = &hcan2, + .can_handle = &hcan1, .tx_id = 0x210, .rx_id = 0x211, }}; cap = SuperCapInit(&cap_conf); // 超级电容初始化 + 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); - // PowerMeter_Init_Config_s // 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 @@ -225,8 +227,6 @@ static void LimitChassisOutput() DJIMotorSetRef(motor_rb, vt_rb); } - - } /** @@ -320,7 +320,8 @@ 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.rest_heat = referee_data->PowerHeatData.shooter_heat0; + chassis_feedback_data.cap_power = cap->cap_msg.cap_vol; // 推送反馈消息 #ifdef ONE_BOARD @@ -329,4 +330,4 @@ void ChassisTask() { #ifdef CHASSIS_BOARD CANCommSend(chasiss_can_comm, (void *)&chassis_feedback_data); #endif // CHASSIS_BOARD -} \ No newline at end of file +} diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 33a545e..e5ff97b 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -9,6 +9,7 @@ #include "general_def.h" #include "dji_motor.h" #include "auto_aim.h" +#include "super_cap.h" // bsp #include "bsp_dwt.h" #include "bsp_log.h" @@ -30,17 +31,17 @@ static Subscriber_t *chassis_feed_sub; // 底盘反馈信息订阅者 static Chassis_Ctrl_Cmd_s chassis_cmd_send; // 发送给底盘应用的信息,包括控制信息和UI绘制相关 static Chassis_Upload_Data_s chassis_fetch_data; // 从底盘应用接收的反馈信息信息,底盘功率枪口热量与底盘运动状态等 - -static RC_ctrl_t *rc_data; // 遥控器数据,初始化时返回 +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 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 -static SendPacket_t vision_send_data; // 视觉发送数据 +static SendPacket_t vision_send_data; // 视觉发送数据 //自瞄相关信息 static Trajectory_Type_t trajectory_cal; static Aim_Select_Type_t aim_select; -static uint32_t no_find_cnt; // 未发现目标计数 +static uint32_t no_find_cnt; // 未发现目标计数 static uint8_t auto_aim_flag = 0; //辅助瞄准标志位 视野内有目标开启 目标丢失关闭 static Publisher_t *gimbal_cmd_pub; // 云台控制消息发布者 @@ -129,6 +130,7 @@ static void update_ui_data() { ui_data.aim_fire = aim_select.suggest_fire; 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; } static void auto_aim_mode() { @@ -356,14 +358,13 @@ static void MouseKeySet() { break; } - switch (rc_data[TEMP].key[KEY_PRESS].shift) // 待添加 按shift允许超功率 消耗缓冲能量 + switch (rc_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量 { - case 1: - + case 0: + SuperCapSetPower(cap,40); break; - default: - + SuperCapSetPower(cap,70); break; } diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c index 16c9b44..451e11b 100644 --- a/application/gimbal/gimbal.c +++ b/application/gimbal/gimbal.c @@ -83,8 +83,8 @@ void GimbalInit() { // PITCH Motor_Init_Config_s pitch_config = { .can_init_config = { - .can_handle = &hcan1, - .tx_id = 2, + .can_handle = &hcan2, + .tx_id = 1, }, .controller_param_init_config = { .angle_PID = { diff --git a/application/robot_def.h b/application/robot_def.h index e4bc938..283a880 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 6822 // 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 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_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) @@ -130,10 +130,9 @@ typedef enum // 功率限制,从裁判系统获取,是否有必要保留? typedef struct -{ // 功率控制 - uint16_t chassis_power_mx; - uint16_t last_power_mx; - +{ + uint16_t chassis_power_mx; // 功率控制 + float cap_power; // 超级电容功率控制 } Chassis_Power_Data_s; /* 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"referee_UI.h" #include "string.h" #include "cmsis_os.h" +#include "chassis.h" +#include "super_cap.h" +extern SuperCapInstance *cap; // 超级电容 static Referee_Interactive_info_t *Interactive_data; // UI绘制需要的机器人状态数据 static referee_info_t *referee_recv_info; // 接收到的裁判系统数据 Referee_Interactive_info_t ui_data; @@ -109,17 +112,19 @@ void MyUIInit() UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[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]); + 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); - // 能量条初始状态 - //UILineDraw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160); - - //UIIntDraw(&UI_Energy[3],"sd7",UI_Graph_ADD,8,UI_Color_Pink,18,2,1000,300,referee_recv_info->GameRobotState.chassis_power_limit); - //UIFloatDraw(&UI_Energy[3], "sd7", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 1000, 1000, referee_recv_info->GameRobotState.chassis_power_limit); 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 + UIIntDraw(&UI_Energy[3],"sd7",UI_Graph_ADD,8,UI_Color_Pink,18,2,1000,300,cap->cap_msg.cap_vol); + 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 @@ -253,7 +258,7 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i 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 + _Interactive_data->Chassis_Power_Data.chassis_power_mx * 30, 160); + 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; } @@ -303,10 +308,16 @@ static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data) _Interactive_data->lid_last_mode = _Interactive_data->lid_mode; } - if (_Interactive_data->Chassis_Power_Data.chassis_power_mx != _Interactive_data->Chassis_last_Power_Data.last_power_mx) + if (_Interactive_data->Chassis_Power_Data.chassis_power_mx != _Interactive_data->Chassis_last_Power_Data.chassis_power_mx) { _Interactive_data->Referee_Interactive_Flag.Power_flag = 1; - _Interactive_data->Chassis_last_Power_Data.last_power_mx = _Interactive_data->Chassis_Power_Data.chassis_power_mx; + _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->aim_fire != _Interactive_data->aim_last_fire) diff --git a/modules/referee/rm_referee.h b/modules/referee/rm_referee.h index f99ff0b..9660663 100644 --- a/modules/referee/rm_referee.h +++ b/modules/referee/rm_referee.h @@ -7,6 +7,8 @@ #include "bsp_usart.h" #include "FreeRTOS.h" + + extern uint8_t UI_Seq; #pragma pack(1) @@ -55,6 +57,7 @@ typedef struct uint32_t friction_flag : 1; uint32_t Power_flag : 1; uint32_t aim_flag : 1; + uint32_t cap_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 @@ -70,6 +73,7 @@ typedef struct Chassis_Power_Data_s Chassis_Power_Data; // 功率控制 uint8_t aim_fire; // 开火建议 + // 上一次的模式，用于flag判断 chassis_mode_e chassis_last_mode; gimbal_mode_e gimbal_last_mode; diff --git a/modules/super_cap/super_cap.c b/modules/super_cap/super_cap.c index 2d66a8d..a75d507 100644 --- a/modules/super_cap/super_cap.c +++ b/modules/super_cap/super_cap.c @@ -1,14 +1,8 @@ -/* - * @Descripttion: - * @version: - * @Author: Chenfu - * @Date: 2022-12-02 21:32:47 - * @LastEditTime: 2022-12-05 15:29:49 - */ #include "super_cap.h" #include "memory.h" #include "stdlib.h" + static SuperCapInstance *super_cap_instance = NULL; // 可以由app保存此指针 static void SuperCapRxCallback(CANInstance *_instance) diff --git a/modules/super_cap/super_cap.h b/modules/super_cap/super_cap.h index 67fc582..171c851 100644 --- a/modules/super_cap/super_cap.h +++ b/modules/super_cap/super_cap.h @@ -1,10 +1,3 @@ -/* - * @Descripttion: - * @version: - * @Author: Chenfu - * @Date: 2022-12-02 21:32:47 - * @LastEditTime: 2022-12-05 15:25:46 - */ #ifndef SUPER_CAP_H #define SUPER_CAP_H diff --git a/xs.jdebug.user b/xs.jdebug.user index 3b6ed91..ee85923 100644 --- a/xs.jdebug.user +++ b/xs.jdebug.user @@ -2,17 +2,19 @@ Breakpoint=D:/zhandui/cqdm/bubing_9/application/shoot/shoot.c:183:5, State=BP_STATE_DISABLED +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=283, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=935, h=193, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=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=809, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=405, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +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=899, 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="70;20", CodeGraphLegendShown=0, CodeGraphLegendPosition="80;20" -OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=373, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=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 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] @@ -21,6 +23,7 @@ TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols 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="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 @@ -31,4 +34,5 @@ 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 \ No newline at end of file +WatchedExpression="loader", RefreshRate=2, Window=Watched Data 1 +WatchedExpression="cap", RefreshRate=2, Window=Watched Data 1 \ No newline at end of file