移植主框架（DM驱动）,pitch用dm，灯条用外部单片机控制
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b143ae73da
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@ -54,8 +54,8 @@ include_directories(Inc Drivers/STM32F4xx_HAL_Driver/Inc Drivers/STM32F4xx_HAL_D
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modules modules/alarm modules/algorithm modules/BMI088 modules/can_comm modules/daemon modules/encoder modules/imu modules/ist8310
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modules/led modules/master_machine modules/message_center modules/motor modules/oled modules/referee modules/remote modules/RGB modules/standard_cmd
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modules/super_cap modules/TFminiPlus modules/unicomm modules/vofa modules/auto_aim
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modules/motor/DJImotor modules/motor/HTmotor modules/motor/LKmotor modules/motor/servo_motor modules/motor/step_motor modules/motor/ECmotor modules/motor/DMmotor
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application application/chassis application/cmd application/gimbal application/shoot
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modules/motor/DJImotor modules/motor/HTmotor modules/motor/LKmotor modules/motor/pwmmotor modules/motor/servo_motor modules/motor/step_motor modules/motor/ECmotor modules/motor/DMmotor
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application application/cmd application/gimbal application/shoot
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Middlewares/Third_Party/SEGGER/RTT Middlewares/Third_Party/SEGGER/Config)
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include_directories(Middlewares/ST/ARM/DSP/Inc)
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@ -270,8 +270,8 @@ void MX_TIM8_Init(void)
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{
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Error_Handler();
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}
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sConfigOC.OCMode = TIM_OCMODE_TIMING;
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sConfigOC.Pulse = 0;
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sConfigOC.OCMode = TIM_OCMODE_PWM1;
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sConfigOC.Pulse = 2000;
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sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
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sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
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sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
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@ -1,368 +0,0 @@
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/**
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* @file chassis.c
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* @author NeoZeng neozng1@hnu.edu.cn
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* @brief 底盘应用,负责接收robot_cmd的控制命令并根据命令进行运动学解算,得到输出
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* 注意底盘采取右手系,对于平面视图,底盘纵向运动的正前方为x正方向;横向运动的右侧为y正方向
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*
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* @version 0.1
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* @date 2022-12-04
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*
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* @copyright Copyright (c) 2022
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*
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*/
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#include "chassis.h"
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#include "robot_def.h"
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#include "dji_motor.h"
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#include "super_cap.h"
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#include "message_center.h"
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#include "referee_task.h"
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#include "general_def.h"
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#include "bsp_dwt.h"
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#include "referee_UI.h"
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#include "arm_math.h"
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#include "user_lib.h"
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#include "vofa.h"
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/* 根据robot_def.h中的macro自动计算的参数 */
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#define HALF_WHEEL_BASE (WHEEL_BASE / 2.0f) // 半轴距
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#define HALF_TRACK_WIDTH (TRACK_WIDTH / 2.0f) // 半轮距
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#define PERIMETER_WHEEL (RADIUS_WHEEL * 2 * PI) // 轮子周长
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#define P_MAX 50.0f//功率控制 单位：W
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/* 底盘应用包含的模块和信息存储,底盘是单例模式,因此不需要为底盘建立单独的结构体 */
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#ifdef CHASSIS_BOARD // 如果是底盘板,使用板载IMU获取底盘转动角速度
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#include "can_comm.h"
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#include "ins_task.h"
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static CANCommInstance *chasiss_can_comm; // 双板通信CAN comm
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attitude_t *Chassis_IMU_data;
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#endif // CHASSIS_BOARD
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#ifdef ONE_BOARD
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static Publisher_t *chassis_pub; // 用于发布底盘的数据
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static Subscriber_t *chassis_sub; // 用于订阅底盘的控制命令
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#endif // !ONE_BOARD
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static Chassis_Ctrl_Cmd_s chassis_cmd_recv; // 底盘接收到的控制命令
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static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据
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static Chassis_Ctrl_Cmd_s Chassis_Power_Mx;
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const static float CHASSIS_ACCEL_X_NUM=0.1f;
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const static float CHASSIS_ACCEL_Y_NUM=0.1f;
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// 超级电容
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SuperCapInstance *cap; // 超级电容全局
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static uint16_t last_chassis_power_limit=0;//超级电容更新
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static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left right forward back
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/* 用于自旋变速策略的时间变量 */
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// static float t;
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/* 私有函数计算的中介变量,设为静态避免参数传递的开销 */
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static float chassis_vx, chassis_vy; // 将云台系的速度投影到底盘
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static float vt_lf, vt_rf, vt_lb, vt_rb; // 底盘速度解算后的临时输出,待进行限幅
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first_order_filter_type_t vx_filter;
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first_order_filter_type_t vy_filter;
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static float P_cmd;
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void ChassisInit() {
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// 四个轮子的参数一样,改tx_id和反转标志位即可
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Motor_Init_Config_s chassis_motor_config = {
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.can_init_config.can_handle = &hcan1,
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.controller_param_init_config = {
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.speed_PID = {
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.Kp = 5.0f,
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.Ki = 0.01f,
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.Kd = 0.002f,
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.IntegralLimit = 3000,
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
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.MaxOut = 30000,
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},
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.current_PID = {
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.Kp = 0.0f,
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.Ki = 0.0f,
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.Kd = 0.0f,
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.IntegralLimit = 3000,
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
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.MaxOut = 15000,
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},
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},
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.controller_setting_init_config = {
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.angle_feedback_source = MOTOR_FEED,
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.speed_feedback_source = MOTOR_FEED,
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.outer_loop_type = SPEED_LOOP,
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.close_loop_type = SPEED_LOOP, // CURRENT_LOOP,
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.power_limit_flag = POWER_LIMIT_ON,
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},
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.motor_type = M3508,
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};
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// @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.
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// 四个轮子pid分开
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//右前
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chassis_motor_config.can_init_config.tx_id = 3;
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chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
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motor_lf = DJIMotorInit(&chassis_motor_config);
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chassis_motor_config.can_init_config.tx_id = 2;
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chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
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motor_rf = DJIMotorInit(&chassis_motor_config);
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chassis_motor_config.can_init_config.tx_id = 4;
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chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
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motor_lb = DJIMotorInit(&chassis_motor_config);
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chassis_motor_config.can_init_config.tx_id = 1;
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chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
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motor_rb = DJIMotorInit(&chassis_motor_config);
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//超级电容
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SuperCap_Init_Config_s cap_conf = {
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.can_config = {
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.can_handle = &hcan1,
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.tx_id = 0x210,
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.rx_id = 0x211,
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},
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.buffer_config_pid = {
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.Kp = 1.0f,
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.Ki = 0,
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.Kd = 0,
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.MaxOut = 300,
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},
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};
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cap = SuperCapInit(&cap_conf); // 超级电容初始化
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//用一阶滤波代替斜波函数生成 //增大更能刹住
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first_order_filter_init(&vx_filter, 0.007f, &CHASSIS_ACCEL_X_NUM);
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first_order_filter_init(&vy_filter, 0.007f, &CHASSIS_ACCEL_Y_NUM);
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// 发布订阅初始化,如果为双板,则需要can comm来传递消息
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#ifdef CHASSIS_BOARD
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Chassis_IMU_data = INS_Init(); // 底盘IMU初始化
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CANComm_Init_Config_s comm_conf = {
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.can_config = {
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.can_handle = &hcan2,
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.tx_id = 0x311,
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.rx_id = 0x312,
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},
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.recv_data_len = sizeof(Chassis_Ctrl_Cmd_s),
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.send_data_len = sizeof(Chassis_Upload_Data_s),
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};
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chasiss_can_comm = CANCommInit(&comm_conf); // can comm初始化
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#endif // CHASSIS_BOARD
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#ifdef ONE_BOARD // 单板控制整车,则通过pubsub来传递消息
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chassis_sub = SubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s));
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chassis_pub = PubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s));
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#endif // ONE_BOARD
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}
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#define LF_CENTER ((HALF_TRACK_WIDTH + CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE - CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
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#define RF_CENTER ((HALF_TRACK_WIDTH - CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE - CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
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#define LB_CENTER ((HALF_TRACK_WIDTH + CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE + CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
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#define RB_CENTER ((HALF_TRACK_WIDTH - CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE + CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
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/**
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* @brief 计算每个轮毂电机的输出,正运动学解算
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* 用宏进行预替换减小开销,运动解算具体过程参考教程
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*/
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//全向轮解算
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static void OmniCalculate() {
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vt_rf = HALF_WHEEL_BASE * chassis_cmd_recv.wz + chassis_vx * 0.707f + chassis_vy * 0.707f;
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vt_rb = HALF_WHEEL_BASE * chassis_cmd_recv.wz + chassis_vx * 0.707f - chassis_vy * 0.707f;
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vt_lb = HALF_WHEEL_BASE * chassis_cmd_recv.wz - chassis_vx * 0.707f - chassis_vy * 0.707f;
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vt_lf = HALF_WHEEL_BASE * chassis_cmd_recv.wz - chassis_vx * 0.707f + chassis_vy * 0.707f;
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vt_rf = (vt_rf / RADIUS_WHEEL) * 180 / PI * REDUCTION_RATIO_WHEEL;
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vt_rb = (vt_rb / RADIUS_WHEEL) * 180 / PI * REDUCTION_RATIO_WHEEL;
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vt_lb = (vt_lb / RADIUS_WHEEL) * 180 / PI * REDUCTION_RATIO_WHEEL;
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vt_lf = (vt_lf / RADIUS_WHEEL) * 180 / PI * REDUCTION_RATIO_WHEEL;
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}
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static const float motor_power_K[3] = {1.6301e-6f,5.7501e-7f,2.5863e-7f};
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float input;
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float P_max = 0;
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///依据3508电机功率模型，预测电机输出功率
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static float EstimatePower(DJIMotorInstance* chassis_motor)
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{
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float I_cmd = chassis_motor->motor_controller.current_PID.Output;
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float w = chassis_motor->measure.speed_aps /6 ;//aps to rpm
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float power = motor_power_K[0] * I_cmd * w + motor_power_K[1]*w*w + motor_power_K[2]*I_cmd*I_cmd;
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return power;
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}
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/**
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* @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
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*
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*/
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static void LimitChassisOutput()
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{
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// float Plimit = 1.0f;
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P_cmd = motor_rf->motor_controller.motor_power_predict +
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motor_rb->motor_controller.motor_power_predict +
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motor_lb->motor_controller.motor_power_predict +
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motor_lf->motor_controller.motor_power_predict + 3.6f;
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// if(chassis_cmd_recv.buffer_energy<50&&chassis_cmd_recv.buffer_energy>=40) Plimit=0.9f;
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// else if(chassis_cmd_recv.buffer_energy<40&&chassis_cmd_recv.buffer_energy>=35) Plimit=0.75f;
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// else if(chassis_cmd_recv.buffer_energy<35&&chassis_cmd_recv.buffer_energy>=30) Plimit=0.5f;
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// else if(chassis_cmd_recv.buffer_energy<30&&chassis_cmd_recv.buffer_energy>=20) Plimit=0.25f;
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// else if(chassis_cmd_recv.buffer_energy<20&&chassis_cmd_recv.buffer_energy>=10) Plimit=0.125f;
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// else if(chassis_cmd_recv.buffer_energy<10&&chassis_cmd_recv.buffer_energy>=0) Plimit=0.05f;
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// else if(chassis_cmd_recv.buffer_energy==60) Plimit=1.0f;
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if (cap->cap_msg.cap_vol>1800)
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{
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P_max = input + chassis_cmd_recv.buffer_supercap ;
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}
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else
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{
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P_max = input;
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}
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float K = P_max / P_cmd;
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motor_rf->motor_controller.motor_power_scale = K;
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motor_rb->motor_controller.motor_power_scale = K;
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motor_lf->motor_controller.motor_power_scale = K;
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motor_lb->motor_controller.motor_power_scale = K;
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{
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DJIMotorSetRef(motor_lf, vt_lf);
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DJIMotorSetRef(motor_rf, vt_rf);
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DJIMotorSetRef(motor_lb, vt_lb);
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DJIMotorSetRef(motor_rb, vt_rb);
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}
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}
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/**
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* @brief 超电功率对缓冲功率进行闭环
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*
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*
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*/
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static void SuperCapSetUpdate()
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{
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PIDCalculate(&cap->buffer_pid, chassis_cmd_recv.buffer_energy,15);//对缓冲功率进行闭环
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input = chassis_cmd_recv.chassis_power_limit - cap->buffer_pid.Output;
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LIMIT_MIN_MAX(input, 30, 130);
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SuperCapSetPower(cap,input);
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}
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/**
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* @brief 根据每个轮子的速度反馈,计算底盘的实际运动速度,逆运动解算
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* 对于双板的情况,考虑增加来自底盘板IMU的数据
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*
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*/
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static void EstimateSpeed() {
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// 根据电机速度和陀螺仪的角速度进行解算,还可以利用加速度计判断是否打滑(如果有)
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// chassis_feedback_data.vx vy wz =
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// ...
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}
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static chassis_mode_e last_chassis_mode;
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static float rotate_speed = 70000;
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/* 机器人底盘控制核心任务 */
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void ChassisTask() {
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// 后续增加没收到消息的处理(双板的情况)
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// 获取新的控制信息
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#ifdef ONE_BOARD
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SubGetMessage(chassis_sub, &chassis_cmd_recv);
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#endif
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#ifdef CHASSIS_BOARD
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chassis_cmd_recv = *(Chassis_Ctrl_Cmd_s *)CANCommGet(chasiss_can_comm);
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#endif // CHASSIS_BOARD
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if (chassis_cmd_recv.chassis_mode == CHASSIS_ZERO_FORCE) { // 如果出现重要模块离线或遥控器设置为急停,让电机停止
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DJIMotorStop(motor_lf);
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DJIMotorStop(motor_rf);
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DJIMotorStop(motor_lb);
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DJIMotorStop(motor_rb);
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} else { // 正常工作
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DJIMotorEnable(motor_lf);
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DJIMotorEnable(motor_rf);
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DJIMotorEnable(motor_lb);
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DJIMotorEnable(motor_rb);
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}
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// 根据控制模式设定旋转速度
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switch (chassis_cmd_recv.chassis_mode) {
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case CHASSIS_NO_FOLLOW: // 底盘不旋转,但维持全向机动,一般用于调整云台姿态
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chassis_cmd_recv.wz = 0;
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break;
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case CHASSIS_FOLLOW_GIMBAL_YAW: // 跟随云台,不单独设置pid,以误差角度平方为速度输出
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chassis_cmd_recv.wz = 40.0f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
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LIMIT_MIN_MAX(chassis_cmd_recv.wz,-35000,35000);
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break;
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case CHASSIS_SIDEWAYS: // 侧向,不单独设置pid,以误差角度平方为速度输出
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chassis_cmd_recv.wz = 20.0f * (chassis_cmd_recv.offset_angle - 45)* abs(chassis_cmd_recv.offset_angle - 45);
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LIMIT_MIN_MAX(chassis_cmd_recv.wz,-35000,35000);
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break;
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case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略
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if(last_chassis_mode != CHASSIS_ROTATE){
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rotate_speed = -rotate_speed;
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}
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chassis_cmd_recv.wz = rotate_speed;
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break;
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default:
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break;
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}
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last_chassis_mode = chassis_cmd_recv.chassis_mode;
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// 根据云台和底盘的角度offset将控制量映射到底盘坐标系上
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// 底盘逆时针旋转为角度正方向;云台命令的方向以云台指向的方向为x,采用右手系(x指向正北时y在正东)
|
||||
static float sin_theta, cos_theta;
|
||||
cos_theta = arm_cos_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD);
|
||||
sin_theta = arm_sin_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD);
|
||||
|
||||
//一阶低通滤波计算
|
||||
first_order_filter_cali(&vx_filter, chassis_cmd_recv.vx);
|
||||
first_order_filter_cali(&vy_filter, chassis_cmd_recv.vy);
|
||||
|
||||
chassis_cmd_recv.vx = vx_filter.out;
|
||||
chassis_cmd_recv.vy = vy_filter.out;
|
||||
|
||||
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);
|
||||
|
||||
|
||||
// 根据控制模式进行正运动学解算,计算底盘输出
|
||||
//MecanumCalculate();
|
||||
OmniCalculate();
|
||||
////对缓冲功率进行闭环
|
||||
SuperCapSetUpdate();
|
||||
// 根据裁判系统的反馈数据和电容数据对输出限幅并设定闭环参考值
|
||||
LimitChassisOutput();
|
||||
|
||||
// float vofa_send_data[2];
|
||||
// vofa_send_data[0] = motor_lb->motor_controller.speed_PID.Ref;
|
||||
// vofa_send_data[1] = motor_lb->motor_controller.speed_PID.Measure;
|
||||
// vofa_justfloat_output(vofa_send_data, 8, &huart1);
|
||||
|
||||
// 根据电机的反馈速度和IMU(如果有)计算真实速度
|
||||
EstimateSpeed();
|
||||
|
||||
//todo: 裁判系统信息移植到消息中心发送
|
||||
// 获取裁判系统数据 建议将裁判系统与底盘分离，所以此处数据应使用消息中心发送
|
||||
// 发送敌方方颜色id
|
||||
//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.cap_vol = cap->cap_msg.cap_vol;
|
||||
|
||||
// 推送反馈消息
|
||||
#ifdef ONE_BOARD
|
||||
PubPushMessage(chassis_pub, (void *) &chassis_feedback_data);
|
||||
#endif
|
||||
#ifdef CHASSIS_BOARD
|
||||
CANCommSend(chasiss_can_comm, (void *)&chassis_feedback_data);
|
||||
#endif // CHASSIS_BOARD
|
||||
}
|
||||
|
|
@ -1,16 +0,0 @@
|
|||
#ifndef CHASSIS_H
|
||||
#define CHASSIS_H
|
||||
|
||||
/**
|
||||
* @brief 底盘应用初始化,请在开启rtos之前调用(目前会被RobotInit()调用)
|
||||
*
|
||||
*/
|
||||
void ChassisInit();
|
||||
|
||||
/**
|
||||
* @brief 底盘应用任务,放入实时系统以一定频率运行
|
||||
*
|
||||
*/
|
||||
void ChassisTask();
|
||||
|
||||
#endif // CHASSIS_H
|
||||
|
|
@ -1,24 +0,0 @@
|
|||
# chassis
|
||||
|
||||
|
||||
|
||||
## 工作流程
|
||||
|
||||
首先进行初始化，`ChasissInit()`会被`RobotInit()`调用，进行裁判系统、底盘电机的初始化。如果为双板模式，则还会初始化IMU，并且将消息订阅者和发布者的初始化改为`CANComm`的初始化。
|
||||
|
||||
操作系统启动后，工作顺序为：
|
||||
|
||||
1. 从cmd模块获取数据（如果双板则从CANComm获取）
|
||||
2. 判断当前控制数据的模式，如果为停止则停止所有电机
|
||||
3. 根据控制数据，计算底盘的旋转速度
|
||||
4. 根据控制数据中yaw电机的编码器值`angle_offset`，将控制数据映射到底盘坐标系下
|
||||
5. 进行麦克纳姆轮的运动学解算，得到每个电机的设定值
|
||||
6. 获取裁判系统的数据，并根据底盘功率限制对输出进行限幅
|
||||
7. 由电机的反馈数据和IMU（如果有），计算底盘当前的真实运动速度
|
||||
8. 设置底盘反馈数据，包括运动速度和裁判系统数据
|
||||
9. 将反馈数据推送到消息中心（如果双板则通过CANComm发送）
|
||||
|
||||
|
||||
### 后续支持平衡底盘
|
||||
|
||||
新增一个app balance_chassis
|
||||
|
|
@ -79,22 +79,6 @@ void RobotCMDInit() {
|
|||
shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
|
||||
shoot_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
|
||||
|
||||
#ifdef ONE_BOARD // 双板兼容
|
||||
chassis_cmd_pub = PubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s));
|
||||
chassis_feed_sub = SubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s));
|
||||
#endif // ONE_BOARD
|
||||
#ifdef GIMBAL_BOARD
|
||||
CANComm_Init_Config_s comm_conf = {
|
||||
.can_config = {
|
||||
.can_handle = &hcan1,
|
||||
.tx_id = 0x312,
|
||||
.rx_id = 0x311,
|
||||
},
|
||||
.recv_data_len = sizeof(Chassis_Upload_Data_s),
|
||||
.send_data_len = sizeof(Chassis_Ctrl_Cmd_s),
|
||||
};
|
||||
cmd_can_comm = CANCommInit(&comm_conf);
|
||||
#endif // GIMBAL_BOARD
|
||||
gimbal_cmd_send.pitch = 0;
|
||||
|
||||
robot_state = ROBOT_READY; // 启动时机器人进入工作模式,后续加入所有应用初始化完成之后再进入
|
||||
|
|
@ -126,15 +110,6 @@ static void CalcOffsetAngle() {
|
|||
#endif
|
||||
}
|
||||
|
||||
//功能：死亡后清除小陀螺的状态
|
||||
static void death_check() {
|
||||
if (referee_data->GameRobotState.current_HP <= 0 ||
|
||||
referee_data->GameRobotState.power_management_chassis_output == 0) {
|
||||
rc_data[TEMP].key_count[KEY_PRESS][Key_E] = 0;
|
||||
gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
|
||||
}
|
||||
}
|
||||
|
||||
//功能：等级提升弹频提高
|
||||
static void shoot_rate_improve() {
|
||||
if (referee_data->GameRobotState.robot_level < 5)
|
||||
|
|
@ -373,26 +348,6 @@ static void MouseKeySet() {
|
|||
shoot_cmd_send.friction_mode = FRICTION_ON;
|
||||
break;
|
||||
}
|
||||
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // B键开关弹舱盖
|
||||
{
|
||||
case 0:
|
||||
shoot_cmd_send.lid_mode = LID_CLOSE;
|
||||
break;
|
||||
default:
|
||||
shoot_cmd_send.lid_mode = LID_OPEN;
|
||||
break;
|
||||
}
|
||||
// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
|
||||
// {
|
||||
// case 0:
|
||||
// chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
|
||||
// gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
|
||||
// break;
|
||||
// default:
|
||||
// chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
|
||||
// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
|
||||
// break;
|
||||
// }
|
||||
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关热控
|
||||
{
|
||||
case 0:
|
||||
|
|
@ -402,25 +357,6 @@ static void MouseKeySet() {
|
|||
shoot_cmd_send.heat_mode = HEAT_CLOSE;
|
||||
break;
|
||||
}
|
||||
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_C] % 2) // C键侧向
|
||||
{
|
||||
case 0:
|
||||
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
|
||||
{
|
||||
case 0:
|
||||
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
|
||||
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
|
||||
break;
|
||||
default:
|
||||
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
|
||||
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
|
||||
break;
|
||||
}
|
||||
break;
|
||||
case 1:
|
||||
chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS;
|
||||
break;
|
||||
}
|
||||
// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式
|
||||
// {
|
||||
// case 0:
|
||||
|
|
@ -433,23 +369,12 @@ static void MouseKeySet() {
|
|||
// loader_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:
|
||||
chassis_cmd_send.buffer_supercap = 5;
|
||||
break;
|
||||
case 1:
|
||||
chassis_cmd_send.buffer_supercap = 200;
|
||||
chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 15000 - rc_data[TEMP].key[KEY_PRESS].d * 15000;
|
||||
break;
|
||||
}
|
||||
|
||||
shoot_rate_improve();
|
||||
|
||||
if (shoot_fetch_data.stalled_flag == 1)
|
||||
shoot_cmd_send.loader_mode = LOAD_REVERSE;
|
||||
|
||||
death_check();
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -525,45 +450,6 @@ static void VTMouseKeySet() {
|
|||
shoot_cmd_send.friction_mode = FRICTION_ON;
|
||||
break;
|
||||
}
|
||||
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // B键开关弹舱盖
|
||||
{
|
||||
case 0:
|
||||
shoot_cmd_send.lid_mode = LID_CLOSE;
|
||||
break;
|
||||
default:
|
||||
shoot_cmd_send.lid_mode = LID_OPEN;
|
||||
break;
|
||||
}
|
||||
// switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
|
||||
// {
|
||||
// case 0:
|
||||
// chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
|
||||
// gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
|
||||
// break;
|
||||
// default:
|
||||
// chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
|
||||
// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
|
||||
// break;
|
||||
// }
|
||||
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_C] % 2) // C键侧向
|
||||
{
|
||||
case 0:
|
||||
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
|
||||
{
|
||||
case 0:
|
||||
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
|
||||
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
|
||||
break;
|
||||
default:
|
||||
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
|
||||
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
|
||||
break;
|
||||
}
|
||||
break;
|
||||
case 1:
|
||||
chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS;
|
||||
break;
|
||||
}
|
||||
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关热控
|
||||
{
|
||||
case 0:
|
||||
|
|
@ -585,23 +471,11 @@ static void VTMouseKeySet() {
|
|||
// loader_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:
|
||||
chassis_cmd_send.buffer_supercap = 5;
|
||||
break;
|
||||
case 1:
|
||||
chassis_cmd_send.buffer_supercap = 200;
|
||||
chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 1 - rc_data[TEMP].key[KEY_PRESS].d * 1;
|
||||
break;
|
||||
}
|
||||
|
||||
shoot_rate_improve();
|
||||
|
||||
if (shoot_fetch_data.stalled_flag == 1)
|
||||
shoot_cmd_send.loader_mode = LOAD_REVERSE;
|
||||
|
||||
death_check();
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -616,11 +490,11 @@ static void EmergencyHandler() {
|
|||
// 拨轮的向下拨超过一半进入急停模式.注意向打时下拨轮是正
|
||||
if (rc_data[TEMP].rc.dial > 300 || robot_state == ROBOT_STOP) // 还需添加重要应用和模块离线的判断
|
||||
{
|
||||
robot_state = ROBOT_STOP;
|
||||
robot_state = ROBOT_READY;
|
||||
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
|
||||
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.shoot_mode = SHOOT_ON;
|
||||
shoot_cmd_send.friction_mode = FRICTION_ON;
|
||||
shoot_cmd_send.loader_mode = LOAD_STOP;
|
||||
LOGERROR("[CMD] emergency stop!");
|
||||
}
|
||||
|
|
@ -679,11 +553,9 @@ void RobotCMDTask() {
|
|||
if (referee_data->GameRobotState.power_management_gimbal_output == 0) {
|
||||
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
|
||||
}
|
||||
if (referee_data->GameRobotState.power_management_shooter_output == 0) {
|
||||
shoot_cmd_send.shoot_mode = SHOOT_OFF;
|
||||
}
|
||||
|
||||
death_check();
|
||||
// if (referee_data->GameRobotState.power_management_shooter_output == 0) {
|
||||
// shoot_cmd_send.shoot_mode = SHOOT_ON;
|
||||
// }
|
||||
|
||||
// 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
|
||||
|
|
|
|||
|
|
@ -1,6 +1,7 @@
|
|||
#include "gimbal.h"
|
||||
#include "robot_def.h"
|
||||
#include "dji_motor.h"
|
||||
#include "dmmotor.h"
|
||||
#include "ins_task.h"
|
||||
#include "message_center.h"
|
||||
#include "general_def.h"
|
||||
|
|
@ -16,29 +17,6 @@ static Gimbal_Upload_Data_s gimbal_feedback_data; // 回传给cmd的云台状态
|
|||
static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息
|
||||
|
||||
static float gravity_current = 0;
|
||||
static void LimitPitchAngleAuto() {
|
||||
/** 注意电机角度与陀螺仪角度方向是否相同
|
||||
* 目前 add > 0, 向下转动
|
||||
* 电机角度值减小
|
||||
* 陀螺仪角度值增大
|
||||
**/
|
||||
float add;
|
||||
float angle_set;
|
||||
|
||||
add = gimbal_cmd_recv.pitch - gimba_IMU_data->Pitch;
|
||||
|
||||
if(pitch_motor->measure.angle_single_round - add > PITCH_MAX_RELATIVE_ANGLE){
|
||||
if(add < 0.0f ){
|
||||
add = PITCH_MAX_ANGLE - pitch_motor->measure.angle_single_round;
|
||||
}
|
||||
}else if(pitch_motor->measure.angle_single_round - add < PITCH_MIN_RELATIVE_ANGLE){
|
||||
if(add > 0.0f){
|
||||
add = PITCH_MIN_RELATIVE_ANGLE - pitch_motor->measure.angle_single_round;
|
||||
}
|
||||
}
|
||||
angle_set = gimba_IMU_data->Pitch;
|
||||
DJIMotorSetRef(pitch_motor, angle_set+add);
|
||||
}
|
||||
|
||||
void GimbalInit() {
|
||||
gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源
|
||||
|
|
@ -85,6 +63,7 @@ void GimbalInit() {
|
|||
.can_init_config = {
|
||||
.can_handle = &hcan2,
|
||||
.tx_id = 1,
|
||||
.rx_id = 3,
|
||||
},
|
||||
.controller_param_init_config = {
|
||||
.angle_PID = {
|
||||
|
|
@ -117,7 +96,7 @@ void GimbalInit() {
|
|||
.feedforward_flag = CURRENT_FEEDFORWARD,
|
||||
.feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE
|
||||
},
|
||||
.motor_type = GM6020,
|
||||
.motor_type = DM4310,
|
||||
.motor_control_type = CURRENT_CONTROL
|
||||
};
|
||||
// 电机对total_angle闭环,上电时为零,会保持静止,收到遥控器数据再动
|
||||
|
|
|
|||
|
|
@ -9,10 +9,6 @@
|
|||
#pragma message "check if you have configured the parameters in robot_def.h, IF NOT, please refer to the comments AND DO IT, otherwise the robot will have FATAL ERRORS!!!"
|
||||
#endif // !ROBOT_DEF_PARAM_WARNING
|
||||
|
||||
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
|
||||
#include "chassis.h"
|
||||
#endif
|
||||
|
||||
#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
|
||||
#include "gimbal.h"
|
||||
#include "shoot.h"
|
||||
|
|
@ -36,10 +32,6 @@ void RobotInit()
|
|||
ShootInit();
|
||||
#endif
|
||||
|
||||
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
|
||||
ChassisInit();
|
||||
#endif
|
||||
|
||||
OSTaskInit(); // 创建基础任务
|
||||
|
||||
// 初始化完成,开启中断
|
||||
|
|
@ -55,8 +47,4 @@ void RobotTask()
|
|||
ShootTask();
|
||||
#endif
|
||||
|
||||
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|
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ChassisTask();
|
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#endif
|
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|
||||
}
|
||||
|
|
@ -6,10 +6,13 @@
|
|||
#include "bsp_dwt.h"
|
||||
#include "general_def.h"
|
||||
#include "servo_motor.h"
|
||||
#include "snail.h"
|
||||
#include "RGB.h"
|
||||
|
||||
/* 对于双发射机构的机器人,将下面的数据封装成结构体即可,生成两份shoot应用实例 */
|
||||
static DJIMotorInstance *friction_l, *friction_r, *loader; // 拨盘电机
|
||||
static ServoInstance *lid;
|
||||
static PwmmotorInstance *friction_l1, *friction_r1; // snail电机
|
||||
|
||||
static Publisher_t *shoot_pub;
|
||||
static Shoot_Ctrl_Cmd_s shoot_cmd_recv; // 来自cmd的发射控制信息
|
||||
|
|
@ -62,8 +65,8 @@ void ShootInit()
|
|||
// 拨盘电机
|
||||
Motor_Init_Config_s loader_config = {
|
||||
.can_init_config = {
|
||||
.can_handle = &hcan2,
|
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|
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|
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|
||||
},
|
||||
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|
||||
.angle_PID = {
|
||||
|
|
@ -105,14 +108,19 @@ void ShootInit()
|
|||
shoot_pub = PubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
|
||||
shoot_sub = SubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
|
||||
|
||||
Servo_Init_Config_s lid_config = {
|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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.Servo_Angle_Type = Free_Angle_mode,
|
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.Pwmmotor_type = 0,
|
||||
};
|
||||
friction_l1 = PwmmotorInit(&friction_l1_config);
|
||||
|
||||
lid = ServoInit(&lid_config);
|
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Pwmmotor_Init_Config_s friction_r1_config = {
|
||||
.htim = &htim8,
|
||||
.Channel = TIM_CHANNEL_2,
|
||||
.Pwmmotor_type = 0,
|
||||
};
|
||||
friction_r1 = PwmmotorInit(&friction_r1_config);
|
||||
|
||||
// SPI_Init_Config_s rgb_config = {
|
||||
// .spi_handle = ;
|
||||
|
|
@ -153,39 +161,27 @@ 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()
|
||||
{
|
||||
//WS2812_Number_4(0x000018,0x000018,0x000018,0x000018);
|
||||
//从cmd获取控制数据
|
||||
SubGetMessage(shoot_sub, &shoot_cmd_recv);
|
||||
|
||||
// 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)
|
||||
{
|
||||
DJIMotorSetRef(friction_l, 0);
|
||||
DJIMotorSetRef(friction_r, 0);
|
||||
DJIMotorStop(loader);
|
||||
//DJIMotorSetRef(friction_l, 0);
|
||||
//DJIMotorSetRef(friction_r, 0);
|
||||
DJIMotorEnable(loader);
|
||||
}
|
||||
else // 恢复运行
|
||||
{
|
||||
DJIMotorEnable(friction_l);
|
||||
DJIMotorEnable(friction_r);
|
||||
//DJIMotorEnable(friction_l);
|
||||
//DJIMotorEnable(friction_r);
|
||||
DJIMotorEnable(loader);
|
||||
}
|
||||
|
||||
DJIMotorEnable(loader);
|
||||
// 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)
|
||||
if (hibernate_time + dead_time > DWT_GetTimeline_ms())
|
||||
|
|
@ -256,44 +252,23 @@ void ShootTask()
|
|||
//default: // 当前为了调试设定的默认值4000,因为还没有加入裁判系统无法读取弹速.
|
||||
DJIMotorSetRef(friction_l, 39000);
|
||||
DJIMotorSetRef(friction_r, 39000);
|
||||
|
||||
// break;
|
||||
// }
|
||||
Pwm_MotorControl(friction_l1, 2000);
|
||||
Pwm_MotorControl(friction_r1, 2000);
|
||||
}
|
||||
else // 关闭摩擦轮
|
||||
{
|
||||
DJIMotorSetRef(friction_l, 0);
|
||||
DJIMotorSetRef(friction_r, 0);
|
||||
|
||||
Pwm_Motor_Stop(friction_l1, 1000);
|
||||
Pwm_Motor_Stop(friction_r1, 1000);
|
||||
}
|
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|
||||
// 开关弹舱盖
|
||||
if (shoot_cmd_recv.lid_mode == LID_CLOSE)
|
||||
{
|
||||
Servo_Motor_FreeAngle_Set(lid,115);// 小107 大115
|
||||
}
|
||||
else if (shoot_cmd_recv.lid_mode == LID_OPEN)
|
||||
{
|
||||
Servo_Motor_FreeAngle_Set(lid,10);
|
||||
}
|
||||
|
||||
// 开关热控
|
||||
if(shoot_cmd_recv.heat_mode == HEAT_OPEN)
|
||||
{
|
||||
if(shoot_cmd_recv.heat>=(0.85*shoot_cmd_recv.heat_limit))
|
||||
{
|
||||
DJIMotorStop(loader);
|
||||
}
|
||||
else
|
||||
{
|
||||
DJIMotorEnable(loader);
|
||||
}
|
||||
}
|
||||
else if(shoot_cmd_recv.heat_mode == HEAT_CLOSE) {
|
||||
DJIMotorEnable(loader);
|
||||
}
|
||||
//卡弹检测
|
||||
stalled_detect();
|
||||
// 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);
|
||||
|
|
|
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"D:/clion/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeParseLibraryArchitecture.cmake"
|
||||
|
|
|
|||
|
|
@ -1,4 +1,12 @@
|
|||
"D:\clion\CLion 2023.2.2\bin\cmake\win\x64\bin\cmake.exe" -DCMAKE_BUILD_TYPE=Debug -DCMAKE_MAKE_PROGRAM=D:/MinGW/mingw64/bin/mingw32-make.exe -DCMAKE_C_COMPILER=D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-gcc.exe -DCMAKE_CXX_COMPILER=D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-g++.exe -G "CodeBlocks - MinGW Makefiles" -S D:\zhandui\cqdm\uav -B D:\zhandui\cqdm\uav\cmake-build-debug
|
||||
-- Minimal optimization, debug info included
|
||||
-- Configuring done (0.1s)
|
||||
You have changed variables that require your cache to be deleted.
|
||||
Configure will be re-run and you may have to reset some variables.
|
||||
The following variables have changed:
|
||||
CMAKE_C_COMPILER= D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-gcc.exe
|
||||
CMAKE_CXX_COMPILER= D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-g++.exe
|
||||
|
||||
-- The C compiler identification is GNU 12.3.1
|
||||
-- The CXX compiler identification is GNU 12.3.1
|
||||
-- The ASM compiler identification is GNU
|
||||
|
|
@ -14,6 +22,6 @@
|
|||
-- Detecting CXX compile features
|
||||
-- Detecting CXX compile features - done
|
||||
-- Minimal optimization, debug info included
|
||||
-- Configuring done (1.9s)
|
||||
-- Configuring done (1.6s)
|
||||
-- Generating done (0.1s)
|
||||
-- Build files have been written to: D:/zhandui/cqdm/uav/cmake-build-debug
|
||||
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|
|||
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|
@ -74,12 +74,12 @@ set(CMAKE_ASM_TARGET_INCLUDE_PATH
|
|||
"D:/zhandui/cqdm/uav/modules/motor/DJImotor"
|
||||
"D:/zhandui/cqdm/uav/modules/motor/HTmotor"
|
||||
"D:/zhandui/cqdm/uav/modules/motor/LKmotor"
|
||||
"D:/zhandui/cqdm/uav/modules/motor/pwmmotor"
|
||||
"D:/zhandui/cqdm/uav/modules/motor/servo_motor"
|
||||
"D:/zhandui/cqdm/uav/modules/motor/step_motor"
|
||||
"D:/zhandui/cqdm/uav/modules/motor/ECmotor"
|
||||
"D:/zhandui/cqdm/uav/modules/motor/DMmotor"
|
||||
"D:/zhandui/cqdm/uav/application"
|
||||
"D:/zhandui/cqdm/uav/application/chassis"
|
||||
"D:/zhandui/cqdm/uav/application/cmd"
|
||||
"D:/zhandui/cqdm/uav/application/gimbal"
|
||||
"D:/zhandui/cqdm/uav/application/shoot"
|
||||
|
|
@ -161,7 +161,6 @@ set(CMAKE_DEPENDS_DEPENDENCY_FILES
|
|||
"D:/zhandui/cqdm/uav/Src/usbd_cdc_if.c" "CMakeFiles/uav.elf.dir/Src/usbd_cdc_if.c.obj" "gcc" "CMakeFiles/uav.elf.dir/Src/usbd_cdc_if.c.obj.d"
|
||||
"D:/zhandui/cqdm/uav/Src/usbd_conf.c" "CMakeFiles/uav.elf.dir/Src/usbd_conf.c.obj" "gcc" "CMakeFiles/uav.elf.dir/Src/usbd_conf.c.obj.d"
|
||||
"D:/zhandui/cqdm/uav/Src/usbd_desc.c" "CMakeFiles/uav.elf.dir/Src/usbd_desc.c.obj" "gcc" "CMakeFiles/uav.elf.dir/Src/usbd_desc.c.obj.d"
|
||||
"D:/zhandui/cqdm/uav/application/chassis/chassis.c" "CMakeFiles/uav.elf.dir/application/chassis/chassis.c.obj" "gcc" "CMakeFiles/uav.elf.dir/application/chassis/chassis.c.obj.d"
|
||||
"D:/zhandui/cqdm/uav/application/cmd/robot_cmd.c" "CMakeFiles/uav.elf.dir/application/cmd/robot_cmd.c.obj" "gcc" "CMakeFiles/uav.elf.dir/application/cmd/robot_cmd.c.obj.d"
|
||||
"D:/zhandui/cqdm/uav/application/gimbal/gimbal.c" "CMakeFiles/uav.elf.dir/application/gimbal/gimbal.c.obj" "gcc" "CMakeFiles/uav.elf.dir/application/gimbal/gimbal.c.obj.d"
|
||||
"D:/zhandui/cqdm/uav/application/robot.c" "CMakeFiles/uav.elf.dir/application/robot.c.obj" "gcc" "CMakeFiles/uav.elf.dir/application/robot.c.obj.d"
|
||||
|
|
@ -179,6 +178,7 @@ set(CMAKE_DEPENDS_DEPENDENCY_FILES
|
|||
"D:/zhandui/cqdm/uav/bsp/usart/bsp_usart.c" "CMakeFiles/uav.elf.dir/bsp/usart/bsp_usart.c.obj" "gcc" "CMakeFiles/uav.elf.dir/bsp/usart/bsp_usart.c.obj.d"
|
||||
"D:/zhandui/cqdm/uav/bsp/usb/bsp_usb.c" "CMakeFiles/uav.elf.dir/bsp/usb/bsp_usb.c.obj" "gcc" "CMakeFiles/uav.elf.dir/bsp/usb/bsp_usb.c.obj.d"
|
||||
"D:/zhandui/cqdm/uav/modules/BMI088/bmi088.c" "CMakeFiles/uav.elf.dir/modules/BMI088/bmi088.c.obj" "gcc" "CMakeFiles/uav.elf.dir/modules/BMI088/bmi088.c.obj.d"
|
||||
"D:/zhandui/cqdm/uav/modules/RGB/RGB.c" "CMakeFiles/uav.elf.dir/modules/RGB/RGB.c.obj" "gcc" "CMakeFiles/uav.elf.dir/modules/RGB/RGB.c.obj.d"
|
||||
"D:/zhandui/cqdm/uav/modules/TFminiPlus/tfminiplus.c" "CMakeFiles/uav.elf.dir/modules/TFminiPlus/tfminiplus.c.obj" "gcc" "CMakeFiles/uav.elf.dir/modules/TFminiPlus/tfminiplus.c.obj.d"
|
||||
"D:/zhandui/cqdm/uav/modules/alarm/buzzer.c" "CMakeFiles/uav.elf.dir/modules/alarm/buzzer.c.obj" "gcc" "CMakeFiles/uav.elf.dir/modules/alarm/buzzer.c.obj.d"
|
||||
"D:/zhandui/cqdm/uav/modules/algorithm/QuaternionEKF.c" "CMakeFiles/uav.elf.dir/modules/algorithm/QuaternionEKF.c.obj" "gcc" "CMakeFiles/uav.elf.dir/modules/algorithm/QuaternionEKF.c.obj.d"
|
||||
|
|
@ -204,6 +204,7 @@ set(CMAKE_DEPENDS_DEPENDENCY_FILES
|
|||
"D:/zhandui/cqdm/uav/modules/motor/HTmotor/HT04.c" "CMakeFiles/uav.elf.dir/modules/motor/HTmotor/HT04.c.obj" "gcc" "CMakeFiles/uav.elf.dir/modules/motor/HTmotor/HT04.c.obj.d"
|
||||
"D:/zhandui/cqdm/uav/modules/motor/LKmotor/LK9025.c" "CMakeFiles/uav.elf.dir/modules/motor/LKmotor/LK9025.c.obj" "gcc" "CMakeFiles/uav.elf.dir/modules/motor/LKmotor/LK9025.c.obj.d"
|
||||
"D:/zhandui/cqdm/uav/modules/motor/motor_task.c" "CMakeFiles/uav.elf.dir/modules/motor/motor_task.c.obj" "gcc" "CMakeFiles/uav.elf.dir/modules/motor/motor_task.c.obj.d"
|
||||
"D:/zhandui/cqdm/uav/modules/motor/pwmmotor/snail.c" "CMakeFiles/uav.elf.dir/modules/motor/pwmmotor/snail.c.obj" "gcc" "CMakeFiles/uav.elf.dir/modules/motor/pwmmotor/snail.c.obj.d"
|
||||
"D:/zhandui/cqdm/uav/modules/motor/servo_motor/servo_motor.c" "CMakeFiles/uav.elf.dir/modules/motor/servo_motor/servo_motor.c.obj" "gcc" "CMakeFiles/uav.elf.dir/modules/motor/servo_motor/servo_motor.c.obj.d"
|
||||
"D:/zhandui/cqdm/uav/modules/motor/step_motor/step_motor.c" "CMakeFiles/uav.elf.dir/modules/motor/step_motor/step_motor.c.obj" "gcc" "CMakeFiles/uav.elf.dir/modules/motor/step_motor/step_motor.c.obj.d"
|
||||
"D:/zhandui/cqdm/uav/modules/oled/oled.c" "CMakeFiles/uav.elf.dir/modules/oled/oled.c.obj" "gcc" "CMakeFiles/uav.elf.dir/modules/oled/oled.c.obj.d"
|
||||
|
|
|
|||
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@ -1,127 +0,0 @@
|
|||
CMakeFiles/uav.elf.dir/application/chassis/chassis.c.obj: \
|
||||
D:\zhandui\cqdm\uav\application\chassis\chassis.c \
|
||||
D:\zhandui\cqdm\uav\application\chassis\chassis.h \
|
||||
D:\zhandui\cqdm\uav\application/robot_def.h \
|
||||
D:\zhandui\cqdm\uav\modules\imu/ins_task.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/include/stdint.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/stdint.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/machine/_default_types.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/sys/features.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/_newlib_version.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/sys/_intsup.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/sys/_stdint.h \
|
||||
D:\zhandui\cqdm\uav\modules\imu/BMI088driver.h \
|
||||
D:\zhandui\cqdm\uav\Inc/main.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal.h \
|
||||
D:\zhandui\cqdm\uav\Inc/stm32f4xx_hal_conf.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_rcc.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_def.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\CMSIS\Device\ST\STM32F4xx\Include/stm32f4xx.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\CMSIS\Device\ST\STM32F4xx\Include/stm32f407xx.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\CMSIS\Include/core_cm4.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\CMSIS\Include/cmsis_version.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\CMSIS\Include/cmsis_compiler.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\CMSIS\Include/cmsis_gcc.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\CMSIS\Include/mpu_armv7.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\CMSIS\Device\ST\STM32F4xx\Include/system_stm32f4xx.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/Legacy/stm32_hal_legacy.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/include/stddef.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_rcc_ex.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_gpio.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_gpio_ex.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_exti.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_dma.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_dma_ex.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_cortex.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_adc.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_ll_adc.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_adc_ex.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_can.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_crc.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_dac.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_dac_ex.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_flash.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_flash_ex.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_flash_ramfunc.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_i2c.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_i2c_ex.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_pwr.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_pwr_ex.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_rng.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_rtc.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_rtc_ex.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_spi.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_tim.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_tim_ex.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_uart.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_pcd.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_ll_usb.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_pcd_ex.h \
|
||||
D:\zhandui\cqdm\uav\application/robot.h \
|
||||
D:\zhandui\cqdm\uav\bsp\log/bsp_log.h \
|
||||
D:\zhandui\cqdm\uav\Middlewares\Third_Party\SEGGER\RTT/SEGGER_RTT.h \
|
||||
D:\zhandui\cqdm\uav\Middlewares\Third_Party\SEGGER\RTT/../Config/SEGGER_RTT_Conf.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/stdlib.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/machine/ieeefp.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/_ansi.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/newlib.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/sys/config.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/sys/reent.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/_ansi.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/sys/_types.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/machine/_types.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/sys/lock.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/sys/cdefs.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/machine/stdlib.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/alloca.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/include/stdarg.h \
|
||||
D:\zhandui\cqdm\uav\Middlewares\Third_Party\SEGGER\Config/SEGGER_RTT_Conf.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/stdio.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/sys/stdio.h \
|
||||
D:\zhandui\cqdm\uav\modules\algorithm/QuaternionEKF.h \
|
||||
D:\zhandui\cqdm\uav\modules\algorithm/kalman_filter.h \
|
||||
D:\zhandui\cqdm\uav\Drivers\CMSIS\Device\ST\STM32F4xx\Include/stm32f407xx.h \
|
||||
D:\zhandui\cqdm\uav\Middlewares\ST\ARM\DSP\Inc/arm_math.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/string.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/sys/_locale.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/strings.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/sys/string.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/math.h \
|
||||
D:\zhandui\cqdm\uav\modules\master_machine/master_process.h \
|
||||
D:\zhandui\cqdm\uav\bsp\usart/bsp_usart.h \
|
||||
D:\zhandui\cqdm\uav\modules\master_machine/seasky_protocol.h \
|
||||
D:\zhandui\cqdm\uav\modules\motor\DJImotor/dji_motor.h \
|
||||
D:\zhandui\cqdm\uav\bsp\can/bsp_can.h D:\zhandui\cqdm\uav\Inc/can.h \
|
||||
D:\zhandui\cqdm\uav\Inc/main.h \
|
||||
D:\zhandui\cqdm\uav\modules\algorithm/controller.h \
|
||||
D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/include/memory.h \
|
||||
D:\zhandui\cqdm\uav\bsp\dwt/bsp_dwt.h \
|
||||
D:\zhandui\cqdm\uav\modules\motor/motor_def.h \
|
||||
D:\zhandui\cqdm\uav\modules\daemon/daemon.h \
|
||||
D:\zhandui\cqdm\uav\modules\super_cap/super_cap.h \
|
||||
D:\zhandui\cqdm\uav\modules\message_center/message_center.h \
|
||||
D:\zhandui\cqdm\uav\modules\referee/referee_task.h \
|
||||
D:\zhandui\cqdm\uav\modules\referee/rm_referee.h \
|
||||
D:\zhandui\cqdm\uav\Inc/usart.h \
|
||||
D:\zhandui\cqdm\uav\modules\referee/referee_protocol.h \
|
||||
D:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\include/FreeRTOS.h \
|
||||
D:\zhandui\cqdm\uav\Inc/FreeRTOSConfig.h \
|
||||
D:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\include/projdefs.h \
|
||||
D:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\include/portable.h \
|
||||
D:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\include/deprecated_definitions.h \
|
||||
D:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F/portmacro.h \
|
||||
D:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\include/mpu_wrappers.h \
|
||||
D:\zhandui\cqdm\uav\modules/general_def.h \
|
||||
D:\zhandui\cqdm\uav\modules\referee/referee_UI.h \
|
||||
D:\zhandui\cqdm\uav\modules\algorithm/user_lib.h \
|
||||
D:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS/cmsis_os.h \
|
||||
D:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\include/task.h \
|
||||
D:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\include/list.h \
|
||||
D:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\include/timers.h \
|
||||
D:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\include/task.h \
|
||||
D:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\include/queue.h \
|
||||
D:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\include/semphr.h \
|
||||
D:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\include/queue.h \
|
||||
D:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\include/event_groups.h \
|
||||
D:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\include/timers.h \
|
||||
D:\zhandui\cqdm\uav\modules\vofa/vofa.h
|
||||
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|
|
@ -98,6 +98,7 @@ CMakeFiles/uav.elf.dir/application/gimbal/gimbal.c.obj: \
|
|||
D:\zhandui\cqdm\uav\bsp\dwt/bsp_dwt.h \
|
||||
D:\zhandui\cqdm\uav\modules\motor/motor_def.h \
|
||||
D:\zhandui\cqdm\uav\modules\daemon/daemon.h \
|
||||
D:\zhandui\cqdm\uav\modules\motor\DMmotor/dmmotor.h \
|
||||
D:\zhandui\cqdm\uav\modules\message_center/message_center.h \
|
||||
D:\zhandui\cqdm\uav\modules/general_def.h \
|
||||
D:\zhandui\cqdm\uav\modules\BMI088/bmi088.h \
|
||||
|
|
|
|||
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Reference in New Issue