发布beta版本,目前基本功能都可用

2026-07-23 19:25:09 +08:00 · 2022-12-11 14:59:45 +08:00
parent 37c23ddb79
commit 78cc27ee1a
19 changed files with 320 additions and 115 deletions
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -39,7 +39,8 @@
        "general_def.h": "c",
        "super_cap.h": "c",
        "motor_def.h": "c",
-        "quaternionekf.h": "c"
+        "quaternionekf.h": "c",
+        "shoot.h": "c"
    },
    "C_Cpp.default.configurationProvider": "ms-vscode.makefile-tools",
 }
--- a/3
+++ b/3
@@ -312,8 +312,7 @@ download_dap:
 	openocd -f openocd_dap.cfg -c init -c halt -c "flash write_image erase $(BUILD_DIR)/$(TARGET).hex $(OPENOCD_FLASH_START)" -c reset -c shutdown

 download_jlink:
-	openocd -f openocd_jlink.cfg -c init -c halt -c "flash write_image erase $(BUILD_DIR)/$(TARGET).hex $(OPENOCD_FLASH_START)" -c reset -c shutdown
-
+	JFlash -openprj'stm32.jflash' -open'$(BUILD_DIR)/$(TARGET).hex',0x8000000 -auto -startapp -exit
 #######################################
 # dependencies
 #######################################
--- a/VSCode+Ozone使用方法.md
+++ b/VSCode+Ozone使用方法.md
@@ -526,7 +526,7 @@ VSCode `ctrl+,`进入设置，通过`搜索`找到cortex-debug插件的设置。
 ```shell
 Project.SetOSPlugin(“plugin_name”)
 # plugin_name是启用的实时系统支持插件名
-# 我们要使用的命令是Project.SetOSPlugin(“FreeRTOSPlugin_CM4”)
+# 我们要使用的命令是Project.SetOSPlugin ("FreeRTOSPlugin_CM4")
 ```

 支持的插件在Ozone的安装目录下的`Plugins/OS`目录：
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -32,8 +32,14 @@
 #include "can_comm.h"
 #include "ins_task.h"
 static CANCommInstance *chasiss_can_comm; // 双板通信CAN comm
-IMU_Data_t *Chassis_IMU_data;
+attitude_t *Chassis_IMU_data;
 #endif // CHASSIS_BOARD
+#ifdef ONE_BOARD
+static Publisher_t *chassis_pub;
+static Subscriber_t *chassis_sub;
+#endif // ONE_BOARD
+static Chassis_Ctrl_Cmd_s chassis_cmd_recv;
+static Chassis_Upload_Data_s chassis_feedback_data;

 static referee_info_t *referee_data; // 裁判系统的数据
 static SuperCapInstance *cap;        // 超级电容
@@ -42,12 +48,6 @@ static DJIMotorInstance *motor_rf;
 static DJIMotorInstance *motor_lb;
 static DJIMotorInstance *motor_rb;

-/* chassis 包含的信息交互模块和数据*/
-static Publisher_t *chassis_pub;
-static Chassis_Ctrl_Cmd_s chassis_cmd_recv;
-static Subscriber_t *chassis_sub;
-static Chassis_Upload_Data_s chassis_feedback_data;
-
 /* 用于自旋变速策略的时间变量,后续考虑查表加速 */
 static float t;

@@ -65,13 +65,13 @@ void ChassisInit()
                .Kp = 10,
                .Ki = 0,
                .Kd = 0,
-                .MaxOut = 200,
+                .MaxOut = 2000,
            },
            .current_PID = {
-                .Kp = 10,
+                .Kp = 1.2,
                .Ki = 0,
                .Kd = 0,
-                .MaxOut = 200,
+                .MaxOut = 2000,
            },
        },
        .controller_setting_init_config = {
@@ -84,22 +84,22 @@ void ChassisInit()
    };

    chassis_motor_config.can_init_config.tx_id = 1;
-    chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_REVERSE;
+    chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_NORMAL;
    motor_lf = DJIMotorInit(&chassis_motor_config);

    chassis_motor_config.can_init_config.tx_id = 2,
-    chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_REVERSE;
+    chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_NORMAL;
    motor_rf = DJIMotorInit(&chassis_motor_config);

    chassis_motor_config.can_init_config.tx_id = 3,
-    chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_REVERSE;
+    chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_NORMAL;
    motor_lb = DJIMotorInit(&chassis_motor_config);

    chassis_motor_config.can_init_config.tx_id = 4,
-    chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_REVERSE;
+    chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_NORMAL;
    motor_rb = DJIMotorInit(&chassis_motor_config);

-    referee_data = RefereeInit(&huart6);
+    referee_data = RefereeInit(&huart6); //裁判系统初始化

    SuperCap_Init_Config_s cap_conf = {
        .can_config = {
@@ -107,10 +107,28 @@ void ChassisInit()
            .tx_id = 0x302,
            .rx_id = 0x301,
        }};
-    cap = SuperCapInit(&cap_conf);
+    cap = SuperCapInit(&cap_conf); //超级电容初始化

+    // 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
+    Chassis_IMU_data=INS_Init(); // 底盘IMU初始化
+
+    CANComm_Init_Config_s comm_conf = {
+        .can_config={
+            .can_handle=&hcan2,
+            .tx_id=0x311,
+            .rx_id=0x312,
+        },
+        .recv_data_len=sizeof(Chassis_Ctrl_Cmd_s),
+        .send_data_len=sizeof(Chassis_Upload_Data_s),
+    };
+    chasiss_can_comm = CANCommInit(&comm_conf); // can comm初始化
+#endif // CHASSIS_BOARD
+
+#ifdef ONE_BOARD
    chassis_sub = SubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s));
    chassis_pub = PubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s));
+#endif // ONE_BOARD
 }

 #define LF_CENTER ((HALF_TRACK_WIDTH + CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE - CENTER_GIMBAL_OFFSET_Y) * ANGLE_2_RAD)
@@ -125,8 +143,8 @@ 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;
+    vt_lb =  chassis_vx + chassis_vy - chassis_cmd_recv.wz * LB_CENTER;
+    vt_rb =  chassis_vx - chassis_vy - chassis_cmd_recv.wz * RB_CENTER;
 }

 /**
@@ -161,18 +179,32 @@ void ChassisTask()
 {
    // 后续增加没收到消息的处理
    // 获取新的控制信息
+#ifdef ONE_BOARD
    SubGetMessage(chassis_sub, &chassis_cmd_recv);
+#endif
+#ifdef CHASSIS_BOARD
+    chassis_cmd_recv=*(Chassis_Ctrl_Cmd_s*)CANCommGet(chasiss_can_comm);
+#endif // CHASSIS_BOARD
+
+    if (chassis_cmd_recv.chassis_mode==CHASSIS_ZERO_FORCE)
+    {
+        DJIMotorStop(motor_lf); // 如果出现重要模块离线或遥控器设置为急停,让电机停止
+        DJIMotorStop(motor_rf);
+        DJIMotorStop(motor_lb);
+        DJIMotorStop(motor_rb);
+    }
+    else
+    {
+        DJIMotorEnable(motor_lf);
+        DJIMotorEnable(motor_rf);
+        DJIMotorEnable(motor_lb);
+        DJIMotorEnable(motor_rb);
+    }

    // 根据控制模式设定旋转速度
    // 后续增加不同状态的过渡模式?
    switch (chassis_cmd_recv.chassis_mode)
    {
-    case CHASSIS_ZERO_FORCE:
-        DJIMotorStop(motor_lf); // 如果出现重要模块离线或遥控器设置为急停,让电机停止
-        DJIMotorStop(motor_rf);
-        DJIMotorStop(motor_lb);
-        DJIMotorStop(motor_rb);
-        break;
    case CHASSIS_NO_FOLLOW:
        chassis_cmd_recv.wz = 0; // 底盘不旋转,但维持全向机动,一般用于调整云台姿态
        break;
@@ -196,10 +228,10 @@ void ChassisTask()
    // 根据控制模式进行正运动学解算,计算底盘输出
    MecanumCalculate();

-    // 根据裁判系统的反馈数据和电容数据对输出限幅
+    // 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();

-    // 根据电机的反馈速度计算
+    // 根据电机的反馈速度和IMU(如果有)计算真实速度
    EstimateSpeed();

    // 获取裁判系统数据
@@ -210,5 +242,10 @@ void ChassisTask()
    chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;

    // 推送反馈消息
+#ifdef ONE_BOARD
    PubPushMessage(chassis_pub, &chassis_feedback_data);
+#endif
+#ifdef CHASSIS_BOARD
+    CANCommSend(chasiss_can_comm,(void*)&chassis_feedback_data);
+#endif // CHASSIS_BOARD
 }
--- a/application/chassis/chassis.h
+++ b/application/chassis/chassis.h
@@ -1,8 +1,16 @@
 #ifndef CHASSIS_H
 #define CHASSIS_H

+/**
+ * @brief 底盘应用初始化,请在开启rtos之前调用
+ * 
+ */
 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
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -12,10 +12,16 @@
 #define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF)

 /* gimbal_cmd应用包含的模块实例指针和交互信息存储*/
-#ifndef ONE_BOARD
+#ifdef GIMBAL_BOARD
 #include "can_comm.h"
-static CANCommInstance *chasiss_can_comm; // 双板通信
-#endif                                    // !ONE_BOARD
+static CANCommInstance *cmd_can_comm; // 双板通信
+#endif
+#ifdef ONE_BOARD
+static Publisher_t *chassis_cmd_pub
+static Subscriber_t *chassis_feed_sub;
+#endif // ONE_BOARD
+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
 static Vision_Recv_s *vision_recv_data; // 视觉接收数据指针,初始化时返回
@@ -31,10 +37,7 @@ static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息
 static Subscriber_t *shoot_feed_sub;
 static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息

-static Publisher_t *chassis_cmd_pub;
-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 Subscriber_t *chassis_feed_sub;
-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 Robot_Status_e robot_state;

@@ -47,8 +50,25 @@ void GimbalCMDInit()
    gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
    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
    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
+
+    robot_state=ROBOT_WORKING; // 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
 }

 /**
@@ -86,7 +106,7 @@ 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.s[0])) // 右侧开关状态[下],底盘跟随云台
        chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
-    if (switch_is_mid(rc_data[TEMP].rc.s[0])) // 右侧开关状态[中],底盘和云台分离,底盘保持不转动
+    else if (switch_is_mid(rc_data[TEMP].rc.s[0])) // 右侧开关状态[中],底盘和云台分离,底盘保持不转动
        chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW;

    // 云台参数,确定云台控制数据
@@ -104,24 +124,27 @@ static void RemoteControlSet()
    }

    // 底盘参数,目前没有加入小陀螺(调试似乎没有必要),系数需要调整
-    chassis_cmd_send.vx = 1.0f * (float)rc_data[TEMP].rc.joystick[0];
-    chassis_cmd_send.vy = 1.0f * (float)rc_data[TEMP].rc.joystick[1];
+    chassis_cmd_send.vx = 10.0f * (float)rc_data[TEMP].rc.joystick[0];
+    chassis_cmd_send.vy = 10.0f * (float)rc_data[TEMP].rc.joystick[1];

    // 发射参数
    if (switch_is_up(rc_data[TEMP].rc.s[0])) // 右侧开关状态[上],弹舱打开
-        ;                                    // 弹舱舵机控制,待添加servo_motor模块,开启
+    {// 弹舱舵机控制,待添加servo_motor模块,开启
+
+    }                                    
    else
        ; // 弹舱舵机控制,待添加servo_motor模块,关闭
    // 摩擦轮控制,后续可以根据左侧拨轮的值大小切换射频
-    if (rc_data[TEMP].rc.joystick[4] > 100)
+    if (rc_data[TEMP].rc.joystick[4] < -100)
        shoot_cmd_send.friction_mode = FRICTION_ON;
    else
        shoot_cmd_send.friction_mode = FRICTION_OFF;
    // 拨弹控制,目前固定为连发
-    if (rc_data[TEMP].rc.joystick[4] > 500)
+    if (rc_data[TEMP].rc.joystick[4] <-500)
        shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
    else
        shoot_cmd_send.load_mode = LOAD_STOP;
+    shoot_cmd_send.shoot_rate=1;
 }

 /**
@@ -140,25 +163,29 @@ static void MouseKeySet()
 static void EmergencyHandler()
 {
    // 拨轮的向下拨超过一半,注意向下拨轮是正
-    if (rc_data[TEMP].rc.joystick[4] > 300) // 还需添加重要应用和模块离线的判断
+    if (rc_data[TEMP].rc.joystick[4] > 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; // 遥控器左上侧拨轮打满,进入紧急停止模式
        gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
        chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
        shoot_cmd_send.shoot_mode = SHOOT_OFF;
-        return;
    }
-    // if(rc_data[TEMP].rc.joystick[4]<-300 && 各个模块正常)
-    // {
-    //     //恢复运行
-    //     //...
-    // }
+    if(switch_is_up(rc_data[TEMP].rc.s[0]))
+    {
+        robot_state = ROBOT_WORKING; // 遥控器右侧开关为[上],恢复正常运行
+        shoot_cmd_send.shoot_mode = SHOOT_ON;
+    }
 }

 void GimbalCMDTask()
 {
    // 从其他应用获取回传数据
+#ifdef ONE_BOARD
    SubGetMessage(chassis_feed_sub, &chassis_fetch_data);
+#endif // ONE_BOARD
+#ifdef GIMBAL_BOARD
+    chassis_fetch_data=*(Chassis_Upload_Data_s*)CANCommGet(cmd_can_comm);
+#endif // GIMBAL_BOARD
    SubGetMessage(shoot_feed_sub, &shoot_fetch_data);
    SubGetMessage(gimbal_feed_sub, &gimbal_fetch_data);

@@ -181,7 +208,12 @@ void GimbalCMDTask()

    // 推送消息,双板通信,视觉通信等
    // 应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置
-    PubPushMessage(chassis_cmd_pub, &chassis_cmd_send);
+#ifdef ONE_BOARD
+    SubGetMessage(chassis_feed_sub, &chassis_fetch_data);
+#endif // ONE_BOARD
+#ifdef GIMBAL_BOARD
+    CANCommSend(cmd_can_comm,(void*)&chassis_cmd_send);
+#endif // GIMBAL_BOARD
    PubPushMessage(shoot_cmd_pub, &shoot_cmd_send);
    PubPushMessage(gimbal_cmd_pub, &gimbal_cmd_send);
    VisionSend(&vision_send_data);
--- a/application/gimbal/gimbal.c
+++ b/application/gimbal/gimbal.c
@@ -54,21 +54,21 @@ void GimbalInit()
    Motor_Init_Config_s pitch_config = {
        .can_init_config = {
            .can_handle = &hcan1,
-            .tx_id = 3,
+            .tx_id = 2,
        },
        .controller_param_init_config = {
            .angle_PID = {
-                .Kp = 10,
+                .Kp = 30,
                .Ki = 0,
                .Kd = 0,
-                .MaxOut = 2000,
+                .MaxOut = 4000,
                .DeadBand=0.3,
            },
            .speed_PID = {
                .Kp = 10,
                .Ki = 0,
                .Kd = 0,
-                .MaxOut = 2000,
+                .MaxOut = 4000,
            },
            .other_angle_feedback_ptr = &Gimbal_IMU_data->Pitch,
            // 还需要增加角速度额外反馈指针
@@ -117,6 +117,8 @@ void GimbalTask()
        break;
    // 使用陀螺仪的反馈,底盘根据yaw电机的offset跟随云台或视觉模式采用
    case GIMBAL_GYRO_MODE:
+        DJIMotorEnable(yaw_motor);
+        DJIMotorEnable(pitch_motor);
        DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
        DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
        DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
@@ -126,6 +128,8 @@ void GimbalTask()
        break;
    // 云台自由模式,使用编码器反馈,底盘和云台分离,仅云台旋转,一般用于调整云台姿态(英雄吊射等)/能量机关
    case GIMBAL_FREE_MODE:
+        DJIMotorEnable(yaw_motor);
+        DJIMotorEnable(pitch_motor);
        DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, MOTOR_FEED);
        DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, MOTOR_FEED);
        DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, MOTOR_FEED);
@@ -153,7 +157,7 @@ void GimbalTask()

    // 设置反馈数据
    gimbal_feedback_data.gimbal_imu_data = *Gimbal_IMU_data;
-    gimbal_feedback_data.yaw_motor_single_round_angle = pitch_motor->motor_measure.angle_single_round;
+    gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->motor_measure.angle_single_round;

    // 推送消息 
    PubPushMessage(gimbal_pub, &gimbal_feedback_data);
--- a/application/robot.c
+++ b/application/robot.c
@@ -14,26 +14,27 @@
 void RobotInit()
 {
    BSPInit();
-#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
-    ChassisInit();
-#endif

 #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
    GimbalCMDInit();
    GimbalInit();
    ShootInit();
 #endif
+
+#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
+    ChassisInit();
+#endif
 }

 void RobotTask()
 {
-#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
-    ChassisTask();
-#endif
-
 #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
    GimbalCMDTask();
    GimbalTask();
    ShootTask();
 #endif
+
+#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
+    ChassisTask();
+#endif
 }
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -16,13 +16,12 @@
 #include "master_process.h"
 #include "stdint-gcc.h"

-/* 开发板类型定义,烧录时注意不要弄错对应功能;修改定义后需要重新编译 */
-/* 只能存在一个宏定义! */
-#define ONE_BOARD // 单板控制整车
+/* 开发板类型定义,烧录时注意不要弄错对应功能;修改定义后需要重新编译,只能存在一个定义! */
+// #define ONE_BOARD // 单板控制整车
 // #define CHASSIS_BOARD //底盘板
-// #define GIMBAL_BOARD  //云台板
+#define GIMBAL_BOARD  //云台板

-/* 重要参数定义,注意根据不同机器人进行修改 */
+/* 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 0     // 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 // yaw电机的初始编码器值是否大于4096,是为1,否为0
@@ -39,11 +38,12 @@
 #define RADIUS_WHEEL 60             // 轮子半径
 #define REDUCTION_RATIO_WHEEL 19.0f // 电机减速比,因为编码器量测的是转子的速度而不是输出轴的速度故需进行转换

+// 检查是否出现定义冲突
 #if (defined(ONE_BOARD) && defined(CHASSIS_BOARD)) || \
    (defined(ONE_BOARD) && defined(GIMBAL_BOARD)) ||  \
    (defined(CHASSIS_BOARD) && defined(GIMBAL_BOARD))
 #error Conflict board definition! You can only define one type.
-#endif // 检查是否出现定义冲突
+#endif 

 #pragma pack(1) // 压缩结构体,取消字节对齐

@@ -92,7 +92,7 @@ typedef enum
 // 发射模式设置
 typedef enum
 {
-    SHOOT_ON,
+    SHOOT_ON=0,
    SHOOT_OFF,
 }shoot_mode_e;
 typedef enum
--- a/application/shoot/shoot.c
+++ b/application/shoot/shoot.c
@@ -38,7 +38,7 @@ void ShootInit()
                .Kp = 10,
                .Ki = 0,
                .Kd = 0,
-                .MaxOut = 200,
+                .MaxOut = 2000,
            },
        },
        .controller_setting_init_config = {
@@ -47,7 +47,7 @@ void ShootInit()

            .outer_loop_type = SPEED_LOOP,
            .close_loop_type = SPEED_LOOP | CURRENT_LOOP,
-            .reverse_flag = MOTOR_DIRECTION_REVERSE,
+            .reverse_flag = MOTOR_DIRECTION_NORMAL,
        },
        .motor_type = M3508};
    // 右摩擦轮
@@ -58,16 +58,16 @@ void ShootInit()
        },
        .controller_param_init_config = {
            .speed_PID = {
-                .Kp = 1,
+                .Kp = 10,
                .Ki = 0,
                .Kd = 0,
                .MaxOut = 200,
            },
            .current_PID = {
-                .Kp = 1,
+                .Kp = 5,
                .Ki = 0,
                .Kd = 0,
-                .MaxOut = 200,
+                .MaxOut = 2000,
            },
        },
        .controller_setting_init_config = {
@@ -75,7 +75,7 @@ void ShootInit()
            .speed_feedback_source = MOTOR_FEED,
            .outer_loop_type = SPEED_LOOP,
            .close_loop_type = SPEED_LOOP | CURRENT_LOOP,
-            .reverse_flag = MOTOR_DIRECTION_REVERSE,
+            .reverse_flag = MOTOR_DIRECTION_NORMAL,
        },
        .motor_type = M3508};
    // 拨盘电机
@@ -88,28 +88,28 @@ void ShootInit()
            .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 = 10,
-                .Ki = 1,
-                .Kd = 2,
+                .Ki = 0,
+                .Kd = 0,
                .MaxOut = 200,
            },
            .speed_PID = {
                .Kp = 1,
                .Ki = 0,
                .Kd = 0,
-                .MaxOut = 200,
+                .MaxOut = 2000,
            },
            .current_PID = {
-                .Kp = 1,
+                .Kp = 10,
                .Ki = 0,
                .Kd = 0,
-                .MaxOut = 200,
+                .MaxOut = 3000,
            },
        },
        .controller_setting_init_config = {
            .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 = ANGLE_LOOP | SPEED_LOOP | CURRENT_LOOP,
-            .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 = ANGLE_LOOP | SPEED_LOOP ,
+            .reverse_flag = MOTOR_DIRECTION_NORMAL, // 注意方向设置为拨盘的拨出的击发方向
        },
        .motor_type = M2006 // 英雄使用m3508
    };
@@ -134,6 +134,13 @@ void ShootTask()
        DJIMotorStop(friction_r);
        DJIMotorStop(loader);
    }
+    else // 恢复运行
+    {
+        DJIMotorEnable(friction_l);
+        DJIMotorEnable(friction_r);
+        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
    if (hibernate_time + dead_time > DWT_GetTimeline_ms())
@@ -147,7 +154,7 @@ void ShootTask()
        DJIMotorOuterLoop(loader, SPEED_LOOP);
        DJIMotorSetRef(loader, 0);
        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)F
+    // 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)
    case LOAD_1_BULLET: // 激活能量机关/干扰对方用,英雄用.
        DJIMotorOuterLoop(loader, ANGLE_LOOP);
        DJIMotorSetRef(loader, loader->motor_measure.total_angle + ONE_BULLET_DELTA_ANGLE); // 增加一发弹丸的角度
@@ -164,7 +171,7 @@ void ShootTask()
    // 连发模式,对速度闭环,射频后续修改为可变
    case LOAD_BURSTFIRE:
        DJIMotorOuterLoop(loader, SPEED_LOOP);
-        DJIMotorSetRef(loader, shoot_cmd_recv.shoot_rate * 360 * REDUCTION_RATIO_WHEEL / NUM_PER_CIRCLE);
+        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
        break;
    // 拨盘反转,对速度闭环,后续增加卡弹检测(通过裁判系统剩余热量反馈)
@@ -193,9 +200,18 @@ void ShootTask()
        DJIMotorSetRef(friction_r, 0);
        break;
    default:
+        DJIMotorSetRef(friction_l, 200);
+        DJIMotorSetRef(friction_r, 200);
        break;
+    } // 关闭摩擦轮
+    if (shoot_cmd_recv.friction_mode==FRICTION_OFF)
+    {
+        DJIMotorSetRef(friction_l, 0);
+        DJIMotorSetRef(friction_r, 0);
    }
    
+    
+
    // 开关弹舱盖
    if (shoot_cmd_recv.lid_mode == LID_CLOSE)
    {
--- a/modules/algorithm/controller.c
+++ b/modules/algorithm/controller.c
@@ -85,6 +85,12 @@ float PID_Calculate(PIDInstance *pid, float measure, float ref)
        // 输出限幅
        f_Output_Limit(pid);
    }
+    else // 进入死区,清空积分和输出
+    {
+        pid->Output=0;
+        pid->ITerm=0;
+    }
+    
    pid->Last_Measure = pid->Measure;
    pid->Last_Output = pid->Output;
    pid->Last_Dout = pid->Dout;
--- a/modules/motor/HT04.c
+++ b/modules/motor/HT04.c
@@ -30,7 +30,7 @@ static void DecodeJoint(CANInstance *motor_instance)
            tmp = (motor_instance->rx_buff[3] << 4) | (motor_instance->rx_buff[4] >> 4);
            joint_motor_info[i]->speed_rpm = uint_to_float(tmp, V_MAX, V_MIN, 12);
            tmp = ((motor_instance->rx_buff[4] & 0xf) << 8) | motor_instance->rx_buff[5];
-            joint_motor_info[i]->given_current = uint_to_float(tmp, T_MAX, T_MIN, 12);
+            joint_motor_info[i]->real_current = uint_to_float(tmp, T_MAX, T_MIN, 12);
            break;
        }
    }
--- a/modules/motor/HT04.h
+++ b/modules/motor/HT04.h
@@ -20,7 +20,7 @@ typedef struct // HT04
    float last_ecd;
    float ecd;
    float speed_rpm;
-    float given_current;
+    float real_current;

    PIDInstance pid;
    CANInstance *motor_can_instace;
--- a/modules/motor/LK9025.c
+++ b/modules/motor/LK9025.c
@@ -11,7 +11,7 @@ static void DecodeDriven(CANInstance *_instance)
            driven_motor_info[i]->last_ecd = driven_motor_info[i]->ecd;
            driven_motor_info[i]->ecd = (uint16_t)((_instance->rx_buff[7] << 8) | _instance->rx_buff[6]);
            driven_motor_info[i]->speed_rpm = (uint16_t)(_instance->rx_buff[5] << 8 | _instance->rx_buff[4]);
-            driven_motor_info[i]->given_current = (uint16_t)(_instance->rx_buff[3] << 8 | _instance->rx_buff[2]);
+            driven_motor_info[i]->real_current = (uint16_t)(_instance->rx_buff[3] << 8 | _instance->rx_buff[2]);
            driven_motor_info[i]->temperate = _instance->rx_buff[1];
            break;
        }
--- a/modules/motor/LK9025.h
+++ b/modules/motor/LK9025.h
@@ -15,7 +15,7 @@ typedef struct // 9025
    uint16_t last_ecd;
    uint16_t ecd;
    int16_t speed_rpm;
-    int16_t given_current;
+    int16_t real_current;
    uint8_t temperate;

    PIDInstance *pid;
--- a/modules/motor/dji_motor.c
+++ b/modules/motor/dji_motor.c
@@ -130,15 +130,15 @@ static void DecodeDJIMotor(CANInstance *_instance)
        {
            rxbuff = _instance->rx_buff;
            measure = &dji_motor_info[i]->motor_measure; // measure要多次使用,保存指针减小访存开销
-
+            uint8_t nice;
            // resolve data and apply filter to current and speed
            measure->last_ecd = measure->ecd;
-            measure->ecd = (uint16_t)(rxbuff[0] << 8 | rxbuff[1]);
-            measure->angle_single_round = ECD_ANGLE_COEF * measure->ecd;
-            measure->speed_angle_per_sec = (1 - SPEED_SMOOTH_COEF) * measure->speed_angle_per_sec +
-                                           RPM_2_ANGLE_PER_SEC * SPEED_SMOOTH_COEF * (int16_t)(rxbuff[2] << 8 | rxbuff[3]);
-            measure->given_current = (1 - CURRENT_SMOOTH_COEF) * measure->given_current +
-                                     RPM_2_ANGLE_PER_SEC * CURRENT_SMOOTH_COEF * (uint16_t)(rxbuff[4] << 8 | rxbuff[5]);
+            measure->ecd = ((uint16_t)rxbuff[0]) << 8 | rxbuff[1];
+            measure->angle_single_round = ECD_ANGLE_COEF * (float)measure->ecd;
+            measure->speed_aps = (1.0f - SPEED_SMOOTH_COEF) * measure->speed_aps + RPM_2_ANGLE_PER_SEC * 
+                                 SPEED_SMOOTH_COEF *(float)((int16_t)(rxbuff[2] << 8 | rxbuff[3])) ;
+            measure->real_current = (1.0f - CURRENT_SMOOTH_COEF) * measure->real_current +
+                                    CURRENT_SMOOTH_COEF * (float)((int16_t)(rxbuff[4] << 8 | rxbuff[5]));
            measure->temperate = rxbuff[6];

            // multi rounds calc,计算的前提是两次采样间电机转过的角度小于180°
@@ -176,6 +176,7 @@ DJIMotorInstance *DJIMotorInit(Motor_Init_Config_s *config)
    config->can_init_config.can_module_callback = DecodeDJIMotor; // set callback
    dji_motor_info[idx]->motor_can_instance = CANRegister(&config->can_init_config);

+    DJIMotorEnable(dji_motor_info[idx]);
    return dji_motor_info[idx++];
 }

@@ -223,7 +224,7 @@ void DJIMotorControl()
    static Motor_Control_Setting_s *motor_setting;
    static Motor_Controller_s *motor_controller;
    static DJI_Motor_Measure_s *motor_measure;
-    static float pid_measure,pid_ref;
+    static float pid_measure, pid_ref;
    // 遍历所有电机实例,进行串级PID的计算并设置发送报文的值
    for (size_t i = 0; i < idx; i++)
    {
@@ -233,7 +234,7 @@ void DJIMotorControl()
            motor_setting = &motor->motor_settings;
            motor_controller = &motor->motor_controller;
            motor_measure = &motor->motor_measure;
-            pid_ref=motor_controller->pid_ref; //保存设定值,防止motor_controller->pid_ref在计算过程中被修改
+            pid_ref = motor_controller->pid_ref; // 保存设定值,防止motor_controller->pid_ref在计算过程中被修改

            // pid_ref会顺次通过被启用的闭环充当数据的载体
            // 计算位置环,只有启用位置环且外层闭环为位置时会计算速度环输出
@@ -253,7 +254,7 @@ void DJIMotorControl()
                if (motor_setting->speed_feedback_source == OTHER_FEED)
                    pid_measure = *motor_controller->other_speed_feedback_ptr;
                else // MOTOR_FEED
-                    pid_measure = motor_measure->speed_angle_per_sec;
+                    pid_measure = motor_measure->speed_aps;
                // 更新pid_ref进入下一个环
                pid_ref = PID_Calculate(&motor_controller->speed_PID, pid_measure, pid_ref);
            }
@@ -261,7 +262,7 @@ void DJIMotorControl()
            // 计算电流环,只要启用了电流环就计算,不管外层闭环是什么,并且电流只有电机自身传感器的反馈
            if (motor_setting->close_loop_type & CURRENT_LOOP)
            {
-                pid_ref = PID_Calculate(&motor_controller->current_PID, motor_measure->given_current, pid_ref);
+                pid_ref = PID_Calculate(&motor_controller->current_PID, motor_measure->real_current, pid_ref);
            }

            // 获取最终输出
@@ -272,14 +273,14 @@ void DJIMotorControl()
            // 分组填入发送数据
            group = motor->sender_group;
            num = motor->message_num;
-            sender_assignment[group].tx_buff[2 * num] = 0xff & set >> 8;
-            sender_assignment[group].tx_buff[2 * num + 1] = 0xff & set;
+            sender_assignment[group].tx_buff[2 * num] = (uint8_t)(set >> 8);
+            sender_assignment[group].tx_buff[2 * num + 1] = (uint8_t)(set & 0x00ff);

            // 电机是否停止运行
-            // if (motor->stop_flag == MOTOR_STOP)
-            // { // 若该电机处于停止状态,直接将buff置零
-            //     memset(sender_assignment[group].tx_buff + 2 * num, 0, 16u);
-            // }
+            if (motor->stop_flag == MOTOR_STOP)
+            { // 若该电机处于停止状态,直接将buff置零
+                memset(sender_assignment[group].tx_buff + 2 * num, 0, 16u);
+            }
        }
    }

--- a/modules/motor/dji_motor.h
+++ b/modules/motor/dji_motor.h
@@ -29,14 +29,15 @@
 /* DJI电机CAN反馈信息*/
 typedef struct
 {
-    uint16_t ecd;              // 0-8191,刻度总共有8192格
-    uint16_t last_ecd;         // 上一次读取的编码器值
-    float angle_single_round;  // 单圈角度
-    float speed_angle_per_sec; // 角速度,单位为:度/秒 rounds per minute
-    int16_t given_current;     // 实际电流
-    uint8_t temperate;         // 温度 Celsius
-    int16_t total_round;       // 总圈数,注意方向
-    int32_t total_angle;       // 总角度,注意方向
+    uint16_t last_ecd; // 上一次读取的编码器值
+    uint16_t ecd;      // 0-8191,刻度总共有8192格
+    float angle_single_round; // 单圈角度
+    float speed_aps;          // 角速度,单位为:度/秒 rounds per minute
+    int16_t real_current; // 实际电流
+    uint8_t temperate;    // 温度 Celsius
+
+    float total_angle;        // 总角度,注意方向
+    int32_t total_round;      // 总圈数,注意方向
 } DJI_Motor_Measure_s;

 /**
--- a/modules/remote/remote_control.c
+++ b/modules/remote/remote_control.c
@@ -9,6 +9,22 @@ static RC_ctrl_t rc_ctrl[2]; //[0]:当前数据,[1]:上一次的数据.用于按
 // 遥控器拥有的串口实例
 static USARTInstance *rc_usart_instance;

+
+/**
+ * @brief 矫正遥控器摇杆的值
+ * 
+ */
+static void RectifyRCjoystick()
+{
+    for (uint8_t i = 0; i < 5; i++)
+    {
+        if(rc_ctrl[TEMP].rc.joystick[i]>660 || rc_ctrl[TEMP].rc.joystick[i]<-660)
+            rc_ctrl[TEMP].rc.joystick[i]=0;
+    }
+    
+}
+
+
 /**
 * @brief          remote control protocol resolution
 * @param[in]      sbus_buf: raw data point
@@ -24,6 +40,7 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf)
    rc_ctrl[TEMP].rc.joystick[2] = (((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff)- RC_CH_VALUE_OFFSET ; //!< Channel 2
    rc_ctrl[TEMP].rc.joystick[3] = (((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff)- RC_CH_VALUE_OFFSET ;                       //!< Channel 3
    rc_ctrl[TEMP].rc.joystick[4] = ((sbus_buf[16] | (sbus_buf[17] << 8)) & 0x07FF)- RC_CH_VALUE_OFFSET;                                       // 左侧拨轮
+    RectifyRCjoystick();
    // 开关,0左1右
    rc_ctrl[TEMP].rc.s[0] = ((sbus_buf[5] >> 4) & 0x0003);      //!< Switch left
    rc_ctrl[TEMP].rc.s[1] = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right
--- a/stm32.jflash
+++ b/stm32.jflash
@@ -0,0 +1,82 @@
+  AppVersion = 72202
+  FileVersion = 2
+[GENERAL]
+  aATEModuleSel[10] = 0,0,0,0,0,0,0,0,0,0
+  ConnectMode = 0
+  CurrentFile = ""
+  DataFileSAddr = 0x00000000
+  GUIMode = 0
+  HostName = ""
+  TargetIF = 1
+  USBPort = 0
+  USBSerialNo = 0x00000000
+  UseATEModuleSelection = 0
+[JTAG]
+  IRLen = 0
+  MultipleTargets = 0
+  NumDevices = 0
+  Speed0 = 4000
+  Speed1 = 4000
+  TAP_Number = 0
+  UseAdaptive0 = 0
+  UseAdaptive1 = 0
+  UseMaxSpeed0 = 0
+  UseMaxSpeed1 = 0
+[CPU]
+  NumInitSteps = 1
+  InitStep0_Action = "Reset"
+  InitStep0_Value0 = 0x00000000
+  InitStep0_Value1 = 0x00000000
+  InitStep0_Comment = "Reset and halt target"
+  NumExitSteps = 0
+  UseScriptFile = 0
+  ScriptFile = ""
+  UseRAM = 1
+  RAMAddr = 0x20000000
+  RAMSize = 0x00020000
+  CheckCoreID = 1
+  CoreID = 0x4BA00477
+  CoreIDMask = 0x0F000FFF
+  UseAutoSpeed = 0x00000001
+  ClockSpeed = 0x00000000
+  EndianMode = 0
+  ChipName = "ST STM32F407IG"
+[FLASH]
+  aRangeSel[1] = 0-11
+  BankName = "Internal flash"
+  BankSelMode = 1
+  BaseAddr = 0x08000000
+  NumBanks = 1
+[PRODUCTION]
+  AutoPerformsDisconnect = 0
+  AutoPerformsErase = 1
+  AutoPerformsProgram = 1
+  AutoPerformsSecure = 0
+  AutoPerformsStartApp = 0
+  AutoPerformsUnsecure = 0
+  AutoPerformsVerify = 1
+  EnableFixedVTref = 0
+  EnableTargetPower = 0
+  EraseType = 1
+  FixedVTref = 0x00000CE4
+  MonitorVTref = 0
+  MonitorVTrefMax = 0x0000157C
+  MonitorVTrefMin = 0x000003E8
+  OverrideTimeouts = 0
+  ProgramSN = 0
+  SerialFile = ""
+  SNAddr = 0x00000000
+  SNInc = 0x00000001
+  SNLen = 0x00000004
+  SNListFile = ""
+  SNValue = 0x00000001
+  StartAppType = 0
+  TargetPowerDelay = 0x00000014
+  TimeoutErase = 0x00003A98
+  TimeoutProgram = 0x00002710
+  TimeoutVerify = 0x00002710
+  VerifyType = 1
+[PERFORMANCE]
+  DisableSkipBlankDataOnProgram = 0x00000000
+  PerfromBlankCheckPriorEraseChip = 0x00000001
+  PerfromBlankCheckPriorEraseSelectedSectors = 0x00000001