TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 03:27:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

增加了hardfault调试支持,修复了消息队列在发布者先于订阅者创建话题时野指针的错误

Browse Source
This commit is contained in:
NeoZng
2022-12-03 15:20:17 +08:00
parent b024d56bca
commit bc1f928e02
14 changed files with 401 additions and 94 deletions
Download Patch File Download Diff File Expand all files Collapse all files

138
application/chassis/chassis.c
View File

@@ -2,33 +2,149 @@
#include "robot_def.h"
#include "dji_motor.h"
#include "super_cap.h"
#include "message_center.h"
#ifdef CHASSIS_BOARD //使用板载IMU获取底盘转动角速度
/* 底盘应用包含的模块和信息存储 */
#ifdef CHASSIS_BOARD // 使用板载IMU获取底盘转动角速度
#include "ins_task.h"
IMU_Data_t* Chassis_IMU_data;
IMU_Data_t *Chassis_IMU_data;
#endif // CHASSIS_BOARD
// static SuperCAP cap;
static dji_motor_instance *lf; // left right forward back
static dji_motor_instance *rf;
static dji_motor_instance *lb;
static dji_motor_instance *rb;
// SuperCAP cap;
static dji_motor_instance* lf; //left right forward back
static dji_motor_instance* rf;
static dji_motor_instance* lb;
static dji_motor_instance* rb;
static Chassis_Ctrl_Cmd_s chassis_cmd_recv;
static Publisher_t* chassis_pub;
static Chassis_Upload_Data_s chassis_feedback_data;
static Subscriber_t* chassis_sub;
static Chassis_Ctrl_Cmd_s chassis_cmd_recv;
static void mecanum_calculate()
{
}
void ChassisInit()
{
// 左前轮
Motor_Init_Config_s left_foward_config = {
.can_init_config = {
.can_handle = &hcan2,
.tx_id = 1,
},
.controller_param_init_config = {
.angle_PID = {
.Kd = 10,
.Ki = 1,
.Kd = 2,
},
.speed_PID = {
},
.current_PID = {
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
},
.motor_type = M3508};
// 右前轮
Motor_Init_Config_s right_foward_config = {
.can_init_config = {
.can_handle = &hcan2,
.tx_id = 2,
},
.controller_param_init_config = {
.angle_PID = {
.Kd = 10,
.Ki = 1,
.Kd = 2,
},
.speed_PID = {
},
.current_PID = {
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
},
.motor_type = M3508};
// 左后轮
Motor_Init_Config_s left_back_config = {
.can_init_config = {
.can_handle = &hcan2,
.tx_id = 3,
},
.controller_param_init_config = {
.angle_PID = {
.Kd = 10,
.Ki = 1,
.Kd = 2,
},
.speed_PID = {
},
.current_PID = {
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
},
.motor_type = M3508};
// 右后轮
Motor_Init_Config_s right_back_config = {
.can_init_config = {
.can_handle = &hcan2,
.tx_id = 4,
},
.controller_param_init_config = {
.angle_PID = {
.Kd = 10,
.Ki = 1,
.Kd = 2,
},
.speed_PID = {
},
.current_PID = {
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
},
.motor_type = M3508};
lf = DJIMotorInit(&left_foward_config);
rf = DJIMotorInit(&right_foward_config);
lb = DJIMotorInit(&left_back_config);
rb = DJIMotorInit(&right_back_config);
// SupercapInit();
chassis_sub=SubRegister("chassis_cmd",sizeof(Chassis_Ctrl_Cmd_s));
chassis_pub=PubRegister("chassis_feed",sizeof(Chassis_Upload_Data_s));
}
void ChassisTask()
void ChassisTask()
{
}

22
application/cmd/chassis_cmd.c
View File

@@ -1,22 +1,38 @@
#include "robot_def.h"
#include "chassis_cmd.h"
#include "referee.h"
#include "message_center.h"
/* chassis_cmd应用包含的模块和信息存储 */
static referee_info_t *referee_data; // 裁判系统的数据
#ifndef ONE_BOARD
#include "can_comm.h"
static CANCommInstance *chasiss_can_comm; // 双板通信CAN comm
#endif // !ONE_BOARD
#endif // !ONE_BOARD
//和chassis应用的交互
static Publisher_t* chassis_cmd_pub;
static Chassis_Ctrl_Cmd_s chassis_cmd; // 发送给chassis应用的控制信息
static Subscriber_t* chassis_feed_sub;
static Chassis_Upload_Data_s chassis_fetch_data; // chassis反馈的数据
//和gimbal_cmd的交互
static Publisher_t* chassis2gimbal_pub;
static Chassis2Gimbal_Data_s data_to_gimbal_cmd; // 发送给gimbal_cmd的数据,包括热量限制,底盘功率等
static Subscriber_t* gimbal2chassis_sub;
static Gimbal2Chassis_Data_s data_from_gimbal_cmd; // 来自gimbal_cmd的数据,主要是底盘控制量
static referee_info_t *referee_data; // 裁判系统的数据
void ChassisCMDInit()
{
referee_data= RefereeInit(&huart6);
chassis_cmd_pub=PubRegister("chassis_cmd",sizeof(Chassis_Ctrl_Cmd_s));
chassis_feed_sub=SubRegister("chassis_feed",sizeof(Chassis_Upload_Data_s));
chassis2gimbal_pub=PubRegister("chassis2gimbal",sizeof(Chassis2Gimbal_Data_s));
gimbal2chassis_sub=SubRegister("gimbal2chassis",sizeof(Gimbal2Chassis_Data_s));
}
void ChassisCMDTask()
{
}

37
application/cmd/gimbal_cmd.c
View File

@@ -3,22 +3,34 @@
#include "remote_control.h"
#include "ins_task.h"
#include "master_process.h"
#include "message_center.h"
/* gimbal_cmd应用包含的模块实例指针和交互信息存储*/
#ifndef ONE_BOARD
#include "can_comm.h"
static CANCommInstance *chasiss_can_comm;
static CANCommInstance *chasiss_can_comm; //双板通信
#endif // !ONE_BOARD
static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息
static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息
static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息
static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息
static Gimbal2Chassis_Data_s data_to_chassis_cmd; // 发送给底盘CMD应用的控制信息,主要是遥控器和UI绘制相关
static Chassis2Gimbal_Data_s data_from_chassis_cmd; // 从底盘CMD应用接收的控制信息,底盘功率枪口热量等
static RC_ctrl_t *remote_control_data; // 遥控器数据
static Vision_Recv_s *vision_recv_data; // 视觉接收数据
static Vision_Send_s *vision_send_data; // 视觉发送数据
static Publisher_t* gimbal_cmd_pub;
static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息
static Subscriber_t* gimbal_cmd_feed_sub;
static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息
static Publisher_t* shoot_cmd_pub;
static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息
static Subscriber_t* shoot_cmd_feed_sub;
static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息
static Publisher_t* gimbal2chassis_pub;
static Gimbal2Chassis_Data_s data_to_chassis_cmd; // 发送给底盘CMD应用的控制信息,主要是遥控器和UI绘制相关
static Subscriber_t* chassis2gimbal_sub;
static Chassis2Gimbal_Data_s data_from_chassis_cmd; // 从底盘CMD应用接收的控制信息,底盘功率枪口热量等
static void CalcOffsetAngle()
{
}
@@ -37,6 +49,15 @@ static void SetCtrlMessage()
void GimbalCMDInit()
{
remote_control_data=RC_init(&huart3);
vision_recv_data=VisionInit(&huart1);
gimbal_cmd_pub=PubRegister("gimbal_cmd",sizeof(Gimbal_Ctrl_Cmd_s));
gimbal_cmd_feed_sub=SubRegister("gimbal_feed",sizeof(Gimbal_Upload_Data_s));
shoot_cmd_pub=PubRegister("shoot_cmd",sizeof(Shoot_Ctrl_Cmd_s));
shoot_cmd_feed_sub=SubRegister("shoot_feed",sizeof(Shoot_Upload_Data_s));
gimbal2chassis_pub=PubRegister("gimbal2chassis",sizeof(Gimbal2Chassis_Data_s));
chassis2gimbal_sub=SubRegister("chassis2gimbal",sizeof(Chassis2Gimbal_Data_s));
}
void GimbalCMDTask()

69
application/gimbal/gimbal.c
View File

@@ -2,15 +2,76 @@
#include "robot_def.h"
#include "dji_motor.h"
#include "ins_task.h"
#include "message_center.h"
static IMU_Data_t Gimbal_IMU_data; // 云台IMU数据
static dji_motor_instance yaw; // yaw电机
static dji_motor_instance pitch; // pitch电机
static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自gimbal_cmd的控制信息
static attitude_t* Gimbal_IMU_data; // 云台IMU数据
static dji_motor_instance* yaw_motor; // yaw电机
static dji_motor_instance *pitch_motor; // pitch电机
static Publisher_t* gimbal_pub;
static Gimbal_Upload_Data_s gimbal_feedback_data; // 回传给gimbal_cmd的云台状态信息
static Subscriber_t* gimbal_sub;
static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自gimbal_cmd的控制信息
void GimbalInit()
{
Gimbal_IMU_data=INS_Init();
// YAW
Motor_Init_Config_s yaw_config = {
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 1,
},
.controller_param_init_config = {
.angle_PID = {
.Kd = 10,
.Ki = 1,
.Kd = 2,
},
.speed_PID = {
},
.other_angle_feedback_ptr=&Gimbal_IMU_data->YawTotalAngle,
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.close_loop_type = ANGLE_LOOP | SPEED_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
},
.motor_type = GM6020};
// PITCH
Motor_Init_Config_s pitch_config = {
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 2,
},
.controller_param_init_config = {
.angle_PID = {
.Kd = 10,
.Ki = 1,
.Kd = 2,
},
.speed_PID = {
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.close_loop_type = ANGLE_LOOP | SPEED_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
},
.motor_type = GM6020};
yaw_motor=DJIMotorInit(&yaw_config);
pitch_motor=DJIMotorInit(&pitch_config);
gimbal_pub=PubRegister("gimbal_feed",sizeof(Gimbal_Upload_Data_s));
gimbal_sub=SubRegister("gimbal_cmd",sizeof(Gimbal_Ctrl_Cmd_s));
}
void GimbalTask()

18
application/robot.c
View File

@@ -3,32 +3,40 @@
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
#include "chassis.h"
#include "chassis_cmd.h"
#endif
#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
#include "gimbal.h"
#include "shoot.h"
#include "gimbal_cmd.h"
#endif
void RobotInit()
{
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
ChassisInit();
ChassisCMDInit();
#endif
#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
GimbalCMDInit();
GimbalInit();
ShootInit();
#endif
}
void RobotTask()
{
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
ChassisTask();
ChassisCMDTask();
#endif
#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
GimbalCMDTask();
GimbalTask();
ShootTask();
#endif
}

101
application/shoot/shoot.c
View File

@@ -1,15 +1,106 @@
#include "shoot.h"
#include "robot_def.h"
#include "dji_motor.h"
#include "message_center.h"
static dji_motor_instance *friction_l; // 左摩擦轮
static dji_motor_instance *friction_r; // 右摩擦轮
static dji_motor_instance *loader; // 拨盘电机
static Shoot_Ctrl_Cmd_s shoot_cmd_recv; // 来自gimbal_cmd的发射控制信息
static Shoot_Upload_Data_s shoot_feedback_data; // 反馈回gimbal_cmd的发射状态信息
/* 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 dji_motor_instance *friction_l; // 左摩擦轮
static dji_motor_instance *friction_r; // 右摩擦轮
static dji_motor_instance *loader; // 拨盘电机
static Publisher_t *shoot_pub;
static Shoot_Ctrl_Cmd_s shoot_cmd_recv; // 来自gimbal_cmd的发射控制信息
static Subscriber_t *shoot_sub;
static Shoot_Upload_Data_s shoot_feedback_data; // 来自gimbal_cmd的发射控制信息
void ShootInit()
{
// 左摩擦轮
Motor_Init_Config_s left_friction_config = {
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 1,
},
.controller_param_init_config = {
.angle_PID = {
.Kd = 10,
.Ki = 1,
.Kd = 2,
},
.speed_PID = {
},
.current_PID = {
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
},
.motor_type = M3508};
// 右摩擦轮
Motor_Init_Config_s right_friction_config = {
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 2,
},
.controller_param_init_config = {
.angle_PID = {
.Kd = 10,
.Ki = 1,
.Kd = 2,
},
.speed_PID = {
},
.current_PID = {
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
},
.motor_type = M3508};
// 拨盘电机
Motor_Init_Config_s loader_config = {
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 3,
},
.controller_param_init_config = {
.angle_PID = {
.Kd = 10,
.Ki = 1,
.Kd = 2,
},
.speed_PID = {
},
.current_PID = {
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
},
.motor_type = M2006};
friction_l = DJIMotorInit(&left_friction_config);
friction_r = DJIMotorInit(&right_friction_config);
loader = DJIMotorInit(&loader_config);
shoot_pub = PubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
shoot_sub = SubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
}
void ShootTask()