Merge remote-tracking branch 'origin/master'

# Conflicts: # .vscode/launch.json # application/gimbal/gimbal.c # application/robot.c # bsp/usart/bsp_usart.c # bsp/usart/bsp_usart.h # modules/master_machine/master_process.c # modules/master_machine/seasky_protocol.c
2026-07-24 03:27:45 +08:00 · 2023-03-22 16:49:56 +08:00
parent 58db6e5705 eefc0883ed
commit cce87bcccd
44 changed files with 1877 additions and 602 deletions
--- a/application/balance_chassis/balance.c
+++ b/application/balance_chassis/balance.c
@@ -1,4 +1,10 @@
+// app
 #include "balance.h"
+#include "vmc_project.h"
+#include "gain_table.h"
+#include "robot_def.h"
+#include "general_def.h"
+// module
 #include "HT04.h"
 #include "LK9025.h"
 #include "bmi088.h"
@@ -6,9 +12,8 @@
 #include "super_cap.h"
 #include "controller.h"
 #include "can_comm.h"
+// standard
 #include "stdint.h"
-#include "robot_def.h"
-#include "general_def.h"
 #include "arm_math.h" // 需要用到较多三角函数

 /* 底盘拥有的模块实例 */
@@ -47,7 +52,7 @@ static float T_leg_left, T_leg_right; // 左右驱动电机力矩
 *
 */
 static void CalcLQR()
-{
+{ 
 }

 /**
@@ -55,15 +60,15 @@ static void CalcLQR()
 *
 */
 static void VMCProject()
-{
+{ // 拟将功能封装到vmc_project.h中
 }

 /**
 * @brief 腿部角度控制:转向和抗劈叉
 *
 */
-static PIDInstance swerving_pid;
-static PIDInstance anti_crash_pid;
+static PIDInstance swerving_pid; // 转向PID,有转向指令时使用IMU的加速度反馈积分以获取速度和位置状态量
+static PIDInstance anti_crash_pid; // 抗劈叉,将输出以相反的方向叠加到左右腿的上

 static void SynthesizeMotion()
 {
@@ -73,15 +78,16 @@ static void SynthesizeMotion()
 * @brief 腿长控制:长度 + roll轴补偿(保持机体水平),用PD模拟弹簧的传递函数
 *
 */
-static PIDInstance leg_length_pid;
-static PIDInstance roll_compensate_pid;
+static PIDInstance leg_length_pid; // 用PD模拟弹簧的传递函数,不需要积分项(弹簧是一个无积分的二阶系统),增益不可过大否则抗外界冲击响应时太"硬"
+static PIDInstance roll_compensate_pid; // roll轴补偿,用于保持机体水平

 static void LegControl()
 {
 }

 /**
- * @brief 离地监测和?跳跃控制
+ * @brief 离地监测和?跳跃控制?
+ *        通过模型解算地面的支持力完成离地检测
 *
 */
 static void FlyDetect()
@@ -89,7 +95,7 @@ static void FlyDetect()
 }

 /**
- * @brief 功率限制
+ * @brief 功率限制,一般不需要
 *
 */
 static void WattLimit()
@@ -134,7 +140,7 @@ void BalanceInit()
        .cali_mode = BMI088_CALIBRATE_ONLINE_MODE,
        .work_mode = BMI088_BLOCK_PERIODIC_MODE,
    };
-    imu = BMI088Register(&imu_config);
+    // imu = BMI088Register(&imu_config);

    SuperCap_Init_Config_s cap_conf = {
        // 超级电容初始化
@@ -162,10 +168,28 @@ void BalanceInit()

    Motor_Init_Config_s driven_conf = {
        // 写一个,剩下的修改方向和id即可
+        .can_init_config.can_handle = &hcan1,
+        .controller_param_init_config = {
+            .current_PID = {
+                .Kp = 1,
+                .Ki = 0,
+                .Kd = 0,
+                .MaxOut = 500,
+            },
+        },
+        .controller_setting_init_config = {
+            .angle_feedback_source = MOTOR_FEED,
+            .speed_feedback_source = MOTOR_FEED,
+            .outer_loop_type = CURRENT_LOOP,
+            .close_loop_type = CURRENT_LOOP,
+        },
+        .motor_type = LK9025,

    };
+    driven_conf.can_init_config.tx_id=1;
    l_driven = LKMotorInit(&driven_conf);

+    driven_conf.can_init_config.tx_id=2;
    r_driven = LKMotorInit(&driven_conf);

    CANComm_Init_Config_s chassis_comm_conf = {
@@ -224,6 +248,7 @@ void BalanceInit()
    PIDInit(&roll_compensate_pid, &roll_compensate_pid_conf);
 }

+/* balanceTask可能需要以更高频率运行,以提高线性化的精确程度 */
 void BalanceTask()
 {
 }
--- a/application/balance_chassis/gain_table.h
+++ b/application/balance_chassis/gain_table.h
@@ -2,13 +2,14 @@

 #pragma once
 #include "stdint.h"
+#include "stm32f407xx.h"
 #include "arm_math.h"
 #include "math.h"

 #define GAIN_TABLE_SIZE 100 // 增益表大小

 // K 2x6,6个状态变量2个输出(Tp关节电机和T驱动轮电机)
-static float leglen2gain [GAIN_TABLE_SIZE][2][6] = {};
+static float leglen2gain [GAIN_TABLE_SIZE][2][6] = {0};

 static interpolation_flag = 0; // 插值方式:1 线性插值 0 关闭插值

--- a/application/balance_chassis/vmc_project.h
+++ b/application/balance_chassis/vmc_project.h
@@ -0,0 +1,14 @@
+#ifndef VMC_PROJECT_H
+#define VMC_PROJECT_H 
+
+#include "stm32f407xx.h"
+#include "arm_math.h"
+#include "math.h"
+#include "general_def.h"
+
+// 将五连杆和直杆的vmc映射放在此处,方便修改和调试,balance.c不会太长
+#endif // !VMC_PROJECT_H
+
+
+
+
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -16,10 +16,16 @@
 #include "dji_motor.h"
 #include "super_cap.h"
 #include "message_center.h"
+
+// referee需要移动到module层
+/////////////////////////
 #include "referee.h"
+#include "rm_referee.h"
+/////////////////////////
+
 #include "general_def.h"
 #include "bsp_dwt.h"
-
+#include "referee_UI.h"
 #include "arm_math.h"

 /* 根据robot_def.h中的macro自动计算的参数 */
@@ -41,7 +47,7 @@ static Subscriber_t *chassis_sub;                   // 用于订阅底盘的控
 static Chassis_Ctrl_Cmd_s chassis_cmd_recv;         // 底盘接收到的控制命令
 static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据

-static referee_info_t *referee_data; // 裁判系统的数据
+// static referee_info_t *referee_data; // 裁判系统相关数据
 static SuperCapInstance *cap;        // 超级电容
 static DJIMotorInstance *motor_lf;   // left right forward back
 static DJIMotorInstance *motor_rf;
@@ -103,7 +109,11 @@ void ChassisInit()
    chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
    motor_rb = DJIMotorInit(&chassis_motor_config);

-    referee_data = RefereeInit(&huart6); // 裁判系统初始化
+    // referee_data = RefereeInit(&huart6); // 裁判系统初始化
+
+    // while (referee_data->GameRobotState.robot_id ==0);
+    // Referee_Interactive_init(referee_data);
+

    SuperCap_Init_Config_s cap_conf = {
        .can_config = {
@@ -240,12 +250,12 @@ void ChassisTask()
    // 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
-    // 我方颜色id小于7是红色,大于7是蓝色,注意这里发送的是对方的颜色, 0:blue , 1:red
-    chassis_feedback_data.enemy_color = referee_data->GameRobotStat.robot_id > 7 ? 1 : 0;
-    // 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->GameRobotStat.shooter_id1_17mm_speed_limit;
-    chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;
+    // // 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
+    // // 我方颜色id小于7是红色,大于7是蓝色,注意这里发送的是对方的颜色, 0:blue , 1:red
+    // chassis_feedback_data.enemy_color = referee_data->GameRobotState.robot_id > 7 ? 1 : 0;
+    // // 当前只做了17mm热量的数据获取,后续根据robot_def中的宏切换双枪管和英雄42mm的情况
+    // chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit;
+    // chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;

    // 推送反馈消息
 #ifdef ONE_BOARD
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -1,5 +1,7 @@
+// app
 #include "robot_def.h"
 #include "robot_cmd.h"
+// module
 #include "remote_control.h"
 #include "ins_task.h"
 #include "master_process.h"
--- a/application/gimbal/gimbal.c
+++ b/application/gimbal/gimbal.c
@@ -70,7 +70,7 @@ void GimbalInit()
                .DeadBand = 0.1,
                .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |PID_Derivative_On_Measurement,
                .IntegralLimit = 100,
-                
+
                .MaxOut = 500,
            },
            .speed_PID = {
@@ -144,6 +144,7 @@ void GimbalTask()
    // 后续增加未收到数据的处理
    SubGetMessage(gimbal_sub, &gimbal_cmd_recv);

+    // @todo:现在已不再需要电机反馈,实际上可以始终使用IMU的姿态数据来作为云台的反馈,yaw电机的offset只是用来跟随底盘
    // 根据控制模式进行电机反馈切换和过渡,视觉模式在robot_cmd模块就已经设置好,gimbal只看yaw_ref和pitch_ref
    switch (gimbal_cmd_recv.gimbal_mode)
    {
@@ -153,7 +154,7 @@ void GimbalTask()
        DJIMotorStop(pitch_motor);
        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: // 后续只保留此模式          
+    case GIMBAL_GYRO_MODE: // 后续只保留此模式
        DJIMotorEnable(yaw_motor);
        DJIMotorEnable(pitch_motor);
        DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
@@ -178,6 +179,10 @@ void GimbalTask()
        break;
    }

+    // 在合适的地方添加pitch重力补偿前馈力矩
+    // 根据IMU姿态/pitch电机角度反馈计算出当前配重下的重力矩
+    // ...
+
    // 设置反馈数据,主要是imu和yaw的ecd
    gimbal_feedback_data.gimbal_imu_data = *gimba_IMU_data;
    gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->motor_measure.angle_single_round;
--- a/application/referee/referee.c
+++ b/application/referee/referee.c
@@ -0,0 +1,385 @@
+/**
+ * @file referee.C
+ * @author kidneygood (you@domain.com)
+ * @brief
+ * @version 0.1
+ * @date 2022-11-18
+ *
+ * @copyright Copyright (c) 2022
+ *
+ */
+#include "referee.h"
+#include "robot_def.h"
+#include "rm_referee.h"
+#include "referee_UI.h"
+#include "referee_communication.h"
+
+static Referee_Interactive_info_t Interactive_data; // 非裁判系统数据
+static referee_info_t *referee_data;              // 裁判系统相关数据
+static robot_interactive_data_t *SendData;
+
+static void determine_ID(referee_info_t *_referee_info);
+static void My_UI_init(referee_info_t *_referee_info);
+static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_info_t *_Interactive_data);
+static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data); // 模式切换检测
+
+//syhtod 正式上车后需删除
+static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data); // 测试用函数，实现模式自动变化
+static void UI_test_init(referee_info_t *_referee_info);//UI测试函数
+
+void Referee_Interactive_init()
+{
+    referee_data = RefereeInit(&huart6); // 裁判系统初始化
+    while (referee_data->GameRobotState.robot_id == 0)
+        ;
+    determine_ID(referee_data);
+    My_UI_init(referee_data);
+    //UI_test_init(referee_data);
+
+    for (int i=0;i<Communicate_Data_LEN;i++)
+    {
+        SendData->data[i]=i+1;
+    }
+    referee_data->referee_id.Receiver_Robot_ID = RobotID_BEngineer;   // 机器人车间通信时接收者的ID暂时发给蓝色2
+    Communicate_SendData(&referee_data->referee_id,SendData);
+}
+
+void Referee_Interactive_task()
+{
+    robot_mode_change(&Interactive_data); // 测试用函数，实现模式自动变化
+    My_UI_Refresh(referee_data, &Interactive_data);
+}
+
+static Graph_Data_t UI_shoot_line[10]; // 射击准线
+static String_Data_t UI_State_sta[6];  // 机器人状态,静态只需画一次
+static String_Data_t UI_State_dyn[6];  // 机器人状态,动态先add才能change
+static uint32_t shoot_line_location[10] = {540, 960, 490, 515, 565};
+
+static void My_UI_init(referee_info_t *_referee_info)
+{
+    UI_Delete(&_referee_info->referee_id, UI_Data_Del_ALL, 0);
+
+    // 绘制发射基准线
+    Line_Draw(&UI_shoot_line[0], "sl0", UI_Graph_ADD, 7, UI_Color_White, 3, 710, shoot_line_location[0], 1210, shoot_line_location[0]);
+    Line_Draw(&UI_shoot_line[1], "sl1", UI_Graph_ADD, 7, UI_Color_White, 3, shoot_line_location[1], 340, shoot_line_location[1], 740);
+    Line_Draw(&UI_shoot_line[2], "sl2", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[2], 1110, shoot_line_location[2]);
+    Line_Draw(&UI_shoot_line[3], "sl3", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[3], 1110, shoot_line_location[3]);
+    Line_Draw(&UI_shoot_line[4], "sl4", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[4], 1110, shoot_line_location[4]);
+
+    UI_ReFresh(&_referee_info->referee_id, 5, UI_shoot_line[0], UI_shoot_line[1], UI_shoot_line[2], UI_shoot_line[3], UI_shoot_line[4]);
+
+    // 绘制车辆状态标志，静态
+    Char_Draw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750);
+    Char_Write(&UI_State_sta[0], "chassis:");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_sta[0]);
+
+    Char_Draw(&UI_State_sta[1], "ss1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 150, 700);
+    Char_Write(&UI_State_sta[1], "gimbal:");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_sta[1]);
+
+    Char_Draw(&UI_State_sta[2], "ss2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 150, 650);
+    Char_Write(&UI_State_sta[2], "shoot:");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_sta[2]);
+
+    Char_Draw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 600);
+    Char_Write(&UI_State_sta[3], "frict:");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_sta[3]);
+
+    Char_Draw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550);
+    Char_Write(&UI_State_sta[4], "lid:");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_sta[4]);
+
+    // 底盘功率显示，静态
+    Char_Draw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 720, 210);
+    Char_Write(&UI_State_sta[5], "Power:");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_sta[5]);
+
+    // 绘制车辆状态标志，动态
+    // 由于初始化时xxx_last_mode默认为0，所以此处对应UI也应该设为0时对应的UI，防止模式不变的情况下无法置位flag，导致UI无法刷新
+    Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 270, 750);
+    Char_Write(&UI_State_dyn[0], "zeroforce");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[0]);
+
+    Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 270, 700);
+    Char_Write(&UI_State_dyn[1], "zeroforce");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[1]);
+
+    Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 270, 650);
+    Char_Write(&UI_State_dyn[2], "off");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[2]);
+
+    Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 600);
+    Char_Write(&UI_State_dyn[3], "off");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[3]);
+
+    Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550);
+    Char_Write(&UI_State_dyn[4], "open ");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[4]);
+
+    // 底盘功率显示，动态
+    Char_Draw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 840, 210);
+    Char_Write(&UI_State_dyn[5], "0000");
+    Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[5]);
+}
+
+static uint8_t count = 0;
+static uint16_t count1 = 0;
+static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data) // 测试用函数，实现模式自动变化
+{
+    count++;
+    if (count >= 50)
+    {
+        count = 0;
+        count1++;
+    }
+    switch (count1 % 4)
+    {
+    case 0:
+    {
+        _Interactive_data->chassis_mode = CHASSIS_ZERO_FORCE;
+        _Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE;
+        _Interactive_data->shoot_mode = SHOOT_ON;
+        _Interactive_data->friction_mode = FRICTION_ON;
+        _Interactive_data->lid_mode = LID_OPEN;
+        break;
+    }
+    case 1:
+    {
+        ;
+        _Interactive_data->chassis_mode = CHASSIS_ROTATE;
+        _Interactive_data->gimbal_mode = GIMBAL_FREE_MODE;
+        _Interactive_data->shoot_mode = SHOOT_OFF;
+        _Interactive_data->friction_mode = FRICTION_OFF;
+        _Interactive_data->lid_mode = LID_CLOSE;
+        break;
+    }
+    case 2:
+    {
+        _Interactive_data->chassis_mode = CHASSIS_NO_FOLLOW;
+        _Interactive_data->gimbal_mode = GIMBAL_GYRO_MODE;
+        _Interactive_data->shoot_mode = SHOOT_ON;
+        _Interactive_data->friction_mode = FRICTION_ON;
+        _Interactive_data->lid_mode = LID_OPEN;
+        break;
+    }
+    case 3:
+    {
+        _Interactive_data->chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
+        _Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE;
+        _Interactive_data->shoot_mode = SHOOT_OFF;
+        _Interactive_data->friction_mode = FRICTION_OFF;
+        _Interactive_data->lid_mode = LID_CLOSE;
+        break;
+    }
+    default:
+        break;
+    }
+}
+
+static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_info_t *_Interactive_data)
+{
+    Mode_Change_Check(_Interactive_data);
+    // chassis
+    if (_Interactive_data->Referee_Interactive_Flag.chassis_flag == 1)
+    {
+        switch (_Interactive_data->chassis_mode)
+        {
+        case CHASSIS_ZERO_FORCE:
+        {
+            Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
+            Char_Write(&UI_State_dyn[0], "zeroforce");
+            break;
+        }
+        case CHASSIS_ROTATE:
+        {
+            Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
+            Char_Write(&UI_State_dyn[0], "rotate   "); // 此处注意字数对齐问题，字数相同才能覆盖掉
+            break;
+        }
+        case CHASSIS_NO_FOLLOW:
+        {
+            Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
+            Char_Write(&UI_State_dyn[0], "nofollow ");
+            break;
+        }
+        case CHASSIS_FOLLOW_GIMBAL_YAW:
+        {
+            Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
+            Char_Write(&UI_State_dyn[0], "follow   ");
+            break;
+        }
+        }
+        Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[0]);
+        _Interactive_data->Referee_Interactive_Flag.chassis_flag = 0;
+    }
+    // gimbal
+    if (_Interactive_data->Referee_Interactive_Flag.gimbal_flag == 1)
+    {
+        switch (_Interactive_data->gimbal_mode)
+        {
+        case GIMBAL_ZERO_FORCE:
+        {
+            Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700);
+            Char_Write(&UI_State_dyn[1], "zeroforce");
+            break;
+        }
+        case GIMBAL_FREE_MODE:
+        {
+            Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700);
+            Char_Write(&UI_State_dyn[1], "free     ");
+            break;
+        }
+        case GIMBAL_GYRO_MODE:
+        {
+            Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700);
+            Char_Write(&UI_State_dyn[1], "gyro     ");
+            break;
+        }
+        }
+        Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[1]);
+        _Interactive_data->Referee_Interactive_Flag.gimbal_flag = 0;
+    }
+    // shoot
+    if (_Interactive_data->Referee_Interactive_Flag.shoot_flag == 1)
+    {
+        switch (_Interactive_data->shoot_mode)
+        {
+        case SHOOT_OFF:
+        {
+            Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650);
+            Char_Write(&UI_State_dyn[2], "off");
+            break;
+        }
+        case SHOOT_ON:
+        {
+            Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650);
+            Char_Write(&UI_State_dyn[2], "on ");
+            break;
+        }
+        }
+        Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[2]);
+        _Interactive_data->Referee_Interactive_Flag.shoot_flag = 0;
+    }
+
+    // friction
+    if (_Interactive_data->Referee_Interactive_Flag.friction_flag == 1)
+    {
+        switch (_Interactive_data->friction_mode)
+        {
+        case FRICTION_OFF:
+        {
+            Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600);
+            Char_Write(&UI_State_dyn[3], "off");
+            break;
+        }
+        case FRICTION_ON:
+        {
+            Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600);
+            Char_Write(&UI_State_dyn[3], "on ");
+            break;
+        }
+        }
+        Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[3]);
+        _Interactive_data->Referee_Interactive_Flag.friction_flag = 0;
+    }
+    // lid
+    if (_Interactive_data->Referee_Interactive_Flag.lid_flag == 1)
+    {
+        switch (_Interactive_data->lid_mode)
+        {
+        case LID_CLOSE:
+        {
+            Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550);
+            Char_Write(&UI_State_dyn[4], "close");
+            break;
+        }
+        case LID_OPEN:
+        {
+            Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550);
+            Char_Write(&UI_State_dyn[4], "open ");
+            break;
+        }
+        }
+        Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[4]);
+        _Interactive_data->Referee_Interactive_Flag.lid_flag = 0;
+    }
+}
+
+
+/**
+ * @brief  模式切换检测,模式发生切换时，对flag置位
+ * @param  Referee_Interactive_info_t *_Interactive_data
+ * @retval none
+ * @attention
+ */
+static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data)
+{
+    if (_Interactive_data->chassis_mode != _Interactive_data->chassis_last_mode)
+    {
+        _Interactive_data->Referee_Interactive_Flag.chassis_flag = 1;
+        _Interactive_data->chassis_last_mode = _Interactive_data->chassis_mode;
+    }
+
+    if (_Interactive_data->gimbal_mode != _Interactive_data->gimbal_last_mode)
+    {
+        _Interactive_data->Referee_Interactive_Flag.gimbal_flag = 1;
+        _Interactive_data->gimbal_last_mode = _Interactive_data->gimbal_mode;
+    }
+
+    if (_Interactive_data->shoot_mode != _Interactive_data->shoot_last_mode)
+    {
+        _Interactive_data->Referee_Interactive_Flag.shoot_flag = 1;
+        _Interactive_data->shoot_last_mode = _Interactive_data->shoot_mode;
+    }
+
+    if (_Interactive_data->friction_mode != _Interactive_data->friction_last_mode)
+    {
+        _Interactive_data->Referee_Interactive_Flag.friction_flag = 1;
+        _Interactive_data->friction_last_mode = _Interactive_data->friction_mode;
+    }
+
+    if (_Interactive_data->lid_mode != _Interactive_data->lid_last_mode)
+    {
+        _Interactive_data->Referee_Interactive_Flag.lid_flag = 1;
+        _Interactive_data->lid_last_mode = _Interactive_data->lid_mode;
+    }
+}
+
+/**
+ * @brief  判断各种ID，选择客户端ID
+ * @param  referee_info_t *_referee_info
+ * @retval none
+ * @attention
+ */
+static void determine_ID(referee_info_t *_referee_info)
+{
+    // id小于7是红色,大于7是蓝色,0为红色，1为蓝色   #define Robot_Red 0    #define Robot_Blue 1
+    _referee_info->referee_id.Robot_Color = _referee_info->GameRobotState.robot_id > 7 ? Robot_Blue : Robot_Red;
+    _referee_info->referee_id.Robot_ID = _referee_info->GameRobotState.robot_id;
+    _referee_info->referee_id.Cilent_ID = 0x0100 + _referee_info->referee_id.Robot_ID; // 计算客户端ID
+    _referee_info->referee_id.Receiver_Robot_ID = 0;   
+}
+
+/* 测试用函数 */
+static void UI_test_init(referee_info_t *_referee_info)
+{
+    Graph_Data_t graph[5];
+	Graph_Data_t num[2];
+	String_Data_t sdata[1];
+    UI_Delete(&_referee_info->referee_id, UI_Data_Del_ALL, 0);
+
+	Line_Draw(&graph[0],"s0",UI_Graph_ADD,0,UI_Color_White,3,710,540,1210,540);
+	Rectangle_Draw(&graph[1],"s1",UI_Graph_ADD,0,UI_Color_Yellow,4,600,200,800,500);     
+	Circle_Draw(&graph[2],"s2",UI_Graph_ADD,0,UI_Color_Green,5,960,540,100);
+	Elliptical_Draw(&graph[3],"s3",UI_Graph_ADD,0,UI_Color_Orange,3,960,540,100,20);
+	Arc_Draw(&graph[4],"s4",UI_Graph_ADD,0,UI_Color_Purplish_red,30,160,3,1200,550,50,100);
+
+	Float_Draw(&num[0],"s5",UI_Graph_ADD,0,UI_Color_Pink,50,3,5,1050,660,1245545);
+	Integer_Draw(&num[1],"s6",UI_Graph_ADD,0,UI_Color_Cyan,50,5,1050,460,12345);
+	UI_ReFresh(&_referee_info->referee_id,7,graph[0],graph[1],graph[2],graph[3],graph[4],num[0],num[1]);
+
+
+	Char_Draw(&sdata[0],"s7",UI_Graph_ADD,0,UI_Color_Green,20,2,620,710);
+	Char_Write(&sdata[0],"number:%d",123);
+	Char_ReFresh(&_referee_info->referee_id,sdata[0]);
+}
--- a/application/referee/referee.h
+++ b/application/referee/referee.h
@@ -0,0 +1,50 @@
+#ifndef REFEREE_H
+#define REFEREE_H
+
+#include "rm_referee.h"
+#include "robot_def.h"
+#pragma pack(1)
+
+//模式是否切换标志位，0为未切换，1为切换，static定义默认为0
+typedef struct
+{
+	uint32_t chassis_flag  : 1;
+	uint32_t gimbal_flag  : 1;
+	uint32_t shoot_flag  : 1;
+	uint32_t lid_flag  : 1;
+	uint32_t friction_flag  : 1;
+	uint32_t Power_flag  : 1;
+} Referee_Interactive_Flag_t; 
+
+
+// 此结构体包含UI绘制与机器人车间通信的需要的其他非裁判系统数据
+typedef struct
+{	
+    Referee_Interactive_Flag_t Referee_Interactive_Flag;
+	//为UI绘制以及交互数据所用
+	Robot_Status_e Robot_Status;// 机器人状态
+	App_Status_e App_Status;// 应用状态
+	chassis_mode_e chassis_mode;//底盘模式
+	gimbal_mode_e gimbal_mode;//云台模式
+	shoot_mode_e shoot_mode;//发射模式设置
+	friction_mode_e friction_mode;//摩擦轮关闭
+	lid_mode_e lid_mode;//弹舱盖打开
+	loader_mode_e loader_mode;//单发...连发
+	Chassis_Power_Data_s Chassis_Power_Data;// 功率控制
+
+	chassis_mode_e chassis_last_mode;//底盘模式
+	gimbal_mode_e gimbal_last_mode;//云台模式
+	shoot_mode_e shoot_last_mode;//发射模式设置
+	friction_mode_e friction_last_mode;//摩擦轮关闭
+	lid_mode_e lid_last_mode;//弹舱盖打开
+
+} Referee_Interactive_info_t;
+
+#pragma pack()
+
+void Referee_Interactive_init(void);
+void Referee_Interactive_task(void);
+#endif // REFEREE_H
+
+
+
--- a/application/referee/referee.md
+++ b/application/referee/referee.md
@@ -0,0 +1,3 @@
+# referee
+
+需要将此模块移动到module层，并新建一个rtos任务，以一定频率运行，用于ui刷新和多机通信
--- a/application/robot.c
+++ b/application/robot.c
@@ -10,6 +10,7 @@

 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
 #include "chassis.h"
+#include "referee.h"
 #endif

 #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
@@ -34,7 +35,8 @@ void RobotInit()
 #endif

 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
-   ChassisInit();
+    // Referee_Interactive_init();
+    ChassisInit();
 #endif
    // 初始化完成,开启中断
    __enable_irq();
@@ -50,5 +52,6 @@ void RobotTask()

 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
    ChassisTask();
+    // Referee_Interactive_task();
 #endif
 }
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -132,7 +132,6 @@ typedef enum
 // 功率限制,从裁判系统获取
 typedef struct
 { // 功率控制
-
 } Chassis_Power_Data_s;

 /* ----------------CMD应用发布的控制数据,应当由gimbal/chassis/shoot订阅---------------- */
--- a/application/shoot/shoot.c
+++ b/application/shoot/shoot.c
@@ -1,5 +1,6 @@
 #include "shoot.h"
 #include "robot_def.h"
+
 #include "dji_motor.h"
 #include "message_center.h"
 #include "bsp_dwt.h"