半舵旗舰版（功率控制有更改）

modules/chassis_power/chassis_power.h

@@ -0,0 +1,109 @@
+#ifndef CHASSIS_POWER_H
+#define CHASSIS_POWER_H
+
+#include <stdint.h>
+
+#include "rls.h"
+
+#define CHASSIS_POWER_RLS_ORDER 4u
+
+typedef struct
+{
+    float k_current_speed;
+    float k_speed2;
+    float k_current2;
+    float k0;
+} ChassisPowerMotorModel_s;
+
+typedef struct
+{
+    ChassisPowerMotorModel_s wheel_model;
+    float default_power_limit;
+    float min_power_limit;
+    float buffer_low;
+    float buffer_high;
+    float buffer_gain;
+    float steering_power_reserve;
+    float min_scale;
+    float rls_lambda;
+    float rls_init_covariance;
+    uint8_t rls_enable;
+} ChassisPower_Init_Config_s;
+
+typedef struct
+{
+    float rf_speed_ref;
+    float lb_speed_ref;
+    float rf_speed;
+    float lb_speed;
+    float rf_current_cmd;
+    float lb_current_cmd;
+    float rf_output_cmd;
+    float lb_output_cmd;
+    float rf_feedback_current;
+    float lb_feedback_current;
+    float referee_limit;
+    float referee_power;
+    float power_buffer;
+    float measured_power;
+    float steering_power_estimate;
+    uint8_t power_meter_online;
+} ChassisPower_Limit_Input_s;
+
+typedef struct
+{
+    float rf_ref_raw;
+    float lb_ref_raw;
+    float rf_ref_limited;
+    float lb_ref_limited;
+    float rf_power;
+    float lb_power;
+    float estimated_wheel_power;
+    float estimated_total_power;
+    float allowed_power;
+    float wheel_budget;
+    float scale;
+    float measured_power;
+    float referee_power;
+    float power_buffer;
+    float rf_speed;
+    float lb_speed;
+    float rf_current_cmd;
+    float lb_current_cmd;
+    float rf_output_cmd;
+    float lb_output_cmd;
+    float rf_feedback_current;
+    float lb_feedback_current;
+    float features[CHASSIS_POWER_RLS_ORDER];
+    float rls_theta[CHASSIS_POWER_RLS_ORDER];
+    uint8_t limited;
+    uint8_t power_meter_online;
+} ChassisPower_State_s;
+
+typedef struct
+{
+    ChassisPowerMotorModel_s wheel_model;
+    RLSInstance rls;
+    ChassisPower_State_s state;
+    float default_power_limit;
+    float min_power_limit;
+    float buffer_low;
+    float buffer_high;
+    float buffer_gain;
+    float steering_power_reserve;
+    float min_scale;
+    uint8_t rls_enable;
+} ChassisPowerInstance;
+
+extern ChassisPower_State_s chassis_power_debug_state;
+
+ChassisPowerMotorModel_s ChassisPowerGetDefault3508Model(void);
+void ChassisPowerInit(ChassisPowerInstance *instance, const ChassisPower_Init_Config_s *config);
+float ChassisPowerEstimateMotor(const ChassisPowerMotorModel_s *model, float speed, float current_cmd);
+void ChassisPowerUpdateMeasureState(ChassisPowerInstance *instance, const ChassisPower_Limit_Input_s *input);
+float ChassisPowerLimitWheelRefs(ChassisPowerInstance *instance, const ChassisPower_Limit_Input_s *input, float *rf_ref, float *lb_ref);
+void ChassisPowerUpdateRLS(ChassisPowerInstance *instance, const ChassisPower_Limit_Input_s *input, float measured_wheel_power);
+void ChassisPowerSetWheelModel(ChassisPowerInstance *instance, const ChassisPowerMotorModel_s *model);
+const ChassisPower_State_s *ChassisPowerGetState(const ChassisPowerInstance *instance);
+
+#endif