From 50edf7dedb842fcc6f293a642d46f36da70b087d Mon Sep 17 00:00:00 2001 From: TuxMonkey Date: Sat, 7 Mar 2026 01:49:39 +0800 Subject: [PATCH] xidipower test --- User_Code/user_task/dev_tasks/dev_cmd.c | 570 ++-------------------- User_Code/user_task/dev_tasks/dev_def.h | 8 + User_Code/user_task/dev_tasks/dev_tasks.c | 3 + 3 files changed, 53 insertions(+), 528 deletions(-) create mode 100644 User_Code/user_task/dev_tasks/dev_def.h create mode 100644 User_Code/user_task/dev_tasks/dev_tasks.c diff --git a/User_Code/user_task/dev_tasks/dev_cmd.c b/User_Code/user_task/dev_tasks/dev_cmd.c index 2496f9e..79a34e8 100644 --- a/User_Code/user_task/dev_tasks/dev_cmd.c +++ b/User_Code/user_task/dev_tasks/dev_cmd.c @@ -1,528 +1,42 @@ -// //@todo:仅为开发板测试使用cmd.c 后续改进 -// -// // app -// #include "robot_def.h" -// #include "dev_cmd.h" -// // module -// #include "rc.h" -// #include "ins_task.h" -// // #include "master_process.h" -// // #include "message_center.h" -// #include "general_def.h" -// // #include "dji_motor.h" -// #include "buzzer.h" -// // bsp -// #include "bsp_dwt.h" -// #include "bsp_log.h" -// -// // 私有宏,自动将编码器转换成角度值 -// #define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360 -// #define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF_DJI) // pitch水平时电机的角度,0-360 -// -// /* cmd应用包含的模块实例指针和交互信息存储*/ -// #ifdef GIMBAL_BOARD // 对双板的兼容,条件编译 -// #include "can_comm.h" -// static CANCommInstance *cmd_can_comm; // 双板通信 -// #endif -// #ifdef ONE_BOARD -// static Publisher_t *chassis_cmd_pub; // 底盘控制消息发布者 -// static Subscriber_t *chassis_feed_sub; // 底盘反馈信息订阅者 -// #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 -// static Vision_Send_s vision_send_data; // 视觉发送数据 -// -// static Publisher_t *gimbal_cmd_pub; // 云台控制消息发布者 -// static Subscriber_t *gimbal_feed_sub; // 云台反馈信息订阅者 -// static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息 -// static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息 -// -// static Publisher_t *shoot_cmd_pub; // 发射控制消息发布者 -// static Subscriber_t *shoot_feed_sub; // 发射反馈信息订阅者 -// static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息 -// static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息 -// -// static Robot_Status_e robot_state; // 机器人整体工作状态 -// static Work_Mode_e vision_work_mode; -// static float chassis_speed_buff; -// static uint8_t EmergencyHandlerflag = 0; -// static gimbal_control_e Gimbal_control; -// static float Gimbal[2]; -// static int keyC_flag = 0; -// static int keyC_last_flag = 0; -// static int cap_flag = 0; //用于超电回复死区 -// -// static uint16_t chassis_power_robot_level; -// // PITCH轴限位，带测定 -// -// #define PITCH_MAX 21 -// #define PITCH_MIN -19 -// -// void RobotCMDInit() -// { -// Gimbal[0] = 0; -// Gimbal[1] = 0; //初始化gimbal调参数组，以便Ozone寻地址 -// rc_data = RemoteControlInit(&huart3); // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个 -// vision_recv_data = VisionInit(&huart1); // 视觉通信串口 -// -// gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s)); -// 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 // 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 -// shoot_cmd_send.attack_mode = NORMAL; -// gimbal_cmd_send.pitch = 0; -// gimbal_cmd_send.yaw = 0; -// gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; -// 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 -// } -// -// /** -// * @brief 根据gimbal app传回的当前电机角度计算和零位的误差 -// * 单圈绝对角度的范围是0~360,说明文档中有图示 -// * -// */ -// static void CalcOffsetAngle() -// { -// // 别名angle提高可读性,不然太长了不好看,虽然基本不会动这个函数 -// static float angle; -// angle = gimbal_fetch_data.yaw_angle; // 从云台获取的当前yaw电机单圈角度 -// #if YAW_ECD_GREATER_THAN_4096 // 如果大于180度 -// if (angle > YAW_ALIGN_ANGLE) -// chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE; -// else if (angle <= YAW_ALIGN_ANGLE && angle >= YAW_ALIGN_ANGLE - 180.0f) -// chassis_cmd_send. = angle - YAW_ALIGN_ANGLE; -// else -// chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE + 360.0f; -// #else // 小于180度 -// if (angle > YAW_ALIGN_ANGLE && angle <= 180.0f + YAW_ALIGN_ANGLE) -// chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE; -// else if (angle > 180.0f + YAW_ALIGN_ANGLE) -// chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE - 360.0f; -// else -// chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE; -// #endif -// } -// -// /** -// * @brief 控制输入为遥控器(调试时)的模式和控制量设置 -// * -// */ -// static void RemoteControlSet() -// { -// chassis_cmd_send.rotate_control = 1.0; -// // 云台软件限位 -// if (gimbal_cmd_send.pitch > PITCH_MAX) -// gimbal_cmd_send.pitch = PITCH_MAX; -// else if (gimbal_cmd_send.pitch < PITCH_MIN) -// gimbal_cmd_send.pitch = PITCH_MIN; -// -// // 左侧开关状态为[中]且右侧开关为[下],视觉模式 -// if (switch_is_mid(rc_data[TEMP].rc.switch_left) && switch_is_down(rc_data[TEMP].rc.switch_right)) -// { -// //gimbal_cmd_send.yaw = (vision_recv_data->yaw == 0 ? gimbal_cmd_send.yaw : -(vision_recv_data->yaw)); // 由于视觉调试时角度给反所以添加负号-H -// //gimbal_cmd_send.pitch = (vision_recv_data->pitch == 0 ? gimbal_cmd_send.pitch : vision_recv_data->pitch); -// // 待添加,视觉会发来和目标的误差,同样将其转化为total angle的增量进行控制 -// chassis_cmd_send.chassis_mode = CHASSIS_RE_ROTATE; // 由于24赛季检录需要滑环检测故调整，调试视觉时请取消注释 -// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; -// // chassis_cmd_send.fly_flag = 1; -// // ... -// } -// if (switch_is_mid(rc_data[TEMP].rc.switch_left) && switch_is_mid(rc_data[TEMP].rc.switch_right)) -// { -// chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW; -// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; -// } -// // 左侧开关状态为[下],或视觉未识别到目标,纯遥控器拨杆控制 -// if (switch_is_down(rc_data[TEMP].rc.switch_left) || vision_recv_data->target_state == NO_TARGET) -// { -// // 按照摇杆的输出大小进行角度增量,增益系数需调整 -// gimbal_cmd_send.yaw += 0.0025f * (float) rc_data[TEMP].rc.rocker_l_; -// gimbal_cmd_send.pitch += 0.001f * (float) rc_data[TEMP].rc.rocker_l1; -// // gimbal_cmd_send.yaw = Gimbal[0]; -// // gimbal_cmd_send.pitch = Gimbal[1]; -// // Gimbal[]用于gimbal调参（阶跃响应），需要调参时取消注释 -// } -// if (switch_is_down(rc_data[TEMP].rc.switch_left) && switch_is_down(rc_data[TEMP].rc.switch_right)) -// // 右侧开关状态[下],底盘小陀螺 -// { -// chassis_cmd_send.chassis_mode = CHASSIS_ROTATE_REMOTE; // CHASSIS_ROTATE -// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; -// } -// if (switch_is_down(rc_data[TEMP].rc.switch_left) && switch_is_mid(rc_data[TEMP].rc.switch_right)) -// // 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; -// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; -// } -// -// -// // 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整 -// chassis_cmd_send.vx = 80.0f * (float) rc_data[TEMP].rc.rocker_r_; // _水平方向 -// chassis_cmd_send.vy = 80.0f * (float) rc_data[TEMP].rc.rocker_r1; // 1竖直方向 -// -// // 发射参数 -// -// // 摩擦轮控制,拨轮向上打为负,向下为正 -// if (rc_data[TEMP].rc.dial < -100) // 向上超过100,打开摩擦轮 -// shoot_cmd_send.friction_mode = FRICTION_ON; -// else -// shoot_cmd_send.friction_mode = FRICTION_OFF; -// // 拨弹控制,遥控器固定为一种拨弹模式,可自行选择 -// if (rc_data[TEMP].rc.dial < -500) -// { -// shoot_cmd_send.load_mode = LOAD_BURSTFIRE; // LOAD_BURSTFIRELOAD_1_BULLET -// } -// else -// shoot_cmd_send.load_mode = LOAD_STOP; -// // 射频控制,固定每秒1发,后续可以根据左侧拨轮的值大小切换射频, -// if (rc_data[TEMP].rc.switch_left == 3 && switch_is_down(rc_data[TEMP].rc.switch_right)) -// { -// shoot_cmd_send.friction_mode = FRICTION_ON; -// if (vision_recv_data->target_state == READY_TO_FIRE) -// shoot_cmd_send.load_mode = LOAD_BURSTFIRE; -// else -// shoot_cmd_send.load_mode = LOAD_STOP; -// } -// shoot_cmd_send.shoot_rate = 13; -// } -// -// // /** -// // * @brief 紧急停止,包括遥控器左上侧拨轮打满/重要模块离线/双板通信失效等 -// // * 停止的阈值'300'待修改成合适的值,或改为开关控制. -// // * -// // * @todo 后续修改为遥控器离线则电机停止(关闭遥控器急停),通过给遥控器模块添加daemon实现 -// // * -// // */ -// 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; -// 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.load_mode = LOAD_STOP; -// LOGERROR("[CMD] emergency stop!"); -// } -// // 遥控器右侧开关为[上],恢复正常运行 -// if (switch_is_up(rc_data[TEMP].rc.switch_right)) -// { -// EmergencyHandlerflag = 1; -// } -// if (switch_is_mid(rc_data[TEMP].rc.switch_right) && EmergencyHandlerflag == 1) -// { -// robot_state = ROBOT_READY; -// shoot_cmd_send.shoot_mode = SHOOT_ON; -// -// LOGINFO("[CMD] reinstate, robot ready"); -// EmergencyHandlerflag = 0; -// gimbal_cmd_send.yaw = -gimbal_fetch_data.gimbal_imu_data.YawTotalAngle; // 急停时设定值保持与实际值同步，避免恢复时疯转 -// gimbal_cmd_send.pitch = 0; -// } -// // 此处为cyx设置，将遥控器急停恢复设置为右上然后右中组合，以防键鼠控制无法急停等 -// // 故不建议在右上添加底盘跟随或小陀螺（surprise） -// else if (switch_is_up(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[上],键盘控制 -// { -// switch (rc_data[TEMP].key_count[KEY_PRESS_WITH_CTRL][Key_C] % 2) // ctrl+c 进入急停 -// { -// case 0: -// robot_state = ROBOT_READY; -// shoot_cmd_send.shoot_mode = SHOOT_ON; -// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; -// break; -// -// default: -// robot_state = ROBOT_STOP; -// 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.load_mode = LOAD_STOP; -// -// gimbal_cmd_send.yaw = -gimbal_fetch_data.gimbal_imu_data.YawTotalAngle; // 急停时设定值保持与实际值同步，避免恢复时疯转 -// gimbal_cmd_send.pitch = 0; -// break; -// } -// } -// } -// -// static void MouseKeySet() -// { -// shoot_cmd_send.shoot_rate = 8; -// shoot_cmd_send.load_mode = LOAD_BURSTFIRE; -// chassis_cmd_send.heat_control = HOLD; -// chassis_cmd_send.rotate_control = 1.0; -// chassis_cmd_send.fly_flag = 0; -// chassis_cmd_send.vy = 0.55 * (rc_data[TEMP].key[KEY_PRESS].w * chassis_speed_buff - rc_data[TEMP].key[KEY_PRESS].s * -// chassis_speed_buff); // 系数待测，平移运动功率限制！ -// chassis_cmd_send.vx = 0.55 * (rc_data[TEMP].key[KEY_PRESS].a * chassis_speed_buff - rc_data[TEMP].key[KEY_PRESS].d * -// chassis_speed_buff); -// switch (rc_data[TEMP].key[KEY_PRESS].x) // X键刷新UI -// { -// case 1: -// chassis_cmd_send.ui_mode = UI_REFRESH; -// break; -// default: -// chassis_cmd_send.ui_mode = UI_KEEP; -// break; -// } -// -// switch (rc_data[TEMP].mouse.press_r) // 鼠标右键开启自瞄 -// { -// case 0: -// gimbal_cmd_send.yaw += (float) rc_data[TEMP].mouse.x / 660 * 8; // 系数待测 -// gimbal_cmd_send.pitch -= (float) rc_data[TEMP].mouse.y / 660 * 8; -// // pitch限位 -// if (gimbal_cmd_send.pitch > PITCH_MAX) -// gimbal_cmd_send.pitch = PITCH_MAX; -// else if (gimbal_cmd_send.pitch < PITCH_MIN) -// gimbal_cmd_send.pitch = PITCH_MIN; -// break; -// -// default: -// shoot_cmd_send.shoot_rate = 13; -// if (vision_recv_data->target_state == NO_TARGET) -// { -// gimbal_cmd_send.yaw += (float) rc_data[TEMP].mouse.x / 660 * 8; // 系数待测 -// gimbal_cmd_send.pitch -= (float) rc_data[TEMP].mouse.y / 660 * 8; -// } -// else -// { -// gimbal_cmd_send.yaw = -(vision_recv_data->yaw == 0 ? gimbal_cmd_send.yaw : vision_recv_data->yaw); -// gimbal_cmd_send.pitch = (vision_recv_data->pitch == 0 -// ? gimbal_cmd_send.pitch -// : vision_recv_data->pitch); -// } -// // 视觉状态 -// if (vision_recv_data->target_state == NO_TARGET) -// chassis_cmd_send.vision_mode = UNLOCK; -// else if (vision_recv_data->target_state == TARGET_CONVERGING) -// chassis_cmd_send.vision_mode = CONVERGE; -// else if (vision_recv_data->target_state == READY_TO_FIRE) -// chassis_cmd_send.vision_mode = LOCK; -// else -// chassis_cmd_send.vision_mode = UNLOCK; -// break; -// } -// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键设置切换发射模式：单发/连发 -// { -// case 0: -// shoot_cmd_send.load_mode = LOAD_1_BULLET; -// chassis_cmd_send.load_mode = LOAD_1_BULLET; -// break; -// case 1: -// shoot_cmd_send.load_mode = LOAD_BURSTFIRE; -// chassis_cmd_send.load_mode = LOAD_BURSTFIRE; -// break; -// //提前为chassis赋值，以在发弹前更新UI -// } -// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_V] % 2) // V键设置切换射频为狂暴模式 -// { -// case 0: -// chassis_cmd_send.attack_mode = NORMAL; -// break; -// case 1: -// chassis_cmd_send.attack_mode = VIOLENT; -// chassis_cmd_send.heat_control = FIGHT; -// shoot_cmd_send.shoot_rate = 25; -// break; -// } -// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Z] % 2) // Z键设置是否接入热量闭环 -// { -// case 0: -// break; -// case 1: -// chassis_cmd_send.heat_control = FIGHT; -// break; -// } -// switch (rc_data[TEMP].mouse.press_l) // 鼠标左键射击 -// { -// case 0: -// shoot_cmd_send.load_mode = LOAD_STOP; -// break; -// default: -// if (shoot_cmd_send.friction_mode != FRICTION_ON) -// shoot_cmd_send.load_mode = LOAD_STOP; // 摩擦轮不开启则拨盘不转, 防止卡弹 -// if (rc_data[TEMP].mouse.press_r && (vision_recv_data->target_state != READY_TO_FIRE)) -// { -// shoot_cmd_send.load_mode = LOAD_STOP; -// break; -// } -// if (chassis_fetch_data.over_heat_flag == 1 && chassis_cmd_send.heat_control == HOLD) -// { -// shoot_cmd_send.load_mode = LOAD_STOP; -// break; -// } -// break; -// } -// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 2) // G键狗洞模式 -// { -// case 0: -// chassis_cmd_send.tunnel_mode = TUNNEL_OFF; -// break; -// default: -// gimbal_cmd_send.pitch = 0; -// chassis_cmd_send.tunnel_mode = TUNNEL_ON; -// break; -// } -// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮 -// { -// case 0: -// shoot_cmd_send.friction_mode = FRICTION_OFF; -// break; -// default: -// shoot_cmd_send.friction_mode = FRICTION_ON; -// break; -// } -// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键设置底盘运动模式 -// { -// case 0: -// chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; -// break; -// default: -// chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; -// break; -// } -// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键设置45度转向 -// { -// case 0: -// chassis_cmd_send.fly_flag = 0; -// break; -// default: -// chassis_cmd_send.offset_angle += 45; -// chassis_cmd_send.fly_flag = 1; -// break; -// } -// switch (rc_data[TEMP].key[KEY_PRESS].shift) // 按shift使用超级电容 -// { -// case 1: -// chassis_speed_buff = 40000; -// break; -// default: -// chassis_speed_buff = 13000; -// break; -// } -// //建议增加超级电容电压控制，如小于12V时降低增速等，充至16V恢复等 -// //此处为24赛季双板通信出现问题故未修改（云台板收不到底盘板反馈信息：未解决） -// -// //TODO:B键设置功率 -// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_B] % 11) -// { -// case 0: -// chassis_power_robot_level = 0; -// break; -// case 1: -// chassis_power_robot_level = 1; -// break; -// case 2: -// chassis_power_robot_level = 2; -// break; -// case 3: -// chassis_power_robot_level = 3; -// break; -// case 4: -// chassis_power_robot_level = 4; -// break; -// case 5: -// chassis_power_robot_level = 5; -// break; -// case 6: -// chassis_power_robot_level = 6; -// break; -// case 7: -// chassis_power_robot_level = 7; -// break; -// case 8: -// chassis_power_robot_level = 8; -// break; -// case 9: -// chassis_power_robot_level = 9; -// break; -// case 10: -// chassis_power_robot_level = 10; -// break; -// default: -// chassis_power_robot_level = 0; -// break; -// } -// // 24hl：有点蠢，修改等级需要急停 -// } -// -// -// /* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */ -// void RobotCMDTask() -// { -// chassis_cmd_send.ui_mode = UI_KEEP; -// // 从其他应用获取回传数据 -// #ifdef ONE_BOARD -// SubGetMessage(chassis_feed_sub, (void *) &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); -// -// // 根据gimbal的反馈值计算云台和底盘正方向的夹角,不需要传参,通过static私有变量完成 -// CalcOffsetAngle(); -// // 根据遥控器左侧开关,确定当前使用的控制模式为遥控器调试还是键鼠 -// if (switch_is_up(rc_data[TEMP].rc.switch_left)) -// { -// MouseKeySet(); // 调试专用 -// } -// else -// { -// RemoteControlSet(); -// } // 遥控器左侧开关状态为[上],键盘控制 -// EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况 -// -// // 设置视觉发送数据,还需增加加速度和角速度数据 -// VisionSetFlag(chassis_fetch_data.self_color, vision_work_mode, 30); //30为弹速 -// //顺序为pitch，yaw（需发送总角度，以防出现角度跟随bug），roll -// VisionSetAltitude(gimbal_fetch_data.gimbal_imu_data.Pitch, gimbal_fetch_data.gimbal_imu_data.YawTotalAngle, -// gimbal_fetch_data.gimbal_imu_data.Roll); -// -// // 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 -// shoot_cmd_send.bullet_speed = chassis_fetch_data.bullet_speed; -// chassis_cmd_send.friction_mode = shoot_cmd_send.friction_mode; -// chassis_cmd_send.yaw_angle = gimbal_fetch_data.gimbal_imu_data.Yaw; -// chassis_cmd_send.pitch_angle = gimbal_fetch_data.pitch_angle; -// chassis_cmd_send.init_totalangle = shoot_fetch_data.init_totalangle; -// chassis_cmd_send.totalangle = shoot_fetch_data.totalangle; -// chassis_cmd_send.chassis_power_robot_level = chassis_power_robot_level; -// -// -// #ifdef ONE_BOARD -// PubPushMessage(chassis_cmd_pub, (void *) &chassis_cmd_send); -// #endif // ONE_BOARD -// #ifdef GIMBAL_BOARD -// CANCommSend(cmd_can_comm, (void *) &chassis_cmd_send); -// //chassis_cmd_send.yaw_motor_total_round_angle = gimbal_fetch_data.yaw_motor_total_round_angle; -// #endif // GIMBAL_BOARD -// PubPushMessage(shoot_cmd_pub, (void *) &shoot_cmd_send); -// PubPushMessage(gimbal_cmd_pub, (void *) &gimbal_cmd_send); -// } +// ==================== 1. 包含必要的头文件 ==================== +#include "dev_cmd.h" +#include "general_def.h" +#include "bsp_log.h" +// 引入你的功率计头文件 +#include "cmsis_os2.h" +#include "xidipwmeter.h" + + +// ==================== 2. 定义局部指针 ==================== +static PowerMeterInstance *chassis_power_meter; // 功率计实例指针 + +// 存放读取到的功率数据（也可以直接放进发给底盘的结构体里） +static float current_power_w = 0.0f; +static float current_voltage_v = 0.0f; +static float current_energy_j = 0.0f; + +// ==================== 3. 在初始化函数中注册 ==================== +void RobotCMDInit() +{ + chassis_power_meter = PowerMeterInit(&hfdcan1); + if(chassis_power_meter == NULL) + { + LOGERROR("[CMD] Power Meter Init Failed!"); + } +} + +// ==================== 4. 在控制任务中读取使用 ==================== +void RobotCMDTask() +{ + if(chassis_power_meter != NULL) + { + current_power_w = PowerMeterGetPower(chassis_power_meter); + current_voltage_v = PowerMeterGetVoltage(chassis_power_meter); + current_energy_j = PowerMeterGetEnergy(chassis_power_meter); + + // 你可以将获取到的功率写入要发送给底盘的 cmd 中，例如限制最大速度 + // chassis_cmd_send.real_power = current_power_w; + } + + osDelay(10); // 根据实际需要调整读取频率 +} \ No newline at end of file diff --git a/User_Code/user_task/dev_tasks/dev_def.h b/User_Code/user_task/dev_tasks/dev_def.h new file mode 100644 index 0000000..1c48027 --- /dev/null +++ b/User_Code/user_task/dev_tasks/dev_def.h @@ -0,0 +1,8 @@ +// +// Created by tuxmonkey on 2026/3/7. +// + +#ifndef TRONONEH7_SCAFFOLD_DEV_DEF_H +#define TRONONEH7_SCAFFOLD_DEV_DEF_H + +#endif // TRONONEH7_SCAFFOLD_DEV_DEF_H diff --git a/User_Code/user_task/dev_tasks/dev_tasks.c b/User_Code/user_task/dev_tasks/dev_tasks.c new file mode 100644 index 0000000..d7ef45a --- /dev/null +++ b/User_Code/user_task/dev_tasks/dev_tasks.c @@ -0,0 +1,3 @@ +// +// Created by tuxmonkey on 2026/3/7. +//