Hero: 接入 VT13 遥控、退弹与热量限制并适配新电机框架

boards/algorithm/src/AHRS.cpp

@@ -138,6 +138,7 @@ namespace control {
         cailb_done_ = false;
     }
 
+    // 检测imu是否成功初始化
     bool AHRS::IsCailbrated() {
         return cailb_done_;
     }

boards/base/DM_MC01_general/Core/Inc/tim.h

@@ -44,6 +44,8 @@ extern TIM_HandleTypeDef htim8;
 
 /* USER CODE BEGIN Private defines */
 
+#define BOARD_TIM_SYS htim5
+
 /* USER CODE END Private defines */
 
 void MX_TIM1_Init(void);

boards/base/DM_MC01_general/Core/Src/adc.c

@@ -45,13 +45,13 @@ void MX_ADC1_Init(void)
   hadc1.Instance = ADC1;
   hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
   hadc1.Init.Resolution = ADC_RESOLUTION_12B;
-  hadc1.Init.ScanConvMode = ENABLE;
+  hadc1.Init.ScanConvMode = DISABLE;
   hadc1.Init.ContinuousConvMode = DISABLE;
   hadc1.Init.DiscontinuousConvMode = DISABLE;
   hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
   hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
   hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
-  hadc1.Init.NbrOfConversion = 3;
+  hadc1.Init.NbrOfConversion = 1;
   hadc1.Init.DMAContinuousRequests = DISABLE;
   hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
   if (HAL_ADC_Init(&hadc1) != HAL_OK)
@@ -68,24 +68,6 @@ void MX_ADC1_Init(void)
   {
     Error_Handler();
   }
-
-  /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
-  */
-  sConfig.Channel = ADC_CHANNEL_VREFINT;
-  sConfig.Rank = 2;
-  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
-  */
-  sConfig.Channel = ADC_CHANNEL_0;
-  sConfig.Rank = 3;
-  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
   /* USER CODE BEGIN ADC1_Init 2 */
 
   /* USER CODE END ADC1_Init 2 */

boards/base/DM_MC01_general/DM_MC01_general.ioc

@@ -1,17 +1,11 @@
 #MicroXplorer Configuration settings - do not modify
 ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_TEMPSENSOR
-ADC1.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_VREFINT
-ADC1.Channel-2\#ChannelRegularConversion=ADC_CHANNEL_0
 ADC1.ClockPrescaler=ADC_CLOCK_SYNC_PCLK_DIV4
-ADC1.IPParameters=Rank-0\#ChannelRegularConversion,master,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,ClockPrescaler,NbrOfConversion,Rank-1\#ChannelRegularConversion,Channel-1\#ChannelRegularConversion,SamplingTime-1\#ChannelRegularConversion,Rank-2\#ChannelRegularConversion,Channel-2\#ChannelRegularConversion,SamplingTime-2\#ChannelRegularConversion
-ADC1.NbrOfConversion=3
+ADC1.IPParameters=Rank-0\#ChannelRegularConversion,master,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,ClockPrescaler,NbrOfConversion
+ADC1.NbrOfConversion=1
 ADC1.NbrOfConversionFlag=1
 ADC1.Rank-0\#ChannelRegularConversion=1
-ADC1.Rank-1\#ChannelRegularConversion=2
-ADC1.Rank-2\#ChannelRegularConversion=3
 ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
-ADC1.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
-ADC1.SamplingTime-2\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
 ADC1.master=1
 CAD.formats=[]
 CAD.pinconfig=Project naming

boards/drivers/DM_MC01/include/bsp_batteryvol.h

@@ -32,6 +32,8 @@ namespace bsp {
         void Start();
         void Stop();
         uint32_t Read();
+
+        // 读取处理后的电池电压值
         float GetBatteryVol();
         static float calcBatteryPercentage(float voltage);
         float GetBatteryPercentage();

boards/drivers/DM_MC01/src/bsp_batteryvol.cpp

@@ -24,12 +24,12 @@
 namespace bsp {
     BatteryVol::BatteryVol(ADC_HandleTypeDef* hadc, uint32_t channel, uint32_t rank, uint32_t sampling_time) {
         adc_ = new bADC(hadc, channel, rank, sampling_time);
-        adc_vrefint_ = new bADC(&hadc1, ADC_CHANNEL_VREFINT, 2, ADC_SAMPLETIME_3CYCLES);
-        adc_vrefint_->Start();
+        adc_vrefint_ = new bADC(&hadc1, ADC_CHANNEL_VREFINT, 1, ADC_SAMPLETIME_3CYCLES);
     }
     void BatteryVol::InitVREF() {
         unsigned char i = 0;
         unsigned int total_adc = 0;
+        adc_vrefint_->Start();
         for (i = 0; i < 200; i++) {
             total_adc += adc_vrefint_->Read();
         }
@@ -43,8 +43,10 @@ namespace bsp {
         adc_->Stop();
     }
     uint32_t BatteryVol::Read() {
+        adc_->Start();
         return adc_->Read();
     }
+
     float BatteryVol::GetBatteryVol() {
 #ifdef DJI_BOARD_TYPE_C_GENERAL
         return (float)Read() * voltage_vrefint_proportion * 10.090909090909090909090909090909f;

boards/drivers/include/dji_remote.h

@@ -36,22 +36,22 @@ namespace remote {
     typedef union {
         uint16_t code;
         struct {
-            uint16_t W : 1;
-            uint16_t S : 1;
-            uint16_t A : 1;
-            uint16_t D : 1;
-            uint16_t SHIFT : 1;
-            uint16_t CTRL : 1;
-            uint16_t Q : 1;
-            uint16_t E : 1;
-            uint16_t R : 1;
-            uint16_t F : 1;
-            uint16_t G : 1;
-            uint16_t Z : 1;
-            uint16_t X : 1;
-            uint16_t C : 1;
-            uint16_t V : 1;
-            uint16_t B : 1;
+            uint16_t W : 1;      // 前
+            uint16_t S : 1;      // 后
+            uint16_t A : 1;      // 左
+            uint16_t D : 1;      // 右
+            uint16_t SHIFT : 1;  // boost
+            uint16_t CTRL : 1;   // 切换 小陀螺/自瞄/坦克/标准 模式
+            uint16_t Q : 1;      // 小陀螺加速/减速
+            uint16_t E : 1;      // 小陀螺加速/减速
+            uint16_t R : 1;      //
+            uint16_t F : 1;      //
+            uint16_t G : 1;      //
+            uint16_t Z : 1;      // 摩擦轮
+            uint16_t X : 1;      //
+            uint16_t C : 1;      // 清除自定义UI
+            uint16_t V : 1;      // 强制刷新自定义UI
+            uint16_t B : 1;      //
         } __packed bit;
     } __packed keyboard_t;
 
@@ -89,8 +89,8 @@ namespace remote {
             result.x = x;
             result.y = y;
             result.z = roll;
-            result.l = l;
-            result.r = r;
+            result.l = l;  // shoot
+            result.r = r;  // unload
             return result;
         }
     } __packed vt13_mouse_t;

programs/Hero/chassis/src/main.cpp

@@ -28,9 +28,14 @@
 #include "chassis.h"
 #include "cmsis_os.h"
 #include "supercap.h"
-
-bsp::CAN* can1 = nullptr;
-bsp::CAN* can2 = nullptr;
+#include "bsp_batteryvol.h"
+#include "bsp_os.h"
+
+// bridge_can 是与顶部大疆c板进行通信的can通道
+// chassis_can 是操控底盘四个电机的can通道
+// damiao的can相对于大疆是反着的！！！一定要注意！
+bsp::CAN* bridge_can = nullptr;
+bsp::CAN* chassis_can = nullptr;
 driver::DjiMotorBase* fl_motor = nullptr;
 driver::DjiMotorBase* fr_motor = nullptr;
 driver::DjiMotorBase* bl_motor = nullptr;
@@ -41,15 +46,22 @@ driver::SuperCap* super_cap = nullptr;
 control::Chassis* chassis = nullptr;
 communication::CanBridge* can_bridge = nullptr;
 
+bsp::BatteryVol* battery_vol = nullptr;
+
 void RM_RTOS_Init() {
     HAL_Delay(100);
-    print_use_uart(&huart5);
-    can2 = new bsp::CAN(&hcan2, false);
-    can1 = new bsp::CAN(&hcan1, true);
-    fl_motor = new driver::Motor3508(can2, 0x202);
-    fr_motor = new driver::Motor3508(can2, 0x201);
-    bl_motor = new driver::Motor3508(can2, 0x203);
-    br_motor = new driver::Motor3508(can2, 0x204);
+    // 设置高精度定时器以能够获取微秒级别的精度的运行时间数据
+    bsp::SetHighresClockTimer(&BOARD_TIM_SYS);
+    print_use_rtt();
+    // print_use_uart(&huart4,false,921600);
+    print("helloworld!");
+
+    chassis_can = new bsp::CAN(&hcan1, true);
+    bridge_can = new bsp::CAN(&hcan2, false);
+    fl_motor = new driver::Motor3508(chassis_can, 0x202);
+    fr_motor = new driver::Motor3508(chassis_can, 0x201);
+    bl_motor = new driver::Motor3508(chassis_can, 0x203);
+    br_motor = new driver::Motor3508(chassis_can, 0x204);
 
     control::ConstrainedPID::PID_Init_t omega_pid_init = {
         .kp = 2500,
@@ -85,7 +97,7 @@ void RM_RTOS_Init() {
     br_motor->SetTransmissionRatio(19);
 
     driver::supercap_init_t supercap_init = {
-        .can = can1,
+        .can = bridge_can,
         .tx_id = 0x02e,
         .tx_settings_id = 0x02f,
         .rx_id = 0x030,
@@ -101,7 +113,7 @@ void RM_RTOS_Init() {
     super_cap->SetMaxDischargePower(250.0f);
     super_cap->SetPerferBuffer(50.0f);
 
-    can_bridge = new communication::CanBridge(can1, 0x52);
+    can_bridge = new communication::CanBridge(bridge_can, 0x52);
 
     driver::DjiMotorBase* motors[control::FourWheel::motor_num];
     motors[control::FourWheel::front_left] = fl_motor;
@@ -124,6 +136,8 @@ void RM_RTOS_Init() {
     can_bridge->RegisterRxCallback(0x72, chassis->CanBridgeUpdateEventPowerLimitWrapper, chassis);
     can_bridge->RegisterRxCallback(0x73, chassis->CanBridgeUpdateEventCurrentPowerWrapper, chassis);
 
+    battery_vol = new bsp::BatteryVol(&hadc1, ADC_CHANNEL_0, 1, ADC_SAMPLETIME_3CYCLES);
+
     HAL_Delay(300);
     init_buzzer();
 }
@@ -135,7 +149,10 @@ void RM_RTOS_Default_Task(const void* args) {
     Buzzer_Sing(Mario);
 
     while (true) {
+        chassis->UpdatePowerVoltage(battery_vol->GetBatteryVol());
         chassis->Update();
         osDelay(10);
+        print("helloworld\r\n");
+        Buzzer_Sing(Mario);
     }
 }

programs/Hero/gimbal/include/chassis_task.h

@@ -46,9 +46,10 @@ void chassisTask(void* arg);
 void init_chassis();
 void kill_chassis();
 
+extern control::ChassisCanBridgeSender* chassis;
 extern float chassis_vx;
 extern float chassis_vy;
-extern float chassis_vz;
+extern float chassis_vt;
 extern bool chassis_boost_flag;
 const float chassis_vx_max = 660.0f;
 const float chassis_vy_max = 660.0f;

programs/Hero/gimbal/include/remote_task.h

@@ -57,6 +57,7 @@ enum ShootMode {
     SHOOT_MODE_PREPARED = 2,
     SHOOT_MODE_SINGLE = 3,
     SHOOT_MODE_BURST = 4,
+    SHOOT_MODE_UNLOAD = 5,  // 退弹
 };
 extern ShootMode shoot_load_mode;
 extern osThreadId_t remoteTaskHandle;
@@ -71,4 +72,75 @@ const osThreadAttr_t remoteTaskAttribute =
      .tz_module = 0,
      .reserved = 0};
 void remoteTask(void* arg);
-void init_remote();
+void init_remote();
+
+inline const char* remote_mode_str(RemoteMode mode) {
+    switch (mode) {
+        case REMOTE_MODE_PREPARE:
+            return "PREPARE";
+            break;
+        case REMOTE_MODE_KILL:
+            return "KILL";
+            break;
+        case REMOTE_MODE_STOP:
+            return "STOP";
+            break;
+        case REMOTE_MODE_FOLLOW:
+            return "FOLLOW";
+            break;
+        case REMOTE_MODE_SPIN:
+            return "SPIN";
+            break;
+        case REMOTE_MODE_ADVANCED:
+            return "ADVANCED";
+            break;
+        default:
+            return "\033[31mUNKNOWN\033[0m";
+            break;
+    }
+}
+
+inline const char* shoot_fric_mode_str(ShootFricMode mode) {
+    switch (mode) {
+        case SHOOT_FRIC_MODE_DISABLE:
+            return "\033[31mDISABLE\033[0m";
+            break;
+        case SHOOT_FRIC_MODE_STOP:
+            return "STOP";
+            break;
+        case SHOOT_FRIC_MODE_PREPARING:
+            return "PREPARING";
+            break;
+        case SHOOT_FRIC_MODE_PREPARED:
+            return "PREPARED";
+            break;
+        default:
+            return "UNKNOWN";
+            break;
+    }
+}
+
+inline const char* shoot_load_mode_str(ShootMode mode) {
+    switch (mode) {
+        case SHOOT_MODE_DISABLE:
+            return "\033[31mDISABLE\033[0m";
+            break;
+        case SHOOT_MODE_STOP:
+            return "STOP";
+            break;
+        case SHOOT_MODE_SINGLE:
+            return "SINGLE";
+            break;
+        case SHOOT_MODE_BURST:
+            return "BURST";
+            break;
+        case SHOOT_MODE_PREPARED:
+            return "\033[31mREADY SHOOT!\033[0m";
+        default:
+            return "UNKNOWN";
+            break;
+        case SHOOT_MODE_UNLOAD:
+            return "UNLOAD";
+            break;
+    }
+}

programs/Hero/gimbal/include/shoot_task.h

@@ -44,7 +44,7 @@ const osThreadAttr_t shootTaskAttribute =
 extern driver::Motor3508* flywheel_left;
 extern driver::Motor3508* flywheel_right;
 extern driver::Motor3508* steering_motor;
-extern bool jam_notify_flags;
+// extern bool jam_notify_flags;
 void shootTask(void* arg);
 void init_shoot();
 void kill_shoot();