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实现完整串口指令协议：模式切换、手动控制、PID在线调参

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- 新增 PIDClear() 仅清运行时状态，保留 Kp/Ki/Kd 等配置
- 命令帧 0xA7 (3B): 自动/手动/调试三模式切换，带模式状态追踪
- 手动控制帧 0xA6 (8B): 解析 motor_speed_base(int16) + angle_velocity(float)
- 调试调参帧 0xA8 (38B): 在线更新全部9个 Kp/Ki/Kd 参数
- Command 解析纳入 Task_50ms (20Hz) 定时执行
- 添加通信协议文档 docs/通信协议.md
This commit is contained in:
李傲琦
2026-06-07 16:23:10 +08:00
parent d120fa0d17
commit 022e3424da
7 changed files with 488 additions and 25 deletions
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project/code/Command.c
+183 -18
View File
@@ -5,11 +5,19 @@
#include "ti/driverlib/dl_dma.h"
#include "zf_common_fifo.h"
#include "Beep.h"
#include "Task.h"
#include "Motor.h"
#include "PID_Controller.h"
#include "IMU.h"
volatile fifo_struct command_fifo = {0};
volatile uint8_t command_fifo_buffer[COMMAND_FIFO_BUFFER_SIZE] = {0};
volatile Vision_Mode_e current_mode = COMMAND_MODE_DEBUG;
uint8_t command_sum(uint8_t* data,int len);
static void command_process_manual(uint8_t *data);
static void command_process_debug(uint8_t *data);
void command_callback(uint32 state, void *ptr)
{
while(false == DL_UART_isRXFIFOEmpty(UART2))//读取到一个数据
@@ -52,33 +60,73 @@ void command_init()
void command_task()
{
static uint8_t state = 0;
static uint8_t cmd;
static uint8_t sof = 0;
static uint8_t payload_len = 0;
static uint8_t buf[37]; // 最大payload: 0xA8的37字节(9*4 float + 1 checksum 先读到buf)
static uint8_t idx = 0;
uint8_t byte;
while(fifo_used((fifo_struct*)&command_fifo) > 0)
{
switch(state)
{
case 0: // 等待SOF 0xA7
case 0: // 等待SOF
fifo_read_element((fifo_struct*)&command_fifo, &byte, FIFO_READ_AND_CLEAN);
if(byte == 0xA7) state = 1;
break;
case 1: // 读取cmd
fifo_read_element((fifo_struct*)&command_fifo, &cmd, FIFO_READ_AND_CLEAN);
state = 2;
break;
case 2: // 校验checksum = SOF + cmd
fifo_read_element((fifo_struct*)&command_fifo, &byte, FIFO_READ_AND_CLEAN);
if(byte == (uint8_t)(0xA7 + cmd))
if(byte == COMMAND_SOF_MODE)
{
switch(cmd)
{
case 0x01: SwitchToAutoMode(); break;
case 0x02: SwitchToManualMode(); break;
case 0x03: SwitchToDebugMode(); break;
}
sof = COMMAND_SOF_MODE;
payload_len = 2; // cmd(1) + checksum(1)
idx = 0;
state = 1;
}
else if(byte == COMMAND_SOF_MANUAL)
{
sof = COMMAND_SOF_MANUAL;
payload_len = 7; // motor_speed_base(2) + angle_velocity(4) + checksum(1)
idx = 0;
state = 1;
}
else if(byte == COMMAND_SOF_DEBUG)
{
sof = COMMAND_SOF_DEBUG;
payload_len = 37; // 9*4 float + checksum(1)
idx = 0;
state = 1;
}
break;
case 1: // 读取payload
fifo_read_element((fifo_struct*)&command_fifo, &buf[idx], FIFO_READ_AND_CLEAN);
idx++;
if(idx >= payload_len)
{
// 校验checksum (payload最后一个字节)
uint8_t sum = sof;
for(uint8_t i = 0; i < payload_len - 1; i++)
sum += buf[i];
if(buf[payload_len - 1] == sum)
{
if(sof == COMMAND_SOF_MODE)
{
// 命令帧: buf[0]=cmd
switch(buf[0])
{
case 0x01: SwitchToAutoMode(); break;
case 0x02: SwitchToManualMode(); break;
case 0x03: SwitchToDebugMode(); break;
}
}
else if(sof == COMMAND_SOF_MANUAL)
{
command_process_manual(buf);
}
else if(sof == COMMAND_SOF_DEBUG)
{
command_process_debug(buf);
}
}
state = 0;
}
state = 0;
break;
}
}
@@ -87,20 +135,137 @@ void command_task()
//切换到自动模式
void SwitchToAutoMode()
{
current_mode = COMMAND_MODE_AUTO;
/* 清理PID状态 */
PIDClear((PIDInstance *)&pid_speed_right);
PIDClear((PIDInstance *)&pid_speed_left);
PIDClear((PIDInstance *)&pid_yaw);
PIDClear((PIDInstance *)&pid_position);
/* 初始化输入输出值 */
//角度参考值设为当前值
yaw_ref = imu_angle.yaw;
//角度速率值归零
angle_velocity = 0;
//速度参考值归零
motor_speed_right_ref = 0;
motor_speed_left_ref = 0;
//电机PWM归零
motor_set_pwm_right(0);
motor_set_pwm_left(0);
//设定基础直行速度
motor_speed_base=AUTO_MODE_BASE_SPEED;
/* 开启控制任务 */
motor_control_task_enable=1;
angle_control_task_enable=1;
position_control_task_enable=1;
beep_on_time(100);
}
//切换到手动模式
void SwitchToManualMode()
{
current_mode = COMMAND_MODE_MANUAL;
/* 立即关闭位置环 */
position_control_task_enable=0;
/* 清理PID状态 */
PIDClear((PIDInstance *)&pid_speed_right);
PIDClear((PIDInstance *)&pid_speed_left);
PIDClear((PIDInstance *)&pid_yaw);
/* 初始化输入输出值 */
//角度参考值设为当前值
//yaw_ref = imu_angle.yaw;//暂时关掉，方便在调试模式下更改姿态，然后切回手动模式观察响应
//角度速率归零
angle_velocity = 0;
//速度参考值归零
motor_speed_right_ref = 0;
motor_speed_left_ref = 0;
//电机PWM归零
motor_set_pwm_right(0);
motor_set_pwm_left(0);
//基础直行速度归零
motor_speed_base=0;
/* 开启控制任务 */
motor_control_task_enable=1;
angle_control_task_enable=1;
beep_on_time(200);
}
//切换到调试模式
void SwitchToDebugMode()
{
current_mode = COMMAND_MODE_DEBUG;
/* 立即关闭所有控制任务 */
motor_control_task_enable=0;
angle_control_task_enable=0;
position_control_task_enable=0;
/* 电机PWM设为0 */
motor_set_pwm_right(0);
motor_set_pwm_left(0);
beep_on_time(300);
}
//解析手动控制帧 0xA6: [motor_speed_base:2 int16_le][angle_velocity:4 float_le]
static void command_process_manual(uint8_t *data)
{
if(current_mode != COMMAND_MODE_MANUAL)
return;
motor_speed_base = (int16_t)(data[0] | (data[1] << 8));
union { float f; uint8_t b[4]; } u;
u.b[0] = data[2];
u.b[1] = data[3];
u.b[2] = data[4];
u.b[3] = data[5];
angle_velocity = u.f;
command_send_angle_velocity((float *)&angle_velocity);
}
//解析调试调参帧 0xA8: 9个float (KpKiKd_speed + KpKiKd_yaw + KpKiKd_position)
static void command_process_debug(uint8_t *data)
{
if(current_mode != COMMAND_MODE_DEBUG)
return;
union { float f; uint8_t b[4]; } u[9];
for(int i = 0; i < 9; i++)
{
u[i].b[0] = data[i*4 + 0];
u[i].b[1] = data[i*4 + 1];
u[i].b[2] = data[i*4 + 2];
u[i].b[3] = data[i*4 + 3];
}
// 电机速度环 KpKiKd (左右共用)
pid_speed_right.Kp = u[0].f;
pid_speed_right.Ki = u[1].f;
pid_speed_right.Kd = u[2].f;
pid_speed_left.Kp = u[0].f;
pid_speed_left.Ki = u[1].f;
pid_speed_left.Kd = u[2].f;
// 角度环 KpKiKd
pid_yaw.Kp = u[3].f;
pid_yaw.Ki = u[4].f;
pid_yaw.Kd = u[5].f;
// 位置环 KpKiKd
pid_position.Kp = u[6].f;
pid_position.Ki = u[7].f;
pid_position.Kd = u[8].f;
}
//DMA发送使用的地址
uint8_t angle_velocity_data[6] = {0};
//发送速度前馈