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refactor: remove deprecated zero_force field from manual control frame

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VISION_MANUAL_LEN 11→10, frame [SOF:0xA6][yaw_velocity:4][pitch_velocity:4][checksum:1].
Protocol comment, docs, README struct diagram all updated.
This commit is contained in:
李傲琦
2026-06-02 16:41:06 +08:00
parent da6acdcc89
commit 3cb727e151
4 changed files with 13 additions and 19 deletions
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README.md
+2 -3
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@@ -108,7 +108,7 @@ main()
| 帧头 | 长度 | 用途 | | 帧头 | 长度 | 用途 |
|------|------|------| |------|------|------|
| 0xA5 | 10 | 自动/视觉追踪数据帧 (error_x, error_y) | | 0xA5 | 10 | 自动/视觉追踪数据帧 (error_x, error_y) |
| 0xA6 | 11 | 手动控制数据帧 (zero_force, yaw_velocity, pitch_velocity) | | 0xA6 | 10 | 手动控制数据帧 (yaw_velocity, pitch_velocity) |
| 0xA7 | 3 | 命令帧 (模式切换, 激光) | | 0xA7 | 3 | 命令帧 (模式切换, 激光) |
| 0xA8 | 50 | 调试调参帧 (12 个 float PID 参数) | | 0xA8 | 50 | 调试调参帧 (12 个 float PID 参数) |
@@ -135,7 +135,7 @@ main()
``` ```
上位机 USART10 → DecodeVision() → vision_data (全局结构体) 上位机 USART10 → DecodeVision() → vision_data (全局结构体)
├── 0xA5 → auto_updated=1, error_x/y ├── 0xA5 → auto_updated=1, error_x/y
├── 0xA6 → manual_updated=1, zero_force, yaw/pitch velocity ├── 0xA6 → manual_updated=1, yaw/pitch velocity
├── 0xA7 → cmd_pending=1, cmd ├── 0xA7 → cmd_pending=1, cmd
└── 0xA8 → debug_updated=1, 12 个 PID 参数 └── 0xA8 → debug_updated=1, 12 个 PID 参数
@@ -323,7 +323,6 @@ typedef struct {
typedef struct { typedef struct {
float error_x, error_y; // 自动模式: 归一化误差 float error_x, error_y; // 自动模式: 归一化误差
uint8_t auto_updated; uint8_t auto_updated;
uint8_t zero_force; // 手动模式: 零力标志
float yaw_degree_velocity, pitch_degree_velocity; // 手动模式: 角速度 float yaw_degree_velocity, pitch_degree_velocity; // 手动模式: 角速度
uint8_t manual_updated; uint8_t manual_updated;
// 调试模式数据 // 调试模式数据
docs/host_comm_guide.md
+6 -8
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@@ -53,29 +53,27 @@ def send_auto_tracking(ser, error_x: float, error_y: float):
--- ---
## 2. 手动控制数据帧 0xA6 (11 字节) ## 2. 手动控制数据帧 0xA6 (10 字节)
**用途**: 手动模式下发送角速度目标值。 **用途**: 手动模式下发送角速度目标值。
``` ```
[SOF:0xA6][zero_force:1][yaw_velocity:4][pitch_velocity:4][checksum:1] [SOF:0xA6][yaw_velocity:4][pitch_velocity:4][checksum:1]
``` ```
| 偏移 | 长度 | 类型 | 含义 | | 偏移 | 长度 | 类型 | 含义 |
|---|---|---|---| |---|---|---|---|
| 0 | 1 | uint8 | 帧头 0xA6 | | 0 | 1 | uint8 | 帧头 0xA6 |
| 1 | 1 | uint8 | 零力标志 (0=正常, 1=零力) | | 1 | 4 | float | Yaw 角速度 (degrees/s) |
| 2 | 4 | float | Yaw 角速度 (degrees/s) | | 5 | 4 | float | Pitch 角速度 (degrees/s) |
| 6 | 4 | float | Pitch 角速度 (degrees/s) | | 9 | 1 | uint8 | checksum |
| 10 | 1 | uint8 | checksum |
**Python 写入示例**: **Python 写入示例**:
```python ```python
def send_manual_control(ser, yaw_deg_per_s: float, pitch_deg_per_s: float, zero_force: int = 0): def send_manual_control(ser, yaw_deg_per_s: float, pitch_deg_per_s: float):
data = bytearray() data = bytearray()
data.append(0xA6) data.append(0xA6)
data.append(0 if zero_force else 0)
data.extend(struct.pack('<ff', yaw_deg_per_s, pitch_deg_per_s)) data.extend(struct.pack('<ff', yaw_deg_per_s, pitch_deg_per_s))
checksum = sum(data) & 0xFF checksum = sum(data) & 0xFF
data.append(checksum) data.append(checksum)
modules/master_machine/master_machine.c
+2 -3
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@@ -37,9 +37,8 @@ static void DecodeVision()
{ {
if (calc_checksum(buf, VISION_MANUAL_LEN) != buf[VISION_MANUAL_LEN - 1]) if (calc_checksum(buf, VISION_MANUAL_LEN) != buf[VISION_MANUAL_LEN - 1])
return; return;
vision_data.zero_force = buf[1]; memcpy(&vision_data.yaw_degree_velocity, buf + 1, 4);
memcpy(&vision_data.yaw_degree_velocity, buf + 2, 4); memcpy(&vision_data.pitch_degree_velocity, buf + 5, 4);
memcpy(&vision_data.pitch_degree_velocity, buf + 6, 4);
vision_data.manual_updated = 1; vision_data.manual_updated = 1;
} }
else if (sof == VISION_SOF_DEBUG && len == VISION_DEBUG_LEN) else if (sof == VISION_SOF_DEBUG && len == VISION_DEBUG_LEN)
modules/master_machine/master_machine.h
+3 -5
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@@ -15,9 +15,8 @@
* [SOF:0xA5][error_x:4][error_y:4][checksum:1] * [SOF:0xA5][error_x:4][error_y:4][checksum:1]
* error_x/y: float, 归一化误差, 视觉PID外环反馈值 * error_x/y: float, 归一化误差, 视觉PID外环反馈值
* *
* ---- 手动控制数据帧 0xA6 (11 字节) ---- * ---- 手动控制数据帧 0xA6 (10 字节) ----
* [SOF:0xA6][zero_force:1][yaw_velocity:4][pitch_velocity:4][checksum:1] * [SOF:0xA6][yaw_velocity:4][pitch_velocity:4][checksum:1]
* zero_force: 0=正常速度控制, 1=零力/保持当前位置
* yaw_velocity/pitch_velocity: float, 角速度 (degrees/s) * yaw_velocity/pitch_velocity: float, 角速度 (degrees/s)
* *
* ---- 命令帧 0xA7 (3 字节) ---- * ---- 命令帧 0xA7 (3 字节) ----
@@ -40,7 +39,7 @@
#define VISION_SOF_DEBUG 0xA8 #define VISION_SOF_DEBUG 0xA8
#define VISION_AUTO_LEN 10 #define VISION_AUTO_LEN 10
#define VISION_MANUAL_LEN 11 #define VISION_MANUAL_LEN 10
#define VISION_CMD_LEN 3 #define VISION_CMD_LEN 3
#define VISION_DEBUG_LEN 50 #define VISION_DEBUG_LEN 50
@@ -67,7 +66,6 @@ typedef struct
uint8_t auto_updated; // 收到新的自动数据帧标志 uint8_t auto_updated; // 收到新的自动数据帧标志
/* 手动模式数据 */ /* 手动模式数据 */
uint8_t zero_force;
float yaw_degree_velocity; float yaw_degree_velocity;
float pitch_degree_velocity; float pitch_degree_velocity;
uint8_t manual_updated; // 收到新的手动数据帧标志 uint8_t manual_updated; // 收到新的手动数据帧标志