SkyLiCoder
4d1702b577
- Rewrite DM motor driver based on DM_6220 reference protocol (MIT/PosVel/Velocity modes) - Use velocity control mode: MCU runs angle PID with IMU feedback, motor handles speed loop - Rewrite vision protocol with 3 frame types (0xA5 auto data, 0xA6 manual data, 0xA7 command) - Decouple serial parsing (opencv module) from mode switching (robot_cmd module) - Implement dual-loop architecture: vision PID outer loop → angle ref → motor PID inner loop - Add KF/PID reset on mode switch transitions - Merge motor_reverse_flag and feedback_reverse_flag into single output_reverse flag - Remove DMMotorEnable/DMMotorStop (motor always runs, controlled by angle ref) - Remove unused modules: DJI/LK/HT/step/servo motors, chassis, shoot, referee - Add ExitRun0Mode() for STM32H723 power supply configuration - Clean up CMakeLists: 115 → 76 C source files
76 lines
2.0 KiB
C
76 lines
2.0 KiB
C
#include "opencv.h"
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VisionData_t vision_data;
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static USARTInstance *cv_usart_instance;
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static DaemonInstance *vision_daemon_instance;
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static uint8_t calc_checksum(uint8_t *buf, uint8_t len)
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{
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uint8_t sum = 0;
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for (uint8_t i = 0; i < len - 1; i++)
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sum += buf[i];
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return sum;
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}
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static void DecodeVision()
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{
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DaemonReload(vision_daemon_instance);
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static uint32_t counter;
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float dt = DWT_GetDeltaT(&counter);
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vision_data.frequency = 1.0f / dt;
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uint8_t *buf = cv_usart_instance->recv_buff;
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uint16_t len = cv_usart_instance->recv_buff_size;
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uint8_t sof = buf[0];
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if (sof == VISION_SOF_AUTO && len == VISION_AUTO_LEN)
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{
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if (calc_checksum(buf, VISION_AUTO_LEN) != buf[VISION_AUTO_LEN - 1])
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return;
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memcpy(&vision_data.error_x, buf + 1, 4);
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memcpy(&vision_data.error_y, buf + 5, 4);
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vision_data.auto_updated = 1;
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}
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else if (sof == VISION_SOF_MANUAL && len == VISION_MANUAL_LEN)
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{
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if (calc_checksum(buf, VISION_MANUAL_LEN) != buf[VISION_MANUAL_LEN - 1])
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return;
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vision_data.zero_force = buf[1];
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memcpy(&vision_data.yaw_ref, buf + 2, 4);
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memcpy(&vision_data.pitch_ref, buf + 6, 4);
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vision_data.manual_updated = 1;
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}
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else if (sof == VISION_SOF_CMD && len == VISION_CMD_LEN)
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{
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if (calc_checksum(buf, VISION_CMD_LEN) != buf[VISION_CMD_LEN - 1])
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return;
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vision_data.cmd = buf[1];
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vision_data.cmd_pending = 1;
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}
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}
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static void VisionOfflineCallback(void *id)
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{
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(void)id;
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USARTServiceInit(cv_usart_instance);
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}
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void Vision_Uart_Init(UART_HandleTypeDef *_handle)
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{
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USART_Init_Config_s conf = {
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.module_callback = DecodeVision,
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.recv_buff_size = 64,
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.usart_handle = _handle,
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};
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cv_usart_instance = USARTRegister(&conf);
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Daemon_Init_Config_s daemon_conf = {
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.callback = NULL,
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.owner_id = NULL,
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.reload_count = 10,
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};
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vision_daemon_instance = DaemonRegister(&daemon_conf);
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}
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