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
#ifndef OPENCV_H
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#define OPENCV_H
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#include "bsp_usart.h"
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#include "bsp_dwt.h"
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#include "bsp_log.h"
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#include "usart.h"
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#include "daemon.h"
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#include <string.h>
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/*
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* 上位机串口协议 — 三种帧类型, 通过帧头区分
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*
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* ---- 自动/视觉追踪数据帧 0xA5 (10 字节) ----
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* [SOF:0xA5][error_x:4][error_y:4][checksum:1]
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* error_x/y: float, 归一化误差, 视觉PID外环反馈值
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*
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* ---- 手动控制数据帧 0xA6 (11 字节) ----
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* [SOF:0xA6][zero_force:1][yaw_ref:4][pitch_ref:4][checksum:1]
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* zero_force: 0=正常角度控制, 1=零力/保持当前位置
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* yaw_ref/pitch_ref: float, 角度参考值 (degrees)
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*
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* ---- 命令帧 0xA7 (3 字节) ----
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* [SOF:0xA7][cmd:1][checksum:1]
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* cmd: 0x01=切换到自动模式, 0x02=切换到手动模式, 0x03=激光开, 0x04=激光关
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*
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* checksum: 帧头到数据末尾前一字节累加和取低8位
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*/
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#define VISION_SOF_AUTO 0xA5
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#define VISION_SOF_MANUAL 0xA6
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#define VISION_SOF_CMD 0xA7
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#define VISION_AUTO_LEN 10
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#define VISION_MANUAL_LEN 11
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#define VISION_CMD_LEN 3
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/* 命令码 */
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#define VISION_CMD_SWITCH_AUTO 0x01
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#define VISION_CMD_SWITCH_MANUAL 0x02
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#define VISION_CMD_LASER_ON 0x03
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#define VISION_CMD_LASER_OFF 0x04
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/* 工作模式 */
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typedef enum
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{
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VISION_MODE_AUTO = 0, // 自动/视觉追踪
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VISION_MODE_MANUAL = 1, // 手动
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} Vision_Mode_e;
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typedef struct
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{
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/* 自动模式数据 */
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float error_x;
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float error_y;
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uint8_t auto_updated; // 收到新的自动数据帧标志
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/* 手动模式数据 */
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uint8_t zero_force;
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float yaw_ref;
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float pitch_ref;
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uint8_t manual_updated; // 收到新的手动数据帧标志
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/* 命令 */
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uint8_t cmd; // 最新命令码
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uint8_t cmd_pending; // 有待处理命令标志
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float frequency; // 接收频率 (Hz)
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} VisionData_t;
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extern VisionData_t vision_data;
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void Vision_Uart_Init(UART_HandleTypeDef *_handle);
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#endif // OPENCV_H
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