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
69 lines
1.4 KiB
C
69 lines
1.4 KiB
C
#pragma once
|
|
#ifndef ROBOT_DEF_H
|
|
#define ROBOT_DEF_H
|
|
|
|
#include "ins_task.h"
|
|
#include "master_process.h"
|
|
#include "stdint.h"
|
|
|
|
/* 开发板类型定义 */
|
|
#define ONE_BOARD // 单板控制整车
|
|
|
|
//#define VISION_USE_VCP // 使用虚拟串口发送视觉数据
|
|
#define VISION_USE_UART // 使用串口发送视觉数据
|
|
|
|
/* 云台参数 */
|
|
#define YAW_CHASSIS_ALIGN_ECD 2711
|
|
#define PITCH_HORIZON_ECD 3412
|
|
#define PITCH_MAX_ANGLE 0
|
|
#define PITCH_MIN_ANGLE 0
|
|
|
|
/* IMU->云台方向 */
|
|
#define GYRO2GIMBAL_DIR_YAW 1
|
|
#define GYRO2GIMBAL_DIR_PITCH 1
|
|
#define GYRO2GIMBAL_DIR_ROLL 1
|
|
|
|
#pragma pack(1)
|
|
|
|
/* 机器人状态 */
|
|
typedef enum
|
|
{
|
|
ROBOT_STOP = 0,
|
|
ROBOT_READY,
|
|
} Robot_Status_e;
|
|
|
|
/* 应用状态 */
|
|
typedef enum
|
|
{
|
|
APP_OFFLINE = 0,
|
|
APP_ONLINE,
|
|
APP_ERROR,
|
|
} App_Status_e;
|
|
|
|
/* 云台模式 */
|
|
typedef enum
|
|
{
|
|
GIMBAL_ZERO_FORCE = 0,
|
|
GIMBAL_GYRO_MODE,
|
|
} gimbal_mode_e;
|
|
|
|
/* ---- CMD 发布给 gimbal 的控制数据 ---- */
|
|
typedef struct
|
|
{
|
|
float yaw; // yaw 目标角度 (degrees, multi-turn)
|
|
float pitch; // pitch 目标角度 (degrees)
|
|
gimbal_mode_e gimbal_mode;
|
|
} Gimbal_Ctrl_Cmd_s;
|
|
|
|
/* ---- gimbal 发布给 CMD 的反馈数据 ---- */
|
|
typedef struct
|
|
{
|
|
attitude_t gimbal_imu_data;
|
|
uint16_t yaw_motor_single_round_angle;
|
|
uint8_t gimbal_power;
|
|
} Gimbal_Upload_Data_s;
|
|
|
|
#pragma pack()
|
|
|
|
#endif // !ROBOT_DEF_H
|