SkyLiCoder
da6acdcc89
Manual mode now receives angular velocity (degrees/s) via 0xA6 frame instead of absolute angle reference. The firmware integrates velocity * dt into gimbal angle ref. Motors are no longer auto-enabled at DMMotorInit — they stay disabled until a mode switch out of DEBUG. Extract ROBOT_CMD_DELAY macro to replace magic number. Fix "volity" typo → "velocity" and update docs/protocol comments accordingly.
191 lines
4.9 KiB
Markdown
191 lines
4.9 KiB
Markdown
# 上位机通信协议指南
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## 串口配置
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| 参数 | 值 |
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|---|---|
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| 波特率 | 115200 |
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| 数据位 | 8 |
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| 停止位 | 1 |
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| 校验位 | None |
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## 帧格式总览
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所有帧通过帧头 (SOF) 区分类型，checksum = 帧头到数据末尾前一字节的所有字节累加和取低 8 位。
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| 帧头 | 长度 | 用途 |
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|---|---|---|
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| 0xA5 | 10 | 自动/视觉追踪数据 |
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| 0xA6 | 11 | 手动控制数据 |
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| 0xA7 | 3 | 命令 |
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| 0xA8 | 50 | 调试调参数据 |
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---
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## 1. 自动/视觉追踪数据帧 0xA5 (10 字节)
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**用途**: 视觉识别完成后持续发送跟踪误差。
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```
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[SOF:0xA5][error_x:4][error_y:4][checksum:1]
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```
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| 偏移 | 长度 | 类型 | 含义 |
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|---|---|---|---|
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| 0 | 1 | uint8 | 帧头 0xA5 |
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| 1 | 4 | float | 归一化 X 轴误差 |
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| 5 | 4 | float | 归一化 Y 轴误差 |
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| 9 | 1 | uint8 | checksum |
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**Python 写入示例**:
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```python
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import struct
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def send_auto_tracking(ser, error_x: float, error_y: float):
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data = bytearray()
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data.append(0xA5)
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data.extend(struct.pack('<ff', error_x, error_y))
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checksum = sum(data) & 0xFF
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data.append(checksum)
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ser.write(data)
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```
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---
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## 2. 手动控制数据帧 0xA6 (11 字节)
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**用途**: 手动模式下发送角速度目标值。
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```
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[SOF:0xA6][zero_force:1][yaw_velocity:4][pitch_velocity:4][checksum:1]
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```
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| 偏移 | 长度 | 类型 | 含义 |
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| 0 | 1 | uint8 | 帧头 0xA6 |
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| 1 | 1 | uint8 | 零力标志 (0=正常, 1=零力) |
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| 2 | 4 | float | Yaw 角速度 (degrees/s) |
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| 6 | 4 | float | Pitch 角速度 (degrees/s) |
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| 10 | 1 | uint8 | checksum |
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**Python 写入示例**:
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```python
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def send_manual_control(ser, yaw_deg_per_s: float, pitch_deg_per_s: float, zero_force: int = 0):
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data = bytearray()
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data.append(0xA6)
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data.append(0 if zero_force else 0)
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data.extend(struct.pack('<ff', yaw_deg_per_s, pitch_deg_per_s))
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checksum = sum(data) & 0xFF
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data.append(checksum)
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ser.write(data)
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```
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---
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## 3. 命令帧 0xA7 (3 字节)
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**用途**: 切换模式和控制激光。
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```
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[SOF:0xA7][cmd:1][checksum:1]
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```
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| cmd 值 | 含义 |
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|---|---|
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| 0x01 | 切换到自动/视觉追踪模式 |
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| 0x02 | 切换到手动模式 |
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| 0x05 | 切换到调试模式 (失能所有电机) |
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| 0x03 | 激光开 |
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| 0x04 | 激光关 |
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**Python 写入示例**:
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```python
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CMD_AUTO = 0x01
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CMD_MANUAL = 0x02
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CMD_LASER_ON = 0x03
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CMD_LASER_OFF = 0x04
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CMD_DEBUG = 0x05
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def send_command(ser, cmd: int):
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data = bytearray([0xA7, cmd])
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checksum = sum(data) & 0xFF
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data.append(checksum)
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ser.write(data)
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```
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---
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## 4. 调试调参帧 0xA8 (50 字节)
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**用途**: 在调试模式下发送 PID 参数进行调参。发送后固件会立即生效。
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```
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[SOF:0xA8]
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[vision_yaw_Kp:4][vision_yaw_Ki:4][vision_yaw_Kd:4]
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[vision_pitch_Kp:4][vision_pitch_Ki:4][vision_pitch_Kd:4]
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[motor_yaw_Kp:4][motor_yaw_Ki:4][motor_yaw_Kd:4]
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[motor_pitch_Kp:4][motor_pitch_Ki:4][motor_pitch_Kd:4]
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[checksum:1]
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```
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| 偏移 | 长度 | 类型 | 含义 |
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| 0 | 1 | uint8 | 帧头 0xA8 |
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| 1 | 4 | float | 视觉环 Yaw Kp |
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| 5 | 4 | float | 视觉环 Yaw Ki |
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| 9 | 4 | float | 视觉环 Yaw Kd |
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| 13 | 4 | float | 视觉环 Pitch Kp |
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| 17 | 4 | float | 视觉环 Pitch Ki |
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| 21 | 4 | float | 视觉环 Pitch Kd |
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| 25 | 4 | float | 电机角度环 Yaw Kp |
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| 29 | 4 | float | 电机角度环 Yaw Ki |
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| 33 | 4 | float | 电机角度环 Yaw Kd |
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| 37 | 4 | float | 电机角度环 Pitch Kp |
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| 41 | 4 | float | 电机角度环 Pitch Ki |
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| 45 | 4 | float | 电机角度环 Pitch Kd |
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| 49 | 1 | uint8 | checksum |
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**Python 写入示例**:
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```python
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def send_debug_tune(ser,
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v_yaw_kp, v_yaw_ki, v_yaw_kd,
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v_pitch_kp, v_pitch_ki, v_pitch_kd,
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m_yaw_kp, m_yaw_ki, m_yaw_kd,
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m_pitch_kp, m_pitch_ki, m_pitch_kd):
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data = bytearray()
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data.append(0xA8)
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data.extend(struct.pack('<fff', v_yaw_kp, v_yaw_ki, v_yaw_kd))
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data.extend(struct.pack('<fff', v_pitch_kp, v_pitch_ki, v_pitch_kd))
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data.extend(struct.pack('<fff', m_yaw_kp, m_yaw_ki, m_yaw_kd))
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data.extend(struct.pack('<fff', m_pitch_kp, m_pitch_ki, m_pitch_kd))
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checksum = sum(data) & 0xFF
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data.append(checksum)
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ser.write(data)
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```
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---
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## 调试流程
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1. 上位机发送命令帧 (0xA7, cmd=0x05) 切换到调试模式
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2. 固件收到后失能 yaw 和 pitch 电机，日志指示进入调试模式
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3. 通过 0xA8 帧写入 PID 参数，参数会**实时生效**：
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- 视觉环 PID → 直接写入选中的视觉 PID 实例
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- 电机角度环 PID → 通过话题推送到 gimbal 更新电机角度 PID
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4. 调试完毕后，发送命令帧 (0xA7, cmd=0x02 手动 或 0x01 自动) 切出调试模式，电机会自动使能
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---
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## 校验和计算
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```python
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def calc_checksum(data: bytes) -> int:
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return sum(data) & 0xFF # 所有字节累加取低 8 位
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```
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校验和覆盖范围：**帧头到数据末尾前一字节**的全部字节。接收端在收到数据后也应计算并比对校验和。
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