SkyLiCoder
e1a01e6b53
- host 0xA9 frame → master_machine decode → robot_cmd publish via gimbal_feedforward topic → gimbal subscribe → yaw_motor.feed_input - add DM_Feedforward_Controller_s with Kp and feed_input fields - add feedforward term (Kp * feed_input) to motor control output - add DM_Feedforward_Kp to motor init config
102 lines
3.3 KiB
C
102 lines
3.3 KiB
C
#include "master_machine.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.measure_x, buf + 1, 4);
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memcpy(&vision_data.ref_x, buf + 5, 4);
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memcpy(&vision_data.measure_y, buf + 9, 4);
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memcpy(&vision_data.ref_y, buf + 13, 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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memcpy(&vision_data.yaw_degree_velocity, buf + 1, 4);
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memcpy(&vision_data.pitch_degree_velocity, buf + 5, 4);
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vision_data.manual_updated = 1;
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}
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else if (sof == VISION_SOF_DEBUG && len == VISION_DEBUG_LEN)
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{
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if (calc_checksum(buf, VISION_DEBUG_LEN) != buf[VISION_DEBUG_LEN - 1])
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return;
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uint8_t *p = buf + 1;
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memcpy(&vision_data.vision_yaw_Kp, p, 4); p += 4;
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memcpy(&vision_data.vision_yaw_Ki, p, 4); p += 4;
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memcpy(&vision_data.vision_yaw_Kd, p, 4); p += 4;
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memcpy(&vision_data.vision_pitch_Kp, p, 4); p += 4;
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memcpy(&vision_data.vision_pitch_Ki, p, 4); p += 4;
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memcpy(&vision_data.vision_pitch_Kd, p, 4); p += 4;
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memcpy(&vision_data.motor_yaw_Kp, p, 4); p += 4;
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memcpy(&vision_data.motor_yaw_Ki, p, 4); p += 4;
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memcpy(&vision_data.motor_yaw_Kd, p, 4); p += 4;
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memcpy(&vision_data.motor_pitch_Kp, p, 4); p += 4;
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memcpy(&vision_data.motor_pitch_Ki, p, 4); p += 4;
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memcpy(&vision_data.motor_pitch_Kd, p, 4);
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vision_data.debug_updated = 1;
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}
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else if (sof == VISION_SOF_FEEDFORWARD && len == VISION_FEEDFORWARD_LEN)
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{
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if (calc_checksum(buf, VISION_FEEDFORWARD_LEN) != buf[VISION_FEEDFORWARD_LEN - 1])
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return;
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memcpy(&vision_data.feedforward, buf + 1, 4);
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vision_data.feedforward_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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.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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