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chore: 导入 Simba-OmniInfantry 基线(云台/底盘双工程)

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- 云台(ROBOT_TYPE_GIMBAL)与底盘(ROBOT_TYPE_CHASSIS)完整固件源码
- 新增根级 .gitignore,排除 Keil MDK-ARM 构建产物(.o/.d/.crf/.axf/.lnp/.map/.htm/.sct/.dep/.iex/.lst 等)
  与 *.uvguix.* / DebugConfig/(与机器绑定的 UI 布局)
- core.autocrlf=false,避免固件源码在检出时被改动换行符
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LSMushui
2026-09-12 10:28:21 +08:00
commit a4da5ad17c
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底盘/Application/Task/Src/robot_cmd_task.c
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/* =============================================================================
* robot_cmd_task.c - 控制源汇总(2ms),发布 cmd_robot_t(robot_typedef.h)
* 云台板: DR16 遥控器 + 图传键鼠(0x0304,referee 键盘钩子填充 keyboard_data)
* 键鼠/遥控互斥(与 legacy 一致);摇杆->云台增量与限位门控;
* Q 摩擦轮/左键发射/E 退弹/拨轮;首帧触发 gimbal_reset
* 底盘板: 从 ctoc_remote(0x149/0x189 解析结果)生成:
* S2 上=慢陀螺 下=快陀螺 中=跟随;Ctrl 切换保持型小陀螺;
* vx/vy 来自右摇杆(键鼠由云台合成);左摇杆水平=手动旋转(死区外
* 覆盖跟随输出);Shift=加速
* ========================================================================== */
#include "app_tasks.h"
#include "cmsis_os.h"
#include "dr16.h"
#include "c_comm.h"
#include "robot_typedef.h"
#include "robot_param.h"
#if defined(ROBOT_TYPE_GIMBAL)
#include "robot_cmd_task.h"
#include "referee.h"
#include "gimbal.h"
#elif defined(ROBOT_TYPE_CHASSIS)
#include "referee.h"
#endif
/* robot_cmd_task(2ms):汇总控制源,发布 cmd_robot_t
* 云台板:DR16 遥控器 + 图传键鼠(0x0304)
* 底盘板:CToC 转发的"虚拟遥控器"(0x149/0x189) */
volatile cmd_robot_t cmd_robot;
#if defined(ROBOT_TYPE_GIMBAL)
keyboard_data_t keyboard_data;
static uint8_t keyboard_online = 0;
void dr16_frame_callback(const uint8_t * frame, uint16_t len)
{
if (len == 18)
dr16_parse(frame);
}
/* 0x0304 自定义控制器数据 -> keyboard_data(中断上下文) */
static void referee_keyboard_hook(const uint8_t data[12])
{
keyboard_data.mouse_rl = (int16_t)(((uint16_t)data[1] << 8) | data[0]);
keyboard_data.mouse_du = (int16_t)(((uint16_t)data[3] << 8) | data[2]);
keyboard_data.mouse_wheel = (int16_t)(((uint16_t)data[5] << 8) | data[4]);
keyboard_data.mouse_key_l = data[6];
keyboard_data.mouse_key_r = data[7];
keyboard_data.key_w = data[8] & 0x01;
keyboard_data.key_s = (data[8] >> 1) & 0x01;
keyboard_data.key_a = (data[8] >> 2) & 0x01;
keyboard_data.key_d = (data[8] >> 3) & 0x01;
keyboard_data.key_shift = (data[8] >> 4) & 0x01;
keyboard_data.key_ctrl = (data[8] >> 5) & 0x01;
keyboard_data.key_q = (data[8] >> 6) & 0x01;
keyboard_data.key_e = (data[8] >> 7) & 0x01;
/* Q/E/Shift/Ctrl 按下翻转(legacy 键盘边沿语义) */
if (keyboard_data.key_last_q == 0 && keyboard_data.key_q == 1)
keyboard_data.key_push_q = !keyboard_data.key_push_q;
if (keyboard_data.key_last_e == 0 && keyboard_data.key_e == 1)
keyboard_data.key_push_e = !keyboard_data.key_push_e;
if (keyboard_data.key_last_shift == 0 && keyboard_data.key_shift == 1)
keyboard_data.key_push_shift = !keyboard_data.key_push_shift;
if (keyboard_data.key_last_ctrl == 0 && keyboard_data.key_ctrl == 1)
keyboard_data.key_push_ctrl = !keyboard_data.key_push_ctrl;
keyboard_data.key_last_q = keyboard_data.key_q;
keyboard_data.key_last_e = keyboard_data.key_e;
keyboard_data.key_last_shift = keyboard_data.key_shift;
keyboard_data.key_last_ctrl = keyboard_data.key_ctrl;
keyboard_data.last_tick = HAL_GetTick();
}
void robot_cmd_task(void const * argument)
{
referee_set_keyboard_hook(referee_keyboard_hook);
while (!app_ready)
osDelay(2);
for (;;)
{
keyboard_online = (keyboard_data.last_tick != 0 &&
HAL_GetTick() - keyboard_data.last_tick < DEVICE_OFFLINE_TIME_MS * 10);
cmd_robot.online = (dr16_status == 1 && !dr16_offline());
cmd_robot.source = keyboard_online ? 1 : 0;
if (cmd_robot.online)
{
/* ---- 云台轴增量 ---- */
float yaw_delta = 0, pitch_delta = 0;
uint16_t pos = motor_pitch_gimbal.fdb.raw_angle;
if (!keyboard_online)
{
/* 遥控器:左摇杆,输出与摇杆偏量成比例(legacy 为过死区即全速,
* 体感过灵敏),限位门控与方向保持 legacy */
if (dr16.rc_l_UD > 1050 && pos > PITCH_GM6020_POSITION_UPPER_LIMIT)
pitch_delta -= GIMBAL_PITCH_LEVER_RATE / 8192.0f * 360.0f *
((float)dr16.rc_l_UD - 1024.0f) / 660.0f;
else if (dr16.rc_l_UD < 1000 && pos < PITCH_GM6020_POSITION_LOWER_LIMIT)
pitch_delta += GIMBAL_PITCH_LEVER_RATE / 8192.0f * 360.0f *
(1024.0f - (float)dr16.rc_l_UD) / 660.0f;
if (dr16.rc_l_RL > 1050 || dr16.rc_l_RL < 1000)
yaw_delta -= GIMBAL_LEVER_SPEED_MAP_RATE * GIMBAL_YAW_PITCH_SPEED_RATE *
GIMBAL_YAW_PITCH_SPEED_RATE * 0.0439453125f *
((float)dr16.rc_l_RL - 1024.0f) / 660.0f;
}
else
{
/* 键鼠:同改为比例输出 */
if (keyboard_data.mouse_du < -8 && pos > PITCH_GM6020_POSITION_UPPER_LIMIT)
pitch_delta -= GIMBAL_PITCH_LEVER_RATE / 8192.0f * 360.0f *
(-(float)keyboard_data.mouse_du * PC_MOUSE_DU_SENSITIVITY) / 660.0f;
else if (keyboard_data.mouse_du > 8 && pos < PITCH_GM6020_POSITION_LOWER_LIMIT)
pitch_delta += GIMBAL_PITCH_LEVER_RATE / 8192.0f * 360.0f *
((float)keyboard_data.mouse_du * PC_MOUSE_DU_SENSITIVITY) / 660.0f;
if (keyboard_data.mouse_rl != 0)
yaw_delta -= GIMBAL_LEVER_SPEED_MAP_RATE * GIMBAL_YAW_PITCH_SPEED_RATE *
GIMBAL_YAW_PITCH_SPEED_RATE * 0.0439453125f *
((float)keyboard_data.mouse_rl * PC_MOUSE_RL_SENSITIVITY / 660.0f * 2.0f);
}
cmd_robot.gimbal_yaw_delta = yaw_delta;
cmd_robot.gimbal_pitch_delta = pitch_delta;
/* ---- 发射机构 ---- */
if (!keyboard_online)
{
cmd_robot.friction_on = (dr16.s1 == 1);
cmd_robot.fire = (dr16.thumb_wheel < 1000);
cmd_robot.eject = (dr16.thumb_wheel > 1050);
}
else
{
cmd_robot.friction_on = keyboard_data.key_push_q;
cmd_robot.fire = keyboard_data.mouse_key_l;
cmd_robot.eject = keyboard_data.key_push_e;
}
cmd_robot.thumb_wheel = dr16.thumb_wheel;
}
else
{
cmd_robot.gimbal_yaw_delta = 0;
cmd_robot.gimbal_pitch_delta = 0;
cmd_robot.friction_on = 0;
cmd_robot.fire = 0;
cmd_robot.eject = 0;
}
/* 小陀螺使能:Ctrl 沿翻转(仅在遥控源检测,键鼠 TODO);
* 云台侧是数据源头,底盘只收状态位——重连瞬间保持态跳变不会在
* 底盘误触发沿(修复"重连误开小陀螺疯转") */
{
static uint8_t spin_flag = 0, last_ctrl = 0;
uint8_t ctrl_now = (!keyboard_online) ? dr16.key_push_ctrl : 0;
if (last_ctrl == 0 && ctrl_now == 1)
spin_flag = !spin_flag;
last_ctrl = ctrl_now;
cmd_robot.spin_flag = spin_flag;
}
/* 遥控器重新连接瞬间(start_flag==2)请求云台复位,与 legacy 一致;
* 同时清小陀螺使能(重连不应保持按 Ctrl 的历史状态) */
cmd_robot.gimbal_reset = 0;
if (dr16_start_flag == 2)
{
dr16_start_flag = 0;
cmd_robot.gimbal_reset = 1;
cmd_robot.spin_flag = 0;
}
monitor_heartbeat(HB_CMD);
osDelay(2);
}
}
#elif defined(ROBOT_TYPE_CHASSIS)
void robot_cmd_task(void const * argument)
{
while (!app_ready)
osDelay(2);
for (;;)
{
/* 板间通讯在线 = 云台侧遥控器在线 且 收帧新鲜 */
/* 云台电机故障位(0x189 Data[6] bit7)置位时同样视为离线,底盘停车 */
uint8_t ctoc_alive = (ctoc_remote.status == 1 &&
ctoc_remote.last_tick != 0 &&
HAL_GetTick() - ctoc_remote.last_tick < CTOC_OFFLINE_TIME_MS &&
ctoc_remote.gimbal_fault == 0);
cmd_robot.online = ctoc_alive;
cmd_robot.source = 0;
if (cmd_robot.online)
{
/* 底盘模式:小陀螺使能位(0x189 bit2,云台侧做 Ctrl 沿检测)优先
* SPIN_FAST;否则右拨杆 上=慢陀螺 下=快陀螺 中=跟随。
* 底盘不做沿检测——遥控重连瞬间转发保持态跳变会被误判为按键,
* 导致误开小陀螺疯转(已踩坑) */
if (ctoc_remote.spin_flag)
cmd_robot.chassis_mode = CHASSIS_MODE_SPIN_FAST;
else if (ctoc_remote.s2 == 1)
cmd_robot.chassis_mode = CHASSIS_MODE_SPIN_SLOW;
else if (ctoc_remote.s2 == 2)
cmd_robot.chassis_mode = CHASSIS_MODE_SPIN_FAST;
else
cmd_robot.chassis_mode = CHASSIS_MODE_FOLLOW;
/* 平移:右摇杆(键盘模式由云台合成 WASD 进摇杆量) */
cmd_robot.vx = (1024.0f - (float)ctoc_remote.rc_r_ud) * MECANUM_CHASSIS_SPEED_SCALE;
cmd_robot.vy = (1024.0f - (float)ctoc_remote.rc_r_rl) * MECANUM_CHASSIS_SPEED_SCALE;
/* 无手动旋转:左摇杆水平是云台 Yaw 控制量,底盘再取用即一杆
* 两用冲突(拨 yaw 摇杆底盘同转);旋转由跟随/小陀螺接管 */
cmd_robot.wz_manual = 0;
cmd_robot.gimbal_reset = 0;
if (ctoc_remote.start_flag == 2)
{
ctoc_remote.start_flag = 0;
cmd_robot.gimbal_reset = 1; // 复用字段:跟随朝向重新锁定
}
}
else
{
cmd_robot.chassis_mode = CHASSIS_MODE_OFF;
cmd_robot.vx = 0;
cmd_robot.vy = 0;
cmd_robot.wz_manual = 0;
}
monitor_heartbeat(HB_CMD);
osDelay(2);
}
}
#endif