added basic barrel heat control

src/app/inc/launch_task.h

@@ -28,5 +28,6 @@ void Launch_Task_Init(void);
 void Launch_Ctrl_Loop(void);
 
 extern Launch_Target_t g_launch_target;
+extern DJI_Motor_Handle_t *g_flywheel_left, *g_flywheel_right, *g_motor_feed;
 
 #endif // LAUNCH_TASK_H

src/app/src/debug_task.c

@@ -10,6 +10,7 @@
 #include "referee_system.h"
 #include "jetson_orin.h"
 #include "bsp_daemon.h"
+#include "launch_task.h"
 
 extern Robot_State_t g_robot_state;
 extern DJI_Motor_Handle_t *g_yaw;
@@ -51,7 +52,6 @@ void Debug_Task_Loop(void)
     // if (counter > 0xFFFFFFFF) {
     //     counter = 0;
     // }
-    DEBUG_PRINTF(&huart6, "/*%f,%f*/", g_swerve_fl.drive_motor->velocity_pid->ref,g_swerve_fl.drive_motor->stats->current_vel_rpm);
-    //DEBUG_PRINTF(&huart6, "/*%f,%f*/", g_robot_state.chassis_total_power, Referee_Robot_State.Chassis_Power);
+    DEBUG_PRINTF(&huart6, ">ref:%f\n>act:%f\n",g_motor_feed->velocity_pid->ref,g_motor_feed->stats->current_vel_rpm);
 #endif
 }

src/app/src/launch_task.c

@@ -8,7 +8,7 @@
 extern Robot_State_t g_robot_state;
 extern Remote_t g_remote;
 extern IMU_t g_imu;
-DJI_Motor_Handle_t *g_flywheel_left, *g_flywheel_right, *g_motor_feed, *g_motor_feed;
+DJI_Motor_Handle_t *g_flywheel_left, *g_flywheel_right, *g_motor_feed;
 Launch_Target_t g_launch_target;
 
 void Feed_Angle_Calc(void);
@@ -50,6 +50,8 @@ void Launch_Task_Init() {
         .velocity_pid =
             {
                 .kp = 500.0f,
+                .kd = 200.0f,
+                .kf = 100.0f,
                 .output_limit = M2006_MAX_CURRENT,
             },
         .angle_pid =

src/app/src/robot.c

@@ -58,7 +58,6 @@ void Robot_Ctrl_Loop()
 {
     // Control loop for the robot
     Robot_Cmd_Loop();
-    Referee_Get_Data();
     Referee_Set_Robot_State();
     Chassis_Ctrl_Loop();
     Gimbal_Ctrl_Loop();
@@ -147,7 +146,7 @@ void Robot_Cmd_Loop()
             /* Gimbal ends here */
 
             /* Launch control starts here */
-            if (Referee_System.Power_Heat.Shooter_1_17mm_Heat < 200)
+            if (Referee_Robot_State.Shooter_Heat_1 < (Referee_Robot_State.Heat_Max-40))
             {
                 if (g_remote.controller.wheel < -50.0f)
                 { // dial wheel forward single fire

src/bsp/inc/bsp_uart.h

@@ -16,6 +16,6 @@ typedef struct _UART_Instance
 } UART_Instance_t;
 
 void UART_Service_Init(UART_Instance_t *uart_insatce);
-UART_Instance_t *UART_Register(UART_HandleTypeDef *huart, uint8_t *rx_buffer, uint8_t rx_buffer_size, void (*callback)(UART_Instance_t *uart_instance)); 
+UART_Instance_t *UART_Register(UART_HandleTypeDef *huart, uint8_t *rx_buffer, uint16_t rx_buffer_size, void (*callback)(UART_Instance_t *uart_instance)); 
 HAL_StatusTypeDef UART_Transmit(UART_Instance_t *uart_instance, uint8_t *tx_buffer, uint16_t tx_buffer_size, uint8_t send_type);
 #endif // BSP_UART_H

src/bsp/src/bsp_uart.c

@@ -41,7 +41,7 @@ void UART_Service_Init(UART_Instance_t *uart_insatce)
  * @param rx_buffer_size size of the buffer
  * @param callback callback function when UART receive is complete
 */
-UART_Instance_t *UART_Register(UART_HandleTypeDef *huart, uint8_t *rx_buffer, uint8_t rx_buffer_size, void (*callback)(UART_Instance_t *uart_instance))
+UART_Instance_t *UART_Register(UART_HandleTypeDef *huart, uint8_t *rx_buffer, uint16_t rx_buffer_size, void (*callback)(UART_Instance_t *uart_instance))
 {
     UART_Instance_t *uart_instance = (UART_Instance_t *)malloc(sizeof(UART_Instance_t));
     uart_instance->uart_handle = huart;

src/devices/inc/referee_system.h

@@ -14,10 +14,13 @@
 
 #include "bsp_crc.h"
 #include "dma.h"
-#include "usart.h"
+#include "bsp_uart.h"
+#include "bsp_daemon.h"
 #include <stdint.h>
 #include <stdbool.h>
 
+#define REFEREE_TIMEOUT_MS 500
+
 //Standard Confrontation
 #define V1_STANDARD_POWER_MAX 120
 #define V1_STANDARD_HP_MAX 200
@@ -296,7 +299,7 @@ typedef struct
 	uint8_t Offline_Flag;
 } Referee_System_t;
 
-void Referee_Get_Data(void);
+void Referee_Get_Data(UART_Instance_t *uart_instance);
 void Referee_Set_Robot_State(void);
 void Referee_System_Init(UART_HandleTypeDef *huart);
 

src/devices/src/referee_system.c

@@ -9,13 +9,11 @@
  *
  */
 #include "referee_system.h"
-#include "usart.h"
 
 Referee_System_t Referee_System;
 Referee_Robot_State_t Referee_Robot_State;
-
-void Referee_Get_Data(void);
-void Referee_Set_Robot_State(void);
+UART_Instance_t *g_referee_uart_instance_ptr;
+Daemon_Instance_t *g_referee_daemon_instance_ptr;
 
 void Referee_Set_Robot_State(void)
 {
@@ -35,20 +33,35 @@ void Referee_Set_Robot_State(void)
     Referee_Robot_State.Shooting_Frequency = Referee_System.Shooter.Frequency;
     Referee_Robot_State.Shooting_Speed = Referee_System.Shooter.Speed;
 }
+void Referee_System_Timeout_Callback()
+{
+	// Attemp to reinitialize UART service
+	UART_Service_Init(g_referee_uart_instance_ptr);
+}
 
 void Referee_System_Init(UART_HandleTypeDef *huart)
 {
     Referee_System.huart = huart;
     HAL_UART_Receive_DMA(huart, Referee_System.Buffer, REFEREE_BUFFER_LEN);
+
+    g_referee_uart_instance_ptr = UART_Register(huart, Referee_System.Buffer, REFEREE_BUFFER_LEN, Referee_Get_Data);
+
+	// register Daemon instance
+	// timeout is defined in the header file
+	uint16_t reload_value = REFEREE_TIMEOUT_MS / DAEMON_PERIOD;
+	uint16_t initial_counter = reload_value;
+	g_referee_daemon_instance_ptr = Daemon_Register(reload_value, initial_counter, Referee_System_Timeout_Callback);
 }
 
 // Get referee system data based on ID
-void Referee_Get_Data(void)
+void Referee_Get_Data(UART_Instance_t *uart_instance)
 {
+    UNUSED(uart_instance);
     for (int n = 0; n < REFEREE_BUFFER_LEN;)
     {
         if (Referee_System.Buffer[n] == REFEREE_FRAME_HEADER_START)
         {
+            Daemon_Reload(g_referee_daemon_instance_ptr);
             switch (Referee_System.Buffer[n + 5] | Referee_System.Buffer[n + 6] << 8)
             {
             case REFEREE_GAME_STATUS:
@@ -151,10 +164,10 @@ void Referee_Get_Data(void)
                     n++;
                 break;
 			case REFEREE_AERIAL_DATA:
-                if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_AERIAL_DATA))
+                if (Verify_CRC16_Check_Sum(Referee_System.Buffer + n, REFEREE_AERIAL_DATA_LEN))
                 {
                     memcpy(&Referee_System.Aerial_Data, &Referee_System.Buffer[n + 7], sizeof(uint8_t[REFEREE_AERIAL_DATA_LEN-9]));
-                    n += REFEREE_AERIAL_DATA;
+                    n += REFEREE_AERIAL_DATA_LEN;
                 }
                 else
                     n++;