RobotHardware-UESTC/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/DataHolder/data_holder.h

#ifndef DATA_HOLDER_H_
#define DATA_HOLDER_H_

#include <string.h>

// 1字节对齐
#pragma pack(1)

struct Robot_firmware
{
    char version[16]; //固件版本
    char time[16];  //构建时间
};

enum IMU_TYPE
{
    IMU_TYPE_GY65 = 49,
    IMU_TYPE_GY85 = 69,
    IMU_TYPE_GY87 = 71
};

#define MOTOR_ENCODER_1_FLAG  0x01
#define MOTOR_ENCODER_2_FLAG  0x02
#define MOTOR_ENCODER_3_FLAG  0x04
#define MOTOR_ENCODER_4_FLAG  0x08

struct Params
{   
    unsigned short wheel_diameter;      //轮子直径  mm
    unsigned short wheel_track;         //差分：轮距， 三全向轮：直径，四全向：前后轮距+左右轮距 mm
    unsigned short encoder_resolution;  //编码器分辨率
    unsigned char do_pid_interval;      //pid间隔 (ms)
    unsigned short kp;
    unsigned short ki;
    unsigned short kd;
    unsigned short ko;                  //pid参数比例
    unsigned short cmd_last_time;       //命令持久时间ms 超过该时间会自动停止运动
    unsigned short max_v_liner_x;       // 最大x线速度
    unsigned short max_v_liner_y;       // 最大y线速度
    unsigned short max_v_angular_z;     // 最大角速度
    unsigned char imu_type;             // imu类型 参见IMU_TYPE
    unsigned short motor_ratio;         // 电机减速比
    unsigned char model_type;           // 运动模型类型 参见MODEL_TYPE
    unsigned char motor_nonexchange_flag;      // 电机标志参数        1 正接      0 反接(相当于电机线交换)
    unsigned char encoder_nonexchange_flag;    // 编码器标志参数      1 正接      0 反接(相当于编码器ab相交换)
};

struct Robot_parameter 
{
    union
    {
        char buff[64];
        struct Params params;
    };
};

struct Robot_velocity
{
    short v_liner_x; //线速度 前>0 cm/s
    short v_liner_y; //差分轮 为0  cm/s
    short v_angular_z; //角速度 左>0 0.01rad/s  100 means 1 rad/s
};

struct Robot_odom
{
    short v_liner_x;      //线速度 前>0 后<0  cm/s
    short v_liner_y;      //差分轮 为0        cm/s
    short v_angular_z;    //角速度 左>0 右<0  0.01rad/s   100 means 1 rad/s
    long x;              //里程计坐标x       cm (这里long为4字节，下同)
    long y;              //里程计坐标y       cm
    short yaw;            //里程计航角        0.01rad     100 means 1 rad
};

struct Robot_pid_data
{
    long input[4];  //各轮子驱动输入值
    long output[4]; //个轮子输出值
};

struct Robot_pwm_value
{
    short value[4];
};

class Data_holder
{
public:
    static Data_holder* get() {
        static Data_holder dh;
        return &dh;
    }

    void load_parameter();

    void save_parameter();

private:
    Data_holder();
public:
    struct Robot_firmware  firmware_info;//版本信息
    struct Robot_parameter parameter;   //参数
    struct Robot_velocity  velocity;    // 速度
    struct Robot_odom      odom;        //里程
    struct Robot_pid_data  pid_data;    //pid输入输出

    float imu_data[9];                  //imu的值 9axis

    float                   encoder_count[4];         // 编码器计数
    struct Robot_pwm_value  pwm;                                    // 控制的pwm
};
#endif