TuxMonkey/bf_original_balance_chassis
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优化了点击pid计算流程，修复了bsp未初始化的异常，修复了数个未定义和隐式声明的警告

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This commit is contained in:
NeoZng
2022-12-09 18:25:35 +08:00
parent 02b3af15c7
commit 37c23ddb79
16 changed files with 104 additions and 75 deletions
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3
modules/algorithm/controller.c
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@@ -29,10 +29,11 @@ static void f_PID_ErrorHandle(PIDInstance *pid); // 堵转保护
*/
void PID_Init(PIDInstance *pid, PID_Init_config_s *config)
{
memset(pid, 0, sizeof(PIDInstance));
// utilize the quality of struct that its memeory is continuous
memcpy(pid, config, sizeof(PID_Init_config_s));
// set rest of memory to 0
memset(&pid->Measure, 0, sizeof(PIDInstance) - sizeof(PID_Init_config_s));
}
/**

1
modules/daemon/daemon.c
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@@ -1,5 +1,6 @@
#include "daemon.h"
#include "bsp_dwt.h" // 后续通过定时器来计时?
#include "stdlib.h"
static DaemonInstance *daemon_instances[DAEMON_MX_CNT] = {NULL};
static uint8_t idx;

2
modules/general_def.h
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@@ -1,7 +1,9 @@
#ifndef GENERAL_DEF_H
#define GENERAL_DEF_H
#ifndef PI
#define PI 3.1415926535f
#endif // !PI
#define PI2 (PI * 2.0f) // 2 pi
#define RAD_2_ANGLE (180.0f / PI)

1
modules/imu/ins_task.c
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@@ -68,6 +68,7 @@ attitude_t *INS_Init(void)
// noise of accel is relatively big and of high freq,thus lpf is used
INS.AccelLPF = 0.0085;
return (attitude_t*)&INS.Roll;
}
/* 注意以1kHz的频率运行此任务 */

11
modules/motor/dji_motor.c
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@@ -223,7 +223,7 @@ void DJIMotorControl()
static Motor_Control_Setting_s *motor_setting;
static Motor_Controller_s *motor_controller;
static DJI_Motor_Measure_s *motor_measure;
static float pid_measure;
static float pid_measure,pid_ref;
// 遍历所有电机实例,进行串级PID的计算并设置发送报文的值
for (size_t i = 0; i < idx; i++)
{
@@ -233,6 +233,7 @@ void DJIMotorControl()
motor_setting = &motor->motor_settings;
motor_controller = &motor->motor_controller;
motor_measure = &motor->motor_measure;
pid_ref=motor_controller->pid_ref; //保存设定值,防止motor_controller->pid_ref在计算过程中被修改
// pid_ref会顺次通过被启用的闭环充当数据的载体
// 计算位置环,只有启用位置环且外层闭环为位置时会计算速度环输出
@@ -243,7 +244,7 @@ void DJIMotorControl()
else // MOTOR_FEED
pid_measure = motor_measure->total_angle; // 对total angle闭环,防止在边界处出现突跃
// 更新pid_ref进入下一个环
motor_controller->pid_ref = PID_Calculate(&motor_controller->angle_PID, pid_measure, motor_controller->pid_ref);
pid_ref = PID_Calculate(&motor_controller->angle_PID, pid_measure, pid_ref);
}
// 计算速度环,(外层闭环为速度或位置)且(启用速度环)时会计算速度环
@@ -254,17 +255,17 @@ void DJIMotorControl()
else // MOTOR_FEED
pid_measure = motor_measure->speed_angle_per_sec;
// 更新pid_ref进入下一个环
motor_controller->pid_ref = PID_Calculate(&motor_controller->speed_PID, pid_measure, motor_controller->pid_ref);
pid_ref = PID_Calculate(&motor_controller->speed_PID, pid_measure, pid_ref);
}
// 计算电流环,只要启用了电流环就计算,不管外层闭环是什么,并且电流只有电机自身传感器的反馈
if (motor_setting->close_loop_type & CURRENT_LOOP)
{
motor_controller->pid_ref = PID_Calculate(&motor_controller->current_PID, motor_measure->given_current, motor_controller->pid_ref);
pid_ref = PID_Calculate(&motor_controller->current_PID, motor_measure->given_current, pid_ref);
}
// 获取最终输出
set = (int16_t)motor_controller->pid_ref;
set = (int16_t)pid_ref;
if (motor_setting->reverse_flag == MOTOR_DIRECTION_REVERSE)
set *= -1; // 设置反转

12
modules/remote/remote_control.c
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@@ -19,11 +19,11 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf)
{
memcpy(&rc_ctrl[1], &rc_ctrl[TEMP], sizeof(RC_ctrl_t)); // 保存上一次的数据
// 摇杆,直接解算时减去偏置
rc_ctrl[TEMP].rc.joystick[0] = ((sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 0
rc_ctrl[TEMP].rc.joystick[1] = (((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 1
rc_ctrl[TEMP].rc.joystick[2] = (((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 2
rc_ctrl[TEMP].rc.joystick[3] = (((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 3
rc_ctrl[TEMP].rc.joystick[4] = (sbus_buf[16] | (sbus_buf[17] << 8)) - RC_CH_VALUE_OFFSET; // 左侧拨轮
rc_ctrl[TEMP].rc.joystick[0] = ((sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff)- RC_CH_VALUE_OFFSET ; //!< Channel 0
rc_ctrl[TEMP].rc.joystick[1] = (((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff)- RC_CH_VALUE_OFFSET ; //!< Channel 1
rc_ctrl[TEMP].rc.joystick[2] = (((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff)- RC_CH_VALUE_OFFSET ; //!< Channel 2
rc_ctrl[TEMP].rc.joystick[3] = (((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff)- RC_CH_VALUE_OFFSET ; //!< Channel 3
rc_ctrl[TEMP].rc.joystick[4] = ((sbus_buf[16] | (sbus_buf[17] << 8)) & 0x07FF)- RC_CH_VALUE_OFFSET; // 左侧拨轮
// 开关,0左1右
rc_ctrl[TEMP].rc.s[0] = ((sbus_buf[5] >> 4) & 0x0003); //!< Switch left
rc_ctrl[TEMP].rc.s[1] = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right
@@ -81,5 +81,5 @@ RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle)
conf.usart_handle = rc_usart_handle;
conf.recv_buff_size = REMOTE_CONTROL_FRAME_SIZE;
rc_usart_instance = USARTRegister(&conf);
return &rc_ctrl;
return (RC_ctrl_t*)&rc_ctrl;
}