TuxMonkey/bf_original_balance_chassis
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更改了宏定义的文件

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This commit is contained in:
NeoZng
2022-12-05 15:03:45 +08:00
parent 8e7935876e
commit 3c8ffda61d
8 changed files with 70 additions and 61 deletions
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18
modules/motor/dji_motor.c
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@@ -1,8 +1,6 @@
#include "dji_motor.h"
#include "general_def.h"
#define ECD_ANGLE_COEF 0.043945f // 360/8192,将编码器值转化为角度制
static uint8_t idx = 0; // register idx,是该文件的全局电机索引,在注册时使用
/* DJI电机的实例,此处仅保存指针,内存的分配将通过电机实例初始化时通过malloc()进行 */
@@ -134,19 +132,19 @@ static void DecodeDJIMotor(can_instance *_instance)
// resolve data and apply filter to current and speed
measure->last_ecd = measure->ecd;
measure->ecd = (uint16_t)(rxbuff[0] << 8 | rxbuff[1]);
measure->angle_single_round = ECD_ANGLE_COEF* measure->ecd;
measure->speed_angle_per_sec = (1 - SPEED_SMOOTH_COEF) * measure->speed_angle_per_sec +
measure->angle_single_round = ECD_ANGLE_COEF * measure->ecd;
measure->speed_angle_per_sec = (1 - SPEED_SMOOTH_COEF) * measure->speed_angle_per_sec +
RPM_2_ANGLE_PER_SEC * SPEED_SMOOTH_COEF * (int16_t)(rxbuff[2] << 8 | rxbuff[3]);
measure->given_current = (1 - CURRENT_SMOOTH_COEF) * measure->given_current +
measure->given_current = (1 - CURRENT_SMOOTH_COEF) * measure->given_current +
RPM_2_ANGLE_PER_SEC * CURRENT_SMOOTH_COEF * (uint16_t)(rxbuff[4] << 8 | rxbuff[5]);
measure->temperate = rxbuff[6];
// multi rounds calc,计算的前提是两次采样间电机转过的角度小于180°
if (measure->ecd - measure->last_ecd > 4096)
if (measure->ecd - measure->last_ecd > 4096)
measure->total_round--;
else if (measure->ecd - measure->last_ecd < -4096)
measure->total_round++;
measure->total_angle = measure->total_round * 360 + measure->angle_single_round;
measure->total_angle = measure->total_round * 360 + measure->angle_single_round;
break;
}
}
@@ -168,7 +166,7 @@ dji_motor_instance *DJIMotorInit(Motor_Init_Config_s *config)
PID_Init(&dji_motor_info[idx]->motor_controller.angle_PID, &config->controller_param_init_config.angle_PID);
dji_motor_info[idx]->motor_controller.other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
dji_motor_info[idx]->motor_controller.other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
// group motors, because 4 motors share the same CAN control message
MotorSenderGrouping(&config->can_init_config);
@@ -251,13 +249,13 @@ void DJIMotorControl()
{
if (motor_setting->speed_feedback_source == OTHER_FEED)
pid_measure = *motor_controller->other_speed_feedback_ptr;
else
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);
}
// 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的反馈
// 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);

2
modules/motor/dji_motor.h
View File

@@ -24,6 +24,8 @@
/* 滤波系数设置为1的时候即关闭滤波 */
#define SPEED_SMOOTH_COEF 0.9f // better to be greater than 0.85
#define CURRENT_SMOOTH_COEF 0.98f // this coef *must* be greater than 0.95
#define ECD_ANGLE_COEF 0.043945f // 360/8192,将编码器值转化为角度制
/* DJI电机CAN反馈信息*/
typedef struct

4
modules/motor/motor_def.h
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@@ -37,8 +37,8 @@ typedef enum
/* 反馈来源设定,若设为OTHER_FEED则需要指定数据来源指针,详见Motor_Controller_s*/
typedef enum
{
MOTOR_FEED = 0,
OTHER_FEED = 1
MOTOR_FEED,
OTHER_FEED,
} Feedback_Source_e;
/* 电机正反转标志 */