TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 03:27:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

修复电机反馈的bug,通信bug,ps2手柄支持,舵机的修复,cmdbug的修复

Browse Source
This commit is contained in:
chenfu
2023-03-22 16:37:12 +08:00
parent 3cf1831237
commit 58db6e5705
25 changed files with 231 additions and 145 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
modules/algorithm/controller.h
View File

@@ -113,6 +113,8 @@ typedef struct // config parameter
float CoefB; // ITerm = Err*((A-abs(err)+B)/A) when B<|err|<A+B
float Output_LPF_RC; // RC = 1/omegac
float Derivative_LPF_RC;
} PID_Init_Config_s;
/**

11
modules/imu/ins_task.c
View File

@@ -17,7 +17,7 @@
#include "bsp_temperature.h"
#include "spi.h"
#include "user_lib.h"
#include "general_def.h"
static INS_t INS;
static IMU_Param_t IMU_Param;
static PIDInstance TempCtrl = {0};
@@ -118,11 +118,18 @@ void INS_Task(void)
}
BodyFrameToEarthFrame(INS.MotionAccel_b, INS.MotionAccel_n, INS.q); // 转换回导航系n
// 获取最终数据
//获取最终数据
INS.Accel[X] = INS.Accel[X]*RAD_2_ANGLE;
INS.Accel[Y] = INS.Accel[Y]*RAD_2_ANGLE;
INS.Accel[Z] = INS.Accel[Z]*RAD_2_ANGLE;
INS.Gyro[X] = INS.Gyro[X]*RAD_2_ANGLE;
INS.Gyro[Y] = INS.Gyro[Y]*RAD_2_ANGLE;
INS.Gyro[Z] = INS.Gyro[Z]*RAD_2_ANGLE;
INS.Yaw = QEKF_INS.Yaw;
INS.Pitch = QEKF_INS.Pitch;
INS.Roll = QEKF_INS.Roll;
INS.YawTotalAngle = QEKF_INS.YawTotalAngle;
}
// temperature control

10
modules/master_machine/master_process.c
View File

@@ -28,6 +28,7 @@ static void DecodeVision()
{
static uint16_t flag_register;
get_protocol_info(vision_usart_instance->recv_buff, &flag_register, (uint8_t *)&recv_data.pitch);
// TODO: code to resolve flag_register;
}
@@ -58,8 +59,13 @@ void VisionSend(Vision_Send_s *send)
static uint8_t send_buff[VISION_SEND_SIZE];
static uint16_t tx_len;
// TODO: code to set flag_register
flag_register = 0x0001;
// 将数据转化为seasky协议的数据包
get_protocol_send_data(0x02, flag_register, &send->yaw, 3, send_buff, &tx_len);
USARTSend(vision_usart_instance, send_buff, tx_len);
USARTSend(vision_usart_instance, send_buff, tx_len,USART_TRANSFER_IT);
// if(vision_usart_instance->usart_handle->ReceptionType == HAL_UART_RECEPTION_TOIDLE)
// {HAL_UARTEx_ReceiveToIdle_DMA(vision_usart_instance->usart_handle, vision_usart_instance->recv_buff, vision_usart_instance->recv_buff_size);
// __HAL_DMA_DISABLE_IT(vision_usart_instance->usart_handle->hdmarx, DMA_IT_HT);
// }
}

2
modules/master_machine/master_process.h
View File

@@ -4,7 +4,7 @@
#include "bsp_usart.h"
#include "seasky_protocol.h"
#define VISION_RECV_SIZE 36u // 当前为固定值,36字节
#define VISION_RECV_SIZE 18u // 当前为固定值,36字节
#define VISION_SEND_SIZE 36u
#pragma pack(1)

17
modules/master_machine/seasky_protocol.c
View File

@@ -15,6 +15,11 @@
#include "crc16.h"
#include "memory.h"
/*获取CRC8校验码*/
uint8_t Get_CRC8_Check(uint8_t *pchMessage,uint16_t dwLength)
{
return crc_8(pchMessage,dwLength);
}
/*检验CRC8数据段*/
static uint8_t CRC8_Check_Sum(uint8_t *pchMessage, uint16_t dwLength)
{
@@ -25,6 +30,12 @@ static uint8_t CRC8_Check_Sum(uint8_t *pchMessage, uint16_t dwLength)
return (ucExpected == pchMessage[dwLength - 1]);
}
/*获取CRC16校验码*/
uint16_t Get_CRC16_Check(uint8_t *pchMessage,uint32_t dwLength)
{
return crc_16(pchMessage,dwLength);
}
/*检验CRC16数据段*/
static uint16_t CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength)
{
@@ -45,7 +56,7 @@ static uint8_t protocol_heade_Check(protocol_rm_struct *pro, uint8_t *rx_buf)
pro->header.sof = rx_buf[0];
if (CRC8_Check_Sum(&rx_buf[0], 4))
{
pro->header.data_length = (rx_buf[2] << 8) | rx_buf[1];
pro->header.data_length = ((rx_buf[2] << 8) | rx_buf[1]);
pro->header.crc_check = rx_buf[3];
pro->cmd_id = (rx_buf[5] << 8) | rx_buf[4];
return 1;
@@ -114,9 +125,9 @@ uint16_t get_protocol_info(uint8_t *rx_buf, // 接收到的原始数据
if (CRC16_Check_Sum(&rx_buf[0], date_length))
{
*flags_register = (rx_buf[7] << 8) | rx_buf[6];
memcpy(rx_data, rx_buf + 8, 4 * sizeof(pro.header.data_length - 2));
memcpy(rx_data, rx_buf + 8, (pro.header.data_length - 2));
return pro.cmd_id;
}
}
}
return 0;
}

6
modules/motor/DJImotor/dji_motor.c
View File

@@ -238,7 +238,8 @@ void DJIMotorControl()
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
if (motor_setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
pid_ref*= -1; // 设置反转
// 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
if ((motor_setting->close_loop_type & ANGLE_LOOP) && motor_setting->outer_loop_type == ANGLE_LOOP)
@@ -270,8 +271,7 @@ void DJIMotorControl()
// 获取最终输出
set = (int16_t)pid_ref;
if (motor_setting->reverse_flag == MOTOR_DIRECTION_REVERSE)
set *= -1; // 设置反转
// 分组填入发送数据
group = motor->sender_group;

10
modules/motor/DJImotor/dji_motor.md
View File

@@ -138,7 +138,7 @@ Motor_Init_Config_s config = {
.outer_loop_type = SPEED_LOOP,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.speed_feedback_source = MOTOR_FEED,
.reverse_flag = MOTOR_DIRECTION_NORMAL},
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL},
// 电流环和速度环PID参数的设置,不采用计算优化则不需要传入Improve参数
// 不使用其他数据来源(如IMU),不需要传入反馈数据变量指针
.controller_param_init_config = {.current_PID = {.Improve = 0,
@@ -241,7 +241,7 @@ typedef struct
{
Closeloop_Type_e outer_loop_type;
Closeloop_Type_e close_loop_type;
Reverse_Flag_e reverse_flag;
Motor_Reverse_Flag_e motor_reverse_flag;
Feedback_Source_e angle_feedback_source;
Feedback_Source_e speed_feedback_source;
} Motor_Control_Setting_s;
@@ -268,14 +268,14 @@ typedef struct
> 注意，务必分清串级控制（多环）和外层闭环的区别。前者是为了提高内环的性能，使得其能更好地跟随外环参考值；而后者描述的是系统真实的控制目标（闭环目标）。如3508，没有电流环仍然可以对速度完成闭环，对于高层的应用来说，它们本质上不关心电机内部是否还有电流环，它们只把外层闭环为速度的电机当作一个**速度伺服执行器**，**外层闭环**描述的就是真正的闭环目标。
- 为了避开恼人的正负号，提高代码的可维护性，在初始化电机时设定`reverse_flag`使得所有电机都按照你想要的方向旋转，其定义如下：
- 为了避开恼人的正负号，提高代码的可维护性，在初始化电机时设定`motor_reverse_flag`使得所有电机都按照你想要的方向旋转，其定义如下：
```c
typedef enum
{
MOTOR_DIRECTION_NORMAL = 0,
MOTOR_DIRECTION_REVERSE = 1
} Reverse_Flag_e;
} Motor_Reverse_Flag_e;
```
- `speed_feedback_source`以及`angle_feedback_source`是指示电机反馈来源的标志位。一般情况下电机使用自身的编码器作为控制反馈量。但在某些时候，如小陀螺模式，云台电机会使用IMU的姿态数据作为反馈数据来源。其定义如下：
@@ -433,7 +433,7 @@ Motor_Init_Config_s config = {
.outer_loop_type = SPEED_LOOP,
.close_loop_type = SPEED_LOOP | ANGLE_LOOP,
.speed_feedback_source = MOTOR_FEED,
.reverse_flag = MOTOR_DIRECTION_NORMAL
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL
},
.controller_param_init_config = {
.angle_PID = {

2
modules/motor/HTmotor/HT04.c
View File

@@ -137,7 +137,7 @@ void HTMotorControl()
}
set = pid_ref;
if (setting->reverse_flag == MOTOR_DIRECTION_REVERSE)
if (setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
set *= -1;
LIMIT_MIN_MAX(set, T_MIN, T_MAX); // 限幅,实际上这似乎和pid输出限幅重复了

2
modules/motor/LKmotor/LK9025.c
View File

@@ -110,7 +110,7 @@ void LKMotorControl()
}
set = pid_ref;
if (setting->reverse_flag == MOTOR_DIRECTION_REVERSE)
if (setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
set *= -1;
// 这里随便写的,为了兼容多电机命令.后续应该将tx_id以更好的方式表达电机id,单独使用一个CANInstance,而不是用第一个电机的CANInstance
memcpy(sender_instance->tx_buff + (motor->motor_can_ins->tx_id - 0x280) * 2, &set, sizeof(uint16_t));

12
modules/motor/motor_def.h
View File

@@ -54,8 +54,13 @@ typedef enum
{
MOTOR_DIRECTION_NORMAL = 0,
MOTOR_DIRECTION_REVERSE = 1
} Reverse_Flag_e;
} Motor_Reverse_Flag_e;
/* 反馈量正反标志 */
typedef enum
{
FEEDBACK_DIRECTION_NORMAL = 0,
FEEDBACK_DIRECTION_REVERSE = 1
} Feedback_Reverse_Flag_e;
typedef enum
{
MOTOR_STOP = 0,
@@ -67,7 +72,8 @@ typedef struct
{
Closeloop_Type_e outer_loop_type; // 最外层的闭环,未设置时默认为最高级的闭环
Closeloop_Type_e close_loop_type; // 使用几个闭环(串级)
Reverse_Flag_e reverse_flag; // 是否反转
Motor_Reverse_Flag_e motor_reverse_flag; // 是否反转
Feedback_Reverse_Flag_e feedback_reverse_flag; // 反馈是否反向
Feedback_Source_e angle_feedback_source; // 角度反馈类型
Feedback_Source_e speed_feedback_source; // 速度反馈类型
Feedfoward_Type_e feedforward_flag; // 前馈标志