TuxMonkey/bf_original_balance_chassis
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1.初版can comm已经实现; 2.修改了电机\bsp_can\usart的初始化实现

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This commit is contained in:
NeoZeng
2022-11-28 16:17:30 +08:00
parent cb3f5d92d1
commit 8332422eac
17 changed files with 615 additions and 552 deletions
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2
modules/motor/HT04.c
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@@ -40,7 +40,7 @@ joint_instance *HTMotorInit(can_instance_config_s config)
{
static uint8_t idx;
joint_motor_info[idx] = (joint_instance *)malloc(sizeof(joint_instance));
CANRegister(joint_motor_info[idx++]->motor_can_instace, config);
CANRegister(joint_motor_info[idx++]->motor_can_instace, &config);
return joint_motor_info[idx++];
}

2
modules/motor/LK9025.c
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@@ -23,7 +23,7 @@ driven_instance *LKMotroInit(can_instance_config_s config)
static uint8_t idx;
driven_motor_info[idx] = (driven_instance *)malloc(sizeof(driven_instance));
config.can_module_callback = DecodeDriven;
CANRegister(driven_motor_info[idx]->motor_can_instance, config);
CANRegister(driven_motor_info[idx]->motor_can_instance, &config);
return driven_motor_info[idx++];
}

27
modules/motor/dji_motor.c
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@@ -120,8 +120,10 @@ static void MotorSenderGrouping(can_instance_config_s *config)
*/
static void DecodeDJIMotor(can_instance *_instance)
{
// 由于需要多次变址访存,直接将buff和measure地址保存在寄存器里避免多次存取
static uint8_t *rxbuff;
static dji_motor_measure *measure;
static dji_motor_measure *measure;
for (size_t i = 0; i < DJI_MOTOR_CNT; i++)
{
if (&dji_motor_info[i]->motor_can_instance == _instance)
@@ -131,6 +133,7 @@ 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]);
// 增加滤波
measure->speed_rpm = (1 - SPEED_SMOOTH_COEF) * measure->speed_rpm + SPEED_SMOOTH_COEF * (int16_t)(rxbuff[2] << 8 | rxbuff[3]);
measure->given_current = (1 - CURRENT_SMOOTH_COEF) * measure->given_current + CURRENT_SMOOTH_COEF * (uint16_t)(rxbuff[4] << 8 | rxbuff[5]);
measure->temperate = rxbuff[6];
@@ -146,26 +149,26 @@ static void DecodeDJIMotor(can_instance *_instance)
}
// 电机初始化,返回一个电机实例
dji_motor_instance *DJIMotorInit(Motor_Init_Config_s config)
dji_motor_instance *DJIMotorInit(Motor_Init_Config_s *config)
{
dji_motor_info[idx] = (dji_motor_instance *)malloc(sizeof(dji_motor_instance));
memset(dji_motor_info[idx], 0, sizeof(dji_motor_instance));
// motor basic setting
dji_motor_info[idx]->motor_type = config.motor_type;
dji_motor_info[idx]->motor_settings = config.controller_setting_init_config;
dji_motor_info[idx]->motor_type = config->motor_type;
dji_motor_info[idx]->motor_settings = config->controller_setting_init_config;
// motor controller init
PID_Init(&dji_motor_info[idx]->motor_controller.current_PID, &config.controller_param_init_config.current_PID);
PID_Init(&dji_motor_info[idx]->motor_controller.speed_PID, &config.controller_param_init_config.speed_PID);
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;
PID_Init(&dji_motor_info[idx]->motor_controller.current_PID, &config->controller_param_init_config.current_PID);
PID_Init(&dji_motor_info[idx]->motor_controller.speed_PID, &config->controller_param_init_config.speed_PID);
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);
MotorSenderGrouping(&config->can_init_config);
// register motor to CAN bus
config.can_init_config.can_module_callback = DecodeDJIMotor; // set callback
CANRegister(&dji_motor_info[idx]->motor_can_instance, config.can_init_config);
config->can_init_config.can_module_callback = DecodeDJIMotor; // set callback
CANRegister(&dji_motor_info[idx]->motor_can_instance, &config->can_init_config);
return dji_motor_info[idx++];
}

5
modules/motor/dji_motor.h
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@@ -20,6 +20,8 @@
#include "motor_def.h"
#define DJI_MOTOR_CNT 12
/* 滤波系数设置为1的时候即关闭滤波 */
#define SPEED_SMOOTH_COEF 0.85f // better to be greater than 0.8
#define CURRENT_SMOOTH_COEF 0.98f // this coef must be greater than 0.95
@@ -77,7 +79,7 @@ typedef struct
*
* @return dji_motor_instance*
*/
dji_motor_instance *DJIMotorInit(Motor_Init_Config_s config);
dji_motor_instance *DJIMotorInit(Motor_Init_Config_s *config);
/**
* @brief 被application层的应用调用,给电机设定参考值.
@@ -103,4 +105,5 @@ void DJIMotorChangeFeed(dji_motor_instance *motor, Closeloop_Type_e loop, Feedba
*/
void DJIMotorControl();
#endif // !DJI_MOTOR_H

1
modules/motor/motor_def.h
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@@ -17,6 +17,7 @@
#define LIMIT_MIN_MAX(x, min, max) (x) = (((x) <= (min)) ? (min) : (((x) >= (max)) ? (max) : (x)))
/**
* @brief 闭环类型,如果需要多个闭环,则使用或运算
* 例如需要速度环和电流环: CURRENT_LOOP|SPEED_LOOP