TuxMonkey/bf_original_balance_chassis
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修复LK电机id计算错误，构建平衡底盘框架，增加通用通信模块，增加平衡底盘条件编译兼容，删除lqr

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This commit is contained in:
NeoZng
2023-02-16 15:46:04 +08:00
parent b9a7d87dfd
commit a2a83f9fbf
35 changed files with 554 additions and 242 deletions
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32
modules/motor/LKmotor/LK9025.c
View File

@@ -6,6 +6,11 @@ static LKMotorInstance *lkmotor_instance[LK_MOTOR_MX_CNT] = {NULL};
static CANInstance *sender_instance; // 多电机发送时使用的caninstance(当前保存的是注册的第一个电机的caninstance)
// 后续考虑兼容单电机和多电机指令.
/**
* @brief 电机反馈报文解析
*
* @param _instance 发生中断的caninstance
*/
static void LKMotorDecode(CANInstance *_instance)
{
static LKMotor_Measure_t *measure;
@@ -34,30 +39,31 @@ static void LKMotorDecode(CANInstance *_instance)
measure->total_angle = measure->total_round * 360 + measure->angle_single_round;
}
LKMotorInstance *LKMotroInit(Motor_Init_Config_s *config)
LKMotorInstance *LKMotorInit(Motor_Init_Config_s *config)
{
LKMotorInstance *motor = (LKMotorInstance *)malloc(sizeof(LKMotorInstance));
motor = (LKMotorInstance *)malloc(sizeof(LKMotorInstance));
memset(motor, 0, sizeof(LKMotorInstance));
motor->motor_settings = config->controller_setting_init_config;
PID_Init(&motor->current_PID, &config->controller_param_init_config.current_PID);
PID_Init(&motor->speed_PID, &config->controller_param_init_config.speed_PID);
PID_Init(&motor->angle_PID, &config->controller_param_init_config.angle_PID);
PIDInit(&motor->current_PID, &config->controller_param_init_config.current_PID);
PIDInit(&motor->speed_PID, &config->controller_param_init_config.speed_PID);
PIDInit(&motor->angle_PID, &config->controller_param_init_config.angle_PID);
motor->other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
motor->other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
config->can_init_config.id = motor;
config->can_init_config.can_module_callback = LKMotorDecode;
config->can_init_config.rx_id = 0x140 + config->can_init_config.tx_id;
config->can_init_config.tx_id = config->can_init_config.tx_id + 0x280;
config->can_init_config.tx_id = config->can_init_config.tx_id + 0x280 - 1; // 这样在发送写入buffer的时候更方便,因为下标从0开始,LK多电机发送id为0x280
motor->motor_can_ins = CANRegister(&config->can_init_config);
if (idx == 0)
if (idx == 0) // 用第一个电机的can instance发送数据
sender_instance = motor->motor_can_ins;
LKMotorEnable(motor);
return lkmotor_instance[idx++];
lkmotor_instance[idx++] = motor;
return motor;
}
/* 第一个电机的can instance用于发送数据,向其tx_buff填充数据 */
@@ -82,7 +88,7 @@ void LKMotorControl()
pid_measure = *motor->other_angle_feedback_ptr;
else
pid_measure = measure->real_current;
pid_ref = PID_Calculate(&motor->angle_PID, pid_measure, pid_ref);
pid_ref = PIDCalculate(&motor->angle_PID, pid_measure, pid_ref);
if (setting->feedforward_flag & SPEED_FEEDFORWARD)
pid_ref += *motor->speed_feedforward_ptr;
}
@@ -93,31 +99,31 @@ void LKMotorControl()
pid_measure = *motor->other_speed_feedback_ptr;
else
pid_measure = measure->speed_aps;
pid_ref = PID_Calculate(&motor->angle_PID, pid_measure, pid_ref);
pid_ref = PIDCalculate(&motor->angle_PID, pid_measure, pid_ref);
if (setting->feedforward_flag & CURRENT_FEEDFORWARD)
pid_ref += *motor->current_feedforward_ptr;
}
if (setting->close_loop_type & CURRENT_LOOP)
{
pid_ref = PID_Calculate(&motor->current_PID, measure->real_current, pid_ref);
pid_ref = PIDCalculate(&motor->current_PID, measure->real_current, pid_ref);
}
set = pid_ref;
if (setting->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 - 1) * 2, &set, sizeof(uint16_t));
memcpy(sender_instance->tx_buff + (motor->motor_can_ins->tx_id - 0x280) * 2, &set, sizeof(uint16_t));
if (motor->stop_flag == MOTOR_STOP)
{ // 若该电机处于停止状态,直接将发送buff置零
memset(sender_instance->tx_buff + (motor->motor_can_ins->tx_id - 0x280 - 1) * 2, 0, sizeof(uint16_t));
memset(sender_instance->tx_buff + (motor->motor_can_ins->tx_id - 0x280) * 2, 0, sizeof(uint16_t));
}
}
if (idx) // 如果有电机注册了
{
CANTransmit(sender_instance,1);
CANTransmit(sender_instance, 1);
}
}

59
modules/motor/LKmotor/LK9025.h
View File

@@ -13,19 +13,19 @@
#define CURRENT_SMOOTH_COEF 0.9f
#define SPEED_SMOOTH_COEF 0.85f
#define REDUCTION_RATIO_DRIVEN 1
#define ECD_ANGLE_COEF_LK (360.0f/65536.0f)
#define ECD_ANGLE_COEF_LK (360.0f / 65536.0f)
typedef struct // 9025
{
uint16_t last_ecd;// 上一次读取的编码器值
uint16_t ecd; //
uint16_t last_ecd; // 上一次读取的编码器值
uint16_t ecd; // 当前编码器值
float angle_single_round; // 单圈角度
float speed_aps; // speed angle per sec(degree:°)
int16_t real_current; // 实际电流
uint8_t temperate; //温度,C°
float speed_aps; // speed angle per sec(degree:°)
int16_t real_current; // 实际电流
uint8_t temperate; // 温度,C°
float total_angle; // 总角度
int32_t total_round; //总圈数
float total_angle; // 总角度
int32_t total_round; // 总圈数
} LKMotor_Measure_t;
@@ -37,8 +37,8 @@ typedef struct
float *other_angle_feedback_ptr; // 其他反馈来源的反馈数据指针
float *other_speed_feedback_ptr;
float *speed_feedforward_ptr;
float *current_feedforward_ptr;
float *speed_feedforward_ptr; // 速度前馈数据指针,可以通过此指针设置速度前馈值,或LQR等时作为速度状态变量的输入
float *current_feedforward_ptr; // 电流前馈指针
PIDInstance current_PID;
PIDInstance speed_PID;
PIDInstance angle_PID;
@@ -46,22 +46,45 @@ typedef struct
Motor_Working_Type_e stop_flag; // 启停标志
CANInstance* motor_can_ins;
}LKMotorInstance;
CANInstance *motor_can_ins;
} LKMotorInstance;
LKMotorInstance *LKMotroInit(Motor_Init_Config_s* config);
/**
* @brief 初始化LK电机
*
* @param config 电机配置
* @return LKMotorInstance* 返回实例指针
*/
LKMotorInstance *LKMotorInit(Motor_Init_Config_s *config);
void LKMotorSetRef(LKMotorInstance* motor,float ref);
/**
* @brief 设置参考值
* @attention 注意此函数设定的ref是最外层闭环的输入,若要设定内层闭环的值请通过前馈数据指针设置
*
* @param motor 要设置的电机
* @param ref 设定值
*/
void LKMotorSetRef(LKMotorInstance *motor, float ref);
/**
* @brief 为所有LK电机计算pid/反转/模式控制,并通过bspcan发送电流值(发送CAN报文)
*
*/
void LKMotorControl();
/**
* @brief 停止LK电机,之后电机不会响应任何指令
*
* @param motor
*/
void LKMotorStop(LKMotorInstance *motor);
/**
* @brief 启动LK电机
*
* @param motor
*/
void LKMotorEnable(LKMotorInstance *motor);
void LKMotorSetRef(LKMotorInstance *motor,float ref);
#endif // LK9025_H

2
modules/motor/LKmotor/LK_motor.md
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@@ -2,4 +2,4 @@ LK motor
这是瓴控电机的模块封装说明文档。关于LK电机的控制报文和反馈报文值，详见LK电机的说明文档。
注意LK电机在使用多电机发送的时候，只支持一条总线上至多4个电机，多电机模式下LK仅支持接收ID为0x280.
注意LK电机在使用多电机发送的时候，只支持一条总线上至多4个电机，多电机模式下LK仅支持发送id 0x280为接收ID为0x140+id.