TuxMonkey/bf_original_balance_chassis
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Merge branch 'master' of gitee.com:hnuyuelurm/basic_framework

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NeoZng
2023-03-23 19:01:39 +08:00
parent 59e21dc25d 57a5ec33b9
commit b85eff52ba
6 changed files with 75 additions and 47 deletions
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89
application/gimbal/gimbal.c
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@@ -6,9 +6,10 @@
#include "ins_task.h"
#include "message_center.h"
#include "general_def.h"
#include "bmi088.h"
static attitude_t *gimba_IMU_data; // 云台IMU数据
static attitude_t *gimba_IMU_data; // 云台IMU数据
static DJIMotorInstance *yaw_motor; // yaw电机
static DJIMotorInstance *pitch_motor; // pitch电机
@@ -17,45 +18,45 @@ static Subscriber_t *gimbal_sub; // cmd控制消息订阅者
static Gimbal_Upload_Data_s gimbal_feedback_data; // 回传给cmd的云台状态信息
static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息
BMI088Instance* imu;
BMI088Instance *imu;
void GimbalInit()
{
BMI088_Init_Config_s imu_config = {
.spi_acc_config={
.GPIOx=CS1_ACCEL_GPIO_Port,
.cs_pin=CS1_ACCEL_Pin,
.spi_handle=&hspi1,
.spi_acc_config = {
.GPIOx = CS1_ACCEL_GPIO_Port,
.cs_pin = CS1_ACCEL_Pin,
.spi_handle = &hspi1,
},
.spi_gyro_config={
.GPIOx=CS1_GYRO_GPIO_Port,
.cs_pin=CS1_GYRO_Pin,
.spi_handle=&hspi1,
.spi_gyro_config = {
.GPIOx = CS1_GYRO_GPIO_Port,
.cs_pin = CS1_GYRO_Pin,
.spi_handle = &hspi1,
},
.acc_int_config={
.exti_mode=EXTI_TRIGGER_FALLING,
.GPIO_Pin=INT_ACC_Pin,
.GPIOx=INT_ACC_GPIO_Port,
.acc_int_config = {
.exti_mode = EXTI_TRIGGER_FALLING,
.GPIO_Pin = INT_ACC_Pin,
.GPIOx = INT_ACC_GPIO_Port,
},
.gyro_int_config={
.exti_mode=EXTI_TRIGGER_FALLING,
.GPIO_Pin=INT_GYRO_Pin,
.GPIOx=INT_GYRO_GPIO_Port,
.gyro_int_config = {
.exti_mode = EXTI_TRIGGER_FALLING,
.GPIO_Pin = INT_GYRO_Pin,
.GPIOx = INT_GYRO_GPIO_Port,
},
.heat_pid_config={
.Kp=0.0f,
.Kd=0.0f,
.Ki=0.0f,
.MaxOut=0.0f,
.DeadBand=0.0f,
.heat_pid_config = {
.Kp = 0.0f,
.Kd = 0.0f,
.Ki = 0.0f,
.MaxOut = 0.0f,
.DeadBand = 0.0f,
},
.heat_pwm_config={
.channel=TIM_CHANNEL_1,
.htim=&htim1,
.heat_pwm_config = {
.channel = TIM_CHANNEL_1,
.htim = &htim1,
},
.cali_mode=BMI088_CALIBRATE_ONLINE_MODE,
.work_mode=BMI088_BLOCK_PERIODIC_MODE,
.cali_mode = BMI088_CALIBRATE_ONLINE_MODE,
.work_mode = BMI088_BLOCK_PERIODIC_MODE,
};
// imu=BMI088Register(&imu_config);
// imu=BMI088Register(&imu_config);
gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源
// YAW
Motor_Init_Config_s yaw_config = {
@@ -65,26 +66,26 @@ void GimbalInit()
},
.controller_param_init_config = {
.angle_PID = {
.Kp = 8, //8
.Kp = 8, // 8
.Ki = 0,
.Kd = 0,
.DeadBand = 0.1,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |PID_Derivative_On_Measurement,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 100,
.MaxOut = 500,
},
.speed_PID = {
.Kp = 50,//40
.Kp = 50, // 40
.Ki = 200,
.Kd = 0,
.Improve = PID_Trapezoid_Intergral |PID_Integral_Limit |PID_Derivative_On_Measurement,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 3000,
.MaxOut = 20000,
},
.other_angle_feedback_ptr = &gimba_IMU_data->YawTotalAngle,
// 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明
.other_speed_feedback_ptr=&gimba_IMU_data->Gyro[2],
.other_speed_feedback_ptr = &gimba_IMU_data->Gyro[2],
},
.controller_setting_init_config = {
.angle_feedback_source = OTHER_FEED,
@@ -102,24 +103,24 @@ void GimbalInit()
},
.controller_param_init_config = {
.angle_PID = {
.Kp =10,//10
.Kp = 10, // 10
.Ki = 0,
.Kd = 0,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |PID_Derivative_On_Measurement,
.IntegralLimit =100,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 100,
.MaxOut = 500,
},
.speed_PID = {
.Kp=50,//50
.Ki =350,//350
.Kd =0,//0.1
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |PID_Derivative_On_Measurement,
.IntegralLimit =2500,
.Kp = 50, // 50
.Ki = 350, // 350
.Kd = 0, // 0.1
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 2500,
.MaxOut = 20000,
},
.other_angle_feedback_ptr = &gimba_IMU_data->Pitch,
// 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明
.other_speed_feedback_ptr=(&gimba_IMU_data->Gyro[0]),
.other_speed_feedback_ptr = (&gimba_IMU_data->Gyro[0]),
},
.controller_setting_init_config = {
.angle_feedback_source = OTHER_FEED,