添加均值滤波,修改HT电机控制方式,添加了一些文档

2026-07-24 11:37:45 +08:00 · 2023-05-29 09:48:07 +08:00
parent 7403943814
commit ff5028036a
14 changed files with 272 additions and 125 deletions
--- a/modules/motor/HTmotor/HT04.c
+++ b/modules/motor/HTmotor/HT04.c
@@ -1,10 +1,16 @@
 #include "HT04.h"
 #include "memory.h"
 #include "general_def.h"
-#include "bsp_dwt.h"
+#include "user_lib.h"
+#include "cmsis_os.h"
+#include "string.h"
+#include "daemon.h"
+#include "stdlib.h"

 static uint8_t idx;
-HTMotorInstance *ht_motor_instance[HT_MOTOR_CNT];
+static HTMotorInstance *ht_motor_instance[HT_MOTOR_CNT];
+static osThreadId ht_task_handle[HT_MOTOR_CNT];
+static uint8_t zero_buff[6] = {0};

 /**
 * @brief 设置电机模式,报文内容[0xff,0xff,0xff,0xff,0xff,0xff,0xff,cmd]
@@ -17,9 +23,8 @@ static void HTMotorSetMode(HTMotor_Mode_t cmd, HTMotorInstance *motor)
    memset(motor->motor_can_instace->tx_buff, 0xff, 7);  // 发送电机指令的时候前面7bytes都是0xff
    motor->motor_can_instace->tx_buff[7] = (uint8_t)cmd; // 最后一位是命令id
    CANTransmit(motor->motor_can_instace, 1);
-    memset(motor->motor_can_instace->tx_buff, 0, 6); // 发送控制指令的时候前面6bytes都是0
+    memcpy(motor->motor_can_instace->tx_buff, zero_buff, 6);
 }
-
 /* 两个用于将uint值和float值进行映射的函数,在设定发送值和解析反馈值时使用 */
 static uint16_t float_to_uint(float x, float x_min, float x_max, uint8_t bits)
 {
@@ -43,28 +48,60 @@ static void HTMotorDecode(CANInstance *motor_can)
 {
    uint16_t tmp; // 用于暂存解析值,稍后转换成float数据,避免多次创建临时变量
    uint8_t *rxbuff = motor_can->rx_buff;
-    HTMotor_Measure_t *measure = &((HTMotorInstance *)motor_can->id)->measure; // 将can实例中保存的id转换成电机实例的指针
-    measure->feedback_dt = DWT_GetDeltaT(&measure->count);
+    HTMotorInstance *motor = (HTMotorInstance *)motor_can->id;
+    HTMotor_Measure_t *measure = &(motor->measure); // 将can实例中保存的id转换成电机实例的指针
+
+    DaemonReload(motor->motor_daemon);
+    measure->feed_dt = DWT_GetDeltaT(&measure->feed_cnt);

    measure->last_angle = measure->total_angle;
    tmp = (uint16_t)((rxbuff[1] << 8) | rxbuff[2]);
-    measure->total_angle = uint_to_float(tmp, P_MIN, P_MAX, 16) - measure->angle_bias;
+    measure->total_angle = uint_to_float(tmp, P_MIN, P_MAX, 16);

-    measure->speed_rads = // SPEED_SMOOTH_COEF * measure->speed_rads + (1 - SPEED_SMOOTH_COEF) *
-        (measure->total_angle - measure->last_angle) / measure->feedback_dt;
+    tmp = (uint16_t)(rxbuff[3] << 4) | (rxbuff[4] >> 4);
+    measure->speed_rads = AverageFilter((uint_to_float(tmp, V_MIN, V_MAX, 12) - HT_SPEED_BIAS), measure->speed_buff, SPEED_BUFFER_SIZE);

-    measure->real_current = uint_to_float(((uint16_t)(rxbuff[3] << 4) | (uint16_t)(rxbuff[4] >> 4)), V_MIN, V_MAX, 12);
+    tmp = (uint16_t)(((rxbuff[4] & 0x0f) << 8) | rxbuff[5]);
+    measure->real_current = CURRENT_SMOOTH_COEF * uint_to_float(tmp, T_MIN, T_MAX, 12) +
+                            (1 - CURRENT_SMOOTH_COEF) * measure->real_current;
+    
+    
+}

-    if (!measure->first_feedback_flag) // 初始化的时候设置偏置
-    {
-        measure->first_feedback_flag = 1;
-        measure->angle_bias = measure->total_angle;
-        measure->total_angle = 0;
-        measure->speed_rads = 0;
-        DWT_GetDeltaT(&measure->count);
-    }
+static void HTMotorLostCallback(void *motor_ptr)
+{
+    HTMotorInstance *motor = (HTMotorInstance *)motor_ptr;
+    if (motor->stop_flag == MOTOR_STOP)
+        return;
+    if (++motor->lost_cnt % 10 != 0)
+        HTMotorSetMode(CMD_MOTOR_MODE, motor); // 若不在停止模式,尝试重新让电机进入控制模式
+}

-    // measure->real_current = uint_to_float((rxbuff[3] << 8) | rxbuff[4], I_MIN, I_MAX, 16);
+/* 海泰电机一生黑,什么垃圾协议! */
+void HTMotorCalibEncoder(HTMotorInstance *motor)
+{
+    uint16_t p, v, kp, kd, t;
+    p = float_to_uint(0, P_MIN, P_MAX, 16);
+    v = float_to_uint(0, V_MIN, V_MAX, 12);
+    kp = float_to_uint(0, KP_MIN, KP_MAX, 12);
+    kd = float_to_uint(0, KD_MIN, KD_MAX, 12);
+    t = float_to_uint(0, T_MIN, T_MAX, 12);
+
+    uint8_t *buf = motor->motor_can_instace->tx_buff;
+    buf[0] = p >> 8;
+    buf[1] = p & 0xFF;
+    buf[2] = v >> 4;
+    buf[3] = ((v & 0xF) << 4) | (kp >> 8);
+    buf[4] = kp & 0xFF;
+    buf[5] = kd >> 4;
+    buf[6] = ((kd & 0xF) << 4) | (t >> 8);
+    buf[7] = t & 0xff;
+    memcpy(zero_buff, buf, 6); // 初始化的时候至少调用一次,故将其他指令为0时发送的报文保存一下,详见ht04电机说明
+    CANTransmit(motor->motor_can_instace, 1);
+    DWT_Delay(0.005);
+    HTMotorSetMode(CMD_ZERO_POSITION, motor);
+    DWT_Delay(0.005);
+    // HTMotorSetMode(CMD_MOTOR_MODE, motor);
 }

 HTMotorInstance *HTMotorInit(Motor_Init_Config_s *config)
@@ -83,34 +120,43 @@ HTMotorInstance *HTMotorInit(Motor_Init_Config_s *config)
    config->can_init_config.id = motor;
    motor->motor_can_instace = CANRegister(&config->can_init_config);

+    Daemon_Init_Config_s conf = {
+        .callback = HTMotorLostCallback,
+        .owner_id = motor,
+        .reload_count = 5, // 20ms
+    };
+    motor->motor_daemon = DaemonRegister(&conf);
+
    HTMotorEnable(motor);
+    HTMotorSetMode(CMD_MOTOR_MODE, motor); // 确保电机已经上电并执行电机模式
+    DWT_Delay(0.05);
+    HTMotorCalibEncoder(motor); // 将当前编码器位置作为零位
+    DWT_Delay(0.05);            // 保证下一个电机发送时CAN是空闲的,注意应用在初始化模块的时候不应该进入中断
    ht_motor_instance[idx++] = motor;
    return motor;
 }

 void HTMotorSetRef(HTMotorInstance *motor, float ref)
 {
-    motor->pid_ref = ref * 0.285f;
+    motor->pid_ref = ref;
 }

-void HTMotorControl()
+/**
+ * @brief 为了避免总线堵塞,为每个电机创建一个发送任务
+ * @param argument 传入的电机指针
+ */
+void HTMotorTask(void const *argument)
 {
    float set, pid_measure, pid_ref;
+    HTMotorInstance *motor = (HTMotorInstance *)argument;
+    HTMotor_Measure_t *measure = &motor->measure;
+    Motor_Control_Setting_s *setting = &motor->motor_settings;
+    CANInstance *motor_can = motor->motor_can_instace;
    uint16_t tmp;
-    HTMotorInstance *motor;
-    HTMotor_Measure_t *measure;
-    Motor_Control_Setting_s *setting;
-    CANInstance *motor_can;

-    // 遍历所有电机实例,计算PID
-    for (size_t i = 0; i < idx; i++)
-    { // 先获取地址避免反复寻址
-        motor = ht_motor_instance[i];
-        measure = &motor->measure;
-        setting = &motor->motor_settings;
-        motor_can = motor->motor_can_instace;
+    while (1)
+    {
        pid_ref = motor->pid_ref;
-
        if ((setting->close_loop_type & ANGLE_LOOP) && setting->outer_loop_type == ANGLE_LOOP)
        {
            if (setting->angle_feedback_source == OTHER_FEED)
@@ -145,36 +191,47 @@ void HTMotorControl()
        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
-        tmp = float_to_uint(set, T_MIN, T_MAX, 12); // 数值最后在 -12~+12之间
+        LIMIT_MIN_MAX(set, T_MIN, T_MAX);
+        tmp = float_to_uint(set, T_MIN, T_MAX, 12);
        if (motor->stop_flag == MOTOR_STOP)
            tmp = float_to_uint(0, T_MIN, T_MAX, 12);
        motor_can->tx_buff[6] = (tmp >> 8);
        motor_can->tx_buff[7] = tmp & 0xff;

-        CANTransmit(motor_can, 1);
+        CANTransmit(motor_can, 0.5);
+
+        osDelay(1);
+    }
+}
+
+void HTMotorControlInit()
+{
+    char ht_task_name[5] = "ht";
+    // 遍历所有电机实例,创建任务
+    if (!idx)
+        return;
+    for (size_t i = 0; i < idx; i++)
+    {
+        char ht_id_buff[2] = {0};
+        __itoa(i, ht_id_buff, 10);
+        strcat(ht_task_name, ht_id_buff); // 似乎没什么吊用,osthreaddef会把第一个变量当作宏字符串传入,作为任务名
+        // todo 还需要一个更优雅的方案来区分不同的电机任务
+        osThreadDef(ht_task_name, HTMotorTask, osPriorityNormal, 0, 128);
+        ht_task_handle[i] = osThreadCreate(osThread(ht_task_name), ht_motor_instance[i]);
    }
 }

 void HTMotorStop(HTMotorInstance *motor)
 {
-    if (motor->stop_flag == MOTOR_STOP)
-        return;
-    HTMotorSetMode(CMD_RESET_MODE, motor);
-    HTMotorSetMode(CMD_RESET_MODE, motor); // 发两次,确保电机停止
    motor->stop_flag = MOTOR_STOP;
 }

 void HTMotorEnable(HTMotorInstance *motor)
 {
-    if (motor->stop_flag == MOTOR_ENALBED)
-        return;
-    HTMotorSetMode(CMD_MOTOR_MODE, motor);
-    HTMotorSetMode(CMD_MOTOR_MODE, motor);
    motor->stop_flag = MOTOR_ENALBED;
 }

-// void HTMotorCalibEncoder(HTMotorInstance *motor)
-// {
-//     HTMotorSetMode(CMD_ZERO_POSITION, motor);
-// }
+void HTMotorOuterLoop(HTMotorInstance *motor, Closeloop_Type_e type)
+{
+    motor->motor_settings.outer_loop_type = type;
+}
--- a/modules/motor/HTmotor/HT04.h
+++ b/modules/motor/HTmotor/HT04.h
@@ -5,10 +5,12 @@
 #include "bsp_can.h"
 #include "controller.h"
 #include "motor_def.h"
+#include "daemon.h"

 #define HT_MOTOR_CNT 4
 #define CURRENT_SMOOTH_COEF 0.9f
-#define SPEED_SMOOTH_COEF 0.85f
+#define SPEED_BUFFER_SIZE 5
+#define HT_SPEED_BIAS -0.0109901428f // 电机速度偏差,单位rad/s

 #define P_MIN -95.5f // Radians
 #define P_MAX 95.5f
@@ -16,18 +18,23 @@
 #define V_MAX 45.0f
 #define T_MIN -18.0f // N·m
 #define T_MAX 18.0f
+#define KP_MIN 0.0f // N-m/rad
+#define KP_MAX 500.0f
+#define KD_MIN 0.0f // N-m/rad/s
+#define KD_MAX 5.0f

 typedef struct // HT04
 {
    float total_angle; // 角度为多圈角度,范围是-95.5~95.5,单位为rad
    float last_angle;
-    float speed_rads;
-    float real_current;
-    float angle_bias;
-    uint8_t first_feedback_flag;

-    float feedback_dt;
-    uint32_t count;
+    float speed_rads;
+    float speed_buff[SPEED_BUFFER_SIZE];
+
+    float real_current;
+
+    float feed_dt;
+    uint32_t feed_cnt;
 } HTMotor_Measure_t;

 /* HT电机类型定义*/
@@ -49,6 +56,9 @@ typedef struct
    Motor_Working_Type_e stop_flag; // 启停标志

    CANInstance *motor_can_instace;
+
+    DaemonInstance *motor_daemon;
+    uint32_t lost_cnt;
 } HTMotorInstance;

 /* HT电机模式,初始化时自动进入CMD_MOTOR_MODE*/
@@ -76,10 +86,10 @@ HTMotorInstance *HTMotorInit(Motor_Init_Config_s *config);
 void HTMotorSetRef(HTMotorInstance *motor, float ref);

 /**
- * @brief 给所有的HT电机发送控制指令
+ * @brief 初始化电机任务,若要使用,需要在motortask的死循环前调用
 *
 */
-void HTMotorControl();
+void HTMotorControlInit();

 /**
 * @brief 停止电机,之后电机不会响应HTMotorSetRef设定的值
@@ -96,7 +106,15 @@ void HTMotorStop(HTMotorInstance *motor);
 void HTMotorEnable(HTMotorInstance *motor);

 /**
- * @brief 校准电机编码器,设置的当前位置为0
+ * @brief 修改电机闭环对象
+ *
+ * @param motor
+ * @param type
+ */
+void HTMotorOuterLoop(HTMotorInstance *motor, Closeloop_Type_e type);
+
+/**
+ * @brief 将当前编码器位置置零
 *
 * @param motor
 */
--- a/modules/motor/HTmotor/HT04.md
+++ b/modules/motor/HTmotor/HT04.md
@@ -9,8 +9,34 @@

 请注意发送和反馈数据的**单位**。

+> ~~HT的电机协议做的真不行，纯纯直接抄mit还抄不明白，之后全部换成LK！~~

+另一种上电时校准编码器的方法:

+```c
+static void HTMotorDecode(CANInstance *motor_can)
+{
+    uint16_t tmp; // 用于暂存解析值,稍后转换成float数据,避免多次创建临时变量
+    uint8_t *rxbuff = motor_can->rx_buff;
+    HTMotor_Measure_t *measure = &((HTMotorInstance *)motor_can->id)->measure; // 将can实例中保存的id转换成电机实例的指针

+    measure->last_angle = measure->total_angle;
+    tmp = (uint16_t)((rxbuff[1] << 8) | rxbuff[2]);
+    measure->total_angle = uint_to_float(tmp, P_MIN, P_MAX, 16) - measure->angle_bias;

-> ~~HT的电机协议做的真不行，纯纯直接抄mit还抄不明白，之后全部换成LK！~~
+    tmp = (uint16_t)(rxbuff[3] << 4) | (rxbuff[4] >> 4);
+    measure->speed_rads = AverageFilter((uint_to_float(tmp, V_MIN, V_MAX, 12) - HT_SPEED_BIAS), measure->speed_buff, SPEED_BUFFER_SIZE);
+
+    tmp = (uint16_t)(((rxbuff[4] & 0x0f) << 8) | rxbuff[5]);
+    measure->real_current = CURRENT_SMOOTH_COEF * uint_to_float(tmp, T_MIN, T_MAX, 12) +
+                            (1 - CURRENT_SMOOTH_COEF) * measure->real_current;
+
+    if (!measure->first_feedback_flag) // 初始化的时候设置偏置
+    {
+        measure->first_feedback_flag = 1;
+        measure->angle_bias = measure->total_angle;
+        measure->total_angle = 0;
+        measure->speed_rads = 0;
+    }
+}
+```