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damiao motor driver init

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Zorua
2026-03-14 18:55:54 +08:00
committed by guoxy06
parent 082bf3199a
commit 9d4e103a01
4 changed files with 40 additions and 117 deletions
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13
application/gimbal/gimbal.c
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@@ -79,12 +79,20 @@ void GimbalInit()
}, },
.speed_PID = { .speed_PID = {
.Kp = 50, // 50 .Kp = 50, // 50
.Ki = 350, // 350 .Ki = 175, // 350
.Kd = 0, // 0 .Kd = 0, // 0
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 2500, .IntegralLimit = 2500,
.MaxOut = 20000, .MaxOut = 12000,
}, },
// .current_PID = { // 添加current_PID配置
// .Kp = 0,
// .Ki = 0,
// .Kd = 0,
// .Improve = PID_Integral_Limit,
// .IntegralLimit = 5000,
// .MaxOut = 15000,
// },
.other_angle_feedback_ptr = &gimba_IMU_data->Pitch, .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 // 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]),
@@ -95,6 +103,7 @@ void GimbalInit()
.outer_loop_type = ANGLE_LOOP, .outer_loop_type = ANGLE_LOOP,
.close_loop_type = SPEED_LOOP | ANGLE_LOOP, .close_loop_type = SPEED_LOOP | ANGLE_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL, .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
.feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE,
}, },
.motor_type = DM4310, .motor_type = DM4310,
}; };

4
application/robot_def.h
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@@ -208,6 +208,10 @@ typedef struct
attitude_t gimbal_imu_data; attitude_t gimbal_imu_data;
uint16_t yaw_motor_single_round_angle; uint16_t yaw_motor_single_round_angle;
uint16_t yaw_motor_total_angle; uint16_t yaw_motor_total_angle;
//uint16_t pitch_motor_single_round_angle;
//uint16_t pitch_motor_total_angle;
// 后续增加云台的其他数据
// ...
} Gimbal_Upload_Data_s; } Gimbal_Upload_Data_s;
typedef struct typedef struct

139
modules/motor/DJImotor/dji_motor.c
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@@ -20,6 +20,7 @@ static DJIMotorInstance *dji_motor_instance[DJI_MOTOR_CNT] = {NULL}; // 会在co
* can2: [3]:0x1FF,[4]:0x200,[5]:0x2FF * can2: [3]:0x1FF,[4]:0x200,[5]:0x2FF
*/ */
static CANInstance sender_assignment[6] = { static CANInstance sender_assignment[6] = {
//[0] = {.can_handle = &hcan2, .txconf.StdId = 0x3FE, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
[0] = {.can_handle = &hcan1, .txconf.StdId = 0x1ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}}, [0] = {.can_handle = &hcan1, .txconf.StdId = 0x1ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
[1] = {.can_handle = &hcan1, .txconf.StdId = 0x200, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}}, [1] = {.can_handle = &hcan1, .txconf.StdId = 0x200, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
[2] = {.can_handle = &hcan1, .txconf.StdId = 0x2ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}}, [2] = {.can_handle = &hcan1, .txconf.StdId = 0x2ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
@@ -51,12 +52,12 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf
if (motor_id < 4) // 根据ID分组 if (motor_id < 4) // 根据ID分组
{ {
motor_send_num = motor_id; motor_send_num = motor_id;
motor_grouping = config->can_handle == &hcan1 ? 1 : 4; motor_grouping = config->can_handle == &hcan2 ? 1 : 4;
} }
else else
{ {
motor_send_num = motor_id - 4; motor_send_num = motor_id - 4;
motor_grouping = config->can_handle == &hcan1 ? 0 : 3; motor_grouping = config->can_handle == &hcan2 ? 0 : 3;
} }
// 计算接收id并设置分组发送id // 计算接收id并设置分组发送id
@@ -71,7 +72,7 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf
if (dji_motor_instance[i]->motor_can_instance->can_handle == config->can_handle && dji_motor_instance[i]->motor_can_instance->rx_id == config->rx_id) if (dji_motor_instance[i]->motor_can_instance->can_handle == config->can_handle && dji_motor_instance[i]->motor_can_instance->rx_id == config->rx_id)
{ {
LOGERROR("[dji_motor] ID crash. Check in debug mode, add dji_motor_instance to watch to get more information."); LOGERROR("[dji_motor] ID crash. Check in debug mode, add dji_motor_instance to watch to get more information.");
uint16_t can_bus = config->can_handle == &hcan1 ? 1 : 2; uint16_t can_bus = config->can_handle == &hcan2 ? 1 : 2;
while (1) // 6020的id 1-4和2006/3508的id 5-8会发生冲突(若有注册,即1!5,2!6,3!7,4!8) (1!5!,LTC! (((不是) while (1) // 6020的id 1-4和2006/3508的id 5-8会发生冲突(若有注册,即1!5,2!6,3!7,4!8) (1!5!,LTC! (((不是)
LOGERROR("[dji_motor] id [%d], can_bus [%d]", config->rx_id, can_bus); LOGERROR("[dji_motor] id [%d], can_bus [%d]", config->rx_id, can_bus);
} }
@@ -90,22 +91,6 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf
motor_grouping = config->can_handle == &hcan1 ? 2 : 5; motor_grouping = config->can_handle == &hcan1 ? 2 : 5;
} }
config->rx_id = 0x204 + motor_id + 1; // 把ID+1,进行分组设置
sender_enable_flag[motor_grouping] = 1; // 只要有电机注册到这个分组,置为1;在发送函数中会通过此标志判断是否有电机注册
motor->message_num = motor_send_num;
motor->sender_group = motor_grouping;
for (size_t i = 0; i < idx; ++i)
{
if (dji_motor_instance[i]->motor_can_instance->can_handle == config->can_handle && dji_motor_instance[i]->motor_can_instance->rx_id == config->rx_id)
{
LOGERROR("[dji_motor] ID crash. Check in debug mode, add dji_motor_instance to watch to get more information.");
uint16_t can_bus = config->can_handle == &hcan1 ? 1 : 2;
while (1) // 6020的id 1-4和2006/3508的id 5-8会发生冲突(若有注册,即1!5,2!6,3!7,4!8) (1!5!,LTC! (((不是)
LOGERROR("[dji_motor] id [%d], can_bus [%d]", config->rx_id, can_bus);
}
}
break;
case DM4310: case DM4310:
if (motor_id < 4) // 根据ID分组 if (motor_id < 4) // 根据ID分组
{ {
@@ -307,109 +292,35 @@ void DJIMotorControl()
pid_ref = PIDCalculate(&motor_controller->speed_PID, pid_measure, pid_ref); pid_ref = PIDCalculate(&motor_controller->speed_PID, pid_measure, pid_ref);
} }
// 计算电流环,目前只要启用了电流环就计算,不管外层闭环是什么,并且电流只有电机自身传感器的反馈 //计算电流环,目前只要启用了电流环就计算,不管外层闭环是什么,并且电流只有电机自身传感器的反馈
if (motor_setting->feedforward_flag & CURRENT_FEEDFORWARD) if (motor_setting->feedforward_flag & CURRENT_FEEDFORWARD)
pid_ref += *motor_controller->current_feedforward_ptr; pid_ref += *motor_controller->current_feedforward_ptr;
if (motor_setting->close_loop_type & CURRENT_LOOP) if (motor_setting->close_loop_type & CURRENT_LOOP)
{ {
pid_ref = PIDCalculate(&motor_controller->current_PID, measure->real_current, pid_ref); pid_ref = PIDCalculate(&motor_controller->current_PID, measure->real_current, pid_ref);
} }
if (motor_setting->feedback_reverse_flag == FEEDBACK_DIRECTION_REVERSE) if (motor_setting->feedback_reverse_flag == FEEDBACK_DIRECTION_REVERSE)
pid_ref *= -1; pid_ref *= -1;
// 获取最终输出 // 获取最终输出
set = (int16_t)pid_ref; set = (int16_t)pid_ref;
// 分组填入发送数据 // 分组填入发送数据
group = motor->sender_group; group = motor->sender_group;
num = motor->message_num; num = motor->message_num;
sender_assignment[group].tx_buff[2 * num] = (uint8_t)(set >> 8); // 低八位 //DM电机单独处理,因为它的发送格式与DJI电机不同,但仍然使用sender_assignment进行分组发送
sender_assignment[group].tx_buff[2 * num + 1] = (uint8_t)(set & 0x00ff); // 高八位 if (i == 1)
{
// 若该电机处于停止状态,直接将buff置零 sender_assignment[4].tx_buff[6] = (uint8_t)(set & 0x00ff); // 高八位
if (motor->stop_flag == MOTOR_STOP) sender_assignment[4].tx_buff[7] = (uint8_t)(set >> 8); // 低八位
memset(sender_assignment[group].tx_buff + 2 * num, 0, 2u); }
}
else
// 遍历flag,检查是否要发送这一帧报文 {
for (size_t i = 0; i < 6; ++i) sender_assignment[group].tx_buff[2 * num] = (uint8_t)(set >> 8); // 低八位
{ sender_assignment[group].tx_buff[2 * num + 1] = (uint8_t)(set & 0x00ff); // 高八位
if (sender_enable_flag[i]) }
{
CANTransmit(&sender_assignment[i], 1);
}
}
}
void DM_MotorControl()
{
// 直接保存一次指针引用从而减小访存的开销,同样可以提高可读性
uint8_t group, num; // 电机组号和组内编号
int16_t set; // 电机控制CAN发送设定值
DJIMotorInstance *motor;
Motor_Control_Setting_s *motor_setting; // 电机控制参数
Motor_Controller_s *motor_controller; // 电机控制器
DJI_Motor_Measure_s *measure; // 电机测量值
float pid_measure, pid_ref; // 电机PID测量值和设定值
// 遍历所有电机实例,进行串级PID的计算并设置发送报文的值
for (size_t i = 0; i < idx; ++i)
{ // 减小访存开销,先保存指针引用
motor = dji_motor_instance[i];
motor_setting = &motor->motor_settings;
motor_controller = &motor->motor_controller;
measure = &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)
{
if (motor_setting->angle_feedback_source == OTHER_FEED)
pid_measure = *motor_controller->other_angle_feedback_ptr;
else
pid_measure = measure->total_angle; // MOTOR_FEED,对total angle闭环,防止在边界处出现突跃
// 更新pid_ref进入下一个环
pid_ref = PIDCalculate(&motor_controller->angle_PID, pid_measure, pid_ref);
}
// 计算速度环,(外层闭环为速度或位置)且(启用速度环)时会计算速度环
if ((motor_setting->close_loop_type & SPEED_LOOP) && (motor_setting->outer_loop_type & (ANGLE_LOOP | SPEED_LOOP)))
{
if (motor_setting->feedforward_flag & SPEED_FEEDFORWARD)
pid_ref += *motor_controller->speed_feedforward_ptr;
if (motor_setting->speed_feedback_source == OTHER_FEED)
pid_measure = *motor_controller->other_speed_feedback_ptr;
else // MOTOR_FEED
pid_measure = measure->speed_aps;
// 更新pid_ref进入下一个环
pid_ref = PIDCalculate(&motor_controller->speed_PID, pid_measure, pid_ref);
}
// 计算电流环,目前只要启用了电流环就计算,不管外层闭环是什么,并且电流只有电机自身传感器的反馈
if (motor_setting->feedforward_flag & CURRENT_FEEDFORWARD)
pid_ref += *motor_controller->current_feedforward_ptr;
if (motor_setting->close_loop_type & CURRENT_LOOP)
{
pid_ref = PIDCalculate(&motor_controller->current_PID, measure->real_current, pid_ref);
}
if (motor_setting->feedback_reverse_flag == FEEDBACK_DIRECTION_REVERSE)
pid_ref *= -1;
// 获取最终输出
set = (int16_t)pid_ref;
// 分组填入发送数据
group = motor->sender_group;
num = motor->message_num;
sender_assignment[group].tx_buff[num + 6] = (uint8_t)(set & 0x00ff); // 高八位
sender_assignment[group].tx_buff[num + 7] = (uint8_t)(set >> 8); // 低八位
// 若该电机处于停止状态,直接将buff置零 // 若该电机处于停止状态,直接将buff置零
if (motor->stop_flag == MOTOR_STOP) if (motor->stop_flag == MOTOR_STOP)

1
modules/motor/motor_task.c
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@@ -13,7 +13,6 @@ void MotorControlTask()
if(cnt%2==0) //500hz if(cnt%2==0) //500hz
{ {
DJIMotorControl(); DJIMotorControl();
DM_MotorControl();
} }
/* 如果有对应的电机则取消注释,可以加入条件编译或者register对应的idx判断是否注册了电机 */ /* 如果有对应的电机则取消注释,可以加入条件编译或者register对应的idx判断是否注册了电机 */