TuxMonkey/half-steering-basic-framework
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4310能转，但不受遥控控制

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guoxy06
2026-03-13 18:37:58 +08:00
parent 4d20b137da
commit fa85ac8e2a
4 changed files with 116 additions and 3 deletions
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2
application/gimbal/gimbal.c
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@@ -96,7 +96,7 @@ void GimbalInit()
.close_loop_type = SPEED_LOOP | ANGLE_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
},
.motor_type = M3508,
.motor_type = DM4310,
};
// 电机对total_angle闭环,上电时为零,会保持静止,收到遥控器数据再动
yaw_motor = DJIMotorInit(&yaw_config);

114
modules/motor/DJImotor/dji_motor.c
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@@ -24,7 +24,7 @@ static CANInstance sender_assignment[6] = {
[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}},
[3] = {.can_handle = &hcan2, .txconf.StdId = 0x1ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
[4] = {.can_handle = &hcan2, .txconf.StdId = 0x200, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
[4] = {.can_handle = &hcan2, .txconf.StdId = 0x3FE, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
[5] = {.can_handle = &hcan2, .txconf.StdId = 0x2ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
};
@@ -106,7 +106,36 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf
}
}
break;
case DM4310:
if (motor_id < 4) // 根据ID分组
{
motor_send_num = motor_id;
motor_grouping = config->can_handle == &hcan2 ? 1 : 4;
}
else
{
motor_send_num = motor_id - 4;
motor_grouping = config->can_handle == &hcan2 ? 0 : 3;
}
// 计算接收id并设置分组发送id
config->rx_id = 0x300 + motor_id + 1; // 把ID+1,进行分组设置
sender_enable_flag[motor_grouping] = 1; // 设置发送标志位,防止发送空帧
motor->message_num = motor_send_num;
motor->sender_group = motor_grouping;
// 检查是否发生id冲突
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 == &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)
LOGERROR("[dji_motor] id [%d], can_bus [%d]", config->rx_id, can_bus);
}
}
break;
default: // other motors should not be registered here
while (1)
LOGERROR("[dji_motor]You must not register other motors using the API of DJI motor."); // 其他电机不应该在这里注册
@@ -313,3 +342,86 @@ void DJIMotorControl()
}
}
}
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
if (motor->stop_flag == MOTOR_STOP)
memset(sender_assignment[group].tx_buff + 2 * num, 0, 2u);
}
// 遍历flag,检查是否要发送这一帧报文
for (size_t i = 0; i < 6; ++i)
{
if (sender_enable_flag[i])
{
CANTransmit(&sender_assignment[i], 1);
}
}
}

2
modules/motor/DJImotor/dji_motor.h
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@@ -105,7 +105,7 @@ void DJIMotorChangeFeed(DJIMotorInstance *motor, Closeloop_Type_e loop, Feedback
* @brief 该函数被motor_task调用运行在rtos上,motor_stask内通过osDelay()确定控制频率
*/
void DJIMotorControl();
void DM_MotorControl();
/**
* @brief 停止电机,注意不是将设定值设为零,而是直接给电机发送的电流值置零
*

1
modules/motor/motor_task.c
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@@ -13,6 +13,7 @@ void MotorControlTask()
if(cnt%2==0) //500hz
{
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 */