diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c index 298bc32..eb98b6a 100644 --- a/application/gimbal/gimbal.c +++ b/application/gimbal/gimbal.c @@ -79,12 +79,20 @@ void GimbalInit() }, .speed_PID = { .Kp = 50, // 50 - .Ki = 350, // 350 + .Ki = 175, // 350 .Kd = 0, // 0 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .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, // 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]), @@ -95,6 +103,7 @@ void GimbalInit() .outer_loop_type = ANGLE_LOOP, .close_loop_type = SPEED_LOOP | ANGLE_LOOP, .motor_reverse_flag = MOTOR_DIRECTION_NORMAL, + .feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE, }, .motor_type = DM4310, }; diff --git a/application/robot_def.h b/application/robot_def.h index 1465ca5..6412201 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -208,6 +208,10 @@ typedef struct attitude_t gimbal_imu_data; uint16_t yaw_motor_single_round_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; typedef struct diff --git a/modules/motor/DJImotor/dji_motor.c b/modules/motor/DJImotor/dji_motor.c index a1fc96e..b9c76e0 100644 --- a/modules/motor/DJImotor/dji_motor.c +++ b/modules/motor/DJImotor/dji_motor.c @@ -20,6 +20,7 @@ static DJIMotorInstance *dji_motor_instance[DJI_MOTOR_CNT] = {NULL}; // 会在co * can2: [3]:0x1FF,[4]:0x200,[5]:0x2FF */ 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}}, [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}}, @@ -51,12 +52,12 @@ static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *conf if (motor_id < 4) // 根据ID分组 { motor_send_num = motor_id; - motor_grouping = config->can_handle == &hcan1 ? 1 : 4; + motor_grouping = config->can_handle == &hcan2 ? 1 : 4; } else { 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 @@ -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) { 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) 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; } - 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: 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); } - // 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); - } + //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; + 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[2 * num] = (uint8_t)(set >> 8); // 低八位 - sender_assignment[group].tx_buff[2 * num + 1] = (uint8_t)(set & 0x00ff); // 高八位 - - // 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); - } - } -} -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 + //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 + if (i == 1) + { + sender_assignment[4].tx_buff[6] = (uint8_t)(set & 0x00ff); // 高八位 + sender_assignment[4].tx_buff[7] = (uint8_t)(set >> 8); // 低八位 + } + + else + { + 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 + } // 若该电机处于停止状态,直接将buff置零 if (motor->stop_flag == MOTOR_STOP) diff --git a/modules/motor/motor_task.c b/modules/motor/motor_task.c index 891cc57..d751b4a 100644 --- a/modules/motor/motor_task.c +++ b/modules/motor/motor_task.c @@ -13,7 +13,6 @@ 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 */