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add lk motor drv

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TuxMonkey
2026-03-05 00:44:44 +08:00
parent 596d3d4c65
commit 1e75c1a5e1
2 changed files with 275 additions and 0 deletions
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177
User_Code/module/motor/can_motors/lk_motor/lk_motor.c Normal file
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#include "lk_motor.h"
#include "stdlib.h"
#include "general_def.h"
#include "daemon.h"
#include "bsp_dwt.h"
#include "bsp_log.h"
static uint8_t idx;
static LKMotorInstance *lkmotor_instance[LK_MOTOR_MX_CNT] = {NULL};
static FDCANInstance *sender_instance; // 多电机发送时使用的caninstance(当前保存的是注册的第一个电机的caninstance)
// 后续考虑兼容单电机和多电机指令.
/**
* @brief 电机反馈报文解析
*
* @param _instance 发生中断的caninstance
*/
static void LKMotorDecode(FDCANInstance *_instance)
{
LKMotorInstance *motor = (LKMotorInstance *)_instance->id; // 通过caninstance保存的father id获取对应的motorinstance
LKMotor_Measure_t *measure = &motor->measure;
uint8_t *rx_buff = _instance->rx_buff;
DaemonReload(motor->daemon); // 喂狗
measure->feed_dt = DWT_GetDeltaT(&measure->feed_dwt_cnt);
measure->last_ecd = measure->ecd;
measure->ecd = (uint16_t)((rx_buff[7] << 8) | rx_buff[6]);
measure->angle_single_round = ECD_ANGLE_COEF_LK * measure->ecd;
measure->speed_rads = (1 - SPEED_SMOOTH_COEF) * measure->speed_rads +
DEGREE_2_RAD * SPEED_SMOOTH_COEF * (float)((int16_t)(rx_buff[5] << 8 | rx_buff[4]));
measure->real_current = (1 - CURRENT_SMOOTH_COEF) * measure->real_current +
CURRENT_SMOOTH_COEF * (float)((int16_t)(rx_buff[3] << 8 | rx_buff[2]));
measure->temperature = rx_buff[1];
if (measure->ecd - measure->last_ecd > 65536)//MFV2是18bit编码器,这里用65536判断是否发生了跨越零点
measure->total_round--;
else if (measure->ecd - measure->last_ecd < -65536)
measure->total_round++;
measure->total_angle = measure->total_round * 360 + measure->angle_single_round;
}
static void LKMotorLostCallback(void *motor_ptr)
{
LKMotorInstance *motor = (LKMotorInstance *)motor_ptr;
LOGWARNING("[LKMotor] motor lost, id: %d", motor->motor_can_ins->tx_id);
}
LKMotorInstance *LKMotorInit(Motor_Init_Config_s *config)
{
LKMotorInstance *motor = (LKMotorInstance *)malloc(sizeof(LKMotorInstance));
motor = (LKMotorInstance *)malloc(sizeof(LKMotorInstance));
memset(motor, 0, sizeof(LKMotorInstance));
motor->motor_settings = config->controller_setting_init_config;
PIDInit(&motor->current_PID, &config->controller_param_init_config.current_PID);
PIDInit(&motor->speed_PID, &config->controller_param_init_config.speed_PID);
PIDInit(&motor->angle_PID, &config->controller_param_init_config.angle_PID);
motor->other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
motor->other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
config->fdcan_init_config.id = motor;
config->fdcan_init_config.can_module_callback = LKMotorDecode;
config->fdcan_init_config.rx_id = 0x140 + config->fdcan_init_config.tx_id;
config->fdcan_init_config.tx_id = config->fdcan_init_config.tx_id + 0x280 - 1; // 这样在发送写入buffer的时候更方便,因为下标从0开始,LK多电机发送id为0x280
motor->motor_can_ins = CANRegister(&config->fdcan_init_config);
if (idx == 0) // 用第一个电机的can instance发送数据
{
sender_instance = motor->motor_can_ins;
sender_instance->tx_id = 0x280; // 修改tx_id为0x280,用于多电机发送,不用管其他LKMotorInstance的tx_id,它们仅作初始化用
}
LKMotorEnable(motor);
DWT_GetDeltaT(&motor->measure.feed_dwt_cnt);
lkmotor_instance[idx++] = motor;
Daemon_Init_Config_s daemon_config = {
.callback = LKMotorLostCallback,
.owner_id = motor,
.reload_count = 5, // 50ms
};
motor->daemon = DaemonRegister(&daemon_config);
return motor;
}
/* 第一个电机的can instance用于发送数据,向其tx_buff填充数据 */
void LKMotorControl()
{
float pid_measure, pid_ref;
int16_t set;
LKMotorInstance *motor;
LKMotor_Measure_t *measure;
Motor_Control_Setting_s *setting;
for (size_t i = 0; i < idx; ++i)
{
motor = lkmotor_instance[i];
measure = &motor->measure;
setting = &motor->motor_settings;
pid_ref = motor->pid_ref;
if (setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
pid_ref *= -1;
// 角度环计算
if ((setting->close_loop_type & ANGLE_LOOP) && setting->outer_loop_type == ANGLE_LOOP)
{
if (setting->angle_feedback_source == OTHER_FEED)
pid_measure = *motor->other_angle_feedback_ptr;
else
pid_measure = measure->total_angle; // 修正:使用角度反馈
pid_ref = PIDCalculate(&motor->angle_PID, pid_measure, pid_ref);
if (setting->feedforward_flag & SPEED_FEEDFORWARD)
pid_ref += *motor->speed_feedforward_ptr;
}
// 速度环计算
if ((setting->close_loop_type & SPEED_LOOP) && setting->outer_loop_type & (ANGLE_LOOP | SPEED_LOOP))
{
if (setting->speed_feedback_source == OTHER_FEED) // 修正:判断speed_feedback_source
pid_measure = *motor->other_speed_feedback_ptr;
else
pid_measure = measure->speed_rads; // 修正:使用速度反馈
pid_ref = PIDCalculate(&motor->speed_PID, pid_measure, pid_ref); // 修正:使用speed_PID
if (setting->feedforward_flag & CURRENT_FEEDFORWARD)
pid_ref += *motor->current_feedforward_ptr;
}
// 电流环计算
if (setting->close_loop_type & CURRENT_LOOP)
{
pid_ref = PIDCalculate(&motor->current_PID, measure->real_current, pid_ref);
}
// 反馈方向反转
if (setting->feedback_reverse_flag == FEEDBACK_DIRECTION_REVERSE)
pid_ref *= -1;
set = (int16_t)pid_ref;
memcpy(sender_instance->tx_buff + (motor->motor_can_ins->tx_id - 0x280) * 2, &set, sizeof(uint16_t));
if (motor->stop_flag == MOTOR_STOP)
{
memset(sender_instance->tx_buff + (motor->motor_can_ins->tx_id - 0x280) * 2, 0, sizeof(uint16_t));
}
}
if (idx)
CANTransmit(sender_instance, 0.2);
}
void LKMotorStop(LKMotorInstance *motor)
{
motor->stop_flag = MOTOR_STOP;
}
void LKMotorEnable(LKMotorInstance *motor)
{
motor->stop_flag = MOTOR_ENALBED;
}
void LKMotorSetRef(LKMotorInstance *motor, float ref)
{
motor->pid_ref = ref;
}
uint8_t LKMotorIsOnline(LKMotorInstance *motor)
{
return DaemonIsOnline(motor->daemon);
}

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User_Code/module/motor/can_motors/lk_motor/lk_motor.h Normal file
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#ifndef LK_MOTOR_H
#define LK_MOTOR_H
#include "stdint.h"
#include "bsp_fdcan.h"
#include "pid.h"
#include "motor_def.h"
#include "daemon.h"
#define LK_MOTOR_MX_CNT 4 // 最多允许4个LK电机使用多电机指令,挂载在一条总线上
#define I_MIN -2000
#define I_MAX 2000
#define CURRENT_SMOOTH_COEF 0.9f
#define SPEED_SMOOTH_COEF 0.85f
#define REDUCTION_RATIO_DRIVEN 1
#define ECD_ANGLE_COEF_LK (360.0f / 65536.0f)
#define CURRENT_TORQUE_COEF_LK 0.003645f // 电流设定值转换成扭矩的系数,算出来的设定值除以这个系数就是扭矩值
typedef struct // 9025
{
uint16_t last_ecd; // 上一次读取的编码器值
uint16_t ecd; // 当前编码器值
float angle_single_round; // 单圈角度
float speed_rads; // speed rad/s
int16_t real_current; // 实际电流
uint8_t temperature; // 温度,C°
float total_angle; // 总角度
int32_t total_round; // 总圈数
float feed_dt;
uint32_t feed_dwt_cnt;
} LKMotor_Measure_t;
typedef struct
{
LKMotor_Measure_t measure;
Motor_Control_Setting_s motor_settings;
float *other_angle_feedback_ptr; // 其他反馈来源的反馈数据指针
float *other_speed_feedback_ptr;
float *speed_feedforward_ptr; // 速度前馈数据指针,可以通过此指针设置速度前馈值,或LQR等时作为速度状态变量的输入
float *current_feedforward_ptr; // 电流前馈指针
PIDInstance current_PID;
PIDInstance speed_PID;
PIDInstance angle_PID;
float pid_ref;
Motor_Working_Type_e stop_flag; // 启停标志
FDCANInstance *motor_can_ins;
Daemon_Instance *daemon;
} LKMotorInstance;
/**
* @brief 初始化LK电机
*
* @param config 电机配置
* @return LKMotorInstance* 返回实例指针
*/
LKMotorInstance *LKMotorInit(Motor_Init_Config_s *config);
/**
* @brief 设置参考值
* @attention 注意此函数设定的ref是最外层闭环的输入,若要设定内层闭环的值请通过前馈数据指针设置
*
* @param motor 要设置的电机
* @param ref 设定值
*/
void LKMotorSetRef(LKMotorInstance *motor, float ref);
/**
* @brief 为所有LK电机计算pid/反转/模式控制,并通过bspcan发送电流值(发送CAN报文)
*
*/
void LKMotorControl();
/**
* @brief 停止LK电机,之后电机不会响应任何指令
*
* @param motor
*/
void LKMotorStop(LKMotorInstance *motor);
/**
* @brief 启动LK电机
*
* @param motor
*/
void LKMotorEnable(LKMotorInstance *motor);
uint8_t LKMotorIsOnline(LKMotorInstance *motor);
#endif // LK_MOTOR_H