更新dji_motor初始化的配置,优化参数传递
This commit is contained in:
NeoZng
parent
55e12955b7
commit
0fb67070b8
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@ -116,31 +116,31 @@ int main(void)
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MX_USART6_UART_Init();
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/* USER CODE BEGIN 2 */
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RC_init(&huart3);
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can_instance_config can_config = {.can_handle = &hcan1,
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.tx_id = 1};
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Motor_Control_Setting_s motor_config = {.angle_feedback_source = MOTOR_FEED,
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DWT_Init(168);
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Motor_Init_Config_s config = {
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.motor_type = M3508,
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.can_init_config = {
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.can_handle = &hcan1,
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.tx_id = 1},
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.controller_setting_init_config = {.angle_feedback_source = MOTOR_FEED,
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.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
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.speed_feedback_source = MOTOR_FEED,
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.reverse_flag = MOTOR_DIRECTION_NORMAL};
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Motor_Controller_Init_s controller_init = {.current_PID = {
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.reverse_flag = MOTOR_DIRECTION_NORMAL},
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.controller_param_init_config = {.current_PID = {
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.Improve = 0,
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.Kp = 1,
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.Ki = 0,
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.Kd = 0,
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.DeadBand = 0,
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.MaxOut = 4000,
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},
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.MaxOut = 4000},
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.speed_PID = {
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.Improve = 0,
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.Kp = 1,
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.Ki = 0,
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.Kd = 0,
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.DeadBand = 0,
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.MaxOut = 4000,
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}};
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Motor_Type_e type = M3508;
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DWT_Init(168);
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dji_motor_instance *djimotor = DJIMotorInit(can_config, motor_config, controller_init, type);
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.MaxOut = 4000}}};
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dji_motor_instance *djimotor = DJIMotorInit(config);
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/* USER CODE END 2 */
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/* Call init function for freertos objects (in freertos.c) */
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@ -57,7 +57,7 @@ static void CANServiceInit()
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/* -----------------------two extern callable function -----------------------*/
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void CANRegister(can_instance *ins, can_instance_config config)
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void CANRegister(can_instance *ins, can_instance_config_s config)
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{
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static uint8_t idx;
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if (!idx)
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@ -9,42 +9,37 @@
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#define MX_CAN_FILTER_CNT (2 * 14) // temporarily useless
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#define DEVICE_CAN_CNT 2 // CAN1,CAN2
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/* can instance typedef, every module registered to CAN should have this variable */
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typedef struct _
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{
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CAN_HandleTypeDef* can_handle;
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CAN_HandleTypeDef *can_handle;
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CAN_TxHeaderTypeDef txconf;
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uint32_t tx_id;
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uint32_t tx_mailbox;
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uint8_t tx_buff[8];
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uint8_t rx_buff[8];
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uint32_t rx_id;
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void (*can_module_callback)(struct _*); // callback needs an instance to tell among registered ones
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void (*can_module_callback)(struct _ *); // callback needs an instance to tell among registered ones
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} can_instance;
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/* this structure is used as initialization*/
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typedef struct
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{
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CAN_HandleTypeDef* can_handle;
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CAN_HandleTypeDef *can_handle;
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uint32_t tx_id;
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uint32_t rx_id;
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void (*can_module_callback)(can_instance*);
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} can_instance_config;
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void (*can_module_callback)(can_instance *);
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} can_instance_config_s;
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/* module callback,which resolve protocol when new mesg arrives*/
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typedef void (*can_callback)(can_instance*);
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typedef void (*can_callback)(can_instance *);
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/**
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* @brief transmit mesg through CAN device
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*
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* @param _instance can instance owned by module
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*/
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void CANTransmit(can_instance* _instance);
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void CANTransmit(can_instance *_instance);
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/**
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* @brief Register a module to CAN service,remember to call this before using a CAN device
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@ -52,7 +47,6 @@ void CANTransmit(can_instance* _instance);
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* @param config init config
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* @return can_instance* can instance owned by module
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*/
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void CANRegister(can_instance* instance, can_instance_config config);
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void CANRegister(can_instance *instance, can_instance_config_s config);
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#endif
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@ -1,7 +1,16 @@
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# 湖南大学RoboMaster电控组通信协议
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<p align='right'>Seasky LIUWei</p>
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<p align='right'>modified by neozng1@hnu.edu.cn</p>
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可用于视觉，以及其他自研模块（仅限串口通信）
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> TODO:
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>
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> 1. 利用F4自带的硬件CRC模块计算校验码，提高速度
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> 2. 增加更多的数据类型支持，使得数据类型也为可配置的
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## 一、串口配置
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通信方式是串口，配置为波特率 115200，8 位数据位，1 位停止位，无硬件流控，无校验位。
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@ -1,63 +1,63 @@
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#include "HT04.h"
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#include "memory.h"
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joint_instance* joint_motor_info[HT_MOTOR_CNT];
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joint_instance *joint_motor_info[HT_MOTOR_CNT];
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static uint16_t float_to_uint(float x, float x_min, float x_max, uint8_t bits)
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{
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float span = x_max - x_min;
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float offset = x_min;
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return (uint16_t) ((x-offset)*((float)((1<<bits)-1))/span);
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return (uint16_t)((x - offset) * ((float)((1 << bits) - 1)) / span);
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}
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static float uint_to_float(int x_int, float x_min, float x_max, int bits)
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{
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float span = x_max - x_min;
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float offset = x_min;
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return ((float)x_int)*span/((float)((1<<bits)-1)) + offset;
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return ((float)x_int) * span / ((float)((1 << bits) - 1)) + offset;
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}
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static void DecodeJoint(can_instance* motor_instance)
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static void DecodeJoint(can_instance *motor_instance)
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{
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uint16_t tmp;
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for (size_t i = 0; i < HT_MOTOR_CNT; i++)
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{
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if(joint_motor_info[i]->motor_can_instace==motor_instance)
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if (joint_motor_info[i]->motor_can_instace == motor_instance)
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{
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tmp = (motor_instance->rx_buff[1] << 8) | motor_instance->rx_buff[2];
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joint_motor_info[i]->last_ecd=joint_motor_info[i]->ecd;
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joint_motor_info[i]->ecd=uint_to_float(tmp,P_MAX,P_MIN,16);
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joint_motor_info[i]->last_ecd = joint_motor_info[i]->ecd;
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joint_motor_info[i]->ecd = uint_to_float(tmp, P_MAX, P_MIN, 16);
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tmp = (motor_instance->rx_buff[3] << 4) | (motor_instance->rx_buff[4] >> 4);
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joint_motor_info[i]->speed_rpm= uint_to_float(tmp,V_MAX,V_MIN,12);
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tmp=((motor_instance->rx_buff[4]&0xf)<<8) | motor_instance->rx_buff[5];
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joint_motor_info[i]->given_current=uint_to_float(tmp,T_MAX,T_MIN,12);
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joint_motor_info[i]->speed_rpm = uint_to_float(tmp, V_MAX, V_MIN, 12);
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tmp = ((motor_instance->rx_buff[4] & 0xf) << 8) | motor_instance->rx_buff[5];
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joint_motor_info[i]->given_current = uint_to_float(tmp, T_MAX, T_MIN, 12);
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break;
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}
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}
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}
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joint_instance* HTMotorInit(can_instance_config config)
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joint_instance *HTMotorInit(can_instance_config_s config)
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{
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static uint8_t idx;
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joint_motor_info[idx]=(joint_instance*)malloc(sizeof(joint_instance));
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CANRegister(joint_motor_info[idx++]->motor_can_instace,config);
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joint_motor_info[idx] = (joint_instance *)malloc(sizeof(joint_instance));
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CANRegister(joint_motor_info[idx++]->motor_can_instace, config);
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return joint_motor_info[idx++];
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}
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void JointControl(joint_instance* _instance,float current)
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void JointControl(joint_instance *_instance, float current)
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{
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uint16_t tmp;
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LIMIT_MIN_MAX(current, T_MIN, T_MAX);
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tmp = float_to_uint(current, T_MIN, T_MAX, 12);
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_instance->motor_can_instace->rx_buff[6] = tmp>>8;
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_instance->motor_can_instace->rx_buff[7] = tmp&0xff;
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_instance->motor_can_instace->rx_buff[6] = tmp >> 8;
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_instance->motor_can_instace->rx_buff[7] = tmp & 0xff;
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CANTransmit(_instance->motor_can_instace);
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}
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void SetJointMode(joint_mode cmd,joint_instance* _instance)
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void SetJointMode(joint_mode cmd, joint_instance *_instance)
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{
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static uint8_t buf[8] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00};
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buf[7]=(uint8_t)cmd;
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memcpy(_instance->motor_can_instace->rx_buff,buf,8*sizeof(uint8_t));
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buf[7] = (uint8_t)cmd;
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memcpy(_instance->motor_can_instace->rx_buff, buf, 8 * sizeof(uint8_t));
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CANTransmit(_instance->motor_can_instace);
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}
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@ -14,7 +14,7 @@
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#define T_MIN -18.0f
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#define T_MAX 18.0f
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typedef struct //HT04
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typedef struct // HT04
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{
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float last_ecd;
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float ecd;
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@ -22,7 +22,7 @@ typedef struct //HT04
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float given_current;
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PID_t pid;
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can_instance* motor_can_instace;
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can_instance *motor_can_instace;
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} joint_instance;
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typedef enum
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@ -32,10 +32,10 @@ typedef enum
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CMD_ZERO_POSITION = 0xfe
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} joint_mode;
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joint_instance* HTMotorInit(can_instance_config config);
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joint_instance *HTMotorInit(can_instance_config_s config);
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void JointControl(joint_instance* _instance,float current);
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void JointControl(joint_instance *_instance, float current);
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void SetJointMode(joint_mode cmd,joint_instance* _instance);
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void SetJointMode(joint_mode cmd, joint_instance *_instance);
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#endif // !HT04_H#define HT04_H
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@ -18,7 +18,7 @@ static void DecodeDriven(can_instance *_instance)
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}
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}
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driven_instance *LKMotroInit(can_instance_config config)
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driven_instance *LKMotroInit(can_instance_config_s config)
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{
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static uint8_t idx;
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driven_motor_info[idx] = (driven_instance *)malloc(sizeof(driven_instance));
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@ -9,10 +9,9 @@
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#define I_MIN -2000
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#define I_MAX 2000
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#define LIMIT_MIN_MAX(x,min,max) (x) = (((x)<=(min))?(min):(((x)>=(max))?(max):(x)))
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#define LIMIT_MIN_MAX(x, min, max) (x) = (((x) <= (min)) ? (min) : (((x) >= (max)) ? (max) : (x)))
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typedef struct //9025
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typedef struct // 9025
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{
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uint16_t last_ecd;
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uint16_t ecd;
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@ -20,8 +19,8 @@ typedef struct //9025
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int16_t given_current;
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uint8_t temperate;
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PID_t* pid;
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can_instance* motor_can_instance;
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PID_t *pid;
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can_instance *motor_can_instance;
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} driven_instance;
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@ -30,10 +29,10 @@ typedef enum
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unused = 0,
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} driven_mode;
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driven_instance* LKMotroInit(can_instance_config config);
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driven_instance *LKMotroInit(can_instance_config_s config);
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void DrivenControl(int16_t motor1_current,int16_t motor2_current);
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void DrivenControl(int16_t motor1_current, int16_t motor2_current);
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void SetDrivenMode(driven_mode cmd,uint16_t motor_id);
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void SetDrivenMode(driven_mode cmd, uint16_t motor_id);
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#endif // LK9025_H
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@ -48,7 +48,7 @@ static void IDcrash_Handler(uint8_t conflict_motor_idx, uint8_t temp_motor_idx)
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*
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* @param config
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*/
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static void MotorSenderGrouping(can_instance_config *config)
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static void MotorSenderGrouping(can_instance_config_s *config)
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{
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uint8_t motor_id = config->tx_id - 1; // 下标从零开始,先减一方便赋值
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uint8_t motor_send_num;
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@ -146,29 +146,26 @@ static void DecodeDJIMotor(can_instance *_instance)
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}
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// 电机初始化,返回一个电机实例
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dji_motor_instance *DJIMotorInit(can_instance_config can_config,
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Motor_Control_Setting_s motor_setting,
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Motor_Controller_Init_s controller_init,
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Motor_Type_e type)
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dji_motor_instance *DJIMotorInit(Motor_Init_Config_s config)
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{
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dji_motor_info[idx] = (dji_motor_instance *)malloc(sizeof(dji_motor_instance));
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memset(dji_motor_info[idx], 0, sizeof(dji_motor_instance));
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// motor basic setting
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dji_motor_info[idx]->motor_type = type;
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dji_motor_info[idx]->motor_settings = motor_setting;
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dji_motor_info[idx]->motor_type = config.motor_type;
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dji_motor_info[idx]->motor_settings = config.controller_setting_init_config;
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// motor controller init
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PID_Init(&dji_motor_info[idx]->motor_controller.current_PID, &controller_init.current_PID);
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PID_Init(&dji_motor_info[idx]->motor_controller.speed_PID, &controller_init.speed_PID);
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PID_Init(&dji_motor_info[idx]->motor_controller.angle_PID, &controller_init.angle_PID);
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dji_motor_info[idx]->motor_controller.other_angle_feedback_ptr = controller_init.other_angle_feedback_ptr;
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dji_motor_info[idx]->motor_controller.other_speed_feedback_ptr = controller_init.other_speed_feedback_ptr;
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PID_Init(&dji_motor_info[idx]->motor_controller.current_PID, &config.controller_param_init_config.current_PID);
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PID_Init(&dji_motor_info[idx]->motor_controller.speed_PID, &config.controller_param_init_config.speed_PID);
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PID_Init(&dji_motor_info[idx]->motor_controller.angle_PID, &config.controller_param_init_config.angle_PID);
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dji_motor_info[idx]->motor_controller.other_angle_feedback_ptr = config.controller_param_init_config.other_angle_feedback_ptr;
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dji_motor_info[idx]->motor_controller.other_speed_feedback_ptr = config.controller_param_init_config.other_speed_feedback_ptr;
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// group motors, because 4 motors share the same CAN control message
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MotorSenderGrouping(&can_config);
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MotorSenderGrouping(&config.can_init_config);
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// register motor to CAN bus
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can_config.can_module_callback = DecodeDJIMotor; // set callback
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CANRegister(&dji_motor_info[idx]->motor_can_instance, can_config);
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config.can_init_config.can_module_callback = DecodeDJIMotor; // set callback
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CANRegister(&dji_motor_info[idx]->motor_can_instance, config.can_init_config);
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return dji_motor_info[idx++];
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}
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@ -76,22 +76,11 @@ typedef struct
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* @attention M3508和M2006的反馈报文都是0x200+id,而GM6020的反馈是0x204+id,请注意前两者和后者的id不要冲突.
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* 如果产生冲突,在初始化电机的时候会进入IDcrash_Handler(),可以通过debug来判断是否出现冲突.
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*
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* @param config 电机can设置,对于DJI电机仅需要将tx_id设置为电调闪动次数(c620,615,610)或拨码开关的值(GM6020)
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* 你不需要自己查表计算发送和接收id,我们会帮你处理好!
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* @param config 电机初始化结构体,包含了电机控制设置,电机PID参数设置,电机类型以及电机挂载的CAN设置
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*
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* @param motor_setting 电机的控制设置,包括是否反转,闭环类型和是否使用编码器之外的反馈值
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*
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* @param controller_init 电机控制器的参数设置,包括其他的反馈来源数据指针和三环PID的参数.
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* 如果不需要其他数据来源或不需要三个环,将不需要指针置为NULL即可
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*
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* @param type 电机的类型枚举,包括m2006,m3508和gm6020
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*
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* @return dji_motor_instance* 返回一个电机实例指针给应用,方便其对电机的参考值进行设置,即调用DJIMotorSetRef()
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* @return dji_motor_instance*
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*/
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dji_motor_instance *DJIMotorInit(can_instance_config config,
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Motor_Control_Setting_s motor_setting,
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Motor_Controller_Init_s controller_init,
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Motor_Type_e type);
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dji_motor_instance *DJIMotorInit(Motor_Init_Config_s config);
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/**
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* @brief 被application层的应用调用,给电机设定参考值.
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@ -20,9 +20,14 @@ dji_motor模块对DJI智能电机，包括M2006，M3508以及GM6020进行了详
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初始化电机时，你需要传入的参数包括：
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- 电机挂载的总线设置：CAN1 or CAN2，以及电机的id
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- **电机挂载的CAN总线设置**，CAN1 or CAN2，以及电机的id，使用`can_instance_config_s`封装，只需要设置这两个参数:
|
||||
|
||||
- 电机类型：
|
||||
```c
|
||||
CAN_HandleTypeDef *can_handle;
|
||||
uint32_t tx_id; // tx_id设置为电机id,不需要查说明书计算，直接为电调的闪动次数或拨码开关值，为1-8
|
||||
```
|
||||
|
||||
- **电机类型**，使用`Motor_Type_e`：
|
||||
|
||||
```c
|
||||
GM6020 = 0
|
||||
|
|
@ -30,7 +35,9 @@ dji_motor模块对DJI智能电机，包括M2006，M3508以及GM6020进行了详
|
|||
M2006 = 2
|
||||
```
|
||||
|
||||
- 闭环类型
|
||||
- **电机控制设置**
|
||||
|
||||
- 闭环类型
|
||||
|
||||
```c
|
||||
OPEN_LOOP
|
||||
|
|
@ -42,25 +49,24 @@ dji_motor模块对DJI智能电机，包括M2006，M3508以及GM6020进行了详
|
|||
CURRENT_LOOP| SPEED_LOOP |ANGLE_LOOP // 三环全开
|
||||
```
|
||||
|
||||
- 是否反转
|
||||
- 是否反转
|
||||
|
||||
```c
|
||||
MOTOR_DIRECTION_NORMAL
|
||||
MOTOR_DIRECTION_REVERSE
|
||||
```
|
||||
|
||||
- 是否其他反馈来源，以及他们对应的数据指针（如果有的话）
|
||||
- 是否其他反馈来源，以及他们对应的数据指针（如果有的话）
|
||||
|
||||
```c
|
||||
MOTOR_FEED = 0
|
||||
OTHER_FEED = 1
|
||||
---
|
||||
float *other_angle_feedback_ptr
|
||||
float *other_speed_feedback_ptr
|
||||
|
||||
// 电流只能从电机传感器获得所以无法设置其他来源
|
||||
```
|
||||
|
||||
- 每个环的PID参数以及是否使用改进功能
|
||||
- 每个环的PID参数以及是否使用改进功能，以及其他反馈来源指针（如果在上一步启用了其他数据来源）
|
||||
|
||||
```c
|
||||
typedef struct // config parameter
|
||||
|
|
@ -99,6 +105,53 @@ dji_motor模块对DJI智能电机，包括M2006，M3508以及GM6020进行了详
|
|||
// 若希望使用多个环节的优化，这样就行：Integral_Limit |Trapezoid_Intergral|...|...
|
||||
```
|
||||
|
||||
```c
|
||||
float *other_angle_feedback_ptr
|
||||
float *other_speed_feedback_ptr
|
||||
```
|
||||
|
||||
|
||||
|
||||
---
|
||||
|
||||
|
||||
|
||||
推荐的初始化参数编写格式如下：
|
||||
|
||||
```c
|
||||
Motor_Init_Config_s config = {
|
||||
.motor_type = M3508, // 要注册的电机为3508电机
|
||||
.can_init_config = {.can_handle = &hcan1, // 挂载在CAN1
|
||||
.tx_id = 1}, // C620每隔一段时间闪动1次,设置为1
|
||||
// 采用电机编码器角度与速度反馈,启用速度环和电流环,不反转
|
||||
.controller_setting_init_config = {.angle_feedback_source = MOTOR_FEED,
|
||||
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
|
||||
.speed_feedback_source = MOTOR_FEED,
|
||||
.reverse_flag = MOTOR_DIRECTION_NORMAL},
|
||||
// 电流环和速度环PID参数的设置,不采用计算优化则不需要传入Improve参数
|
||||
// 不使用其他数据来源(如IMU),不需要传入反馈数据变量指针
|
||||
.controller_param_init_config = {.current_PID = {.Improve = 0,
|
||||
.Kp = 1,
|
||||
.Ki = 0,
|
||||
.Kd = 0,
|
||||
.DeadBand = 0,
|
||||
.MaxOut = 4000},
|
||||
.speed_PID = {.Improve = 0,
|
||||
.Kp = 1,
|
||||
.Ki = 0,
|
||||
.Kd = 0,
|
||||
.DeadBand = 0,
|
||||
.MaxOut = 4000}}};
|
||||
|
||||
dji_motor_instance *djimotor = DJIMotorInit(config); // 设置好参数后进行初始化并保留返回的指针
|
||||
```
|
||||
|
||||
|
||||
|
||||
---
|
||||
|
||||
|
||||
|
||||
要控制一个DJI电机，我们提供了2个接口：
|
||||
|
||||
```c
|
||||
|
|
@ -113,6 +166,16 @@ void DJIMotorChangeFeed(dji_motor_instance *motor,
|
|||
|
||||
调用第二个并设定要修改的反馈环节和反馈类型，它会将反馈数据指针切换到你设定好的变量（需要在初始化的时候设置反馈指针）。
|
||||
|
||||
**如果需要获取电机的反馈数据**（如小陀螺模式需要根据麦克纳姆轮逆运动学解算底盘速度），直接通过你拥有的`dji_motor_instance`访问成员变量：
|
||||
|
||||
```c
|
||||
// LeftForwardMotor是一个dji_motor_instance实例
|
||||
float speed=LeftForwardMotor->motor_measure->speed_rpm;
|
||||
...
|
||||
```
|
||||
|
||||
|
||||
|
||||
***现在，忘记PID的计算和发送、接收以及协议解析，专注于模块之间的逻辑交互吧。***
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -94,4 +94,13 @@ typedef struct
|
|||
|
||||
} Motor_Controller_Init_s;
|
||||
|
||||
/* 用于初始化CAN电机的结构体,各类电机通用 */
|
||||
typedef struct
|
||||
{
|
||||
Motor_Controller_Init_s controller_param_init_config;
|
||||
Motor_Control_Setting_s controller_setting_init_config;
|
||||
Motor_Type_e motor_type;
|
||||
can_instance_config_s can_init_config;
|
||||
} Motor_Init_Config_s;
|
||||
|
||||
#endif // !MOTOR_DEF_H
|
||||
|
|
|
|||
Loading…
Reference in New Issue