From bfaae13b59dd45abe1b5d654f5685264ad5410a1 Mon Sep 17 00:00:00 2001 From: NeoZng Date: Mon, 2 Jan 2023 23:20:35 +0800 Subject: [PATCH] =?UTF-8?q?=E9=87=8D=E6=96=B0=E7=BB=84=E7=BB=87=E4=BA=86?= =?UTF-8?q?=E6=96=87=E4=BB=B6=E7=9A=84=E9=98=B2=E6=AD=A2?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- HAL_N_Middlewares/Inc/FreeRTOSConfig.h | 2 +- Makefile | 15 ++++--- README.md | 8 +--- application/gimbal/gimbal.c | 18 ++++----- basic_framework.ioc | 3 +- bsp/can/bsp_can.md | 4 +- bsp/spi/bsp_spi.h | 4 +- modules/BMI088/bmi088.h | 39 +++++++++++++++++-- modules/algorithm/controller.c | 4 +- modules/algorithm/controller.h | 6 +-- modules/general_def.h | 9 ++--- modules/imu/ins_task.c | 8 ++-- modules/imu/ins_task.h | 18 +++++---- modules/motor/{ => DJImotor}/dji_motor.c | 22 ++++++----- modules/motor/{ => DJImotor}/dji_motor.h | 1 + modules/motor/{ => DJImotor}/dji_motor.md | 0 modules/motor/{ => HTmotor}/HT04.c | 0 modules/motor/{ => HTmotor}/HT04.h | 0 modules/motor/{ => LKmotor}/LK9025.c | 0 modules/motor/{ => LKmotor}/LK9025.h | 0 modules/motor/motor_def.h | 6 +-- modules/motor/{ => servo_motor}/servo_motor.c | 0 modules/motor/{ => servo_motor}/servo_motor.h | 0 .../motor/{ => servo_motor}/servo_motor.md | 0 modules/motor/{ => step_motor}/step_motor.c | 0 modules/motor/{ => step_motor}/step_motor.h | 0 26 files changed, 105 insertions(+), 62 deletions(-) rename modules/motor/{ => DJImotor}/dji_motor.c (95%) rename modules/motor/{ => DJImotor}/dji_motor.h (99%) rename modules/motor/{ => DJImotor}/dji_motor.md (100%) rename modules/motor/{ => HTmotor}/HT04.c (100%) rename modules/motor/{ => HTmotor}/HT04.h (100%) rename modules/motor/{ => LKmotor}/LK9025.c (100%) rename modules/motor/{ => LKmotor}/LK9025.h (100%) rename modules/motor/{ => servo_motor}/servo_motor.c (100%) rename modules/motor/{ => servo_motor}/servo_motor.h (100%) rename modules/motor/{ => servo_motor}/servo_motor.md (100%) rename modules/motor/{ => step_motor}/step_motor.c (100%) rename modules/motor/{ => step_motor}/step_motor.h (100%) diff --git a/HAL_N_Middlewares/Inc/FreeRTOSConfig.h b/HAL_N_Middlewares/Inc/FreeRTOSConfig.h index 5e56ffc..2881de6 100644 --- a/HAL_N_Middlewares/Inc/FreeRTOSConfig.h +++ b/HAL_N_Middlewares/Inc/FreeRTOSConfig.h @@ -88,7 +88,7 @@ to exclude the API function. */ #define INCLUDE_vTaskDelete 1 #define INCLUDE_vTaskCleanUpResources 0 #define INCLUDE_vTaskSuspend 1 -#define INCLUDE_vTaskDelayUntil 0 +#define INCLUDE_vTaskDelayUntil 1 #define INCLUDE_vTaskDelay 1 #define INCLUDE_xTaskGetSchedulerState 1 diff --git a/Makefile b/Makefile index 6dbf048..a0a818a 100644 --- a/Makefile +++ b/Makefile @@ -124,11 +124,11 @@ modules/imu/ins_task.c \ modules/led/led_task.c \ modules/master_machine/master_process.c \ modules/master_machine/seasky_protocol.c \ -modules/motor/dji_motor.c \ -modules/motor/HT04.c \ -modules/motor/LK9025.c \ -modules/motor/step_motor.c \ -modules/motor/servo_motor.c \ +modules/motor/DJImotor/dji_motor.c \ +modules/motor/HTmotor/HT04.c \ +modules/motor/LKmotor/LK9025.c \ +modules/motor/step_motor/step_motor.c \ +modules/motor/servo_motor/servo_motor.c \ modules/motor/motor_task.c \ modules/referee/crc.c \ modules/referee/referee.c \ @@ -238,6 +238,11 @@ C_INCLUDES = \ -Imodules/imu \ -Imodules/led \ -Imodules/master_machine \ +-Imodules/motor/DJImotor \ +-Imodules/motor/LKmotor \ +-Imodules/motor/HTmotor \ +-Imodules/motor/step_motor \ +-Imodules/motor/servo_motor \ -Imodules/motor \ -Imodules/referee \ -Imodules/remote \ diff --git a/README.md b/README.md index 051662e..978928a 100644 --- a/README.md +++ b/README.md @@ -103,7 +103,6 @@ // 接收的回调函数,用于解析接收到的数据 void (*can_module_callback)(struct _ *); // callback needs an instance to tell among registered ones } CANInstance; - #pragma pack() ``` @@ -111,13 +110,11 @@ ## BSP层(Board Sopport Package) - TODO： - 1. 增加SPI和I^2^C的BSP模组以便支持IST384磁力计和Oled显示屏等。 - 1. 增加和module层的deteck_task配合的蜂鸣器和led闪烁配置。 - 主要功能：实现映射功能。 - 在本框架中，BSP层与cube高度耦合，对该层的修改可能需要使用cube重新生成工程（主要是外设的配置，通信速度，时钟频率和分频数等）。该层也是唯一允许直接出现stm32HAL库函数的代码层，**在非BSP层编写代码时，如需使用HAL_...函数，请思考是否有同功能的BSP_...函数**。不过，由于ST的HAL已经对硬件进行较高的抽象（如以handle_xxx的方式描述一个硬件外设或功能引脚），因此更换开发板需要修改的内容极少。 - 最简单的(如gpio)仅是对HAL库函数的封装。较为复杂的则会进行一定程度的处理(如can) - 补充与修改：某款主控对应的BSP层应保持相同，当认为该层可能缺少部分功能或有错误时，请联系组长确认后解决并更新整个框架，**请勿自行修改**。 -- 代码移植：BSP层也是在不同系列、型号的stm32间执行代码移植时主要需要关注的代码层。向功能更强系列移植一般只需要重配cube并重新组织BSP层的映射关系，而向功能较少的系列移植还需要去掉其不支持的功能。修改BSP后一般不需要对其他两层进行修改。 +- 代码移植：BSP层也是在不同系列、型号的stm32间执行代码移植时主要需要关注的代码层。向功能更强系列移植一般只需要重配cube并重新组织BSP层的映射关系，而向功能较少的系列移植还需要去掉其不支持的功能。如果仅是对同一型号的开发板进行HAL初始化配置的修改，则BSP层**不需要**变动。 - 子文件与文件夹： - bsp.c/h：该层核心文件，其中.h被include至main.c中，以实现整个代码层的初始化。include了该层所有模块的.h并调用各模块的初始化函数。**注意**，有些外设如串口和CAN不需要在bsp.c中进行模块层的初始化，他们会在module层生成实例（即C语言中的结构体）并注册到bsp层时自动进行初始化。以此达到提高运行速度避免未使用的模块被加载的问题。 - bsp_xxx.c/h：每一个成对的.c/h对应一种外设，当上面两个代码层需要使用某个外设时，这里的文件就是对应的交互接口。 @@ -128,7 +125,6 @@ - TODO： 1. 增加模块离线/错误检测模块（官方例程中的`deteck_task`）。 - 2. 增加超级电容模块 3. 增加步进电机模块 4. 增加裁判系统多机通信、UI绘制模块 5. 增加舵机模块 @@ -138,7 +134,7 @@ - 子文件与子文件夹 - - **注意，module层没有也不需要进行同意初始化**。app层的应用会包含一些模块，因此由app来调用各个模块的init或register函数，只有当一个module被app实例化，这个模块才会存在。 + - **注意，module层没有也不需要进行统一初始化**。app层的应用会包含一些模块，因此由app来调用各个模块的init或register函数，只有当一个module被app实例化，这个模块才会存在。 > 命名为init()的初始化一般来说是开发板的独占资源，即有且只有一个这样的模块，无法拥有多个实例，如板载陀螺仪、LED、按键等。命名为register()的模块则可以拥有多个，比如电机。 diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c index 3670080..6081847 100644 --- a/application/gimbal/gimbal.c +++ b/application/gimbal/gimbal.c @@ -5,7 +5,7 @@ #include "message_center.h" #include "general_def.h" -static attitude_t *Gimbal_IMU_data; // 云台IMU数据 +static attitude_t *gimba_IMU_data; // 云台IMU数据 static DJIMotorInstance *yaw_motor; // yaw电机 static DJIMotorInstance *pitch_motor; // pitch电机 @@ -16,7 +16,7 @@ static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息 void GimbalInit() { - // Gimbal_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源 + gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源 // YAW Motor_Init_Config_s yaw_config = { @@ -38,9 +38,9 @@ void GimbalInit() .Kd = 0, .MaxOut = 4000, }, - .other_angle_feedback_ptr = &Gimbal_IMU_data->YawTotalAngle, - // 还需要增加角速度额外反馈指针 - // .other_speed_feedback_ptr=&Gimbal_IMU_data.wz; + .other_angle_feedback_ptr = &gimba_IMU_data->YawTotalAngle, + // 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.wz; }, .controller_setting_init_config = { .angle_feedback_source = MOTOR_FEED, @@ -70,9 +70,9 @@ void GimbalInit() .Kd = 0, .MaxOut = 4000, }, - .other_angle_feedback_ptr = &Gimbal_IMU_data->Pitch, - // 还需要增加角速度额外反馈指针 - // .other_speed_feedback_ptr=&Gimbal_IMU_data.wy, + .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.wy, }, .controller_setting_init_config = { .angle_feedback_source = MOTOR_FEED, @@ -133,7 +133,7 @@ void GimbalTask() } // 设置反馈数据,主要是imu和yaw的ecd - gimbal_feedback_data.gimbal_imu_data = *Gimbal_IMU_data; + gimbal_feedback_data.gimbal_imu_data = *gimba_IMU_data; gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->motor_measure.angle_single_round; // 推送消息 diff --git a/basic_framework.ioc b/basic_framework.ioc index fbe356b..917b0ac 100644 --- a/basic_framework.ioc +++ b/basic_framework.ioc @@ -163,7 +163,8 @@ Dma.USART6_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE Dma.USART6_TX.1.PeriphInc=DMA_PINC_DISABLE Dma.USART6_TX.1.Priority=DMA_PRIORITY_HIGH Dma.USART6_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode -FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configMAX_TASK_NAME_LEN,configUSE_TIMERS,configUSE_POSIX_ERRNO +FREERTOS.INCLUDE_vTaskDelayUntil=1 +FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configMAX_TASK_NAME_LEN,configUSE_TIMERS,configUSE_POSIX_ERRNO,INCLUDE_vTaskDelayUntil FREERTOS.Tasks01=defaultTask,0,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL FREERTOS.configENABLE_FPU=1 FREERTOS.configMAX_TASK_NAME_LEN=32 diff --git a/bsp/can/bsp_can.md b/bsp/can/bsp_can.md index c2bed23..dafd7eb 100644 --- a/bsp/can/bsp_can.md +++ b/bsp/can/bsp_can.md @@ -101,4 +101,6 @@ void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) - `CANAddFilter()`在每次使用`CANRegister()`的时候被调用，用于给当前注册的实例添加过滤器规则并设定处理对应`rx_id`的接收FIFO。过滤器的作用是减小CAN收发器的压力，只接收符合过滤器规则的报文（否则不会产生接收中断）。 -- `HAL_CAN_RxFifo0MsgPendingCallback()`和`HAL_CAN_RxFifo1MsgPendingCallback()`都是对HAL的CAN回调函数的重定义（原本的callback是`__week`修饰的弱定义），当发生FIFO0或FIFO1有新消息到达的时候，对应的callback会被调用。`CANFIFOxCallback()`随后被前两者调用，并根据接收id和硬件中断来源（哪一个CAN硬件，CAN1还是CAN2）调用对应的instance的回调函数进行协议解析。 \ No newline at end of file +- `HAL_CAN_RxFifo0MsgPendingCallback()`和`HAL_CAN_RxFifo1MsgPendingCallback()`都是对HAL的CAN回调函数的重定义（原本的callback是`__week`修饰的弱定义），当发生FIFO0或FIFO1有新消息到达的时候，对应的callback会被调用。`CANFIFOxCallback()`随后被前两者调用，并根据接收id和硬件中断来源（哪一个CAN硬件，CAN1还是CAN2）调用对应的instance的回调函数进行协议解析。 + +- 当有一个模块注册了多个can实例时，通过`CANInstance.id`,使用强制类型转换将其转换成对应模块的实例指针，就可以对不同的模块实例进行回调处理了。 \ No newline at end of file diff --git a/bsp/spi/bsp_spi.h b/bsp/spi/bsp_spi.h index b6662e9..4980116 100644 --- a/bsp/spi/bsp_spi.h +++ b/bsp/spi/bsp_spi.h @@ -55,6 +55,7 @@ SPIInstance *SPIRegister(SPI_Init_Config_s *conf); /** * @brief 通过spi向对应从机发送数据 + * @todo 后续加入阻塞模式下的timeout参数 * * @param spi_ins spi实例指针 * @param ptr_data 要发送的数据 @@ -73,7 +74,8 @@ void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len); /** * @brief 通过spi利用移位寄存器同时收发数据 - * + * @todo 后续加入阻塞模式下的timeout参数 + * * @param spi_ins spi实例指针 * @param ptr_data_rx 接收数据地址 * @param ptr_data_tx 发送数据地址 diff --git a/modules/BMI088/bmi088.h b/modules/BMI088/bmi088.h index 5d307da..cee962a 100644 --- a/modules/BMI088/bmi088.h +++ b/modules/BMI088/bmi088.h @@ -1,17 +1,48 @@ +#ifndef __BMI088_H__ +#define __BMI088_H__ + #include "bsp_spi.h" +#include "controller.h" +#include "bsp_pwm.h" +#include "stdint.h" + +typedef enum +{ + BMI088_CALIBRATE_MODE = 0, // 初始化时进行标定 + BMI088_LOAD_PRE_CALI_MODE, // 使用预设标定参数 +} BMI088_Work_Mode_e; /* BMI088实例结构体定义 */ typedef struct { - SPIInstance *spi_gyro; + // 传输模式和工作模式控制 + SPIInstance *spi_gyro; SPIInstance *spi_acc; - - + // 温度控制 + PIDInstance *heat_pid; // 恒温PID + PWMInstance *heat_pwm; // 加热PWM + // IMU数据 + float gyro[3]; // 陀螺仪数据,xyz + float acc[3]; // 加速度计数据,xyz + float temperature; // 温度 + // 标定数据 + float gyro_offset[3]; // 陀螺仪零偏 + float gNorm; // 重力加速度模长,从标定获取 + float acc_coef; // 加速度计原始数据转换系数 + // 用于计算两次采样的时间间隔 + uint32_t bias_dwt_cnt; } BMI088Instance; /* BMI088初始化配置 */ typedef struct { + SPI_Init_Config_s spi_gyro_config; + SPI_Init_Config_s spi_acc_config; + BMI088_Work_Mode_e mode; + PID_Init_Config_s heat_pid_config; + PWM_Init_Config_s heat_pwm_config; +} BMI088_Init_Config_s; -}BMI088_Init_Config_s; + +#endif // !__BMI088_H__ \ No newline at end of file diff --git a/modules/algorithm/controller.c b/modules/algorithm/controller.c index 5e1695b..b0fafba 100644 --- a/modules/algorithm/controller.c +++ b/modules/algorithm/controller.c @@ -126,14 +126,14 @@ static void f_PID_ErrorHandle(PIDInstance *pid) * @param pid PID实例 * @param config PID初始化设置 */ -void PID_Init(PIDInstance *pid, PID_Init_config_s *config) +void PID_Init(PIDInstance *pid, PID_Init_Config_s *config) { // config的数据和pid的部分数据是连续且相同的的,所以可以直接用memcpy // @todo: 不建议这样做,可扩展性差,不知道的开发者可能会误以为pid和config是同一个结构体 // 后续修改为逐个赋值 memset(pid, 0, sizeof(PIDInstance)); // utilize the quality of struct that its memeory is continuous - memcpy(pid, config, sizeof(PID_Init_config_s)); + memcpy(pid, config, sizeof(PID_Init_Config_s)); // set rest of memory to 0 } diff --git a/modules/algorithm/controller.h b/modules/algorithm/controller.h index 42aff66..2122239 100644 --- a/modules/algorithm/controller.h +++ b/modules/algorithm/controller.h @@ -28,7 +28,7 @@ // PID 优化环节使能标志位 typedef enum { - PID_IMPROVE_NONE = 0b00000000, // 0000 0000 + PID_IMPROVE_NONE = 0b00000000, // 0000 0000 Integral_Limit = 0b00000001, // 0000 0001 Derivative_On_Measurement = 0b00000010, // 0000 0010 Trapezoid_Intergral = 0b00000100, // 0000 0100 @@ -112,7 +112,7 @@ typedef struct float Derivative_LPF_RC; PID_Improvement_e Improve; -} PID_Init_config_s; +} PID_Init_Config_s; /** * @brief 初始化PID实例 @@ -120,7 +120,7 @@ typedef struct * @param pid PID实例指针 * @param config PID初始化配置 */ -void PID_Init(PIDInstance *pid, PID_Init_config_s *config); +void PID_Init(PIDInstance *pid, PID_Init_Config_s *config); /** * @brief 计算PID输出 diff --git a/modules/general_def.h b/modules/general_def.h index 2656571..e99a397 100644 --- a/modules/general_def.h +++ b/modules/general_def.h @@ -3,13 +3,12 @@ #ifndef PI #define PI 3.1415926535f -#endif // !PI +#endif // !PI #define PI2 (PI * 2.0f) // 2 pi -#define RAD_2_ANGLE (180.0f / PI) -#define ANGLE_2_RAD (PI / 180.0f) - -#define RPM_2_ANGLE_PER_SEC (360.0f/60.0f) // ×360°/60sec +#define RAD_2_ANGLE 57.2957795f // 180/pi +#define ANGLE_2_RAD 0.01745329252f // pi/180 +#define RPM_2_ANGLE_PER_SEC 6.0f // ×360°/60sec #endif // !GENERAL_DEF_H \ No newline at end of file diff --git a/modules/imu/ins_task.c b/modules/imu/ins_task.c index 87d81d1..2cf8226 100644 --- a/modules/imu/ins_task.c +++ b/modules/imu/ins_task.c @@ -57,7 +57,7 @@ attitude_t *INS_Init(void) IMU_QuaternionEKF_Init(10, 0.001, 10000000, 1, 0); // imu heat init - PID_Init_config_s config = {.MaxOut = 2000, + PID_Init_Config_s config = {.MaxOut = 2000, .IntegralLimit = 300, .DeadBand = 0, .Kp = 1000, @@ -68,7 +68,7 @@ attitude_t *INS_Init(void) // noise of accel is relatively big and of high freq,thus lpf is used INS.AccelLPF = 0.0085; - return (attitude_t*)&INS.Roll; + return (attitude_t*)&INS.Gyro; // @todo: 这里偷懒了,不要这样做! 修改INT_t结构体可能会导致异常,待修复. } /* 注意以1kHz的频率运行此任务 */ @@ -96,8 +96,8 @@ void INS_Task(void) IMU_Param_Correction(&IMU_Param, INS.Gyro, INS.Accel); // 计算重力加速度矢量和b系的XY两轴的夹角,可用作功能扩展,本demo暂时没用 - INS.atanxz = -atan2f(INS.Accel[X], INS.Accel[Z]) * 180 / PI; - INS.atanyz = atan2f(INS.Accel[Y], INS.Accel[Z]) * 180 / PI; + // INS.atanxz = -atan2f(INS.Accel[X], INS.Accel[Z]) * 180 / PI; + // INS.atanyz = atan2f(INS.Accel[Y], INS.Accel[Z]) * 180 / PI; // 核心函数,EKF更新四元数 IMU_QuaternionEKF_Update(INS.Gyro[X], INS.Gyro[Y], INS.Gyro[Z], INS.Accel[X], INS.Accel[Y], INS.Accel[Z], dt); diff --git a/modules/imu/ins_task.h b/modules/imu/ins_task.h index 80c6768..0db399d 100644 --- a/modules/imu/ins_task.h +++ b/modules/imu/ins_task.h @@ -9,7 +9,7 @@ ****************************************************************************** * @attention INS任务的初始化不要放入实时系统!应该由application拥有实例,随后在 * 应用层调用初始化函数. - * + * ****************************************************************************** */ #ifndef __INS_TASK_H @@ -27,32 +27,36 @@ typedef struct { + float Gyro[3]; // 角速度 + float Accel[3]; // 加速度 // 还需要增加角速度数据 float Roll; float Pitch; float Yaw; float YawTotalAngle; -} attitude_t; //最终解算得到的角度,以及yaw转动的总角度(方便多圈控制) +} attitude_t; // 最终解算得到的角度,以及yaw转动的总角度(方便多圈控制) typedef struct { float q[4]; // 四元数估计值 - float Gyro[3]; // 角速度 - float Accel[3]; // 加速度 float MotionAccel_b[3]; // 机体坐标加速度 float MotionAccel_n[3]; // 绝对系加速度 float AccelLPF; // 加速度低通滤波系数 - // 加速度在绝对系的向量表示 + // bodyframe在绝对系的向量表示 float xn[3]; float yn[3]; float zn[3]; - float atanxz; - float atanyz; + // 加速度在机体系和XY两轴的夹角 + // float atanxz; + // float atanyz; + // IMU量测值 + float Gyro[3]; // 角速度 + float Accel[3]; // 加速度 // 位姿 float Roll; float Pitch; diff --git a/modules/motor/dji_motor.c b/modules/motor/DJImotor/dji_motor.c similarity index 95% rename from modules/motor/dji_motor.c rename to modules/motor/DJImotor/dji_motor.c index e47a2cd..aff5330 100644 --- a/modules/motor/dji_motor.c +++ b/modules/motor/DJImotor/dji_motor.c @@ -38,7 +38,8 @@ static uint8_t sender_enable_flag[6] = {0}; */ static void IDcrash_Handler(uint8_t conflict_motor_idx, uint8_t temp_motor_idx) { - while (1); + while (1) + ; } /** @@ -46,13 +47,13 @@ static void IDcrash_Handler(uint8_t conflict_motor_idx, uint8_t temp_motor_idx) * * @param config */ -static void MotorSenderGrouping(CAN_Init_Config_s *config) +static void MotorSenderGrouping(DJIMotorInstance *motor, CAN_Init_Config_s *config) { uint8_t motor_id = config->tx_id - 1; // 下标从零开始,先减一方便赋值 uint8_t motor_send_num; uint8_t motor_grouping; - switch (dji_motor_instance[idx]->motor_type) + switch (motor->motor_type) { case M2006: case M3508: @@ -70,8 +71,8 @@ static void MotorSenderGrouping(CAN_Init_Config_s *config) // 计算接收id并设置分组发送id config->rx_id = 0x200 + motor_id + 1; sender_enable_flag[motor_grouping] = 1; - dji_motor_instance[idx]->message_num = motor_send_num; - dji_motor_instance[idx]->sender_group = motor_grouping; + 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) @@ -95,8 +96,8 @@ static void MotorSenderGrouping(CAN_Init_Config_s *config) config->rx_id = 0x204 + motor_id + 1; sender_enable_flag[motor_grouping] = 1; - dji_motor_instance[idx]->message_num = motor_send_num; - dji_motor_instance[idx]->sender_group = motor_grouping; + motor->message_num = motor_send_num; + motor->sender_group = motor_grouping; for (size_t i = 0; i < idx; ++i) { @@ -106,7 +107,8 @@ static void MotorSenderGrouping(CAN_Init_Config_s *config) break; default: // other motors should not be registered here - while(1); // 其他电机不应该在这里注册 + while (1) + ; // 其他电机不应该在这里注册 } } @@ -161,11 +163,11 @@ DJIMotorInstance *DJIMotorInit(Motor_Init_Config_s *config) instance->motor_controller.other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr; // 电机分组,因为至多4个电机可以共用一帧CAN控制报文 - MotorSenderGrouping(&config->can_init_config); + MotorSenderGrouping(instance, &config->can_init_config); // 注册电机到CAN总线 config->can_init_config.can_module_callback = DecodeDJIMotor; // set callback - config->can_init_config.id = instance;// set id,eq to address(it is identity) + config->can_init_config.id = instance; // set id,eq to address(it is identity) instance->motor_can_instance = CANRegister(&config->can_init_config); DJIMotorEnable(instance); diff --git a/modules/motor/dji_motor.h b/modules/motor/DJImotor/dji_motor.h similarity index 99% rename from modules/motor/dji_motor.h rename to modules/motor/DJImotor/dji_motor.h index d592b2c..7b14ecb 100644 --- a/modules/motor/dji_motor.h +++ b/modules/motor/DJImotor/dji_motor.h @@ -18,6 +18,7 @@ #include "bsp_can.h" #include "controller.h" #include "motor_def.h" +#include "stdint.h" #define DJI_MOTOR_CNT 12 diff --git a/modules/motor/dji_motor.md b/modules/motor/DJImotor/dji_motor.md similarity index 100% rename from modules/motor/dji_motor.md rename to modules/motor/DJImotor/dji_motor.md diff --git a/modules/motor/HT04.c b/modules/motor/HTmotor/HT04.c similarity index 100% rename from modules/motor/HT04.c rename to modules/motor/HTmotor/HT04.c diff --git a/modules/motor/HT04.h b/modules/motor/HTmotor/HT04.h similarity index 100% rename from modules/motor/HT04.h rename to modules/motor/HTmotor/HT04.h diff --git a/modules/motor/LK9025.c b/modules/motor/LKmotor/LK9025.c similarity index 100% rename from modules/motor/LK9025.c rename to modules/motor/LKmotor/LK9025.c diff --git a/modules/motor/LK9025.h b/modules/motor/LKmotor/LK9025.h similarity index 100% rename from modules/motor/LK9025.h rename to modules/motor/LKmotor/LK9025.h diff --git a/modules/motor/motor_def.h b/modules/motor/motor_def.h index 2c8903c..eb276ee 100644 --- a/modules/motor/motor_def.h +++ b/modules/motor/motor_def.h @@ -115,9 +115,9 @@ typedef struct float *speed_feedforward_ptr; // 速度前馈数据指针 float *current_feedforward_ptr; // 电流前馈数据指针 - PID_Init_config_s current_PID; - PID_Init_config_s speed_PID; - PID_Init_config_s angle_PID; + PID_Init_Config_s current_PID; + PID_Init_Config_s speed_PID; + PID_Init_Config_s angle_PID; } Motor_Controller_Init_s; /* 用于初始化CAN电机的结构体,各类电机通用 */ diff --git a/modules/motor/servo_motor.c b/modules/motor/servo_motor/servo_motor.c similarity index 100% rename from modules/motor/servo_motor.c rename to modules/motor/servo_motor/servo_motor.c diff --git a/modules/motor/servo_motor.h b/modules/motor/servo_motor/servo_motor.h similarity index 100% rename from modules/motor/servo_motor.h rename to modules/motor/servo_motor/servo_motor.h diff --git a/modules/motor/servo_motor.md b/modules/motor/servo_motor/servo_motor.md similarity index 100% rename from modules/motor/servo_motor.md rename to modules/motor/servo_motor/servo_motor.md diff --git a/modules/motor/step_motor.c b/modules/motor/step_motor/step_motor.c similarity index 100% rename from modules/motor/step_motor.c rename to modules/motor/step_motor/step_motor.c diff --git a/modules/motor/step_motor.h b/modules/motor/step_motor/step_motor.h similarity index 100% rename from modules/motor/step_motor.h rename to modules/motor/step_motor/step_motor.h