348 lines
15 KiB
C
348 lines
15 KiB
C
#include "gimbal.h"
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#include "robot_def.h"
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#include "dji_motor.h"
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#include "DM4310.h"
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#include "ECmotor/ECA8210.h"
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#include "ins_task.h"
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#include "message_center.h"
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#include "general_def.h"
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#include "bmi088.h"
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#include "vofa.h"
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#include "power_meter.h"
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#include "user_lib.h"
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static attitude_t *gimba_IMU_data; // 云台IMU数据
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static DJIMotorInstance *yaw_motor, *pitch_motor;
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static DMMotorInstance *big_yaw_motor;
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static Publisher_t *gimbal_pub; // 云台应用消息发布者(云台反馈给cmd)
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static Subscriber_t *gimbal_sub; // cmd控制消息订阅者
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static Gimbal_Upload_Data_s gimbal_feedback_data; // 回传给cmd的云台状态信息
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static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息
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static float current_feedforward = 0.0f;
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static float yaw_speed = 0.0f; //yaw轴旋转角速度需要通过pitch解算确定
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static float big_yaw_angle = 0.0f; //大yaw轴绝对角度 通过小云台陀螺仪yaw-yaw轴编码器角度确定
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static float big_yaw_speed = 0.0f;//大yaw轴绝对角速度
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sin_input_generate_t sinInputGenerate;
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static Subscriber_t *chassis_sub; // 用于订阅底盘的控制命令
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static Chassis_Ctrl_Cmd_s chassis_cmd_recv; // 底盘接收到的控制命令
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void GimbalInit() {
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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
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// YAW
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Motor_Init_Config_s yaw_config = {
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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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},
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.controller_param_init_config = {
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.angle_PID = {
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.Kp = 0.5f, // 8
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.Ki = 0,
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.Kd = 0,
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.DeadBand = 0.1,
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
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.IntegralLimit = 100,
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.MaxOut = 500,
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},
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.speed_PID = {
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.Kp = 6000, // 50
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.Ki = 500,//5000, // 200
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.Kd = 0,
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
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.IntegralLimit = 5000,
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.MaxOut = 16000,
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},
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.other_angle_feedback_ptr = &gimba_IMU_data->YawTotalAngle,
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// 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
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.other_speed_feedback_ptr = &yaw_speed,//&gimba_IMU_data->Gyro[2],
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},
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.controller_setting_init_config = {
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.angle_feedback_source = OTHER_FEED,
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.speed_feedback_source = OTHER_FEED,
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.outer_loop_type = ANGLE_LOOP,
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.close_loop_type = SPEED_LOOP | ANGLE_LOOP,
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.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
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},
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.motor_type = GM6020,
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.motor_control_type = CURRENT_CONTROL
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};
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// PITCH
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Motor_Init_Config_s pitch_config = {
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.can_init_config = {
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.can_handle = &hcan1,
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.tx_id = 2,
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},
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.controller_param_init_config = {
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.angle_PID = {
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.Kp = -0.6f,//4.0f,//2.0f
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.Ki = -0.8f,//1,//0
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.Kd = 0.0f,//0.0f
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
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.IntegralLimit = 100,
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.MaxOut = 500,
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},
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.speed_PID = {
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.Kp = -4000,//-4500,//6000,//800
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.Ki = -6000, //-600,//500,//100
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.Kd = 0,//0
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.Improve = PID_Integral_Limit | PID_Derivative_On_Measurement,
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.IntegralLimit = 10000,
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.MaxOut = 30000,
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},
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.other_angle_feedback_ptr = &gimba_IMU_data->Roll,//&gimba_IMU_data->Pitch,
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// 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
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.other_speed_feedback_ptr = (&gimba_IMU_data->Gyro[1]),//(&gimba_IMU_data->Gyro[0]),
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.current_feedforward_ptr = ¤t_feedforward,
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},
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.controller_setting_init_config = {
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.outer_loop_type = ANGLE_LOOP,
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.close_loop_type = ANGLE_LOOP | SPEED_LOOP | CURRENT_LOOP,
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.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
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.feedforward_flag = CURRENT_FEEDFORWARD,
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},
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.motor_type = GM6020,
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.motor_control_type = CURRENT_CONTROL,//CURRENT_CONTROL
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};
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//大YAW
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Motor_Init_Config_s big_yaw_config = {
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.can_init_config = {
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.can_handle = &hcan2,
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.tx_id = 1,
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.rx_id = 1,
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},
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.controller_param_init_config = {
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.angle_PID = {
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.Kp = 0.15f,
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.Ki = 0.0f,
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.Kd = 0.005f,
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.Improve = PID_Integral_Limit | PID_Derivative_On_Measurement | PID_DerivativeFilter,
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.IntegralLimit = 100,
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.MaxOut = 1000,
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.DeadBand = 0,
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},
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.speed_PID = {
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.Kp = 3.5f,//150,//150,//这里KP尽可能小 防止震荡脱齿
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.Ki = 0.0f,//200, // 350
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.Kd = 0, // 0
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
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.IntegralLimit = 10000,
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.MaxOut = 1000,
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},
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.other_angle_feedback_ptr = &big_yaw_angle,
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.other_speed_feedback_ptr = &big_yaw_speed,
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},
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.controller_setting_init_config = {
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.angle_feedback_source = OTHER_FEED,
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.speed_feedback_source = OTHER_FEED,
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.outer_loop_type = ANGLE_LOOP,
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.close_loop_type = ANGLE_LOOP | SPEED_LOOP | CURRENT_LOOP,
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.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
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},
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.motor_type = DM4310,
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};
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// 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
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yaw_motor = DJIMotorInit(&yaw_config);
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pitch_motor = DJIMotorInit(&pitch_config);
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big_yaw_motor = DMMotorInit(&big_yaw_config);
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gimbal_pub = PubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
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gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
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chassis_sub = SubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s));
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//sin_input_frequency_init(&sinInputGenerate);
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}
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/* 机器人云台控制核心任务,后续考虑只保留IMU控制,不再需要电机的反馈 */
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void GimbalTask() {
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// 获取云台控制数据
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// 后续增加未收到数据的处理
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SubGetMessage(gimbal_sub, &gimbal_cmd_recv);
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SubGetMessage(chassis_sub, &chassis_cmd_recv);
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// if(gimbal_cmd_recv.enable_motor > 0){
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// LOGINFO("enabling DMmoter");
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// DMMotorSetMode(DM_CMD_MOTOR_MODE, big_yaw_motor);
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// }
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//gimbal_cmd_recv.big_yaw = 0;
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// @todo:现在已不再需要电机反馈,实际上可以始终使用IMU的姿态数据来作为云台的反馈,yaw电机的offset只是用来跟随底盘
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// 根据控制模式进行电机反馈切换和过渡,视觉模式在robot_cmd模块就已经设置好,gimbal只看yaw_ref和pitch_ref
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switch (gimbal_cmd_recv.gimbal_mode) {
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// 停止
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case GIMBAL_ZERO_FORCE:
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DJIMotorStop(yaw_motor);
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DJIMotorStop(pitch_motor);
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DMMotorStop(big_yaw_motor);
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break;
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// 使用陀螺仪的反馈,底盘根据yaw电机的offset跟随云台或视觉模式采用
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case GIMBAL_GYRO_MODE: // 后续只保留此模式
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DJIMotorEnable(yaw_motor);
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DJIMotorEnable(pitch_motor);
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DMMotorEnable(big_yaw_motor);
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DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
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DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
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DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
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DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
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DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
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DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
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DMMotorSetRef(big_yaw_motor, gimbal_cmd_recv.big_yaw);
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break;
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// 云台自由模式,使用编码器反馈,底盘和云台分离,仅云台旋转,一般用于调整云台姿态(英雄吊射等)/能量机关
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case GIMBAL_FREE_MODE: // 后续删除,或加入云台追地盘的跟随模式(响应速度更快)
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DJIMotorEnable(yaw_motor);
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DJIMotorEnable(pitch_motor);
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DMMotorEnable(big_yaw_motor);
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DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
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DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
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DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
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DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
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DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
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DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
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// big_yaw_angle = chassis_cmd_recv.offset_angle;
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// big_yaw_speed = big_yaw_motor->measure.speed_rads;
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//
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// ECMotorSetRef(big_yaw_motor,0);
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// big_yaw_angle = gimba_IMU_data->YawTotalAngle - (yaw_motor->measure.total_angle - 44);
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// big_yaw_speed = yaw_speed - yaw_motor->measure.speed_aps * DEGREE_2_RAD;
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DMMotorSetRef(big_yaw_motor, gimbal_cmd_recv.big_yaw);
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break;
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default:
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break;
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}
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// 在合适的地方添加pitch重力补偿前馈力矩
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// 根据IMU姿态/pitch电机角度反馈计算出当前配重下的重力矩
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// ...
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float input = sin_input_generate(&sinInputGenerate);
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//ANODT_SendF1(input*1000,pitch_motor->measure.speed_aps*1000,0,0);
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float theta = gimba_IMU_data->Roll / 180 * PI;
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//(pitch_motor->measure.angle_single_round - 5505 * ECD_ANGLE_COEF_DJI)/180*PI;
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yaw_speed = gimba_IMU_data->Gyro[2] * arm_cos_f32(theta) - gimba_IMU_data->Gyro[0] * arm_sin_f32(theta);
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//big_yaw_angle = gimba_IMU_data->YawTotalAngle - (yaw_motor->measure.total_angle - 44);
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//big_yaw_speed = yaw_speed - yaw_motor->measure.speed_aps * DEGREE_2_RAD;
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big_yaw_angle = gimba_IMU_data->YawTotalAngle - (yaw_motor->measure.total_angle - (-80));
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//big_yaw_speed = yaw_speed - yaw_motor->measure.speed_aps * DEGREE_2_RAD;
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big_yaw_speed = (yaw_speed - yaw_motor->measure.speed_aps * DEGREE_2_RAD);
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// big_yaw_angle = chassis_cmd_recv.offset_angle;
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// //loop_float_constrain(big_yaw_motor->measure.total_angle * (4.0f/3.0f),0,2*PI) * RAD_2_DEGREE - 340.0f;
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// big_yaw_speed = big_yaw_motor->measure.speed_rads;
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//yaw轴角速度
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//重力补偿力矩
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current_feedforward = -10000 * arm_cos_f32(theta);
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//current_feedforward = 0;
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float vofa_send_data[6];
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vofa_send_data[0] = pitch_motor->measure.speed_aps;
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vofa_send_data[1] = gimba_IMU_data->Pitch;
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vofa_send_data[2] = gimba_IMU_data->Gyro[0];
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vofa_send_data[3] = pitch_motor->motor_controller.speed_PID.Ref;
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vofa_send_data[4] = pitch_motor->motor_controller.speed_PID.Measure;
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vofa_send_data[5] = pitch_motor->measure.angle_single_round;
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vofa_justfloat_output(vofa_send_data, 24, &huart1);
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// 设置反馈数据,主要是imu和yaw的ecd
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gimbal_feedback_data.gimbal_imu_data = *gimba_IMU_data;
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static float big_yaw_relative_angle;
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big_yaw_relative_angle = big_yaw_motor->measure.total_angle;
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gimbal_feedback_data.yaw_motor_single_round_angle = big_yaw_motor->measure.angle_single_round;
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//loop_float_constrain(big_yaw_relative_angle,0,2*PI) * RAD_2_DEGREE;
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gimbal_feedback_data.mini_yaw_encode_angle = yaw_motor->measure.angle_single_round;
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gimbal_feedback_data.big_yaw_online = DMMotorIsOnline(big_yaw_motor);
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gimbal_feedback_data.big_yaw_angle = big_yaw_angle;
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// 推送消息
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PubPushMessage(gimbal_pub, (void *) &gimbal_feedback_data);
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}
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//以下代码为测试系统辨识时使用
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//void sin_input_generate(float frequency, int count)
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//{
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// static uint32_t cnt;
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// static float time;
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// while(time>=count*(1/frequency))
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// {
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// float deltaT=DWT_GetDeltaT(&cnt);
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// time += deltaT;
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//
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// float input = arm_sin_f32(2*PI*frequency*time);
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// DJIMotorSetRef(yaw_motor,input);
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// }
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//}
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void sin_input_frequency_init(sin_input_generate_t *InputGenerate) {
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for (int i = 0; i < 43; i++) {
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InputGenerate->frequency[i] = 1.0 + 0.5 * i;
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}
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for (int i = 0; i < 9; i++) {
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InputGenerate->frequency[i + 43] = 24.0 + 2.0 * i;
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}
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for (int i = 0; i < 8; i++) {
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InputGenerate->frequency[i + 43 + 9] = 50 + 10 * i;
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}
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InputGenerate->frequency[60] = 200;
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InputGenerate->frequency[61] = 250;
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InputGenerate->frequency[62] = 333;
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InputGenerate->frequency[63] = 500;
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}
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float sin_input_generate(sin_input_generate_t *InputGenerate) {
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InputGenerate->DeltaT = DWT_GetDeltaT(&InputGenerate->cnt);
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InputGenerate->time += InputGenerate->DeltaT;
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if (InputGenerate->time >= 20 * (1 / InputGenerate->frequency[InputGenerate->frequency_index])) {
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InputGenerate->time = 0;
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InputGenerate->frequency_index += 1;
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}
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if (InputGenerate->frequency_index >= 64) {
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InputGenerate->input = 0;
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} else
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InputGenerate->input = arm_sin_f32(
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2 * PI * InputGenerate->frequency[InputGenerate->frequency_index] * InputGenerate->time);
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//float input = arm_sin_f32(2*PI*frequency*time);
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InputGenerate->input *= 2000;
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return InputGenerate->input;
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}
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float step_input_generate(sin_input_generate_t *InputGenerate) {
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static int8_t forward_flag = 1;
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InputGenerate->DeltaT = DWT_GetDeltaT(&InputGenerate->cnt);
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InputGenerate->time += InputGenerate->DeltaT;
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if (InputGenerate->time >= 3) {
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if (forward_flag == 1) forward_flag = -1;
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else if (forward_flag == -1) forward_flag = 1;
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InputGenerate->time = 0;
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}
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return 60 * forward_flag;
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} |