diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx index 71503df..929c293 100644 --- a/MDK-ARM/R2.uvoptx +++ b/MDK-ARM/R2.uvoptx @@ -26,9 +26,9 @@ 0x4 ARM-ADS - 12000000 + 25000000 - 1 + 0 1 0 1 @@ -77,7 +77,7 @@ 0 1 - 18 + 0 0 1 @@ -103,7 +103,7 @@ 1 0 0 - 3 + 0 @@ -114,39 +114,9 @@ - BIN\CMSIS_AGDI.dll + BIN\UL2CM3.DLL - - 0 - ST-LINKIII-KEIL_SWO - -U00160029510000164E574E32 -O206 -SF1000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM) - - - 0 - ARMRTXEVENTFLAGS - -L70 -Z18 -C0 -M0 -T1 - - - 0 - DLGTARM - (1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0) - - - 0 - ARMDBGFLAGS - - - - 0 - DLGUARM - - - - 0 - CMSIS_AGDI - -X"Any" -UAny -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM) - 0 UL2CM3 @@ -206,13 +176,13 @@ 0 - 1 - 1 + 0 + 0 0 0 0 0 - 1 + 0 0 0 0 @@ -245,10 +215,10 @@ 1 - 0 + 1 0 2 - 1000000 + 10000000 @@ -287,7 +257,7 @@ Application/User/Core - 1 + 0 0 0 0 @@ -427,7 +397,7 @@ Drivers/STM32F4xx_HAL_Driver - 1 + 0 0 0 0 @@ -699,7 +669,7 @@ Drivers/CMSIS - 1 + 0 0 0 0 @@ -719,7 +689,7 @@ Middlewares/FreeRTOS - 1 + 0 0 0 0 @@ -847,7 +817,7 @@ User/Module - 1 + 0 0 0 0 @@ -903,7 +873,7 @@ User/bsp - 1 + 0 0 0 0 @@ -1055,7 +1025,7 @@ User/Task - 1 + 0 0 0 0 @@ -1183,7 +1153,7 @@ User/Algorithm - 1 + 0 0 0 0 @@ -1263,7 +1233,7 @@ User/Device - 1 + 0 0 0 0 @@ -1355,7 +1325,7 @@ Application/User/USB_DEVICE/App - 1 + 0 0 0 0 @@ -1399,7 +1369,7 @@ Application/User/USB_DEVICE/Target - 1 + 0 0 0 0 @@ -1419,7 +1389,7 @@ Middlewares/USB_Device_Library - 1 + 0 0 0 0 diff --git a/MDK-ARM/R2.uvprojx b/MDK-ARM/R2.uvprojx index 893edd4..64c3412 100644 --- a/MDK-ARM/R2.uvprojx +++ b/MDK-ARM/R2.uvprojx @@ -17,8 +17,8 @@ STM32F407IGHx STMicroelectronics - Keil.STM32F4xx_DFP.3.0.0 - https://www.keil.com/pack/ + Keil.STM32F4xx_DFP.2.15.0 + http://www.keil.com/pack/ IRAM(0x20000000-0x2001BFFF) IRAM2(0x2001C000-0x2001FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4") TZ diff --git a/User/Module/Chassis.c b/User/Module/Chassis.c index 3469010..7ce6beb 100644 --- a/User/Module/Chassis.c +++ b/User/Module/Chassis.c @@ -72,19 +72,19 @@ int8_t Chassis_init(Chassis_t *c, const Chassis_Param_t *param, float target_fre c->sick_cali .sickparam=c->param ->sickparam ; - + + c->ang_cail.is_open=1; return CHASSIS_OK; } -fp32 pian_yaw; void Chassis_speed_calculate(Chassis_t *c, fp32 Vx, fp32 Vy, fp32 Vw) { fp64 Nor_Vx, Nor_Vy; normalize_vector(Vx, Vy, &Nor_Vx, &Nor_Vy); - c->hopemotorout.OmniSpeedOut[0] = -Nor_Vx + Nor_Vy + Vw+pian_yaw; // 右前 - c->hopemotorout.OmniSpeedOut[1] = -Nor_Vx - Nor_Vy + Vw+pian_yaw; // 右后 - c->hopemotorout.OmniSpeedOut[2] = Nor_Vx - Nor_Vy + Vw +pian_yaw; // 左后 - c->hopemotorout.OmniSpeedOut[3] = Nor_Vx + Nor_Vy + Vw +pian_yaw; // 左前 + c->hopemotorout.OmniSpeedOut[0] = -Nor_Vx + Nor_Vy + Vw+c->ang_cail.out; // 右前 + c->hopemotorout.OmniSpeedOut[1] = -Nor_Vx - Nor_Vy + Vw+c->ang_cail.out; // 右后 + c->hopemotorout.OmniSpeedOut[2] = Nor_Vx - Nor_Vy + Vw +c->ang_cail.out; // 左后 + c->hopemotorout.OmniSpeedOut[3] = Nor_Vx + Nor_Vy + Vw +c->ang_cail.out; // 左前 Chassis_AngleCompensate(c); @@ -148,8 +148,8 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { break; case AUTO_MID360_Pitch: - c->move_vec.Vw = ctrl->cmd_MID360.posw * 1000; - c->move_vec.Vy = -ctrl->cmd_MID360.posy * 1000; + c->move_vec.Vw = -ctrl->cmd_MID360.posw * 1000; + c->move_vec.Vy = ctrl->cmd_MID360.posy * 1000; c->move_vec.Vx = -ctrl->cmd_MID360.posx * 1000; abs_limit_fp(&c->move_vec.Vx, 5000.0f); abs_limit_fp(&c->move_vec.Vy, 5000.0f); @@ -174,8 +174,8 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { break ; case PB_MID: case PB_DOWN: - c->move_vec.Vw = ctrl->cmd_MID360.posw * 1000; - c->move_vec.Vy = -ctrl->cmd_MID360.posy * 1000; + c->move_vec.Vw = -ctrl->cmd_MID360.posw * 1000; + c->move_vec.Vy = ctrl->cmd_MID360.posy * 1000; c->move_vec.Vx = -ctrl->cmd_MID360.posx * 1000; abs_limit_fp(&c->move_vec.Vx, 5000.0f); abs_limit_fp(&c->move_vec.Vy, 5000.0f); @@ -292,17 +292,21 @@ int8_t sick_calibration(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) int8_t Chassis_AngleCompensate(Chassis_t *c) { if (c == NULL) return CHASSIS_ERR_NULL; + if(c->ang_cail.is_open==0) return 0; + static fp32 pian_angel,cur_angle; + if((c->move_vec.Vx || c->move_vec.Vy) && (c->move_vec.Vw== 0)) { - pian_angel=cur_angle-AngleChange(DEGREE,c->pos088.imu_eulr.yaw); + c->ang_cail.ang_error=cur_angle-AngleChange(DEGREE,c->pos088.imu_eulr.yaw); + } else { - cur_angle=AngleChange(DEGREE,c->pos088.imu_eulr.yaw); - pian_angel=0; + c->ang_cail.ang_cur=AngleChange(DEGREE,c->pos088.imu_eulr.yaw); + c->ang_cail.ang_error=0; } - pian_yaw = PID_calc(&c->pid.Chassis_AngleAdjust,pian_angel,0); + c->ang_cail.out = PID_calc(&c->pid.Chassis_AngleAdjust,pian_angel,0); } diff --git a/User/Module/Chassis.h b/User/Module/Chassis.h index 8a5c3ec..a5e410b 100644 --- a/User/Module/Chassis.h +++ b/User/Module/Chassis.h @@ -171,6 +171,16 @@ typedef struct{ extKalman_t extKalman[3]; LowPassFilter2p_t filled[8]; /* 输出滤波器滤波器数组 */ + /*角度偏转修正 */ + struct{ + + int is_open; + fp32 ang_error; + fp32 ang_cur; + fp32 out; + + + }ang_cail; struct { fp32 sick_dis[4]; //获取到的sick激光值 diff --git a/User/Module/config.c b/User/Module/config.c index 2d56cc7..beea43a 100644 --- a/User/Module/config.c +++ b/User/Module/config.c @@ -80,7 +80,7 @@ static const ConfigParam_t param ={ .go_pull_pos = -214.0f, // go上升去合并扳机,扳机位置 .go_up_speed = 12.0f, // 上升速度 .go_down_speed = 6.0f, // 下降速度 - .Pitch_angle = 66, //俯仰角 + .Pitch_angle = 58, //俯仰角 .go_init = -50 }, .PitchCfg = { diff --git a/User/Module/up.c b/User/Module/up.c index 752a80f..1120ddf 100644 --- a/User/Module/up.c +++ b/User/Module/up.c @@ -182,15 +182,10 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) /*部分数据更新*/ static int is_pitch=1; posss=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos),3.4,4.2,&u->MID360Context.Curve); -// if (u->PitchContext.Curve == CURVE_58) { -// target->Pitch_angle = 58; -// } else { -// target->Pitch_angle = 66; -// } - u->vofa_send [2] = c->pos; - u->vofa_send [3] = LowPassFilter2p_Apply(&u->filled[0],c->pos); - u->vofa_send [4] =1; - + u->vofa_send[0] = u->MID360Context.MID360Cfg.go_release_pos; + u->vofa_send[1] = u->motorfeedback.go_data.Pos; + u->vofa_send[2] = c->pos; + switch (c->CMD_CtrlType ) { case RCcontrol: //在手动模式下 @@ -263,13 +258,23 @@ return 0; //复用发射, int8_t Pitch_Launch_Sequence(UP_t *u, LaunchContext_t *LaunchContext,fp32 StartPos,fp32 EndPos,CAN_Output_t *out){ + /*电机位置到达判断*/ + + bool is_GoStartReach=is_reached(u->motorfeedback.go_data.Pos,StartPos,1.0f); //go开始位置 + bool is_GoSpeedReach=is_reached(u->motorfeedback.go_data.W,0,1.0f) ; //go速度归零判断 + bool is_GoEndReach =(u->motorfeedback .go_data .Pos < -209); //go去上拉钩子位置,判断到达 + bool is_HookDone=(u->motorfeedback .DJmotor_feedback [4].total_angle>-10); //2006钩子放下判断 + bool is_Shoot=(u->motorfeedback.DJmotor_feedback[4].total_angle<-10);//是否发射判断 + + + + switch(LaunchContext->LaunchState){ case Launch_Stop: break; case Launch_PREPARE: u->motor_target.go_shoot = StartPos; - if(is_reached(u->motorfeedback.go_data.Pos,StartPos,1.0f)&& - is_reached(u->motorfeedback.go_data.W,0,1.0f)){ + if(is_GoStartReach&& is_GoSpeedReach){ //根据位置和速度判断是否到达初始位置 LaunchContext->LaunchState = Launch_START; @@ -278,7 +283,7 @@ int8_t Pitch_Launch_Sequence(UP_t *u, LaunchContext_t *LaunchContext,fp32 StartP case Launch_START: u->motor_target.go_pull_speed=LaunchContext->LaunchCfg.go_up_speed; u->motor_target.go_shoot = u->LaunchContext.LaunchCfg.go_pull_pos; - if(u->motorfeedback .go_data .Pos < -209){ //检测go位置到达最上面,这里的检测条件可以更改 + if(is_GoEndReach){ //检测go位置到达最上面,这里的检测条件可以更改 u->motor_target.Shoot_M2006_angle = u->LaunchContext.LaunchCfg.m2006_trig ;//设置2006角度,关闭 LaunchContext->LaunchState = Launch_TRIGGER; @@ -286,7 +291,7 @@ int8_t Pitch_Launch_Sequence(UP_t *u, LaunchContext_t *LaunchContext,fp32 StartP case Launch_TRIGGER: - if( u->motorfeedback .DJmotor_feedback [4].total_angle>-1){ //当2006的总角度小于1,可以认为已经勾上,误差为1 + if( is_HookDone ){ //当2006的总角度小于1,可以认为已经勾上,误差为1 u->motor_target.go_pull_speed=LaunchContext->LaunchCfg.go_down_speed; u->motor_target.go_shoot = EndPos ; // if(is_reached(u->motorfeedback.go_data.Pos,EndPos,1.0f)) @@ -294,11 +299,10 @@ int8_t Pitch_Launch_Sequence(UP_t *u, LaunchContext_t *LaunchContext,fp32 StartP } break; case Launch_SHOOT_WAIT: - if(u->motorfeedback.DJmotor_feedback[4].total_angle<-1) //认为发射 + if(is_Shoot) //认为发射 LaunchContext->LaunchState = Launch_DONE; break; - case Launch_DONE: - break ; + default:break; } } @@ -360,7 +364,7 @@ int8_t Pass_Process(UP_t *u,CAN_Output_t *out,CMD_t *c) PassCfg ->go_release_pos = - CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos)+0.15,3,4,&u->PassContext.Curve); + CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos),3,4,&u->PassContext.Curve); switch (*state) { //遥控器按键进行状态切换 case PASS_STOP: @@ -399,7 +403,7 @@ int8_t UP_AUTO_Control(UP_t *u,CAN_Output_t *out,CMD_t *c){ LaunchContext_t *LaunchContext = &u->LaunchContext; MID360Context_t *MID360Context=&u->MID360Context; MID360Cfg_t *MID360Cfg = &u->MID360Context.MID360Cfg; - MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos)+0.15,3.2,4.3,&u->MID360Context.Curve); + MID360Cfg->go_release_pos=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos)-0.05,3.2,4.3,&u->MID360Context.Curve); if (u->MID360Context.Curve == CURVE_58) { target->Pitch_angle = 58; } else { diff --git a/User/Module/up_utils.c b/User/Module/up_utils.c index b493bb4..a1e48f0 100644 --- a/User/Module/up_utils.c +++ b/User/Module/up_utils.c @@ -1,29 +1,32 @@ #include "up_utils.h" #include "up.h" -int8_t DJ_processdata(DJmotor_feedback_t *f,fp32 ecd_to_angle) +int8_t DJ_processdata(DJmotor_feedback_t *f, fp32 ecd_to_angle) { - int8_t cnt=0; - fp32 angle ,delta; - - angle = f->ecd; + fp32 angle, delta; + + angle = f->ecd; + + // 初始化阶段,记录 offset if (f->init_cnt < 50) { - f->orig_angle= angle; - f->last_angle = angle; - f->init_cnt++; - return 0; + f->offset_ecd = (uint16_t)angle; // 记录初始偏移 + f->orig_angle = angle - f->offset_ecd; // orig_angle 归零 + f->last_angle = angle - f->offset_ecd; + f->init_cnt++; + return 0; } - - - delta = angle - f->last_angle; + + // 使用 offset 修正 + angle = angle - f->offset_ecd; + + delta = angle - f->last_angle; if (delta > 4096) { f->round_cnt--; } else if (delta < -4096) { f->round_cnt++; } - f->last_angle = angle; - f->total_angle=(f->round_cnt*8191+(angle -f->orig_angle ))*ecd_to_angle; - + f->last_angle = angle; + f->total_angle=(f->round_cnt*8191+(angle -f->orig_angle ))*ecd_to_angle; } /*go电机控制*/ @@ -65,13 +68,13 @@ int8_t GO_SendData( GO_MotorData_t *go_data,GO_MotorCmd_t *go_cmd,float pos, flo // 计算66度曲线(偏上) // 计算66度曲线(偏上) static float curve_66(float d) { - return 4.0310f * d * d + 8.9026f * d -139.5156; -} + return 3.7028f * d * d + 11.2126f * d -142.9446f; + } // 计算58度曲线(偏下) // 计算58度曲线(偏下) static float curve_58(float d) { - return -1.9776f * d * d + 42.8499f * d - 204.2442f; + return 0.9242f * d * d + 19.4246f * d - 154.9055f; } /* diff --git a/User/Module/up_utils.h b/User/Module/up_utils.h index c29ab78..436e403 100644 --- a/User/Module/up_utils.h +++ b/User/Module/up_utils.h @@ -33,6 +33,8 @@ typedef struct int32_t round_cnt; int init_cnt; fp32 total_angle; + uint16_t offset_ecd; + uint32_t msg_cnt; }DJmotor_feedback_t; diff --git a/User/device/cmd.h b/User/device/cmd.h index a7835da..3b41b4f 100644 --- a/User/device/cmd.h +++ b/User/device/cmd.h @@ -43,7 +43,7 @@ typedef enum{ }CMD_mode_t; typedef struct { uint8_t status_fromnuc; - uint8_t ctrl_status; //取其中每一个二进制位用作通信 + uint8_t ctrl_status; struct { fp32 vx; @@ -52,6 +52,7 @@ typedef struct { fp32 pos; fp32 angle; + char flag; }MID360; diff --git a/User/task/nuc_task.c b/User/task/nuc_task.c index 3167ddb..5c0aa74 100644 --- a/User/task/nuc_task.c +++ b/User/task/nuc_task.c @@ -23,6 +23,8 @@ fp32 send[4]={11.0f,45.0,1.f,4.0f}; int a=0; + + void Task_nuc(void *argument){ (void)argument; /**/ @@ -70,6 +72,9 @@ void Task_nuc(void *argument){ } + + // NUC_StartSend(&nuc_raw, cmd_update); + tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/ osDelayUntil(tick); }