158 lines
2.9 KiB
C
158 lines
2.9 KiB
C
#ifndef UP_H
|
||
#define UP_H
|
||
|
||
|
||
#include "struct_typedef.h"
|
||
#include "pid.h"
|
||
#include "bmi088.h"
|
||
#include "map.h"
|
||
#include "user_math.h"
|
||
#include "ahrs.h"
|
||
#include "can_use.h"
|
||
#include "cmd.h"
|
||
#include "filter.h"
|
||
#include "Action.h"
|
||
#include "chassis.h"
|
||
#include "vofa.h"
|
||
#include "GO_M8010_6_Driver.h"
|
||
|
||
typedef enum {
|
||
STATE_IDLE, // 空闲状态
|
||
STATE_PRE_DRIBBLE, // 运球前
|
||
STATE_POST_DRIBBLE, // 运球后
|
||
STATE_PRE_LAUNCH, // 发射前
|
||
STATE_POST_LAUNCH // 发射后
|
||
} OperationState;
|
||
|
||
|
||
|
||
typedef struct {
|
||
|
||
BMI088_t bmi088;
|
||
|
||
AHRS_Eulr_t imu_eulr;//解算后存放欧拉角（弧度制）
|
||
|
||
}UP_Imu_t;
|
||
|
||
|
||
typedef struct
|
||
{
|
||
/*该部分决定PID的参数整定在config中修改*/
|
||
pid_param_t VESC_5065_M1_param;
|
||
pid_param_t VESC_5065_M2_param;
|
||
|
||
pid_param_t UP_GM6020_speed_param;
|
||
pid_param_t UP_GM6020_angle_param;
|
||
|
||
pid_param_t M2006_speed_param;
|
||
pid_param_t M2006_angle_param;
|
||
|
||
pid_param_t M3508_speed_param;
|
||
}UP_Param_t;
|
||
|
||
typedef struct
|
||
{
|
||
float orig_angle;
|
||
int8_t offset_flag;
|
||
float angle;
|
||
float last_angle;
|
||
float total_angle;
|
||
|
||
}M2006_data;
|
||
|
||
|
||
typedef struct{
|
||
|
||
uint8_t up_task_run;
|
||
const UP_Param_t *param;
|
||
UP_Imu_t pos088;
|
||
|
||
OperationState ctrl;
|
||
struct {
|
||
float orig_angle; // 初始偏移量
|
||
float last_angle; // 上一次编码器值
|
||
int32_t round_cnt; // 圈数计数器
|
||
uint16_t init_cnt; // 初始化计数器（前50次记录初始值）
|
||
float total_angle;
|
||
} M2006;
|
||
struct{
|
||
|
||
fp32 rotor_pit6020ecd;
|
||
fp32 rotor_pit6020rpm;
|
||
|
||
fp32 VESC_5065_M1_rpm;
|
||
fp32 VESC_5065_M2_rpm;
|
||
|
||
fp32 M2006_rpm;
|
||
fp32 M2006_angle;
|
||
|
||
fp32 M3508_speed[3];
|
||
|
||
}motorfeedback;
|
||
|
||
|
||
|
||
struct{
|
||
|
||
fp32 rotor_pit6020angle;
|
||
|
||
fp32 VESC_5065_M1_rpm;
|
||
fp32 VESC_5065_M2_rpm;
|
||
|
||
fp32 M2006_angle;
|
||
fp32 M3508_speed;
|
||
|
||
}motor_target;
|
||
|
||
struct{
|
||
|
||
pid_type_def GM6020_speed;
|
||
pid_type_def GM6020_angle;
|
||
pid_type_def VESC_5065_M1;
|
||
pid_type_def VESC_5065_M2;
|
||
pid_type_def M2006_angle;
|
||
pid_type_def M2006_speed;
|
||
pid_type_def M3508_speed[3];
|
||
|
||
}pid;
|
||
|
||
|
||
|
||
|
||
|
||
|
||
/*经PID计算后的实际发送给电机的实时输出值*/
|
||
struct
|
||
{
|
||
fp32 final_2006out;
|
||
fp32 final_3508out[3];
|
||
fp32 final_pitchout;
|
||
fp32 final_VESC_5065_M1out;
|
||
fp32 final_VESC_5065_M2out;
|
||
|
||
}final_out;
|
||
|
||
LowPassFilter2p_t filled[6]; /* 输出滤波器滤波器数组 */
|
||
|
||
fp32 vofa_send[8];
|
||
|
||
|
||
} UP_t;
|
||
|
||
|
||
int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq);
|
||
|
||
int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can) ;
|
||
int8_t GM6020_control(UP_t *u,fp32 angle);
|
||
int8_t VESC_M5065_Control(UP_t *u,fp32 speed);
|
||
|
||
int8_t UP_M2006_angle(UP_t *u,fp32 target_angle);
|
||
int8_t UP_control(UP_t *u,CAN_Output_t *out);
|
||
int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out);
|
||
int8_t UP_M2006_angle(UP_t *u,fp32 target_angle);
|
||
int8_t UP_M3508_speed(UP_t *u,fp32 speed);
|
||
|
||
|
||
|
||
#endif
|