145 lines
3.1 KiB
C
145 lines
3.1 KiB
C
#pragma once
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#include "bsp/struct_typedef.h"
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#include "component/pid.h"
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#include "device/motor_rm.h"
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#include "device/motor_vesc.h"
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#include "device/bmi088.h"
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#include "module/cmd.h"
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#define CHASSIS_OK (0)
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#define CHASSIS_ERR (-1)
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#define CHASSIS_ERR_NULL (-2)
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#define CHASSIS_ERR_MODE (-3) /*CMD_ChassisMode_t */
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#define CHASSIS_ERR_TYPE (-4) /*Chassis_Type_t */
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// 纵向/横向
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#define radians atan(1.0f * 390 /390) // 角度制
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// 四个舵轮的安装误差
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typedef struct
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{
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fp32 MOTOR_OFFSET[4];
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} MotorOffset_t;
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typedef struct
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{
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BMI088_t bmi088;
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/*可通过该枚举类型来决定Imu的数据量纲*/
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enum
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{
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IMU_DEGREE, // 角度值（0-360）
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IMU_RADIAN // 弧度制（0-2pi)
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} angle_mode;
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AHRS_Eulr_t imu_eulr; // 解算后存放欧拉角（弧度制）
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} ChassisImu_t;
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/*底盘参数结构体*/
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typedef struct
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{
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/*该部分决定PID的参数整定在config中修改*/
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KPID_Params_t C6020Omega_param;
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KPID_Params_t C6020Angle_param;
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MOTOR_RM_Param_t motor_6020_param[4]; // 四个6020电机
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/*5065轮向电机pid在上位机vesc调 */
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VESC_Param_t motor_5065_param[4]; // 四个5065电机
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} Chassis_Param_t;
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typedef struct
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{
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fp32 Vx;
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fp32 Vy;
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fp32 Vw;
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fp32 mul; // 油门倍率
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} ChassisMove_Vec;
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typedef struct
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{
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float rotor5065_out[4];
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float rotor6020_out[4];
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} Chassis_out_t;
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typedef struct
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{
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uint32_t last_wakeup;
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float dt;
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Chassis_mode_t mode;
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ChassisMove_Vec move_vec; // 最终输入速度
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/*期望的底盘输出值(此处为舵轮解算出的各个电机的期望输出值)ֵ*/
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struct
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{
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fp32 rotor5065_jiesuan_1[4];
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fp32 rotor5065_jiesuan_2[4];
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fp32 rotor6020_jiesuan_1[4];
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fp32 rotor6020_jiesuan_2[4];
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// fp32 rotor6020_elur_yaw;
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fp32 motor6020_target[4];
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fp32 motor5065_target[4];
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} hopemotorout;
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struct
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{
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fp32 final_6020out[4];
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fp32 final_5065out[4];
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} final_out;
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struct
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{
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fp32 rotor_rpm5065[4];
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fp32 rotor_current5065[4];
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fp32 rotor_angle5065[4];
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fp32 rotor_rpm6020[4];
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fp32 rotor_angle6020[4];
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fp32 rotor_current6020[4];
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fp32 rotor_temp6020[4];
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} motorfeedback;
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struct
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{
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KPID_t chassis_6020anglePid[4];
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KPID_t chassis_6020OmegaPid[4];
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} pid;
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uint8_t keeping_angle_flag; // 是否处于保持角度模式
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// AHRS_Eulr_t set_point; // 底盘纠正目标角
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// fp32 angle_current; // 当前角度
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// fp32 angle_piancha; // 偏差角度
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// fp32 yaw_out; // 角度pid输出值
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ChassisImu_t pos088; // 088的实时姿态
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MotorOffset_t motoroffset; // 5065校准数据
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Chassis_Param_t *param; // 一些固定的参数
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LowPassFilter2p_t filled[11]; // 低通滤波器
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float keep_angle[4]; // 保持的 6020 角度
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Chassis_out_t out;
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} Chassis_t;
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int8_t Chassis_init(Chassis_t *c, Chassis_Param_t *param, float target_freq);
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int8_t Chassis_update(Chassis_t *c);
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int8_t Chassis_Control(Chassis_t *c, Chassis_CMD_t *c_cmd,uint32_t now);
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void Chassis_speed_calculate(Chassis_t *c, Chassis_CMD_t *c_cmd);
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void Chassis_Setoutput(Chassis_t *c);
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#ifdef __cplusplus
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}
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#endif
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