260 lines
6.2 KiB
C
260 lines
6.2 KiB
C
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/*
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底盘任务
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "chassis.h"
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#include "bsp/can.h"
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#include "bsp/time.h"
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#include "component/filter.h"
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#include "component/pid.h"
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#include "device/motor_rm.h"
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#include <math.h>
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#include "module/cmd.h"
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#include "stdlib.h"
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/* Private typedef ---------------------------------------------------------- */
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static int8_t Chassis_SetMode(Chassis_t *c, Chassis_mode_t mode, uint32_t now)
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{
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if (!c)
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return CHASSIS_ERR_NULL;
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if (mode == c->mode)
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return CHASSIS_OK;
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// 重置 PID 和滤波器
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for (uint8_t i = 0; i < c->num_wheel; i++)
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{
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PID_Reset(&c->pid.motor[i]);
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LowPassFilter2p_Reset(&c->filter.in[i], 0.0f);
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LowPassFilter2p_Reset(&c->filter.out[i], 0.0f);
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}
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c->mode = mode;
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return CHASSIS_OK;
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}
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/**
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* @brief 底盘初始化
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* @param c 底盘结构体指针
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* @param param 底盘参数结构体指针
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* @param target_freq 控制频率(Hz)
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* @return CHASSIS_OK:成功 CHASSIS_ERR_NULL:空指针 CHASSIS_ERR_TYPE:不支持的底盘类型
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*/
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int8_t Chassis_Init(Chassis_t *c, Chassis_Params_t *param,
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float target_freq)
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{
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if (!c)
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return CHASSIS_ERR_NULL;
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// 初始化 CAN 通信
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BSP_CAN_Init();
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c->param = param;
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c->mode = STOP;
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// 根据底盘类型配置轮组数量与混控器模式
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Mixer_Mode_t mixer_mode;
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switch (param->type)
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{
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case CHASSIS_TYPE_MECANUM: // 麦克纳姆轮
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c->num_wheel = 4;
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mixer_mode = MIXER_MECANUM;
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break;
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case CHASSIS_TYPE_PARLFIX4:
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c->num_wheel = 4;
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mixer_mode = MIXER_PARLFIX4;
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break;
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case CHASSIS_TYPE_PARLFIX2:
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c->num_wheel = 2;
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mixer_mode = MIXER_PARLFIX2;
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break;
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case CHASSIS_TYPE_OMNI_CROSS:
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c->num_wheel = 4;
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mixer_mode = MIXER_OMNICROSS;
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break;
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case CHASSIS_TYPE_OMNI_PLUS: // 全向轮（十字布局）
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c->num_wheel = 4;
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mixer_mode = MIXER_OMNIPLUS;
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break;
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case CHASSIS_TYPE_SINGLE:
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c->num_wheel = 1;
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mixer_mode = MIXER_SINGLE;
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break;
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default:
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return CHASSIS_ERR_TYPE;
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}
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// 初始化时间戳
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c->last_wakeup = 0;
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c->dt = 0.0f;
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// 初始化 PID 和滤波器
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for (uint8_t i = 0; i < c->num_wheel; i++)
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{
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PID_Init(&c->pid.motor[i], KPID_MODE_NO_D, target_freq, ¶m->pid.motor_pid_param);
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LowPassFilter2p_Init(&c->filter.in[i], target_freq, param->low_pass_cutoff_freq.in);
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LowPassFilter2p_Init(&c->filter.out[i], target_freq, param->low_pass_cutoff_freq.out);
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// 清零电机反馈
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c->feedback.motor[i].rotor_speed = 0;
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c->feedback.motor[i].torque_current = 0;
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c->feedback.motor[i].rotor_abs_angle = 0;
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c->feedback.motor[i].temp = 0;
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}
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// 初始化跟随 PID 和混控器
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PID_Init(&c->pid.follow, KPID_MODE_CALC_D, target_freq, ¶m->pid.follow_pid_param);
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Mixer_Init(&c->mixer, mixer_mode);
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// 清零运动向量与输出
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c->move_vec.vx = c->move_vec.vy = c->move_vec.wz = 0.0f;
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for (uint8_t i = 0; i < c->num_wheel; i++)
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{
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c->out.motor[i] = 0.0f;
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}
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// 注册电机
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for (int i = 0; i < c->num_wheel; i++)
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{
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MOTOR_RM_Register(&(c->param->motor_param[i]));
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}
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return CHASSIS_OK;
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}
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/**
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* @brief 更新底盘反馈（电机状态）
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* @param c 底盘结构体指针
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* @return CHASSIS_OK:成功 CHASSIS_ERR_NULL:空指针
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*/
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int8_t Chassis_UpdateFeedback(Chassis_t *c)
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{
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// 更新所有电机反馈
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for (uint8_t i = 0; i < c->num_wheel; i++)
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{
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MOTOR_RM_Update(&(c->param->motor_param[i]));
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MOTOR_RM_t *rm_motor = MOTOR_RM_GetMotor(&(c->param->motor_param[i]));
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c->motors[i] = rm_motor;
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// MOTOR_RM_t *rm = c->motors[i];
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if (rm_motor != NULL)
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{
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c->feedback.motor[i] = rm_motor->feedback;
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}
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else
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{
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return CHASSIS_ERR_NULL;
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}
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}
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return CHASSIS_OK;
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}
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/**
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* @brief 底盘电机控制
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* @param c 底盘结构体指针
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* @param c_cmd 控制命令
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* @param now 当前时间戳(ms)
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* @return CHASSIS_OK:成功 CHASSIS_ERR_NULL:空指针
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*/
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int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd, uint32_t now)
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{
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if (!c || !c_cmd)
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return CHASSIS_ERR_NULL;
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// 计算控制周期
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c->dt = (float)(now - c->last_wakeup) / 1000.0f;
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c->last_wakeup = now;
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if (!isfinite(c->dt) || c->dt <= 0.0f)
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{
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c->dt = 0.001f;
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}
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if (c->dt < 0.0005f)
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c->dt = 0.0005f;
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if (c->dt > 0.050f)
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c->dt = 0.050f;
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// 设置模式
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Chassis_SetMode(c, c_cmd->mode, now);
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// 根据模式计算运动向量
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switch (c->mode)
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{
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case STOP:
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c->move_vec.vx = c->move_vec.vy = 0.0f;
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c->move_vec.wz = 0.0f;
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break;
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case RC:
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c->move_vec.vx = c_cmd->Vx;
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c->move_vec.vy = c_cmd->Vy;
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c->move_vec.wz = c_cmd->Vw;
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break;
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default:
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break;
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}
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Mixer_Apply(&c->mixer, &c->move_vec, c->setpoint.motor_rpm, c->num_wheel, 500.0f);
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for (uint8_t i = 0; i < c->num_wheel; i++)
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{
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float rf = c->setpoint.motor_rpm[i]; /// 目标转速
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float fb = LowPassFilter2p_Apply(&c->filter.in[i], (float)c->feedback.motor[i].rotor_speed);
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float out_current;
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switch (c->mode)
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{
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case RC:
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out_current = c->setpoint.motor_rpm[i] / 1000.0f;
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break;
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case STOP:
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out_current = 0.0f;
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break;
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default:
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out_current = 0.0f;
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break;
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}
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(void)rf;
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(void)fb;
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// 低通滤波和限幅
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c->out.motor[i] = LowPassFilter2p_Apply(&c->filter.out[i], out_current);
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// Clip(&c->out.motor[i], -c->param->limit.max_current, c->param->limit.max_current);
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}
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return CHASSIS_OK;
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}
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/**
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* @brief 电机输出
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* @param c 底盘结构体指针
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*/
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void Chassis_Output(Chassis_t *c)
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{
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if (!c)
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return; // 空指针检查
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// 1. 设置每个电机的输出值
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for (uint8_t i = 0; i < c->num_wheel; i++)
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{
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MOTOR_RM_t *rm = c->motors[i];
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if (!rm)
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continue;
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MOTOR_RM_SetOutput(&rm->param, c->out.motor[i]); // 将计算好的电流值写入电机结构体
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}
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// 2. 触发CAN发送（只调用一次）
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MOTOR_RM_t *rm = c->motors[0];
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if (rm)
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{
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MOTOR_RM_Ctrl(&rm->param); // 通过CAN总线发送控制帧
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}
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}
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/**
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* @brief 重置底盘输出
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* @param c 底盘结构体指针
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*/
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void Chassis_ResetOutput(Chassis_t *c)
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{
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if (!c)
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return;
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for (uint8_t i = 0; i < c->num_wheel; i++)
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{
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MOTOR_RM_t *m = c->motors[i];
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if (m)
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{
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MOTOR_RM_Relax(&(m->param));
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}
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}
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} |