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暂时重启扳机odrive！！！

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This commit is contained in:
ws 2025-03-31 23:16:05 +08:00
parent 33f343eadb
commit 14cb35351f
7 changed files with 77 additions and 68 deletions
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2
Core/Src/usart.c
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@ -102,7 +102,7 @@ void MX_USART6_UART_Init(void)
/* USER CODE END USART6_Init 1 */ /* USER CODE END USART6_Init 1 */
huart6.Instance = USART6; huart6.Instance = USART6;
huart6.Init.BaudRate = 115200; huart6.Init.BaudRate = 4000000;
huart6.Init.WordLength = UART_WORDLENGTH_8B; huart6.Init.WordLength = UART_WORDLENGTH_8B;
huart6.Init.StopBits = UART_STOPBITS_1; huart6.Init.StopBits = UART_STOPBITS_1;
huart6.Init.Parity = UART_PARITY_NONE; huart6.Init.Parity = UART_PARITY_NONE;

2
User/bsp/uart_it.c
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@ -31,7 +31,7 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
case BSP_UART_REF: case BSP_UART_REF:
return &huart1; return &huart1;
case BSP_UART_AI: case BSP_UART_AI:
return &huart6; return &huart1;//NUC使用的是USART1
/* /*
case BSP_UART_XXX: case BSP_UART_XXX:
return &huartX; return &huartX;

5
User/device/GO_M8010_6_Driver.c
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@ -36,7 +36,8 @@ void GO_M8010_init (){
} }
//暂存接收数据 //暂存接收数据
static uint8_t Temp_buffer[16]; //static uint8_t Temp_buffer[16];
uint8_t Temp_buffer[16];
//dma传输完成后进入此回调函数 //dma传输完成后进入此回调函数
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{ {
@ -45,7 +46,7 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
if ((Temp_buffer[14] != (crc&0xFF)) || (Temp_buffer[15] != ((crc>>8) & 0xFF))) if ((Temp_buffer[14] != (crc&0xFF)) || (Temp_buffer[15] != ((crc>>8) & 0xFF)))
{ {
HAL_GPIO_WritePin(LED_B_GPIO_Port, LED_B_Pin, GPIO_PIN_SET); //蓝色灯亮 // indicate CRC incorrect HAL_GPIO_WritePin(LED_B_GPIO_Port, LED_B_Pin, GPIO_PIN_SET); //蓝色灯亮 // indicate CRC incorrect
HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_G_Pin, GPIO_PIN_RESET); //红色灯灭 HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_G_Pin, GPIO_PIN_SET); //红色灯灭
return; return;
} }
// CRC pass and start converting data to the motor // CRC pass and start converting data to the motor

118
User/device/GO_M8010_6_Driver.h
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@ -8,105 +8,109 @@ extern "C"{
#include "usart.h" #include "usart.h"
#include "string.h" #include "string.h"
#include <math.h> #include <math.h>
#define GO_NUM 2 #define GO_NUM 3
/** /**
* @brief <EFBFBD><EFBFBD><EFBFBD>ģʽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ * @brief 电机模式状态信息
* *
*/ */
typedef struct typedef struct
{ {
uint8_t id :4; // <EFBFBD><EFBFBD><EFBFBD>ID: 0,1...,14 15<31><35>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD>㲥<EFBFBD><E3B2A5><EFBFBD><EFBFBD>(<28><>ʱ<EFBFBD>޷<EFBFBD><DEB7><EFBFBD>) uint8_t id :4; // 电机ID: 0,1...,14 15表示广播模式(暂时无法用)
uint8_t status :3; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ: 0.<2E><><EFBFBD><EFBFBD> 1.FOC<4F>ջ<EFBFBD> 2.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У׼ 3.<2E><><EFBFBD><EFBFBD> uint8_t status :3; // 工作模式: 0.停止 1.FOC校准 2.编码器校准 3.运行
uint8_t none :1; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ uint8_t none :1; // 保留位
} RIS_Mode_t /*__attribute__((packed))*/; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ 1Byte } RIS_Mode_t /*__attribute__((packed))*/; // 电机模式 1Byte
/** /**
* @brief <EFBFBD><EFBFBD><EFBFBD>״̬<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ * @brief 电机状态控制信息
* *
*/ */
typedef struct typedef struct
{ {
int16_t tor_des; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ť<EFBFBD><EFBFBD> unit: N.m (q8) int16_t tor_des; // 电机目标力矩 unit: N.m (q8)
int16_t spd_des; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> unit: rad/s (q7) int16_t spd_des; // 电机目标速度 unit: rad/s (q7)
int32_t pos_des; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD> unit: rad (q15) int32_t pos_des; // 电机目标位置 unit: rad (q15)
uint16_t k_pos; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ؽڸն<EFBFBD>ϵ<EFBFBD><EFBFBD> unit: 0.0-1.0 (q15) uint16_t k_pos; // 电机位置环系数 unit: 0.0-1.0 (q15)
uint16_t k_spd; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD> unit: 0.0-1.0 (q15) uint16_t k_spd; // 电机速度环系数 unit: 0.0-1.0 (q15)
} RIS_Comd_t; // <EFBFBD><EFBFBD><EFBFBD>Ʋ<EFBFBD><EFBFBD><EFBFBD> 12Byte } RIS_Comd_t; // 控制命令 12Byte
/** /**
* @brief <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD><EFBFBD><EFBFBD>ʽ * @brief 电机控制数据包格式
* *
*/ */
typedef struct typedef struct
{ {
uint8_t head[2]; // <EFBFBD><EFBFBD>ͷ 2Byte uint8_t head[2]; // 包头 2Byte
RIS_Mode_t mode; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ 1Byte RIS_Mode_t mode; // 电机工作模式 1Byte
RIS_Comd_t comd; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 12Byte RIS_Comd_t comd; // 电机控制命令 12Byte
uint16_t CRC16; // CRC 2Byte uint16_t CRC16; // CRC校验 2Byte
} ControlData_t; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 17Byte } ControlData_t; // 电机控制数据包 17Byte
typedef struct {
unsigned short id; // <20><><EFBFBD>ID<49><44>0xBB<42><42><EFBFBD><EFBFBD>ȫ<EFBFBD><C8AB><EFBFBD><EFBFBD><EFBFBD> why<68><79><EFBFBD><EFBFBD><EFBFBD><EFBFBD>f<EFBFBD><66><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD><EFBFBD>
unsigned short mode; // 0:<3A><><EFBFBD><EFBFBD>, 5:<3A><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>, 10:<3A>ջ<EFBFBD>FOC<4F><43><EFBFBD><EFBFBD> why<68><79><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD>ջ<EFBFBD><D5BB><EFBFBD>2У׼<D0A3><D7BC>
uint16_t correct; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD> <20><>1 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
int MError; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0.<2E><><EFBFBD><EFBFBD> 1.<2E><><EFBFBD><EFBFBD> 2.<2E><><EFBFBD><EFBFBD> 3.<2E><>ѹ 4.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
int Temp; // <20><EFBFBD>
float tar_pos; // target position
float tar_w; // target speed
float T; // <20><>ǰʵ<C7B0>ʵ<EFBFBD><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float W; // <20><>ǰʵ<C7B0>ʵ<EFBFBD><CAB5><EFBFBD>ٶȣ<D9B6><C8A3><EFBFBD><EFBFBD>٣<EFBFBD>
float Pos; // <20><>ǰ<EFBFBD><C7B0><EFBFBD>λ<EFBFBD><CEBB>
int footForce; // They dont even know what 7 is this so we dont update this
uint8_t buffer[17];
uint8_t Rec_buffer[16];
ControlData_t motor_send_data;
}GO_Motorfield;
/** /**
*@brief <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD> * @brief 电机状态信息结构体
*/ *
*/
typedef struct {
unsigned short id; // 电机ID, 0xBB表示广播
unsigned short mode; // 工作模式: 0.停止 5.正转 10.FOC控制
uint16_t correct; // 校正状态: 1.校正完成 0.未校正
int MError; // 电机错误: 0.正常 1.过流 2.过载 3.欠压 4.过温
int Temp; // 温度
float tar_pos; // 目标位置
float tar_w; // 目标速度
float T; // 当前实际力矩
float W; // 当前实际速度 (单位: rad/s)
float Pos; // 当前实际位置
int footForce; // 预留字段, 暂未使用
uint8_t buffer[17]; // 数据发送缓冲区
uint8_t Rec_buffer[16]; // 数据接收缓冲区
ControlData_t motor_send_data; // 电机控制数据结构
} GO_Motorfield;
/**
*@brief 电机初始化
*/
void GO_M8010_init(void); void GO_M8010_init(void);
/** /**
*@brief go<EFBFBD><EFBFBD><EFBFBD>Ϳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *@brief go发送控制命令
*@input[in] huart <EFBFBD><EFBFBD><EFBFBD>ô<EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD> *@input[in] huart 所用串口指针
*@input[in] id <EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><EFBFBD>id *@input[in] id 被控电机id
*@input[in] rev <EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>֪<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɶ<EFBFBD>õģ<EFBFBD>githubΪ<EFBFBD>ش<EFBFBD>issue *@input[in] rev 暂时不知道干啥用的，github为回答issue
*@input[in] T <EFBFBD><EFBFBD><EFBFBD>أ<EFBFBD><EFBFBD><EFBFBD>λN<EFBFBD><EFBFBD>m *@input[in] T 力矩，单位N·m
*@input[in] Pos Ŀ<EFBFBD><EFBFBD>λ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD>λrad *@input[in] Pos 目标位置，单位rad
*@input[in] W Ŀ<EFBFBD><EFBFBD><EFBFBD>ٶȣ<EFBFBD><EFBFBD><EFBFBD>λrad/s *@input[in] W 目标速度，单位rad/s
*@input[in] K_P λ<EFBFBD>û<EFBFBD><EFBFBD><EFBFBD>kp *@input[in] K_P 位置环kp
*@input[in] K_W <EFBFBD>ٶȻ<EFBFBD>kp *@input[in] K_W 速度环kp
*@note <EFBFBD><EFBFBD><EFBFBD>ƹ<EFBFBD>ʽ <EFBFBD><EFBFBD> t = T + <EFBFBD><EFBFBD><EFBFBD>趨λ<EFBFBD><EFBFBD> - ʵ<EFBFBD><EFBFBD>λ<EFBFBD>ã<EFBFBD>*K_P + <EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD> - ʵ<EFBFBD><EFBFBD><EFBFBD>ٶȣ<EFBFBD>*K_W *@note 控制公式 ： t = T + （设定位置 - 实际位置）*K_P + （设定速度 - 实际速度）*K_W
*/ */
void GO_M8010_send_data(UART_HandleTypeDef *huart,int id, int rev,float T,float W,float Pos,float K_P,float K_W); void GO_M8010_send_data(UART_HandleTypeDef *huart,int id, int rev,float T,float Pos,float W,float K_P,float K_W);
/** /**
*@brief <EFBFBD>û<EFBFBD><EFBFBD>Զ<EFBFBD><EFBFBD>崮<EFBFBD>ڷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϻص<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *@brief 用户自定义挂载发送完成中断回调函数
*/ */
void uartTxCB(UART_HandleTypeDef *huart); void uartTxCB(UART_HandleTypeDef *huart);
//<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>Ͽ<EFBFBD><EFBFBD><EFBFBD> // 基础力控函数
void basic_ForceControl (UART_HandleTypeDef *huart, int id, float bias, float length, float mass, void basic_ForceControl (UART_HandleTypeDef *huart, int id, float bias, float length, float mass,
float tar_pos, float tar_w, float K_P,float K_W); float tar_pos, float tar_w, float K_P,float K_W);
/** /**
*@brief go<EFBFBD><EFBFBD><EFBFBD>Ϳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *@brief go获取电机指针
*@input[in] id <EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><EFBFBD>id *@input[in] id 电机的id
*@revtal <EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD> *@revtal 返回电机的指针
*/ */
GO_Motorfield* getGoPoint(uint8_t id); GO_Motorfield* getGoPoint(uint8_t id);
#ifdef __cplusplus #ifdef __cplusplus

3
User/module/go.c
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@ -40,8 +40,11 @@ void gimbalFlow(void)
{ {
//用485模块发送数据有问题 //用485模块发送数据有问题
GO_M8010_send_data(&huart1, 0,0,0,go.angleSetgo[0],1,KP,KD); GO_M8010_send_data(&huart1, 0,0,0,go.angleSetgo[0],1,KP,KD);
//串口6发送数据没有问题 //串口6发送数据没有问题
GO_M8010_send_data(&huart6, 0,0,0,go.angleSetgo[0],1,KP,KD); GO_M8010_send_data(&huart6, 0,0,0,go.angleSetgo[0],1,KP,KD);
GO_M8010_send_data(&huart6, 1,0,0,go.angleSetgo[0],1,KP,KD);
GO_M8010_send_data(&huart6, 2,0,0,go.angleSetgo[0],1,KP,KD);
osDelay(1); osDelay(1);

11
User/task/go_task.c
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@ -15,15 +15,16 @@ void Task_Go(void *argument)
{ {
#if GOUSE==1 #if GOUSE==1
//HAL_Delay(2000); HAL_Delay(2000);
// gimbalInit(); gimbalInit();
//HAL_GPIO_WritePin(ledGreen_GPIO_Port,ledGreen_Pin,GPIO_PIN_RESET); HAL_GPIO_WritePin(LED_G_GPIO_Port, LED_G_Pin,GPIO_PIN_RESET);
while(1) while(1)
{ {
LED_green(); //LED_green();
// gimbalFlow(); //LED_bule();
gimbalFlow();
osDelay(1); osDelay(1);
} }
#else #else

4
User/task/led_task.c
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@ -13,8 +13,8 @@ void Task_Led(void *argument) {
// LED_red(); // LED_red();
// LED_bule(); // LED_bule();
// see_you_again(); // see_you_again();
// LED_green(); LED_green();
// osDelay(500); osDelay(500);
} }
} }