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这个spi读编码器绝对好使

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This commit is contained in:
ws 2025-03-14 20:44:39 +08:00
parent 4d94d15052
commit d56405a1ba
14 changed files with 160 additions and 80 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 */
huart6.Instance = USART6;
huart6.Init.BaudRate = 4000000;
huart6.Init.BaudRate = 115200;
huart6.Init.WordLength = UART_WORDLENGTH_8B;
huart6.Init.StopBits = UART_STOPBITS_1;
huart6.Init.Parity = UART_PARITY_NONE;

10
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -48,3 +48,13 @@
[info] Log at : 2025/3/13|14:46:01|GMT+0800
[info] Log at : 2025/3/13|19:24:02|GMT+0800
[info] Log at : 2025/3/13|21:58:39|GMT+0800
[info] Log at : 2025/3/14|16:14:48|GMT+0800
[info] Log at : 2025/3/14|16:14:59|GMT+0800
[info] Log at : 2025/3/14|20:12:19|GMT+0800

3
MDK-ARM/.vscode/settings.json vendored
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@ -16,6 +16,7 @@
"ball.h": "c",
"shoot.h": "c",
"dji.h": "c",
"calc_lib.h": "c"
"calc_lib.h": "c",
"odrive_shoot.h": "c"
}
}

13
MDK-ARM/.vscode/uv4.log vendored
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@ -1,3 +1,10 @@
Load "mycode1\\mycode1.axf"
Erase Done.Programming Done.Verify OK.Application running ...
Flash Load finished at 19:18:06
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'mycode1'
compiling read_spi.c...
compiling odrive_shoot.c...
compiling shoot_task.c...
linking...
Program Size: Code=26528 RO-data=1904 RW-data=280 ZI-data=22496
FromELF: creating hex file...
"mycode1\mycode1.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:03

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/3/13 19:18:07
2025/3/14 20:41:26

39
MDK-ARM/mycode1.uvoptx
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@ -205,6 +205,41 @@
<WinNumber>1</WinNumber>
<ItemText>basketball,0x0A</ItemText>
</Ww>
<Ww>
<count>11</count>
<WinNumber>1</WinNumber>
<ItemText>angleo,0x0A</ItemText>
</Ww>
<Ww>
<count>12</count>
<WinNumber>1</WinNumber>
<ItemText>shoot</ItemText>
</Ww>
<Ww>
<count>13</count>
<WinNumber>1</WinNumber>
<ItemText>multi_turn_angle,0x0A</ItemText>
</Ww>
<Ww>
<count>14</count>
<WinNumber>1</WinNumber>
<ItemText>angle_encoder</ItemText>
</Ww>
<Ww>
<count>15</count>
<WinNumber>1</WinNumber>
<ItemText>back_angle,0x0A</ItemText>
</Ww>
<Ww>
<count>16</count>
<WinNumber>1</WinNumber>
<ItemText>encoder,0x0A</ItemText>
</Ww>
<Ww>
<count>17</count>
<WinNumber>1</WinNumber>
<ItemText>angles</ItemText>
</Ww>
</WatchWindow1>
<WatchWindow2>
<Ww>
@ -287,7 +322,7 @@
<Group>
<GroupName>Application/User/Core</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1083,7 +1118,7 @@
<Group>
<GroupName>User/task</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

64
User/device/read_spi.c
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@ -40,41 +40,31 @@ uint16_t AS5047_read(uint16_t add)
return data;
}
// void Update_MultiTurn_Angle(void)
// {
// uint16_t current_angle = AS5047_read(ANGLEUNC);
// int16_t angle_diff = current_angle - last_angle;
// // 检测角度跳变
// if (angle_diff > 8192) // 角度从低到高跳变
// {
// multi_turn_angle -= (16384 - angle_diff);
// }
// else if (angle_diff < -8192) // 角度从高到低跳变
// {
// multi_turn_angle += (16384 + angle_diff);
// }
// else
// {
// multi_turn_angle += angle_diff;
// }
// last_angle = current_angle;
// }
void Update_MultiTurn_Angle(void)
{
uint16_t current_angle = AS5047_read(ANGLEUNC);
int16_t angle_diff = current_angle - last_angle;
// 检测角度跳变
if (angle_diff > 8192) // 角度从低到高跳变
{
multi_turn_angle -= 1;
}
else if (angle_diff < -8192) // 角度从高到低跳变
{
multi_turn_angle += 1;
}
last_angle = current_angle;
void Encoder_Init(Encoder_t *ptr) {
ptr->round_cnt = 0;
ptr->ecd = AS5047_read(ANGLEUNC);
ptr->last_ecd = ptr->ecd;
ptr->offset_ecd = ptr->ecd;
ptr->total_angle = 0.0;
}
void Update_Encoder(Encoder_t *ptr) {
ptr->ecd = AS5047_read(ANGLEUNC);
if (ptr->ecd - ptr->last_ecd > 4096) {
ptr->round_cnt--;
} else if (ptr->ecd - ptr->last_ecd < -4096) {
ptr->round_cnt++;
}
ptr->total_angle = (double)((ptr->round_cnt * 8192 + ptr->ecd - ptr->offset_ecd) );
ptr->last_ecd = ptr->ecd;
}
int32_t Get_Encoder_Rounds(Encoder_t *ptr) {
return ptr->round_cnt;
}
double Get_Encoder_Angle(Encoder_t *ptr) {
return ptr->total_angle;
}

15
User/device/read_spi.h
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@ -18,6 +18,14 @@
#define SETTINGS1 0x0018
#define SETTINGS2 0x0019
typedef struct {
int32_t round_cnt;
uint16_t ecd;
uint16_t last_ecd;
uint16_t offset_ecd;
double total_angle;
} Encoder_t;
#define AS5407P_CS_H() \
HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_SET)
#define AS5407P_CS_L() \
@ -26,6 +34,11 @@
uint16_t Parity_bit_Calculate(uint16_t data_2_cal);
uint16_t SPI_ReadWrite_OneByte(uint16_t _txdata);
uint16_t AS5047_read(uint16_t add);
void Update_MultiTurn_Angle(void);
void Encoder_Init(Encoder_t *ptr);
void Update_Encoder(Encoder_t *ptr);
int32_t Get_Encoder_Rounds(Encoder_t *ptr);
double Get_Encoder_Angle(Encoder_t *ptr);
#endif

28
User/module/odrive_shoot.c
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@ -4,6 +4,8 @@
#include <cmsis_os2.h>
#include "read_spi.h"
#include "vofa.h"
extern RC_mess_t RC_mess;
extern float angle_encoder;
@ -12,31 +14,28 @@ extern volatile uint16_t last_angle ;
#define POS_SET -10.6
#define POS_ZERO 2.705
#define ACCEL_SEND 10//梯形加速度
#define ACCEL_BACK 5//返回时的加速度
#define ACCEL_SEND 100//梯形加速度
#define ACCEL_BACK 100//返回时的加速度
#define DELAY 1000
fp32 shoot = 10;
fp32 shoot = 0;
fp32 back_angle = 0;
float vofa_spi[8];
void shootStep(void)
{
angle_encoder=AS5047_read(ANGLEUNC);
Update_MultiTurn_Angle();
// back_angle=Get_Angle();
// angle_encoder=AS5047_read(ANGLEUNC);
// Update_MultiTurn_Angle();
odrive_accel_cmd(AXIS0_NODE,ACCEL_SEND,ACCEL_SEND);
// osDelay(2);//不知道为什么要延时
odrive_pos_cmd(AXIS0_NODE,shoot);
// osDelay(5000);
// odrive_accel_cmd(AXIS0_NODE,5,5);
// odrive_pos_cmd(AXIS0_NODE,10);
// osDelay(DELAY);
// odrive_accel_cmd(AXIS1_NODE,ACCEL_BACK,ACCEL_BACK);
// odrive_pos_cmd(AXIS1_NODE,POS_ZERO);
// vofa_spi[0]=shoot;
// vofa_spi[0]=multi_turn_angle;
// vofa_tx_main(vofa_spi);
}
@ -45,5 +44,6 @@ void shootBack(void)
odrive_accel_cmd(AXIS0_NODE,ACCEL_BACK,ACCEL_BACK);
osDelay(2);
odrive_pos_cmd(AXIS0_NODE,POS_ZERO);
}

39
User/module/shoot.c
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@ -5,8 +5,8 @@ extern RC_mess_t RC_mess;
extern motor_measure_t *trigger_motor_data;//3508电机数据
#define GO1_SHOOT 1
#define ODRIVE_SHOOT 0
#define GO1_SHOOT 0
#define ODRIVE_SHOOT 1
#define KP 0.12
#define KD 0.008
@ -59,18 +59,33 @@ void shoot_ball(int key)
#elif ODRIVE_SHOOT == 1
//初始位置在最上面, 有球放过来, 电机转动到最下面等待发射
//发射指令,当到最高点时,扳机离合
//返回扳机,远动到最下面
void shoot_odrive(void)
extern float angle_encoder;
extern volatile int32_t multi_turn_angle ;
extern volatile uint16_t last_angle ;
void shoot_odrive(int angle)
{
//扳机
if(trigger_motor_data->real_angle == 60)
{
trigger_pos(0);
}
else
{
trigger_pos(60);
}
// if(ball)
// {
// if(multi_turn_angle==8)
// {
// //di
// odrive_accel_cmd(AXIS0_NODE,200,200);
// odrive_pos_cmd(AXIS0_NODE,0);
// }
// else if(multi_turn_angle==0)
// {
// }
// }
odrive_accel_cmd(AXIS0_NODE,200,200);
osDelay(2);
odrive_pos_cmd(AXIS0_NODE,angle);
}
#endif

1
User/module/shoot.h
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@ -22,5 +22,6 @@ typedef struct
void shooterInit(void);
void shoot_ball(int key);
void shoot_odrive(int angle);
#endif

4
User/task/go_task.c
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@ -16,14 +16,14 @@ void Task_Go(void *argument)
#if GOUSE==1
//HAL_Delay(2000);
gimbalInit();
// gimbalInit();
//HAL_GPIO_WritePin(ledGreen_GPIO_Port,ledGreen_Pin,GPIO_PIN_RESET);
while(1)
{
LED_green();
gimbalFlow();
// gimbalFlow();
osDelay(1);
}
#else

2
User/task/led_task.c
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@ -12,7 +12,7 @@ void Task_Led(void *argument) {
// LED_red();
// LED_bule();
see_you_again();
// see_you_again();
// LED_green();
// osDelay(500);

18
User/task/shoot_task.c
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@ -5,16 +5,22 @@
#include <cmsis_os2.h>
#include "remote_control.h"
#include "shoot.h"
#include "odrive_shoot.h"
#include "read_spi.h"
extern RC_mess_t RC_mess;
#define GO1_SHOOT 1
#define ODRIVE_SHOOT 0
Encoder_t encoder;
double angles;
int32_t rounds;
int angleo = 0; //发射角度
#define GO1_SHOOT 0
#define ODRIVE_SHOOT 1
void Task_Shoot(void *argument)
{
(void)argument; /* 未使用argument，消除警告 */
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN;
Encoder_Init(&encoder);
#if GO1_SHOOT == 1
shooterInit();
#endif
@ -28,9 +34,11 @@ void Task_Shoot(void *argument)
shoot_ball(0);
#elif ODRIVE_SHOOT == 1
shootStep();
shootStep();
//shoot_odrive(angleo);
#endif
// 更新编码器数据
Update_Encoder(&encoder);
tick += delay_tick; /* 计算下一个唤醒时刻 */
osDelayUntil(tick); /* 运行结束，等待下一个周期唤醒 */