216 lines
5.3 KiB
C
216 lines
5.3 KiB
C
#ifndef CHASSIS_H
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#define CHASSIS_H
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#include "struct_typedef.h"
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#include "pid.h"
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#include "bmi088.h"
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#include "user_math.h"
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#include "ahrs.h"
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#include "can_use.h"
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#include "cmd.h"
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#include "filter.h"
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#include "kalman.h"
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#include "bsp\pwm.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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//m3508的电机转速转换为底盘的实际速度
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#define M3508_MOTOR_RPM_TO_VECTOR 0.0008809748903494517209f
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#define M6020_MOTOR_RPM_TO_VECTOR 0.003664f
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#define PI 3.1415926535f
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//小量程sick1分米大概变30，大量程sick1分米大概变60
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#define SICKXY_ERROR 10
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#define SICKW_ERROR 5
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// 纵向/横向
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#define radians atan(1.0*422/440)//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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fp32 MOTOR_OFFSET[4];
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} MotorOffset_t;
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typedef struct {
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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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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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/*底盘的类型*/
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typedef enum {
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CHASSIS_TYPE_MECANUM, /* 麦轮 */
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CHASSIS_TYPE_OMNI_CROSS, /* 全向轮*/
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CHASSIS_TYPE_AGV_3, /* AGV舵轮 */
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CHASSIS_TYPE_AGV_4, /* AGV舵轮 */
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} Chassis_Type_e;
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/*底盘的电机轮组*/
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typedef enum {
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DJI_M3508,
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DJI_G6020,
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AGV_Group,
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}Chassis_Motortype_e;
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/* 该结构体用于存取固定的一些参数 在config.c中更改后不再变化 */
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typedef struct
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{
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Chassis_Type_e chassis_type; /* */
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Chassis_Motortype_e motor_type; /**/
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/*该部分决定PID的参数整定在config中修改*/
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pid_param_t C6020Omega_param;
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pid_param_t C6020Angle_param;
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pid_param_t Chassis_AngleAdjust_param;
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pid_param_t RadarAngle_param;
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pid_param_t RadarSpeed_param;
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pid_param_t SickVx_param;
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pid_param_t SickVy_param;
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pid_param_t SickVw_param;
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pid_param_t M3508_param;
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pid_param_t C6020pitAngle_param;
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pid_param_t C6020pitOmega_param;
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}Chassis_Param_t;
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/*该结构体用于底盘的期望运动向量*/
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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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/**
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* @brief
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*
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*/
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typedef struct{
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CMD_Chassis_mode mode;
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CMD_Chassis_navi_pos pos;
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ChassisMove_Vec move_vec; //最终输入速度
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fp32 radar_angle; //雷达纠正角度输出值(锁框)
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fp32 radar_yaw; //雷达纠正角度输出值(锁车)
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/*sick跑点数据*/
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fp32 sick[3];
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fp32 sick_set[3];
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ChassisMove_Vec move_sick; //sick跑点速度
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uint8_t radar_reset_flag; //雷达校准标志位
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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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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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/*经PID计算后的实际发送给电机的实时输出值*/
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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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fp32 final_3508out[4];
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fp32 final_pitchout;
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}final_out;
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/*电机反馈数据*/
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struct{
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fp32 rotor_rpm3508[4];
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fp32 rotor_current3508[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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fp32 rotor_rpm5065[4];
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fp32 torque_current5065[4];
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fp32 rotor_5065pos[4];
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}motorfeedback;
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/*pid*/
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struct{
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pid_type_def chassis_6020anglePid[4];
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pid_type_def chassis_6020OmegaPid[4];
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pid_type_def Chassis_AngleAdjust;
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pid_type_def chassis_RadaranglePID[2];
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pid_type_def chassis_RadarspeedPID[2];
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pid_type_def chassis_SickVx;
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pid_type_def chassis_SickVy;
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pid_type_def chassis_SickVw;
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pid_type_def chassis_3508VecPID[4];
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pid_type_def chassis_pitAngle6020;
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pid_type_def chassis_pitOmega6020;
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}pid;
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fp32 chassis_yaw; //码盘世界坐标系下底盘角度
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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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const Chassis_Param_t *param; //一些固定的参数
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fp32 vofa_send[8]; //vofa输出数据
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LowPassFilter2p_t filled[9]; //低通滤波器
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float keep_angle[4]; // 保持的 6020 角度
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Buzzer_t buzzer_radar_angle; // 用于雷达角度纠正的蜂鸣器控制
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Buzzer_t buzzer_nuc_flag; // 用于nuc校准成功的蜂鸣器控制
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}Chassis_t;
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/**
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* @brief
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*
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* @param c
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* @param param
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* @param mech_zero
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* @param wheelPolar
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* @return
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*/
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int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq);
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/**
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* \brief
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*/
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int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can);
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void radar_sick_calibration(Chassis_t *c,CMD_t *ctrl);
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/**
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* \brief
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*/
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int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*pos);
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#endif
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