diff --git a/engineer/.mxproject b/engineer/.mxproject index 3af4ef5..5de9aa2 100644 --- a/engineer/.mxproject +++ b/engineer/.mxproject @@ -1,33 +1,31 @@ [PreviousLibFiles] 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[PreviousUsedCMakes] 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+SourceFiles=Core/Src/main.c;Core/Src/gpio.c;Core/Src/freertos.c;Core/Src/can.c;Core/Src/stm32f4xx_it.c;Core/Src/stm32f4xx_hal_msp.c;Core/Src/stm32f4xx_hal_timebase_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Core/Src/system_stm32f4xx.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Core/Src/system_stm32f4xx.c;;;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c; HeaderPath=Drivers/STM32F4xx_HAL_Driver/Inc;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;Middlewares/Third_Party/FreeRTOS/Source/include;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F;Drivers/CMSIS/Device/ST/STM32F4xx/Include;Drivers/CMSIS/Include;Core/Inc; CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; [PreviousGenFiles] AdvancedFolderStructure=true -HeaderFileListSize=7 +HeaderFileListSize=6 HeaderFiles#0=../Core/Inc/gpio.h HeaderFiles#1=../Core/Inc/FreeRTOSConfig.h HeaderFiles#2=../Core/Inc/can.h -HeaderFiles#3=../Core/Inc/usart.h -HeaderFiles#4=../Core/Inc/stm32f4xx_it.h -HeaderFiles#5=../Core/Inc/stm32f4xx_hal_conf.h -HeaderFiles#6=../Core/Inc/main.h +HeaderFiles#3=../Core/Inc/stm32f4xx_it.h +HeaderFiles#4=../Core/Inc/stm32f4xx_hal_conf.h +HeaderFiles#5=../Core/Inc/main.h HeaderFolderListSize=1 HeaderPath#0=../Core/Inc HeaderFiles=; -SourceFileListSize=8 +SourceFileListSize=7 SourceFiles#0=../Core/Src/gpio.c SourceFiles#1=../Core/Src/freertos.c SourceFiles#2=../Core/Src/can.c -SourceFiles#3=../Core/Src/usart.c -SourceFiles#4=../Core/Src/stm32f4xx_it.c -SourceFiles#5=../Core/Src/stm32f4xx_hal_msp.c -SourceFiles#6=../Core/Src/stm32f4xx_hal_timebase_tim.c -SourceFiles#7=../Core/Src/main.c +SourceFiles#3=../Core/Src/stm32f4xx_it.c +SourceFiles#4=../Core/Src/stm32f4xx_hal_msp.c +SourceFiles#5=../Core/Src/stm32f4xx_hal_timebase_tim.c +SourceFiles#6=../Core/Src/main.c SourceFolderListSize=1 SourcePath#0=../Core/Src SourceFiles=; diff --git a/engineer/CMakeLists.txt b/engineer/CMakeLists.txt index 0c06234..37e6348 100644 --- a/engineer/CMakeLists.txt +++ b/engineer/CMakeLists.txt @@ -50,7 +50,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE User/bsp/mm.c User/bsp/time.c User/bsp/dwt.c - ./User/bsp/uart.c + # ./User/bsp/uart.c # User/component sources User/component/ahrs.c @@ -76,6 +76,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE # User/module sources User/module/config.c User/module/arm.c + ./User/module/kine.cpp # User/task sources User/task/control.c diff --git a/engineer/Core/Inc/can.h b/engineer/Core/Inc/can.h index 2e72c88..fb2d33b 100644 --- a/engineer/Core/Inc/can.h +++ b/engineer/Core/Inc/can.h @@ -34,11 +34,14 @@ extern "C" { extern CAN_HandleTypeDef hcan1; +extern CAN_HandleTypeDef hcan2; + /* USER CODE BEGIN Private defines */ /* USER CODE END Private defines */ void MX_CAN1_Init(void); +void MX_CAN2_Init(void); /* USER CODE BEGIN Prototypes */ diff --git a/engineer/Core/Inc/stm32f4xx_hal_conf.h b/engineer/Core/Inc/stm32f4xx_hal_conf.h index c6b1561..4201d81 100644 --- a/engineer/Core/Inc/stm32f4xx_hal_conf.h +++ b/engineer/Core/Inc/stm32f4xx_hal_conf.h @@ -64,7 +64,7 @@ /* #define HAL_MMC_MODULE_ENABLED */ /* #define HAL_SPI_MODULE_ENABLED */ #define HAL_TIM_MODULE_ENABLED -#define HAL_UART_MODULE_ENABLED +/* #define HAL_UART_MODULE_ENABLED */ /* #define HAL_USART_MODULE_ENABLED */ /* #define HAL_IRDA_MODULE_ENABLED */ /* #define HAL_SMARTCARD_MODULE_ENABLED */ diff --git a/engineer/Core/Inc/stm32f4xx_it.h b/engineer/Core/Inc/stm32f4xx_it.h index 0a42700..840e2ac 100644 --- a/engineer/Core/Inc/stm32f4xx_it.h +++ b/engineer/Core/Inc/stm32f4xx_it.h @@ -55,9 +55,10 @@ void DebugMon_Handler(void); void CAN1_TX_IRQHandler(void); void CAN1_RX0_IRQHandler(void); void CAN1_RX1_IRQHandler(void); -void USART1_IRQHandler(void); -void USART2_IRQHandler(void); void TIM8_TRG_COM_TIM14_IRQHandler(void); +void CAN2_TX_IRQHandler(void); +void CAN2_RX0_IRQHandler(void); +void CAN2_RX1_IRQHandler(void); /* USER CODE BEGIN EFP */ /* USER CODE END EFP */ diff --git a/engineer/Core/Inc/usart.h b/engineer/Core/Inc/usart.h deleted file mode 100644 index 737091e..0000000 --- a/engineer/Core/Inc/usart.h +++ /dev/null @@ -1,55 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file usart.h - * @brief This file contains all the function prototypes for - * the usart.c file - ****************************************************************************** - * @attention - * - * Copyright (c) 2025 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __USART_H__ -#define __USART_H__ - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "main.h" - -/* USER CODE BEGIN Includes */ - -/* USER CODE END Includes */ - -extern UART_HandleTypeDef huart1; - -extern UART_HandleTypeDef huart2; - -/* USER CODE BEGIN Private defines */ - -/* USER CODE END Private defines */ - -void MX_USART1_UART_Init(void); -void MX_USART2_UART_Init(void); - -/* USER CODE BEGIN Prototypes */ - -/* USER CODE END Prototypes */ - -#ifdef __cplusplus -} -#endif - -#endif /* __USART_H__ */ - diff --git a/engineer/Core/Src/can.c b/engineer/Core/Src/can.c index 73076f7..96afe0b 100644 --- a/engineer/Core/Src/can.c +++ b/engineer/Core/Src/can.c @@ -25,6 +25,7 @@ /* USER CODE END 0 */ CAN_HandleTypeDef hcan1; +CAN_HandleTypeDef hcan2; /* CAN1 init function */ void MX_CAN1_Init(void) @@ -58,6 +59,40 @@ void MX_CAN1_Init(void) /* USER CODE END CAN1_Init 2 */ } +/* CAN2 init function */ +void MX_CAN2_Init(void) +{ + + /* USER CODE BEGIN CAN2_Init 0 */ + + /* USER CODE END CAN2_Init 0 */ + + /* USER CODE BEGIN CAN2_Init 1 */ + + /* USER CODE END CAN2_Init 1 */ + hcan2.Instance = CAN2; + hcan2.Init.Prescaler = 3; + hcan2.Init.Mode = CAN_MODE_NORMAL; + hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ; + hcan2.Init.TimeSeg1 = CAN_BS1_6TQ; + hcan2.Init.TimeSeg2 = CAN_BS2_7TQ; + hcan2.Init.TimeTriggeredMode = DISABLE; + hcan2.Init.AutoBusOff = DISABLE; + hcan2.Init.AutoWakeUp = DISABLE; + hcan2.Init.AutoRetransmission = DISABLE; + hcan2.Init.ReceiveFifoLocked = DISABLE; + hcan2.Init.TransmitFifoPriority = DISABLE; + if (HAL_CAN_Init(&hcan2) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN CAN2_Init 2 */ + + /* USER CODE END CAN2_Init 2 */ + +} + +static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0; void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle) { @@ -69,7 +104,10 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle) /* USER CODE END CAN1_MspInit 0 */ /* CAN1 clock enable */ - __HAL_RCC_CAN1_CLK_ENABLE(); + HAL_RCC_CAN1_CLK_ENABLED++; + if(HAL_RCC_CAN1_CLK_ENABLED==1){ + __HAL_RCC_CAN1_CLK_ENABLE(); + } __HAL_RCC_GPIOD_CLK_ENABLE(); /**CAN1 GPIO Configuration @@ -94,6 +132,41 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle) /* USER CODE END CAN1_MspInit 1 */ } + else if(canHandle->Instance==CAN2) + { + /* USER CODE BEGIN CAN2_MspInit 0 */ + + /* USER CODE END CAN2_MspInit 0 */ + /* CAN2 clock enable */ + __HAL_RCC_CAN2_CLK_ENABLE(); + HAL_RCC_CAN1_CLK_ENABLED++; + if(HAL_RCC_CAN1_CLK_ENABLED==1){ + __HAL_RCC_CAN1_CLK_ENABLE(); + } + + __HAL_RCC_GPIOB_CLK_ENABLE(); + /**CAN2 GPIO Configuration + PB5 ------> CAN2_RX + PB6 ------> CAN2_TX + */ + GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF9_CAN2; + HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + + /* CAN2 interrupt Init */ + HAL_NVIC_SetPriority(CAN2_TX_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(CAN2_TX_IRQn); + HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn); + HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn); + /* USER CODE BEGIN CAN2_MspInit 1 */ + + /* USER CODE END CAN2_MspInit 1 */ + } } void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle) @@ -105,7 +178,10 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle) /* USER CODE END CAN1_MspDeInit 0 */ /* Peripheral clock disable */ - __HAL_RCC_CAN1_CLK_DISABLE(); + HAL_RCC_CAN1_CLK_ENABLED--; + if(HAL_RCC_CAN1_CLK_ENABLED==0){ + __HAL_RCC_CAN1_CLK_DISABLE(); + } /**CAN1 GPIO Configuration PD0 ------> CAN1_RX @@ -121,6 +197,32 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle) /* USER CODE END CAN1_MspDeInit 1 */ } + else if(canHandle->Instance==CAN2) + { + /* USER CODE BEGIN CAN2_MspDeInit 0 */ + + /* USER CODE END CAN2_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_CAN2_CLK_DISABLE(); + HAL_RCC_CAN1_CLK_ENABLED--; + if(HAL_RCC_CAN1_CLK_ENABLED==0){ + __HAL_RCC_CAN1_CLK_DISABLE(); + } + + /**CAN2 GPIO Configuration + PB5 ------> CAN2_RX + PB6 ------> CAN2_TX + */ + HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6); + + /* CAN2 interrupt Deinit */ + HAL_NVIC_DisableIRQ(CAN2_TX_IRQn); + HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn); + HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn); + /* USER CODE BEGIN CAN2_MspDeInit 1 */ + + /* USER CODE END CAN2_MspDeInit 1 */ + } } /* USER CODE BEGIN 1 */ diff --git a/engineer/Core/Src/gpio.c b/engineer/Core/Src/gpio.c index 4b3264f..e80413f 100644 --- a/engineer/Core/Src/gpio.c +++ b/engineer/Core/Src/gpio.c @@ -43,8 +43,8 @@ void MX_GPIO_Init(void) { /* GPIO Ports Clock Enable */ - __HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE(); + __HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOD_CLK_ENABLE(); __HAL_RCC_GPIOH_CLK_ENABLE(); diff --git a/engineer/Core/Src/main.c b/engineer/Core/Src/main.c index f1fee41..7343579 100644 --- a/engineer/Core/Src/main.c +++ b/engineer/Core/Src/main.c @@ -20,7 +20,6 @@ #include "main.h" #include "cmsis_os.h" #include "can.h" -#include "usart.h" #include "gpio.h" /* Private includes ----------------------------------------------------------*/ @@ -91,8 +90,7 @@ int main(void) /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_CAN1_Init(); - MX_USART1_UART_Init(); - MX_USART2_UART_Init(); + MX_CAN2_Init(); /* USER CODE BEGIN 2 */ /* USER CODE END 2 */ diff --git a/engineer/Core/Src/stm32f4xx_it.c b/engineer/Core/Src/stm32f4xx_it.c index 3e5ecff..e846273 100644 --- a/engineer/Core/Src/stm32f4xx_it.c +++ b/engineer/Core/Src/stm32f4xx_it.c @@ -56,8 +56,7 @@ /* External variables --------------------------------------------------------*/ extern CAN_HandleTypeDef hcan1; -extern UART_HandleTypeDef huart1; -extern UART_HandleTypeDef huart2; +extern CAN_HandleTypeDef hcan2; extern TIM_HandleTypeDef htim14; /* USER CODE BEGIN EV */ @@ -204,34 +203,6 @@ void CAN1_RX1_IRQHandler(void) /* USER CODE END CAN1_RX1_IRQn 1 */ } -/** - * @brief This function handles USART1 global interrupt. - */ -void USART1_IRQHandler(void) -{ - /* USER CODE BEGIN USART1_IRQn 0 */ - - /* USER CODE END USART1_IRQn 0 */ - HAL_UART_IRQHandler(&huart1); - /* USER CODE BEGIN USART1_IRQn 1 */ - - /* USER CODE END USART1_IRQn 1 */ -} - -/** - * @brief This function handles USART2 global interrupt. - */ -void USART2_IRQHandler(void) -{ - /* USER CODE BEGIN USART2_IRQn 0 */ - - /* USER CODE END USART2_IRQn 0 */ - HAL_UART_IRQHandler(&huart2); - /* USER CODE BEGIN USART2_IRQn 1 */ - - /* USER CODE END USART2_IRQn 1 */ -} - /** * @brief This function handles TIM8 trigger and commutation interrupts and TIM14 global interrupt. */ @@ -246,6 +217,48 @@ void TIM8_TRG_COM_TIM14_IRQHandler(void) /* USER CODE END TIM8_TRG_COM_TIM14_IRQn 1 */ } +/** + * @brief This function handles CAN2 TX interrupts. + */ +void CAN2_TX_IRQHandler(void) +{ + /* USER CODE BEGIN CAN2_TX_IRQn 0 */ + + /* USER CODE END CAN2_TX_IRQn 0 */ + HAL_CAN_IRQHandler(&hcan2); + /* USER CODE BEGIN CAN2_TX_IRQn 1 */ + + /* USER CODE END CAN2_TX_IRQn 1 */ +} + +/** + * @brief This function handles CAN2 RX0 interrupts. + */ +void CAN2_RX0_IRQHandler(void) +{ + /* USER CODE BEGIN CAN2_RX0_IRQn 0 */ + + /* USER CODE END CAN2_RX0_IRQn 0 */ + HAL_CAN_IRQHandler(&hcan2); + /* USER CODE BEGIN CAN2_RX0_IRQn 1 */ + + /* USER CODE END CAN2_RX0_IRQn 1 */ +} + +/** + * @brief This function handles CAN2 RX1 interrupt. + */ +void CAN2_RX1_IRQHandler(void) +{ + /* USER CODE BEGIN CAN2_RX1_IRQn 0 */ + + /* USER CODE END CAN2_RX1_IRQn 0 */ + HAL_CAN_IRQHandler(&hcan2); + /* USER CODE BEGIN CAN2_RX1_IRQn 1 */ + + /* USER CODE END CAN2_RX1_IRQn 1 */ +} + /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ diff --git a/engineer/Core/Src/usart.c b/engineer/Core/Src/usart.c deleted file mode 100644 index 37ad4b8..0000000 --- a/engineer/Core/Src/usart.c +++ /dev/null @@ -1,196 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file usart.c - * @brief This file provides code for the configuration - * of the USART instances. - ****************************************************************************** - * @attention - * - * Copyright (c) 2025 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "usart.h" - -/* USER CODE BEGIN 0 */ - -/* USER CODE END 0 */ - -UART_HandleTypeDef huart1; -UART_HandleTypeDef huart2; - -/* USART1 init function */ - -void MX_USART1_UART_Init(void) -{ - - /* USER CODE BEGIN USART1_Init 0 */ - - /* USER CODE END USART1_Init 0 */ - - /* USER CODE BEGIN USART1_Init 1 */ - - /* USER CODE END USART1_Init 1 */ - huart1.Instance = USART1; - huart1.Init.BaudRate = 115200; - huart1.Init.WordLength = UART_WORDLENGTH_8B; - huart1.Init.StopBits = UART_STOPBITS_1; - huart1.Init.Parity = UART_PARITY_NONE; - huart1.Init.Mode = UART_MODE_TX_RX; - huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE; - huart1.Init.OverSampling = UART_OVERSAMPLING_16; - if (HAL_UART_Init(&huart1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN USART1_Init 2 */ - - /* USER CODE END USART1_Init 2 */ - -} -/* USART2 init function */ - -void MX_USART2_UART_Init(void) -{ - - /* USER CODE BEGIN USART2_Init 0 */ - - /* USER CODE END USART2_Init 0 */ - - /* USER CODE BEGIN USART2_Init 1 */ - - /* USER CODE END USART2_Init 1 */ - huart2.Instance = USART2; - huart2.Init.BaudRate = 115200; - huart2.Init.WordLength = UART_WORDLENGTH_8B; - huart2.Init.StopBits = UART_STOPBITS_1; - huart2.Init.Parity = UART_PARITY_NONE; - huart2.Init.Mode = UART_MODE_TX_RX; - huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE; - huart2.Init.OverSampling = UART_OVERSAMPLING_16; - if (HAL_UART_Init(&huart2) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN USART2_Init 2 */ - - /* USER CODE END USART2_Init 2 */ - -} - -void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) -{ - - GPIO_InitTypeDef GPIO_InitStruct = {0}; - if(uartHandle->Instance==USART1) - { - /* USER CODE BEGIN USART1_MspInit 0 */ - - /* USER CODE END USART1_MspInit 0 */ - /* USART1 clock enable */ - __HAL_RCC_USART1_CLK_ENABLE(); - - __HAL_RCC_GPIOB_CLK_ENABLE(); - /**USART1 GPIO Configuration - PB7 ------> USART1_RX - PB6 ------> USART1_TX - */ - GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_6; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; - GPIO_InitStruct.Alternate = GPIO_AF7_USART1; - HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); - - /* USART1 interrupt Init */ - HAL_NVIC_SetPriority(USART1_IRQn, 5, 0); - HAL_NVIC_EnableIRQ(USART1_IRQn); - /* USER CODE BEGIN USART1_MspInit 1 */ - - /* USER CODE END USART1_MspInit 1 */ - } - else if(uartHandle->Instance==USART2) - { - /* USER CODE BEGIN USART2_MspInit 0 */ - - /* USER CODE END USART2_MspInit 0 */ - /* USART2 clock enable */ - __HAL_RCC_USART2_CLK_ENABLE(); - - __HAL_RCC_GPIOD_CLK_ENABLE(); - /**USART2 GPIO Configuration - PD6 ------> USART2_RX - PD5 ------> USART2_TX - */ - GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_5; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; - GPIO_InitStruct.Alternate = GPIO_AF7_USART2; - HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); - - /* USART2 interrupt Init */ - HAL_NVIC_SetPriority(USART2_IRQn, 5, 0); - HAL_NVIC_EnableIRQ(USART2_IRQn); - /* USER CODE BEGIN USART2_MspInit 1 */ - - /* USER CODE END USART2_MspInit 1 */ - } -} - -void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) -{ - - if(uartHandle->Instance==USART1) - { - /* USER CODE BEGIN USART1_MspDeInit 0 */ - - /* USER CODE END USART1_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_USART1_CLK_DISABLE(); - - /**USART1 GPIO Configuration - PB7 ------> USART1_RX - PB6 ------> USART1_TX - */ - HAL_GPIO_DeInit(GPIOB, GPIO_PIN_7|GPIO_PIN_6); - - /* USART1 interrupt Deinit */ - HAL_NVIC_DisableIRQ(USART1_IRQn); - /* USER CODE BEGIN USART1_MspDeInit 1 */ - - /* USER CODE END USART1_MspDeInit 1 */ - } - else if(uartHandle->Instance==USART2) - { - /* USER CODE BEGIN USART2_MspDeInit 0 */ - - /* USER CODE END USART2_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_USART2_CLK_DISABLE(); - - /**USART2 GPIO Configuration - PD6 ------> USART2_RX - PD5 ------> USART2_TX - */ - HAL_GPIO_DeInit(GPIOD, GPIO_PIN_6|GPIO_PIN_5); - - /* USART2 interrupt Deinit */ - HAL_NVIC_DisableIRQ(USART2_IRQn); - /* USER CODE BEGIN USART2_MspDeInit 1 */ - - /* USER CODE END USART2_MspDeInit 1 */ - } -} - -/* USER CODE BEGIN 1 */ - -/* USER CODE END 1 */ diff --git a/engineer/DM.ioc b/engineer/DM.ioc index 1c6fd9d..28781a0 100644 --- a/engineer/DM.ioc +++ b/engineer/DM.ioc @@ -9,6 +9,13 @@ CAN1.CalculateTimeBit=1000 CAN1.CalculateTimeQuantum=71.42857142857143 CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2 CAN1.Prescaler=3 +CAN2.BS1=CAN_BS1_6TQ +CAN2.BS2=CAN_BS2_7TQ +CAN2.CalculateBaudRate=1000000 +CAN2.CalculateTimeBit=1000 +CAN2.CalculateTimeQuantum=71.42857142857143 +CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2 +CAN2.Prescaler=3 FREERTOS.IPParameters=Tasks01,configENABLE_FPU FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL FREERTOS.configENABLE_FPU=1 @@ -18,28 +25,25 @@ KeepUserPlacement=false Mcu.CPN=STM32F407IGH6 Mcu.Family=STM32F4 Mcu.IP0=CAN1 -Mcu.IP1=FREERTOS -Mcu.IP2=NVIC -Mcu.IP3=RCC -Mcu.IP4=SYS -Mcu.IP5=USART1 -Mcu.IP6=USART2 -Mcu.IPNb=7 +Mcu.IP1=CAN2 +Mcu.IP2=FREERTOS +Mcu.IP3=NVIC +Mcu.IP4=RCC +Mcu.IP5=SYS +Mcu.IPNb=6 Mcu.Name=STM32F407I(E-G)Hx Mcu.Package=UFBGA176 -Mcu.Pin0=PA14 -Mcu.Pin1=PA13 -Mcu.Pin10=VP_FREERTOS_VS_CMSIS_V2 -Mcu.Pin11=VP_SYS_VS_tim14 -Mcu.Pin2=PB7 +Mcu.Pin0=PB5 +Mcu.Pin1=PA14 +Mcu.Pin2=PA13 Mcu.Pin3=PB6 -Mcu.Pin4=PD6 -Mcu.Pin5=PD0 -Mcu.Pin6=PD5 -Mcu.Pin7=PD1 -Mcu.Pin8=PH0-OSC_IN -Mcu.Pin9=PH1-OSC_OUT -Mcu.PinsNb=12 +Mcu.Pin4=PD0 +Mcu.Pin5=PD1 +Mcu.Pin6=PH0-OSC_IN +Mcu.Pin7=PH1-OSC_OUT +Mcu.Pin8=VP_FREERTOS_VS_CMSIS_V2 +Mcu.Pin9=VP_SYS_VS_tim14 +Mcu.PinsNb=10 Mcu.ThirdPartyNb=0 Mcu.UserConstants= Mcu.UserName=STM32F407IGHx @@ -49,6 +53,9 @@ NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.CAN2_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.CAN2_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false NVIC.ForceEnableDMAVector=true NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false @@ -64,27 +71,21 @@ NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false NVIC.TIM8_TRG_COM_TIM14_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true NVIC.TimeBase=TIM8_TRG_COM_TIM14_IRQn NVIC.TimeBaseIP=TIM14 -NVIC.USART1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true -NVIC.USART2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false PA13.Mode=Serial_Wire PA13.Signal=SYS_JTMS-SWDIO PA14.Mode=Serial_Wire PA14.Signal=SYS_JTCK-SWCLK -PB6.Mode=Asynchronous -PB6.Signal=USART1_TX -PB7.Mode=Asynchronous -PB7.Signal=USART1_RX +PB5.Mode=CAN_Activate +PB5.Signal=CAN2_RX +PB6.Mode=CAN_Activate +PB6.Signal=CAN2_TX PD0.Locked=true PD0.Mode=CAN_Activate PD0.Signal=CAN1_RX PD1.Locked=true PD1.Mode=CAN_Activate PD1.Signal=CAN1_TX -PD5.Mode=Asynchronous -PD5.Signal=USART2_TX -PD6.Mode=Asynchronous -PD6.Signal=USART2_RX PH0-OSC_IN.Mode=HSE-External-Oscillator PH0-OSC_IN.Signal=RCC_OSC_IN PH1-OSC_OUT.Mode=HSE-External-Oscillator @@ -122,7 +123,7 @@ ProjectManager.ToolChainLocation= ProjectManager.UAScriptAfterPath= ProjectManager.UAScriptBeforePath= ProjectManager.UnderRoot=false -ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_CAN1_Init-CAN1-false-HAL-true +ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_CAN1_Init-CAN1-false-HAL-true,4-MX_CAN2_Init-CAN2-false-HAL-true RCC.48MHZClocksFreq_Value=84000000 RCC.AHBFreq_Value=168000000 RCC.APB1CLKDivider=RCC_HCLK_DIV4 @@ -156,10 +157,6 @@ RCC.VCOI2SOutputFreq_Value=384000000 RCC.VCOInputFreq_Value=2000000 RCC.VCOOutputFreq_Value=336000000 RCC.VcooutputI2S=192000000 -USART1.IPParameters=VirtualMode -USART1.VirtualMode=VM_ASYNC -USART2.IPParameters=VirtualMode -USART2.VirtualMode=VM_ASYNC VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2 VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2 VP_SYS_VS_tim14.Mode=TIM14 diff --git a/engineer/User/bsp/bsp_config.yaml b/engineer/User/bsp/bsp_config.yaml index 0dc1724..e07af9c 100644 --- a/engineer/User/bsp/bsp_config.yaml +++ b/engineer/User/bsp/bsp_config.yaml @@ -2,6 +2,8 @@ can: devices: - instance: CAN1 name: '1' + - instance: CAN2 + name: '2' enabled: true dwt: enabled: true diff --git a/engineer/User/bsp/can.c b/engineer/User/bsp/can.c index 20d8cc4..e401cdd 100644 --- a/engineer/User/bsp/can.c +++ b/engineer/User/bsp/can.c @@ -66,6 +66,8 @@ static BSP_CAN_t CAN_Get(CAN_HandleTypeDef *hcan) { if (hcan->Instance == CAN1) return BSP_CAN_1; + else if (hcan->Instance == CAN2) + return BSP_CAN_2; else return BSP_CAN_ERR; } @@ -468,7 +470,24 @@ int8_t BSP_CAN_Init(void) { BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback); // 激活CAN1中断 - HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_TX_MAILBOX_EMPTY); + HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING | + CAN_IT_TX_MAILBOX_EMPTY); // 激活发送邮箱空中断 + + // 初始化 CAN2 - 使用 FIFO1 + can1_filter.FilterBank = 14; + can1_filter.FilterFIFOAssignment = CAN_RX_FIFO1; + HAL_CAN_ConfigFilter(&hcan2, &can1_filter); // 通过 CAN1 配置 + HAL_CAN_Start(&hcan2); + + // 自动注册CAN2接收回调函数 + BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RxFifo1Callback); + BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback); + BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback); + BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback); + + // 激活CAN2中断 + HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING | + CAN_IT_TX_MAILBOX_EMPTY); // 激活发送邮箱空中断 inited = true; @@ -484,6 +503,8 @@ CAN_HandleTypeDef *BSP_CAN_GetHandle(BSP_CAN_t can) { switch (can) { case BSP_CAN_1: return &hcan1; + case BSP_CAN_2: + return &hcan2; default: return NULL; } diff --git a/engineer/User/device/motor_dm.c b/engineer/User/device/motor_dm.c index a77656f..0cc80de 100644 --- a/engineer/User/device/motor_dm.c +++ b/engineer/User/device/motor_dm.c @@ -81,12 +81,12 @@ static int8_t MOTOR_DM_ParseFeedbackFrame(MOTOR_DM_t *motor, const uint8_t *data motor->motor.feedback.torque_current = uint_to_float(t_int, DM_T_MIN, DM_T_MAX, 12); // (-12.0,12.0) motor->motor.feedback.temp = (float)(data[6]); - while (motor->motor.feedback.rotor_abs_angle < 0) { - motor->motor.feedback.rotor_abs_angle += M_2PI; - } - while (motor->motor.feedback.rotor_abs_angle >= M_2PI) { - motor->motor.feedback.rotor_abs_angle -= M_2PI; - } + // while (motor->motor.feedback.rotor_abs_angle < 0) { + // motor->motor.feedback.rotor_abs_angle += M_2PI; + // } + // while (motor->motor.feedback.rotor_abs_angle >= M_2PI) { + // motor->motor.feedback.rotor_abs_angle -= M_2PI; + // } if (motor->param.reverse) { motor->motor.feedback.rotor_abs_angle = M_2PI - motor->motor.feedback.rotor_abs_angle; diff --git a/engineer/User/device/motor_lz.c b/engineer/User/device/motor_lz.c index 7ed7344..dea454b 100644 --- a/engineer/User/device/motor_lz.c +++ b/engineer/User/device/motor_lz.c @@ -204,15 +204,15 @@ static void MOTOR_LZ_Decode(MOTOR_LZ_t *motor, BSP_CAN_Message_t *msg) { uint16_t raw_torque = (uint16_t)((msg->data[4] << 8) | msg->data[5]); float torque = MOTOR_LZ_RawToFloat(raw_torque, LZ_TORQUE_RANGE_NM); - while (angle <0){ - angle += M_2PI; - } - while (angle > M_2PI){ - angle -= M_2PI; - } + // while (angle <0){ + // angle += M_2PI; + // } + // while (angle > M_2PI){ + // angle -= M_2PI; + // } // 自动反向 if (motor->param.reverse) { - angle = M_2PI - angle; + angle = - angle; velocity = -velocity; torque = -torque; } diff --git a/engineer/User/module/arm.c b/engineer/User/module/arm.c index e718864..d98d334 100644 --- a/engineer/User/module/arm.c +++ b/engineer/User/module/arm.c @@ -1,59 +1,121 @@ #include "module/arm.h" -#include "module/config.h" #include "device/motor_dm.h" #include "device/motor_lz.h" #include "component/pid.h" #include "component/user_math.h" #include "bsp/dwt.h" #include "component/cmd.h" - - +#include "module/config.h" //用于机械臂重力补偿 lxqx:linkx质心位置对qx的偏导数 由sympy符号计算库计算生成 -double compute_l5q2(double q1, double q2, double q3, double q4, double q5) { - return 0.063171000000000005*((-6.123233995736766e-17*sin(q2)*sin(q3) - 1.0*sin(q2)*cos(q3) - 1.0*sin(q3)*cos(q2) + 6.123233995736766e-17*cos(q2)*cos(q3))*cos(q4 + 1.5707963267948966) + (6.123233995736766e-17*sin(q2)*sin(q3) - 3.749399456654644e-33*sin(q2)*cos(q3) - 3.749399456654644e-33*sin(q3)*cos(q2) - 6.123233995736766e-17*cos(q2)*cos(q3))*sin(q4 + 1.5707963267948966))*cos(q5 + 1.5707963267948966) + 0.063171000000000005*(-6.123233995736766e-17*(-6.123233995736766e-17*sin(q2)*sin(q3) - 1.0*sin(q2)*cos(q3) - 1.0*sin(q3)*cos(q2) + 6.123233995736766e-17*cos(q2)*cos(q3))*sin(q4 + 1.5707963267948966) + 6.123233995736766e-17*(6.123233995736766e-17*sin(q2)*sin(q3) - 3.749399456654644e-33*sin(q2)*cos(q3) - 3.749399456654644e-33*sin(q3)*cos(q2) - 6.123233995736766e-17*cos(q2)*cos(q3))*cos(q4 + 1.5707963267948966) + 1.0*sin(q2)*sin(q3) - 6.123233995736766e-17*sin(q2)*cos(q3) - 6.123233995736766e-17*sin(q3)*cos(q2) - 1.0*cos(q2)*cos(q3))*sin(q5 + 1.5707963267948966) + 0.31590000000000001*sin(q2)*sin(q3) - 0.10370000000000001*sin(q2)*cos(q3) - 0.10370000000000001*sin(q3)*cos(q2) - 0.31590000000000001*cos(q2)*cos(q3) + 0.40200000000000002*cos(q2); +// double compute_l5q2(double q1, double q2, double q3, double q4, double q5) { +// return 0.063171000000000005*((-6.123233995736766e-17*sin(q2)*sin(q3) - 1.0*sin(q2)*cos(q3) - 1.0*sin(q3)*cos(q2) + 6.123233995736766e-17*cos(q2)*cos(q3))*cos(q4 + 1.5707963267948966) + (6.123233995736766e-17*sin(q2)*sin(q3) - 3.749399456654644e-33*sin(q2)*cos(q3) - 3.749399456654644e-33*sin(q3)*cos(q2) - 6.123233995736766e-17*cos(q2)*cos(q3))*sin(q4 + 1.5707963267948966))*cos(q5 + 1.5707963267948966) + 0.063171000000000005*(-6.123233995736766e-17*(-6.123233995736766e-17*sin(q2)*sin(q3) - 1.0*sin(q2)*cos(q3) - 1.0*sin(q3)*cos(q2) + 6.123233995736766e-17*cos(q2)*cos(q3))*sin(q4 + 1.5707963267948966) + 6.123233995736766e-17*(6.123233995736766e-17*sin(q2)*sin(q3) - 3.749399456654644e-33*sin(q2)*cos(q3) - 3.749399456654644e-33*sin(q3)*cos(q2) - 6.123233995736766e-17*cos(q2)*cos(q3))*cos(q4 + 1.5707963267948966) + 1.0*sin(q2)*sin(q3) - 6.123233995736766e-17*sin(q2)*cos(q3) - 6.123233995736766e-17*sin(q3)*cos(q2) - 1.0*cos(q2)*cos(q3))*sin(q5 + 1.5707963267948966) + 0.31590000000000001*sin(q2)*sin(q3) - 0.10370000000000001*sin(q2)*cos(q3) - 0.10370000000000001*sin(q3)*cos(q2) - 0.31590000000000001*cos(q2)*cos(q3) + 0.40200000000000002*cos(q2); +// } +// double compute_l5q3(double q1, double q2, double q3, double q4, double q5) { +// return 0.063171000000000005*((-6.123233995736766e-17*sin(q2)*sin(q3) - 1.0*sin(q2)*cos(q3) - 1.0*sin(q3)*cos(q2) + 6.123233995736766e-17*cos(q2)*cos(q3))*cos(q4 + 1.5707963267948966) + (6.123233995736766e-17*sin(q2)*sin(q3) - 3.749399456654644e-33*sin(q2)*cos(q3) - 3.749399456654644e-33*sin(q3)*cos(q2) - 6.123233995736766e-17*cos(q2)*cos(q3))*sin(q4 + 1.5707963267948966))*cos(q5 + 1.5707963267948966) + 0.063171000000000005*(-6.123233995736766e-17*(-6.123233995736766e-17*sin(q2)*sin(q3) - 1.0*sin(q2)*cos(q3) - 1.0*sin(q3)*cos(q2) + 6.123233995736766e-17*cos(q2)*cos(q3))*sin(q4 + 1.5707963267948966) + 6.123233995736766e-17*(6.123233995736766e-17*sin(q2)*sin(q3) - 3.749399456654644e-33*sin(q2)*cos(q3) - 3.749399456654644e-33*sin(q3)*cos(q2) - 6.123233995736766e-17*cos(q2)*cos(q3))*cos(q4 + 1.5707963267948966) + 1.0*sin(q2)*sin(q3) - 6.123233995736766e-17*sin(q2)*cos(q3) - 6.123233995736766e-17*sin(q3)*cos(q2) - 1.0*cos(q2)*cos(q3))*sin(q5 + 1.5707963267948966) + 0.31590000000000001*sin(q2)*sin(q3) - 0.10370000000000001*sin(q2)*cos(q3) - 0.10370000000000001*sin(q3)*cos(q2) - 0.31590000000000001*cos(q2)*cos(q3); +// } +// double compute_l5q4(double q1, double q2, double q3, double q4, double q5) { +// return 0.063171000000000005*(-(-1.0*sin(q2)*sin(q3) + 6.123233995736766e-17*sin(q2)*cos(q3) + 6.123233995736766e-17*sin(q3)*cos(q2) + 1.0*cos(q2)*cos(q3))*sin(q4 + 1.5707963267948966) + (-3.749399456654644e-33*sin(q2)*sin(q3) - 6.123233995736766e-17*sin(q2)*cos(q3) - 6.123233995736766e-17*sin(q3)*cos(q2) + 3.749399456654644e-33*cos(q2)*cos(q3) - 6.123233995736766e-17)*cos(q4 + 1.5707963267948966))*cos(q5 + 1.5707963267948966) + 0.063171000000000005*(-6.123233995736766e-17*(-1.0*sin(q2)*sin(q3) + 6.123233995736766e-17*sin(q2)*cos(q3) + 6.123233995736766e-17*sin(q3)*cos(q2) + 1.0*cos(q2)*cos(q3))*cos(q4 + 1.5707963267948966) - 6.123233995736766e-17*(-3.749399456654644e-33*sin(q2)*sin(q3) - 6.123233995736766e-17*sin(q2)*cos(q3) - 6.123233995736766e-17*sin(q3)*cos(q2) + 3.749399456654644e-33*cos(q2)*cos(q3) - 6.123233995736766e-17)*sin(q4 + 1.5707963267948966))*sin(q5 + 1.5707963267948966); +// } +// double compute_l5q5(double q1, double q2, double q3, double q4, double q5) { +// q3+=0.01; +// return -0.063171000000000005*((-1.0*sin(q2)*sin(q3) + 6.123233995736766e-17*sin(q2)*cos(q3) + 6.123233995736766e-17*sin(q3)*cos(q2) + 1.0*cos(q2)*cos(q3))*cos(q4 + 1.5707963267948966) + (-3.749399456654644e-33*sin(q2)*sin(q3) - 6.123233995736766e-17*sin(q2)*cos(q3) - 6.123233995736766e-17*sin(q3)*cos(q2) + 3.749399456654644e-33*cos(q2)*cos(q3) - 6.123233995736766e-17)*sin(q4 + 1.5707963267948966))*sin(q5 + 1.5707963267948966) + 0.063171000000000005*(-6.123233995736766e-17*(-1.0*sin(q2)*sin(q3) + 6.123233995736766e-17*sin(q2)*cos(q3) + 6.123233995736766e-17*sin(q3)*cos(q2) + 1.0*cos(q2)*cos(q3))*sin(q4 + 1.5707963267948966) + 6.123233995736766e-17*(-3.749399456654644e-33*sin(q2)*sin(q3) - 6.123233995736766e-17*sin(q2)*cos(q3) - 6.123233995736766e-17*sin(q3)*cos(q2) + 3.749399456654644e-33*cos(q2)*cos(q3) - 6.123233995736766e-17)*cos(q4 + 1.5707963267948966) - 6.123233995736766e-17*sin(q2)*sin(q3) - 1.0*sin(q2)*cos(q3) - 1.0*sin(q3)*cos(q2) + 6.123233995736766e-17*cos(q2)*cos(q3) + 3.749399456654644e-33)*cos(q5 + 1.5707963267948966); +// } +// double compute_l4q2(double q1, double q2, double q3, double q4, double q5) { +// return 0.22925000000000001*sin(q2)*sin(q3) - 0.10370000000000001*sin(q2)*cos(q3) - 0.10370000000000001*sin(q3)*cos(q2) - 0.22925000000000001*cos(q2)*cos(q3) + 0.40200000000000002*cos(q2); +// } +// double compute_l4q3(double q1, double q2, double q3, double q4, double q5) { +// return 0.22925000000000001*sin(q2)*sin(q3) - 0.10370000000000001*sin(q2)*cos(q3) - 0.10370000000000001*sin(q3)*cos(q2) - 0.22925000000000001*cos(q2)*cos(q3); +// } +// double compute_l3q2(double q1, double q2, double q3, double q4, double q5) { +// return -0.0048250000000000003*sin(q2)*sin(q3) - 0.11803*sin(q2)*cos(q3) - 0.11803*sin(q3)*cos(q2) + 0.0048250000000000003*cos(q2)*cos(q3) + 0.40200000000000002*cos(q2); +// } +// double compute_l3q3(double q1, double q2, double q3, double q4, double q5) { +// +// return -0.0048250000000000003*sin(q2)*sin(q3) - 0.11803*sin(q2)*cos(q3) - 0.11803*sin(q3)*cos(q2) + 0.0048250000000000003*cos(q2)*cos(q3); +// } +// double compute_l2q2(double q1, double q2, double q3, double q4, double q5) { +// return 0.27905999999999997*cos(q2+0.07); +// } + +//joint2 +double compute_l5q2(double q1, double q2, double q3, double q4, double q5,double q6,double q7) { + return 0.21817*9.81*(-0.091578999999999994*sin(q2)*sin(q3 + 1.5707963267948966) - 0.29910000000000003*sin(q2)*cos(q3 + 1.5707963267948966) - 0.29910000000000003*sin(q3 + 1.5707963267948966)*cos(q2) + 0.091578999999999994*cos(q2)*cos(q3 + 1.5707963267948966) + 0.40400000000000003*cos(q2)); } -double compute_l5q3(double q1, double q2, double q3, double q4, double q5) { - return 0.063171000000000005*((-6.123233995736766e-17*sin(q2)*sin(q3) - 1.0*sin(q2)*cos(q3) - 1.0*sin(q3)*cos(q2) + 6.123233995736766e-17*cos(q2)*cos(q3))*cos(q4 + 1.5707963267948966) + (6.123233995736766e-17*sin(q2)*sin(q3) - 3.749399456654644e-33*sin(q2)*cos(q3) - 3.749399456654644e-33*sin(q3)*cos(q2) - 6.123233995736766e-17*cos(q2)*cos(q3))*sin(q4 + 1.5707963267948966))*cos(q5 + 1.5707963267948966) + 0.063171000000000005*(-6.123233995736766e-17*(-6.123233995736766e-17*sin(q2)*sin(q3) - 1.0*sin(q2)*cos(q3) - 1.0*sin(q3)*cos(q2) + 6.123233995736766e-17*cos(q2)*cos(q3))*sin(q4 + 1.5707963267948966) + 6.123233995736766e-17*(6.123233995736766e-17*sin(q2)*sin(q3) - 3.749399456654644e-33*sin(q2)*cos(q3) - 3.749399456654644e-33*sin(q3)*cos(q2) - 6.123233995736766e-17*cos(q2)*cos(q3))*cos(q4 + 1.5707963267948966) + 1.0*sin(q2)*sin(q3) - 6.123233995736766e-17*sin(q2)*cos(q3) - 6.123233995736766e-17*sin(q3)*cos(q2) - 1.0*cos(q2)*cos(q3))*sin(q5 + 1.5707963267948966) + 0.31590000000000001*sin(q2)*sin(q3) - 0.10370000000000001*sin(q2)*cos(q3) - 0.10370000000000001*sin(q3)*cos(q2) - 0.31590000000000001*cos(q2)*cos(q3); +double compute_l4q2(double q1, double q2, double q3, double q4, double q5,double q6,double q7) { + return 0.60215*9.81*(-0.091578999999999994*sin(q2)*sin(q3 + 1.5707963267948966) - 0.189273*sin(q2)*cos(q3 + 1.5707963267948966) - 0.189273*sin(q3 + 1.5707963267948966)*cos(q2) + 0.091578999999999994*cos(q2)*cos(q3 + 1.5707963267948966) + 0.40400000000000003*cos(q2)); } -double compute_l5q4(double q1, double q2, double q3, double q4, double q5) { - return 0.063171000000000005*(-(-1.0*sin(q2)*sin(q3) + 6.123233995736766e-17*sin(q2)*cos(q3) + 6.123233995736766e-17*sin(q3)*cos(q2) + 1.0*cos(q2)*cos(q3))*sin(q4 + 1.5707963267948966) + (-3.749399456654644e-33*sin(q2)*sin(q3) - 6.123233995736766e-17*sin(q2)*cos(q3) - 6.123233995736766e-17*sin(q3)*cos(q2) + 3.749399456654644e-33*cos(q2)*cos(q3) - 6.123233995736766e-17)*cos(q4 + 1.5707963267948966))*cos(q5 + 1.5707963267948966) + 0.063171000000000005*(-6.123233995736766e-17*(-1.0*sin(q2)*sin(q3) + 6.123233995736766e-17*sin(q2)*cos(q3) + 6.123233995736766e-17*sin(q3)*cos(q2) + 1.0*cos(q2)*cos(q3))*cos(q4 + 1.5707963267948966) - 6.123233995736766e-17*(-3.749399456654644e-33*sin(q2)*sin(q3) - 6.123233995736766e-17*sin(q2)*cos(q3) - 6.123233995736766e-17*sin(q3)*cos(q2) + 3.749399456654644e-33*cos(q2)*cos(q3) - 6.123233995736766e-17)*sin(q4 + 1.5707963267948966))*sin(q5 + 1.5707963267948966); +double compute_l3q2(double q1, double q2, double q3, double q4, double q5,double q6,double q7) { + return 0.72964*9.81*(-0.086979000000000001*sin(q2)*sin(q3 + 1.5707963267948966) + 0.086979000000000001*cos(q2)*cos(q3 + 1.5707963267948966) + 0.40400000000000003*cos(q2)); } -double compute_l5q5(double q1, double q2, double q3, double q4, double q5) { - q3+=0.01; - return -0.063171000000000005*((-1.0*sin(q2)*sin(q3) + 6.123233995736766e-17*sin(q2)*cos(q3) + 6.123233995736766e-17*sin(q3)*cos(q2) + 1.0*cos(q2)*cos(q3))*cos(q4 + 1.5707963267948966) + (-3.749399456654644e-33*sin(q2)*sin(q3) - 6.123233995736766e-17*sin(q2)*cos(q3) - 6.123233995736766e-17*sin(q3)*cos(q2) + 3.749399456654644e-33*cos(q2)*cos(q3) - 6.123233995736766e-17)*sin(q4 + 1.5707963267948966))*sin(q5 + 1.5707963267948966) + 0.063171000000000005*(-6.123233995736766e-17*(-1.0*sin(q2)*sin(q3) + 6.123233995736766e-17*sin(q2)*cos(q3) + 6.123233995736766e-17*sin(q3)*cos(q2) + 1.0*cos(q2)*cos(q3))*sin(q4 + 1.5707963267948966) + 6.123233995736766e-17*(-3.749399456654644e-33*sin(q2)*sin(q3) - 6.123233995736766e-17*sin(q2)*cos(q3) - 6.123233995736766e-17*sin(q3)*cos(q2) + 3.749399456654644e-33*cos(q2)*cos(q3) - 6.123233995736766e-17)*cos(q4 + 1.5707963267948966) - 6.123233995736766e-17*sin(q2)*sin(q3) - 1.0*sin(q2)*cos(q3) - 1.0*sin(q3)*cos(q2) + 6.123233995736766e-17*cos(q2)*cos(q3) + 3.749399456654644e-33)*cos(q5 + 1.5707963267948966); +double compute_l2q2(double q1, double q2, double q3, double q4, double q5,double q6,double q7) { + return 1.1252*9.81*0.26277*cos(q2); } -double compute_l4q2(double q1, double q2, double q3, double q4, double q5) { - return 0.22925000000000001*sin(q2)*sin(q3) - 0.10370000000000001*sin(q2)*cos(q3) - 0.10370000000000001*sin(q3)*cos(q2) - 0.22925000000000001*cos(q2)*cos(q3) + 0.40200000000000002*cos(q2); + +//joint3 +double compute_l5q3(double q1, double q2, double q3, double q4, double q5,double q6,double q7) { + return 0.21817*9.81*(-0.091578999999999994*sin(q2)*sin(q3 + 1.5707963267948966) - 0.29910000000000003*sin(q2)*cos(q3 + 1.5707963267948966) - 0.29910000000000003*sin(q3 + 1.5707963267948966)*cos(q2) + 0.091578999999999994*cos(q2)*cos(q3 + 1.5707963267948966)); } -double compute_l4q3(double q1, double q2, double q3, double q4, double q5) { - return 0.22925000000000001*sin(q2)*sin(q3) - 0.10370000000000001*sin(q2)*cos(q3) - 0.10370000000000001*sin(q3)*cos(q2) - 0.22925000000000001*cos(q2)*cos(q3); +double compute_l4q3(double q1, double q2, double q3, double q4, double q5,double q6,double q7) { + return 0.60215*9.81*(-0.091578999999999994*sin(q2)*sin(q3 + 1.5707963267948966) - 0.189273*sin(q2)*cos(q3 + 1.5707963267948966) - 0.189273*sin(q3 + 1.5707963267948966)*cos(q2) + 0.091578999999999994*cos(q2)*cos(q3 + 1.5707963267948966)); } -double compute_l3q2(double q1, double q2, double q3, double q4, double q5) { - return -0.0048250000000000003*sin(q2)*sin(q3) - 0.11803*sin(q2)*cos(q3) - 0.11803*sin(q3)*cos(q2) + 0.0048250000000000003*cos(q2)*cos(q3) + 0.40200000000000002*cos(q2); +double compute_l3q3(double q1, double q2, double q3, double q4, double q5,double q6,double q7) { + return 0.72964*9.81*(-0.086979000000000001*sin(q2)*sin(q3 + 1.5707963267948966) + 0.086979000000000001*cos(q2)*cos(q3 + 1.5707963267948966)); } -double compute_l3q3(double q1, double q2, double q3, double q4, double q5) { - - return -0.0048250000000000003*sin(q2)*sin(q3) - 0.11803*sin(q2)*cos(q3) - 0.11803*sin(q3)*cos(q2) + 0.0048250000000000003*cos(q2)*cos(q3); + +//joint4 +double compute_l5q4(double q1, double q2, double q3, double q4, double q5,double q6,double q7) { + return 0.21817*9.81*(-0.058000000000000003*(-(1.0*sin(q2)*cos(q3 + 1.5707963267948966) + 1.0*sin(q3 + 1.5707963267948966)*cos(q2))*sin(q4) + (-6.123233995736766e-17*sin(q2)*sin(q3 + 1.5707963267948966) + 6.123233995736766e-17*cos(q2)*cos(q3 + 1.5707963267948966) - 6.123233995736766e-17)*cos(q4))*sin(q5) + 0.058000000000000003*(-6.123233995736766e-17*(1.0*sin(q2)*cos(q3 + 1.5707963267948966) + 1.0*sin(q3 + 1.5707963267948966)*cos(q2))*cos(q4) - 6.123233995736766e-17*(-6.123233995736766e-17*sin(q2)*sin(q3 + 1.5707963267948966) + 6.123233995736766e-17*cos(q2)*cos(q3 + 1.5707963267948966) - 6.123233995736766e-17)*sin(q4))*cos(q5) + 3.5514757175273241e-18*(1.0*sin(q2)*cos(q3 + 1.5707963267948966) + 1.0*sin(q3 + 1.5707963267948966)*cos(q2))*cos(q4) + 3.5514757175273241e-18*(-6.123233995736766e-17*sin(q2)*sin(q3 + 1.5707963267948966) + 6.123233995736766e-17*cos(q2)*cos(q3 + 1.5707963267948966) - 6.123233995736766e-17)*sin(q4)); } -double compute_l2q2(double q1, double q2, double q3, double q4, double q5) { - return 0.27905999999999997*cos(q2+0.07); + +//joint5 +double compute_l5q5(double q1, double q2, double q3, double q4, double q5,double q6,double q7) { + return 0.21817*9.81*(-0.058000000000000003*((1.0*sin(q2)*cos(q3 + 1.5707963267948966) + 1.0*sin(q3 + 1.5707963267948966)*cos(q2))*cos(q4) + (-6.123233995736766e-17*sin(q2)*sin(q3 + 1.5707963267948966) + 6.123233995736766e-17*cos(q2)*cos(q3 + 1.5707963267948966) - 6.123233995736766e-17)*sin(q4))*cos(q5) - 0.058000000000000003*(-6.123233995736766e-17*(1.0*sin(q2)*cos(q3 + 1.5707963267948966) + 1.0*sin(q3 + 1.5707963267948966)*cos(q2))*sin(q4) + 6.123233995736766e-17*(-6.123233995736766e-17*sin(q2)*sin(q3 + 1.5707963267948966) + 6.123233995736766e-17*cos(q2)*cos(q3 + 1.5707963267948966) - 6.123233995736766e-17)*cos(q4) - 1.0*sin(q2)*sin(q3 + 1.5707963267948966) + 1.0*cos(q2)*cos(q3 + 1.5707963267948966) + 3.749399456654644e-33)*sin(q5)); } +double q2t(double q1, double q2, double q3, double q4, double q5,double q6,double q7) +{ + return \ + // compute_l7q2(q1, q2, q3, q4, q5, q6-pi/2, q7) + // + compute_l6q2(q1, q2, q3, q4, q5, q6-pi/2, q7) + + compute_l5q2(q1, q2, q3, q4, q5, q6, q7) + + compute_l4q2(q1, q2, q3, q4, q5, q6, q7) + + compute_l3q2(q1, q2, q3, q4, q5, q6, q7) + + compute_l2q2(q1, q2, q3, q4, q5, q6, q7); +} + +double q3t(double q1, double q2, double q3, double q4, double q5,double q6,double q7) +{ + return \ + compute_l3q3(q1, q2, q3, q4, q5, q6, q7) + +compute_l4q3(q1, q2, q3, q4, q5, q6, q7) + +compute_l5q3(q1, q2, q3, q4, q5, q6, q7); + // +compute_l6q3(q1, q2, q3, q4, q5, q6-pi/2, q7); + // +compute_l7q3(q1, q2, q3, q4, q5, q6-pi/2, q7); +} - - +double q4t(double q1, double q2, double q3, double q4, double q5,double q6,double q7) +{ + return \ + +compute_l5q4(q1, q2, q3, q4, q5, q6, q7); +} +double q5t(double q1, double q2, double q3, double q4, double q5,double q6,double q7) +{ + return \ + +compute_l5q5(q1, q2, q3, q4, q5, q6, q7); +} //机械臂初始化 void arm_init(arm_t* arm,Config_RobotParam_t *cfg) { assert_param(!(cfg==NULL||arm==NULL)); + MOTOR_LZ_Init(); for (int i=0; iarm_param.joint[i].motor.type) { @@ -73,6 +135,7 @@ void arm_init(arm_t* arm,Config_RobotParam_t *cfg) PID_Init(&arm->joint[i].controler.Vpid,KPID_MODE_NO_D,1000,&cfg->arm_param.joint[i].pid.Vpid); arm->joint[i].status.angle_limit[0]=cfg->arm_param.joint[i].angle_limit[0]; arm->joint[i].status.angle_limit[1]=cfg->arm_param.joint[i].angle_limit[1]; + arm->joint[i].status.init_angle=cfg->arm_param.joint[i].init_angle; arm->mass[i]=cfg->arm_param.mass[i]; @@ -83,35 +146,14 @@ void arm_init(arm_t* arm,Config_RobotParam_t *cfg) void arm_gravity_calcu(arm_t* arm) { assert_param(!(arm==NULL)); - arm->joint[4].ref.torque += -1 * - compute_l5q5(arm->joint[0].feedback.position ,arm->joint[1].feedback.position,arm->joint[2].feedback.position,arm->joint[3].feedback.position, - arm->joint[5].feedback.position) * - 0.403 * 9.81; - arm->joint[3].ref.torque += -1 * - compute_l5q4(arm->joint[0].feedback.position ,arm->joint[1].feedback.position,arm->joint[2].feedback.position,arm->joint[3].feedback.position, - arm->joint[5].feedback.position) * - 0.403 * 9.81; - arm->joint[2].ref.torque += compute_l5q3(arm->joint[0].feedback.position ,arm->joint[1].feedback.position,arm->joint[2].feedback.position,arm->joint[3].feedback.position, - arm->joint[5].feedback.position) * - 0.403 * 9.81 + - compute_l4q3(arm->joint[0].feedback.position ,arm->joint[1].feedback.position,arm->joint[2].feedback.position,arm->joint[3].feedback.position, - arm->joint[5].feedback.position) * - 0.720 * 9.81 + - compute_l3q3(arm->joint[0].feedback.position ,arm->joint[1].feedback.position,arm->joint[2].feedback.position,arm->joint[3].feedback.position, - arm->joint[5].feedback.position) * - 1.410 * 9.81; - arm->joint[1].ref.torque += compute_l5q2(arm->joint[0].feedback.position ,arm->joint[1].feedback.position,arm->joint[2].feedback.position,arm->joint[3].feedback.position, - arm->joint[5].feedback.position) * - 0.403 * 9.81 + - compute_l4q2(arm->joint[0].feedback.position ,arm->joint[1].feedback.position,arm->joint[2].feedback.position,arm->joint[3].feedback.position, - arm->joint[5].feedback.position) * - 0.720 * 9.81 + - compute_l3q2(arm->joint[0].feedback.position ,arm->joint[1].feedback.position,arm->joint[2].feedback.position,arm->joint[3].feedback.position, - arm->joint[5].feedback.position) * - 1.410 * 9.81 + - compute_l2q2(arm->joint[0].feedback.position ,arm->joint[1].feedback.position,arm->joint[2].feedback.position,arm->joint[3].feedback.position, - arm->joint[5].feedback.position) * - 1.9889 * 9.81; + arm->joint[3].ref.torque += (float)q5t(0 ,arm->joint[0].feedback.position,arm->joint[1].feedback.position,arm->joint[2].feedback.position, + arm->joint[3].feedback.position,0,0); + arm->joint[2].ref.torque += (float)q4t(0 ,arm->joint[0].feedback.position,arm->joint[1].feedback.position,arm->joint[2].feedback.position, + arm->joint[3].feedback.position,0,0); + arm->joint[1].ref.torque += (float)q3t(0 ,arm->joint[0].feedback.position,arm->joint[1].feedback.position,arm->joint[2].feedback.position, + arm->joint[3].feedback.position,0,0); + arm->joint[0].ref.torque += (float)q2t(0 ,arm->joint[0].feedback.position,arm->joint[1].feedback.position,arm->joint[2].feedback.position, + arm->joint[3].feedback.position,0,0); } @@ -127,21 +169,22 @@ void arm_data_updata(arm_t* arm) float nspeed=0; nangle = (arm->joint[i].motor.type==DM_MOTOR)?((__dm_handle(arm->joint[i].motor.handle))->motor.feedback.rotor_abs_angle):((__lz_handle(arm->joint[i].motor.handle))->motor.feedback.rotor_abs_angle); nspeed = (arm->joint[i].motor.type==DM_MOTOR)?((__dm_handle(arm->joint[i].motor.handle))->motor.feedback.rotor_speed):((__lz_handle(arm->joint[i].motor.handle))->motor.feedback.rotor_speed); - if(nangle- arm->joint[i].status.last_angle >M_2PI/2) - { - arm->joint[i].status.circles++; - } - else if(nangle- arm->joint[i].status.last_angle < -M_2PI/2) - { - arm->joint[i].status.circles--; - } + // if(nangle- arm->joint[i].status.last_angle >M_2PI/2) + // { + // arm->joint[i].status.circles++; + // } + // else if(nangle- arm->joint[i].status.last_angle < -M_2PI/2) + // { + // arm->joint[i].status.circles--; + // } arm->joint[i].status.last_angle = nangle; arm->joint[i].feedback.velocity = nspeed; - arm->joint[i].feedback.position = arm->joint[i].status.circles*M_2PI+nangle; + // arm->joint[i].feedback.position = arm->joint[i].status.circles*M_2PI+nangle; + arm->joint[i].feedback.position = nangle - arm->joint[i].status.init_angle; } - arm->joint[2].feedback.velocity = arm->joint[2].feedback.velocity - arm->joint[1].feedback.velocity; - arm->joint[2].feedback.position = arm->joint[2].feedback.position - arm->joint[1].feedback.position; + arm->joint[1].feedback.velocity = arm->joint[1].feedback.velocity - arm->joint[0].feedback.velocity; + arm->joint[1].feedback.position = arm->joint[1].feedback.position - arm->joint[0].feedback.position; } @@ -163,6 +206,9 @@ void arm_control_apply(arm_t* arm) assert_param(!(arm==NULL)); for (uint8_t i=0; ijoint[i].motor.handle == NULL)); + +arm->joint[i].ref.torque =0; + if(arm->joint[i].feedback.positionjoint[i].status.angle_limit[0]||arm->joint[i].feedback.position>arm->joint[i].status.angle_limit[1]) { arm->joint[i].ref.torque=0; diff --git a/engineer/User/module/arm.h b/engineer/User/module/arm.h index 3c86d95..bcc2d88 100644 --- a/engineer/User/module/arm.h +++ b/engineer/User/module/arm.h @@ -1,19 +1,18 @@ #pragma once -#ifdef __cplusplus -extern "C" { -#endif #include "main.h" + #include "component/kinematics.h" #include "device/motor_dm.h" #include "device/motor_lz.h" #include "component/pid.h" + #define ga 9.81 #define __dm_handle(handle) (MOTOR_DM_t *)handle #define __lz_handle(handle) (MOTOR_LZ_t *)handle -#define JOINT_NUM 6 +#define JOINT_NUM 5 typedef enum{ @@ -56,6 +55,7 @@ typedef struct { struct { float angle_limit[2]; + float init_angle; float last_angle; int circles; float last_control_time; @@ -82,6 +82,7 @@ typedef struct{ KPID_Params_t Vpid; }pid; float angle_limit[2]; + float init_angle; }joint[JOINT_NUM]; DH_parameter_t dh_param[6]; float mass[6]; @@ -106,11 +107,11 @@ typedef struct hand_t TAKE_MODE, POSITION_MODE }mode; - - - }arm_t; -#ifdef __cplusplus -} -#endif + +typedef struct Config_RobotParam Config_RobotParam_t; +void arm_init(arm_t* arm,Config_RobotParam_t *cfg); +void arm_data_updata(arm_t* arm); +void arm_control_apply(arm_t* arm); +void arm_gravity_calcu(arm_t* arm); diff --git a/engineer/User/module/config.c b/engineer/User/module/config.c index e69de29..3fe5e11 100644 --- a/engineer/User/module/config.c +++ b/engineer/User/module/config.c @@ -0,0 +1,111 @@ +#include "config.h" +#include "module/arm.h" + + + + +static Config_RobotParam_t robot_config = { + .arm_param = { + .joint[0]={ + .angle_limit={0,3.0}, + .init_angle = -1.384, + .motor.type = LZ_MOTOR, + .motor.param.lz_param={ + .motor_id=2,.host_id=2,.can=BSP_CAN_1,.mode=MOTOR_LZ_MODE_MOTION,.module=MOTOR_LZ_RSO3,.reverse=1 + }, + .pid.Ppid={ + .k=1, + .p=0, + .i=0, + .d=0, + .i_limit=10, + .out_limit=20, + .d_cutoff_freq=100 + } + }, + .joint[1]={ + .angle_limit={-6,0}, + .init_angle = 1.668, + .motor.type = LZ_MOTOR, + .motor.param.lz_param={ + .motor_id=3,.host_id=3,.can=BSP_CAN_1,.mode=MOTOR_LZ_MODE_MOTION,.module=MOTOR_LZ_RSO3,.reverse=0 + }, + .pid.Ppid={ + .k=1, + .p=0, + .i=0, + .d=0, + .i_limit=10, + .out_limit=20, + .d_cutoff_freq=100 + } + }, + .joint[2]={ + .angle_limit={-3.14,3.14}, + .init_angle = -2.38, + .motor.type = DM_MOTOR, + .motor.param.dm_param={ + .can=BSP_CAN_2,.master_id=0x14,.can_id=0x04,.module=MOTOR_DM_J4310,.reverse=0 + }, + .pid.Ppid={ + .k=1, + .p=0, + .i=0, + .d=0, + .i_limit=10, + .out_limit=20, + .d_cutoff_freq=100 + } + }, + + .joint[3]={ + .angle_limit={-0.85,1.72}, + .init_angle = 1.8214, + .motor.type = DM_MOTOR, + .motor.param.dm_param={ + .can=BSP_CAN_2,.master_id=0x15,.can_id=0x05,.module=MOTOR_DM_J4310,.reverse=0 + }, + .pid.Ppid={ + .k=1, + .p=0, + .i=0, + .d=0, + .i_limit=10, + .out_limit=20, + .d_cutoff_freq=100 + } + }, + + .joint[4]={ + .angle_limit={-10,10}, + .motor.type = DM_MOTOR, + .motor.param.dm_param={ + .can=BSP_CAN_2,.master_id=0x16,.can_id=0x06,.module=MOTOR_DM_J4310,.reverse=0 + }, + .pid.Ppid={ + .k=1, + .p=0, + .i=0, + .d=0, + .i_limit=10, + .out_limit=20, + .d_cutoff_freq=100 + } + }, + } + + + +}; + + + + + +/** + * @brief 获取机器人配置参数 + * @return 机器人配置参数指针 + */ +Config_RobotParam_t* Config_GetRobotParam(void) { + return &robot_config; +} diff --git a/engineer/User/module/config.h b/engineer/User/module/config.h index 785f045..3fa40fb 100644 --- a/engineer/User/module/config.h +++ b/engineer/User/module/config.h @@ -2,6 +2,12 @@ #include "main.h" #include "module/arm.h" -typedef struct{ +typedef struct Config_RobotParam{ arm_param_t arm_param; } Config_RobotParam_t; + +/** + * @brief 获取机器人配置参数 + * @return 机器人配置参数指针 + */ +Config_RobotParam_t* Config_GetRobotParam(void); diff --git a/engineer/User/module/kine.cpp b/engineer/User/module/kine.cpp new file mode 100644 index 0000000..29e5dbe --- /dev/null +++ b/engineer/User/module/kine.cpp @@ -0,0 +1,17 @@ +#include "main.h" +#include "./component/robotics.hpp" +#include "kine.hpp" + +extern "C" void cesi() +{ + robotics::Link link[5]; + link[0] = robotics::Link(0, 0 , 0 , PI / 2, robotics::R, 0 , -100.57, 100.57); + link[1] = robotics::Link(0, 0 , 0.402 , 0, robotics::R, 0 , -100.57, 100.57); + link[2] = robotics::Link(0, 0 , 0.1037 , -PI / 2, robotics::R, 1.57, -100.57, 100.57); + link[3] = robotics::Link(0, 0.3159, 0, PI / 2, robotics::R,-1.57, -100.57, 100.57); + link[4] = robotics::Link(0, 0 , 0, -PI / 2, robotics::R, 0 , -100.57, 100.57); + // link[5] = robotics::Link(0, 0.05, 0, 0 , robotics::R, 0 , -100.57, 100.57); + static robotics::Serial_Link<5> p560(link); + + Matrixf<4,4> t(p560.fkine((float[5]){0,0,0,0,0})); +} diff --git a/engineer/User/module/kine.hpp b/engineer/User/module/kine.hpp new file mode 100644 index 0000000..2e75893 --- /dev/null +++ b/engineer/User/module/kine.hpp @@ -0,0 +1,9 @@ +#include "main.h" + +#ifdef __cplusplus +extern "C" { +#endif +void cesi(); +#ifdef __cplusplus +} +#endif diff --git a/engineer/User/task/control.c b/engineer/User/task/control.c index be1e514..fd1224a 100644 --- a/engineer/User/task/control.c +++ b/engineer/User/task/control.c @@ -11,6 +11,10 @@ #include "device/motor_dm.h" #include "component/pid.h" #include "component/filter.h" +#include "module/arm.h" +#include "module/config.h" + +#include "module/kine.hpp" /* USER INCLUDE END */ /* Private typedef ---------------------------------------------------------- */ @@ -51,8 +55,8 @@ MOTOR_DM_t motor = {.param = {.can = BSP_CAN_1, .reverse = false}}; MOTOR_LZ_t lzmotor={ .param ={.can = BSP_CAN_1, - .motor_id=126, - .host_id =128, + .motor_id=2, + .host_id =2, .module = MOTOR_LZ_RSO3, .reverse=0, .mode = MOTOR_LZ_MODE_MOTION @@ -92,6 +96,12 @@ LowPassFilter ff; MOTOR_LZ_t* a; + + + + + +arm_t arm; /* USER STRUCT END */ /* Private function --------------------------------------------------------- */ @@ -102,9 +112,15 @@ void Task_control(void *argument) { /* 计算任务运行到指定频率需要等待的tick数 */ const uint32_t delay_tick = osKernelGetTickFreq() / CONTROL_FREQ; - osDelay(CONTROL_INIT_DELAY); /* 延时一段时间再开启任务 */ + BSP_CAN_Init(); + Config_RobotParam_t* cfg_ptr = Config_GetRobotParam(); + arm_init(&arm,cfg_ptr); +// MOTOR_LZ_Init(); +// MOTOR_LZ_Register(&lzmotor.param); +// MOTOR_LZ_Enable(&lzmotor.param); +// a = MOTOR_LZ_GetMotor(&lzmotor.param); uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ /* USER CODE INIT BEGIN */ @@ -113,12 +129,17 @@ void Task_control(void *argument) { while (1) { tick += delay_tick; /* 计算下一个唤醒时刻 */ /* USER CODE BEGIN */ - + + arm_gravity_calcu(&arm); + arm_control_apply(&arm); + + arm_data_updata(&arm); + // MOTOR_LZ_UpdateAll(); - MOTOR_LZ_Update(&lzmotor.param); - MOTOR_LZ_MotionControl(&lzmotor.param, &control); + // MOTOR_LZ_Update(&lzmotor.param); + // MOTOR_LZ_MotionControl(&lzmotor.param, &control); // MOTOR_DM_Update(&motor.param); - // + // MOTOR_DM_UpdateAll(); // MOTOR_DM_t *m = MOTOR_DM_GetMotor(&motor.param); // fb = m->motor.feedback; // diff --git a/engineer/User/task/display.c b/engineer/User/task/display.c deleted file mode 100644 index 7debeac..0000000 --- a/engineer/User/task/display.c +++ /dev/null @@ -1,38 +0,0 @@ -/* - display Task - -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "task/user_task.h" -/* USER INCLUDE BEGIN */ - -/* USER INCLUDE END */ - -/* Private typedef ---------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ -/* USER STRUCT BEGIN */ - -/* USER STRUCT END */ - -/* Private function --------------------------------------------------------- */ -/* Exported functions ------------------------------------------------------- */ -void Task_display(void *argument) { - (void)argument; /* 未使用argument，消除警告 */ - - - osDelay(DISPLAY_INIT_DELAY); /* 延时一段时间再开启任务 */ - - /* USER CODE INIT BEGIN */ - - /* USER CODE INIT END */ - - while (1) { - /* USER CODE BEGIN */ - - /* USER CODE END */ - } - -} \ No newline at end of file diff --git a/engineer/User/task/init.c b/engineer/User/task/init.c index 50cf2ef..d701c13 100644 --- a/engineer/User/task/init.c +++ b/engineer/User/task/init.c @@ -7,6 +7,7 @@ #include "task/user_task.h" /* USER INCLUDE BEGIN */ +#include "bsp/can.h" /* USER INCLUDE END */ @@ -25,7 +26,6 @@ void Task_Init(void *argument) { (void)argument; /* 未使用argument，消除警告 */ /* USER CODE INIT BEGIN */ - /* USER CODE INIT END */ osKernelLock(); /* 锁定内核，防止任务切换 */ diff --git a/engineer/cmake/stm32cubemx/CMakeLists.txt b/engineer/cmake/stm32cubemx/CMakeLists.txt index a2e5836..20b3af4 100644 --- a/engineer/cmake/stm32cubemx/CMakeLists.txt +++ b/engineer/cmake/stm32cubemx/CMakeLists.txt @@ -26,7 +26,6 @@ set(MX_Application_Src ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/gpio.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/freertos.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/can.c - ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/usart.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_it.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_hal_msp.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_hal_timebase_tim.c @@ -53,8 +52,7 @@ set(STM32_Drivers_Src ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c - ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c - ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c ) # Drivers Midllewares