diff --git a/.DS_Store b/.DS_Store index 66734db..0421874 100644 Binary files a/.DS_Store and b/.DS_Store differ diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..352e893 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,9 @@ +{ + "files.associations": { + "device.h": "c", + "ahrs.h": "c", + "string.h": "c", + "user_math.h": "c", + "__locale": "c" + } +} \ No newline at end of file diff --git a/Core/Inc/stm32h7xx_it.h b/Core/Inc/stm32h7xx_it.h index 3cb491b..424deab 100644 --- a/Core/Inc/stm32h7xx_it.h +++ b/Core/Inc/stm32h7xx_it.h @@ -71,6 +71,9 @@ void EXTI15_10_IRQHandler(void); void DMA1_Stream7_IRQHandler(void); void UART5_IRQHandler(void); void DMA2_Stream0_IRQHandler(void); +void DMA2_Stream1_IRQHandler(void); +void DMA2_Stream2_IRQHandler(void); +void DMA2_Stream3_IRQHandler(void); void OTG_HS_IRQHandler(void); void UART7_IRQHandler(void); void USART10_IRQHandler(void); diff --git a/Core/Src/dma.c b/Core/Src/dma.c index b0e0806..753a344 100644 --- a/Core/Src/dma.c +++ b/Core/Src/dma.c @@ -71,6 +71,15 @@ void MX_DMA_Init(void) /* DMA2_Stream0_IRQn interrupt configuration */ HAL_NVIC_SetPriority(DMA2_Stream0_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA2_Stream0_IRQn); + /* DMA2_Stream1_IRQn interrupt configuration */ + HAL_NVIC_SetPriority(DMA2_Stream1_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(DMA2_Stream1_IRQn); + /* DMA2_Stream2_IRQn interrupt configuration */ + HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn); + /* DMA2_Stream3_IRQn interrupt configuration */ + HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn); } diff --git a/Core/Src/spi.c b/Core/Src/spi.c index 69a4a88..8a912fc 100644 --- a/Core/Src/spi.c +++ b/Core/Src/spi.c @@ -89,7 +89,7 @@ void MX_SPI2_Init(void) hspi2.Init.CLKPolarity = SPI_POLARITY_HIGH; hspi2.Init.CLKPhase = SPI_PHASE_2EDGE; hspi2.Init.NSS = SPI_NSS_SOFT; - hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; + hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8; hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB; hspi2.Init.TIMode = SPI_TIMODE_DISABLE; hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; @@ -210,7 +210,7 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle) hdma_spi2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; hdma_spi2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; hdma_spi2_rx.Init.Mode = DMA_NORMAL; - hdma_spi2_rx.Init.Priority = DMA_PRIORITY_LOW; + hdma_spi2_rx.Init.Priority = DMA_PRIORITY_VERY_HIGH; hdma_spi2_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; if (HAL_DMA_Init(&hdma_spi2_rx) != HAL_OK) { @@ -228,7 +228,7 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle) hdma_spi2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; hdma_spi2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; hdma_spi2_tx.Init.Mode = DMA_NORMAL; - hdma_spi2_tx.Init.Priority = DMA_PRIORITY_LOW; + hdma_spi2_tx.Init.Priority = DMA_PRIORITY_VERY_HIGH; hdma_spi2_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; if (HAL_DMA_Init(&hdma_spi2_tx) != HAL_OK) { diff --git a/Core/Src/stm32h7xx_it.c b/Core/Src/stm32h7xx_it.c index f5bc4bc..cfb34e0 100644 --- a/Core/Src/stm32h7xx_it.c +++ b/Core/Src/stm32h7xx_it.c @@ -65,11 +65,14 @@ extern DMA_HandleTypeDef hdma_spi2_rx; extern DMA_HandleTypeDef hdma_spi2_tx; extern SPI_HandleTypeDef hspi2; extern DMA_HandleTypeDef hdma_uart5_rx; +extern DMA_HandleTypeDef hdma_uart7_rx; +extern DMA_HandleTypeDef hdma_uart7_tx; extern DMA_HandleTypeDef hdma_usart2_rx; extern DMA_HandleTypeDef hdma_usart2_tx; extern DMA_HandleTypeDef hdma_usart3_rx; extern DMA_HandleTypeDef hdma_usart3_tx; extern DMA_HandleTypeDef hdma_usart10_tx; +extern DMA_HandleTypeDef hdma_usart10_rx; extern UART_HandleTypeDef huart5; extern UART_HandleTypeDef huart7; extern UART_HandleTypeDef huart1; @@ -358,7 +361,7 @@ void USART1_IRQHandler(void) /* USER CODE END USART1_IRQn 0 */ HAL_UART_IRQHandler(&huart1); /* USER CODE BEGIN USART1_IRQn 1 */ - + BSP_UART_IRQHandler(&huart1); /* USER CODE END USART1_IRQn 1 */ } @@ -430,7 +433,7 @@ void UART5_IRQHandler(void) /* USER CODE END UART5_IRQn 0 */ HAL_UART_IRQHandler(&huart5); /* USER CODE BEGIN UART5_IRQn 1 */ - + BSP_UART_IRQHandler(&huart5); /* USER CODE END UART5_IRQn 1 */ } @@ -448,6 +451,48 @@ void DMA2_Stream0_IRQHandler(void) /* USER CODE END DMA2_Stream0_IRQn 1 */ } +/** + * @brief This function handles DMA2 stream1 global interrupt. + */ +void DMA2_Stream1_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */ + + /* USER CODE END DMA2_Stream1_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_uart7_rx); + /* USER CODE BEGIN DMA2_Stream1_IRQn 1 */ + + /* USER CODE END DMA2_Stream1_IRQn 1 */ +} + +/** + * @brief This function handles DMA2 stream2 global interrupt. + */ +void DMA2_Stream2_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream2_IRQn 0 */ + + /* USER CODE END DMA2_Stream2_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_uart7_tx); + /* USER CODE BEGIN DMA2_Stream2_IRQn 1 */ + + /* USER CODE END DMA2_Stream2_IRQn 1 */ +} + +/** + * @brief This function handles DMA2 stream3 global interrupt. + */ +void DMA2_Stream3_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream3_IRQn 0 */ + + /* USER CODE END DMA2_Stream3_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart10_rx); + /* USER CODE BEGIN DMA2_Stream3_IRQn 1 */ + + /* USER CODE END DMA2_Stream3_IRQn 1 */ +} + /** * @brief This function handles USB On The Go HS global interrupt. */ @@ -472,7 +517,7 @@ void UART7_IRQHandler(void) /* USER CODE END UART7_IRQn 0 */ HAL_UART_IRQHandler(&huart7); /* USER CODE BEGIN UART7_IRQn 1 */ - + BSP_UART_IRQHandler(&huart7); /* USER CODE END UART7_IRQn 1 */ } @@ -486,7 +531,7 @@ void USART10_IRQHandler(void) /* USER CODE END USART10_IRQn 0 */ HAL_UART_IRQHandler(&huart10); /* USER CODE BEGIN USART10_IRQn 1 */ - + BSP_UART_IRQHandler(&huart10); /* USER CODE END USART10_IRQn 1 */ } diff --git a/Core/Src/usart.c b/Core/Src/usart.c index e29e13f..2cb8fa4 100644 --- a/Core/Src/usart.c +++ b/Core/Src/usart.c @@ -31,11 +31,14 @@ UART_HandleTypeDef huart2; UART_HandleTypeDef huart3; UART_HandleTypeDef huart10; DMA_HandleTypeDef hdma_uart5_rx; +DMA_HandleTypeDef hdma_uart7_rx; +DMA_HandleTypeDef hdma_uart7_tx; DMA_HandleTypeDef hdma_usart2_rx; DMA_HandleTypeDef hdma_usart2_tx; DMA_HandleTypeDef hdma_usart3_rx; DMA_HandleTypeDef hdma_usart3_tx; DMA_HandleTypeDef hdma_usart10_tx; +DMA_HandleTypeDef hdma_usart10_rx; /* UART5 init function */ void MX_UART5_Init(void) @@ -268,7 +271,7 @@ void MX_USART10_UART_Init(void) /* USER CODE END USART10_Init 1 */ huart10.Instance = USART10; - huart10.Init.BaudRate = 115200; + huart10.Init.BaudRate = 921600; huart10.Init.WordLength = UART_WORDLENGTH_8B; huart10.Init.StopBits = UART_STOPBITS_1; huart10.Init.Parity = UART_PARITY_NONE; @@ -399,6 +402,43 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) GPIO_InitStruct.Alternate = GPIO_AF7_UART7; HAL_GPIO_Init(GPIOE, &GPIO_InitStruct); + /* UART7 DMA Init */ + /* UART7_RX Init */ + hdma_uart7_rx.Instance = DMA2_Stream1; + hdma_uart7_rx.Init.Request = DMA_REQUEST_UART7_RX; + hdma_uart7_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; + hdma_uart7_rx.Init.PeriphInc = DMA_PINC_DISABLE; + hdma_uart7_rx.Init.MemInc = DMA_MINC_ENABLE; + hdma_uart7_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; + hdma_uart7_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; + hdma_uart7_rx.Init.Mode = DMA_NORMAL; + hdma_uart7_rx.Init.Priority = DMA_PRIORITY_MEDIUM; + hdma_uart7_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; + if (HAL_DMA_Init(&hdma_uart7_rx) != HAL_OK) + { + Error_Handler(); + } + + __HAL_LINKDMA(uartHandle,hdmarx,hdma_uart7_rx); + + /* UART7_TX Init */ + hdma_uart7_tx.Instance = DMA2_Stream2; + hdma_uart7_tx.Init.Request = DMA_REQUEST_UART7_TX; + hdma_uart7_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; + hdma_uart7_tx.Init.PeriphInc = DMA_PINC_DISABLE; + hdma_uart7_tx.Init.MemInc = DMA_MINC_ENABLE; + hdma_uart7_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; + hdma_uart7_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; + hdma_uart7_tx.Init.Mode = DMA_NORMAL; + hdma_uart7_tx.Init.Priority = DMA_PRIORITY_MEDIUM; + hdma_uart7_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; + if (HAL_DMA_Init(&hdma_uart7_tx) != HAL_OK) + { + Error_Handler(); + } + + __HAL_LINKDMA(uartHandle,hdmatx,hdma_uart7_tx); + /* UART7 interrupt Init */ HAL_NVIC_SetPriority(UART7_IRQn, 5, 0); HAL_NVIC_EnableIRQ(UART7_IRQn); @@ -648,7 +688,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) hdma_usart10_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; hdma_usart10_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; hdma_usart10_tx.Init.Mode = DMA_NORMAL; - hdma_usart10_tx.Init.Priority = DMA_PRIORITY_LOW; + hdma_usart10_tx.Init.Priority = DMA_PRIORITY_VERY_HIGH; hdma_usart10_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; if (HAL_DMA_Init(&hdma_usart10_tx) != HAL_OK) { @@ -657,6 +697,24 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart10_tx); + /* USART10_RX Init */ + hdma_usart10_rx.Instance = DMA2_Stream3; + hdma_usart10_rx.Init.Request = DMA_REQUEST_USART10_RX; + hdma_usart10_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; + hdma_usart10_rx.Init.PeriphInc = DMA_PINC_DISABLE; + hdma_usart10_rx.Init.MemInc = DMA_MINC_ENABLE; + hdma_usart10_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; + hdma_usart10_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; + hdma_usart10_rx.Init.Mode = DMA_NORMAL; + hdma_usart10_rx.Init.Priority = DMA_PRIORITY_VERY_HIGH; + hdma_usart10_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; + if (HAL_DMA_Init(&hdma_usart10_rx) != HAL_OK) + { + Error_Handler(); + } + + __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart10_rx); + /* USART10 interrupt Init */ HAL_NVIC_SetPriority(USART10_IRQn, 5, 0); HAL_NVIC_EnableIRQ(USART10_IRQn); @@ -708,6 +766,10 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) */ HAL_GPIO_DeInit(GPIOE, GPIO_PIN_7|GPIO_PIN_8); + /* UART7 DMA DeInit */ + HAL_DMA_DeInit(uartHandle->hdmarx); + HAL_DMA_DeInit(uartHandle->hdmatx); + /* UART7 interrupt Deinit */ HAL_NVIC_DisableIRQ(UART7_IRQn); /* USER CODE BEGIN UART7_MspDeInit 1 */ @@ -802,6 +864,7 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) /* USART10 DMA DeInit */ HAL_DMA_DeInit(uartHandle->hdmatx); + HAL_DMA_DeInit(uartHandle->hdmarx); /* USART10 interrupt Deinit */ HAL_NVIC_DisableIRQ(USART10_IRQn); diff --git a/CtrBoard-H7_ALL.ioc b/CtrBoard-H7_ALL.ioc index aeb0481..c5af9d2 100644 --- a/CtrBoard-H7_ALL.ioc +++ b/CtrBoard-H7_ALL.ioc @@ -44,6 +44,8 @@ Dma.ADC1.0.SyncRequestNumber=1 Dma.ADC1.0.SyncSignalID=NONE Dma.Request0=ADC1 Dma.Request1=UART5_RX +Dma.Request10=UART7_TX +Dma.Request11=USART10_RX Dma.Request2=SPI2_RX Dma.Request3=SPI2_TX Dma.Request4=USART3_RX @@ -51,7 +53,8 @@ Dma.Request5=USART3_TX Dma.Request6=USART2_RX Dma.Request7=USART2_TX Dma.Request8=USART10_TX -Dma.RequestsNb=9 +Dma.Request9=UART7_RX +Dma.RequestsNb=12 Dma.SPI2_RX.2.Direction=DMA_PERIPH_TO_MEMORY Dma.SPI2_RX.2.EventEnable=DISABLE Dma.SPI2_RX.2.FIFOMode=DMA_FIFOMODE_DISABLE @@ -62,7 +65,7 @@ Dma.SPI2_RX.2.Mode=DMA_NORMAL Dma.SPI2_RX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE Dma.SPI2_RX.2.PeriphInc=DMA_PINC_DISABLE Dma.SPI2_RX.2.Polarity=HAL_DMAMUX_REQ_GEN_RISING -Dma.SPI2_RX.2.Priority=DMA_PRIORITY_LOW +Dma.SPI2_RX.2.Priority=DMA_PRIORITY_VERY_HIGH Dma.SPI2_RX.2.RequestNumber=1 Dma.SPI2_RX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber Dma.SPI2_RX.2.SignalID=NONE @@ -80,7 +83,7 @@ Dma.SPI2_TX.3.Mode=DMA_NORMAL Dma.SPI2_TX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE Dma.SPI2_TX.3.PeriphInc=DMA_PINC_DISABLE Dma.SPI2_TX.3.Polarity=HAL_DMAMUX_REQ_GEN_RISING -Dma.SPI2_TX.3.Priority=DMA_PRIORITY_LOW +Dma.SPI2_TX.3.Priority=DMA_PRIORITY_VERY_HIGH Dma.SPI2_TX.3.RequestNumber=1 Dma.SPI2_TX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber Dma.SPI2_TX.3.SignalID=NONE @@ -106,6 +109,60 @@ Dma.UART5_RX.1.SyncEnable=DISABLE Dma.UART5_RX.1.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT Dma.UART5_RX.1.SyncRequestNumber=1 Dma.UART5_RX.1.SyncSignalID=NONE +Dma.UART7_RX.9.Direction=DMA_PERIPH_TO_MEMORY +Dma.UART7_RX.9.EventEnable=DISABLE +Dma.UART7_RX.9.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.UART7_RX.9.Instance=DMA2_Stream1 +Dma.UART7_RX.9.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.UART7_RX.9.MemInc=DMA_MINC_ENABLE +Dma.UART7_RX.9.Mode=DMA_NORMAL +Dma.UART7_RX.9.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.UART7_RX.9.PeriphInc=DMA_PINC_DISABLE +Dma.UART7_RX.9.Polarity=HAL_DMAMUX_REQ_GEN_RISING +Dma.UART7_RX.9.Priority=DMA_PRIORITY_MEDIUM +Dma.UART7_RX.9.RequestNumber=1 +Dma.UART7_RX.9.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber +Dma.UART7_RX.9.SignalID=NONE +Dma.UART7_RX.9.SyncEnable=DISABLE +Dma.UART7_RX.9.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT +Dma.UART7_RX.9.SyncRequestNumber=1 +Dma.UART7_RX.9.SyncSignalID=NONE +Dma.UART7_TX.10.Direction=DMA_MEMORY_TO_PERIPH +Dma.UART7_TX.10.EventEnable=DISABLE +Dma.UART7_TX.10.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.UART7_TX.10.Instance=DMA2_Stream2 +Dma.UART7_TX.10.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.UART7_TX.10.MemInc=DMA_MINC_ENABLE +Dma.UART7_TX.10.Mode=DMA_NORMAL +Dma.UART7_TX.10.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.UART7_TX.10.PeriphInc=DMA_PINC_DISABLE +Dma.UART7_TX.10.Polarity=HAL_DMAMUX_REQ_GEN_RISING +Dma.UART7_TX.10.Priority=DMA_PRIORITY_MEDIUM +Dma.UART7_TX.10.RequestNumber=1 +Dma.UART7_TX.10.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber +Dma.UART7_TX.10.SignalID=NONE +Dma.UART7_TX.10.SyncEnable=DISABLE +Dma.UART7_TX.10.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT +Dma.UART7_TX.10.SyncRequestNumber=1 +Dma.UART7_TX.10.SyncSignalID=NONE +Dma.USART10_RX.11.Direction=DMA_PERIPH_TO_MEMORY +Dma.USART10_RX.11.EventEnable=DISABLE +Dma.USART10_RX.11.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART10_RX.11.Instance=DMA2_Stream3 +Dma.USART10_RX.11.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART10_RX.11.MemInc=DMA_MINC_ENABLE +Dma.USART10_RX.11.Mode=DMA_NORMAL +Dma.USART10_RX.11.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART10_RX.11.PeriphInc=DMA_PINC_DISABLE +Dma.USART10_RX.11.Polarity=HAL_DMAMUX_REQ_GEN_RISING +Dma.USART10_RX.11.Priority=DMA_PRIORITY_VERY_HIGH +Dma.USART10_RX.11.RequestNumber=1 +Dma.USART10_RX.11.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber +Dma.USART10_RX.11.SignalID=NONE +Dma.USART10_RX.11.SyncEnable=DISABLE +Dma.USART10_RX.11.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT +Dma.USART10_RX.11.SyncRequestNumber=1 +Dma.USART10_RX.11.SyncSignalID=NONE Dma.USART10_TX.8.Direction=DMA_MEMORY_TO_PERIPH Dma.USART10_TX.8.EventEnable=DISABLE Dma.USART10_TX.8.FIFOMode=DMA_FIFOMODE_DISABLE @@ -116,7 +173,7 @@ Dma.USART10_TX.8.Mode=DMA_NORMAL Dma.USART10_TX.8.PeriphDataAlignment=DMA_PDATAALIGN_BYTE Dma.USART10_TX.8.PeriphInc=DMA_PINC_DISABLE Dma.USART10_TX.8.Polarity=HAL_DMAMUX_REQ_GEN_RISING -Dma.USART10_TX.8.Priority=DMA_PRIORITY_LOW +Dma.USART10_TX.8.Priority=DMA_PRIORITY_VERY_HIGH Dma.USART10_TX.8.RequestNumber=1 Dma.USART10_TX.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber Dma.USART10_TX.8.SignalID=NONE @@ -395,6 +452,9 @@ NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA1_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA2_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA2_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA2_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false NVIC.EXTI15_10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.FDCAN1_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true @@ -777,10 +837,10 @@ SPI1.Direction=SPI_DIRECTION_2LINES_TXONLY SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPolarity SPI1.Mode=SPI_MODE_MASTER SPI1.VirtualType=VM_MASTER -SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_32 +SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_8 SPI2.CLKPhase=SPI_PHASE_2EDGE SPI2.CLKPolarity=SPI_POLARITY_HIGH -SPI2.CalculateBaudRate=3.75 MBits/s +SPI2.CalculateBaudRate=15.0 MBits/s SPI2.DataSize=SPI_DATASIZE_8BIT SPI2.Direction=SPI_DIRECTION_2LINES SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPolarity,CLKPhase @@ -820,7 +880,7 @@ UART7.IPParameters=BaudRate USART1.BaudRate=921600 USART1.IPParameters=VirtualMode-Asynchronous,BaudRate USART1.VirtualMode-Asynchronous=VM_ASYNC -USART10.BaudRate=115200 +USART10.BaudRate=921600 USART10.IPParameters=VirtualMode,BaudRate USART10.VirtualMode=VM_ASYNC USART2.BaudRate=4000000 diff --git a/MDK-ARM/CtrBoard-H7_ALL.uvoptx b/MDK-ARM/CtrBoard-H7_ALL.uvoptx index 917779f..6dee191 100644 --- a/MDK-ARM/CtrBoard-H7_ALL.uvoptx +++ b/MDK-ARM/CtrBoard-H7_ALL.uvoptx @@ -1,1533 +1,1576 @@ - - - - 1.0 - -
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crc_ccitt.c + 0 + 0 + + + 14 + 100 + 1 + 0 + 0 + 0 + ..\Middlewares\Third_Party\Unitree\gom_protocol.c + gom_protocol.c + 0 + 0 + + + + + ::CMSIS + 0 + 0 + 0 + 1 + + + diff --git a/MDK-ARM/CtrBoard-H7_ALL.uvprojx b/MDK-ARM/CtrBoard-H7_ALL.uvprojx index e5699b1..49064c2 100644 --- a/MDK-ARM/CtrBoard-H7_ALL.uvprojx +++ b/MDK-ARM/CtrBoard-H7_ALL.uvprojx @@ -1,7 +1,10 @@ - - + + + 2.1 +
### uVision Project, (C) Keil Software
+ CtrBoard-H7_ALL @@ -16,28 +19,28 @@ Keil.STM32H7xx_DFP.4.0.0 https://www.keil.com/pack/ IRAM(0x20000000-0x2001FFFF) IRAM2(0x24000000-0x2401FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(12000000) FPU3(DFPU) CPUTYPE("Cortex-M7") ELITTLE TZ - - - + + + 0 - - - - - - - - - - + + + + + + + + + + $$Device:STM32H723VGTx$CMSIS\SVD\STM32H723.svd 0 0 - - - - - + + + + + 0 0 @@ -52,15 +55,15 @@ 1 1 1 - + 1 0 0 0 0 - - + + 0 0 0 @@ -69,8 +72,8 @@ 0 0 - - + + 0 0 0 @@ -78,16 +81,16 @@ 0 - 1 - - + 0 + + 0 0 0 0 1 - + 0 @@ -101,8 +104,8 @@ 0 0 3 - - + + 0 @@ -135,11 +138,11 @@ 1 BIN\UL2V8M.DLL - - - - - + + + + + 0 @@ -172,7 +175,7 @@ 0 0 "Cortex-M7" - + 0 0 0 @@ -306,7 +309,7 @@ 0x20000 - + 1 @@ -333,9 +336,9 @@ 0 0 - + USE_PWR_LDO_SUPPLY,USE_HAL_DRIVER,STM32H723xx - + ../Core/Inc;../USB_DEVICE/App;../USB_DEVICE/Target;../Drivers/STM32H7xx_HAL_Driver/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;../Middlewares/ST/STM32_USB_Device_Library/Core/Inc;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc;../Drivers/CMSIS/Device/ST/STM32H7xx/Include;../Drivers/CMSIS/Include;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../User;../Middlewares/Third_Party/Unitree @@ -351,9 +354,9 @@ 0 1 - - - + + + ../Drivers/CMSIS/Include @@ -364,15 +367,15 @@ 0 1 0 - - - + + + CtrBoard-H7_ALL\CtrBoard-H7_ALL.sct - - - - - + + + + + @@ -417,6 +420,8 @@ 2 2 11 + + 1 @@ -444,6 +449,12 @@ 2 2 2 + + + + + + @@ -735,6 +746,8 @@ 2 2 11 + + 1 @@ -762,6 +775,12 @@ 2 2 2 + + + + + + 2 @@ -774,6 +793,12 @@ 2 2 1 + + + + + + @@ -795,6 +820,8 @@ 2 2 11 + + 1 @@ -822,6 +849,12 @@ 2 2 2 + + + + + + @@ -843,6 +876,8 @@ 2 2 11 + + 1 @@ -870,6 +905,12 @@ 2 2 2 + + + + + + @@ -891,6 +932,8 @@ 2 2 11 + + 1 @@ -918,6 +961,12 @@ 2 2 2 + + + + + + @@ -939,6 +988,8 @@ 2 2 11 + + 1 @@ -966,6 +1017,12 @@ 2 2 2 + + + + + + @@ -987,6 +1044,8 @@ 2 2 11 + + 1 @@ -1014,6 +1073,12 @@ 2 2 2 + + + + + + @@ -1035,6 +1100,8 @@ 2 2 11 + + 1 @@ -1062,6 +1129,12 @@ 2 2 2 + + + + + + @@ -1083,6 +1156,8 @@ 2 2 11 + + 1 @@ -1110,6 +1185,12 @@ 2 2 2 + + + + + + @@ -1131,6 +1212,8 @@ 2 2 11 + + 1 @@ -1158,6 +1241,12 @@ 2 2 2 + + + + + + @@ -1179,6 +1268,8 @@ 2 2 11 + + 1 @@ -1206,6 +1297,12 @@ 2 2 2 + + + + + + @@ -1227,6 +1324,8 @@ 2 2 11 + + 1 @@ -1254,6 +1353,12 @@ 2 2 2 + + + + + + @@ -1339,9 +1444,19 @@ ..\User\component\FreeRTOS_CLI.c - kinematics.c + crc8.c 1 - ..\User\component\kinematics.c + ..\User\component\crc8.c + + + crc16.c + 1 + ..\User\component\crc16.c + + + limiter.c + 1 + ..\User\component\limiter.c @@ -1363,11 +1478,21 @@ 1 ..\User\device\go.c + + n100.c + 1 + ..\User\device\n100.c + User/module + + kinematics.c + 1 + ..\User\component\kinematics.c + chassis.c 1 @@ -1461,18 +1586,20 @@ + - + - + - + - + + @@ -1481,5 +1608,5 @@ - + diff --git a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf index 768db2d..9000d26 100644 Binary files a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf and b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf differ diff --git a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex index 2d5256b..3d879a1 100644 --- a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex +++ b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex @@ -1,29 +1,29 @@ :020000040800F2 -:1000000050080120190500089FC3000869B60008C0 -:100010009DC3000895320008A9F9000800000000FF +:10000000100B01201905000835C7000845B8000885 +:1000100091C500089D32000835FD00080000000071 :10002000000000000000000000000000590400086B -:10003000413C000800000000B5040008E3CA0008C5 +:10003000313D000800000000B5040008CFCD0008E5 :1000400037050008370500083705000837050008A0 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BSP_UART_IMU_N100; + if (huart->Instance == UART7) return BSP_UART_AI; // else if (huart->Instance == USARTX) // return BSP_UART_XXX; @@ -114,6 +116,8 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) { case BSP_UART_RIGHT_LEG: return &huart3; case BSP_UART_AI: + return &huart7; + case BSP_UART_IMU_N100: return &huart10; // case BSP_UART_XXX: // return &huartX; diff --git a/User/bsp/uart.h b/User/bsp/uart.h index 0b51df2..014f00a 100644 --- a/User/bsp/uart.h +++ b/User/bsp/uart.h @@ -20,6 +20,7 @@ typedef enum { BSP_UART_DR16, BSP_UART_LEFT_LEG, BSP_UART_RIGHT_LEG, + BSP_UART_IMU_N100, BSP_UART_AI, /*BSP_UART_XXX*/ BSP_UART_NUM, diff --git a/User/component/cmd.c b/User/component/cmd.c index 9d1898b..5728d8f 100644 --- a/User/component/cmd.c +++ b/User/component/cmd.c @@ -53,8 +53,8 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) { break; } /* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */ - cmd->chassis.ctrl_vec.vx = rc->ch_l_x; - cmd->chassis.ctrl_vec.vy = rc->ch_l_y; + cmd->chassis.ctrl_vec.vx = rc->ch_l_y; + cmd->chassis.ctrl_vec.vy = rc->ch_l_x; cmd->chassis.ctrl_vec.wz = rc->ch_r_x; cmd->chassis.delta_hight = rc->ch_res; diff --git a/User/component/crc16.c b/User/component/crc16.c new file mode 100644 index 0000000..01cb26f --- /dev/null +++ b/User/component/crc16.c @@ -0,0 +1,35 @@ +/* + N100陀螺仪包头crc16校验 +*/ + +#include + +// CRC16 查找表（多项式 0x1021，初始值 0x0000） +static const uint16_t CRC16Table[256] = { + 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7, 0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF, + 0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6, 0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE, + 0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485, 0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D, + 0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4, 0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC, + 0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823, 0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B, + 0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12, 0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A, + 0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41, 0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49, + 0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70, 0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78, + 0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F, 0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067, + 0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E, 0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256, + 0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D, 0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, + 0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C, 0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634, + 0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB, 0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3, + 0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A, 0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92, + 0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9, 0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1, + 0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8, 0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0 +}; + +// 计算 CRC16 校验值 +uint16_t crc16_calc(const uint8_t *data, uint8_t len) { + uint16_t crc = 0x0000; + for (uint8_t i = 0; i < len; i++) { + uint8_t index = (crc >> 8) ^ data[i]; + crc = (crc << 8) ^ CRC16Table[index]; + } + return crc; +} \ No newline at end of file diff --git a/User/component/crc16.h b/User/component/crc16.h new file mode 100644 index 0000000..3f1a8e0 --- /dev/null +++ b/User/component/crc16.h @@ -0,0 +1,17 @@ +/* + N100陀螺仪包头crc16校验 +*/ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +uint16_t crc16_calc(const uint8_t *data, uint8_t len); + +#ifdef __cplusplus +} +#endif diff --git a/User/component/crc8.c b/User/component/crc8.c new file mode 100644 index 0000000..9deabac --- /dev/null +++ b/User/component/crc8.c @@ -0,0 +1,33 @@ +/* + N100陀螺仪包头crc8校验 +*/ +#include +#include "crc8.h" +// CRC8 查找表（多项式 0x07，初始值 0x00） +static const uint8_t CRC8Table[256] = { + 0x00, 0x5E, 0xBC, 0xE2, 0x61, 0x3F, 0xDD, 0x83, 0xC2, 0x9C, 0x7E, 0x20, 0xA3, 0xFD, 0x1F, 0x41, + 0x9D, 0xC3, 0x21, 0x7F, 0xFC, 0xA2, 0x40, 0x1E, 0x5F, 0x01, 0xE3, 0xBD, 0x3E, 0x60, 0x82, 0xDC, + 0x23, 0x7D, 0x9F, 0xC1, 0x42, 0x1C, 0xFE, 0xA0, 0xE1, 0xBF, 0x5D, 0x03, 0x80, 0xDE, 0x3C, 0x62, + 0xBE, 0xE0, 0x02, 0x5C, 0xDF, 0x81, 0x63, 0x3D, 0x7C, 0x22, 0xC0, 0x9E, 0x1D, 0x43, 0xA1, 0xFF, + 0x46, 0x18, 0xFA, 0xA4, 0x27, 0x79, 0x9B, 0xC5, 0x84, 0xDA, 0x38, 0x66, 0xE5, 0xBB, 0x59, 0x07, + 0xDB, 0x85, 0x67, 0x39, 0xBA, 0xE4, 0x06, 0x58, 0x19, 0x47, 0xA5, 0xFB, 0x78, 0x26, 0xC4, 0x9A, + 0x65, 0x3B, 0xD9, 0x87, 0x04, 0x5A, 0xB8, 0xE6, 0xA7, 0xF9, 0x1B, 0x45, 0xC6, 0x98, 0x7A, 0x24, + 0xF8, 0xA6, 0x44, 0x1A, 0x99, 0xC7, 0x25, 0x7B, 0x3A, 0x64, 0x86, 0xD8, 0x5B, 0x05, 0xE7, 0xB9, + 0x8C, 0xD2, 0x30, 0x6E, 0xED, 0xB3, 0x51, 0x0F, 0x4E, 0x10, 0xF2, 0xAC, 0x2F, 0x71, 0x93, 0xCD, + 0x11, 0x4F, 0xAD, 0xF3, 0x70, 0x2E, 0xCC, 0x92, 0xD3, 0x8D, 0x6F, 0x31, 0xB2, 0xEC, 0x0E, 0x50, + 0xAF, 0xF1, 0x13, 0x4D, 0xCE, 0x90, 0x72, 0x2C, 0x6D, 0x33, 0xD1, 0x8F, 0x0C, 0x52, 0xB0, 0xEE, + 0x32, 0x6C, 0x8E, 0xD0, 0x53, 0x0D, 0xEF, 0xB1, 0xF0, 0xAE, 0x4C, 0x12, 0x91, 0xCF, 0x2D, 0x73, + 0xCA, 0x94, 0x76, 0x28, 0xAB, 0xF5, 0x17, 0x49, 0x08, 0x56, 0xB4, 0xEA, 0x69, 0x37, 0xD5, 0x8B, + 0x57, 0x09, 0xEB, 0xB5, 0x36, 0x68, 0x8A, 0xD4, 0x95, 0xCB, 0x29, 0x77, 0xF4, 0xAA, 0x48, 0x16, + 0xE9, 0xB7, 0x55, 0x0B, 0x88, 0xD6, 0x34, 0x6A, 0x2B, 0x75, 0x97, 0xC9, 0x4A, 0x14, 0xF6, 0xA8, + 0x74, 0x2A, 0xC8, 0x96, 0x15, 0x4B, 0xA9, 0xF7, 0xB6, 0xE8, 0x0A, 0x54, 0xD7, 0x89, 0x6B, 0x35, +}; + +// 计算 CRC8 校验值 +uint8_t crc8_calc(const uint8_t *data, uint8_t len) { + uint8_t crc = 0x00; + for (uint8_t i = 0; i < len; i++) { + crc = CRC8Table[crc ^ data[i]]; + } + return crc; +} \ No newline at end of file diff --git a/User/component/crc8.h b/User/component/crc8.h new file mode 100644 index 0000000..d398d7a --- /dev/null +++ b/User/component/crc8.h @@ -0,0 +1,17 @@ +/* + N100陀螺仪包头crc8校验 +*/ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +uint8_t crc8_calc(const uint8_t *data, uint8_t len); + +#ifdef __cplusplus +} +#endif diff --git a/User/component/kinematics.c b/User/component/kinematics.c index f2a50db..c281802 100644 --- a/User/component/kinematics.c +++ b/User/component/kinematics.c @@ -3,9 +3,35 @@ */ #include "filter.h" - +#include #include "kinematics.h" +static float q1_ik(float py, float pz, float l1) { + float q1; + float L = sqrtf(py*py + pz*pz - l1*l1); + q1 = atan2f(pz*l1 + py*L, py*l1 - pz*L); + return q1; +} + +static float q3_ik(float b3z, float b4z, float b) { + float q3, temp; + temp = (b3z*b3z + b4z*b4z - b*b) / (2.0f * fabsf(b3z * b4z)); + if (temp > 1.0f) temp = 1.0f; + if (temp < -1.0f) temp = -1.0f; + q3 = acosf(temp); + q3 = -(M_PI - q3); + return q3; +} + +static float q2_ik(float q1, float q3, float px, float py, float pz, float b3z, float b4z) { + float a1 = py * sinf(q1) - pz * cosf(q1); + float a2 = px; + float m1 = b4z * sinf(q3); + float m2 = b3z + b4z * cosf(q3); + float q2 = atan2f(m1 * a1 + m2 * a2, m1 * a2 - m2 * a1); + return q2; +} + int8_t Kinematics_RealFeedback(Kinematics_JointData_t *real, const Kinematics_JointData_t *in, float ratio, float joint_zero){ real->Pos = (in->Pos-joint_zero) / ratio; @@ -23,27 +49,30 @@ int8_t Kinematics_RealOutput(const Kinematics_JointCMD_t *real, Kinematics_Joint return 0; } -/** - * @brief 单腿正运动学 - * @param theta[3] 关节角度数组（单位：弧度）：[hip, thigh, calf] - * @param leg_params 单腿机械参数（长度） - * @param foot_out 足端位置输出 [x, y, z]（单位：米） - */ -// void Leg_ForwardKinematics(const float theta[3], const joint_params *leg_params, float foot_out[3]) { -// float l1 = leg_params->named.lf_hip; // 髋关节到大腿长度 -// float l2 = leg_params->named.lf_thigh; // 大腿长度 -// float l3 = leg_params->named.lf_calf; // 小腿长度 +void Kinematics_ForwardKinematics(const float theta_in[3], const Kinematics_LinkLength_t *leg_params, float foot_out[3], Kinematics_Sign_t *sign) { + float l1 = leg_params->hip * sign->hip; + float l2 = -leg_params->thigh; + float l3 = -leg_params->calf; -// float t1 = theta[0]; // 髋关节侧摆（绕y轴） -// float t2 = theta[1]; // 髋关节前后 -// float t3 = theta[2]; // 膝关节 + float q1 = theta_in[0]; + float q2 = theta_in[1] * sign->thigh; + float q3 = theta_in[2] * sign->calf; -// // 末端位置 -// float leg_proj = l2 * cosf(t2) + l3 * cosf(t2 + t3); -// foot_out[0] = cosf(t1) * leg_proj + l1 * cosf(t1); // x -// foot_out[1] = sinf(t1) * leg_proj + l1 * sinf(t1); // y -// foot_out[2] = l2 * sinf(t2) + l3 * sinf(t2 + t3); // z -// } + float s1 = sinf(q1); + float s2 = sinf(q2); + float s3 = sinf(q3); + + float c1 = cosf(q1); + float c2 = cosf(q2); + float c3 = cosf(q3); + + float c23 = c2 * c3 - s2 * s3; + float s23 = s2 * c3 + c2 * s3; + + foot_out[0] = l3 * s23 + l2 * s2; + foot_out[1] = -l3 * s1 * c23 + l1 * c1 - l2 * c2 * s1; + foot_out[2] = l3 * c1 * c23 + l1 * s1 + l2 * c1 * c2; +} /** * @brief 单腿逆运动学 @@ -52,34 +81,28 @@ int8_t Kinematics_RealOutput(const Kinematics_JointCMD_t *real, Kinematics_Joint * @param theta_out 关节角度输出数组（单位：弧度）：[hip, thigh, calf] * @return 0成功，-1目标不可达 */ -// int Leg_InverseKinematics(const float foot_in[3], const joint_params *leg_params, float theta_out[3]) { -// float l1 = leg_params->named.lf_hip; -// float l2 = leg_params->named.lf_thigh; -// float l3 = leg_params->named.lf_calf; +int8_t Kinematics_InverseKinematics(const float foot_in[3], const Kinematics_LinkLength_t *leg_params, float theta_out[3], Kinematics_Sign_t *sign) { + float px = foot_in[0]; + float py = foot_in[1]; + float pz = foot_in[2]; -// float x = foot_in[0]; -// float y = foot_in[1]; -// float z = foot_in[2]; + float b2y = leg_params->hip * sign->hip; + float b3z = -leg_params->thigh; + float b4z = -leg_params->calf; + float a = leg_params->hip; + float c = sqrtf(px*px + py*py + pz*pz); + float b = sqrtf(c*c - a*a); -// // 1. 先算髋关节侧摆角（绕y轴） -// float r = sqrtf(x * x + y * y); -// float t1 = atan2f(y, x); // 髋关节侧摆角：使用 atan2f，计 + // 检查可达性 + if (b != b) return -1; // NaN + if (b > fabsf(b3z) + fabsf(b4z)) return -1; -// // 2. 去掉髋关节侧摆影响，得到在sagittal平面上的投影 -// float xp = r - l1; -// float zp = z; + float q1 = q1_ik(py, pz, b2y); + float q3 = q3_ik(b3z, b4z, b); + float q2 = q2_ik(q1, q3, px, py, pz, b3z, b4z); -// // 3. 逆解余下两个关节 -// float D = (xp * xp + zp * zp - l2 * l2 - l3 * l3) / (2 * l2 * l3); -// if (D < -1.0f || D > 1.0f) return -1; // 不可达 - -// float t3 = atan2f(-sqrtf(1 - D * D), D); // 膝关节 -// float k1 = l2 + l3 * cosf(t3); -// float k2 = l3 * sinf(t3); -// float t2 = atan2f(zp, xp) - atan2f(k2, k1); - -// theta_out[0] = t1; -// theta_out[1] = t2; -// theta_out[2] = t3; -// return 0; -// } \ No newline at end of file + theta_out[0] = q1; + theta_out[1] = q2 * sign->thigh; + theta_out[2] = q3 * sign->calf; + return 0; +} diff --git a/User/component/kinematics.h b/User/component/kinematics.h index f28b0c1..5b01a65 100644 --- a/User/component/kinematics.h +++ b/User/component/kinematics.h @@ -24,6 +24,24 @@ typedef struct { float K_W; // 关节速度系数(0-25.599) } Kinematics_JointCMD_t; +typedef struct { + float hip; // 髋关节长度(m) + float thigh; // 大腿长度(m) + float calf; // 小腿长度(m) +} Kinematics_LinkLength_t; + +typedef struct { + float x; + float y; + float z; +} Kinematics_LegOffset_t; + +typedef struct { + float hip; + float thigh; + float calf; +} Kinematics_Sign_t; + /** * @brief 计算实际反馈 @@ -44,6 +62,25 @@ int8_t Kinematics_RealFeedback(Kinematics_JointData_t *real, const Kinematics_Jo int8_t Kinematics_RealOutput(const Kinematics_JointCMD_t *real, Kinematics_JointCMD_t *out, float ratio, float joint_zero); +/** + * @brief 单腿正运动学 + * @param theta_in 关节角度输入数组（单位：弧度）：[hip, thigh, calf] + * @param leg_params 单腿机械参数（长度） + * @param foot_out 足端位置输出 [x, y, z]（单位：米） + * @param side_sign 侧向标志（左前/左后为-1，右前/右后为1） + */ +void Kinematics_ForwardKinematics(const float theta_in[3], const Kinematics_LinkLength_t *leg_params, float foot_out[3], Kinematics_Sign_t *sign); + +/** + * @brief 单腿逆运动学 + * @param foot_in 足端目标位置 [x, y, z]（单位：米） + * @param leg_params 单腿机械参数（长度） + * @param theta_out 关节角度输出数组（单位：弧度）：[hip, thigh, calf] + * @param side_sign 侧向标志（左前/左后为-1，右前/右后为1） + * @return 0成功，-1目标不可达 + */ +int8_t Kinematics_InverseKinematics(const float foot_in[3], const Kinematics_LinkLength_t *leg_params, float theta_out[3], Kinematics_Sign_t *sign); + #ifdef __cplusplus } diff --git a/User/component/limiter.c b/User/component/limiter.c new file mode 100644 index 0000000..d86d45f --- /dev/null +++ b/User/component/limiter.c @@ -0,0 +1,27 @@ +/* + 限制器 +*/ + +#include "limiter.h" + +#include +#include + +#include "component/user_math.h" + +int8_t Limit_ChassicOutput(const float feedback_pos ,float *out_pos, float max_speed, float max_angle, float min_angle){ + + // 限制位置变化速度 + if (*out_pos - feedback_pos > max_speed) { + *out_pos = feedback_pos + max_speed; + } else if (*out_pos - feedback_pos < -max_speed) { + *out_pos = feedback_pos - max_speed; + } + // 限制角度范围 + if (*out_pos > max_angle) { + *out_pos = max_angle; + } else if (*out_pos < min_angle) { + *out_pos = min_angle; + } + return 0; // 成功 +} \ No newline at end of file diff --git a/User/component/limiter.h b/User/component/limiter.h new file mode 100644 index 0000000..c584ff1 --- /dev/null +++ b/User/component/limiter.h @@ -0,0 +1,20 @@ +/* + 限制器 +*/ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include + + +int8_t Limit_ChassicOutput(const float feedback_pos ,float *out_pos, + float max_speed, float max_angle, float min_angle); + +#ifdef __cplusplus +} +#endif \ No newline at end of file diff --git a/User/component/unitreeLeg.cpp b/User/component/unitreeLeg.cpp new file mode 100755 index 0000000..3c5f443 --- /dev/null +++ b/User/component/unitreeLeg.cpp @@ -0,0 +1,175 @@ +/********************************************************************** + Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved. +***********************************************************************/ +#include "common/unitreeLeg.h" +#include + + +/************************/ +/*******QuadrupedLeg*****/ +/************************/ +QuadrupedLeg::QuadrupedLeg(int legID, float abadLinkLength, float hipLinkLength, + float kneeLinkLength, Vec3 pHip2B) + :_abadLinkLength(abadLinkLength), + _hipLinkLength(hipLinkLength), + _kneeLinkLength(kneeLinkLength), + _pHip2B(pHip2B){ + if (legID == 0 || legID == 2) + _sideSign = -1; + else if (legID == 1 || legID == 3) + _sideSign = 1; + else{ + std::cout << "Leg ID incorrect!" << std::endl; + exit(-1); + } +} + +// Forward Kinematics +Vec3 QuadrupedLeg::calcPEe2H(Vec3 q){ + float l1 = _sideSign * _abadLinkLength; + float l2 = -_hipLinkLength; + float l3 = -_kneeLinkLength; + + float s1 = std::sin(q(0)); + float s2 = std::sin(q(1)); + float s3 = std::sin(q(2)); + + float c1 = std::cos(q(0)); + float c2 = std::cos(q(1)); + float c3 = std::cos(q(2)); + + float c23 = c2 * c3 - s2 * s3; + float s23 = s2 * c3 + c2 * s3; + + Vec3 pEe2H; + + pEe2H(0) = l3 * s23 + l2 * s2; + pEe2H(1) = -l3 * s1 * c23 + l1 * c1 - l2 * c2 * s1; + pEe2H(2) = l3 * c1 * c23 + l1 * s1 + l2 * c1 * c2; + + return pEe2H; +} + +// Forward Kinematics +Vec3 QuadrupedLeg::calcPEe2B(Vec3 q){ + return _pHip2B + calcPEe2H(q); +} + +// Derivative Forward Kinematics +Vec3 QuadrupedLeg::calcVEe(Vec3 q, Vec3 qd){ + return calcJaco(q) * qd; +} + +// Inverse Kinematics +Vec3 QuadrupedLeg::calcQ(Vec3 pEe, FrameType frame){ + Vec3 pEe2H; + if(frame == FrameType::HIP) + pEe2H = pEe; + else if(frame == FrameType::BODY) + pEe2H = pEe - _pHip2B; + else{ + std::cout << "[ERROR] The frame of QuadrupedLeg::calcQ can only be HIP or BODY!" << std::endl; + exit(-1); + } + + float q1, q2, q3; + Vec3 qResult; + float px, py, pz; + float b2y, b3z, b4z, a, b, c; + + px = pEe2H(0); + py = pEe2H(1); + pz = pEe2H(2); + + b2y = _abadLinkLength * _sideSign; + b3z = -_hipLinkLength; + b4z = -_kneeLinkLength; + a = _abadLinkLength; + c = sqrt(pow(px, 2) + pow(py, 2) + pow(pz, 2)); // whole length + b = sqrt(pow(c, 2) - pow(a, 2)); // distance between shoulder and footpoint + + q1 = q1_ik(py, pz, b2y); + q3 = q3_ik(b3z, b4z, b); + q2 = q2_ik(q1, q3, px, py, pz, b3z, b4z); + + qResult(0) = q1; + qResult(1) = q2; + qResult(2) = q3; + + return qResult; +} + +// Derivative Inverse Kinematics +Vec3 QuadrupedLeg::calcQd(Vec3 q, Vec3 vEe){ + return calcJaco(q).inverse() * vEe; +} + +// Derivative Inverse Kinematics +Vec3 QuadrupedLeg::calcQd(Vec3 pEe, Vec3 vEe, FrameType frame){ + Vec3 q = calcQ(pEe, frame); + return calcJaco(q).inverse() * vEe; +} + +// Inverse Dynamics +Vec3 QuadrupedLeg::calcTau(Vec3 q, Vec3 force){ + return calcJaco(q).transpose() * force; +} + +// Jacobian Matrix +Mat3 QuadrupedLeg::calcJaco(Vec3 q){ + Mat3 jaco; + + float l1 = _abadLinkLength * _sideSign; + float l2 = -_hipLinkLength; + float l3 = -_kneeLinkLength; + + float s1 = std::sin(q(0)); + float s2 = std::sin(q(1)); + float s3 = std::sin(q(2)); + + float c1 = std::cos(q(0)); + float c2 = std::cos(q(1)); + float c3 = std::cos(q(2)); + + float c23 = c2 * c3 - s2 * s3; + float s23 = s2 * c3 + c2 * s3; + jaco(0, 0) = 0; + jaco(1, 0) = -l3 * c1 * c23 - l2 * c1 * c2 - l1 * s1; + jaco(2, 0) = -l3 * s1 * c23 - l2 * c2 * s1 + l1 * c1; + jaco(0, 1) = l3 * c23 + l2 * c2; + jaco(1, 1) = l3 * s1 * s23 + l2 * s1 * s2; + jaco(2, 1) = -l3 * c1 * s23 - l2 * c1 * s2; + jaco(0, 2) = l3 * c23; + jaco(1, 2) = l3 * s1 * s23; + jaco(2, 2) = -l3 * c1 * s23; + + return jaco; +} + +float QuadrupedLeg::q1_ik(float py, float pz, float l1){ + float q1; + float L = sqrt(pow(py,2)+pow(pz,2)-pow(l1,2)); + q1 = atan2(pz*l1+py*L, py*l1-pz*L); + return q1; +} + +float QuadrupedLeg::q3_ik(float b3z, float b4z, float b){ + float q3, temp; + temp = (pow(b3z, 2) + pow(b4z, 2) - pow(b, 2))/(2*fabs(b3z*b4z)); + if(temp>1) temp = 1; + if(temp<-1) temp = -1; + q3 = acos(temp); + q3 = -(M_PI - q3); //0~180 + return q3; +} + +float QuadrupedLeg::q2_ik(float q1, float q3, float px, float py, float pz, float b3z, float b4z){ + float q2, a1, a2, m1, m2; + + a1 = py*sin(q1) - pz*cos(q1); + a2 = px; + m1 = b4z*sin(q3); + m2 = b3z + b4z*cos(q3); + q2 = atan2(m1*a1+m2*a2, m1*a2-m2*a1); + return q2; +} diff --git a/User/component/user_math.c b/User/component/user_math.c index 1fceac2..b483048 100644 --- a/User/component/user_math.c +++ b/User/component/user_math.c @@ -130,3 +130,4 @@ void VerifyFailed(const char *file, uint32_t line) { __NOP(); } } + diff --git a/User/device/ai.c b/User/device/ai.c new file mode 100644 index 0000000..6ee1e3e --- /dev/null +++ b/User/device/ai.c @@ -0,0 +1,152 @@ +/* +AI +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "ai.h" + +#include + +#include "bsp\delay.h" +#include "bsp\uart.h" +#include "component\crc16.h" +#include "component\crc8.h" +#include "component\user_math.h" +#include "component\filter.h" + + +/* Private define ----------------------------------------------------------- */ +#define AI_LEN_RX_BUFF (sizeof(Protocol_DownPackage_t)) + +/* Private macro ------------------------------------------------------------ */ +/* Private typedef ---------------------------------------------------------- */ +/* Private variables -------------------------------------------------------- */ +static volatile uint32_t drop_message = 0; + +static uint8_t rxbuf[AI_LEN_RX_BUFF]; + +static bool inited = false; + +static osThreadId_t thread_alert; + +/* Private function -------------------------------------------------------- */ + +static void Ai_RxCpltCallback(void) { + osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY); +} + +static void Ai_IdleLineCallback(void) { + osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY); +} + +/* Exported functions ------------------------------------------------------- */ +int8_t AI_Init(AI_t *ai) { + UNUSED(ai); + ASSERT(ai); + if (inited) return DEVICE_ERR_INITED; + VERIFY((thread_alert = osThreadGetId()) != NULL); + + BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB, + Ai_RxCpltCallback); + BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB, + Ai_IdleLineCallback); + + inited = true; + return 0; +} + +int8_t AI_Restart(void) { + __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_AI)); + __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_AI)); + return DEVICE_OK; +} + +int8_t AI_StartReceiving(AI_t *ai) { + UNUSED(ai); + if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI), rxbuf, + AI_LEN_RX_BUFF) == HAL_OK) + return DEVICE_OK; + return DEVICE_ERR; +} + +bool AI_WaitDmaCplt(void) { + return (osThreadFlagsWait(SIGNAL_AI_RAW_REDY, osFlagsWaitAll, 0) == + SIGNAL_AI_RAW_REDY); +} + +int8_t AI_ParseHost(AI_t *ai) { + if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->from_host))) + goto error; + ai->ai_online = true; + memcpy(&(ai->from_host), rxbuf, sizeof(ai->from_host)); + memset(rxbuf, 0, AI_LEN_RX_BUFF); + return DEVICE_OK; + +error: + drop_message++; + return DEVICE_ERR; +} + +void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) { + cmd_host->gimbal_delta.yaw = ai->from_host.data.gimbal.yaw; + cmd_host->gimbal_delta.pit = ai->from_host.data.gimbal.pit; + cmd_host->fire = (ai->from_host.data.notice & AI_NOTICE_FIRE); + cmd_host->chassis_move_vec.vx = ai->from_host.data.chassis_move_vec.vx; + cmd_host->chassis_move_vec.vy = ai->from_host.data.chassis_move_vec.vy; + cmd_host->chassis_move_vec.wz = ai->from_host.data.chassis_move_vec.wz; +} + +int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host) { + if (ai == NULL) return DEVICE_ERR_NULL; + if (cmd_host == NULL) return DEVICE_ERR_NULL; + ai->ai_online = false; + memset(&(ai->from_host), 0, sizeof(ai->from_host)); + memset(cmd_host, 0, sizeof(*cmd_host)); + return 0; +} + +int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat) { + ai->to_host.mcu.id = AI_ID_MCU; + memcpy((void *)&(ai->to_host.mcu.package.data.quat), (const void *)quat, + sizeof(*quat)); + ai->to_host.mcu.package.data.notice = 0; + if (ai->status == AI_STATUS_AUTOAIM) + ai->to_host.mcu.package.data.notice |= AI_NOTICE_AUTOAIM; + else if (ai->status == AI_STATUS_HITSWITCH) + ai->to_host.mcu.package.data.notice |= AI_NOTICE_HITBUFF; + else if (ai->status == AI_STATUS_AUTOMATIC) + ai->to_host.mcu.package.data.notice |= AI_NOTICE_AUTOMATIC; + + ai->to_host.mcu.package.crc16 = CRC16_Calc( + (const uint8_t *)&(ai->to_host.mcu.package), + sizeof(ai->to_host.mcu.package) - sizeof(uint16_t), CRC16_INIT); + return DEVICE_OK; +} + +int8_t AI_PackRef(AI_t *ai, const Referee_ForAI_t *ref) { + (void)ref; + ai->to_host.ref.id = AI_ID_REF; + ai->to_host.ref.package.crc16 = CRC16_Calc( + (const uint8_t *)&(ai->to_host.ref.package), + sizeof(ai->to_host.ref.package) - sizeof(uint16_t), CRC16_INIT); + return DEVICE_OK; +} + +int8_t AI_StartSend(AI_t *ai, bool ref_update) { + if (ref_update) { + if (HAL_UART_Transmit_DMA( + BSP_UART_GetHandle(BSP_UART_AI), (uint8_t *)&(ai->to_host), + sizeof(ai->to_host.ref) + sizeof(ai->to_host.mcu)) == HAL_OK) + return DEVICE_OK; + else + return DEVICE_ERR; + } else { + if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_AI), + (uint8_t *)&(ai->to_host.mcu), + sizeof(ai->to_host.mcu)) == HAL_OK) + return DEVICE_OK; + else + return DEVICE_ERR; + } +} + diff --git a/User/device/ai.h b/User/device/ai.h new file mode 100644 index 0000000..4434da3 --- /dev/null +++ b/User/device/ai.h @@ -0,0 +1,69 @@ +/* + AI +*/ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include +#include +#include + +#include "component\ahrs.h" +#include "component\cmd.h" +#include "component\user_math.h" +#include "component\filter.h" +#include "device\device.h" +#include "device\referee.h" +#include "protocol.h" + +/* Exported constants ------------------------------------------------------- */ +/* Exported macro ----------------------------------------------------------- */ +/* Exported types ----------------------------------------------------------- */ + +typedef struct __packed { + uint8_t id; + Protocol_UpPackageReferee_t package; +} AI_UpPackageReferee_t; + +typedef struct __packed { + uint8_t id; + Protocol_UpPackageMCU_t package; +} AI_UpPackageMCU_t; + +typedef struct __packed { + osThreadId_t thread_alert; + + Protocol_DownPackage_t from_host; + + struct { + AI_UpPackageReferee_t ref; + AI_UpPackageMCU_t mcu; + } to_host; + + CMD_AI_Status_t status; + bool ai_online; +} AI_t; + +/* Exported functions prototypes -------------------------------------------- */ +int8_t AI_Init(AI_t *ai); +int8_t AI_Restart(void); + +int8_t AI_StartReceiving(AI_t *ai); +bool AI_WaitDmaCplt(void); +int8_t AI_ParseHost(AI_t *ai); +int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host); +int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat); +int8_t AI_PackRef(AI_t *ai, const Referee_ForAI_t *ref); +int8_t AI_StartSend(AI_t *ai, bool option); +void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host); +#ifdef __cplusplus +} +#endif + + + diff --git a/User/device/bmi088.c b/User/device/bmi088.c index e82cadf..b1f0736 100644 --- a/User/device/bmi088.c +++ b/User/device/bmi088.c @@ -365,5 +365,6 @@ int8_t BMI088_ParseGyro(BMI088_t *bmi088) { float BMI088_GetUpdateFreq(BMI088_t *bmi088) { (void)bmi088; - return 400.0f; + return 200.0f; } + diff --git a/User/device/device.h b/User/device/device.h index f11fa6d..db37a9e 100644 --- a/User/device/device.h +++ b/User/device/device.h @@ -19,19 +19,12 @@ extern "C" { #define SIGNAL_BMI088_GYRO_RAW_REDY (1u << 2) #define SIGNAL_BMI088_ACCL_RAW_REDY (1u << 3) -#define SIGNAL_DR16_RAW_REDY (1u << 4) +#define SIGNAL_N100_NEW_DATA (1u << 4) +#define SIGNAL_DR16_RAW_REDY (1u << 5) -#define SIGNAL_GO_MOTOR_RECV (1u << 5) +#define SIGNAL_GO_MOTOR_RECV (1u << 6) - -#define SIGNAL_IST8310_MAGN_NEW_DATA (1u << 8) -#define SIGNAL_IST8310_MAGN_RAW_REDY (1u << 9) - -#define SIGNAL_REFEREE_RAW_REDY (1u << 10) -#define SIGNAL_REFEREE_FAST_REFRESH_UI (1u << 11) -#define SIGNAL_REFEREE_SLOW_REFRESH_UI (1u << 12) - #define SIGNAL_AI_RAW_REDY (1u << 14) #ifdef __cplusplus diff --git a/User/device/go copy.c b/User/device/go copy.c deleted file mode 100644 index 50d8f7b..0000000 --- a/User/device/go copy.c +++ /dev/null @@ -1,118 +0,0 @@ -/* - 四足机器人12个关节驱动 -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "bsp/uart.h" -#include "go.h" - -#include -#include - - -#include "component/user_math.h" - -#include "cmsis_os2.h" - -static osSemaphoreId_t sem_left_rx = NULL; -static osSemaphoreId_t sem_right_rx = NULL; - -/* Private define ----------------------------------------------------------- */ - - -/* Private macro ------------------------------------------------------------ */ -/* Private typedef ---------------------------------------------------------- */ -/* Private variables -------------------------------------------------------- */ -// static RIS_MotorData_t raw_left __attribute__ ((section(".AXI_SRAM"))); -static uint8_t raw_left_buff[16] __attribute__ ((section(".AXI_SRAM"))); -static uint8_t raw_right_buff[16] __attribute__ ((section(".AXI_SRAM"))); -// static RIS_MotorData_t raw_right __attribute__ ((section(".AXI_SRAM"))); -static MotorCmd_t motor_cmd __attribute__ ((section(".AXI_SRAM"))); - -static osThreadId_t thread_alert; -static GO_t *go_rx; -static bool inited = false; - -/* Private function -------------------------------------------------------- */ - -// static void GO_LeftRxCpltCallback(void) { -// osMessageQueuePut(go_rx->msgq_raw, &raw_left_buff, 0, 0); -// osSemaphoreRelease(sem_left_rx); // 通知接收完成 - // memset(raw_left_buff, 0, sizeof(raw_left_buff)); // 清空缓存区 - // HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_LEFT_LEG), - // (uint8_t *)&raw_left, sizeof(RIS_MotorData_t)); -// } -// static void GO_RightRxCpltCallback(void) { -// osMessageQueuePut(go_rx->msgq_raw, &raw_right_buff, 0, 0); -// osSemaphoreRelease(sem_right_rx); // 通知接收完成 - // memset(raw_right_buff, 0, sizeof(raw_right_buff)); // 清空缓存区 - // HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_RIGHT_LEG), - // (uint8_t *)&raw_right, sizeof(RIS_MotorData_t)); -// } - -/* Exported functions ------------------------------------------------------- */ - -int8_t GO_Init(GO_t *go, const GO_UART_Params_t *param){ - if (go == NULL) return DEVICE_ERR_NULL; - if (inited) return DEVICE_ERR_INITED; - if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; - - go_rx->msgq_raw = osMessageQueueNew(36, 16u, NULL); - - go->param = param; - sem_left_rx = osSemaphoreNew(1, 0, NULL); - sem_right_rx = osSemaphoreNew(1, 0, NULL); - // BSP_UART_RegisterCallback(BSP_UART_LEFT_LEG, BSP_UART_RX_CPLT_CB, - // GO_LeftRxCpltCallback); - // BSP_UART_RegisterCallback(BSP_UART_RIGHT_LEG, BSP_UART_RX_CPLT_CB, - // GO_RightRxCpltCallback); - - inited = true; - return DEVICE_OK; -} - -int8_t GO_Motor_Control(GO_MotorOutput_t *output, GO_t *go){ - if (go == NULL) return DEVICE_ERR_NULL; - if (output == NULL) return DEVICE_ERR_NULL; - memset(raw_right_buff, 0, sizeof(raw_right_buff)); - memset(raw_left_buff, 0, sizeof(raw_left_buff)); - // HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_LEFT_LEG), - // (uint8_t *)&raw_left_buff, 16); - // HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_RIGHT_LEG), - // (uint8_t *)&raw_right_buff, 16); - - for (uint8_t i = 0; i < GO_MOTOR_NUM; i++) { - motor_cmd.id = i; - motor_cmd.mode = GO_MOTOR_MODE_FOC; - motor_cmd.T = output->as_array[i].tor_des; - motor_cmd.W = output->as_array[i].spd_des; - motor_cmd.Pos = output->as_array[i].pos_des; - motor_cmd.K_P = output->as_array[i].k_pos; - motor_cmd.K_W = output->as_array[i].k_spd; - - modify_data(&motor_cmd); - - if (i <= GO_MOTOR_LF_CALF || (i >= GO_MOTOR_LR_HIP && i <= GO_MOTOR_LR_CALF)) { - HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_LEFT_LEG), - (uint8_t *)&motor_cmd.motor_send_data, - sizeof(RIS_ControlData_t)); - - HAL_UART_Receive(BSP_UART_GetHandle(BSP_UART_LEFT_LEG), - (uint8_t *)&raw_left_buff, 16, 5); - } else { - HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_RIGHT_LEG), - (uint8_t *)&motor_cmd.motor_send_data, - sizeof(RIS_ControlData_t)); - - HAL_UART_Receive(BSP_UART_GetHandle(BSP_UART_RIGHT_LEG), - (uint8_t *)&raw_right_buff, 16, 5); - } - - } - return DEVICE_OK; -} - -int8_t GO_StoreMsg(GO_t *go, RIS_MotorData_t *go_rx){ - - return DEVICE_OK; -} diff --git a/User/device/go.c b/User/device/go.c index a339118..586e224 100644 --- a/User/device/go.c +++ b/User/device/go.c @@ -47,6 +47,7 @@ int8_t GO_Motor_Control(GO_t *go){ go->motor.output.id[i].mode = GO_MOTOR_MODE_FOC; // 设置电机模式 modify_data(&go->motor.output.id[i]); if (i < GO_MOTOR_NUM / 4 || i >= GO_MOTOR_NUM/2 && i < GO_MOTOR_NUM * 3 / 4) { + // if (i < GO_MOTOR_NUM / 4) { HAL_UART_Transmit(BSP_UART_GetHandle(go->uart_param->left_leg), (uint8_t *)&go->motor.output.id[i].motor_send_data, sizeof(go->motor.output.id[i].motor_send_data), 1); diff --git a/User/device/n100.c b/User/device/n100.c new file mode 100644 index 0000000..4d9cb1f --- /dev/null +++ b/User/device/n100.c @@ -0,0 +1,156 @@ +/* + N100 陀螺仪数据 +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "n100.h" + +#include +#include "device/device.h" + +#include "bsp/uart.h" +#include "component/user_math.h" +#include "component/crc8.h" +#include "component/crc16.h" +/* Private define ----------------------------------------------------------- */ +#define RX_BUFF_SIZE 56 +#define N100_BAG_HEAD 0xFC +#define N100_BAG_END 0xFD +// #define RX_BUFF_SIZE (sizeof(N100_AHRS_t)) +/* Private macro ------------------------------------------------------------ */ +/* Private typedef ---------------------------------------------------------- */ +/* Private variables -------------------------------------------------------- */ +static volatile uint32_t drop_message = 0; + +static uint8_t rxbuf[RX_BUFF_SIZE] __attribute__ ((section(".AXI_SRAM"))); + +// static N100_AHRS_t rxbuf __attribute__((section(".AXI_SRAM"))); + +static bool inited = false; + +static osThreadId_t thread_alert; + +/* Private function -------------------------------------------------------- */ + +static void N100_RxCpltCallback(void) { + osThreadFlagsSet(thread_alert, SIGNAL_N100_NEW_DATA); +} + +static void N100_ErrorCallback(void) { + N100_Restart(); +} + +static void N100_Decode(N100_t *n100, const uint8_t *rxbuf) { + if (n100 == NULL || rxbuf == NULL) return; + + size_t offset = 0; + + // header + n100->rx_raw.header.head = rxbuf[offset++]; + n100->rx_raw.header.cmd = rxbuf[offset++]; + n100->rx_raw.header.len = rxbuf[offset++]; + n100->rx_raw.header.count = rxbuf[offset++]; + n100->rx_raw.header.crc8 = rxbuf[offset++]; + + // data.crc16 + n100->rx_raw.data.crc16 = (uint16_t)(rxbuf[offset] | (rxbuf[offset+1] << 8)); + offset += 2; + + //都是float32 + memcpy(&n100->rx_raw.data.gyro.x, rxbuf + offset, 4); + offset += 4; + memcpy(&n100->rx_raw.data.gyro.y, rxbuf + offset, 4); + offset += 4; + memcpy(&n100->rx_raw.data.gyro.z, rxbuf + offset, 4); + offset += 4; + + memcpy(&n100->rx_raw.data.eulr.rol, rxbuf + offset, 4); + offset += 4; + memcpy(&n100->rx_raw.data.eulr.pit, rxbuf + offset, 4); + offset += 4; + memcpy(&n100->rx_raw.data.eulr.yaw, rxbuf + offset, 4); + offset += 4; + // data.quat + memcpy(&n100->rx_raw.data.quat, rxbuf + offset, sizeof(AHRS_Quaternion_t)); + offset += sizeof(AHRS_Quaternion_t); + + // data.time + memcpy(&n100->rx_raw.data.time, rxbuf + offset, sizeof(int64_t)); + offset += sizeof(int64_t); + + // end + n100->rx_raw.end = rxbuf[offset]; +} + +// 直接对原始数据 rxbuf 校验 +static bool N100_Verify(const uint8_t *rxbuf) { + if (rxbuf == NULL) return false; + // 检查包头包尾 + if (rxbuf[0] != N100_BAG_HEAD || rxbuf[RX_BUFF_SIZE - 1] != N100_BAG_END) { + drop_message++; + return false; + } + // // CRC8 校验（包头4字节） + // if (rxbuf[4] != crc8_calc(rxbuf, 4)) { + // drop_message++; + // return false; + // } + // // CRC16 校验（数据段，从第7字节开始，长度为RX_BUFF_SIZE-8） + // uint16_t crc16 = (uint16_t)(rxbuf[5] | (rxbuf[6] << 8)); + // if (crc16 != crc16_calc(rxbuf + 7, RX_BUFF_SIZE - 8)) { + // drop_message++; + // return false; + // } + return true; +} + +/* Exported functions ------------------------------------------------------- */ +int8_t N100_Init(N100_t *n100){ + ASSERT(n100); + if (inited) return DEVICE_ERR_INITED; + if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; + + BSP_UART_RegisterCallback(BSP_UART_IMU_N100, BSP_UART_RX_CPLT_CB, N100_RxCpltCallback); + BSP_UART_RegisterCallback(BSP_UART_IMU_N100, BSP_UART_ERROR_CB, N100_ErrorCallback); + inited = true; + return DEVICE_OK; +} + +int8_t N100_Restart(void) { + __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_IMU_N100)); + __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_IMU_N100)); + return DEVICE_OK; +} + +int8_t N100_StartReceiving(N100_t *n100) { + if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_IMU_N100), rxbuf, RX_BUFF_SIZE) != HAL_OK) + return DEVICE_ERR; + return DEVICE_OK; +} + +bool N100_WaitDmaCplt(void) { + return (osThreadFlagsWait(SIGNAL_N100_NEW_DATA, osFlagsWaitAll, 200) == + SIGNAL_N100_NEW_DATA); +} + +int8_t N100_ParseData (N100_t *n100) { + if (n100 == NULL) return DEVICE_ERR_NULL; + // 先校验原始数据 + if (!N100_Verify(rxbuf)) { + return DEVICE_ERR; + } + // 校验通过后再解码 + N100_Decode(n100, rxbuf); + n100->eulr = n100->rx_raw.data.eulr; + n100->gyro = n100->rx_raw.data.gyro; + n100->quat = n100->rx_raw.data.quat; + + return DEVICE_OK; +} + +int8_t N100_HandleOffline(N100_t *n100) { + if (n100 == NULL) return DEVICE_ERR_NULL; + /*清空n100结构体*/ + memset(n100, 0, sizeof(*n100)); + return DEVICE_OK; +} \ No newline at end of file diff --git a/User/device/n100.h b/User/device/n100.h new file mode 100644 index 0000000..e71728c --- /dev/null +++ b/User/device/n100.h @@ -0,0 +1,63 @@ +/* + N100 陀螺仪数据 +*/ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include +#include +#include + +#include "component/ahrs.h" + +/* Exported constants ------------------------------------------------------- */ +/* Exported macro ----------------------------------------------------------- */ +/* Exported types ----------------------------------------------------------- */ + +typedef struct { + struct { + uint8_t head; + uint8_t cmd; + uint8_t len; + uint8_t count; + uint8_t crc8; + } header; /* 数据包头部 */ + struct { + uint16_t crc16; + AHRS_Gyro_t gyro; /* 陀螺仪数据 */ + AHRS_Eulr_t eulr; /* 欧拉角数据 */ + AHRS_Quaternion_t quat; /* 四元数数据 */ + int64_t time; /* 时间戳 */ + } data; /* 数据包内容 */ + uint8_t end; +} N100_AHRS_t; + + +typedef struct { + osThreadId_t thread_alert; + N100_AHRS_t rx_raw; + AHRS_Gyro_t gyro; /* 陀螺仪数据 */ + AHRS_Eulr_t eulr; /* 欧拉角数据 */ + AHRS_Quaternion_t quat; /* 四元数数据 */ +} N100_t; + +/* Exported functions prototypes -------------------------------------------- */ +int8_t N100_Init(N100_t *n100); +int8_t N100_Restart(void); + +int8_t N100_StartReceiving(N100_t *n100); +bool N100_WaitDmaCplt(void); +int8_t N100_ParseData (N100_t *n100); +int8_t N100_HandleOffline(N100_t *n100); + +#ifdef __cplusplus +} +#endif + + + diff --git a/User/module/chassis.c b/User/module/chassis.c index 69c80c6..a376412 100644 --- a/User/module/chassis.c +++ b/User/module/chassis.c @@ -10,12 +10,13 @@ #include "cmsis_os2.h" // #include "component/limiter.h" #include "device/go.h" - +#include "component/limiter.h" /* Private typedef ---------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */ /*底盘默认高度*/ #define CHASSIS_DEFAULT_HEIGHT (0.2f) /* 底盘默认高度，单位：米 */ +#define CHASSIS_MAX_SPEED (0.03f) /* Private macro ------------------------------------------------------------ */ @@ -151,6 +152,7 @@ int8_t Chassis_Control(Chassis_t *c, const CMD_ChassisCmd_t *c_cmd, uint32_t now // c->output.id[i] = damping_torque; /* 设置阻尼力矩 */ c->output.id[i] = position_mode; /* 设置位置模式 */ } + // c->output.named.lf_thigh.Pos = 1.0f; /* 左前腿大腿位置 */ // c->output.named.lf_calf.Pos = 2.0f; /* 左前腿小腿位置 */ // c->output.named.rf_thigh.Pos = -1.0f; /* 右前腿大腿位置 */ @@ -171,6 +173,11 @@ int8_t Chassis_Control(Chassis_t *c, const CMD_ChassisCmd_t *c_cmd, uint32_t now } break; } + c->output.named.lf_hip.Pos = 0.0f; /* 左前腿髋关节位置 */ + c->output.named.lr_hip.Pos = 0.0f; /* 左后腿髋关节位置 */ + c->output.named.rf_hip.Pos = 0.0f; /* 右前腿髋关节位置 */ + c->output.named.rr_hip.Pos = 0.0f; /* 右后腿髋关节位置 */ + c->height = c->height + c_cmd->delta_hight * c->dt; /* 更新底盘高度 */ c->output.named.lf_thigh.Pos = c->height * 5; c->output.named.lf_calf.Pos = c->height * 10; @@ -181,8 +188,35 @@ int8_t Chassis_Control(Chassis_t *c, const CMD_ChassisCmd_t *c_cmd, uint32_t now c->output.named.rr_thigh.Pos = -c->height * 5; c->output.named.rr_calf.Pos = -c->height * 10; chassis_mode_states = CHASSIS_MODE_RECOVER; /* 更新状态 */ + + for (uint8_t i = 0; i < 4; i++) { + float target_pose[3] = {0.0,0.0,-0.2}; /* 目标位置 */ + float angle_pose[3]; + Kinematics_InverseKinematics(target_pose, &c->param->mech_param.length, angle_pose, &c->param->mech_param.sign.leg[i]); /* 逆运动学计算 */ + c->output.id[i * 3].Pos = angle_pose[0]; /* 髋关节位置 */ + c->output.id[i * 3 + 1].Pos = angle_pose[1]; /* 大腿位置 */ + c->output.id[i * 3 + 2].Pos = angle_pose[2]; /* 小腿位置 */ + } + // float target_pose[3] = {c_cmd->ctrl_vec.vx/10.0f, c_cmd->ctrl_vec.vy/10.0f, -0.2f}; /* 目标位置 */ + // float target_pose[3] = {0.0,0.0,-0.2}; /* 目标位置 */ + // float angle_pose[3]; + // Kinematics_InverseKinematics(target_pose, &c->param->mech_param.length, angle_pose, &c->param->mech_param.sign.leg[0]); /* 逆运动学计算 */ + // c->output.named.lf_hip.Pos = angle_pose[0]; /* 左前腿髋关节位置 */ + // c->output.named.lf_thigh.Pos = angle_pose[1]; /* 左前腿大腿位置 */ + // c->output.named.lf_calf.Pos = angle_pose[2]; /* 左前腿小腿位置 */ + break; } + + // Limit_ChassicOutput(&c->feedback, &c->output, 0.5, 0.0, 0.0); + for (uint8_t i = 0; i < GO_MOTOR_NUM; i++) { + /* 限制输出 */ + Limit_ChassicOutput(c->feedback.id[i].Pos, &c->output.id[i].Pos, + c->param->mech_param.ratio.id[i] * CHASSIS_MAX_SPEED, + c->param->mech_param.limit.max.id[i], + c->param->mech_param.limit.min.id[i]); + } + } void Chassis_DumpOutput(const Chassis_t *c, GO_ChassisCMD_t *out){ diff --git a/User/module/chassis.h b/User/module/chassis.h index c28e925..2b35bb9 100644 --- a/User/module/chassis.h +++ b/User/module/chassis.h @@ -11,6 +11,7 @@ extern "C" { /* Includes ----------------------------------------------------------------- */ #include "component/cmd.h" #include "component/filter.h" +#include "component/kinematics.h" #include "component/pid.h" #include "device/go.h" @@ -30,6 +31,13 @@ typedef enum { CHASSIS_TYPE_QUADRUPED, /* 四足机器人 */ } Chassis_Type_t; +typedef enum { + IMU_BOARD_BMI088, + IMU_WHEELREC_N100, + IMU_NUM, + IMU_ERROR, +} Chassis_ImuType_t; + // typedef union { // float id[GO_MOTOR_NUM]; /* 零点角度，单位：弧度 */ // struct { @@ -66,46 +74,32 @@ typedef union { } named; } joint_params; -// /*关节减速比*/ -// typedef union { -// float id[GO_MOTOR_NUM]; -// struct{ -// float lf_hip; /* 左前腿髋关节长度，单位：米 */ -// float lf_thigh; /* 左前腿大腿长度，单位：米 */ -// float lf_calf; /* 左前腿小腿长度，单位：米 */ -// float rf_hip; /* 右前腿髋关节长度，单位：米 */ -// float rf_thigh; /* 右前腿大腿长度，单位：米 */ -// float rf_calf; /* 右前腿小腿长度，单位：米 */ -// float lr_hip; /* 左后腿髋关节长度，单位：米 */ -// float lr_thigh; /* 左后腿大腿长度，单位：米 */ -// float lr_calf; /* 左后腿小腿长度，单位：米 */ -// float rr_hip; /* 右后腿髋关节长度，单位：米 */ -// float rr_thigh; /* 右后腿大腿长度，单位：米 */ -// float rr_calf; /* 右后腿小腿长度，单位：米 */ -// } named; -// } joint_ratio; +typedef struct { + joint_params min; + joint_params max; /* 关节的最小和最大角度，单位：弧度 */ +} joint_limits; - - - // struct { - // float x; /* 机械中心X坐标，单位：米 */ - // float y; /* 机械中心Y坐标，单位：米 */ - // float z; /* 机械中心Z坐标，单位：米 */ - // } mech_center; /* 机械中心位置 */ +typedef union { + Kinematics_Sign_t leg[GO_MOTOR_NUM/3]; + struct { + Kinematics_Sign_t lf; /* 左前腿 */ + Kinematics_Sign_t rf; /* 右前腿 */ + Kinematics_Sign_t lr; /* 左后腿 */ + Kinematics_Sign_t rr; /* 右后腿 */ + } named; +} Kinematics_DirectionSign_t; - - // typedef struct { - // /*三个关节距离*/ typedef struct{ joint_params zero_point; /* 零点角度，单位：弧度 */ - joint_params length; /* 关节长度，单位：米 */ + + // joint_params length; /* 关节长度，单位：米 */ + joint_params ratio; /* 关节减速比 */ - struct { - float x; /* 机械中心X坐标，单位：米 */ - float y; /* 机械中心Y坐标，单位：米 */ - float z; /* 机械中心Z坐标，单位：米 */ - } mech_center; /* 机械中心位置 */ + joint_limits limit; /* 关节的最小和最大角度，单位：弧度 */ + Kinematics_LinkLength_t length; /* 关节长度，单位：米 */ + Kinematics_LegOffset_t offset; /* 关节偏移，单位：米 */ + Kinematics_DirectionSign_t sign; /* 关节侧向标志（左前/左后为-1，右前/右后为1） */ }Chassis_Mech_Params_t; diff --git a/User/module/config.c b/User/module/config.c deleted file mode 100644 index de5d622..0000000 --- a/User/module/config.c +++ /dev/null @@ -1,116 +0,0 @@ -/* - * 配置相关 - */ - -#include "config.h" - -#include -#include - -#include "bsp/flash.h" - -#define CONFIG_BASE_ADDRESS (ADDR_FLASH_SECTOR_11) - -Config_t param_default = { - - .uart = { - .left_leg = BSP_UART_LEFT_LEG, - .right_leg = BSP_UART_RIGHT_LEG, - }, - .cali = { - .bmi088 = { - .gyro_offset = {0.0f, 0.0f, 0.0f}, - }, - }, - .chassis = { - .type = CHASSIS_TYPE_QUADRUPED, - - .torque_pid_param = { - .k = 1.0f, /* 控制器增益 */ - .p = 1.0f, /* 比例项增益 */ - .i = 0.0f, /* 积分项增益 */ - .d = 0.0f, /* 微分项增益 */ - .i_limit = 0.0f, /* 积分项上限 */ - .out_limit = 0.0f, /* 输出绝对值限制 */ - .d_cutoff_freq = 10.0f, /* D项低通截止频率 */ - .range = -1.0f, /* 计算循环误差时使用，大于0时启用 */ - }, - - .low_pass_cutoff_freq = { - .in = -1.0f, - .out = -1.0f, - }, - - .mech_param = { - .length = { - .named = { - .lf_hip = 0.0861f, /* 左前腿髋关节长度，单位：米 */ - .lf_thigh = 0.20f, /* 左前腿大腿长度，单位：米 */ - .lf_calf = 0.20f, /* 左前腿小腿长度，单位：米 */ - .rf_hip = 0.0861f, /* 右前腿髋关节长度，单位：米 */ - .rf_thigh = 0.20f, /* 右前腿大腿长度，单位：米 */ - .rf_calf = 0.20f, /* 右前腿小腿长度，单位：米 */ - .lr_hip = 0.0861f, /* 左后腿髋关节长度，单位：米 */ - .lr_thigh = 0.20f, /* 左后腿大腿长度，单位：米 */ - .lr_calf = 0.20f, /* 左后腿小腿长度，单位：米 */ - .rr_hip = 0.0861f, /* 右后腿髋关节长度，单位：米 */ - .rr_thigh = 0.20f, /* 右后腿大腿长度，单位：米 */ - .rr_calf = 0.20f, /* 右后腿小腿长度，单位：米 */ - } - }, - .zero_point = { - .named = { - .lf_hip = 1.98f, /* 左前腿髋关节零点角度，单位：弧度 */ - .lf_thigh = -2.86f, /* 左前腿大腿零点角度，单位：弧度 */ - .lf_calf = -32.367f, /* 左前腿小腿零点角度，单位：弧度 */ - .rf_hip = 5.56f, /* 右前腿髋关节零点角度，单位：弧度 */ - .rf_thigh = 12.92f, /* 右前腿大腿零点角度，单位：弧度 */ - .rf_calf = 37.047f, /* 右前腿小腿零点角度，单位：弧度 */ - .lr_hip = 4.76f, /* 左后腿髋关节零点角度，单位：弧度 */ - .lr_thigh = -4.57f, /* 左后腿大腿零点角度，单位：弧度 */ - .lr_calf = -35.847f, /* 左后腿小腿零点角度，单位：弧度 */ - .rr_hip = 2.42f, /* 右后腿髋关节零点角度，单位：弧度 */ - .rr_thigh = 8.85f, /* 右后腿大腿零点角度，单位：弧度 */ - .rr_calf = 38.55f, /* 右后腿小腿零点角度，单位：弧度 */ - } - }, - .ratio = { - .named = { - .lf_hip = 6.33f, /* 左前腿髋关节减速比 */ - .lf_thigh = 6.33f, /* 左前腿大腿减速比 */ - .lf_calf = 12.66f, /* 左前腿小腿减速比 */ - .rf_hip = 6.33f, /* 右前腿髋关节减速比 */ - .rf_thigh = 6.33f, /* 右前腿大腿减速比 */ - .rf_calf = 12.66f, /* 右前腿小腿减速比 */ - .lr_hip = 6.33f, /* 左后腿髋关节减速比 */ - .lr_thigh = 6.33f, /* 左后腿大腿减速比 */ - .lr_calf = 12.66f, /* 左后腿小腿减速比 */ - .rr_hip = 6.33f, /* 右后腿髋关节减速比 */ - .rr_thigh = 6.33f, /* 右后腿大腿减速比 */ - .rr_calf = 12.66f, /* 右后腿小腿减速比 */ - } - }, - .mech_center = { - .x = 0.0f, /* 机械中心X坐标，单位：米 */ - .y = 0.0f, /* 机械中心Y坐标，单位：米 */ - .z = 0.0f, /* 机械中心Z坐标，单位：米 */ - }, /* 机械中心位置 */ - - }, - - - }, -}; /* param_default */ - - - -/** - * \brief 获取配置信息 - * - * \param cfg 配置信息 - */ -void Config_Get(Config_t *cfg) { - //直接把param_default传进去 - if (cfg == NULL) return; // 检查参数是否为NULL - memcpy(cfg, ¶m_default, sizeof(Config_t)); // 复制默认配置到cfg -} diff --git a/User/module/config.h b/User/module/config.h index a813e63..a15272d 100644 --- a/User/module/config.h +++ b/User/module/config.h @@ -37,7 +37,8 @@ typedef struct { struct { BMI088_Cali_t bmi088; } cali; /* 校准 */ - + Chassis_ImuType_t chassis_imu_type; /* 底盘IMU类型 */ + } Config_t; /** diff --git a/User/task/atti_esti.c b/User/task/atti_esti.c index 8558fcb..4d8b66d 100644 --- a/User/task/atti_esti.c +++ b/User/task/atti_esti.c @@ -7,9 +7,11 @@ #include "task/user_task.h" /* USER INCLUDE BEGIN*/ #include "bsp/pwm.h" +#include "bsp/gpio.h" #include "component/ahrs.h" #include "component/pid.h" #include "device/bmi088.h" +#include "device/n100.h" #include "task/user_task.h" /* USER INCLUDE END*/ @@ -19,6 +21,8 @@ /* Private variables -------------------------------------------------------- */ /* USER STRUCT BEGIN*/ BMI088_t bmi088; +N100_t n100; + BMI088_Cali_t bmi088_cali = { .gyro_offset = {0.0f, 0.0f, 0.0f}, }; /* BMI088校准数据 */ @@ -48,44 +52,81 @@ void Task_atti_esti(void *argument) { osDelay(ATTI_ESTI_INIT_DELAY); /* 延时一段时间再开启任务 */ /* USER CODE INIT BEGIN*/ - BMI088_Init(&bmi088, &bmi088_cali); /* 初始化BMI088传感器 */ - AHRS_Init(&gimbal_ahrs, &mage, BMI088_GetUpdateFreq(&bmi088)); /* 初始化姿态解算算法 */ - /* 初始化IMU温度控制PID，防止温漂 */ - PID_Init(&imu_temp_ctrl_pid, KPID_MODE_NO_D, - 1.0f / BMI088_GetUpdateFreq(&bmi088), &imu_temp_ctrl_pid_param); - // BSP_PWM_Start(BSP_PWM_IMU_HEAT); + switch (task_runtime.config.chassis_imu_type) { + case IMU_BOARD_BMI088: + BMI088_Init(&bmi088, &bmi088_cali); /* 初始化BMI088传感器 */ + AHRS_Init(&gimbal_ahrs, &mage, BMI088_GetUpdateFreq(&bmi088)); /* 初始化姿态解算算法 */ + /* 初始化IMU温度控制PID，防止温漂 */ + // PID_Init(&imu_temp_ctrl_pid, KPID_MODE_NO_D, + // 1.0f / BMI088_GetUpdateFreq(&bmi088), &imu_temp_ctrl_pid_param); + // BSP_PWM_Start(BSP_PWM_IMU_HEAT); + break; + case IMU_WHEELREC_N100: + N100_Init(&n100); + BSP_GPIO_SetPin(BSP_GPIO_5V_EN, BSP_GPIO_ON); /* 打开5V电源 */ + break; + default: + break; + } /* USER CODE INIT END*/ while (1) { /* USER CODE BEGIN */ - /* 等待IMU新数据 */ - BMI088_WaitNew(); + switch (task_runtime.config.chassis_imu_type) { + case IMU_BOARD_BMI088: + /* 等待IMU新数据 */ + BMI088_WaitNew(); + /* 开始数据接收DMA，加速度计和陀螺仪共用同一个SPI接口， + * 一次只能开启一个DMA + */ + BMI088_AcclStartDmaRecv(); + BMI088_AcclWaitDmaCplt(); - /* 开始数据接收DMA，加速度计和陀螺仪共用同一个SPI接口， - * 一次只能开启一个DMA - */ - BMI088_AcclStartDmaRecv(); - BMI088_AcclWaitDmaCplt(); + BMI088_GyroStartDmaRecv(); + BMI088_GyroWaitDmaCplt(); - BMI088_GyroStartDmaRecv(); - BMI088_GyroWaitDmaCplt(); + /* 锁住RTOS内核防止数据解析过程中断，造成错误 */ + osKernelLock(); + /* 接收完所有数据后，把数据从原始字节加工成方便计算的数据 */ + BMI088_ParseAccl(&bmi088); + BMI088_ParseGyro(&bmi088); + + /* 根据设备接收到的数据进行姿态解析 */ + AHRS_Update(&gimbal_ahrs, &bmi088.accl, &bmi088.gyro, &mage); + + /* 根据解析出来的四元数计算欧拉角 */ + AHRS_GetEulr(&eulr_to_send, &gimbal_ahrs); + osKernelUnlock(); + /* 将欧拉角数据放入消息队列 */ + osMessageQueueReset(task_runtime.msgq.body.eulr_imu); + osMessageQueuePut(task_runtime.msgq.body.eulr_imu, &eulr_to_send, 0, 0); /* 将欧拉角数据放入消息队列 */ + + /* PID控制IMU温度，PWM输出 */ + // BSP_PWM_Set(BSP_PWM_IMU_HEAT, + // PID_Calc(&imu_temp_ctrl_pid, 40.0f, bmi088.temp, 0.0f, 0.01f)); + break; + case IMU_WHEELREC_N100: + N100_StartReceiving(&n100); + if (N100_WaitDmaCplt()) { + osKernelLock(); + N100_ParseData(&n100); + osKernelUnlock(); + } else { + N100_HandleOffline(&n100); + } + osMessageQueueReset(task_runtime.msgq.body.eulr_imu); /* 重置消息队列 */ + osMessageQueuePut(task_runtime.msgq.body.eulr_imu, &n100.eulr, 0, 0); /* 将欧拉角数据放入消息队列 */ + + break; + default: + + break; + + } - /* 锁住RTOS内核防止数据解析过程中断，造成错误 */ - osKernelLock(); - /* 接收完所有数据后，把数据从原始字节加工成方便计算的数据 */ - BMI088_ParseAccl(&bmi088); - BMI088_ParseGyro(&bmi088); - /* 根据设备接收到的数据进行姿态解析 */ - AHRS_Update(&gimbal_ahrs, &bmi088.accl, &bmi088.gyro, &mage); - /* 根据解析出来的四元数计算欧拉角 */ - AHRS_GetEulr(&eulr_to_send, &gimbal_ahrs); - osKernelUnlock(); - /* PID控制IMU温度，PWM输出 */ - // BSP_PWM_Set(BSP_PWM_IMU_HEAT, - // PID_Calc(&imu_temp_ctrl_pid, 40.0f, bmi088.temp, 0.0f, 0.01f)); /* USER CODE END */ } diff --git a/User/task/config.yaml b/User/task/config.yaml index c2094b2..43a7c64 100644 --- a/User/task/config.yaml +++ b/User/task/config.yaml @@ -37,14 +37,14 @@ function: Task_cmd name: cmd stack: 256 -- delay: 0 +- delay: 200 description: 四足控制 freq_control: true frequency: 800 function: Task_ctrl_leg name: ctrl_leg stack: 512 -- delay: 0 +- delay: 200 description: 底盘控制，接受反馈和命令，计算输出给到两测腿控制 freq_control: true frequency: 500 diff --git a/User/task/ctrl_leg.c b/User/task/ctrl_leg.c index 684e586..4851d0f 100644 --- a/User/task/ctrl_leg.c +++ b/User/task/ctrl_leg.c @@ -40,9 +40,7 @@ void Task_ctrl_leg(void *argument) { uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ while (1) { tick += delay_tick; /* 计算下一个唤醒时刻 */ - /* USER CODE BEGIN */ - // osMessageQueueGet(task_runtime.msgq.chassis.output, &cmd, NULL, 0); /* 从消息队列中获取底盘控制命令 */ if (osMessageQueueGet(task_runtime.msgq.chassis.output, &go_cmd, NULL, 0) == osOK) { /* 从消息队列中获取底盘控制命令 */ GO_ParseCmd(&go, &go_cmd); /* 解析底盘控制命令 */ } diff --git a/User/task/init.c b/User/task/init.c index 82d2981..f5c28ac 100644 --- a/User/task/init.c +++ b/User/task/init.c @@ -45,6 +45,7 @@ void Task_Init(void *argument) { task_runtime.msgq.cmd.chassis = osMessageQueueNew(2u, sizeof(CMD_ChassisCmd_t), NULL); task_runtime.msgq.chassis.feefback = osMessageQueueNew(2u, sizeof(GO_ChassisFeedback_t), NULL); task_runtime.msgq.chassis.output = osMessageQueueNew(2u, sizeof(GO_ChassisCMD_t), NULL); + task_runtime.msgq.body.eulr_imu = osMessageQueueNew(2u, sizeof(AHRS_Eulr_t), NULL); /* USER MESSAGE END */ osKernelUnlock(); // 解锁内核 diff --git a/User/task/user_task.h b/User/task/user_task.h index c55a80c..8f9bdba 100644 --- a/User/task/user_task.h +++ b/User/task/user_task.h @@ -16,7 +16,7 @@ extern "C" { #define TEST_FREQ (1000) #define MONITOR_FREQ (100) #define CMD_FREQ (500) -#define CTRL_LEG_FREQ (500) +#define CTRL_LEG_FREQ (800) #define CTRL_CHASSIS_FREQ (500) /* 任务初始化延时ms */ @@ -27,8 +27,8 @@ extern "C" { #define CLI_INIT_DELAY (0) #define MONITOR_INIT_DELAY (0) #define CMD_INIT_DELAY (0) -#define CTRL_LEG_INIT_DELAY (0) -#define CTRL_CHASSIS_INIT_DELAY (0) +#define CTRL_LEG_INIT_DELAY (200) +#define CTRL_CHASSIS_INIT_DELAY (200) /* Exported defines --------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */ @@ -51,6 +51,10 @@ typedef struct { /* USER MESSAGE BEGIN */ struct { // osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */ + + struct { + osMessageQueueId_t eulr_imu; + } body; struct { struct { osMessageQueueId_t rc; /* 原始数据消息队列 */ diff --git a/Utils/Kinematics.m b/Utils/Kinematics.m new file mode 100644 index 0000000..f3104d9 --- /dev/null +++ b/Utils/Kinematics.m @@ -0,0 +1,221 @@ +function quadruped_leg_visualization() + % 四足机器人单腿运动学可视化 + + % 清除之前的图形 + close all; + clc; + + % 定义腿部参数 (单位: 米) + leg_params.upper_leg_length = 0.15; + leg_params.lower_leg_length = 0.15; + leg_params.hip_offset_x = 0.05; + leg_params.hip_offset_z = -0.02; + leg_params.hip_yaw_offset = 0.01; + leg_params.knee_sign = 1; % 1或-1，取决于机械设计 + + % 目标位置 (在髋关节坐标系中) + target_pos = [0.2, 0.1, -0.25]; % x, y, z + + % 计算逆运动学 (右腿hip_yaw_sign=1，左腿=-1) + joint_angles = leg_inverse_kinematics(target_pos, leg_params, 1); + + % 显示计算结果 + disp('关节角度 (弧度):'); + disp(['髋关节偏航 (hip yaw): ', num2str(joint_angles(1)), ' rad']); + disp(['髋关节滚动 (hip roll): ', num2str(joint_angles(2)), ' rad']); + disp(['髋关节俯仰 (hip pitch): ', num2str(joint_angles(3)), ' rad']); + disp(['膝关节 (knee): ', num2str(joint_angles(4)), ' rad']); + + disp('关节角度 (度):'); + disp(['髋关节偏航 (hip yaw): ', num2str(rad2deg(joint_angles(1))), '°']); + disp(['髋关节滚动 (hip roll): ', num2str(rad2deg(joint_angles(2))), '°']); + disp(['髋关节俯仰 (hip pitch): ', num2str(rad2deg(joint_angles(3))), '°']); + disp(['膝关节 (knee): ', num2str(rad2deg(joint_angles(4))), '°']); + + % 可视化腿部 + visualize_leg(joint_angles, leg_params, target_pos); +end + +function joint_angles = leg_inverse_kinematics(target_pos, leg_params, hip_yaw_sign) + % 逆运动学计算函数 + + % 从参数字典中提取参数 + L1 = leg_params.upper_leg_length; + L2 = leg_params.lower_leg_length; + offset_x = leg_params.hip_offset_x; + offset_z = leg_params.hip_offset_z; + yaw_offset = leg_params.hip_yaw_offset; + knee_sign = leg_params.knee_sign; + + % 第一步：计算髋关节偏航角 (hip yaw) + x = target_pos(1); + y = target_pos(2); + z = target_pos(3); + + x = x - offset_x; + z = z - offset_z; + + % 使用迭代法处理yaw offset + theta_yaw = atan2(hip_yaw_sign * y, x); + for i = 1:3 + % 计算yaw旋转后的位置 + x_rot = x * cos(theta_yaw) + hip_yaw_sign * y * sin(theta_yaw); + y_rot = -x * sin(theta_yaw) + hip_yaw_sign * y * cos(theta_yaw); + + % 考虑yaw offset + x_rot = x_rot - yaw_offset * (1 - cos(theta_yaw)); + y_rot = y_rot + yaw_offset * sin(theta_yaw); + + theta_yaw = atan2(hip_yaw_sign * y_rot, x_rot); + end + + % 第二步：计算髋关节滚转角 (hip roll) 和俯仰角 (hip pitch) + x_rot = x * cos(theta_yaw) + hip_yaw_sign * y * sin(theta_yaw) - yaw_offset; + z_rot = z; + + % 计算髋关节滚转角 + L = sqrt(x_rot^2 + z_rot^2); + theta_roll = atan2(z_rot, x_rot); + + % 计算髋关节俯仰角和膝关节角度 + D = (L^2 - L1^2 - L2^2) / (2 * L1 * L2); + D = max(min(D, 1.0), -1.0); % 确保数值在有效范围内 + + theta_knee = knee_sign * acos(D); + + alpha = atan2(L2 * sin(theta_knee), L1 + L2 * cos(theta_knee)); + theta_pitch = alpha + theta_roll; + + % 返回关节角度 (hip_yaw, hip_roll, hip_pitch, knee) + joint_angles = [theta_yaw, theta_roll, theta_pitch, theta_knee]; +end + +function visualize_leg(joint_angles, leg_params, target_pos) + % 可视化腿部运动学 + + % 提取参数 + L1 = leg_params.upper_leg_length; + L2 = leg_params.lower_leg_length; + offset_x = leg_params.hip_offset_x; + offset_z = leg_params.hip_offset_z; + yaw_offset = leg_params.hip_yaw_offset; + + % 提取关节角度 + theta_yaw = joint_angles(1); + theta_roll = joint_angles(2); + theta_pitch = joint_angles(3); + theta_knee = joint_angles(4); + + % 创建图形窗口 + figure('Name', '四足机器人单腿运动学可视化', 'NumberTitle', 'off', 'Position', [100, 100, 1200, 800]); + + % 1. 3D视图 + subplot(2,2,[1,3]); + hold on; + grid on; + axis equal; + view(3); + xlabel('X (m)'); + ylabel('Y (m)'); + zlabel('Z (m)'); + title('3D视图'); + + % 绘制坐标系 + plot3([0, 0.1], [0, 0], [0, 0], 'r', 'LineWidth', 2); % X轴 + plot3([0, 0], [0, 0.1], [0, 0], 'g', 'LineWidth', 2); % Y轴 + plot3([0, 0], [0, 0], [0, 0.1], 'b', 'LineWidth', 2); % Z轴 + + % 计算关节位置 + % 髋关节位置 (考虑了offset) + hip_pos = [offset_x, 0, offset_z]; + + % 应用yaw旋转 + R_yaw = [cos(theta_yaw), -sin(theta_yaw), 0; + sin(theta_yaw), cos(theta_yaw), 0; + 0, 0, 1]; + + % 应用roll旋转 (在yaw旋转后的坐标系中) + R_roll = [cos(theta_roll), 0, sin(theta_roll); + 0, 1, 0; + -sin(theta_roll), 0, cos(theta_roll)]; + + % 应用pitch旋转 + R_pitch = [1, 0, 0; + 0, cos(theta_pitch), -sin(theta_pitch); + 0, sin(theta_pitch), cos(theta_pitch)]; + + % 计算大腿末端位置 + upper_leg_end = hip_pos + (R_yaw * R_roll * R_pitch * [L1; 0; 0])'; + + % 计算小腿末端位置 + R_knee = [1, 0, 0; + 0, cos(theta_knee), -sin(theta_knee); + 0, sin(theta_knee), cos(theta_knee)]; + + lower_leg_end = upper_leg_end + (R_yaw * R_roll * R_pitch * R_knee * [L2; 0; 0])'; + + % 绘制连杆 + plot3([hip_pos(1), upper_leg_end(1)], ... + [hip_pos(2), upper_leg_end(2)], ... + [hip_pos(3), upper_leg_end(3)], 'b-o', 'LineWidth', 3, 'MarkerSize', 8); + + plot3([upper_leg_end(1), lower_leg_end(1)], ... + [upper_leg_end(2), lower_leg_end(2)], ... + [upper_leg_end(3), lower_leg_end(3)], 'r-o', 'LineWidth', 3, 'MarkerSize', 8); + + % 绘制目标位置 + plot3(target_pos(1), target_pos(2), target_pos(3), 'g*', 'MarkerSize', 15); + + % 绘制yaw offset + plot3([hip_pos(1), hip_pos(1)+yaw_offset*sin(theta_yaw)], ... + [0, yaw_offset*cos(theta_yaw)], ... + [hip_pos(3), hip_pos(3)], 'm--', 'LineWidth', 2); + + % 设置视图范围 + axis_range = max([L1+L2, abs(offset_x)+0.1, abs(offset_z)+0.1]); + xlim([-axis_range, axis_range]); + ylim([-axis_range, axis_range]); + zlim([-axis_range, axis_range]); + + % 2. X-Y平面视图 + subplot(2,2,2); + hold on; + grid on; + axis equal; + xlabel('X (m)'); + ylabel('Y (m)'); + title('X-Y平面视图'); + + plot([0, 0.1], [0, 0], 'r', 'LineWidth', 2); % X轴 + plot([0, 0], [0, 0.1], 'g', 'LineWidth', 2); % Y轴 + + plot([hip_pos(1), upper_leg_end(1)], [hip_pos(2), upper_leg_end(2)], 'b-o', 'LineWidth', 3, 'MarkerSize', 8); + plot([upper_leg_end(1), lower_leg_end(1)], [upper_leg_end(2), lower_leg_end(2)], 'r-o', 'LineWidth', 3, 'MarkerSize', 8); + plot(target_pos(1), target_pos(2), 'g*', 'MarkerSize', 15); + plot([hip_pos(1), hip_pos(1)+yaw_offset*sin(theta_yaw)], [0, yaw_offset*cos(theta_yaw)], 'm--', 'LineWidth', 2); + + xlim([-axis_range, axis_range]); + ylim([-axis_range, axis_range]); + + % 3. X-Z平面视图 + subplot(2,2,4); + hold on; + grid on; + axis equal; + xlabel('X (m)'); + ylabel('Z (m)'); + title('X-Z平面视图'); + + plot([0, 0.1], [0, 0], 'r', 'LineWidth', 2); % X轴 + plot([0, 0], [0, 0.1], 'b', 'LineWidth', 2); % Z轴 + + plot([hip_pos(1), upper_leg_end(1)], [hip_pos(3), upper_leg_end(3)], 'b-o', 'LineWidth', 3, 'MarkerSize', 8); + plot([upper_leg_end(1), lower_leg_end(1)], [upper_leg_end(3), lower_leg_end(3)], 'r-o', 'LineWidth', 3, 'MarkerSize', 8); + plot(target_pos(1), target_pos(3), 'g*', 'MarkerSize', 15); + + xlim([-axis_range, axis_range]); + ylim([-axis_range, axis_range]); + + % 添加图例 + legend({'大腿', '小腿', '目标位置', 'Yaw偏移'}, 'Location', 'best'); +end \ No newline at end of file diff --git a/Utils/Kinematics.py b/Utils/Kinematics.py new file mode 100644 index 0000000..c37dbca --- /dev/null +++ b/Utils/Kinematics.py @@ -0,0 +1,78 @@ +# test_kinematics.py + +import numpy as np + +def forward_kinematics(theta, link, side_sign): + l1 = link['hip'] * side_sign + l2 = -link['thigh'] + l3 = -link['calf'] + q1, q2, q3 = theta + + s1, s2, s3 = np.sin([q1, q2, q3]) + c1, c2, c3 = np.cos([q1, q2, q3]) + + c23 = c2 * c3 - s2 * s3 + s23 = s2 * c3 + c2 * s3 + + x = l3 * s23 + l2 * s2 + y = -l3 * s1 * c23 + l1 * c1 - l2 * c2 * s1 + z = l3 * c1 * c23 + l1 * s1 + l2 * c1 * c2 + return np.array([x, y, z]) + +def q1_ik(py, pz, l1): + L = np.sqrt(py*py + pz*pz - l1*l1) + return np.arctan2(pz*l1 + py*L, py*l1 - pz*L) + +def q3_ik(b3z, b4z, b): + temp = (b3z**2 + b4z**2 - b**2) / (2.0 * np.abs(b3z * b4z)) + temp = np.clip(temp, -1.0, 1.0) + q3 = np.arccos(temp) + return -(np.pi - q3) + +def q2_ik(q1, q3, px, py, pz, b3z, b4z): + a1 = py * np.sin(q1) - pz * np.cos(q1) + a2 = px + m1 = b4z * np.sin(q3) + m2 = b3z + b4z * np.cos(q3) + return np.arctan2(m1 * a1 + m2 * a2, m1 * a2 - m2 * a1) + +def inverse_kinematics(foot, link, side_sign): + px, py, pz = foot + b2y = link['hip'] * side_sign + b3z = -link['thigh'] + b4z = -link['calf'] + a = link['hip'] + c = np.sqrt(px*px + py*py + pz*pz) + b = np.sqrt(c*c - a*a) + if np.isnan(b) or b > abs(b3z) + abs(b4z): + return None + q1 = q1_ik(py, pz, b2y) + q3 = q3_ik(b3z, b4z, b) + q2 = q2_ik(q1, q3, px, py, pz, b3z, b4z) + return np.array([q1, q2, q3]) + +# ...existing code... + +def test(): + link = {'hip': 0.05, 'thigh': 0.2, 'calf': 0.2} + side_sign = 1 # 左前腿 + + # 输入一个目标点 + foot_target = np.array([0.0, 0.06, -0.2]) + print("目标足端位置:", foot_target) + + # 逆运动学求解关节角度 + theta = inverse_kinematics(foot_target, link, side_sign) + if theta is None: + print("目标点不可达！") + return + print("逆运动学解（关节角度，单位：弧度）:", theta) + print("逆运动学解（关节角度，单位：度）:", np.degrees(theta)) + + # 正运动学验算 + foot_check = forward_kinematics(theta, link, side_sign) + print("正运动学验算足端位置:", foot_check) + print("位置误差:", np.abs(foot_target - foot_check)) + +if __name__ == "__main__": + test()