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Robofish 2025-07-06 20:06:33 +08:00
parent 318287223c
commit a0d054f85a
11 changed files with 13969 additions and 4751 deletions
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12
CtrBoard-H7_ALL.ioc
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@ -433,11 +433,13 @@ Mcu.Pin61=VP_OCTOSPI2_VS_quad
Mcu.Pin62=VP_SYS_VS_tim23
Mcu.Pin63=VP_USB_DEVICE_VS_USB_DEVICE_CDC_HS
Mcu.Pin64=VP_MEMORYMAP_VS_MEMORYMAP
Mcu.Pin65=VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.4.0_1.4.0
Mcu.Pin7=PC0
Mcu.Pin8=PC1
Mcu.Pin9=PC2_C
Mcu.PinsNb=65
Mcu.ThirdPartyNb=0
Mcu.PinsNb=66
Mcu.ThirdParty0=STMicroelectronics.X-CUBE-ALGOBUILD.1.4.0
Mcu.ThirdPartyNb=1
Mcu.UserConstants=
Mcu.UserName=STM32H723VGTx
MxCube.Version=6.14.1
@ -846,6 +848,10 @@ SPI2.Direction=SPI_DIRECTION_2LINES
SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPolarity,CLKPhase
SPI2.Mode=SPI_MODE_MASTER
SPI2.VirtualType=VM_MASTER
STMicroelectronics.X-CUBE-ALGOBUILD.1.4.0.DSPOoLibraryJjLibrary_Checked=true
STMicroelectronics.X-CUBE-ALGOBUILD.1.4.0.IPParameters=LibraryCcDSPOoLibraryJjDSPOoLibrary
STMicroelectronics.X-CUBE-ALGOBUILD.1.4.0.LibraryCcDSPOoLibraryJjDSPOoLibrary=true
STMicroelectronics.X-CUBE-ALGOBUILD.1.4.0_SwParameter=LibraryCcDSPOoLibraryJjDSPOoLibrary\:true;
TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM1.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation1 CH1,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation3 CH3,Prescaler
@ -908,6 +914,8 @@ VP_MEMORYMAP_VS_MEMORYMAP.Mode=CurAppReg
VP_MEMORYMAP_VS_MEMORYMAP.Signal=MEMORYMAP_VS_MEMORYMAP
VP_OCTOSPI2_VS_quad.Mode=quad_mode
VP_OCTOSPI2_VS_quad.Signal=OCTOSPI2_VS_quad
VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.4.0_1.4.0.Mode=DSPOoLibraryJjLibrary
VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.4.0_1.4.0.Signal=STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.4.0_1.4.0
VP_SYS_VS_tim23.Mode=TIM23
VP_SYS_VS_tim23.Signal=SYS_VS_tim23
VP_USB_DEVICE_VS_USB_DEVICE_CDC_HS.Mode=CDC_HS

10
MDK-ARM/CtrBoard-H7_ALL.uvoptx
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@ -175,6 +175,16 @@
<WinNumber>1</WinNumber>
<ItemText>n100_cali</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>n100</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>cmd</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
<THDelay>0</THDelay>

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MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf
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MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex
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8970
Middlewares/ST/ARM/DSP/Inc/arm_math.h Normal file
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201
Middlewares/Third_Party/ARM/DSP/LICENSE.txt vendored Normal file
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@ -0,0 +1,201 @@
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15
User/component/cmd.c
View File

@ -19,36 +19,39 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
switch (rc->sw_l) {
/* 左拨杆相应行为选择和解析 */
case CMD_SW_UP:
cmd->chassis.mode = CHASSIS_MODE_RELAX;
switch (rc->sw_r) {
/* 右拨杆相应行为选择和解析*/
case CMD_SW_UP:
cmd->chassis.mode = CHASSIS_MODE_RELAX;
cmd->chassis.action = CHASSIS_ACTION_NONE;
break;
case CMD_SW_MID:
cmd->chassis.mode = CHASSIS_MODE_DAMP;
cmd->chassis.action = CHASSIS_ACTION_NONE;
break;
case CMD_SW_DOWN:
cmd->chassis.mode = CHASSIS_MODE_DAMP;
cmd->chassis.action = CHASSIS_ACTION_NONE;
break;
case CMD_SW_ERR:
cmd->chassis.mode = CHASSIS_MODE_RELAX;
cmd->chassis.action = CHASSIS_ACTION_NONE;
break;
}
break;
case CMD_SW_MID:
cmd->chassis.mode = CHASSIS_MODE_DAMP;
cmd->chassis.mode = CHASSIS_MODE_JUMP;
switch (rc->sw_r) {
/* 右拨杆相应行为选择和解析*/
case CMD_SW_UP:
cmd->chassis.action = CHASSIS_ACTION_NONE;
cmd->chassis.action = CHASSIS_ACTION_STAND;
break;
case CMD_SW_MID:
cmd->chassis.action = CHASSIS_ACTION_NONE;
cmd->chassis.action = CHASSIS_ACTION_WAIT_JUMP;
break;
case CMD_SW_DOWN:
cmd->chassis.action = CHASSIS_ACTION_NONE;
cmd->chassis.action = CHASSIS_ACTION_JUMP;
break;
case CMD_SW_ERR:
cmd->chassis.action = CHASSIS_ACTION_NONE;
@ -67,7 +70,7 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
cmd->chassis.action = CHASSIS_ACTION_STAND;
break;
case CMD_SW_DOWN:
cmd->chassis.action = CHASSIS_ACTION_TROT;
cmd->chassis.action = CHASSIS_ACTION_SLOW_TROT;
break;
case CMD_SW_ERR:
cmd->chassis.action = CHASSIS_ACTION_NONE;

4
User/component/cmd.h
View File

@ -20,6 +20,7 @@ typedef enum {
CHASSIS_MODE_BREAK, /* 刹车模式，电机闭环控制保持静止。用于机器人停止状态 */
CHASSIS_MODE_POSITION, /* 位置模式，电机闭环控制保持在指定位置 */
CHASSIS_MODE_FOLLOW, /* 通过闭环控制使车头方向跟随遥控器 */
CHASSIS_MODE_JUMP, /*跳跃模式*/
} CMD_ChassisMode_t;
typedef enum {
@ -27,6 +28,9 @@ typedef enum {
CHASSIS_ACTION_STAND, /* 站立动作 */
CHASSIS_ACTION_WALK, /* 行走动作 */
CHASSIS_ACTION_TROT, /* 小跑动作 */
CHASSIS_ACTION_SLOW_TROT,
CHASSIS_ACTION_WAIT_JUMP,
CHASSIS_ACTION_JUMP, /* 跳跃动作 */
CHASSIS_ACTION_RUN,
CHASSIS_ACTION_NUM,

4
User/module/chassis.c
View File

@ -44,8 +44,8 @@ static Kinematics_JointCMD_t position_mode = {
.T = 0.0f, /* 零力矩 */
.W = 0.0f, /* 零速度 */
.Pos = 0.0f, /* 零位置 */
.K_P = 1.2f, /* 刚度系数 */
.K_W = 0.05f, /* 速度系数 */
.K_P = 2.2f, /* 刚度系数 */
.K_W = 0.08f, /* 速度系数 */
};
// static uint8_t chassis_mode_states = 0;

51
User/module/chassis.h
View File

@ -41,18 +41,18 @@ typedef enum {
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 */
float lf_hip;
float lf_thigh;
float lf_calf;
float rf_hip;
float rf_thigh;
float rf_calf;
float lr_hip;
float lr_thigh;
float lr_calf;
float rr_hip;
float rr_thigh;
float rr_calf;
} named;
} joint_params;
@ -61,6 +61,20 @@ typedef struct {
float y;
float z;
} joint_pos;
typedef struct {
float x;
float y;
float z;
} foot_pos;
typedef struct {
foot_pos lf;
foot_pos rf;
foot_pos lr;
foot_pos rr;
} foots_pos;
typedef struct {
joint_params min;
joint_params max;
@ -80,8 +94,6 @@ typedef union {
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 ratio; /* 关节减速比 */
joint_limits limit; /* 关节的最小和最大角度，单位：弧度 */
@ -99,6 +111,7 @@ typedef struct {
KPID_Params_t torque_pid_param; /* 力矩矩控制PID的参数 */
KPID_Params_t blance_pid_param; /* 平衡PID的参数 */
/* 低通滤波器截止频率 */
struct {
float in; /* 输入 */
@ -113,11 +126,11 @@ typedef struct {
*/
typedef struct {
uint32_t lask_wakeup;
float dt;
float time;
const Chassis_Params_t *param; /* 底盘的参数，用Chassis_Init设定 */
GO_ChassisFeedback_t feedback; /* 底盘反馈信息 */
GO_ChassisCMD_t output;
float height; /* 底盘高度，单位：米 */
@ -143,14 +156,18 @@ typedef struct {
}end_pos;
} leg_pos; /* 四条腿的关节位置，单位：米 */
struct {
foots_pos *leg;
} foots; /* 四条腿的足端位置*/
/* 模块通用 */
CMD_ChassisMode_t mode; /* 底盘模式 */
CMD_ChassisAction_t action; /* 底盘模式 */
AHRS_Eulr_t eulr_imu; /* 欧拉角，单位：弧度 */
AHRS_Eulr_t eulr_imu; /* IMU获取的欧拉角 */
AHRS_Eulr_t delta_eulr; /* 欧拉角变化量，单位：弧度 */
AHRS_Eulr_t delta_eulr; /* 欧拉角变化量 */
AHRS_Eulr_t eulr_setpoint; /* 期望的欧拉角，单位：弧度 */

67
User/module/config.c
View File

@ -11,15 +11,17 @@
#define CONFIG_BASE_ADDRESS (ADDR_FLASH_SECTOR_11)
#define JOINT_CALF_OFFSET (2.7321f * 12.66)
#define JOINT_CALF_OFFSET (2.7321f * 12.66f)
Config_t param_default = {
.uart = {
.left_leg = BSP_UART_LEFT_LEG,
.right_leg = BSP_UART_RIGHT_LEG,
},
.chassis_imu_type = IMU_WHEELREC_N100,
.cali = {
.bmi088 = {
.gyro_offset = {0.0f, 0.0f, 0.0f},
@ -30,25 +32,25 @@ Config_t param_default = {
.type = CHASSIS_TYPE_QUADRUPED,
.torque_pid_param = {
.k = 5.0f, /* 控制器增益 */
.p = 20.0f, /* 比例项增益 */
.i = 1.0f, /* 积分项增益 */
.d = 0.0f, /* 微分项增益 */
.i_limit = 100.0f, /* 积分项上限 */
.out_limit = 100.0f, /* 输出绝对值限制 */
.d_cutoff_freq = -1.0f, /* 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 */
.k = 5.0f,
.p = 20.0f,
.i = 1.0f,
.d = 0.0f,
.i_limit = 100.0f,
.out_limit = 100.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
},
.blance_pid_param = {
.k = 1.00f, /* 控制器增益 */
.p = 0.08f, /* 比例项增益 */
.i = 0.08f, /* 积分项增益 */
.d = 0.0f, /* 微分项增益 */
.i_limit = 0.05f, /* 积分项上限 */
.out_limit = 0.1f, /* 输出绝对值限制 */
.d_cutoff_freq = -1.0f, /* 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 */
.k = 1.00f,
.p = 0.08f,
.i = 0.08f,
.d = 0.0f,
.i_limit = 0.05f,
.out_limit = 0.1f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
},
.low_pass_cutoff_freq = {
@ -57,11 +59,13 @@ Config_t param_default = {
},
.mech_param = {
.length = {
.hip = 0.0861f,
.thigh = 0.20f,
.calf = 0.20f,
},
.limit = {
.max = {
.named = {
@ -79,6 +83,7 @@ Config_t param_default = {
.rr_calf = -1.2f, /* 右后腿小腿最大角度，单位：弧度 */
}
},
.min = {
.named = {
.lf_hip = -0.50f, /* 左前腿髋关节最大角度，单位：弧度 */
@ -97,29 +102,26 @@ Config_t param_default = {
}
},
.zero_point = {
.named = {
.lf_hip = 0.02f, /* 左前腿髋关节零点角度，单位：弧度 */
.lf_thigh = -3.17f, /* 左前腿大腿零点角度，单位：弧度 */
.lf_calf = 0.72f - JOINT_CALF_OFFSET, /* 左前腿小腿零点角度，单位：弧度 */
.lf_thigh = -4.90f, /* 左前腿大腿零点角度，单位：弧度 */
.lf_calf = 0.9f - JOINT_CALF_OFFSET, /* 左前腿小腿零点角度，单位：弧度 */
.rf_hip = 5.37f, /* 右前腿髋关节零点角度，单位：弧度 */
.rf_thigh = 9.38f, /* 右前腿大腿零点角度，单位：弧度 */
.rf_calf = 4.96f + JOINT_CALF_OFFSET, /* 右前腿小腿零点角度，单位：弧度 */
.rf_hip = 5.27f, /* 右前腿髋关节零点角度，单位：弧度 */
.rf_thigh = 9.443f, /* 右前腿大腿零点角度，单位：弧度 */
.rf_calf = 6.02777243f + JOINT_CALF_OFFSET, /* 右前腿小腿零点角度，单位：弧度 */
.lr_hip = 4.5f, /* 左后腿髋关节零点角度，单位：弧度 */
.lr_thigh = -3.2f, /* 左后腿大腿零点角度，单位：弧度 */
.lr_calf = 1.73f - JOINT_CALF_OFFSET, /* 左后腿小腿零点角度，单位：弧度 */
.lr_calf = 1.22f - JOINT_CALF_OFFSET, /* 左后腿小腿零点角度，单位：弧度 */
.rr_hip = 2.7f, /* 右后腿髋关节零点角度，单位：弧度 */
.rr_thigh = 10.58f, /* 右后腿大腿零点角度，单位：弧度 */
.rr_calf = 3.58f + JOINT_CALF_OFFSET, /* 右后腿小腿零点角度，单位：弧度 */
.rr_hip = 2.55f, /* 右后腿髋关节零点角度，单位：弧度 */
.rr_thigh = 10.45f, /* 右后腿大腿零点角度，单位：弧度 */
.rr_calf = 3.48f + JOINT_CALF_OFFSET, /* 右后腿小腿零点角度，单位：弧度 */
}
},
.sign = {
.leg = {
[0] = { .hip = 1, .thigh = 1, .calf = -1 }, /* 左前腿 */
@ -128,6 +130,7 @@ Config_t param_default = {
[3] = { .hip = 1, .thigh = -1, .calf = 1 }, /* 右后腿 */
}
},
.ratio = {
.named = {
.lf_hip = 6.33f, /* 左前腿髋关节减速比 */
@ -144,15 +147,13 @@ Config_t param_default = {
.rr_calf = 12.66f, /* 右后腿小腿减速比 */
}
},
.leg_offset = {
.x = 0.19625f, /* 腿偏移X轴，单位：米 */
.y = 0.0825f, /* 腿偏移Y轴，单位：米 */
.z = 0.0f, /* 腿偏移Z轴，单位：米 */
}
},
},
}; /* param_default */