换电脑

CtrBoard-H7_ALL.ioc

@@ -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.PinsNb=66
-Mcu.ThirdPartyNb=0
+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

MDK-ARM/CtrBoard-H7_ALL.uvoptx

@@ -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>

Middlewares/Third_Party/ARM/DSP/LICENSE.txt

@@ -0,0 +1,201 @@
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User/component/cmd.c

@@ -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;

User/component/cmd.h

@@ -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,

User/module/chassis.c

@@ -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_P = 2.2f, /* 刚度系数 */
-    .K_W = 0.05f, /* 速度系数 */
+    .K_W = 0.08f, /* 速度系数 */
 };
 
 // static uint8_t chassis_mode_states = 0;

User/module/chassis.h

@@ -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_hip;
-    float lf_thigh; /* 左前腿大腿长度，单位：米 */
+    float lf_thigh;
-    float lf_calf;  /* 左前腿小腿长度，单位：米 */
+    float lf_calf;
-    float rf_hip;   /* 右前腿髋关节长度，单位：米 */
+    float rf_hip;
-    float rf_thigh; /* 右前腿大腿长度，单位：米 */
+    float rf_thigh;
-    float rf_calf;  /* 右前腿小腿长度，单位：米 */
+    float rf_calf;
-    float lr_hip;   /* 左后腿髋关节长度，单位：米 */
+    float lr_hip;
-    float lr_thigh; /* 左后腿大腿长度，单位：米 */
+    float lr_thigh;
-    float lr_calf;  /* 左后腿小腿长度，单位：米 */
+    float lr_calf;
-    float rr_hip;   /* 右后腿髋关节长度，单位：米 */
+    float rr_hip;
-    float rr_thigh; /* 右后腿大腿长度，单位：米 */
+    float rr_thigh;
-    float rr_calf;  /* 右后腿小腿长度，单位：米 */
+    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 */
   

User/module/config.c

@@ -11,7 +11,7 @@
 
 #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 = {
 
@@ -19,7 +19,9 @@ Config_t param_default = {
         .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 */
+            .k = 5.0f,
-            .p = 20.0f, /* 比例项增益 */
+            .p = 20.0f,
-            .i = 1.0f, /* 积分项增益 */
+            .i = 1.0f,
-            .d = 0.0f, /* 微分项增益 */
+            .d = 0.0f,
-            .i_limit = 100.0f, /* 积分项上限 */
+            .i_limit = 100.0f,
-            .out_limit = 100.0f, /* 输出绝对值限制 */
+            .out_limit = 100.0f,
-            .d_cutoff_freq = -1.0f, /* D项低通截止频率 */
+            .d_cutoff_freq = -1.0f,
-            .range = -1.0f, /* 计算循环误差时使用，大于0时启用 */
+            .range = -1.0f,
         },
 
         .blance_pid_param = {
-            .k = 1.00f, /* 控制器增益 */
+            .k = 1.00f,
-            .p = 0.08f, /* 比例项增益 */
+            .p = 0.08f,
-            .i = 0.08f, /* 积分项增益 */
+            .i = 0.08f,
-            .d = 0.0f, /* 微分项增益 */
+            .d = 0.0f,
-            .i_limit = 0.05f, /* 积分项上限 */
+            .i_limit = 0.05f,
-            .out_limit = 0.1f, /* 输出绝对值限制 */
+            .out_limit = 0.1f,
-            .d_cutoff_freq = -1.0f, /* D项低通截止频率 */
+            .d_cutoff_freq = -1.0f,
-            .range = -1.0f, /* 计算循环误差时使用，大于0时启用 */
+            .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_thigh = -4.90f, /* 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_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_hip = 5.27f,   /* 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_thigh = 9.443f, /* 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_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_hip = 2.55f,   /* 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_thigh = 10.45f, /* 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_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 */