160 lines
6.8 KiB
C
160 lines
6.8 KiB
C
/*
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* 配置相关
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*/
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#include "config.h"
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#include <stdint.h>
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#include <string.h>
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#include "bsp/flash.h"
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#define CONFIG_BASE_ADDRESS (ADDR_FLASH_SECTOR_11)
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#define JOINT_CALF_OFFSET (2.7321f * 12.66)
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Config_t param_default = {
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.uart = {
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.left_leg = BSP_UART_LEFT_LEG,
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.right_leg = BSP_UART_RIGHT_LEG,
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},
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.chassis_imu_type = IMU_WHEELREC_N100,
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.cali = {
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.bmi088 = {
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.gyro_offset = {0.0f, 0.0f, 0.0f},
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},
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},
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.chassis = {
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.type = CHASSIS_TYPE_QUADRUPED,
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.torque_pid_param = {
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.k = 1.0f, /* 控制器增益 */
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.p = 1.0f, /* 比例项增益 */
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.i = 0.0f, /* 积分项增益 */
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.d = 0.0f, /* 微分项增益 */
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.i_limit = 0.0f, /* 积分项上限 */
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.out_limit = 0.0f, /* 输出绝对值限制 */
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.d_cutoff_freq = 10.0f, /* D项低通截止频率 */
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.range = -1.0f, /* 计算循环误差时使用，大于0时启用 */
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},
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.low_pass_cutoff_freq = {
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.in = -1.0f,
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.out = -1.0f,
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},
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.mech_param = {
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.length = {
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.hip = 0.0861f,
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.thigh = 0.20f,
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.calf = 0.20f,
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},
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.limit = {
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.max = {
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.named = {
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.lf_hip = 0.50f, /* 左前腿髋关节最大角度，单位：弧度 */
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.lf_thigh = 2.50f, /* 左前腿大腿最大角度，单位：弧度 */
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.lf_calf = 2.60f, /* 左前腿小腿最大角度，单位：弧度 */
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.rf_hip = 0.50f, /* 右前腿髋关节最大角度，单位：弧度 */
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.rf_thigh = 0.0f, /* 右前腿大腿最大角度，单位：弧度 */
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.rf_calf = -1.2f, /* 右前腿小腿最大角度，单位：弧度 */
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.lr_hip = 0.50f, /* 左后腿髋关节最大角度，单位：弧度 */
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.lr_thigh = 2.50f, /* 左后腿大腿最大角度，单位：弧度 */
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.lr_calf = 2.60f, /* 左后腿小腿最大角度，单位：弧度 */
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.rr_hip = 0.50f, /* 右后腿髋关节最大角度，单位：弧度 */
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.rr_thigh = 0.0f, /* 右后腿大腿最大角度，单位：弧度 */
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.rr_calf = -1.2f, /* 右后腿小腿最大角度，单位：弧度 */
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}
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},
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.min = {
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.named = {
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.lf_hip = -0.50f, /* 左前腿髋关节最大角度，单位：弧度 */
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.lf_thigh = 0.0f, /* 左前腿大腿最大角度，单位：弧度 */
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.lf_calf = 1.20f, /* 左前腿小腿最大角度，单位：弧度 */
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.rf_hip = -0.50f, /* 右前腿髋关节最大角度，单位：弧度 */
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.rf_thigh = -2.50f, /* 右前腿大腿最大角度，单位：弧度 */
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.rf_calf = -2.6f, /* 右前腿小腿最大角度，单位：弧度 */
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.lr_hip = -0.50f, /* 左后腿髋关节最大角度，单位：弧度 */
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.lr_thigh = 0.0f, /* 左后腿大腿最大角度，单位：弧度 */
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.lr_calf = 1.20f, /* 左后腿小腿最大角度，单位：弧度 */
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.rr_hip = -0.50f, /* 右后腿髋关节最大角度，单位：弧度 */
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.rr_thigh = -2.50f, /* 右后腿大腿最大角度，单位：弧度 */
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.rr_calf = -2.6f, /* 右后腿小腿最大角度，单位：弧度 */
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}
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}
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},
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.zero_point = {
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.named = {
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.lf_hip = 0.02f, /* 左前腿髋关节零点角度，单位：弧度 */
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.lf_thigh = -3.17f, /* 左前腿大腿零点角度，单位：弧度 */
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.lf_calf = 2.84f - JOINT_CALF_OFFSET, /* 左前腿小腿零点角度，单位：弧度 */
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.rf_hip = 5.37f, /* 右前腿髋关节零点角度，单位：弧度 */
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.rf_thigh = 9.38f, /* 右前腿大腿零点角度，单位：弧度 */
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.rf_calf = 4.45f + JOINT_CALF_OFFSET, /* 右前腿小腿零点角度，单位：弧度 */
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.lr_hip = 4.70f, /* 左后腿髋关节零点角度，单位：弧度 */
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.lr_thigh = -4.11f, /* 左后腿大腿零点角度，单位：弧度 */
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.lr_calf = 2.56f - JOINT_CALF_OFFSET, /* 左后腿小腿零点角度，单位：弧度 */
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.rr_hip = 2.85f, /* 右后腿髋关节零点角度，单位：弧度 */
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.rr_thigh = 10.81f, /* 右后腿大腿零点角度，单位：弧度 */
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.rr_calf = 4.83f + JOINT_CALF_OFFSET, /* 右后腿小腿零点角度，单位：弧度 */
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}
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},
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.sign = {
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.leg = {
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[0] = { .hip = 1, .thigh = 1, .calf = -1 }, /* 左前腿 */
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[1] = { .hip = -1, .thigh = -1, .calf = 1 }, /* 右前腿 */
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[2] = { .hip = -1, .thigh = 1, .calf = -1 }, /* 左后腿 */
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[3] = { .hip = 1, .thigh = -1, .calf = 1 }, /* 右后腿 */
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}
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},
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.ratio = {
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.named = {
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.lf_hip = 6.33f, /* 左前腿髋关节减速比 */
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.lf_thigh = 6.33f, /* 左前腿大腿减速比 */
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.lf_calf = 12.66f, /* 左前腿小腿减速比 */
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.rf_hip = 6.33f, /* 右前腿髋关节减速比 */
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.rf_thigh = 6.33f, /* 右前腿大腿减速比 */
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.rf_calf = 12.66f, /* 右前腿小腿减速比 */
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.lr_hip = 6.33f, /* 左后腿髋关节减速比 */
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.lr_thigh = 6.33f, /* 左后腿大腿减速比 */
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.lr_calf = 12.66f, /* 左后腿小腿减速比 */
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.rr_hip = 6.33f, /* 右后腿髋关节减速比 */
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.rr_thigh = 6.33f, /* 右后腿大腿减速比 */
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.rr_calf = 12.66f, /* 右后腿小腿减速比 */
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}
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},
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.leg_offset = {
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.x = 0.19625f, /* 腿偏移X轴，单位：米 */
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.y = 0.0825f, /* 腿偏移Y轴，单位：米 */
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.z = 0.0f, /* 腿偏移Z轴，单位：米 */
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}
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},
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},
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}; /* param_default */
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/**
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* \brief 获取配置信息
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*
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* \param cfg 配置信息
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*/
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void Config_Get(Config_t *cfg) {
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//直接把param_default传进去
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if (cfg == NULL) return; // 检查参数是否为NULL
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memcpy(cfg, ¶m_default, sizeof(Config_t)); // 复制默认配置到cfg
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}
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