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暂存2轴云台

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Robofish 2025-10-13 02:22:16 +08:00
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assets/User_code/module/2_axis_gimbal.c Normal file
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/*
* 云台模组
*/
/* Includes ----------------------------------------------------------------- */
#include "bsp/can.h"
#include "bsp/time.h"
#include "component/filter.h"
#include "component/pid.h"
#include "device/motor_dm.h"
#include "device/motor_rm.h"
#include "gimbal.h"
#include <math.h>
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* Private function -------------------------------------------------------- */
/**
* \brief 设置云台模式
*
* \param c 包含云台数据的结构体
* \param mode 要设置的模式
*
* \return 函数运行结果
*/
static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) {
if (g == NULL)
return -1;
if (mode == g->mode)
return GIMBAL_OK;
PID_Reset(&g->pid.yaw_angle);
PID_Reset(&g->pid.yaw_omega);
PID_Reset(&g->pid.pit_angle);
PID_Reset(&g->pid.pit_omega);
LowPassFilter2p_Reset(&g->filter_out.yaw, 0.0f);
LowPassFilter2p_Reset(&g->filter_out.pit, 0.0f);
MOTOR_DM_Enable(&(g->param->yaw_motor));
AHRS_ResetEulr(&(g->setpoint.eulr)); /* 切换模式后重置设定值 */
// if (g->mode == GIMBAL_MODE_RELAX) {
// if (mode == GIMBAL_MODE_ABSOLUTE) {
// g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
// } else if (mode == GIMBAL_MODE_RELATIVE) {
// g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
// }
// }
g->setpoint.eulr.pit = g->feedback.imu.eulr.rol;
g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
g->mode = mode;
return 0;
}
/* Exported functions ------------------------------------------------------- */
/**
* \brief 初始化云台
*
* \param g 包含云台数据的结构体
* \param param 包含云台参数的结构体指针
* \param target_freq 任务预期的运行频率
*
* \return 函数运行结果
*/
int8_t Gimbal_Init(Gimbal_t *g, const Gimbal_Params_t *param,
float target_freq) {
if (g == NULL)
return -1;
g->param = param;
g->mode = GIMBAL_MODE_RELAX; /* 设置默认模式 */
/* 初始化云台电机控制PID和LPF */
PID_Init(&(g->pid.yaw_angle), KPID_MODE_NO_D, target_freq,
&(g->param->pid.yaw_angle));
PID_Init(&(g->pid.yaw_omega), KPID_MODE_CALC_D, target_freq,
&(g->param->pid.yaw_omega));
PID_Init(&(g->pid.pit_angle), KPID_MODE_NO_D, target_freq,
&(g->param->pid.pit_angle));
PID_Init(&(g->pid.pit_omega), KPID_MODE_CALC_D, target_freq,
&(g->param->pid.pit_omega));
LowPassFilter2p_Init(&g->filter_out.yaw, target_freq,
g->param->low_pass_cutoff_freq.out);
LowPassFilter2p_Init(&g->filter_out.pit, target_freq,
g->param->low_pass_cutoff_freq.out);
g->limit.yaw.max = g->param->mech_zero.yaw + g->param->travel.yaw;
g->limit.yaw.min = g->param->mech_zero.yaw;
g->limit.pit.max = g->param->mech_zero.pit + g->param->travel.pit;
g->limit.pit.min = g->param->mech_zero.pit;
BSP_CAN_Init();
MOTOR_RM_Register(&(g->param->pit_motor));
MOTOR_DM_Register(&(g->param->yaw_motor));
MOTOR_DM_Enable(&(g->param->yaw_motor));
return 0;
}
/**
* \brief 通过CAN设备更新云台反馈信息
*
* \param gimbal 云台
* \param can CAN设备
*
* \return 函数运行结果
*/
int8_t Gimbal_UpdateFeedback(Gimbal_t *gimbal) {
if (gimbal == NULL)
return -1;
/* 更新RM电机反馈数据（pitch轴） */
MOTOR_RM_Update(&(gimbal->param->pit_motor));
MOTOR_RM_t *rm_motor = MOTOR_RM_GetMotor(&(gimbal->param->pit_motor));
if (rm_motor != NULL) {
gimbal->feedback.motor.pit = rm_motor->feedback;
}
/* 更新DM电机反馈数据（yaw轴） */
MOTOR_DM_Update(&(gimbal->param->yaw_motor));
MOTOR_DM_t *dm_motor = MOTOR_DM_GetMotor(&(gimbal->param->yaw_motor));
if (dm_motor != NULL) {
gimbal->feedback.motor.yaw = dm_motor->motor.feedback;
}
return 0;
}
int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu) {
if (gimbal == NULL) {
return -1;
}
gimbal->feedback.imu.gyro = imu->gyro;
gimbal->feedback.imu.eulr = imu->eulr;
}
/**
* \brief 运行云台控制逻辑
*
* \param g 包含云台数据的结构体
* \param g_cmd 云台控制指令
*
* \return 函数运行结果
*/
int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
if (g == NULL || g_cmd == NULL) {
return -1;
}
g->dt = (BSP_TIME_Get_us() - g->lask_wakeup) / 1000000.0f;
g->lask_wakeup = BSP_TIME_Get_us();
Gimbal_SetMode(g, g_cmd->mode);
/* 处理yaw控制命令，软件限位 - 使用电机绝对角度 */
float delta_yaw = g_cmd->delta_yaw * g->dt * 1.5f;
if (g->param->travel.yaw > 0) {
/* 计算当前电机角度与IMU角度的偏差 */
float motor_imu_offset =
g->feedback.motor.yaw.rotor_abs_angle - g->feedback.imu.eulr.yaw;
/* 处理跨越±π的情况 */
if (motor_imu_offset > M_PI)
motor_imu_offset -= M_2PI;
if (motor_imu_offset < -M_PI)
motor_imu_offset += M_2PI;
/* 计算到限位边界的距离 */
const float delta_max = CircleError(
g->limit.yaw.max, (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw),
M_2PI);
const float delta_min = CircleError(
g->limit.yaw.min, (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw),
M_2PI);
/* 限制控制命令 */
if (delta_yaw > delta_max)
delta_yaw = delta_max;
if (delta_yaw < delta_min)
delta_yaw = delta_min;
}
CircleAdd(&(g->setpoint.eulr.yaw), delta_yaw, M_2PI);
/* 处理pitch控制命令，软件限位 - 使用电机绝对角度 */
float delta_pit = g_cmd->delta_pit * g->dt;
if (g->param->travel.pit > 0) {
/* 计算当前电机角度与IMU角度的偏差 */
float motor_imu_offset =
g->feedback.motor.pit.rotor_abs_angle - g->feedback.imu.eulr.rol;
/* 处理跨越±π的情况 */
if (motor_imu_offset > M_PI)
motor_imu_offset -= M_2PI;
if (motor_imu_offset < -M_PI)
motor_imu_offset += M_2PI;
/* 计算到限位边界的距离 */
const float delta_max = CircleError(
g->limit.pit.max, (g->setpoint.eulr.pit + motor_imu_offset + delta_pit),
M_2PI);
const float delta_min = CircleError(
g->limit.pit.min, (g->setpoint.eulr.pit + motor_imu_offset + delta_pit),
M_2PI);
/* 限制控制命令 */
if (delta_pit > delta_max)
delta_pit = delta_max;
if (delta_pit < delta_min)
delta_pit = delta_min;
}
CircleAdd(&(g->setpoint.eulr.pit), delta_pit, M_2PI);
/* 控制相关逻辑 */
float yaw_omega_set_point, pit_omega_set_point;
switch (g->mode) {
case GIMBAL_MODE_RELAX:
g->out.yaw = 0.0f;
g->out.pit = 0.0f;
break;
case GIMBAL_MODE_ABSOLUTE:
yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
g->feedback.imu.eulr.yaw, 0.0f, g->dt);
g->out.yaw = PID_Calc(&(g->pid.pit_omega), yaw_omega_set_point,
g->feedback.imu.gyro.z, 0.f, g->dt);
pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
g->feedback.imu.eulr.rol, 0.0f, g->dt);
g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
g->feedback.imu.gyro.y, 0.f, g->dt);
break;
/* 输出滤波 */
g->out.yaw = LowPassFilter2p_Apply(&g->filter_out.yaw, g->out.yaw);
g->out.pit = LowPassFilter2p_Apply(&g->filter_out.pit, g->out.pit);
return 0;
}
}
/**
* \brief 云台输出
*
* \param s 包含云台数据的结构体
* \param out CAN设备云台输出结构体
*/
void Gimbal_Output(Gimbal_t *g) {
MOTOR_RM_SetOutput(&g->param->pit_motor, g->out.pit);
MOTOR_MIT_Output_t output = {0};
output.torque = g->out.yaw * 5.0f; // 乘以减速比
output.kd = 0.3f;
MOTOR_RM_Ctrl(&g->param->pit_motor);
MOTOR_DM_MITCtrl(&g->param->yaw_motor, &output);
}

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/*
* 云台模组
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include "component/ahrs.h"
#include "component/filter.h"
#include "component/pid.h"
#include "device/motor.h"
#include "device/motor_dm.h"
#include "device/motor_rm.h"
/* Exported constants ------------------------------------------------------- */
#define GIMBAL_OK (0) /* 运行正常 */
#define GIMBAL_ERR (-1) /* 运行时发现了其他错误 */
#define GIMBAL_ERR_NULL (-2) /* 运行时发现NULL指针 */
#define GIMBAL_ERR_MODE (-3) /* 运行时配置了错误的CMD_GimbalMode_t */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
typedef enum {
GIMBAL_MODE_RELAX, /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
} Gimbal_Mode_t;
typedef struct {
Gimbal_Mode_t mode;
float delta_yaw;
float delta_pit;
} Gimbal_CMD_t;
/* 软件限位 */
typedef struct {
float max;
float min;
} Gimbal_Limit_t;
/* 云台参数的结构体，包含所有初始化用的参数，通常是const，存好几组。*/
typedef struct {
MOTOR_RM_Param_t pit_motor; /* pitch轴电机参数 */
MOTOR_DM_Param_t yaw_motor; /* yaw轴电机参数 */
struct {
KPID_Params_t yaw_omega; /* yaw轴角速度环PID参数 */
KPID_Params_t yaw_angle; /* yaw轴角位置环PID参数 */
KPID_Params_t pit_omega; /* pitch轴角速度环PID参数 */
KPID_Params_t pit_angle; /* pitch轴角位置环PID参数 */
} pid;
/* 低通滤波器截止频率 */
struct {
float out; /* 电机输出 */
float gyro; /* 陀螺仪数据 */
} low_pass_cutoff_freq;
struct {
float yaw; /* yaw轴机械限位 */
float pit; /* pitch轴机械限位 */
} mech_zero;
struct {
float yaw; /* yaw轴机械限位行程 -1表示无限位 */
float pit; /* pitch轴机械限位行程 -1表示无限位*/
} travel;
} Gimbal_Params_t;
typedef struct {
AHRS_Gyro_t gyro;
AHRS_Eulr_t eulr;
} Gimbal_IMU_t;
/* 云台反馈数据的结构体，包含反馈控制用的反馈数据 */
typedef struct {
Gimbal_IMU_t imu;
struct {
MOTOR_Feedback_t yaw; /* yaw轴电机反馈 */
MOTOR_Feedback_t pit; /* pitch轴电机反馈 */
} motor;
} Gimbal_Feedback_t;
/* 云台输出数据的结构体*/
typedef struct {
float yaw; /* yaw轴电机输出 */
float pit; /* pitch轴电机输出 */
} Gimbal_Output_t;
/*
* 运行的主结构体，所有这个文件里的函数都在操作这个结构体。
* 包含了初始化参数，中间变量，输出变量。
*/
typedef struct {
uint64_t lask_wakeup;
float dt;
Gimbal_Params_t *param; /* 云台的参数，用Gimbal_Init设定 */
/* 模块通用 */
Gimbal_Mode_t mode; /* 云台模式 */
/* PID计算的目标值 */
struct {
AHRS_Eulr_t eulr; /* 表示云台姿态的欧拉角 */
} setpoint;
struct {
KPID_t yaw_angle; /* yaw轴角位置环PID */
KPID_t yaw_omega; /* yaw轴角速度环PID */
KPID_t pit_angle; /* pitch轴角位置环PID */
KPID_t pit_omega; /* pitch轴角速度环PID */
} pid;
struct {
Gimbal_Limit_t yaw;
Gimbal_Limit_t pit;
} limit;
struct {
LowPassFilter2p_t yaw;
LowPassFilter2p_t pit;
} filter_out;
Gimbal_Output_t out; /* 云台输出 */
Gimbal_Feedback_t feedback; /* 反馈 */
} Gimbal_t;
/* Exported functions prototypes -------------------------------------------- */
/**
* \brief 初始化云台
*
* \param g 包含云台数据的结构体
* \param param 包含云台参数的结构体指针
* \param target_freq 任务预期的运行频率
*
* \return 函数运行结果
*/
int8_t Gimbal_Init(Gimbal_t *g, const Gimbal_Params_t *param,
float target_freq);
/**
* \brief 通过CAN设备更新云台反馈信息
*
* \param gimbal 云台
* \param can CAN设备
*
* \return 函数运行结果
*/
int8_t Gimbal_UpdateFeedback(Gimbal_t *gimbal);
int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu);
/**
* \brief 运行云台控制逻辑
*
* \param g 包含云台数据的结构体
* \param fb 云台反馈信息
* \param g_cmd 云台控制指令
* \param dt_sec 两次调用的时间间隔
*
* \return 函数运行结果
*/
int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd);
/**
* \brief 云台输出
*
* \param s 包含云台数据的结构体
* \param out CAN设备云台输出结构体
*/
void Gimbal_Output(Gimbal_t *g);
#ifdef __cplusplus
}
#endif