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This commit is contained in:
Robofish 2025-10-13 15:22:41 +08:00
parent 17847459b4
commit b03ce04217
21 changed files with 1795 additions and 229 deletions
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279
bsp/can.c
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@ -37,16 +37,21 @@ static osMutexId_t queue_mutex = NULL;
static void (*CAN_Callback[BSP_CAN_NUM][BSP_CAN_CB_NUM])(void);
static bool inited = false;
static BSP_CAN_IdParser_t id_parser = NULL; /* ID解析器 */
static BSP_CAN_TxQueue_t tx_queues[BSP_CAN_NUM]; /* 每个CAN的发送队列 */
/* Private function prototypes ---------------------------------------------- */
static BSP_CAN_t CAN_Get(CAN_HandleTypeDef *hcan);
static osMessageQueueId_t BSP_CAN_FindQueue(BSP_CAN_t can, uint32_t can_id);
static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size);
static int8_t BSP_CAN_DeleteIdQueue(BSP_CAN_t can, uint32_t can_id);
static void BSP_CAN_RxFifo0Callback(void);
static void BSP_CAN_RxFifo1Callback(void);
static void BSP_CAN_TxCompleteCallback(void);
static BSP_CAN_FrameType_t BSP_CAN_GetFrameType(CAN_RxHeaderTypeDef *header);
static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
static void BSP_CAN_TxQueueInit(BSP_CAN_t can);
static bool BSP_CAN_TxQueuePush(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg);
static bool BSP_CAN_TxQueuePop(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg);
static bool BSP_CAN_TxQueueIsEmpty(BSP_CAN_t can);
/* Private functions -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
@ -118,29 +123,7 @@ static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queu
return BSP_OK;
}
/**
* @brief 删除指定CAN ID的消息队列
* @note 内部函数，已包含互斥锁保护
*/
static int8_t BSP_CAN_DeleteIdQueue(BSP_CAN_t can, uint32_t can_id) {
if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) {
return BSP_ERR_TIMEOUT;
}
BSP_CAN_QueueNode_t **current = &queue_list;
while (*current != NULL) {
if ((*current)->can == can && (*current)->can_id == can_id) {
BSP_CAN_QueueNode_t *to_delete = *current;
*current = (*current)->next;
osMessageQueueDelete(to_delete->queue);
BSP_Free(to_delete);
osMutexRelease(queue_mutex);
return BSP_OK;
}
current = &(*current)->next;
}
osMutexRelease(queue_mutex);
return BSP_ERR; // 未找到
}
/**
* @brief 获取帧类型
*/
@ -160,6 +143,106 @@ static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_
return original_id;
}
/**
* @brief 初始化发送队列
*/
static void BSP_CAN_TxQueueInit(BSP_CAN_t can) {
if (can >= BSP_CAN_NUM) return;
tx_queues[can].head = 0;
tx_queues[can].tail = 0;
}
/**
* @brief 向发送队列添加消息（无锁）
*/
static bool BSP_CAN_TxQueuePush(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg) {
if (can >= BSP_CAN_NUM || msg == NULL) return false;
BSP_CAN_TxQueue_t *queue = &tx_queues[can];
uint32_t next_head = (queue->head + 1) % BSP_CAN_TX_QUEUE_SIZE;
// 队列满
if (next_head == queue->tail) {
return false;
}
// 复制消息
queue->buffer[queue->head] = *msg;
// 更新头指针（原子操作）
queue->head = next_head;
return true;
}
/**
* @brief 从发送队列取出消息（无锁）
*/
static bool BSP_CAN_TxQueuePop(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg) {
if (can >= BSP_CAN_NUM || msg == NULL) return false;
BSP_CAN_TxQueue_t *queue = &tx_queues[can];
// 队列空
if (queue->head == queue->tail) {
return false;
}
// 复制消息
*msg = queue->buffer[queue->tail];
// 更新尾指针（原子操作）
queue->tail = (queue->tail + 1) % BSP_CAN_TX_QUEUE_SIZE;
return true;
}
/**
* @brief 检查发送队列是否为空
*/
static bool BSP_CAN_TxQueueIsEmpty(BSP_CAN_t can) {
if (can >= BSP_CAN_NUM) return true;
return tx_queues[can].head == tx_queues[can].tail;
}
/**
* @brief 处理所有CAN实例的发送队列
*/
static void BSP_CAN_TxCompleteCallback(void) {
// 处理所有CAN实例的发送队列
for (int i = 0; i < BSP_CAN_NUM; i++) {
BSP_CAN_t can = (BSP_CAN_t)i;
CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
if (hcan == NULL) continue;
BSP_CAN_TxMessage_t msg;
uint32_t mailbox;
// 尝试发送队列中的消息
while (!BSP_CAN_TxQueueIsEmpty(can)) {
// 检查是否有空闲邮箱
if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) == 0) {
break; // 没有空闲邮箱，等待下次中断
}
// 从队列中取出消息
if (!BSP_CAN_TxQueuePop(can, &msg)) {
break;
}
// 发送消息
if (HAL_CAN_AddTxMessage(hcan, &msg.header, msg.data, &mailbox) != HAL_OK) {
// 发送失败，消息已经从队列中移除，直接丢弃
break;
}
}
}
}
/**
* @brief FIFO0接收处理函数
*/
@ -345,6 +428,11 @@ int8_t BSP_CAN_Init(void) {
// 清零回调函数数组
memset(CAN_Callback, 0, sizeof(CAN_Callback));
// 初始化发送队列
for (int i = 0; i < BSP_CAN_NUM; i++) {
BSP_CAN_TxQueueInit((BSP_CAN_t)i);
}
// 初始化ID解析器为默认解析器
id_parser = BSP_CAN_DefaultIdParser;
@ -360,39 +448,6 @@ int8_t BSP_CAN_Init(void) {
return BSP_OK;
}
int8_t BSP_CAN_DeInit(void) {
if (!inited) {
return BSP_ERR;
}
// 删除所有队列
if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) == osOK) {
BSP_CAN_QueueNode_t *current = queue_list;
while (current != NULL) {
BSP_CAN_QueueNode_t *next = current->next;
osMessageQueueDelete(current->queue);
BSP_Free(current);
current = next;
}
queue_list = NULL;
osMutexRelease(queue_mutex);
}
// 删除互斥锁
if (queue_mutex != NULL) {
osMutexDelete(queue_mutex);
queue_mutex = NULL;
}
// 清零回调函数数组
memset(CAN_Callback, 0, sizeof(CAN_Callback));
// 重置ID解析器
id_parser = NULL;
inited = false;
return BSP_OK;
}
CAN_HandleTypeDef *BSP_CAN_GetHandle(BSP_CAN_t can) {
if (can >= BSP_CAN_NUM) {
@ -445,44 +500,58 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
return BSP_ERR_NULL;
}
CAN_TxHeaderTypeDef header = {0};
uint32_t mailbox;
// 准备发送消息
BSP_CAN_TxMessage_t tx_msg = {0};
switch (format) {
case BSP_CAN_FORMAT_STD_DATA:
header.StdId = id;
header.IDE = CAN_ID_STD;
header.RTR = CAN_RTR_DATA;
tx_msg.header.StdId = id;
tx_msg.header.IDE = CAN_ID_STD;
tx_msg.header.RTR = CAN_RTR_DATA;
break;
case BSP_CAN_FORMAT_EXT_DATA:
header.ExtId = id;
header.IDE = CAN_ID_EXT;
header.RTR = CAN_RTR_DATA;
tx_msg.header.ExtId = id;
tx_msg.header.IDE = CAN_ID_EXT;
tx_msg.header.RTR = CAN_RTR_DATA;
break;
case BSP_CAN_FORMAT_STD_REMOTE:
header.StdId = id;
header.IDE = CAN_ID_STD;
header.RTR = CAN_RTR_REMOTE;
tx_msg.header.StdId = id;
tx_msg.header.IDE = CAN_ID_STD;
tx_msg.header.RTR = CAN_RTR_REMOTE;
break;
case BSP_CAN_FORMAT_EXT_REMOTE:
header.ExtId = id;
header.IDE = CAN_ID_EXT;
header.RTR = CAN_RTR_REMOTE;
tx_msg.header.ExtId = id;
tx_msg.header.IDE = CAN_ID_EXT;
tx_msg.header.RTR = CAN_RTR_REMOTE;
break;
default:
return BSP_ERR;
}
header.DLC = dlc;
header.TransmitGlobalTime = DISABLE;
tx_msg.header.DLC = dlc;
tx_msg.header.TransmitGlobalTime = DISABLE;
HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
if (result != HAL_OK) {
return BSP_ERR;
// 复制数据
if (data != NULL && dlc > 0) {
memcpy(tx_msg.data, data, dlc);
}
return BSP_OK;
// 尝试直接发送到邮箱
uint32_t mailbox;
if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) > 0) {
HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &tx_msg.header, tx_msg.data, &mailbox);
if (result == HAL_OK) {
return BSP_OK; // 发送成功
}
}
// 邮箱满，尝试放入队列
if (BSP_CAN_TxQueuePush(can, &tx_msg)) {
return BSP_OK; // 成功放入队列
}
// 队列也满，丢弃数据
return BSP_ERR; // 数据丢弃
}
int8_t BSP_CAN_TransmitStdDataFrame(BSP_CAN_t can, BSP_CAN_StdDataFrame_t *frame) {
@ -514,12 +583,6 @@ int8_t BSP_CAN_RegisterId(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size) {
return BSP_CAN_CreateIdQueue(can, can_id, queue_size);
}
int8_t BSP_CAN_UnregisterIdQueue(BSP_CAN_t can, uint32_t can_id) {
if (!inited) {
return BSP_ERR_INITED;
}
return BSP_CAN_DeleteIdQueue(can, can_id);
}
int8_t BSP_CAN_GetMessage(BSP_CAN_t can, uint32_t can_id, BSP_CAN_Message_t *msg, uint32_t timeout) {
if (!inited) {
@ -586,15 +649,6 @@ int8_t BSP_CAN_RegisterIdParser(BSP_CAN_IdParser_t parser) {
return BSP_OK;
}
int8_t BSP_CAN_UnregisterIdParser(void) {
if (!inited) {
return BSP_ERR_INITED;
}
id_parser = BSP_CAN_DefaultIdParser;
return BSP_OK;
}
uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type) {
if (id_parser != NULL) {
return id_parser(original_id, frame_type);
@ -602,43 +656,4 @@ uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type) {
return BSP_CAN_DefaultIdParser(original_id, frame_type);
}
int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout) {
if (!inited) {
return BSP_ERR_INITED;
}
if (can >= BSP_CAN_NUM) {
return BSP_ERR;
}
CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
if (hcan == NULL) {
return BSP_ERR_NULL;
}
uint32_t start_time = HAL_GetTick();
// 如果超时时间为0，立即检查并返回
if (timeout == 0) {
uint32_t free_level = HAL_CAN_GetTxMailboxesFreeLevel(hcan);
return (free_level > 0) ? BSP_OK : BSP_ERR_TIMEOUT;
}
// 等待至少有一个邮箱空闲
while (true) {
uint32_t free_level = HAL_CAN_GetTxMailboxesFreeLevel(hcan);
if (free_level > 0) {
return BSP_OK;
}
// 检查超时
if (timeout != BSP_CAN_TIMEOUT_FOREVER) {
uint32_t elapsed = HAL_GetTick() - start_time;
if (elapsed >= timeout) {
return BSP_ERR_TIMEOUT;
}
}
// 短暂延时，避免占用过多CPU
osDelay(1);
}
}

49
bsp/can.h
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@ -21,6 +21,7 @@ extern "C" {
#define BSP_CAN_DEFAULT_QUEUE_SIZE 10
#define BSP_CAN_TIMEOUT_IMMEDIATE 0
#define BSP_CAN_TIMEOUT_FOREVER osWaitForever
#define BSP_CAN_TX_QUEUE_SIZE 32 /* 发送队列大小 */
/* USER DEFINE BEGIN */
@ -29,7 +30,8 @@ extern "C" {
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
typedef enum {
/* AUTO GENERATED BSP_CAN_NAME */
BSP_CAN_1,
BSP_CAN_2,
BSP_CAN_NUM,
BSP_CAN_ERR,
} BSP_CAN_t;
@ -101,6 +103,19 @@ typedef struct {
/* ID解析回调函数类型 */
typedef uint32_t (*BSP_CAN_IdParser_t)(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
/* CAN发送消息结构体 */
typedef struct {
CAN_TxHeaderTypeDef header; /* 发送头 */
uint8_t data[BSP_CAN_MAX_DLC]; /* 数据 */
} BSP_CAN_TxMessage_t;
/* 无锁环形队列结构体 */
typedef struct {
BSP_CAN_TxMessage_t buffer[BSP_CAN_TX_QUEUE_SIZE]; /* 缓冲区 */
volatile uint32_t head; /* 队列头 */
volatile uint32_t tail; /* 队列尾 */
} BSP_CAN_TxQueue_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
@ -113,12 +128,6 @@ typedef uint32_t (*BSP_CAN_IdParser_t)(uint32_t original_id, BSP_CAN_FrameType_t
*/
int8_t BSP_CAN_Init(void);
/**
* @brief 反初始化 CAN 模块
* @return BSP_OK 成功，其他值失败
*/
int8_t BSP_CAN_DeInit(void);
/**
* @brief 获取 CAN 句柄
* @param can CAN 枚举
@ -172,13 +181,20 @@ int8_t BSP_CAN_TransmitExtDataFrame(BSP_CAN_t can, BSP_CAN_ExtDataFrame_t *frame
*/
int8_t BSP_CAN_TransmitRemoteFrame(BSP_CAN_t can, BSP_CAN_RemoteFrame_t *frame);
/**
* @brief 等待CAN发送邮箱空闲
* @brief 获取发送队列中待发送消息数量
* @param can CAN 枚举
* @return 队列中消息数量，-1表示错误
*/
int32_t BSP_CAN_GetTxQueueCount(BSP_CAN_t can);
/**
* @brief 清空发送队列
* @param can CAN 枚举
* @param timeout 超时时间（毫秒），0为立即返回，osWaitForever为永久等待
* @return BSP_OK 成功，其他值失败
*/
int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout);
int8_t BSP_CAN_FlushTxQueue(BSP_CAN_t can);
/**
* @brief 注册 CAN ID 接收队列
@ -189,13 +205,7 @@ int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout);
*/
int8_t BSP_CAN_RegisterId(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size);
/**
* @brief 注销 CAN ID 接收队列
* @param can CAN 枚举
* @param can_id 解析后的CAN ID
* @return BSP_OK 成功，其他值失败
*/
int8_t BSP_CAN_UnregisterIdQueue(BSP_CAN_t can, uint32_t can_id);
/**
* @brief 获取 CAN 消息
@ -230,11 +240,6 @@ int8_t BSP_CAN_FlushQueue(BSP_CAN_t can, uint32_t can_id);
*/
int8_t BSP_CAN_RegisterIdParser(BSP_CAN_IdParser_t parser);
/**
* @brief 注销ID解析器
* @return BSP_OK 成功，其他值失败
*/
int8_t BSP_CAN_UnregisterIdParser(void);
/**
* @brief 解析CAN ID

2
bsp/describe.csv
View File

@ -1,5 +1,5 @@
uart,请开启uart的dma和中断
can,请开启can中断，使用函数前请确保can已经初始化。
can,请开启can中断，使用函数前请确保can已经初始化。一定要开启can发送中断！！！
gpio,会自动读取cubemx中配置为gpio的引脚，并自动区分输入输出和中断。
spi,请开启spi的dma和中断
i2c,要求开始spi中断

1 uart 请开启uart的dma和中断
2 can 请开启can中断，使用函数前请确保can已经初始化。 请开启can中断，使用函数前请确保can已经初始化。一定要开启can发送中断！！！
3 gpio 会自动读取cubemx中配置为gpio的引脚，并自动区分输入输出和中断。
4 spi 请开启spi的dma和中断
5 i2c 要求开始spi中断

34
component/user_math.c
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@ -29,13 +29,13 @@ inline float AbsClip(float in, float limit) {
return (in < -limit) ? -limit : ((in > limit) ? limit : in);
}
float fAbs(float in) { return (in > 0) ? in : -in; }
float fAbs(float in){
return (in > 0) ? in : -in;
}
inline void Clip(float *origin, float min, float max) {
if (*origin > max)
*origin = max;
if (*origin < min)
*origin = min;
if (*origin > max) *origin = max;
if (*origin < min) *origin = min;
}
inline float Sign(float in) { return (in > 0) ? 1.0f : 0.0f; }
@ -48,8 +48,7 @@ inline float Sign(float in) { return (in > 0) ? 1.0f : 0.0f; }
inline void ResetMoveVector(MoveVector_t *mv) { memset(mv, 0, sizeof(*mv)); }
/**
* \brief
*计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x
* \brief 计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x
* 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b;
* \param sp 设定值
* \param fb 反馈值
@ -70,8 +69,7 @@ inline float CircleError(float sp, float fb, float range) {
}
/**
* \brief 循环加法，适用于被操作的值在（x,y）范围内循环的情况，range应设定为y-x
* 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b;
* \brief 循环加法，适用于被操作的值在（0,range）范围内循环的情况
* \param origin 被操作的值
* \param delta 变化量
* \param range 被操作的值变化范围，正数时起效
@ -103,20 +101,14 @@ inline void CircleReverse(float *origin) { *origin = -(*origin) + M_2PI; }
* @return 摩擦轮转速
*/
inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
if (bullet_speed == 0.0f)
return 0.f;
if (bullet_speed == 0.0f) return 0.f;
if (is17mm) {
if (bullet_speed == 15.0f)
return 4670.f;
if (bullet_speed == 18.0f)
return 5200.f;
if (bullet_speed == 30.0f)
return 7350.f;
if (bullet_speed == 15.0f) return 4670.f;
if (bullet_speed == 18.0f) return 5200.f;
if (bullet_speed == 30.0f) return 7350.f;
} else {
if (bullet_speed == 10.0f)
return 4450.f;
if (bullet_speed == 16.0f)
return 5800.f;
if (bullet_speed == 10.0f) return 4450.f;
if (bullet_speed == 16.0f) return 5800.f;
}
/* 不为裁判系统设定值时,计算转速 */

10
component/user_math.h
View File

@ -21,6 +21,10 @@ extern "C" {
#define M_DEG2RAD_MULT (0.01745329251f)
#define M_RAD2DEG_MULT (57.2957795131f)
#ifndef M_PI_2
#define M_PI_2 1.57079632679f
#endif
#ifndef M_PI
#define M_PI 3.14159265358979323846f
#endif
@ -84,19 +88,15 @@ void ResetMoveVector(MoveVector_t *mv);
/**
* \brief 计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x
* 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b;
*
* \param sp 设定值
* \param fb 反馈值
* \param range 被操作的值变化范围，正数时起效
*
* \return 函数运行结果
*/
float CircleError(float sp, float fb, float range);
/**
* \brief 循环加法，适用于被操作的值在（x,y）范围内循环的情况，range应设定为y-x
* 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b;
*
* \brief 循环加法，适用于被操作的值在（0,range）范围内循环的情况
* \param origin 被操作的值
* \param delta 变化量
* \param range 被操作的值变化范围，正数时起效

4
config.csv
View File

@ -1,4 +1,4 @@
bsp,can,dwt,gpio,i2c,mm,spi,uart,pwm,time
component,ahrs,capacity,cmd,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math
device,dr16,bmi088,ist8310,motor,motor_rm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,servo,buzzer,led,ws2812,vofa,ops9
module,
device,dr16,bmi088,ist8310,motor,motor_rm,motor_dm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,rc_can,servo,buzzer,led,ws2812,vofa,ops9
module,config,
1 bsp,can,dwt,gpio,i2c,mm,spi,uart,pwm,time
2 component,ahrs,capacity,cmd,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math
3 device,dr16,bmi088,ist8310,motor,motor_rm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,servo,buzzer,led,ws2812,vofa,ops9 device,dr16,bmi088,ist8310,motor,motor_rm,motor_dm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,rc_can,servo,buzzer,led,ws2812,vofa,ops9
4 module, module,config,

4
device/dm_imu.c
View File

@ -166,7 +166,6 @@ int8_t DM_IMU_Request(DM_IMU_t *imu, DM_IMU_RID_t rid) {
.dlc = 4,
};
memcpy(frame.data, tx_data, 4);
BSP_CAN_WaitTxMailboxEmpty(imu->param.can, 1); // 等待发送邮箱空闲
int8_t result = BSP_CAN_TransmitStdDataFrame(imu->param.can, &frame);
return (result == BSP_OK) ? DEVICE_OK : DEVICE_ERR;
}
@ -253,9 +252,10 @@ int8_t DM_IMU_AutoUpdateAll(DM_IMU_t *imu){
count++;
if (count >= 4) {
count = 0; // 重置计数器
}
return DEVICE_OK;
}
return DEVICE_ERR;
}
/**
* @brief 检查设备是否在线

1
device/dr16.h
View File

@ -94,7 +94,6 @@ typedef struct {
uint16_t res; /* 保留，未启用 */
} DR16_Data_t;
typedef struct {
DEVICE_Header_t header;
DR16_RawData_t raw_data;

496
device/motor_dm.c Normal file
View File

@ -0,0 +1,496 @@
#define MOTOR_DM_FLOAT_TO_INT_SIGNED(x, x_min, x_max, bits) \
((int32_t)roundf(((x) / ((x_max) - (x_min))) * (1 << (bits)) + (1 << ((bits) - 1))))
#define MOTOR_DM_INT_TO_FLOAT_SIGNED(x_int, x_min, x_max, bits) \
(((float)((int32_t)(x_int) - (1 << ((bits) - 1))) * ((x_max) - (x_min)) / (float)(1 << (bits))))
/* Includes ----------------------------------------------------------------- */
#include "device/motor_dm.h"
#include "bsp/mm.h"
#include "bsp/time.h"
#include "component/user_math.h"
#include "string.h"
#include "math.h"
/* Private constants -------------------------------------------------------- */
/* DM电机数据映射范围 */
#define DM_P_MIN (-12.56637f)
#define DM_P_MAX (12.56637f)
#define DM_V_MIN (-30.0f)
#define DM_V_MAX (30.0f)
#define DM_T_MIN (-12.0f)
#define DM_T_MAX (12.0f)
#define DM_KP_MIN (0.0f)
#define DM_KP_MAX (500.0f)
#define DM_KD_MIN (0.0f)
#define DM_KD_MAX (5.0f)
/* CAN ID偏移量 */
#define DM_CAN_ID_OFFSET_POS_VEL 0x100
#define DM_CAN_ID_OFFSET_VEL 0x200
/* Private macro ------------------------------------------------------------ */
#define FLOAT_TO_UINT(x, x_min, x_max, bits) \
(uint32_t)((x - x_min) * ((1 << bits) - 1) / (x_max - x_min))
#define UINT_TO_FLOAT(x_int, x_min, x_max, bits) \
((float)(x_int) * (x_max - x_min) / ((1 << bits) - 1) + x_min)
/* Private variables -------------------------------------------------------- */
static MOTOR_DM_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL};
static int float_to_uint(float x_float, float x_min, float x_max, int bits)
{
/* Converts a float to an unsigned int, given range and number of bits */
float span = x_max - x_min;
float offset = x_min;
return (int) ((x_float-offset)*((float)((1<<bits)-1))/span);
}
static float uint_to_float(int x_int, float x_min, float x_max, int bits)
{
/* converts unsigned int to float, given range and number of bits */
float span = x_max - x_min;
float offset = x_min;
return ((float)x_int)*span/((float)((1<<bits)-1)) + offset;
}
/* Private function prototypes ---------------------------------------------- */
static int8_t MOTOR_DM_ParseFeedbackFrame(MOTOR_DM_t *motor, const uint8_t *data);
static int8_t MOTOR_DM_SendMITCmd(MOTOR_DM_t *motor, MOTOR_MIT_Output_t *output);
static int8_t MOTOR_DM_SendPosVelCmd(MOTOR_DM_t *motor, float pos, float vel);
static int8_t MOTOR_DM_SendVelCmd(MOTOR_DM_t *motor, float vel);
static MOTOR_DM_CANManager_t* MOTOR_DM_GetCANManager(BSP_CAN_t can);
/* Private functions -------------------------------------------------------- */
/**
* @brief 解析DM电机反馈帧
* @param motor 电机实例
* @param data CAN数据
* @return 解析结果
*/
static int8_t MOTOR_DM_ParseFeedbackFrame(MOTOR_DM_t *motor, const uint8_t *data) {
if (motor == NULL || data == NULL) {
return DEVICE_ERR_NULL;
}
uint16_t p_int=(data[1]<<8)|data[2];
motor->motor.feedback.rotor_abs_angle = uint_to_float(p_int, DM_P_MIN, DM_P_MAX, 16); // (-12.5,12.5)
uint16_t v_int=(data[3]<<4)|(data[4]>>4);
motor->motor.feedback.rotor_speed = uint_to_float(v_int, DM_V_MIN, DM_V_MAX, 12); // (-30.0,30.0)
uint16_t t_int=((data[4]&0xF)<<8)|data[5];
motor->motor.feedback.torque_current = uint_to_float(t_int, DM_T_MIN, DM_T_MAX, 12); // (-12.0,12.0)
motor->motor.feedback.temp = (float)(data[6]);
while (motor->motor.feedback.rotor_abs_angle < 0) {
motor->motor.feedback.rotor_abs_angle += M_2PI;
}
while (motor->motor.feedback.rotor_abs_angle >= M_2PI) {
motor->motor.feedback.rotor_abs_angle -= M_2PI;
}
if (motor->param.reverse) {
motor->motor.feedback.rotor_abs_angle = M_2PI - motor->motor.feedback.rotor_abs_angle;
motor->motor.feedback.rotor_speed = -motor->motor.feedback.rotor_speed;
motor->motor.feedback.torque_current = -motor->motor.feedback.torque_current;
}
return DEVICE_OK;
}
/**
* @brief 发送MIT模式控制命令
* @param motor 电机实例
* @param output MIT控制参数
* @return 发送结果
*/
static int8_t MOTOR_DM_SendMITCmd(MOTOR_DM_t *motor, MOTOR_MIT_Output_t *output) {
if (motor == NULL || output == NULL) {
return DEVICE_ERR_NULL;
}
uint8_t data[8];
uint16_t pos_tmp,vel_tmp,kp_tmp,kd_tmp,tor_tmp;
uint16_t id = motor->param.can_id;
pos_tmp = float_to_uint(output->angle, DM_P_MIN , DM_P_MAX, 16);
vel_tmp = float_to_uint(output->velocity, DM_V_MIN , DM_V_MAX, 12);
kp_tmp = float_to_uint(output->kp, DM_KP_MIN, DM_KP_MAX, 12);
kd_tmp = float_to_uint(output->kd, DM_KD_MIN, DM_KD_MAX, 12);
tor_tmp = float_to_uint(output->torque, DM_T_MIN , DM_T_MAX, 12);
/* 打包数据 */
data[0] = (pos_tmp >> 8);
data[1] = pos_tmp;
data[2] = (vel_tmp >> 4);
data[3] = ((vel_tmp&0xF)<<4)|(kp_tmp>>8);
data[4] = kp_tmp;
data[5] = (kd_tmp >> 4);
data[6] = ((kd_tmp&0xF)<<4)|(tor_tmp>>8);
data[7] = tor_tmp;
/* 发送CAN消息 */
BSP_CAN_StdDataFrame_t frame;
frame.id = motor->param.can_id;
frame.dlc = 8;
memcpy(frame.data, data, 8);
return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
/**
* @brief 发送位置速度模式控制命令
* @param motor 电机实例
* @param pos 目标位置
* @param vel 目标速度
* @return 发送结果
*/
static int8_t MOTOR_DM_SendPosVelCmd(MOTOR_DM_t *motor, float pos, float vel) {
if (motor == NULL) {
return DEVICE_ERR_NULL;
}
uint8_t data[8] = {0};
/* 直接发送浮点数数据 */
memcpy(&data[0], &pos, 4); // 位置，低位在前
memcpy(&data[4], &vel, 4); // 速度，低位在前
/* 发送CAN消息，ID为原ID+0x100 */
uint32_t can_id = DM_CAN_ID_OFFSET_POS_VEL + motor->param.can_id;
BSP_CAN_StdDataFrame_t frame;
frame.id = can_id;
frame.dlc = 8;
memcpy(frame.data, data, 8);
return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
/**
* @brief 发送速度模式控制命令
* @param motor 电机实例
* @param vel 目标速度
* @return 发送结果
*/
static int8_t MOTOR_DM_SendVelCmd(MOTOR_DM_t *motor, float vel) {
if (motor == NULL) {
return DEVICE_ERR_NULL;
}
uint8_t data[4] = {0};
/* 直接发送浮点数数据 */
memcpy(&data[0], &vel, 4); // 速度，低位在前
/* 发送CAN消息，ID为原ID+0x200 */
uint32_t can_id = DM_CAN_ID_OFFSET_VEL + motor->param.can_id;
BSP_CAN_StdDataFrame_t frame;
frame.id = can_id;
frame.dlc = 4;
memcpy(frame.data, data, 4);
return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
/**
* @brief 获取指定CAN总线的管理器
* @param can CAN总线
* @return CAN管理器指针
*/
static MOTOR_DM_CANManager_t* MOTOR_DM_GetCANManager(BSP_CAN_t can) {
if (can >= BSP_CAN_NUM) {
return NULL;
}
return can_managers[can];
}
/**
* @brief 创建CAN管理器
* @param can CAN总线
* @return 创建结果
*/
static int8_t MOTOR_DM_CreateCANManager(BSP_CAN_t can) {
if (can >= BSP_CAN_NUM) return DEVICE_ERR;
if (can_managers[can] != NULL) return DEVICE_OK;
can_managers[can] = (MOTOR_DM_CANManager_t*)BSP_Malloc(sizeof(MOTOR_DM_CANManager_t));
if (can_managers[can] == NULL) return DEVICE_ERR;
memset(can_managers[can], 0, sizeof(MOTOR_DM_CANManager_t));
can_managers[can]->can = can;
return DEVICE_OK;
}
/* Exported functions ------------------------------------------------------- */
/**
* @brief 注册一个DM电机
* @param param 电机参数
* @return 注册结果
*/
int8_t MOTOR_DM_Register(MOTOR_DM_Param_t *param) {
if (param == NULL) {
return DEVICE_ERR_NULL;
}
/* 创建CAN管理器 */
if (MOTOR_DM_CreateCANManager(param->can) != DEVICE_OK) {
return DEVICE_ERR;
}
/* 获取CAN管理器 */
MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager(param->can);
if (manager == NULL) {
return DEVICE_ERR;
}
/* 检查是否已注册 */
for (int i = 0; i < manager->motor_count; i++) {
if (manager->motors[i] && manager->motors[i]->param.master_id == param->master_id) {
return DEVICE_ERR_INITED;
}
}
/* 检查是否已达到最大数量 */
if (manager->motor_count >= MOTOR_DM_MAX_MOTORS) {
return DEVICE_ERR;
}
/* 分配内存 */
MOTOR_DM_t *motor = (MOTOR_DM_t *)BSP_Malloc(sizeof(MOTOR_DM_t));
if (motor == NULL) {
return DEVICE_ERR;
}
/* 初始化电机 */
memset(motor, 0, sizeof(MOTOR_DM_t));
memcpy(&motor->param, param, sizeof(MOTOR_DM_Param_t));
motor->motor.header.online = false;
motor->motor.reverse = param->reverse;
/* 注册CAN接收ID - DM电机使用Master ID接收反馈 */
uint16_t feedback_id = param->master_id;
if (BSP_CAN_RegisterId(param->can, feedback_id, 3) != BSP_OK) {
BSP_Free(motor);
return DEVICE_ERR;
}
/* 添加到管理器 */
manager->motors[manager->motor_count] = motor;
manager->motor_count++;
return DEVICE_OK;
}
/**
* @brief 更新指定电机数据
* @param param 电机参数
* @return 更新结果
*/
int8_t MOTOR_DM_Update(MOTOR_DM_Param_t *param) {
if (param == NULL) {
return DEVICE_ERR_NULL;
}
MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager(param->can);
if (manager == NULL) {
return DEVICE_ERR_NO_DEV;
}
/* 查找电机 */
MOTOR_DM_t *motor = NULL;
for (int i = 0; i < manager->motor_count; i++) {
if (manager->motors[i] && manager->motors[i]->param.master_id == param->master_id) {
motor = manager->motors[i];
break;
}
}
if (motor == NULL) {
return DEVICE_ERR_NO_DEV;
}
/* 主动接收CAN消息 */
uint16_t feedback_id = param->master_id;
BSP_CAN_Message_t rx_msg;
if (BSP_CAN_GetMessage(param->can, feedback_id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
uint64_t now_time = BSP_TIME_Get();
if (now_time - motor->motor.header.last_online_time > 100000) { // 100ms超时，单位微秒
motor->motor.header.online = false;
}
return DEVICE_ERR;
}
motor->motor.header.online = true;
motor->motor.header.last_online_time = BSP_TIME_Get();
MOTOR_DM_ParseFeedbackFrame(motor, rx_msg.data);
return DEVICE_OK;
}
/**
* @brief 更新所有电机数据
* @return 更新结果
*/
int8_t MOTOR_DM_UpdateAll(void) {
int8_t ret = DEVICE_OK;
for (int can = 0; can < BSP_CAN_NUM; can++) {
MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager((BSP_CAN_t)can);
if (manager == NULL) continue;
for (int i = 0; i < manager->motor_count; i++) {
MOTOR_DM_t *motor = manager->motors[i];
if (motor != NULL) {
if (MOTOR_DM_Update(&motor->param) != DEVICE_OK) {
ret = DEVICE_ERR;
}
}
}
}
return ret;
}
/**
* @brief MIT模式控制
* @param param 电机参数
* @param output MIT控制参数
* @return 控制结果
*/
int8_t MOTOR_DM_MITCtrl(MOTOR_DM_Param_t *param, MOTOR_MIT_Output_t *output) {
if (param == NULL || output == NULL) {
return DEVICE_ERR_NULL;
}
MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param);
if (motor == NULL) {
return DEVICE_ERR_NO_DEV;
}
return MOTOR_DM_SendMITCmd(motor, output);
}
/**
* @brief 位置速度模式控制
* @param param 电机参数
* @param target_pos 目标位置
* @param target_vel 目标速度
* @return 控制结果
*/
int8_t MOTOR_DM_PosVelCtrl(MOTOR_DM_Param_t *param, float target_pos, float target_vel) {
if (param == NULL) {
return DEVICE_ERR_NULL;
}
MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param);
if (motor == NULL) {
return DEVICE_ERR_NO_DEV;
}
return MOTOR_DM_SendPosVelCmd(motor, target_pos, target_vel);
}
/**
* @brief 速度模式控制
* @param param 电机参数
* @param target_vel 目标速度
* @return 控制结果
*/
int8_t MOTOR_DM_VelCtrl(MOTOR_DM_Param_t *param, float target_vel) {
if (param == NULL) {
return DEVICE_ERR_NULL;
}
MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param);
if (motor == NULL) {
return DEVICE_ERR_NO_DEV;
}
return MOTOR_DM_SendVelCmd(motor, target_vel);
}
/**
* @brief 获取指定电机的实例指针
* @param param 电机参数
* @return 电机实例指针
*/
MOTOR_DM_t* MOTOR_DM_GetMotor(MOTOR_DM_Param_t *param) {
if (param == NULL) {
return NULL;
}
MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager(param->can);
if (manager == NULL) {
return NULL;
}
/* 查找对应的电机 */
for (int i = 0; i < manager->motor_count; i++) {
MOTOR_DM_t *motor = manager->motors[i];
if (motor && motor->param.can == param->can &&
motor->param.master_id == param->master_id) {
return motor;
}
}
return NULL;
}
int8_t MOTOR_DM_Enable(MOTOR_DM_Param_t *param){
if (param == NULL) {
return DEVICE_ERR_NULL;
}
MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param);
if (motor == NULL) {
return DEVICE_ERR_NO_DEV;
}
BSP_CAN_StdDataFrame_t frame;
frame.id = motor->param.can_id;
frame.dlc = 8;
frame.data[0] = 0XFF;
frame.data[1] = 0xFF;
frame.data[2] = 0xFF;
frame.data[3] = 0xFF;
frame.data[4] = 0xFF;
frame.data[5] = 0xFF;
frame.data[6] = 0xFF;
frame.data[7] = 0xFC;
return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
/**
* @brief 使电机松弛（设置输出为0）
* @param param 电机参数
* @return 操作结果
*/
int8_t MOTOR_DM_Relax(MOTOR_DM_Param_t *param) {
if (param == NULL) {
return DEVICE_ERR_NULL;
}
MOTOR_MIT_Output_t output = {0};
return MOTOR_DM_MITCtrl(param, &output);
}
/**
* @brief 使电机离线（设置在线状态为false）
* @param param 电机参数
* @return 操作结果
*/
int8_t MOTOR_DM_Offine(MOTOR_DM_Param_t *param) {
if (param == NULL) {
return DEVICE_ERR_NULL;
}
MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param);
if (motor == NULL) {
return DEVICE_ERR_NO_DEV;
}
motor->motor.header.online = false;
return DEVICE_OK;
}

98
device/motor_dm.h Normal file
View File

@ -0,0 +1,98 @@
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include "device/device.h"
#include "device/motor.h"
#include "bsp/can.h"
/* Exported constants ------------------------------------------------------- */
#define MOTOR_DM_MAX_MOTORS 32
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
typedef enum {
MOTOR_DM_J4310,
} MOTOR_DM_Module_t;
/*每个电机需要的参数*/
typedef struct {
BSP_CAN_t can;
uint16_t master_id; /* 主站ID，用于发送控制命令 */
uint16_t can_id; /* 反馈ID，用于接收电机反馈 */
MOTOR_DM_Module_t module;
bool reverse;
} MOTOR_DM_Param_t;
/*电机实例*/
typedef struct{
MOTOR_DM_Param_t param;
MOTOR_t motor;
} MOTOR_DM_t;
/*CAN管理器，管理一个CAN总线上所有的电机*/
typedef struct {
BSP_CAN_t can;
MOTOR_DM_t *motors[MOTOR_DM_MAX_MOTORS];
uint8_t motor_count;
} MOTOR_DM_CANManager_t;
/* Exported functions prototypes -------------------------------------------- */
/**
* @brief 注册一个LK电机
* @param param 电机参数
* @return
*/
int8_t MOTOR_DM_Register(MOTOR_DM_Param_t *param);
/**
* @brief 更新指定电机数据
* @param param 电机参数
* @return
*/
int8_t MOTOR_DM_Update(MOTOR_DM_Param_t *param);
/**
* @brief 更新所有电机数据
* @return
*/
int8_t MOTOR_DM_UpdateAll(void);
int8_t MOTOR_DM_MITCtrl(MOTOR_DM_Param_t *param, MOTOR_MIT_Output_t *output);
int8_t MOTOR_DM_PosVelCtrl(MOTOR_DM_Param_t *param, float target_pos, float target_vel);
int8_t MOTOR_DM_VelCtrl(MOTOR_DM_Param_t *param, float target_vel);
/**
* @brief 获取指定电机的实例指针
* @param param 电机参数
* @return
*/
MOTOR_DM_t* MOTOR_DM_GetMotor(MOTOR_DM_Param_t *param);
int8_t MOTOR_DM_Enable(MOTOR_DM_Param_t *param);
/**
* @brief 使电机松弛（设置输出为0）
* @param param
* @return
*/
int8_t MOTOR_DM_Relax(MOTOR_DM_Param_t *param);
/**
* @brief 使电机离线（设置在线状态为false）
* @param param
* @return
*/
int8_t MOTOR_DM_Offine(MOTOR_DM_Param_t *param);
#ifdef __cplusplus
}
#endif

3
device/motor_lk.c
View File

@ -253,7 +253,6 @@ int8_t MOTOR_LK_SetOutput(MOTOR_LK_Param_t *param, float value) {
tx_frame.data[5] = (uint8_t)((torque_control >> 8) & 0xFF);
tx_frame.data[6] = 0x00;
tx_frame.data[7] = 0x00;
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
@ -279,7 +278,6 @@ int8_t MOTOR_LK_MotorOn(MOTOR_LK_Param_t *param) {
tx_frame.data[5] = 0x00;
tx_frame.data[6] = 0x00;
tx_frame.data[7] = 0x00;
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
@ -299,7 +297,6 @@ int8_t MOTOR_LK_MotorOff(MOTOR_LK_Param_t *param) {
tx_frame.data[5] = 0x00;
tx_frame.data[6] = 0x00;
tx_frame.data[7] = 0x00;
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}

10
device/motor_lz.c
View File

@ -134,7 +134,6 @@ static int8_t MOTOR_LZ_SendExtFrame(BSP_CAN_t can, uint32_t ext_id, uint8_t *dat
} else {
memset(tx_frame.data, 0, dlc);
}
BSP_CAN_WaitTxMailboxEmpty(can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitExtDataFrame(can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
@ -244,14 +243,6 @@ int8_t MOTOR_LZ_Init(void) {
return BSP_CAN_RegisterIdParser(MOTOR_LZ_IdParser) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
/**
* @brief 反初始化灵足电机驱动系统
* @return 设备状态码
*/
int8_t MOTOR_LZ_DeInit(void) {
// 注销ID解析器
return BSP_CAN_UnregisterIdParser() == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
int8_t MOTOR_LZ_Register(MOTOR_LZ_Param_t *param) {
if (param == NULL) return DEVICE_ERR_NULL;
@ -369,7 +360,6 @@ int8_t MOTOR_LZ_MotionControl(MOTOR_LZ_Param_t *param, MOTOR_LZ_MotionParam_t *m
uint16_t raw_kd = MOTOR_LZ_FloatToRawPositive(send_param.kd, LZ_KD_MAX);
data[6] = (raw_kd >> 8) & 0xFF;
data[7] = raw_kd & 0xFF;
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8);
}

6
device/motor_lz.h
View File

@ -111,12 +111,6 @@ typedef struct {
*/
int8_t MOTOR_LZ_Init(void);
/**
* @brief 反初始化灵足电机驱动系统
* @return 设备状态码
*/
int8_t MOTOR_LZ_DeInit(void);
/**
* @brief 注册一个灵足电机
* @param param 电机参数

3
device/motor_rm.c
View File

@ -74,7 +74,7 @@ static int8_t MOTOR_RM_GetLogicalIndex(uint16_t can_id, MOTOR_RM_Module_t module
static float MOTOR_RM_GetRatio(MOTOR_RM_Module_t module) {
switch (module) {
case MOTOR_M2006: return 36.0f;
case MOTOR_M3508: return 19.0f;
case MOTOR_M3508: return 3591.0f / 187.0f;
case MOTOR_GM6020: return 1.0f;
default: return 1.0f;
}
@ -291,7 +291,6 @@ int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param) {
default:
return DEVICE_ERR;
}
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}

328
device/rc_can.c Normal file
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@ -0,0 +1,328 @@
/* Includes ----------------------------------------------------------------- */
#include "device/rc_can.h"
#include "bsp/time.h"
#include "device/device.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private constants -------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private types ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER VARIABLE BEGIN */
/* USER VARIABLE END */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
/* Private function prototypes ---------------------------------------------- */
static int8_t RC_CAN_ValidateParams(const RC_CAN_Param_t *param);
static int8_t RC_CAN_RegisterIds(RC_CAN_t *rc_can);
/* Exported functions ------------------------------------------------------- */
/**
* @brief 初始化RC CAN发送模块
* @param rc_can RC_CAN结构体指针
* @param param 初始化参数
* @return DEVICE_OK 成功，其他值失败
*/
int8_t RC_CAN_Init(RC_CAN_t *rc_can, RC_CAN_Param_t *param) {
if (rc_can == NULL || param == NULL) {
return DEVICE_ERR_NULL;
}
// 参数验证
if (RC_CAN_ValidateParams(param) != DEVICE_OK) {
return DEVICE_ERR;
}
rc_can->param = *param;
// 初始化header
rc_can->header.online = false;
rc_can->header.last_online_time = 0;
// 手动初始化数据结构
rc_can->data.joy.ch_l_x = 0.0f;
rc_can->data.joy.ch_l_y = 0.0f;
rc_can->data.joy.ch_r_x = 0.0f;
rc_can->data.joy.ch_r_y = 0.0f;
rc_can->data.sw.sw_l = RC_CAN_SW_ERR;
rc_can->data.sw.sw_r = RC_CAN_SW_ERR;
rc_can->data.sw.ch_res = 0.0f;
rc_can->data.mouse.x = 0.0f;
rc_can->data.mouse.y = 0.0f;
rc_can->data.mouse.z = 0.0f;
rc_can->data.mouse.mouse_l = false;
rc_can->data.mouse.mouse_r = false;
rc_can->data.keyboard.key_value = 0;
for (int i = 0; i < 6; i++) {
rc_can->data.keyboard.keys[i] = RC_CAN_KEY_NONE;
}
// 注册CAN ID队列（从机模式需要接收数据）
if (rc_can->param.mode == RC_CAN_MODE_SLAVE) {
return RC_CAN_RegisterIds(rc_can);
}
return DEVICE_OK;
}
/**
* @brief 更新并发送数据到CAN总线
* @param rc_can RC_CAN结构体指针
* @param data_type 数据类型
* @return DEVICE_OK 成功，其他值失败
*/
int8_t RC_CAN_SendData(RC_CAN_t *rc_can, RC_CAN_DataType_t data_type) {
if (rc_can == NULL) {
return DEVICE_ERR_NULL;
}
if (rc_can->param.mode != RC_CAN_MODE_MASTER) {
return DEVICE_ERR;
}
BSP_CAN_StdDataFrame_t frame;
frame.dlc = 8;
// 边界裁剪宏
#define RC_CAN_CLAMP(x, min, max) ((x) < (min) ? (min) : ((x) > (max) ? (max) : (x)))
switch (data_type) {
case RC_CAN_DATA_JOYSTICK: {
frame.id = rc_can->param.joy_id;
float l_x = RC_CAN_CLAMP(rc_can->data.joy.ch_l_x, -0.999969f, 0.999969f);
float l_y = RC_CAN_CLAMP(rc_can->data.joy.ch_l_y, -0.999969f, 0.999969f);
float r_x = RC_CAN_CLAMP(rc_can->data.joy.ch_r_x, -0.999969f, 0.999969f);
float r_y = RC_CAN_CLAMP(rc_can->data.joy.ch_r_y, -0.999969f, 0.999969f);
int16_t l_x_i = (int16_t)(l_x * 32768.0f);
int16_t l_y_i = (int16_t)(l_y * 32768.0f);
int16_t r_x_i = (int16_t)(r_x * 32768.0f);
int16_t r_y_i = (int16_t)(r_y * 32768.0f);
frame.data[0] = (uint8_t)(l_x_i & 0xFF);
frame.data[1] = (uint8_t)((l_x_i >> 8) & 0xFF);
frame.data[2] = (uint8_t)(l_y_i & 0xFF);
frame.data[3] = (uint8_t)((l_y_i >> 8) & 0xFF);
frame.data[4] = (uint8_t)(r_x_i & 0xFF);
frame.data[5] = (uint8_t)((r_x_i >> 8) & 0xFF);
frame.data[6] = (uint8_t)(r_y_i & 0xFF);
frame.data[7] = (uint8_t)((r_y_i >> 8) & 0xFF);
break;
}
case RC_CAN_DATA_SWITCH: {
frame.id = rc_can->param.sw_id;
frame.data[0] = (uint8_t)(rc_can->data.sw.sw_l);
frame.data[1] = (uint8_t)(rc_can->data.sw.sw_r);
float ch_res = RC_CAN_CLAMP(rc_can->data.sw.ch_res, -0.999969f, 0.999969f);
int16_t ch_res_i = (int16_t)(ch_res * 32768.0f);
frame.data[2] = (uint8_t)(ch_res_i & 0xFF);
frame.data[3] = (uint8_t)((ch_res_i >> 8) & 0xFF);
frame.data[4] = 0; // 保留字节
frame.data[5] = 0; // 保留字节
frame.data[6] = 0; // 保留字节
frame.data[7] = 0; // 保留字节
break;
}
case RC_CAN_DATA_MOUSE: {
frame.id = rc_can->param.mouse_id;
// 鼠标x/y/z一般为增量，若有极限也可加clamp
int16_t x = (int16_t)(rc_can->data.mouse.x);
int16_t y = (int16_t)(rc_can->data.mouse.y);
int16_t z = (int16_t)(rc_can->data.mouse.z);
frame.data[0] = (uint8_t)(x & 0xFF);
frame.data[1] = (uint8_t)((x >> 8) & 0xFF);
frame.data[2] = (uint8_t)(y & 0xFF);
frame.data[3] = (uint8_t)((y >> 8) & 0xFF);
frame.data[4] = (uint8_t)(z & 0xFF);
frame.data[5] = (uint8_t)((z >> 8) & 0xFF);
frame.data[6] = (uint8_t)(rc_can->data.mouse.mouse_l ? 1 : 0);
frame.data[7] = (uint8_t)(rc_can->data.mouse.mouse_r ? 1 : 0);
break;
}
case RC_CAN_DATA_KEYBOARD: {
frame.id = rc_can->param.keyboard_id;
frame.data[0] = (uint8_t)(rc_can->data.keyboard.key_value & 0xFF);
frame.data[1] = (uint8_t)((rc_can->data.keyboard.key_value >> 8) & 0xFF);
for (int i = 0; i < 6; i++) {
frame.data[2 + i] = (i < 6) ? (uint8_t)(rc_can->data.keyboard.keys[i]) : 0;
}
break;
}
default:
return DEVICE_ERR;
}
#undef RC_CAN_CLAMP
if (BSP_CAN_Transmit(rc_can->param.can, BSP_CAN_FORMAT_STD_DATA, frame.id,
frame.data, frame.dlc) != BSP_OK) {
return DEVICE_ERR;
}
return DEVICE_OK;
}
/**
* @brief 接收并更新CAN数据
* @param rc_can RC_CAN结构体指针
* @param data_type 数据类型
* @return DEVICE_OK 成功，其他值失败
*/
int8_t RC_CAN_Update(RC_CAN_t *rc_can, RC_CAN_DataType_t data_type) {
if (rc_can == NULL) {
return DEVICE_ERR_NULL;
}
// 只有从机模式才能接收数据
if (rc_can->param.mode != RC_CAN_MODE_SLAVE) {
return DEVICE_ERR;
}
BSP_CAN_Message_t msg;
switch (data_type) {
case RC_CAN_DATA_JOYSTICK:
if (BSP_CAN_GetMessage(rc_can->param.can, rc_can->param.joy_id, &msg,
BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
return DEVICE_ERR;
}
// 解包数据
int16_t ch_l_x = (int16_t)((msg.data[1] << 8) | msg.data[0]);
int16_t ch_l_y = (int16_t)((msg.data[3] << 8) | msg.data[2]);
int16_t ch_r_x = (int16_t)((msg.data[5] << 8) | msg.data[4]);
int16_t ch_r_y = (int16_t)((msg.data[7] << 8) | msg.data[6]);
// 转换为浮点数（范围：-1.0到1.0）
rc_can->data.joy.ch_l_x = (float)ch_l_x / 32768.0f;
rc_can->data.joy.ch_l_y = (float)ch_l_y / 32768.0f;
rc_can->data.joy.ch_r_x = (float)ch_r_x / 32768.0f;
rc_can->data.joy.ch_r_y = (float)ch_r_y / 32768.0f;
break;
case RC_CAN_DATA_SWITCH:
if (BSP_CAN_GetMessage(rc_can->param.can, rc_can->param.sw_id, &msg,
BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
return DEVICE_ERR;
}
// 解包数据
rc_can->data.sw.sw_l = (RC_CAN_SW_t)msg.data[0];
rc_can->data.sw.sw_r = (RC_CAN_SW_t)msg.data[1];
int16_t ch_res = (int16_t)((msg.data[3] << 8) | msg.data[2]);
rc_can->data.sw.ch_res = (float)ch_res / 32768.0f;
break;
case RC_CAN_DATA_MOUSE:
if (BSP_CAN_GetMessage(rc_can->param.can, rc_can->param.mouse_id, &msg,
BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
return DEVICE_ERR;
}
// 解包数据
int16_t x = (int16_t)((msg.data[1] << 8) | msg.data[0]);
int16_t y = (int16_t)((msg.data[3] << 8) | msg.data[2]);
int16_t z = (int16_t)((msg.data[5] << 8) | msg.data[4]);
rc_can->data.mouse.x = (float)x;
rc_can->data.mouse.y = (float)y;
rc_can->data.mouse.z = (float)z;
rc_can->data.mouse.mouse_l = (msg.data[6] & 0x01) ? true : false;
rc_can->data.mouse.mouse_r = (msg.data[7] & 0x01) ? true : false;
break;
case RC_CAN_DATA_KEYBOARD:
if (BSP_CAN_GetMessage(rc_can->param.can, rc_can->param.keyboard_id, &msg,
BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
return DEVICE_ERR;
}
if (msg.dlc < 2) {
return DEVICE_ERR;
}
// 解包数据
rc_can->data.keyboard.key_value =
(uint16_t)((msg.data[1] << 8) | msg.data[0]);
for (int i = 0; i < 6 && (i + 2) < msg.dlc; i++) {
rc_can->data.keyboard.keys[i] = (RC_CAN_Key_t)(msg.data[2 + i]);
}
// 清空未使用的按键位置
for (int i = (msg.dlc > 2 ? msg.dlc - 2 : 0); i < 6; i++) {
rc_can->data.keyboard.keys[i] = RC_CAN_KEY_NONE;
}
break;
default:
return DEVICE_ERR;
}
// 更新header状态
rc_can->header.online = true;
rc_can->header.last_online_time = BSP_TIME_Get_us();
return DEVICE_OK;
}
/* Private functions -------------------------------------------------------- */
/**
* @brief 验证RC_CAN参数
* @param param 参数指针
* @return DEVICE_OK 成功，其他值失败
*/
static int8_t RC_CAN_ValidateParams(const RC_CAN_Param_t *param) {
if (param == NULL) {
return DEVICE_ERR_NULL;
}
// 检查CAN总线有效性
if (param->can >= BSP_CAN_NUM) {
return DEVICE_ERR;
}
// 检查工作模式有效性
if (param->mode != RC_CAN_MODE_MASTER && param->mode != RC_CAN_MODE_SLAVE) {
return DEVICE_ERR;
}
// 检查CAN ID是否重复
if (param->joy_id == param->sw_id || param->joy_id == param->mouse_id ||
param->joy_id == param->keyboard_id || param->sw_id == param->mouse_id ||
param->sw_id == param->keyboard_id ||
param->mouse_id == param->keyboard_id) {
return DEVICE_ERR;
}
return DEVICE_OK;
}
/**
* @brief 注册CAN ID
* @param rc_can RC_CAN结构体指针
* @return DEVICE_OK 成功，其他值失败
*/
static int8_t RC_CAN_RegisterIds(RC_CAN_t *rc_can) {
if (BSP_CAN_RegisterId(rc_can->param.can, rc_can->param.joy_id, 0) !=
BSP_OK) {
return DEVICE_ERR;
}
if (BSP_CAN_RegisterId(rc_can->param.can, rc_can->param.sw_id, 0) != BSP_OK) {
return DEVICE_ERR;
}
if (BSP_CAN_RegisterId(rc_can->param.can, rc_can->param.mouse_id, 0) !=
BSP_OK) {
return DEVICE_ERR;
}
if (BSP_CAN_RegisterId(rc_can->param.can, rc_can->param.keyboard_id, 0) !=
BSP_OK) {
return DEVICE_ERR;
}
return DEVICE_OK;
}
int8_t RC_CAN_OFFLINE(RC_CAN_t *rc_can){
if (rc_can == NULL) {
return DEVICE_ERR_NULL;
}
rc_can->header.online = false;
return DEVICE_OK;
}
/* USER CODE BEGIN */
/* USER CODE END */

157
device/rc_can.h Normal file
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@ -0,0 +1,157 @@
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include "bsp/can.h"
#include "device/device.h"
#include <stdint.h>
#include <stdbool.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
typedef enum {
RC_CAN_SW_ERR = 0,
RC_CAN_SW_UP = 1,
RC_CAN_SW_MID = 3,
RC_CAN_SW_DOWN = 2,
} RC_CAN_SW_t;
typedef enum {
RC_CAN_MODE_MASTER = 0, // 主机模式
RC_CAN_MODE_SLAVE = 1, // 从机模式
} RC_CAN_Mode_t;
typedef enum {
RC_CAN_DATA_JOYSTICK = 0,
RC_CAN_DATA_SWITCH,
RC_CAN_DATA_MOUSE,
RC_CAN_DATA_KEYBOARD
} RC_CAN_DataType_t;
typedef enum {
RC_CAN_KEY_NONE = 0xFF, // 无按键
RC_CAN_KEY_W = 0,
RC_CAN_KEY_S,
RC_CAN_KEY_A,
RC_CAN_KEY_D,
RC_CAN_KEY_SHIFT,
RC_CAN_KEY_CTRL,
RC_CAN_KEY_Q,
RC_CAN_KEY_E,
RC_CAN_KEY_R,
RC_CAN_KEY_F,
RC_CAN_KEY_G,
RC_CAN_KEY_Z,
RC_CAN_KEY_X,
RC_CAN_KEY_C,
RC_CAN_KEY_V,
RC_CAN_KEY_B,
RC_CAN_KEY_NUM,
} RC_CAN_Key_t;
// 遥杆数据包
typedef struct {
float ch_l_x;
float ch_l_y;
float ch_r_x;
float ch_r_y;
} RC_CAN_JoyData_t;
// 拨杆数据包
typedef struct {
RC_CAN_SW_t sw_l; // 左拨杆状态
RC_CAN_SW_t sw_r; // 右拨杆状态
float ch_res; // 第五通道
} RC_CAN_SwitchData_t;
// 鼠标数据包
typedef struct {
float x; // 鼠标X轴移动
float y; // 鼠标Y轴移动
float z; // 鼠标Z轴(滚轮)
bool mouse_l; // 鼠标左键
bool mouse_r; // 鼠标右键
} RC_CAN_MouseData_t;
// 键盘数据包
typedef struct {
uint16_t key_value; // 键盘按键位映射
RC_CAN_Key_t keys[16];
} RC_CAN_KeyboardData_t;
typedef struct {
RC_CAN_JoyData_t joy;
RC_CAN_SwitchData_t sw;
RC_CAN_MouseData_t mouse;
RC_CAN_KeyboardData_t keyboard;
} RC_CAN_Data_t;
// RC_CAN 参数结构
typedef struct {
BSP_CAN_t can; // 使用的CAN总线
RC_CAN_Mode_t mode; // 工作模式
uint16_t joy_id; // 遥杆CAN ID
uint16_t sw_id; // 拨杆CAN ID
uint16_t mouse_id; // 鼠标CAN ID
uint16_t keyboard_id; // 键盘CAN ID
} RC_CAN_Param_t;
// RC_CAN 主结构
typedef struct {
DEVICE_Header_t header;
RC_CAN_Param_t param;
RC_CAN_Data_t data;
} RC_CAN_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Exported functions prototypes -------------------------------------------- */
/**
* @brief 初始化RC CAN发送模块
* @param rc_can RC_CAN结构体指针
* @param param 初始化参数
* @return DEVICE_OK 成功，其他值失败
*/
int8_t RC_CAN_Init(RC_CAN_t *rc_can, RC_CAN_Param_t *param);
/**
* @brief 更新并发送数据到CAN总线
* @param rc_can RC_CAN结构体指针
* @param data_type 数据类型
* @return DEVICE_OK 成功，其他值失败
*/
int8_t RC_CAN_SendData(RC_CAN_t *rc_can, RC_CAN_DataType_t data_type);
/**
* @brief 接收并更新CAN数据
* @param rc_can RC_CAN结构体指针
* @param data_type 数据类型
* @return DEVICE_OK 成功，其他值失败
*/
int8_t RC_CAN_Update(RC_CAN_t *rc_can , RC_CAN_DataType_t data_type);
int8_t RC_CAN_OFFLINE(RC_CAN_t *rc_can);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

259
module/2_axis_gimbal.c Normal file
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@ -0,0 +1,259 @@
/*
* 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

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/*
* 配置相关
*/
/* Includes ----------------------------------------------------------------- */
#include "module/config.h"
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* Exported variables ------------------------------------------------------- */
// 机器人参数配置
Config_RobotParam_t robot_config = {
};
/* Private function prototypes ---------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
/**
* @brief 获取机器人配置参数
* @return 机器人配置参数指针
*/
Config_RobotParam_t* Config_GetRobotParam(void) {
return &robot_config;
}

27
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/*
* 配置相关
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
typedef struct {
} Config_RobotParam_t;
/* Exported functions prototypes -------------------------------------------- */
/**
* @brief 获取机器人配置参数
* @return 机器人配置参数指针
*/
Config_RobotParam_t* Config_GetRobotParam(void);
#ifdef __cplusplus
}
#endif