181 lines
5.0 KiB
C
181 lines
5.0 KiB
C
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/*
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* 底盘模组
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*/
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#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ----------------------------------------------------------------- */
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#include "component\cmd.h"
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#include "component\filter.h"
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#include "component\mixer.h"
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#include "component\pid.h"
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#include "device\can.h"
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#include "device\referee.h"
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/* Exported constants ------------------------------------------------------- */
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#define CHASSIS_OK (0) /* 运行正常 */
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#define CHASSIS_ERR (-1) /* 运行时发现了其他错误 */
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#define CHASSIS_ERR_NULL (-2) /* 运行时发现NULL指针 */
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#define CHASSIS_ERR_MODE (-3) /* 运行时配置了错误的CMD_ChassisMode_t */
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#define CHASSIS_ERR_TYPE (-4) /* 运行时配置了错误的Chassis_Type_t */
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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/* 底盘类型（底盘的物理设计） */
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typedef enum {
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CHASSIS_TYPE_MECANUM, /* 麦克纳姆轮 */
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CHASSIS_TYPE_PARLFIX4, /* 平行摆设的四个驱动轮 */
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CHASSIS_TYPE_PARLFIX2, /* 平行摆设的两个驱动轮 */
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CHASSIS_TYPE_OMNI_CROSS, /* 叉型摆设的四个全向轮 */
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CHASSIS_TYPE_OMNI_PLUS, /* 十字型摆设的四个全向轮 */
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CHASSIS_TYPE_DRONE, /* 底盘为无人机 */
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CHASSIS_TYPE_SINGLE, /* 单个摩擦轮 */
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} Chassis_Type_t;
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/* 底盘参数的结构体，包含所有初始化用的参数，通常是const，存好几组 */
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typedef struct {
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Chassis_Type_t type; /* 底盘类型，底盘的机械设计和轮子选型 */
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KPID_Params_t motor_pid_param; /* 轮子控制PID的参数 */
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KPID_Params_t follow_pid_param; /* 跟随云台PID的参数 */
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/* 低通滤波器截止频率 */
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struct {
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float in; /* 输入 */
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float out; /* 输出 */
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} low_pass_cutoff_freq;
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/* 电机反装 应该和云台设置相同*/
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struct {
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bool yaw;
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} reverse;
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} Chassis_Params_t;
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/*
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* 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
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* 包含了初始化参数，中间变量，输出变量
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*/
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typedef struct {
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uint32_t lask_wakeup;
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float dt;
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const Chassis_Params_t *param; /* 底盘的参数，用Chassis_Init设定 */
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AHRS_Eulr_t *mech_zero;
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/* 模块通用 */
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CMD_ChassisMode_t mode; /* 底盘模式 */
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/* 底盘设计 */
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int8_t num_wheel; /* 底盘轮子数量 */
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Mixer_t mixer; /* 混合器，移动向量->电机目标值 */
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MoveVector_t move_vec; /* 底盘实际的运动向量 */
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/* 反馈信息 */
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struct {
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float gimbal_yaw_encoder; /* 云台Yaw轴编码器角度 */
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float *motor_rpm; /* 电机转速的动态数组，单位：RPM */
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float *motor_current; /* 转矩电流 单位：A */
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} feedback;
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float wz_multi; /* 小陀螺模式旋转方向 */
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/* PID计算的目标值 */
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struct {
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float *motor_rpm; /* 电机转速的动态数组，单位：RPM */
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} setpoint;
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/* 反馈控制用的PID */
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struct {
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KPID_t *motor; /* 控制轮子电机用的PID的动态数组 */
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KPID_t follow; /* 跟随云台用的PID */
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} pid;
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/* 滤波器 */
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struct {
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LowPassFilter2p_t *in; /* 反馈值滤波器 */
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LowPassFilter2p_t *out; /* 输出值滤波器 */
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} filter;
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float *out; /* 电机最终的输出值的动态数组 */
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} Chassis_t;
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/* Exported functions prototypes -------------------------------------------- */
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/**
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* \brief 初始化底盘
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*
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* \param c 包含底盘数据的结构体
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* \param param 包含底盘参数的结构体指针
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* \param target_freq 任务预期的运行频率
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*
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* \return 函数运行结果
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*/
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int8_t Chassis_Init(Chassis_t *c, const Chassis_Params_t *param,
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AHRS_Eulr_t *mech_zero, float target_freq);
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/**
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* \brief 更新底盘的反馈信息
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*
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* \param c 包含底盘数据的结构体
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* \param can CAN设备结构体
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*
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* \return 函数运行结果
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*/
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int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can);
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/**
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* \brief 运行底盘控制逻辑
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*
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* \param c 包含底盘数据的结构体
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* \param c_cmd 底盘控制指令
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* \param dt_sec 两次调用的时间间隔
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*
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* \return 函数运行结果
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*/
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int8_t Chassis_Control(Chassis_t *c, const CMD_ChassisCmd_t *c_cmd,
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uint32_t now);
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/**
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* @brief 底盘功率限制
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*
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* @param c 底盘数据
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* @param cap 电容数据
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* @param ref 裁判系统数据
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* @return 函数运行结果
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*/
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int8_t Chassis_PowerLimit(Chassis_t *c, const CAN_Capacitor_t *cap,
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const Referee_ForChassis_t *ref);
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/**
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* \brief 复制底盘输出值
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*
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* \param s 包含底盘数据的结构体
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* \param out CAN设备底盘输出结构体
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*/
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void Chassis_DumpOutput(Chassis_t *c, CAN_ChassisOutput_t *out);
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/**
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* \brief 清空Chassis输出数据
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*
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* \param out CAN设备底盘输出结构体
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*/
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void Chassis_ResetOutput(CAN_ChassisOutput_t *out);
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/**
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* @brief 导出底盘数据
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*
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* @param chassis 底盘数据结构体
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* @param ui UI数据结构体
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*/
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void Chassis_DumpUI(const Chassis_t *c, Referee_ChassisUI_t *ui);
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#ifdef __cplusplus
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}
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#endif
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