250 lines
7.4 KiB
C
250 lines
7.4 KiB
C
/*
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* 云台模组
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "gimbal.h"
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#include "bsp/mm.h"
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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/* Private function -------------------------------------------------------- */
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/**
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* \brief 设置云台模式
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*
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* \param c 包含云台数据的结构体
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* \param mode 要设置的模式
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*
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* \return 函数运行结果
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*/
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static int8_t Gimbal_SetMode(Gimbal_t *g, CMD_GimbalMode_t mode) {
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if (g == NULL) return -1;
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if (mode == g->mode) return GIMBAL_OK;
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/* 切换模式后重置PID和滤波器 */
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for (uint8_t i = 0; i < GIMBAL_PID_NUM; i++) {
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PID_Reset(g->pid + i);
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}
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for (uint8_t i = 0; i < GIMBAL_ACTR_NUM; i++) {
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LowPassFilter2p_Reset(g->filter_out + i, 0.0f);
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}
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AHRS_ResetEulr(&(g->setpoint.eulr)); /* 切换模式后重置设定值 */
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if (g->mode == GIMBAL_MODE_RELAX) {
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if (mode == GIMBAL_MODE_ABSOLUTE) {
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g->setpoint.eulr.yaw = g->feedback.eulr.encoder.yaw;
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} else if (mode == GIMBAL_MODE_RELATIVE) {
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g->setpoint.eulr.yaw = g->feedback.eulr.encoder.yaw;
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}
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}
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g->mode = mode;
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return 0;
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}
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/* Exported functions ------------------------------------------------------- */
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/**
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* \brief 初始化云台
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*
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* \param g 包含云台数据的结构体
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* \param param 包含云台参数的结构体指针
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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 Gimbal_Init(Gimbal_t *g, const Gimbal_Params_t *param, float limit_max,
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float target_freq) {
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if (g == NULL) return -1;
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g->param = param; /* 初始化参数 */
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g->mode = GIMBAL_MODE_RELAX; /* 设置默认模式 */
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/* 设置软件限位 */
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if (g->param->reverse.pit) CircleReverse(&limit_max);
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g->limit.min = g->limit.max = limit_max;
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CircleAdd(&(g->limit.min), -g->param->pitch_travel_rad, M_2PI);
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/* 初始化云台电机控制PID和LPF */
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PID_Init(&(g->pid[GIMBAL_PID_YAW_ANGLE_IDX]), KPID_MODE_NO_D, target_freq,
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&(g->param->pid[GIMBAL_PID_YAW_ANGLE_IDX]));
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PID_Init(&(g->pid[GIMBAL_PID_YAW_OMEGA_IDX]), KPID_MODE_CALC_D, target_freq,
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&(g->param->pid[GIMBAL_PID_YAW_OMEGA_IDX]));
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PID_Init(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), KPID_MODE_NO_D, target_freq,
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&(g->param->pid[GIMBAL_PID_PIT_ANGLE_IDX]));
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PID_Init(&(g->pid[GIMBAL_PID_PIT_OMEGA_IDX]), KPID_MODE_CALC_D, target_freq,
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&(g->param->pid[GIMBAL_PID_PIT_OMEGA_IDX]));
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for (uint8_t i = 0; i < GIMBAL_ACTR_NUM; i++) {
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LowPassFilter2p_Init(g->filter_out + i, target_freq,
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g->param->low_pass_cutoff_freq.out);
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}
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return 0;
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}
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/**
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* \brief 通过CAN设备更新云台反馈信息
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*
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* \param gimbal 云台
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* \param can CAN设备
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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 Gimbal_UpdateFeedback(Gimbal_t *gimbal, const CAN_t *can) {
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if (gimbal == NULL) return -1;
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if (can == NULL) return -1;
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gimbal->feedback.eulr.encoder.yaw = can->motor.gimbal.named.yaw.rotor_angle;
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gimbal->feedback.eulr.encoder.pit = can->motor.gimbal.named.pit.rotor_angle;
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if (gimbal->param->reverse.yaw)
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CircleReverse(&(gimbal->feedback.eulr.encoder.yaw));
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if (gimbal->param->reverse.pit)
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CircleReverse(&(gimbal->feedback.eulr.encoder.pit));
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return 0;
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}
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/**
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* \brief 运行云台控制逻辑
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*
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* \param g 包含云台数据的结构体
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* \param fb 云台反馈信息
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* \param g_cmd 云台控制指令
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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 Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
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if (g == NULL) return -1;
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if (g_cmd == NULL) return -1;
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g->dt = (float)(now - g->lask_wakeup) / 1000.0f;
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g->lask_wakeup = now;
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Gimbal_SetMode(g, g_cmd->mode);
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/* yaw坐标正方向与遥控器操作逻辑相反 */
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g_cmd->delta_eulr.pit = -g_cmd->delta_eulr.pit;
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g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw;
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/* 处理yaw控制命令 */
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CircleAdd(&(g->setpoint.eulr.yaw), g_cmd->delta_eulr.yaw, M_2PI);
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/* 处理pitch控制命令，软件限位 */
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const float delta_max =
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CircleError(g->limit.max,
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(g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
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g->feedback.eulr.encoder.pit),
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M_2PI);
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const float delta_min =
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CircleError(g->limit.min,
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(g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
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g->feedback.eulr.encoder.pit),
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M_2PI);
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Clip(&(g_cmd->delta_eulr.pit), delta_min, delta_max);
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g->setpoint.eulr.pit += g_cmd->delta_eulr.pit;
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/* 重置输入指令，防止重复处理 */
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AHRS_ResetEulr(&(g_cmd->delta_eulr));
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/* 控制相关逻辑 */
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float yaw_omega_set_point, pit_omega_set_point;
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switch (g->mode) {
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case GIMBAL_MODE_RELAX:
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for (uint8_t i = 0; i < GIMBAL_ACTR_NUM; i++) g->out[i] = 0.0f;
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break;
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case GIMBAL_MODE_ABSOLUTE:
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yaw_omega_set_point =
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PID_Calc(&(g->pid[GIMBAL_PID_YAW_ANGLE_IDX]), g->setpoint.eulr.yaw,
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g->feedback.eulr.encoder.yaw, 0.0f, g->dt);
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g->out[GIMBAL_ACTR_YAW_IDX] =
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PID_Calc(&(g->pid[GIMBAL_PID_YAW_OMEGA_IDX]), yaw_omega_set_point,
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g->feedback.gyro.z, 0.f, g->dt);
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pit_omega_set_point =
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PID_Calc(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), g->setpoint.eulr.pit,
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g->feedback.eulr.encoder.pit, 0.0f, g->dt);
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g->out[GIMBAL_ACTR_PIT_IDX] =
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PID_Calc(&(g->pid[GIMBAL_PID_PIT_OMEGA_IDX]), pit_omega_set_point,
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g->feedback.gyro.x, 0.f, g->dt);
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break;
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case GIMBAL_MODE_RELATIVE:
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for (uint8_t i = 0; i < GIMBAL_ACTR_NUM; i++) g->out[i] = 0.0f;
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break;
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}
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/* 输出滤波 */
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for (uint8_t i = 0; i < GIMBAL_ACTR_NUM; i++)
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g->out[i] = LowPassFilter2p_Apply(g->filter_out + i, g->out[i]);
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/* 处理电机反装 */
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if (g->param->reverse.yaw)
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g->out[GIMBAL_ACTR_YAW_IDX] = -g->out[GIMBAL_ACTR_YAW_IDX];
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if (g->param->reverse.pit)
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g->out[GIMBAL_ACTR_PIT_IDX] = -g->out[GIMBAL_ACTR_PIT_IDX];
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if (g->out[GIMBAL_ACTR_YAW_IDX] < 0.f) {
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__NOP();
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}
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if (g->out[GIMBAL_ACTR_PIT_IDX] > 0.5f) {
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__NOP();
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}
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return 0;
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}
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/**
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* \brief 打包云台数据给AI
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*
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* \param g 包含云台数据的结构体
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* \param gimbal_for_ai 云台AI数据
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*
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* \return 函数运行结果
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*/
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uint8_t Gimbal_PackAI(Gimbal_t *g, const AHRS_Eulr_t *ai){
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memcpy((void *)ai, (const void *)&(g->feedback.eulr.encoder),
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sizeof(g->feedback.eulr.encoder));
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return 0;
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}
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/**
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* \brief 复制云台输出值
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*
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* \param s 包含云台数据的结构体
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* \param out CAN设备云台输出结构体
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*/
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void Gimbal_DumpOutput(Gimbal_t *g, CAN_GimbalOutput_t *out) {
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out->named.yaw = g->out[GIMBAL_ACTR_YAW_IDX];
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out->named.pit = g->out[GIMBAL_ACTR_PIT_IDX];
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}
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/**
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* \brief 清空输出值
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*
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* \param output 要清空的结构体
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*/
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void Gimbal_ResetOutput(CAN_GimbalOutput_t *output) {
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int i = 0;
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for (i = 0; i < 3; i++) {
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output->as_array[i] = 0.0f;
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}
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}
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/**
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* @brief 导出云台UI数据
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*
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* @param g 云台结构体
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* @param ui UI结构体
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*/
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void Gimbal_DumpUI(const Gimbal_t *g, Referee_GimbalUI_t *ui) {
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ui->mode = g->mode;
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}
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