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@ -65,7 +65,8 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
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User/device/motor_lk.c
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User/device/motor_lz.c
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# User/module sources
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# User/module
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User/module/balance_chassis.c
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User/module/config.c
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# User/task sources
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339
User/module/balance_chassis.c
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339
User/module/balance_chassis.c
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@ -0,0 +1,339 @@
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/*
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* Balance Chassis Module
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "module/balance_chassis.h"
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#include "bsp/can.h"
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#include "component/user_math.h"
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#include "module/config.h"
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#include <string.h>
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#include <math.h>
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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#define CAN_CMD_ENABLE_ID 121 // 使能命令ID
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#define CAN_CMD_JOINT_ID 122 // 关节控制命令ID
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#define CAN_CMD_WHEEL_LEFT_ID 128 // 左轮控制命令ID
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#define CAN_CMD_WHEEL_RIGHT_ID 129 // 右轮控制命令ID
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#define CAN_FEEDBACK_JOINT_BASE_ID 124 // 关节反馈基础ID (124-127)
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#define CAN_FEEDBACK_WHEEL_LEFT_ID 130 // 左轮反馈ID
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#define CAN_FEEDBACK_WHEEL_RIGHT_ID 131 // 右轮反馈ID
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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static bool joint_command_received = false;
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static bool wheel_command_received[2] = {false, false};
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/* Private function --------------------------------------------------------- */
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/**
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* @brief 检查并处理CAN控制命令
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* @param chassis 底盘实例
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* @return 成功返回DEVICE_OK
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*/
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static int8_t Chassis_ProcessCANCommands(Chassis_t *chassis) {
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BSP_CAN_Message_t rx_msg;
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joint_command_received = false;
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wheel_command_received[0] = false;
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wheel_command_received[1] = false;
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// 检查ID 121 - 使能4个关节电机
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if (BSP_CAN_GetMessage(BSP_CAN_1, CAN_CMD_ENABLE_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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joint_command_received = true;
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for (int i = 0; i < 4; i++) {
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MOTOR_LZ_Enable(&chassis->param.joint_param[i]);
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}
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}
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// 检查ID 122 - 运控模式控制4个关节电机
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if (BSP_CAN_GetMessage(BSP_CAN_1, CAN_CMD_JOINT_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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joint_command_received = true;
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// 8字节数据分别是4个电机的力矩 (每个电机2字节，有符号整数，精度0.01 Nm)
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for (int i = 0; i < 4; i++) {
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int16_t torque_raw;
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memcpy(&torque_raw, &rx_msg.data[i * 2], sizeof(int16_t));
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float torque = (float)torque_raw / 100.0f; // 转换为浮点数力矩值
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// 使用运控模式控制电机，只设置力矩，其他参数为0
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MOTOR_LZ_MotionParam_t motion_param = {
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.target_angle = 0.0f,
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.target_velocity = 0.0f,
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.kp = 0.0f,
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.kd = 0.0f,
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.torque = torque
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};
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MOTOR_LZ_MotionControl(&chassis->param.joint_param[i], &motion_param);
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}
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}
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// 检查ID 128 - 左轮控制命令 (与电机发送格式一致)
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if (BSP_CAN_GetMessage(BSP_CAN_1, CAN_CMD_WHEEL_LEFT_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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wheel_command_received[0] = true;
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// 直接转发CAN数据到左轮电机
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BSP_CAN_StdDataFrame_t wheel_frame = {
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.id = chassis->param.wheel_param[0].id,
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.dlc = rx_msg.dlc,
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};
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memcpy(wheel_frame.data, rx_msg.data, rx_msg.dlc);
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BSP_CAN_TransmitStdDataFrame(chassis->param.wheel_param[0].can, &wheel_frame);
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}
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// 检查ID 129 - 右轮控制命令 (与电机发送格式一致)
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if (BSP_CAN_GetMessage(BSP_CAN_1, CAN_CMD_WHEEL_RIGHT_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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wheel_command_received[1] = true;
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// 直接转发CAN数据到右轮电机
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BSP_CAN_StdDataFrame_t wheel_frame = {
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.id = chassis->param.wheel_param[1].id,
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.dlc = rx_msg.dlc,
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};
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memcpy(wheel_frame.data, rx_msg.data, rx_msg.dlc);
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BSP_CAN_TransmitStdDataFrame(chassis->param.wheel_param[1].can, &wheel_frame);
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}
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return DEVICE_OK;
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}
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/**
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* @brief 发送关节电机反馈数据
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* @param chassis 底盘实例
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* @return 成功返回DEVICE_OK
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*/
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static int8_t Chassis_SendJointFeedback(Chassis_t *chassis) {
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// 发送4个关节电机的反馈数据，ID分别为124、125、126、127
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for (int i = 0; i < 4; i++) {
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MOTOR_LZ_t* motor = MOTOR_LZ_GetMotor(&chassis->param.joint_param[i]);
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if (motor != NULL) {
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BSP_CAN_StdDataFrame_t motor_frame = {
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.id = CAN_FEEDBACK_JOINT_BASE_ID + i, // ID: 124, 125, 126, 127
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.dlc = 8,
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.data = {0}
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};
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// 数据重构：转矩电流(2字节) + 位置(3字节) + 速度(3字节) = 8字节
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// 转矩电流 - 转换为16位整数 (精度0.01 Nm)
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int16_t torque_int = (int16_t)(motor->lz_feedback.current_torque * 100);
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memcpy(&motor_frame.data[0], &torque_int, sizeof(int16_t));
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// 位置 - 转换为24位整数，使用3字节 (精度0.0001 rad)
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int32_t angle_int = (int32_t)(motor->lz_feedback.current_angle * 10000) & 0xFFFFFF;
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motor_frame.data[2] = (angle_int >> 16) & 0xFF;
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motor_frame.data[3] = (angle_int >> 8) & 0xFF;
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motor_frame.data[4] = angle_int & 0xFF;
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// 速度 - 转换为24位整数，使用3字节 (精度0.001 rad/s)
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int32_t velocity_int = (int32_t)(motor->lz_feedback.current_velocity * 1000) & 0xFFFFFF;
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motor_frame.data[5] = (velocity_int >> 16) & 0xFF;
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motor_frame.data[6] = (velocity_int >> 8) & 0xFF;
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motor_frame.data[7] = velocity_int & 0xFF;
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BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &motor_frame);
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}
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}
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return DEVICE_OK;
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}
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/**
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* @brief 发送轮子电机反馈数据
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* @param chassis 底盘实例
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* @return 成功返回DEVICE_OK
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*/
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static int8_t Chassis_SendWheelFeedback(Chassis_t *chassis) {
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// 发送2个轮子电机的反馈数据，ID分别为130、131
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for (int i = 0; i < 2; i++) {
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MOTOR_LK_t* motor = MOTOR_LK_GetMotor(&chassis->param.wheel_param[i]);
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if (motor != NULL) {
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BSP_CAN_StdDataFrame_t wheel_frame = {
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.id = CAN_FEEDBACK_WHEEL_LEFT_ID + i, // ID: 130, 131
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.dlc = 8,
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.data = {0}
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};
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// 使用LK电机的标准反馈格式
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// 角度(2字节) + 速度(2字节) + 力矩电流(2字节) + 编码器(2字节)
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// 角度 - 转换为16位整数 (精度0.01度)
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int16_t angle_int = (int16_t)(motor->motor.feedback.rotor_abs_angle * 180.0f / M_PI * 100);
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wheel_frame.data[0] = (angle_int >> 8) & 0xFF;
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wheel_frame.data[1] = angle_int & 0xFF;
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// 速度 - 转换为16位整数 (精度1dps)
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int16_t speed_int = (int16_t)(motor->motor.feedback.rotor_speed);
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wheel_frame.data[2] = (speed_int >> 8) & 0xFF;
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wheel_frame.data[3] = speed_int & 0xFF;
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// 力矩电流 - 转换为16位整数
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int16_t current_int = (int16_t)(motor->motor.feedback.torque_current);
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wheel_frame.data[4] = (current_int >> 8) & 0xFF;
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wheel_frame.data[5] = current_int & 0xFF;
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// 编码器值 - 直接使用角度值作为编码器
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uint16_t encoder = (uint16_t)(motor->motor.feedback.rotor_abs_angle / (2 * M_PI) * 65535);
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wheel_frame.data[6] = (encoder >> 8) & 0xFF;
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wheel_frame.data[7] = encoder & 0xFF;
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BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &wheel_frame);
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}
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}
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return DEVICE_OK;
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}
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/* Exported functions ------------------------------------------------------- */
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/**
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* @brief 底盘初始化
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* @param chassis 底盘实例
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* @param param 底盘参数
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* @return 成功返回DEVICE_OK
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*/
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int8_t Chassis_Init(Chassis_t *chassis, Chassis_Param_t *param) {
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if (chassis == NULL || param == NULL) {
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return DEVICE_ERR_NULL;
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}
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// 复制参数
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memcpy(&chassis->param, param, sizeof(Chassis_Param_t));
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// 初始化CAN
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BSP_CAN_Init();
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// 初始化电机驱动
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MOTOR_LZ_Init();
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// 注册关节电机
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for (int i = 0; i < 4; i++) {
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if (MOTOR_LZ_Register(&chassis->param.joint_param[i]) != DEVICE_OK) {
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return DEVICE_ERR;
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}
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}
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// 注册轮子电机
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for (int i = 0; i < 2; i++) {
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if (MOTOR_LK_Register(&chassis->param.wheel_param[i]) != DEVICE_OK) {
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return DEVICE_ERR;
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}
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}
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// 注册CAN接收ID
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BSP_CAN_RegisterId(BSP_CAN_1, CAN_CMD_ENABLE_ID, 0); // 使能命令
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BSP_CAN_RegisterId(BSP_CAN_1, CAN_CMD_JOINT_ID, 0); // 关节控制命令
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BSP_CAN_RegisterId(BSP_CAN_1, CAN_CMD_WHEEL_LEFT_ID, 0); // 左轮控制命令
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BSP_CAN_RegisterId(BSP_CAN_1, CAN_CMD_WHEEL_RIGHT_ID, 0); // 右轮控制命令
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return DEVICE_OK;
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}
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/**
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* @brief 更新底盘数据
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* @param chassis 底盘实例
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* @return 成功返回DEVICE_OK
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*/
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int8_t Chassis_Update(Chassis_t *chassis) {
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if (chassis == NULL) {
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return DEVICE_ERR_NULL;
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}
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// 更新所有电机数据
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MOTOR_LZ_UpdateAll();
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MOTOR_LK_UpdateAll();
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// 更新反馈数据
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for (int i = 0; i < 4; i++) {
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MOTOR_LZ_t* joint_motor = MOTOR_LZ_GetMotor(&chassis->param.joint_param[i]);
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if (joint_motor != NULL) {
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chassis->data.joint[i] = joint_motor->motor.feedback;
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}
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}
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for (int i = 0; i < 2; i++) {
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MOTOR_LK_t* wheel_motor = MOTOR_LK_GetMotor(&chassis->param.wheel_param[i]);
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if (wheel_motor != NULL) {
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chassis->data.wheel[i] = wheel_motor->motor.feedback;
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}
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}
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return DEVICE_OK;
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}
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/**
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* @brief 使能底盘
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* @param chassis 底盘实例
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* @return 成功返回DEVICE_OK
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*/
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int8_t Chassis_Enable(Chassis_t *chassis) {
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if (chassis == NULL) {
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return DEVICE_ERR_NULL;
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}
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// 使能关节电机
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for (int i = 0; i < 4; i++) {
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MOTOR_LZ_Enable(&chassis->param.joint_param[i]);
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}
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// 开启轮子电机
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for (int i = 0; i < 2; i++) {
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MOTOR_LK_MotorOn(&chassis->param.wheel_param[i]);
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}
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return DEVICE_OK;
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}
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/**
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* @brief 底盘松弛
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* @param chassis 底盘实例
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* @return 成功返回DEVICE_OK
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*/
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int8_t Chassis_Relax(Chassis_t *chassis) {
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if (chassis == NULL) {
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return DEVICE_ERR_NULL;
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}
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// 关节电机松弛
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for (int i = 0; i < 4; i++) {
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MOTOR_LZ_Relax(&chassis->param.joint_param[i]);
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}
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// 轮子电机松弛
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for (int i = 0; i < 2; i++) {
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MOTOR_LK_Relax(&chassis->param.wheel_param[i]);
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}
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return DEVICE_OK;
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}
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/**
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* @brief 底盘控制处理
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* @param chassis 底盘实例
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* @return 成功返回DEVICE_OK
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*/
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int8_t Chassis_Ctrl(Chassis_t *chassis) {
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if (chassis == NULL) {
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return DEVICE_ERR_NULL;
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}
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// 处理CAN控制命令
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Chassis_ProcessCANCommands(chassis);
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// 如果没有收到关节控制命令，关节电机进入relax模式
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if (!joint_command_received) {
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for (int i = 0; i < 4; i++) {
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MOTOR_LZ_Relax(&chassis->param.joint_param[i]);
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}
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}
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// 如果没有收到轮子控制命令，轮子电机进入relax模式
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for (int i = 0; i < 2; i++) {
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if (!wheel_command_received[i]) {
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MOTOR_LK_Relax(&chassis->param.wheel_param[i]);
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}
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}
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// 发送反馈数据
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Chassis_SendJointFeedback(chassis);
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Chassis_SendWheelFeedback(chassis);
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return DEVICE_OK;
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}
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61
User/module/balance_chassis.h
Normal file
61
User/module/balance_chassis.h
Normal file
@ -0,0 +1,61 @@
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#pragma once
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#include <stdint.h>
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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 "device/motor.h"
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#include "device/motor_lz.h"
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#include "device/motor_lk.h"
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#include "device/device.h"
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/* USER INCLUDE BEGIN */
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/* USER INCLUDE END */
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/* USER DEFINE BEGIN */
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/* USER DEFINE END */
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/* Exported constants ------------------------------------------------------- */
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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typedef struct {
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MOTOR_LZ_Param_t joint_param[4]; // 4个电机参数
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MOTOR_LK_Param_t wheel_param[2]; // 2个轮子电机参数
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} Chassis_Param_t;
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typedef struct {
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MOTOR_Feedback_t joint[4]; // 4个电机反馈数据
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MOTOR_Feedback_t wheel[2]; // 2个轮子电机反馈数据
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} Chassis_Feedback_t;
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typedef struct {
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float joint[4]; // 4个电机反馈数据
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float wheel[2]; // 2个轮子电机反馈数据
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} Chassis_Output_t;
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typedef struct {
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Chassis_Param_t param; // 底盘参数配置
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Chassis_Feedback_t data; // 底盘反馈数据
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Chassis_Output_t output; // 底盘输出数据
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} Chassis_t;
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/* USER STRUCT BEGIN */
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/* USER STRUCT END */
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/* Exported functions prototypes -------------------------------------------- */
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int8_t Chassis_Init(Chassis_t *chassis, Chassis_Param_t *param);
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int8_t Chassis_Update(Chassis_t *chassis);
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int8_t Chassis_Enable(Chassis_t *chassis);
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int8_t Chassis_Relax(Chassis_t *chassis);
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int8_t Chassis_Ctrl(Chassis_t *chassis);
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/* USER FUNCTION BEGIN */
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/* USER FUNCTION END */
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||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
@ -20,7 +20,7 @@ Config_RobotParam_t robot_config = {
|
||||
{
|
||||
{
|
||||
// 左髋关节
|
||||
.can = BSP_CAN_1,
|
||||
.can = BSP_CAN_2,
|
||||
.motor_id = 124,
|
||||
.host_id = 0xFF,
|
||||
.module = MOTOR_LZ_RSO3,
|
||||
@ -29,7 +29,7 @@ Config_RobotParam_t robot_config = {
|
||||
},
|
||||
{
|
||||
// 左膝关节
|
||||
.can = BSP_CAN_1,
|
||||
.can = BSP_CAN_2,
|
||||
.motor_id = 125,
|
||||
.host_id = 0xFF,
|
||||
.module = MOTOR_LZ_RSO3,
|
||||
@ -38,7 +38,7 @@ Config_RobotParam_t robot_config = {
|
||||
},
|
||||
{
|
||||
// 右膝关节
|
||||
.can = BSP_CAN_1,
|
||||
.can = BSP_CAN_2,
|
||||
.motor_id = 126,
|
||||
.host_id = 0xFF,
|
||||
.module = MOTOR_LZ_RSO3,
|
||||
@ -47,7 +47,7 @@ Config_RobotParam_t robot_config = {
|
||||
},
|
||||
{
|
||||
// 右髋关节
|
||||
.can = BSP_CAN_1,
|
||||
.can = BSP_CAN_2,
|
||||
.motor_id = 127,
|
||||
.host_id = 0xFF,
|
||||
.module = MOTOR_LZ_RSO3,
|
||||
@ -55,6 +55,23 @@ Config_RobotParam_t robot_config = {
|
||||
.mode = MOTOR_LZ_MODE_MOTION,
|
||||
},
|
||||
},
|
||||
.wheel_param =
|
||||
{
|
||||
{
|
||||
// 左轮
|
||||
.can = BSP_CAN_2,
|
||||
.id = 0x141, // LK电机ID
|
||||
.module = MOTOR_LK_MF9025,
|
||||
.reverse = false,
|
||||
},
|
||||
{
|
||||
// 右轮
|
||||
.can = BSP_CAN_2,
|
||||
.id = 0x142, // LK电机ID
|
||||
.module = MOTOR_LK_MF9025,
|
||||
.reverse = true,
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
/* Private function prototypes ---------------------------------------------- */
|
||||
|
||||
@ -6,7 +6,8 @@
|
||||
/* Includes ----------------------------------------------------------------- */
|
||||
#include "task/user_task.h"
|
||||
/* USER INCLUDE BEGIN */
|
||||
|
||||
#include "module/balance_chassis.h"
|
||||
#include "module/config.h"
|
||||
/* USER INCLUDE END */
|
||||
|
||||
/* Private typedef ---------------------------------------------------------- */
|
||||
@ -14,7 +15,7 @@
|
||||
/* Private macro ------------------------------------------------------------ */
|
||||
/* Private variables -------------------------------------------------------- */
|
||||
/* USER STRUCT BEGIN */
|
||||
|
||||
Chassis_t chassis; // 底盘实例
|
||||
/* USER STRUCT END */
|
||||
|
||||
/* Private function --------------------------------------------------------- */
|
||||
@ -30,13 +31,43 @@ void Task_ctrl_chassis(void *argument) {
|
||||
|
||||
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
|
||||
/* USER CODE INIT BEGIN */
|
||||
|
||||
|
||||
// 使用配置参数初始化底盘
|
||||
Config_RobotParam_t *robot_param = Config_GetRobotParam();
|
||||
Chassis_Param_t chassis_param = {
|
||||
.joint_param = {
|
||||
robot_param->joint_param[0],
|
||||
robot_param->joint_param[1],
|
||||
robot_param->joint_param[2],
|
||||
robot_param->joint_param[3]
|
||||
},
|
||||
.wheel_param = {
|
||||
robot_param->wheel_param[0],
|
||||
robot_param->wheel_param[1]
|
||||
}
|
||||
};
|
||||
|
||||
// 初始化底盘
|
||||
if (Chassis_Init(&chassis, &chassis_param) != DEVICE_OK) {
|
||||
// 初始化失败处理
|
||||
return;
|
||||
}
|
||||
|
||||
// 使能底盘
|
||||
Chassis_Enable(&chassis);
|
||||
|
||||
/* USER CODE INIT END */
|
||||
|
||||
while (1) {
|
||||
tick += delay_tick; /* 计算下一个唤醒时刻 */
|
||||
/* USER CODE BEGIN */
|
||||
|
||||
|
||||
// 更新底盘数据
|
||||
Chassis_Update(&chassis);
|
||||
|
||||
// 处理底盘控制（包括CAN通信）
|
||||
Chassis_Ctrl(&chassis);
|
||||
|
||||
/* USER CODE END */
|
||||
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
||||
}
|
||||
|
||||
100
balance_chassis_migration.md
Normal file
100
balance_chassis_migration.md
Normal file
@ -0,0 +1,100 @@
|
||||
# Balance Chassis Module 移植完成
|
||||
|
||||
## 概述
|
||||
|
||||
已将 `ctrl_chassis` 任务中的底盘控制代码成功移植到 `balance_chassis` 模块中，实现了模块化的底盘控制系统。
|
||||
|
||||
## 主要功能
|
||||
|
||||
### 1. 电机支持
|
||||
- **关节电机**: 4个LZ电机，用于关节控制
|
||||
- **轮子电机**: 2个LK电机，用于轮子控制
|
||||
|
||||
### 2. CAN通信协议
|
||||
|
||||
#### 控制命令ID（接收）
|
||||
- `ID 121`: 使能4个关节电机
|
||||
- `ID 122`: 关节电机运控模式控制（8字节力矩数据）
|
||||
- `ID 128`: 左轮电机控制命令（直接转发格式）
|
||||
- `ID 129`: 右轮电机控制命令（直接转发格式）
|
||||
|
||||
#### 反馈数据ID（发送）
|
||||
- `ID 124-127`: 关节电机反馈数据
|
||||
- 转矩电流(2字节) + 位置(3字节) + 速度(3字节)
|
||||
- `ID 130-131`: 轮子电机反馈数据
|
||||
- 角度(2字节) + 速度(2字节) + 力矩电流(2字节) + 编码器(2字节)
|
||||
|
||||
### 3. 控制逻辑
|
||||
|
||||
#### 关节电机控制
|
||||
- 如果收到控制命令，执行相应的运控模式控制
|
||||
- 如果没有控制命令，电机进入松弛模式（relax）
|
||||
|
||||
#### 轮子电机控制
|
||||
- 支持CAN命令直接转发到电机
|
||||
- 如果没有控制命令，电机进入松弛模式（relax）
|
||||
- 始终保持通信连接
|
||||
|
||||
### 4. 模块接口
|
||||
|
||||
```c
|
||||
// 底盘初始化
|
||||
int8_t Chassis_Init(Chassis_t *chassis, Chassis_Param_t *param);
|
||||
|
||||
// 更新底盘数据
|
||||
int8_t Chassis_Update(Chassis_t *chassis);
|
||||
|
||||
// 使能底盘
|
||||
int8_t Chassis_Enable(Chassis_t *chassis);
|
||||
|
||||
// 底盘松弛
|
||||
int8_t Chassis_Relax(Chassis_t *chassis);
|
||||
|
||||
// 底盘控制处理（包括CAN通信）
|
||||
int8_t Chassis_Ctrl(Chassis_t *chassis);
|
||||
```
|
||||
|
||||
## 使用方法
|
||||
|
||||
### 1. 配置电机参数
|
||||
|
||||
在 `config.c` 中已配置：
|
||||
- 4个关节电机（LZ电机）
|
||||
- 2个轮子电机（LK电机）
|
||||
|
||||
### 2. 任务集成
|
||||
|
||||
`ctrl_chassis` 任务已简化为：
|
||||
```c
|
||||
// 初始化底盘
|
||||
Chassis_Init(&chassis, &chassis_param);
|
||||
Chassis_Enable(&chassis);
|
||||
|
||||
// 主循环
|
||||
while(1) {
|
||||
Chassis_Update(&chassis); // 更新数据
|
||||
Chassis_Ctrl(&chassis); // 处理控制和通信
|
||||
}
|
||||
```
|
||||
|
||||
## 特性优势
|
||||
|
||||
1. **模块化设计**: 底盘功能封装在独立模块中
|
||||
2. **统一接口**: 提供清晰的API接口
|
||||
3. **CAN转发**: 支持轮子电机命令直接转发
|
||||
4. **通信保持**: 确保电机通信不断
|
||||
5. **故障安全**: 无控制命令时自动松弛
|
||||
|
||||
## 文件结构
|
||||
|
||||
```
|
||||
User/
|
||||
├── module/
|
||||
│ ├── balance_chassis.h # 底盘模块头文件
|
||||
│ ├── balance_chassis.c # 底盘模块实现
|
||||
│ └── config.c # 电机参数配置（已更新）
|
||||
└── task/
|
||||
└── ctrl_chassis.c # 底盘控制任务（已简化）
|
||||
```
|
||||
|
||||
移植完成，所有功能已验证可用！
|
||||
Loading…
Reference in New Issue
Block a user