263 lines
7.6 KiB
C
263 lines
7.6 KiB
C
#pragma once
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#include "bsp/struct_typedef.h"
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#include "device/motor_dm.h"
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#include "component/pid.h"
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#include "device/motor_rm.h"
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#include "component/ahrs.h"
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#define GIMBAL_OK 0
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#define GIMBAL_ERR -1
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#define GIMBAL_ERR_NULL -2
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#define GIMBAL_ERR_MODE (-3)
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#define GIMBAL_ERR_TYPE (-4)
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#define AI_GIMBAL_SEARCH (1u << 1) // bit1: 云台搜索模式
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/* 软件限位 */
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typedef struct
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{
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float max;
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float min;
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} Gimbal_Limit_t;
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/* 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。*/
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typedef struct
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{
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MOTOR_RM_Param_t yaw_6020_motor; /* yaw轴6020电机参数 */
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MOTOR_DM_Param_t yaw_4310_motor; /* yaw轴4310电机参数 */
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MOTOR_DM_Param_t pitch_4310_motor; /* pitch轴6020电机参数 */
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struct
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{
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KPID_Params_t yaw_6020_motor_omega; /* yaw轴6020角速度环PID参数 */
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KPID_Params_t yaw_6020_motor_angle; /* yaw轴6020角位置环PID参数 */
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KPID_Params_t yaw_4310_motor_omega; /* yaw轴4310角速度环PID参数 */
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KPID_Params_t yaw_4310_motor_angle; /* yaw轴4310角位置环PID参数 */
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KPID_Params_t pitch_4310_motor_omega; /* pitch轴角速度环PID参数 */
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KPID_Params_t pitch_4310_motor_angle; /* pitch轴角位置环PID参数 */
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KPID_Params_t daohang_6020_motor_angle; /* 导航模式小yaw角位置环PID参数 */
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KPID_Params_t daohang_4310_motor_angle; /* 导航模式大yaw角位置环PID参数 */
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} pid;
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/* 低通滤波器截止频率 */
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struct
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{
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float out; /* 电机输出 */
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float gyro; /* 陀螺仪数据 */
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} low_pass_cutoff_freq;
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struct
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{
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float yaw_6020; /* 小yaw轴6020机械限位 */
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float yaw_4310; /* 大yaw轴4310机械限位 */
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float pitch_4310; /* pitch轴4310机械限位 */
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} mech_zero;
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struct
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{
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float yaw_6020; /* 小yaw轴6020机械限位行程 -1表示无限位 */
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float yaw_4310; /* 大yaw轴4310机械限位行程 -1表示无限位*/
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float pitch_4310; /* pitch轴4310机械限位行程 -1表示无限位*/
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} travel;
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struct {
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float K_vel; /*前馈速度*/
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float K_accl; /*前馈加速度*/
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}K_forward_pid;
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} Gimbal_Param_t;
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typedef struct
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{
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AHRS_Gyro_t gyro;
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AHRS_Eulr_t eulr;
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AHRS_Quaternion_t quat;
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} Gimbal_IMU_t;
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/* 云台反馈数据的结构体，包含反馈控制用的反馈数据 */
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typedef struct
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{
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Gimbal_IMU_t imu;
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struct
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{
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MOTOR_Feedback_t yaw_4310_motor_feedback;
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MOTOR_Feedback_t pitch_4310_motor_feedback;
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MOTOR_Feedback_t yaw_6020_motor_feedback;
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} motor;
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} Gimbal_feedback_t;
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/* 云台输出数据的结构体*/
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typedef struct
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{
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float yaw_6020; /* yaw轴6020电机输出 */
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float yaw_4310; /* yaw轴4310电机输出 */
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float pitch_4310; /* pitch轴4310电机输出 */
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} Gimbal_Output_t;
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/* 云台模式 */
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typedef enum
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{
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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 */
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GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
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GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
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GIMBAL_MODE_DAOHANG, /* 导航模式，云台根据导航数据进行移动 */
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} Gimbal_Mode_t;
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typedef enum
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{
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GIMBAL_MODE_REMOTE,
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GIMBAL_MODE_AI,
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GIMBAL_MODE_SCAN,
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}GIMBAL_Ctrl_mode_t;
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/* UI 导出结构（供 referee 系统绘制） */
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typedef struct {
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Gimbal_Mode_t mode;
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} Gimbal_RefereeUI_t;
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typedef struct {
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Gimbal_Mode_t mode;
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float delta_yaw_4310;
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float delta_pitch_4310;
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float delta_yaw_6020;
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GIMBAL_Ctrl_mode_t ctrl_mode;
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uint8_t scan_enable; /* 1=AI无目标时扫描, 0=AI无目标时保持当前姿态 */
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float set_yaw; /*自瞄YAW目标值*/
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float set_pitch;/*自瞄PITCH目标值*/
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float yaw_vel; /*自瞄YAW角速度*/
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float yaw_accl; /*自瞄YAW加速度*/
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float pit_vel; /*自瞄PITCH角速度*/
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float pit_accl; /*自瞄PITCH加速度*/
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} Gimbal_CMD_t;
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typedef struct
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{
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uint64_t last_wakeup;
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float dt;
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Gimbal_Param_t *param; /* 云台的参数，用Gimbal_Init设定 */
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/* 模块通用 */
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Gimbal_Mode_t mode; /* 云台模式 */
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/* PID计算的目标值 */
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struct
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{
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AHRS_Eulr_t eulr; /* 表示云台姿态的欧拉角 */
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float yaw_4310; /* 大yaw电机目标角度 */
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float yaw_vel; /*yaw自瞄角速度*/
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float yaw_accl; /*yaw自瞄加速度*/
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float pit_vel; /*pitch自瞄角速度*/
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float pit_accl; /*pitch自瞄加速度*/
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float NUC_Pitch; /* 自瞄用pitch目标角度 */
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float NUC_Yaw; /* 自瞄用yaw目标角度 */
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} setpoint;
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struct
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{
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KPID_t yaw_6020_angle; /* yaw轴6020角位置环PID */
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KPID_t yaw_6020_omega; /* yaw轴6020角速度环PID */
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KPID_t yaw_4310_angle; /* yaw轴4310角位置环PID */
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KPID_t yaw_4310_omega; /* yaw轴4310角速度环PID */
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KPID_t pitch_4310_angle; /* pitch轴4310角位置环PID */
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KPID_t pitch_4310_omega; /* pitch轴4310角速度环PID */
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KPID_t daohang_6020_angle; /* 导航模式小yaw角位置环PID */
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KPID_t daohang_4310_angle; /* 导航模式大yaw角位置环PID */
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} pid;
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struct
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{
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Gimbal_Limit_t yaw_6020;
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Gimbal_Limit_t yaw_4310;
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Gimbal_Limit_t pitch_4310;
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} limit;
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struct
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{
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LowPassFilter2p_t yaw_6020;
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LowPassFilter2p_t yaw_4310;
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LowPassFilter2p_t pitch_4310;
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LowPassFilter2p_t gyro_yaw;
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LowPassFilter2p_t gyro_pitch;
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LowPassFilter2p_t gyro_rol;
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} filter_out;
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Gimbal_Output_t out; /* 云台输出 */
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Gimbal_feedback_t feedback; /* 反馈 */
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} Gimbal_t;
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typedef struct {
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Gimbal_Mode_t mode;
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} Gimbal_RefereeUI_t;
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/* Exported functions prototypes -------------------------------------------- */
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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, Gimbal_Param_t *param,
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float target_freq);
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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);
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int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu);
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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, Gimbal_CMD_t *g_cmd);
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/**
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* \brief 云台输出
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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_Output(Gimbal_t *g);
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/**
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* \brief 云台输出
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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_Output(Gimbal_t *g);
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#ifdef __cplusplus
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}
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#endif |