ryan/rm_chassis
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This commit is contained in:
zxy 2025-10-28 21:51:19 +08:00
commit 17bb7459b6
9 changed files with 5236 additions and 13 deletions
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3
MDK-ARM/.vscode/keil-assistant.log vendored
View File

@ -8,5 +8,8 @@
[info] Log at : 2025/10/19|16:41:15|GMT+0800 [info] Log at : 2025/10/19|16:41:15|GMT+0800
<<<<<<< HEAD
[info] Log at : 2025/10/19|16:44:00|GMT+0800 [info] Log at : 2025/10/19|16:44:00|GMT+0800
=======
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac

69
MDK-ARM/zzzzh.uvguix.Ryan
View File

@ -11,17 +11,21 @@
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<<<<<<< HEAD
<TableColWidths>115 121</TableColWidths> <TableColWidths>115 121</TableColWidths>
=======
<TableColWidths>115 100</TableColWidths>
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
</View> </View>
<View> <View>
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@ -42,7 +46,7 @@
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@ -100,8 +104,13 @@
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<<<<<<< HEAD
<Len>1216</Len> <Len>1216</Len>
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>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
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>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
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>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
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>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
<Folding>1</Folding> <Folding>1</Folding>
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>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
<Folding>1</Folding> <Folding>1</Folding>
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>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
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@ -3561,9 +3602,15 @@
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>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
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@ -3607,7 +3654,11 @@
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>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
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@ -3615,6 +3666,7 @@
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>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
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5
MDK-ARM/zzzzh.uvoptx
View File

@ -189,11 +189,14 @@
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</Ww> </Ww>
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>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
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<periodic>1</periodic> <periodic>1</periodic>
<aLwin>1</aLwin> <aLwin>0</aLwin>
<aCover>0</aCover> <aCover>0</aCover>
<aSer1>0</aSer1> <aSer1>0</aSer1>
<aSer2>0</aSer2> <aSer2>0</aSer2>

6
MDK-ARM/zzzzh/zzzzh.build_log.htm
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@ -21,7 +21,11 @@ Target DLL: CMSIS_AGDI.dll V1.28.3.0
Dialog DLL: TCM.DLL V1.32.0.0 Dialog DLL: TCM.DLL V1.32.0.0
<h2>Project:</h2> <h2>Project:</h2>
<<<<<<< HEAD
C:\Users\ÕÅÐÞÒÕ\Desktop\chassis\MDK-ARM\zzzzh.uvprojx C:\Users\ÕÅÐÞÒÕ\Desktop\chassis\MDK-ARM\zzzzh.uvprojx
=======
c:\Users\ÕÅÐÞÒÕ\Desktop\chassis\MDK-ARM\zzzzh.uvprojx
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
Project File Date: 10/19/2025 Project File Date: 10/19/2025
<h2>Output:</h2> <h2>Output:</h2>
@ -50,7 +54,7 @@ Package Vendor: Keil
<h2>Collection of Component Files used:</h2> <h2>Collection of Component Files used:</h2>
* Component: ARM::CMSIS:CORE:5.0.1 * Component: ARM::CMSIS:CORE:5.0.1
Build Time Elapsed: 00:00:02 Build Time Elapsed: 00:00:05
</pre> </pre>
</body> </body>
</html> </html>

2191
MDK-ARM/zzzzh/zzzzh.hex
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1869
MDK-ARM/zzzzh/zzzzh.htm
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1063
MDK-ARM/zzzzh/zzzzh.map
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4
MDK-ARM/zzzzh/zzzzh_zzzzh.dep
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@ -2025,7 +2025,11 @@ I (..\User\component\ahrs.h)(0x68EE5C62)
I (..\User\device\motor_rm.h)(0x68EE5C18) I (..\User\device\motor_rm.h)(0x68EE5C18)
I (..\User\device\motor.h)(0x68EE5C18) I (..\User\device\motor.h)(0x68EE5C18)
I (..\User\device\device.h)(0x68EE5C63) I (..\User\device\device.h)(0x68EE5C63)
<<<<<<< HEAD
F (..\User\module\chassis.c)(0x68F647A9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/chassis.o -MD) F (..\User\module\chassis.c)(0x68F647A9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/chassis.o -MD)
=======
F (..\User\module\chassis.c)(0x68F4A0FB)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/chassis.o -MD)
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59)
I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2) I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2)
I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2) I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2)

39
User/module/chassis.c
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@ -49,7 +49,10 @@ static float Chassis_CalcWz(const float min, const float max, uint32_t now) {
int8_t Chassis_Init(Chassis_t *c, const Chassis_Params_t *param, int8_t Chassis_Init(Chassis_t *c, const Chassis_Params_t *param,
AHRS_Eulr_t *mech_zero, float target_freq) { AHRS_Eulr_t *mech_zero, float target_freq) {
if (!c) return CHASSIS_ERR_NULL; if (!c) return CHASSIS_ERR_NULL;
<<<<<<< HEAD
BSP_CAN_Init(); BSP_CAN_Init();
=======
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
c->param = param; c->param = param;
c->mode = CHASSIS_MODE_RELAX; c->mode = CHASSIS_MODE_RELAX;
c->mech_zero = *mech_zero; c->mech_zero = *mech_zero;
@ -59,6 +62,12 @@ if (param->reverse.yaw) {
CircleReverse(&(c->mech_zero.yaw)); CircleReverse(&(c->mech_zero.yaw));
c->feedback.imu.eulr.yaw = -c->feedback.imu.eulr.yaw + M_2PI; c->feedback.imu.eulr.yaw = -c->feedback.imu.eulr.yaw + M_2PI;
} }
c->limit.vx.max = param->limit.max_vx;
c->limit.vx.min = -param->limit.max_vx;
c->limit.vy.max = param->limit.max_vy;
c->limit.vy.min = -param->limit.max_vy;
c->limit.wz.max = param->limit.max_wz;
c->limit.wz.min = -param->limit.max_wz;
Mixer_Mode_t mixer_mode; Mixer_Mode_t mixer_mode;
switch (param->type) { switch (param->type) {
@ -128,6 +137,7 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c, const Chassis_Feedback_t *feedback)
for (uint8_t i = 0; i < c->num_wheel; i++) { for (uint8_t i = 0; i < c->num_wheel; i++) {
MOTOR_RM_Update(&(c->param->motor_param[i])); MOTOR_RM_Update(&(c->param->motor_param[i]));
<<<<<<< HEAD
MOTOR_RM_t *rm_motor = MOTOR_RM_GetMotor(&(c->param->motor_param[i])); MOTOR_RM_t *rm_motor = MOTOR_RM_GetMotor(&(c->param->motor_param[i]));
c->motors[i] = rm_motor; c->motors[i] = rm_motor;
MOTOR_RM_t *rm = c->motors[i]; MOTOR_RM_t *rm = c->motors[i];
@ -137,6 +147,20 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c, const Chassis_Feedback_t *feedback)
{ {
return CHASSIS_ERR_NULL; return CHASSIS_ERR_NULL;
} }
=======
// MOTOR_RM_t *rm_motor = c->motors[i];
// if (rm_motor) {
// c->feedback.motor[i] = rm_motor->feedback;
// }
// else
// {
// return CHASSIS_ERR_NULL;
// }
MOTOR_RM_t *rm_motor = MOTOR_RM_GetMotor(&(c->param->motor_param[i]));
if (rm_motor != NULL) {
c->feedback.motor[i] = rm_motor->feedback;
}
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
} }
return CHASSIS_OK; return CHASSIS_OK;
} }
@ -155,7 +179,9 @@ int8_t Chassis_Control(Chassis_t *c, const ChassisCmd_t *c_cmd, uint32_t now) {
if (c->dt > 0.050f) c->dt = 0.050f; if (c->dt > 0.050f) c->dt = 0.050f;
Chassis_SetMode(c, c_cmd->mode, now); Chassis_SetMode(c, c_cmd->mode, now);
Clip(&c->move_vec.vx, c->limit.vx.min, c->limit.vx.max);
Clip(&c->move_vec.vy, c->limit.vy.min, c->limit.vy.max);
Clip(&c->move_vec.wz, c->limit.wz.min, c->limit.wz.max);
switch (c->mode) { switch (c->mode) {
case CHASSIS_MODE_BREAK: case CHASSIS_MODE_BREAK:
c->move_vec.vx = c->move_vec.vy = 0.0f; c->move_vec.vx = c->move_vec.vy = 0.0f;
@ -181,7 +207,10 @@ int8_t Chassis_Control(Chassis_t *c, const ChassisCmd_t *c_cmd, uint32_t now) {
break; break;
case CHASSIS_MODE_OPEN: case CHASSIS_MODE_OPEN:
c->move_vec.wz = c_cmd->ctrl_vec.wz; c->move_vec.wz = c_cmd->ctrl_vec.wz;
<<<<<<< HEAD
break; break;
=======
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
case CHASSIS_MODE_FOLLOW_GIMBAL: case CHASSIS_MODE_FOLLOW_GIMBAL:
c->move_vec.wz = PID_Calc(&c->pid.follow, c->mech_zero.yaw, c->feedback.imu.eulr.yaw, 0.0f, c->dt); c->move_vec.wz = PID_Calc(&c->pid.follow, c->mech_zero.yaw, c->feedback.imu.eulr.yaw, 0.0f, c->dt);
break; break;
@ -200,6 +229,10 @@ int8_t Chassis_Control(Chassis_t *c, const ChassisCmd_t *c_cmd, uint32_t now) {
for (uint8_t i = 0; i < c->num_wheel; i++) { for (uint8_t i = 0; i < c->num_wheel; i++) {
float rf = c->setpoint.motor_rpm[i]; float rf = c->setpoint.motor_rpm[i];
float fb = LowPassFilter2p_Apply(&c->filter.in[i], (float)c->feedback.motor[i].rotor_speed); float fb = LowPassFilter2p_Apply(&c->filter.in[i], (float)c->feedback.motor[i].rotor_speed);
<<<<<<< HEAD
=======
//float out_current = 0.0f;
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
float out_current = PID_Calc(&c->pid.motor[i], rf, fb, 0.0f, c->dt); float out_current = PID_Calc(&c->pid.motor[i], rf, fb, 0.0f, c->dt);
switch (c->mode) { switch (c->mode) {
case CHASSIS_MODE_BREAK: case CHASSIS_MODE_BREAK:
@ -210,7 +243,11 @@ int8_t Chassis_Control(Chassis_t *c, const ChassisCmd_t *c_cmd, uint32_t now) {
out_current = PID_Calc(&c->pid.motor[i], c->setpoint.motor_rpm[i], fb, 0.0f, c->dt); out_current = PID_Calc(&c->pid.motor[i], c->setpoint.motor_rpm[i], fb, 0.0f, c->dt);
break; break;
case CHASSIS_MODE_OPEN: case CHASSIS_MODE_OPEN:
<<<<<<< HEAD
out_current = c->setpoint.motor_rpm[i] / 3000.0f; out_current = c->setpoint.motor_rpm[i] / 3000.0f;
=======
out_current = c->setpoint.motor_rpm[i] / 7000.0f;
>>>>>>> fc2ac5c99d3c57c83c4929b0969c6dc753eef3ac
break; break;
case CHASSIS_MODE_RELAX: case CHASSIS_MODE_RELAX:
out_current = 0.0f; out_current = 0.0f;