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yunhai8432 2025-11-12 20:53:53 +08:00
parent ffb26fc9e3
commit 0fa8329aa4
16 changed files with 2147 additions and 2029 deletions
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474
MDK-ARM/gimbal.uvguix.yunha
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MDK-ARM/gimbal/gimbal.build_log.htm
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@ -31,9 +31,6 @@ Note: source file '..\User\bsp\can.c' - object file renamed from 'gimbal\can.o'
Note: source file '..\User\bsp\gpio.c' - object file renamed from 'gimbal\gpio.o' to 'gimbal\gpio_1.o'.
Note: source file '..\User\bsp\i2c.c' - object file renamed from 'gimbal\i2c.o' to 'gimbal\i2c_1.o'.
Note: source file '..\User\bsp\spi.c' - object file renamed from 'gimbal\spi.o' to 'gimbal\spi_1.o'.
compiling config.c...
linking...
Program Size: Code=84448 RO-data=996 RW-data=424 ZI-data=34272
"gimbal\gimbal.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>
@ -58,7 +55,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h
Build Time Elapsed: 00:00:02
Build Time Elapsed: 00:00:01
</pre>
</body>
</html>

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MDK-ARM/gimbal/gimbal.htm
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@ -3,7 +3,7 @@
<title>Static Call Graph - [gimbal\gimbal.axf]</title></head>
<body><HR>
<H1>Static Call Graph for image gimbal\gimbal.axf</H1><HR>
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Sat Nov 1 22:06:33 2025
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Wed Nov 12 20:41:26 2025
<BR><P>
<H3>Maximum Stack Usage = 432 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3>
@ -658,7 +658,7 @@ Global Symbols
<P><STRONG><a name="[1a9]"></a>AbsClip</STRONG> (Thumb, 106 bytes, Stack size 16 bytes, user_math.o(.text.AbsClip))
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = AbsClip
</UL>
<BR>[Called By]<UL><LI><a href="#[f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calc
<BR>[Called By]<UL><LI><a href="#[f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calc
</UL>
<P><STRONG><a name="[9b]"></a>BMI088_AcclStartDmaRecv</STRONG> (Thumb, 30 bytes, Stack size 16 bytes, bmi088.o(.text.BMI088_AcclStartDmaRecv))
@ -1013,7 +1013,7 @@ Global Symbols
</UL>
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[f1]"></a>CircleAdd</STRONG> (Thumb, 132 bytes, Stack size 16 bytes, user_math.o(.text.CircleAdd))
<P><STRONG><a name="[f2]"></a>CircleAdd</STRONG> (Thumb, 132 bytes, Stack size 16 bytes, user_math.o(.text.CircleAdd))
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = CircleAdd
</UL>
<BR>[Called By]<UL><LI><a href="#[eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Control
@ -1022,7 +1022,7 @@ Global Symbols
<P><STRONG><a name="[ef]"></a>CircleError</STRONG> (Thumb, 154 bytes, Stack size 20 bytes, user_math.o(.text.CircleError))
<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = CircleError
</UL>
<BR>[Called By]<UL><LI><a href="#[f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calc
<BR>[Called By]<UL><LI><a href="#[f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calc
<LI><a href="#[eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Control
</UL>
@ -1114,12 +1114,12 @@ Global Symbols
<LI><a href="#[197]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_CAN1_Init
</UL>
<P><STRONG><a name="[eb]"></a>Gimbal_Control</STRONG> (Thumb, 1000 bytes, Stack size 88 bytes, gimbal.o(.text.Gimbal_Control))
<P><STRONG><a name="[eb]"></a>Gimbal_Control</STRONG> (Thumb, 1312 bytes, Stack size 88 bytes, gimbal.o(.text.Gimbal_Control))
<BR><BR>[Stack]<UL><LI>Max Depth = 208<LI>Call Chain = Gimbal_Control &rArr; PID_Calc &rArr; LowPassFilter2p_Apply &rArr; __ARM_isinf
</UL>
<BR>[Calls]<UL><LI><a href="#[f0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Clip
<LI><a href="#[f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CircleAdd
<LI><a href="#[f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calc
<LI><a href="#[f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CircleAdd
<LI><a href="#[f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calc
<LI><a href="#[ef]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CircleError
<LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_TIME_Get_us
<LI><a href="#[ed]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_ul2f
@ -1128,7 +1128,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[70]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_gimbal_ctrl
</UL>
<P><STRONG><a name="[f3]"></a>Gimbal_Init</STRONG> (Thumb, 472 bytes, Stack size 32 bytes, gimbal.o(.text.Gimbal_Init))
<P><STRONG><a name="[f3]"></a>Gimbal_Init</STRONG> (Thumb, 424 bytes, Stack size 32 bytes, gimbal.o(.text.Gimbal_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 372 + Unknown Stack Size
<LI>Call Chain = Gimbal_Init &rArr; BSP_CAN_Init &rArr; osMutexNew &rArr; xQueueCreateMutexStatic &rArr; prvInitialiseMutex &rArr; xQueueGenericSend &rArr; prvCopyDataToQueue &rArr; xTaskPriorityDisinherit &rArr; vListInsertEnd
</UL>
@ -2115,7 +2115,7 @@ Global Symbols
<LI><a href="#[186]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ARM_isinf
<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_f2d
</UL>
<BR>[Called By]<UL><LI><a href="#[f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calc
<BR>[Called By]<UL><LI><a href="#[f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calc
<LI><a href="#[fe]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;LowPassFilter2p_Reset
</UL>
@ -2376,7 +2376,7 @@ Global Symbols
<P><STRONG><a name="[1]"></a>NMI_Handler</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.NMI_Handler))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[f2]"></a>PID_Calc</STRONG> (Thumb, 752 bytes, Stack size 72 bytes, pid.o(.text.PID_Calc))
<P><STRONG><a name="[f1]"></a>PID_Calc</STRONG> (Thumb, 752 bytes, Stack size 72 bytes, pid.o(.text.PID_Calc))
<BR><BR>[Stack]<UL><LI>Max Depth = 120<LI>Call Chain = PID_Calc &rArr; LowPassFilter2p_Apply &rArr; __ARM_isinf
</UL>
<BR>[Calls]<UL><LI><a href="#[ef]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CircleError
@ -2519,7 +2519,7 @@ Global Symbols
<LI><a href="#[9d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_AcclWaitDmaCplt
<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_AcclStartDmaRecv
<LI><a href="#[f4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Init
<LI><a href="#[f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calc
<LI><a href="#[f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calc
<LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;AHRS_Update
<LI><a href="#[93]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;AHRS_Init
<LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;AHRS_GetEulr
@ -2539,8 +2539,8 @@ Global Symbols
</UL>
<BR>[Address Reference Count : 1]<UL><LI> init.o(.text.Task_Init)
</UL>
<P><STRONG><a name="[70]"></a>Task_gimbal_ctrl</STRONG> (Thumb, 220 bytes, Stack size 32 bytes, gimbal_ctrl.o(.text.Task_gimbal_ctrl))
<BR><BR>[Stack]<UL><LI>Max Depth = 404 + Unknown Stack Size
<P><STRONG><a name="[70]"></a>Task_gimbal_ctrl</STRONG> (Thumb, 236 bytes, Stack size 24 bytes, gimbal_ctrl.o(.text.Task_gimbal_ctrl))
<BR><BR>[Stack]<UL><LI>Max Depth = 396 + Unknown Stack Size
<LI>Call Chain = Task_gimbal_ctrl &rArr; Gimbal_Init &rArr; BSP_CAN_Init &rArr; osMutexNew &rArr; xQueueCreateMutexStatic &rArr; prvInitialiseMutex &rArr; xQueueGenericSend &rArr; prvCopyDataToQueue &rArr; xTaskPriorityDisinherit &rArr; vListInsertEnd
</UL>
<BR>[Calls]<UL><LI><a href="#[b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueueGet
@ -3899,7 +3899,7 @@ Global Symbols
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = __aeabi_f2d
</UL>
<BR>[Called By]<UL><LI><a href="#[f4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Init
<LI><a href="#[f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calc
<LI><a href="#[f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calc
<LI><a href="#[fe]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;LowPassFilter2p_Reset
<LI><a href="#[184]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;LowPassFilter2p_Apply
<LI><a href="#[93]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;AHRS_Init
@ -4803,14 +4803,14 @@ Local Symbols
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = __ARM_isfinite
</UL>
<BR>[Called By]<UL><LI><a href="#[f4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Init
<LI><a href="#[f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calc
<LI><a href="#[f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calc
</UL>
<P><STRONG><a name="[1a7]"></a>__ARM_isfinitef</STRONG> (Thumb, 24 bytes, Stack size 4 bytes, pid.o(.text.__ARM_isfinitef))
<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = __ARM_isfinitef
</UL>
<BR>[Called By]<UL><LI><a href="#[f4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Init
<LI><a href="#[f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calc
<LI><a href="#[f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calc
</UL>
<P><STRONG><a name="[5e]"></a>BMI088_AcclIntCallback</STRONG> (Thumb, 20 bytes, Stack size 8 bytes, bmi088.o(.text.BMI088_AcclIntCallback))

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MDK-ARM/gimbal/gimbal_gimbal.dep
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@ -2126,7 +2126,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\module\gimbal.h)(0x690613C5)
I (..\User\module\gimbal.h)(0x69147C6E)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\component\pid.h)(0x68F22FA9)
@ -2264,7 +2264,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
I (..\User\module\gimbal.h)(0x690613C5)
I (..\User\module\gimbal.h)(0x69147C6E)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\user_math.h)(0x68F22FA9)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
@ -2376,7 +2376,7 @@ I (..\User\component\pid.h)(0x68F22FA9)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\device\bmi088.h)(0x68F22F87)
I (..\User\device\device.h)(0x68F22FA9)
I (..\User\module\gimbal.h)(0x690613C5)
I (..\User\module\gimbal.h)(0x69147C6E)
I (..\User\device\motor.h)(0x68F22F87)
I (..\User\device\motor_dm.h)(0x68F22F87)
I (..\User\bsp\can.h)(0x68F22FA9)
@ -2407,7 +2407,7 @@ I (..\User\component\user_math.h)(0x68F22FA9)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\module\gimbal.h)(0x690613C5)
I (..\User\module\gimbal.h)(0x69147C6E)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\component\pid.h)(0x68F22FA9)
@ -2467,7 +2467,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
F (..\User\task\gimbal_ctrl.c)(0x68F23895)(-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 -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -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 ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gimbal_ctrl.o -MD)
F (..\User\task\gimbal_ctrl.c)(0x6908B058)(-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 -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -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 ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gimbal_ctrl.o -MD)
I (..\User\task\user_task.h)(0x68DCD971)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
@ -2481,7 +2481,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
I (..\User\module\gimbal.h)(0x690613C5)
I (..\User\module\gimbal.h)(0x69147C6E)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\user_math.h)(0x68F22FA9)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
@ -2534,8 +2534,8 @@ I (..\User\device\motor_rm.h)(0x68F22F87)
I (..\User\module\config.h)(0x68DD3463)
I (..\User\device\motor_lz.h)(0x68F22F87)
I (..\User\device\motor_lk.h)(0x68F22F87)
F (..\User\module\gimbal.c)(0x690613C5)(-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 -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -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 ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gimbal.o -MD)
I (..\User\module\gimbal.h)(0x690613C5)
F (..\User\module\gimbal.c)(0x69148074)(-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 -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -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 ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gimbal.o -MD)
I (..\User\module\gimbal.h)(0x69147C6E)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\user_math.h)(0x68F22FA9)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
@ -2598,7 +2598,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (..\User\device\motor_rm.h)(0x68F22F87)
I (..\User\bsp\time.h)(0x68F22FA9)
F (..\User\module\config.c)(0x690613E7)(-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 -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -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 ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/config.o -MD)
F (..\User\module\config.c)(0x69143650)(-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 -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -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 ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/config.o -MD)
I (..\User\component\user_math.h)(0x68F22FA9)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
@ -2658,7 +2658,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (..\User\device\motor_lk.h)(0x68F22F87)
I (..\User\module\gimbal.h)(0x690613C5)
I (..\User\module\gimbal.h)(0x69147C6E)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\component\pid.h)(0x68F22FA9)

BIN
MDK-ARM/gimbal/remote.o
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Binary file not shown.

90
User/module/config.c
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@ -23,34 +23,39 @@ Config_RobotParam_t robot_config = {
.Set_Limit_t= {
.pit_max=0.69,
.pit_min=-0.47,
.yaw_max= 1.0,//yaw的限位作用于小yaw
.yaw_max= 1.0,//yaw的
.yaw_min=-1.0,
.pit_ecd_max=0,
.pit_ecd_min=0,
.yaw_ecd_max=0,
.yaw_ecd_min=0,
},
// .mech_zero = {
// .yaw = 0.0f,
// .pit = -0.69f,
// },
/*是否启动限位,1启动，-1不启动
小yaw默认限位
一般pit统一限位*/
.travel = {
.yaw = -1.0f,
.pit = 1.0f,
.ecd_yaw=-1.0f,
.ecd_pit=1.0f,
},
.feedforward={
.imu = {
.yaw=false,
.pit=false,
.coefficient_yaw=0,
.coefficient_pit=0,
},
},
/*零点参数*/
.gimbal_zero={
.pit_encoder=0,
.yaw_encoder=0,
/*零点行程*/
.travel={
.yaw=0,
.pit=0,
},
},
.motor={
/*按自己需求选择电机*/
.pit=RM,
.pit=DM,
.yaw=RM,
/*是否开启限位*/
.limit_yaw=false,
.limit_pit=true,
.pit_rm_motor={BSP_CAN_2,0x20A,MOTOR_GM6020,false,false},
.yaw_rm_motor={BSP_CAN_1,0x205,MOTOR_GM6020,false,false},
/*达妙电机参数自己配*/
@ -110,48 +115,7 @@ Config_RobotParam_t robot_config = {
.out_limit = 10.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
/*电机控制参数*/
.yaw_velocity = {
.k = 1.0f,
.p = 1.0f,
.i = 0.0f,
.d = 0.000f,//0
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
},
.yaw_ecd_angle = {
.k = 1.0f,
.p = 1.0f ,
.i = 0.0f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit = 10.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
.pit_velocity = {
.k = 0.0f,
.p = 0.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
},
.pit_ecd_angle = {
.k = 1.0f,
.p = 0.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit = 10.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
},
}
},
};

89
User/module/gimbal.c
View File

@ -122,10 +122,7 @@ int8_t Gimbal_Init(Gimbal_t *g,Gimbal_Params_t *param,
g->limit.set_pit.min=g->param->Set_Limit_t.pit_min;
g->limit.set_yaw.max=g->param->Set_Limit_t.yaw_max;
g->limit.set_yaw.min=g->param->Set_Limit_t.yaw_min;
g->limit.set_ecd_pit.max=g->param->Set_Limit_t.pit_ecd_max;
g->limit.set_ecd_pit.min=g->param->Set_Limit_t.pit_ecd_min;
g->limit.set_ecd_yaw.max=g->param->Set_Limit_t.yaw_ecd_max;
g->limit.set_ecd_yaw.min=g->param->Set_Limit_t.yaw_ecd_min;
@ -230,8 +227,8 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
float yaw_omega_set_point, pit_omega_set_point;
/* 电机角度控制相关逻辑 */
float yaw_velocity_set_point, pit_velocity_set_point;
float small_yaw_omega_setpoint;
float delta_ecd_yaw = g_cmd->delta_yaw*g->dt;
float delta_ecd_pit = g_cmd->delta_pit*g->dt;
@ -241,11 +238,13 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
// if((g->feedback.motor.yaw.rotor_abs_angle)>M_PI)g->feedback.motor.yaw.rotor_abs_angle-M_2PI;
float motor_imu_offset = g->feedback.motor.yaw.rotor_abs_angle - g->feedback.imu.eulr.yaw;
/* 处理跨越±π的情况 */
if (motor_imu_offset > M_PI) motor_imu_offset -= M_2PI;
if (motor_imu_offset < -M_PI) motor_imu_offset += M_2PI;
/* 计算到限位边界的距离 （这个限位给双yaw）*/
/* 计算到限位边界的距离 （这个限位给yaw）*/
float delta_max = CircleError(g->limit.set_yaw.max,
(g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw), M_2PI);
float delta_min = CircleError(g->limit.set_yaw.min,
@ -259,10 +258,9 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
case GIMBAL_MODE_ABSOLUTE:/*绝对模式*/
g->setpoint.eulr.yaw+=delta_yaw;
if (g->param->travel.yaw > 0)
if (g->param->motor.limit_yaw==true)
Clip(&(g->setpoint.eulr.yaw),delta_min,delta_max);
else{
CircleAdd(&(g->setpoint.eulr.yaw), delta_yaw, M_2PI);
/*限制在-3.14~3.14*/
if (g->setpoint.eulr.yaw > M_PI) g->setpoint.eulr.yaw -= M_2PI;
}
@ -270,7 +268,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
/* 处理pitch控制命令，软件限位 - 使用电机绝对角度 */
g->setpoint.eulr.pit+=delta_pit;
if (g->param->travel.pit > 0)
if (g->param->motor.limit_pit == true)
/* 限制pit控制命令 */
Clip(&(g->setpoint.eulr.pit),g->limit.set_pit.min,g->limit.set_pit.max);
@ -283,37 +281,54 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
g->feedback.imu.eulr.pit, 0.0f, g->dt);
g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
g->feedback.imu.gyro.x, 0.f, g->dt);
/*前馈添加*/
if(g->param->feedforward.imu.yaw==true)
g->out.yaw+=g->param->feedforward.imu.coefficient_yaw*(yaw_omega_set_point - g->feedback.imu.gyro.z);
if(g->param->feedforward.imu.pit==true)
g->out.pit+=g->param->feedforward.imu.coefficient_pit*(pit_omega_set_point - g->feedback.imu.gyro.x);
break;
case GIMBAL_MODE_RELATIVE:
/*跟据电机角度控制,遥控器不给值不会动*/
g->setpoint.ecd.yaw+=delta_ecd_yaw;
/*yaw的限位*/
if(g->param->travel.yaw > 0)
Clip(&(g->setpoint.ecd.yaw),g->limit.set_ecd_yaw.min,g->limit.set_ecd_yaw.max);
else{
/*限制yaw在0~6.28*/
CircleAdd(&(g->setpoint.ecd.yaw), delta_ecd_yaw, M_2PI);
}
/*计算零点*/
g->param->gimbal_zero.yaw = g->param->gimbal_zero.yaw_encoder - g->param->gimbal_zero.travel.yaw;
g->param->gimbal_zero.pit = g->param->gimbal_zero.pit_encoder - g->param->gimbal_zero.travel.pit;
/*基于零点的设定角度*/
/*加的相对角度应该限制在3.14~-3.14*/
CircleAdd(&(g->relative_angle.yaw),delta_yaw,M_2PI);
if((g->relative_angle.yaw)>=M_2PI)g->relative_angle.yaw-=(M_2PI);
/* 处理pitch控制命令，软件限位 - 使用电机绝对角度 */
g->setpoint.ecd.pit+=delta_ecd_pit;
/* 限制控制命令 */
if (g->param->travel.pit > 0)
Clip(&(g->setpoint.ecd.pit),g->limit.set_ecd_pit.min,g->limit.set_ecd_pit.max);
yaw_velocity_set_point = PID_Calc(&(g->pid.yaw_ecd_angle), g->setpoint.ecd.yaw,
g->feedback.motor.yaw.rotor_abs_angle, 0.0f, g->dt);
g->out.yaw = PID_Calc(&(g->pid.yaw_velocity), yaw_velocity_set_point,
g->feedback.motor.yaw.rotor_speed, 0.f, g->dt);
g->relative_angle.pit=+delta_pit;
g->setpoint.eulr.yaw=g->param->gimbal_zero.yaw + g->relative_angle.yaw;
g->setpoint.eulr.pit=g->param->gimbal_zero.pit + g->relative_angle.pit;
pit_velocity_set_point = PID_Calc(&(g->pid.pit_ecd_angle), g->setpoint.ecd.pit,
g->feedback.motor.pit.rotor_abs_angle, 0.0f, g->dt);
g->out.pit = PID_Calc(&(g->pid.pit_velocity), pit_velocity_set_point,
g->feedback.motor.pit.rotor_speed, 0.f, g->dt);
/*yaw的限位*/
if (g->param->motor.limit_yaw==true)
Clip(&(g->setpoint.eulr.yaw),g->limit.set_yaw.min,g->limit.set_yaw.max);
else{
/*限制在-3.14~3.14*/
if(g->setpoint.eulr.yaw > M_PI) g->setpoint.eulr.yaw -= M_2PI;
}
/* pit限制控制命令 */
if (g->param->motor.limit_pit==true)
Clip(&(g->setpoint.eulr.pit),g->limit.set_pit.min,g->limit.set_pit.max);
yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
g->feedback.imu.eulr.yaw, 0.0f, g->dt);
g->out.yaw = PID_Calc(&(g->pid.yaw_omega), yaw_omega_set_point,
g->feedback.imu.gyro.z, 0.f, g->dt);
pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
g->feedback.imu.eulr.pit, 0.0f, g->dt);
g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
g->feedback.imu.gyro.x, 0.f, g->dt);
/*前馈添加*/
if(g->param->feedforward.imu.yaw==true)
g->out.yaw+=g->param->feedforward.imu.coefficient_yaw*(yaw_omega_set_point - g->feedback.imu.gyro.z);
if(g->param->feedforward.imu.pit==true)
g->out.pit+=g->param->feedforward.imu.coefficient_pit*(pit_omega_set_point - g->feedback.imu.gyro.x);
break;
/* 输出滤波 */

58
User/module/gimbal.h
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@ -49,7 +49,8 @@ typedef struct {
typedef struct {
bool limit_yaw;/*是否开启限位*/
bool limit_pit;
Gimbal_MOTOR pit;
Gimbal_MOTOR yaw;
MOTOR_DM_Param_t pit_dm_motor; /* pitch轴电机参数 */
@ -57,6 +58,7 @@ typedef struct {
MOTOR_RM_Param_t pit_rm_motor; /* pitch轴电机参数 */
MOTOR_RM_Param_t yaw_rm_motor; /* yaw轴电机参数 */
} Gimbal_MOTOR_Param_t;
/* 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。*/
@ -78,35 +80,48 @@ typedef struct {
} pid;
/* 前馈系数 */
struct {
struct{
bool yaw;
bool pit;
float coefficient_yaw;
float coefficient_pit;
}imu;
}feedforward;
/* 低通滤波器截止频率 */
struct {
float out; /* 电机输出 */
float gyro; /* 陀螺仪数据 */
} low_pass_cutoff_freq;
struct {
float yaw; /* yaw轴机械限位 */
float pit; /* pitch轴机械限位 */
} mech_zero;
struct {
float yaw; /* yaw轴机械限位行程 -1表示无限位 */
float pit; /* pitch轴机械限位行程 -1表示无限位*/
float ecd_yaw; /* yaw轴机械限位行程 -1表示无限位 */
float ecd_pit; /* pitch轴机械限位行程 -1表示无限位*/
} travel;
struct {
float pit_max; /*pit的限位*/
float pit_min;
float yaw_max; /*yaw的限位*/
float yaw_min;
float pit_ecd_max; /*pit的限位*/
float pit_ecd_min;
float yaw_ecd_max; /*yaw的限位*/
float yaw_ecd_min;
}Set_Limit_t;
struct {
struct{
float yaw; /* 零点行程 */
float pit;
}travel;
float pit; /*零点*/
float yaw;
float pit_encoder; /*零点*/
float yaw_encoder;
}gimbal_zero;
struct {
MOTOR_MIT_Output_t yaw_dm; /*达妙的参数*/
MOTOR_MIT_Output_t pit_dm;
@ -170,16 +185,15 @@ typedef struct {
} pid;
struct {
Gimbal_Limit_t yaw;
Gimbal_Limit_t pit;
Gimbal_Limit_t set_yaw;
Gimbal_Limit_t set_pit;
Gimbal_Limit_t set_ecd_yaw;
Gimbal_Limit_t set_ecd_pit;
} limit;
struct {
float yaw;
float pit;
} relative_angle;
struct {
LowPassFilter2p_t yaw;

8
User/task/gimbal_ctrl.c
View File

@ -39,11 +39,9 @@ void Task_gimbal_ctrl(void *argument) {
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
if(osMessageQueueGet(task_runtime.msgq.gimbal.imu, &gimbal_imu, NULL, 0)==osOK)
Gimbal_UpdateIMU(&gimbal, &gimbal_imu);
osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &gimbal_cmd, NULL, 0);
if(osMessageQueueGet(task_runtime.msgq.gimbal.imu, &gimbal_imu, NULL, 0)==osOK){
Gimbal_UpdateIMU(&gimbal, &gimbal_imu);}
if(osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &gimbal_cmd, NULL, 0)==osOK)
Gimbal_UpdateFeedback(&gimbal);
Gimbal_Control(&gimbal,&gimbal_cmd);
Gimbal_Output(&gimbal);