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yunhai8432 2025-11-12 21:28:17 +08:00
parent 0fa8329aa4
commit 445e5bb93f
14 changed files with 1506 additions and 1642 deletions
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311
MDK-ARM/gimbal.uvguix.yunha
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MDK-ARM/gimbal/ai.o
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MDK-ARM/gimbal/config.o
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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: Wed Nov 12 20:41:26 2025
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Wed Nov 12 21:26:23 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>
@ -169,9 +169,9 @@ Global Symbols
<P><STRONG><a name="[248]"></a>__scatterload_null</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED)
<P><STRONG><a name="[249]"></a>__decompress</STRONG> (Thumb, 90 bytes, Stack size unknown bytes, __dczerorl2.o(!!dczerorl2), UNUSED)
<P><STRONG><a name="[249]"></a>__decompress</STRONG> (Thumb, 58 bytes, Stack size unknown bytes, __dczerorl.o(!!dczerorl), UNUSED)
<P><STRONG><a name="[24a]"></a>__decompress1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __dczerorl2.o(!!dczerorl2), UNUSED)
<P><STRONG><a name="[24a]"></a>__decompress0</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __dczerorl.o(!!dczerorl), UNUSED)
<P><STRONG><a name="[24b]"></a>__scatterload_zeroinit</STRONG> (Thumb, 28 bytes, Stack size unknown bytes, __scatter_zi.o(!!handler_zi), UNUSED)
@ -1114,7 +1114,7 @@ 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, 1312 bytes, Stack size 88 bytes, gimbal.o(.text.Gimbal_Control))
<P><STRONG><a name="[eb]"></a>Gimbal_Control</STRONG> (Thumb, 1304 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
@ -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, 424 bytes, Stack size 32 bytes, gimbal.o(.text.Gimbal_Init))
<P><STRONG><a name="[f3]"></a>Gimbal_Init</STRONG> (Thumb, 472 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>

2757
MDK-ARM/gimbal/gimbal.map
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MDK-ARM/gimbal/gimbal.o
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MDK-ARM/gimbal/gimbal_ctrl.o
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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)(0x69147C6E)
I (..\User\module\gimbal.h)(0x691489EC)
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)(0x69147C6E)
I (..\User\module\gimbal.h)(0x691489EC)
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)(0x69147C6E)
I (..\User\module\gimbal.h)(0x691489EC)
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)(0x69147C6E)
I (..\User\module\gimbal.h)(0x691489EC)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\component\pid.h)(0x68F22FA9)
@ -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)(0x69147C6E)
I (..\User\module\gimbal.h)(0x691489EC)
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)(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)
F (..\User\module\gimbal.c)(0x69148AFD)(-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)(0x691489EC)
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)(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)
F (..\User\module\config.c)(0x691488E2)(-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)(0x69147C6E)
I (..\User\module\gimbal.h)(0x691489EC)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\component\pid.h)(0x68F22FA9)

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MDK-ARM/gimbal/remote.o
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6
User/module/config.c
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@ -23,8 +23,8 @@ Config_RobotParam_t robot_config = {
.Set_Limit_t= {
.pit_max=0.69,
.pit_min=-0.47,
.yaw_max= 1.0,//yaw的
.yaw_min=-1.0,
// .yaw_max= 1.0,//yaw的
// .yaw_min=-1.0,
},
@ -39,7 +39,7 @@ Config_RobotParam_t robot_config = {
},
/*零点参数*/
.gimbal_zero={
.zero={
.pit_encoder=0,
.yaw_encoder=0,
/*零点行程*/

16
User/module/gimbal.c
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@ -122,9 +122,13 @@ 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->zero.yaw=g->param->zero.yaw;
g->zero.pit=g->param->zero.pit;
g->zero.yaw_encoder=g->param->zero.yaw_encoder;
g->zero.pit_encoder=g->param->zero.pit_encoder;
g->zero.travel.yaw=g->param->zero.travel.yaw;
g->zero.travel.pit=g->param->zero.travel.pit;
BSP_CAN_Init();
/*大疆电机注册*/
@ -291,8 +295,8 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
break;
case GIMBAL_MODE_RELATIVE:
/*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;
g->zero.yaw = g->zero.yaw_encoder - g->zero.travel.yaw;
g->zero.pit = g->zero.pit_encoder - g->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);
@ -300,8 +304,8 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
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;
g->setpoint.eulr.yaw=g->zero.yaw + g->relative_angle.yaw;
g->setpoint.eulr.pit=g->zero.pit + g->relative_angle.pit;
/*yaw的限位*/
if (g->param->motor.limit_yaw==true)

30
User/module/gimbal.h
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@ -47,6 +47,16 @@ typedef struct {
float min;
} Gimbal_Limit_t;
typedef 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_t;
typedef struct {
bool limit_yaw;/*是否开启限位*/
@ -59,13 +69,13 @@ 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;
}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。*/
typedef struct {
Gimbal_MOTOR_Param_t motor;
Gimbal_zero_t zero;
struct {
KPID_Params_t yaw_omega; /* yaw轴角速度环PID参数 */
@ -103,24 +113,10 @@ typedef struct {
float pit_min;
float yaw_max; /*yaw的限位*/
float yaw_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*/
@ -165,6 +161,7 @@ typedef struct {
/* 模块通用 */
Gimbal_Mode_t mode; /* 云台模式 */
Gimbal_MOTOR MOTOR;
Gimbal_zero_t zero;
/* PID计算的目标值 */
struct {
AHRS_Eulr_t eulr; /* 表示云台姿态的欧拉角 */
@ -185,7 +182,6 @@ typedef struct {
} pid;
struct {
Gimbal_Limit_t set_yaw;
Gimbal_Limit_t set_pit;
} limit;