1111

MDK-ARM/gimbal/gimbal.build_log.htm

@@ -31,6 +31,9 @@ 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 gimbal.c...
+linking...
+Program Size: Code=84864 RO-data=996 RW-data=404 ZI-data=34268  
 "gimbal\gimbal.axf" - 0 Error(s), 0 Warning(s).
 
 <h2>Software Packages used:</h2>

MDK-ARM/gimbal/gimbal_gimbal.dep

@@ -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)(0x691491D4)
+I (..\User\module\gimbal.h)(0x6917284C)
 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)(0x691491D4)
+I (..\User\module\gimbal.h)(0x6917284C)
 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)(0x691491D4)
+I (..\User\module\gimbal.h)(0x6917284C)
 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)(0x691491D4)
+I (..\User\module\gimbal.h)(0x6917284C)
 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)(0x691491D4)
+I (..\User\module\gimbal.h)(0x6917284C)
 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)(0x691495F0)(-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)
+F (..\User\module\gimbal.c)(0x69172B7F)(-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)(0x691491D4)
+I (..\User\module\gimbal.h)(0x6917284C)
 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)(0x691493B1)(-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)(0x691727B8)(-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)(0x691491D4)
+I (..\User\module\gimbal.h)(0x6917284C)
 I (..\User\component\ahrs.h)(0x68F3410E)
 I (..\User\component\filter.h)(0x68F22FA9)
 I (..\User\component\pid.h)(0x68F22FA9)

User/module/config.c

@@ -42,11 +42,6 @@ Config_RobotParam_t robot_config = {
 				.zero={
 					.pit_encoder=0,
 					.yaw_encoder=0,
-					/*零点行程*/
-						.travel={
-							.yaw=0,
-							.pit=0,
-					},
 				},
 				
 				.motor={

User/module/gimbal.c

@@ -33,6 +33,26 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* Private function  -------------------------------------------------------- */
+/**
+ * \brief 计算角度偏差
+ *
+ * \param 
+ * \param  
+ *
+ * \return 函数运行结果
+ */
+static float motor_imu_offset(float* motor, float* imu){
+
+	float motor_imu_offset = motor - imu;
+    /* 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;
+
+	return motor_imu_offset;
+}
+
+
+
 
 /**
  * \brief 设置云台模式
@@ -61,8 +81,7 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) {
 	
   g->setpoint.eulr.pit = g->feedback.imu.eulr.pit;
   g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
-	g->setpoint.ecd.pit=g->feedback.motor.pit.rotor_abs_angle;
+
-	g->setpoint.ecd.yaw=g->feedback.motor.yaw.rotor_abs_angle;
 
   g->mode = mode;
   return 0;
@@ -229,17 +248,14 @@ 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 yaw_motor_imu_offset=motor_imu_offset(&g->feedback.motor.yaw.rotor_abs_angle,
-	float motor_imu_offset = g->feedback.motor.yaw.rotor_abs_angle - g->feedback.imu.eulr.yaw;
+			&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yaw）*/
     float delta_max = CircleError(g->limit.yaw.max,
-        (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw), M_2PI);
+        (g->setpoint.eulr.yaw + yaw_motor_imu_offset + delta_yaw), M_2PI);
     float delta_min = CircleError(g->limit.yaw.min,
-        (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw), M_2PI);		
+        (g->setpoint.eulr.yaw + yaw_motor_imu_offset + delta_yaw), M_2PI);		
 			
   switch (g->mode) {
   case GIMBAL_MODE_RELAX:/*放松模式*/
@@ -281,14 +297,19 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
     break;
 	case GIMBAL_MODE_RELATIVE:
 		/*计算零点*/
-		g->zero.yaw = g->param->zero.yaw_encoder - g->param->zero.travel.yaw;
+		g->zero.travel.yaw=motor_imu_offset(&g->param->zero.yaw_encoder,&g->feedback.imu.eulr.yaw);
-		g->zero.pit = g->param->zero.pit_encoder - g->param->zero.travel.pit;	
+		g->zero.travel.yaw=motor_imu_offset(&g->param->zero.pit_encoder,&g->feedback.imu.eulr.pit);	
+	
+		g->zero.yaw = g->param->zero.yaw_encoder - g->zero.travel.yaw;
+		g->zero.pit = g->param->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);
 		if((g->relative_angle.yaw)>=M_2PI)g->relative_angle.yaw-=M_2PI;
-	
+		/*限制pit的累加角度*/
 		g->relative_angle.pit=+delta_pit;
+		Clip(&(g->relative_angle.pit),(g->param->Limit_t.pit_min+g->zero.pit),
+		(g->param->Limit_t.pit_max-g->zero.pit));
 	
 		g->setpoint.eulr.yaw=g->zero.yaw + g->relative_angle.yaw;
 		g->setpoint.eulr.pit=g->zero.pit + g->relative_angle.pit;
@@ -321,11 +342,12 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
 		g->out.pit+=g->param->feedforward.imu.coefficient_pit*(pit_omega_set_point - g->feedback.imu.gyro.x);
 	
 		break;
-    /* 输出滤波 */
+
-    g->out.yaw = LowPassFilter2p_Apply(&g->filter_out.yaw, g->out.yaw);
-    g->out.pit = LowPassFilter2p_Apply(&g->filter_out.pit, g->out.pit);
 		
   }
+	    /* 输出滤波 */
+    g->out.yaw = LowPassFilter2p_Apply(&g->filter_out.yaw, g->out.yaw);
+    g->out.pit = LowPassFilter2p_Apply(&g->filter_out.pit, g->out.pit);
 	 return 0;
 }
 

User/module/gimbal.h

@@ -54,8 +54,7 @@ typedef	struct{
   }travel;
   float pit;		/*零点*/
   float yaw;
-	float pit_encoder;		/*零点*/
+
-  float yaw_encoder;
 } Gimbal_zero_t;	
 
 typedef struct {
@@ -75,7 +74,7 @@ typedef struct {
 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 */
@@ -89,7 +88,12 @@ typedef struct {
     KPID_Params_t pit_ecd_angle; /* pitch轴电机位置环PID参数 */
 			
   } pid;
-
+	
+  struct {
+	float pit_encoder;		/*零点*/
+  float yaw_encoder;
+		
+  }zero;
 	  /* 前馈系数 */
   struct {
 		struct{