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yunhai8432 2025-11-14 21:16:14 +08:00
parent 0f335cbc9e
commit 7ac32f55f9
15 changed files with 3509 additions and 3442 deletions
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53
MDK-ARM/gimbal.uvguix.yunha
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MDK-ARM/gimbal/gimbal.build_log.htm
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@ -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>

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MDK-ARM/gimbal/gimbal.htm
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MDK-ARM/gimbal/gimbal.map
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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)(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)
I (..\User\module\gimbal.h)(0x691491D4)
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)(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)

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MDK-ARM/gimbal/remote.o
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5
User/module/config.c
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@ -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={

56
User/module/gimbal.c
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@ -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 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yaw）*/
float yaw_motor_imu_offset=motor_imu_offset(&g->feedback.motor.yaw.rotor_abs_angle,
&g->feedback.imu.eulr.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.pit = g->param->zero.pit_encoder - g->param->zero.travel.pit;
g->zero.travel.yaw=motor_imu_offset(&g->param->zero.yaw_encoder,&g->feedback.imu.eulr.yaw);
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;
}

12
User/module/gimbal.h
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@ -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{