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yunhai8432 2025-11-01 22:12:39 +08:00
parent 8fa85eb88a
commit ffb26fc9e3
15 changed files with 1611 additions and 1636 deletions
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122
MDK-ARM/gimbal.uvguix.yunha
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MDK-ARM/gimbal/ai.o
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MDK-ARM/gimbal/atti_esti.o
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MDK-ARM/gimbal/config.o
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MDK-ARM/gimbal/gimbal.axf
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MDK-ARM/gimbal/gimbal.build_log.htm
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@ -31,15 +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_ctrl.c...
compiling ai.c...
compiling init.c...
compiling remote.c...
compiling config.c...
compiling gimbal.c...
compiling atti_esti.c...
linking...
Program Size: Code=84384 RO-data=996 RW-data=416 ZI-data=34280
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>

8
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: Tue Oct 28 22:17:10 2025
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Sat Nov 1 22:06:33 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>
@ -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, 1016 bytes, Stack size 88 bytes, gimbal.o(.text.Gimbal_Control))
<P><STRONG><a name="[eb]"></a>Gimbal_Control</STRONG> (Thumb, 1000 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
@ -1142,7 +1142,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[70]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_gimbal_ctrl
</UL>
<P><STRONG><a name="[f9]"></a>Gimbal_Output</STRONG> (Thumb, 174 bytes, Stack size 16 bytes, gimbal.o(.text.Gimbal_Output))
<P><STRONG><a name="[f9]"></a>Gimbal_Output</STRONG> (Thumb, 274 bytes, Stack size 16 bytes, gimbal.o(.text.Gimbal_Output))
<BR><BR>[Stack]<UL><LI>Max Depth = 248<LI>Call Chain = Gimbal_Output &rArr; MOTOR_DM_MITCtrl &rArr; MOTOR_DM_SendMITCmd &rArr; BSP_CAN_TransmitStdDataFrame &rArr; BSP_CAN_Transmit &rArr; BSP_CAN_TxQueuePush
</UL>
<BR>[Calls]<UL><LI><a href="#[fc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MOTOR_DM_MITCtrl
@ -4974,7 +4974,7 @@ Local Symbols
<BR>[Called By]<UL><LI><a href="#[18e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MOTOR_DM_ParseFeedbackFrame
</UL>
<P><STRONG><a name="[ee]"></a>Gimbal_SetMode</STRONG> (Thumb, 188 bytes, Stack size 24 bytes, gimbal.o(.text.Gimbal_SetMode))
<P><STRONG><a name="[ee]"></a>Gimbal_SetMode</STRONG> (Thumb, 180 bytes, Stack size 24 bytes, gimbal.o(.text.Gimbal_SetMode))
<BR><BR>[Stack]<UL><LI>Max Depth = 120<LI>Call Chain = Gimbal_SetMode &rArr; PID_Reset &rArr; LowPassFilter2p_Reset &rArr; LowPassFilter2p_Apply &rArr; __ARM_isinf
</UL>
<BR>[Calls]<UL><LI><a href="#[fd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Reset

3059
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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18
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)(0x6900D064)
I (..\User\module\gimbal.h)(0x690613C5)
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)(0x6900D064)
I (..\User\module\gimbal.h)(0x690613C5)
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)(0x6900D064)
I (..\User\module\gimbal.h)(0x690613C5)
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)(0x6900D064)
I (..\User\module\gimbal.h)(0x690613C5)
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)(0x6900D064)
I (..\User\module\gimbal.h)(0x690613C5)
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)(0x6900D050)(-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)(0x6900D064)
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)
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)(0x6900D050)(-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)(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)
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)(0x6900D064)
I (..\User\module\gimbal.h)(0x690613C5)
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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8
User/module/config.c
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@ -57,7 +57,13 @@ Config_RobotParam_t robot_config = {
.pit_dm_motor={},
.yaw_dm_motor={},
},
.dm_Params_t={
.yaw_dm={.kd=0.3,},
.yaw_dm_Reduction_ratio=8.0f,//减速比
.pit_dm={.kd=1.0,},
.pit_dm_Reduction_ratio=5.0f,
},
.low_pass_cutoff_freq = {
.out = -1.0f,
.gyro = 1000.0f,

20
User/module/gimbal.c
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@ -61,7 +61,6 @@ 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.small_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;
@ -260,7 +259,6 @@ 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;
g->setpoint.small_yaw+=delta_yaw;
if (g->param->travel.yaw > 0)
Clip(&(g->setpoint.eulr.yaw),delta_min,delta_max);
else{
@ -345,12 +343,26 @@ void Gimbal_Output(Gimbal_t *g){
/*达妙电机输出*/
if(g->param->motor.pit==DM){
g->out.pit_dm.torque= g->out.pit * 5.0f; // 乘以减速比
g->out.pit_dm.angle=g->param->dm_Params_t.pit_dm.angle;
g->out.pit_dm.kd=g->param->dm_Params_t.pit_dm.kd;
g->out.pit_dm.kp=g->param->dm_Params_t.pit_dm.kp;
g->out.pit_dm.velocity=g->param->dm_Params_t.pit_dm.velocity;
g->out.pit_dm.torque= g->out.pit * g->param->dm_Params_t.pit_dm_Reduction_ratio; // 乘以减速比
MOTOR_DM_MITCtrl(&g->param->motor.pit_dm_motor,&(g->out.pit_dm));
}
if(g->param->motor.yaw==DM){
g->out.yaw_dm.torque= g->out.yaw * 5.0f; // 乘以减速比
g->out.yaw_dm.angle=g->param->dm_Params_t.yaw_dm.angle;
g->out.yaw_dm.kd=g->param->dm_Params_t.yaw_dm.kd;
g->out.yaw_dm.kp=g->param->dm_Params_t.yaw_dm.kp;
g->out.yaw_dm.velocity=g->param->dm_Params_t.yaw_dm.velocity;
g->out.yaw_dm.torque= g->out.yaw * g->param->dm_Params_t.yaw_dm_Reduction_ratio; // 乘以减速比
MOTOR_DM_MITCtrl(&g->param->motor.yaw_dm_motor,&(g->out.yaw_dm));
}
}

4
User/module/gimbal.h
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@ -110,6 +110,8 @@ typedef struct {
struct {
MOTOR_MIT_Output_t yaw_dm; /*达妙的参数*/
MOTOR_MIT_Output_t pit_dm;
float yaw_dm_Reduction_ratio;
float pit_dm_Reduction_ratio;
}dm_Params_t;
} Gimbal_Params_t;
@ -130,7 +132,6 @@ typedef struct {
typedef struct {
float yaw; /* yaw轴电机输出 */
float pit; /* pitch轴电机输出 */
float small_yaw; /* 小yaw轴电机输出 */
MOTOR_MIT_Output_t yaw_dm; /*达妙的参数*/
MOTOR_MIT_Output_t pit_dm;
@ -153,7 +154,6 @@ typedef struct {
struct {
AHRS_Eulr_t eulr; /* 表示云台姿态的欧拉角 */
AHRS_Eulr_t ecd;
float small_yaw
} setpoint;
struct {