249 lines
6.2 KiB
C
249 lines
6.2 KiB
C
/*
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* 云台模组
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*/
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#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ----------------------------------------------------------------- */
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#include "component/ahrs.h"
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#include "component/filter.h"
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#include "component/pid.h"
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#include "device/motor.h"
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#include "device/motor_dm.h"
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#include "device/motor_rm.h"
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/* Exported constants ------------------------------------------------------- */
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#define GIMBAL_OK (0) /* 运行正常 */
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#define GIMBAL_ERR (-1) /* 运行时发现了其他错误 */
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#define GIMBAL_ERR_NULL (-2) /* 运行时发现NULL指针 */
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#define GIMBAL_ERR_MODE (-3) /* 运行时配置了错误的CMD_GimbalMode_t */
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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typedef enum {
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GIMBAL_MODE_RELAX, /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
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GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
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GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
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} Gimbal_Mode_t;
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typedef enum {
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DM, /*大妙*/
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RM, /*大疆 */
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} Gimbal_MOTOR;
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typedef struct {
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Gimbal_Mode_t mode;
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float delta_yaw;
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float delta_pit;
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} Gimbal_CMD_t;
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/* 软件限位 */
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typedef struct {
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float max;
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float min;
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} Gimbal_Limit_t;
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typedef struct{
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struct{
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float yaw; /* 零点行程 */
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float pit;
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}travel;
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float pit; /*零点*/
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float yaw;
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float pit_encoder; /*零点*/
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float yaw_encoder;
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} Gimbal_zero_t;
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typedef struct {
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bool limit_yaw;/*是否开启限位*/
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bool limit_pit;
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Gimbal_MOTOR pit;
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Gimbal_MOTOR yaw;
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MOTOR_DM_Param_t pit_dm_motor; /* pitch轴电机参数 */
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MOTOR_DM_Param_t yaw_dm_motor; /* yaw轴电机参数 */
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MOTOR_RM_Param_t pit_rm_motor; /* pitch轴电机参数 */
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MOTOR_RM_Param_t yaw_rm_motor; /* yaw轴电机参数 */
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}Gimbal_MOTOR_Param_t;
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/* 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。*/
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typedef struct {
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Gimbal_MOTOR_Param_t motor;
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Gimbal_zero_t zero;
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struct {
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KPID_Params_t yaw_omega; /* yaw轴角速度环PID参数 */
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KPID_Params_t yaw_angle; /* yaw轴角位置环PID参数 */
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KPID_Params_t pit_omega; /* pitch轴角速度环PID参数 */
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KPID_Params_t pit_angle; /* pitch轴角位置环PID参数 */
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KPID_Params_t yaw_velocity; /* yaw轴电机速度环PID参数 */
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KPID_Params_t yaw_ecd_angle; /* yaw轴电机位置环PID参数 */
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KPID_Params_t pit_velocity; /* pitch轴电机速度环PID参数 */
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KPID_Params_t pit_ecd_angle; /* pitch轴电机位置环PID参数 */
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} pid;
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/* 前馈系数 */
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struct {
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struct{
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bool yaw;
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bool pit;
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float coefficient_yaw;
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float coefficient_pit;
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}imu;
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}feedforward;
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/* 低通滤波器截止频率 */
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struct {
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float out; /* 电机输出 */
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float gyro; /* 陀螺仪数据 */
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} low_pass_cutoff_freq;
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struct {
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float pit_max; /*pit的限位*/
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float pit_min;
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float yaw_max; /*yaw的限位*/
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float yaw_min;
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}Limit_t;
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struct {
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MOTOR_MIT_Output_t yaw_dm; /*达妙的参数*/
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MOTOR_MIT_Output_t pit_dm;
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float yaw_dm_Reduction_ratio;
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float pit_dm_Reduction_ratio;
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}dm_Params_t;
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} Gimbal_Params_t;
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typedef struct {
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AHRS_Gyro_t gyro;
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AHRS_Eulr_t eulr;
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} Gimbal_IMU_t;
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/* 云台反馈数据的结构体，包含反馈控制用的反馈数据 */
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typedef struct {
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Gimbal_IMU_t imu;
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struct {
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MOTOR_Feedback_t yaw; /* yaw轴电机反馈 */
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MOTOR_Feedback_t pit; /* pitch轴电机反馈 */
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} motor;
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} Gimbal_Feedback_t;
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/* 云台输出数据的结构体*/
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typedef struct {
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float yaw; /* yaw轴电机输出 */
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float pit; /* pitch轴电机输出 */
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MOTOR_MIT_Output_t yaw_dm; /*达妙的参数*/
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MOTOR_MIT_Output_t pit_dm;
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} Gimbal_Output_t;
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/*
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* 运行的主结构体，所有这个文件里的函数都在操作这个结构体。
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* 包含了初始化参数，中间变量，输出变量。
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*/
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typedef struct {
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uint64_t lask_wakeup;
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float dt;
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Gimbal_Params_t *param; /* 云台的参数，用Gimbal_Init设定 */
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/* 模块通用 */
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Gimbal_Mode_t mode; /* 云台模式 */
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Gimbal_MOTOR MOTOR;
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Gimbal_zero_t zero;
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/* PID计算的目标值 */
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struct {
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AHRS_Eulr_t eulr; /* 表示云台姿态的欧拉角 */
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AHRS_Eulr_t ecd;
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} setpoint;
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struct {
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KPID_t yaw_angle; /* yaw轴角位置环PID */
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KPID_t yaw_omega; /* yaw轴角速度环PID */
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KPID_t pit_angle; /* pitch轴角位置环PID */
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KPID_t pit_omega; /* pitch轴角速度环PID */
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KPID_t yaw_velocity; /* yaw轴电机速度环PID参数 */
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KPID_t yaw_ecd_angle; /* yaw轴电机位置环PID参数 */
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KPID_t pit_velocity; /* pitch轴电机速度环PID参数 */
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KPID_t pit_ecd_angle; /* pitch轴电机位置环PID参数 */
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} pid;
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struct {
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Gimbal_Limit_t yaw;
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Gimbal_Limit_t pit;
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} limit;
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struct {
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float yaw;
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float pit;
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} relative_angle;
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struct {
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LowPassFilter2p_t yaw;
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LowPassFilter2p_t pit;
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} filter_out;
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Gimbal_Output_t out; /* 云台输出 */
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Gimbal_Feedback_t feedback; /* 反馈 */
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} Gimbal_t;
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/* Exported functions prototypes -------------------------------------------- */
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/**
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* \brief 初始化云台
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*
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* \param g 包含云台数据的结构体
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* \param param 包含云台参数的结构体指针
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* \param target_freq 任务预期的运行频率
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*
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* \return 函数运行结果
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*/
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int8_t Gimbal_Init(Gimbal_t *g,Gimbal_Params_t *param,
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float target_freq);
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/**
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* \brief 通过CAN设备更新云台反馈信息
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*
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* \param gimbal 云台
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* \param can CAN设备
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*
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* \return 函数运行结果
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*/
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int8_t Gimbal_UpdateFeedback(Gimbal_t *gimbal);
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int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu);
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/**
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* \brief 运行云台控制逻辑
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*
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* \param g 包含云台数据的结构体
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* \param fb 云台反馈信息
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* \param g_cmd 云台控制指令
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* \param dt_sec 两次调用的时间间隔
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*
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* \return 函数运行结果
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*/
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int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd);
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/**
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* \brief 云台输出
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*
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* \param s 包含云台数据的结构体
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* \param out CAN设备云台输出结构体
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*/
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void Gimbal_Output(Gimbal_t *g);
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#ifdef __cplusplus
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}
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#endif
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