From f28d129e11f25bbe5b4acc06341f3b1a2e47dd95 Mon Sep 17 00:00:00 2001 From: SkyLi Date: Sat, 6 Jun 2026 21:26:08 +0800 Subject: [PATCH] =?UTF-8?q?init:=E5=85=A8=E9=93=BE=E8=B7=AF=E9=97=AD?= =?UTF-8?q?=E7=8E=AF=E6=8E=A7=E5=88=B6=E8=B0=83=E9=80=9A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 10 + .vscode/c_cpp_properties.json | 443 ++++ .vscode/settings.json | 4 + .../SeekFree_MSPM0G3507_Device_Library.syscfg | 30 +- libraries/sdk/ti_config/ti_msp_dl_config.c | 176 +- libraries/sdk/ti_config/ti_msp_dl_config.h | 20 + project/code/Beep.c | 33 + project/code/Beep.h | 12 + project/code/Command.c | 66 + project/code/Command.h | 12 + project/code/GrayscaleSensor.c | 122 ++ project/code/GrayscaleSensor.h | 13 + project/code/ICM_42688.c | 172 ++ project/code/ICM_42688.h | 198 ++ project/code/IMU.c | 374 ++++ project/code/IMU.h | 105 + project/code/Motor.c | 33 + project/code/Motor.h | 18 + project/code/MotorEncoder.c | 76 + project/code/MotorEncoder.h | 17 + project/code/PID_Controller.c | 232 ++ project/code/PID_Controller.h | 114 + project/code/{新建文本文档.txt => README.md} | 0 project/code/Task.c | 158 ++ project/code/Task.h | 22 + project/keil/.vscode/c_cpp_properties.json | 443 ++++ ...ee_MSPM0G3507_Device_Library.uvguix.SkyGod | 1905 +++++++++++++++++ .../SeekFree_MSPM0G3507_Device_Library.uvoptx | 306 ++- ...SeekFree_MSPM0G3507_Device_Library.uvprojx | 97 + project/user/src/main.c | 68 +- project/尽量不要使用的引脚.md | 11 + project/尽量不要使用的引脚.txt | 11 - 32 files changed, 5120 insertions(+), 181 deletions(-) create mode 100644 .gitignore create mode 100644 .vscode/c_cpp_properties.json create mode 100644 .vscode/settings.json create mode 100644 project/code/Beep.c create mode 100644 project/code/Beep.h create mode 100644 project/code/Command.c create mode 100644 project/code/Command.h create mode 100644 project/code/GrayscaleSensor.c create mode 100644 project/code/GrayscaleSensor.h create mode 100644 project/code/ICM_42688.c create mode 100644 project/code/ICM_42688.h create mode 100644 project/code/IMU.c create mode 100644 project/code/IMU.h create mode 100644 project/code/Motor.c create mode 100644 project/code/Motor.h create mode 100644 project/code/MotorEncoder.c create mode 100644 project/code/MotorEncoder.h create mode 100644 project/code/PID_Controller.c create mode 100644 project/code/PID_Controller.h rename project/code/{新建文本文档.txt => README.md} (100%) create mode 100644 project/code/Task.c create mode 100644 project/code/Task.h create mode 100644 project/keil/.vscode/c_cpp_properties.json create mode 100644 project/keil/SeekFree_MSPM0G3507_Device_Library.uvguix.SkyGod create mode 100644 project/尽量不要使用的引脚.md delete mode 100644 project/尽量不要使用的引脚.txt diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..d05a3da --- /dev/null +++ b/.gitignore @@ -0,0 +1,10 @@ +/libraries/sdk/ti_config/excluded + +/project/keil/Listings/ +/project/keil/Objects/ + +uv4.log +uv4.log.lock +keil-assistant.log + +CLAUDE.md \ No newline at end of file diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json new file mode 100644 index 0000000..50e0c6c --- /dev/null +++ b/.vscode/c_cpp_properties.json @@ -0,0 +1,443 @@ +{ + "configurations": [ + { + "name": "SeekFree_MSPM0G3507_Device_Library", + "includePath": [ + "e:\\file\\AT2026\\SeekFree_MSPM0G3507_Opensource_Library\\libraries\\sdk\\third_party\\CMSIS\\Core\\Include", + "e:\\file\\AT2026\\SeekFree_MSPM0G3507_Opensource_Library\\libraries\\sdk", + "e:\\file\\AT2026\\SeekFree_MSPM0G3507_Opensource_Library\\libraries\\sdk\\ti_config", + "e:\\file\\AT2026\\SeekFree_MSPM0G3507_Opensource_Library\\libraries\\zf_common", + "e:\\file\\AT2026\\SeekFree_MSPM0G3507_Opensource_Library\\libraries\\zf_components", + "e:\\file\\AT2026\\SeekFree_MSPM0G3507_Opensource_Library\\libraries\\zf_device", + "e:\\file\\AT2026\\SeekFree_MSPM0G3507_Opensource_Library\\libraries\\zf_driver", + 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"__UINT_FAST32_FMTo__=\"o\"", + "__UINT_FAST32_FMTu__=\"u\"", + "__UINT_FAST32_FMTx__=\"x\"", + "__UINT_FAST32_MAX__=4294967295U", + "__UINT_FAST32_TYPE__=unsigned int", + "__UINT_FAST64_FMTX__=\"llX\"", + "__UINT_FAST64_FMTo__=\"llo\"", + "__UINT_FAST64_FMTu__=\"llu\"", + "__UINT_FAST64_FMTx__=\"llx\"", + "__UINT_FAST64_MAX__=18446744073709551615ULL", + "__UINT_FAST64_TYPE__=long long unsigned int", + "__UINT_FAST8_FMTX__=\"hhX\"", + "__UINT_FAST8_FMTo__=\"hho\"", + "__UINT_FAST8_FMTu__=\"hhu\"", + "__UINT_FAST8_FMTx__=\"hhx\"", + "__UINT_FAST8_MAX__=255", + "__UINT_FAST8_TYPE__=unsigned char", + "__UINT_LEAST16_FMTX__=\"hX\"", + "__UINT_LEAST16_FMTo__=\"ho\"", + "__UINT_LEAST16_FMTu__=\"hu\"", + "__UINT_LEAST16_FMTx__=\"hx\"", + "__UINT_LEAST16_MAX__=65535", + "__UINT_LEAST16_TYPE__=unsigned short", + "__UINT_LEAST32_FMTX__=\"X\"", + "__UINT_LEAST32_FMTo__=\"o\"", + "__UINT_LEAST32_FMTu__=\"u\"", + "__UINT_LEAST32_FMTx__=\"x\"", + "__UINT_LEAST32_MAX__=4294967295U", + "__UINT_LEAST32_TYPE__=unsigned int", + "__UINT_LEAST64_FMTX__=\"llX\"", + "__UINT_LEAST64_FMTo__=\"llo\"", + "__UINT_LEAST64_FMTu__=\"llu\"", + "__UINT_LEAST64_FMTx__=\"llx\"", + "__UINT_LEAST64_MAX__=18446744073709551615ULL", + "__UINT_LEAST64_TYPE__=long long unsigned int", + "__UINT_LEAST8_FMTX__=\"hhX\"", + "__UINT_LEAST8_FMTo__=\"hho\"", + "__UINT_LEAST8_FMTu__=\"hhu\"", + "__UINT_LEAST8_FMTx__=\"hhx\"", + "__UINT_LEAST8_MAX__=255", + "__UINT_LEAST8_TYPE__=unsigned char", + "__USER_LABEL_PREFIX__=", + "__VERSION__=\"Clang 16.0.0\"", + "__VFP_FP__=1", + "__WCHAR_MAX__=4294967295U", + "__WCHAR_TYPE__=unsigned int", + "__WCHAR_UNSIGNED__=1", + "__WCHAR_WIDTH__=32", + "__WINT_MAX__=2147483647", + "__WINT_TYPE__=int", + "__WINT_WIDTH__=32", + "__arm=1", + "__arm__=1", + "__clang__=1", + "__clang_literal_encoding__=\"UTF-8\"", + "__clang_major__=16", + "__clang_minor__=0", + "__clang_patchlevel__=0", + "__clang_version__=\"16.0.0 \"", + "__clang_wide_literal_encoding__=\"UTF-32\"", + "__llvm__=1" + ], + "intelliSenseMode": "${default}" + } + ], + "version": 4 +} \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..c04d010 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,4 @@ +{ + "C_Cpp.errorSquiggles": "disabled", + "C_Cpp.default.compilerPath": "" +} \ No newline at end of file diff --git a/libraries/sdk/ti_config/SeekFree_MSPM0G3507_Device_Library.syscfg b/libraries/sdk/ti_config/SeekFree_MSPM0G3507_Device_Library.syscfg index 411113c..88868cb 100644 --- a/libraries/sdk/ti_config/SeekFree_MSPM0G3507_Device_Library.syscfg +++ b/libraries/sdk/ti_config/SeekFree_MSPM0G3507_Device_Library.syscfg @@ -5,16 +5,25 @@ * @v2CliArgs --device "MSPM0G3507" --package "LQFP-64(PM)" --product "mspm0_sdk@2.04.00.06" * @versions {"tool":"1.23.1+4034"} */ +scripting.excludeFromBuild("device_linker.cmd"); +scripting.excludeFromBuild("device_linker.lds"); +scripting.excludeFromBuild("device.opt"); +scripting.excludeFromBuild("device.cmd.genlibs"); +scripting.excludeFromBuild("device.lds.genlibs"); +scripting.excludeFromBuild("Event.dot"); /** * Import the modules used in this configuration. */ -const GPIO = scripting.addModule("/ti/driverlib/GPIO", {}, false); -const GPIO1 = GPIO.addInstance(); -const GPIO2 = GPIO.addInstance(); -const SYSCTL = scripting.addModule("/ti/driverlib/SYSCTL"); -const SYSTICK = scripting.addModule("/ti/driverlib/SYSTICK"); -const VREF = scripting.addModule("/ti/driverlib/VREF"); +const GPIO = scripting.addModule("/ti/driverlib/GPIO", {}, false); +const GPIO1 = GPIO.addInstance(); +const GPIO2 = GPIO.addInstance(); +const QEI = scripting.addModule("/ti/driverlib/QEI", {}, false); +const QEI1 = QEI.addInstance(); +const SYSCTL = scripting.addModule("/ti/driverlib/SYSCTL"); +const SYSTICK = scripting.addModule("/ti/driverlib/SYSTICK"); +const VREF = scripting.addModule("/ti/driverlib/VREF"); +const ProjectConfig = scripting.addModule("/ti/project_config/ProjectConfig"); /** * Write custom configuration values to the imported modules. @@ -79,6 +88,13 @@ GPIO2.associatedPins[0].interruptEn = true; GPIO2.associatedPins[0].polarity = "RISE"; GPIO2.associatedPins[0].pin.$assign = "PA18"; +QEI1.$name = "QEI_0"; +QEI1.peripheral.$assign = "TIMG8"; +QEI1.peripheral.ccp0Pin.$assign = "PB6"; +QEI1.peripheral.ccp1Pin.$assign = "PB7"; +QEI1.ccp0PinConfig.$name = "ti_driverlib_gpio_GPIOPinGeneric0"; +QEI1.ccp1PinConfig.$name = "ti_driverlib_gpio_GPIOPinGeneric1"; + SYSCTL.forceDefaultClkConfig = true; SYSCTL.clockTreeEn = true; scripting.suppress("For best practices when the CPUCLK is running at 32MHz and above, clear the flash status bit using DL_FlashCTL_executeClearStatus\\(\\) before executing any flash operation\\. Otherwise there may be false positives\\.", SYSCTL); @@ -98,6 +114,8 @@ VREF.peripheral.vrefPosPin.$assign = "PA23"; VREF.peripheral.vrefNegPin.$assign = "PA21"; VREF.vrefNegPinConfig.$name = "ti_driverlib_gpio_GPIOPinGeneric30"; +ProjectConfig.genLibIQVersion = "MATHACL"; + /** * Pinmux solution for unlocked pins/peripherals. This ensures that minor changes to the automatic solver in a future * version of the tool will not impact the pinmux you originally saw. These lines can be completely deleted in order to diff --git a/libraries/sdk/ti_config/ti_msp_dl_config.c b/libraries/sdk/ti_config/ti_msp_dl_config.c index 00a167b..153c058 100644 --- a/libraries/sdk/ti_config/ti_msp_dl_config.c +++ b/libraries/sdk/ti_config/ti_msp_dl_config.c @@ -40,6 +40,8 @@ #include "ti_msp_dl_config.h" +DL_TimerG_backupConfig gQEI_0Backup; + /* * ======== SYSCFG_DL_init ======== * Perform any initialization needed before using any board APIs @@ -50,19 +52,47 @@ SYSCONFIG_WEAK void SYSCFG_DL_init(void) SYSCFG_DL_GPIO_init(); /* Module-Specific Initializations*/ SYSCFG_DL_SYSCTL_init(); + SYSCFG_DL_QEI_0_init(); SYSCFG_DL_VREF_init(); SYSCFG_DL_SYSTICK_init(); + /* Ensure backup structures have no valid state */ + gQEI_0Backup.backupRdy = false; + +} +/* + * User should take care to save and restore register configuration in application. + * See Retention Configuration section for more details. + */ +SYSCONFIG_WEAK bool SYSCFG_DL_saveConfiguration(void) +{ + bool retStatus = true; + + retStatus &= DL_TimerG_saveConfiguration(QEI_0_INST, &gQEI_0Backup); + + return retStatus; +} + + +SYSCONFIG_WEAK bool SYSCFG_DL_restoreConfiguration(void) +{ + bool retStatus = true; + + retStatus &= DL_TimerG_restoreConfiguration(QEI_0_INST, &gQEI_0Backup, false); + + return retStatus; } SYSCONFIG_WEAK void SYSCFG_DL_initPower(void) { DL_GPIO_reset(GPIOA); DL_GPIO_reset(GPIOB); + DL_TimerG_reset(QEI_0_INST); DL_VREF_reset(VREF); DL_GPIO_enablePower(GPIOA); DL_GPIO_enablePower(GPIOB); + DL_TimerG_enablePower(QEI_0_INST); DL_VREF_enablePower(VREF); delay_cycles(POWER_STARTUP_DELAY); @@ -76,6 +106,9 @@ SYSCONFIG_WEAK void SYSCFG_DL_GPIO_init(void) DL_GPIO_initPeripheralAnalogFunction(GPIO_LFXIN_IOMUX); DL_GPIO_initPeripheralAnalogFunction(GPIO_LFXOUT_IOMUX); + DL_GPIO_initPeripheralInputFunction(GPIO_QEI_0_PHA_IOMUX,GPIO_QEI_0_PHA_IOMUX_FUNC); + DL_GPIO_initPeripheralInputFunction(GPIO_QEI_0_PHB_IOMUX,GPIO_QEI_0_PHB_IOMUX_FUNC); + DL_GPIO_initDigitalOutputFeatures(LED_A14_PIN_14_IOMUX, DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_DOWN, DL_GPIO_DRIVE_STRENGTH_LOW, DL_GPIO_HIZ_DISABLE); @@ -111,128 +144,6 @@ static const DL_SYSCTL_LFCLKConfig gLFCLKConfig = { .monitor = false, .xt1Drive = DL_SYSCTL_LFXT_DRIVE_STRENGTH_HIGHEST, }; - - -/////////////////////////////////////////////////////////////// - - -void DL_SYSCTL_setHFCLKSourceHFXTParams (DL_SYSCTL_HFXT_RANGE range, uint32_t startupTime, bool monitorEnable) -{ - uint32_t register_temp = SYSCTL->SOCLOCK.HFCLKCLKCFG; - - register_temp &= ~(SYSCTL_HFCLKCLKCFG_HFXTRSEL_MASK | SYSCTL_HFCLKCLKCFG_HFCLKFLTCHK_MASK); - - switch(range) - { - case DL_SYSCTL_HFXT_RANGE_4_8_MHZ : register_temp |= (SYSCTL_HFCLKCLKCFG_HFXTRSEL_RANGE4TO8); break; - case DL_SYSCTL_HFXT_RANGE_8_16_MHZ : register_temp |= (SYSCTL_HFCLKCLKCFG_HFXTRSEL_RANGE8TO16); break; - case DL_SYSCTL_HFXT_RANGE_16_32_MHZ: register_temp |= (SYSCTL_HFCLKCLKCFG_HFXTRSEL_RANGE16TO32); break; - case DL_SYSCTL_HFXT_RANGE_32_48_MHZ: register_temp |= (SYSCTL_HFCLKCLKCFG_HFXTRSEL_RANGE32TO48); break; - } - register_temp |= (monitorEnable) ? (SYSCTL_HFCLKCLKCFG_HFCLKFLTCHK_ENABLE) : (SYSCTL_HFCLKCLKCFG_HFCLKFLTCHK_DISABLE); - - SYSCTL->SOCLOCK.HFCLKCLKCFG = register_temp; - - SYSCTL->SOCLOCK.HSCLKEN |= SYSCTL_HSCLKEN_HFXTEN_ENABLE; // 必须启动 否则频率不准 - - SYSCTL->SOCLOCK.HSCLKEN = SYSCTL_HSCLKEN_SYSPLLEN_ENABLE | SYSCTL_HSCLKEN_USEEXTHFCLK_ENABLE; - SYSCTL->SOCLOCK.HSCLKEN |= SYSCTL_HSCLKCFG_HSCLKSEL_HFCLKCLK; - - - - -} - - - - - -void DL_SYSCTL_configSYSPLL (const DL_SYSCTL_SYSPLLConfig *config) -{ - uint32_t register_temp = 0; - - - SYSCTL->SOCLOCK.HSCLKEN &= ~(SYSCTL_HSCLKEN_SYSPLLEN_MASK); - - { - register_temp = SYSCTL->SOCLOCK.SYSPLLCFG0; - - register_temp &= ~(SYSCTL_SYSPLLCFG0_SYSPLLREF_MASK | SYSCTL_SYSPLLCFG0_MCLK2XVCO_MASK - | SYSCTL_SYSPLLCFG0_ENABLECLK0_MASK | SYSCTL_SYSPLLCFG0_ENABLECLK1_MASK | SYSCTL_SYSPLLCFG0_ENABLECLK2X_MASK - | SYSCTL_SYSPLLCFG0_RDIVCLK0_MASK | SYSCTL_SYSPLLCFG0_RDIVCLK1_MASK | SYSCTL_SYSPLLCFG0_RDIVCLK2X_MASK ); - register_temp |= config->rDivClk2x ; - register_temp |= config->rDivClk1 ; - register_temp |= config->rDivClk0 ; - register_temp |= config->enableCLK2x ; - register_temp |= config->enableCLK1 ; - register_temp |= config->enableCLK0 ; - register_temp |= config->sysPLLMCLK ; - register_temp |= config->sysPLLRef ; - - SYSCTL->SOCLOCK.SYSPLLCFG0 = register_temp; - } - - - { - register_temp = SYSCTL->SOCLOCK.SYSPLLCFG1; - - register_temp &= ~(SYSCTL_SYSPLLCFG1_PDIV_MASK | SYSCTL_SYSPLLCFG1_QDIV_MASK); - register_temp |= (config->qDiv << SYSCTL_SYSPLLCFG1_QDIV_OFS ); - register_temp |= (config->pDiv); - - SYSCTL->SOCLOCK.SYSPLLCFG1 = register_temp; - } - - { - SYSCTL->SOCLOCK.SYSPLLPARAM0 = - *(volatile uint32_t *) ((uint32_t) config->inputFreq); - SYSCTL->SOCLOCK.SYSPLLPARAM1 = - *(volatile uint32_t *) ((uint32_t) config->inputFreq + (uint32_t) 0x4); - } - - - SYSCTL->SOCLOCK.HSCLKEN |= SYSCTL_HSCLKEN_SYSPLLEN_ENABLE; - - while ((DL_SYSCTL_getClockStatus() & SYSCTL_CLKSTATUS_SYSPLLGOOD_MASK) != - DL_SYSCTL_CLK_STATUS_SYSPLL_GOOD) { - ; - } - - - - -} - -void DL_SYSCTL_setLFCLKSourceLFXT (const DL_SYSCTL_LFCLKConfig *config) -{ - uint32_t register_temp = SYSCTL->SOCLOCK.LFCLKCFG; - - register_temp &= ~(SYSCTL_LFCLKCFG_XT1DRIVE_MASK | SYSCTL_LFCLKCFG_MONITOR_MASK | SYSCTL_LFCLKCFG_LOWCAP_MASK); - register_temp |= (config->lowCap) ? (SYSCTL_LFCLKCFG_LOWCAP_ENABLE) : (SYSCTL_LFCLKCFG_LOWCAP_DISABLE); - register_temp |= (config->monitor) ? (SYSCTL_LFCLKCFG_MONITOR_ENABLE) : (SYSCTL_LFCLKCFG_MONITOR_DISABLE); - register_temp |= (config->xt1Drive); - - SYSCTL->SOCLOCK.LFCLKCFG = register_temp; - - - - -} - - - - -void DL_SYSCTL_switchMCLKfromSYSOSCtoHSCLK (DL_SYSCTL_HSCLK_SOURCE source) -{ - - SYSCTL->SOCLOCK.HSCLKCFG = (uint32_t) source; - SYSCTL->SOCLOCK.MCLKCFG |= SYSCTL_MCLKCFG_USEHSCLK_ENABLE; - -} - - -//////////////////////////////////////////////////////////////////////////// - SYSCONFIG_WEAK void SYSCFG_DL_SYSCTL_init(void) { @@ -258,6 +169,27 @@ SYSCONFIG_WEAK void SYSCFG_DL_SYSCTL_init(void) } +static const DL_TimerG_ClockConfig gQEI_0ClockConfig = { + .clockSel = DL_TIMER_CLOCK_BUSCLK, + .divideRatio = DL_TIMER_CLOCK_DIVIDE_1, + .prescale = 0U +}; + + +SYSCONFIG_WEAK void SYSCFG_DL_QEI_0_init(void) { + + DL_TimerG_setClockConfig( + QEI_0_INST, (DL_TimerG_ClockConfig *) &gQEI_0ClockConfig); + + DL_TimerG_configQEI(QEI_0_INST, DL_TIMER_QEI_MODE_2_INPUT, + DL_TIMER_CC_INPUT_INV_NOINVERT, DL_TIMER_CC_0_INDEX); + DL_TimerG_configQEI(QEI_0_INST, DL_TIMER_QEI_MODE_2_INPUT, + DL_TIMER_CC_INPUT_INV_NOINVERT, DL_TIMER_CC_1_INDEX); + DL_TimerG_setLoadValue(QEI_0_INST, 65535); + DL_TimerG_enableClock(QEI_0_INST); +} + + static const DL_VREF_Config gVREFConfig = { .vrefEnable = DL_VREF_ENABLE_DISABLE, diff --git a/libraries/sdk/ti_config/ti_msp_dl_config.h b/libraries/sdk/ti_config/ti_msp_dl_config.h index c7ee4e9..6294e8b 100644 --- a/libraries/sdk/ti_config/ti_msp_dl_config.h +++ b/libraries/sdk/ti_config/ti_msp_dl_config.h @@ -87,6 +87,23 @@ extern "C" { + +/* Defines for QEI_0 */ +#define QEI_0_INST TIMG8 +#define QEI_0_INST_IRQHandler TIMG8_IRQHandler +#define QEI_0_INST_INT_IRQN (TIMG8_INT_IRQn) +/* Pin configuration defines for QEI_0 PHA Pin */ +#define GPIO_QEI_0_PHA_PORT GPIOB +#define GPIO_QEI_0_PHA_PIN DL_GPIO_PIN_6 +#define GPIO_QEI_0_PHA_IOMUX (IOMUX_PINCM23) +#define GPIO_QEI_0_PHA_IOMUX_FUNC IOMUX_PINCM23_PF_TIMG8_CCP0 +/* Pin configuration defines for QEI_0 PHB Pin */ +#define GPIO_QEI_0_PHB_PORT GPIOB +#define GPIO_QEI_0_PHB_PIN DL_GPIO_PIN_7 +#define GPIO_QEI_0_PHB_IOMUX (IOMUX_PINCM24) +#define GPIO_QEI_0_PHB_IOMUX_FUNC IOMUX_PINCM24_PF_TIMG8_CCP1 + + /* Defines for VREF */ #define VREF_VOLTAGE_MV 3300 #define GPIO_VREF_VREFPOS_PORT GPIOA @@ -126,10 +143,13 @@ void SYSCFG_DL_init(void); void SYSCFG_DL_initPower(void); void SYSCFG_DL_GPIO_init(void); void SYSCFG_DL_SYSCTL_init(void); +void SYSCFG_DL_QEI_0_init(void); void SYSCFG_DL_VREF_init(void); void SYSCFG_DL_SYSTICK_init(void); +bool SYSCFG_DL_saveConfiguration(void); +bool SYSCFG_DL_restoreConfiguration(void); #ifdef __cplusplus } diff --git a/project/code/Beep.c b/project/code/Beep.c new file mode 100644 index 0000000..1b4b035 --- /dev/null +++ b/project/code/Beep.c @@ -0,0 +1,33 @@ +#include "Beep.h" +#include "zf_driver_gpio.h" + +static int beep_time=0; +static int beep_T; +void beep_init(int t){ + //gpio_init(P33_10, GPO, 0, GPO_PUSH_PULL); // 蜂鸣器初始化 + gpio_init(A14, GPO, 0, GPO_PUSH_PULL); + beep_T=t; +} +void beep_on(void){ + // pwm_set_duty(ATOM2_CH0_P33_10,5000); + //gpio_set_level(P33_10,1); + gpio_set_level(A14,1); +} +void beep_off(void){ + // pwm_set_duty(ATOM2_CH0_P33_10,0); + //gpio_set_level(P33_10,0); + gpio_set_level(A14,0); +} +void beep_on_time(int ms){ + beep_time=ms/beep_T; +} + +void beep_actuator(void){ + if(beep_time>0){ + beep_on(); + beep_time--; + } + else{ + beep_off(); + } +} diff --git a/project/code/Beep.h b/project/code/Beep.h new file mode 100644 index 0000000..0fdff50 --- /dev/null +++ b/project/code/Beep.h @@ -0,0 +1,12 @@ +#ifndef __BEEP_H +#define __BEEP_H + +//初始化，参数为周期单位ms +void beep_init(int t); +void beep_on(void); +void beep_off(void); +//蜂鸣器鸣叫指定时间，参数为时间单位ms +void beep_on_time(int ms); +void beep_actuator(void); + +#endif \ No newline at end of file diff --git a/project/code/Command.c b/project/code/Command.c new file mode 100644 index 0000000..5c11324 --- /dev/null +++ b/project/code/Command.c @@ -0,0 +1,66 @@ +#include "Command.h" +#include "zf_driver_uart.h" +#include "zf_common_interrupt.h" +#include "ti/driverlib/dl_uart_main.h" +#include "zf_common_fifo.h" + +volatile fifo_struct command_fifo = {0}; +volatile uint8_t command_fifo_buffer[COMMAND_FIFO_BUFFER_SIZE] = {0}; +uint8_t command_sum(uint8_t* data,int len); + +void command_callback(uint32 state, void *ptr) +{ + while(false == DL_UART_isRXFIFOEmpty(UART2))//读取到一个数据 + { + fifo_write_element((fifo_struct*)&command_fifo,DL_UART_Main_receiveData(UART2));//写入软件FIFO + } +} +void command_init() +{ + uart_init(UART_2,115200,UART2_TX_B15,UART2_RX_B16); + uart_set_interrupt_config(UART_2,UART_INTERRUPT_CONFIG_RX_ENABLE); + interrupt_set_priority(UART2_INT_IRQn,1);//设置为与主要任务平行的优先级 + + //开启发送DMA + + //开启硬件FIFO + DL_UART_Main_enableFIFOs(UART2); + DL_UART_Main_setRXFIFOThreshold(UART2,DL_UART_MAIN_RX_FIFO_LEVEL_1_2_FULL); + + //设置软件FIFO + fifo_init((fifo_struct *)&command_fifo,FIFO_DATA_8BIT,(void*)command_fifo_buffer,COMMAND_FIFO_BUFFER_SIZE); + //设置中断回调 + uart_set_callback(UART_2,command_callback,NULL); +} +//从软件FIFO中解析数据包并执行 +void command_task() +{ + +} +//DMA发送使用的地址 +uint8_t angle_velocity_data[6] = {0}; +//发送速度前馈 +void command_send_angle_velocity(float* pointer_angle_velocity) +{ + //等待上一次DMA发送完成 + + //填充数据 + uint8_t* p = (uint8_t*)pointer_angle_velocity; + angle_velocity_data[0]=0xA1; + angle_velocity_data[1]=*(p++); + angle_velocity_data[2]=*(p++); + angle_velocity_data[3]=*(p++); + angle_velocity_data[4]=*(p++); + angle_velocity_data[5]=command_sum(angle_velocity_data,5); + //DMA发送（非阻塞） + +} +uint8_t command_sum(uint8_t* data,int len) +{ + uint8_t sum = 0; + for(int i=0;i 0) + { + grayscale_sensor_position /= adc_normalized_sum; + } + else + { + grayscale_sensor_position = 0; // 避免除以零，默认位置为0 + } + grayscale_sensor_position = grayscale_sensor_position_prev + FILTER_ALPHA * (grayscale_sensor_position - grayscale_sensor_position_prev); + grayscale_sensor_position_prev = grayscale_sensor_position; +} \ No newline at end of file diff --git a/project/code/GrayscaleSensor.h b/project/code/GrayscaleSensor.h new file mode 100644 index 0000000..5f4c743 --- /dev/null +++ b/project/code/GrayscaleSensor.h @@ -0,0 +1,13 @@ +#ifndef GRAYSCALESENSOR_H +#define GRAYSCALESENSOR_H + +#include "zf_common_typedef.h" + +extern volatile float grayscale_sensor_position; // 存储小车相对于黑线的位置 + +void grayscale_sensor_init(void); +void grayscale_sensor_scan(void); +void grayscale_sensor_set_white(void); +void grayscale_sensor_set_black(void); + +#endif \ No newline at end of file diff --git a/project/code/ICM_42688.c b/project/code/ICM_42688.c new file mode 100644 index 0000000..761075d --- /dev/null +++ b/project/code/ICM_42688.c @@ -0,0 +1,172 @@ +#include "ICM_42688.h" + +//================================================================================================== +// 内部变量 +//================================================================================================== + +static float accel_scale = 1.0f; // 加速度计 LSB → g +static float gyro_scale = 1.0f; // 陀螺仪 LSB → °/s + +//================================================================================================== +// SPI 底层操作宏 +//================================================================================================== + +#define ICM42688_WRITE_REG(reg, data) spi_write_8bit_register(ICM42688_SPI, reg, data) +#define ICM42688_READ_REGS(reg, data, num) spi_read_8bit_registers(ICM42688_SPI, (reg) | 0x80, data, num) + +//================================================================================================== +// 静态函数 — 寄存器级 SPI 操作 +//================================================================================================== + +/** @brief 向指定寄存器写入一字节 + * @param reg 寄存器地址 + * @param data 写入值 + * 片选 → 写寄存器 → 释放片选 + */ +static void icm42688_write_reg(uint8_t reg, uint8_t data) +{ + ICM42688_CS_LEVEL(0); + ICM42688_WRITE_REG(reg, data); + ICM42688_CS_LEVEL(1); +} + +/** @brief 从指定寄存器连续读取多字节 + * @param reg 起始寄存器地址 + * @param data 输出缓冲区指针 + * @param num 读取字节数 + * 片选 → 读多字节 → 释放片选 + */ +static void icm42688_read_regs(uint8_t reg, uint8_t *data, uint8_t num) +{ + ICM42688_CS_LEVEL(0); + ICM42688_READ_REGS(reg, data, num); + ICM42688_CS_LEVEL(1); +} + +/** @brief 将两个 uint8 拼接为 int16（大端序） + * @param hi 高字节 + * @param lo 低字节 + * @return 有符号 16 位整数 + */ +static int16_t icm42688_combine_bytes(uint8_t hi, uint8_t lo) +{ + return (int16_t)(((uint16_t)hi << 8) | lo); +} + +/** @brief 配置加速度计/陀螺仪的量程和输出速率 + * @param afs 加速度计量程 + * @param aodr 加速度计输出速率 + * @param gfs 陀螺仪量程 + * @param godr 陀螺仪输出速率 + * 同时更新内部比例系数 accel_scale / gyro_scale + */ +static void icm42688_set_range_odr(enum icm42688_afs afs, enum icm42688_aodr aodr, + enum icm42688_gfs gfs, enum icm42688_godr godr) +{ + icm42688_write_reg(ICM42688_ACCEL_CONFIG0, (afs << 5) | (aodr + 1)); + icm42688_write_reg(ICM42688_GYRO_CONFIG0, (gfs << 5) | (godr + 1)); + + switch (afs) { + case ICM42688_AFS_2G: accel_scale = 2000.0f / 32768.0f; break; + case ICM42688_AFS_4G: accel_scale = 4000.0f / 32768.0f; break; + case ICM42688_AFS_8G: accel_scale = 8000.0f / 32768.0f; break; + case ICM42688_AFS_16G: accel_scale = 16000.0f / 32768.0f; break; + default: accel_scale = 1.0f; break; + } + + switch (gfs) { + case ICM42688_GFS_15_625DPS: gyro_scale = 15.625f / 32768.0f; break; + case ICM42688_GFS_31_25DPS: gyro_scale = 31.25f / 32768.0f; break; + case ICM42688_GFS_62_5DPS: gyro_scale = 62.5f / 32768.0f; break; + case ICM42688_GFS_125DPS: gyro_scale = 125.0f / 32768.0f; break; + case ICM42688_GFS_250DPS: gyro_scale = 250.0f / 32768.0f; break; + case ICM42688_GFS_500DPS: gyro_scale = 500.0f / 32768.0f; break; + case ICM42688_GFS_1000DPS: gyro_scale = 1000.0f / 32768.0f; break; + case ICM42688_GFS_2000DPS: gyro_scale = 2000.0f / 32768.0f; break; + default: gyro_scale = 1.0f; break; + } +} + +//================================================================================================== +// 公开接口 +//================================================================================================== + +/** @brief 返回当前陀螺仪比例系数 (LSB → °/s) + * 供 imu_calibrate_gyro() 将原始 ADC 均值转换为物理偏移量 + */ +float icm42688_gyro_scale(void) +{ + return gyro_scale; +} + +/** @brief 初始化 ICM-42688 + * 1. 初始化 SPI 外设和 CS 引脚 + * 2. 读取 WHO_AM_I 进行自检（超时 500ms 后报错死循环） + * 3. 复位并配置量程/速率（默认 ±16G / ±2000dps / 200Hz ODR） + * 4. 设置为低噪声模式 + * 由 imu_init() 内部调用，用户一般不直接调用 + */ +void icm42688_init(void) +{ + system_delay_ms(10); + spi_init(ICM42688_SPI, SPI_MODE0, ICM42688_SPI_SPEED, + ICM42688_SPC_PIN, ICM42688_SDI_PIN, ICM42688_SDO_PIN, SPI_CS_NULL); + gpio_init(ICM42688_CS_PIN, GPO, GPIO_HIGH, GPO_PUSH_PULL); + + uint8_t model = 0xFF; + int timeout = 50; + while (1) { + icm42688_read_regs(ICM42688_WHO_AM_I, &model, 1); + if (model == 0x47) { + break; + } + ICM42688_DELAY_MS(10); + if (--timeout < 0) { + zf_log(0, "ICM42688 Init Error!"); + while (1); + } + } + + icm42688_write_reg(ICM42688_PWR_MGMT0, 0x00); + ICM42688_DELAY_MS(20); + + // 如果修改了采样频率（定时器中断周期），则需要对应修改下方的配置 + icm42688_set_range_odr(ICM42688_AFS_16G, ICM42688_AODR_200HZ, + ICM42688_GFS_2000DPS, ICM42688_GODR_200HZ); + + icm42688_write_reg(ICM42688_PWR_MGMT0, 0x0F); + ICM42688_DELAY_MS(10); +} + +/** @brief 读取全部传感器数据（加速度 + 角速度） + * @param data 输出结构体指针 + * 一次 12 字节 SPI 突发从 ACCEL_DATA_X1 开始连续读取 + * 读取顺序: AX→AY→AZ→GX→GY→GZ（与传感器内部 FIFO 顺序一致） + */ +void icm42688_read_all(icm42688_data_t *data) +{ + uint8_t buf[12]; + icm42688_read_regs(ICM42688_ACCEL_DATA_X1, buf, 12); + + data->accel_x = accel_scale * icm42688_combine_bytes(buf[0], buf[1]); + data->accel_y = accel_scale * icm42688_combine_bytes(buf[2], buf[3]); + data->accel_z = accel_scale * icm42688_combine_bytes(buf[4], buf[5]); + + data->gyro_x = gyro_scale * icm42688_combine_bytes(buf[6], buf[7]); + data->gyro_y = gyro_scale * icm42688_combine_bytes(buf[8], buf[9]); + data->gyro_z = gyro_scale * icm42688_combine_bytes(buf[10], buf[11]); +} + +/** @brief 读取陀螺仪原始 ADC 值（不做比例换算） + * @param gx/gy/gz 输出 int16 原始值指针 + * 供 imu_calibrate_gyro() 在静止状态下采集原始数据计算零偏 + */ +void icm42688_read_gyro_raw(int16_t *gx, int16_t *gy, int16_t *gz) +{ + uint8_t buf[6]; + icm42688_read_regs(ICM42688_GYRO_DATA_X1, buf, 6); + + *gx = icm42688_combine_bytes(buf[0], buf[1]); + *gy = icm42688_combine_bytes(buf[2], buf[3]); + *gz = icm42688_combine_bytes(buf[4], buf[5]); +} diff --git a/project/code/ICM_42688.h b/project/code/ICM_42688.h new file mode 100644 index 0000000..17d8f99 --- /dev/null +++ b/project/code/ICM_42688.h @@ -0,0 +1,198 @@ +#ifndef __ICM_42688_H +#define __ICM_42688_H + +#include "zf_common_headfile.h" + +//================================================================================================== +// ICM-42688-P 6轴惯性传感器 硬件抽象层 +// 本文件仅负责 SPI 通信、寄存器读写、原始数据获取，不涉及姿态解算 +//================================================================================================== + +// SPI 引脚定义 +#define ICM42688_SPI (SPI_1) +#define ICM42688_SPI_SPEED (8 * 1000 * 1000) +#define ICM42688_SPC_PIN (SPI1_SCK_B23) +#define ICM42688_SDI_PIN (SPI1_MOSI_B22) +#define ICM42688_SDO_PIN (SPI1_MISO_B21) +#define ICM42688_CS_PIN (B19) + +#define ICM42688_DELAY_MS(time) (system_delay_ms(time)) +#define ICM42688_CS_LEVEL(level) gpio_set_level(ICM42688_CS_PIN, level) + +// 传感器原始数据（物理单位：加速度 g，角速度 °/s，传感器坐标系） +typedef struct { + float accel_x, accel_y, accel_z; + float gyro_x, gyro_y, gyro_z; +} icm42688_data_t; + +// 加速度计量程 +enum icm42688_afs { + ICM42688_AFS_16G, + ICM42688_AFS_8G, + ICM42688_AFS_4G, + ICM42688_AFS_2G, +}; + +// 加速度计输出速率 (ODR) +enum icm42688_aodr { + ICM42688_AODR_32000HZ, + ICM42688_AODR_16000HZ, + ICM42688_AODR_8000HZ, + ICM42688_AODR_4000HZ, + ICM42688_AODR_2000HZ, + ICM42688_AODR_1000HZ, + ICM42688_AODR_200HZ, + ICM42688_AODR_100HZ, + ICM42688_AODR_50HZ, + ICM42688_AODR_25HZ, + ICM42688_AODR_12_5HZ, + ICM42688_AODR_6_25HZ, + ICM42688_AODR_3_125HZ, + ICM42688_AODR_1_5625HZ, + ICM42688_AODR_500HZ, +}; + +// 陀螺仪量程 +enum icm42688_gfs { + ICM42688_GFS_2000DPS, + ICM42688_GFS_1000DPS, + ICM42688_GFS_500DPS, + ICM42688_GFS_250DPS, + ICM42688_GFS_125DPS, + ICM42688_GFS_62_5DPS, + ICM42688_GFS_31_25DPS, + ICM42688_GFS_15_625DPS, +}; + +// 陀螺仪输出速率 (ODR) +enum icm42688_godr { + ICM42688_GODR_32000HZ, + ICM42688_GODR_16000HZ, + ICM42688_GODR_8000HZ, + ICM42688_GODR_4000HZ, + ICM42688_GODR_2000HZ, + ICM42688_GODR_1000HZ, + ICM42688_GODR_200HZ, + ICM42688_GODR_100HZ, + ICM42688_GODR_50HZ, + ICM42688_GODR_25HZ, + ICM42688_GODR_12_5HZ, + ICM42688_GODR_X0HZ, + ICM42688_GODR_X1HZ, + ICM42688_GODR_X2HZ, + ICM42688_GODR_500HZ, +}; + +//================================================================================================== +// 公开接口（由 IMU 层调用，用户一般不直接使用） +//================================================================================================== + +/** @brief 初始化 ICM-42688（SPI 配置 + 寄存器设置 + 自检） + * 由 imu_init() 内部调用，用户无需单独调用 + */ +void icm42688_init(void); + +/** @brief 读取加速度和角速度（物理单位，传感器坐标系） + * @param data 输出结构体指针 + * 一次 12 字节 SPI 突发读取，节省通信时间 + */ +void icm42688_read_all(icm42688_data_t *data); + +/** @brief 读取陀螺仪原始 ADC 值（不含比例换算） + * @param gx/gy/gz 输出 int16 原始值指针 + * 供校准函数使用 + */ +void icm42688_read_gyro_raw(int16_t *gx, int16_t *gy, int16_t *gz); + +/** @brief 返回当前陀螺仪比例系数 (LSB → °/s) + * 供校准函数计算零偏 + */ +float icm42688_gyro_scale(void); + +//================================================================================================== +// 寄存器地址 +//================================================================================================== + +// Bank 0 +#define ICM42688_DEVICE_CONFIG 0x11 +#define ICM42688_DRIVE_CONFIG 0x13 +#define ICM42688_INT_CONFIG 0x14 +#define ICM42688_FIFO_CONFIG 0x16 +#define ICM42688_TEMP_DATA1 0x1D +#define ICM42688_TEMP_DATA0 0x1E +#define ICM42688_ACCEL_DATA_X1 0x1F +#define ICM42688_ACCEL_DATA_X0 0x20 +#define ICM42688_ACCEL_DATA_Y1 0x21 +#define ICM42688_ACCEL_DATA_Y0 0x22 +#define ICM42688_ACCEL_DATA_Z1 0x23 +#define ICM42688_ACCEL_DATA_Z0 0x24 +#define ICM42688_GYRO_DATA_X1 0x25 +#define ICM42688_GYRO_DATA_X0 0x26 +#define ICM42688_GYRO_DATA_Y1 0x27 +#define ICM42688_GYRO_DATA_Y0 0x28 +#define ICM42688_GYRO_DATA_Z1 0x29 +#define ICM42688_GYRO_DATA_Z0 0x2A +#define ICM42688_TMST_FSYNCH 0x2B +#define ICM42688_TMST_FSYNCL 0x2C +#define ICM42688_INT_STATUS 0x2D +#define ICM42688_FIFO_COUNTH 0x2E +#define ICM42688_FIFO_COUNTL 0x2F +#define ICM42688_FIFO_DATA 0x30 +#define ICM42688_APEX_DATA0 0x31 +#define ICM42688_APEX_DATA1 0x32 +#define ICM42688_APEX_DATA2 0x33 +#define ICM42688_APEX_DATA3 0x34 +#define ICM42688_APEX_DATA4 0x35 +#define ICM42688_APEX_DATA5 0x36 +#define ICM42688_INT_STATUS2 0x37 +#define ICM42688_INT_STATUS3 0x38 +#define ICM42688_SIGNAL_PATH_RESET 0x4B +#define ICM42688_INTF_CONFIG0 0x4C +#define ICM42688_INTF_CONFIG1 0x4D +#define ICM42688_PWR_MGMT0 0x4E +#define ICM42688_GYRO_CONFIG0 0x4F +#define ICM42688_ACCEL_CONFIG0 0x50 +#define ICM42688_GYRO_CONFIG1 0x51 +#define ICM42688_GYRO_ACCEL_CONFIG0 0x52 +#define ICM42688_ACCEL_CONFIG1 0x53 +#define ICM42688_TMST_CONFIG 0x54 +#define ICM42688_APEX_CONFIG0 0x56 +#define ICM42688_SMD_CONFIG 0x57 +#define ICM42688_FIFO_CONFIG1 0x5F +#define ICM42688_FIFO_CONFIG2 0x60 +#define ICM42688_FIFO_CONFIG3 0x61 +#define ICM42688_FSYNC_CONFIG 0x62 +#define ICM42688_INT_CONFIG0 0x63 +#define ICM42688_INT_CONFIG1 0x64 +#define ICM42688_INT_SOURCE0 0x65 +#define ICM42688_INT_SOURCE1 0x66 +#define ICM42688_INT_SOURCE3 0x68 +#define ICM42688_INT_SOURCE4 0x69 +#define ICM42688_FIFO_LOST_PKT0 0x6C +#define ICM42688_FIFO_LOST_PKT1 0x6D +#define ICM42688_SELF_TEST_CONFIG 0x70 +#define ICM42688_WHO_AM_I 0x75 +#define ICM42688_REG_BANK_SEL 0x76 + +// Bank 1 +#define ICM42688_SENSOR_CONFIG0 0x03 +#define ICM42688_GYRO_CONFIG_STATIC2 0x0B +#define ICM42688_GYRO_CONFIG_STATIC3 0x0C +#define ICM42688_GYRO_CONFIG_STATIC4 0x0D +#define ICM42688_GYRO_CONFIG_STATIC5 0x0E +#define ICM42688_GYRO_CONFIG_STATIC6 0x0F +#define ICM42688_GYRO_CONFIG_STATIC7 0x10 +#define ICM42688_GYRO_CONFIG_STATIC8 0x11 +#define ICM42688_GYRO_CONFIG_STATIC9 0x12 +#define ICM42688_GYRO_CONFIG_STATIC10 0x13 +#define ICM42688_XG_ST_DATA 0x5F +#define ICM42688_YG_ST_DATA 0x60 +#define ICM42688_ZG_ST_DATA 0x61 +#define ICM42688_TMSTVAL0 0x62 +#define ICM42688_TMSTVAL1 0x63 +#define ICM42688_TMSTVAL2 0x64 +#define ICM42688_INTF_CONFIG4 0x7A +#define ICM42688_INTF_CONFIG5 0x7B +#define ICM42688_INTF_CONFIG6 0x7C + +#endif diff --git a/project/code/IMU.c b/project/code/IMU.c new file mode 100644 index 0000000..9fae9a1 --- /dev/null +++ b/project/code/IMU.c @@ -0,0 +1,374 @@ +#include "IMU.h" +#include + +//================================================================================================== +// 常量 +//================================================================================================== + +#ifndef PI +#define PI 3.141592654f +#endif + +#define TWO_KP_DEF (2.0f * 0.5f) // Mahony 比例增益（默认 1.0） +#define TWO_KI_DEF (2.0f * 0.0f) // Mahony 积分增益（默认 0, 关闭） + +//================================================================================================== +// Mahony 滤波器状态（静态，本文件内可见） +//================================================================================================== + +static float inv_sample_freq; // 1 / 采样频率 +static float two_kp = TWO_KP_DEF; // 比例增益 +static float two_ki = TWO_KI_DEF; // 积分增益 +static float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f; // 姿态四元数 +static float integral_fbx = 0.0f, integral_fby = 0.0f, integral_fbz = 0.0f; // 积分误差项 + +//================================================================================================== +// 陀螺仪零偏（由 imu_calibrate_gyro 填入） +//================================================================================================== + +static float gyro_bias_x = 0.0f; +static float gyro_bias_y = 0.0f; +static float gyro_bias_z = 0.0f; + +//================================================================================================== +// 姿态输出 +//================================================================================================== + +volatile imu_attitude_t imu_angle; + +volatile int yaw_round_count = 0; + +volatile static float yaw_angle_last = 0.0f; + + +//================================================================================================== +// 双二阶滤波器状态 +//================================================================================================== + +static biquad_state_t bq_gyro_x, bq_gyro_y, bq_gyro_z; +static biquad_state_t bq_accel_x, bq_accel_y, bq_accel_z; + +//================================================================================================== +// 公开接口实现 +//================================================================================================== + +/** @brief 初始化 IMU + * @param sample_freq_hz 采样频率（Hz），等于定时器中断频率 + * 1. 初始化 ICM-42688 硬件 + * 2. 配置 Mahony 采样周期 + * 3. 初始化各轴陀螺仪/加速度计双二阶滤波器 + * 滤波器参数: + * 陀螺仪 X/Y/Z: 低通 30/20/30Hz → 滤除高频振动 + * 加速度计 X/Y/Z: 低通 10Hz → 重力矢量提取（响应慢但稳） + */ +void imu_init(int sample_freq_hz) +{ + icm42688_init(); + + inv_sample_freq = 1.0f / sample_freq_hz; + + biquad_init(&bq_gyro_x, BIQUAD_LOWPASS, sample_freq_hz, 30, 0.7071f); + biquad_init(&bq_gyro_y, BIQUAD_LOWPASS, sample_freq_hz, 20, 0.5773f); + biquad_init(&bq_gyro_z, BIQUAD_LOWPASS, sample_freq_hz, 30, 0.5773f); + biquad_init(&bq_accel_x, BIQUAD_LOWPASS, sample_freq_hz, 10, 0.5773f); + biquad_init(&bq_accel_y, BIQUAD_LOWPASS, sample_freq_hz, 10, 0.5773f); + biquad_init(&bq_accel_z, BIQUAD_LOWPASS, sample_freq_hz, 10, 0.5773f); +} + +/** @brief 更新姿态（定时器 ISR 中按固定频率调用） + * 数据流：传感器 → 零偏修正 → 双二阶滤波 → Mahony → 欧拉角 → Yaw 连续角度 + * 传感器坐标系直通，无坐标轴转换 + * 陀螺仪数据不进 Mahony 前只做偏置修正（Mahony 内部自带角速度积分处理） + * 加速度数据经低通滤波后送入 Mahony 做重力矢量参考 + */ +void imu_update(void) +{ + icm42688_data_t raw; + icm42688_read_all(&raw); + + // 零偏修正 + raw.gyro_x -= gyro_bias_x; + raw.gyro_y -= gyro_bias_y; + raw.gyro_z -= gyro_bias_z; + + // 滤波（传感器坐标系，不做轴转换） + imu_angle.gyro_x = biquad_apply(&bq_gyro_x, raw.gyro_x); + imu_angle.gyro_y = biquad_apply(&bq_gyro_y, raw.gyro_y); + imu_angle.gyro_z = biquad_apply(&bq_gyro_z, raw.gyro_z); + + float ax_f = biquad_apply(&bq_accel_x, raw.accel_x); + float ay_f = biquad_apply(&bq_accel_y, raw.accel_y); + float az_f = biquad_apply(&bq_accel_z, raw.accel_z); + + // Mahony AHRS 姿态解算 + mahony_ahrs_update(raw.gyro_x, raw.gyro_y, raw.gyro_z, ax_f, ay_f, az_f); + + // Yaw 连续角度跟踪（处理 ±180° 跳变） + if (imu_angle.yaw - yaw_angle_last > 180.0f) { + yaw_round_count--; + } else if (imu_angle.yaw - yaw_angle_last < -180.0f) { + yaw_round_count++; + } + yaw_angle_last = imu_angle.yaw; +} + +/** @brief 陀螺仪零偏校准 + * 必须在设备完全静止时调用，采集 3 秒陀螺仪原始数据 + * 每秒采样 1000 点取均值，3 秒的均值再取平均，乘以比例系数得到 °/s 零偏 + * 校准结果自动存入 gyro_bias_x/y/z，在后续 imu_update() 中生效 + */ +void imu_calibrate_gyro(void) +{ + #define CALIB_SECONDS 3 + #define CALIB_SAMPLES 1000 + + static float gyro_history[3][CALIB_SECONDS]; + int32_t gyro_sum[3] = {0, 0, 0}; + uint32_t sec_cnt = 0, sample_cnt = 0; + + system_delay_ms(1000); + system_delay_ms(1000); + + do { + system_delay_us(1000); + int16_t gx_r, gy_r, gz_r; + icm42688_read_gyro_raw(&gx_r, &gy_r, &gz_r); + + if (sample_cnt < CALIB_SAMPLES) { + gyro_sum[0] += gx_r; + gyro_sum[1] += gy_r; + gyro_sum[2] += gz_r; + sample_cnt++; + } else { + gyro_history[0][sec_cnt] = (float)gyro_sum[0] / CALIB_SAMPLES; + gyro_history[1][sec_cnt] = (float)gyro_sum[1] / CALIB_SAMPLES; + gyro_history[2][sec_cnt] = (float)gyro_sum[2] / CALIB_SAMPLES; + gyro_sum[0] = 0; + gyro_sum[1] = 0; + gyro_sum[2] = 0; + sample_cnt = 0; + sec_cnt++; + } + } while (sec_cnt < CALIB_SECONDS); + + float sum[3] = {0, 0, 0}; + float k = icm42688_gyro_scale() / CALIB_SECONDS; + for (uint8_t i = 0; i < CALIB_SECONDS; i++) { + sum[0] += gyro_history[0][i]; + sum[1] += gyro_history[1][i]; + sum[2] += gyro_history[2][i]; + } + + gyro_bias_x = k * sum[0]; + gyro_bias_y = k * sum[1]; + gyro_bias_z = k * sum[2]; + +} + +//================================================================================================== +// 算法实现 +//================================================================================================== + +/** @brief Mahony AHRS 6轴姿态解算 + * @param gx/gy/gz 陀螺仪角速度 (°/s) + * @param ax/ay/az 加速度计测量值 (g) + * + * 算法流程: + * 1. 角速度转弧度，加速度归一化 + * 2. 由当前四元数估计重力方向 + * 3. 估计重力与测量重力的叉积 → PI 反馈修正陀螺仪 + * 4. 一阶龙格-库塔积分更新四元数 + * 5. 四元数归一化 + * 6. 提取欧拉角写入 imu_angle + * + * 参考: S.O.H. Madgwick "An efficient orientation filter for IMU and MARG sensor arrays" + */ +void mahony_ahrs_update(float gx, float gy, float gz, float ax, float ay, float az) +{ + float recip_norm; + float halfvx, halfvy, halfvz; + float halfex, halfey, halfez; + float qa, qb, qc; + + // 仅当加速度计有读数时执行修正（静止或匀加速时加速度计才可靠） + if (!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) { + // 角速度 → rad/s + gx *= ANG2RAD; + gy *= ANG2RAD; + gz *= ANG2RAD; + + // 加速度归一化 + recip_norm = inv_sqrt(ax * ax + ay * ay + az * az); + ax *= recip_norm; + ay *= recip_norm; + az *= recip_norm; + + // 由当前四元数估计重力方向（世界系 Z 轴在传感器系的投影） + halfvx = q1 * q3 - q0 * q2; + halfvy = q0 * q1 + q2 * q3; + halfvz = q0 * q0 - 0.5f + q3 * q3; + + // 叉积 = 估计方向 × 测量方向 → 姿态误差 + halfex = (ay * halfvz - az * halfvy); + halfey = (az * halfvx - ax * halfvz); + halfez = (ax * halfvy - ay * halfvx); + + // 积分反馈（默认 ki=0, 关闭） + if (two_ki > 0.0f) { + integral_fbx += two_ki * halfex * inv_sample_freq; + integral_fby += two_ki * halfey * inv_sample_freq; + integral_fbz += two_ki * halfez * inv_sample_freq; + gx += integral_fbx; + gy += integral_fby; + gz += integral_fbz; + } else { + integral_fbx = 0.0f; + integral_fby = 0.0f; + integral_fbz = 0.0f; + } + + // 比例反馈 + gx += two_kp * halfex; + gy += two_kp * halfey; + gz += two_kp * halfez; + } + + // 四元数一阶积分 (RK1) + gx *= (0.5f * inv_sample_freq); + gy *= (0.5f * inv_sample_freq); + gz *= (0.5f * inv_sample_freq); + qa = q0; qb = q1; qc = q2; + q0 += (-qb * gx - qc * gy - q3 * gz); + q1 += ( qa * gx + qc * gz - q3 * gy); + q2 += ( qa * gy - qb * gz + q3 * gx); + q3 += ( qa * gz + qb * gy - qc * gx); + + // 四元数归一化 + recip_norm = inv_sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3); + q0 *= recip_norm; + q1 *= recip_norm; + q2 *= recip_norm; + q3 *= recip_norm; + + // 旋转矩阵 → 欧拉角（传感器坐标系） + float r11 = 2.0f * (q0 * q1 + q2 * q3); + float r12 = 1.0f - 2.0f * (q1 * q1 + q2 * q2); + float r21 = 2.0f * (q0 * q2 - q3 * q1); + float r31 = 2.0f * (q0 * q3 + q1 * q2); + float r32 = 1.0f - 2.0f * (q2 * q2 + q3 * q3); + + imu_angle.pitch = RAD2ANG * asinf(r21); + imu_angle.roll = RAD2ANG * atan2f(r11, r12); + imu_angle.yaw = RAD2ANG * atan2f(r31, r32); +} + +/** @brief 双二阶滤波器系数初始化 + * @param state 滤波器状态 + * @param type 滤波器类型 + * @param fs 采样率 (Hz) + * @param fc 截止/中心频率 (Hz) + * @param q 品质因数 + * + * 通用双二阶传递函数: + * H(z) = (b0 + b1*z^-1 + b2*z^-2) / (a0 + a1*z^-1 + a2*z^-2) + * + * Q 值参考: + * 0.5773 Thomson-Bessel → 最平坦群延迟, 相位失真最小 + * 0.7071 Butterworth → 通带最平坦, 常用默认值 + * 0.9565 Chebyshev 1dB → 陡峭过渡带, 允许 1dB 通带波纹 + */ +void biquad_init(biquad_state_t *state, biquad_type_t type, int fs, float fc, float q) +{ + float w0 = 2.0f * PI * fc / fs; + float sin_w0 = sinf(w0); + float cos_w0 = cosf(w0); + float alpha = sin_w0 / (2.0f * q); + + float b0, b1, b2, a0, a1, a2; + + switch (type) { + case BIQUAD_LOWPASS: + b0 = (1.0f - cos_w0) / 2.0f; + b1 = b0 * 2.0f; + b2 = b0; + a0 = 1.0f + alpha; + a1 = -2.0f * cos_w0; + a2 = 1.0f - alpha; + break; + case BIQUAD_HIGHPASS: + b0 = (1.0f + cos_w0) / 2.0f; + b1 = -b0 * 2.0f; + b2 = b0; + a0 = 1.0f + alpha; + a1 = -2.0f * cos_w0; + a2 = 1.0f - alpha; + break; + case BIQUAD_BANDPASS_PEAK: + b0 = alpha; + b1 = 0.0f; + b2 = -alpha; + a0 = 1.0f + alpha; + a1 = -2.0f * cos_w0; + a2 = 1.0f - alpha; + break; + case BIQUAD_BANDSTOP_NOTCH: + b0 = 1.0f; + b1 = -2.0f * cos_w0; + b2 = 1.0f; + a0 = 1.0f + alpha; + a1 = -2.0f * cos_w0; + a2 = 1.0f - alpha; + break; + } + + // 归一化系数（除以 a0） + state->a0 = b0 / a0; + state->a1 = b1 / a0; + state->a2 = b2 / a0; + state->a3 = a1 / a0; + state->a4 = a2 / a0; + state->x1 = 0.0f; + state->x2 = 0.0f; + state->y1 = 0.0f; + state->y2 = 0.0f; +} + +/** @brief 双二阶滤波器单步迭代 + * @param state 滤波器状态 + * @param data 当前输入 + * @return 当前输出 + * + * 差分方程: + * y[n] = a0*x[n] + a1*x[n-1] + a2*x[n-2] - a3*y[n-1] - a4*y[n-2] + */ +float biquad_apply(biquad_state_t *state, float data) +{ + float result = state->a0 * data + + state->a1 * state->x1 + + state->a2 * state->x2 + - state->a3 * state->y1 + - state->a4 * state->y2; + state->x2 = state->x1; + state->x1 = data; + state->y2 = state->y1; + state->y1 = result; + return result; +} + +/** @brief 快速平方根倒数 (Fast Inverse Square Root) + * @param x 输入正数 + * @return 1/sqrt(x) 近似值 + * + * 使用 Quake III 的经典 magic number 0x5f3759df + * 精度约 0.1%, 在无 FPU 的 M0+ 上远快于 1.0f/sqrtf(x) + */ +float inv_sqrt(float x) +{ + float halfx = 0.5f * x; + float y = x; + long i = *(long *)&y; + i = 0x5f3759df - (i >> 1); + y = *(float *)&i; + y = y * (1.5f - (halfx * y * y)); // 一次 Newton 迭代 + return y; +} diff --git a/project/code/IMU.h b/project/code/IMU.h new file mode 100644 index 0000000..897e715 --- /dev/null +++ b/project/code/IMU.h @@ -0,0 +1,105 @@ +#ifndef __IMU_H +#define __IMU_H + +#include "ICM_42688.h" + +//================================================================================================== +// IMU 姿态解算层 +// 负责：传感器数据滤波 → Mahony AHRS 姿态解算 → 欧拉角输出 +// 所有数据基于传感器坐标系（无机体坐标转换） +//================================================================================================== + +#define ANG2RAD 0.01745329252f // 角度制 → 弧度制 +#define RAD2ANG 57.295779513f // 弧度制 → 角度制 + +//================================================================================================== +// 双二阶滤波器 (Biquad Filter) +//================================================================================================== + +/** @brief 滤波器类型 */ +typedef enum { + BIQUAD_LOWPASS, // 低通 + BIQUAD_HIGHPASS, // 高通 + BIQUAD_BANDPASS_PEAK, // 带通（峰值） + BIQUAD_BANDSTOP_NOTCH, // 带阻（陷波） +} biquad_type_t; + +/** @brief 滤波器状态（系数 + 历史值） + * 典型 Q 值: 0.5773 (Thomson-Bessel, 相位线性度好) + * 0.7071 (Butterworth, 最平坦) + * 0.9565 (Chebyshev 1dB, 阻带衰减快) + */ +typedef struct { + float a0, a1, a2, a3, a4; // 传递函数系数 + float x1, x2, y1, y2; // 历史输入/输出 +} biquad_state_t; + +//================================================================================================== +// 姿态输出 +//================================================================================================== + +/** @brief 姿态数据（传感器坐标系，volatile 因为 ISR 写入、主循环读取） */ +typedef struct { + float pitch, roll, yaw; // 欧拉角 (°) + float gyro_x, gyro_y, gyro_z; // 滤波后角速度 (°/s) +} imu_attitude_t; + +extern volatile imu_attitude_t imu_angle; // 当前姿态 +extern volatile int yaw_round_count; + +//================================================================================================== +// 用户接口 +//================================================================================================== + +/** @brief 初始化 IMU（传感器 + 滤波器 + Mahony） + * @param sample_freq_hz 采样频率（Hz），需与定时器中断频率一致，典型值 200 + * 用户只需调用此函数，内部自动调用 icm42688_init() + */ +void imu_init(int sample_freq_hz); + +/** @brief 更新姿态（在定时器 ISR 中以固定频率调用） + * 读取传感器 → 零偏修正 → 双二阶滤波 → Mahony 解算 → 写入 imu_angle + * 执行时间约 100~150us（80MHz Cortex-M0+ 估算），需保证在中断周期内完成 + */ +void imu_update(void); + +/** @brief 陀螺仪零偏校准（静止状态下调用） + * 采集 3 秒静止数据，计算各轴零偏，自动应用于后续 imu_update() + * 调用时设备必须完全静止 + */ +void imu_calibrate_gyro(void); + +//================================================================================================== +// 算法接口（也可被外部直接调用） +//================================================================================================== + +/** @brief 双二阶滤波器初始化 + * @param state 滤波器状态指针 + * @param type 滤波器类型 + * @param fs 采样频率 (Hz) + * @param fc 截止频率 (Hz) + * @param q 品质因数 + */ +void biquad_init(biquad_state_t *state, biquad_type_t type, int fs, float fc, float q); + +/** @brief 双二阶滤波器单步计算 + * @param state 滤波器状态指针 + * @param data 当前输入值 + * @return 滤波后输出值 + */ +float biquad_apply(biquad_state_t *state, float data); + +/** @brief Mahony AHRS 姿态解算（6轴 IMU 模式） + * @param gx/gy/gz 陀螺仪角速度 (°/s, 传感器坐标系) + * @param ax/ay/az 加速度计测量值 (g, 传感器坐标系) + * 输出写入全局变量 imu_angle.pitch/roll/yaw + */ +void mahony_ahrs_update(float gx, float gy, float gz, float ax, float ay, float az); + +/** @brief 快速平方根倒数（Quake III 算法） + * @param x 输入值 + * @return 1/sqrt(x) 的近似值 + */ +float inv_sqrt(float x); + +#endif diff --git a/project/code/Motor.c b/project/code/Motor.c new file mode 100644 index 0000000..939d16e --- /dev/null +++ b/project/code/Motor.c @@ -0,0 +1,33 @@ +#include "Motor.h" +#include "zf_driver_gpio.h" +#include "zf_driver_pwm.h" +#include "PID_Controller.h" +#include "MotorEncoder.h" + +void motor_init(void) +{ + gpio_init(DIR_L, GPO, GPIO_HIGH, GPO_PUSH_PULL); + pwm_init(PWM_L, 17000, 0); + + gpio_init(DIR_R, GPO, GPIO_HIGH, GPO_PUSH_PULL); + pwm_init(PWM_R, 17000, 0); +} +// 右电机速度设置 +void motor_set_pwm_right(int32 pwm) +{ + uint8_t dir = (pwm >= 0) ? 1 : 0;//根据电机接线方式调整方向 + uint32 abs_pwm = abs(pwm); + if(pwm > MOTOR_MAX) pwm = MOTOR_MAX; + gpio_set_level(DIR_R, dir);//设置方向 + pwm_set_duty(PWM_R, abs_pwm);//设置PWM占空比 +} + +// 左电机速度设置 - 需要根据实际硬件修改 +void motor_set_pwm_left(int32 pwm) +{ + uint8_t dir = (pwm >= 0) ? 0 : 1;//根据电机接线方式调整方向 + uint32 abs_pwm = abs(pwm); + if(pwm > MOTOR_MAX) pwm = MOTOR_MAX; + gpio_set_level(DIR_L, dir);//设置方向 + pwm_set_duty(PWM_L, abs_pwm);//设置PWM占空比 +} \ No newline at end of file diff --git a/project/code/Motor.h b/project/code/Motor.h new file mode 100644 index 0000000..e3cd77f --- /dev/null +++ b/project/code/Motor.h @@ -0,0 +1,18 @@ +#ifndef __MOTOR_H +#define __MOTOR_H + +#include "zf_common_typedef.h" + +#define MOTOR_MAX (3000) + +#define DIR_R (B11) +#define PWM_R (PWM_TIM_G0_CH0_B10) + +#define DIR_L (A27) +#define PWM_L (PWM_TIM_G7_CH0_A26) + +void motor_init(void); +void motor_set_pwm_right(int32 pwm); +void motor_set_pwm_left(int32 pwm); + +#endif \ No newline at end of file diff --git a/project/code/MotorEncoder.c b/project/code/MotorEncoder.c new file mode 100644 index 0000000..cc2b37d --- /dev/null +++ b/project/code/MotorEncoder.c @@ -0,0 +1,76 @@ +#include "MotorEncoder.h" +#include "ti_msp_dl_config.h" +#include "ti/driverlib/dl_timerg.h" +#include "zf_common_interrupt.h" +#include "zf_driver_exti.h" +#include "zf_driver_gpio.h" + +#define MOTOR_ENCODER_LEFT_A_PIN A9 +#define MOTOR_ENCODER_LEFT_B_PIN A12 + +volatile motor_encoder_data_t motor_speed_right = {.raw = 0}; +volatile motor_encoder_data_t motor_speed_left = {.raw = 0}; +/* +由于MSPM0G3507只有一个QEI，因此只能测量一个电机的编码器速度，另一个电机的速度需要通过GPIO中断模拟正交编码器来测量。 +分配如下： +- QEI0：右电机编码器 +- GPIO中断：左电机编码器 +*/ + +//用中断模拟一个正交编码器(或者用输入捕获) +volatile int16_t left_encoder_count = 0; +//A相中断 +void motor_encoder_exit_handler_A(uint32 state, void *ptr) +{ + // 读取A相和B相的状态 + uint8_t A_state = gpio_get_level(MOTOR_ENCODER_LEFT_A_PIN); + uint8_t B_state = gpio_get_level(MOTOR_ENCODER_LEFT_B_PIN); + // 根据A相和B相的状态更新计数 + if(A_state == B_state) + { + left_encoder_count++; + } + else + { + left_encoder_count--; + } + +} +//B相中断 +void motor_encoder_exit_handler_B(uint32 state, void *ptr) +{ + // 读取A相和B相的状态 + uint8_t A_state = gpio_get_level(MOTOR_ENCODER_LEFT_A_PIN); + uint8_t B_state = gpio_get_level(MOTOR_ENCODER_LEFT_B_PIN); + // 根据A相和B相的状态更新计数 + if(A_state == B_state) + { + left_encoder_count--; + } + else + { + left_encoder_count++; + } +} + +void motor_encoder_init(void) +{ + //使用QEI + DL_TimerG_startCounter(QEI_0_INST); + //使用GPIO中断模拟正交编码器 + exti_init(MOTOR_ENCODER_LEFT_A_PIN, EXTI_TRIGGER_BOTH, motor_encoder_exit_handler_A, NULL); + exti_init(MOTOR_ENCODER_LEFT_B_PIN, EXTI_TRIGGER_BOTH, motor_encoder_exit_handler_B, NULL); + interrupt_set_priority(GPIOA_INT_IRQn, 0); +} + +void motor_encoder_update(void) +{ + // 读取右电机编码器 + motor_speed_right.raw = (uint16_t)DL_TimerG_getTimerCount(QEI_0_INST); + DL_TimerG_setTimerCount(QEI_0_INST, 0); // 读取后清零 + + // 读取左电机编码器 + motor_speed_left.value = left_encoder_count; + left_encoder_count = 0; // 读取后清零 +} + diff --git a/project/code/MotorEncoder.h b/project/code/MotorEncoder.h new file mode 100644 index 0000000..d7db1fa --- /dev/null +++ b/project/code/MotorEncoder.h @@ -0,0 +1,17 @@ +#ifndef MOTORENCODER_H +#define MOTORENCODER_H + +#include "zf_common_typedef.h" + +typedef union{ + uint16_t raw; + int16_t value; +} motor_encoder_data_t; + +void motor_encoder_init(void); +void motor_encoder_update(void); + +extern volatile motor_encoder_data_t motor_speed_right; +extern volatile motor_encoder_data_t motor_speed_left; + +#endif \ No newline at end of file diff --git a/project/code/PID_Controller.c b/project/code/PID_Controller.c new file mode 100644 index 0000000..2b2d375 --- /dev/null +++ b/project/code/PID_Controller.c @@ -0,0 +1,232 @@ +/** + * @file controller.c + * @author wanghongxi + * @author modified by neozng + * @brief PID控制器定义 + * @version beta + * @date 2022-11-01 + * + * @copyrightCopyright (c) 2022 HNU YueLu EC all rights reserved + */ +#include "PID_Controller.h" +#include + +/* ----------------------------下面是pid优化环节的实现---------------------------- */ + +// 梯形积分 +static void f_Trapezoid_Intergral(PIDInstance *pid) +{ + // 计算梯形的面积,(上底+下底)*高/2 + pid->ITerm = pid->Ki * ((pid->Err + pid->Last_Err) / 2) * pid->dt; +} + +// 变速积分(误差小时积分作用更强) +static void f_Changing_Integration_Rate(PIDInstance *pid) +{ + if (pid->Err * pid->Iout > 0) + { + // 积分呈累积趋势 + if (fabsf(pid->Err) <= pid->CoefB) + return; // Full integral + if (fabsf(pid->Err) <= (pid->CoefB + pid->CoefA)) + pid->ITerm *= (pid->CoefB + pid->CoefA - fabsf(pid->Err)) / pid->CoefA; + else // 最大阈值,不使用积分 + pid->ITerm = 0; + } +} + +static void f_Integral_Limit(PIDInstance *pid) +{ + static float temp_Output, temp_Iout; + temp_Iout = pid->Iout + pid->ITerm; + temp_Output = pid->Pout + pid->Iout + pid->Dout; + if (fabsf(temp_Output) > pid->MaxOut) + { + if (pid->Err * pid->Iout > 0) // 积分却还在累积 + { + pid->ITerm = 0; // 当前积分项置零 + } + } + + if (temp_Iout > pid->IntegralLimit) + { + pid->ITerm = 0; + pid->Iout = pid->IntegralLimit; + } + if (temp_Iout < -pid->IntegralLimit) + { + pid->ITerm = 0; + pid->Iout = -pid->IntegralLimit; + } +} + +// 微分先行(仅使用反馈值而不计参考输入的微分) +static void f_Derivative_On_Measurement(PIDInstance *pid) +{ + pid->Dout = pid->Kd * (pid->Last_Measure - pid->Measure) / pid->dt; +} + +// 微分滤波(采集微分时,滤除高频噪声) +static void f_Derivative_Filter(PIDInstance *pid) +{ + pid->Dout = pid->Dout * pid->dt / (pid->Derivative_LPF_RC + pid->dt) + + pid->Last_Dout * pid->Derivative_LPF_RC / (pid->Derivative_LPF_RC + pid->dt); +} + +// 输出滤波 +static void f_Output_Filter(PIDInstance *pid) +{ + pid->Output = pid->Output * pid->dt / (pid->Output_LPF_RC + pid->dt) + + pid->Last_Output * pid->Output_LPF_RC / (pid->Output_LPF_RC + pid->dt); +} + +// 输出限幅 +static void f_Output_Limit(PIDInstance *pid) +{ + if (pid->Output > pid->MaxOut) + { + pid->Output = pid->MaxOut; + } + if (pid->Output < -(pid->MaxOut)) + { + pid->Output = -(pid->MaxOut); + } +} + +// 电机堵转检测 +static void f_PID_ErrorHandle(PIDInstance *pid) +{ + /*Motor Blocked Handle*/ + if (fabsf(pid->Output) < pid->MaxOut * 0.001f || fabsf(pid->Ref) < 0.0001f) + return; + + if ((fabsf(pid->Ref - pid->Measure) / fabsf(pid->Ref)) > 0.95f) + { + // Motor blocked counting + pid->ERRORHandler.ERRORCount++; + } + else + { + pid->ERRORHandler.ERRORCount = 0; + } + + if (pid->ERRORHandler.ERRORCount > 500) + { + // Motor blocked over 1000times + pid->ERRORHandler.ERRORType = PID_MOTOR_BLOCKED_ERROR; + } +} + +/* ---------------------------下面是PID的外部算法接口--------------------------- */ + +/** + * @brief 初始化PID,设置参数和启用的优化环节,将其他数据置零 + * + * @param pid PID实例 + * @param config PID初始化设置 + */ +void PIDInit(PIDInstance *pid, PID_Init_Config_s *config) +{ + memset(pid, 0, sizeof(PIDInstance)); + + pid->Kp = config->Kp; + pid->Ki = config->Ki; + pid->Kd = config->Kd; + pid->MaxOut = config->MaxOut; + pid->DeadBand = config->DeadBand; + pid->Improve = config->Improve; + pid->IntegralLimit = config->IntegralLimit; + pid->CoefA = config->CoefA; + pid->CoefB = config->CoefB; + pid->Output_LPF_RC = config->Output_LPF_RC; + pid->Derivative_LPF_RC = config->Derivative_LPF_RC; + pid->dt = config->T; +} + +/** + * @brief PID计算 + * @param[in] PID结构体 + * @param[in] 测量值 + * @param[in] 期望值 + * @retval 返回空 + */ +float PIDCalculate(PIDInstance *pid, float measure, float ref) +{ + // 堵转检测 + if (pid->Improve & PID_ErrorHandle) + f_PID_ErrorHandle(pid); + + if (pid->dt < 0.000001f) // 避免除零 + { + return 0.0f; + } + // 保存上次的测量值和误差,计算当前error + pid->Measure = measure; + pid->Ref = ref; + pid->Err = pid->Ref - pid->Measure; + /* + Yaw角误差修正 + 若err大于180，则应该取反向，负数：-(360-err)=err-360 + 若err小于-180，则应该取反向，正数：360-(-err)=err+360 + */ + if(pid->Improve & PID_Yaw_Error_Corretion) + { + if(pid->Err > 180) + { + pid->Err = pid->Err - 360; + } + else if(pid->Err < -180) + { + pid->Err = pid->Err +360; + } + } + + // 如果在死区外,则计算PID + if (fabsf(pid->Err) > pid->DeadBand) + { + // 基本的pid计算,使用位置式 + pid->Pout = pid->Kp * pid->Err; + pid->ITerm = pid->Ki * pid->Err * pid->dt; + pid->Dout = pid->Kd * (pid->Err - pid->Last_Err) / pid->dt; + + // 梯形积分 + if (pid->Improve & PID_Trapezoid_Intergral) + f_Trapezoid_Intergral(pid); + // 变速积分 + if (pid->Improve & PID_ChangingIntegrationRate) + f_Changing_Integration_Rate(pid); + // 微分先行 + if (pid->Improve & PID_Derivative_On_Measurement) + f_Derivative_On_Measurement(pid); + // 微分滤波器 + if (pid->Improve & PID_DerivativeFilter) + f_Derivative_Filter(pid); + // 积分限幅 + if (pid->Improve & PID_Integral_Limit) + f_Integral_Limit(pid); + + pid->Iout += pid->ITerm; // 累加积分 + pid->Output = pid->Pout + pid->Iout + pid->Dout; // 计算输出 + + // 输出滤波 + if (pid->Improve & PID_OutputFilter) + f_Output_Filter(pid); + + // 输出限幅 + f_Output_Limit(pid); + } + else // 进入死区, 则清空积分和输出 + { + pid->Output = 0; + pid->ITerm = 0; + } + + // 保存当前数据,用于下次计算 + pid->Last_Measure = pid->Measure; + pid->Last_Output = pid->Output; + pid->Last_Dout = pid->Dout; + pid->Last_Err = pid->Err; + pid->Last_ITerm = pid->ITerm; + + return pid->Output; +} \ No newline at end of file diff --git a/project/code/PID_Controller.h b/project/code/PID_Controller.h new file mode 100644 index 0000000..fbd4259 --- /dev/null +++ b/project/code/PID_Controller.h @@ -0,0 +1,114 @@ +#ifndef _PID_CONTROLLER_H +#define _PID_CONTROLLER_H + +#include "zf_common_typedef.h" + +// PID 优化环节使能标志位,通过位与可以判断启用的优化环节;也可以改成位域的形式 +typedef enum +{ + PID_IMPROVE_NONE = 0b00000000, // 0000 0000 + PID_Integral_Limit = 0b00000001, // 0000 0001 + PID_Derivative_On_Measurement = 0b00000010, // 0000 0010 + PID_Trapezoid_Intergral = 0b00000100, // 0000 0100 + PID_Yaw_Error_Corretion = 0b00001000, // 0000 1000 + PID_OutputFilter = 0b00010000, // 0001 0000 + PID_ChangingIntegrationRate = 0b00100000, // 0010 0000 + PID_DerivativeFilter = 0b01000000, // 0100 0000 + PID_ErrorHandle = 0b10000000, // 1000 0000 +} PID_Improvement_e; + +/* PID 报错类型枚举*/ +typedef enum errorType_e +{ + PID_ERROR_NONE = 0x00U, + PID_MOTOR_BLOCKED_ERROR = 0x01U +} ErrorType_e; + +typedef struct +{ + uint64_t ERRORCount; + ErrorType_e ERRORType; +} PID_ErrorHandler_t; + +/* PID结构体 */ +typedef struct +{ + //---------------------------------- init config block + // config parameter + float Kp; + float Ki; + float Kd; + float MaxOut; + float DeadBand; + + // improve parameter + PID_Improvement_e Improve; + float IntegralLimit; // 积分限幅 + float CoefA; // 变速积分 For Changing Integral + float CoefB; // 变速积分 ITerm = Err*((A-abs(err)+B)/A) when B<|err|180) + { + while(set_value > 180) + set_value -= 360; + } + else if(set_value<-180) + { + while(set_value < -180) + set_value += 360; + } + yaw_ref = set_value; +} \ No newline at end of file diff --git a/project/code/Task.h b/project/code/Task.h new file mode 100644 index 0000000..389099f --- /dev/null +++ b/project/code/Task.h @@ -0,0 +1,22 @@ +#ifndef __TASK_H +#define __TASK_H + +#include "zf_common_typedef.h" + +void task_init(void); + +//建议不直接修改此变量，而是通过set_yaw_ref(float set_value)设置，以防预期之外的值 +extern volatile float yaw_ref; +void set_yaw_ref(float set_value); + +//供外部控制使用 +extern volatile uint8_t motor_control_task_enable; +extern volatile uint8_t angle_control_task_enable; +extern volatile uint8_t position_control_task_enable; + + +//配置项 +/*自动模式下的基础直行速度*/ +#define AUTO_MODE_BASE_SPEED 10 + +#endif \ No newline at end of file diff --git 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"__llvm__=1" + ], + "intelliSenseMode": "${default}" + } + ], + "version": 4 +} \ No newline at end of file diff --git a/project/keil/SeekFree_MSPM0G3507_Device_Library.uvguix.SkyGod b/project/keil/SeekFree_MSPM0G3507_Device_Library.uvguix.SkyGod new file mode 100644 index 0000000..7e1e40e --- /dev/null +++ b/project/keil/SeekFree_MSPM0G3507_Device_Library.uvguix.SkyGod @@ -0,0 +1,1905 @@ + + + + -6.1 + +
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+ + + + 0 + 1707 + 960 + + + + + + 1 + 0 + + 100 + 3 + + ..\user\src\main.c + 4 + 43 + 60 + 1 + + 0 + + + ..\..\libraries\zf_common\zf_common_clock.c + 13 + 88 + 117 + 1 + + 0 + + + ..\..\libraries\sdk\ti_config\ti_msp_dl_config.c + 9 + 136 + 160 + 1 + + 0 + + + ..\..\libraries\sdk\ti\driverlib\m0p\sysctl\dl_sysctl_mspm0g1x0x_g3x0x.h + 84 + 1938 + 1946 + 1 + + 0 + + + + + diff --git a/project/keil/SeekFree_MSPM0G3507_Device_Library.uvoptx b/project/keil/SeekFree_MSPM0G3507_Device_Library.uvoptx index 4b7b528..f3d6997 100644 --- a/project/keil/SeekFree_MSPM0G3507_Device_Library.uvoptx +++ b/project/keil/SeekFree_MSPM0G3507_Device_Library.uvoptx @@ -487,7 +487,7 @@ zf_driver - 0 + 1 0 0 0 @@ -1227,6 +1227,222 @@ 0 0 0 + + 6 + 82 + 1 + 0 + 0 + 0 + ..\code\GrayscaleSensor.c + GrayscaleSensor.c + 0 + 0 + + + 6 + 83 + 1 + 0 + 0 + 0 + ..\code\ICM_42688.c + ICM_42688.c + 0 + 0 + + + 6 + 84 + 1 + 0 + 0 + 0 + ..\code\IMU.c + IMU.c + 0 + 0 + + + 6 + 85 + 1 + 0 + 0 + 0 + ..\code\Motor.c + Motor.c + 0 + 0 + + + 6 + 86 + 1 + 0 + 0 + 0 + ..\code\MotorEncoder.c + MotorEncoder.c + 0 + 0 + + + 6 + 87 + 5 + 0 + 0 + 0 + ..\code\GrayscaleSensor.h + GrayscaleSensor.h + 0 + 0 + + + 6 + 88 + 5 + 0 + 0 + 0 + ..\code\ICM_42688.h + ICM_42688.h + 0 + 0 + + + 6 + 89 + 5 + 0 + 0 + 0 + ..\code\IMU.h + IMU.h + 0 + 0 + + + 6 + 90 + 5 + 0 + 0 + 0 + ..\code\Motor.h + Motor.h + 0 + 0 + + + 6 + 91 + 5 + 0 + 0 + 0 + ..\code\MotorEncoder.h + MotorEncoder.h + 0 + 0 + + + 6 + 92 + 1 + 0 + 0 + 0 + ..\code\Task.c + Task.c + 0 + 0 + + + 6 + 93 + 5 + 0 + 0 + 0 + ..\code\Task.h + Task.h + 0 + 0 + + + 6 + 94 + 1 + 0 + 0 + 0 + ..\code\Beep.c + Beep.c + 0 + 0 + + + 6 + 95 + 5 + 0 + 0 + 0 + ..\code\Beep.h + Beep.h + 0 + 0 + + + 6 + 96 + 1 + 0 + 0 + 0 + ..\code\PID_Controller.c + PID_Controller.c + 0 + 0 + + + 6 + 97 + 5 + 0 + 0 + 0 + ..\code\PID_Controller.h + PID_Controller.h + 0 + 0 + + + 6 + 98 + 1 + 0 + 0 + 0 + ..\code\Command.c + Command.c + 0 + 0 + + + 6 + 99 + 5 + 0 + 0 + 0 + ..\code\Command.h + Command.h + 0 + 0 + @@ -1237,7 +1453,7 @@ 0 7 - 82 + 100 2 0 0 @@ -1249,7 +1465,7 @@ 7 - 83 + 101 1 0 0 @@ -1261,7 +1477,7 @@ 7 - 84 + 102 5 0 0 @@ -1275,13 +1491,13 @@ Driverlib - 0 + 1 0 0 0 8 - 85 + 103 1 0 0 @@ -1293,7 +1509,7 @@ 8 - 86 + 104 1 0 0 @@ -1305,7 +1521,7 @@ 8 - 87 + 105 1 0 0 @@ -1317,7 +1533,7 @@ 8 - 88 + 106 1 0 0 @@ -1329,7 +1545,7 @@ 8 - 89 + 107 1 0 0 @@ -1341,7 +1557,7 @@ 8 - 90 + 108 1 0 0 @@ -1353,7 +1569,7 @@ 8 - 91 + 109 1 0 0 @@ -1365,7 +1581,7 @@ 8 - 92 + 110 1 0 0 @@ -1377,7 +1593,7 @@ 8 - 93 + 111 1 0 0 @@ -1389,7 +1605,7 @@ 8 - 94 + 112 1 0 0 @@ -1401,7 +1617,7 @@ 8 - 95 + 113 1 0 0 @@ -1413,7 +1629,7 @@ 8 - 96 + 114 1 0 0 @@ -1425,7 +1641,7 @@ 8 - 97 + 115 1 0 0 @@ -1437,7 +1653,7 @@ 8 - 98 + 116 1 0 0 @@ -1449,7 +1665,7 @@ 8 - 99 + 117 1 0 0 @@ -1461,7 +1677,7 @@ 8 - 100 + 118 1 0 0 @@ -1473,7 +1689,7 @@ 8 - 101 + 119 1 0 0 @@ -1485,7 +1701,7 @@ 8 - 102 + 120 1 0 0 @@ -1497,7 +1713,7 @@ 8 - 103 + 121 1 0 0 @@ -1509,7 +1725,7 @@ 8 - 104 + 122 1 0 0 @@ -1521,7 +1737,7 @@ 8 - 105 + 123 1 0 0 @@ -1533,7 +1749,7 @@ 8 - 106 + 124 1 0 0 @@ -1545,7 +1761,7 @@ 8 - 107 + 125 1 0 0 @@ -1557,7 +1773,7 @@ 8 - 108 + 126 1 0 0 @@ -1569,7 +1785,7 @@ 8 - 109 + 127 1 0 0 @@ -1581,7 +1797,7 @@ 8 - 110 + 128 1 0 0 @@ -1593,7 +1809,7 @@ 8 - 111 + 129 1 0 0 @@ -1605,7 +1821,7 @@ 8 - 112 + 130 1 0 0 @@ -1617,7 +1833,7 @@ 8 - 113 + 131 1 0 0 @@ -1629,7 +1845,7 @@ 8 - 114 + 132 1 0 0 @@ -1641,7 +1857,7 @@ 8 - 115 + 133 1 0 0 @@ -1653,7 +1869,7 @@ 8 - 116 + 134 1 0 0 @@ -1665,7 +1881,7 @@ 8 - 117 + 135 1 0 0 @@ -1677,7 +1893,7 @@ 8 - 118 + 136 1 0 0 @@ -1687,6 +1903,18 @@ 0 0 + + 8 + 137 + 1 + 0 + 0 + 0 + ..\..\libraries\sdk\ti\driverlib\m0p\sysctl\dl_sysctl_mspm0g1x0x_g3x0x.c + dl_sysctl_mspm0g1x0x_g3x0x.c + 0 + 0 + diff --git a/project/keil/SeekFree_MSPM0G3507_Device_Library.uvprojx b/project/keil/SeekFree_MSPM0G3507_Device_Library.uvprojx index 295c6a3..edb7c0a 100644 --- a/project/keil/SeekFree_MSPM0G3507_Device_Library.uvprojx +++ b/project/keil/SeekFree_MSPM0G3507_Device_Library.uvprojx @@ -813,6 +813,98 @@ code + + + GrayscaleSensor.c + 1 + ..\code\GrayscaleSensor.c + + + ICM_42688.c + 1 + ..\code\ICM_42688.c + + + IMU.c + 1 + ..\code\IMU.c + + + Motor.c + 1 + ..\code\Motor.c + + + MotorEncoder.c + 1 + ..\code\MotorEncoder.c + + + GrayscaleSensor.h + 5 + ..\code\GrayscaleSensor.h + + + ICM_42688.h + 5 + ..\code\ICM_42688.h + + + IMU.h + 5 + ..\code\IMU.h + + + Motor.h + 5 + ..\code\Motor.h + + + MotorEncoder.h + 5 + ..\code\MotorEncoder.h + + + Task.c + 1 + ..\code\Task.c + + + Task.h + 5 + ..\code\Task.h + + + Beep.c + 1 + ..\code\Beep.c + + + Beep.h + 5 + ..\code\Beep.h + + + PID_Controller.c + 1 + ..\code\PID_Controller.c + + + PID_Controller.h + 5 + ..\code\PID_Controller.h + + + Command.c + 1 + ..\code\Command.c + + + Command.h + 5 + ..\code\Command.h + + ti_config @@ -1007,6 +1099,11 @@ 1 ..\..\libraries\sdk\ti\driverlib\dl_wwdt.c + + dl_sysctl_mspm0g1x0x_g3x0x.c + 1 + ..\..\libraries\sdk\ti\driverlib\m0p\sysctl\dl_sysctl_mspm0g1x0x_g3x0x.c + diff --git a/project/user/src/main.c b/project/user/src/main.c index 4462fb6..a0ae8f0 100644 --- a/project/user/src/main.c +++ b/project/user/src/main.c @@ -39,20 +39,82 @@ // 本例程是开源库空工程 可用作移植或者测试各类内外设 // **************************** 代码区域 **************************** +#include "Motor.h" +#include "zf_device_key.h" +#include "Task.h" +#include "IMU.h" +#include "Beep.h" +#include "GrayscaleSensor.h" +#include "MotorEncoder.h" +/* +定时器资源分配： +G0 右电机PWM +G7 左电机PWM +A0 100Hz任务 +A1 50Hz任务 +G6 20Hz任务 +*/ +/* +中断等级分配: +0 GPIOA_INT_IRQn 外部中断模拟四倍频正交编码器 +1 TIMA0_INT_IRQn 100Hz任务 +1 TIMA1_INT_IRQn 50Hz任务 +1 UART2_INT_IRQn Command串口接收中断 +7 TIMG6_INT_IRQn 20Hz任务 +*/ int main (void) { clock_init(SYSTEM_CLOCK_80M); // 时钟配置及系统初始化<务必保留> debug_init(); // 调试串口信息初始化 // 此处编写用户代码 例如外设初始化代码等 + beep_init(50); + motor_init(); + key_init(50);//按键初始化，参数为扫描周期50ms + imu_init(200);// IMU 初始化，参数为采样频率 200Hz 需要与定时器中断频率一致 + imu_calibrate_gyro(); // IMU 陀螺仪零偏校准 需要在静止状态下调用 + grayscale_sensor_init();//灰度传感器初始化 + motor_encoder_init();//电机编码器初始化 + task_init(); - + beep_on_time(500);//初始化完成，蜂鸣器响 500ms // 此处编写用户代码 例如外设初始化代码等 - while(true) + while(1) { // 此处编写需要循环执行的代码 - + system_delay_ms(100); + char str[20] = {0}; + sprintf(str,"%d,%d,%d\n", (int)(imu_angle.yaw*100),(int)(yaw_ref*100),(int)(grayscale_sensor_position*100)); + debug_send_buffer((const uint8 *)str,strlen(str)); + if(KEY_SHORT_PRESS == key_get_state(KEY_1)) + { + while(KEY_SHORT_PRESS == key_get_state(KEY_1)); + // 等待按键释放 + grayscale_sensor_set_white(); + beep_on_time(200); + } + else if(KEY_SHORT_PRESS == key_get_state(KEY_2)) + { + while(KEY_SHORT_PRESS == key_get_state(KEY_2)); + // 等待按键释放 + grayscale_sensor_set_black(); + beep_on_time(200); + } + else if(KEY_SHORT_PRESS == key_get_state(KEY_3)) + { + while(KEY_SHORT_PRESS == key_get_state(KEY_3)); + // 等待按键释放 + set_yaw_ref(yaw_ref + 5.0f); + beep_on_time(200); + } + else if(KEY_SHORT_PRESS == key_get_state(KEY_4)) + { + while(KEY_SHORT_PRESS == key_get_state(KEY_4)); + // 等待按键释放 + set_yaw_ref(yaw_ref - 5.0f); + beep_on_time(200); + } // 此处编写需要循环执行的代码 } diff --git a/project/尽量不要使用的引脚.md b/project/尽量不要使用的引脚.md new file mode 100644 index 0000000..db904ac --- /dev/null +++ b/project/尽量不要使用的引脚.md @@ -0,0 +1,11 @@ + +尽量不要使用以下引脚，以下引脚属于特殊功能引脚，使用可能会导致核心板异常。 +因此建议大家尽量不要使用。 +A23 +A21 +A19 +A20 +A5 +A6 +A4 +A3 \ No newline at end of file diff --git a/project/尽量不要使用的引脚.txt b/project/尽量不要使用的引脚.txt deleted file mode 100644 index 253ed12..0000000 --- a/project/尽量不要使用的引脚.txt +++ /dev/null @@ -1,11 +0,0 @@ - -Ҫʹţ⹦ţʹÿܻᵼºİ쳣 -˽ҾҪʹá -A23 -A21 -A19 -A20 -A5 -A6 -A4 -A3 \ No newline at end of file