refactor: migrate from DJI motors to DM motors, simplify to gimbal-only control
- Rewrite DM motor driver based on DM_6220 reference protocol (MIT/PosVel/Velocity modes) - Use velocity control mode: MCU runs angle PID with IMU feedback, motor handles speed loop - Rewrite vision protocol with 3 frame types (0xA5 auto data, 0xA6 manual data, 0xA7 command) - Decouple serial parsing (opencv module) from mode switching (robot_cmd module) - Implement dual-loop architecture: vision PID outer loop → angle ref → motor PID inner loop - Add KF/PID reset on mode switch transitions - Merge motor_reverse_flag and feedback_reverse_flag into single output_reverse flag - Remove DMMotorEnable/DMMotorStop (motor always runs, controlled by angle ref) - Remove unused modules: DJI/LK/HT/step/servo motors, chassis, shoot, referee - Add ExitRun0Mode() for STM32H723 power supply configuration - Clean up CMakeLists: 115 → 76 C source files
This commit is contained in:
+187
-129
@@ -1,23 +1,23 @@
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#include "dmmotor.h"
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#include "memory.h"
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#include "general_def.h"
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#include "user_lib.h"
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#include "cmsis_os.h"
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#include "string.h"
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#include "daemon.h"
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#include "stdlib.h"
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#include "bsp_log.h"
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#include "bsp_dwt.h"
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static uint8_t idx;
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static DMMotorInstance *dm_motor_instance[DM_MOTOR_CNT];
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static osThreadId dm_task_handle[DM_MOTOR_CNT];
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/* 两个用于将uint值和float值进行映射的函数,在设定发送值和解析反馈值时使用 */
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/* ---- float <-> uint conversion for MIT mode ---- */
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static uint16_t float_to_uint(float x, float x_min, float x_max, uint8_t bits)
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{
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float span = x_max - x_min;
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float offset = x_min;
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return (uint16_t)((x - offset) * ((float)((1 << bits) - 1)) / span);
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}
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static float uint_to_float(int x_int, float x_min, float x_max, int bits)
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{
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float span = x_max - x_min;
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@@ -25,74 +25,155 @@ static float uint_to_float(int x_int, float x_min, float x_max, int bits)
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return ((float)x_int) * span / ((float)((1 << bits) - 1)) + offset;
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}
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/* ---- Low-level CAN send functions (all three modes) ---- */
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/* MIT mode: CAN ID = motor_id */
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void DMMotorSendMIT(CANInstance *can, float pos, float vel, float kp, float kd, float torq)
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{
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uint16_t pos_uint = float_to_uint(pos, DM_P_MIN, DM_P_MAX, 16);
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uint16_t vel_uint = float_to_uint(vel, DM_V_MIN, DM_V_MAX, 12);
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uint16_t kp_uint = float_to_uint(kp, DM_KP_MIN, DM_KP_MAX, 12);
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uint16_t kd_uint = float_to_uint(kd, DM_KD_MIN, DM_KD_MAX, 12);
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uint16_t torq_uint = float_to_uint(torq, DM_T_MIN, DM_T_MAX, 12);
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uint8_t *buf = can->tx_buff;
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buf[0] = (uint8_t)(pos_uint >> 8);
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buf[1] = (uint8_t)(pos_uint);
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buf[2] = (uint8_t)(vel_uint >> 4);
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buf[3] = (uint8_t)(((vel_uint & 0xF) << 4) | (kp_uint >> 8));
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buf[4] = (uint8_t)(kp_uint);
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buf[5] = (uint8_t)(kd_uint >> 4);
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buf[6] = (uint8_t)(((kd_uint & 0xF) << 4) | (torq_uint >> 8));
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buf[7] = (uint8_t)(torq_uint);
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CANTransmit(can, 1);
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}
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/* Position-Velocity mode: CAN ID = motor_id + 0x100 */
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void DMMotorSendPosVel(CANInstance *can, float pos, float vel)
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{
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uint8_t *buf = can->tx_buff;
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uint8_t *pos_bytes = (uint8_t *)&pos;
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uint8_t *vel_bytes = (uint8_t *)&vel;
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buf[0] = pos_bytes[0];
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buf[1] = pos_bytes[1];
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buf[2] = pos_bytes[2];
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buf[3] = pos_bytes[3];
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buf[4] = vel_bytes[0];
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buf[5] = vel_bytes[1];
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buf[6] = vel_bytes[2];
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buf[7] = vel_bytes[3];
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/* Temporarily change tx_id to motor_id + 0x100 for this transmission */
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uint32_t saved_id = can->tx_id;
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can->tx_id = saved_id + 0x100;
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CANTransmit(can, 1);
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can->tx_id = saved_id;
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}
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/* Velocity mode: CAN ID = motor_id + 0x200 */
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void DMMotorSendVelocity(CANInstance *can, float vel)
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{
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uint8_t *buf = can->tx_buff;
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uint8_t *vel_bytes = (uint8_t *)&vel;
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buf[0] = vel_bytes[0];
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buf[1] = vel_bytes[1];
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buf[2] = vel_bytes[2];
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buf[3] = vel_bytes[3];
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buf[4] = 0;
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buf[5] = 0;
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buf[6] = 0;
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buf[7] = 0;
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uint32_t saved_id = can->tx_id;
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can->tx_id = saved_id + 0x200;
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CANTransmit(can, 1);
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can->tx_id = saved_id;
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}
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/* ---- Motor commands (enable/disable/zero/clear error) ---- */
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void DMMotorSetMode(DMMotor_Mode_e cmd, DMMotorInstance *motor)
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{
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memset(motor->motor_can_instace->tx_buff, 0xff, 7); // 发送电机指令的时候前面7bytes都是0xff
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motor->motor_can_instace->tx_buff[7] = (uint8_t)cmd; // 最后一位是命令id
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CANTransmit(motor->motor_can_instace, 1);
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memset(motor->motor_can_instance->tx_buff, 0xFF, 7);
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motor->motor_can_instance->tx_buff[7] = (uint8_t)cmd;
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CANTransmit(motor->motor_can_instance, 1);
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}
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/* ---- Feedback decode: CAN RX interrupt callback ---- */
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static void DMMotorDecode(CANInstance *motor_can)
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{
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uint16_t tmp; // 用于暂存解析值,稍后转换成float数据,避免多次创建临时变量
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uint8_t *rxbuff = motor_can->rx_buff;
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DMMotorInstance *motor = (DMMotorInstance *)motor_can->id;
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DM_Motor_Measure_s *measure = &(motor->measure); // 将can实例中保存的id转换成电机实例的指针
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DM_Motor_Measure_s *measure = &motor->measure;
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uint16_t tmp;
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DaemonReload(motor->motor_daemon);
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measure->id = rxbuff[0] & 0x0F; // 低 4 位是控制器 ID
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measure->state = (rxbuff[0] >> 4) & 0x0F; // ERR 存储在 state 字段
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measure->id = rxbuff[0] & 0x0F;
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measure->state = (rxbuff[0] >> 4) & 0x0F;
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measure->last_position = measure->position;
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tmp = (uint16_t)((rxbuff[1] << 8) | rxbuff[2]);
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measure->position = uint_to_float(tmp, DM_P_MIN, DM_P_MAX, 16);
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tmp = (uint16_t)((rxbuff[3] << 4) | rxbuff[4] >> 4);
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tmp = (uint16_t)((rxbuff[3] << 4) | (rxbuff[4] >> 4));
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measure->velocity = uint_to_float(tmp, DM_V_MIN, DM_V_MAX, 12);
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tmp = (uint16_t)(((rxbuff[4] & 0x0f) << 8) | rxbuff[5]);
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tmp = (uint16_t)(((rxbuff[4] & 0x0F) << 8) | rxbuff[5]);
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measure->torque = uint_to_float(tmp, DM_T_MIN, DM_T_MAX, 12);
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measure->T_Mos = (float)rxbuff[6];
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measure->T_Mos = (float)rxbuff[6];
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measure->T_Rotor = (float)rxbuff[7];
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// 多圈角度计算
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if (measure->position - measure->last_position > 12.5)
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measure->total_round--;
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else if (measure->position - measure->last_position < -12.5)
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measure->total_round++;
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measure->total_angle = measure->position + measure->total_round * 25;
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measure->total_angle = measure->total_angle * RAD_2_DEGREE;
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measure->velocity = measure->velocity * RAD_2_DEGREE;
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/* multi-turn tracking */
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if (measure->position - measure->last_position > 10.0f)
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measure->total_round--;
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else if (measure->position - measure->last_position < -10.0f)
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measure->total_round++;
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measure->total_angle = (measure->position + measure->total_round * 25.1327f) * RAD_2_DEGREE;
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measure->velocity = measure->velocity * RAD_2_DEGREE;
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}
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static void DMMotorLostCallback(void *motor_ptr)
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{
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DMMotorInstance *motor = (DMMotorInstance *)motor_ptr;
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uint16_t can_bus = motor->motor_can_instace->can_handle == &hcan1 ? 1 : 2;
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LOGWARNING("[DMmotor] Motor lost, can bus [%d] , id [%d]", can_bus, motor->motor_can_instace->tx_id);
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LOGWARNING("[DMmotor] Motor lost, id [%d]", motor->motor_can_instance->tx_id);
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}
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void DMMotorCaliEncoder(DMMotorInstance *motor)
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{
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DMMotorSetMode(DM_CMD_ZERO_POSITION, motor);
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DWT_Delay(0.1);
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}
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DMMotorInstance *DMMotorInit(Motor_Init_Config_s *config)
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/* ---- Init ---- */
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DMMotorInstance *DMMotorInit(DM_Motor_Init_Config_s *config)
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{
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DMMotorInstance *motor = (DMMotorInstance *)malloc(sizeof(DMMotorInstance));
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memset(motor, 0, sizeof(DMMotorInstance));
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motor->motor_settings = config->controller_setting_init_config;
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PIDInit(&motor->current_PID, &config->controller_param_init_config.current_PID);
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PIDInit(&motor->speed_PID, &config->controller_param_init_config.speed_PID);
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PIDInit(&motor->angle_PID, &config->controller_param_init_config.angle_PID);
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motor->other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
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motor->other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
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motor->motor_settings = config->motor_config.controller_setting_init_config;
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motor->ctrl_mode = config->ctrl_mode;
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motor->mit_kp = config->mit_kp;
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motor->mit_kd = config->mit_kd;
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config->can_init_config.can_module_callback = DMMotorDecode;
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config->can_init_config.id = motor;
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motor->motor_can_instace = CANRegister(&config->can_init_config);
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/* init PID controllers */
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PIDInit(&motor->motor_controller.angle_PID, &config->motor_config.controller_param_init_config.angle_PID);
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PIDInit(&motor->motor_controller.speed_PID, &config->motor_config.controller_param_init_config.speed_PID);
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PIDInit(&motor->motor_controller.current_PID, &config->motor_config.controller_param_init_config.current_PID);
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motor->motor_controller.other_angle_feedback_ptr = config->motor_config.controller_param_init_config.other_angle_feedback_ptr;
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motor->motor_controller.other_speed_feedback_ptr = config->motor_config.controller_param_init_config.other_speed_feedback_ptr;
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motor->motor_controller.speed_feedforward_ptr = config->motor_config.controller_param_init_config.speed_feedforward_ptr;
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motor->motor_controller.current_feedforward_ptr = config->motor_config.controller_param_init_config.current_feedforward_ptr;
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/* register CAN instance */
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config->motor_config.can_init_config.can_module_callback = DMMotorDecode;
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config->motor_config.can_init_config.id = motor;
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motor->motor_can_instance = CANRegister(&config->motor_config.can_init_config);
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/* register daemon */
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Daemon_Init_Config_s conf = {
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.callback = DMMotorLostCallback,
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.owner_id = motor,
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@@ -100,133 +181,110 @@ DMMotorInstance *DMMotorInit(Motor_Init_Config_s *config)
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};
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motor->motor_daemon = DaemonRegister(&conf);
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DMMotorEnable(motor);
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/* enable motor */
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DMMotorSetMode(DM_CMD_MOTOR_MODE, motor);
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// DWT_Delay(0.1);
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// DMMotorCaliEncoder(motor);
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// DWT_Delay(0.1);
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dm_motor_instance[idx++] = motor;
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return motor;
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}
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/* ---- Runtime control ---- */
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void DMMotorSetRef(DMMotorInstance *motor, float ref)
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{
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motor->pid_ref = ref;
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}
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void DMMotorEnable(DMMotorInstance *motor)
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{
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motor->stop_flag = MOTOR_ENALBED;
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}
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void DMMotorStop(DMMotorInstance *motor) // 不使用使能模式是因为需要收到反馈
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{
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motor->stop_flag = MOTOR_STOP;
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}
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void DMMotorOuterLoop(DMMotorInstance *motor, Closeloop_Type_e type)
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{
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motor->motor_settings.outer_loop_type = type;
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}
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//@Todo: 目前只实现了力控，更多位控PID等请自行添加
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void DMMotorTask(void const *argument)
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void DMMotorSetCtrlMode(DMMotorInstance *motor, DM_Motor_Mode_e mode)
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{
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float pid_ref, set;
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DMMotorInstance *motor = (DMMotorInstance *)argument;
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DM_Motor_Measure_s *measure = &motor->measure;
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Motor_Control_Setting_s *setting = &motor->motor_settings;
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// CANInstance *motor_can = motor->motor_can_instace;
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// uint16_t tmp;
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DMMotor_Send_s motor_send_mailbox;
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float pid_measure; // 电机PID测量值和设定值
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while (1)
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motor->ctrl_mode = mode;
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}
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/* ---- Main control: called from Motor Task at 1kHz ---- */
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void DMMotorControl(void)
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{
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for (uint8_t i = 0; i < idx; i++)
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{
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if(motor->measure.state == 0x00)
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{
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DMMotorSetMode(DM_CMD_MOTOR_MODE, motor);
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osDelay(20);
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}
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if(motor->measure.state != 0x00&&motor->measure.state != 0x01)
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DMMotorInstance *motor = dm_motor_instance[i];
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DM_Motor_Measure_s *measure = &motor->measure;
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Motor_Control_Setting_s *setting = &motor->motor_settings;
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Motor_Controller_s *ctrl = &motor->motor_controller;
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CANInstance *can = motor->motor_can_instance;
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/* handle motor error states */
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if (measure->state != 0x00 && measure->state != 0x01)
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{
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DMMotorSetMode(DM_CMD_CLEAR_ERROR, motor);
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osDelay(20);
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DWT_Delay(0.001);
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DMMotorSetMode(DM_CMD_MOTOR_MODE, motor);
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osDelay(20);
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continue;
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}
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pid_ref = motor->pid_ref;
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if (setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
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pid_ref *= -1; // 设置反转
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float pid_ref = motor->pid_ref;
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/* ---- Angle loop (outermost) ---- */
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if ((setting->close_loop_type & ANGLE_LOOP) && setting->outer_loop_type == ANGLE_LOOP)
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{
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float pid_measure;
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if (setting->angle_feedback_source == OTHER_FEED)
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{
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pid_measure = *motor->other_angle_feedback_ptr;
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// char buff[20];
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// Float2Str(buff, pid_measure);
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// LOGINFO("pid_measure: %s", buff);
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}
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pid_measure = *ctrl->other_angle_feedback_ptr;
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else
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pid_measure = measure->total_angle;
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// 更新pid_ref进入下一个环
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pid_ref = PIDCalculate(&motor->angle_PID, pid_measure, pid_ref);
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pid_ref = PIDCalculate(&ctrl->angle_PID, pid_measure, pid_ref);
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}
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/* ---- Speed loop (inner) ---- */
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if ((setting->close_loop_type & SPEED_LOOP) && (setting->outer_loop_type & (ANGLE_LOOP | SPEED_LOOP)))
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{
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if (setting->feedforward_flag & SPEED_FEEDFORWARD)
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pid_ref += *motor->speed_feedforward_ptr;
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pid_ref += *ctrl->speed_feedforward_ptr;
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float pid_measure;
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if (setting->speed_feedback_source == OTHER_FEED)
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pid_measure = *motor->other_speed_feedback_ptr;
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else // MOTOR_FEED
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pid_measure = *ctrl->other_speed_feedback_ptr;
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else
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pid_measure = measure->velocity;
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// 更新pid_ref进入下一个环
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pid_ref = PIDCalculate(&motor->speed_PID, pid_measure, pid_ref);
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pid_ref = PIDCalculate(&ctrl->speed_PID, pid_measure, pid_ref);
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}
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if (setting->feedforward_flag == 1)
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pid_ref += 0.8;
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if (setting->feedback_reverse_flag == FEEDBACK_DIRECTION_REVERSE)
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/* output reverse */
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if (setting->output_reverse == OUTPUT_DIRECTION_REVERSE)
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pid_ref *= -1;
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set = pid_ref;
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/* ---- Send via selected control mode ---- */
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float vel_cmd = pid_ref * DEGREE_2_RAD; // deg/s → rad/s
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LIMIT_MIN_MAX(vel_cmd, DM_V_MIN, DM_V_MAX);
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LIMIT_MIN_MAX(set, DM_T_MIN, DM_T_MAX);
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motor_send_mailbox.position_des = float_to_uint(0, DM_P_MIN, DM_P_MAX, 16);
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motor_send_mailbox.velocity_des = float_to_uint(0, DM_V_MIN, DM_V_MAX, 12);
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motor_send_mailbox.torque_des = float_to_uint(set, DM_T_MIN, DM_T_MAX, 12);
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motor_send_mailbox.Kp = 0;
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motor_send_mailbox.Kd = 0;
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switch (motor->ctrl_mode)
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{
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case DM_MODE_VELOCITY:
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/* Velocity mode: MCU angle PID output → motor velocity ref */
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DMMotorSendVelocity(can, vel_cmd);
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break;
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if (motor->stop_flag == MOTOR_STOP)
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motor_send_mailbox.torque_des = float_to_uint(0, DM_T_MIN, DM_T_MAX, 12);
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case DM_MODE_MIT: {
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/* MIT mode: MCU angle PID output → motor position ref, motor handles position-velocity internally */
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float pos_cmd = pid_ref * DEGREE_2_RAD;
|
||||
LIMIT_MIN_MAX(pos_cmd, DM_P_MIN, DM_P_MAX);
|
||||
DMMotorSendMIT(can, pos_cmd, 0.0f, motor->mit_kp, motor->mit_kd, 0.0f);
|
||||
break;
|
||||
}
|
||||
|
||||
motor->motor_can_instace->tx_buff[0] = (uint8_t)(motor_send_mailbox.position_des >> 8);
|
||||
motor->motor_can_instace->tx_buff[1] = (uint8_t)(motor_send_mailbox.position_des);
|
||||
motor->motor_can_instace->tx_buff[2] = (uint8_t)(motor_send_mailbox.velocity_des >> 4);
|
||||
motor->motor_can_instace->tx_buff[3] = (uint8_t)(((motor_send_mailbox.velocity_des & 0xF) << 4) | (motor_send_mailbox.Kp >> 8));
|
||||
motor->motor_can_instace->tx_buff[4] = (uint8_t)(motor_send_mailbox.Kp);
|
||||
motor->motor_can_instace->tx_buff[5] = (uint8_t)(motor_send_mailbox.Kd >> 4);
|
||||
motor->motor_can_instace->tx_buff[6] = (uint8_t)(((motor_send_mailbox.Kd & 0xF) << 4) | (motor_send_mailbox.torque_des >> 8));
|
||||
motor->motor_can_instace->tx_buff[7] = (uint8_t)(motor_send_mailbox.torque_des);
|
||||
|
||||
CANTransmit(motor->motor_can_instace, 1);
|
||||
|
||||
osDelay(1);
|
||||
case DM_MODE_POS_VEL: {
|
||||
/* Position-Velocity mode: MCU angle PID output → motor position ref + velocity ff */
|
||||
float pos_cmd = pid_ref * DEGREE_2_RAD;
|
||||
LIMIT_MIN_MAX(pos_cmd, DM_P_MIN, DM_P_MAX);
|
||||
DMMotorSendPosVel(can, pos_cmd, vel_cmd);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
void DMMotorControlInit()
|
||||
{
|
||||
char dm_task_name[5] = "dm";
|
||||
// 遍历所有电机实例,创建任务
|
||||
if (!idx)
|
||||
return;
|
||||
for (size_t i = 0; i < idx; i++)
|
||||
{
|
||||
char dm_id_buff[2] = {0};
|
||||
__itoa(i, dm_id_buff, 10);
|
||||
strcat(dm_task_name, dm_id_buff);
|
||||
osThreadDef(dm_task_name, DMMotorTask, osPriorityNormal, 0, 128);
|
||||
dm_task_handle[i] = osThreadCreate(osThread(dm_task_name), dm_motor_instance[i]);
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user