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feat: add DEBUG mode with host-side PID tuning, motor enable/disable protection

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- Add DEBUG mode (parallel to AUTO/MANUAL) for real-time PID parameter tuning
- New 0xA8 debug frame: 12 floats for vision/motor angle PID tuning params
- DMMotorSetMode: send zero-velocity before disable, clear PID to prevent jumps
- motor_enable topic: pub from robot_cmd, sub in gimbal, controls motor on/off
- motor_pid topic: pub from robot_cmd, sub in gimbal, updates motor angle PID
- Rename DM motor enums (DM_CMD_ENABLE_MODE/DISABLE_MODE, DM_Motor_Ctrl_Mode_e)
- SwitchToAuto/Manual: re-enable motors when switching back from DEBUG mode
- Static-allocate enable_msg/pid_tune in GimbalTask to avoid stack churn
- Add docs/host_comm_guide.md with Python Tkinter tuning GUI example
- Remove ARCHITECTURE.md
This commit is contained in:
李傲琦
2026-05-31 03:49:41 +08:00
parent 77a3aeb25c
commit 9b8e204ff7
10 changed files with 747 additions and 643 deletions
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modules/motor/DMmotor/dmmotor.c
+22 -8
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@@ -91,12 +91,29 @@ void DMMotorSendVelocity(CANInstance *can, float vel)
/* ---- Motor commands (enable/disable/zero/clear error) ---- */
void DMMotorSetMode(DMMotor_Mode_e cmd, DMMotorInstance *motor)
void DMMotorSetMode(DM_Motor_Mode_e cmd, DMMotorInstance *motor)
{
if (cmd == DM_CMD_DISABLE_MODE)
{
/* 先发送零速度指令让电机停止,防止切回 ENABLE 时突变 */
DMMotorSendVelocity(motor->motor_can_instance, 0.0f);
/* 清理 PID 状态 */
motor->motor_controller.angle_PID.Iout = 0;
motor->motor_controller.angle_PID.ITerm = 0;
motor->motor_controller.angle_PID.Output = 0;
motor->motor_controller.angle_PID.Err = 0;
motor->motor_controller.angle_PID.Last_Err = 0;
motor->motor_controller.angle_PID.Dout = 0;
motor->motor_controller.angle_PID.Last_Dout = 0;
motor->motor_controller.pid_ref = 0;
}
memset(motor->motor_can_instance->tx_buff, 0xFF, 7);
motor->motor_can_instance->tx_buff[7] = (uint8_t)cmd;
motor->motor_can_instance->txconf.Identifier = motor->motor_can_instance->tx_id;
CANTransmit(motor->motor_can_instance, 1);
motor->motor_mode = cmd;
}
/* ---- Feedback decode: CAN RX interrupt callback ---- */
@@ -175,7 +192,7 @@ DMMotorInstance *DMMotorInit(DM_Motor_Init_Config_s *config)
//motor->motor_daemon = DaemonRegister(&conf);
/* enable motor */
DMMotorSetMode(DM_CMD_MOTOR_MODE, motor);
DMMotorSetMode(DM_CMD_ENABLE_MODE, motor);
dm_motor_instance[idx++] = motor;
return motor;
@@ -188,11 +205,6 @@ void DMMotorSetRef(DMMotorInstance *motor, float ref)
motor->motor_controller.pid_ref = ref;
}
void DMMotorSetCtrlMode(DMMotorInstance *motor, DM_Motor_Mode_e mode)
{
motor->ctrl_mode = mode;
}
/* ---- Main control: called from Motor Task at 1kHz ---- */
/* 硬编码: IMU 角度反馈 → 角度 PID → 速度指令 → 电机速度模式 */
@@ -201,6 +213,8 @@ void DMMotorControl(void)
for (uint8_t i = 0; i < idx; i++)
{
DMMotorInstance *motor = dm_motor_instance[i];
if(motor->motor_mode == DM_CMD_DISABLE_MODE)
continue;
CANInstance *can = motor->motor_can_instance;
/* handle motor error states */
@@ -208,7 +222,7 @@ void DMMotorControl(void)
{
DMMotorSetMode(DM_CMD_CLEAR_ERROR, motor);
DWT_Delay(0.001);
DMMotorSetMode(DM_CMD_MOTOR_MODE, motor);
DMMotorSetMode(DM_CMD_ENABLE_MODE, motor);
continue;
}