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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.h
+15 -14
View File
@@ -21,13 +21,23 @@
#define DM_KD_MIN 0.0f
#define DM_KD_MAX 5.0f
/* DM motor control modes */
/* DM motor command codes */
typedef enum
{
DM_CMD_ENABLE_MODE = 0xFC, // enable motor
DM_CMD_DISABLE_MODE = 0xFD, // disable motor
DM_CMD_ZERO_POSITION = 0xFE, // set current position as encoder zero
DM_CMD_CLEAR_ERROR = 0xFB, // clear motor error
} DM_Motor_Mode_e;
/* DM motor control modes */
typedef enum
{
DM_MODE_MIT = 0, // MIT mode: CAN ID, packed pos/vel/KP/KD/torque
DM_MODE_POS_VEL = 1, // Position-Velocity mode: CAN ID + 0x100, float pos + float vel
DM_MODE_VELOCITY = 2, // Velocity mode: CAN ID + 0x200, float velocity only
} DM_Motor_Mode_e;
} DM_Motor_Ctrl_Mode_e;
/* DM motor measurement data (parsed from feedback CAN frame) */
typedef struct
@@ -53,7 +63,8 @@ typedef struct
CANInstance *motor_can_instance; // CAN communication instance
DaemonInstance *motor_daemon; // daemon watchdog
Output_Reverse_Flag_e output_reverse; // output reverse flag
DM_Motor_Mode_e ctrl_mode; // current control mode (MIT / Pos-Vel / Velocity)
DM_Motor_Ctrl_Mode_e ctrl_mode; // current control mode (MIT / Pos-Vel / Velocity)
DM_Motor_Mode_e motor_mode; // last command mode (enable/disable/zero/clear error)
float mit_kp; // MIT mode KP (motor internal position gain, 0~500)
float mit_kd; // MIT mode KD (motor internal velocity gain, 0~5)
@@ -63,27 +74,17 @@ typedef struct
typedef struct
{
Motor_Init_Config_s motor_config; // generic motor PID and setting config
DM_Motor_Mode_e ctrl_mode; // default control mode
DM_Motor_Ctrl_Mode_e ctrl_mode; // default control mode
float mit_kp; // MIT mode KP (only for MIT mode)
float mit_kd; // MIT mode KD (only for MIT mode)
} DM_Motor_Init_Config_s;
/* DM motor command codes */
typedef enum
{
DM_CMD_MOTOR_MODE = 0xFC, // enable motor
DM_CMD_RESET_MODE = 0xFD, // disable motor
DM_CMD_ZERO_POSITION = 0xFE, // set current position as encoder zero
DM_CMD_CLEAR_ERROR = 0xFB, // clear motor error
} DMMotor_Mode_e;
/* ---- API ---- */
DMMotorInstance *DMMotorInit(DM_Motor_Init_Config_s *config);
void DMMotorSetRef(DMMotorInstance *motor, float ref);
void DMMotorSetCtrlMode(DMMotorInstance *motor, DM_Motor_Mode_e mode);
void DMMotorSetMode(DMMotor_Mode_e mode, DMMotorInstance *motor);
void DMMotorSetMode(DM_Motor_Mode_e mode, DMMotorInstance *motor);
/**
* @brief Main control function called from Motor Task at 1kHz.