SkyLiCoder
4d1702b577
- 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
114 lines
4.0 KiB
C
114 lines
4.0 KiB
C
#include "gimbal.h"
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#include "robot_def.h"
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#include "dmmotor.h"
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#include "ins_task.h"
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#include "message_center.h"
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#include "general_def.h"
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static attitude_t *gimbal_IMU_data;
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static Publisher_t *gimbal_pub;
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static Subscriber_t *gimbal_sub;
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static Gimbal_Upload_Data_s gimbal_feedback_data;
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static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv;
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static DMMotorInstance *yaw_motor; // DM-G6220
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static DMMotorInstance *pitch_motor; // DM-J4310-2EC
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void GimbalInit()
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{
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gimbal_IMU_data = INS_Init();
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gimbal_pub = PubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
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gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
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/* ---- Yaw: DM-G6220, CAN1, TX=0x01, RX=0xF1, Velocity模式 ---- */
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DM_Motor_Init_Config_s yaw_config = {
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.motor_config = {
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.can_init_config = {
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.can_handle = &hcan1,
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.tx_id = 0x01,
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.rx_id = 0xF1,
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},
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.controller_param_init_config = {
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.angle_PID = {
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.Kp = 30, .Ki = 80, .Kd = 0.2f,
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.IntegralLimit = 1000,
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.CoefA = 20, .CoefB = 10,
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |
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PID_Derivative_On_Measurement | PID_ChangingIntegrationRate |
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PID_DerivativeFilter | PID_OutputFilter,
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.MaxOut = 2000,
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},
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.other_angle_feedback_ptr = &gimbal_IMU_data->YawTotalAngle,
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.other_speed_feedback_ptr = &gimbal_IMU_data->Gyro[2],
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},
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.controller_setting_init_config = {
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.angle_feedback_source = OTHER_FEED,
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.speed_feedback_source = OTHER_FEED,
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.outer_loop_type = ANGLE_LOOP,
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.close_loop_type = ANGLE_LOOP,
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.output_reverse = OUTPUT_DIRECTION_NORMAL,
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},
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.motor_type = DM_MOTOR,
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},
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.ctrl_mode = DM_MODE_VELOCITY,
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.mit_kp = 0, .mit_kd = 0,
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};
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yaw_motor = DMMotorInit(&yaw_config);
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/* ---- Pitch: DM-J4310-2EC, CAN1, TX=0x02, RX=0xF2, Velocity模式 ---- */
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DM_Motor_Init_Config_s pitch_config = {
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.motor_config = {
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.can_init_config = {
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.can_handle = &hcan1,
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.tx_id = 0x02,
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.rx_id = 0xF2,
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},
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.controller_param_init_config = {
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.angle_PID = {
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.Kp = 20, .Ki = 50, .Kd = 0.1f,
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.IntegralLimit = 500,
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.CoefA = 15, .CoefB = 5,
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |
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PID_Derivative_On_Measurement | PID_ChangingIntegrationRate,
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.MaxOut = 1000,
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},
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.other_angle_feedback_ptr = &gimbal_IMU_data->Pitch,
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.other_speed_feedback_ptr = &gimbal_IMU_data->Gyro[0],
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},
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.controller_setting_init_config = {
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.angle_feedback_source = OTHER_FEED,
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.speed_feedback_source = OTHER_FEED,
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.outer_loop_type = ANGLE_LOOP,
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.close_loop_type = ANGLE_LOOP,
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.output_reverse = OUTPUT_DIRECTION_NORMAL,
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},
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.motor_type = DM_MOTOR,
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},
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.ctrl_mode = DM_MODE_VELOCITY,
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.mit_kp = 0, .mit_kd = 0,
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};
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pitch_motor = DMMotorInit(&pitch_config);
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}
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void GimbalTask()
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{
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SubGetMessage(gimbal_sub, &gimbal_cmd_recv);
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if (gimbal_cmd_recv.gimbal_mode == GIMBAL_ZERO_FORCE)
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{
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/* 零力模式: 保持当前IMU角度, 电机不主动出力 */
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DMMotorSetRef(yaw_motor, gimbal_IMU_data->YawTotalAngle);
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DMMotorSetRef(pitch_motor, gimbal_IMU_data->Pitch);
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}
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else
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{
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DMMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw);
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DMMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
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}
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gimbal_feedback_data.gimbal_imu_data = *gimbal_IMU_data;
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PubPushMessage(gimbal_pub, (void *)&gimbal_feedback_data);
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}
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