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
138 lines
3.8 KiB
C
138 lines
3.8 KiB
C
/**
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* @file motor_def.h
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* @author neozng
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* @brief 电机通用的数据结构定义
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* @version beta
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* @date 2022-11-01
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*
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* @copyright Copyright (c) 2022 HNU YueLu EC all rights reserved
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*
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*/
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#ifndef MOTOR_DEF_H
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#define MOTOR_DEF_H
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#include "controller.h"
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#include "stdint.h"
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#define LIMIT_MIN_MAX(x, min, max) (x) = (((x) <= (min)) ? (min) : (((x) >= (max)) ? (max) : (x)))
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/**
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* @brief 闭环类型,如果需要多个闭环,则使用或运算
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* 例如需要速度环和电流环: CURRENT_LOOP|SPEED_LOOP
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*/
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typedef enum
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{
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OPEN_LOOP = 0b0000,
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CURRENT_LOOP = 0b0001,
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SPEED_LOOP = 0b0010,
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ANGLE_LOOP = 0b0100,
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// only for checking
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SPEED_AND_CURRENT_LOOP = 0b0011,
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ANGLE_AND_SPEED_LOOP = 0b0110,
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ALL_THREE_LOOP = 0b0111,
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} Closeloop_Type_e;
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typedef enum
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{
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FEEDFORWARD_NONE = 0b00,
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CURRENT_FEEDFORWARD = 0b01,
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SPEED_FEEDFORWARD = 0b10,
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CURRENT_AND_SPEED_FEEDFORWARD = CURRENT_FEEDFORWARD | SPEED_FEEDFORWARD,
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} Feedfoward_Type_e;
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/* 反馈来源设定,若设为OTHER_FEED则需要指定数据来源指针,详见Motor_Controller_s*/
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typedef enum
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{
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MOTOR_FEED = 0,
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OTHER_FEED,
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} Feedback_Source_e;
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/* 输出反向标志: 取反最终PID输出 */
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typedef enum
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{
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OUTPUT_DIRECTION_NORMAL = 0,
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OUTPUT_DIRECTION_REVERSE = 1,
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} Output_Reverse_Flag_e;
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typedef enum
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{
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MOTOR_STOP = 0,
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MOTOR_ENALBED = 1,
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} Motor_Working_Type_e;
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typedef enum
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{
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SEND_MODE_NORMAL = 0,
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SEND_MODE_MANUAL = 1
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} MOTOR_SEND_MODE_e;
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/* 电机控制设置,包括闭环类型,反转标志和反馈来源 */
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typedef struct
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{
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Closeloop_Type_e outer_loop_type; // 最外层的闭环
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Closeloop_Type_e close_loop_type; // 使用几个闭环(串级)
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Output_Reverse_Flag_e output_reverse; // 输出反向
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Feedback_Source_e angle_feedback_source; // 角度反馈类型
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Feedback_Source_e speed_feedback_source; // 速度反馈类型
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uint8_t feedforward_flag; // 前馈标志
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MOTOR_SEND_MODE_e send_mode; // 发送模式
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} Motor_Control_Setting_s;
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/* 电机控制器,包括其他来源的反馈数据指针,3环控制器和电机的参考输入*/
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// 后续增加前馈数据指针
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typedef struct
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{
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float *other_angle_feedback_ptr; // 其他反馈来源的反馈数据指针
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float *other_speed_feedback_ptr;
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float *speed_feedforward_ptr;
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float *current_feedforward_ptr;
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PIDInstance current_PID;
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PIDInstance speed_PID;
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PIDInstance angle_PID;
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float pid_ref; // 将会作为每个环的输入和输出顺次通过串级闭环
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float output_external; // 外部输入,用于手动发送报文
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} Motor_Controller_s;
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/* 电机类型枚举 */
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typedef enum
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{
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MOTOR_TYPE_NONE = 0,
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DM_MOTOR,
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} Motor_Type_e;
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/**
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* @brief 电机控制器初始化结构体,包括三环PID的配置以及两个反馈数据来源指针
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* 如果不需要某个控制环,可以不设置对应的pid config
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* 需要其他数据来源进行反馈闭环,不仅要设置这里的指针还需要在Motor_Control_Setting_s启用其他数据来源标志
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*/
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typedef struct
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{
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float *other_angle_feedback_ptr; // 角度反馈数据指针,注意电机使用total_angle
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float *other_speed_feedback_ptr; // 速度反馈数据指针,单位为angle per sec
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float *speed_feedforward_ptr; // 速度前馈数据指针
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float *current_feedforward_ptr; // 电流前馈数据指针
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PID_Init_Config_s current_PID;
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PID_Init_Config_s speed_PID;
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PID_Init_Config_s angle_PID;
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} Motor_Controller_Init_s;
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/* 用于初始化CAN电机的结构体,各类电机通用 */
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typedef struct
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{
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Motor_Controller_Init_s controller_param_init_config;
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Motor_Control_Setting_s controller_setting_init_config;
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Motor_Type_e motor_type;
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CAN_Init_Config_s can_init_config;
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} Motor_Init_Config_s;
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#endif // !MOTOR_DEF_H
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