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gimbal_task.c
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gimbal_task.c
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/**
****************************(C) COPYRIGHT 2019 DJI****************************
* @file gimbal_task.c/h
* @brief gimbal control task, because use the euler angle calculated by
* gyro sensor, range (-pi,pi), angle set-point must be in this
* range.gimbal has two control mode, gyro mode and enconde mode
* gyro mode: use euler angle to control, encond mode: use enconde
* angle to control. and has some special mode:cali mode, motionless
* mode.
* 完成云台控制任务，由于云台使用陀螺仪解算出的角度，其范围在（-pi,pi）
* 故而设置目标角度均为范围，存在许多对角度计算的函数。云台主要分为2种
* 状态，陀螺仪控制状态是利用板载陀螺仪解算的姿态角进行控制，编码器控制
* 状态是通过电机反馈的编码值控制的校准，此外还有校准状态，停止状态等。
* @note
* @history
* Version Date Author Modification
* V1.0.0 Dec-26-2018 RM 1. done
* V1.1.0 Nov-11-2019 RM 1. add some annotation
*
@verbatim
==============================================================================
==============================================================================
@endverbatim
****************************(C) COPYRIGHT 2019 DJI****************************
*/
#include "gimbal_task.h"
#include "main.h"
#include "cmsis_os.h"
#include "arm_math.h"
#include "CAN_receive.h"
#include "user_lib.h"
#include "detect_task.h"
#include "remote_control.h"
#include "gimbal_behaviour.h"
#include "INS_task.h"
#include "pid.h"
//motor enconde value format, range[0-8191]
//电机编码值规整 0—8191
#define ecd_format(ecd) \
{ \
if ((ecd) > ECD_RANGE) \
(ecd) -= ECD_RANGE; \
else if ((ecd) < 0) \
(ecd) += ECD_RANGE; \
}
#define gimbal_total_pid_clear(gimbal_clear) \
{ \
gimbal_PID_clear(&(gimbal_clear)->gimbal_yaw_motor.gimbal_motor_absolute_angle_pid); \
gimbal_PID_clear(&(gimbal_clear)->gimbal_yaw_motor.gimbal_motor_relative_angle_pid); \
PID_clear(&(gimbal_clear)->gimbal_yaw_motor.gimbal_motor_gyro_pid); \
\
gimbal_PID_clear(&(gimbal_clear)->gimbal_pitch_motor.gimbal_motor_absolute_angle_pid); \
gimbal_PID_clear(&(gimbal_clear)->gimbal_pitch_motor.gimbal_motor_relative_angle_pid); \
PID_clear(&(gimbal_clear)->gimbal_pitch_motor.gimbal_motor_gyro_pid); \
}
#if INCLUDE_uxTaskGetStackHighWaterMark
uint32_t gimbal_high_water;
#endif
/**
* @brief "gimbal_control" valiable initialization, include pid initialization, remote control data point initialization, gimbal motors
* data point initialization, and gyro sensor angle point initialization.
* @param[out] init: "gimbal_control" valiable point
* @retval none
*/
/**
* @brief 初始化"gimbal_control"变量，包括pid初始化， 遥控器指针初始化，云台电机指针初始化，陀螺仪角度指针初始化
* @param[out] init:"gimbal_control"变量指针.
* @retval none
*/
static void gimbal_init(gimbal_control_t *init);
/**
* @brief set gimbal control mode, mainly call 'gimbal_behaviour_mode_set' function
* @param[out] gimbal_set_mode: "gimbal_control" valiable point
* @retval none
*/
/**
* @brief 设置云台控制模式，主要在'gimbal_behaviour_mode_set'函数中改变
* @param[out] gimbal_set_mode:"gimbal_control"变量指针.
* @retval none
*/
static void gimbal_set_mode(gimbal_control_t *set_mode);
/**
* @brief gimbal some measure data updata, such as motor enconde, euler angle, gyro
* @param[out] gimbal_feedback_update: "gimbal_control" valiable point
* @retval none
*/
/**
* @brief 底盘测量数据更新，包括电机速度，欧拉角度，机器人速度
* @param[out] gimbal_feedback_update:"gimbal_control"变量指针.
* @retval none
*/
static void gimbal_feedback_update(gimbal_control_t *feedback_update);
/**
* @brief when gimbal mode change, some param should be changed, suan as yaw_set should be new yaw
* @param[out] mode_change: "gimbal_control" valiable point
* @retval none
*/
/**
* @brief 云台模式改变，有些参数需要改变，例如控制yaw角度设定值应该变成当前yaw角度
* @param[out] mode_change:"gimbal_control"变量指针.
* @retval none
*/
static void gimbal_mode_change_control_transit(gimbal_control_t *mode_change);
/**
* @brief calculate the relative angle between ecd and offset_ecd
* @param[in] ecd: motor now encode
* @param[in] offset_ecd: gimbal offset encode
* @retval relative angle, unit rad
*/
/**
* @brief 计算ecd与offset_ecd之间的相对角度
* @param[in] ecd: 电机当前编码
* @param[in] offset_ecd: 电机中值编码
* @retval 相对角度，单位rad
*/
static fp32 motor_ecd_to_angle_change(uint16_t ecd, uint16_t offset_ecd);
/**
* @brief set gimbal control set-point, control set-point is set by "gimbal_behaviour_control_set".
* @param[out] gimbal_set_control: "gimbal_control" valiable point
* @retval none
*/
/**
* @brief 设置云台控制设定值，控制值是通过gimbal_behaviour_control_set函数设置的
* @param[out] gimbal_set_control:"gimbal_control"变量指针.
* @retval none
*/
static void gimbal_set_control(gimbal_control_t *set_control);
/**
* @brief control loop, according to control set-point, calculate motor current,
* motor current will be sent to motor
* @param[out] gimbal_control_loop: "gimbal_control" valiable point
* @retval none
*/
/**
* @brief 控制循环，根据控制设定值，计算电机电流值，进行控制
* @param[out] gimbal_control_loop:"gimbal_control"变量指针.
* @retval none
*/
static void gimbal_control_loop(gimbal_control_t *control_loop);
/**
* @brief gimbal control mode :GIMBAL_MOTOR_GYRO, use euler angle calculated by gyro sensor to control.
* @param[out] gimbal_motor: yaw motor or pitch motor
* @retval none
*/
/**
* @brief 云台控制模式:GIMBAL_MOTOR_GYRO，使用陀螺仪计算的欧拉角进行控制
* @param[out] gimbal_motor:yaw电机或者pitch电机
* @retval none
*/
static void gimbal_motor_absolute_angle_control(gimbal_motor_t *gimbal_motor);
/**
* @brief gimbal control mode :GIMBAL_MOTOR_ENCONDE, use the encode relative angle to control.
* @param[out] gimbal_motor: yaw motor or pitch motor
* @retval none
*/
/**
* @brief 云台控制模式:GIMBAL_MOTOR_ENCONDE，使用编码相对角进行控制
* @param[out] gimbal_motor:yaw电机或者pitch电机
* @retval none
*/
static void gimbal_motor_relative_angle_control(gimbal_motor_t *gimbal_motor);
/**
* @brief gimbal control mode :GIMBAL_MOTOR_RAW, current is sent to CAN bus.
* @param[out] gimbal_motor: yaw motor or pitch motor
* @retval none
*/
/**
* @brief 云台控制模式:GIMBAL_MOTOR_RAW，电流值直接发送到CAN总线.
* @param[out] gimbal_motor:yaw电机或者pitch电机
* @retval none
*/
static void gimbal_motor_raw_angle_control(gimbal_motor_t *gimbal_motor);
/**
* @brief limit angle set in GIMBAL_MOTOR_GYRO mode, avoid exceeding the max angle
* @param[out] gimbal_motor: yaw motor or pitch motor
* @retval none
*/
/**
* @brief 在GIMBAL_MOTOR_GYRO模式，限制角度设定,防止超过最大
* @param[out] gimbal_motor:yaw电机或者pitch电机
* @retval none
*/
static void gimbal_absolute_angle_limit(gimbal_motor_t *gimbal_motor, fp32 add);
/**
* @brief limit angle set in GIMBAL_MOTOR_ENCONDE mode, avoid exceeding the max angle
* @param[out] gimbal_motor: yaw motor or pitch motor
* @retval none
*/
/**
* @brief 在GIMBAL_MOTOR_ENCONDE模式，限制角度设定,防止超过最大
* @param[out] gimbal_motor:yaw电机或者pitch电机
* @retval none
*/
static void gimbal_relative_angle_limit(gimbal_motor_t *gimbal_motor, fp32 add);
/**
* @brief gimbal angle pid init, because angle is in range(-pi,pi),can't use PID in pid.c
* @param[out] pid: pid data pointer stucture
* @param[in] maxout: pid max out
* @param[in] intergral_limit: pid max iout
* @param[in] kp: pid kp
* @param[in] ki: pid ki
* @param[in] kd: pid kd
* @retval none
*/
/**
* @brief 云台角度PID初始化, 因为角度范围在(-pi,pi)，不能用PID.c的PID
* @param[out] pid:云台PID指针
* @param[in] maxout: pid最大输出
* @param[in] intergral_limit: pid最大积分输出
* @param[in] kp: pid kp
* @param[in] ki: pid ki
* @param[in] kd: pid kd
* @retval none
*/
static void gimbal_PID_init(gimbal_PID_t *pid, fp32 maxout, fp32 intergral_limit, fp32 kp, fp32 ki, fp32 kd);
/**
* @brief gimbal PID clear, clear pid.out, iout.
* @param[out] pid_clear: "gimbal_control" valiable point
* @retval none
*/
/**
* @brief 云台PID清除，清除pid的out,iout
* @param[out] pid_clear:"gimbal_control"变量指针.
* @retval none
*/
static void gimbal_PID_clear(gimbal_PID_t *pid_clear);
/**
* @brief gimbal angle pid calc, because angle is in range(-pi,pi),can't use PID in pid.c
* @param[out] pid: pid data pointer stucture
* @param[in] get: angle feeback
* @param[in] set: angle set-point
* @param[in] error_delta: rotation speed
* @retval pid out
*/
/**
* @brief 云台角度PID计算, 因为角度范围在(-pi,pi)，不能用PID.c的PID
* @param[out] pid:云台PID指针
* @param[in] get: 角度反馈
* @param[in] set: 角度设定
* @param[in] error_delta: 角速度
* @retval pid 输出
*/
static fp32 gimbal_PID_calc(gimbal_PID_t *pid, fp32 get, fp32 set, fp32 error_delta);
/**
* @brief gimbal calibration calculate
* @param[in] gimbal_cali: cali data
* @param[out] yaw_offset:yaw motor middle place encode
* @param[out] pitch_offset:pitch motor middle place encode
* @param[out] max_yaw:yaw motor max machine angle
* @param[out] min_yaw: yaw motor min machine angle
* @param[out] max_pitch: pitch motor max machine angle
* @param[out] min_pitch: pitch motor min machine angle
* @retval none
*/
/**
* @brief 云台校准计算
* @param[in] gimbal_cali: 校准数据
* @param[out] yaw_offset:yaw电机云台中值
* @param[out] pitch_offset:pitch 电机云台中值
* @param[out] max_yaw:yaw 电机最大机械角度
* @param[out] min_yaw: yaw 电机最小机械角度
* @param[out] max_pitch: pitch 电机最大机械角度
* @param[out] min_pitch: pitch 电机最小机械角度
* @retval none
*/
static void calc_gimbal_cali(const gimbal_step_cali_t *gimbal_cali, uint16_t *yaw_offset, uint16_t *pitch_offset, fp32 *max_yaw, fp32 *min_yaw, fp32 *max_pitch, fp32 *min_pitch);
#if GIMBAL_TEST_MODE
//j-scope 帮助pid调参
static void J_scope_gimbal_test(void);
#endif
//gimbal control data
//云台控制所有相关数据
gimbal_control_t gimbal_control;
//motor current
//发送的电机电流
static int16_t yaw_can_set_current = 0, pitch_can_set_current = 0;
/**
* @brief gimbal task, osDelay GIMBAL_CONTROL_TIME (1ms)
* @param[in] pvParameters: null
* @retval none
*/
/**
* @brief 云台任务，间隔 GIMBAL_CONTROL_TIME 1ms
* @param[in] pvParameters: 空
* @retval none
*/
void gimbal_task(void const *pvParameters)
{
//等待陀螺仪任务更新陀螺仪数据
//wait a time
vTaskDelay(GIMBAL_TASK_INIT_TIME);
//gimbal init
//云台初始化
gimbal_init(&gimbal_control);
//wait for all motor online
//判断电机是否都上线
while (toe_is_error(YAW_GIMBAL_MOTOR_TOE) || toe_is_error(PITCH_GIMBAL_MOTOR_TOE))
{
vTaskDelay(GIMBAL_CONTROL_TIME);
gimbal_feedback_update(&gimbal_control); //云台数据反馈
}
while (1)
{
gimbal_set_mode(&gimbal_control); //设置云台控制模式
gimbal_mode_change_control_transit(&gimbal_control); //控制模式切换 控制数据过渡
gimbal_feedback_update(&gimbal_control); //云台数据反馈
gimbal_set_control(&gimbal_control); //设置云台控制量
gimbal_control_loop(&gimbal_control); //云台控制PID计算
#if YAW_TURN
yaw_can_set_current = -gimbal_control.gimbal_yaw_motor.given_current;
#else
yaw_can_set_current = gimbal_control.gimbal_yaw_motor.given_current;
#endif
#if PITCH_TURN
pitch_can_set_current = -gimbal_control.gimbal_pitch_motor.given_current;
#else
pitch_can_set_current = gimbal_control.gimbal_pitch_motor.given_current;
#endif
if (!(toe_is_error(YAW_GIMBAL_MOTOR_TOE) && toe_is_error(PITCH_GIMBAL_MOTOR_TOE) && toe_is_error(TRIGGER_MOTOR_TOE)))
{
if (toe_is_error(DBUS_TOE))
{
CAN_cmd_gimbal(0, 0, 0, 0);
}
else
{
CAN_cmd_gimbal(yaw_can_set_current, pitch_can_set_current, 0, 0);
}
}
#if GIMBAL_TEST_MODE
J_scope_gimbal_test();
#endif
vTaskDelay(GIMBAL_CONTROL_TIME);
#if INCLUDE_uxTaskGetStackHighWaterMark
gimbal_high_water = uxTaskGetStackHighWaterMark(NULL);
#endif
}
}
/**
* @brief gimbal cali data, set motor offset encode, max and min relative angle
* @param[in] yaw_offse:yaw middle place encode
* @param[in] pitch_offset:pitch place encode
* @param[in] max_yaw:yaw max relative angle
* @param[in] min_yaw:yaw min relative angle
* @param[in] max_yaw:pitch max relative angle
* @param[in] min_yaw:pitch min relative angle
* @retval none
*/
/**
* @brief 云台校准设置，将校准的云台中值以及最小最大机械相对角度
* @param[in] yaw_offse:yaw 中值
* @param[in] pitch_offset:pitch 中值
* @param[in] max_yaw:max_yaw:yaw 最大相对角度
* @param[in] min_yaw:yaw 最小相对角度
* @param[in] max_yaw:pitch 最大相对角度
* @param[in] min_yaw:pitch 最小相对角度
* @retval 返回空
* @waring 这个函数使用到gimbal_control 静态变量导致函数不适用以上通用指针复用
*/
void set_cali_gimbal_hook(const uint16_t yaw_offset, const uint16_t pitch_offset, const fp32 max_yaw, const fp32 min_yaw, const fp32 max_pitch, const fp32 min_pitch)
{
gimbal_control.gimbal_yaw_motor.offset_ecd = yaw_offset;
gimbal_control.gimbal_yaw_motor.max_relative_angle = max_yaw;
gimbal_control.gimbal_yaw_motor.min_relative_angle = min_yaw;
gimbal_control.gimbal_pitch_motor.offset_ecd = pitch_offset;
gimbal_control.gimbal_pitch_motor.max_relative_angle = max_pitch;
gimbal_control.gimbal_pitch_motor.min_relative_angle = min_pitch;
}
/**
* @brief gimbal cali calculate, return motor offset encode, max and min relative angle
* @param[out] yaw_offse:yaw middle place encode
* @param[out] pitch_offset:pitch place encode
* @param[out] max_yaw:yaw max relative angle
* @param[out] min_yaw:yaw min relative angle
* @param[out] max_yaw:pitch max relative angle
* @param[out] min_yaw:pitch min relative angle
* @retval none
*/
/**
* @brief 云台校准计算，将校准记录的中值,最大 最小值返回
* @param[out] yaw 中值 指针
* @param[out] pitch 中值 指针
* @param[out] yaw 最大相对角度 指针
* @param[out] yaw 最小相对角度 指针
* @param[out] pitch 最大相对角度 指针
* @param[out] pitch 最小相对角度 指针
* @retval 返回1 代表成功校准完毕， 返回0 代表未校准完
* @waring 这个函数使用到gimbal_control 静态变量导致函数不适用以上通用指针复用
*/
bool_t cmd_cali_gimbal_hook(uint16_t *yaw_offset, uint16_t *pitch_offset, fp32 *max_yaw, fp32 *min_yaw, fp32 *max_pitch, fp32 *min_pitch)
{
if (gimbal_control.gimbal_cali.step == 0)
{
gimbal_control.gimbal_cali.step = GIMBAL_CALI_START_STEP;
//保存进入时候的数据，作为起始数据，来判断最大，最小值
gimbal_control.gimbal_cali.max_pitch = gimbal_control.gimbal_pitch_motor.absolute_angle;
gimbal_control.gimbal_cali.max_pitch_ecd = gimbal_control.gimbal_pitch_motor.gimbal_motor_measure->ecd;
gimbal_control.gimbal_cali.max_yaw = gimbal_control.gimbal_yaw_motor.absolute_angle;
gimbal_control.gimbal_cali.max_yaw_ecd = gimbal_control.gimbal_yaw_motor.gimbal_motor_measure->ecd;
gimbal_control.gimbal_cali.min_pitch = gimbal_control.gimbal_pitch_motor.absolute_angle;
gimbal_control.gimbal_cali.min_pitch_ecd = gimbal_control.gimbal_pitch_motor.gimbal_motor_measure->ecd;
gimbal_control.gimbal_cali.min_yaw = gimbal_control.gimbal_yaw_motor.absolute_angle;
gimbal_control.gimbal_cali.min_yaw_ecd = gimbal_control.gimbal_yaw_motor.gimbal_motor_measure->ecd;
return 0;
}
else if (gimbal_control.gimbal_cali.step == GIMBAL_CALI_END_STEP)
{
calc_gimbal_cali(&gimbal_control.gimbal_cali, yaw_offset, pitch_offset, max_yaw, min_yaw, max_pitch, min_pitch);
(*max_yaw) -= GIMBAL_CALI_REDUNDANT_ANGLE;
(*min_yaw) += GIMBAL_CALI_REDUNDANT_ANGLE;
(*max_pitch) -= GIMBAL_CALI_REDUNDANT_ANGLE;
(*min_pitch) += GIMBAL_CALI_REDUNDANT_ANGLE;
gimbal_control.gimbal_yaw_motor.offset_ecd = *yaw_offset;
gimbal_control.gimbal_yaw_motor.max_relative_angle = *max_yaw;
gimbal_control.gimbal_yaw_motor.min_relative_angle = *min_yaw;
gimbal_control.gimbal_pitch_motor.offset_ecd = *pitch_offset;
gimbal_control.gimbal_pitch_motor.max_relative_angle = *max_pitch;
gimbal_control.gimbal_pitch_motor.min_relative_angle = *min_pitch;
gimbal_control.gimbal_cali.step = 0;
return 1;
}
else
{
return 0;
}
}
/**
* @brief calc motor offset encode, max and min relative angle
* @param[out] yaw_offse:yaw middle place encode
* @param[out] pitch_offset:pitch place encode
* @param[out] max_yaw:yaw max relative angle
* @param[out] min_yaw:yaw min relative angle
* @param[out] max_yaw:pitch max relative angle
* @param[out] min_yaw:pitch min relative angle
* @retval none
*/
/**
* @brief 云台校准计算，将校准记录的中值,最大 最小值
* @param[out] yaw 中值 指针
* @param[out] pitch 中值 指针
* @param[out] yaw 最大相对角度 指针
* @param[out] yaw 最小相对角度 指针
* @param[out] pitch 最大相对角度 指针
* @param[out] pitch 最小相对角度 指针
* @retval none
*/
static void calc_gimbal_cali(const gimbal_step_cali_t *gimbal_cali, uint16_t *yaw_offset, uint16_t *pitch_offset, fp32 *max_yaw, fp32 *min_yaw, fp32 *max_pitch, fp32 *min_pitch)
{
if (gimbal_cali == NULL || yaw_offset == NULL || pitch_offset == NULL || max_yaw == NULL || min_yaw == NULL || max_pitch == NULL || min_pitch == NULL)
{
return;
}
int16_t temp_max_ecd = 0, temp_min_ecd = 0, temp_ecd = 0;
#if YAW_TURN
temp_ecd = gimbal_cali->min_yaw_ecd - gimbal_cali->max_yaw_ecd;
if (temp_ecd < 0)
{
temp_ecd += ecd_range;
}
temp_ecd = gimbal_cali->max_yaw_ecd + (temp_ecd / 2);
ecd_format(temp_ecd);
*yaw_offset = temp_ecd;
*max_yaw = -motor_ecd_to_angle_change(gimbal_cali->max_yaw_ecd, *yaw_offset);
*min_yaw = -motor_ecd_to_angle_change(gimbal_cali->min_yaw_ecd, *yaw_offset);
#else
temp_ecd = gimbal_cali->max_yaw_ecd - gimbal_cali->min_yaw_ecd;
if (temp_ecd < 0)
{
temp_ecd += ECD_RANGE;
}
temp_ecd = gimbal_cali->max_yaw_ecd - (temp_ecd / 2);
ecd_format(temp_ecd);
*yaw_offset = temp_ecd;
*max_yaw = motor_ecd_to_angle_change(gimbal_cali->max_yaw_ecd, *yaw_offset);
*min_yaw = motor_ecd_to_angle_change(gimbal_cali->min_yaw_ecd, *yaw_offset);
#endif
#if PITCH_TURN
temp_ecd = (int16_t)(gimbal_cali->max_pitch / MOTOR_ECD_TO_RAD);
temp_max_ecd = gimbal_cali->max_pitch_ecd + temp_ecd;
temp_ecd = (int16_t)(gimbal_cali->min_pitch / MOTOR_ECD_TO_RAD);
temp_min_ecd = gimbal_cali->min_pitch_ecd + temp_ecd;
ecd_format(temp_max_ecd);
ecd_format(temp_min_ecd);
temp_ecd = temp_max_ecd - temp_min_ecd;
if (temp_ecd > HALF_ECD_RANGE)
{
temp_ecd -= ECD_RANGE;
}
else if (temp_ecd < -HALF_ECD_RANGE)
{
temp_ecd += ECD_RANGE;
}
if (temp_max_ecd > temp_min_ecd)
{
temp_min_ecd += ECD_RANGE;
}
temp_ecd = temp_max_ecd - temp_ecd / 2;
ecd_format(temp_ecd);
*pitch_offset = temp_ecd;
*max_pitch = -motor_ecd_to_angle_change(gimbal_cali->max_pitch_ecd, *pitch_offset);
*min_pitch = -motor_ecd_to_angle_change(gimbal_cali->min_pitch_ecd, *pitch_offset);
#else
temp_ecd = (int16_t)(gimbal_cali->max_pitch / MOTOR_ECD_TO_RAD);
temp_max_ecd = gimbal_cali->max_pitch_ecd - temp_ecd;
temp_ecd = (int16_t)(gimbal_cali->min_pitch / MOTOR_ECD_TO_RAD);
temp_min_ecd = gimbal_cali->min_pitch_ecd - temp_ecd;
ecd_format(temp_max_ecd);
ecd_format(temp_min_ecd);
temp_ecd = temp_max_ecd - temp_min_ecd;
if (temp_ecd > HALF_ECD_RANGE)
{
temp_ecd -= ECD_RANGE;
}
else if (temp_ecd < -HALF_ECD_RANGE)
{
temp_ecd += ECD_RANGE;
}
temp_ecd = temp_max_ecd - temp_ecd / 2;
ecd_format(temp_ecd);
*pitch_offset = temp_ecd;
*max_pitch = motor_ecd_to_angle_change(gimbal_cali->max_pitch_ecd, *pitch_offset);
*min_pitch = motor_ecd_to_angle_change(gimbal_cali->min_pitch_ecd, *pitch_offset);
#endif
}
/**
* @brief return yaw motor data point
* @param[in] none
* @retval yaw motor data point
*/
/**
* @brief 返回yaw 电机数据指针
* @param[in] none
* @retval yaw电机指针
*/
const gimbal_motor_t *get_yaw_motor_point(void)
{
return &gimbal_control.gimbal_yaw_motor;
}
/**
* @brief return pitch motor data point
* @param[in] none
* @retval pitch motor data point
*/
/**
* @brief 返回pitch 电机数据指针
* @param[in] none
* @retval pitch
*/
const gimbal_motor_t *get_pitch_motor_point(void)
{
return &gimbal_control.gimbal_pitch_motor;
}
/**
* @brief "gimbal_control" valiable initialization, include pid initialization, remote control data point initialization, gimbal motors
* data point initialization, and gyro sensor angle point initialization.
* @param[out] init: "gimbal_control" valiable point
* @retval none
*/
/**
* @brief 初始化"gimbal_control"变量，包括pid初始化， 遥控器指针初始化，云台电机指针初始化，陀螺仪角度指针初始化
* @param[out] init:"gimbal_control"变量指针.
* @retval none
*/
static void gimbal_init(gimbal_control_t *init)
{
static const fp32 Pitch_speed_pid[3] = {PITCH_SPEED_PID_KP, PITCH_SPEED_PID_KI, PITCH_SPEED_PID_KD};
static const fp32 Yaw_speed_pid[3] = {YAW_SPEED_PID_KP, YAW_SPEED_PID_KI, YAW_SPEED_PID_KD};
//电机数据指针获取
init->gimbal_yaw_motor.gimbal_motor_measure = get_yaw_gimbal_motor_measure_point();
init->gimbal_pitch_motor.gimbal_motor_measure = get_pitch_gimbal_motor_measure_point();
//陀螺仪数据指针获取
init->gimbal_INT_angle_point = get_INS_angle_point();
init->gimbal_INT_gyro_point = get_gyro_data_point();
//遥控器数据指针获取
init->gimbal_rc_ctrl = get_remote_control_point();
//初始化电机模式
init->gimbal_yaw_motor.gimbal_motor_mode = init->gimbal_yaw_motor.last_gimbal_motor_mode = GIMBAL_MOTOR_RAW;
init->gimbal_pitch_motor.gimbal_motor_mode = init->gimbal_pitch_motor.last_gimbal_motor_mode = GIMBAL_MOTOR_RAW;
//初始化yaw电机pid
gimbal_PID_init(&init->gimbal_yaw_motor.gimbal_motor_absolute_angle_pid, YAW_GYRO_ABSOLUTE_PID_MAX_OUT, YAW_GYRO_ABSOLUTE_PID_MAX_IOUT, YAW_GYRO_ABSOLUTE_PID_KP, YAW_GYRO_ABSOLUTE_PID_KI, YAW_GYRO_ABSOLUTE_PID_KD);
gimbal_PID_init(&init->gimbal_yaw_motor.gimbal_motor_relative_angle_pid, YAW_ENCODE_RELATIVE_PID_MAX_OUT, YAW_ENCODE_RELATIVE_PID_MAX_IOUT, YAW_ENCODE_RELATIVE_PID_KP, YAW_ENCODE_RELATIVE_PID_KI, YAW_ENCODE_RELATIVE_PID_KD);
PID_init(&init->gimbal_yaw_motor.gimbal_motor_gyro_pid, PID_POSITION, Yaw_speed_pid, YAW_SPEED_PID_MAX_OUT, YAW_SPEED_PID_MAX_IOUT);
//初始化pitch电机pid
gimbal_PID_init(&init->gimbal_pitch_motor.gimbal_motor_absolute_angle_pid, PITCH_GYRO_ABSOLUTE_PID_MAX_OUT, PITCH_GYRO_ABSOLUTE_PID_MAX_IOUT, PITCH_GYRO_ABSOLUTE_PID_KP, PITCH_GYRO_ABSOLUTE_PID_KI, PITCH_GYRO_ABSOLUTE_PID_KD);
gimbal_PID_init(&init->gimbal_pitch_motor.gimbal_motor_relative_angle_pid, PITCH_ENCODE_RELATIVE_PID_MAX_OUT, PITCH_ENCODE_RELATIVE_PID_MAX_IOUT, PITCH_ENCODE_RELATIVE_PID_KP, PITCH_ENCODE_RELATIVE_PID_KI, PITCH_ENCODE_RELATIVE_PID_KD);
PID_init(&init->gimbal_pitch_motor.gimbal_motor_gyro_pid, PID_POSITION, Pitch_speed_pid, PITCH_SPEED_PID_MAX_OUT, PITCH_SPEED_PID_MAX_IOUT);
//清除所有PID
gimbal_total_pid_clear(init);
gimbal_feedback_update(init);
init->gimbal_yaw_motor.absolute_angle_set = init->gimbal_yaw_motor.absolute_angle;
init->gimbal_yaw_motor.relative_angle_set = init->gimbal_yaw_motor.relative_angle;
init->gimbal_yaw_motor.motor_gyro_set = init->gimbal_yaw_motor.motor_gyro;
init->gimbal_pitch_motor.absolute_angle_set = init->gimbal_pitch_motor.absolute_angle;
init->gimbal_pitch_motor.relative_angle_set = init->gimbal_pitch_motor.relative_angle;
init->gimbal_pitch_motor.motor_gyro_set = init->gimbal_pitch_motor.motor_gyro;
}
/**
* @brief set gimbal control mode, mainly call 'gimbal_behaviour_mode_set' function
* @param[out] gimbal_set_mode: "gimbal_control" valiable point
* @retval none
*/
/**
* @brief 设置云台控制模式，主要在'gimbal_behaviour_mode_set'函数中改变
* @param[out] gimbal_set_mode:"gimbal_control"变量指针.
* @retval none
*/
static void gimbal_set_mode(gimbal_control_t *set_mode)
{
if (set_mode == NULL)
{
return;
}
gimbal_behaviour_mode_set(set_mode);
}
/**
* @brief gimbal some measure data updata, such as motor enconde, euler angle, gyro
* @param[out] gimbal_feedback_update: "gimbal_control" valiable point
* @retval none
*/
/**
* @brief 底盘测量数据更新，包括电机速度，欧拉角度，机器人速度
* @param[out] gimbal_feedback_update:"gimbal_control"变量指针.
* @retval none
*/
static void gimbal_feedback_update(gimbal_control_t *feedback_update)
{
if (feedback_update == NULL)
{
return;
}
//云台数据更新
feedback_update->gimbal_pitch_motor.absolute_angle = *(feedback_update->gimbal_INT_angle_point + INS_PITCH_ADDRESS_OFFSET);
#if PITCH_TURN
feedback_update->gimbal_pitch_motor.relative_angle = -motor_ecd_to_angle_change(feedback_update->gimbal_pitch_motor.gimbal_motor_measure->ecd,
feedback_update->gimbal_pitch_motor.offset_ecd);
#else
feedback_update->gimbal_pitch_motor.relative_angle = motor_ecd_to_angle_change(feedback_update->gimbal_pitch_motor.gimbal_motor_measure->ecd,
feedback_update->gimbal_pitch_motor.offset_ecd);
#endif
feedback_update->gimbal_pitch_motor.motor_gyro = *(feedback_update->gimbal_INT_gyro_point + INS_GYRO_Y_ADDRESS_OFFSET);
feedback_update->gimbal_yaw_motor.absolute_angle = *(feedback_update->gimbal_INT_angle_point + INS_YAW_ADDRESS_OFFSET);
#if YAW_TURN
feedback_update->gimbal_yaw_motor.relative_angle = -motor_ecd_to_angle_change(feedback_update->gimbal_yaw_motor.gimbal_motor_measure->ecd,
feedback_update->gimbal_yaw_motor.offset_ecd);
#else
feedback_update->gimbal_yaw_motor.relative_angle = motor_ecd_to_angle_change(feedback_update->gimbal_yaw_motor.gimbal_motor_measure->ecd,
feedback_update->gimbal_yaw_motor.offset_ecd);
#endif
feedback_update->gimbal_yaw_motor.motor_gyro = arm_cos_f32(feedback_update->gimbal_pitch_motor.relative_angle) * (*(feedback_update->gimbal_INT_gyro_point + INS_GYRO_Z_ADDRESS_OFFSET))
- arm_sin_f32(feedback_update->gimbal_pitch_motor.relative_angle) * (*(feedback_update->gimbal_INT_gyro_point + INS_GYRO_X_ADDRESS_OFFSET));
}
/**
* @brief calculate the relative angle between ecd and offset_ecd
* @param[in] ecd: motor now encode
* @param[in] offset_ecd: gimbal offset encode
* @retval relative angle, unit rad
*/
/**
* @brief 计算ecd与offset_ecd之间的相对角度
* @param[in] ecd: 电机当前编码
* @param[in] offset_ecd: 电机中值编码
* @retval 相对角度，单位rad
*/
static fp32 motor_ecd_to_angle_change(uint16_t ecd, uint16_t offset_ecd)
{
int32_t relative_ecd = ecd - offset_ecd;
if (relative_ecd > HALF_ECD_RANGE)
{
relative_ecd -= ECD_RANGE;
}
else if (relative_ecd < -HALF_ECD_RANGE)
{
relative_ecd += ECD_RANGE;
}
return relative_ecd * MOTOR_ECD_TO_RAD;
}
/**
* @brief when gimbal mode change, some param should be changed, suan as yaw_set should be new yaw
* @param[out] gimbal_mode_change: "gimbal_control" valiable point
* @retval none
*/
/**
* @brief 云台模式改变，有些参数需要改变，例如控制yaw角度设定值应该变成当前yaw角度
* @param[out] gimbal_mode_change:"gimbal_control"变量指针.
* @retval none
*/
static void gimbal_mode_change_control_transit(gimbal_control_t *gimbal_mode_change)
{
if (gimbal_mode_change == NULL)
{
return;
}
//yaw电机状态机切换保存数据
if (gimbal_mode_change->gimbal_yaw_motor.last_gimbal_motor_mode != GIMBAL_MOTOR_RAW && gimbal_mode_change->gimbal_yaw_motor.gimbal_motor_mode == GIMBAL_MOTOR_RAW)
{
gimbal_mode_change->gimbal_yaw_motor.raw_cmd_current = gimbal_mode_change->gimbal_yaw_motor.current_set = gimbal_mode_change->gimbal_yaw_motor.given_current;
}
else if (gimbal_mode_change->gimbal_yaw_motor.last_gimbal_motor_mode != GIMBAL_MOTOR_GYRO && gimbal_mode_change->gimbal_yaw_motor.gimbal_motor_mode == GIMBAL_MOTOR_GYRO)
{
gimbal_mode_change->gimbal_yaw_motor.absolute_angle_set = gimbal_mode_change->gimbal_yaw_motor.absolute_angle;
}
else if (gimbal_mode_change->gimbal_yaw_motor.last_gimbal_motor_mode != GIMBAL_MOTOR_ENCONDE && gimbal_mode_change->gimbal_yaw_motor.gimbal_motor_mode == GIMBAL_MOTOR_ENCONDE)
{
gimbal_mode_change->gimbal_yaw_motor.relative_angle_set = gimbal_mode_change->gimbal_yaw_motor.relative_angle;
}
gimbal_mode_change->gimbal_yaw_motor.last_gimbal_motor_mode = gimbal_mode_change->gimbal_yaw_motor.gimbal_motor_mode;
//pitch电机状态机切换保存数据
if (gimbal_mode_change->gimbal_pitch_motor.last_gimbal_motor_mode != GIMBAL_MOTOR_RAW && gimbal_mode_change->gimbal_pitch_motor.gimbal_motor_mode == GIMBAL_MOTOR_RAW)
{
gimbal_mode_change->gimbal_pitch_motor.raw_cmd_current = gimbal_mode_change->gimbal_pitch_motor.current_set = gimbal_mode_change->gimbal_pitch_motor.given_current;
}
else if (gimbal_mode_change->gimbal_pitch_motor.last_gimbal_motor_mode != GIMBAL_MOTOR_GYRO && gimbal_mode_change->gimbal_pitch_motor.gimbal_motor_mode == GIMBAL_MOTOR_GYRO)
{
gimbal_mode_change->gimbal_pitch_motor.absolute_angle_set = gimbal_mode_change->gimbal_pitch_motor.absolute_angle;
}
else if (gimbal_mode_change->gimbal_pitch_motor.last_gimbal_motor_mode != GIMBAL_MOTOR_ENCONDE && gimbal_mode_change->gimbal_pitch_motor.gimbal_motor_mode == GIMBAL_MOTOR_ENCONDE)
{
gimbal_mode_change->gimbal_pitch_motor.relative_angle_set = gimbal_mode_change->gimbal_pitch_motor.relative_angle;
}
gimbal_mode_change->gimbal_pitch_motor.last_gimbal_motor_mode = gimbal_mode_change->gimbal_pitch_motor.gimbal_motor_mode;
}
/**
* @brief set gimbal control set-point, control set-point is set by "gimbal_behaviour_control_set".
* @param[out] gimbal_set_control: "gimbal_control" valiable point
* @retval none
*/
/**
* @brief 设置云台控制设定值，控制值是通过gimbal_behaviour_control_set函数设置的
* @param[out] gimbal_set_control:"gimbal_control"变量指针.
* @retval none
*/
static void gimbal_set_control(gimbal_control_t *set_control)
{
if (set_control == NULL)
{
return;
}
fp32 add_yaw_angle = 0.0f;
fp32 add_pitch_angle = 0.0f;
gimbal_behaviour_control_set(&add_yaw_angle, &add_pitch_angle, set_control);
//yaw电机模式控制
if (set_control->gimbal_yaw_motor.gimbal_motor_mode == GIMBAL_MOTOR_RAW)
{
//raw模式下，直接发送控制值
set_control->gimbal_yaw_motor.raw_cmd_current = add_yaw_angle;
}
else if (set_control->gimbal_yaw_motor.gimbal_motor_mode == GIMBAL_MOTOR_GYRO)
{
//gyro模式下，陀螺仪角度控制
gimbal_absolute_angle_limit(&set_control->gimbal_yaw_motor, add_yaw_angle);
}
else if (set_control->gimbal_yaw_motor.gimbal_motor_mode == GIMBAL_MOTOR_ENCONDE)
{
//enconde模式下，电机编码角度控制
gimbal_relative_angle_limit(&set_control->gimbal_yaw_motor, add_yaw_angle);
}
//pitch电机模式控制
if (set_control->gimbal_pitch_motor.gimbal_motor_mode == GIMBAL_MOTOR_RAW)
{
//raw模式下，直接发送控制值
set_control->gimbal_pitch_motor.raw_cmd_current = add_pitch_angle;
}
else if (set_control->gimbal_pitch_motor.gimbal_motor_mode == GIMBAL_MOTOR_GYRO)
{
//gyro模式下，陀螺仪角度控制
gimbal_absolute_angle_limit(&set_control->gimbal_pitch_motor, add_pitch_angle);
}
else if (set_control->gimbal_pitch_motor.gimbal_motor_mode == GIMBAL_MOTOR_ENCONDE)
{
//enconde模式下，电机编码角度控制
gimbal_relative_angle_limit(&set_control->gimbal_pitch_motor, add_pitch_angle);
}
}
/**
* @brief gimbal control mode :GIMBAL_MOTOR_GYRO, use euler angle calculated by gyro sensor to control.
* @param[out] gimbal_motor: yaw motor or pitch motor
* @retval none
*/
/**
* @brief 云台控制模式:GIMBAL_MOTOR_GYRO，使用陀螺仪计算的欧拉角进行控制
* @param[out] gimbal_motor:yaw电机或者pitch电机
* @retval none
*/
static void gimbal_absolute_angle_limit(gimbal_motor_t *gimbal_motor, fp32 add)
{
static fp32 bias_angle;
static fp32 angle_set;
if (gimbal_motor == NULL)
{
return;
}
//now angle error
//当前控制误差角度
bias_angle = rad_format(gimbal_motor->absolute_angle_set - gimbal_motor->absolute_angle);
//relative angle + angle error + add_angle > max_relative angle
//云台相对角度+ 误差角度 + 新增角度 如果大于 最大机械角度
if (gimbal_motor->relative_angle + bias_angle + add > gimbal_motor->max_relative_angle)
{
//如果是往最大机械角度控制方向
if (add > 0.0f)
{
//calculate max add_angle
//计算出一个最大的添加角度，
add = gimbal_motor->max_relative_angle - gimbal_motor->relative_angle - bias_angle;
}
}
else if (gimbal_motor->relative_angle + bias_angle + add < gimbal_motor->min_relative_angle)
{
if (add < 0.0f)
{
add = gimbal_motor->min_relative_angle - gimbal_motor->relative_angle - bias_angle;
}
}
angle_set = gimbal_motor->absolute_angle_set;
gimbal_motor->absolute_angle_set = rad_format(angle_set + add);
}
/**
* @brief gimbal control mode :GIMBAL_MOTOR_ENCONDE, use the encode relative angle to control.
* @param[out] gimbal_motor: yaw motor or pitch motor
* @retval none
*/
/**
* @brief 云台控制模式:GIMBAL_MOTOR_ENCONDE，使用编码相对角进行控制
* @param[out] gimbal_motor:yaw电机或者pitch电机
* @retval none
*/
static void gimbal_relative_angle_limit(gimbal_motor_t *gimbal_motor, fp32 add)
{
if (gimbal_motor == NULL)
{
return;
}
gimbal_motor->relative_angle_set += add;
//是否超过最大 最小值
if (gimbal_motor->relative_angle_set > gimbal_motor->max_relative_angle)
{
gimbal_motor->relative_angle_set = gimbal_motor->max_relative_angle;
}
else if (gimbal_motor->relative_angle_set < gimbal_motor->min_relative_angle)
{
gimbal_motor->relative_angle_set = gimbal_motor->min_relative_angle;
}
}
/**
* @brief control loop, according to control set-point, calculate motor current,
* motor current will be sent to motor
* @param[out] gimbal_control_loop: "gimbal_control" valiable point
* @retval none
*/
/**
* @brief 控制循环，根据控制设定值，计算电机电流值，进行控制
* @param[out] gimbal_control_loop:"gimbal_control"变量指针.
* @retval none
*/
static void gimbal_control_loop(gimbal_control_t *control_loop)
{
if (control_loop == NULL)
{
return;
}
if (control_loop->gimbal_yaw_motor.gimbal_motor_mode == GIMBAL_MOTOR_RAW)
{
gimbal_motor_raw_angle_control(&control_loop->gimbal_yaw_motor);
}
else if (control_loop->gimbal_yaw_motor.gimbal_motor_mode == GIMBAL_MOTOR_GYRO)
{
gimbal_motor_absolute_angle_control(&control_loop->gimbal_yaw_motor);
}
else if (control_loop->gimbal_yaw_motor.gimbal_motor_mode == GIMBAL_MOTOR_ENCONDE)
{
gimbal_motor_relative_angle_control(&control_loop->gimbal_yaw_motor);
}
if (control_loop->gimbal_pitch_motor.gimbal_motor_mode == GIMBAL_MOTOR_RAW)
{
gimbal_motor_raw_angle_control(&control_loop->gimbal_pitch_motor);
}
else if (control_loop->gimbal_pitch_motor.gimbal_motor_mode == GIMBAL_MOTOR_GYRO)
{
gimbal_motor_absolute_angle_control(&control_loop->gimbal_pitch_motor);
}
else if (control_loop->gimbal_pitch_motor.gimbal_motor_mode == GIMBAL_MOTOR_ENCONDE)
{
gimbal_motor_relative_angle_control(&control_loop->gimbal_pitch_motor);
}
}
/**
* @brief gimbal control mode :GIMBAL_MOTOR_GYRO, use euler angle calculated by gyro sensor to control.
* @param[out] gimbal_motor: yaw motor or pitch motor
* @retval none
*/
/**
* @brief 云台控制模式:GIMBAL_MOTOR_GYRO，使用陀螺仪计算的欧拉角进行控制
* @param[out] gimbal_motor:yaw电机或者pitch电机
* @retval none
*/
static void gimbal_motor_absolute_angle_control(gimbal_motor_t *gimbal_motor)
{
if (gimbal_motor == NULL)
{
return;