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井明江
2024-07-05 03:29:56 +08:00
parent e842452ec6
commit 34aae6602a
4 changed files with 123 additions and 110 deletions
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97
app/by_fan_control.c
View File

@@ -6,18 +6,21 @@
#define FAN_LL_PWM_PIN TIM8_PWM_MAP1_CH1_B6 // 左升力风扇
#define FAN_RL_PWM_PIN TIM8_PWM_MAP1_CH2_B7 // 右升力风扇
// M4
#define FAN_RB_PWM_A_PIN TIM10_PWM_MAP3_CH4_D7 // 后
#define FAN_RB_PWM_B_PIN TIM10_PWM_MAP3_CH2_D3 // you后
#define FAN_RB_PWM_A_PIN TIM10_PWM_MAP3_CH2_D3 // 后
#define FAN_RB_PWM_B_PIN TIM10_PWM_MAP3_CH4_D7 // you后
// M1
#define FAN_LB_PWM_A_PIN TIM4_PWM_MAP1_CH3_D14 // zuo后
#define FAN_LB_PWM_B_PIN TIM4_PWM_MAP1_CH1_D12 // 后
#define FAN_LB_PWM_A_PIN TIM4_PWM_MAP1_CH1_D12 // zuo后
#define FAN_LB_PWM_B_PIN TIM4_PWM_MAP1_CH3_D14// 后
// M3
#define FAN_RS_PWM_B_PIN TIM10_PWM_MAP3_CH1_D1 // 右侧
#define FAN_RS_PWM_A_PIN TIM10_PWM_MAP3_CH3_D5 // you侧
// M2
#define FAN_LS_PWM_B_PIN TIM4_PWM_MAP1_CH4_D15 // 左侧
#define FAN_LS_PWM_A_PIN TIM4_PWM_MAP1_CH2_D13 // 左侧
// #define FAN_RS_PWM_B_PIN TIM10_PWM_MAP3_CH1_D1 // 右侧
// #define FAN_RS_PWM_A_PIN TIM10_PWM_MAP3_CH3_D5 // you侧
// // M2
// #define FAN_LS_PWM_B_PIN TIM4_PWM_MAP1_CH4_D15 // 左侧
// #define FAN_LS_PWM_A_PIN TIM4_PWM_MAP1_CH2_D13 // 左侧
//
#define FAN_LS_PWM_PIN TIM1_PWM_MAP0_CH4_A11
#define FAN_RS_PWM_PIN TIM1_PWM_MAP0_CH1_A8
int32_t pwm_duty_ls_g;
int32_t pwm_duty_rs_g;
int32_t pwm_duty_lb_g;
@@ -48,7 +51,8 @@ void by_pwm_init(void)
gpio_init(C8, GPO, 1, GPO_PUSH_PULL);
pwm_init(FAN_LL_PWM_PIN, 50, 500);
pwm_init(FAN_RL_PWM_PIN, 50, 500);
pwm_init(FAN_LS_PWM_PIN, 50, 500);
pwm_init(FAN_RS_PWM_PIN, 50, 500);
#if FIX_DRIVE == 1
pwm_init(FAN_LS_PWM_A_PIN, 20000, 7000);
pwm_init(FAN_LS_PWM_B_PIN, 20000, 7000);
@@ -60,24 +64,24 @@ void by_pwm_init(void)
pwm_init(FAN_RB_PWM_B_PIN, 20000, 7000);
while (1);
#elif FIX_DRIVE == 2
pwm_init(FAN_LS_PWM_A_PIN, 20000, 1000);
pwm_init(FAN_LS_PWM_B_PIN, 20000, 0);
pwm_init(FAN_RS_PWM_A_PIN, 20000, 1000);
pwm_init(FAN_RS_PWM_B_PIN, 20000, 0);
pwm_init(FAN_LB_PWM_A_PIN, 20000,1000);
pwm_init(FAN_LB_PWM_B_PIN, 20000, 0);
pwm_init(FAN_RB_PWM_A_PIN, 20000, 1000);
pwm_init(FAN_RB_PWM_B_PIN, 20000, 0);
// pwm_init(FAN_LS_PWM_A_PIN, 30000, 1000);
// pwm_init(FAN_LS_PWM_B_PIN, 30000, 0);
// pwm_init(FAN_RS_PWM_A_PIN, 30000, 1000);
// pwm_init(FAN_RS_PWM_B_PIN, 30000, 0);
pwm_init(FAN_LB_PWM_A_PIN, 30000, 1000);
pwm_init(FAN_LB_PWM_B_PIN, 30000, 0);
pwm_init(FAN_RB_PWM_A_PIN, 30000, 1000);
pwm_init(FAN_RB_PWM_B_PIN, 30000, 0);
while (1);
#endif
pwm_init(FAN_LS_PWM_A_PIN, 20000, 0);
pwm_init(FAN_LS_PWM_B_PIN, 20000, 0);
pwm_init(FAN_RS_PWM_A_PIN, 20000, 0);
pwm_init(FAN_RS_PWM_B_PIN, 20000, 0);
pwm_init(FAN_LB_PWM_A_PIN, 20000, 0);
pwm_init(FAN_LB_PWM_B_PIN, 20000, 0);
pwm_init(FAN_RB_PWM_A_PIN, 20000, 0);
pwm_init(FAN_RB_PWM_B_PIN, 20000, 0);
// pwm_init(FAN_LS_PWM_A_PIN, 40000, 0);
// pwm_init(FAN_LS_PWM_B_PIN, 40000, 0);
// pwm_init(FAN_RS_PWM_A_PIN, 40000, 0);
// pwm_init(FAN_RS_PWM_B_PIN, 40000, 0);
pwm_init(FAN_LB_PWM_A_PIN, 30000, 0);
pwm_init(FAN_LB_PWM_B_PIN, 30000, 0);
pwm_init(FAN_RB_PWM_A_PIN, 30000, 0);
pwm_init(FAN_RB_PWM_B_PIN, 30000, 0);
}
/**
@@ -104,31 +108,34 @@ void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2)
*/
void by_pwm_power_duty(int32_t bpwm_duty_ls, int32_t bpwm_duty_rs, int32_t bpwm_duty_lb, int32_t bpwm_duty_rb)
{
bpwm_duty_ls = clip_s32(bpwm_duty_ls, -0, 7000);
bpwm_duty_rs = clip_s32(bpwm_duty_rs, -0, 7000);
bpwm_duty_lb = clip_s32(bpwm_duty_lb, -0, 7000);
bpwm_duty_rb = clip_s32(bpwm_duty_rb, -0, 7000);
bpwm_duty_ls = clip_s32(bpwm_duty_ls, 500, 1000);
bpwm_duty_rs = clip_s32(bpwm_duty_rs, 500, 1000);
// if(1000==bpwm_duty_ls)bpwm_duty_rs=600;
// if(1000==bpwm_duty_rs)bpwm_duty_ls=600;
bpwm_duty_lb = clip_s32(bpwm_duty_lb, 0, 7000);
bpwm_duty_rb = clip_s32(bpwm_duty_rb, 0, 7000);
pwm_set_duty(FAN_LS_PWM_PIN, bpwm_duty_ls);
pwm_set_duty(FAN_RS_PWM_PIN, bpwm_duty_rs);
// pwm_duty_ls_g = pwm_duty_ls;
// pwm_duty_rs_g = pwm_duty_rs;
// pwm_duty_lb_g = pwm_duty_lb;
// pwm_duty_rb_g = pwm_duty_rb;
if (bpwm_duty_ls >= 0) {
pwm_set_duty(FAN_LS_PWM_A_PIN, bpwm_duty_ls);
pwm_set_duty(FAN_LS_PWM_B_PIN, 0);
} else {
pwm_set_duty(FAN_LS_PWM_A_PIN, 0);
pwm_set_duty(FAN_LS_PWM_B_PIN, -1 * pwm_duty_ls);
}
// if (bpwm_duty_ls >= 0) {
if (bpwm_duty_rs >= 0) {
pwm_set_duty(FAN_RS_PWM_A_PIN, bpwm_duty_rs);
pwm_set_duty(FAN_RS_PWM_B_PIN, 0);
} else {
pwm_set_duty(FAN_RS_PWM_A_PIN, 0);
pwm_set_duty(FAN_RS_PWM_B_PIN, -1 * pwm_duty_rs);
}
// pwm_set_duty(FAN_LS_PWM_B_PIN, 0);
// } else {
// pwm_set_duty(FAN_LS_PWM_A_PIN, 0);
// pwm_set_duty(FAN_LS_PWM_B_PIN, -1 * pwm_duty_ls);
// }
// if (bpwm_duty_rs >= 0) {
// pwm_set_duty(FAN_RS_PWM_B_PIN, 0);
// } else {
// pwm_set_duty(FAN_RS_PWM_A_PIN, 0);
// pwm_set_duty(FAN_RS_PWM_B_PIN, -1 * pwm_duty_rs);
// }
if (bpwm_duty_lb >= 0) {
pwm_set_duty(FAN_LB_PWM_A_PIN, bpwm_duty_lb);

6
app/isr.c
View File

@@ -273,8 +273,7 @@ void EXTI15_10_IRQHandler(void)
void TIM1_UP_IRQHandler(void)
{
if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) {
by_buzzer_run();
sport_motion();
TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
}
}
@@ -310,7 +309,8 @@ void TIM5_IRQHandler(void)
void TIM6_IRQHandler(void)
{
if (TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET) {
// ICM_getEulerianAngles();
by_buzzer_run();
sport_motion();
TIM_ClearITPendingBit(TIM6, TIM_IT_Update);
}
}

89
app/jj_motion.c
View File

@@ -92,7 +92,8 @@ int cnt3 = 0;
int cnt4 = 0;
int cnt5 = 0;
int cnt6 = 0;
int cnt7 = 0;
int cnt8 = 0;
uint8_t cnt3_flag = 0;
uint8_t in_state = 0;
uint8_t in_stop = 0;
@@ -102,7 +103,7 @@ int32_t pwm_duty_ls;
int32_t pwm_duty_rs;
int32_t pwm_duty_lb;
int32_t pwm_duty_rb;
int stop_have = 0;
float qd_down = 0.0f;
float last_gy = 0.0f;
/*
@@ -141,13 +142,20 @@ void sport_motion()
imu660ra_get_acc();
get_vol();
in_gyro = imu660ra_gyro_z;
if (imu660ra_acc_z <= 800) {
// 抖动停车
if (imu660ra_acc_z <= 800) {
cnt7++;
} else {
cnt7 = 0;
}
if (cnt7 >= 50) {
bt_fly_flag = bt_run_flag = 0;
bt_printf("ting");
}
// 斑马线停车
if (1 == in_stop) {
if (1 == in_stop && stop_have == 1) {
stop_flag = 1;
}
if (stop_flag == 1) {
@@ -161,46 +169,46 @@ void sport_motion()
cnt1++;
cnt2++;
cnt5++;
cnt8++;
if (cnt8 >= 10000) {
stop_have = 1;
cnt8=0;
}
// pid参数切换
if ((last_state != in_state) && (in_state == 0 || in_state == 2)) { // 直道
cnt3_flag = 1;
cnt3 = 0;
bt_printf("to 直道");
set_speed = set_speed1;
PID_SetTunings(&far_angle_pid, an_Kp1, an_Ki1, an_Kd1);
PID_SetTunings(&far_gyro_pid, gy_Kp1, gy_Ki1, gy_Kd1);
PID_SetTunings(&pos_pid, po_Kp1, po_Ki1, po_Kd1);
}
if ((last_state != in_state) && in_state == 1) { // 弯道
bt_printf("to 入弯");
set_speed = set_speed0;
cnt3_flag = 1;
PID_SetTunings(&far_angle_pid, an_Kp0, an_Ki0, an_Kd0);
PID_SetTunings(&far_gyro_pid, gy_Kp0, gy_Ki0, gy_Kd0);
PID_SetTunings(&pos_pid, cn_Kp1, cn_Ki1, cn_Kd1);
}
if ((last_state != in_state) && in_state == 3) { // 圆环
if ((last_state != in_state) && (in_state == 3 || in_state == 4)) { // 圆环
bt_printf("to 圆环");
if (in_state == 3)
set_speed = set_speed2;
else
set_speed = set_speed3;
cnt3_flag = 1;
PID_SetTunings(&far_angle_pid, yu_Kp0, yu_Ki0, yu_Kd0);
PID_SetTunings(&far_gyro_pid, ygy_Kp0, ygy_Ki0, ygy_Kd0);
PID_SetTunings(&pos_pid, cn_Kp1, cn_Ki1, cn_Kd1);
}
if ((last_state != in_state) && in_state == 5) { // 圆环
if ((last_state != in_state) && in_state == 5) { //
bt_printf("to 障碍");
set_speed = set_speed4;
cnt3_flag = 1;
PID_SetTunings(&far_angle_pid, za_Kp, za_Ki, za_Kd);
PID_SetTunings(&far_gyro_pid, zg_Kp, zg_Ki, zg_Kd);
PID_SetTunings(&pos_pid, zp_Kp, zp_Ki, zp_Kd);
}
last_state = in_state;
@@ -220,49 +228,50 @@ void sport_motion()
PID_Compute(&speed_pid);
cnt5 = 0;
}
// 并级pid，限幅
pwm_duty_ls = (int32_t)myclip_f(300 - out_pos, 100.0f, 500.f);
pwm_duty_rs = (int32_t)myclip_f(300 + out_pos, 100.0f, 500.f);
pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 5000.f);
pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 5000.f);
pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 5000.f);
pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 5000.f);
pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 7000.f);
pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 7000.f);
by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb);
by_pwm_power_duty(500 + pwm_duty_ls, 500 + pwm_duty_rs, pwm_duty_lb, pwm_duty_rb);
} else {
by_pwm_power_duty(0, 0, 0, 0);
}
/* 升力风扇设置 */
if (bt_fly_flag == 0) {
by_pwm_update_duty(0 + 500, 0 + 500);
by_pwm_update_duty(500, 500);
} else {
if ((in_state == 1 || in_state == 3 || in_state == 5) && cnt3_flag == 1) {
cnt3++;
if (in_state == 3) {
if (cnt3 >= 250) // 200ms
if (cnt3 >= 100) // 200ms
{
bt_printf("to 环内");
cnt3_flag = 2;
cnt3 = 0;
}
if (in_speed > set_speed - 100) {
qd_down = 5 * fabs(in_pos) + 75;
} else if (in_speed > set_speed - 200) {
qd_down = 2.5 * fabs(in_pos) + 30;
if (in_speed > set_speed) {
qd_down = 50;
} else if (in_speed > set_speed - 100) {
qd_down = 20;
} else {
qd_down = 0;
}
} else if (in_state == 1) {
if (cnt3 >= 500) // 200ms
if (cnt3 >= 300) // 200ms
{
bt_printf("to 弯道");
cnt3_flag = 2;
cnt3 = 0;
}
if (in_speed > set_speed - 100) {
qd_down = 5 * fabs(in_pos) + 50;
} else if (in_speed > set_speed - 200) {
qd_down = 2.5 * fabs(in_pos) + 10;
if (in_speed > set_speed) {
qd_down = 4 * fabs(in_pos) + 20;
} else if (in_speed > set_speed - 100) {
qd_down = 2 * fabs(in_pos) + 10;
} else {
qd_down = 0;
}
@@ -285,16 +294,14 @@ void sport_motion()
by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
} else {
if (in_state == 1 ) {
qd_down = 15;
qd_down = 40;
} else if(in_state == 3){
qd_down = 70;
}else{
qd_down=0;
}
if (in_state == 4) {
by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
set_speed = set_speed3;
} else {
by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
}
}
}
}
@@ -309,22 +316,22 @@ void sport_pid_init()
PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp1, an_Ki1, an_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
PID_SetMode(&far_angle_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&far_angle_pid, 20);
PID_SetOutputLimits(&far_angle_pid, -4000.0f, 4000.0f);
PID_SetOutputLimits(&far_angle_pid, -3000.0f, 3000.0f);
// 侧面位置环
PID(&pos_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
PID_SetMode(&pos_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&pos_pid, 20);
PID_SetOutputLimits(&pos_pid, -5000.0f, 5000.0f);
PID_SetOutputLimits(&pos_pid, -200.0f, 200.0f);
/* 角速度控制 */
PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp1, gy_Ki1, gy_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); // m是增量
PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&far_gyro_pid, 20);
PID_SetOutputLimits(&far_gyro_pid, -7000.0f, 7000.0f);
PID_SetOutputLimits(&far_gyro_pid, -5000.0f, 5000.0f);
/* 速度控制 */
PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_M, _PID_CD_DIRECT);
PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&speed_pid, 20);
PID_SetOutputLimits(&speed_pid, -0.0f, 7000.0f);
PID_SetOutputLimits(&speed_pid, -0.0f, 4500.0f);
}

7
app/main.c
View File

@@ -46,20 +46,19 @@ int main(void)
encoder_quad_init(TIM3_ENCOEDER, TIM3_ENCOEDER_MAP3_CH1_C6, TIM3_ENCOEDER_MAP3_CH2_C7);
ips200_init(IPS200_TYPE_SPI);
while (imu660ra_init())
;
while (imu660ra_init());
jj_param_eeprom_init();
jj_bt_init();
vol_init();
by_rb_init();
by_pwm_init();
by_buzzer_init();
by_frame_init();
by_pwm_init();
Page_Init();
sport_pid_init();
pit_ms_init(TIM1_PIT, 1); // 运动解算，编码器
pit_ms_init(TIM6_PIT, 1); // 运动解算，编码器
bt_printf("ok\r\n");