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feat: 初步完成有刷适配

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bmy
2024-03-22 11:35:15 +08:00
parent 0a943fd849
commit 756e8ce029
6 changed files with 91 additions and 70 deletions
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3
.eide/eide.json
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@@ -62,7 +62,8 @@
"app/page", "app/page",
"app/tiny_frame", "app/tiny_frame",
"3rd-lib/crc16", "3rd-lib/crc16",
"3rd-lib/lwrb/inc" "3rd-lib/lwrb/inc",
"3rd-lib/PID-Library"
], ],
"libList": [ "libList": [
"libraries/zf_device" "libraries/zf_device"

2
3rd-lib/PID-Library/pid.h
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@@ -25,7 +25,7 @@
#include <stdint.h> #include <stdint.h>
#include <string.h> #include <string.h>
#include "zf_common_headfile.h" // #include "zf_common_headfile.h"
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Defines ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */ /* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Defines ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/* ------------------------ Library ------------------------ */ /* ------------------------ Library ------------------------ */

84
app/by_fan_control.c
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@@ -1,11 +1,12 @@
#include "by_fan_control.h" #include "by_fan_control.h"
#include "zf_common_headfile.h" #include "zf_common_headfile.h"
#define Fan_pwm_up1 TIM8_PWM_MAP0_CH1_C6
#define Fan_pwm_up2 TIM8_PWM_MAP0_CH2_C7 #define FAN_LL_PWM_PIN TIM8_PWM_MAP0_CH1_C6 // 左升力风扇
#define Fan_pwm_power1 TIM4_PWM_MAP1_CH3_D14 #define FAN_RL_PWM_PIN TIM8_PWM_MAP0_CH2_C7 // 右升力风扇
#define Fan_pwm_power2 TIM4_PWM_MAP1_CH4_D15 #define FAN_LS_PWM_PIN TIM4_PWM_MAP1_CH4_D15 // 左侧动力风扇
#define Fan_pwm_power3 TIM4_PWM_MAP1_CH2_D13 #define FAN_RS_PWM_PIN TIM4_PWM_MAP1_CH3_D14 // 右侧动力风扇
#define Fan_pwm_power4 TIM4_PWM_MAP1_CH1_D12 #define FAN_LB_PWM_PIN TIM4_PWM_MAP1_CH2_D13 // 左后动力风扇
#define FAN_RB_PWM_PIN TIM4_PWM_MAP1_CH1_D12 // 右后动力风扇
uint32_t myclip(uint32_t x, uint32_t low, uint32_t up) uint32_t myclip(uint32_t x, uint32_t low, uint32_t up)
{ {
@@ -15,51 +16,58 @@ uint32_t myclip(uint32_t x, uint32_t low, uint32_t up)
void by_pwm_init(void) void by_pwm_init(void)
{ {
pwm_init(Fan_pwm_up1, 50, 500); // 浮力风扇左 pwm_init(FAN_LL_PWM_PIN, 50, 500);
pwm_init(Fan_pwm_up2, 50, 500); // 浮力风扇右 pwm_init(FAN_RL_PWM_PIN, 50, 500);
pwm_init(Fan_pwm_power1, 50, 500); // 动力风扇左 1 pwm_init(FAN_LS_PWM_PIN, 4000, 500);
pwm_init(Fan_pwm_power2, 50, 500); // 动力风扇右 1 pwm_init(FAN_RS_PWM_PIN, 4000, 500);
pwm_init(Fan_pwm_power3, 50, 500); // 动力风扇左 2 pwm_init(FAN_LB_PWM_PIN, 4000, 500);
pwm_init(Fan_pwm_power4, 50, 500); // 动力风扇右 2 pwm_init(FAN_RB_PWM_PIN, 4000, 500);
// system_delay_ms(3000); // system_delay_ms(3000);
// // pwm_init(Fan_pwm_power1, 50, 1000); // 动力风扇左 1 // // pwm_init(FAN_LS_PWM_PIN, 50, 1000); // 动力风扇左 1
// // pwm_init(Fan_pwm_power2, 50, 1000); // 动力风扇右 1 // // pwm_init(FAN_RS_PWM_PIN, 50, 1000); // 动力风扇右 1
// // pwm_init(Fan_pwm_power3, 50, 1000); // 动力风扇左 2 // // pwm_init(FAN_LB_PWM_PIN, 50, 1000); // 动力风扇左 2
// // pwm_init(Fan_pwm_power4, 50, 1000); // 动力风扇右 2 // // pwm_init(FAN_RB_PWM_PIN, 50, 1000); // 动力风扇右 2
// // system_delay_ms(5000); // // system_delay_ms(5000);
// pwm_set_duty(Fan_pwm_power1, 600); // pwm_set_duty(FAN_LS_PWM_PIN, 600);
// pwm_set_duty(Fan_pwm_power2, 600); // pwm_set_duty(FAN_RS_PWM_PIN, 600);
// pwm_set_duty(Fan_pwm_power3, 600); // pwm_set_duty(FAN_LB_PWM_PIN, 600);
// pwm_set_duty(Fan_pwm_power4, 600); // pwm_set_duty(FAN_RB_PWM_PIN, 600);
// while(1); // while(1);
} }
/**
* @brief 更新升力风扇占空比
*
* @param update_pwm_duty1
* @param update_pwm_duty2
*/
void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2) void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2)
{ {
update_pwm_duty1=myclip(update_pwm_duty1, 500, 1000); update_pwm_duty1 = myclip(update_pwm_duty1, 500, 1000);
update_pwm_duty2=myclip(update_pwm_duty2, 500, 1000); update_pwm_duty2 = myclip(update_pwm_duty2, 500, 1000);
pwm_set_duty(Fan_pwm_up1, update_pwm_duty1); pwm_set_duty(FAN_LL_PWM_PIN, update_pwm_duty1);
pwm_set_duty(Fan_pwm_up2, update_pwm_duty2); pwm_set_duty(FAN_RL_PWM_PIN, update_pwm_duty2);
} }
/** /**
* @brief * @brief 更新动力风扇占空比
* *
* @param power_pwm_duty_l1 左转向风扇 * @param pwm_duty_ls
* @param power_pwm_duty_r1 右转向风扇 * @param pwm_duty_rs
* @param power_pwm_duty_l2 左驱动风扇 * @param pwm_duty_lb
* @param power_pwm_duty_r2 右驱动风扇 * @param pwm_duty_rb
*/ */
void by_pwm_power_duty(uint32_t power_pwm_duty_l1, uint32_t power_pwm_duty_r1, uint32_t power_pwm_duty_l2, uint32_t power_pwm_duty_r2) void by_pwm_power_duty(uint32_t pwm_duty_ls, uint32_t pwm_duty_rs, uint32_t pwm_duty_lb, uint32_t pwm_duty_rb)
{ {
power_pwm_duty_l1=myclip(power_pwm_duty_l1, 500, 900); pwm_duty_ls = myclip(pwm_duty_ls, 500, 3000);
power_pwm_duty_r1=myclip(power_pwm_duty_r1, 500, 900); pwm_duty_rs = myclip(pwm_duty_rs, 500, 3000);
power_pwm_duty_l2=myclip(power_pwm_duty_l2, 500, 900); pwm_duty_lb = myclip(pwm_duty_lb, 500, 3000);
power_pwm_duty_r2=myclip(power_pwm_duty_r2, 500, 900); pwm_duty_rb = myclip(pwm_duty_rb, 500, 3000);
pwm_set_duty(Fan_pwm_power1, power_pwm_duty_l1); pwm_set_duty(FAN_LS_PWM_PIN, pwm_duty_ls);
pwm_set_duty(Fan_pwm_power2, power_pwm_duty_r1); pwm_set_duty(FAN_RS_PWM_PIN, pwm_duty_rs);
pwm_set_duty(Fan_pwm_power3, power_pwm_duty_l2); pwm_set_duty(FAN_LB_PWM_PIN, pwm_duty_lb);
pwm_set_duty(Fan_pwm_power4, power_pwm_duty_r2); pwm_set_duty(FAN_RB_PWM_PIN, pwm_duty_rb);
} }

64
app/jj_motion.c
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@@ -1,9 +1,11 @@
#include "jj_motion.h" #include "jj_motion.h"
#include "zf_common_headfile.h"
#include "pid.h"
#include "jj_blueteeth.h"
#include "by_fan_control.h" #include "by_fan_control.h"
#include "by_imu.h" #include "by_imu.h"
#include "jj_blueteeth.h"
#include "../3rd-lib/PID-Library/pid.h"
#include "zf_driver_encoder.h"
PID_TypeDef far_angle_pid; PID_TypeDef far_angle_pid;
PID_TypeDef far_gyro_pid; PID_TypeDef far_gyro_pid;
@@ -70,18 +72,21 @@ void sport_motion(void)
PID_Compute(&far_gyro_pid); PID_Compute(&far_gyro_pid);
if (cnt1 >= 10) { if (cnt1 >= 10) {
in_speed = -1 * sport_get_speed();
PID_Compute(&speed_pid); PID_Compute(&speed_pid);
in_speed = -sport_get_speed();
// printf("rate:%d\r\n", (int16_t)in_speed);
PID_Compute(&near_pos_pid); PID_Compute(&near_pos_pid);
cnt1 = 0; cnt1 = 0;
} }
if (cnt2 >= 20) { if (cnt2 >= 20) {
cnt2 = 0; cnt2 = 0;
PID_Compute(&far_angle_pid); PID_Compute(&far_angle_pid);
} }
if (bt_run_flag == 1) {
/* 动力风扇设置 */
if (1 == bt_run_flag) {
if (out_gyro > 0) { if (out_gyro > 0) {
by_pwm_power_duty((int32_t)(500 - 1 * out_pos + 0 * out_gyro), by_pwm_power_duty((int32_t)(500 - 1 * out_pos + 0 * out_gyro),
(int32_t)(500 + 1 * out_pos - 0 * out_gyro), (int32_t)(500 + 1 * out_pos - 0 * out_gyro),
@@ -99,6 +104,8 @@ void sport_motion(void)
} else { } else {
by_pwm_power_duty(500, 500, 500, 500); by_pwm_power_duty(500, 500, 500, 500);
} }
/* 升力风扇设置 */
if (bt_fly_flag == 0) { if (bt_fly_flag == 0) {
by_pwm_update_duty(0 + 500, 0 + 500); by_pwm_update_duty(0 + 500, 0 + 500);
} else { } else {
@@ -112,26 +119,31 @@ void sport_motion(void)
*/ */
void sport_pid_init() void sport_pid_init()
{ {
/* 角度控制 */
PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp, an_Ki, an_Kd, _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, -3000.0f, 3000.0f);
// PID_Init(&far_angle_pid);
PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp, an_Ki, an_Kd, 1, 1); /* 角速度控制 */
PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp, gy_Ki, gy_Kd, 1, 1); PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp, gy_Ki, gy_Kd, _PID_P_ON_E, _PID_CD_REVERSE);
PID_Init(&far_angle_pid); PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);
PID_Init(&far_gyro_pid); PID_SetSampleTime(&far_gyro_pid, 1);
PID_SetOutputLimits(&far_gyro_pid, -3000.0f, 3000.0f);
// PID_Init(&far_gyro_pid);
PID_SetOutputLimits(&far_angle_pid, -500.0f, 500.0f); /* 近点控制 */
PID_SetOutputLimits(&far_gyro_pid, -500.0f, 500.0f); PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp, po_Ki, po_Kd, _PID_P_ON_E, _PID_CD_DIRECT);
PID_SetMode(&near_pos_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&near_pos_pid, 10);
PID_SetOutputLimits(&near_pos_pid, -3000.0f, 3000.0f);
// PID_Init(&near_pos_pid);
PID_SetMode(&far_gyro_pid, 1); /* 速度控制 */
PID_SetMode(&far_angle_pid, 1); PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_E, _PID_CD_DIRECT);
PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC);
PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp, po_Ki, po_Kd, 1, 0); PID_SetSampleTime(&speed_pid, 10);
PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, 1, 0); PID_SetOutputLimits(&speed_pid, 0.0f, 2500.0f);
PID_Init(&near_pos_pid); // PID_Init(&speed_pid);
PID_Init(&speed_pid);
PID_SetOutputLimits(&near_pos_pid, -500.0f, 500.0f);
PID_SetOutputLimits(&speed_pid, 0.0f, 400.0f);
PID_SetMode(&near_pos_pid, 1);
PID_SetMode(&speed_pid, 1);
} }

2
app/main.c
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@@ -68,7 +68,7 @@ int main(void)
while (1) { while (1) {
debug_array[0] = in_pos; debug_array[0] = in_pos;
debug_array[1] = out_pos; debug_array[1] = out_pos;
by_vofa_send(&vofa_test); // 发送数据 // by_vofa_send(&vofa_test); // 发送数据
Page_Run(); Page_Run();
by_frame_parse(2, &test_data[0].u32); by_frame_parse(2, &test_data[0].u32);
by_buzzer_run(); by_buzzer_run();

4
app/page/page_dparam.c
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@@ -42,11 +42,11 @@ static void Exit()
*/ */
static void Loop() static void Loop()
{ {
ips200_show_string(0, 40, "far"); ips200_show_string(0, 40, "angle");
ips200_show_float(80, 40, in_angle, 4, 1); ips200_show_float(80, 40, in_angle, 4, 1);
ips200_show_string(0, 60, "near"); ips200_show_string(0, 60, "near");
ips200_show_float(80, 60, in_pos, 4, 1); ips200_show_float(80, 60, in_pos, 4, 1);
ips200_show_string(0, 80, "gyrz"); ips200_show_string(0, 80, "gyroz");
ips200_show_float(80, 80, in_gyro, 4, 2); ips200_show_float(80, 80, in_gyro, 4, 2);
ips200_show_string(0, 100, "speed"); ips200_show_string(0, 100, "speed");
ips200_show_float(80, 100, in_speed, 4, 4); ips200_show_float(80, 100, in_speed, 4, 4);