btl143/QD4C-firmware
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完赛的一个版本

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This commit is contained in:
井明江
2024-06-27 02:28:12 +08:00
parent f04b21f738
commit fad2a71e3a
6 changed files with 55 additions and 28 deletions
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42
app/by_fan_control.c
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@@ -12,11 +12,11 @@
#define FAN_RB_PWM_A_PIN TIM4_PWM_MAP1_CH1_D12 // 右后 #define FAN_RB_PWM_A_PIN TIM4_PWM_MAP1_CH1_D12 // 右后
#define FAN_RB_PWM_B_PIN TIM4_PWM_MAP1_CH3_D14 // 右后 #define FAN_RB_PWM_B_PIN TIM4_PWM_MAP1_CH3_D14 // 右后
// M3 // M3
#define FAN_LS_PWM_A_PIN TIM10_PWM_MAP3_CH3_D5 // 左侧 #define FAN_LS_PWM_B_PIN TIM10_PWM_MAP3_CH3_D5 // 左侧
#define FAN_LS_PWM_B_PIN TIM10_PWM_MAP3_CH1_D1 // 左侧 #define FAN_LS_PWM_A_PIN TIM10_PWM_MAP3_CH1_D1 // 左侧
// M2 // M2
#define FAN_RS_PWM_A_PIN TIM4_PWM_MAP1_CH4_D15 // 右侧 #define FAN_RS_PWM_B_PIN TIM4_PWM_MAP1_CH4_D15 // 右侧
#define FAN_RS_PWM_B_PIN TIM4_PWM_MAP1_CH2_D13 // 右侧 #define FAN_RS_PWM_A_PIN TIM4_PWM_MAP1_CH2_D13 // 右侧
int32_t pwm_duty_ls_g; int32_t pwm_duty_ls_g;
int32_t pwm_duty_rs_g; int32_t pwm_duty_rs_g;
@@ -49,25 +49,25 @@ void by_pwm_init(void)
pwm_init(FAN_RL_PWM_PIN, 50, 500); pwm_init(FAN_RL_PWM_PIN, 50, 500);
#if FIX_DRIVE == 1 #if FIX_DRIVE == 1
pwm_init(FAN_LS_PWM_A_PIN, 30000, 1000); pwm_init(FAN_LS_PWM_A_PIN, 20000, 7000);
pwm_init(FAN_LS_PWM_B_PIN, 30000, 1000); pwm_init(FAN_LS_PWM_B_PIN, 20000, 7000);
pwm_init(FAN_RS_PWM_A_PIN, 12000, 1000); pwm_init(FAN_RS_PWM_A_PIN, 20000, 7000);
pwm_init(FAN_RS_PWM_B_PIN, 12000, 1000); pwm_init(FAN_RS_PWM_B_PIN, 20000, 7000);
pwm_init(FAN_LB_PWM_A_PIN, 12000, 1000); pwm_init(FAN_LB_PWM_A_PIN, 20000, 7000);
pwm_init(FAN_LB_PWM_B_PIN, 12000, 1000); pwm_init(FAN_LB_PWM_B_PIN, 20000, 7000);
pwm_init(FAN_RB_PWM_A_PIN, 30000, 1000); pwm_init(FAN_RB_PWM_A_PIN, 20000, 7000);
pwm_init(FAN_RB_PWM_B_PIN, 30000, 1000); pwm_init(FAN_RB_PWM_B_PIN, 20000, 7000);
while (1); while (1);
#elif FIX_DRIVE == 2 #elif FIX_DRIVE == 2
pwm_init(FAN_LS_PWM_A_PIN, 12000, 1000); pwm_init(FAN_LS_PWM_A_PIN, 20000, 7000);
pwm_init(FAN_LS_PWM_B_PIN, 12000, 0); pwm_init(FAN_LS_PWM_B_PIN, 20000, 0);
pwm_init(FAN_RS_PWM_A_PIN, 12000, 1000); pwm_init(FAN_RS_PWM_A_PIN, 20000, 7000);
pwm_init(FAN_RS_PWM_B_PIN, 12000, 0); pwm_init(FAN_RS_PWM_B_PIN, 20000, 0);
pwm_init(FAN_LB_PWM_A_PIN, 12000, 1000); pwm_init(FAN_LB_PWM_A_PIN, 20000, 7000);
pwm_init(FAN_LB_PWM_B_PIN, 12000, 0); pwm_init(FAN_LB_PWM_B_PIN, 20000, 0);
pwm_init(FAN_RB_PWM_A_PIN, 12000, 1000); pwm_init(FAN_RB_PWM_A_PIN, 20000, 7000);
pwm_init(FAN_RB_PWM_B_PIN, 12000, 0); pwm_init(FAN_RB_PWM_B_PIN, 20000, 0);
while(1); while (1);
#endif #endif
pwm_init(FAN_LS_PWM_A_PIN, 20000, 0); pwm_init(FAN_LS_PWM_A_PIN, 20000, 0);
pwm_init(FAN_LS_PWM_B_PIN, 20000, 0); pwm_init(FAN_LS_PWM_B_PIN, 20000, 0);

19
app/jj_motion.c
View File

@@ -2,7 +2,7 @@
#include <math.h> #include <math.h>
#include "zf_common_headfile.h" #include "zf_common_headfile.h"
#include "pid.h" #include "pid.h"
#include "jj_voltage.h"
#include "jj_blueteeth.h" #include "jj_blueteeth.h"
#include "by_fan_control.h" #include "by_fan_control.h"
#include "by_imu.h" #include "by_imu.h"
@@ -88,6 +88,7 @@ int32_t pwm_duty_ls;
int32_t pwm_duty_rs; int32_t pwm_duty_rs;
int32_t pwm_duty_lb; int32_t pwm_duty_lb;
int32_t pwm_duty_rb; int32_t pwm_duty_rb;
float qd_down = 0.0f;
/* /*
0:无状态 0:无状态
@@ -123,6 +124,7 @@ void sport_motion()
imu660ra_get_gyro(); imu660ra_get_gyro();
imu660ra_get_acc(); imu660ra_get_acc();
get_vol();
in_gyro = imu660ra_gyro_z; in_gyro = imu660ra_gyro_z;
// 抖动停车 // 抖动停车
if (imu660ra_acc_z <= 600) { if (imu660ra_acc_z <= 600) {
@@ -149,6 +151,7 @@ void sport_motion()
if ((last_state != in_state) && (in_state == 0 || in_state == 2)) { // 直道 if ((last_state != in_state) && (in_state == 0 || in_state == 2)) { // 直道
cnt3_flag = 1; cnt3_flag = 1;
cnt3 = 0; cnt3 = 0;
bt_printf("to 直道"); bt_printf("to 直道");
set_speed = set_speed1; set_speed = set_speed1;
PID_SetTunings(&far_angle_pid, an_Kp1, an_Ki1, an_Kd1); PID_SetTunings(&far_angle_pid, an_Kp1, an_Ki1, an_Kd1);
@@ -165,6 +168,7 @@ void sport_motion()
if ((last_state != in_state) && in_state == 3) { // 圆环 if ((last_state != in_state) && in_state == 3) { // 圆环
bt_printf("to 圆环"); bt_printf("to 圆环");
set_speed = set_speed2; set_speed = set_speed2;
cnt3_flag = 1; cnt3_flag = 1;
PID_SetTunings(&far_angle_pid, yu_Kp0, yu_Ki0, yu_Kd0); PID_SetTunings(&far_angle_pid, yu_Kp0, yu_Ki0, yu_Kd0);
PID_SetTunings(&far_gyro_pid, ygy_Kp0, ygy_Ki0, ygy_Kd0); PID_SetTunings(&far_gyro_pid, ygy_Kp0, ygy_Ki0, ygy_Kd0);
@@ -181,10 +185,11 @@ void sport_motion()
cnt2 = 0; cnt2 = 0;
} }
if (cnt5 >= 20) { if (cnt5 >= 20) {
PID_Compute(&speed_pid);
PID_Compute(&far_angle_pid); PID_Compute(&far_angle_pid);
PID_Compute(&str_angle_pid); PID_Compute(&str_angle_pid);
PID_Compute(&tur_cal_pid); PID_Compute(&tur_cal_pid);
PID_Compute(&speed_pid);
cnt5 = 0; cnt5 = 0;
} }
// 输出限幅 // 输出限幅
@@ -234,8 +239,12 @@ void sport_motion()
cnt3 = 0; cnt3 = 0;
} }
} }
float tt = 6 * fabs(in_pos); if (in_speed > set_speed - 100) {
by_pwm_update_duty(bt_fly + 500 - tt, bt_fly + 500 - tt); qd_down = 6 * fabs(in_pos);
} else {
qd_down = 0;
}
by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
} else { } else {
if (in_state == 4) { if (in_state == 4) {
by_pwm_update_duty(bt_fly + 515, bt_fly + 515); by_pwm_update_duty(bt_fly + 515, bt_fly + 515);
@@ -277,7 +286,7 @@ void sport_pid_init()
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(&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_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);
PID_SetSampleTime(&far_gyro_pid, 20); PID_SetSampleTime(&far_gyro_pid, 20);
PID_SetOutputLimits(&far_gyro_pid, -5500.0f, 5500.0f); PID_SetOutputLimits(&far_gyro_pid, -6000.0f, 6000.0f);
/* 速度控制 */ /* 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(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_M, _PID_CD_DIRECT);

12
app/jj_voltage.c
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@@ -1 +1,13 @@
#include "jj_voltage.h" #include "jj_voltage.h"
#include "zf_driver_adc.h"
#define GET_VOL_PIN ADC2_IN5_A5
float now_vol;
void vol_init(void)
{
adc_init(GET_VOL_PIN,ADC_12BIT);
}
void get_vol()
{
now_vol=0.003377f*adc_convert(GET_VOL_PIN)+0.16f;
}

4
app/jj_voltage.h
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@@ -3,5 +3,7 @@
#include "stdio.h" #include "stdio.h"
#include "zf_driver_uart.h" #include "zf_driver_uart.h"
extern float now_vol;
void vol_init();
void get_vol();
#endif #endif

2
app/main.c
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@@ -28,6 +28,7 @@
#include "jj_param.h" #include "jj_param.h"
#include "jj_motion.h" #include "jj_motion.h"
#include "jj_blueteeth.h" #include "jj_blueteeth.h"
#include "jj_voltage.h"
#include "by_imu.h" #include "by_imu.h"
#include "by_vofa.h" #include "by_vofa.h"
@@ -49,6 +50,7 @@ int main(void)
; ;
jj_param_eeprom_init(); jj_param_eeprom_init();
jj_bt_init(); jj_bt_init();
vol_init();
by_rb_init(); by_rb_init();
by_pwm_init(); by_pwm_init();
by_buzzer_init(); by_buzzer_init();

4
app/page/page_dparam.c
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@@ -2,7 +2,7 @@
#include "page_ui_widget.h" #include "page_ui_widget.h"
#include "jj_motion.h" #include "jj_motion.h"
#include "page.h" #include "page.h"
#include"jj_voltage.h"
#include <math.h> #include <math.h>
#define LINE_HEAD 0 #define LINE_HEAD 0
@@ -62,6 +62,8 @@ static void Loop()
ips200_show_float(80, 160, out_pos, 4, 1); ips200_show_float(80, 160, out_pos, 4, 1);
ips200_show_string(0, 180, "outcal"); ips200_show_string(0, 180, "outcal");
ips200_show_float(80, 180, out_cal, 4, 1); ips200_show_float(80, 180, out_cal, 4, 1);
ips200_show_string(0, 200, "vol");
ips200_show_float(80, 200, (float)now_vol, 4,2);
ips200_show_string(180, 0, "ls"); ips200_show_string(180, 0, "ls");
ips200_show_float(220, 0, pwm_duty_ls, 4, 1); ips200_show_float(220, 0, pwm_duty_ls, 4, 1);