feat: 增加速度环

app/by_can.c

@@ -2,8 +2,11 @@
 
 #include <string.h>
 #include <assert.h>
+#include "dwt_delay.h"
+#include "by_utils.h"
+#include "by_debug.h"
 
-uint8_t by_can_send_stdd(uint32_t id, const uint8_t *data, uint8_t len)
+by_error_status by_can_send_stdd(uint32_t id, const uint8_t *data, uint8_t len, uint16_t timeout)
 {
 
   assert(id < 0x7FF);
@@ -23,9 +26,15 @@ uint8_t by_can_send_stdd(uint32_t id, const uint8_t *data, uint8_t len)
   transmit_mailbox = can_message_transmit(CAN1, &tx_message_struct); /* 将以上待发送报文写入发送邮箱并请求发送 */
 
   /* 等待该邮箱发送成功—对应邮箱发送成功标志置起 */
-  while (can_transmit_status_get(CAN1, (can_tx_mailbox_num_type)transmit_mailbox) !=
-         CAN_TX_STATUS_SUCCESSFUL)
-    ;
+  while (can_transmit_status_get(CAN1, (can_tx_mailbox_num_type)transmit_mailbox) != CAN_TX_STATUS_SUCCESSFUL) {
+    // LOGD("CAN#SEND: timeout=%d", timeout);
+    if (0 == timeout--) {
+      LOGW("CAN#TIMEOUT: ID=0x%x", id);
 
-  return 0;
+      return BY_ERROR;
+    }
+    DWT_Delay(10);
+  }
+
+  return BY_SUCCESS;
 }

app/by_can.h

@@ -2,7 +2,8 @@
 #define _BY_CAN_H__
 
 #include "at32f413.h"
+#include "by_utils.h"
 
-uint8_t by_can_send_stdd(uint32_t id, const uint8_t *data, uint8_t len);
+by_error_status by_can_send_stdd(uint32_t id, const uint8_t *data, uint8_t len, uint16_t timeout);
 
 #endif

app/by_motion.c

@@ -1,15 +1,20 @@
 #include "by_motion.h"
 
+#include "pid.h"
 #include "dwt_delay.h"
 #include "by_utils.h"
+#include "by_debug.h"
 
 #define DRV_ENABLE()  gpio_bits_set(GPIOB, GPIO_PINS_15)
 #define DRV_DISABLE() gpio_bits_reset(GPIOB, GPIO_PINS_15)
 
-int16_t speed_m1;
-int16_t speed_m2;
+by_motor_param param_m1;
+by_motor_param param_m2;
+PID_TypeDef pid_m1;
+PID_TypeDef pid_m2;
+uint8_t motion_enable_flag;
 
-void by_motion_pwm_m1(int32_t pwm_duty)
+void by_motion_set_pwm_m1(int32_t pwm_duty)
 {
   pwm_duty = clip_s32(pwm_duty, -449, 449); // 不可以拉满哦
   pwm_duty += 499;
@@ -18,7 +23,7 @@ void by_motion_pwm_m1(int32_t pwm_duty)
   tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_1, pwm_duty);
 }
 
-void by_motion_pwm_m2(int32_t pwm_duty)
+void by_motion_set_pwm_m2(int32_t pwm_duty)
 {
   pwm_duty = clip_s32(pwm_duty, -449, 449); // 不可以拉满哦
   pwm_duty += 499;
@@ -29,21 +34,100 @@ void by_motion_pwm_m2(int32_t pwm_duty)
 
 int16_t by_motion_get_speed_m1(void)
 {
-  speed_m1 = (int16_t)tmr_counter_value_get(TMR2);
+#define alpha (0.1f)
+  static float last_speed = 0.0f;
+  param_m1.real_speed     = alpha * last_speed + (1.0f - alpha) * (float)(-1 * (int16_t)tmr_counter_value_get(TMR2));
+  last_speed = param_m1.real_speed;
   tmr_counter_value_set(TMR2, 0);
-  return speed_m1;
+  return (int16_t)param_m1.real_speed;
+#undef alpha
 }
 
 int16_t by_motion_get_speed_m2(void)
 {
-  speed_m2 = (int16_t)tmr_counter_value_get(TMR3);
+#define alpha (0.1f)
+  static float last_speed = 0.0f;
+  param_m2.real_speed     = alpha * last_speed + (1.0f - alpha) * (float)(-1 * (int16_t)tmr_counter_value_get(TMR3));
+  last_speed = param_m2.real_speed;
   tmr_counter_value_set(TMR3, 0);
-  return speed_m2;
+  return (int16_t)param_m2.real_speed;
+#undef alpha
+}
+
+void by_motion_set_speed_m1(int16_t speed)
+{
+  param_m1.target_speed = speed;
+}
+
+void by_motion_set_speed_m2(int16_t speed)
+{
+  param_m2.target_speed = speed;
 }
 
 void by_motion_init(void)
 {
+  motion_enable_flag = 0;
+
+  by_motion_set_pwm_m1(0);
+  by_motion_set_pwm_m2(0);
+
+  /* set default parameters */
+  param_m1.Kp = BY_MOTION_DEFAULT_KP_M1;
+  param_m1.Ki = BY_MOTION_DEFAULT_KI_M1;
+  param_m1.Kd = BY_MOTION_DEFAULT_KD_M1;
+  param_m2.Kp = BY_MOTION_DEFAULT_KP_M2;
+  param_m2.Ki = BY_MOTION_DEFAULT_KI_M2;
+  param_m2.Kd = BY_MOTION_DEFAULT_KD_M2;
+
+  /* load parameters form ee */
+  // TODO
+
+  PID(&pid_m1, &param_m1.real_speed, &param_m1.out_pwm, &param_m1.target_speed, param_m1.Kp, param_m1.Ki, param_m1.Kd, _PID_P_ON_E, _PID_CD_DIRECT);
+  PID_SetMode(&pid_m1, _PID_MODE_AUTOMATIC);
+  PID_SetSampleTime(&pid_m1, 10);
+  PID_SetOutputLimits(&pid_m1, -400, 400);
+
+  PID(&pid_m2, &param_m2.real_speed, &param_m2.out_pwm, &param_m2.target_speed, param_m2.Kp, param_m2.Ki, param_m2.Kd, _PID_P_ON_E, _PID_CD_DIRECT);
+  PID_SetMode(&pid_m2, _PID_MODE_AUTOMATIC);
+  PID_SetSampleTime(&pid_m2, 10);
+  PID_SetOutputLimits(&pid_m2, -400, 400);
+
+  motion_enable_flag = 1;
   DRV_ENABLE();
-  by_motion_pwm_m1(-125);
-  by_motion_pwm_m2(0);
 }
+
+void by_motion_run(void)
+{
+  if (motion_enable_flag) {
+    by_motion_get_speed_m1();
+    by_motion_get_speed_m2();
+
+    PID_Compute(&pid_m1);
+    PID_Compute(&pid_m2);
+
+    by_motion_set_pwm_m1((int32_t)param_m1.out_pwm);
+    by_motion_set_pwm_m2((int32_t)param_m2.out_pwm);
+  }
+}
+
+void by_motion_can_handle(uint16_t stdd_id, const uint8_t *data, uint8_t len)
+{
+#define BC2D_MODEL2
+
+  if (0x01 == stdd_id) {
+#if defined(BC2D_MODEL1)
+    int16_t speed_m1_temp = (int16_t)data[0] | ((int16_t)data[1] << 8);
+    int16_t speed_m2_temp = (int16_t)data[2] | ((int16_t)data[3] << 8);
+    by_motion_set_speed_m1(speed_m1_temp);
+    by_motion_set_speed_m2(speed_m2_temp);
+#elif defined(BC2D_MODEL2)
+    int16_t speed_m1_temp = (int16_t)(data[4] | (data[5] << 8));
+    int16_t speed_m2_temp = (int16_t)(data[6] | (data[7] << 8));
+    by_motion_set_speed_m1(speed_m1_temp);
+    by_motion_set_speed_m2(speed_m2_temp);
+#endif
+  }
+
+  LOGD("m1:%f,%f,%f", param_m1.real_speed, param_m1.target_speed, param_m1.out_pwm);
+  LOGD("m2:%f,%f,%f", param_m2.real_speed, param_m2.target_speed, param_m2.out_pwm);
+}

app/by_motion.h

@@ -3,11 +3,33 @@
 
 #include "at32f413.h"
 
+typedef struct by_motor_param {
+  float Kp;
+  float Ki;
+  float Kd;
+  float real_speed;
+  float target_speed;
+  float out_pwm;
+} by_motor_param;
+
+#define BY_MOTION_DEFAULT_KP_M1 (5.0f)
+#define BY_MOTION_DEFAULT_KI_M1 (100.0f)
+#define BY_MOTION_DEFAULT_KD_M1 (0.0f)
+#define BY_MOTION_DEFAULT_KP_M2 (5.0f)
+#define BY_MOTION_DEFAULT_KI_M2 (100.0f)
+#define BY_MOTION_DEFAULT_KD_M2 (0.0f)
+
 extern void by_motion_init(void);
+extern void by_motion_run(void);
+extern void by_motion_set_pwm_m1(int32_t pwm_duty);
+extern void by_motion_set_pwm_m2(int32_t pwm_duty);
 extern int16_t by_motion_get_speed_m1(void);
 extern int16_t by_motion_get_speed_m2(void);
+extern void by_motion_set_speed_m1(int16_t speed);
+extern void by_motion_set_speed_m2(int16_t speed);
+extern void by_motion_can_handle(uint16_t stdd_id, const uint8_t *data, uint8_t len);
 
-extern int16_t speed_m1;
-extern int16_t speed_m2;
+extern by_motor_param param_m1;
+extern by_motor_param param_m2;
 
 #endif

app/by_utils.h

@@ -3,6 +3,21 @@
 
 #include "at32f413.h"
 
+typedef enum {
+  BY_ERROR   = 0,
+  BY_SUCCESS = !BY_ERROR
+} by_error_status;
+
+typedef enum {
+  T_U8 = 0,
+  T_U16,
+  T_U32,
+  T_S8,
+  T_S16,
+  T_S32,
+  T_F32
+} by_data_type;
+
 int32_t clip_s32(int32_t x, int32_t low, int32_t up);
 
 #endif