332 lines
10 KiB
C
332 lines
10 KiB
C
#include "motor.h"
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#include <stdbool.h>
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#include <stdint.h>
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#include "tim.h"
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/*
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* 这个文件负责两件事：
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* 1) 把 LADRC 输出的有符号控制量，转换成 H 桥两路 PWM
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* 2) 读取四路编码器，得到实时 RPM，并累加成供 CAN 上传的里程计增量
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*
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* 约定：
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* - 上层统一把“车体前进”视为正方向
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* - 由于左右电机安装方向镜像，左侧电机的硬件方向需要在底层翻转
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*/
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/* ================== 全局静态变量 ================== */
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static uint16_t s_last_count[4] = {0U, 0U, 0U, 0U};
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static volatile float s_current_rpm[4] = {0.0f, 0.0f, 0.0f, 0.0f};
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static volatile int32_t s_odom_acc_ticks[4] = {0, 0, 0, 0};
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/* ================== 内部辅助函数声明 ================== */
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static inline void Motor_WriteBridge(TIM_HandleTypeDef *htim,
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uint32_t channel_in1,
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uint32_t channel_in2,
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uint16_t pwm_in1,
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uint16_t pwm_in2);
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static void Motor_PrimeEncoderCounters(void);
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static uint16_t Motor_ClampAbsToPwm(int32_t value);
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static int16_t Motor_SaturateToI16(int32_t value);
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/**
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* @brief 给 H 桥两路输入分别写入 PWM。
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* @note AT8236 方向约定：
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* - 正转：IN1 = PWM，IN2 = 0
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* - 反转：IN1 = 0， IN2 = PWM
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*/
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static inline void Motor_WriteBridge(TIM_HandleTypeDef *htim,
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uint32_t channel_in1,
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uint32_t channel_in2,
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uint16_t pwm_in1,
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uint16_t pwm_in2)
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{
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__HAL_TIM_SET_COMPARE(htim, channel_in1, pwm_in1);
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__HAL_TIM_SET_COMPARE(htim, channel_in2, pwm_in2);
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}
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/**
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* @brief 把任意有符号数限幅并取绝对值，转换成 PWM 占空比。
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*/
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static uint16_t Motor_ClampAbsToPwm(int32_t value)
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{
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if (value > PWM_LIMIT)
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{
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value = PWM_LIMIT;
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}
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else if (value < -PWM_LIMIT)
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{
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value = -PWM_LIMIT;
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}
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if (value < 0)
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{
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value = -value;
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}
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return (uint16_t)value;
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}
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/**
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* @brief int32 饱和到 int16，防止 CAN 打包时溢出回绕。
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*/
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static int16_t Motor_SaturateToI16(int32_t value)
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{
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if (value > 32767)
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{
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return 32767;
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}
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if (value < -32768)
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{
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return -32768;
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}
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return (int16_t)value;
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}
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/**
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* @brief 在编码器启动后，用当前计数值作为初值。
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* @note 这样可以避免“last_count 初始为 0”导致首个控制周期出现巨大假速度。
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*/
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static void Motor_PrimeEncoderCounters(void)
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{
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s_last_count[MOTOR_FL] = (uint16_t)__HAL_TIM_GET_COUNTER(&htim5);
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s_last_count[MOTOR_RL] = (uint16_t)__HAL_TIM_GET_COUNTER(&htim3);
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s_last_count[MOTOR_FR] = (uint16_t)__HAL_TIM_GET_COUNTER(&htim4);
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s_last_count[MOTOR_RR] = (uint16_t)__HAL_TIM_GET_COUNTER(&htim1);
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}
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/**
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* @brief 启动所有 PWM 和编码器接口。
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*/
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void Motor_Init(void)
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{
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uint32_t primask = __get_PRIMASK();
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if (HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3) != HAL_OK) { Error_Handler(); }
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if (HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4) != HAL_OK) { Error_Handler(); }
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if (HAL_TIM_PWM_Start(&htim9, TIM_CHANNEL_1) != HAL_OK) { Error_Handler(); }
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if (HAL_TIM_PWM_Start(&htim9, TIM_CHANNEL_2) != HAL_OK) { Error_Handler(); }
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if (HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_1) != HAL_OK) { Error_Handler(); }
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if (HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_2) != HAL_OK) { Error_Handler(); }
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if (HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_3) != HAL_OK) { Error_Handler(); }
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if (HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_4) != HAL_OK) { Error_Handler(); }
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if (HAL_TIM_Encoder_Start(&htim5, TIM_CHANNEL_ALL) != HAL_OK) { Error_Handler(); }
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if (HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL) != HAL_OK) { Error_Handler(); }
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if (HAL_TIM_Encoder_Start(&htim4, TIM_CHANNEL_ALL) != HAL_OK) { Error_Handler(); }
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if (HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_ALL) != HAL_OK) { Error_Handler(); }
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/* 启动完成后，把输出和测速状态清零。 */
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Motor_Brake_All();
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Motor_PrimeEncoderCounters();
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__disable_irq();
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s_current_rpm[MOTOR_FL] = 0.0f;
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s_current_rpm[MOTOR_RL] = 0.0f;
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s_current_rpm[MOTOR_FR] = 0.0f;
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s_current_rpm[MOTOR_RR] = 0.0f;
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s_odom_acc_ticks[MOTOR_FL] = 0;
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s_odom_acc_ticks[MOTOR_RL] = 0;
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s_odom_acc_ticks[MOTOR_FR] = 0;
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s_odom_acc_ticks[MOTOR_RR] = 0;
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__set_PRIMASK(primask);
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}
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/**
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* @brief 把有符号控制量转换为电机驱动输出。
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* @param id 电机编号
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* @param control_out 上层控制量，正值表示“希望车体前进”
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* @note
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* 1) 这里先按“车体坐标系”理解 control_out。
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* 2) 左侧电机由于安装镜像，硬件方向要翻转一次。
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* 3) 变量 forward 的语义始终保持一致：
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* true -> IN1 = PWM, IN2 = 0
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* false -> IN1 = 0, IN2 = PWM
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*/
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void Set_Motor_Output(Motor_ID_t id, int16_t control_out)
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{
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int32_t hw_command = (int32_t)control_out;
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bool forward;
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uint16_t pwm_val;
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/* 左侧硬件方向镜像：同样的“车体前进”命令，左轮需要反向转。 */
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if ((id == MOTOR_FL) || (id == MOTOR_RL))
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{
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hw_command = -hw_command;
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}
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forward = (hw_command < 0);
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pwm_val = Motor_ClampAbsToPwm(hw_command);
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switch (id)
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{
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case MOTOR_FL:
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if (forward)
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{
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Motor_WriteBridge(&htim2, TIM_CHANNEL_3, TIM_CHANNEL_4, pwm_val, 0U);
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}
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else
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{
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Motor_WriteBridge(&htim2, TIM_CHANNEL_3, TIM_CHANNEL_4, 0U, pwm_val);
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}
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break;
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case MOTOR_RL:
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if (forward)
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{
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Motor_WriteBridge(&htim9, TIM_CHANNEL_1, TIM_CHANNEL_2, pwm_val, 0U);
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}
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else
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{
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Motor_WriteBridge(&htim9, TIM_CHANNEL_1, TIM_CHANNEL_2, 0U, pwm_val);
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}
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break;
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case MOTOR_FR:
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if (forward)
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{
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Motor_WriteBridge(&htim8, TIM_CHANNEL_1, TIM_CHANNEL_2, pwm_val, 0U);
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}
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else
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{
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Motor_WriteBridge(&htim8, TIM_CHANNEL_1, TIM_CHANNEL_2, 0U, pwm_val);
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}
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break;
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case MOTOR_RR:
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if (forward)
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{
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Motor_WriteBridge(&htim8, TIM_CHANNEL_3, TIM_CHANNEL_4, pwm_val, 0U);
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}
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else
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{
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Motor_WriteBridge(&htim8, TIM_CHANNEL_3, TIM_CHANNEL_4, 0U, pwm_val);
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}
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break;
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default:
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break;
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}
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}
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/**
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* @brief 停止四个电机输出。
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* @note 这里使用“两个方向脚都置 0”的空转停车方式。
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* 如果你的驱动板支持真正的短刹车，并且你确认接线与驱动逻辑，
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* 可以单独再加一个 Brake 模式。
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*/
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void Motor_Brake_All(void)
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{
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Motor_WriteBridge(&htim2, TIM_CHANNEL_3, TIM_CHANNEL_4, 0U, 0U);
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Motor_WriteBridge(&htim9, TIM_CHANNEL_1, TIM_CHANNEL_2, 0U, 0U);
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Motor_WriteBridge(&htim8, TIM_CHANNEL_1, TIM_CHANNEL_2, 0U, 0U);
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Motor_WriteBridge(&htim8, TIM_CHANNEL_3, TIM_CHANNEL_4, 0U, 0U);
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}
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/**
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* @brief 读取编码器脉冲并更新实时转速。
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* @param dt_s 控制周期，单位秒，例如 10ms 就传 0.01f
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* @note
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* - 利用 int16_t 差分天然处理 16 位编码器计数器回绕
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* - 左侧编码器输入在这里反相，保证上层统一把“车体前进”看成正 RPM
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*/
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void Motor_Update_RPM(float dt_s)
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{
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uint16_t curr_count_fl;
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uint16_t curr_count_rl;
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uint16_t curr_count_fr;
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uint16_t curr_count_rr;
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int16_t delta[4];
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float rpm_scale;
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if (dt_s <= 0.0f)
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{
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return;
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}
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curr_count_fl = (uint16_t)__HAL_TIM_GET_COUNTER(&htim5);
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curr_count_rl = (uint16_t)__HAL_TIM_GET_COUNTER(&htim3);
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curr_count_fr = (uint16_t)__HAL_TIM_GET_COUNTER(&htim4);
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curr_count_rr = (uint16_t)__HAL_TIM_GET_COUNTER(&htim1);
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delta[MOTOR_FL] = (int16_t)(curr_count_fl - s_last_count[MOTOR_FL]);
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delta[MOTOR_RL] = (int16_t)(curr_count_rl - s_last_count[MOTOR_RL]);
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delta[MOTOR_FR] = (int16_t)(curr_count_fr - s_last_count[MOTOR_FR]);
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delta[MOTOR_RR] = (int16_t)(curr_count_rr - s_last_count[MOTOR_RR]);
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s_last_count[MOTOR_FL] = curr_count_fl;
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s_last_count[MOTOR_RL] = curr_count_rl;
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s_last_count[MOTOR_FR] = curr_count_fr;
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s_last_count[MOTOR_RR] = curr_count_rr;
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/* 左侧输入镜像修正：让“车体前进”统一表现为正脉冲 / 正 RPM。 */
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delta[MOTOR_FL] = (int16_t)(-delta[MOTOR_FL]);
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delta[MOTOR_RL] = (int16_t)(-delta[MOTOR_RL]);
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// delta[MOTOR_FR] = (int16_t)(-delta[MOTOR_FR]);
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// delta[MOTOR_RR] = (int16_t)(-delta[MOTOR_RR]);
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/* 用 32 位内部累加，避免偶发高速度时 16 位回绕。 */
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s_odom_acc_ticks[MOTOR_FL] += delta[MOTOR_FL];
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s_odom_acc_ticks[MOTOR_RL] += delta[MOTOR_RL];
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s_odom_acc_ticks[MOTOR_FR] += delta[MOTOR_FR];
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s_odom_acc_ticks[MOTOR_RR] += delta[MOTOR_RR];
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rpm_scale = 60.0f / ((float)PULSES_PER_REV * dt_s);
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s_current_rpm[MOTOR_FL] = (float)delta[MOTOR_FL] * rpm_scale;
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s_current_rpm[MOTOR_RL] = (float)delta[MOTOR_RL] * rpm_scale;
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s_current_rpm[MOTOR_FR] = (float)delta[MOTOR_FR] * rpm_scale;
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s_current_rpm[MOTOR_RR] = (float)delta[MOTOR_RR] * rpm_scale;
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}
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/**
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* @brief 获取某个电机的实时 RPM。
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*/
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float Get_Motor_RPM(Motor_ID_t id)
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{
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if ((id < MOTOR_FL) || (id > MOTOR_RR))
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{
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return 0.0f;
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}
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return s_current_rpm[id];
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}
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/**
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* @brief 读取并清空供 CAN 上传的里程计增量。
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* @note 这个函数会被主循环调用，而累加动作发生在 10ms 中断里，
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* 所以“读取 + 清零”必须放在同一个临界区，避免丢计数。
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*/
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void Motor_Get_And_Clear_Delta_Ticks(int16_t *d_fl, int16_t *d_rl, int16_t *d_fr, int16_t *d_rr)
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{
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int32_t fl;
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int32_t rl;
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int32_t fr;
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int32_t rr;
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uint32_t primask;
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if ((d_fl == NULL) || (d_rl == NULL) || (d_fr == NULL) || (d_rr == NULL))
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{
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return;
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}
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primask = __get_PRIMASK();
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__disable_irq();
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fl = s_odom_acc_ticks[MOTOR_FL];
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rl = s_odom_acc_ticks[MOTOR_RL];
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fr = s_odom_acc_ticks[MOTOR_FR];
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rr = s_odom_acc_ticks[MOTOR_RR];
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s_odom_acc_ticks[MOTOR_FL] = 0;
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s_odom_acc_ticks[MOTOR_RL] = 0;
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s_odom_acc_ticks[MOTOR_FR] = 0;
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s_odom_acc_ticks[MOTOR_RR] = 0;
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__set_PRIMASK(primask);
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*d_fl = Motor_SaturateToI16(fl);
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*d_rl = Motor_SaturateToI16(rl);
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*d_fr = Motor_SaturateToI16(fr);
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*d_rr = Motor_SaturateToI16(rr);
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}
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