Commit cf4aa560 authored by Wenxi Xu's avatar Wenxi Xu
Browse files

Documents added at Documents/, EKF is not done yet.

parent 8fdbeacd

.vscode/tasks.json

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@@ -4,7 +4,7 @@ 
        {

            "label": "Build",

            "type": "shell",

            "command": "west build -p always -b robomaster_board_c motor",

            "command": "west build -p always -b robomaster_board_c IMU",

            "args": [],

            "options": {

                "env": {

2024_3wheel/src/main.c

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/*	

 * Copyright (c) 2021-2022 Henrik Brix Andersen <henrik@brixandersen.dk>

 * Copyright (c) 2024 ttwards <12411711@mail.sustech.edu.cn>

 *

 * SPDX-License-Identifier: Apache-2.0

 */
@@ -100,7 +100,8 @@ void console_feedback(void *arg1, void *arg2, void *arg3) { 
        float gyro_z   = (float)gyro_data[2].val1 + (float)gyro_data[2].val2 / 1000000.0f;

        float gryo_c   = sqrtf(powf(gyro_x, 2) + powf(gyro_y, 2) + powf(gyro_z, 2));

        float temp_raw = ((float)temp_data.val1 + (float)temp_data.val2 / 1000000.0f);

        LOG_INF("accel: x %.3f y %.3f z %.3f\n", (double)accel_x, (double)accel_y, (double)accel_z);

        LOG_INF("accel: x %.3f y %.3f z %.3f\n", (double)accel_x, (double)accel_y,

                (double)accel_z);

        LOG_INF("gyro: x %.3f y %.3f z %.3f\n", (double)gyro_x, (double)gyro_y, (double)gyro_z);

        LOG_INF("IMU Temp: %.3f\n", (double)temp_raw);

        // LOG_INF("TEMP MSB: %d LSB: %d\n", temp_data.val1, temp_data.val2);

Documents/motor/README.md

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## 电机驱动API

Documents/motor/api.md

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# 电机驱动API

```c

motor_driver_api {

    float motor_get_speed(const struct device *dev);

    float motor_get_torque(const struct device *dev);

    float motor_get_angle(const struct device *dev);

    int motor_set_speed(const struct device *dev, float speed_rpm);

    int motor_set_torque(const struct device *dev, float torque);

    int motor_set_angle(const struct device *dev, float angle);

    int motor_set_mode(const struct device *dev, enum motor_mode mode);

    void motor_control(const struct device *dev, enum motor_cmd cmd);

};

```

```c

/**

 * @brief 电机工作模式

 * 

 * MIT: MIT模式

 * PV: 位置-速度控制

 * VO: 速度控制  

 * MULTILOOP: 多环串联控制

 */

enum motor_mode { MIT, PV, VO, MULTILOOP };

```

```c

/**

 * @brief 电机控制命令

 */

enum motor_cmd { ENABLE_MOTOR, DISABLE_MOTOR, SET_ZERO_OFFSET, CLEAR_PID, CLEAR_ERROR };

```

## 电机状态获取

`motor_get_speed(const struct device *dev)`: 获取电机当前速度，返回值为电机当前速度，单位为rpm。

`motor_get_torque(const struct device *dev)`: 获取电机当前扭矩，返回值为电机当前扭矩，单位为N*m。

`motor_get_angle(const struct device *dev)`: 获取电机当前角度，返回值为电机当前角度，单位为°。

`motor_set_speed(const struct device *dev, float speed_rpm)`: 设置电机目标速度，参数为目标速度，单位为rpm。

`motor_set_torque(const struct device *dev, float torque)`: 设置电机目标扭矩，参数为目标扭矩，单位为N*m。

`motor_set_angle(const struct device *dev, float angle)`: 设置电机目标角度，参数为目标角度，单位为°。

`motor_set_mode(const struct device *dev, enum motor_mode mode)`: 设置电机工作模式，参数为工作模式。

`motor_control(const struct device *dev, enum motor_cmd cmd)`: 控制电机，参数为控制命令。
 
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Documents/motor/devicetree.md

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# 电机驱动 Device Tree 配置

### DJI Motor Device Tree Properties

- `compatible`: 必须是"dji,motor"

  - `is_m3508`: 电机型号，可选

  - `is_m2006`: 电机型号，可选

  - `is_gm6020`: 电机型号，可选

- `id`: 电机编号

- `rx_id`: 电机接收ID

- `tx_id`: 电机发送ID

- `gear_ratio`: 减速比（需要乘100）

- `status` = "okay": 启用电机

- `can_channel`: CAN总线节点

- `controllers`: PID控制器节点，是从前到后的串联环，暂时不支持MIT模式

- `capabilities`: 指定PID环对应的控制对象，可选

  - "angle": 角度控制

  - "speed": 速度控制

```dts

\ {

	motor1 {

		compatible = "dji,motor";

        is_m3508;

		id = <1>;

    	rx_id = <0x201>;

        tx_id = <0x200>;

		gear_ratio = <1920>;

		status = "okay";

		can_channel = <&canbus1>;

		controllers = <&angle_pid_1 &speed_pid_1>;

		capabilities = "angle", "speed";

	};

};

```

#### 请注意，必须存在对应capabilities属性，否则电机驱动只能使用力矩控制

### 达妙电机 Device Tree Properties

- `compatible`: 必须是"dm,motor"

- `id`: 电机编号

- `tx_id`: 电机发送ID

- `rx_id`: 电机接收ID

- `can_channel`: CAN总线节点

- `gear_ratio`: 减速比（需要乘100）

- `controllers`: PID控制器节点，按顺序指定各控制环

- `capabilities`: 指定控制模式，可选：

  - "mit": MIT力矩控制

  - "pv": 位置-速度双环控制

  - "vo": 速度-电流双环控制

- `v_max`: 最大速度限制（需要乘10）

- `p_max`: 最大角度限制（需要乘10）

- `t_max`: 最大扭矩限制（需要乘10）

```dts

/ {

	motor1: motor1{

		compatible = "dm,motor";

		id = <24>;

		rx_id = <24>;

		tx_id = <86>;

		gear_ratio = <100>;

		status = "okay";

		can_channel = <&canbus1>;

		controllers = <&mit_pid_0>;

		capabilities = "mit";

		p_max = <125>;

		v_max = <450>;

		t_max = <100>;

	};

};

```



### PID Device Tree Properties

- `#controller-cells`: 必须是<0>

- `compatible`: 必须是"pid,single"

- `k_p`: 比例系数（乘100）

- `k_i`: 积分系数（乘10）

- `k_d`: 微分系数（乘10）

```dts

\ {

	pid {

		angle_pid_1: angle_pid_1 {

			#controller-cells = <0>;

			compatible = "pid,single";

			k_p = <700>;

			k_i = <3>;

			k_d = <800>;

		};

		speed_pid_1: speed_pid_1 {

			#controller-cells = <0>;

			compatible = "pid,single";

			k_p = <880>;

			k_i = <20>;

			k_d = <20>;

		};

	};

};

```
 
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