/* * SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD * * SPDX-License-Identifier: Apache-2.0 */ #include #include "sdkconfig.h" #include "freertos/FreeRTOS.h" #include "freertos/task.h" #include "freertos/queue.h" #include "esp_log.h" #include "esp_timer.h" #include "driver/pulse_cnt.h" #include "bdc_motor.h" #include "pid_ctrl.h" #include "ModbusS.h" static const char *TAG = "bdc_control"; // Enable this config, we will print debug formated string, which in return can be captured and parsed by Serial-Studio #define SERIAL_STUDIO_DEBUG CONFIG_SERIAL_STUDIO_DEBUG #define BDC_MCPWM_TIMER_RESOLUTION_HZ 10000000 // 10MHz, 1 tick = 0.1us #define BDC_MCPWM_FREQ_HZ 25000 // 25KHz PWM #define BDC_MCPWM_DUTY_TICK_MAX (BDC_MCPWM_TIMER_RESOLUTION_HZ / BDC_MCPWM_FREQ_HZ) // maximum value we can set for the duty cycle, in ticks #define BDC_MCPWM_GPIO_A 12 #define BDC_MCPWM_GPIO_B 13 #define BDC_MCPWM_GPIO_A1 14 #define BDC_MCPWM_GPIO_B1 15 #define BDC_MCPWM_GPIO_A2 16 #define BDC_MCPWM_GPIO_B2 17 //编码器对应IO口 #define BDC_ENCODER_GPIO_A 34 #define BDC_ENCODER_GPIO_B 35 #define BDC_ENCODER_GPIO_A1 33 #define BDC_ENCODER_GPIO_B1 26 #define BDC_CH1_LOW0_GPIO 1 #define BDC_CH1_HI0_GPIO 2 #define BDC_CH1_LOW1_GPIO 3 #define BDC_CH1_HI1_GPIO 4 #define BDC_CH1_AOUT_GPIO 5 #define BDC_CH1_AOUT_GPIO 6 #define BDC_CH0_LOW0_GPIO 7 #define BDC_CH0_HI0_GPIO 8 #define BDC_CH0_LOW1_GPIO 9 #define BDC_CH0_HI1_GPIO 10 //编码器脉冲计数误差范围 #define BDC_ENCODER_PCNT_HIGH_LIMIT 1000 #define BDC_ENCODER_PCNT_LOW_LIMIT -1000 #define BDC_PID_LOOP_PERIOD_MS 1000 // calculate the motor speed every 10ms #define BDC_PID_EXPECT_SPEED 400 // expected motor speed, in the pulses counted by the rotary encoder typedef struct { bdc_motor_handle_t motor; pcnt_unit_handle_t pcnt_encoder; pid_ctrl_block_handle_t pid_ctrl; esp_timer_handle_t pid_loop_timer; int accumu_count; int report_pulses; int id; /* 标识一个电机 */ } motor_control_context_t; typedef struct { /* 从Mudbus服务器端得到设置参数 */ uint16_t speed; /* 速度大小 */ uint16_t foreward; /* 速度方向（注：现在只考虑前进和后退，因此0正1负 但是期望未来该值为一个-1->1之间的数，可以指导转弯） */ uint16_t inversion; /* 发送到Modbus服务器显示的数据 */ uint16_t real_speedl; /* 真实速度 */ uint16_t real_forewardl; /* 真实方向 */ uint16_t real_motor_outputl; /* 真实电机输出 */ uint16_t real_motor_output_dirl; /* 注：这里将方向单独拆出只是为了在mudbus调试器上方便观看 */ uint16_t real_speedr; /* 真实速度 */ uint16_t real_forewardr; /* 真实方向 */ uint16_t real_motor_outputr; /* 真实电机输出 */ uint16_t real_motor_output_dirr; /* 注：这里将方向单独拆出只是为了在mudbus调试器上方便观看 */ } motor_control_t; /* gWordVar寄存器组对应到motor_control_t的各个结构 */ motor_control_t *motor_control = (motor_control_t *)&gWordVar[0]; static bool example_pcnt_on_reach(pcnt_unit_handle_t unit, const pcnt_watch_event_data_t *edata, void *user_ctx) { int *accumu_count = (int *)user_ctx; *accumu_count += edata->watch_point_value; return false; } /* 定时器定时触发，使用PID算法控速 * 注意：速度以每次采样期间编码器计数个数为衡量标准 * 待修正：对于转弯的逻辑，可能左右轮的速度是期望速度的不同函数关系 */ static void pid_loop_cb(void *args) { static int last_pulse_count = 0; motor_control_context_t *ctx = (motor_control_context_t *)args; pcnt_unit_handle_t pcnt_unit = ctx->pcnt_encoder; pid_ctrl_block_handle_t pid_ctrl = ctx->pid_ctrl; bdc_motor_handle_t motor = ctx->motor; /* 从编码器获得计数，得到实际速度 */ int cur_pulse_count = 0; pcnt_unit_get_count(pcnt_unit, &cur_pulse_count); cur_pulse_count += ctx->accumu_count; int real_pulses = cur_pulse_count - last_pulse_count; //新的脉冲数减去上一次的脉冲数为真实脉冲数 last_pulse_count = cur_pulse_count; ctx->report_pulses = real_pulses; /* 从Modbus服务器端获得期望速度 */ int speed = motor_control->foreward == 0 ? motor_control->speed : -motor_control->speed; /* 计算速度误差->增量式PID->控制电机输出 */ float error = speed - real_pulses; /* 注意：这里使用的隐式类型转换 */ float new_speed = 0; pid_compute(pid_ctrl, error, &new_speed); bdc_motor_set_speed(motor, (uint32_t)new_speed); /* 更新Modbus端的数据 */ if (ctx->id == 0) { motor_control->real_speedl = real_pulses > 0 ? real_pulses : -real_pulses; motor_control->real_forewardl = real_pulses > 0 ? 0 : 1; motor_control->real_motor_outputl = new_speed > 0 ? new_speed : -new_speed; motor_control->real_motor_output_dirl = new_speed > 0 ? 0 : 1; } else if (ctx->id == 1) { motor_control->real_speedr = real_pulses > 0 ? real_pulses : -real_pulses; motor_control->real_forewardr = real_pulses > 0 ? 0 : 1; motor_control->real_motor_outputr = new_speed > 0 ? new_speed : -new_speed; motor_control->real_motor_output_dirr = new_speed > 0 ? 0 : 1; } } void bdc_motor_init(uint32_t bdc_mcpwm_gpio_a, uint32_t bdc_mcpwm_gpio_b, int group_id, bdc_motor_handle_t *motor_ret) { ESP_LOGI(TAG, "Create DC motor"); bdc_motor_config_t motor_config = { .pwm_freq_hz = BDC_MCPWM_FREQ_HZ, .pwma_gpio_num = bdc_mcpwm_gpio_a, .pwmb_gpio_num = bdc_mcpwm_gpio_b, }; bdc_motor_mcpwm_config_t mcpwm_config = { .group_id = group_id, .resolution_hz = BDC_MCPWM_TIMER_RESOLUTION_HZ, // 0.1us精密度 }; bdc_motor_handle_t motor = NULL; ESP_ERROR_CHECK(bdc_motor_new_mcpwm_device(&motor_config, &mcpwm_config, &motor)); //根据当前误差检查 *motor_ret = motor; } void bdc_encoder_init(uint32_t bdc_encoder_gpioa, uint32_t bdc_encoder_gpiob, int *on_reach_callbackarg, pcnt_unit_handle_t *pcnt_unit_ret) { ESP_LOGI(TAG, "Init pcnt driver to decode rotary signal"); /* 实例化pcnt */ pcnt_unit_config_t unit_config = { .high_limit = BDC_ENCODER_PCNT_HIGH_LIMIT, .low_limit = BDC_ENCODER_PCNT_LOW_LIMIT, }; pcnt_unit_handle_t pcnt_unit = NULL; ESP_ERROR_CHECK(pcnt_new_unit(&unit_config, &pcnt_unit)); /* 设置过滤器宽度ns */ pcnt_glitch_filter_config_t filter_config = { .max_glitch_ns = 1000, }; ESP_ERROR_CHECK(pcnt_unit_set_glitch_filter(pcnt_unit, &filter_config)); /* 设置通道a */ pcnt_chan_config_t chan_a_config = { .edge_gpio_num = bdc_encoder_gpioa, .level_gpio_num = bdc_encoder_gpiob, }; pcnt_channel_handle_t pcnt_chan_a = NULL; ESP_ERROR_CHECK(pcnt_new_channel(pcnt_unit, &chan_a_config, &pcnt_chan_a)); /* 设置通道b */ pcnt_chan_config_t chan_b_config = { .edge_gpio_num = bdc_encoder_gpiob, .level_gpio_num = bdc_encoder_gpioa, }; pcnt_channel_handle_t pcnt_chan_b = NULL; ESP_ERROR_CHECK(pcnt_new_channel(pcnt_unit, &chan_b_config, &pcnt_chan_b)); /* 配置两通道模式，实现两个通道的边沿都能计数 */ ESP_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_chan_a, PCNT_CHANNEL_EDGE_ACTION_DECREASE, PCNT_CHANNEL_EDGE_ACTION_INCREASE)); ESP_ERROR_CHECK(pcnt_channel_set_level_action(pcnt_chan_a, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_INVERSE)); ESP_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_chan_b, PCNT_CHANNEL_EDGE_ACTION_INCREASE, PCNT_CHANNEL_EDGE_ACTION_DECREASE)); ESP_ERROR_CHECK(pcnt_channel_set_level_action(pcnt_chan_b, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_INVERSE)); /* 配置该pcnt的上下观察点，以及移除回调函数 */ ESP_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit, BDC_ENCODER_PCNT_HIGH_LIMIT)); ESP_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit, BDC_ENCODER_PCNT_LOW_LIMIT)); pcnt_event_callbacks_t pcnt_cbs = { .on_reach = example_pcnt_on_reach, // accumulate the overflow in the callback }; ESP_ERROR_CHECK(pcnt_unit_register_event_callbacks(pcnt_unit, &pcnt_cbs, on_reach_callbackarg)); ESP_ERROR_CHECK(pcnt_unit_enable(pcnt_unit)); ESP_ERROR_CHECK(pcnt_unit_clear_count(pcnt_unit)); ESP_ERROR_CHECK(pcnt_unit_start(pcnt_unit)); *pcnt_unit_ret = pcnt_unit; } /* 注：只将不同的电机的不同参数作为接口留出，里面也有需要配置的共同参数 */ void bdc_pid_init(float p, float i, float d, pid_ctrl_block_handle_t *pid_ctrl_ret) { ESP_LOGI(TAG, "Create PID control block"); pid_ctrl_parameter_t pid_runtime_param = { .kp = p, .ki = i, .kd = d, .cal_type = PID_CAL_TYPE_INCREMENTAL, // 增量式pid .max_output = BDC_MCPWM_DUTY_TICK_MAX - 1, //最大输出（占空比-1）、最小输出0 .min_output = 0, .max_integral = 1000, //最大积分限制1000、最小积分限制-1000 .min_integral = -1000, }; pid_ctrl_block_handle_t pid_ctrl = NULL; pid_ctrl_config_t pid_config = { .init_param = pid_runtime_param, }; ESP_ERROR_CHECK(pid_new_control_block(&pid_config, &pid_ctrl)); *pid_ctrl_ret = pid_ctrl; } void bdc_ctrl_timer_init(motor_control_context_t *motor_ctrl_ctx, esp_timer_handle_t *pid_loop_timer_ret) { ESP_LOGI(TAG, "Create a timer to do PID calculation periodically"); const esp_timer_create_args_t periodic_timer_args = { .callback = pid_loop_cb, .arg = motor_ctrl_ctx, .name = "pid_loop" }; esp_timer_handle_t pid_loop_timer = NULL; ESP_ERROR_CHECK(esp_timer_create(&periodic_timer_args, &pid_loop_timer)); *pid_loop_timer_ret = pid_loop_timer; } void bdc_motor_init_all(void) { /* 左轮 */ static motor_control_context_t motor_ctrl_ctxl = { .id = 0, /* 左轮 */ .accumu_count = 0, .pcnt_encoder = NULL, .motor = NULL }; bdc_motor_init(BDC_MCPWM_GPIO_A, BDC_MCPWM_GPIO_B, 0, &(motor_ctrl_ctxl.motor)); bdc_encoder_init(BDC_ENCODER_GPIO_A, BDC_ENCODER_GPIO_B, &(motor_ctrl_ctxl.accumu_count), &(motor_ctrl_ctxl.pcnt_encoder)); bdc_pid_init(0.6, 0.4, 0.2, &(motor_ctrl_ctxl.pid_ctrl)); bdc_ctrl_timer_init(&motor_ctrl_ctxl, &(motor_ctrl_ctxl.pid_loop_timer)); /* 右轮 */ static motor_control_context_t motor_ctrl_ctxr = { .id = 0, /* 左轮 */ .accumu_count = 0, .pcnt_encoder = NULL, .motor = NULL }; bdc_motor_init(BDC_MCPWM_GPIO_A, BDC_MCPWM_GPIO_B, 0, &(motor_ctrl_ctxr.motor)); bdc_encoder_init(BDC_ENCODER_GPIO_A1, BDC_ENCODER_GPIO_B1, &(motor_ctrl_ctxr.accumu_count), &(motor_ctrl_ctxr.pcnt_encoder)); bdc_pid_init(0.6, 0.4, 0.2, &(motor_ctrl_ctxr.pid_ctrl)); bdc_ctrl_timer_init(&motor_ctrl_ctxr, &(motor_ctrl_ctxr.pid_loop_timer)); ESP_LOGI(TAG, "Enable motor and forward"); ESP_ERROR_CHECK(bdc_motor_enable(motor_ctrl_ctxl.motor)); //启动电机 ESP_ERROR_CHECK(bdc_motor_forward(motor_ctrl_ctxl.motor)); //电机正转 ESP_ERROR_CHECK(bdc_motor_enable(motor_ctrl_ctxr.motor)); ESP_ERROR_CHECK(bdc_motor_forward(motor_ctrl_ctxr.motor)); ESP_LOGI(TAG, "Start motor speed loop"); //启动电机速度回路 ESP_ERROR_CHECK(esp_timer_start_periodic(motor_ctrl_ctxl.pid_loop_timer, BDC_PID_LOOP_PERIOD_MS * 1000)); //启动电机速度回路 ESP_ERROR_CHECK(esp_timer_start_periodic(motor_ctrl_ctxr.pid_loop_timer, BDC_PID_LOOP_PERIOD_MS * 1000)); } void bdc_control_main(void) { static motor_control_context_t motor_ctrl_ctx = { .accumu_count = 0, .pcnt_encoder = NULL, }; //配置用到的PWM //创建一个直流电机，配置他的频率和IO口 ESP_LOGI(TAG, "Create DC motor"); bdc_motor_config_t motor_config = { .pwm_freq_hz = BDC_MCPWM_FREQ_HZ, .pwma_gpio_num = BDC_MCPWM_GPIO_A, .pwmb_gpio_num = BDC_MCPWM_GPIO_B, }; //配置MCpwm的标识符和lcd_clk的分辨率 bdc_motor_mcpwm_config_t mcpwm_config = { .group_id = 0, .resolution_hz = BDC_MCPWM_TIMER_RESOLUTION_HZ, // 0.1us精密度 }; bdc_motor_handle_t motor = NULL; ESP_ERROR_CHECK(bdc_motor_new_mcpwm_device(&motor_config, &mcpwm_config, &motor)); //根据当前误差检查 motor_ctrl_ctx.motor = motor; ESP_LOGI(TAG, "Init pcnt driver to decode rotary signal"); //配置（初始化）脉冲计数器，最高误差为1000，最低误差为-1000 pcnt_unit_config_t unit_config = { .high_limit = BDC_ENCODER_PCNT_HIGH_LIMIT, .low_limit = BDC_ENCODER_PCNT_LOW_LIMIT, }; pcnt_unit_handle_t pcnt_unit = NULL; ESP_ERROR_CHECK(pcnt_new_unit(&unit_config, &pcnt_unit)); pcnt_glitch_filter_config_t filter_config = { .max_glitch_ns = 1000, }; ESP_ERROR_CHECK(pcnt_unit_set_glitch_filter(pcnt_unit, &filter_config)); //配置接编码器的IO口 pcnt_chan_config_t chan_a_config = { .edge_gpio_num = BDC_ENCODER_GPIO_A, .level_gpio_num = BDC_ENCODER_GPIO_B, }; pcnt_channel_handle_t pcnt_chan_a = NULL; ESP_ERROR_CHECK(pcnt_new_channel(pcnt_unit, &chan_a_config, &pcnt_chan_a)); pcnt_chan_config_t chan_b_config = { .edge_gpio_num = BDC_ENCODER_GPIO_B, .level_gpio_num = BDC_ENCODER_GPIO_A, }; pcnt_channel_handle_t pcnt_chan_b = NULL; ESP_ERROR_CHECK(pcnt_new_channel(pcnt_unit, &chan_b_config, &pcnt_chan_b)); //检查脉冲计数器通道的计数模式和计数方式 //电机相对安装，其中一个要取反 ESP_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_chan_a, PCNT_CHANNEL_EDGE_ACTION_DECREASE, PCNT_CHANNEL_EDGE_ACTION_INCREASE)); ESP_ERROR_CHECK(pcnt_channel_set_level_action(pcnt_chan_a, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_INVERSE)); ESP_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_chan_b, PCNT_CHANNEL_EDGE_ACTION_INCREASE, PCNT_CHANNEL_EDGE_ACTION_DECREASE)); ESP_ERROR_CHECK(pcnt_channel_set_level_action(pcnt_chan_b, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_INVERSE)); ESP_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit, BDC_ENCODER_PCNT_HIGH_LIMIT)); ESP_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit, BDC_ENCODER_PCNT_LOW_LIMIT)); pcnt_event_callbacks_t pcnt_cbs = { .on_reach = example_pcnt_on_reach, // accumulate the overflow in the callback }; ESP_ERROR_CHECK(pcnt_unit_register_event_callbacks(pcnt_unit, &pcnt_cbs, &motor_ctrl_ctx.accumu_count)); ESP_ERROR_CHECK(pcnt_unit_enable(pcnt_unit)); ESP_ERROR_CHECK(pcnt_unit_clear_count(pcnt_unit)); ESP_ERROR_CHECK(pcnt_unit_start(pcnt_unit)); motor_ctrl_ctx.pcnt_encoder = pcnt_unit; ESP_LOGI(TAG, "Create PID control block"); //配置PID运行参数 pid_ctrl_parameter_t pid_runtime_param = { .kp = 0.6, // 0.6比例 系统响应速度 .ki = 0.4, // 0.4积分 消除系统的稳态误差 .kd = 0.2, // 0.2微分 抑制偏差向任何方向变化 .cal_type = PID_CAL_TYPE_INCREMENTAL, // pid增量控制 .max_output = BDC_MCPWM_DUTY_TICK_MAX - 1, //最大输出（占空比-1）、最小输出0 .min_output = 0, .max_integral = 1000, //最大积分限制1000、最小积分限制-1000 .min_integral = -1000, }; pid_ctrl_block_handle_t pid_ctrl = NULL; pid_ctrl_config_t pid_config = { .init_param = pid_runtime_param, }; ESP_ERROR_CHECK(pid_new_control_block(&pid_config, &pid_ctrl)); motor_ctrl_ctx.pid_ctrl = pid_ctrl; ESP_LOGI(TAG, "Create a timer to do PID calculation periodically"); const esp_timer_create_args_t periodic_timer_args = { .callback = pid_loop_cb, .arg = &motor_ctrl_ctx, //回调PID的参数 .name = "pid_loop" //定时器名pid_loop }; esp_timer_handle_t pid_loop_timer = NULL; ESP_ERROR_CHECK(esp_timer_create(&periodic_timer_args, &pid_loop_timer)); ESP_LOGI(TAG, "Enable motor"); ESP_ERROR_CHECK(bdc_motor_enable(motor)); //启动电机 ESP_LOGI(TAG, "Forward motor"); ESP_ERROR_CHECK(bdc_motor_forward(motor)); //电机正转 ESP_LOGI(TAG, "Start motor speed loop"); //启动电机速度回路 ESP_ERROR_CHECK(esp_timer_start_periodic(pid_loop_timer, BDC_PID_LOOP_PERIOD_MS * 1000)); //启动电机速度回路 while (1) { vTaskDelay(pdMS_TO_TICKS(100)); // the following logging format is according to the requirement of serial-studio frame format // also see the dashboard config file `serial-studio-dashboard.json` for more information #if SERIAL_STUDIO_DEBUG printf("/*%d*/\r\n", motor_ctrl_ctx.report_pulses); #endif } }