372 lines
13 KiB
C
372 lines
13 KiB
C
#include <stdio.h>
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#include "sdkconfig.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/queue.h"
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#include "esp_log.h"
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#include "esp_timer.h"
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#include "driver/pulse_cnt.h"
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#include "driver/gpio.h"
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#include "bdc_motor.h"
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#include "pid_ctrl.h"
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#include "modbus.h"
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#include "math.h"
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#include "servo.h"
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static const char *TAG = "bdc_control";
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/* PWM输出的定时器配置 */
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#define BDC_MCPWM_TIMER_RESOLUTION_HZ 10000000 /* 精度，即计数器的频率 10MHz, 1 tick = 0.1us */
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#define BDC_MCPWM_FREQ_HZ 25000 /* PWM周期频率 25KHz PWM */
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#define BDC_MCPWM_DUTY_TICK_MAX (BDC_MCPWM_TIMER_RESOLUTION_HZ / BDC_MCPWM_FREQ_HZ) /* PWM占空比最大值，由定时器计数频率和PWM周期频率计算得来 */
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/* 编码器对应IO口 */
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#define BDC_ENCODER_GPIO_A 35
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#define BDC_ENCODER_GPIO_B 34
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#define BDC_ENCODER_GPIO_A1 26
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#define BDC_ENCODER_GPIO_B1 33
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/* 有刷直流电机H桥控制，IR203s驱动芯片的LOW是低有效导通 */
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#define BDC_CH1_LOW0_GPIO 1
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#define BDC_CH1_HI0_GPIO 2
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#define BDC_CH1_LOW1_GPIO 3
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#define BDC_CH1_HI1_GPIO 4
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#define BDC_CH1_AOUT_GPIO 5
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#define BDC_CH0_AOUT_GPIO 6
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#define BDC_CH0_LOW0_GPIO 7
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#define BDC_CH0_HI0_GPIO 8
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#define BDC_CH0_LOW1_GPIO 9
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#define BDC_CH0_HI1_GPIO 10
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/* 编码器计数范围 */
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#define BDC_ENCODER_PCNT_HIGH_LIMIT 1000
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#define BDC_ENCODER_PCNT_LOW_LIMIT -1000
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/* pid控制时间周期ms */
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#define BDC_PID_LOOP_PERIOD_MS 50
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/* 范围 */
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#define BDC_SERVO_INPUT_RANGE 1000
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#define BDC_SPEED_INPUT_RANGE 1000
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#define BDC_SERVO_REAL_RANGE (45)
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#define BDC_SPEED_REAL_RANGE (50) /* 实际还要更高，为了测试先降低一点 */
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/* 车体测量值 */
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#define WHEEL_LENGTH (31.0)
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#define WHEEL_WIDTH (32.4)
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#define WHEEL_R0 (WHEEL_WIDTH / 2)
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/* 数学值定义 */
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#define PI 3.1415926
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typedef struct
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{
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int id; /* 标识一个电机 */
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uint32_t bdc_low0_gpio;
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uint32_t bdc_low1_gpio;
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bdc_motor_handle_t motor;
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pcnt_unit_handle_t pcnt_encoder;
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pid_ctrl_block_handle_t pid_ctrl;
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esp_timer_handle_t pid_loop_timer;
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int accumu_count;
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int report_pulses;
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} motor_control_context_t;
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static bool example_pcnt_on_reach(pcnt_unit_handle_t unit, const pcnt_watch_event_data_t *edata, void *user_ctx)
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{
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int *accumu_count = (int *)user_ctx;
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*accumu_count += edata->watch_point_value;
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return false;
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}
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/* 根据期望速度和期望角度算左轮或者右轮的速度 */
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/* id=0左 id=1右 */
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int speed_lr_calculate(int speed, int angle, int id)
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{
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double r = WHEEL_LENGTH / (tan(angle * PI / 180)); /* 得到旋转半径，以中轴线计算 */
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if (id == 0) return (int)(speed - WHEEL_R0 / r * speed);
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else return (int)(speed + WHEEL_R0 / r * speed);
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}
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/* 定时器定时触发，使用PID算法控速
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* 注意：速度以每次采样期间编码器计数个数为衡量标准
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* 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
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*/
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static void pid_loop_cb(void *args)
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{
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static int last_pulse_count[2] = {0, 0};
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static int cur_pwm_compare[2] = {0, 0};
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motor_control_context_t *ctx = (motor_control_context_t *)args;
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pcnt_unit_handle_t pcnt_unit = ctx->pcnt_encoder;
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pid_ctrl_block_handle_t pid_ctrl = ctx->pid_ctrl;
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bdc_motor_handle_t motor = ctx->motor;
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/* pid参数设置 */
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if (modbus_data->pid_flag)
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{
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pid_ctrl->Kp = (short)modbus_data->p / 100.0;
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pid_ctrl->Ki = (short)modbus_data->i / 100.0;
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pid_ctrl->Kd = (short)modbus_data->d / 100.0;
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pid_ctrl->integral_err = 0;
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pid_ctrl->last_output = 0;
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pid_ctrl->previous_err1 = 0;
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pid_ctrl->previous_err2 = 0;
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ESP_LOGI(TAG, "id%d pid set successfully:%f %f %f", ctx->id, pid_ctrl->Kp, pid_ctrl->Ki, pid_ctrl->Kd);
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modbus_data->speed = 0;
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modbus_data->angle = 0;
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bdc_motor_set_speed(ctx->motor, 0, ctx->id);
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servo_set_angle(0);
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modbus_data->pid_flag &= ~(0x01 << (ctx->id));
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}
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/* 从Modbus服务器端获得期望速度和期望角度 */
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int speed = (short)modbus_data->speed;
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float angle = (short)modbus_data->angle;
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speed = speed * 1.0 / BDC_SPEED_INPUT_RANGE * BDC_SPEED_REAL_RANGE;
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angle = -1.0 * angle / BDC_SERVO_INPUT_RANGE * BDC_SERVO_REAL_RANGE;
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/* 后轮速度控制 */
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/* 1. 根据预期速度和角度计算左轮或者右轮的期望速度 */
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speed = speed_lr_calculate(speed, angle, ctx->id);
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/* 2. 从编码器获得计数，得到实际速度 */
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int cur_pulse_count = 0;
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pcnt_unit_get_count(pcnt_unit, &cur_pulse_count);
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cur_pulse_count += ctx->accumu_count;
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int real_pulses = cur_pulse_count - last_pulse_count[ctx->id]; //新的脉冲数减去上一次的脉冲数为真实脉冲数
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last_pulse_count[ctx->id] = cur_pulse_count;
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ctx->report_pulses = real_pulses;
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/* 3. 计算速度误差->增量式PID->控制电机输出 */
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float error = speed - real_pulses; /* 注意：这里使用的隐式类型转换 */
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float output = 0;
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pid_compute(pid_ctrl, error, &output);
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output += cur_pwm_compare[ctx->id];
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cur_pwm_compare[ctx->id] = output;
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if (output > 0) ESP_ERROR_CHECK(bdc_motor_forward(ctx->motor, ctx->id));
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else if (output < 0) {
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ESP_ERROR_CHECK(bdc_motor_reverse(ctx->motor, ctx->id));
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output = -output;
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}
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else ESP_ERROR_CHECK(bdc_motor_brake(ctx->motor, ctx->id));
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bdc_motor_set_speed(ctx->motor, (uint32_t)output, ctx->id);
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/* 更新Modbus端的数据 */
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if (ctx->id == 0)
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{
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modbus_data->encoder_accumul = (int)cur_pulse_count;
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modbus_data->expect_speedl = (short)speed;
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modbus_data->real_speedl = (short)real_pulses;
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modbus_data->real_motor_outputl = (short)cur_pwm_compare[ctx->id];
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}
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else if (ctx->id == 1)
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{
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modbus_data->encoder_accumur = (int)cur_pulse_count;
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modbus_data->expect_speedr = (short)speed;
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modbus_data->real_speedr = real_pulses;
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modbus_data->real_motor_outputr = (short)cur_pwm_compare[ctx->id];
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}
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}
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extern uint32_t low_gpio[2][2];
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void bdc_motor_dir_gpio_init(motor_control_context_t motor_ctrl_ctx)
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{
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ESP_LOGI(TAG, "DC motor dir gpio init");
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/* low mos管状态初始化，使用GPIO驱动，初始化高电平断开 */
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gpio_config_t io_conf = {};
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io_conf.intr_type = GPIO_INTR_DISABLE;
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io_conf.mode = GPIO_MODE_OUTPUT;
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io_conf.pin_bit_mask = ((1ULL<<motor_ctrl_ctx.bdc_low0_gpio) | (1ULL<<motor_ctrl_ctx.bdc_low1_gpio));
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io_conf.pull_down_en = 0;
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io_conf.pull_up_en = 0;
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gpio_config(&io_conf);
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gpio_set_level(motor_ctrl_ctx.bdc_low0_gpio, 1);
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gpio_set_level(motor_ctrl_ctx.bdc_low1_gpio, 1);
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low_gpio[motor_ctrl_ctx.id][0] = motor_ctrl_ctx.bdc_low0_gpio;
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low_gpio[motor_ctrl_ctx.id][1] = motor_ctrl_ctx.bdc_low1_gpio;
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}
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void bdc_motor_speed_pwm_init(uint32_t bdc_hi0_gpio, uint32_t bdc_hi1_gpio, int group_id, bdc_motor_handle_t *motor_ret)
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{
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ESP_LOGI(TAG, "DC motor speed pwm init");
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/* hi mos管状态设置，使用mcpwm驱动，高电平有效 */
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bdc_motor_config_t motor_config = {
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.pwm_freq_hz = BDC_MCPWM_FREQ_HZ,
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.pwma_gpio_num = bdc_hi0_gpio,
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.pwmb_gpio_num = bdc_hi1_gpio,
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};
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bdc_motor_mcpwm_config_t mcpwm_config = {
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.group_id = group_id,
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.resolution_hz = BDC_MCPWM_TIMER_RESOLUTION_HZ, // 0.1us精密度
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};
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bdc_motor_handle_t motor = NULL;
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ESP_ERROR_CHECK(bdc_motor_new_mcpwm_device(&motor_config, &mcpwm_config, &motor)); //根据当前误差检查
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*motor_ret = motor;
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}
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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)
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{
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ESP_LOGI(TAG, "Init pcnt driver to decode rotary signal");
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/* 实例化pcnt，pcnt单元是自动分配，无需特指单元 */
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pcnt_unit_config_t unit_config = {
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.high_limit = BDC_ENCODER_PCNT_HIGH_LIMIT,
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.low_limit = BDC_ENCODER_PCNT_LOW_LIMIT,
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};
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pcnt_unit_handle_t pcnt_unit = NULL;
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ESP_ERROR_CHECK(pcnt_new_unit(&unit_config, &pcnt_unit));
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/* 设置过滤器宽度ns */
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pcnt_glitch_filter_config_t filter_config = {
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.max_glitch_ns = 1000,
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};
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ESP_ERROR_CHECK(pcnt_unit_set_glitch_filter(pcnt_unit, &filter_config));
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/* 设置通道a */
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pcnt_chan_config_t chan_a_config = {
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.edge_gpio_num = bdc_encoder_gpioa,
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.level_gpio_num = bdc_encoder_gpiob,
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};
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pcnt_channel_handle_t pcnt_chan_a = NULL;
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ESP_ERROR_CHECK(pcnt_new_channel(pcnt_unit, &chan_a_config, &pcnt_chan_a));
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/* 设置通道b */
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pcnt_chan_config_t chan_b_config = {
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.edge_gpio_num = bdc_encoder_gpiob,
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.level_gpio_num = bdc_encoder_gpioa,
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};
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pcnt_channel_handle_t pcnt_chan_b = NULL;
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ESP_ERROR_CHECK(pcnt_new_channel(pcnt_unit, &chan_b_config, &pcnt_chan_b));
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/* 配置两通道模式，实现两个通道的边沿都能计数 */
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ESP_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_chan_a, PCNT_CHANNEL_EDGE_ACTION_DECREASE, PCNT_CHANNEL_EDGE_ACTION_INCREASE));
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ESP_ERROR_CHECK(pcnt_channel_set_level_action(pcnt_chan_a, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_INVERSE));
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ESP_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_chan_b, PCNT_CHANNEL_EDGE_ACTION_INCREASE, PCNT_CHANNEL_EDGE_ACTION_DECREASE));
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ESP_ERROR_CHECK(pcnt_channel_set_level_action(pcnt_chan_b, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_INVERSE));
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/* 配置该pcnt的上下观察点，以及溢出回调函数 */
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ESP_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit, BDC_ENCODER_PCNT_HIGH_LIMIT));
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ESP_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit, BDC_ENCODER_PCNT_LOW_LIMIT));
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pcnt_event_callbacks_t pcnt_cbs = {
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.on_reach = example_pcnt_on_reach, // accumulate the overflow in the callback
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};
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ESP_ERROR_CHECK(pcnt_unit_register_event_callbacks(pcnt_unit, &pcnt_cbs, on_reach_callbackarg));
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ESP_ERROR_CHECK(pcnt_unit_enable(pcnt_unit));
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ESP_ERROR_CHECK(pcnt_unit_clear_count(pcnt_unit));
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ESP_ERROR_CHECK(pcnt_unit_start(pcnt_unit));
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*pcnt_unit_ret = pcnt_unit;
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}
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/* 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 */
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void bdc_pid_init(float p, float i, float d, pid_ctrl_block_handle_t *pid_ctrl_ret)
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{
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ESP_LOGI(TAG, "Create PID control block");
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pid_ctrl_parameter_t pid_runtime_param = {
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.kp = p,
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.ki = i,
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.kd = d,
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.cal_type = PID_CAL_TYPE_INCREMENTAL, // 增量式pid
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.max_output = BDC_MCPWM_DUTY_TICK_MAX - 1, //最大输出（占空比-1）、最小输出0
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.min_output = -(BDC_MCPWM_DUTY_TICK_MAX - 1),
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.max_integral = 20, //最大积分限制1000、最小积分限制-1000
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.min_integral = -20,
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};
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pid_ctrl_block_handle_t pid_ctrl = NULL;
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pid_ctrl_config_t pid_config = {
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.init_param = pid_runtime_param,
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};
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ESP_ERROR_CHECK(pid_new_control_block(&pid_config, &pid_ctrl));
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*pid_ctrl_ret = pid_ctrl;
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}
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void bdc_ctrl_timer_init(motor_control_context_t *motor_ctrl_ctx, esp_timer_handle_t *pid_loop_timer_ret)
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{
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ESP_LOGI(TAG, "Create a timer to do PID calculation periodically");
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const esp_timer_create_args_t periodic_timer_args = {
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.callback = pid_loop_cb,
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.arg = motor_ctrl_ctx,
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.name = "pid_loop"
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};
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esp_timer_handle_t pid_loop_timer = NULL;
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ESP_ERROR_CHECK(esp_timer_create(&periodic_timer_args, &pid_loop_timer));
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*pid_loop_timer_ret = pid_loop_timer;
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}
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void bdc_motor_init_all(void)
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{
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/* 左轮 */
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static motor_control_context_t motor_ctrl_ctxl = {
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.id = 0, /* 左轮 */
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.bdc_low0_gpio = BDC_CH1_LOW0_GPIO,
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.bdc_low1_gpio = BDC_CH1_LOW1_GPIO,
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.motor = NULL,
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.pcnt_encoder = NULL,
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.accumu_count = 0
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};
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bdc_motor_dir_gpio_init(motor_ctrl_ctxl);
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bdc_motor_speed_pwm_init(BDC_CH1_HI0_GPIO, BDC_CH1_HI1_GPIO, 0, &(motor_ctrl_ctxl.motor));
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bdc_encoder_init(BDC_ENCODER_GPIO_A, BDC_ENCODER_GPIO_B, &(motor_ctrl_ctxl.accumu_count), &(motor_ctrl_ctxl.pcnt_encoder));
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bdc_pid_init(1, 0, 0, &(motor_ctrl_ctxl.pid_ctrl));
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bdc_ctrl_timer_init(&motor_ctrl_ctxl, &(motor_ctrl_ctxl.pid_loop_timer));
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/* 右轮 */
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static motor_control_context_t motor_ctrl_ctxr = {
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.id = 1, /* 右轮 */
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.bdc_low0_gpio = BDC_CH0_LOW0_GPIO,
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.bdc_low1_gpio = BDC_CH0_LOW1_GPIO,
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.motor = NULL,
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.accumu_count = 0,
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.pcnt_encoder = NULL
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};
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bdc_motor_dir_gpio_init(motor_ctrl_ctxr);
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bdc_motor_speed_pwm_init(BDC_CH0_HI0_GPIO, BDC_CH0_HI1_GPIO, 1, &(motor_ctrl_ctxr.motor));
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bdc_encoder_init(BDC_ENCODER_GPIO_A1, BDC_ENCODER_GPIO_B1, &(motor_ctrl_ctxr.accumu_count), &(motor_ctrl_ctxr.pcnt_encoder));
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bdc_pid_init(1, 0, 0, &(motor_ctrl_ctxr.pid_ctrl));
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bdc_ctrl_timer_init(&motor_ctrl_ctxr, &(motor_ctrl_ctxr.pid_loop_timer));
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/* 启动电机 */
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ESP_LOGI(TAG, "Enable motor");
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ESP_ERROR_CHECK(bdc_motor_enable(motor_ctrl_ctxl.motor, motor_ctrl_ctxl.id));
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ESP_ERROR_CHECK(bdc_motor_enable(motor_ctrl_ctxr.motor, motor_ctrl_ctxr.id));
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/* 启动电机控制算法 */
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ESP_LOGI(TAG, "Start motor loop");
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ESP_ERROR_CHECK(esp_timer_start_periodic(motor_ctrl_ctxl.pid_loop_timer, BDC_PID_LOOP_PERIOD_MS * 1000));
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ESP_ERROR_CHECK(esp_timer_start_periodic(motor_ctrl_ctxr.pid_loop_timer, BDC_PID_LOOP_PERIOD_MS * 1000));
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}
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