在下A板杀手，请赐教

于 2022-09-21 01:41:34 发布
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本文链接：https://blog.csdn.net/m0_65642869/article/details/126964372
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新人写帖子，仅供内部人员参照，使用大疆A型板，2006电机，c610电调，4s电池

cubemx配置如图

基本配置

 

 注意   HSE 设置为12MHz

配置can

 

 

 注意将手动将PD0和PD1设置为can1

使用fifo0邮箱作为接收，所以使能RX0

配置工程名 

 

即可生成

 keil5代码部分

LSS_PID.c

#include "LSS_PID.h"

PID M3508_spid[8];
PID M3508_apid[8];

float abs_limit(float a, float ABS_MAX)
{
	if(a > ABS_MAX)
		a = ABS_MAX;

	if(a < -ABS_MAX)
		a = -ABS_MAX;
	return a;
}

/**
三个用户自定义参数：
	pp->Proportion比例
	pp->Integral比例积分
	pp->Derivative比例微分
**/
void PID_Position_Calc( PID *pp,  float  CurrentPoint,  float NextPoint )  //位置式PID
{   
	pp->Error =  NextPoint -  CurrentPoint;          //误差
	pp->SumError += pp->Error;                      //积分项：误差累积
	pp->DError = pp->Error - pp->LastError;         //微分项：误差变化

	pp->output =  pp->Proportion * pp->Error +   \
								abs_limit(pp->Integral * pp->SumError, pp->Integralmax ) +   \
								pp->Derivative * pp->DError ;  //pid输出

	if(pp->output > pp->outputmax )  pp->output = pp->outputmax;  //？
	if(pp->output < - pp->outputmax )  pp->output = -pp->outputmax;//？
//	pp->PrevError = pp->LastError; //上次误差保存 
	pp->LastError = pp->Error;//这次误差保存
}

void PID_Incremental_Calc( PID *pp,  float  CurrentPoint,  float NextPoint )  //增量式PID
{  
	pp->Error =  NextPoint -  CurrentPoint;          
	pp->SumError += pp->Error;                      
	pp->DError = pp->Error - pp->LastError;

	pp->output +=  pp->Proportion * ( pp->Error - pp->LastError )+   \
								 abs_limit(pp->Integral * pp->Error, pp->Integralmax ) +   \
								 pp->Derivative * ( pp->Error +  pp->PrevError - 2*pp->LastError);  

	if(pp->output > pp->outputmax )  pp->output = pp->outputmax;
	if(pp->output < - pp->outputmax )  pp->output = -pp->outputmax;
	pp->PrevError = pp->LastError;  
	pp->LastError = pp->Error;
}

void PIDInit(PID *pp, float Kp , float Ki , float Kd ,  float outputmax, float Integralmax)  
{  
	pp->Integralmax = Integralmax;//积分阈值?
	pp->outputmax  = outputmax;//输出阈值
	pp->Proportion = Kp;
	pp->Integral   = Ki;
	pp->Derivative = Kd;
	pp->DError = pp->Error = pp->output = pp->LastError = pp->PrevError = 0; 
}

LSS_PID.h

#ifndef __LSS_PID_H
#define __LSS_PID_H

typedef struct PID {
  float  Proportion;         //  Proportional Const  
  float  Integral;           //  Integral Const  
  float  Derivative;         //  Derivative Const  
	float  PrevError;          //  Error[-2]
  float  LastError;          //  Error[-1]  
	float  Error;
	float  DError;
  float  SumError;           //  Sums of Errors  
	float  Integralmax;
	float  output;
	float  outputmax;
} PID;

extern PID M3508_spid[8];
extern PID M3508_apid[8];

float abs_limit(float a, float ABS_MAX);
void PID_Position_Calc( PID *pp,  float  CurrentPoint,  float NextPoint);
void PID_Incremental_Calc( PID *pp,  float  CurrentPoint,  float NextPoint);
void PIDInit(PID *pp, float Kp , float Ki , float Kd ,  float outputmax, float Integralmax);

#endif

LSS_3508.c

#include "LSS_3508.h"

//1-5 can1
//6-8 can2
//偏航角 ID 5
//俯仰角 ID 2
//翻转角 ID 3
//推进   ID 4
struct M3508_Fback_Inf m3508_fback_inf[1] = 
{
{0x201,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0},
};

//初始化m3508控制接口
void init_m3508_can(void)
{
	CAN_FilterTypeDef hCAN_Filter;
	
	//CAN1滤波器
	hCAN_Filter.FilterBank = 0;
	hCAN_Filter.SlaveStartFilterBank = 0;
	hCAN_Filter.FilterMode = CAN_FILTERMODE_IDMASK;
	hCAN_Filter.FilterScale = CAN_FILTERSCALE_32BIT;
	hCAN_Filter.FilterIdHigh = 0;
	hCAN_Filter.FilterIdLow = 0;
	hCAN_Filter.FilterMaskIdHigh = 0;
	hCAN_Filter.FilterMaskIdLow = 0;
	hCAN_Filter.FilterFIFOAssignment = CAN_RX_FIFO0;
	hCAN_Filter.FilterActivation = ENABLE;
	
	if(HAL_CAN_ConfigFilter(&hcan1, &hCAN_Filter) != HAL_OK){
		Error_Handler();
	}
	if(HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK){
		Error_Handler();
	}
	if(HAL_CAN_Start(&hcan1) != HAL_OK){
		Error_Handler();
	}


}

//执行时间5us
//发送m3508控制电流
void send_m3508_control_current(void)
{	
	uint8_t can_tx_buffer[8];
	uint32_t CAN_TX_BOX0;
	CAN_TxHeaderTypeDef hCAN_TxHeader;//CAN发送消息

	hCAN_TxHeader.StdId = 0x200;
	hCAN_TxHeader.IDE = CAN_ID_STD;
	hCAN_TxHeader.RTR = CAN_RTR_DATA;
	hCAN_TxHeader.DLC = 8;

	can_tx_buffer[0] = m3508_fback_inf[0].control_current >> 8; 
	can_tx_buffer[1] = m3508_fback_inf[0].control_current; 

	can_tx_buffer[2] = 0; 
	can_tx_buffer[3] = 0; 

	can_tx_buffer[4] = 0; 
	can_tx_buffer[5] = 0;

	can_tx_buffer[6] = 0; 
	can_tx_buffer[7] = 0;
	
	HAL_CAN_AddTxMessage(&hcan1, &hCAN_TxHeader, can_tx_buffer, &CAN_TX_BOX0); 

}

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
	uint8_t can_rx_buffer[8];
	CAN_RxHeaderTypeDef	hCAN_RxHeader;	

	if(hcan->Instance == hcan1.Instance)
	{
		HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &hCAN_RxHeader, can_rx_buffer);	
		switch(hCAN_RxHeader.StdId)
		{		
			case 0x201 :
			{
				m3508_fback_inf[0].angle = can_rx_buffer[0] << 8 | can_rx_buffer[1];//电机角度
				m3508_fback_inf[0].speed = can_rx_buffer[2] << 8 | can_rx_buffer[3];//电机速度
				m3508_fback_inf[0].torque_current = (can_rx_buffer[4] << 8 | can_rx_buffer[5]);//反馈转矩电流
//				m3508_fback_inf[0].temperature = can_rx_buffer[6];//电机温度
				
				if(m3508_fback_inf[0].frist_flag == 1)//上电标志为1
				{
					if(m3508_fback_inf[0].frist_cnt ++ <= 150)//上电计数	
					{
						m3508_fback_inf[0].fris_angle = m3508_fback_inf[0].angle;//上电角度等于电机角度值
						m3508_fback_inf[0].frist_flag = 0;//上电标志为0
					}
					
					if(m3508_fback_inf[0].angle > 4096)//bug 初始值大于4096 会轮转一圈
						m3508_fback_inf[0].round_cnt = 1;
				}
				else
				{
					if(m3508_fback_inf[0].angle - m3508_fback_inf[0].last_angle > 4096)//电机角度 - 上一次电机角度
						m3508_fback_inf[0].round_cnt --;//电机旋转圈数自减
					else if(m3508_fback_inf[0].angle - m3508_fback_inf[0].last_angle < -4096)
						m3508_fback_inf[0].round_cnt ++;//电机旋转圈数自加
					
					m3508_fback_inf[0].last_angle = m3508_fback_inf[0].angle;//上一次电机角度等于电机角度
					m3508_fback_inf[0].total_angle = m3508_fback_inf[0].round_cnt * 8192 + m3508_fback_inf[0].angle - m3508_fback_inf[0].fris_angle;//电机总转角度
				}
			}break;				
		}
	}	
}

/***输入角度输出脉冲数****/
int32_t m3508_Ang2Cnt(float ang)
{
	int32_t cnt = CNT_PER_ROUND_OUT / 360.0f * ang;
	return cnt;
}
/****输入脉冲数输出角度****/
float m3508_Cnt2Ang(int32_t cnt)
{
	return (float) ((cnt * 360.0f) / CNT_PER_ROUND_OUT);
}

LSS_3508.h

#ifndef _LSS_3508_H_   
#define _LSS_3508_H_  

#include "stm32f4xx_hal.h"
#include "can.h"


#define CNT_PER_ROUND 			8192		//外转子转一圈的脉冲数
#define REDUCTION_RATIO 		19.0f   		//减速比
#define CNT_PER_ROUND_OUT   (CNT_PER_ROUND * REDUCTION_RATIO)		//电机轴转一圈的脉冲数

#define CNT_PER_ROUND1 			8192		//外转子转一圈的脉冲数
#define REDUCTION_RATIO1 		36.0f   		//减速比
#define CNT_PER_ROUND_OUT1  (CNT_PER_ROUND1 * REDUCTION_RATIO1)		//电机轴转一圈的脉冲数


#define MIN(a,b) 				(((a)<(b))?(a):(b))
#define MAX(a,b) 				(((a)>(b))?(a):(b))
#define CLAMP(x, lower, upper) 	(MIN(upper, MAX(x, lower)))

#define lift_max 100
#define lift_min 0

#define close_max 90
#define close_min -90

struct M3508_Fback_Inf
{
	uint32_t id;//电机id
	uint8_t frist_flag;//上电标志
	uint16_t frist_cnt;//上电计数	
	int16_t fris_angle;//上电角度
	int16_t angle;//电机角度
	int16_t last_angle;//上一次电机角度
	int32_t round_cnt;//电机旋转圈数
	int64_t total_angle;//电机总转角度
	int64_t set_angle;//设置电机目标角度	
	uint8_t speed_cnt_time;
	uint8_t speed_cnt;
	int32_t last_total_angle[2];//上一次电机总转角度
	int16_t speed;//电机速度
	int16_t torque_current;//反馈转矩电流
	int16_t torque_rated;//设定转矩电流
	int16_t set_speed;//设置速度
	int16_t control_current;//电机控制电流
	uint8_t temperature;//电机温度
};

extern struct M3508_Fback_Inf m3508_fback_inf[];

//初始化m3508控制接口
void init_m3508_can(void);

//发送m3508控制电流
void send_m3508_control_current(void);

/***输入角度输出脉冲数****/
int32_t m3508_Ang2Cnt(float ang);
/****输入脉冲数输出角度****/
float m3508_Cnt2Ang(int32_t cnt);


#endif

main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "LRJ_3508.h"
#include "LRJ_PID.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
int16_t ref_speed,inf_speed;
int16_t pid_output;
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_CAN1_Init();
  /* USER CODE BEGIN 2 */
  //ref_speed = 1000; 
	init_m3508_can();//开启过滤器
	PIDInit(&M3508_spid[0],5,0,0,15000,15000);//速度环设置和限幅   spid:15  0.5  0
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    PID_Incremental_Calc(&M3508_spid[0], m3508_fback_inf[0].speed, ref_speed);//速度环
	m3508_fback_inf[0].control_current = M3508_spid[0].output;
    send_m3508_control_current();
    HAL_Delay(5);//有bug必须搞个5ms延时，或者开个定时器中断丢中断里头
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 6;
  RCC_OscInitStruct.PLL.PLLN = 180;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Activate the Over-Drive mode
  */
  if (HAL_PWREx_EnableOverDrive() != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

结束，挺简单的，有代码直接往上套用即可，不需要配置其他乱七八糟的东西，为了凑字数，随便唠点开发事故吧。为什么文章标题叫做A板杀手，因为吾有一友，拿4s电池怼到12v输出接口，霎时间，烟雾弥漫在我的工位上..........顾不上手上窜着的火花，立马将电池从分电板上拔下，索性，A版的防反接保护起作用了，要不然就不只是烧两根电线这么简单的事了。一阵喧嚣过后，我那兄弟手还不断颤抖，嘴里不停念叨着，完了完了，昨天烧电机，今天烧板子（我当时绷不住了）。那兄弟接反这个A板的电源，倒是也情有可原，之前他用的都是c板，a板没怎么用过，c板上的xt30都是相互导通的，没有什么输入端输出端之分，相当于集成了一个分电板，所以也没这么多讲究，这原罪还是得怪在DJI头上，搞这么多的坑钱东西在板子上，A板和C板在差异化上又这么不明显，就像是A板是初代，C板才是改进过的版本一样。好在还有个保护电路的设计，这一点确实不错。好了就说这么些了，下一篇我就跟新速度环和位置环的串级PID，敬请期待

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