BMCL_Config.c
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#include "BMCL_Config.h"
#include "BMCL_crcLib.h"
#include "ParaMge_F1.h"
#include "stddef.h"
#include "string.h"
//HardWare
#include "gpio.h"
int32_t bmcl_config_mot_select = -1;
// uint32_t mge_NeedToCail = BMCL_CONFIG_MGE_CAL_STA_EMPTY;
// uint32_t mot_NeedToCail = BMCL_CONFIG_MOT_CAL_STA_EMPTY;
#define SELECT_IsDown(x) (x > (BMCL_CONFIG_MOT_SELECT_SCANTIMES / 2))
float pitchCenAngle = 0;
float yawCenAngle = 0;
float rollCenAngle = 0;
//======配合 paraMge的部分
uint32_t BMCL_mot_Calibration = __PARAMGE_DEF_MOT_CALI_STA_BAD;
//=================Funtion
// ! 该函数应该第一个调用 ；当前没有P轴的设定
/// @brief bmcl config 初始化，包括电机所在轴的判断（Y,R,P轴）
/// @return
int bmcl_Config_Init()
{
//============================== MOTOR AXIS Select Detect
#if BMCL_DEV_TARGET == STM32_TARGET_A2_F1
uint32_t select1_DownTimes = 0;
uint32_t select2_DownTimes = 0;
// Mot Select Detect
for (int i = 0; i < BMCL_CONFIG_MOT_SELECT_SCANTIMES; i++)
{
if (LL_GPIO_IsInputPinSet(BMCL_CONFIG_SELECT_1_GPIO_PORT, BMCL_CONFIG_SELECT_1_GPIO_PIN) == RESET)
{
select1_DownTimes++;
}
if (LL_GPIO_IsInputPinSet(BMCL_CONFIG_SELECT_2_GPIO_PORT, BMCL_CONFIG_SELECT_2_GPIO_PIN) == RESET)
{
select2_DownTimes++;
}
}
uint32_t select1_isDown = 0;
uint32_t select2_isDown = 0;
select1_isDown = SELECT_IsDown(select1_DownTimes);
select2_isDown = SELECT_IsDown(select2_DownTimes);
if ((select1_isDown == 1) && (select2_isDown == 1))
{ // The mot Axis is Unknow
bmcl_config_mot_select = -1;
}
if ((select1_isDown == 1) && (select2_isDown == 0))
{ // The mot Axis is YAW
bmcl_config_mot_select = BMCL_CONFIG_MOT_SELECT_YAW;
}
if ((select1_isDown == 0) && (select2_isDown == 1))
{ // The mot Axis is ROLL
bmcl_config_mot_select = BMCL_CONFIG_MOT_SELECT_ROLL;
}
if ((select1_isDown == 0) && (select2_isDown == 0))
{ // The mot Axis is PITCH
bmcl_config_mot_select = BMCL_CONFIG_MOT_SELECT_PITCH;
}
// bmcl_config_mot_select = BMCL_CONFIG_MOT_SELECT_PITCH;
#endif
#if BMCL_DEV_TARGET == STM32_TARGET_A12_F4
bmcl_config_mot_select = BMCL_CONFIG_MOT_SELECT_PITCH;
#endif
}
#include "FOC.h"
#include "motor.h"
#include "math_utils.h"
/// @brief 电机驱动参数初始化，固定值，只能通过宏定义修改
/// @param
void BMCL_motorSetting_PreLoad(void)
{
FOC_PARA foc_para = {0};
switch (bmcl_config_mot_select)
{
case BMCL_CONFIG_MOT_SELECT_PITCH:
motor_SetPP(BMCL_CD_P_MOT_FOC_PP);
foc_para.foc_Udc = BMCL_CD_P_MOT_FOC_Udc;
foc_para.foc_ULimit = BMCL_CD_P_MOT_FOC_ULIMIT;
foc_para_Set(foc_para);
break;
case BMCL_CONFIG_MOT_SELECT_ROLL:
motor_SetPP(BMCL_CD_R_MOT_FOC_PP);
foc_para.foc_Udc = BMCL_CD_R_MOT_FOC_Udc;
foc_para.foc_ULimit = BMCL_CD_R_MOT_FOC_ULIMIT;
foc_para_Set(foc_para);
mge_Set_direction (BMCL_CD_R_MGE_DIRECTION);
mge_Set_abOffset(BMCL_CD_R_MGE_ABSOFFSET);
motor_Set_ZeroEAngleOffset(BMCL_CD_R_MGE_ELEANGLE);
motor_SetUpLimit(BMCL_CD_R_MOT_UP_ANG);
motor_SetDownLimit(BMCL_CD_R_MOT_DOWN_ANG);
// rollCenAngle = BMCL_CD_R_MOT_CENTER_ANG;
break;
case BMCL_CONFIG_MOT_SELECT_YAW:
motor_SetPP(BMCL_CD_Y_MOT_FOC_PP);
foc_para.foc_Udc = BMCL_CD_Y_MOT_FOC_Udc;
foc_para.foc_ULimit = BMCL_CD_Y_MOT_FOC_ULIMIT;
foc_para_Set(foc_para);
break;
default:
//该设置会让电机停止运转
motor_SetPP(0);
foc_para.foc_Udc = 0;
foc_para.foc_ULimit = 0;
foc_para_Set(foc_para);
break;
}
}
// /// @brief 电机驱动参数初始化 - 测试用(跳过校准)
// /// @param
// static void motor_Para_Load_CailJump(void)
// {
// switch (bmcl_config_mot_select)
// {
// case BMCL_CONFIG_MOT_SELECT_PITCH:
// motor_PP = BMCL_CD_P_MOT_FOC_PP;
// foc_Udc = BMCL_CD_P_MOT_FOC_Udc;
// foc_ULimit = BMCL_CD_P_MOT_FOC_ULIMIT;
// // mge_direction = BMCL_CD_P_MGE_DIRECTION;
// mge_Set_abOffset(BMCL_CD_P_MGE_ABSOFFSET);
// motor_Set_ZeroEAngleOffset(BMCL_CD_P_MGE_ELEANGLE);
// pitchCenAngle = BMCL_CD_P_MOT_CENTER_ANG;
// break;
// case BMCL_CONFIG_MOT_SELECT_ROLL:
// motor_PP = BMCL_CD_R_MOT_FOC_PP;
// foc_Udc = BMCL_CD_R_MOT_FOC_Udc;
// foc_ULimit = BMCL_CD_R_MOT_FOC_ULIMIT;
// // mge_direction = BMCL_CD_R_MGE_DIRECTION;
// mge_Set_abOffset(BMCL_CD_R_MGE_ABSOFFSET);
// motor_Set_ZeroEAngleOffset(BMCL_CD_R_MGE_ELEANGLE);
// rollCenAngle = BMCL_CD_R_MOT_CENTER_ANG;
// break;
// case BMCL_CONFIG_MOT_SELECT_YAW:
// motor_PP = BMCL_CD_Y_MOT_FOC_PP;
// foc_Udc = BMCL_CD_Y_MOT_FOC_Udc;
// foc_ULimit = BMCL_CD_Y_MOT_FOC_ULIMIT;
// // mge_direction = BMCL_CD_Y_MGE_DIRECTION;
// mge_Set_abOffset(BMCL_CD_Y_MGE_ABSOFFSET);
// motor_Set_ZeroEAngleOffset(BMCL_CD_Y_MGE_ELEANGLE);
// yawCenAngle = BMCL_CD_Y_MOT_CENTER_ANG;
// break;
// default:
// motor_PP = 0;
// foc_Udc = 0;
// foc_ULimit = 0;
// break;
// }
// }
#include "PID_Gen.h"
/// @brief 电机GenPID参数预初始化，使用.h文件中的值
/// @param
void BMCL_motorPID_PreLoad(void)
{
GenPID_CONFIG config = {0};
switch (bmcl_config_mot_select)
{
case BMCL_CONFIG_MOT_SELECT_PITCH:
// VEL GENPID
config.varPID.KP_a = BMCL_CD_P_VEL_GENPID_VPID_KPa;
config.varPID.KP_b = BMCL_CD_P_VEL_GENPID_VPID_KPb;
config.varPID.KP_c = BMCL_CD_P_VEL_GENPID_VPID_KPc;
config.varPID.KI_a = BMCL_CD_P_VEL_GENPID_VPID_KIa;
config.varPID.KI_c = BMCL_CD_P_VEL_GENPID_VPID_KIc;
config.varPID.KI_e = BMCL_CD_P_VEL_GENPID_VPID_KIe;
config.varPID.KI_0 = BMCL_CD_P_VEL_GENPID_VPID_KI0;
config.varPID.KI_1 = BMCL_CD_P_VEL_GENPID_VPID_KI1;
config.varPID.KD_a = BMCL_CD_P_VEL_GENPID_VPID_KDa;
config.varPID.KD_b = BMCL_CD_P_VEL_GENPID_VPID_KDb;
config.varPID.KD_c = BMCL_CD_P_VEL_GENPID_VPID_KDc;
config.kp = BMCL_CD_P_VEL_GENPID_KP;
config.ki = BMCL_CD_P_VEL_GENPID_KI;
config.kd = BMCL_CD_P_VEL_GENPID_KD;
config.intDetach = BMCL_CD_P_VEL_GENPID_INTDETACH;
config.intLimit = BMCL_CD_P_VEL_GENPID_INTLIMIT;
config.outputLimit = BMCL_CD_P_VEL_GENPID_OUTPUTLIMIT;
config.output_ramp = BMCL_CD_P_VEL_GENPID_OUTPUTRAMP;
// motor_velGenPID_Set(config);
motor_GenPID_Set_Needle(__MOTOR_GENPID_INDEX_VEL,&config);
memset(&config,0x00,sizeof(GenPID_CONFIG));
// ANG GENPID
config.varPID.KP_a = BMCL_CD_P_ANG_GENPID_VPID_KPa;
config.varPID.KP_b = BMCL_CD_P_ANG_GENPID_VPID_KPb;
config.varPID.KP_c = BMCL_CD_P_ANG_GENPID_VPID_KPc;
config.varPID.KI_a = BMCL_CD_P_ANG_GENPID_VPID_KIa;
config.varPID.KI_c = BMCL_CD_P_ANG_GENPID_VPID_KIc;
config.varPID.KI_e = BMCL_CD_P_ANG_GENPID_VPID_KIe;
config.varPID.KI_0 = BMCL_CD_P_ANG_GENPID_VPID_KI0;
config.varPID.KI_1 = BMCL_CD_P_ANG_GENPID_VPID_KI1;
config.varPID.KD_a = BMCL_CD_P_ANG_GENPID_VPID_KDa;
config.varPID.KD_b = BMCL_CD_P_ANG_GENPID_VPID_KDb;
config.varPID.KD_c = BMCL_CD_P_ANG_GENPID_VPID_KDc;
config.kp = BMCL_CD_P_ANG_GENPID_KP;
config.ki = BMCL_CD_P_ANG_GENPID_KI;
config.kd = BMCL_CD_P_ANG_GENPID_KD;
config.intDetach = BMCL_CD_P_ANG_GENPID_INTDETACH;
config.intLimit = BMCL_CD_P_ANG_GENPID_INTLIMIT;
config.outputLimit = BMCL_CD_P_ANG_GENPID_OUTPUTLIMIT;
config.output_ramp = BMCL_CD_P_ANG_GENPID_OUTPUTRAMP;
// motor_angGenPID_Set(config);
motor_GenPID_Set_Needle(__MOTOR_GENPID_INDEX_ANG,&config);
break;
case BMCL_CONFIG_MOT_SELECT_ROLL:
// VEL GENPID
config.varPID.KP_a = BMCL_CD_R_VEL_GENPID_VPID_KPa;
config.varPID.KP_b = BMCL_CD_R_VEL_GENPID_VPID_KPb;
config.varPID.KP_c = BMCL_CD_R_VEL_GENPID_VPID_KPc;
config.varPID.KI_a = BMCL_CD_R_VEL_GENPID_VPID_KIa;
config.varPID.KI_c = BMCL_CD_R_VEL_GENPID_VPID_KIc;
config.varPID.KI_e = BMCL_CD_R_VEL_GENPID_VPID_KIe;
config.varPID.KI_0 = BMCL_CD_R_VEL_GENPID_VPID_KI0;
config.varPID.KI_1 = BMCL_CD_R_VEL_GENPID_VPID_KI1;
config.varPID.KD_a = BMCL_CD_R_VEL_GENPID_VPID_KDa;
config.varPID.KD_b = BMCL_CD_R_VEL_GENPID_VPID_KDb;
config.varPID.KD_c = BMCL_CD_R_VEL_GENPID_VPID_KDc;
config.kp = BMCL_CD_R_VEL_GENPID_KP;
config.ki = BMCL_CD_R_VEL_GENPID_KI;
config.kd = BMCL_CD_R_VEL_GENPID_KD;
config.intDetach = BMCL_CD_R_VEL_GENPID_INTDETACH;
config.intLimit = BMCL_CD_R_VEL_GENPID_INTLIMIT;
config.outputLimit = BMCL_CD_R_VEL_GENPID_OUTPUTLIMIT;
config.output_ramp = BMCL_CD_R_VEL_GENPID_OUTPUTRAMP;
// motor_velGenPID_Set(config);
motor_GenPID_Set_Needle(__MOTOR_GENPID_INDEX_VEL,&config);
memset(&config,0x00,sizeof(GenPID_CONFIG));
// ANG GENPID
config.varPID.KP_a = BMCL_CD_R_ANG_GENPID_VPID_KPa;
config.varPID.KP_b = BMCL_CD_R_ANG_GENPID_VPID_KPb;
config.varPID.KP_c = BMCL_CD_R_ANG_GENPID_VPID_KPc;
config.varPID.KI_a = BMCL_CD_R_ANG_GENPID_VPID_KIa;
config.varPID.KI_c = BMCL_CD_R_ANG_GENPID_VPID_KIc;
config.varPID.KI_e = BMCL_CD_R_ANG_GENPID_VPID_KIe;
config.varPID.KI_0 = BMCL_CD_R_ANG_GENPID_VPID_KI0;
config.varPID.KI_1 = BMCL_CD_R_ANG_GENPID_VPID_KI1;
config.varPID.KD_a = BMCL_CD_R_ANG_GENPID_VPID_KDa;
config.varPID.KD_b = BMCL_CD_R_ANG_GENPID_VPID_KDb;
config.varPID.KD_c = BMCL_CD_R_ANG_GENPID_VPID_KDc;
config.kp = BMCL_CD_R_ANG_GENPID_KP;
config.ki = BMCL_CD_R_ANG_GENPID_KI;
config.kd = BMCL_CD_R_ANG_GENPID_KD;
config.intDetach = BMCL_CD_R_ANG_GENPID_INTDETACH;
config.intLimit = BMCL_CD_R_ANG_GENPID_INTLIMIT;
config.outputLimit = BMCL_CD_R_ANG_GENPID_OUTPUTLIMIT;
config.output_ramp = BMCL_CD_R_ANG_GENPID_OUTPUTRAMP;
// motor_angGenPID_Set(config);
motor_GenPID_Set_Needle(__MOTOR_GENPID_INDEX_ANG,&config);
break;
case BMCL_CONFIG_MOT_SELECT_YAW:
// VEL GENPID
config.varPID.KP_a = BMCL_CD_Y_VEL_GENPID_VPID_KPa;
config.varPID.KP_b = BMCL_CD_Y_VEL_GENPID_VPID_KPb;
config.varPID.KP_c = BMCL_CD_Y_VEL_GENPID_VPID_KPc;
config.varPID.KI_a = BMCL_CD_Y_VEL_GENPID_VPID_KIa;
config.varPID.KI_c = BMCL_CD_Y_VEL_GENPID_VPID_KIc;
config.varPID.KI_e = BMCL_CD_Y_VEL_GENPID_VPID_KIe;
config.varPID.KI_0 = BMCL_CD_Y_VEL_GENPID_VPID_KI0;
config.varPID.KI_1 = BMCL_CD_Y_VEL_GENPID_VPID_KI1;
config.varPID.KD_a = BMCL_CD_Y_VEL_GENPID_VPID_KDa;
config.varPID.KD_b = BMCL_CD_Y_VEL_GENPID_VPID_KDb;
config.varPID.KD_c = BMCL_CD_Y_VEL_GENPID_VPID_KDc;
config.kp = BMCL_CD_Y_VEL_GENPID_KP;
config.ki = BMCL_CD_Y_VEL_GENPID_KI;
config.kd = BMCL_CD_Y_VEL_GENPID_KD;
config.intDetach = BMCL_CD_Y_VEL_GENPID_INTDETACH;
config.intLimit = BMCL_CD_Y_VEL_GENPID_INTLIMIT;
config.outputLimit = BMCL_CD_Y_VEL_GENPID_OUTPUTLIMIT;
config.output_ramp = BMCL_CD_Y_VEL_GENPID_OUTPUTRAMP;
// motor_velGenPID_Set(config);
motor_GenPID_Set_Needle(__MOTOR_GENPID_INDEX_VEL,&config);
memset(&config,0x00,sizeof(GenPID_CONFIG));
// ANG GENPID
config.varPID.KP_a = BMCL_CD_Y_ANG_GENPID_VPID_KPa;
config.varPID.KP_b = BMCL_CD_Y_ANG_GENPID_VPID_KPb;
config.varPID.KP_c = BMCL_CD_Y_ANG_GENPID_VPID_KPc;
config.varPID.KI_a = BMCL_CD_Y_ANG_GENPID_VPID_KIa;
config.varPID.KI_c = BMCL_CD_Y_ANG_GENPID_VPID_KIc;
config.varPID.KI_e = BMCL_CD_Y_ANG_GENPID_VPID_KIe;
config.varPID.KI_0 = BMCL_CD_Y_ANG_GENPID_VPID_KI0;
config.varPID.KI_1 = BMCL_CD_Y_ANG_GENPID_VPID_KI1;
config.varPID.KD_a = BMCL_CD_Y_ANG_GENPID_VPID_KDa;
config.varPID.KD_b = BMCL_CD_Y_ANG_GENPID_VPID_KDb;
config.varPID.KD_c = BMCL_CD_Y_ANG_GENPID_VPID_KDc;
config.kp = BMCL_CD_Y_ANG_GENPID_KP;
config.ki = BMCL_CD_Y_ANG_GENPID_KI;
config.kd = BMCL_CD_Y_ANG_GENPID_KD;
config.intDetach = BMCL_CD_Y_ANG_GENPID_INTDETACH;
config.intLimit = BMCL_CD_Y_ANG_GENPID_INTLIMIT;
config.outputLimit = BMCL_CD_Y_ANG_GENPID_OUTPUTLIMIT;
config.output_ramp = BMCL_CD_Y_ANG_GENPID_OUTPUTRAMP;
// motor_angGenPID_Set(config);
motor_GenPID_Set_Needle(__MOTOR_GENPID_INDEX_ANG,&config);
break;
default:
break;
}
// GenPID_Init(&velGenPID);
// GenPID_Init(&angGenPID);
// GenPID_Init(&angGenPID_E1);
}
/// @brief 电机滤波器参数预初始化，使用.h文件中的值
/// @param
void BMCL_filter_PreLoad(void)
{
KFP_CONFIG config = {0};
switch (bmcl_config_mot_select)
{
case BMCL_CONFIG_MOT_SELECT_PITCH:
config.Q = BMCL_CD_P_KPF_VELP_Q;
config.R = BMCL_CD_P_KPF_VELP_R;
motor_velKFP_Set(config);
config.Q = BMCL_CD_P_KPF_ANGP_Q;
config.R = BMCL_CD_P_KPF_ANGP_R;
motor_angKFP_Set(config);
inter_filter_SetRange(BMCL_CD_P_INTER_RANGE);
inter_filterC1_SetRange(BMCL_CD_P_INTER1_RANGE);
break;
case BMCL_CONFIG_MOT_SELECT_ROLL:
config.Q = BMCL_CD_R_KPF_VELP_Q;
config.R = BMCL_CD_R_KPF_VELP_R;
motor_velKFP_Set(config);
config.Q = BMCL_CD_R_KPF_ANGP_Q;
config.R = BMCL_CD_R_KPF_ANGP_R;
motor_angKFP_Set(config);
inter_filter_SetRange(BMCL_CD_R_INTER_RANGE);
inter_filterC1_SetRange(BMCL_CD_R_INTER1_RANGE);
break;
case BMCL_CONFIG_MOT_SELECT_YAW:
config.Q = BMCL_CD_Y_KPF_VELP_Q;
config.R = BMCL_CD_Y_KPF_VELP_R;
motor_velKFP_Set(config);
config.Q = BMCL_CD_Y_KPF_ANGP_Q;
config.R = BMCL_CD_Y_KPF_ANGP_R;
motor_angKFP_Set(config);
inter_filter_SetRange(BMCL_CD_Y_INTER_RANGE);
inter_filterC1_SetRange(BMCL_CD_Y_INTER1_RANGE);
break;
default:
break;
}
}