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Merge branch 'master' of http://172.30.0.1:8418/cbb/Robot_v2

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cbb
2026-03-09 01:47:30 +08:00
parent a26dd1cc8e c9934849c5
commit 1ee2f68a89
8 changed files with 359 additions and 171 deletions
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Robot_V2/sys/config.h
+7 -45
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@@ -1,6 +1,5 @@
#ifndef __CONFIG_H
#define __CONFIG_H
#include "gd32c10x_eval.h"
#include <cstdint>
// 如果使用CMSIS DSP库，需要定义ARM_MATH_CM4
@@ -88,50 +87,17 @@ constexpr float CURRENT_KALMAN_PROCESS_NOISE_Q = 10.0f; // 降低过程噪声
constexpr float CURRENT_KALMAN_MEASUREMENT_NOISE_R = 5e-5f; // 增大测量噪声
// PID配置
constexpr float DEFAULT_current_loop_p = 0.1f / 100 * 12; // 电流P
constexpr float current_loop_Ki = 0.55f; // 电流P
constexpr float current_loop_Kd = 3e-4f; // 电流P
constexpr float DEFAULT_vel_loop_p = 0.018f / 100 * 12; // 速度P
constexpr float vel_loop_Ku = 3.600000e-03 * 0.7 * 100 / 12;
constexpr float vel_loop_Tu = 17.0f * 1e-3f;
constexpr float vel_loop_Ki = 1.2 * vel_loop_Ku / vel_loop_Tu;
constexpr float vel_loop_Kd = 0.075 * vel_loop_Ku * vel_loop_Tu * 2;
constexpr float DEFAULT_vel_angloop_p = 0.4f / 100; // 速度 速度-角度P
constexpr float vel_angloop_Ki = 5.0f; // 速度 速度-角度I
constexpr float vel_angloop_Kd = 5e-05f; // 速度 速度-角度D
constexpr float DEFAULT_angle_angloop_p = 150.0f / 100 * 12; // 角度 速度-角度P
constexpr float ang_angloop_Ki = 0.00f; // 角度 速度-角度I
constexpr float ang_angloop_Kd = 8e-04f; // 角度 速度-角度D
constexpr float DEFAULT_angle_loop_p = 60.0f / 100 * 12; // 角度P
constexpr float DEFAULT_angle_MIT_p = 100.0f / 100 * 12; // 角度 MIT P
constexpr float angle_MIT_Ki = 0.0f;
constexpr float angle_MIT_Kd = 8e-04f;
constexpr float DEFAULT_vel_MIT_p = 5.0f / 100; // 速度 MIT P
constexpr float vel_MIT_Ki = 15.0f;
constexpr float vel_MIT_Kd = 1e-04f;
constexpr float DEFAULT_current_MIT_p = 0.2f / 100 * 12; // 电流 MIT P
constexpr float current_MIT_Ki = 0.1f;
constexpr float current_MIT_Kd = 3e-4f;
constexpr float current_loop_p = 6e-2f / 100 * 12; // 电流P
constexpr float vel_loop_p = 0.01f / 100 * 12; // 速度P
constexpr float angle_loop_p = 20.0f / 100 * 12; // 角度P
constexpr float vel_angloop_p = 0.12f / 100 * 12; // 速度 速度-角度P
constexpr float ang_angloop_p = 100.0f / 100 * 12; // 角度 速度-角度P
// 常量定义
constexpr u8 SIZE_FLOAT = sizeof(float);
constexpr u8 SIZE_U32 = sizeof(uint32_t);
constexpr float ADC_MAX = 65536.0f;
constexpr float PI = 3.14159265358979323846f;
constexpr float INV_PI_3 = 3.0f / PI;
constexpr float PI_3 = PI / 3.0f;
constexpr float _1_SQRT3 = 0.57735026919f; // 1/sqrt(3)
constexpr float _3PI_2 = 4.71238898038f;
constexpr float SQRT3 = 1.7320508075688772f;
constexpr float SQRT3DV2 = 0.8660254037844386f; // sqrt(3)/2
constexpr float COS_PI_3 = 0.5f;
constexpr float ANGLE_FACTOR = 25.0f / 180.0f * PI;
constexpr float DEG2RAD = 1.0f / 180.0f * PI;
constexpr float RAD2DEG = 180.0f / PI; // 修正RAD2DEG定义，应该是180/π
@@ -183,12 +149,8 @@ constexpr float ANGLESENS_FACTOR = 1.0f / ADC_MAX * 360.0f;
// TIMER2-任务调度
constexpr int TIMER2_PRESCALER = 119; // 120MHz / 120 = 1MHz
constexpr int TIMER2_PERIOD = 49; // 1 / 1MHz * 50 = 50us
constexpr int MOTOR_PERIOD = 2; // 100us/50us = 2
constexpr float TIME_SLICE =
(TIMER2_PERIOD + 1) * (TIMER2_PRESCALER + 1) / 120000000.0f; // 周期
constexpr float TIMER2_FREQUENCY = 1 / TIME_SLICE; // 频率
constexpr float MOTOR_FREQUENCY = 1 / TIME_SLICE / MOTOR_PERIOD; // 频率
constexpr int TIMER2_PERIOD = 49; // 1MHz / 50 = 50us
constexpr float TIMER2_FREQUENCY = 1 / 5e-5;
// TIMER1-PWM
constexpr int TIMER1_PRESCALER = 0; // 不分频，计数器时钟为120MHz