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大疆遥控控制M3508电机二（基于HAL库）_m3508电机控制

作者：2023面试高手 | 2024-03-29 12:32:02

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m3508电机控制

接上一篇文章，话不多说直接开始

一、打开我们创建的工程文件，先就建立一个文件夹用来存放我们写的子文件（不建立也行），然后建立pid.h，pid.c存入我们建立的文件夹中，并把它的源文件和头文件添加进去，最后记得编译一下。

二、遥控器部分

  1. 先在main.h 中定义一个遥控器接收数据的结构体，参考了官方的定义不过我删了一部分不需要的。

  1. typedef struct
  2. {
  3.     struct
  4.     { 
  5.         signed short ch0;
  6.         signed short ch1;
  7.         signed short ch2;
  8.         signed short ch3;
  9.         unsigned char s1;
  10.         unsigned char s2;
  11.         
  12.         unsigned short sw;
  13.     }rc;
  14. }DBUS;

  1. 在main函数里初始化和中断使能DMA，注意这里我们是用了串口1来接收数据的

  1.       HAL_UART_Receive_DMA(&huart1,dbus_resive,18);//初始化DMA
  2.     __HAL_UART_ENABLE_IT(&huart1, UART_IT_IDLE);//中断使能DMA

  1. 遥控接收到的数据需要进行拼接一下，如果大家不懂可以参考一下这位大佬下的这篇博客（https://blog.csdn.net/weixin_45850927/article/details/121299686）

  1. uint8_t dbus_resive[18]; //用来储存接收到的数据的数组
  2.  
  3. void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) 
  4. {  
  5.     remoter.rc.ch0 = (dbus_resive[0]| (dbus_resive[1] << 8)) & 0x07ff;          
  6.     remoter.rc.ch0 -= 1024;
  7.     remoter.rc.ch1 = ((dbus_resive[1] >> 3) | (dbus_resive[2] << 5)) & 0x07ff;       
  8.     remoter.rc.ch1 -= 1024;
  9.     remoter.rc.ch2 = ((dbus_resive[2] >> 6) | (dbus_resive[3] << 2) | (dbus_resive[4] << 10)) & 0x07ff;          
  10.     remoter.rc.ch2 -= 1024;
  11.     remoter.rc.ch3 = ((dbus_resive[4] >> 1) | (dbus_resive[5] << 7)) & 0x07ff;           
  12.     remoter.rc.ch3 -= 1024;
  13.     remoter.rc.s1  = ((dbus_resive[5] >> 4)& 0x000C) >> 2;                           
  14.     remoter.rc.s2  = ((dbus_resive[5] >> 4)& 0x0003);  
  15.  
  16.     remoter.rc.sw = dbus_resive[16]|(dbus_resive[17]<<8);
  17. }

经过处理后我们接收到四个通道的数据范围是（-660~660）

三，PID部分（PID其实网上资料有很多，这里就不详细介绍，直接贴代码，我用的是最简单的【笑哭】）

  1. #ifndef __PID_H__
  2. #define __PID_H__
  3.  
  4. #include "stdint.h"
  5.  
  6. typedef float fp32;
  7.  
  8. enum PID_MODE
  9. {
  10.     PID_POSITION = 0,
  11.     PID_DELTA
  12. };
  13.  
  14. typedef struct
  15. {
  16.     uint8_t mode;
  17.     //PID 三参数
  18.     fp32 Kp;
  19.     fp32 Ki;
  20.     fp32 Kd;
  21.  
  22.     fp32 max_out;  //最大输出
  23.     fp32 max_iout; //最大积分输出
  24.  
  25.     fp32 set;
  26.     fp32 fdb;
  27.  
  28.     fp32 out;
  29.     fp32 Pout;
  30.     fp32 Iout;
  31.     fp32 Dout;
  32.     fp32 Dbuf[3];  //微分项 0最新 1上一次 2上上次
  33.     fp32 error[3]; //误差项 0最新 1上一次 2上上次
  34.  
  35. } PidTypeDef;
  36.  
  37. fp32 PID_Calc(PidTypeDef *pid,fp32 ref,fp32 set);
  38. void PID_init(PidTypeDef *pid,uint8_t mode,const fp32 PID[3],fp32 max_out,fp32 max_iout);
  39.  
  40. #endif
  1. #include "pid.h"
  2. #include "main.h"
  3.  
  4. #define LimitMax(input, max)       \
  5. {                                        \
  6.     if (input > max)                       \
  7.   {                                      \
  8.         input = max;                            \
  9.   }                                      \
  10.   else if (input < -max)                 \
  11.   {                                      \
  12.         input = -max;                        \
  13.   }                                      \
  14. }
  15.  
  16. void PID_init(PidTypeDef *pid,uint8_t mode,const fp32 PID[3],fp32 max_out,fp32 max_iout)
  17. {
  18.     if(pid==NULL||PID==NULL)
  19.     {
  20.         return;
  21.     }
  22.     pid->mode=mode;
  23.     pid->Kp=PID[0];
  24.     pid->Ki=PID[1];
  25.     pid->Kd=PID[2];
  26.     pid->max_out=max_out;
  27.     pid->max_iout=max_iout;
  28.     pid->Dbuf[0]=pid->Dbuf[1]=pid->Dbuf[2]=0.0f;
  29.     pid->error[0]=pid->error[1]=pid->error[2]=pid->Pout=pid->Iout=pid->Dout=pid->out=0.0f;
  30. }
  31.  
  32. fp32 PID_Calc(PidTypeDef *pid, fp32 ref, fp32 set)
  33. {
  34.     if (pid == NULL)
  35.     {
  36.         return 0.0f;
  37.     }
  38.  
  39.     pid->error[2] = pid->error[1];
  40.     pid->error[1] = pid->error[0];
  41.     pid->set = set;
  42.     pid->fdb = ref;
  43.     pid->error[0] = set - ref;
  44.     if (pid->mode == PID_POSITION)
  45.     {
  46.         pid->Pout = pid->Kp * pid->error[0];
  47.         pid->Iout += pid->Ki * pid->error[0];
  48.         pid->Dbuf[2] = pid->Dbuf[1];
  49.         pid->Dbuf[1] = pid->Dbuf[0];
  50.         pid->Dbuf[0] = (pid->error[0] - pid->error[1]);
  51.         pid->Dout = pid->Kd * pid->Dbuf[0];
  52.         LimitMax(pid->Iout, pid->max_iout);
  53.         pid->out = pid->Pout + pid->Iout + pid->Dout;
  54.         LimitMax(pid->out, pid->max_out);
  55.     }
  56.     else if (pid->mode == PID_DELTA)
  57.     {
  58.         pid->Pout = pid->Kp * (pid->error[0] - pid->error[1]);
  59.         pid->Iout = pid->Ki * pid->error[0];
  60.         pid->Dbuf[2] = pid->Dbuf[1];
  61.         pid->Dbuf[1] = pid->Dbuf[0];
  62.         pid->Dbuf[0] = (pid->error[0] - 2.0f * pid->error[1] + pid->error[2]);
  63.         pid->Dout = pid->Kd * pid->Dbuf[0];
  64.         pid->out += pid->Pout + pid->Iout + pid->Dout;
  65.         LimitMax(pid->out, pid->max_out);
  66.     }
  67.     return pid->out;
  68. }

四，电机部分（因为我们只需要简单控个电机，所以就只需要在main.h中定义一些我们需要的就可以了）

  1. typedef enum
  2. {
  3.   CAN_CHASSIS_ALL_ID = 0x200,
  4.   CAN_AUXILIARY_ALL_ID = 0x1FF,
  5.   motor1 = 0x201,
  6.   motor2 = 0x202,
  7.   motor3 = 0x203,
  8.   motor4 = 0x204,
  9. }can_msg_id;
  10.  
  11. typedef struct 
  12. {
  13.     uint16_t angle_value;
  14.     int16_t speed_rpm;
  15.     int16_t real_current;
  16.     uint8_t temperate;
  17.     int16_t real_angle;
  18. }motor_measure_t;

五，CAN

  1. CAN基础的配置CUBEMX已经配置好了

  1. 配置CAN的过滤器

  1. void can_filter_init(void)
  2. {
  3.  
  4.     CAN_FilterTypeDef can_filter_st;
  5.  
  6.     can_filter_st.FilterActivation = ENABLE;
  7.     can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK;
  8.     can_filter_st.FilterScale = CAN_FILTERSCALE_32BIT;
  9.     can_filter_st.FilterIdHigh = 0x0000;
  10.     can_filter_st.FilterIdLow = 0x0000;
  11.     can_filter_st.FilterMaskIdHigh = 0x0000;
  12.     can_filter_st.FilterMaskIdLow = 0x0000;
  13.     can_filter_st.FilterBank = 0;
  14.     can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;
  15.     HAL_CAN_ConfigFilter(&hcan1, &can_filter_st);
  16. }

如果不太清楚可以参考一下这位大佬写的（https://blog.csdn.net/weixin_44663976/article/details/126138298）

  1. 配置完过滤器就可以开启CAN的使用了（这两步很重要，不要漏了）

  1. HAL_CAN_Start(&hcan1);//启动CAN1
  2. HAL_CAN_ActivateNotification(&hcan1,CAN_IT_RX_FIFO0_MSG_PENDING);//使能中断

写到一个函数里防漏

  1. void can1_start(void)
  2. {
  3.     can_filter_init();
  4.     HAL_CAN_Start(&hcan1);//启动CAN1
  5.     HAL_CAN_ActivateNotification(&hcan1,CAN_IT_RX_FIFO0_MSG_PENDING);//使能中断
  6. }

  1. 要让M3508电机转呢就要给电机发送电流

  1. uint8_t chassis_can_send_data[8];  //用于接收电机的原始数据
  2. CAN_TxHeaderTypeDef chassis_tx_message;
  3.  
  4.  
  5. /**
  6.   * @brief          send control current of motor (0x201, 0x202, 0x203, 0x204)
  7.   * @param[in]      motor1: (0x201) 3508 motor control current, range [-16384,16384] 
  8.   * @param[in]      motor2: (0x202) 3508 motor control current, range [-16384,16384] 
  9.   * @param[in]      motor3: (0x203) 3508 motor control current, range [-16384,16384] 
  10.   * @param[in]      motor4: (0x204) 3508 motor control current, range [-16384,16384] 
  11.   * @retval         none
  12.   */
  13. void CAN_cmd_chassis(int16_t M1, int16_t M2, int16_t M3, int16_t M4)
  14. {
  15.     uint32_t send_mail_box;
  16.     chassis_tx_message.StdId=CAN_CHASSIS_ALL_ID;
  17.     chassis_tx_message.IDE=CAN_ID_STD;
  18.     chassis_tx_message.RTR=CAN_RTR_DATA;
  19.     chassis_tx_message.DLC=0x08;
  20.     chassis_can_send_data[0]=M1>>8;
  21.     chassis_can_send_data[1]=M1;
  22.     chassis_can_send_data[2]=M2>>8;
  23.     chassis_can_send_data[3]=M2;
  24.     chassis_can_send_data[4]=M3>>8;
  25.     chassis_can_send_data[5]=M3;
  26.     chassis_can_send_data[6]=M4>>8;
  27.     chassis_can_send_data[7]=M4;
  28.     
  29.     HAL_CAN_AddTxMessage(&hcan1,&chassis_tx_message,chassis_can_send_data,&send_mail_box);
  30. }

这个函数几乎每个例程里面都有，笔者也是直接拿过来用

  1. CAN接收到数据后就会产生中断，进入中断回调函数，这个函数是需要我们自己编写的，我们需要在这里处理拼接接收到的数据，然后储存起来

  1. uint8_t rx_data[8]; //用于接收电机原始数据
  2. motor_measure_t motor_chassis[4]; //声明一个结构体数组来储存处理后电机的数据
  3. //用来拼接电机数据
  4. #define get_motor_measure(ptr,data)\
  5. {\
  6.     (ptr)->angle_value=(uint16_t)((data)[0]<<8|(data)[1]);\
  7.     (ptr)->speed_rpm=(uint16_t)((data)[2]<<8|(data)[3]);\
  8.     (ptr)->real_current=(uint16_t)((data)[4]<<8|(data)[5]);\
  9.     (ptr)->temperate=(data)[6];\
  10.     (ptr)->real_angle=(ptr)->angle_value/8192.0f*360.0f;\
  11. }
  12.  
  13. void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
  14. {
  15.     
  16.     CAN_RxHeaderTypeDef rx_header;
  17.     HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &rx_header, rx_data);
  18.     switch(rx_header.StdId)
  19.     {
  20.         case motor1:
  21.         case motor2:
  22.         case motor3:
  23.         case motor4:
  24.         {
  25.             static uint8_t i = 0;
  26.             i = rx_header.StdId - motor1;
  27.             get_motor_measure(&motor_chassis[i],rx_data);
  28.             break;
  29.         }
  30.         
  31.         default:
  32.         {
  33.             break;
  34.         }
  35.     }
  36.  
  37. }

六、现在我们可以开始写main函数了（直接上代码）

  1. /* USER CODE BEGIN Header */
  2. /**
  3.   ******************************************************************************
  4.   * @file           : main.c
  5.   * @brief          : Main program body
  6.   ******************************************************************************
  7.   * @attention
  8.   *
  9.   * Copyright (c) 2023 STMicroelectronics.
  10.   * All rights reserved.
  11.   *
  12.   * This software is licensed under terms that can be found in the LICENSE file
  13.   * in the root directory of this software component.
  14.   * If no LICENSE file comes with this software, it is provided AS-IS.
  15.   *
  16.   ******************************************************************************
  17.   */
  18. /* USER CODE END Header */
  19. /* Includes ------------------------------------------------------------------*/
  20. #include "main.h"
  21. #include "can.h"
  22. #include "dma.h"
  23. #include "usart.h"
  24. #include "gpio.h"
  25.  
  26. /* Private includes ----------------------------------------------------------*/
  27. /* USER CODE BEGIN Includes */
  28. #include "pid.h" 
  29. /* USER CODE END Includes */
  30.  
  31. /* Private typedef -----------------------------------------------------------*/
  32. /* USER CODE BEGIN PTD */
  33. #define unit_speed 1000/660.0  //这里改最大速度只需要改前面的1000就可以了
  34.  
  35. DBUS remoter;
  36. uint8_t dbus_resive[18];
  37. /* USER CODE END PTD */
  38.  
  39. /* Private define ------------------------------------------------------------*/
  40. /* USER CODE BEGIN PD */
  41. extern motor_measure_t motor_chassis[4];
  42. PidTypeDef motor_pid;
  43. fp32 pid_motor[3]={3.0,0.1,0};        // 这三个参数也是参考了其他大佬的
  44. /* USER CODE END PD */
  45.  
  46. /* Private macro -------------------------------------------------------------*/
  47. /* USER CODE BEGIN PM */
  48.  
  49. /* USER CODE END PM */
  50.  
  51. /* Private variables ---------------------------------------------------------*/
  52.  
  53. /* USER CODE BEGIN PV */
  54. void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
  55. void CAN_cmd_chassis(int16_t M1, int16_t M2, int16_t M3, int16_t M4);
  56. fp32 PID_Calc(PidTypeDef *pid,fp32 ref,fp32 set);
  57. /* USER CODE END PV */
  58.  
  59. /* Private function prototypes -----------------------------------------------*/
  60. void SystemClock_Config(void);
  61. /* USER CODE BEGIN PFP */
  62.  
  63. /* USER CODE END PFP */
  64.  
  65. /* Private user code ---------------------------------------------------------*/
  66. /* USER CODE BEGIN 0 */
  67.  
  68. /* USER CODE END 0 */
  69.  
  70. /**
  71.   * @brief  The application entry point.
  72.   * @retval int
  73.   */
  74. int main(void)
  75. {
  76.   /* USER CODE BEGIN 1 */
  77.  
  78.   signed int set_speed;
  79.   /* USER CODE END 1 */
  80.  
  81.   /* MCU Configuration--------------------------------------------------------*/
  82.  
  83.   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  84.   HAL_Init();
  85.  
  86.   /* USER CODE BEGIN Init */
  87.  
  88.   /* USER CODE END Init */
  89.  
  90.   /* Configure the system clock */
  91.   SystemClock_Config();
  92.  
  93.   /* USER CODE BEGIN SysInit */
  94.  
  95.   /* USER CODE END SysInit */
  96.  
  97.   /* Initialize all configured peripherals */
  98.   MX_GPIO_Init();
  99.   MX_DMA_Init();
  100.   MX_CAN1_Init();
  101.   MX_USART1_UART_Init();
  102.   MX_USART6_UART_Init();
  103.   /* USER CODE BEGIN 2 */
  104.   HAL_UART_Receive_DMA(&huart1,dbus_resive,18);//初始化DMA
  105.   __HAL_UART_ENABLE_IT(&huart1, UART_IT_IDLE);//IDLE 中断使能
  106.   can1_start();
  107.   PID_init(&motor_pid,PID_POSITION,pid_motor,16000,16000);  //PID初始化
  108.  
  109.   /* USER CODE END 2 */
  110.  
  111.   /* Infinite loop */
  112.   /* USER CODE BEGIN WHILE */
  113.   while (1)
  114.   {
  115.     /* USER CODE END WHILE */
  116.       set_speed = remoter.rc.ch1 * unit_speed;
  117.        PID_Calc(&motor_pid,motor_chassis[1].speed_rpm,set_speed);
  118.       CAN_cmd_chassis(motor_pid.out,motor_pid.out,motor_pid.out,motor_pid.out);
  119.       HAL_Delay(10);
  120.  
  121.     /* USER CODE BEGIN 3 */
  122.   }
  123.   /* USER CODE END 3 */
  124. }
  125.  
  126. /**
  127.   * @brief System Clock Configuration
  128.   * @retval None
  129.   */
  130. void SystemClock_Config(void)
  131. {
  132.   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  133.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  134.  
  135.   /** Configure the main internal regulator output voltage
  136.   */
  137.   __HAL_RCC_PWR_CLK_ENABLE();
  138.   __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  139.   /** Initializes the RCC Oscillators according to the specified parameters
  140.   * in the RCC_OscInitTypeDef structure.
  141.   */
  142.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  143.   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  144.   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  145.   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  146.   RCC_OscInitStruct.PLL.PLLM = 6;
  147.   RCC_OscInitStruct.PLL.PLLN = 168;
  148.   RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  149.   RCC_OscInitStruct.PLL.PLLQ = 4;
  150.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  151.   {
  152.     Error_Handler();
  153.   }
  154.   /** Initializes the CPU, AHB and APB buses clocks
  155.   */
  156.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
  157.                               |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  158.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  159.   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  160.   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  161.   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
  162.  
  163.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  164.   {
  165.     Error_Handler();
  166.   }
  167. }
  168.  
  169. /* USER CODE BEGIN 4 */
  170. void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) 
  171. {  
  172.     remoter.rc.ch0 = (dbus_resive[0]| (dbus_resive[1] << 8)) & 0x07ff;          
  173.     remoter.rc.ch0 -= 1024;
  174.     remoter.rc.ch1 = ((dbus_resive[1] >> 3) | (dbus_resive[2] << 5)) & 0x07ff;       
  175.     remoter.rc.ch1 -= 1024;
  176.     remoter.rc.ch2 = ((dbus_resive[2] >> 6) | (dbus_resive[3] << 2) | (dbus_resive[4] << 10)) & 0x07ff;          
  177.     remoter.rc.ch2 -= 1024;
  178.     remoter.rc.ch3 = ((dbus_resive[4] >> 1) | (dbus_resive[5] << 7)) & 0x07ff;           
  179.     remoter.rc.ch3 -= 1024;
  180.     remoter.rc.s1  = ((dbus_resive[5] >> 4)& 0x000C) >> 2;                           
  181.     remoter.rc.s2  = ((dbus_resive[5] >> 4)& 0x0003);  
  182.  
  183.     remoter.rc.sw = dbus_resive[16]|(dbus_resive[17]<<8);
  184. }
  185. /* USER CODE END 4 */
  186.  
  187. /**
  188.   * @brief  This function is executed in case of error occurrence.
  189.   * @retval None
  190.   */
  191. void Error_Handler(void)
  192. {
  193.   /* USER CODE BEGIN Error_Handler_Debug */
  194.   /* User can add his own implementation to report the HAL error return state */
  195.   __disable_irq();
  196.   while (1)
  197.   {
  198.   }
  199.   /* USER CODE END Error_Handler_Debug */
  200. }
  201.  
  202. #ifdef  USE_FULL_ASSERT
  203. /**
  204.   * @brief  Reports the name of the source file and the source line number
  205.   *         where the assert_param error has occurred.
  206.   * @param  file: pointer to the source file name
  207.   * @param  line: assert_param error line source number
  208.   * @retval None
  209.   */
  210. void assert_failed(uint8_t *file, uint32_t line)
  211. {
  212.   /* USER CODE BEGIN 6 */
  213.   /* User can add his own implementation to report the file name and line number,
  214.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  215.   /* USER CODE END 6 */
  216. }
  217. #endif /* USE_FULL_ASSERT */
  218.

七，仿真

测试一下我们的代码

八，

到这功能就算完成啦。要完全看懂这些的也是需要有一定相关知识基础的，这篇主要写的就是怎么用这些函数，至于为什么要这么写或者说为什么要这么用就没有详细说，如果大家想学习的可以去网上搜，相关的资料有很多，有些地方笔者也为大家贴出来了。如果大家需要什么相关资料也可找笔者要哦，祝大家生活愉快。

“且将新火试新茶，诗酒趁年华”

-------------苏轼

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