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重构部分代码
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MP2315S
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3A, 24V, 500kHz, High-Efficiency,
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Synchronous, Step-Down Converter
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The Future of Analog IC Technology
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DESCRIPTION FEATURES
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The MP2315S is a high-efficiency, synchronous, • Wide 4.5V to 24V Operating Input Range
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rectified, step-down, switch mode converter • 3A Load Current
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with built-in, internal power MOSFETs. It is a • 110mΩ/55mΩ Low RDS(ON) Internal Power
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next generation of the MP2315. It offers a very
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compact solution to achieve 3A continuous MOSFETs
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output current over a wide input supply range • Low Quiescent Current
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with excellent load and line regulation. • High-Efficiency Synchronous Mode
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The MP2315S uses synchronous mode Operation
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operation for higher efficiency over the output • Fixed 500kHz Switching Frequency
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current-load range. Current mode operation • AAM Power Save Mode
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provides fast transient response and eases loop • Internal Soft Start
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stabilization. • Output Over-Voltage Protection (OVP)
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• Over-Current Protection (OCP) and Hiccup
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Full protection features include over-current • Thermal Shutdown
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protection (OCP), over-voltage protection • Output Adjustable from 0.8V
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(OVP), and thermal shutdown. • Available in a TSOT23-8 Package
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The MP2315S requires a minimal number of APPLICATIONS
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readily available, standard, external
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components and is available in a compact • Notebook Systems and I/O Power
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TSOT23-8 package. • Digital Set-Top Boxes
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• Flat Panel Television and Monitors
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All MPS parts are lead-free, halogen-free, and adhere to the RoHS
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directive. For MPS green status, please visit the MPS website under quality
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assurance. “MPS” and “The Future of Analog IC Technology” are registered
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trademarks of Monolithic Power Systems, Inc.
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TYPICAL APPLICATION
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100 0.10 1.00 10.00
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95
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90
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85
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80
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75
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70
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65
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60
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0.01
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MP2315S Rev. 1.0 www.MonolithicPower.com 1
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12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited.
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© 2015 MPS. All Rights Reserved.
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MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER
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ORDERING INFORMATION
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Part Number* Package Top Marking
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MP2315SGJ TSOT23-8 See below
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* For Tape & Reel, add suffix –Z (e.g. MP2315SGJ–Z)
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TOP MARKING
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AQT: Product code
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Y: Year code
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PACKAGE REFERENCE
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TOP VIEW
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TSOT23-8
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ABSOLUTE MAXIMUM RATINGS (1) Thermal Resistance (5) θJA θJC
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VIN .................................................-0.3V to +26V TSOT23-8…………………....…..100…..55...°C/W
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VSW..... -0.3V (-5V < 10ns) to +28V (30V < 10ns)
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VBST ...................................................... VSW + 6V NOTES:
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All other pins ........................... -0.3V to +5.5V (2) 1) Exceeding these ratings may damage the device.
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Continuous power dissipation (TA = +25°C) (3) ... 2) For details on EN’s ABS MAX rating, please refer to the
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................................................................. 1.25W
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Junction temperature ................................150°C Enable Control section on page 9.
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Lead temperature .....................................260°C 3) The maximum allowable power dissipation is a function of the
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Storage temperature .................. -65°C to 150°C
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maximum junction temperature TJ (MAX), the junction-to-
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Recommended Operating Conditions (4) ambient thermal resistance θJA, and the ambient temperature
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TA. The maximum allowable continuous power dissipation at
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Supply voltage (VIN) ........................... 4.5 to 24V any ambient temperature is calculated by PD (MAX) = (TJ
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Output voltage (VOUT) ..............0.8V to VIN * DMAX (MAX)-TA)/θJA. Exceeding the maximum allowable power
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Operating junction temp (TJ). ... -40°C to +125°C dissipation produces an excessive die temperature, causing
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the regulator to go into thermal shutdown. Internal thermal
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shutdown circuitry protects the device from permanent
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damage.
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4) The device is not guaranteed to function outside of its
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operating conditions.
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5) Measured on JESD51-7, 4-layer PCB.
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MP2315S Rev. 1.0 www.MonolithicPower.com 2
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12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited.
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© 2015 MPS. All Rights Reserved.
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MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER
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ELECTRICAL CHARACTERISTICS
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VIN = 12V, TJ = -40°C to +125°C.(6) Typical value is tested at TJ = +25°C, unless otherwise noted.
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Parameter Symbol Condition Min Typ Max Units
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Supply current (shutdown) IIN VEN = 0V, TJ = 25°C 1 μA
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Supply current (quiescent)
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Iq VEN = 2V, VFB = 0.85V, 120 μA
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AAM = 0.4V
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HS switch on resistance HSRDS-ON VBST-SW = 5V 110 mΩ
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LS switch on resistance LSRDS-ON VCC = 5V
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VEN = 0V, VSW = 12V, 55 mΩ
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Switch leakage SWLKG TJ = 25°C
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Duty cycle = 40% 1 μA
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Current limit ILIMIT
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Oscillator frequency fSW VFB = 750mV 4.5 5.5 6.5 A
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Foldback frequency fFB VFB = 200mV
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Maximum duty cycle DMAX VFB = 750mV 400 500 600 kHz
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Minimum on time (7) TON_MIN
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0.5 fSW
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90 95 %
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60 ns
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Feedback voltage VFB 783 791 800 mV
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Feedback current IFB VFB = 820mV 10 50 nA
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EN rising threshold VEN_RISING
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EN hysteresis VEN_HYS 1.26 1.4 1.54 V
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150 mV
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EN input current IEN VEN = 2V 1 2 3 μA
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VEN = 0
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EN turn-off delay ENTd-off 0 50 nA
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VIN under-voltage lockout INUVVth
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threshold rising 5 9 13 μs
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3.85 4.05 4.25 V
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VIN under-voltage lockout INUVHYS 600 750 900 mV
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threshold hysteresis 4.85 5.35
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0.8 5.1 2.2 V
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VCC regulator VCC ICC = 5mA 1.5 %
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VCC load regulation 10% to 90% 115% 1.5 125% ms
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Soft-start period TSS 104% 150 114% ºC
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Thermal shutdown (7) TSD FB voltage 20 ºC
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Thermal hysteresis (7) THYS FB voltage 6.7 μA
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AAM source current IAAM 120% VREF
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OVP rising threshold OVH_RISE 109% VREF
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OVP falling threshold OVL_FALL 2 μs
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OVP delay (7) OVDEY
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NOTES:
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6) Not tested in production. Guaranteed by over-temperature correlation.
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7) Guarantee by engineering sample characterization.
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MP2315S Rev. 1.0 www.MonolithicPower.com 3
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12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited.
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© 2015 MPS. All Rights Reserved.
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MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER
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TYPICAL CHARACTERISTICS
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VIN = 19V, VOUT = 5V, L = 4.9μH, TA = 25°C, unless otherwise noted.
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100 100 100
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95 95 95
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90 90
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90
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85
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85 85 80
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80 80 75
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75 75 70
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70 70 65
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60
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65 65 55
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60 60 50
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0.01
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0.01 0.10 1.00 10.00 0.01 0.10 1.00 10.00 0.10 1.00 10.00
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0.9 6
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0.9
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0.7 0.7 5.8
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0.5 0.5
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5.6
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0.3 0.3
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0.1 0.1 5.4
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-0.1 -0.1
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5.2
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-0.3 -0.3
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-0.5 -0.5 5
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0 1 2 3 6 8 10 12 14 16 18 20 22 24 0 10 20 30 40 50 60 70 80 90 100
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150 200 60
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150 50
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140 100
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50 40
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0
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130 4 8 12 16 20 24
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30
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120
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20
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110 10
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100 0
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4
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8 12 16 20 24 1 1.5 2 2.5 3
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MP2315S Rev. 1.0 www.MonolithicPower.com 4
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12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited.
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© 2015 MPS. All Rights Reserved.
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MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER
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TYPICAL PERFORMANCE CHARACTERISTICS
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VIN = 19V, VOUT = 5V, L = 4.9μH, TA = 25°C, unless otherwise noted.
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VOUT VOUT VOUT
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2V/div. 2V/div. 2V/div.
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VIN VIN VIN
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10V/div. 5V/div. 10V/div.
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VSW VSW VSW
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10V/div. 10V/div. 10V/div.
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IINDUCTOR IINDUCTOR IINDUCTOR
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2A/div. 2A/div. 5A/div.
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VOUT VOUT VOUT
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2V/div. 2V/div. 2V/div.
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VIN VEN VEN
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5V/div. 5V/div. 5V/div.
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VSW VSW VSW
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5V/div. 20V/div. 20V/div.
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IINDUCTOR IINDUCTOR IINDUCTOR
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5A/div.
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2A/div. 2A/div.
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VOUT VOUT VOUT/AC
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2V/div. 2V/div. 50mV/div.
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VEN VEN VIN/AC
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5V/div. 5V/div. 100mV/div.
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VSW VSW VSW
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20V/div. 20V/div. 20V/div.
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IINDUCTOR IINDUCTOR IINDUCTOR
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5A/div. 5A/div. 2A/div.
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MP2315S Rev. 1.0 www.MonolithicPower.com 5
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12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited.
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© 2015 MPS. All Rights Reserved.
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MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER
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TYPICAL PERFORMANCE CHARACTERISTICS (continued)
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VIN = 19V, VOUT = 5V, L = 4.9μH, TA = 25°C, unless otherwise noted.
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VOUT/AC VOUT VOUT
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20mV/div. 200mV/div. 2V/div.
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VIN/AC IOUT VSW
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200mV/div. 2A/div. 20V/div.
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VSW IINDUCTOR
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20V/div. 5A/div.
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IINDUCTOR
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2A/div.
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60 180
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40
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20 120
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0
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VOUT -20 60
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2V/div. -40
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-60 0
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VSW 1000
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20V/div. -60
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IINDUCTOR -120
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5A/div.
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10000 -180
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100000 1000000
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MP2315S Rev. 1.0 www.MonolithicPower.com 6
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12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited.
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© 2015 MPS. All Rights Reserved.
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MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER
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PIN FUNCTIONS
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Pin # Name Description
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1 AAM
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Advanced asynchronous modulation. Connect AAM to a voltage supply through a
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2 IN resistor divider to force the MP2315S into non-synchronous mode under light-load
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3 SW conditions. Tie AAM to VCC or leave AAM floating to disable AAM mode and force the
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4 GND MP2315S into CCM.
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5 BST
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6 EN Supply voltage. The MP2315S operates with a 4.5V to 24V input rail. C1 is needed to
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7 VCC decouple the input rail. Connect using a wide PCB trace.
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8 FB Switch output. Connect using a wide PCB trace.
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System ground. GND is the reference ground of the regulated output voltage. GND
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requires special consideration during PCB layout. Connect GND with copper traces and
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vias.
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Bootstrap. A capacitor and a resistor are required between SW and BST to form a
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floating supply across the high-side switch driver.
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Enable. Drive EN high to enable the MP2315S.
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Internal bias supply, internal 5.1V LDO output. Decouple VCC with a 0.1μF - 0.22μF
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capacitor. The capacitance should be no more than 0.22μF.
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Feedback. Connect FB to the tap of an external resistor divider from the output to GND
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to set the output voltage. The frequency foldback comparator lowers the oscillator
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frequency when the FB voltage is below 400mV to prevent current-limit runaway during a
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short-circuit fault condition.
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MP2315S Rev. 1.0 www.MonolithicPower.com 7
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12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited.
|
||||
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© 2015 MPS. All Rights Reserved.
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MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER
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BLOCK DIAGRAM
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Figure 1: Functional Block Diagram
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MP2315S Rev. 1.0 www.MonolithicPower.com 8
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12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited.
|
||||
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© 2015 MPS. All Rights Reserved.
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||||
MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER
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OPERATION Under light-load conditions, the value of VCOMP
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is low. When VCOMP is less than VAAM, and VFB is
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The MP2315S is a high-efficiency, synchronous, less than VREF, VCOMP ramps up until it exceeds
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rectified, step-down, switch mode converter VAAM. During this time, the internal clock is
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with built-in internal power MOSFETs. It offers a blocked, and the MP2315S skips some pulses
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very compact solution that achieves 3A of for pulse frequency modulation (PFM) mode
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continuous output current with excellent load and achieves a light-load power save.
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and line regulation over a wide input supply
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range. Figure 2: Simplified AAM Control Logic
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When the MP2315S operates in a fixed Enable Control (EN)
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frequency, the peak-current control mode Enable (EN) is a digital control that turns the
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regulates the output voltage. A pulse width regulator on and off. Drive EN high to turn on
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modulation (PWM) cycle is initiated by the the regulator; drive EN low to turn off the
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internal clock. The integrated high-side power regulator. An internal 1MΩ resistor from EN to
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MOSFET (HS-FET) turns on and remains on GND allows EN to be floated to shut down the
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until its current reaches the value set by the chip.
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COMP voltage (VCOMP). When the power switch
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is off, it remains off until the next clock cycle EN is clamped internally using a 5.6V series
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begins. If the current in the power MOSFET Zener diode. Connect the EN input through a
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does not reach the COMP set current value pull-up resistor to the voltage on VIN to limit the
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within 95% of one PWM period, the power EN input current below 100µA. For example,
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MOSFET is forced off. with 19V connected to VIN, RPULLUP ≥ (19V -
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5.6V) ÷ 100µA = 134kΩ.
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Internal Regulator
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Connecting EN directly to a voltage source
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Most of the internal circuitries are powered by without a pull-up resistor requires limiting the
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the 5.1V internal regulator. This regulator takes amplitude of the voltage source below 5.5V to
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the VIN input and operates in the full VIN range. prevent damage to the Zener diode.
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When VIN is greater than 5.1V, the output of the
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regulator is in full regulation. When VIN drops Under-Voltage Lockout (UVLO)
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below 5.1V, the output decreases. A 0.1µF Under-voltage lockout (UVLO) is implemented
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ceramic capacitor is required for decoupling. to prevent the chip from operating at an
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insufficient supply voltage. The MP2315S
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Error Amplifier (EA) UVLO comparator monitors the output voltage
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of the internal regulator (VCC). The UVLO
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The error amplifier compares the FB voltage rising threshold is about 4.05V, while its falling
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with the internal 0.791V reference (REF) and threshold is 3.3V.
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outputs a COMP voltage which is used to
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control the power MOSFET current. The Internal Soft-Start (SS)
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optimized internal compensation network The soft start (SS) is implemented to prevent
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minimizes the external component count and the converter output voltage from overshooting
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simplifies the control loop design. during start-up. When the chip starts up, the
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internal circuitry generates a soft-start voltage
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AAM Operation that ramps up from 0V. The soft-start period
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lasts until the voltage on the soft-start capacitor
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The MP2315S uses advanced asynchronous exceeds the reference voltage of 0.791V. At
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modulation (AAM) power save mode in light this point, the reference voltage takes over. The
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load. Set the AAM voltage with the tap of an soft-start time is internally set to around 1.5ms.
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external resistor divider from VCC to GND.
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Under heavy-load conditions, VCOMP is higher
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than VAAM. When the clock goes low, the HS-
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FET turns on and remains on until VILsense
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reaches the value set by VCOMP. The internal
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clock resets whenever VCOMP is higher than
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VAAM.
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||||
MP2315S Rev. 1.0 www.MonolithicPower.com 9
|
||||
|
||||
12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited.
|
||||
|
||||
© 2015 MPS. All Rights Reserved.
|
||||
MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER
|
||||
|
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Output Over-Voltage Protection (OVP) Floating Driver and Bootstrap Charging
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The floating power MOSFET driver is powered
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The MP2315S monitors the FB voltage to by an external bootstrap capacitor. This floating
|
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detect output over-voltage. When the FB driver has its own UVLO protection with a rising
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voltage rises higher than 120% of the reference threshold of 2.2V and a hysteresis of 150mV.
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voltage, the MP2315S enters a dynamic The bootstrap capacitor voltage is regulated
|
||||
regulation period. During this period, the IC internally by VIN through D1, R3, C3, L1, and C2
|
||||
forces the low-side MOSFET (LS-FET) on until (see Figure 3). If VIN - VSW is more than 5V, U2
|
||||
a -800mA negative current limit is achieved. regulates M3 to maintain a 5V BST voltage
|
||||
This discharges the output to keep it within the across C3.
|
||||
normal range. The MP2315S exits dynamic
|
||||
regulation when FB falls below 109% of the R3
|
||||
reference voltage. 3
|
||||
|
||||
Over-Current Protection (OCP) and Hiccup Figure 3: Internal Bootstrap Charging Circuit
|
||||
Start-Up and Shutdown
|
||||
The MP2315S uses a cycle-by-cycle over- If both VIN and EN are higher than their
|
||||
current limit when the inductor current peak appropriate thresholds, the chip starts up. The
|
||||
value exceeds the set current-limit threshold. reference block starts first, generating a stable
|
||||
The output voltage begins dropping until FB is reference voltage and current. The internal
|
||||
below the under-voltage (UV) threshold, regulator is then enabled. The regulator
|
||||
typically 50% below the reference. Once UV is provides a stable supply for the remaining
|
||||
triggered, the MP2315S enters hiccup mode to circuitries.
|
||||
restart the part periodically. This protection Three events can shut down the chip: EN low,
|
||||
mode is especially useful when the output is VIN low, and thermal shutdown. In the shutdown
|
||||
dead-shorted to ground. The average short- procedure, the signaling path is blocked first to
|
||||
circuit current is reduced greatly to alleviate the prevent any fault triggering. VCOMP and the
|
||||
thermal issue and protect the regulator. The internal supply rail are then pulled down. The
|
||||
MP2315S exits hiccup mode once the over- floating driver is not subject to this shutdown
|
||||
current condition is removed. command.
|
||||
|
||||
Pre-Bias Start-Up
|
||||
|
||||
The MP2315S is designed for monotonic start-
|
||||
up into pre-biased loads. If the output is pre-
|
||||
biased to a certain voltage during start-up, the
|
||||
BST voltage is refreshed and charged, and the
|
||||
voltage on the soft-start capacitor is charged as
|
||||
well. If the BST voltage exceeds its rising
|
||||
threshold voltage, and the soft-start capacitor
|
||||
voltage exceeds the sensed output voltage at
|
||||
FB, the part begins working normally.
|
||||
|
||||
Thermal Shutdown
|
||||
|
||||
Thermal shutdown is implemented to prevent
|
||||
the chip from operating at exceedingly high
|
||||
temperatures. When the silicon die temperature
|
||||
is higher than 150°C, the entire chip shuts down.
|
||||
When the temperature is lower than its lower
|
||||
threshold, typically 130°C, the chip is enabled
|
||||
again.
|
||||
|
||||
MP2315S Rev. 1.0 www.MonolithicPower.com 10
|
||||
|
||||
12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited.
|
||||
|
||||
© 2015 MPS. All Rights Reserved.
|
||||
MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER
|
||||
|
||||
APPLICATION INFORMATION
|
||||
|
||||
Setting the Output Voltage Choose the inductor current to be
|
||||
approximately 40% of the maximum load
|
||||
An external resistor divider is used to set the current. The maximum inductor peak current
|
||||
output voltage. The feedback resistor (R1) also can be calculated with Equation (3):
|
||||
sets the feedback loop bandwidth with the
|
||||
internal compensation capacitor (see Typical IL(MAX) = ILOAD + ΔIL (3)
|
||||
Application on page 1). R2 can then be 2
|
||||
calculated with Equation (1):
|
||||
Under light-load conditions below 100mA, a
|
||||
R2 = R1 larger inductance is recommended for better
|
||||
VOUT − 1 efficiency.
|
||||
|
||||
0.791V (1) Setting the AAM Voltage
|
||||
|
||||
The T-type network is highly recommended The AAM voltage is used to set the transition
|
||||
(see Figure 4). point from AAM to PWM. It should be chosen to
|
||||
provide the best combination of efficiency,
|
||||
8 RT R1 stability, ripple, and transient.
|
||||
|
||||
FB VOUT
|
||||
|
||||
R2 If the AAM voltage is set low, then the stability
|
||||
and ripple improve, but AAM mode and
|
||||
Figure 4: T-Type Network transient efficiency degrade. Likewise, if the
|
||||
AAM voltage is set high, then AAM mode and
|
||||
Table 1 lists the recommended T-type resistor transient efficiency improves, but the stability
|
||||
values for common output voltages. and ripple degrade.
|
||||
|
||||
Table 1: Resistor Selection for Common Output Adjust the AAM threshold by connecting divider
|
||||
Voltages(8) resistors from VCC to GND. Note that there is a
|
||||
6.7µA current source at AAM (see Figure 5).
|
||||
|
||||
VOUT (V) R1 (kΩ) R2 (kΩ) Rt (kΩ)
|
||||
1.05 20.5 62 100
|
||||
1.2 20.5 39.2 75
|
||||
1.8 40.2 31.6 59
|
||||
2.5 40.2 18.7 40.2
|
||||
3.3 40.2 12.7 33
|
||||
5 40.2 7.5 20
|
||||
|
||||
NOTE: Figure 5: AAM Network
|
||||
8) The recommended parameters are based on a 44µF output
|
||||
Generally, VAAM can be calculated with Equation
|
||||
capacitor. A different input voltage, output inductor value, and (4):
|
||||
output capacitor value may affect the selection of R1, R2, and
|
||||
Rt. For additional component parameters, please refer to the
|
||||
Typical Application Circuits section on pages 15 and 16.
|
||||
|
||||
Selecting the Inductor VAAM = R5 × (VCC + 6.7μA ×R4 )
|
||||
R4 + R5
|
||||
A 1µH to 10µH inductor with a DC current rating (4)
|
||||
at least 25% percent higher than the maximum
|
||||
load current is recommended for most R5 should be no larger than 20k.
|
||||
applications. For the highest efficiency, the
|
||||
inductor DC resistance should be less than
|
||||
20mΩ. For most designs, the inductance value
|
||||
can be derived using Equation (2):
|
||||
|
||||
L1 = VOUT × (VIN − VOUT )
|
||||
VIN × ΔIL × fOSC
|
||||
(2)
|
||||
|
||||
Where ΔIL is the inductor ripple current.
|
||||
|
||||
MP2315S Rev. 1.0 www.MonolithicPower.com 11
|
||||
|
||||
12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited.
|
||||
|
||||
© 2015 MPS. All Rights Reserved.
|
||||
MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER
|
||||
|
||||
The optimized AAM can be found in Figure 6. The input voltage ripple caused by the
|
||||
capacitance can be estimated with Equation (7):
|
||||
0. 7
|
||||
|
||||
0. 6 ΔVIN = ILOAD × VOUT × ⎛⎜1− VOUT ⎞
|
||||
fS × C1 VIN ⎝ VIN ⎟
|
||||
0. 5 ⎠ (7)
|
||||
|
||||
0. 4 Selecting the Output Capacitor
|
||||
|
||||
0. 3 The output capacitor (C2) is required to
|
||||
maintain the DC output voltage. Ceramic,
|
||||
0. 2 tantalum, or low ESR electrolytic capacitors are
|
||||
recommended. Low ESR capacitors are
|
||||
0. 1 recommended to keep the output voltage ripple
|
||||
low. The output voltage ripple can be estimated
|
||||
0 with Equation (8):
|
||||
|
||||
0 2 4 6 8
|
||||
|
||||
Figure 6: AAM Selection for Common Output ΔVOUT = VOUT × ⎛ VOUT ⎞⎛ + 8 × 1 C2 ⎞
|
||||
Voltages (VIN = 4.5V - 24V) fS × L1 ⎜1− VIN ⎟ × ⎜RESR fS × ⎟
|
||||
⎝ ⎠⎝ ⎠ (8)
|
||||
|
||||
Selecting the Input Capacitor Where L1 is the inductor value and RESR is the
|
||||
equivalent series resistance (ESR) value of the
|
||||
The input current to the step-down converter is output capacitor.
|
||||
discontinuous and therefore requires a
|
||||
capacitor to supply AC current to the step-down For ceramic capacitors, the impedance at the
|
||||
converter while maintaining the DC input switching frequency is dominated by the
|
||||
voltage. Use low ESR capacitors for best capacitance. The output voltage ripple is mainly
|
||||
performance. Ceramic capacitors with X5R or caused by the capacitance. For simplification,
|
||||
X7R dielectrics are highly recommended the output voltage ripple can be estimated with
|
||||
because of their low ESR and small Equation (9):
|
||||
temperature coefficients. For most applications,
|
||||
a 22µF capacitor is sufficient. ΔVOUT = VOUT × ⎛ − VOUT ⎞
|
||||
fS2 × L1 ⎜1 VIN ⎟
|
||||
Since the input capacitor (C1) absorbs the input 8 × × C2 ⎝ ⎠ (9)
|
||||
switching current, it requires an adequate ripple
|
||||
current rating. The RMS current in the input In the case of tantalum or electrolytic capacitors,
|
||||
capacitor can be estimated with Equation (5): the ESR dominates the impedance at the
|
||||
switching frequency. For simplification, the
|
||||
IC1 = ILOAD × VOUT ×⎜⎜⎛1− VOUT ⎟⎞ output ripple can be approximated with
|
||||
VIN VIN ⎟ Equation (10):
|
||||
⎝ ⎠ (5)
|
||||
|
||||
The worst-case condition occurs at VIN = ΔVOUT = VOUT × ⎛ 1− VOUT ⎞ × RESR
|
||||
2VOUT, shown in Equation (6): fS × L1 ⎝⎜ VIN ⎟⎠
|
||||
(10)
|
||||
|
||||
IC1 = ILOAD (6) The characteristics of the output capacitor also
|
||||
2 affect the stability of the regulation system. The
|
||||
MP2315S can be optimized for a wide range of
|
||||
For simplification, choose an input capacitor capacitance and ESR values.
|
||||
with an RMS current rating greater than half of
|
||||
the maximum load current. External Bootstrap Diode
|
||||
|
||||
The input capacitor can be electrolytic, tantalum, An external bootstrap diode may enhance the
|
||||
or ceramic. When using electrolytic or tantalum efficiency of the regulator. The applicable
|
||||
capacitors, a small, high-quality ceramic conditions of the external BST diode are:
|
||||
capacitor (i.e.: 0.1μF) should be placed as close
|
||||
to the IC as possible. When using ceramic • VOUT is 5V or 3.3V
|
||||
capacitors, ensure that they have enough • Duty cycle is high: D = VOUT > 65%
|
||||
capacitance to a provide sufficient charge to
|
||||
prevent excessive voltage ripple at input. VIN
|
||||
|
||||
MP2315S Rev. 1.0 www.MonolithicPower.com 12
|
||||
|
||||
12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited.
|
||||
|
||||
© 2015 MPS. All Rights Reserved.
|
||||
MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER
|
||||
|
||||
In these cases, an external BST diode is
|
||||
recommended from VCC to BST (see Figure 7).
|
||||
|
||||
Figure 7: Add Optional External Bootstrap Diode Figure 8: Sample Board Layout
|
||||
to Enhance Efficiency
|
||||
Design Example
|
||||
The recommended external BST diode is
|
||||
1N4148, and the recommended BST capacitor Table 2 is a design example following the
|
||||
is 0.1 - 1μF. application guidelines for the specifications
|
||||
below:
|
||||
PCB Layout Guidelines (9)
|
||||
Table 2: Design Example
|
||||
Efficient PCB layout is critical for stable
|
||||
operation. For best results, refer to Figure 8 and VIN 19V
|
||||
follow the guidelines below: VOUT 5V
|
||||
3A
|
||||
1. Keep the connection of the input ground IO
|
||||
and GND as short and wide as possible.
|
||||
|
||||
2. Keep the connection of the input capacitor
|
||||
and IN as short and wide as possible.
|
||||
|
||||
3. Place the VCC capacitor as close to VCC
|
||||
and GND as possible.
|
||||
|
||||
4. Make the trace length of VCC - VCC
|
||||
capacitor anode - VCC capacitor cathode -
|
||||
IC GND as short as possible.
|
||||
|
||||
5. Ensure that all feedback connections are
|
||||
short and direct.
|
||||
|
||||
6. Place the feedback resistors and
|
||||
compensation components as close to the
|
||||
IC as possible.
|
||||
|
||||
7. Route SW away from sensitive analog
|
||||
areas, such as FB.
|
||||
|
||||
NOTE:
|
||||
9) The recommended layout is based on Figure 9 on page 15.
|
||||
|
||||
The detailed application schematic is shown in
|
||||
Figure 9. The typical performance and circuit
|
||||
waveforms are shown in the Typical
|
||||
Performance Characteristics section. For more
|
||||
device applications, please refer to the related
|
||||
evaluation board datasheets.
|
||||
|
||||
MP2315S Rev. 1.0 www.MonolithicPower.com 13
|
||||
|
||||
12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited.
|
||||
|
||||
© 2015 MPS. All Rights Reserved.
|
||||
MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER
|
||||
|
||||
TYPICAL APPLICATION CIRCUITS
|
||||
|
||||
Figure 9: VIN = 6.5V - 24V, VOUT = 5V, IOUT = 3A
|
||||
|
||||
Figure 10: VIN = 4.5V - 24V, VOUT = 3.3V, IOUT = 3A
|
||||
|
||||
Figure 11: VIN = 4.5V - 24V, VOUT = 2.5V, IOUT = 3A
|
||||
|
||||
MP2315S Rev. 1.0 www.MonolithicPower.com 14
|
||||
|
||||
12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited.
|
||||
|
||||
© 2015 MPS. All Rights Reserved.
|
||||
MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER
|
||||
|
||||
Figure 12: VIN = 4.5V - 24V, VOUT = 1.8V, IOUT = 3A
|
||||
|
||||
Figure 13: VIN = 4.5V - 24V, VOUT = 1.2V, IOUT = 3A
|
||||
|
||||
Figure 14: VIN = 4.5V - 24V, VOUT = 1.05V, IOUT = 3A
|
||||
|
||||
MP2315S Rev. 1.0 www.MonolithicPower.com 15
|
||||
|
||||
12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited.
|
||||
|
||||
© 2015 MPS. All Rights Reserved.
|
||||
MP2315S – 3A, 24V, SYNCHRONOUS, STEP-DOWN CONVERTER
|
||||
|
||||
PACKAGE INFORMATION
|
||||
|
||||
TSOT23-8
|
||||
|
||||
See note 7 IAAAA
|
||||
EXAMPLE
|
||||
TOP MARK
|
||||
|
||||
PIN 1 ID
|
||||
|
||||
TOP VIEW RECOMMENDED LAND PATTERN
|
||||
|
||||
SEATING PLANE SEE DETAIL''A''
|
||||
|
||||
FRONT VIEW SIDE VIEW
|
||||
|
||||
DETAIL ''A'' NOTE:
|
||||
|
||||
1) ALL DIMENSIONS ARE IN MILLIMETERS.
|
||||
2) PACKAGE LENGTH DOES NOT INCLUDE MOLD
|
||||
FLASH, PROTRUSION OR GATE BURR.
|
||||
3) PACKAGE WIDTH DOES NOT INCLUDE
|
||||
INTERLEAD FLASH OR PROTRUSION.
|
||||
4) LEAD COPLANARITY(BOTTOM OF LEADS
|
||||
AFTER FORMING) SHALL BE 0.10 MILLIMETERS
|
||||
MAX.
|
||||
5) JEDEC REFERENCE IS MO-193, VARIATION BA.
|
||||
6) DRAWING IS NOT TO SCALE.
|
||||
7) PIN 1 IS LOWER LEFT PIN WHEN READING TOP
|
||||
MARK FROM LEFT TO RIGHT, (SEE EXAMPLE TOP
|
||||
MARK)
|
||||
|
||||
NOTICE: The information in this document is subject to change without notice. Users should warrant and guarantee that third
|
||||
party Intellectual Property rights are not infringed upon when integrating MPS products into any application. MPS will not
|
||||
assume any legal responsibility for any said applications.
|
||||
|
||||
MP2315S Rev. 1.0 www.MonolithicPower.com 16
|
||||
|
||||
12/21/2015 MPS Proprietary Information. Patent Protected. Unauthorized Photocopy and Duplication Prohibited.
|
||||
|
||||
© 2015 MPS. All Rights Reserved.
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,7 @@
|
|||
## 1、Pibot电源稳压问题
|
||||
|
||||
`Pibot`采用的是`LM2596S`的稳压方案，1、输入电压范围：直流`3.2V `至 `40V` (输入的电压必须比要输出的电压高`1.5V`以上。不能升压)产品特点。输出电压范围：直流 `1.25V`至 `35V` 电压连续可调，高效率(可高达92%)输出电流可达`3A`。长时间工作建议在`2.5A`以内的电流使用，同时加上散热片(`10W`以上输出)；由于是降压模块,为了保证输出稳定,请保持最小`1.5V`压差。
|
||||
|
||||
**暂时不明白的问题在于，为什么输入`24V`电压多次导致`STM32`损坏。**
|
||||
|
||||
|
||||
File diff suppressed because one or more lines are too long
|
|
@ -33,19 +33,19 @@ void SysTick_Handler(void)
|
|||
}
|
||||
}
|
||||
|
||||
float PB_Get_System_Time(void)
|
||||
float getSystemTime(void)
|
||||
{
|
||||
float count , time;
|
||||
count = (float)( (reload + 1 - SysTick->VAL) + (float)(reload + 1) * count_time );
|
||||
count = (float)( (reload + 1 - SysTick->VAL) + (float)(reload + 1) * count_time);
|
||||
time = count/count_us;
|
||||
return time;
|
||||
}
|
||||
|
||||
float PB_Get_Dtime(void)
|
||||
float getDeltaTime(void)
|
||||
{
|
||||
static float lasttime ;
|
||||
static float lasttime;
|
||||
float temp1,temp2;
|
||||
temp1 = PB_Get_System_Time();
|
||||
temp1 = getSystemTime();
|
||||
temp2 = temp1 - lasttime;
|
||||
if(temp2 < 0)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -8,12 +8,12 @@ extern "C" {
|
|||
#include "stm32f10x.h"
|
||||
|
||||
/**********************************************************************************************************************/
|
||||
void delay_ms(uint16_t t); //using timer to delay time, max delay time is 1864ms
|
||||
void delay_us(uint16_t t); //using timer to delay time, max delay time is 1864ms
|
||||
void delay_ms(uint16_t t); // using timer to delay time, max delay time is 1864ms
|
||||
void delay_us(uint16_t t); // using timer to delay time, max delay time is 1864ms
|
||||
/**********************************************************************************************************************/
|
||||
void PB_System_Timer_Init(void); //Initialize the Time measurement system
|
||||
float GetSystemTime(void); //Return the current time(us), max:281474976s--->3257.8 days
|
||||
float PB_Get_Dtime(void); // Return the time difference(us). max:655s
|
||||
void PB_System_Timer_Init(void); // Initialize the Time measurement system
|
||||
float getSystemTime(void); // Return the current time(us), max:281474976s--->3257.8 days
|
||||
float getDeltaTime(void); // Return the time difference(us). max:655s
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
|
|
|
|||
|
|
@ -126,7 +126,7 @@ float PB_Get_Encode_TIM2(void)
|
|||
return cnt;
|
||||
}
|
||||
|
||||
float PB_Get_Encode_TIM3(void)
|
||||
float Get_EncoderTIM3(void)
|
||||
{
|
||||
float cnt;
|
||||
cnt = (float)((uint16_t)30000) - (float)((uint16_t)(TIM3->CNT)) ;
|
||||
|
|
@ -134,7 +134,7 @@ float PB_Get_Encode_TIM3(void)
|
|||
return cnt;
|
||||
}
|
||||
|
||||
float PB_Get_Encode_TIM4(void)
|
||||
float Get_EncoderTIM4(void)
|
||||
{
|
||||
float cnt;
|
||||
cnt = (float)((uint16_t)30000) - (float)((uint16_t)(TIM4->CNT)) ;
|
||||
|
|
|
|||
|
|
@ -9,8 +9,8 @@ extern "C" {
|
|||
|
||||
void Encoder_Init(TIM_TypeDef* TIMx , unsigned char GPIO_AF);
|
||||
float PB_Get_Encode_TIM5(void);//What you get here is the total angle.
|
||||
float GetEncoderTIM4(void);
|
||||
float GetEncoderTIM3(void);
|
||||
float Get_EncoderTIM4(void);
|
||||
float Get_EncoderTIM3(void);
|
||||
float PB_Get_Encode_TIM2(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
|
|
|||
|
|
@ -251,7 +251,7 @@ static char *itoa(int value, char *string, int radix)
|
|||
|
||||
} /* NCL_Itoa */
|
||||
|
||||
void PB_USART_printf(USART_TypeDef* USARTx, uint8_t *Data,...)
|
||||
void USART_printf(USART_TypeDef* USARTx, uint8_t *Data,...)
|
||||
{
|
||||
const char *s;
|
||||
int d;
|
||||
|
|
|
|||
|
|
@ -12,7 +12,7 @@ extern "C" {
|
|||
//Initilaize the serial, First Parameter:USART1,USART2,USART3; 2nd Para:bits rate; 3rd: IO reuse
|
||||
void PB_USART_Init(uint8_t USART_Channel ,unsigned int BaudRate,unsigned char GPIO_AF);
|
||||
void PB_USART_Put_Char(uint8_t USART_Channel , unsigned char Tx_Byte); //USARTx to print 1 byte
|
||||
void PB_USART_printf(USART_TypeDef* USARTx, uint8_t *Data, ...); //format output as printf in C standard library
|
||||
void USART_printf(USART_TypeDef* USARTx, uint8_t *Data, ...); //format output as printf in C standard library
|
||||
|
||||
//int fputc(int ch, FILE *f);
|
||||
|
||||
|
|
|
|||
|
|
@ -311,7 +311,7 @@ void Board_STM32::motor_pwm(unsigned char num, long pwm_value)
|
|||
|
||||
unsigned long Board_STM32::getTickCount()
|
||||
{
|
||||
return GetSystemTime() / 1000;
|
||||
return getSystemTime() / 1000;
|
||||
}
|
||||
|
||||
void Board_STM32::encoder_init(unsigned char motor_id)
|
||||
|
|
@ -326,9 +326,9 @@ void Board_STM32::encoder_init(unsigned char motor_id)
|
|||
long Board_STM32::getEncoderCount(unsigned char motorId)
|
||||
{
|
||||
if (motorId == MOTOR_1) {
|
||||
return GetEncoderTIM3();
|
||||
return Get_EncoderTIM3();
|
||||
} else if (motorId == MOTOR_2) {
|
||||
return GetEncoderTIM4();
|
||||
return Get_EncoderTIM4();
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -4,9 +4,9 @@
|
|||
#include <stdio.h>
|
||||
|
||||
#if DEBUG_ENABLE
|
||||
#define pb_printf(format,...) printf("" __FILE__ ":%d - " format "\r\n", __LINE__, ##__VA_ARGS__)
|
||||
#define log(format,...) printf("" __FILE__ ":%d - " format "\r\n", __LINE__, ##__VA_ARGS__)
|
||||
#else
|
||||
#define pb_printf(format,...)
|
||||
#define log(format,...)
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -2,7 +2,7 @@
|
|||
#include "board.h"
|
||||
#include <stdio.h>
|
||||
|
||||
Data_holder::Data_holder()
|
||||
DataHolder::DataHolder()
|
||||
{
|
||||
strncpy((char*)&firmware_info.version, FW_VERSION, strlen(FW_VERSION)>sizeof(firmware_info.version)?sizeof(firmware_info.version):strlen(FW_VERSION));
|
||||
sprintf(firmware_info.time, "%s", "20220301");
|
||||
|
|
@ -13,7 +13,7 @@ Data_holder::Data_holder()
|
|||
memset(imu_data, 0, sizeof(imu_data));
|
||||
}
|
||||
|
||||
void Data_holder::load_parameter()
|
||||
void DataHolder::loadParameter()
|
||||
{
|
||||
Board::get()->get_config((unsigned char*)¶meter, sizeof(parameter));
|
||||
|
||||
|
|
@ -30,7 +30,7 @@ void Data_holder::load_parameter()
|
|||
parameter.params.model_type = MODEL_TYPE_2WD_DIFF; // in stm32f1 fix 2wd
|
||||
}
|
||||
|
||||
void Data_holder::save_parameter()
|
||||
void DataHolder::save_parameter()
|
||||
{
|
||||
Board::get()->set_config((unsigned char*)¶meter, sizeof(parameter));
|
||||
parameter.params.model_type = MODEL_TYPE_2WD_DIFF; // in stm32f1 fix 2wd
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
#ifndef DATA_HOLDER_H_
|
||||
#define DATA_HOLDER_H_
|
||||
#ifndef DataHolder_H_
|
||||
#define DataHolder_H_
|
||||
|
||||
#include <string.h>
|
||||
|
||||
|
|
@ -82,20 +82,20 @@ struct Robot_pwm_value
|
|||
short value[4];
|
||||
};
|
||||
|
||||
class Data_holder
|
||||
class DataHolder
|
||||
{
|
||||
public:
|
||||
static Data_holder* get() {
|
||||
static Data_holder dh;
|
||||
static DataHolder* get() {
|
||||
static DataHolder dh;
|
||||
return &dh;
|
||||
}
|
||||
|
||||
void load_parameter();
|
||||
void loadParameter();
|
||||
|
||||
void save_parameter();
|
||||
|
||||
private:
|
||||
Data_holder();
|
||||
DataHolder();
|
||||
public:
|
||||
struct Robot_firmware firmware_info;//版本信息
|
||||
struct Robot_parameter parameter; //参数
|
||||
|
|
|
|||
|
|
@ -15,7 +15,7 @@ bool GY65::init()
|
|||
|
||||
if (!mpu6050.testConnection()) {
|
||||
#if IMU_DEBUG_ENABLE
|
||||
pb_printf("MPU6050 NOT FOUND!");
|
||||
log("MPU6050 NOT FOUND!");
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
|
|
@ -26,14 +26,14 @@ bool GY65::init()
|
|||
#if IMU_DEBUG_ENABLE
|
||||
uint8_t buffer=0;
|
||||
Board::get()->i2c_read_byte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, &buffer);
|
||||
pb_printf("MPU6050_RA_PWR_MGMT_1=%d", buffer);
|
||||
log("MPU6050_RA_PWR_MGMT_1=%d", buffer);
|
||||
Board::get()->i2c_read_byte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_CONFIG, &buffer);
|
||||
pb_printf("MPU6050_RA_GYRO_CONFIG=%d", buffer);
|
||||
log("MPU6050_RA_GYRO_CONFIG=%d", buffer);
|
||||
Board::get()->i2c_read_byte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG, &buffer);
|
||||
pb_printf("MPU6050_RA_ACCEL_CONFIG=%d", buffer);
|
||||
log("MPU6050_RA_ACCEL_CONFIG=%d", buffer);
|
||||
#endif
|
||||
|
||||
pb_printf("GY65 INIT SUCCESS!");
|
||||
log("GY65 INIT SUCCESS!");
|
||||
|
||||
return true;
|
||||
}
|
||||
|
|
@ -43,7 +43,7 @@ void GY65::get_data(float* imu_data)
|
|||
mpu6050.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
|
||||
|
||||
#if IMU_DEBUG_ENABLE
|
||||
pb_printf("[%d %d %d] [%d %d %d]", ax, ay, az, gx, gy, gz);
|
||||
log("[%d %d %d] [%d %d %d]", ax, ay, az, gx, gy, gz);
|
||||
#endif
|
||||
|
||||
imu_data[0] = ax*ADX_SCALE;
|
||||
|
|
|
|||
|
|
@ -15,7 +15,7 @@ bool GY85::init()
|
|||
|
||||
if (!accel.testConnection()) {
|
||||
#if IMU_DEBUG_ENABLE
|
||||
pb_printf("ADXL345 NOT FOUND!");
|
||||
log("ADXL345 NOT FOUND!");
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
|
|
@ -34,16 +34,16 @@ bool GY85::init()
|
|||
#if IMU_DEBUG_ENABLE
|
||||
uint8_t buffer=0;
|
||||
Board::get()->i2c_read_byte(ADXL345_DEFAULT_ADDRESS, ADXL345_RA_POWER_CTL, &buffer);
|
||||
pb_printf("ADXL345_RA_POWER_CTL=%d", buffer);
|
||||
log("ADXL345_RA_POWER_CTL=%d", buffer);
|
||||
Board::get()->i2c_read_byte(ADXL345_DEFAULT_ADDRESS, ADXL345_RA_DATA_FORMAT, &buffer);
|
||||
pb_printf("ADXL345_RA_DATA_FORMAT=%d", buffer);
|
||||
log("ADXL345_RA_DATA_FORMAT=%d", buffer);
|
||||
Board::get()->i2c_read_byte(ADXL345_DEFAULT_ADDRESS, ADXL345_RA_BW_RATE, &buffer);
|
||||
pb_printf("ADXL345_RA_BW_RATE=%d", buffer);
|
||||
log("ADXL345_RA_BW_RATE=%d", buffer);
|
||||
#endif
|
||||
|
||||
if (!gyro.testConnection()) {
|
||||
#if IMU_DEBUG_ENABLE
|
||||
pb_printf("ITG3205 NOT FOUND!");
|
||||
log("ITG3205 NOT FOUND!");
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
|
|
@ -62,16 +62,16 @@ bool GY85::init()
|
|||
|
||||
#if IMU_DEBUG_ENABLE
|
||||
Board::get()->i2c_read_byte(ITG3200_DEFAULT_ADDRESS, ITG3200_RA_PWR_MGM, &buffer);
|
||||
pb_printf("ITG3200_RA_PWR_MGM=%d", buffer);
|
||||
log("ITG3200_RA_PWR_MGM=%d", buffer);
|
||||
Board::get()->i2c_read_byte(ITG3200_DEFAULT_ADDRESS, ITG3200_RA_DLPF_FS, &buffer);
|
||||
pb_printf("ITG3200_RA_DLPF_FS=%d", buffer);
|
||||
log("ITG3200_RA_DLPF_FS=%d", buffer);
|
||||
Board::get()->i2c_read_byte(ITG3200_DEFAULT_ADDRESS, ITG3200_RA_SMPLRT_DIV, &buffer);
|
||||
pb_printf("ITG3200_RA_SMPLRT_DIV=%d", buffer);
|
||||
log("ITG3200_RA_SMPLRT_DIV=%d", buffer);
|
||||
#endif
|
||||
|
||||
if (!mag.testConnection()) {
|
||||
#if IMU_DEBUG_ENABLE
|
||||
pb_printf("HMC5883L NOT FOUND!");
|
||||
log("HMC5883L NOT FOUND!");
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
|
|
@ -89,14 +89,14 @@ bool GY85::init()
|
|||
|
||||
#if IMU_DEBUG_ENABLE
|
||||
Board::get()->i2c_read_byte(HMC5883L_DEFAULT_ADDRESS, HMC5883L_RA_CONFIG_B, &buffer);
|
||||
pb_printf("HMC5883L_RA_CONFIG_B=%d", buffer);
|
||||
log("HMC5883L_RA_CONFIG_B=%d", buffer);
|
||||
Board::get()->i2c_read_byte(HMC5883L_DEFAULT_ADDRESS, HMC5883L_RA_CONFIG_A, &buffer);
|
||||
pb_printf("HMC5883L_RA_CONFIG_A=%d", buffer);
|
||||
log("HMC5883L_RA_CONFIG_A=%d", buffer);
|
||||
Board::get()->i2c_read_byte(HMC5883L_DEFAULT_ADDRESS, HMC5883L_RA_MODE, &buffer);
|
||||
pb_printf("HMC5883L_RA_MODE=%d", buffer);
|
||||
log("HMC5883L_RA_MODE=%d", buffer);
|
||||
#endif
|
||||
|
||||
pb_printf("GY85 INIT SUCCESS!");
|
||||
log("GY85 INIT SUCCESS!");
|
||||
|
||||
return true;
|
||||
}
|
||||
|
|
@ -119,7 +119,7 @@ void GY85::get_data(float* imu_data)
|
|||
}
|
||||
i++;
|
||||
#if IMU_DEBUG_ENABLE
|
||||
pb_printf("[%d %d %d] [%d %d %d] [%d %d %d]", ax, ay, az, gx, gy, gz, mx, my, mz);
|
||||
log("[%d %d %d] [%d %d %d] [%d %d %d]", ax, ay, az, gx, gy, gz, mx, my, mz);
|
||||
#endif
|
||||
|
||||
imu_data[0] = ax*ADXL345_SCALE;
|
||||
|
|
|
|||
|
|
@ -13,13 +13,13 @@ bool GY87::init()
|
|||
{
|
||||
delay_ms(500);
|
||||
#if IMU_DEBUG_ENABLE
|
||||
pb_printf("GY87::init");
|
||||
log("GY87::init");
|
||||
#endif
|
||||
Board::get()->i2c_init();
|
||||
|
||||
if (!mpu6050.testConnection()) {
|
||||
#if IMU_DEBUG_ENABLE
|
||||
pb_printf("MPU6050 NOT FOUND!");
|
||||
log("MPU6050 NOT FOUND!");
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
|
|
@ -30,16 +30,16 @@ bool GY87::init()
|
|||
#if IMU_DEBUG_ENABLE
|
||||
uint8_t buffer=0;
|
||||
Board::get()->i2c_read_byte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, &buffer);
|
||||
pb_printf("MPU6050_RA_PWR_MGMT_1=%d", buffer);
|
||||
log("MPU6050_RA_PWR_MGMT_1=%d", buffer);
|
||||
Board::get()->i2c_read_byte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_CONFIG, &buffer);
|
||||
pb_printf("MPU6050_RA_GYRO_CONFIG=%d", buffer);
|
||||
log("MPU6050_RA_GYRO_CONFIG=%d", buffer);
|
||||
Board::get()->i2c_read_byte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG, &buffer);
|
||||
pb_printf("MPU6050_RA_ACCEL_CONFIG=%d", buffer);
|
||||
log("MPU6050_RA_ACCEL_CONFIG=%d", buffer);
|
||||
#endif
|
||||
|
||||
if (!mag.testConnection()) {
|
||||
#if IMU_DEBUG_ENABLE
|
||||
pb_printf("HMC5883L NOT FOUND!");
|
||||
log("HMC5883L NOT FOUND!");
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
|
|
@ -57,14 +57,14 @@ bool GY87::init()
|
|||
|
||||
#if IMU_DEBUG_ENABLE
|
||||
Board::get()->i2c_read_byte(HMC5883L_DEFAULT_ADDRESS, HMC5883L_RA_CONFIG_B, &buffer);
|
||||
pb_printf("HMC5883L_RA_CONFIG_B=%d", buffer);
|
||||
log("HMC5883L_RA_CONFIG_B=%d", buffer);
|
||||
Board::get()->i2c_read_byte(HMC5883L_DEFAULT_ADDRESS, HMC5883L_RA_CONFIG_A, &buffer);
|
||||
pb_printf("HMC5883L_RA_CONFIG_A=%d", buffer);
|
||||
log("HMC5883L_RA_CONFIG_A=%d", buffer);
|
||||
Board::get()->i2c_read_byte(HMC5883L_DEFAULT_ADDRESS, HMC5883L_RA_MODE, &buffer);
|
||||
pb_printf("HMC5883L_RA_MODE=%d", buffer);
|
||||
log("HMC5883L_RA_MODE=%d", buffer);
|
||||
#endif
|
||||
|
||||
pb_printf("GY87 INIT SUCCESS!");
|
||||
log("GY87 INIT SUCCESS!");
|
||||
|
||||
return true;
|
||||
}
|
||||
|
|
@ -83,7 +83,7 @@ void GY87::get_data(float* imu_data)
|
|||
i++;
|
||||
|
||||
#if IMU_DEBUG_ENABLE
|
||||
// pb_printf("[%d %d %d] [%d %d %d] [%d %d %d]", ax, ay, az, gx, gy, gz, mx, my, mz);
|
||||
// log("[%d %d %d] [%d %d %d] [%d %d %d]", ax, ay, az, gx, gy, gz, mx, my, mz);
|
||||
#endif
|
||||
|
||||
imu_data[0] = ax*ADX_SCALE;
|
||||
|
|
|
|||
|
|
@ -74,6 +74,6 @@ uint8_t MPU6050::getDeviceID()
|
|||
{
|
||||
buffer[0]=0xff;
|
||||
Board::get()->i2c_read_bits(devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH, buffer);
|
||||
pb_printf("MPU6050 id: 0x%02x", buffer[0]);
|
||||
log("MPU6050 id: 0x%02x", buffer[0]);
|
||||
return buffer[0];
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,28 +12,28 @@ Joystick::Joystick()
|
|||
|
||||
bool Joystick::init()
|
||||
{
|
||||
pb_printf("init joystick");
|
||||
log("init joystick");
|
||||
//PS2_SetInit();
|
||||
#if 0
|
||||
unsigned long start = Board::get()->get_tick_count();
|
||||
while(Board::get()->get_tick_count()-start>500){
|
||||
unsigned long start = Board::get()->getTickCount();
|
||||
while(Board::get()->getTickCount()-start>500){
|
||||
;
|
||||
}
|
||||
error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);
|
||||
if (error == 0)
|
||||
{
|
||||
pb_printf("Teleop start");
|
||||
log("Teleop start");
|
||||
return true;
|
||||
}
|
||||
|
||||
if (error == 1)
|
||||
pb_printf("No controller found, check wiring, see readme.txt to enable debug. visit www.billporter.info for troubleshooting tips");
|
||||
log("No controller found, check wiring, see readme.txt to enable debug. visit www.billporter.info for troubleshooting tips");
|
||||
else if (error == 2)
|
||||
pb_printf("Controller found but not accepting commands. see readme.txt to enable debug. Visit www.billporter.info for troubleshooting tips");
|
||||
log("Controller found but not accepting commands. see readme.txt to enable debug. Visit www.billporter.info for troubleshooting tips");
|
||||
else if (error == 3)
|
||||
pb_printf("Controller refusing to enter Pressures mode, may not support it. ");
|
||||
log("Controller refusing to enter Pressures mode, may not support it. ");
|
||||
else
|
||||
pb_printf("Teleop err");
|
||||
log("Teleop err");
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
|
|
@ -43,66 +43,66 @@ void Joystick::test()
|
|||
{
|
||||
#ifdef JOYSTICK_TEST
|
||||
|
||||
unsigned char key=PS2_DataKey();
|
||||
unsigned char key = PS2_DataKey();
|
||||
|
||||
//有按键按下
|
||||
if(key!=0) {
|
||||
switch (key) {
|
||||
case PSB_SELECT:
|
||||
pb_printf("SELECT");
|
||||
log("SELECT");
|
||||
break;
|
||||
case PSB_L3:
|
||||
pb_printf("L3");
|
||||
log("L3");
|
||||
break;
|
||||
case PSB_R3:
|
||||
pb_printf("R3");
|
||||
log("R3");
|
||||
break;
|
||||
case PSB_START:
|
||||
pb_printf("START");
|
||||
log("START");
|
||||
break;
|
||||
case PSB_PAD_UP:
|
||||
pb_printf("UP");
|
||||
log("UP");
|
||||
break;
|
||||
case PSB_PAD_RIGHT:
|
||||
pb_printf("RIGHT");
|
||||
log("RIGHT");
|
||||
break;
|
||||
case PSB_PAD_DOWN:
|
||||
pb_printf("DOWN");
|
||||
log("DOWN");
|
||||
break;
|
||||
case PSB_PAD_LEFT:
|
||||
pb_printf("LEFT");
|
||||
log("LEFT");
|
||||
break;
|
||||
case PSB_L2:
|
||||
pb_printf("L2");
|
||||
log("L2");
|
||||
break;
|
||||
case PSB_R2:
|
||||
pb_printf("R2");
|
||||
log("R2");
|
||||
break;
|
||||
case PSB_L1:
|
||||
pb_printf("L1");
|
||||
log("L1");
|
||||
break;
|
||||
case PSB_R1:
|
||||
pb_printf("R1");
|
||||
log("R1");
|
||||
break;
|
||||
case PSB_TRIANGLE:
|
||||
pb_printf("TRIANGLE");
|
||||
log("TRIANGLE");
|
||||
break;
|
||||
case PSB_CIRCLE:
|
||||
pb_printf("CIRCLE");
|
||||
log("CIRCLE");
|
||||
break;
|
||||
case PSB_CROSS:
|
||||
pb_printf("CROSS");
|
||||
log("CROSS");
|
||||
break;
|
||||
case PSB_SQUARE:
|
||||
pb_printf("SQUARE");
|
||||
log("SQUARE");
|
||||
break;
|
||||
default:
|
||||
pb_printf("UNKNOWN");
|
||||
log("UNKNOWN");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
pb_printf("(need to switch mode) %5d %5d %5d %5d",PS2_AnologData(PSS_LX),PS2_AnologData(PSS_LY), PS2_AnologData(PSS_RX),PS2_AnologData(PSS_RY) );
|
||||
log("(need to switch mode) %5d %5d %5d %5d",PS2_AnologData(PSS_LX),PS2_AnologData(PSS_LY), PS2_AnologData(PSS_RX),PS2_AnologData(PSS_RY) );
|
||||
#endif
|
||||
}
|
||||
|
||||
|
|
@ -117,13 +117,13 @@ bool Joystick::check(short& liner_x, short liner_y, short& angular_z){
|
|||
bool Joystick::holonomic_check(short& liner_x, short liner_y, short& angular_z){
|
||||
bool rtn = false;
|
||||
|
||||
unsigned char key=PS2_DataKey();
|
||||
unsigned char key = PS2_DataKey();
|
||||
|
||||
liner_y = liner_y;
|
||||
//up down left right for liner x, y
|
||||
if (key == PSB_PAD_UP) {
|
||||
#if JOYSTICK_DEBUG_ENABLE
|
||||
pb_printf("UP");
|
||||
log("UP");
|
||||
#endif
|
||||
liner_x = MAX_LINER_X;
|
||||
rtn = true;
|
||||
|
|
@ -131,7 +131,7 @@ bool Joystick::holonomic_check(short& liner_x, short liner_y, short& angular_z){
|
|||
|
||||
if(key == PSB_PAD_DOWN) {
|
||||
#if JOYSTICK_DEBUG_ENABLE
|
||||
pb_printf("DOWN");
|
||||
log("DOWN");
|
||||
#endif
|
||||
liner_x = -MAX_LINER_X;
|
||||
rtn = true;
|
||||
|
|
@ -139,7 +139,7 @@ bool Joystick::holonomic_check(short& liner_x, short liner_y, short& angular_z){
|
|||
|
||||
if(key == PSB_PAD_RIGHT) {
|
||||
#if JOYSTICK_DEBUG_ENABLE
|
||||
pb_printf("RIGHT");
|
||||
log("RIGHT");
|
||||
#endif
|
||||
liner_y = MAX_LINER_Y;
|
||||
rtn = true;
|
||||
|
|
@ -147,7 +147,7 @@ bool Joystick::holonomic_check(short& liner_x, short liner_y, short& angular_z){
|
|||
|
||||
if(key == PSB_PAD_LEFT) {
|
||||
#if JOYSTICK_DEBUG_ENABLE
|
||||
pb_printf("LEFT");
|
||||
log("LEFT");
|
||||
#endif
|
||||
liner_y = -MAX_LINER_Y;
|
||||
rtn = true;
|
||||
|
|
@ -156,7 +156,7 @@ bool Joystick::holonomic_check(short& liner_x, short liner_y, short& angular_z){
|
|||
//triangle square circle cross for angular z
|
||||
if (key == PSB_SQUARE) {
|
||||
#if JOYSTICK_DEBUG_ENABLE
|
||||
pb_printf("SQUARE");
|
||||
log("SQUARE");
|
||||
#endif
|
||||
angular_z = MAX_ANGULAR_Z;
|
||||
rtn = true;
|
||||
|
|
@ -164,7 +164,7 @@ bool Joystick::holonomic_check(short& liner_x, short liner_y, short& angular_z){
|
|||
|
||||
if(key == PSB_CIRCLE) {
|
||||
#if JOYSTICK_DEBUG_ENABLE
|
||||
pb_printf("CIRCLE");
|
||||
log("CIRCLE");
|
||||
#endif
|
||||
angular_z = -MAX_ANGULAR_Z;
|
||||
rtn = true;
|
||||
|
|
@ -172,25 +172,25 @@ bool Joystick::holonomic_check(short& liner_x, short liner_y, short& angular_z){
|
|||
|
||||
if (key == PSB_L1) { //print stick values if either is TRUE
|
||||
#if JOYSTICK_DEBUG_ENABLE
|
||||
pb_printf("Stick Values:");
|
||||
pb_printf("%d", PS2_AnologData(PSS_LY));
|
||||
pb_printf(",");
|
||||
pb_printf("%d", PS2_AnologData(PSS_LX));
|
||||
pb_printf(",");
|
||||
pb_printf("%d", PS2_AnologData(PSS_RY));
|
||||
pb_printf(",");
|
||||
pb_printf("%d", PS2_AnologData(PSS_RX));
|
||||
log("Stick Values:");
|
||||
log("%d", PS2_AnologData(PSS_LY));
|
||||
log(",");
|
||||
log("%d", PS2_AnologData(PSS_LX));
|
||||
log(",");
|
||||
log("%d", PS2_AnologData(PSS_RY));
|
||||
log(",");
|
||||
log("%d", PS2_AnologData(PSS_RX));
|
||||
#endif
|
||||
|
||||
if (PS2_AnologData(PSS_LX) == 255 && PS2_AnologData(PSS_LX) == 255 &&
|
||||
PS2_AnologData(PSS_LX) == 255 && PS2_AnologData(PSS_LX) == 255) {
|
||||
#if JOYSTICK_DEBUG_ENABLE
|
||||
pb_printf("switch mode for use rocker");
|
||||
log("switch mode for use rocker");
|
||||
#endif
|
||||
} else {
|
||||
liner_x = ((255.0/2)-PS2_AnologData(PSS_LY))/(255.0/2)*MAX_LINER_X;
|
||||
liner_y = ((255.0/2)-PS2_AnologData(PSS_LX))/(255.0/2)*MAX_LINER_Y;
|
||||
angular_z = ((255.0/2)-PS2_AnologData(PSS_RX))/(255.0/2)*MAX_ANGULAR_Z;
|
||||
liner_x = ((255.0/2) - PS2_AnologData(PSS_LY)) / (255.0/2) * MAX_LINER_X;
|
||||
liner_y = ((255.0/2) - PS2_AnologData(PSS_LX)) / (255.0/2) * MAX_LINER_Y;
|
||||
angular_z = ((255.0/2) - PS2_AnologData(PSS_RX)) / (255.0/2) * MAX_ANGULAR_Z;
|
||||
rtn = true;
|
||||
}
|
||||
}
|
||||
|
|
@ -210,7 +210,7 @@ bool Joystick::nonholonomic_check(short& liner_x, short liner_y, short& angular_
|
|||
//will be TRUE if button was JUST pressed
|
||||
if (key == PSB_PAD_UP) {
|
||||
#if JOYSTICK_DEBUG_ENABLE
|
||||
pb_printf("Up held this hard: ");
|
||||
log("Up held this hard: ");
|
||||
#endif
|
||||
liner_x = MAX_LINER_X;
|
||||
rtn = true;
|
||||
|
|
@ -218,7 +218,7 @@ bool Joystick::nonholonomic_check(short& liner_x, short liner_y, short& angular_
|
|||
|
||||
if(key == PSB_PAD_RIGHT) {
|
||||
#if JOYSTICK_DEBUG_ENABLE
|
||||
pb_printf("Right held this hard: ");
|
||||
log("Right held this hard: ");
|
||||
#endif
|
||||
angular_z = MAX_ANGULAR_Z;
|
||||
rtn = true;
|
||||
|
|
@ -226,7 +226,7 @@ bool Joystick::nonholonomic_check(short& liner_x, short liner_y, short& angular_
|
|||
|
||||
if(key == PSB_PAD_LEFT) {
|
||||
#if JOYSTICK_DEBUG_ENABLE
|
||||
pb_printf("LEFT held this hard: ");
|
||||
log("LEFT held this hard: ");
|
||||
#endif
|
||||
angular_z = -MAX_ANGULAR_Z;
|
||||
rtn = true;
|
||||
|
|
@ -234,7 +234,7 @@ bool Joystick::nonholonomic_check(short& liner_x, short liner_y, short& angular_
|
|||
|
||||
if(key == PSB_PAD_DOWN) {
|
||||
#if JOYSTICK_DEBUG_ENABLE
|
||||
pb_printf("DOWN held this hard: ");
|
||||
log("DOWN held this hard: ");
|
||||
#endif
|
||||
liner_x = -MAX_LINER_X;
|
||||
rtn = true;
|
||||
|
|
@ -242,20 +242,20 @@ bool Joystick::nonholonomic_check(short& liner_x, short liner_y, short& angular_
|
|||
|
||||
if (key == PSB_L1) { //print stick values if either is TRUE
|
||||
#if JOYSTICK_DEBUG_ENABLE
|
||||
pb_printf("Stick Values:");
|
||||
pb_printf("%d", PS2_AnologData(PSS_LY));
|
||||
pb_printf(",");
|
||||
pb_printf("%d", PS2_AnologData(PSS_LX));
|
||||
pb_printf(",");
|
||||
pb_printf("%d", PS2_AnologData(PSS_RY));
|
||||
pb_printf(",");
|
||||
pb_printf("%d", PS2_AnologData(PSS_RX));
|
||||
log("Stick Values:");
|
||||
log("%d", PS2_AnologData(PSS_LY));
|
||||
log(",");
|
||||
log("%d", PS2_AnologData(PSS_LX));
|
||||
log(",");
|
||||
log("%d", PS2_AnologData(PSS_RY));
|
||||
log(",");
|
||||
log("%d", PS2_AnologData(PSS_RX));
|
||||
#endif
|
||||
|
||||
if (PS2_AnologData(PSS_LX) == 255 && PS2_AnologData(PSS_LX) == 255 &&
|
||||
PS2_AnologData(PSS_LX) == 255 && PS2_AnologData(PSS_LX) == 255) {
|
||||
#if JOYSTICK_DEBUG_ENABLE
|
||||
pb_printf("switch mode for use rocker");
|
||||
log("switch mode for use rocker");
|
||||
#endif
|
||||
} else {
|
||||
liner_x = ((255.0/2)-PS2_AnologData(PSS_LY))/(255.0/2)*MAX_LINER_X;
|
||||
|
|
|
|||
|
|
@ -16,7 +16,7 @@ public:
|
|||
Differential(float _wheel_radius, float _body_radius) : Model(_wheel_radius, _body_radius) {}
|
||||
|
||||
//运动解算 把给到机器人的速度分解为各个轮子速度
|
||||
virtual void motion_solver(float* robot_speed, float* motor_speed) {
|
||||
virtual void motionSolver(float* robot_speed, float* motor_speed) {
|
||||
// robot_speed[0] x robot_speed[1] y robot_speed[2] z
|
||||
motor_speed[0] = (-robot_speed[0] + robot_speed[2] * body_radius)/ wheel_radius;
|
||||
motor_speed[1] = (robot_speed[0] + robot_speed[2] * body_radius) / wheel_radius;
|
||||
|
|
|
|||
|
|
@ -29,7 +29,7 @@ struct Model
|
|||
~Model(){}
|
||||
|
||||
//robot speed ------------> motor speed 运动解算 把给到机器人的速度分解为各个轮子速度
|
||||
virtual void motion_solver(float* robot_speed, float* motor_speed) = 0;
|
||||
virtual void motionSolver(float* robot_speed, float* motor_speed) = 0;
|
||||
|
||||
//motor speed-------------> robot speed 反解算， 把各个轮子的速度转为机器人的速度 ，这里通过固定时间间隔转为里程
|
||||
//interval ms
|
||||
|
|
|
|||
|
|
@ -18,7 +18,7 @@ public:
|
|||
Omni3(float _wheel_radius, float _body_radius) : Model(_wheel_radius, _body_radius) {}
|
||||
|
||||
//运动解算 把给到机器人的速度分解为各个轮子速度
|
||||
void motion_solver(float* robot_speed, float* motor_speed) {
|
||||
void motionSolver(float* robot_speed, float* motor_speed) {
|
||||
// robot_speed[0] x robot_speed[1] y robot_speed[2] z
|
||||
motor_speed[0] = (robot_speed[1] + robot_speed[2] * body_radius)/ wheel_radius;
|
||||
motor_speed[1] = (-robot_speed[0]*sqrt_of_3*0.5 - robot_speed[1]*0.5 + robot_speed[2] * body_radius) / wheel_radius;
|
||||
|
|
|
|||
|
|
@ -34,17 +34,17 @@ short PID::compute(float interval)
|
|||
|
||||
if (ki != 0) {
|
||||
#if PID_DEBUG_OUTPUT
|
||||
pb_printf("integra=%ld max_output=%ld %ld", long(integra*1000), long(-(max_output/ki*1000)), long(max_output/ki*1000));
|
||||
log("integra=%ld max_output=%ld %ld", long(integra*1000), long(-(max_output/ki*1000)), long(max_output/ki*1000));
|
||||
#endif
|
||||
if (integra < -(max_output/ki)) {
|
||||
#if PID_DEBUG_OUTPUT
|
||||
pb_printf("integra clear-");
|
||||
log("integra clear-");
|
||||
#endif
|
||||
integra = -(max_output/ki);
|
||||
}
|
||||
if (integra > max_output/ki) {
|
||||
#if PID_DEBUG_OUTPUT
|
||||
pb_printf("integra clear+");
|
||||
log("integra clear+");
|
||||
#endif
|
||||
integra = max_output/ki;
|
||||
}
|
||||
|
|
@ -58,7 +58,7 @@ short PID::compute(float interval)
|
|||
val = max_output-1;
|
||||
|
||||
#if PID_DEBUG_OUTPUT
|
||||
pb_printf("error=%ld integra=%ld derivative=%ld val=%ld", long(error*1000), long(integra*1000), long(derivative*1000), long(val*1000));
|
||||
log("error=%ld integra=%ld derivative=%ld val=%ld", long(error*1000), long(integra*1000), long(derivative*1000), long(val*1000));
|
||||
#endif
|
||||
|
||||
return val;
|
||||
|
|
|
|||
|
|
@ -68,9 +68,9 @@ bool Simple_dataframe::dataParse()
|
|||
{
|
||||
MESSAGE_ID id = (MESSAGE_ID)active_rx_msg.head.msg_id;
|
||||
|
||||
//pb_printf("\r\ndata_parse:id=%d", id);
|
||||
//log("\r\ndata_parse:id=%d", id);
|
||||
|
||||
Data_holder* dh = Data_holder::get();
|
||||
DataHolder* dh = DataHolder::get();
|
||||
//更新接收到的id执行响应操作，一般分为读取，写入，和执行动作3个操作
|
||||
switch (id) {
|
||||
case ID_GET_VERSION://读取版本
|
||||
|
|
|
|||
|
|
@ -12,7 +12,7 @@ USART_transport::USART_transport(unsigned char num, unsigned long buad) : usart_
|
|||
|
||||
bool USART_transport::init()
|
||||
{
|
||||
//pb_printf("port=%d %ld", usart_num, usart_buad);
|
||||
//log("port=%d %ld", usart_num, usart_buad);
|
||||
Board::get()->usart_init(usart_num, usart_buad);
|
||||
return true;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,36 +1,24 @@
|
|||
#include "robot.h"
|
||||
#include "delay.h"
|
||||
#include "board.h"
|
||||
#include "print.h"
|
||||
|
||||
int main(void)
|
||||
{
|
||||
//初始化
|
||||
Robot::get()->init();
|
||||
Robot::get()->Init();
|
||||
|
||||
while (1) {
|
||||
// 检测接收的命令
|
||||
Robot::get()->check_command();
|
||||
Robot::get()->CheckCommand();
|
||||
|
||||
// 运动解算 把上位机下发的机器人的速度（线速度角速度）转为各个轮子的速度
|
||||
Robot::get()->do_kinmatics();
|
||||
Robot::get()->DoKinmatics();
|
||||
|
||||
// 根据轮子的编码器计算得到机器人的里程计
|
||||
Robot::get()->calc_odom();
|
||||
Robot::get()->CalcOdom();
|
||||
|
||||
// 读取imu的值
|
||||
Robot::get()->get_imu_data();
|
||||
Robot::get()->GetImuData();
|
||||
|
||||
// 检测处理ps2的按键信息
|
||||
Robot::get()->check_joystick();
|
||||
|
||||
|
||||
//// Board::get()->motor_pwm(0, 2479);
|
||||
//// Board::get()->motor_pwm(1, -2107);
|
||||
//
|
||||
// int count_left = Board::get()->get_encoder_count(0);
|
||||
// int count_right = Board::get()->get_encoder_count(1);
|
||||
//
|
||||
// pb_printf("left = %d, right = %d\n", count_left, count_right);
|
||||
// delay_ms(10);
|
||||
Robot::get()->CheckJoystick();
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -61,7 +61,7 @@ Robot::Robot()
|
|||
#endif
|
||||
}
|
||||
|
||||
void Robot::init()
|
||||
void Robot::Init()
|
||||
{
|
||||
// board初始化
|
||||
Board::get()->init();
|
||||
|
|
@ -71,52 +71,50 @@ void Robot::init()
|
|||
Board::get()->usart_debug_init();
|
||||
#endif
|
||||
|
||||
// 加载参数， 该参数一般存储在flash或者eeprom
|
||||
Data_holder::get()->load_parameter();
|
||||
// 加载参数, 该参数一般存储在flash或者eeprom
|
||||
DataHolder::get()->loadParameter();
|
||||
|
||||
PB_USART_printf(USART1, (uint8_t *)"Init\n");
|
||||
|
||||
pb_printf("RobotParameters: %d %d %d %d %d %d %d %d %d %d %d %d %d",
|
||||
Data_holder::get()->parameter.params.wheel_diameter, Data_holder::get()->parameter.params.wheel_track, Data_holder::get()->parameter.params.encoder_resolution, Data_holder::get()->parameter.params.motor_ratio,
|
||||
Data_holder::get()->parameter.params.do_pid_interval, Data_holder::get()->parameter.params.kp, Data_holder::get()->parameter.params.ki, Data_holder::get()->parameter.params.kd, Data_holder::get()->parameter.params.ko,
|
||||
Data_holder::get()->parameter.params.cmd_last_time, Data_holder::get()->parameter.params.max_v_liner_x, Data_holder::get()->parameter.params.max_v_liner_y, Data_holder::get()->parameter.params.max_v_angular_z);
|
||||
log("RobotParameters: %d %d %d %d %d %d %d %d %d %d %d %d %d",
|
||||
DataHolder::get()->parameter.params.wheel_diameter, DataHolder::get()->parameter.params.wheel_track, DataHolder::get()->parameter.params.encoder_resolution, DataHolder::get()->parameter.params.motor_ratio,
|
||||
DataHolder::get()->parameter.params.do_pid_interval, DataHolder::get()->parameter.params.kp, DataHolder::get()->parameter.params.ki, DataHolder::get()->parameter.params.kd, DataHolder::get()->parameter.params.ko,
|
||||
DataHolder::get()->parameter.params.cmd_last_time, DataHolder::get()->parameter.params.max_v_liner_x, DataHolder::get()->parameter.params.max_v_liner_y, DataHolder::get()->parameter.params.max_v_angular_z);
|
||||
|
||||
#if IMU_ENABLE
|
||||
// imu 初始化
|
||||
init_imu();
|
||||
#endif
|
||||
|
||||
pb_printf("init_motor");
|
||||
log("init_motor");
|
||||
// 电机相关初始化
|
||||
init_motor();
|
||||
InitMotor();
|
||||
|
||||
pb_printf("init_trans");
|
||||
log("init_trans");
|
||||
// 通讯相关初始化
|
||||
init_trans();
|
||||
InitTrans();
|
||||
|
||||
// joystick初始化
|
||||
init_joystick();
|
||||
InitJoystick();
|
||||
|
||||
pb_printf("pibot startup");
|
||||
log("gebot init finish.");
|
||||
}
|
||||
|
||||
void Robot::init_imu()
|
||||
{
|
||||
#if IMU_ENABLE
|
||||
if (Data_holder::get()->parameter.params.imu_type == IMU_TYPE_GY65) {
|
||||
pb_printf("imu gy65");
|
||||
if (DataHolder::get()->parameter.params.imu_type == IMU_TYPE_GY65) {
|
||||
log("imu gy65");
|
||||
static GY65 gy65;
|
||||
imu = &gy65;
|
||||
} else if (Data_holder::get()->parameter.params.imu_type == IMU_TYPE_GY85) {
|
||||
pb_printf("imu gy85");
|
||||
} else if (DataHolder::get()->parameter.params.imu_type == IMU_TYPE_GY85) {
|
||||
log("imu gy85");
|
||||
static GY85 gy85;
|
||||
imu = &gy85;
|
||||
} else if (Data_holder::get()->parameter.params.imu_type == IMU_TYPE_GY87) {
|
||||
pb_printf("imu gy87");
|
||||
} else if (DataHolder::get()->parameter.params.imu_type == IMU_TYPE_GY87) {
|
||||
log("imu gy87");
|
||||
static GY87 gy87;
|
||||
imu = &gy87;
|
||||
} else {
|
||||
pb_printf("imu default null driver");
|
||||
log("imu default null driver");
|
||||
imu = NULL;
|
||||
}
|
||||
|
||||
|
|
@ -126,7 +124,7 @@ void Robot::init_imu()
|
|||
#endif
|
||||
}
|
||||
|
||||
void Robot::init_joystick()
|
||||
void Robot::InitJoystick()
|
||||
{
|
||||
#if JOYSTICK_ENABLE
|
||||
static Joystick joy;
|
||||
|
|
@ -136,50 +134,50 @@ void Robot::init_joystick()
|
|||
#endif
|
||||
}
|
||||
|
||||
void Robot::init_motor()
|
||||
void Robot::InitMotor()
|
||||
{
|
||||
//MOTOR_COUNT为电机数量 该宏定义在相应的机器人模型文件中， KinematicModels/differential.h
|
||||
#if MOTOR_COUNT>0 //电机1
|
||||
// MOTOR_CONTROLLER在params.mk中定义 表示电机控制器类型
|
||||
// 当前使用的COMMON_CONTROLLER为2个io控制方向一个PWD控制速度类型的控制器
|
||||
#if MOTOR_CONTROLLER == COMMON_CONTROLLER
|
||||
static CommonMotorController motor1(MOTOR_1, MAX_PWM_VALUE, (Data_holder::get()->parameter.params.motor_nonexchange_flag & MOTOR_ENCODER_1_FLAG)==0); // MOTOR1_REVERS标识电机方向反向,等同于电机线交换
|
||||
static CommonMotorController motor1(MOTOR_1, MAX_PWM_VALUE, (DataHolder::get()->parameter.params.motor_nonexchange_flag & MOTOR_ENCODER_1_FLAG)==0); // MOTOR1_REVERS标识电机方向反向,等同于电机线交换
|
||||
#elif MOTOR_CONTROLLER == AF_SHIELD_CONTROLLER
|
||||
static AFSMotorController motor1(MOTOR_1_PORT_NUM, MAX_PWM_VALUE);
|
||||
#endif
|
||||
|
||||
// 定义使用的编码器 传入参数为编码器的AB GPIO引脚 定义在params.mk中
|
||||
static EncoderImp encoder1(MOTOR_1, (Data_holder::get()->parameter.params.encoder_nonexchange_flag & MOTOR_ENCODER_1_FLAG)==0);
|
||||
static EncoderImp encoder1(MOTOR_1, (DataHolder::get()->parameter.params.encoder_nonexchange_flag & MOTOR_ENCODER_1_FLAG)==0);
|
||||
|
||||
// 定义PID控制对象 传入参数为输入和输出的地址及kp ki kd 这里ko为比例
|
||||
static PID pid1(&input[0], &feedback[0], float(Data_holder::get()->parameter.params.kp)/Data_holder::get()->parameter.params.ko,
|
||||
float(Data_holder::get()->parameter.params.ki)/Data_holder::get()->parameter.params.ko,
|
||||
float(Data_holder::get()->parameter.params.kd)/Data_holder::get()->parameter.params.ko , MAX_PWM_VALUE);
|
||||
static PID pid1(&input[0], &feedback[0], float(DataHolder::get()->parameter.params.kp)/DataHolder::get()->parameter.params.ko,
|
||||
float(DataHolder::get()->parameter.params.ki)/DataHolder::get()->parameter.params.ko,
|
||||
float(DataHolder::get()->parameter.params.kd)/DataHolder::get()->parameter.params.ko , MAX_PWM_VALUE);
|
||||
#endif
|
||||
|
||||
#if MOTOR_COUNT>1 //电机2
|
||||
#if MOTOR_CONTROLLER == COMMON_CONTROLLER
|
||||
static CommonMotorController motor2(MOTOR_2, MAX_PWM_VALUE, (Data_holder::get()->parameter.params.motor_nonexchange_flag & MOTOR_ENCODER_2_FLAG)==0); // MOTOR1_REVERS标识电机方向反向,等同于电机线交换
|
||||
static CommonMotorController motor2(MOTOR_2, MAX_PWM_VALUE, (DataHolder::get()->parameter.params.motor_nonexchange_flag & MOTOR_ENCODER_2_FLAG)==0); // MOTOR1_REVERS标识电机方向反向,等同于电机线交换
|
||||
#elif MOTOR_CONTROLLER == AF_SHIELD_CONTROLLER
|
||||
static AFSMotorController motor2(MOTOR_2_PORT_NUM, MAX_PWM_VALUE);
|
||||
#endif
|
||||
static EncoderImp encoder2(MOTOR_2, (Data_holder::get()->parameter.params.encoder_nonexchange_flag & MOTOR_ENCODER_2_FLAG)==0);
|
||||
static PID pid2(&input[1], &feedback[1], float(Data_holder::get()->parameter.params.kp)/Data_holder::get()->parameter.params.ko,
|
||||
float(Data_holder::get()->parameter.params.ki)/Data_holder::get()->parameter.params.ko,
|
||||
float(Data_holder::get()->parameter.params.kd)/Data_holder::get()->parameter.params.ko , MAX_PWM_VALUE);
|
||||
static EncoderImp encoder2(MOTOR_2, (DataHolder::get()->parameter.params.encoder_nonexchange_flag & MOTOR_ENCODER_2_FLAG)==0);
|
||||
static PID pid2(&input[1], &feedback[1], float(DataHolder::get()->parameter.params.kp)/DataHolder::get()->parameter.params.ko,
|
||||
float(DataHolder::get()->parameter.params.ki)/DataHolder::get()->parameter.params.ko,
|
||||
float(DataHolder::get()->parameter.params.kd)/DataHolder::get()->parameter.params.ko , MAX_PWM_VALUE);
|
||||
#endif
|
||||
|
||||
#if MOTOR_COUNT>2 //电机3
|
||||
#if MOTOR_CONTROLLER == COMMON_CONTROLLER
|
||||
static CommonMotorController motor3(MOTOR_3, MAX_PWM_VALUE, (Data_holder::get()->parameter.params.motor_nonexchange_flag & MOTOR_ENCODER_3_FLAG)==0); // MOTOR1_REVERS标识电机方向反向,等同于电机线交换
|
||||
static CommonMotorController motor3(MOTOR_3, MAX_PWM_VALUE, (DataHolder::get()->parameter.params.motor_nonexchange_flag & MOTOR_ENCODER_3_FLAG)==0); // MOTOR1_REVERS标识电机方向反向,等同于电机线交换
|
||||
#elif MOTOR_CONTROLLER == AF_SHIELD_CONTROLLER
|
||||
static AFSMotorController motor3(MOTOR_3);
|
||||
#endif
|
||||
|
||||
static EncoderImp encoder3(MOTOR_3, (Data_holder::get()->parameter.params.encoder_nonexchange_flag & MOTOR_ENCODER_3_FLAG)==0);
|
||||
static PID pid3(&input[2], &feedback[2], float(Data_holder::get()->parameter.params.kp)/Data_holder::get()->parameter.params.ko,
|
||||
float(Data_holder::get()->parameter.params.ki)/Data_holder::get()->parameter.params.ko,
|
||||
float(Data_holder::get()->parameter.params.kd)/Data_holder::get()->parameter.params.ko , MAX_PWM_VALUE);
|
||||
static EncoderImp encoder3(MOTOR_3, (DataHolder::get()->parameter.params.encoder_nonexchange_flag & MOTOR_ENCODER_3_FLAG)==0);
|
||||
static PID pid3(&input[2], &feedback[2], float(DataHolder::get()->parameter.params.kp)/DataHolder::get()->parameter.params.ko,
|
||||
float(DataHolder::get()->parameter.params.ki)/DataHolder::get()->parameter.params.ko,
|
||||
float(DataHolder::get()->parameter.params.kd)/DataHolder::get()->parameter.params.ko , MAX_PWM_VALUE);
|
||||
#endif
|
||||
|
||||
// 分别把地址保存在统一的数组内， 方便处理
|
||||
|
|
@ -203,12 +201,12 @@ void Robot::init_motor()
|
|||
|
||||
// 根据定义的模型参数ROBOT_MODEL， 创建模型对象及保存地址
|
||||
#if ROBOT_MODEL == MODEL_TYPE_2WD_DIFF //2轮差分
|
||||
static Differential diff(Data_holder::get()->parameter.params.wheel_diameter*0.0005, Data_holder::get()->parameter.params.wheel_track*0.0005);
|
||||
static Differential diff(DataHolder::get()->parameter.params.wheel_diameter*0.0005, DataHolder::get()->parameter.params.wheel_track*0.0005);
|
||||
model = &diff;
|
||||
#endif
|
||||
|
||||
#if ROBOT_MODEL == MODEL_TYPE_3WD_OMNI //三轮全向
|
||||
static Omni3 omni3(Data_holder::get()->parameter.params.wheel_diameter*0.0005, Data_holder::get()->parameter.params.wheel_track*0.0005);
|
||||
static Omni3 omni3(DataHolder::get()->parameter.params.wheel_diameter*0.0005, DataHolder::get()->parameter.params.wheel_track*0.0005);
|
||||
model = &omni3;
|
||||
#endif
|
||||
|
||||
|
|
@ -228,7 +226,7 @@ void Robot::init_motor()
|
|||
last_velocity_command_time = 0;
|
||||
}
|
||||
|
||||
void Robot::init_trans()
|
||||
void Robot::InitTrans()
|
||||
{
|
||||
//定义一个串口通讯对象 ！！！注意这里USART_transport继承实现Transport接口，
|
||||
// 实现了一个通讯对象，这么做的原因是，如果我换为其他通讯方式，例如USB，只需要创建一个USB_Transport继承实现实现Transport接口就可以实现
|
||||
|
|
@ -254,7 +252,7 @@ void Robot::init_trans()
|
|||
frame->register_notify(ID_SET_MOTOR_PWM, this);
|
||||
}
|
||||
|
||||
void Robot::check_command()
|
||||
void Robot::CheckCommand()
|
||||
{
|
||||
static unsigned long lastMillis = 0;
|
||||
if (Board::get()->getTickCount() - lastMillis >= 50){
|
||||
|
|
@ -263,7 +261,7 @@ void Robot::check_command()
|
|||
Board::get()->setDOState(_RUN_LED, 2);
|
||||
}
|
||||
|
||||
unsigned char ch = 0;
|
||||
uint8_t ch = 0;
|
||||
|
||||
// 从通讯设备(trans)读取数据交给协议处理模块(frame)处理
|
||||
if (trans->read(ch)) {
|
||||
|
|
@ -280,28 +278,28 @@ void Robot::update(const MESSAGE_ID id, void* data)
|
|||
switch (id) {
|
||||
case ID_SET_ROBOT_PARAMTER: //设置参数的回调， 这里会更新pid的参数， model的参数， 最终保存到flash
|
||||
|
||||
pb_printf("RobotParameters: %d %d %d %d %d %d %d %d %d %d %d %d %d",
|
||||
Data_holder::get()->parameter.params.wheel_diameter, Data_holder::get()->parameter.params.wheel_track, Data_holder::get()->parameter.params.encoder_resolution, Data_holder::get()->parameter.params.motor_ratio,
|
||||
Data_holder::get()->parameter.params.do_pid_interval, Data_holder::get()->parameter.params.kp, Data_holder::get()->parameter.params.ki, Data_holder::get()->parameter.params.kd, Data_holder::get()->parameter.params.ko,
|
||||
Data_holder::get()->parameter.params.cmd_last_time, Data_holder::get()->parameter.params.max_v_liner_x, Data_holder::get()->parameter.params.max_v_liner_y, Data_holder::get()->parameter.params.max_v_angular_z);
|
||||
log("RobotParameters: %d %d %d %d %d %d %d %d %d %d %d %d %d",
|
||||
DataHolder::get()->parameter.params.wheel_diameter, DataHolder::get()->parameter.params.wheel_track, DataHolder::get()->parameter.params.encoder_resolution, DataHolder::get()->parameter.params.motor_ratio,
|
||||
DataHolder::get()->parameter.params.do_pid_interval, DataHolder::get()->parameter.params.kp, DataHolder::get()->parameter.params.ki, DataHolder::get()->parameter.params.kd, DataHolder::get()->parameter.params.ko,
|
||||
DataHolder::get()->parameter.params.cmd_last_time, DataHolder::get()->parameter.params.max_v_liner_x, DataHolder::get()->parameter.params.max_v_liner_y, DataHolder::get()->parameter.params.max_v_angular_z);
|
||||
// 更新pid参数， 这样可以保证设置参数实时生效
|
||||
for (int i=0;i<MOTOR_COUNT;i++) {
|
||||
pid[i]->update(float(Data_holder::get()->parameter.params.kp)/Data_holder::get()->parameter.params.ko,
|
||||
float(Data_holder::get()->parameter.params.ki)/Data_holder::get()->parameter.params.ko,
|
||||
float(Data_holder::get()->parameter.params.kd)/Data_holder::get()->parameter.params.ko , MAX_PWM_VALUE);
|
||||
pid[i]->update(float(DataHolder::get()->parameter.params.kp)/DataHolder::get()->parameter.params.ko,
|
||||
float(DataHolder::get()->parameter.params.ki)/DataHolder::get()->parameter.params.ko,
|
||||
float(DataHolder::get()->parameter.params.kd)/DataHolder::get()->parameter.params.ko , MAX_PWM_VALUE);
|
||||
}
|
||||
|
||||
// 更新模型参数， 这样可以保证设置参数实时生效
|
||||
model->set(Data_holder::get()->parameter.params.wheel_diameter*0.0005, Data_holder::get()->parameter.params.wheel_track*0.0005);
|
||||
model->set(DataHolder::get()->parameter.params.wheel_diameter*0.0005, DataHolder::get()->parameter.params.wheel_track*0.0005);
|
||||
|
||||
// 保存参数到flash
|
||||
Data_holder::get()->save_parameter();
|
||||
DataHolder::get()->save_parameter();
|
||||
break;
|
||||
case ID_CLEAR_ODOM: // 清除里程计信息
|
||||
clear_odom();
|
||||
break;
|
||||
case ID_SET_VELOCITY: // 设置机器人的速度
|
||||
update_velocity(); //更新机器人的期望速度
|
||||
updateVelocity(); //更新机器人的期望速度
|
||||
break;
|
||||
case ID_GET_ENCODER_COUNT:
|
||||
update_encoder_count(); // 更新encoder count
|
||||
|
|
@ -322,30 +320,32 @@ void Robot::clear_odom()
|
|||
}
|
||||
|
||||
memset(&odom, 0, sizeof(odom));
|
||||
memset(&Data_holder::get()->odom, 0, sizeof(Data_holder::get()->odom));
|
||||
memset(&DataHolder::get()->odom, 0, sizeof(DataHolder::get()->odom));
|
||||
}
|
||||
|
||||
#define __PI 3.1415926535897932384626433832795
|
||||
|
||||
//根据下发的速度更新期望速度， 并转为pid时间间隔内的期望编码器的变化值
|
||||
void Robot::update_velocity()
|
||||
// 根据下发的速度更新期望速度， 并转为pid时间间隔内的期望编码器的变化值
|
||||
void Robot::updateVelocity()
|
||||
{
|
||||
// 下发速度检测 保证限制在设置的最大最小值内
|
||||
short vx = min(max(Data_holder::get()->velocity.v_liner_x, -(short(Data_holder::get()->parameter.params.max_v_liner_x))), short(Data_holder::get()->parameter.params.max_v_liner_x));
|
||||
short vy = min(max(Data_holder::get()->velocity.v_liner_y, -(short(Data_holder::get()->parameter.params.max_v_liner_y))), short(Data_holder::get()->parameter.params.max_v_liner_y));
|
||||
short vz = min(max(Data_holder::get()->velocity.v_angular_z, -(short(Data_holder::get()->parameter.params.max_v_angular_z))), short(Data_holder::get()->parameter.params.max_v_angular_z));
|
||||
short vx = min(max(DataHolder::get()->velocity.v_liner_x, -(short(DataHolder::get()->parameter.params.max_v_liner_x))), short(DataHolder::get()->parameter.params.max_v_liner_x));
|
||||
short vy = min(max(DataHolder::get()->velocity.v_liner_y, -(short(DataHolder::get()->parameter.params.max_v_liner_y))), short(DataHolder::get()->parameter.params.max_v_liner_y));
|
||||
short vz = min(max(DataHolder::get()->velocity.v_angular_z, -(short(DataHolder::get()->parameter.params.max_v_angular_z))), short(DataHolder::get()->parameter.params.max_v_angular_z));
|
||||
|
||||
float vel[3]={vx/100.0, vy/100.0, vz/100.0}; // 保存速度转换单位 传入的速度值为cm/s 0.01rad/s 转为m/s 和rad/s
|
||||
// 保存速度转换单位,传入的速度值为cm/s 0.01rad/s 转为m/s 和rad/s
|
||||
float vel[3]={vx/100.0, vy/100.0, vz/100.0};
|
||||
float motor_speed[MOTOR_COUNT]={0};
|
||||
model->motion_solver(vel, motor_speed); // 期望的机器人的速度转换为各个电机的速度(通过设置的机器人模型接口)
|
||||
|
||||
model->motionSolver(vel, motor_speed); // 期望的机器人的速度转换为各个电机的速度(通过设置的机器人模型接口)
|
||||
|
||||
// 把得到的期望电机速度 (m/s)转换为期望pid时间间隔内编码器反馈的输入
|
||||
// 该值即为PID的输入
|
||||
for(int i=0;i<MOTOR_COUNT;i++) {
|
||||
input[i] = motor_speed[i]*short(Data_holder::get()->parameter.params.encoder_resolution)*short(Data_holder::get()->parameter.params.motor_ratio)/(2*__PI)*short(Data_holder::get()->parameter.params.do_pid_interval)*0.001;
|
||||
for(int i = 0;i < MOTOR_COUNT; i++) {
|
||||
input[i] = motor_speed[i]*short(DataHolder::get()->parameter.params.encoder_resolution)*short(DataHolder::get()->parameter.params.motor_ratio)/(2*__PI)*short(DataHolder::get()->parameter.params.do_pid_interval)*0.001;
|
||||
}
|
||||
|
||||
//pb_printf("vx=%d %d motor_speed=%ld %ld", vx, vz, long(motor_speed[0]*1000), long(motor_speed[1]*1000));
|
||||
//log("vx=%d %d motor_speed=%ld %ld", vx, vz, long(motor_speed[0]*1000), long(motor_speed[1]*1000));
|
||||
|
||||
//保存时间戳
|
||||
last_velocity_command_time = Board::get()->getTickCount();
|
||||
|
|
@ -357,7 +357,7 @@ void Robot::update_velocity()
|
|||
void Robot::update_encoder_count()
|
||||
{
|
||||
for (int i=0; i<MOTOR_COUNT; i++) {
|
||||
Data_holder::get()->encoder_count[i] = encoder[i]->get_total_count();//输出累计编码器值 用于调试
|
||||
DataHolder::get()->encoder_count[i] = encoder[i]->get_total_count();//输出累计编码器值 用于调试
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -367,13 +367,13 @@ void Robot::update_pwm_value()
|
|||
}
|
||||
|
||||
// pid运算， 控制电机
|
||||
void Robot::do_kinmatics()
|
||||
void Robot::DoKinmatics()
|
||||
{
|
||||
if (do_set_pwm_flag) {
|
||||
do_set_pwm_flag = false;
|
||||
|
||||
for (int i=0; i<MOTOR_COUNT; i++) {
|
||||
motor[i]->control(Data_holder::get()->pwm.value[i]);
|
||||
motor[i]->control(DataHolder::get()->pwm.value[i]);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -387,7 +387,7 @@ void Robot::do_kinmatics()
|
|||
|
||||
static unsigned long last_millis=0;
|
||||
// 判断时间间隔做pid运算
|
||||
if (Board::get()->getTickCount()-last_millis>=Data_holder::get()->parameter.params.do_pid_interval) {
|
||||
if (Board::get()->getTickCount()-last_millis>=DataHolder::get()->parameter.params.do_pid_interval) {
|
||||
last_millis = Board::get()->getTickCount();
|
||||
|
||||
//得到编码器的反馈差值， 即在do_pid_interval这段间隔时间内编码器的差值， 该值作为pid的反馈
|
||||
|
|
@ -396,15 +396,15 @@ void Robot::do_kinmatics()
|
|||
}
|
||||
#if PID_DEBUG_OUTPUT
|
||||
#if MOTOR_COUNT==2
|
||||
pb_printf("input=%ld %ld feedback=%ld %ld", long(input[0]*1000), long(input[1]*1000),
|
||||
log("input=%ld %ld feedback=%ld %ld", long(input[0]*1000), long(input[1]*1000),
|
||||
long(feedback[0]), long(feedback[1]));
|
||||
#endif
|
||||
#if MOTOR_COUNT==3
|
||||
pb_printf("input=%ld %ld %ld feedback=%ld %ld %ld", long(input[0]*1000), long(input[1]*1000), long(input[2]*1000),
|
||||
log("input=%ld %ld %ld feedback=%ld %ld %ld", long(input[0]*1000), long(input[1]*1000), long(input[2]*1000),
|
||||
long(feedback[0]), long(feedback[1]), long(feedback[2]));
|
||||
#endif
|
||||
#if MOTOR_COUNT==4
|
||||
pb_printf("input=%ld %ld %ld %ld feedback=%ld %ld %ld %ld", long(input[0]*1000), long(input[1]*1000), long(input[2]*1000), long(input[3]*1000),
|
||||
log("input=%ld %ld %ld %ld feedback=%ld %ld %ld %ld", long(input[0]*1000), long(input[1]*1000), long(input[2]*1000), long(input[3]*1000),
|
||||
long(feedback[0]), long(feedback[1]), long(feedback[2]), long(feedback[3]));
|
||||
#endif
|
||||
#endif
|
||||
|
|
@ -423,33 +423,33 @@ void Robot::do_kinmatics()
|
|||
} else {
|
||||
// 没有需要停止则做pid运算，得到out值，该值作为电机模块控制器输入
|
||||
for(int i=0;i<MOTOR_COUNT;i++) {
|
||||
output[i] = pid[i]->compute(Data_holder::get()->parameter.params.do_pid_interval*0.001);
|
||||
output[i] = pid[i]->compute(DataHolder::get()->parameter.params.do_pid_interval*0.001);
|
||||
}
|
||||
}
|
||||
|
||||
//当次计算完成 重置变量
|
||||
for (int i=0;i<MOTOR_COUNT;i++) {
|
||||
Data_holder::get()->pid_data.input[i] = int(input[i]);
|
||||
Data_holder::get()->pid_data.output[i] = int(feedback[i]);
|
||||
DataHolder::get()->pid_data.input[i] = int(input[i]);
|
||||
DataHolder::get()->pid_data.output[i] = int(feedback[i]);
|
||||
}
|
||||
|
||||
#if PID_DEBUG_OUTPUT
|
||||
#if MOTOR_COUNT==2
|
||||
pb_printf("output=%ld %ld", output[0], output[1]);
|
||||
log("output=%ld %ld", output[0], output[1]);
|
||||
#endif
|
||||
#if MOTOR_COUNT==3
|
||||
pb_printf("output=%ld %ld %ld", output[0], output[1], output[2]);
|
||||
log("output=%ld %ld %ld", output[0], output[1], output[2]);
|
||||
#endif
|
||||
#if MOTOR_COUNT==4
|
||||
pb_printf("output=%ld %ld %ld %ld", output[0], output[1], output[2], output[3]);
|
||||
log("output=%ld %ld %ld %ld", output[0], output[1], output[2], output[3]);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
long elapsed_ms = Board::get()->getTickCount()-last_velocity_command_time;
|
||||
//判断上次下发的时间戳，如果超时，把各个电机期望的输入置零，pid下次会根据改期望计算pid输出转速，慢慢停止点击
|
||||
if (elapsed_ms > Data_holder::get()->parameter.params.cmd_last_time) {
|
||||
if (elapsed_ms > DataHolder::get()->parameter.params.cmd_last_time) {
|
||||
memset(input, 0, sizeof(input));
|
||||
if (elapsed_ms > Data_holder::get()->parameter.params.cmd_last_time*2) {
|
||||
if (elapsed_ms > DataHolder::get()->parameter.params.cmd_last_time*2) {
|
||||
memset(output, 0, sizeof(output));
|
||||
}
|
||||
}
|
||||
|
|
@ -462,7 +462,7 @@ void Robot::do_kinmatics()
|
|||
}
|
||||
|
||||
//计算里程计
|
||||
void Robot::calc_odom()
|
||||
void Robot::CalcOdom()
|
||||
{
|
||||
static unsigned long last_millis=0;
|
||||
//根据实际间隔计算轮子里程
|
||||
|
|
@ -475,48 +475,44 @@ void Robot::calc_odom()
|
|||
}
|
||||
|
||||
#if MOTOR_COUNT==2
|
||||
pb_printf("total_count=[%ld %ld]", total_count[0], total_count[1]);
|
||||
log("total_count=[%ld %ld]", total_count[0], total_count[1]);
|
||||
#endif
|
||||
#if MOTOR_COUNT==3
|
||||
pb_printf("total_count=[%ld %ld %ld]", total_count[0], total_count[1], total_count[2]);
|
||||
log("total_count=[%ld %ld %ld]", total_count[0], total_count[1], total_count[2]);
|
||||
#endif
|
||||
#if MOTOR_COUNT==4
|
||||
pb_printf("total_count=[%ld %ld %ld %ld]", total_count[0], total_count[1], total_count[2], total_count[3]);
|
||||
log("total_count=[%ld %ld %ld %ld]", total_count[0], total_count[1], total_count[2], total_count[3]);
|
||||
#endif
|
||||
#endif
|
||||
float dis[MOTOR_COUNT] = {0};
|
||||
for (int i=0;i<MOTOR_COUNT;i++) {
|
||||
//根据CALC_ODOM_INTERVAL的间隔内的各个电机的编码器变化值，转换各个电机实际的里程
|
||||
dis[i] = encoder[i]->get_increment_count_for_odom()*__PI*Data_holder::get()->parameter.params.wheel_diameter*0.001/Data_holder::get()->parameter.params.encoder_resolution/Data_holder::get()->parameter.params.motor_ratio;
|
||||
dis[i] = encoder[i]->get_increment_count_for_odom()*__PI*DataHolder::get()->parameter.params.wheel_diameter*0.001/DataHolder::get()->parameter.params.encoder_resolution/DataHolder::get()->parameter.params.motor_ratio;
|
||||
#if ODOM_DEBUG_OUTPUT
|
||||
pb_printf(" %ld ", long(dis[i]*1000000));
|
||||
log(" %ld ", long(dis[i]*1000000));
|
||||
#endif
|
||||
}
|
||||
// long total_count[MOTOR_COUNT]={0};
|
||||
// for (int i=0;i<MOTOR_COUNT;i++) {
|
||||
// total_count[i] = encoder[i]->get_total_count(); //输出累计编码器值 用于调试
|
||||
// }
|
||||
// 把计算得到的各个电机的里程转为为机器人里程(通过机器人运动模型对象)
|
||||
model->get_odom(&odom, dis, CALC_ODOM_INTERVAL);
|
||||
|
||||
#if ODOM_DEBUG_OUTPUT
|
||||
// 输出机器人的里程
|
||||
pb_printf(" x=%ld y=%ld yaw=%ld", long(odom.x*1000), long(odom.y*1000), long(odom.z*1000));//mm
|
||||
pb_printf("");
|
||||
log(" x=%ld y=%ld yaw=%ld", long(odom.x*1000), long(odom.y*1000), long(odom.z*1000));//mm
|
||||
log("");
|
||||
#endif
|
||||
|
||||
// 转换单位保存到Data_holder
|
||||
Data_holder::get()->odom.v_liner_x = odom.vel_x*100; //转为cm/s
|
||||
Data_holder::get()->odom.v_liner_y = odom.vel_y*100;
|
||||
Data_holder::get()->odom.v_angular_z = odom.vel_z*100;
|
||||
Data_holder::get()->odom.x = odom.x*100; //转为cm
|
||||
Data_holder::get()->odom.y = odom.y*100;
|
||||
Data_holder::get()->odom.yaw = long(odom.z*100)%628;//转为0.01rad 628为2pi*100
|
||||
// 转换单位保存到DataHolder
|
||||
DataHolder::get()->odom.v_liner_x = odom.vel_x*100; //转为cm/s
|
||||
DataHolder::get()->odom.v_liner_y = odom.vel_y*100;
|
||||
DataHolder::get()->odom.v_angular_z = odom.vel_z*100;
|
||||
DataHolder::get()->odom.x = odom.x*100; //转为cm
|
||||
DataHolder::get()->odom.y = odom.y*100;
|
||||
DataHolder::get()->odom.yaw = long(odom.z*100)%628;//转为0.01rad 628为2pi*100
|
||||
}
|
||||
}
|
||||
|
||||
//获取imu数据
|
||||
void Robot::get_imu_data()
|
||||
void Robot::GetImuData()
|
||||
{
|
||||
#if IMU_ENABLE
|
||||
if (imu == NULL) {
|
||||
|
|
@ -525,15 +521,15 @@ void Robot::get_imu_data()
|
|||
|
||||
static unsigned long last_millis=0;
|
||||
//按照设置的时间间隔获取imu数据
|
||||
if (Board::get()->get_tick_count()-last_millis>=CALC_IMU_INTERVAL) {
|
||||
last_millis = Board::get()->get_tick_count();
|
||||
imu->get_data(Data_holder::get()->imu_data);
|
||||
if (Board::get()->getTickCount()-last_millis>=CALC_IMU_INTERVAL) {
|
||||
last_millis = Board::get()->getTickCount();
|
||||
imu->get_data(DataHolder::get()->imu_data);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
//检测joystick
|
||||
void Robot::check_joystick()
|
||||
void Robot::CheckJoystick()
|
||||
{
|
||||
#if JOYSTICK_ENABLE
|
||||
if (joystick == NULL) {
|
||||
|
|
@ -542,13 +538,13 @@ void Robot::check_joystick()
|
|||
|
||||
static unsigned long last_millis=0;
|
||||
short liner_x=0, liner_y=0, angular_z=0;
|
||||
if (Board::get()->get_tick_count()-last_millis>=CHECK_JOYSTICK_INTERVAL){
|
||||
last_millis = Board::get()->get_tick_count();
|
||||
if (Board::get()->getTickCount()-last_millis>=CHECK_JOYSTICK_INTERVAL){
|
||||
last_millis = Board::get()->getTickCount();
|
||||
// 按照设置的间隔间隔 更新期望速度
|
||||
if (joystick->check(liner_x, liner_y, angular_z)) {
|
||||
Data_holder::get()->velocity.v_liner_x = liner_x;
|
||||
Data_holder::get()->velocity.v_liner_y = liner_y;
|
||||
Data_holder::get()->velocity.v_angular_z = angular_z;
|
||||
DataHolder::get()->velocity.v_liner_x = liner_x;
|
||||
DataHolder::get()->velocity.v_liner_y = liner_y;
|
||||
DataHolder::get()->velocity.v_angular_z = angular_z;
|
||||
update_velocity();
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -1,6 +1,7 @@
|
|||
#ifndef PIBOT_ROBOT_H_
|
||||
#define PIBOT_ROBOT_H_
|
||||
|
||||
#include "stdint.h"
|
||||
#include "dataframe.h"
|
||||
|
||||
#if ROBOT_MODEL == MODEL_TYPE_2WD_DIFF
|
||||
|
|
@ -30,22 +31,22 @@ public:
|
|||
}
|
||||
|
||||
// 初始化
|
||||
void init();
|
||||
void Init();
|
||||
|
||||
// 检测串口数据命令
|
||||
void check_command();
|
||||
void CheckCommand();
|
||||
|
||||
// 运动解算
|
||||
void do_kinmatics();
|
||||
void DoKinmatics();
|
||||
|
||||
// 计算里程计
|
||||
void calc_odom();
|
||||
void CalcOdom();
|
||||
|
||||
//获取imu数据
|
||||
void get_imu_data();
|
||||
void GetImuData();
|
||||
|
||||
// 检测joystick的按键
|
||||
void check_joystick();
|
||||
void CheckJoystick();
|
||||
|
||||
// 实现Notify接口处理 绑定的消息
|
||||
virtual void update(const MESSAGE_ID id, void* data);
|
||||
|
|
@ -53,15 +54,15 @@ private:
|
|||
Robot();
|
||||
//初始化
|
||||
void init_imu();
|
||||
void init_joystick();
|
||||
void init_motor();
|
||||
void init_trans();
|
||||
void InitJoystick();
|
||||
void InitMotor();
|
||||
void InitTrans();
|
||||
private:
|
||||
// 清除里程计
|
||||
void clear_odom();
|
||||
|
||||
// 更新当前机器人的速度
|
||||
void update_velocity();
|
||||
void updateVelocity();
|
||||
|
||||
// 更新编码器值
|
||||
void update_encoder_count();
|
||||
|
|
|
|||
|
|
@ -506,18 +506,6 @@
|
|||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>.\Lib\DataHolder\data_holder.cpp</PathWithFileName>
|
||||
<FilenameWithoutPath>data_holder.cpp</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>24</FileNumber>
|
||||
<FileType>8</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>.\Lib\Board\board_stm32.cpp</PathWithFileName>
|
||||
<FilenameWithoutPath>board_stm32.cpp</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
|
|
@ -525,7 +513,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>25</FileNumber>
|
||||
<FileNumber>24</FileNumber>
|
||||
<FileType>8</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -537,7 +525,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>26</FileNumber>
|
||||
<FileNumber>25</FileNumber>
|
||||
<FileType>8</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -549,7 +537,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>27</FileNumber>
|
||||
<FileNumber>26</FileNumber>
|
||||
<FileType>8</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -561,7 +549,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>28</FileNumber>
|
||||
<FileNumber>27</FileNumber>
|
||||
<FileType>8</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -573,7 +561,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>29</FileNumber>
|
||||
<FileNumber>28</FileNumber>
|
||||
<FileType>8</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -585,7 +573,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>30</FileNumber>
|
||||
<FileNumber>29</FileNumber>
|
||||
<FileType>8</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -597,7 +585,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>31</FileNumber>
|
||||
<FileNumber>30</FileNumber>
|
||||
<FileType>8</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -609,7 +597,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>32</FileNumber>
|
||||
<FileNumber>31</FileNumber>
|
||||
<FileType>8</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -621,7 +609,7 @@
|
|||
</File>
|
||||
<File>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>33</FileNumber>
|
||||
<FileNumber>32</FileNumber>
|
||||
<FileType>8</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
|
|
@ -631,6 +619,18 @@
|
|||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>5</GroupNumber>
|
||||
<FileNumber>33</FileNumber>
|
||||
<FileType>8</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>.\Lib\DataHolder\data_holder.cpp</PathWithFileName>
|
||||
<FilenameWithoutPath>data_holder.cpp</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
</Group>
|
||||
|
||||
<Group>
|
||||
|
|
|
|||
|
|
@ -509,11 +509,6 @@
|
|||
<FileType>8</FileType>
|
||||
<FilePath>.\Lib\Encoder\encoder_implement.cpp</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>data_holder.cpp</FileName>
|
||||
<FileType>8</FileType>
|
||||
<FilePath>.\Lib\DataHolder\data_holder.cpp</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>board_stm32.cpp</FileName>
|
||||
<FileType>8</FileType>
|
||||
|
|
@ -564,6 +559,11 @@
|
|||
<FileType>8</FileType>
|
||||
<FilePath>.\Lib\IMU\GY87.cpp</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>data_holder.cpp</FileName>
|
||||
<FileType>8</FileType>
|
||||
<FilePath>.\Lib\DataHolder\data_holder.cpp</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
|
|
|
|||
Loading…
Reference in New Issue