hehesheng/unitree_actuator_sdk
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update lib with lower gcc version and README.md

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This commit is contained in:
xiaoliangstd 2023-04-07 16:51:24 +08:00
parent b488ffb531
commit 599cb4ad92
54 changed files with 3614 additions and 360 deletions
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28
CMakeLists.txt
View File

@ -5,20 +5,18 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3")
include_directories(include)
link_directories(lib)
set(BITNESS 32)
if(CMAKE_SIZEOF_VOID_P EQUAL 8)
set(BITNESS 64)
endif()
if(CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "aarch64")
IF(BITNESS EQUAL 64)
set(EXTRA_LIBS libunitreeMotorSDK_Arm64.so)
ELSEIF(BITNESS EQUAL 32)
set(EXTRA_LIBS libunitreeMotorSDK_Arm32.so)
ENDIF()
else()
set(EXTRA_LIBS libunitreeMotorSDK_Linux64.so)
endif()
add_executable(motorctrl example/main.cpp )
target_link_libraries(motorctrl unitreeMotorSDK_Arm64)
add_executable(motorctrl example/main.cpp)
target_link_libraries(motorctrl ${EXTRA_LIBS})
add_executable(changeID example/changeID.cpp)
target_link_libraries(changeID unitreeMotorSDK_Arm64)
else()
add_executable(motorctrl example/main.cpp )
target_link_libraries(motorctrl unitreeMotorSDK_Linux64)
add_executable(changeID example/changeID.cpp)
target_link_libraries(changeID unitreeMotorSDK_Linux64)
endif()

6
README.md
View File

@ -6,6 +6,12 @@ support motor: A1 motor、 B1 motor
not support motor: GO-M8010-6 motor (Check GO-M8010-6 branch for support)
gcc >= 5.4.0 (for libunitreeMotorSDK_Linux64.so)
gcc >= 8.3.0 (for libunitreeMotorSDK_Arm64.so)
run gcc -v command to check your gcc version
### Build
```bash
mkdir build

366
build/CMakeCache.txt Normal file
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@ -0,0 +1,366 @@
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@echo "... edit_cache"
@echo "... changeID"
@echo "... motorctrl"
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@echo "... example/changeID.s"
@echo "... example/main.o"
@echo "... example/main.i"
@echo "... example/main.s"
.PHONY : help
#=============================================================================
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BIN
build/changeID Executable file
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49
build/cmake_install.cmake Normal file
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@ -0,0 +1,49 @@
# Install script for directory: /home/liang/Desktop/unitree_actuator_sdk
# Set the install prefix
if(NOT DEFINED CMAKE_INSTALL_PREFIX)
set(CMAKE_INSTALL_PREFIX "/usr/local")
endif()
string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
# Set the install configuration name.
if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
if(BUILD_TYPE)
string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
else()
set(CMAKE_INSTALL_CONFIG_NAME "")
endif()
message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
endif()
# Set the component getting installed.
if(NOT CMAKE_INSTALL_COMPONENT)
if(COMPONENT)
message(STATUS "Install component: \"${COMPONENT}\"")
set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
else()
set(CMAKE_INSTALL_COMPONENT)
endif()
endif()
# Install shared libraries without execute permission?
if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
set(CMAKE_INSTALL_SO_NO_EXE "1")
endif()
# Is this installation the result of a crosscompile?
if(NOT DEFINED CMAKE_CROSSCOMPILING)
set(CMAKE_CROSSCOMPILING "FALSE")
endif()
if(CMAKE_INSTALL_COMPONENT)
set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
else()
set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
endif()
string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
"${CMAKE_INSTALL_MANIFEST_FILES}")
file(WRITE "/home/liang/Desktop/unitree_actuator_sdk/build/${CMAKE_INSTALL_MANIFEST}"
"${CMAKE_INSTALL_MANIFEST_CONTENT}")

BIN
build/motorctrl Executable file
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46
example/changeID.cpp Executable file → Normal file
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@ -4,38 +4,42 @@
#include <stdlib.h>
#include "serialPort/SerialPort.h"
#define BroadAllMotorID 0xBB
#define MotorPulsator 11
#define BroadAllMotorID 0xBB
#define MotorPulsator 11
int main(){
int main()
{
char serial_name[100];
MOTOR_send motor_s;
MOTOR_recv motor_r;
motor_s.motorType = MotorType::B1; // set the motor type, A1 or B1
motor_r.motorType = motor_s.motorType;
SerialPort *serial;
MotorCmd motor_s;
motor_s.motorType = MotorType::A1; // set the motor type, A1 or B1
printf("Please input the name of serial port.(e.g. Linux:/dev/ttyUSB0, Windows:\\\\.\\COM3)\n");
scanf("%s",serial_name);
scanf("%s", serial_name);
printf("The serial port is %s\n", serial_name);
memset(static_cast<void*>(&motor_s), 0, sizeof(motor_s));
memset(static_cast<void *>(&motor_s), 0, sizeof(motor_s));
motor_s.id = BroadAllMotorID;
motor_s.mode = 10;
modify_data(&motor_s);
// printf("The motor ID is: %X\n", motor_s.motor_send_data.head.motorID);
motor_s.modify_data(&motor_s);
printf("The motor ID is: %X\n", motor_s.motor_send_data.head.motorID);
//进入伺服模式
SerialPort serial(serial_name); // set the serial port name
serial.send((uint8_t*)&(motor_s.motor_send_data), motor_s.hex_len);
if (motor_s.motorType == MotorType::A1)
serial = new SerialPort(serial_name, 78, 4800000); // set the serial port name
else
serial = new SerialPort(serial_name, 78, 6000000); // set the serial port name
usleep(100000); //sleep 0.1s
serial->send((uint8_t *)&(motor_s.motor_send_data), 34);
usleep(100000); // sleep 0.1s
//进入拨轮模式（修改ID）
motor_s.mode = MotorPulsator;
modify_data(&motor_s);
serial.send((uint8_t*)&(motor_s.motor_send_data), motor_s.hex_len);
motor_s.modify_data(&motor_s);
serial->send((uint8_t *)&(motor_s.motor_send_data), 34);
printf("Please turn the motor.\n");
printf("One time: id=0; Two times: id=1, Three times: id=2\n");
@ -43,13 +47,15 @@ int main(){
printf("Once finished, press 'a'\n");
// int c;
while(getchar() != (int)'a');
while (getchar() != (int)'a')
{
}
printf("Turn finished\n");
//保存ID
motor_s.mode = 0;
modify_data(&motor_s);
serial.send((uint8_t*)&(motor_s.motor_send_data), motor_s.hex_len);
motor_s.modify_data(&motor_s);
serial->send((uint8_t *)&(motor_s.motor_send_data), 34);
return 0;
}

69
example/main.cpp
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@ -1,49 +1,34 @@
#include "serialPort/SerialPort.h"
#include <csignal>
#include <unistd.h>
int main(){
// set the serial port name
SerialPort serial("/dev/ttyUSB0");
int main()
{
// send message struct
MOTOR_send motor_run, motor_stop;
// receive message struct
MOTOR_recv motor_r;
SerialPort serial("/dev/ttyUSB0");
MotorCmd cmd;
MotorData data;
// set the id of motor
motor_run.id = 0;
// set the motor type, A1 or B1
motor_run.motorType = MotorType::A1;
motor_run.mode = 5;
motor_run.T = 0.0;
motor_run.W = 0.0;
motor_run.Pos = 0.0;
motor_run.K_P = 0.0;
motor_run.K_W = 0.0;
while (true)
{
cmd.motorType = MotorType::A1;
data.motorType = MotorType::A1;
cmd.id = 1;
cmd.mode = 5;
cmd.K_P = 0.0;
cmd.K_W = 0.1;
cmd.Pos = 0.0;
cmd.W = 6.28;
cmd.T = 0.0;
serial.sendRecv(&cmd, &data);
motor_stop.id = motor_run.id;
motor_stop.motorType = motor_run.motorType;
motor_stop.mode = 0;
std::cout << std::endl;
std::cout << "motor.Pos: " << data.Pos << std::endl;
std::cout << "motor.Temp: " << data.Temp << std::endl;
std::cout << "motor.W: " << data.W << std::endl;
std::cout << "motor.T: " << data.T << std::endl;
std::cout << "motor.MError: " << data.MError << std::endl;
std::cout << std::endl;
motor_r.motorType = motor_run.motorType;
// encode data into motor commands
modify_data(&motor_run);
modify_data(&motor_stop);
// turn for 3 second
for(int i(0); i<3; ++i){
serial.sendRecv(&motor_run, &motor_r);
// decode data from motor states
extract_data(&motor_r);
std::cout << "Pos: " << motor_r.Pos << std::endl;
usleep(1000000);
}
// stop the motor
while(!serial.sendRecv(&motor_stop, &motor_r)){
usleep(100000);
}
return 0;
usleep(200);
}
}

15
include/IOPort/IOPort.h
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@ -1,5 +1,5 @@
#ifndef BIANLIB_IOPORT_H
#define BIANLIB_IOPORT_H
#ifndef __IOPORT_H
#define __IOPORT_H
#include <stdint.h>
#include <unistd.h>
@ -13,16 +13,20 @@ enum class BlockYN{
class IOPort{
public:
IOPort(){}
IOPort(BlockYN blockYN, size_t recvLength, size_t timeOutUs){
resetIO(blockYN, recvLength, timeOutUs);
}
virtual ~IOPort(){}
virtual size_t send(uint8_t *sendMsg, size_t sendLength) = 0;
virtual size_t recv(uint8_t *recvMsg, size_t recvLength) = 0;
virtual size_t recv(uint8_t *recvMsg) = 0;
virtual bool sendRecv(std::vector<MOTOR_send> &sendVec, std::vector<MOTOR_recv> &recvVec) = 0;
virtual bool sendRecv(std::vector<MotorCmd> &sendVec, std::vector<MotorData> &recvVec) = 0;
void resetIO(BlockYN blockYN, size_t recvLength, size_t timeOutUs);
protected:
BlockYN _blockYN = BlockYN::NO;
size_t _recvLength;
timeval _timeout;
timeval _timeoutSaved;
};
inline void IOPort::resetIO(BlockYN blockYN, size_t recvLength, size_t timeOutUs){
@ -30,7 +34,8 @@ inline void IOPort::resetIO(BlockYN blockYN, size_t recvLength, size_t timeOutUs
_recvLength = recvLength;
_timeout.tv_sec = timeOutUs / 1000000;
_timeout.tv_usec = timeOutUs % 1000000;
_timeoutSaved = _timeout;
}
#endif // BIANLIB_IOPORT_H
#endif // z1_lib_IOPORT_H

0
include/CRC/crc32.h → include/crc/crc32.h
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53
include/serialPort/SerialPort.h
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@ -1,20 +1,18 @@
#ifndef SERIALPORT_H
#define SERIALPORT_H
#ifndef __SERIALPORT_H
#define __SERIALPORT_H
/*
High frequency serial communication,
Not that common, but useful for motor communication.
*/
#include <termios.h>
// #include <sys/epoll.h>
#include <sys/select.h>
#include <string>
#include <string.h>
#include <stdint.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <linux/serial.h> //serial驱动相关
#include <linux/serial.h>
#include <unistd.h>
#include <iostream>
@ -22,14 +20,16 @@ Not that common, but useful for motor communication.
#include "unitreeMotor/unitreeMotor.h"
#include "IOPort/IOPort.h"
enum class bytesize_t{
enum class bytesize_t
{
fivebits,
sixbits,
sevenbits,
eightbits
};
enum class parity_t{
enum class parity_t
{
parity_none,
parity_odd,
parity_even,
@ -37,31 +37,32 @@ enum class parity_t{
parity_space
};
enum class stopbits_t{
enum class stopbits_t
{
stopbits_one,
stopbits_two,
stopbits_one_point_five
};
enum class flowcontrol_t{
enum class flowcontrol_t
{
flowcontrol_none,
flowcontrol_software,
flowcontrol_hardware
};
class SerialPort : public IOPort{
class SerialPort : public IOPort
{
public:
SerialPort(const std::string &portName,
size_t recvLength = 78,
uint32_t baudrate = 4800000,
size_t timeOutUs = 20000,
BlockYN blockYN = BlockYN::NO,
bytesize_t bytesize = bytesize_t::eightbits,
parity_t parity = parity_t::parity_none,
stopbits_t stopbits = stopbits_t::stopbits_one,
flowcontrol_t flowcontrol = flowcontrol_t::flowcontrol_none);
size_t recvLength = 78,
uint32_t baudrate = 4800000,
size_t timeOutUs = 20000,
BlockYN blockYN = BlockYN::NO,
bytesize_t bytesize = bytesize_t::eightbits,
parity_t parity = parity_t::parity_none,
stopbits_t stopbits = stopbits_t::stopbits_one,
flowcontrol_t flowcontrol = flowcontrol_t::flowcontrol_none);
virtual ~SerialPort();
void resetSerial(size_t recvLength = 78,
uint32_t baudrate = 4800000,
@ -72,16 +73,17 @@ public:
stopbits_t stopbits = stopbits_t::stopbits_one,
flowcontrol_t flowcontrol = flowcontrol_t::flowcontrol_none);
size_t send(uint8_t *sendMsg, size_t sendLength);
size_t recv(uint8_t *recvMsg, size_t recvLength);
size_t recv(uint8_t *recvMsg);
bool sendRecv(uint8_t *sendMsg, uint8_t *recvMsg, size_t sendLength);
bool sendRecv(MOTOR_send* sendMsg, MOTOR_recv* recvMsg);
bool sendRecv(std::vector<MOTOR_send> &sendVec, std::vector<MOTOR_recv> &recvVec);
bool sendRecv(MotorCmd *sendMsg, MotorData *recvMsg);
bool sendRecv(std::vector<MotorCmd> &sendVec, std::vector<MotorData> &recvVec);
private:
void _open();
void _set();
void _close();
size_t _nonBlockRecv(uint8_t *recvMsg, size_t readLen); // only visual in pubSDK
size_t _nonBlockRecv(uint8_t *recvMsg, size_t readLen);
std::string _portName;
uint32_t _baudrate;
bytesize_t _bytesize;
@ -90,11 +92,8 @@ private:
flowcontrol_t _flowcontrol;
bool _xonxoff;
bool _rtscts;
int _fd;
fd_set _rSet;
};
#endif // SERIALPORT_H
#endif // SERIALPORT_H

4
include/serialPort/include/errorClass.h
View File

@ -1,5 +1,5 @@
#ifndef ERRORCLASS_H
#define ERRORCLASS_H
#ifndef __ERRORCLASS_H
#define __ERRORCLASS_H
#include <string>
#include <exception>

165
include/unitreeMotor/include/motor_msg.h
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@ -7,66 +7,71 @@ typedef int16_t q15_t;
#pragma pack(1)
// 发送用单个数据数据结构
typedef union{
int32_t L;
uint8_t u8[4];
uint16_t u16[2];
uint32_t u32;
float F;
}COMData32;
typedef union
{
int32_t L;
uint8_t u8[4];
uint16_t u16[2];
uint32_t u32;
float F;
} COMData32;
typedef struct {
// 定义 数据包头
unsigned char start[2]; // 包头
unsigned char motorID; // 电机ID 0,1,2,3 ... 0xBB 表示向所有电机广播（此时无返回）
unsigned char reserved;
}COMHead;
typedef struct
{
// 定义 数据包头
unsigned char start[2]; // 包头
unsigned char motorID; // 电机ID 0,1,2,3 ... 0xBB 表示向所有电机广播（此时无返回）
unsigned char reserved;
} COMHead;
#pragma pack()
#pragma pack(1)
typedef struct {
typedef struct
{
uint8_t fan_d; // 关节上的散热风扇转速
uint8_t Fmusic; // 电机发声频率 /64*1000 15.625f 频率分度
uint8_t Hmusic; // 电机发声强度 推荐值4 声音强度 0.1 分度
uint8_t reserved4;
uint8_t fan_d; // 关节上的散热风扇转速
uint8_t Fmusic; // 电机发声频率 /64*1000 15.625f 频率分度
uint8_t Hmusic; // 电机发声强度 推荐值4 声音强度 0.1 分度
uint8_t reserved4;
uint8_t FRGB[4]; // 足端LED
uint8_t FRGB[4]; // 足端LED
}LowHzMotorCmd;
} LowHzMotorCmd;
typedef struct { // 以 4个字节一组排列 ，不然编译器会凑整
// 定义 数据
uint8_t mode; // 关节模式选择
uint8_t ModifyBit; // 电机控制参数修改位
uint8_t ReadBit; // 电机控制参数发送位
uint8_t reserved;
typedef struct
{ // 以 4个字节一组排列 ，不然编译器会凑整
// 定义 数据
uint8_t mode; // 关节模式选择
uint8_t ModifyBit; // 电机控制参数修改位
uint8_t ReadBit; // 电机控制参数发送位
uint8_t reserved;
COMData32 Modify; // 电机参数修改 的数据
COMData32 Modify; // 电机参数修改 的数据
//实际给FOC的指令力矩为：
//K_P*delta_Pos + K_W*delta_W + T
q15_t T; // 期望关节的输出力矩（电机本身的力矩）x256, 7 + 8 描述
q15_t W; // 期望关节速度 （电机本身的速度） x128, 8 + 7描述
int32_t Pos; // 期望关节位置 x 16384/6.2832, 14位编码器（主控0点修正，电机关节还是以编码器0点为准）
// K_P*delta_Pos + K_W*delta_W + T
q15_t T; // 期望关节的输出力矩（电机本身的力矩）x256, 7 + 8 描述
q15_t W; // 期望关节速度 （电机本身的速度） x128, 8 + 7描述
int32_t Pos; // 期望关节位置 x 16384/6.2832, 14位编码器（主控0点修正，电机关节还是以编码器0点为准）
q15_t K_P; // 关节刚度系数 x2048 4+11 描述
q15_t K_W; // 关节速度系数 x1024 5+10 描述
q15_t K_P; // 关节刚度系数 x2048 4+11 描述
q15_t K_W; // 关节速度系数 x1024 5+10 描述
uint8_t LowHzMotorCmdIndex; // 电机低频率控制命令的索引, 0-7, 分别代表LowHzMotorCmd中的8个字节
uint8_t LowHzMotorCmdByte; // 电机低频率控制命令的字节
uint8_t LowHzMotorCmdIndex; // 电机低频率控制命令的索引, 0-7, 分别代表LowHzMotorCmd中的8个字节
uint8_t LowHzMotorCmdByte; // 电机低频率控制命令的字节
COMData32 Res[1]; // 通讯 保留字节 用于实现别的一些通讯内容
COMData32 Res[1]; // 通讯 保留字节 用于实现别的一些通讯内容
}MasterComdV3; // 加上数据包的包头 和CRC 34字节
} MasterComdV3; // 加上数据包的包头 和CRC 34字节
typedef struct {
// 定义 电机控制命令数据包
typedef struct
{
// 定义 电机控制命令数据包
COMHead head;
MasterComdV3 Mdata;
COMData32 CRCdata;
}MasterComdDataV3;//返回数据
} MasterComdDataV3; //返回数据
// typedef struct {
// // 定义 总得485 数据包
@ -81,54 +86,56 @@ typedef struct {
#pragma pack(1)
typedef struct { // 以 4个字节一组排列 ，不然编译器会凑整
typedef struct
{ // 以 4个字节一组排列 ，不然编译器会凑整
// 定义 数据
uint8_t mode; // 当前关节模式
uint8_t ReadBit; // 电机控制参数修改 是否成功位
int8_t Temp; // 电机当前平均温度
uint8_t MError; // 电机错误 标识
uint8_t mode; // 当前关节模式
uint8_t ReadBit; // 电机控制参数修改 是否成功位
int8_t Temp; // 电机当前平均温度
uint8_t MError; // 电机错误 标识
COMData32 Read; // 读取的当前 电机 的控制数据
int16_t T; // 当前实际电机输出力矩 7 + 8 描述
COMData32 Read; // 读取的当前 电机 的控制数据
int16_t T; // 当前实际电机输出力矩 7 + 8 描述
int16_t W; // 当前实际电机速度（高速） 8 + 7 描述
float LW; // 当前实际电机速度（低速）
int16_t W; // 当前实际电机速度（高速） 8 + 7 描述
float LW; // 当前实际电机速度（低速）
int16_t W2; // 当前实际关节速度（高速） 8 + 7 描述
float LW2; // 当前实际关节速度（低速）
int16_t W2; // 当前实际关节速度（高速） 8 + 7 描述
float LW2; // 当前实际关节速度（低速）
int16_t Acc; // 电机转子加速度 15+0 描述 惯量较小
int16_t OutAcc; // 输出轴加速度 12+3 描述 惯量较大
int16_t Acc; // 电机转子加速度 15+0 描述 惯量较小
int16_t OutAcc; // 输出轴加速度 12+3 描述 惯量较大
int32_t Pos; // 当前电机位置（主控0点修正，电机关节还是以编码器0点为准）
int32_t Pos2; // 关节编码器位置(输出编码器)
int32_t Pos; // 当前电机位置（主控0点修正，电机关节还是以编码器0点为准）
int32_t Pos2; // 关节编码器位置(输出编码器)
int16_t gyro[3]; // 电机驱动板6轴传感器数据
int16_t acc[3];
int16_t gyro[3]; // 电机驱动板6轴传感器数据
int16_t acc[3];
// 力传感器的数据
int16_t Fgyro[3]; //
int16_t Facc[3];
int16_t Fmag[3];
uint8_t Ftemp; // 8位表示的温度 7位（-28~100度） 1位0.5度分辨率
int16_t Fgyro[3]; //
int16_t Facc[3];
int16_t Fmag[3];
uint8_t Ftemp; // 8位表示的温度 7位（-28~100度） 1位0.5度分辨率
int16_t Force16; // 力传感器高16位数据
int8_t Force8; // 力传感器低8位数据
int16_t Force16; // 力传感器高16位数据
int8_t Force8; // 力传感器低8位数据
uint8_t FError; // 足端传感器错误标识
uint8_t FError; // 足端传感器错误标识
int8_t Res[1]; // 通讯 保留字节
int8_t Res[1]; // 通讯 保留字节
}ServoComdV3; // 加上数据包的包头 和CRC 78字节（4+70+4）
} ServoComdV3; // 加上数据包的包头 和CRC 78字节（4+70+4）
typedef struct {
typedef struct
{
// 定义 电机控制命令数据包
COMHead head;
ServoComdV3 Mdata;
COMHead head;
ServoComdV3 Mdata;
COMData32 CRCdata;
COMData32 CRCdata;
}ServoComdDataV3; //发送数据
} ServoComdDataV3; //发送数据
// typedef struct {
// // 定义 总的485 接受数据包
@ -138,7 +145,6 @@ typedef struct {
// }DMA485RxDataV3;
#pragma pack()
// 00 00 00 00 00
@ -149,14 +155,13 @@ typedef struct {
// 主机发送的数据包
/*
Tx485Data[_FR][i].head.start[0] = 0xFE ; Tx485Data[_FR][i].head.start[1] = 0xEE; // 数据包头
Tx485Data[_FR][i].Mdata.ModifyBit = 0xFF; Tx485Data[_FR][i].Mdata.mode = 0; // 默认不修改数据 和 电机的默认工作模式
Tx485Data[_FR][i].head.motorID = i; 0 // 目标电机标号
Tx485Data[_FR][i].Mdata.T = 0.0f; // 默认目标关节输出力矩 motor1.Extra_Torque = motorRxData[1].Mdata.T*0.390625f; // N.M 转化为 N.CM IQ8描述
Tx485Data[_FR][i].Mdata.Pos = 0x7FE95C80; // 默认目标关节位置 不启用位置环 14位分辨率
Tx485Data[_FR][i].Mdata.W = 16000.0f; // 默认目标关节速度 不启用速度环 1+8+7描述 motor1.Target_Speed = motorRxData[1].Mdata.W*0.0078125f; // 单位 rad/s IQ7描述
Tx485Data[_FR][i].Mdata.K_P = (q15_t)(0.6f*(1<<11)); // 默认关节刚度系数 4+11 描述 motor1.K_Pos = ((float)motorRxData[1].Mdata.K_P)/(1<<11); // 描述刚度的通讯数据格式 4+11
Tx485Data[_FR][i].Mdata.K_W = (q15_t)(1.0f*(1<<10)); // 默认关节速度系数 5+10 描述 motor1.K_Speed = ((float)motorRxData[1].Mdata.K_W)/(1<<10); // 描述阻尼的通讯数据格式 5+10
Tx485Data[_FR][i].Mdata.ModifyBit = 0xFF; Tx485Data[_FR][i].Mdata.mode = 0; // 默认不修改数据 和 电机的默认工作模式
Tx485Data[_FR][i].head.motorID = i; 0 // 目标电机标号
Tx485Data[_FR][i].Mdata.T = 0.0f; // 默认目标关节输出力矩 motor1.Extra_Torque = motorRxData[1].Mdata.T*0.390625f; // N.M 转化为 N.CM IQ8描述
Tx485Data[_FR][i].Mdata.Pos = 0x7FE95C80; // 默认目标关节位置 不启用位置环 14位分辨率
Tx485Data[_FR][i].Mdata.W = 16000.0f; // 默认目标关节速度 不启用速度环 1+8+7描述 motor1.Target_Speed = motorRxData[1].Mdata.W*0.0078125f; // 单位 rad/s IQ7描述
Tx485Data[_FR][i].Mdata.K_P = (q15_t)(0.6f*(1<<11)); // 默认关节刚度系数 4+11 描述 motor1.K_Pos = ((float)motorRxData[1].Mdata.K_P)/(1<<11); // 描述刚度的通讯数据格式 4+11
Tx485Data[_FR][i].Mdata.K_W = (q15_t)(1.0f*(1<<10)); // 默认关节速度系数 5+10 描述 motor1.K_Speed = ((float)motorRxData[1].Mdata.K_W)/(1<<10); // 描述阻尼的通讯数据格式 5+10
*/
#endif

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include/unitreeMotor/unitreeMotor.h
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#ifndef UNITREEMOTOR_H
#define UNITREEMOTOR_H
#ifndef __UNITREEMOTOR_H
#define __UNITREEMOTOR_H
#include "unitreeMotor/include/motor_msg.h" // 电机通信协议
#include "CRC/crc32.h" // CRC32校验算法
#include "unitreeMotor/include/motor_msg.h" // 电机通信协议
#include <stdint.h>
#include <iostream>
enum class MotorType{
A1, // 4.8M baudrate, K_W x1024
B1 // 6.0M baudrate, K_W x512
enum class MotorType
{
A1, // 4.8M baudrate, K_W x1024
B1 // 6.0M baudrate, K_W x512
};
struct MOTOR_send{
// 定义 发送格式化数据
MasterComdDataV3 motor_send_data; //电机控制数据结构体，详见motor_msg.h
MotorType motorType = MotorType::A1;
int hex_len = 34; //发送的16进制命令数组长度, 34
// long long send_time; //发送该命令的时间, 微秒(us)
// 待发送的各项数据
unsigned short id; //电机ID，0xBB代表全部电机
unsigned short mode; //0:空闲, 5:开环转动, 10:闭环FOC控制
//实际给FOC的指令力矩为：
//K_P*delta_Pos + K_W*delta_W + T
float T; //期望关节的输出力矩（电机本身的力矩）（Nm）
float W; //期望关节速度（电机本身的速度）(rad/s)
float Pos; //期望关节位置（rad）
float K_P; //关节刚度系数
float K_W; //关节速度系数
COMData32 Res; // 通讯 保留字节 用于实现别的一些通讯内容
struct MotorCmd
{
// 定义 发送格式化数据
public:
MotorType motorType;
int hex_len = 34;
unsigned short id; //电机ID，0xBB代表全部电机
unsigned short mode; // 0:空闲, 5:开环转动, 10:闭环FOC控制
float T; //期望关节的输出力矩（电机本身的力矩）（Nm）
float W; //期望关节速度（电机本身的速度）(rad/s)
float Pos; //期望关节位置（rad）
float K_P; //关节刚度系数
float K_W; //关节速度系数
void modify_data(MotorCmd *motor_s);
uint8_t *get_motor_send_data();
COMData32 Res; // 通讯 保留字节 用于实现别的一些通讯内容
MasterComdDataV3 motor_send_data; //电机控制数据结构体，详见motor_msg.h
};
struct MOTOR_recv{
// 定义 接收数据
ServoComdDataV3 motor_recv_data; //电机接收数据结构体，详见motor_msg.h
MotorType motorType = MotorType::A1;
int hex_len = 78; //接收的16进制命令数组长度, 78
// long long resv_time; //接收该命令的时间, 微秒(us)
bool correct = false; //接收数据是否完整（true完整，false不完整）
//解读得出的电机数据
unsigned char motor_id; //电机ID
unsigned char mode; //0:空闲, 5:开环转动, 10:闭环FOC控制
int Temp; //温度
unsigned char MError; //错误码
float T; // 当前实际电机输出力矩
float W; // 当前实际电机速度（高速）
float LW; // 当前实际电机速度（低速）
int Acc; // 电机转子加速度
float Pos; // 当前电机位置（主控0点修正，电机关节还是以编码器0点为准）
float gyro[3]; // 电机驱动板6轴传感器数据
float acc[3];
struct MotorData
{
// 定义 接收数据
public:
MotorType motorType;
int hex_len = 78; //接收的16进制命令数组长度, 78
unsigned char motor_id; //电机ID
unsigned char mode; // 0:空闲, 5:开环转动, 10:闭环FOC控制
int Temp; //温度
int MError; //错误码
float T; // 当前实际电机输出力矩
float W; // 当前实际电机速度（高速）
float Pos; // 当前电机位置
bool correct = false; //接收数据是否完整（true完整，false不完整）
bool extract_data(MotorData *motor_r);
uint8_t *get_motor_recv_data();
float LW; // 当前实际电机速度（低速）
int Acc; // 电机转子加速度
float gyro[3]; // 电机驱动板6轴传感器数据
float acc[3];
ServoComdDataV3 motor_recv_data; //电机接收数据结构体，详见motor_msg_A1B1.h
};
inline void modify_data(MOTOR_send* motor_s){
motor_s->hex_len = 34;
motor_s->motor_send_data.head.start[0] = 0xFE;
motor_s->motor_send_data.head.start[1] = 0xEE;
motor_s->motor_send_data.head.motorID = motor_s->id;
motor_s->motor_send_data.head.reserved = 0x0;
motor_s->motor_send_data.Mdata.mode = motor_s->mode;
motor_s->motor_send_data.Mdata.ModifyBit = 0xFF;
motor_s->motor_send_data.Mdata.ReadBit = 0x0;
motor_s->motor_send_data.Mdata.reserved = 0x0;
motor_s->motor_send_data.Mdata.Modify.L = 0;
motor_s->motor_send_data.Mdata.T = motor_s->T*256;
motor_s->motor_send_data.Mdata.W = motor_s->W*128;
motor_s->motor_send_data.Mdata.Pos = (int)((motor_s->Pos/6.2832)*16384.0);
motor_s->motor_send_data.Mdata.K_P = motor_s->K_P*2048;
if(motor_s->motorType == MotorType::A1){
motor_s->motor_send_data.Mdata.K_W = motor_s->K_W*1024;
}
else if(motor_s->motorType == MotorType::B1){
motor_s->motor_send_data.Mdata.K_W = motor_s->K_W*512;
}
motor_s->motor_send_data.Mdata.LowHzMotorCmdIndex = 0;
motor_s->motor_send_data.Mdata.LowHzMotorCmdByte = 0;
motor_s->motor_send_data.Mdata.Res[0] = motor_s->Res;
motor_s->motor_send_data.CRCdata.u32 = crc32_core((uint32_t*)(&(motor_s->motor_send_data)), 7);
}
inline bool extract_data(MOTOR_recv* motor_r){
if(motor_r->motor_recv_data.CRCdata.u32 !=
crc32_core((uint32_t*)(&(motor_r->motor_recv_data)), 18)){
std::cout << "[WARNING] Receive data CRC error" << std::endl;
motor_r->correct = false;
return motor_r->correct;
}else{
motor_r->motor_id = motor_r->motor_recv_data.head.motorID;
motor_r->mode = motor_r->motor_recv_data.Mdata.mode;
motor_r->Temp = motor_r->motor_recv_data.Mdata.Temp;
motor_r->MError = motor_r->motor_recv_data.Mdata.MError;
motor_r->T = ((float)motor_r->motor_recv_data.Mdata.T) / 256;
motor_r->W = ((float)motor_r->motor_recv_data.Mdata.W) / 128;
motor_r->LW = motor_r->motor_recv_data.Mdata.LW;
motor_r->Acc = (int)motor_r->motor_recv_data.Mdata.Acc;
motor_r->Pos = 6.2832*((float)motor_r->motor_recv_data.Mdata.Pos) / 16384;
motor_r->gyro[0] = ((float)motor_r->motor_recv_data.Mdata.gyro[0]) * 0.00107993176;
motor_r->gyro[1] = ((float)motor_r->motor_recv_data.Mdata.gyro[1]) * 0.00107993176;
motor_r->gyro[2] = ((float)motor_r->motor_recv_data.Mdata.gyro[2]) * 0.00107993176;
motor_r->acc[0] = ((float)motor_r->motor_recv_data.Mdata.acc[0]) * 0.0023911132;
motor_r->acc[1] = ((float)motor_r->motor_recv_data.Mdata.acc[1]) * 0.0023911132;
motor_r->acc[2] = ((float)motor_r->motor_recv_data.Mdata.acc[2]) * 0.0023911132;
motor_r->correct = true;
return motor_r->correct;
}
}
#endif // UNITREEMOTOR_H
#endif // UNITREEMOTOR_H

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