Create a new branch A1B1
This commit is contained in:
liang
parent
16a082a88d
commit
8a669dcbe8
@ -1,12 +1,13 @@
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cmake_minimum_required(VERSION 3.10.2)
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project(UnitreeMotorSDK_M80106)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3")
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cmake_minimum_required(VERSION 2.8.3)
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project(UnitreeMotorA1B1)
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include_directories(
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/home/$ENV{USER}/unitree_actuator_sdk/include/
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)
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include_directories("include/")
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link_directories(
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lib/
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)
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#example
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add_executable(motorctrl example/main.cpp)
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target_link_libraries(motorctrl libUnitreeMotorSDK_M80106_Linux64.so)
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target_link_libraries(motorctrl libunitreeMotorSDK_Linux64.so)
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@ -2,9 +2,9 @@
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### Notice
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support motor: GO-M8010-6 motor
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support motor: A1 motor、 B1 motor
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not support motor: A1 motor、 B1 motor (Check A1B1 branch for support)
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not support motor: GO-M8010-6 motor (Check GO-M8010-6 branch for support)
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### Build
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```bash
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55
example/changeID.cpp
Executable file
55
example/changeID.cpp
Executable file
@ -0,0 +1,55 @@
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#include <stdio.h>
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#include <string.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include "serialPort/SerialPort.h"
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#define BroadAllMotorID 0xBB
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#define MotorPulsator 11
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int main(){
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char serial_name[100];
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MOTOR_send motor_s;
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MOTOR_recv motor_r;
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motor_s.motorType = MotorType::B1; // set the motor type, A1 or B1
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motor_r.motorType = motor_s.motorType;
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printf("Please input the name of serial port.(e.g. Linux:/dev/ttyUSB0, Windows:\\\\.\\COM3)\n");
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scanf("%s",serial_name);
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printf("The serial port is %s\n", serial_name);
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memset(static_cast<void*>(&motor_s), 0, sizeof(motor_s));
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motor_s.id = BroadAllMotorID;
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motor_s.mode = 10;
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modify_data(&motor_s);
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// printf("The motor ID is: %X\n", motor_s.motor_send_data.head.motorID);
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//进入伺服模式
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SerialPort serial(serial_name); // set the serial port name
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serial.send((uint8_t*)&(motor_s.motor_send_data), motor_s.hex_len);
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usleep(100000); //sleep 0.1s
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//进入拨轮模式（修改ID）
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motor_s.mode = MotorPulsator;
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modify_data(&motor_s);
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serial.send((uint8_t*)&(motor_s.motor_send_data), motor_s.hex_len);
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printf("Please turn the motor.\n");
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printf("One time: id=0; Two times: id=1, Three times: id=2\n");
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printf("ID can only be 0, 1, 2\n");
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printf("Once finished, press 'a'\n");
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// int c;
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while(getchar() != (int)'a');
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printf("Turn finished\n");
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//保存ID
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motor_s.mode = 0;
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modify_data(&motor_s);
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serial.send((uint8_t*)&(motor_s.motor_send_data), motor_s.hex_len);
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return 0;
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}
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@ -1,36 +1,49 @@
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#include "serialPort/SerialPort.h"
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#include <unistd.h>
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int main() {
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#include <csignal>
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int main(){
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// set the serial port name
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SerialPort serial("/dev/ttyUSB0");
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MotorCmd cmd;
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MotorData data;
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while(true) {
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cmd.motorType = MotorType::GO_M8010_6;
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cmd.id = 0;
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cmd.mode = 1;
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cmd.K_P = 0.0;
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cmd.K_W = 0.05;
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cmd.Pos = 0.0;
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cmd.W = 6.28*6.33;
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cmd.T = 0.0;
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serial.sendRecv(&cmd,&data);
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// send message struct
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MOTOR_send motor_run, motor_stop;
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// receive message struct
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MOTOR_recv motor_r;
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if(data.correct == true)
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{
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std::cout << std::endl;
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std::cout << "motor.Pos: " << data.Pos << " rad" << std::endl;
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std::cout << "motor.Temp: " << data.Temp << " ℃" << std::endl;
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std::cout << "motor.W: " << data.W << " rad/s"<<std::endl;
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std::cout << "motor.T: " << data.T << " N.m" << std::endl;
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std::cout << "motor.MError: " << data.MError << std::endl;
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std::cout << std::endl;
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// set the id of motor
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motor_run.id = 0;
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// set the motor type, A1 or B1
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motor_run.motorType = MotorType::A1;
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motor_run.mode = 5;
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motor_run.T = 0.0;
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motor_run.W = 0.0;
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motor_run.Pos = 0.0;
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motor_run.K_P = 0.0;
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motor_run.K_W = 0.0;
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motor_stop.id = motor_run.id;
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motor_stop.motorType = motor_run.motorType;
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motor_stop.mode = 0;
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motor_r.motorType = motor_run.motorType;
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// encode data into motor commands
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modify_data(&motor_run);
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modify_data(&motor_stop);
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// turn for 3 second
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for(int i(0); i<3; ++i){
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serial.sendRecv(&motor_run, &motor_r);
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// decode data from motor states
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extract_data(&motor_r);
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std::cout << "Pos: " << motor_r.Pos << std::endl;
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usleep(1000000);
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}
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usleep(200);
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// stop the motor
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while(!serial.sendRecv(&motor_stop, &motor_r)){
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usleep(100000);
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}
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return 0;
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}
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33
include/CRC/crc32.h
Executable file
33
include/CRC/crc32.h
Executable file
@ -0,0 +1,33 @@
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#ifndef CRC32_H
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#define CRC32_H
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#include <stdint.h>
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inline uint32_t crc32_core(uint32_t* ptr, uint32_t len){
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uint32_t xbit = 0;
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uint32_t data = 0;
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uint32_t CRC32 = 0xFFFFFFFF;
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const uint32_t dwPolynomial = 0x04c11db7;
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for (uint32_t i = 0; i < len; i++)
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{
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xbit = 1 << 31;
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data = ptr[i];
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for (uint32_t bits = 0; bits < 32; bits++)
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{
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if (CRC32 & 0x80000000)
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{
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CRC32 <<= 1;
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CRC32 ^= dwPolynomial;
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}
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else
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CRC32 <<= 1;
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if (data & xbit)
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CRC32 ^= dwPolynomial;
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xbit >>= 1;
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}
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}
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return CRC32;
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}
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#endif // CRC32_H
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@ -1,5 +1,5 @@
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#ifndef __IOPORT_H
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#define __IOPORT_H
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#ifndef BIANLIB_IOPORT_H
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#define BIANLIB_IOPORT_H
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#include <stdint.h>
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#include <unistd.h>
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@ -13,20 +13,16 @@ enum class BlockYN{
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class IOPort{
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public:
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IOPort(BlockYN blockYN, size_t recvLength, size_t timeOutUs){
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resetIO(blockYN, recvLength, timeOutUs);
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}
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IOPort(){}
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virtual ~IOPort(){}
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virtual size_t send(uint8_t *sendMsg, size_t sendLength) = 0;
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virtual size_t recv(uint8_t *recvMsg, size_t recvLength) = 0;
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virtual size_t recv(uint8_t *recvMsg) = 0;
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virtual bool sendRecv(std::vector<MotorCmd> &sendVec, std::vector<MotorData> &recvVec) = 0;
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virtual bool sendRecv(std::vector<MOTOR_send> &sendVec, std::vector<MOTOR_recv> &recvVec) = 0;
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void resetIO(BlockYN blockYN, size_t recvLength, size_t timeOutUs);
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protected:
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BlockYN _blockYN = BlockYN::NO;
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size_t _recvLength;
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timeval _timeout;
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timeval _timeoutSaved;
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};
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inline void IOPort::resetIO(BlockYN blockYN, size_t recvLength, size_t timeOutUs){
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@ -34,8 +30,7 @@ inline void IOPort::resetIO(BlockYN blockYN, size_t recvLength, size_t timeOutUs
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_recvLength = recvLength;
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_timeout.tv_sec = timeOutUs / 1000000;
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_timeout.tv_usec = timeOutUs % 1000000;
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_timeoutSaved = _timeout;
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}
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#endif // z1_lib_IOPORT_H
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#endif // BIANLIB_IOPORT_H
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@ -1,67 +0,0 @@
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#ifndef __CRC_CCITT_H
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#define __CRC_CCITT_H
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/*
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* This mysterious table is just the CRC of each possible byte. It can be
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* computed using the standard bit-at-a-time methods. The polynomial can
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* be seen in entry 128, 0x8408. This corresponds to x^0 + x^5 + x^12.
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* Add the implicit x^16, and you have the standard CRC-CCITT.
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* https://github.com/torvalds/linux/blob/5bfc75d92efd494db37f5c4c173d3639d4772966/lib/crc-ccitt.c
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*/
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uint16_t const crc_ccitt_table[256] = {
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0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
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0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
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0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
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0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
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0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
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0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
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0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
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0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
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0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
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0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
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0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
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0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
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0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
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0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
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0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
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0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
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0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
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0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
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0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
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0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
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0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
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0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
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0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
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0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
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0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
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0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
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0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
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0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
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0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
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0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
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0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
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0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78
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};
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static uint16_t crc_ccitt_byte(uint16_t crc, const uint8_t c)
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{
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return (crc >> 8) ^ crc_ccitt_table[(crc ^ c) & 0xff];
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}
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/**
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* crc_ccitt - recompute the CRC (CRC-CCITT variant) for the data
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* buffer
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* @crc: previous CRC value
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* @buffer: data pointer
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* @len: number of bytes in the buffer
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*/
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inline uint16_t crc_ccitt(uint16_t crc, uint8_t const *buffer, size_t len)
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{
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while (len--)
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crc = crc_ccitt_byte(crc, *buffer++);
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return crc;
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}
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#endif
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@ -1,18 +1,20 @@
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#ifndef __SERIALPORT_H
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#define __SERIALPORT_H
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#ifndef SERIALPORT_H
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#define SERIALPORT_H
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/*
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High frequency serial communication,
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Not that common, but useful for motor communication.
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*/
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#include <termios.h>
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// #include <sys/epoll.h>
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#include <sys/select.h>
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#include <string>
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#include <string.h>
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#include <stdint.h>
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#include <fcntl.h>
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#include <sys/ioctl.h>
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#include <linux/serial.h>
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#include <linux/serial.h> //serial驱动相关
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#include <unistd.h>
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#include <iostream>
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@ -47,11 +49,13 @@ enum class flowcontrol_t{
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flowcontrol_hardware
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};
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class SerialPort : public IOPort{
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public:
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SerialPort(const std::string &portName,
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size_t recvLength = 16,
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uint32_t baudrate = 4000000,
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size_t recvLength = 78,
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uint32_t baudrate = 4800000,
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size_t timeOutUs = 20000,
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BlockYN blockYN = BlockYN::NO,
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bytesize_t bytesize = bytesize_t::eightbits,
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@ -59,8 +63,8 @@ public:
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stopbits_t stopbits = stopbits_t::stopbits_one,
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flowcontrol_t flowcontrol = flowcontrol_t::flowcontrol_none);
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virtual ~SerialPort();
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void resetSerial(size_t recvLength = 16,
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uint32_t baudrate = 4000000,
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void resetSerial(size_t recvLength = 78,
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uint32_t baudrate = 4800000,
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size_t timeOutUs = 20000,
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BlockYN blockYN = BlockYN::NO,
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bytesize_t bytesize = bytesize_t::eightbits,
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@ -68,17 +72,16 @@ public:
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stopbits_t stopbits = stopbits_t::stopbits_one,
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flowcontrol_t flowcontrol = flowcontrol_t::flowcontrol_none);
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size_t send(uint8_t *sendMsg, size_t sendLength);
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size_t recv(uint8_t *recvMsg, size_t recvLength);
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size_t recv(uint8_t *recvMsg);
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bool sendRecv(uint8_t *sendMsg, uint8_t *recvMsg, size_t sendLength);
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bool sendRecv(MotorCmd* sendMsg, MotorData* recvMsg);
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bool sendRecv(std::vector<MotorCmd> &sendVec, std::vector<MotorData> &recvVec);
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bool sendRecv(MOTOR_send* sendMsg, MOTOR_recv* recvMsg);
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bool sendRecv(std::vector<MOTOR_send> &sendVec, std::vector<MOTOR_recv> &recvVec);
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private:
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void _open();
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void _set();
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void _close();
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size_t _nonBlockRecv(uint8_t *recvMsg, size_t readLen);
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size_t _nonBlockRecv(uint8_t *recvMsg, size_t readLen); // only visual in pubSDK
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std::string _portName;
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uint32_t _baudrate;
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bytesize_t _bytesize;
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@ -87,12 +90,11 @@ private:
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flowcontrol_t _flowcontrol;
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bool _xonxoff;
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bool _rtscts;
|
||||
|
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int _fd;
|
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fd_set _rSet;
|
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};
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#endif // SERIALPORT_H
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@ -1,5 +1,5 @@
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#ifndef __ERRORCLASS_H
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#define __ERRORCLASS_H
|
||||
#ifndef ERRORCLASS_H
|
||||
#define ERRORCLASS_H
|
||||
|
||||
#include <string>
|
||||
#include <exception>
|
||||
|
||||
@ -1,90 +1,162 @@
|
||||
#ifndef __MOTOR_MSG_H
|
||||
#define __MOTOR_MSG_H
|
||||
#ifndef MOTOR_MSG
|
||||
#define MOTOR_MSG
|
||||
|
||||
#include <stdint.h>
|
||||
#define CRC_SIZE 2
|
||||
#define CTRL_DAT_SIZE sizeof(ControlData_t) - CRC_SIZE
|
||||
#define DATA_DAT_SIZE sizeof(MotorData_t) - CRC_SIZE
|
||||
typedef int16_t q15_t;
|
||||
|
||||
#pragma pack(1)
|
||||
|
||||
/**
|
||||
* @brief 电机模式控制信息
|
||||
*
|
||||
*/
|
||||
typedef struct
|
||||
{
|
||||
uint8_t id :4; // 电机ID: 0,1...,14 15表示向所有电机广播数据(此时无返回)
|
||||
uint8_t status :3; // 工作模式: 0.锁定 1.FOC闭环 2.编码器校准 3.保留
|
||||
uint8_t none :1; // 保留位
|
||||
} RIS_Mode_t; // 控制模式 1Byte
|
||||
|
||||
/**
|
||||
* @brief 电机状态控制信息
|
||||
*
|
||||
*/
|
||||
typedef struct
|
||||
{
|
||||
int16_t tor_des; // 期望关节输出扭矩 unit: N.m (q8)
|
||||
int16_t spd_des; // 期望关节输出速度 unit: rad/s (q8)
|
||||
int32_t pos_des; // 期望关节输出位置 unit: rad (q15)
|
||||
uint16_t k_pos; // 期望关节刚度系数 unit: 0.0-1.0 (q15)
|
||||
uint16_t k_spd; // 期望关节阻尼系数 unit: 0.0-1.0 (q15)
|
||||
|
||||
} RIS_Comd_t; // 控制参数 12Byte
|
||||
|
||||
/**
|
||||
* @brief 电机状态反馈信息
|
||||
*
|
||||
*/
|
||||
typedef struct
|
||||
{
|
||||
int16_t torque; // 实际关节输出扭矩 unit: N.m (q8)
|
||||
int16_t speed; // 实际关节输出速度 unit: rad/s (q8)
|
||||
int32_t pos; // 实际关节输出位置 unit: W (q15)
|
||||
int8_t temp; // 电机温度: -50~127°C 90°C时触发温度保护
|
||||
uint8_t MError :3; // 电机错误标识: 0.正常 1.过热 2.过流 3.过压 4.编码器故障 5-7.保留
|
||||
uint16_t force :12; // 足端气压传感器数据 12bit (0-4095)
|
||||
uint8_t none :1; // 保留位
|
||||
} RIS_Fbk_t; // 状态数据 11Byte
|
||||
// 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 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)
|
||||
|
||||
/**
|
||||
* @brief 控制数据包格式
|
||||
*
|
||||
*/
|
||||
typedef struct
|
||||
{
|
||||
uint8_t head[2]; // 包头 2Byte
|
||||
RIS_Mode_t mode; // 电机控制模式 1Byte
|
||||
RIS_Comd_t comd; // 电机期望数据 12Byte
|
||||
uint16_t CRC16; // CRC 2Byte
|
||||
typedef struct {
|
||||
|
||||
} ControlData_t; // 主机控制命令 17Byte
|
||||
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;
|
||||
|
||||
/**
|
||||
* @brief 电机反馈数据包格式
|
||||
*
|
||||
*/
|
||||
typedef struct
|
||||
{
|
||||
uint8_t head[2]; // 包头 2Byte
|
||||
RIS_Mode_t mode; // 电机控制模式 1Byte
|
||||
RIS_Fbk_t fbk; // 电机反馈数据 11Byte
|
||||
uint16_t CRC16; // CRC 2Byte
|
||||
uint8_t FRGB[4]; // 足端LED
|
||||
|
||||
} MotorData_t; // 电机返回数据 16Byte
|
||||
}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;
|
||||
|
||||
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）
|
||||
|
||||
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
|
||||
|
||||
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
|
||||
|
||||
typedef struct {
|
||||
// 定义 电机控制命令数据包
|
||||
COMHead head;
|
||||
MasterComdV3 Mdata;
|
||||
COMData32 CRCdata;
|
||||
}MasterComdDataV3;//返回数据
|
||||
|
||||
// typedef struct {
|
||||
// // 定义 总得485 数据包
|
||||
|
||||
// MasterComdData M1;
|
||||
// MasterComdData M2;
|
||||
// MasterComdData M3;
|
||||
|
||||
// }DMA485TxDataV3;
|
||||
|
||||
#pragma pack()
|
||||
|
||||
#pragma pack(1)
|
||||
|
||||
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
|
||||
|
||||
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 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
|
||||
|
||||
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];
|
||||
|
||||
// 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 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
|
||||
|
||||
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）
|
||||
|
||||
typedef struct {
|
||||
// 定义 电机控制命令数据包
|
||||
COMHead head;
|
||||
ServoComdV3 Mdata;
|
||||
|
||||
COMData32 CRCdata;
|
||||
|
||||
}ServoComdDataV3; //发送数据
|
||||
|
||||
// typedef struct {
|
||||
// // 定义 总的485 接受数据包
|
||||
|
||||
// ServoComdDataV3 M[3];
|
||||
// // uint8_t nullbyte1;
|
||||
|
||||
// }DMA485RxDataV3;
|
||||
|
||||
|
||||
#pragma pack()
|
||||
|
||||
// 00 00 00 00 00
|
||||
// 00 00 00 00 00
|
||||
// 00 00 00 00 00
|
||||
// 00 00 00
|
||||
// 数据包默认初始化
|
||||
// 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
|
||||
*/
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@ -1,54 +1,116 @@
|
||||
#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 <stdint.h>
|
||||
#include <iostream>
|
||||
|
||||
enum class MotorType{
|
||||
GO_M8010_6,
|
||||
A1, // 4.8M baudrate, K_W x1024
|
||||
B1 // 6.0M baudrate, K_W x512
|
||||
};
|
||||
|
||||
struct MotorCmd{
|
||||
struct MOTOR_send{
|
||||
// 定义 发送格式化数据
|
||||
public:
|
||||
MotorType motorType = MotorType::GO_M8010_6;
|
||||
int hex_len = 17;
|
||||
unsigned short id; // 电机ID 0~14 15:广播ID 此时电机无返回
|
||||
unsigned short mode; // 电机模式 0:刹车 1:FOC闭环 2:电机标定(发送后等待5sec,期间禁止给电机发送消息)
|
||||
float T; // 期望关节的输出力矩(电机转子转矩 N.m) 范围: ±127.99
|
||||
float W; // 期望关节速度(电机转子转速 rad/s) ±804.00
|
||||
float Pos; // 期望关节位置(电机转子位置 rad) ±411774
|
||||
float K_P; // 关节刚度系数 0~25.599
|
||||
float K_W; // 关节速度系数 0~25.599
|
||||
void modify_data(MotorCmd* motor_s);
|
||||
uint8_t* get_motor_send_data();
|
||||
|
||||
private:
|
||||
ControlData_t motor_send_data; //电机控制数据结构体，详见motor_msg.h
|
||||
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 MotorData{
|
||||
struct MOTOR_recv{
|
||||
// 定义 接收数据
|
||||
public:
|
||||
MotorType motorType = MotorType::GO_M8010_6;
|
||||
int hex_len = 16; // 接收的命令长度: 16Byte
|
||||
bool correct = false; // 接收数据是否完整(true完整，false不完整或断联)
|
||||
unsigned char motor_id; // 电机ID 0~14 15:广播ID 此时电机无返回
|
||||
unsigned char mode; // 电机模式 0:刹车 1:FOC闭环 2:电机标定
|
||||
int Temp; // 温度 -50~127 ℃
|
||||
int MError; // 错误标志 0.正常 1.过热 2.过流 3.过压 4.编码器故障
|
||||
float T; // 关节的输出力矩(电机转子转矩 N.m) 范围: ±127.99
|
||||
float W; // 关节速度(电机转子转速 rad/s) ±804.00
|
||||
float Pos; // 关节位置(电机转子位置 rad) ±411774
|
||||
int footForce; // 足端气压传感器接口 ADC原始值
|
||||
bool extract_data(MotorData* motor_r);
|
||||
uint8_t* get_motor_recv_data();
|
||||
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
|
||||
|
||||
private:
|
||||
MotorData_t motor_recv_data; //电机接收数据结构体，详见motor_msg.h
|
||||
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];
|
||||
};
|
||||
|
||||
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
|
||||
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BIN
lib/libunitreeMotorSDK_Linux64.so
Executable file
BIN
lib/libunitreeMotorSDK_Linux64.so
Executable file
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Reference in New Issue
Block a user