first commit

CMakeLists.txt

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.10.2)
+project(UnitreeMotorSDK_M80106)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3")
+
+include_directories("include/")
+link_directories(
+    lib/
+)
+
+#example
+add_executable(motorctrl example/main.cpp)
+target_link_libraries(motorctrl libUnitreeMotorSDK_M80106_Linux64.so)

LICENSE

@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

@@ -0,0 +1,21 @@
+# README.md
+
+### Notice
+
+support motor: GO-M8010-6 motor
+
+not support motor: A1 motor、 B1 motor (Check A1B1 branch for support)
+
+### Build
+```bash
+mkdir build
+cd build
+cmake ..
+make
+```
+
+### Run
+Run examples with 'sudo',e.g.
+```bash
+sudo ./motorctrl
+```

example/main.cpp

@@ -0,0 +1,33 @@
+#include "serialPort/SerialPort.h"
+#include <unistd.h>
+
+int main() {
+
+  SerialPort  serial("/dev/ttyUSB0");
+  MotorCmd    cmd;
+  MotorData   data;
+
+  while(true) {
+    cmd.motorType = MotorType::GO_M8010_6;
+    cmd.id    = 0;
+    cmd.mode  = 1;
+    cmd.K_P   = 0.0;
+    cmd.K_W   = 0.05;
+    cmd.Pos   = 0.0;
+    cmd.W     = 6.28*6.33;
+    cmd.T     = 0.0;
+    serial.sendRecv(&cmd,&data);
+
+    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;
+
+    usleep(200);
+
+  }
+
+}

include/IOPort/IOPort.h

@@ -0,0 +1,41 @@
+#ifndef __IOPORT_H
+#define __IOPORT_H
+
+#include <stdint.h>
+#include <unistd.h>
+#include <vector>
+#include "unitreeMotor/unitreeMotor.h"
+
+enum class BlockYN{
+    YES,
+    NO
+};
+
+class IOPort{
+public:
+    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<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){
+    _blockYN = blockYN;
+    _recvLength = recvLength;
+    _timeout.tv_sec  = timeOutUs / 1000000;
+    _timeout.tv_usec = timeOutUs % 1000000;
+    _timeoutSaved = _timeout;
+}
+
+
+#endif  // z1_lib_IOPORT_H

include/crc/crc_ccitt.h

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+#ifndef __CRC_CCITT_H
+#define __CRC_CCITT_H
+
+/*
+ * This mysterious table is just the CRC of each possible byte. It can be
+ * computed using the standard bit-at-a-time methods. The polynomial can
+ * be seen in entry 128, 0x8408. This corresponds to x^0 + x^5 + x^12.
+ * Add the implicit x^16, and you have the standard CRC-CCITT.
+ * https://github.com/torvalds/linux/blob/5bfc75d92efd494db37f5c4c173d3639d4772966/lib/crc-ccitt.c
+ */
+uint16_t const crc_ccitt_table[256] = {
+	0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
+	0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
+	0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
+	0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
+	0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
+	0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
+	0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
+	0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
+	0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
+	0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
+	0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
+	0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
+	0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
+	0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
+	0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
+	0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
+	0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
+	0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
+	0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
+	0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
+	0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
+	0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
+	0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
+	0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
+	0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
+	0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
+	0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
+	0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
+	0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
+	0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
+	0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
+	0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78
+};
+
+
+static uint16_t crc_ccitt_byte(uint16_t crc, const uint8_t c)
+{
+	return (crc >> 8) ^ crc_ccitt_table[(crc ^ c) & 0xff];
+}
+
+/**
+ *	crc_ccitt - recompute the CRC (CRC-CCITT variant) for the data
+ *	buffer
+ *	@crc: previous CRC value
+ *	@buffer: data pointer
+ *	@len: number of bytes in the buffer
+ */
+inline uint16_t crc_ccitt(uint16_t crc, uint8_t const *buffer, size_t len)
+{
+	while (len--)
+		crc = crc_ccitt_byte(crc, *buffer++);
+	return crc;
+}
+
+
+#endif

include/serialPort/SerialPort.h

@@ -0,0 +1,98 @@
+#ifndef __SERIALPORT_H
+#define __SERIALPORT_H
+
+/* 
+High frequency serial communication,
+Not that common, but useful for motor communication.
+*/
+#include <termios.h>
+#include <sys/select.h>
+#include <string>
+#include <string.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <linux/serial.h>    
+#include <unistd.h>
+#include <iostream>
+
+#include "serialPort/include/errorClass.h"
+#include "unitreeMotor/unitreeMotor.h"
+#include "IOPort/IOPort.h"
+
+enum class bytesize_t{
+    fivebits,
+    sixbits,
+    sevenbits,
+    eightbits
+};
+
+enum class parity_t{
+    parity_none,
+    parity_odd,
+    parity_even,
+    parity_mark,
+    parity_space
+};
+
+enum class stopbits_t{
+    stopbits_one,
+    stopbits_two,
+    stopbits_one_point_five
+};
+
+enum class flowcontrol_t{
+    flowcontrol_none,
+    flowcontrol_software,
+    flowcontrol_hardware
+};
+
+class SerialPort : public IOPort{
+public:
+    SerialPort(const std::string &portName,
+            size_t recvLength = 16,
+            uint32_t baudrate = 4000000,
+            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 = 16,
+                     uint32_t baudrate = 4000000,
+                     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 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(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);
+    std::string _portName;
+    uint32_t _baudrate;
+    bytesize_t _bytesize;
+    parity_t _parity;
+    stopbits_t _stopbits;
+    flowcontrol_t _flowcontrol;
+    bool _xonxoff;
+    bool _rtscts;
+    int _fd;
+    fd_set _rSet;
+
+};
+
+
+
+
+#endif  // SERIALPORT_H

include/serialPort/include/errorClass.h

@@ -0,0 +1,52 @@
+#ifndef __ERRORCLASS_H
+#define __ERRORCLASS_H
+
+#include <string>
+#include <exception>
+#include <stdexcept>
+#include <sstream>
+#include <cstring>
+
+#define THROW(exceptionClass, message) throw exceptionClass(__FILE__, \
+__LINE__, (message) )
+
+class IOException : public std::exception
+{
+  // Disable copy constructors
+  IOException& operator=(const IOException&);
+  std::string file_;
+  int line_;
+  std::string e_what_;
+  int errno_;
+public:
+  explicit IOException (std::string file, int line, int errnum)
+    : file_(file), line_(line), errno_(errnum) {
+      std::stringstream ss;
+#if defined(_WIN32) && !defined(__MINGW32__)
+      char error_str [1024];
+      strerror_s(error_str, 1024, errnum);
+#else
+      char * error_str = strerror(errnum);
+#endif
+      ss << "IO Exception (" << errno_ << "): " << error_str;
+      ss << ", file " << file_ << ", line " << line_ << ".";
+      e_what_ = ss.str();
+  }
+  explicit IOException (std::string file, int line, const char * description)
+    : file_(file), line_(line), errno_(0) {
+      std::stringstream ss;
+      ss << "IO Exception: " << description;
+      ss << ", file " << file_ << ", line " << line_ << ".";
+      e_what_ = ss.str();
+  }
+  virtual ~IOException() throw() {}
+  IOException (const IOException& other) : line_(other.line_), e_what_(other.e_what_), errno_(other.errno_) {}
+
+  int getErrorNumber () const { return errno_; }
+
+  virtual const char* what () const throw () {
+    return e_what_.c_str();
+  }
+};
+
+#endif  // ERRORCLASS_H

include/unitreeMotor/include/motor_msg.h

@@ -0,0 +1,90 @@
+#ifndef __MOTOR_MSG_H
+#define __MOTOR_MSG_H
+
+#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
+
+#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   (q7)
+    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   (q7)
+    int32_t  pos;           // 实际关节输出位置 unit: W       (q15)
+    int8_t   temp;          // 电机温度: -128~127°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
+
+
+#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
+
+} ControlData_t;    // 主机控制命令     17Byte
+
+/**
+ * @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
+
+} MotorData_t;      // 电机返回数据     16Byte
+
+#pragma pack()
+
+#endif
+
+
+
+
+
+

include/unitreeMotor/unitreeMotor.h

@@ -0,0 +1,54 @@
+#ifndef __UNITREEMOTOR_H
+#define __UNITREEMOTOR_H
+
+#include "unitreeMotor/include/motor_msg.h"  // 电机通信协议
+#include <stdint.h>
+#include <iostream>
+
+enum class MotorType{
+    GO_M8010_6
+};
+
+struct MotorCmd{
+	// 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，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();
+
+    private:
+        ControlData_t  motor_send_data;  //电机控制数据结构体，详见motor_msg.h
+};
+
+struct MotorData{
+    // 定义 接收数据
+    public:
+        MotorType motorType = MotorType::GO_M8010_6;
+        int hex_len = 16;                    //接收的16进制命令数组长度, 78
+        bool correct = false;                   //接收数据是否完整（true完整，false不完整）
+        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
+        int footForce;
+        bool extract_data(MotorData* motor_r);
+        uint8_t* get_motor_recv_data();
+
+    private:
+        MotorData_t motor_recv_data;     //电机接收数据结构体，详见motor_msg.h
+
+};
+
+
+#endif  // UNITREEMOTOR_H