commit 9535c0a912943fb03a30b267f1c06b2280e7a78f Author: liang <2303335747@qq.com> Date: Thu Nov 24 15:18:50 2022 +0800 first commit diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100755 index 0000000..c840b11 --- /dev/null +++ b/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) diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..6dfdada --- /dev/null +++ b/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. \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000..5546500 --- /dev/null +++ b/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 +``` \ No newline at end of file diff --git a/example/main.cpp b/example/main.cpp new file mode 100644 index 0000000..1a28e85 --- /dev/null +++ b/example/main.cpp @@ -0,0 +1,33 @@ +#include "serialPort/SerialPort.h" +#include + +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); + + } + +} diff --git a/include/IOPort/IOPort.h b/include/IOPort/IOPort.h new file mode 100755 index 0000000..173b617 --- /dev/null +++ b/include/IOPort/IOPort.h @@ -0,0 +1,41 @@ +#ifndef __IOPORT_H +#define __IOPORT_H + +#include +#include +#include +#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 &sendVec, std::vector &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 \ No newline at end of file diff --git a/include/crc/crc_ccitt.h b/include/crc/crc_ccitt.h new file mode 100644 index 0000000..2930e24 --- /dev/null +++ b/include/crc/crc_ccitt.h @@ -0,0 +1,67 @@ +#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 diff --git a/include/serialPort/SerialPort.h b/include/serialPort/SerialPort.h new file mode 100755 index 0000000..7bfe5e9 --- /dev/null +++ b/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 +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#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 &sendVec, std::vector &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 \ No newline at end of file diff --git a/include/serialPort/include/errorClass.h b/include/serialPort/include/errorClass.h new file mode 100755 index 0000000..48313c3 --- /dev/null +++ b/include/serialPort/include/errorClass.h @@ -0,0 +1,52 @@ +#ifndef __ERRORCLASS_H +#define __ERRORCLASS_H + +#include +#include +#include +#include +#include + +#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 \ No newline at end of file diff --git a/include/unitreeMotor/include/motor_msg.h b/include/unitreeMotor/include/motor_msg.h new file mode 100755 index 0000000..ba62da7 --- /dev/null +++ b/include/unitreeMotor/include/motor_msg.h @@ -0,0 +1,90 @@ +#ifndef __MOTOR_MSG_H +#define __MOTOR_MSG_H + +#include +#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 + + + + + + diff --git a/include/unitreeMotor/unitreeMotor.h b/include/unitreeMotor/unitreeMotor.h new file mode 100755 index 0000000..a81df0f --- /dev/null +++ b/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 +#include + +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 \ No newline at end of file diff --git a/lib/libUnitreeMotorSDK_M80106_Arm64.so b/lib/libUnitreeMotorSDK_M80106_Arm64.so new file mode 100755 index 0000000..576a40a Binary files /dev/null and b/lib/libUnitreeMotorSDK_M80106_Arm64.so differ diff --git a/lib/libUnitreeMotorSDK_M80106_Linux64.so b/lib/libUnitreeMotorSDK_M80106_Linux64.so new file mode 100755 index 0000000..553fe12 Binary files /dev/null and b/lib/libUnitreeMotorSDK_M80106_Linux64.so differ