执行加速（部分动作连接处过快）
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@@ -11,6 +11,7 @@
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_log.h"
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#include "esp_timer.h"
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#include <math.h>
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#include <string.h>
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@@ -69,6 +70,112 @@ static void _wait_flash(uint32_t ms, uint8_t r, uint8_t g, uint8_t b, uint32_t p
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rgb_off();
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}
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/* 到位等待 (闭环反馈)
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*
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* 实测发现这台 X42S 的 S_FLAG Prf_TF 到位标志只有 X 轴会置位 (0x03),
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* Z/Y1/Y2 始终为 0x01 (仅使能位), 轮询 Prf_TF 无法判定到位。
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* 因此改为直接比对电机实时位置 (S_CPOS) 与目标位置 (S_TPOS):
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* 偏差 < ACTUATOR_ARRIVAL_TOL_RAW 即认为到位 —— 不依赖 Prf_TF。
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* 每轮重新读 S_TPOS (电机处理命令后目标才更新, 首轮可能是旧目标)。
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* 需连续 2 次在容差内才确认: 确保电机已稳定停下 (减速途中/振荡时
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* 位置可能短暂进入容差, 单独一次会"没到位就进行下一步")。
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*
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* ⚠️ 防坑: 轮询第一帧前必须留帧间隔 —— 运动命令最后一条是 Y 同步广播
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* 触发 (00 FF 66 6B), 若紧跟发轮询帧会"零间隔背靠背", 驱动板丢字节
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* 吞掉触发帧, 电机不启动。
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*
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* @param base_wait_ms 纯运动时间估算 (兜底超时基准)
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* @param moved_mask 实际有行程的电机位掩码 (bit0=Z, bit1=X, bit2/3=Y1/Y2)
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* @return true=全部到位, false=超时
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*/
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bool actuator_wait_arrival(uint32_t base_wait_ms, uint32_t moved_mask)
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{
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const uint8_t addrs[4] = {
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ACTUATOR_ADDR_ANGLE, ACTUATOR_ADDR_X,
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ACTUATOR_ADDR_Y1, ACTUATOR_ADDR_Y2
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};
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bool arrived[4] = {false, false, false, false};
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uint8_t set_cnt[4] = {0, 0, 0, 0}; /* 连续读到在容差内的次数 (≥2 确认已停稳) */
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int32_t last_cpos[4] = {-1, -1, -1, -1}; /* 诊断 */
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int32_t last_tpos[4] = {-1, -1, -1, -1}; /* 诊断 */
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uint32_t polls = 0; /* 诊断: 轮询轮数 */
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uint32_t timeout_ms = base_wait_ms + ACTUATOR_SETTLE_MARGIN_MS;
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int64_t deadline = esp_timer_get_time() + (int64_t)timeout_ms * 1000;
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for (int i = 0; i < 4; i++) {
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if (!(moved_mask & (1u << i)))
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arrived[i] = true; /* 无行程: 视为已到位 */
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}
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/* 与上一条运动命令 (尤其 Y 同步触发) 之间留帧间隔, 防丢字节 */
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vTaskDelay(pdMS_TO_TICKS(ACTUATOR_FRAME_GAP_MS));
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while (esp_timer_get_time() < deadline) {
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bool all = true;
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for (int i = 0; i < 4; i++) {
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if (arrived[i])
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continue;
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bool at_target = false;
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int32_t tpos = Emm_V5_Read_TPOS(addrs[i]);
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last_tpos[i] = tpos;
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if (tpos >= 0) {
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int32_t cpos = Emm_V5_Read_CPOS(addrs[i]);
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last_cpos[i] = cpos;
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if (cpos >= 0) {
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int32_t diff = (int32_t)((uint16_t)cpos - (uint16_t)tpos);
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if (diff < 0) diff = -diff;
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if (diff > 32768) diff = 65536 - diff; /* 环形距离 */
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at_target = (diff <= (int32_t)ACTUATOR_ARRIVAL_TOL_RAW);
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}
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} else {
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/* 目标位置读失败: 退回 Prf_TF 到位标志 (仅 X 可靠) */
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uint8_t flags = Emm_V5_Read_Status_Flag(addrs[i], 50);
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at_target = (flags != 0xFF && (flags & 0x02));
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}
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if (at_target) {
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/* 连续 2 次在容差内才确认: 电机已稳定停下,
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防止减速途中/振荡时误判"到位"提前进入下一步 */
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if (++set_cnt[i] >= 2) {
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arrived[i] = true;
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} else {
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all = false;
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}
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} else {
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set_cnt[i] = 0;
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all = false;
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}
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vTaskDelay(pdMS_TO_TICKS(ACTUATOR_FRAME_GAP_MS)); /* 帧间隔防粘包 */
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}
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polls++;
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if (all)
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return true;
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/* 诊断: 前 3 轮打印各电机位置 (调试用, 定位后删除) */
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if (polls <= 3) {
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ESP_LOGI(TAG, "到位轮询#%u: cpos Z=%ld X=%ld Y1=%ld Y2=%ld "
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"tpos Z=%ld X=%ld Y1=%ld Y2=%ld",
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polls,
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(long)last_cpos[0], (long)last_cpos[1], (long)last_cpos[2], (long)last_cpos[3],
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(long)last_tpos[0], (long)last_tpos[1], (long)last_tpos[2], (long)last_tpos[3]);
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}
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/* 红灯快闪反馈 (与旧 _wait_flash 一致) */
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rgb_set(128, 0, 0);
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vTaskDelay(pdMS_TO_TICKS(10));
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rgb_off();
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vTaskDelay(pdMS_TO_TICKS(10));
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}
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ESP_LOGW(TAG, "到位超时 (%u ms, %u 轮): cpos Z=%ld X=%ld Y1=%ld Y2=%ld "
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"tpos Z=%ld X=%ld Y1=%ld Y2=%ld",
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timeout_ms, polls,
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(long)last_cpos[0], (long)last_cpos[1], (long)last_cpos[2], (long)last_cpos[3],
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(long)last_tpos[0], (long)last_tpos[1], (long)last_tpos[2], (long)last_tpos[3]);
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return false;
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}
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/* ================================================================
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* 运动到位时间估算
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*
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@@ -110,18 +217,28 @@ uint32_t actuator_settle_ms(uint32_t pulses, uint16_t vel, uint8_t acc)
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return actuator_motion_time_ms(pulses, vel, acc) + ACTUATOR_SETTLE_MARGIN_MS;
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}
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uint32_t actuator_mm_settle_ms(float distance_mm, uint16_t vel, uint8_t acc)
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uint32_t actuator_mm_motion_time_ms(float distance_mm, uint16_t vel, uint8_t acc)
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{
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if (distance_mm < 0.0f) distance_mm = -distance_mm;
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uint32_t pulses = (uint32_t)(distance_mm * s_scale_x + 0.5f);
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return actuator_settle_ms(pulses, vel, acc);
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return actuator_motion_time_ms(pulses, vel, acc);
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}
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uint32_t actuator_angle_motion_time_ms(float angle_deg, uint16_t vel, uint8_t acc)
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{
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if (angle_deg < 0.0f) angle_deg = -angle_deg;
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uint32_t pulses = (uint32_t)(angle_deg * 10.0f * s_scale_angle + 0.5f);
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return actuator_motion_time_ms(pulses, vel, acc);
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}
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uint32_t actuator_mm_settle_ms(float distance_mm, uint16_t vel, uint8_t acc)
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{
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return actuator_mm_motion_time_ms(distance_mm, vel, acc) + ACTUATOR_SETTLE_MARGIN_MS;
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}
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uint32_t actuator_angle_settle_ms(float angle_deg, uint16_t vel, uint8_t acc)
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{
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if (angle_deg < 0.0f) angle_deg = -angle_deg;
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uint32_t pulses = (uint32_t)(angle_deg * 10.0f * s_scale_angle + 0.5f);
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return actuator_settle_ms(pulses, vel, acc);
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return actuator_angle_motion_time_ms(angle_deg, vel, acc) + ACTUATOR_SETTLE_MARGIN_MS;
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}
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/* ================================================================
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@@ -378,15 +495,20 @@ static void _actuator_move_fragment(const edc_fragment_t *frag)
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(double)tgt_angle_deg,
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tgt_x, tgt_y);
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/* 按实际行程/速度/加速度计算到位等待 (Z/X/Y 并发, 取最长者, 含安全裕量) */
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/* 到位轮询掩码: 只等待实际有行程的电机 (脉冲>0), 无行程直接视为已到位 */
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float src_target = _closest_reachable_angle(src_angle_deg, s_cur_angle_deg,
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ACTUATOR_ANGLE_LIMIT_DEG);
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uint32_t src_wait_ms = actuator_settle_ms(
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(uint32_t)(fabsf(src_target) * 10.0f * s_scale_angle + 0.5f),
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vel_angle, acc_angle);
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uint32_t t_wait = actuator_settle_ms(src_pulses_x, vel_xy, acc_xy);
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uint32_t src_pulses_z = (uint32_t)(fabsf(src_target) * 10.0f * s_scale_angle + 0.5f);
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uint32_t src_mask = 0;
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if (src_pulses_z > 0) src_mask |= (1u << 0); /* Z 旋转 */
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if (src_pulses_x > 0) src_mask |= (1u << 1); /* X */
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if (src_pulses_y > 0) src_mask |= (1u << 2) | (1u << 3); /* Y 双电机 */
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/* 纯运动时间 (无裕量), 仅作到位等待的兜底超时基准 */
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uint32_t src_wait_ms = actuator_motion_time_ms(src_pulses_z, vel_angle, acc_angle);
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uint32_t t_wait = actuator_motion_time_ms(src_pulses_x, vel_xy, acc_xy);
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if (t_wait > src_wait_ms) src_wait_ms = t_wait;
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t_wait = actuator_settle_ms(src_pulses_y, vel_xy, acc_xy);
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t_wait = actuator_motion_time_ms(src_pulses_y, vel_xy, acc_xy);
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if (t_wait > src_wait_ms) src_wait_ms = t_wait;
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/* ---- 1. 磁铁掉电 ---- */
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@@ -400,8 +522,8 @@ static void _actuator_move_fragment(const edc_fragment_t *frag)
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_frame_gap();
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_actuator_move_y_sync(src_pulses_y, vel_xy, acc_xy);
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/* ---- 3. 等待运动到位 (红灯快闪, 按行程实时计算) ---- */
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_wait_flash(src_wait_ms, 128, 0, 0, 200);
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/* ---- 3. 等待运动到位 (轮询闭环到位标志, 红灯快闪) ---- */
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actuator_wait_arrival(src_wait_ms, src_mask);
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/* ---- 4. 舵机放下 ---- */
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servo_set_down();
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@@ -420,12 +542,16 @@ static void _actuator_move_fragment(const edc_fragment_t *frag)
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终点朝向与旧协议 (绝对转到 rotate mod 360) 完全一致, 且不会绕远路 */
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float dst_rep = _closest_reachable_angle(tgt_angle_deg, s_cur_angle_deg,
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ACTUATOR_ANGLE_LIMIT_DEG);
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uint32_t dst_wait_ms = actuator_settle_ms(
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(uint32_t)(fabsf(dst_rep - s_cur_angle_deg) * 10.0f * s_scale_angle + 0.5f),
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vel_angle, acc_angle);
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t_wait = actuator_settle_ms(dst_pulses_x, vel_xy, acc_xy);
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uint32_t dst_pulses_z = (uint32_t)(fabsf(dst_rep - s_cur_angle_deg) * 10.0f * s_scale_angle + 0.5f);
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uint32_t dst_mask = 0;
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if (dst_pulses_z > 0) dst_mask |= (1u << 0);
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if (dst_pulses_x > 0) dst_mask |= (1u << 1);
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if (dst_pulses_y > 0) dst_mask |= (1u << 2) | (1u << 3);
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uint32_t dst_wait_ms = actuator_motion_time_ms(dst_pulses_z, vel_angle, acc_angle);
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t_wait = actuator_motion_time_ms(dst_pulses_x, vel_xy, acc_xy);
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if (t_wait > dst_wait_ms) dst_wait_ms = t_wait;
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t_wait = actuator_settle_ms(dst_pulses_y, vel_xy, acc_xy);
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t_wait = actuator_motion_time_ms(dst_pulses_y, vel_xy, acc_xy);
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if (t_wait > dst_wait_ms) dst_wait_ms = t_wait;
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_actuator_move_angle_rel(dst_rep - s_cur_angle_deg, vel_angle, acc_angle);
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@@ -435,8 +561,8 @@ static void _actuator_move_fragment(const edc_fragment_t *frag)
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_frame_gap();
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_actuator_move_y_sync(dst_pulses_y, vel_xy, acc_xy);
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/* ---- 8. 等待运动到位 (红灯快闪, 按行程实时计算) ---- */
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_wait_flash(dst_wait_ms, 128, 0, 0, 200);
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/* ---- 8. 等待运动到位 (轮询闭环到位标志, 红灯快闪) ---- */
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actuator_wait_arrival(dst_wait_ms, dst_mask);
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/* ---- 9. 舵机放下 ---- */
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servo_set_down();
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@@ -106,30 +106,40 @@ extern "C" {
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#define ACTUATOR_ANGLE_LIMIT_DEG 270.0f
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#endif
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/** 执行 Cycle / 归零时 XY 轴的速度与加速度档位 (实测 3000RPM + 250 档稳定) */
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/** 执行 Cycle / 归零时 XY 轴的速度与加速度档位
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2026-08-01 提速: 3000RPM → 3500RPM (加速度保持 250 档, 实测稳定)
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注: 手册 FD 位置模式速度标称上限 0-3000RPM, 3500 超出文档范围需实测 */
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#ifndef ACTUATOR_EXEC_VEL
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#define ACTUATOR_EXEC_VEL 3000
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#define ACTUATOR_EXEC_VEL 3500
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#endif
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#ifndef ACTUATOR_EXEC_ACC
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#define ACTUATOR_EXEC_ACC 250
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#endif
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/** Z 旋转轴执行速度与加速度 (结构刚性有限, 必须保持低速; 300RPM 已偏快) */
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/** Z 旋转轴执行速度与加速度 (结构刚性有限, 低速为主; 300RPM 已偏快)
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2026-08-01: 50→100RPM / acc 100→150 (仍远低于 300 上限, 可再微调) */
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#ifndef ACTUATOR_EXEC_Z_VEL
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#define ACTUATOR_EXEC_Z_VEL 50
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#define ACTUATOR_EXEC_Z_VEL 100
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#endif
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#ifndef ACTUATOR_EXEC_Z_ACC
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#define ACTUATOR_EXEC_Z_ACC 100
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#define ACTUATOR_EXEC_Z_ACC 150
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#endif
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/** 运动到位等待裕量 (ms): 无到位反馈, 在计算运动时间上叠加的安全余量 */
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/** 到位等待超时兜底裕量 (ms): 闭环到位轮询的硬超时上限 (纯运动时间 + 此裕量);
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正常到位会提前返回, 此裕量仅作保底防卡死 */
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#ifndef ACTUATOR_SETTLE_MARGIN_MS
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#define ACTUATOR_SETTLE_MARGIN_MS 400
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#endif
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/** 舵机动作 / 磁铁吸合后的等待时间 (ms) */
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/** 到位判定容差 (原始单位, Emm 固件 0~65535 = 360°; 1.5° ≈ 273)
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(2° 太松会减速途中误判"已到位"提前下一步; 若某轴一直超时可调大) */
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#ifndef ACTUATOR_ARRIVAL_TOL_RAW
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#define ACTUATOR_ARRIVAL_TOL_RAW 273
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#endif
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/** 舵机动作 / 磁铁吸合后的等待时间 (ms) (实测优化: 300 → 150) */
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#ifndef ACTUATOR_GRIP_SETTLE_MS
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#define ACTUATOR_GRIP_SETTLE_MS 300
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#define ACTUATOR_GRIP_SETTLE_MS 150
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#endif
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/**
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@@ -225,6 +235,31 @@ uint32_t actuator_mm_settle_ms(float distance_mm, uint16_t vel, uint8_t acc);
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*/
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uint32_t actuator_angle_settle_ms(float angle_deg, uint16_t vel, uint8_t acc);
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/**
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* @brief 直线轴纯运动时间 (按实际 mm 距离换算脉冲, 不含裕量)
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* @param distance_mm 直线距离 (mm, 取绝对值)
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* @param vel 速度 RPM
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* @param acc 加速度档位 0~255
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*/
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uint32_t actuator_mm_motion_time_ms(float distance_mm, uint16_t vel, uint8_t acc);
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/**
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* @brief Z 旋转轴纯运动时间 (按实际角度换算脉冲, 不含裕量)
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* @param angle_deg 旋转角度 (°, 取绝对值)
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* @param vel 速度 RPM
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* @param acc 加速度档位 0~255
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*/
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uint32_t actuator_angle_motion_time_ms(float angle_deg, uint16_t vel, uint8_t acc);
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/**
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* @brief 等待指定电机到位 (轮询闭环 S_FLAG 到位标志)
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* @param base_wait_ms 纯运动时间估算 (兜底超时基准, 超时=纯运动时间+裕量)
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* @param moved_mask 实际有行程的电机位掩码:
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* bit0=Z旋转, bit1=X, bit2=Y1, bit3=Y2
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* @return true=全部到位, false=超时 (已按最坏情况等待)
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*/
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bool actuator_wait_arrival(uint32_t base_wait_ms, uint32_t moved_mask);
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/**
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* @brief 设置 Z 旋转轴心 ↔ 工具末端 XY 偏移量 (mm)
|
||||
* @param offset_x_mm 工具末端相对于旋转中心的 X 偏移 (mm)
|
||||
|
||||
@@ -127,6 +127,94 @@ void Emm_V5_Read_Sys_Params(uint8_t addr, EmmSysParams_t s)
|
||||
Emm_V5_Send(cmd, i);
|
||||
}
|
||||
|
||||
/* ============================================================
|
||||
* 读取电机状态标志 (S_FLAG 0x3A) 并解析返回
|
||||
* ============================================================ */
|
||||
|
||||
uint8_t Emm_V5_Read_Status_Flag(uint8_t addr, uint32_t timeout_ms)
|
||||
{
|
||||
uint8_t rx[8] = {0};
|
||||
uint8_t cmd[3] = {addr, 0x3A, 0x6B};
|
||||
uint8_t read_to = (timeout_ms > 0) ? timeout_ms : EMM_V5_RX_TIMEOUT_MS;
|
||||
|
||||
/* 清掉历史残留 (运动命令的 ACK/到位帧等), 防止误判 */
|
||||
uart_flush_input(s_uart_port);
|
||||
|
||||
Emm_V5_Send(cmd, 3);
|
||||
|
||||
uint8_t n = 0;
|
||||
int64_t last = esp_timer_get_time();
|
||||
int64_t deadline = last + (int64_t)read_to * 1000;
|
||||
while (esp_timer_get_time() < deadline) {
|
||||
int len = uart_read_bytes(s_uart_port, &rx[n], 1, pdMS_TO_TICKS(5));
|
||||
if (len > 0) {
|
||||
if (n < sizeof(rx) - 1) n++;
|
||||
last = esp_timer_get_time();
|
||||
/* 帧收完整 (地址 + 3A + 状态 + 6B) 立即返回, 不再等空闲超时,
|
||||
把单次轮询从 ~17ms 压到 ~3ms, 减小到位检测抖动 */
|
||||
for (int i = 0; i + 3 < (int)n; i++) {
|
||||
if (rx[i] == addr && rx[i + 1] == 0x3A && rx[i + 3] == 0x6B)
|
||||
return rx[i + 2];
|
||||
}
|
||||
} else if ((esp_timer_get_time() - last) > 5000) {
|
||||
break; /* 5ms 无新字节: 认为帧已收完/无响应 */
|
||||
}
|
||||
}
|
||||
return 0xFF;
|
||||
}
|
||||
|
||||
/* ============================================================
|
||||
* 读取电机位置 (S_TPOS 0x33 / S_CPOS 0x36) 并解析返回
|
||||
*
|
||||
* 返回帧: 地址 + 功能码 + 符号 + 位置(4B) + 6B (共 8 字节)
|
||||
* Emm 固件: 0~65535 对应 0~360°
|
||||
* ============================================================ */
|
||||
|
||||
static int32_t Emm_V5_Read_Pos(uint8_t addr, uint8_t func)
|
||||
{
|
||||
uint8_t rx[16] = {0};
|
||||
uint8_t cmd[3] = {addr, func, 0x6B};
|
||||
uint8_t read_to = EMM_V5_RX_TIMEOUT_MS;
|
||||
|
||||
/* 清掉历史残留 (ACK/到位帧等), 防止误判 */
|
||||
uart_flush_input(s_uart_port);
|
||||
|
||||
Emm_V5_Send(cmd, 3);
|
||||
|
||||
uint8_t n = 0;
|
||||
int64_t last = esp_timer_get_time();
|
||||
int64_t deadline = last + (int64_t)read_to * 1000;
|
||||
while (esp_timer_get_time() < deadline) {
|
||||
int len = uart_read_bytes(s_uart_port, &rx[n], 1, pdMS_TO_TICKS(5));
|
||||
if (len > 0) {
|
||||
if (n < sizeof(rx) - 1) n++;
|
||||
last = esp_timer_get_time();
|
||||
/* 帧收完整 (地址+功能码+符号+位置4B+6B) 立即返回 */
|
||||
for (int i = 0; i + 7 < (int)n; i++) {
|
||||
if (rx[i] == addr && rx[i + 1] == func &&
|
||||
(rx[i + 2] == 0 || rx[i + 2] == 1) && rx[i + 7] == 0x6B)
|
||||
return (int32_t)(((uint32_t)rx[i + 3] << 24) |
|
||||
((uint32_t)rx[i + 4] << 16) |
|
||||
((uint32_t)rx[i + 5] << 8) |
|
||||
(uint32_t)rx[i + 6]);
|
||||
}
|
||||
} else if ((esp_timer_get_time() - last) > 5000) {
|
||||
break; /* 5ms 无新字节: 认为帧已收完/无响应 */
|
||||
}
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
int32_t Emm_V5_Read_TPOS(uint8_t addr)
|
||||
{
|
||||
return Emm_V5_Read_Pos(addr, 0x33);
|
||||
}
|
||||
|
||||
int32_t Emm_V5_Read_CPOS(uint8_t addr)
|
||||
{
|
||||
return Emm_V5_Read_Pos(addr, 0x36);
|
||||
}
|
||||
|
||||
void Emm_V5_Modify_Ctrl_Mode(uint8_t addr, bool svF, uint8_t ctrl_mode)
|
||||
{
|
||||
uint8_t cmd[6] = {addr, 0x46, 0x69, (uint8_t)svF, ctrl_mode, 0x6B};
|
||||
|
||||
@@ -91,6 +91,30 @@ void Emm_V5_Reset_Clog_Pro(uint8_t addr);
|
||||
*/
|
||||
void Emm_V5_Read_Sys_Params(uint8_t addr, EmmSysParams_t s);
|
||||
|
||||
/**
|
||||
* @brief 读取电机状态标志 (S_FLAG, 功能码 0x3A) 并解析返回
|
||||
* @param addr 电机地址
|
||||
* @param timeout_ms 等待返回超时 (ms), 0 使用默认 EMM_V5_RX_TIMEOUT_MS
|
||||
* @return 状态标志字节, 读取/解析失败返回 0xFF
|
||||
* @note 位定义: bit0=Ens_TF 使能, bit1=Prf_TF 到位, bit2=Cgi_TF 堵转,
|
||||
* bit3=Cgp_TF 堵转保护, bit4/bit5=左/右限位, bit7=Oac_TF 掉电
|
||||
*/
|
||||
uint8_t Emm_V5_Read_Status_Flag(uint8_t addr, uint32_t timeout_ms);
|
||||
|
||||
/**
|
||||
* @brief 读取电机目标位置 (S_TPOS, 功能码 0x33) 并解析返回
|
||||
* @param addr 电机地址
|
||||
* @return 目标位置 (Emm 固件: 0~65535 对应 0~360°), 读取/解析失败返回 -1
|
||||
*/
|
||||
int32_t Emm_V5_Read_TPOS(uint8_t addr);
|
||||
|
||||
/**
|
||||
* @brief 读取电机实时位置 (S_CPOS, 功能码 0x36) 并解析返回
|
||||
* @param addr 电机地址
|
||||
* @return 实时位置 (Emm 固件: 0~65535 对应 0~360°), 读取/解析失败返回 -1
|
||||
*/
|
||||
int32_t Emm_V5_Read_CPOS(uint8_t addr);
|
||||
|
||||
/**
|
||||
* @brief 修改开环/闭环控制模式
|
||||
* @param addr 电机地址
|
||||
|
||||
Reference in new issue
Block a user