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Customer_controller/USER/dm_motor_ctrl.c

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增加达妙H7控制电机的例程文件
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#include "dm_motor_drv.h"
#include "dm_motor_ctrl.h"
#include "string.h"
#include "stdbool.h"
motor_t motor[num];
/**
************************************************************************
完成
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* @brief: dm4310_motor_init: DM4310<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
增加达妙H7控制电机的例程文件
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* @param: void
* @retval: void
完成
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* @details: <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD>DM4310<EFBFBD>ͺŵĵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĭ<EFBFBD>ϲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϳ<EFBFBD><EFBFBD><EFBFBD>ģʽ<EFBFBD><EFBFBD>
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><EFBFBD>
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************************************************************************
**/
void dm_motor_init(void)
{
完成
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// <20><>ʼ<EFBFBD><CABC>Motor1<72><31>Motor2<72>ĵ<EFBFBD><C4B5><EFBFBD><EFBFBD>ṹ
memset(&motor[Motor1], 0, sizeof(motor[Motor1]));
memset(&motor[Motor2], 0, sizeof(motor[Motor2]));
memset(&motor[Motor3], 0, sizeof(motor[Motor3]));
memset(&motor[Motor4], 0, sizeof(motor[Motor4]));
memset(&motor[Motor5], 0, sizeof(motor[Motor5]));
memset(&motor[Motor6], 0, sizeof(motor[Motor6]));
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完成
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// <20><><EFBFBD><EFBFBD>Motor1<72>ĵ<EFBFBD><C4B5><EFBFBD><EFBFBD><EFBFBD>Ϣ
motor[Motor1].id = 0x01;
motor[Motor1].mst_id = 0x05;
motor[Motor1].tmp.read_flag = 1;
motor[Motor1].ctrl.mode = mit_mode;
motor[Motor1].ctrl.vel_set = 0.0f;
motor[Motor1].ctrl.pos_set = -1.7f;
motor[Motor1].ctrl.cur_set = 0.0f;
motor[Motor1].ctrl.kp_set = 1.0f;
motor[Motor1].ctrl.kd_set = 0.2f;
motor[Motor1].tmp.PMAX = 12.5f;
motor[Motor1].tmp.VMAX = 30.0f;
motor[Motor1].tmp.TMAX = 10.0f;
// <20><><EFBFBD><EFBFBD>Motor2<72>ĵ<EFBFBD><C4B5><EFBFBD><EFBFBD><EFBFBD>Ϣ
motor[Motor2].id = 0x02;
motor[Motor2].mst_id = 0x06;
motor[Motor2].tmp.read_flag = 1;
motor[Motor2].ctrl.mode = mit_mode;
motor[Motor2].ctrl.vel_set = 0.0f;
motor[Motor2].ctrl.pos_set = 0.0f;
motor[Motor2].ctrl.cur_set = 0.0f;
motor[Motor2].ctrl.kp_set = 1.0f;
motor[Motor2].ctrl.kd_set = 0.2f;
motor[Motor2].tmp.PMAX = 12.5f;
motor[Motor2].tmp.VMAX = 30.0f;
motor[Motor2].tmp.TMAX = 10.0f;
// <20><><EFBFBD><EFBFBD>Motor3<72>ĵ<EFBFBD><C4B5><EFBFBD><EFBFBD><EFBFBD>Ϣ
motor[Motor3].id = 0x03;
motor[Motor3].mst_id = 0x07;
motor[Motor3].tmp.read_flag = 1;
motor[Motor3].ctrl.mode = mit_mode;
motor[Motor3].ctrl.vel_set = 0.0f;
motor[Motor3].ctrl.pos_set = 0.0f;
motor[Motor3].ctrl.cur_set = 0.0f;
motor[Motor3].ctrl.kp_set = 1.0f;
motor[Motor3].ctrl.kd_set = 0.2f;
motor[Motor3].tmp.PMAX = 12.5f;
motor[Motor3].tmp.VMAX = 30.0f;
motor[Motor3].tmp.TMAX = 10.0f;
// <20><><EFBFBD><EFBFBD>Motor4<72>ĵ<EFBFBD><C4B5><EFBFBD><EFBFBD><EFBFBD>Ϣ
motor[Motor4].id = 0x04;
motor[Motor4].mst_id = 0x08;
motor[Motor4].tmp.read_flag = 1;
motor[Motor4].ctrl.mode = mit_mode;
motor[Motor4].ctrl.vel_set = 0.0f;
motor[Motor4].ctrl.pos_set = 0.0f;
motor[Motor4].ctrl.cur_set = 0.0f;
motor[Motor4].ctrl.kp_set = 0.0f;
motor[Motor4].ctrl.kd_set = 0.0f;
motor[Motor4].tmp.PMAX = 12.5f;
motor[Motor4].tmp.VMAX = 30.0f;
motor[Motor4].tmp.TMAX = 10.0f;
增加达妙H7控制电机的例程文件
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}
/**
************************************************************************
完成
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* @brief: read_all_motor_data: <EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>мĴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
* @param: motor_t<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ<EFBFBD><EFBFBD>
增加达妙H7控制电机的例程文件
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* @retval: void
完成
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* @details: <EFBFBD><EFBFBD><EFBFBD>η<EFBFBD><EFBFBD>Ͷ<EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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************************************************************************
**/
void read_all_motor_data(motor_t *motor)
{
switch (motor->tmp.read_flag)
{
完成
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case 1: read_motor_data(motor->id, RID_UV_VALUE); break; // UV_Value
case 2: read_motor_data(motor->id, RID_KT_VALUE); break; // KT_Value
case 3: read_motor_data(motor->id, RID_OT_VALUE); break; // OT_Value
case 4: read_motor_data(motor->id, RID_OC_VALUE); break; // OC_Value
case 5: read_motor_data(motor->id, RID_ACC); break; // ACC
case 6: read_motor_data(motor->id, RID_DEC); break; // DEC
case 7: read_motor_data(motor->id, RID_MAX_SPD); break; // MAX_SPD
case 8: read_motor_data(motor->id, RID_MST_ID); break; // MST_ID
case 9: read_motor_data(motor->id, RID_ESC_ID); break; // ESC_ID
case 10: read_motor_data(motor->id, RID_TIMEOUT); break; // TIMEOUT
case 11: read_motor_data(motor->id, RID_CMODE); break; // CTRL_MODE
case 12: read_motor_data(motor->id, RID_DAMP); break; // Damp
case 13: read_motor_data(motor->id, RID_INERTIA); break; // Inertia
case 14: read_motor_data(motor->id, RID_HW_VER); break; // Rsv1
case 15: read_motor_data(motor->id, RID_SW_VER); break; // sw_ver
case 16: read_motor_data(motor->id, RID_SN); break; // Rsv2
case 17: read_motor_data(motor->id, RID_NPP); break; // NPP
case 18: read_motor_data(motor->id, RID_RS); break; // Rs
case 19: read_motor_data(motor->id, RID_LS); break; // Ls
case 20: read_motor_data(motor->id, RID_FLUX); break; // Flux
case 21: read_motor_data(motor->id, RID_GR); break; // Gr
case 22: read_motor_data(motor->id, RID_PMAX); break; // PMAX
case 23: read_motor_data(motor->id, RID_VMAX); break; // VMAX
case 24: read_motor_data(motor->id, RID_TMAX); break; // TMAX
case 25: read_motor_data(motor->id, RID_I_BW); break; // I_BW
case 26: read_motor_data(motor->id, RID_KP_ASR); break; // KP_ASR
case 27: read_motor_data(motor->id, RID_KI_ASR); break; // KI_ASR
case 28: read_motor_data(motor->id, RID_KP_APR); break; // KP_APR
case 29: read_motor_data(motor->id, RID_KI_APR); break; // KI_APR
case 30: read_motor_data(motor->id, RID_OV_VALUE); break; // OV_Value
case 31: read_motor_data(motor->id, RID_GREF); break; // GREF
case 32: read_motor_data(motor->id, RID_DETA); break; // Deta
case 33: read_motor_data(motor->id, RID_V_BW); break; // V_BW
case 34: read_motor_data(motor->id, RID_IQ_CL); break; // IQ_c1
case 35: read_motor_data(motor->id, RID_VL_CL); break; // VL_c1
case 36: read_motor_data(motor->id, RID_CAN_BR); break; // can_br
case 37: read_motor_data(motor->id, RID_SUB_VER); break; // sub_ver
case 38: read_motor_data(motor->id, RID_U_OFF); break; // u_off
case 39: read_motor_data(motor->id, RID_V_OFF); break; // v_off
case 40: read_motor_data(motor->id, RID_K1); break; // k1
case 41: read_motor_data(motor->id, RID_K2); break; // k2
case 42: read_motor_data(motor->id, RID_M_OFF); break; // m_off
case 43: read_motor_data(motor->id, RID_DIR); break; // dir
case 44: read_motor_data(motor->id, RID_P_M); break; // pm
case 45: read_motor_data(motor->id, RID_X_OUT); break; // xout
增加达妙H7控制电机的例程文件
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}
}
/**
************************************************************************
完成
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* @brief: receive_motor_data: <EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
* @param: motor_t<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ<EFBFBD><EFBFBD>
* @param: data<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
增加达妙H7控制电机的例程文件
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* @retval: void
完成
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* @details: <EFBFBD><EFBFBD><EFBFBD>ν<EFBFBD><EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD><EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
增加达妙H7控制电机的例程文件
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************************************************************************
**/
void receive_motor_data(motor_t *motor, uint8_t *data)
{
完成
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if(motor->tmp.read_flag == 0)
return ;
float_type_u y;
if(data[2] == 0x33)
{
uint16_t rid_value = data[3];
y.b_val[0] = data[4];
y.b_val[1] = data[5];
y.b_val[2] = data[6];
y.b_val[3] = data[7];
switch (rid_value)
{
case RID_UV_VALUE: motor->tmp.UV_Value = y.f_val; motor->tmp.read_flag = 2; break;
case RID_KT_VALUE: motor->tmp.KT_Value = y.f_val; motor->tmp.read_flag = 3; break;
case RID_OT_VALUE: motor->tmp.OT_Value = y.f_val; motor->tmp.read_flag = 4; break;
case RID_OC_VALUE: motor->tmp.OC_Value = y.f_val; motor->tmp.read_flag = 5; break;
case RID_ACC: motor->tmp.ACC = y.f_val; motor->tmp.read_flag = 6; break;
case RID_DEC: motor->tmp.DEC = y.f_val; motor->tmp.read_flag = 7; break;
case RID_MAX_SPD: motor->tmp.MAX_SPD = y.f_val; motor->tmp.read_flag = 8; break;
case RID_MST_ID: motor->tmp.MST_ID = y.u_val; motor->tmp.read_flag = 9; break;
case RID_ESC_ID: motor->tmp.ESC_ID = y.u_val; motor->tmp.read_flag = 10; break;
case RID_TIMEOUT: motor->tmp.TIMEOUT = y.u_val; motor->tmp.read_flag = 11; break;
case RID_CMODE: motor->tmp.cmode = y.u_val; motor->tmp.read_flag = 12; break;
case RID_DAMP: motor->tmp.Damp = y.f_val; motor->tmp.read_flag = 13; break;
case RID_INERTIA: motor->tmp.Inertia = y.f_val; motor->tmp.read_flag = 14; break;
case RID_HW_VER: motor->tmp.hw_ver = y.u_val; motor->tmp.read_flag = 15; break;
case RID_SW_VER: motor->tmp.sw_ver = y.u_val; motor->tmp.read_flag = 16; break;
case RID_SN: motor->tmp.SN = y.u_val; motor->tmp.read_flag = 17; break;
case RID_NPP: motor->tmp.NPP = y.u_val; motor->tmp.read_flag = 18; break;
case RID_RS: motor->tmp.Rs = y.f_val; motor->tmp.read_flag = 19; break;
case RID_LS: motor->tmp.Ls = y.f_val; motor->tmp.read_flag = 20; break;
case RID_FLUX: motor->tmp.Flux = y.f_val; motor->tmp.read_flag = 21; break;
case RID_GR: motor->tmp.Gr = y.f_val; motor->tmp.read_flag = 22; break;
case RID_PMAX: motor->tmp.PMAX = y.f_val; motor->tmp.read_flag = 23; break;
case RID_VMAX: motor->tmp.VMAX = y.f_val; motor->tmp.read_flag = 24; break;
case RID_TMAX: motor->tmp.TMAX = y.f_val; motor->tmp.read_flag = 25; break;
case RID_I_BW: motor->tmp.I_BW = y.f_val; motor->tmp.read_flag = 26; break;
case RID_KP_ASR: motor->tmp.KP_ASR = y.f_val; motor->tmp.read_flag = 27; break;
case RID_KI_ASR: motor->tmp.KI_ASR = y.f_val; motor->tmp.read_flag = 28; break;
case RID_KP_APR: motor->tmp.KP_APR = y.f_val; motor->tmp.read_flag = 29; break;
case RID_KI_APR: motor->tmp.KI_APR = y.f_val; motor->tmp.read_flag = 30; break;
case RID_OV_VALUE: motor->tmp.OV_Value = y.f_val; motor->tmp.read_flag = 31; break;
case RID_GREF: motor->tmp.GREF = y.f_val; motor->tmp.read_flag = 32; break;
case RID_DETA: motor->tmp.Deta = y.f_val; motor->tmp.read_flag = 33; break;
case RID_V_BW: motor->tmp.V_BW = y.f_val; motor->tmp.read_flag = 34; break;
case RID_IQ_CL: motor->tmp.IQ_cl = y.f_val; motor->tmp.read_flag = 35; break;
case RID_VL_CL: motor->tmp.VL_cl = y.f_val; motor->tmp.read_flag = 36; break;
case RID_CAN_BR: motor->tmp.can_br = y.u_val; motor->tmp.read_flag = 37; break;
case RID_SUB_VER: motor->tmp.sub_ver = y.u_val; motor->tmp.read_flag = 38; break;
case RID_U_OFF: motor->tmp.u_off = y.f_val; motor->tmp.read_flag = 39; break;
case RID_V_OFF: motor->tmp.v_off = y.f_val; motor->tmp.read_flag = 40; break;
case RID_K1: motor->tmp.k1 = y.f_val; motor->tmp.read_flag = 41; break;
case RID_K2: motor->tmp.k2 = y.f_val; motor->tmp.read_flag = 42; break;
case RID_M_OFF: motor->tmp.m_off = y.f_val; motor->tmp.read_flag = 43; break;
case RID_DIR: motor->tmp.dir = y.f_val; motor->tmp.read_flag = 44; break;
case RID_P_M: motor->tmp.p_m = y.f_val; motor->tmp.read_flag = 45; break;
case RID_X_OUT: motor->tmp.x_out = y.f_val; motor->tmp.read_flag = 0 ; break;
}
}
增加达妙H7控制电机的例程文件
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}
/**
************************************************************************
完成
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* @brief: fdcan1_rx_callback: CAN1<EFBFBD><EFBFBD><EFBFBD>ջص<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
增加达妙H7控制电机的例程文件
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* @param: void
* @retval: void
完成
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* @details: <EFBFBD><EFBFBD><EFBFBD><EFBFBD>CAN1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϻص<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݽ<EFBFBD><EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD>ID<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD>ִ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD>IDΪ0ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>dm4310_fbdata<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Motor<EFBFBD>ķ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݡ<EFBFBD>
增加达妙H7控制电机的例程文件
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************************************************************************
**/
void fdcan1_rx_callback(void)
{
完成
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uint16_t rec_id;
uint8_t rx_data[8] = {0};
fdcanx_receive(&hfdcan1, &rec_id, rx_data);
switch (rec_id)
{
case 0x05: dm_motor_fbdata(&motor[Motor1], rx_data); receive_motor_data(&motor[Motor1], rx_data); break;
case 0x06: dm_motor_fbdata(&motor[Motor2], rx_data); receive_motor_data(&motor[Motor2], rx_data); break;
case 0x07: dm_motor_fbdata(&motor[Motor3], rx_data); receive_motor_data(&motor[Motor3], rx_data); break;
case 0x08: dm_motor_fbdata(&motor[Motor4], rx_data); receive_motor_data(&motor[Motor4], rx_data); break;
}
增加达妙H7控制电机的例程文件
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}