From bc15f0f658cad593d159a79a7aaa9c0ab5f24b09 Mon Sep 17 00:00:00 2001
From: zcj <2487150395@qq.com>
Date: Sun, 6 Oct 2024 21:38:02 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E8=BE=BE=E5=A6=99H7=E6=8E=A7?=
=?UTF-8?q?=E5=88=B6=E7=94=B5=E6=9C=BA=E7=9A=84=E4=BE=8B=E7=A8=8B=E6=96=87?=
=?UTF-8?q?=E4=BB=B6?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
.idea/encodings.xml | 7 +
BSP/bsp_fdcan.c | 227 ++
BSP/bsp_fdcan.h | 32 +
BSP/can_bsp.c | 117 -
BSP/can_bsp.h | 15 -
Core/Src/main.c | 13 +-
USER/dm_motor_ctrl.c | 195 ++
USER/dm_motor_ctrl.h | 28 +
USER/dm_motor_drv.c | 504 +++
USER/dm_motor_drv.h | 213 ++
USER/kinematics.c | 1 -
.../cmakeFiles-v1-c040102e93839a8d0a60.json | 1218 --------
.../3.26.4/CMakeDetermineCompilerABI_C.bin | Bin 1660 -> 1660 bytes
.../3.26.4/CMakeDetermineCompilerABI_CXX.bin | Bin 1876 -> 1876 bytes
.../CMakeFiles/CMakeConfigureLog.yaml | 136 +-
.../DependInfo.cmake | 4 +-
.../Customer_controller.elf.dir/build.make | 62 +-
.../cmake_clean.cmake | 8 +-
.../compiler_depend.make | 1807 ++++++++++-
.../Customer_controller.elf.dir/link.txt | 2 +-
.../Customer_controller.elf.dir/progress.make | 2 +
cmake-build-debug/CMakeFiles/Makefile.cmake | 83 -
cmake-build-debug/CMakeFiles/Makefile2 | 4 +-
cmake-build-debug/CMakeFiles/progress.marks | 2 +-
cmake-build-debug/Customer_controller.bin | Bin 22144 -> 25548 bytes
cmake-build-debug/Customer_controller.cbp | 16 +-
cmake-build-debug/Customer_controller.elf | Bin 512856 -> 553284 bytes
cmake-build-debug/Customer_controller.hex | 2689 +++++++++--------
cmake-build-debug/Customer_controller.map | 1485 ++++-----
cmake-build-debug/Makefile | 90 +-
30 files changed, 5479 insertions(+), 3481 deletions(-)
create mode 100644 .idea/encodings.xml
create mode 100644 BSP/bsp_fdcan.c
create mode 100644 BSP/bsp_fdcan.h
delete mode 100644 BSP/can_bsp.c
delete mode 100644 BSP/can_bsp.h
create mode 100644 USER/dm_motor_ctrl.c
create mode 100644 USER/dm_motor_ctrl.h
create mode 100644 USER/dm_motor_drv.c
create mode 100644 USER/dm_motor_drv.h
delete mode 100644 cmake-build-debug/.cmake/api/v1/reply/cmakeFiles-v1-c040102e93839a8d0a60.json
diff --git a/.idea/encodings.xml b/.idea/encodings.xml
new file mode 100644
index 0000000..0b5c3ac
--- /dev/null
+++ b/.idea/encodings.xml
@@ -0,0 +1,7 @@
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/BSP/bsp_fdcan.c b/BSP/bsp_fdcan.c
new file mode 100644
index 0000000..f1d4ba1
--- /dev/null
+++ b/BSP/bsp_fdcan.c
@@ -0,0 +1,227 @@
+#include "bsp_fdcan.h"
+/**
+************************************************************************
+* @brief: bsp_can_init(void)
+* @param: void
+* @retval: void
+* @details: CAN 使能
+************************************************************************
+**/
+void bsp_can_init(void)
+{
+
+ can_filter_init();
+ HAL_FDCAN_Start(&hfdcan1); //开启FDCAN
+ HAL_FDCAN_ActivateNotification(&hfdcan1,
+ 0 | FDCAN_IT_RX_FIFO0_WATERMARK | FDCAN_IT_RX_FIFO0_WATERMARK
+ | FDCAN_IT_TX_COMPLETE | FDCAN_IT_TX_FIFO_EMPTY | FDCAN_IT_BUS_OFF
+ | FDCAN_IT_ARB_PROTOCOL_ERROR | FDCAN_IT_DATA_PROTOCOL_ERROR
+ | FDCAN_IT_ERROR_PASSIVE | FDCAN_IT_ERROR_WARNING,
+ 0x00000F00);
+}
+/**
+************************************************************************
+* @brief: can_filter_init(void)
+* @param: void
+* @retval: void
+* @details: CAN滤波器初始化
+************************************************************************
+**/
+void can_filter_init(void)
+{
+ FDCAN_FilterTypeDef fdcan_filter;
+
+ fdcan_filter.IdType = FDCAN_STANDARD_ID; //标准ID
+ fdcan_filter.FilterIndex = 0; //滤波器索引
+ fdcan_filter.FilterType = FDCAN_FILTER_MASK;
+ fdcan_filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0; //过滤器0关联到FIFO0
+ fdcan_filter.FilterID1 = 0x00;
+ fdcan_filter.FilterID2 = 0x00;
+
+ HAL_FDCAN_ConfigFilter(&hfdcan1,&fdcan_filter); //接收ID2
+ //拒绝接收匹配不成功的标准ID和扩展ID,不接受远程帧
+ HAL_FDCAN_ConfigGlobalFilter(&hfdcan1,FDCAN_REJECT,FDCAN_REJECT,FDCAN_REJECT_REMOTE,FDCAN_REJECT_REMOTE);
+ HAL_FDCAN_ConfigFifoWatermark(&hfdcan1, FDCAN_CFG_RX_FIFO0, 1);
+// HAL_FDCAN_ConfigFifoWatermark(&hfdcan1, FDCAN_CFG_RX_FIFO1, 1);
+// HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_TX_COMPLETE, FDCAN_TX_BUFFER0);
+}
+void bsp_fdcan_set_baud(hcan_t *hfdcan, uint8_t mode, uint8_t baud)
+{
+ uint32_t nom_brp=0, nom_seg1=0, nom_seg2=0, nom_sjw=0;
+ uint32_t dat_brp=0, dat_seg1=0, dat_seg2=0, dat_sjw=0;
+
+ /* nominal_baud = 80M/brp/(1+seg1+seg2)
+ sample point = (1+seg1)/(1+seg1+seg2)
+ sjw : 1-128
+ seg1: 2-256
+ seg2: 2-128
+ brp : 1-512 */
+ if(mode == CAN_CLASS)
+ {
+ switch (baud)
+ {
+ case CAN_BR_125K: nom_brp=4 ; nom_seg1=139; nom_seg2=20; nom_sjw=20; break; // sample point 87.5%
+ case CAN_BR_200K: nom_brp=2 ; nom_seg1=174; nom_seg2=25; nom_sjw=25; break; // sample point 87.5%
+ case CAN_BR_250K: nom_brp=2 ; nom_seg1=139; nom_seg2=20; nom_sjw=20; break; // sample point 87.5%
+ case CAN_BR_500K: nom_brp=1 ; nom_seg1=139; nom_seg2=20; nom_sjw=20; break; // sample point 87.5%
+ case CAN_BR_1M: nom_brp=1 ; nom_seg1=59 ; nom_seg2=20; nom_sjw=20; break; // sample point 75%
+ }
+ dat_brp=1 ; dat_seg1=29; dat_seg2=10; dat_sjw=10; // 数据域默认1M
+ hfdcan->Init.FrameFormat = FDCAN_FRAME_CLASSIC;
+ }
+ /* data_baud = 80M/brp/(1+seg1+seg2)
+ sample point = (1+seg1)/(1+seg1+seg2)
+ sjw : 1-16
+ seg1: 1-32
+ seg2: 2-16
+ brp : 1-32 */
+ if(mode == CAN_FD_BRS)
+ {
+ switch (baud)
+ {
+ case CAN_BR_2M: dat_brp=1 ; dat_seg1=29; dat_seg2=10; dat_sjw=10; break; // sample point 75%
+ case CAN_BR_2M5: dat_brp=1 ; dat_seg1=25; dat_seg2=6 ; dat_sjw=6 ; break; // sample point 81.25%
+ case CAN_BR_3M2: dat_brp=1 ; dat_seg1=19; dat_seg2=5 ; dat_sjw=5 ; break; // sample point 80%
+ case CAN_BR_4M: dat_brp=1 ; dat_seg1=14; dat_seg2=5 ; dat_sjw=5 ; break; // sample point 75%
+ case CAN_BR_5M: dat_brp=1 ; dat_seg1=13; dat_seg2=2 ; dat_sjw=2 ; break; // sample point 87.5%
+ }
+ nom_brp=1 ; nom_seg1=59 ; nom_seg2=20; nom_sjw=20; // 仲裁域默认1M
+ hfdcan->Init.FrameFormat = FDCAN_FRAME_FD_BRS;
+ }
+
+ HAL_FDCAN_DeInit(hfdcan);
+
+ hfdcan->Init.NominalPrescaler = nom_brp;
+ hfdcan->Init.NominalTimeSeg1 = nom_seg1;
+ hfdcan->Init.NominalTimeSeg2 = nom_seg2;
+ hfdcan->Init.NominalSyncJumpWidth = nom_sjw;
+
+ hfdcan->Init.DataPrescaler = dat_brp;
+ hfdcan->Init.DataTimeSeg1 = dat_seg1;
+ hfdcan->Init.DataTimeSeg2 = dat_seg2;
+ hfdcan->Init.DataSyncJumpWidth = dat_sjw;
+
+ HAL_FDCAN_Init(hfdcan);
+}
+
+
+/**
+************************************************************************
+* @brief: fdcanx_send_data(FDCAN_HandleTypeDef *hfdcan, uint16_t id, uint8_t *data, uint32_t len)
+* @param: hfdcan：FDCAN句柄
+* @param: id：CAN设备ID
+* @param: data：发送的数据
+* @param: len：发送的数据长度
+* @retval: void
+* @details: 发送数据
+************************************************************************
+**/
+uint8_t fdcanx_send_data(hcan_t *hfdcan, uint16_t id, uint8_t *data, uint32_t len)
+{
+ FDCAN_TxHeaderTypeDef pTxHeader;
+ pTxHeader.Identifier=id;
+ pTxHeader.IdType=FDCAN_STANDARD_ID;
+ pTxHeader.TxFrameType=FDCAN_DATA_FRAME;
+
+ if(len<=8)
+ pTxHeader.DataLength = len;
+ if(len==12)
+ pTxHeader.DataLength = FDCAN_DLC_BYTES_12;
+ if(len==16)
+ pTxHeader.DataLength = FDCAN_DLC_BYTES_16;
+ if(len==20)
+ pTxHeader.DataLength = FDCAN_DLC_BYTES_20;
+ if(len==24)
+ pTxHeader.DataLength = FDCAN_DLC_BYTES_24;
+ if(len==32)
+ pTxHeader.DataLength = FDCAN_DLC_BYTES_32;
+ if(len==48)
+ pTxHeader.DataLength = FDCAN_DLC_BYTES_48;
+ if(len==64)
+ pTxHeader.DataLength = FDCAN_DLC_BYTES_64;
+
+ pTxHeader.ErrorStateIndicator=FDCAN_ESI_ACTIVE;
+ pTxHeader.BitRateSwitch=FDCAN_BRS_ON;
+ pTxHeader.FDFormat=FDCAN_FD_CAN;
+ pTxHeader.TxEventFifoControl=FDCAN_NO_TX_EVENTS;
+ pTxHeader.MessageMarker=0;
+
+ if(HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &pTxHeader, data)!=HAL_OK)
+ return 1;//发送
+ return 0;
+}
+/**
+************************************************************************
+* @brief: fdcanx_receive(FDCAN_HandleTypeDef *hfdcan, uint8_t *buf)
+* @param: hfdcan：FDCAN句柄
+* @param: buf：接收数据缓存
+* @retval: 接收的数据长度
+* @details: 接收数据
+************************************************************************
+**/
+uint8_t fdcanx_receive(hcan_t *hfdcan, uint16_t *rec_id, uint8_t *buf)
+{
+ FDCAN_RxHeaderTypeDef pRxHeader;
+ uint8_t len;
+
+ if(HAL_FDCAN_GetRxMessage(hfdcan,FDCAN_RX_FIFO0, &pRxHeader, buf)==HAL_OK)
+ {
+ *rec_id = pRxHeader.Identifier;
+ if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_8)
+ len = pRxHeader.DataLength;
+ if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_12)
+ len = 12;
+ if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_16)
+ len = 16;
+ if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_20)
+ len = 20;
+ if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_24)
+ len = 24;
+ if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_32)
+ len = 32;
+ if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_48)
+ len = 48;
+ if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_64)
+ len = 64;
+
+ return len;//接收数据
+ }
+ return 0;
+}
+
+
+
+__weak void fdcan1_rx_callback(void)
+{
+
+}
+
+void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
+{
+ if (hfdcan == &hfdcan1)
+ {
+ fdcan1_rx_callback();
+ }
+}
+
+void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)
+{
+ if(ErrorStatusITs & FDCAN_IR_BO)
+ {
+ CLEAR_BIT(hfdcan->Instance->CCCR, FDCAN_CCCR_INIT);
+ }
+ if(ErrorStatusITs & FDCAN_IR_EP)
+ {
+ MX_FDCAN1_Init();
+ bsp_can_init();
+ }
+}
+
+
+
+
+
+
+
+
+
diff --git a/BSP/bsp_fdcan.h b/BSP/bsp_fdcan.h
new file mode 100644
index 0000000..a8decdb
--- /dev/null
+++ b/BSP/bsp_fdcan.h
@@ -0,0 +1,32 @@
+#ifndef __BSP_FDCAN_H__
+#define __BSP_FDCAN_H__
+#include "main.h"
+#include "fdcan.h"
+
+#define hcan_t FDCAN_HandleTypeDef
+
+#define CAN_CLASS 0
+#define CAN_FD_BRS 1
+
+#define CAN_BR_125K 0
+#define CAN_BR_200K 1
+#define CAN_BR_250K 2
+#define CAN_BR_500K 3
+#define CAN_BR_1M 4
+#define CAN_BR_2M 5
+#define CAN_BR_2M5 6
+#define CAN_BR_3M2 7
+#define CAN_BR_4M 8
+#define CAN_BR_5M 9
+
+void bsp_can_init(void);
+void can_filter_init(void);
+void bsp_fdcan_set_baud(hcan_t *hfdcan, uint8_t mode, uint8_t baud);
+uint8_t fdcanx_send_data(hcan_t *hfdcan, uint16_t id, uint8_t *data, uint32_t len);
+uint8_t fdcanx_receive(hcan_t *hfdcan, uint16_t *rec_id, uint8_t *buf);
+void fdcan1_rx_callback(void);
+void fdcan2_rx_callback(void);
+void fdcan3_rx_callback(void);
+
+#endif /* __BSP_FDCAN_H_ */
+
diff --git a/BSP/can_bsp.c b/BSP/can_bsp.c
deleted file mode 100644
index 07d71ae..0000000
--- a/BSP/can_bsp.c
+++ /dev/null
@@ -1,117 +0,0 @@
-#include "can_bsp.h"
-/**
-************************************************************************
-* @brief: can_bsp_init(void)
-* @param: void
-* @retval: void
-* @details: CAN使能
-************************************************************************
-**/
-void can_bsp_init(void)
-{
- can_filter_init();
- HAL_FDCAN_Start(&hfdcan1); //开启FDCAN
- HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
-}
-/**
-************************************************************************
-* @brief: can_filter_init(void)
-* @param: void
-* @retval: void
-* @details: CAN滤波器初始化
-************************************************************************
-**/
-void can_filter_init(void)
-{
- FDCAN_FilterTypeDef fdcan_filter;
-
- fdcan_filter.IdType = FDCAN_STANDARD_ID; //标准ID
- fdcan_filter.FilterIndex = 0; //滤波器索引
- fdcan_filter.FilterType = FDCAN_FILTER_RANGE; //滤波器类型
- fdcan_filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0; //过滤器0关联到FIFO0
- fdcan_filter.FilterID1 = 0x0000; //32位ID
- fdcan_filter.FilterID2 = 0x0000; //如果FDCAN配置为传统模式的话，这是32位掩码
- if(HAL_FDCAN_ConfigFilter(&hfdcan1,&fdcan_filter)!=HAL_OK) //滤波器初始化
- {
- Error_Handler();
- }
- HAL_FDCAN_ConfigFifoWatermark(&hfdcan1, FDCAN_CFG_RX_FIFO0, 1);
-}
-/**
-************************************************************************
-* @brief: fdcanx_send_data(FDCAN_HandleTypeDef *hfdcan, uint16_t id, uint8_t *data, uint32_t len)
-* @param: hfdcan：FDCAN句柄
-* @param: id：CAN设备ID
-* @param: data：发送的数据
-* @param: len：发送的数据长度
-* @retval: void
-* @details: 发送数据
-************************************************************************
-**/
-uint8_t fdcanx_send_data(FDCAN_HandleTypeDef *hfdcan, uint16_t id, uint8_t *data, uint32_t len)
-{
- FDCAN_TxHeaderTypeDef TxHeader;
-
- TxHeader.Identifier = id;
- TxHeader.IdType = FDCAN_STANDARD_ID; // 标准ID
- TxHeader.TxFrameType = FDCAN_DATA_FRAME; // 数据帧
- TxHeader.DataLength = len << 16; // 发送数据长度
- TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE; // 设置错误状态指示
- TxHeader.BitRateSwitch = FDCAN_BRS_OFF; //不开启可变波特率
- TxHeader.FDFormat = FDCAN_CLASSIC_CAN; //普通CAN格式
- TxHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS; // 用于发送事件FIFO控制, 不存储
- TxHeader.MessageMarker = 0x00; // 用于复制到TX EVENT FIFO的消息Maker来识别消息状态，范围0到0xFF
-
- if(HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &TxHeader, data)!=HAL_OK)
- return 1;//发送
- return 0;
-}
-/**
-************************************************************************
-* @brief: fdcanx_receive(FDCAN_HandleTypeDef *hfdcan, uint8_t *buf)
-* @param: hfdcan：FDCAN句柄
-* @param: buf：接收数据缓存
-* @retval: 接收的数据长度
-* @details: 接收数据
-************************************************************************
-**/
-uint8_t fdcanx_receive(FDCAN_HandleTypeDef *hfdcan, uint8_t *buf)
-{
- FDCAN_RxHeaderTypeDef fdcan_RxHeader;
- if(HAL_FDCAN_GetRxMessage(hfdcan,FDCAN_RX_FIFO0, &fdcan_RxHeader, buf)!=HAL_OK)
- return 0;//接收数据
- return fdcan_RxHeader.DataLength>>16;
-}
-/**
-************************************************************************
-* @brief: HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
-* @param: hfdcan；FDCAN句柄
-* @param: RxFifo0ITs：中断标志位
-* @retval: void
-* @details: HAL库的FDCAN中断回调函数
-************************************************************************
-**/
-void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
-{
- if((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET)
- {
- if(hfdcan == &hfdcan1)
- {
- fdcan1_rx_callback();
- }
- }
-}
-/**
-************************************************************************
-* @brief: fdcan_rx_callback(void)
-* @param: void
-* @retval: void
-* @details: 供用户调用的接收弱函数
-************************************************************************
-**/
-uint8_t rx_data1[8] = {0};
-void fdcan1_rx_callback(void)
-{
- fdcanx_receive(&hfdcan1, rx_data1);
-}
-
diff --git a/BSP/can_bsp.h b/BSP/can_bsp.h
deleted file mode 100644
index 9925841..0000000
--- a/BSP/can_bsp.h
+++ /dev/null
@@ -1,15 +0,0 @@
-#ifndef __CAN_BSP_H__
-#define __CAN_BSP_H__
-#include "main.h"
-#include "fdcan.h"
-
-void can_bsp_init(void);
-void can_filter_init(void);
-uint8_t fdcanx_send_data(FDCAN_HandleTypeDef *hfdcan, uint16_t id, uint8_t *data, uint32_t len);
-uint8_t fdcanx_receive(FDCAN_HandleTypeDef *hfdcan, uint8_t *buf);
-void fdcan1_rx_callback(void);
-void fdcan2_rx_callback(void);
-void fdcan3_rx_callback(void);
-
-#endif /* __CAN_BSP_H_ */
-
diff --git a/Core/Src/main.c b/Core/Src/main.c
index c8785f1..9ed747a 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -25,6 +25,8 @@
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "kinematics.h"
+#include "bsp_fdcan.h"
+#include "dm_motor_ctrl.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -90,7 +92,16 @@ int main(void)
MX_FDCAN1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
-
+ bsp_fdcan_set_baud(&hfdcan1,CAN_CLASS,CAN_BR_1M);
+ bsp_can_init();
+ dm_motor_init();
+ HAL_Delay(10);
+ write_motor_data(motor[Motor1].id, 10, mit_mode, 0, 0, 0);
+ dm_motor_disable(&hfdcan1, &motor[Motor1]);
+ HAL_Delay(100);
+ save_motor_data(motor[Motor1].id, 10);
+ HAL_Delay(100);
+ HAL_Delay(1000);
/* USER CODE END 2 */
/* Infinite loop */
diff --git a/USER/dm_motor_ctrl.c b/USER/dm_motor_ctrl.c
new file mode 100644
index 0000000..f6fe0a1
--- /dev/null
+++ b/USER/dm_motor_ctrl.c
@@ -0,0 +1,195 @@
+#include "dm_motor_drv.h"
+#include "dm_motor_ctrl.h"
+#include "string.h"
+#include "stdbool.h"
+
+motor_t motor[num];
+
+
+/**
+************************************************************************
+* @brief: dm4310_motor_init: DM4310电机初始化函数
+* @param: void
+* @retval: void
+* @details: 初始化1个DM4310型号的电机，设置默认参数和控制模式。
+* 设置ID、控制模式和命令模式等信息。
+************************************************************************
+**/
+void dm_motor_init(void)
+{
+ // 初始化Motor1和Motor2的电机结构
+ 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]));
+
+ // 设置Motor1的电机信息
+ motor[Motor1].id = 0x01;
+ motor[Motor1].mst_id = 0x00; // 实际没有用上，只做标识作用
+ motor[Motor1].tmp.read_flag = 1;
+ motor[Motor1].ctrl.mode = mit_mode;
+ motor[Motor1].ctrl.vel_set = 0.0f;
+ motor[Motor1].ctrl.pos_set = 0.0f;
+ motor[Motor1].ctrl.cur_set = 0.0f;
+ motor[Motor1].ctrl.kd_set = 0.0f;
+ motor[Motor1].tmp.PMAX = 12.5f;
+ motor[Motor1].tmp.VMAX = 30.0f;
+ motor[Motor1].tmp.TMAX = 10.0f;
+}
+/**
+************************************************************************
+* @brief: read_all_motor_data: 读取电机的所有寄存器的数据信息
+* @param: motor_t：电机参数结构体
+* @retval: void
+* @details: 逐次发送读取命令
+************************************************************************
+**/
+void read_all_motor_data(motor_t *motor)
+{
+ switch (motor->tmp.read_flag)
+ {
+ 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
+ }
+}
+/**
+************************************************************************
+* @brief: receive_motor_data: 接收电机返回的数据信息
+* @param: motor_t：电机参数结构体
+* @param: data：接收的数据
+* @retval: void
+* @details: 逐次接收电机回传的参数信息
+************************************************************************
+**/
+void receive_motor_data(motor_t *motor, uint8_t *data)
+{
+ 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;
+ }
+ }
+}
+
+/**
+************************************************************************
+* @brief: fdcan1_rx_callback: CAN1接收回调函数
+* @param: void
+* @retval: void
+* @details: 处理CAN1接收中断回调，根据接收到的ID和数据，执行相应的处理。
+* 当接收到ID为0时，调用dm4310_fbdata函数更新Motor的反馈数据。
+************************************************************************
+**/
+void fdcan1_rx_callback(void)
+{
+ uint16_t rec_id;
+ uint8_t rx_data[8] = {0};
+ fdcanx_receive(&hfdcan1, &rec_id, rx_data);
+ switch (rec_id)
+ {
+ case 0x00: dm_motor_fbdata(&motor[Motor1], rx_data); receive_motor_data(&motor[Motor1], rx_data); break;
+ }
+}
+
+
diff --git a/USER/dm_motor_ctrl.h b/USER/dm_motor_ctrl.h
new file mode 100644
index 0000000..4c32bf9
--- /dev/null
+++ b/USER/dm_motor_ctrl.h
@@ -0,0 +1,28 @@
+#ifndef __DM_MOTOR_CTRL_H__
+#define __DM_MOTOR_CTRL_H__
+#include "main.h"
+#include "dm_motor_drv.h"
+
+extern int8_t motor_id;
+
+extern uint32_t motor1_data_sent;
+extern uint32_t motor2_data_sent;
+extern uint32_t motor3_data_sent;
+extern uint32_t motor4_data_sent;
+
+extern motor_t motor[num];
+
+typedef union
+{
+ float f_val;
+ uint32_t u_val;
+ uint8_t b_val[4];
+}float_type_u;
+
+void dm_motor_init(void);
+
+void read_all_motor_data(motor_t *motor);
+void receive_motor_data(motor_t *motor, uint8_t *data);
+
+#endif /* __DM_MOTOR_CTRL_H__ */
+
diff --git a/USER/dm_motor_drv.c b/USER/dm_motor_drv.c
new file mode 100644
index 0000000..cd183f0
--- /dev/null
+++ b/USER/dm_motor_drv.c
@@ -0,0 +1,504 @@
+#include "dm_motor_drv.h"
+#include "fdcan.h"
+
+
+/**
+************************************************************************
+* @brief: dm4310_enable: 启用DM4310电机控制模式函数
+* @param[in]: hcan: 指向CAN_HandleTypeDef结构的指针
+* @param[in]: motor: 指向motor_t结构的指针，包含电机相关信息和控制参数
+* @retval: void
+* @details: 根据电机控制模式启用相应的模式，通过CAN总线发送启用命令
+* 支持的控制模式包括位置模式、位置速度控制模式和速度控制模式
+************************************************************************
+**/
+void dm_motor_enable(hcan_t* hcan, motor_t *motor)
+{
+ switch(motor->ctrl.mode)
+ {
+ case mit_mode:
+ enable_motor_mode(hcan, motor->id, MIT_MODE);
+ break;
+ case pos_mode:
+ enable_motor_mode(hcan, motor->id, POS_MODE);
+ break;
+ case spd_mode:
+ enable_motor_mode(hcan, motor->id, SPD_MODE);
+ break;
+ case psi_mode:
+ enable_motor_mode(hcan, motor->id, PSI_MODE);
+ break;
+ }
+}
+/**
+************************************************************************
+* @brief: dm4310_disable: 禁用DM4310电机控制模式函数
+* @param[in]: hcan: 指向CAN_HandleTypeDef结构的指针
+* @param[in]: motor: 指向motor_t结构的指针，包含电机相关信息和控制参数
+* @retval: void
+* @details: 根据电机控制模式禁用相应的模式，通过CAN总线发送禁用命令
+* 支持的控制模式包括位置模式、位置速度控制模式和速度控制模式
+************************************************************************
+**/
+void dm_motor_disable(hcan_t* hcan, motor_t *motor)
+{
+ switch(motor->ctrl.mode)
+ {
+ case mit_mode:
+ disable_motor_mode(hcan, motor->id, MIT_MODE);
+ break;
+ case pos_mode:
+ disable_motor_mode(hcan, motor->id, POS_MODE);
+ break;
+ case spd_mode:
+ disable_motor_mode(hcan, motor->id, SPD_MODE);
+ break;
+ case psi_mode:
+ disable_motor_mode(hcan, motor->id, PSI_MODE);
+ break;
+ }
+ dm_motor_clear_para(motor);
+}
+/**
+************************************************************************
+* @brief: dm4310_ctrl_send: 发送DM4310电机控制命令函数
+* @param[in]: hcan: 指向CAN_HandleTypeDef结构的指针
+* @param[in]: motor: 指向motor_t结构的指针，包含电机相关信息和控制参数
+* @retval: void
+* @details: 根据电机控制模式发送相应的命令到DM4310电机
+* 支持的控制模式包括位置模式、位置速度控制模式和速度控制模式
+************************************************************************
+**/
+void dm_motor_ctrl_send(hcan_t* hcan, motor_t *motor)
+{
+ switch(motor->ctrl.mode)
+ {
+ case mit_mode:
+ mit_ctrl(hcan, motor, motor->id, motor->ctrl.pos_set, motor->ctrl.vel_set, motor->ctrl.kp_set, motor->ctrl.kd_set, motor->ctrl.tor_set);
+ break;
+ case pos_mode:
+ pos_ctrl(hcan, motor->id, motor->ctrl.pos_set, motor->ctrl.vel_set);
+ break;
+ case spd_mode:
+ spd_ctrl(hcan, motor->id, motor->ctrl.vel_set);
+ break;
+ case psi_mode:
+ psi_ctrl(hcan, motor->id,motor->ctrl.pos_set, motor->ctrl.vel_set, motor->ctrl.cur_set);
+ break;
+ }
+}
+
+/**
+************************************************************************
+* @brief: dm4310_clear: 清除DM4310电机控制参数函数
+* @param[in]: motor: 指向motor_t结构的指针，包含电机相关信息和控制参数
+* @retval: void
+* @details: 将DM4310电机的命令参数和控制参数清零，包括位置、速度、
+* 比例增益(KP)、微分增益(KD)和扭矩
+************************************************************************
+**/
+void dm_motor_clear_para(motor_t *motor)
+{
+ motor->ctrl.kd_set = 0;
+ motor->ctrl.kp_set = 0;
+ motor->ctrl.pos_set = 0;
+ motor->ctrl.vel_set = 0;
+ motor->ctrl.tor_set = 0;
+ motor->ctrl.cur_set = 0;
+}
+/**
+************************************************************************
+* @brief: dm4310_clear_err: 清除DM4310电机错误函数
+* @param[in]: hcan: 指向CAN控制结构体的指针
+* @param[in]: motor: 指向电机结构体的指针
+* @retval: void
+* @details: 根据电机的控制模式，调用对应模式的清除错误函数
+************************************************************************
+**/
+void dm_motor_clear_err(hcan_t* hcan, motor_t *motor)
+{
+ switch(motor->ctrl.mode)
+ {
+ case mit_mode:
+ clear_err(hcan, motor->id, MIT_MODE);
+ break;
+ case pos_mode:
+ clear_err(hcan, motor->id, POS_MODE);
+ break;
+ case spd_mode:
+ clear_err(hcan, motor->id, SPD_MODE);
+ break;
+ case psi_mode:
+ clear_err(hcan, motor->id, PSI_MODE);
+ break;
+ }
+}
+/**
+************************************************************************
+* @brief: dm4310_fbdata: 获取DM4310电机反馈数据函数
+* @param[in]: motor: 指向motor_t结构的指针，包含电机相关信息和反馈数据
+* @param[in]: rx_data: 指向包含反馈数据的数组指针
+* @retval: void
+* @details: 从接收到的数据中提取DM4310电机的反馈信息，包括电机ID、
+* 状态、位置、速度、扭矩以及相关温度参数
+************************************************************************
+**/
+void dm_motor_fbdata(motor_t *motor, uint8_t *rx_data)
+{
+ motor->para.id = (rx_data[0])&0x0F;
+ motor->para.state = (rx_data[0])>>4;
+ motor->para.p_int=(rx_data[1]<<8)|rx_data[2];
+ motor->para.v_int=(rx_data[3]<<4)|(rx_data[4]>>4);
+ motor->para.t_int=((rx_data[4]&0xF)<<8)|rx_data[5];
+ motor->para.pos = uint_to_float(motor->para.p_int, -motor->tmp.PMAX, motor->tmp.PMAX, 16); // (-12.5,12.5)
+ motor->para.vel = uint_to_float(motor->para.v_int, -motor->tmp.VMAX, motor->tmp.VMAX, 12); // (-45.0,45.0)
+ motor->para.tor = uint_to_float(motor->para.t_int, -motor->tmp.TMAX, motor->tmp.TMAX, 12); // (-18.0,18.0)
+ motor->para.Tmos = (float)(rx_data[6]);
+ motor->para.Tcoil = (float)(rx_data[7]);
+}
+
+/**
+************************************************************************
+* @brief: float_to_uint: 浮点数转换为无符号整数函数
+* @param[in]: x_float: 待转换的浮点数
+* @param[in]: x_min: 范围最小值
+* @param[in]: x_max: 范围最大值
+* @param[in]: bits: 目标无符号整数的位数
+* @retval: 无符号整数结果
+* @details: 将给定的浮点数 x 在指定范围 [x_min, x_max] 内进行线性映射，映射结果为一个指定位数的无符号整数
+************************************************************************
+**/
+int float_to_uint(float x_float, float x_min, float x_max, int bits)
+{
+ /* Converts a float to an unsigned int, given range and number of bits */
+ float span = x_max - x_min;
+ float offset = x_min;
+ return (int) ((x_float-offset)*((float)((1<tmp.PMAX, motor->tmp.PMAX, 16);
+ vel_tmp = float_to_uint(vel, -motor->tmp.VMAX, motor->tmp.VMAX, 12);
+ tor_tmp = float_to_uint(tor, -motor->tmp.TMAX, motor->tmp.TMAX, 12);
+ kp_tmp = float_to_uint(kp, KP_MIN, KP_MAX, 12);
+ kd_tmp = float_to_uint(kd, KD_MIN, KD_MAX, 12);
+
+ data[0] = (pos_tmp >> 8);
+ data[1] = pos_tmp;
+ data[2] = (vel_tmp >> 4);
+ data[3] = ((vel_tmp&0xF)<<4)|(kp_tmp>>8);
+ data[4] = kp_tmp;
+ data[5] = (kd_tmp >> 4);
+ data[6] = ((kd_tmp&0xF)<<4)|(tor_tmp>>8);
+ data[7] = tor_tmp;
+
+ fdcanx_send_data(hcan, id, data, 8);
+}
+/**
+************************************************************************
+* @brief: pos_speed_ctrl: 位置速度控制函数
+* @param[in]: hcan: 指向CAN_HandleTypeDef结构的指针，用于指定CAN总线
+* @param[in]: motor_id: 电机ID，指定目标电机
+* @param[in]: vel: 速度给定值
+* @retval: void
+* @details: 通过CAN总线向电机发送位置速度控制命令
+************************************************************************
+**/
+void pos_ctrl(hcan_t* hcan,uint16_t motor_id, float pos, float vel)
+{
+ uint16_t id;
+ uint8_t *pbuf, *vbuf;
+ uint8_t data[8];
+
+ id = motor_id + POS_MODE;
+ pbuf=(uint8_t*)&pos;
+ vbuf=(uint8_t*)&vel;
+
+ data[0] = *pbuf;
+ data[1] = *(pbuf+1);
+ data[2] = *(pbuf+2);
+ data[3] = *(pbuf+3);
+
+ data[4] = *vbuf;
+ data[5] = *(vbuf+1);
+ data[6] = *(vbuf+2);
+ data[7] = *(vbuf+3);
+
+ fdcanx_send_data(hcan, id, data, 8);
+}
+/**
+************************************************************************
+* @brief: speed_ctrl: 速度控制函数
+* @param[in]: hcan: 指向CAN_HandleTypeDef结构的指针，用于指定CAN总线
+* @param[in]: motor_id: 电机ID，指定目标电机
+* @param[in]: vel: 速度给定值
+* @retval: void
+* @details: 通过CAN总线向电机发送速度控制命令
+************************************************************************
+**/
+void spd_ctrl(hcan_t* hcan, uint16_t motor_id, float vel)
+{
+ uint16_t id;
+ uint8_t *vbuf;
+ uint8_t data[4];
+
+ id = motor_id + SPD_MODE;
+ vbuf=(uint8_t*)&vel;
+
+ data[0] = *vbuf;
+ data[1] = *(vbuf+1);
+ data[2] = *(vbuf+2);
+ data[3] = *(vbuf+3);
+
+ fdcanx_send_data(hcan, id, data, 4);
+}
+
+/**
+************************************************************************
+* @brief: pos_speed_ctrl: 混控模式
+* @param[in]: hcan: 指向CAN_HandleTypeDef结构的指针，用于指定CAN总线
+* @param[in]: motor_id: 电机ID，指定目标电机
+* @param[in]: pos: 位置给定值
+* @param[in]: vel: 速度给定值
+* @param[in]: i: 电流给定值
+* @retval: void
+* @details: 通过CAN总线向电机发送位置速度控制命令
+************************************************************************
+**/
+void psi_ctrl(hcan_t* hcan, uint16_t motor_id, float pos, float vel, float cur)
+{
+ uint16_t id;
+ uint8_t *pbuf, *vbuf, *ibuf;
+ uint8_t data[8];
+
+ uint16_t u16_vel = vel*100;
+ uint16_t u16_cur = cur*10000;
+
+ id = motor_id + PSI_MODE;
+ pbuf=(uint8_t*)&pos;
+ vbuf=(uint8_t*)&u16_vel;
+ ibuf=(uint8_t*)&u16_cur;
+
+ data[0] = *pbuf;
+ data[1] = *(pbuf+1);
+ data[2] = *(pbuf+2);
+ data[3] = *(pbuf+3);
+
+ data[4] = *vbuf;
+ data[5] = *(vbuf+1);
+
+ data[6] = *ibuf;
+ data[7] = *(ibuf+1);
+
+ fdcanx_send_data(hcan, id, data, 8);
+}
+/**
+************************************************************************
+* @brief: read_motor_data: 发送读取寄存器命令
+* @param[in]: id: 电机can id
+* @param[in]: rid: 寄存器地址
+* @retval: void
+* @details: 读取电机参数
+************************************************************************
+**/
+void read_motor_data(uint16_t id, uint8_t rid)
+{
+ uint8_t can_id_l = id & 0x0F;
+ uint8_t can_id_h = (id >> 4) & 0x0F;
+
+ uint8_t data[4] = {can_id_l, can_id_h, 0x33, rid};
+ fdcanx_send_data(&hfdcan1, 0x7FF, data, 4);
+}
+/**
+************************************************************************
+* @brief: read_motor_ctrl_fbdata: 发送读取电机反馈数据的命令
+* @param[in]: id: 电机can id
+* @retval: void
+* @details: 读取电机控制反馈的数据
+************************************************************************
+**/
+void read_motor_ctrl_fbdata(uint16_t id)
+{
+ uint8_t can_id_l = id & 0x0F;
+ uint8_t can_id_h = (id >> 4) & 0x0F;
+
+ uint8_t data[4] = {can_id_l, can_id_h, 0xCC, 0x00};
+ fdcanx_send_data(&hfdcan1, 0x7FF, data, 4);
+}
+/**
+************************************************************************
+* @brief: write_motor_data: 发送写寄存器命令
+* @param[in]: id: 电机can id
+* @param[in]: rid: 寄存器地址
+* @param[in]: d0-d3: 写入的数据
+* @retval: void
+* @details: 向寄存器写入数据
+************************************************************************
+**/
+void write_motor_data(uint16_t id, uint8_t rid, uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3)
+{
+ uint8_t can_id_l = id & 0x0F;
+ uint8_t can_id_h = (id >> 4) & 0x0F;
+
+ uint8_t data[8] = {can_id_l, can_id_h, 0x55, rid, d0, d1, d2, d3};
+ fdcanx_send_data(&hfdcan1, 0x7FF, data, 8);
+}
+/**
+************************************************************************
+* @brief: save_motor_data: 发送保存命令
+* @param[in]: id: 电机can id
+* @param[in]: rid: 寄存器地址
+* @retval: void
+* @details: 保存写入的电机参数
+************************************************************************
+**/
+void save_motor_data(uint16_t id, uint8_t rid)
+{
+ uint8_t can_id_l = id & 0x0F;
+ uint8_t can_id_h = (id >> 4) & 0x0F;
+
+ uint8_t data[4] = {can_id_l, can_id_h, 0xAA, 0x01};
+ fdcanx_send_data(&hfdcan1, 0x7FF, data, 4);
+}
+
diff --git a/USER/dm_motor_drv.h b/USER/dm_motor_drv.h
new file mode 100644
index 0000000..87a3b4b
--- /dev/null
+++ b/USER/dm_motor_drv.h
@@ -0,0 +1,213 @@
+#ifndef __DM_MOTOR_DRV_H__
+#define __DM_MOTOR_DRV_H__
+#include "main.h"
+#include "fdcan.h"
+#include "bsp_fdcan.h"
+
+#define MIT_MODE 0x000
+#define POS_MODE 0x100
+#define SPD_MODE 0x200
+#define PSI_MODE 0x300
+
+#define KP_MIN 0.0f
+#define KP_MAX 500.0f
+#define KD_MIN 0.0f
+#define KD_MAX 5.0f
+
+typedef enum
+{
+ Motor1,
+ Motor2,
+ Motor3,
+ Motor4,
+ Motor5,
+ Motor6,
+ Motor7,
+ Motor8,
+ Motor9,
+ Motor10,
+ num
+} motor_num;
+
+typedef enum
+{
+ mit_mode = 1,
+ pos_mode = 2,
+ spd_mode = 3,
+ psi_mode = 4
+} mode_e;
+
+typedef enum {
+ RID_UV_VALUE=0, // 低压保护值
+ RID_KT_VALUE=1, // 扭矩系数
+ RID_OT_VALUE=2, // 过温保护值
+ RID_OC_VALUE=3, // 过流保护值
+ RID_ACC =4, // 加速度
+ RID_DEC =5, // 减速度
+ RID_MAX_SPD =6, // 最大速度
+ RID_MST_ID =7, // 反馈ID
+ RID_ESC_ID =8, // 接收ID
+ RID_TIMEOUT =9, // 超时警报时间
+ RID_CMODE =10, // 控制模式
+ RID_DAMP =11, // 电机粘滞系数
+ RID_INERTIA =12, // 电机转动惯量
+ RID_HW_VER =13, // 保留
+ RID_SW_VER =14, // 软件版本号
+ RID_SN =15, // 保留
+ RID_NPP =16, // 电机极对数
+ RID_RS =17, // 电阻
+ RID_LS =18, // 电感
+ RID_FLUX =19, // 磁链
+ RID_GR =20, // 齿轮减速比
+ RID_PMAX =21, // 位置映射范围
+ RID_VMAX =22, // 速度映射范围
+ RID_TMAX =23, // 扭矩映射范围
+ RID_I_BW =24, // 电流环控制带宽
+ RID_KP_ASR =25, // 速度环Kp
+ RID_KI_ASR =26, // 速度环Ki
+ RID_KP_APR =27, // 位置环Kp
+ RID_KI_APR =28, // 位置环Ki
+ RID_OV_VALUE=29, // 过压保护值
+ RID_GREF =30, // 齿轮力矩效率
+ RID_DETA =31, // 速度环阻尼系数
+ RID_V_BW =32, // 速度环滤波带宽
+ RID_IQ_CL =33, // 电流环增强系数
+ RID_VL_CL =34, // 速度环增强系数
+ RID_CAN_BR =35, // CAN波特率代码
+ RID_SUB_VER =36, // 子版本号
+ RID_U_OFF =50, // u相偏置
+ RID_V_OFF =51, // v相偏置
+ RID_K1 =52, // 补偿因子1
+ RID_K2 =53, // 补偿因子2
+ RID_M_OFF =54, // 角度偏移
+ RID_DIR =55, // 方向
+ RID_P_M =80, // 电机位置
+ RID_X_OUT =81 // 输出轴位置
+} rid_e;
+
+
+
+
+// 电机参数
+typedef struct
+{
+ uint8_t read_flag;
+ uint8_t write_flag;
+ uint8_t save_flag;
+
+ float UV_Value; // 低压保护值
+ float KT_Value; // 扭矩系数
+ float OT_Value; // 过温保护值
+ float OC_Value; // 过流保护值
+ float ACC; // 加速度
+ float DEC; // 减速度
+ float MAX_SPD; // 最大速度
+ uint32_t MST_ID; // 反馈ID
+ uint32_t ESC_ID; // 接收ID
+ uint32_t TIMEOUT; // 超时警报时间
+ uint32_t cmode; // 控制模式
+ float Damp; // 电机粘滞系数
+ float Inertia; // 电机转动惯量
+ uint32_t hw_ver; // 保留
+ uint32_t sw_ver; // 软件版本号
+ uint32_t SN; // 保留
+ uint32_t NPP; // 电机极对数
+ float Rs; // 电阻
+ float Ls; // 电感
+ float Flux; // 磁链
+ float Gr; // 齿轮减速比
+ float PMAX; // 位置映射范围
+ float VMAX; // 速度映射范围
+ float TMAX; // 扭矩映射范围
+ float I_BW; // 电流环控制带宽
+ float KP_ASR; // 速度环Kp
+ float KI_ASR; // 速度环Ki
+ float KP_APR; // 位置环Kp
+ float KI_APR; // 位置环Ki
+ float OV_Value; // 过压保护值
+ float GREF; // 齿轮力矩效率
+ float Deta; // 速度环阻尼系数
+ float V_BW; // 速度环滤波带宽
+ float IQ_cl; // 电流环增强系数
+ float VL_cl; // 速度环增强系数
+ uint32_t can_br; // CAN波特率代码
+ uint32_t sub_ver; // 子版本号
+ float u_off; // u相偏置
+ float v_off; // v相偏置
+ float k1; // 补偿因子1
+ float k2; // 补偿因子2
+ float m_off; // 角度偏移
+ float dir; // 方向
+ float p_m; // 电机位置
+ float x_out; // 输出轴位置
+} esc_inf_t;
+
+// 电机回传信息结构体
+typedef struct
+{
+ int id;
+ int state;
+ int p_int;
+ int v_int;
+ int t_int;
+ int kp_int;
+ int kd_int;
+ float pos;
+ float vel;
+ float tor;
+ float Kp;
+ float Kd;
+ float Tmos;
+ float Tcoil;
+} motor_fbpara_t;
+
+// 电机参数设置结构体
+typedef struct
+{
+ uint8_t mode;
+ float pos_set;
+ float vel_set;
+ float tor_set;
+ float cur_set;
+ float kp_set;
+ float kd_set;
+} motor_ctrl_t;
+
+typedef struct
+{
+ uint16_t id;
+ uint16_t mst_id;
+ motor_fbpara_t para;
+ motor_ctrl_t ctrl;
+ esc_inf_t tmp;
+} motor_t;
+
+
+
+float uint_to_float(int x_int, float x_min, float x_max, int bits);
+int float_to_uint(float x_float, float x_min, float x_max, int bits);
+void dm_motor_ctrl_send(hcan_t* hcan, motor_t *motor);
+void dm_motor_enable(hcan_t* hcan, motor_t *motor);
+void dm_motor_disable(hcan_t* hcan, motor_t *motor);
+void dm_motor_clear_para(motor_t *motor);
+void dm_motor_clear_err(hcan_t* hcan, motor_t *motor);
+void dm_motor_fbdata(motor_t *motor, uint8_t *rx_data);
+
+void enable_motor_mode(hcan_t* hcan, uint16_t motor_id, uint16_t mode_id);
+void disable_motor_mode(hcan_t* hcan, uint16_t motor_id, uint16_t mode_id);
+
+void mit_ctrl(hcan_t* hcan, motor_t *motor, uint16_t motor_id, float pos, float vel,float kp, float kd, float tor);
+void pos_ctrl(hcan_t* hcan, uint16_t motor_id, float pos, float vel);
+void spd_ctrl(hcan_t* hcan, uint16_t motor_id, float vel);
+void psi_ctrl(hcan_t* hcan, uint16_t motor_id, float pos, float vel, float cur);
+
+void save_pos_zero(hcan_t* hcan, uint16_t motor_id, uint16_t mode_id);
+void clear_err(hcan_t* hcan, uint16_t motor_id, uint16_t mode_id);
+
+void read_motor_data(uint16_t id, uint8_t rid);
+void read_motor_ctrl_fbdata(uint16_t id);
+void write_motor_data(uint16_t id, uint8_t rid, uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3);
+void save_motor_data(uint16_t id, uint8_t rid);
+
+#endif /* __DM_MOTOR_DRV_H__ */
+
diff --git a/USER/kinematics.c b/USER/kinematics.c
index 5a16a84..b7a1f3a 100644
--- a/USER/kinematics.c
+++ b/USER/kinematics.c
@@ -63,7 +63,6 @@ void Kinematic_Calculate() {
//关节3
- //TODO:多解问题
Link[2].angle_set = acos(Total_Transformation_Matrix[1][2] * cos(Link[0].angle_set) -
Total_Transformation_Matrix[0][2] * sin(Link[0].angle));
// Link[2].angle_set = -acos(Total_Transformation_Matrix[1][2] * cos(Link[0].angle_set) -
diff --git a/cmake-build-debug/.cmake/api/v1/reply/cmakeFiles-v1-c040102e93839a8d0a60.json b/cmake-build-debug/.cmake/api/v1/reply/cmakeFiles-v1-c040102e93839a8d0a60.json
deleted file mode 100644
index c18c753..0000000
--- a/cmake-build-debug/.cmake/api/v1/reply/cmakeFiles-v1-c040102e93839a8d0a60.json
+++ /dev/null
@@ -1,1218 +0,0 @@
-{
- "inputs" :
- [
- {
- "path" : "CMakeLists.txt"
- },
- {
- "isCMake" : true,
- "isExternal" : true,
- "path" : "C:/Program Files/JetBrains/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineSystem.cmake"
- },
- {
- "isCMake" : true,
- "isExternal" : true,
- "path" : "C:/Program Files/JetBrains/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeSystem.cmake.in"
- },
- {
- "isGenerated" : true,
- "path" : "cmake-build-debug/CMakeFiles/3.26.4/CMakeSystem.cmake"
- },
- {
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- "isExternal" : true,
- "path" : "C:/Program Files/JetBrains/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeMinGWFindMake.cmake"
- },
- {
- "isCMake" : true,
- "isExternal" : true,
- "path" : "C:/Program Files/JetBrains/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeSystemSpecificInitialize.cmake"
- },
- {
- "isCMake" : true,
- "isExternal" : true,
- "path" : "C:/Program Files/JetBrains/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCCompiler.cmake"
- },
- {
- "isCMake" : true,
- "isExternal" : true,
- "path" : "C:/Program Files/JetBrains/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompiler.cmake"
- },
- {
- "isCMake" : true,
- "isExternal" : true,
- "path" : "C:/Program Files/JetBrains/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompilerId.cmake"
- },
- {
- "isCMake" : true,
- "isExternal" : true,
- "path" : "C:/Program Files/JetBrains/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeCompilerIdDetection.cmake"
- },
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- },
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- "path" : "C:/Program Files/JetBrains/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/Compiler/ARMCC-DetermineCompiler.cmake"
- },
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- "isExternal" : true,
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- },
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