增加达妙H7控制电机的例程文件
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="Encoding">
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<file url="file://$PROJECT_DIR$/USER/DMPower.c" charset="GBK" />
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<file url="file://$PROJECT_DIR$/USER/DMPower.h" charset="GBK" />
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</component>
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</project>
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#include "bsp_fdcan.h"
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/**
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************************************************************************
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* @brief: bsp_can_init(void)
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* @param: void
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* @retval: void
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* @details: CAN 使能
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************************************************************************
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**/
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void bsp_can_init(void)
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{
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can_filter_init();
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HAL_FDCAN_Start(&hfdcan1); //开启FDCAN
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HAL_FDCAN_ActivateNotification(&hfdcan1,
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0 | FDCAN_IT_RX_FIFO0_WATERMARK | FDCAN_IT_RX_FIFO0_WATERMARK
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| FDCAN_IT_TX_COMPLETE | FDCAN_IT_TX_FIFO_EMPTY | FDCAN_IT_BUS_OFF
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| FDCAN_IT_ARB_PROTOCOL_ERROR | FDCAN_IT_DATA_PROTOCOL_ERROR
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| FDCAN_IT_ERROR_PASSIVE | FDCAN_IT_ERROR_WARNING,
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0x00000F00);
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}
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/**
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************************************************************************
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* @brief: can_filter_init(void)
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* @param: void
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* @retval: void
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* @details: CAN滤波器初始化
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************************************************************************
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**/
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void can_filter_init(void)
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{
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FDCAN_FilterTypeDef fdcan_filter;
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fdcan_filter.IdType = FDCAN_STANDARD_ID; //标准ID
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fdcan_filter.FilterIndex = 0; //滤波器索引
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fdcan_filter.FilterType = FDCAN_FILTER_MASK;
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fdcan_filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0; //过滤器0关联到FIFO0
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fdcan_filter.FilterID1 = 0x00;
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fdcan_filter.FilterID2 = 0x00;
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HAL_FDCAN_ConfigFilter(&hfdcan1,&fdcan_filter); //接收ID2
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//拒绝接收匹配不成功的标准ID和扩展ID,不接受远程帧
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HAL_FDCAN_ConfigGlobalFilter(&hfdcan1,FDCAN_REJECT,FDCAN_REJECT,FDCAN_REJECT_REMOTE,FDCAN_REJECT_REMOTE);
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HAL_FDCAN_ConfigFifoWatermark(&hfdcan1, FDCAN_CFG_RX_FIFO0, 1);
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// HAL_FDCAN_ConfigFifoWatermark(&hfdcan1, FDCAN_CFG_RX_FIFO1, 1);
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// HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_TX_COMPLETE, FDCAN_TX_BUFFER0);
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}
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void bsp_fdcan_set_baud(hcan_t *hfdcan, uint8_t mode, uint8_t baud)
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{
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uint32_t nom_brp=0, nom_seg1=0, nom_seg2=0, nom_sjw=0;
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uint32_t dat_brp=0, dat_seg1=0, dat_seg2=0, dat_sjw=0;
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/* nominal_baud = 80M/brp/(1+seg1+seg2)
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sample point = (1+seg1)/(1+seg1+seg2)
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sjw : 1-128
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seg1: 2-256
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seg2: 2-128
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brp : 1-512 */
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if(mode == CAN_CLASS)
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{
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switch (baud)
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{
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case CAN_BR_125K: nom_brp=4 ; nom_seg1=139; nom_seg2=20; nom_sjw=20; break; // sample point 87.5%
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case CAN_BR_200K: nom_brp=2 ; nom_seg1=174; nom_seg2=25; nom_sjw=25; break; // sample point 87.5%
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case CAN_BR_250K: nom_brp=2 ; nom_seg1=139; nom_seg2=20; nom_sjw=20; break; // sample point 87.5%
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case CAN_BR_500K: nom_brp=1 ; nom_seg1=139; nom_seg2=20; nom_sjw=20; break; // sample point 87.5%
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case CAN_BR_1M: nom_brp=1 ; nom_seg1=59 ; nom_seg2=20; nom_sjw=20; break; // sample point 75%
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}
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dat_brp=1 ; dat_seg1=29; dat_seg2=10; dat_sjw=10; // 数据域默认1M
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hfdcan->Init.FrameFormat = FDCAN_FRAME_CLASSIC;
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}
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/* data_baud = 80M/brp/(1+seg1+seg2)
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sample point = (1+seg1)/(1+seg1+seg2)
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sjw : 1-16
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seg1: 1-32
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seg2: 2-16
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brp : 1-32 */
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if(mode == CAN_FD_BRS)
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{
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switch (baud)
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{
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case CAN_BR_2M: dat_brp=1 ; dat_seg1=29; dat_seg2=10; dat_sjw=10; break; // sample point 75%
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case CAN_BR_2M5: dat_brp=1 ; dat_seg1=25; dat_seg2=6 ; dat_sjw=6 ; break; // sample point 81.25%
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case CAN_BR_3M2: dat_brp=1 ; dat_seg1=19; dat_seg2=5 ; dat_sjw=5 ; break; // sample point 80%
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case CAN_BR_4M: dat_brp=1 ; dat_seg1=14; dat_seg2=5 ; dat_sjw=5 ; break; // sample point 75%
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case CAN_BR_5M: dat_brp=1 ; dat_seg1=13; dat_seg2=2 ; dat_sjw=2 ; break; // sample point 87.5%
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}
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nom_brp=1 ; nom_seg1=59 ; nom_seg2=20; nom_sjw=20; // 仲裁域默认1M
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hfdcan->Init.FrameFormat = FDCAN_FRAME_FD_BRS;
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}
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HAL_FDCAN_DeInit(hfdcan);
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hfdcan->Init.NominalPrescaler = nom_brp;
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hfdcan->Init.NominalTimeSeg1 = nom_seg1;
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hfdcan->Init.NominalTimeSeg2 = nom_seg2;
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hfdcan->Init.NominalSyncJumpWidth = nom_sjw;
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hfdcan->Init.DataPrescaler = dat_brp;
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hfdcan->Init.DataTimeSeg1 = dat_seg1;
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hfdcan->Init.DataTimeSeg2 = dat_seg2;
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hfdcan->Init.DataSyncJumpWidth = dat_sjw;
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HAL_FDCAN_Init(hfdcan);
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}
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/**
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************************************************************************
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* @brief: fdcanx_send_data(FDCAN_HandleTypeDef *hfdcan, uint16_t id, uint8_t *data, uint32_t len)
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* @param: hfdcan：FDCAN句柄
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* @param: id：CAN设备ID
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* @param: data：发送的数据
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* @param: len：发送的数据长度
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* @retval: void
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* @details: 发送数据
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************************************************************************
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**/
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uint8_t fdcanx_send_data(hcan_t *hfdcan, uint16_t id, uint8_t *data, uint32_t len)
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{
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FDCAN_TxHeaderTypeDef pTxHeader;
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pTxHeader.Identifier=id;
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pTxHeader.IdType=FDCAN_STANDARD_ID;
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pTxHeader.TxFrameType=FDCAN_DATA_FRAME;
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if(len<=8)
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pTxHeader.DataLength = len;
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if(len==12)
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pTxHeader.DataLength = FDCAN_DLC_BYTES_12;
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if(len==16)
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pTxHeader.DataLength = FDCAN_DLC_BYTES_16;
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if(len==20)
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pTxHeader.DataLength = FDCAN_DLC_BYTES_20;
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if(len==24)
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pTxHeader.DataLength = FDCAN_DLC_BYTES_24;
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if(len==32)
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pTxHeader.DataLength = FDCAN_DLC_BYTES_32;
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if(len==48)
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pTxHeader.DataLength = FDCAN_DLC_BYTES_48;
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if(len==64)
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pTxHeader.DataLength = FDCAN_DLC_BYTES_64;
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pTxHeader.ErrorStateIndicator=FDCAN_ESI_ACTIVE;
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pTxHeader.BitRateSwitch=FDCAN_BRS_ON;
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pTxHeader.FDFormat=FDCAN_FD_CAN;
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pTxHeader.TxEventFifoControl=FDCAN_NO_TX_EVENTS;
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pTxHeader.MessageMarker=0;
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if(HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &pTxHeader, data)!=HAL_OK)
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return 1;//发送
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return 0;
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}
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/**
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************************************************************************
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* @brief: fdcanx_receive(FDCAN_HandleTypeDef *hfdcan, uint8_t *buf)
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* @param: hfdcan：FDCAN句柄
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* @param: buf：接收数据缓存
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* @retval: 接收的数据长度
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* @details: 接收数据
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************************************************************************
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**/
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uint8_t fdcanx_receive(hcan_t *hfdcan, uint16_t *rec_id, uint8_t *buf)
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{
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FDCAN_RxHeaderTypeDef pRxHeader;
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uint8_t len;
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if(HAL_FDCAN_GetRxMessage(hfdcan,FDCAN_RX_FIFO0, &pRxHeader, buf)==HAL_OK)
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{
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*rec_id = pRxHeader.Identifier;
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if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_8)
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len = pRxHeader.DataLength;
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if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_12)
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len = 12;
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if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_16)
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len = 16;
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if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_20)
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len = 20;
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if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_24)
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len = 24;
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if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_32)
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len = 32;
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if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_48)
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len = 48;
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if(pRxHeader.DataLength<=FDCAN_DLC_BYTES_64)
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len = 64;
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return len;//接收数据
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}
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return 0;
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}
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__weak void fdcan1_rx_callback(void)
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{
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}
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void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
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{
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if (hfdcan == &hfdcan1)
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{
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fdcan1_rx_callback();
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}
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}
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void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)
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{
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if(ErrorStatusITs & FDCAN_IR_BO)
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{
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CLEAR_BIT(hfdcan->Instance->CCCR, FDCAN_CCCR_INIT);
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}
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if(ErrorStatusITs & FDCAN_IR_EP)
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{
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MX_FDCAN1_Init();
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bsp_can_init();
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}
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}
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#ifndef __BSP_FDCAN_H__
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#define __BSP_FDCAN_H__
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#include "main.h"
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#include "fdcan.h"
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#define hcan_t FDCAN_HandleTypeDef
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#define CAN_CLASS 0
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#define CAN_FD_BRS 1
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#define CAN_BR_125K 0
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#define CAN_BR_200K 1
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#define CAN_BR_250K 2
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#define CAN_BR_500K 3
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#define CAN_BR_1M 4
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#define CAN_BR_2M 5
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#define CAN_BR_2M5 6
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#define CAN_BR_3M2 7
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#define CAN_BR_4M 8
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#define CAN_BR_5M 9
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void bsp_can_init(void);
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void can_filter_init(void);
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void bsp_fdcan_set_baud(hcan_t *hfdcan, uint8_t mode, uint8_t baud);
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uint8_t fdcanx_send_data(hcan_t *hfdcan, uint16_t id, uint8_t *data, uint32_t len);
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uint8_t fdcanx_receive(hcan_t *hfdcan, uint16_t *rec_id, uint8_t *buf);
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void fdcan1_rx_callback(void);
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void fdcan2_rx_callback(void);
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void fdcan3_rx_callback(void);
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#endif /* __BSP_FDCAN_H_ */
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117
BSP/can_bsp.c
117
BSP/can_bsp.c
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@ -1,117 +0,0 @@
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#include "can_bsp.h"
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/**
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************************************************************************
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* @brief: can_bsp_init(void)
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* @param: void
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* @retval: void
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* @details: CAN使能
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************************************************************************
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**/
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void can_bsp_init(void)
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{
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can_filter_init();
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HAL_FDCAN_Start(&hfdcan1); //开启FDCAN
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HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
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}
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/**
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************************************************************************
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* @brief: can_filter_init(void)
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* @param: void
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* @retval: void
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* @details: CAN滤波器初始化
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************************************************************************
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**/
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void can_filter_init(void)
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{
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FDCAN_FilterTypeDef fdcan_filter;
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fdcan_filter.IdType = FDCAN_STANDARD_ID; //标准ID
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fdcan_filter.FilterIndex = 0; //滤波器索引
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fdcan_filter.FilterType = FDCAN_FILTER_RANGE; //滤波器类型
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fdcan_filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0; //过滤器0关联到FIFO0
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fdcan_filter.FilterID1 = 0x0000; //32位ID
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fdcan_filter.FilterID2 = 0x0000; //如果FDCAN配置为传统模式的话，这是32位掩码
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if(HAL_FDCAN_ConfigFilter(&hfdcan1,&fdcan_filter)!=HAL_OK) //滤波器初始化
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{
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Error_Handler();
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}
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HAL_FDCAN_ConfigFifoWatermark(&hfdcan1, FDCAN_CFG_RX_FIFO0, 1);
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}
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/**
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************************************************************************
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* @brief: fdcanx_send_data(FDCAN_HandleTypeDef *hfdcan, uint16_t id, uint8_t *data, uint32_t len)
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* @param: hfdcan：FDCAN句柄
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* @param: id：CAN设备ID
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* @param: data：发送的数据
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* @param: len：发送的数据长度
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* @retval: void
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* @details: 发送数据
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************************************************************************
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**/
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uint8_t fdcanx_send_data(FDCAN_HandleTypeDef *hfdcan, uint16_t id, uint8_t *data, uint32_t len)
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{
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FDCAN_TxHeaderTypeDef TxHeader;
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TxHeader.Identifier = id;
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TxHeader.IdType = FDCAN_STANDARD_ID; // 标准ID
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TxHeader.TxFrameType = FDCAN_DATA_FRAME; // 数据帧
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TxHeader.DataLength = len << 16; // 发送数据长度
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TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE; // 设置错误状态指示
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TxHeader.BitRateSwitch = FDCAN_BRS_OFF; //不开启可变波特率
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TxHeader.FDFormat = FDCAN_CLASSIC_CAN; //普通CAN格式
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TxHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS; // 用于发送事件FIFO控制, 不存储
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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
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if(HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &TxHeader, data)!=HAL_OK)
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return 1;//发送
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return 0;
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}
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/**
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************************************************************************
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* @brief: fdcanx_receive(FDCAN_HandleTypeDef *hfdcan, uint8_t *buf)
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* @param: hfdcan：FDCAN句柄
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* @param: buf：接收数据缓存
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* @retval: 接收的数据长度
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* @details: 接收数据
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************************************************************************
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**/
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uint8_t fdcanx_receive(FDCAN_HandleTypeDef *hfdcan, uint8_t *buf)
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{
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FDCAN_RxHeaderTypeDef fdcan_RxHeader;
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if(HAL_FDCAN_GetRxMessage(hfdcan,FDCAN_RX_FIFO0, &fdcan_RxHeader, buf)!=HAL_OK)
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return 0;//接收数据
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return fdcan_RxHeader.DataLength>>16;
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}
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/**
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************************************************************************
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* @brief: HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
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* @param: hfdcan；FDCAN句柄
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* @param: RxFifo0ITs：中断标志位
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* @retval: void
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* @details: HAL库的FDCAN中断回调函数
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************************************************************************
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**/
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void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
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{
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if((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET)
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{
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if(hfdcan == &hfdcan1)
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{
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fdcan1_rx_callback();
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}
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}
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}
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/**
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************************************************************************
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* @brief: fdcan_rx_callback(void)
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* @param: void
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* @retval: void
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* @details: 供用户调用的接收弱函数
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************************************************************************
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**/
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uint8_t rx_data1[8] = {0};
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void fdcan1_rx_callback(void)
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{
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fdcanx_receive(&hfdcan1, rx_data1);
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}
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@ -1,15 +0,0 @@
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#ifndef __CAN_BSP_H__
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#define __CAN_BSP_H__
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#include "main.h"
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#include "fdcan.h"
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void can_bsp_init(void);
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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_ */
|
||||
|
||||
|
|
@ -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 */
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -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__ */
|
||||
|
||||
|
|
@ -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<<bits)-1))/span);
|
||||
}
|
||||
/**
|
||||
************************************************************************
|
||||
* @brief: uint_to_float: 无符号整数转换为浮点数函数
|
||||
* @param[in]: x_int: 待转换的无符号整数
|
||||
* @param[in]: x_min: 范围最小值
|
||||
* @param[in]: x_max: 范围最大值
|
||||
* @param[in]: bits: 无符号整数的位数
|
||||
* @retval: 浮点数结果
|
||||
* @details: 将给定的无符号整数 x_int 在指定范围 [x_min, x_max] 内进行线性映射，映射结果为一个浮点数
|
||||
************************************************************************
|
||||
**/
|
||||
float uint_to_float(int x_int, float x_min, float x_max, int bits)
|
||||
{
|
||||
/* converts unsigned int to float, given range and number of bits */
|
||||
float span = x_max - x_min;
|
||||
float offset = x_min;
|
||||
return ((float)x_int)*span/((float)((1<<bits)-1)) + offset;
|
||||
}
|
||||
|
||||
/**
|
||||
************************************************************************
|
||||
* @brief: enable_motor_mode: 启用电机模式函数
|
||||
* @param[in]: hcan: 指向CAN_HandleTypeDef结构的指针
|
||||
* @param[in]: motor_id: 电机ID，指定目标电机
|
||||
* @param[in]: mode_id: 模式ID，指定要开启的模式
|
||||
* @retval: void
|
||||
* @details: 通过CAN总线向特定电机发送启用特定模式的命令
|
||||
************************************************************************
|
||||
**/
|
||||
void enable_motor_mode(hcan_t* hcan, uint16_t motor_id, uint16_t mode_id)
|
||||
{
|
||||
uint8_t data[8];
|
||||
uint16_t id = motor_id + mode_id;
|
||||
|
||||
data[0] = 0xFF;
|
||||
data[1] = 0xFF;
|
||||
data[2] = 0xFF;
|
||||
data[3] = 0xFF;
|
||||
data[4] = 0xFF;
|
||||
data[5] = 0xFF;
|
||||
data[6] = 0xFF;
|
||||
data[7] = 0xFC;
|
||||
|
||||
fdcanx_send_data(hcan, id, data, 8);
|
||||
}
|
||||
/**
|
||||
************************************************************************
|
||||
* @brief: disable_motor_mode: 禁用电机模式函数
|
||||
* @param[in]: hcan: 指向CAN_HandleTypeDef结构的指针
|
||||
* @param[in]: motor_id: 电机ID，指定目标电机
|
||||
* @param[in]: mode_id: 模式ID，指定要禁用的模式
|
||||
* @retval: void
|
||||
* @details: 通过CAN总线向特定电机发送禁用特定模式的命令
|
||||
************************************************************************
|
||||
**/
|
||||
void disable_motor_mode(hcan_t* hcan, uint16_t motor_id, uint16_t mode_id)
|
||||
{
|
||||
uint8_t data[8];
|
||||
uint16_t id = motor_id + mode_id;
|
||||
|
||||
data[0] = 0xFF;
|
||||
data[1] = 0xFF;
|
||||
data[2] = 0xFF;
|
||||
data[3] = 0xFF;
|
||||
data[4] = 0xFF;
|
||||
data[5] = 0xFF;
|
||||
data[6] = 0xFF;
|
||||
data[7] = 0xFD;
|
||||
|
||||
fdcanx_send_data(hcan, id, data, 8);
|
||||
}
|
||||
/**
|
||||
************************************************************************
|
||||
* @brief: save_pos_zero: 保存位置零点函数
|
||||
* @param[in]: hcan: 指向CAN_HandleTypeDef结构的指针
|
||||
* @param[in]: motor_id: 电机ID，指定目标电机
|
||||
* @param[in]: mode_id: 模式ID，指定要保存位置零点的模式
|
||||
* @retval: void
|
||||
* @details: 通过CAN总线向特定电机发送保存位置零点的命令
|
||||
************************************************************************
|
||||
**/
|
||||
void save_pos_zero(hcan_t* hcan, uint16_t motor_id, uint16_t mode_id)
|
||||
{
|
||||
uint8_t data[8];
|
||||
uint16_t id = motor_id + mode_id;
|
||||
|
||||
data[0] = 0xFF;
|
||||
data[1] = 0xFF;
|
||||
data[2] = 0xFF;
|
||||
data[3] = 0xFF;
|
||||
data[4] = 0xFF;
|
||||
data[5] = 0xFF;
|
||||
data[6] = 0xFF;
|
||||
data[7] = 0xFE;
|
||||
|
||||
fdcanx_send_data(hcan, id, data, 8);
|
||||
}
|
||||
/**
|
||||
************************************************************************
|
||||
* @brief: clear_err: 清除电机错误函数
|
||||
* @param[in]: hcan: 指向CAN_HandleTypeDef结构的指针
|
||||
* @param[in]: motor_id: 电机ID，指定目标电机
|
||||
* @param[in]: mode_id: 模式ID，指定要清除错误的模式
|
||||
* @retval: void
|
||||
* @details: 通过CAN总线向特定电机发送清除错误的命令。
|
||||
************************************************************************
|
||||
**/
|
||||
void clear_err(hcan_t* hcan, uint16_t motor_id, uint16_t mode_id)
|
||||
{
|
||||
uint8_t data[8];
|
||||
uint16_t id = motor_id + mode_id;
|
||||
|
||||
data[0] = 0xFF;
|
||||
data[1] = 0xFF;
|
||||
data[2] = 0xFF;
|
||||
data[3] = 0xFF;
|
||||
data[4] = 0xFF;
|
||||
data[5] = 0xFF;
|
||||
data[6] = 0xFF;
|
||||
data[7] = 0xFB;
|
||||
|
||||
fdcanx_send_data(hcan, id, data, 8);
|
||||
}
|
||||
/**
|
||||
************************************************************************
|
||||
* @brief: mit_ctrl: MIT模式下的电机控制函数
|
||||
* @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]: pos: 位置给定值
|
||||
* @param[in]: vel: 速度给定值
|
||||
* @param[in]: kp: 位置比例系数
|
||||
* @param[in]: kd: 位置微分系数
|
||||
* @param[in]: torq: 转矩给定值
|
||||
* @retval: void
|
||||
* @details: 通过CAN总线向电机发送MIT模式下的控制帧。
|
||||
************************************************************************
|
||||
**/
|
||||
void mit_ctrl(hcan_t* hcan, motor_t *motor, uint16_t motor_id, float pos, float vel,float kp, float kd, float tor)
|
||||
{
|
||||
uint8_t data[8];
|
||||
uint16_t pos_tmp,vel_tmp,kp_tmp,kd_tmp,tor_tmp;
|
||||
uint16_t id = motor_id + MIT_MODE;
|
||||
|
||||
pos_tmp = float_to_uint(pos, -motor->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);
|
||||
}
|
||||
|
||||
|
|
@ -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__ */
|
||||
|
||||
|
|
@ -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) -
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
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Binary file not shown.
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||||
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||||
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|
||||
|
|
@ -117,12 +40,6 @@ set(CMAKE_MAKEFILE_OUTPUTS
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|||
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||||
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set(CMAKE_MAKEFILE_PRODUCTS
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@ -80,12 +80,12 @@ clean: CMakeFiles/Customer_controller.elf.dir/clean
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|
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@ -937,9 +985,9 @@ help:
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|
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|
|
|
|||
Loading…
Reference in New Issue