From 89edcd9e90f0735b48367b7d8f7ecdf41734171d Mon Sep 17 00:00:00 2001
From: zcj <2487150395@qq.com>
Date: Fri, 20 Dec 2024 19:41:18 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0dmmotor=E9=A9=B1=E5=8A=A8?=
 =?UTF-8?q?=E6=96=87=E4=BB=B6?=
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---
 modules/algorithm/user_lib.c    | 13 +++++++++++++
 modules/algorithm/user_lib.h    | 13 ++++++++++++-
 modules/motor/DMmotor/dmmotor.c | 13 +------------
 modules/motor/HTmotor/HT04.c    | 15 ++-------------
 modules/motor/motor_def.h       | 23 ++++++++++++-----------
 5 files changed, 40 insertions(+), 37 deletions(-)

diff --git a/modules/algorithm/user_lib.c b/modules/algorithm/user_lib.c
index 7338080..add96fa 100644
--- a/modules/algorithm/user_lib.c
+++ b/modules/algorithm/user_lib.c
@@ -212,7 +212,20 @@ void MatInit(mat *m, uint8_t row, uint8_t col)
     m->numRows = row;
     m->pData = (float *)zmalloc(row * col * sizeof(float));
 }
+/* 两个用于将uint值和float值进行映射的函数,在设定发送值和解析反馈值时使用 */
+uint16_t float_to_uint(float x, float x_min, float x_max, uint8_t bits)
+{
+    float span = x_max - x_min;
+    float offset = x_min;
+    return (uint16_t)((x - offset) * ((float)((1 << bits) - 1)) / span);
+}
 
+float uint_to_float(int x_int, float x_min, float x_max, int bits)
+{
+    float span = x_max - x_min;
+    float offset = x_min;
+    return ((float)x_int) * span / ((float)((1 << bits) - 1)) + offset;
+}
 /**
   * @brief          一阶低通滤波初始化
   * @author         RM
diff --git a/modules/algorithm/user_lib.h b/modules/algorithm/user_lib.h
index f4c9c9d..627086a 100644
--- a/modules/algorithm/user_lib.h
+++ b/modules/algorithm/user_lib.h
@@ -53,7 +53,7 @@ void MatInit(mat *m, uint8_t row, uint8_t col);
 #ifndef PI
 #define PI 3.14159265354f
 #endif
-typedef struct
+typedef  struct
 {
     float input;        //输入数据
     float out;          //滤波输出的数据
@@ -61,6 +61,15 @@ typedef struct
     float frame_period; //滤波的时间间隔 单位 s
 } first_order_filter_type_t;
 
+typedef struct
+{
+    float input;        //输入数据
+    float out;          //输出数据
+    float min_value;    //限幅最小值
+    float max_value;    //限幅最大值
+    float frame_period; //时间间隔
+} ramp_function_source_t;
+
 #define VAL_LIMIT(val, min, max) \
     do                           \
     {                            \
@@ -127,6 +136,8 @@ void Cross3d(float *v1, float *v2, float *res);
 float Dot3d(float *v1, float *v2);
 
 float AverageFilter(float new_data, float *buf, uint8_t len);
+float uint_to_float(int x_int, float x_min, float x_max, int bits);
+uint16_t float_to_uint(float x, float x_min, float x_max, uint8_t bits);
 //一阶低通滤波初始化
 void first_order_filter_init(first_order_filter_type_t *first_order_filter_type, float frame_period, const float num[1]);
 //一阶低通滤波计算
diff --git a/modules/motor/DMmotor/dmmotor.c b/modules/motor/DMmotor/dmmotor.c
index 7cd2acc..a4d60dc 100644
--- a/modules/motor/DMmotor/dmmotor.c
+++ b/modules/motor/DMmotor/dmmotor.c
@@ -12,18 +12,7 @@ static uint8_t idx;
 static DMMotorInstance *dm_motor_instance[DM_MOTOR_CNT];
 static osThreadId dm_task_handle[DM_MOTOR_CNT];
 /* 两个用于将uint值和float值进行映射的函数,在设定发送值和解析反馈值时使用 */
-static uint16_t float_to_uint(float x, float x_min, float x_max, uint8_t bits)
-{
-    float span = x_max - x_min;
-    float offset = x_min;
-    return (uint16_t)((x - offset) * ((float)((1 << bits) - 1)) / span);
-}
-static float uint_to_float(int x_int, float x_min, float x_max, int bits)
-{
-    float span = x_max - x_min;
-    float offset = x_min;
-    return ((float)x_int) * span / ((float)((1 << bits) - 1)) + offset;
-}
+
 
 void DMMotorSetMode(DMMotor_Mode_e cmd, DMMotorInstance *motor)
 {
diff --git a/modules/motor/HTmotor/HT04.c b/modules/motor/HTmotor/HT04.c
index fdfad15..8a0267e 100644
--- a/modules/motor/HTmotor/HT04.c
+++ b/modules/motor/HTmotor/HT04.c
@@ -26,19 +26,8 @@ static void HTMotorSetMode(HTMotor_Mode_t cmd, HTMotorInstance *motor)
     CANTransmit(motor->motor_can_instace, 1);
     memcpy(motor->motor_can_instace->tx_buff, zero_buff, 6);
 }
-/* 两个用于将uint值和float值进行映射的函数,在设定发送值和解析反馈值时使用 */
-static uint16_t float_to_uint(float x, float x_min, float x_max, uint8_t bits)
-{
-    float span = x_max - x_min;
-    float offset = x_min;
-    return (uint16_t)((x - offset) * ((float)((1 << bits) - 1)) / span);
-}
-static float uint_to_float(int x_int, float x_min, float x_max, int bits)
-{
-    float span = x_max - x_min;
-    float offset = x_min;
-    return ((float)x_int) * span / ((float)((1 << bits) - 1)) + offset;
-}
+
+
 
 /**
  * @brief 解析电机反馈值
diff --git a/modules/motor/motor_def.h b/modules/motor/motor_def.h
index bf5b782..13ec41a 100644
--- a/modules/motor/motor_def.h
+++ b/modules/motor/motor_def.h
@@ -73,6 +73,7 @@ typedef enum
     NO_POWER_LIMIT = 0,
     POWER_LIMIT_ON = 1,
 } Power_Limit_Type_e;
+
 /* 电机控制设置,包括闭环类型,反转标志和反馈来源 */
 typedef struct
 {
@@ -83,11 +84,19 @@ typedef struct
     Feedback_Source_e angle_feedback_source;       // 角度反馈类型
     Feedback_Source_e speed_feedback_source;       // 速度反馈类型
     Feedfoward_Type_e feedforward_flag;            // 前馈标志
-
     Power_Limit_Type_e power_limit_flag;            //功率限制标志
 
 } Motor_Control_Setting_s;
 
+/* 电机控制方式枚举 */
+typedef enum
+{
+    CONTROL_TYPE_NONE = 0,
+    CURRENT_CONTROL,
+    VOLTAGE_CONTROL,
+} Motor_Control_Type_e;
+
+
 /* 电机控制器,包括其他来源的反馈数据指针,3环控制器和电机的参考输入*/
 // 后续增加前馈数据指针
 typedef struct
@@ -117,17 +126,10 @@ typedef enum
     M2006,
     LK9025,
     HT04,
-    ECA8210,
+    DM4310,
+    DM6006,
 } Motor_Type_e;
 
-/* 电机控制方式枚举 */
-typedef enum
-{
-    CONTROL_TYPE_NONE = 0,
-    CURRENT_CONTROL,
-    VOLTAGE_CONTROL,
-} Motor_Control_Type_e;
-
 /**
  * @brief 电机控制器初始化结构体,包括三环PID的配置以及两个反馈数据来源指针
  *        如果不需要某个控制环,可以不设置对应的pid config
@@ -154,7 +156,6 @@ typedef struct
     Motor_Type_e motor_type;
     CAN_Init_Config_s can_init_config;
     Motor_Control_Type_e motor_control_type;
-
 } Motor_Init_Config_s;
 
 #endif // !MOTOR_DEF_H