137 lines
5.3 KiB
C
137 lines
5.3 KiB
C
#include "LK9025.h"
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#include "stdlib.h"
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static uint8_t idx;
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static LKMotorInstance *lkmotor_instance[LK_MOTOR_MX_CNT] = {NULL};
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static CANInstance *sender_instance; // 多电机发送时使用的caninstance(当前保存的是注册的第一个电机的caninstance)
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// 后续考虑兼容单电机和多电机指令.
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static void LKMotorDecode(CANInstance *_instance)
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{
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static LKMotor_Measure_t *measure;
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static uint8_t *rx_buff;
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rx_buff = _instance->rx_buff;
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measure = &((LKMotorInstance *)_instance)->measure;
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measure->last_ecd = measure->ecd;
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measure->ecd = (uint16_t)((rx_buff[7] << 8) | rx_buff[6]);
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measure->angle_single_round = ECD_ANGLE_COEF_LK * measure->ecd;
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measure->speed_aps = (1 - SPEED_SMOOTH_COEF) * measure->speed_aps +
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SPEED_SMOOTH_COEF * (float)((int16_t)(rx_buff[5] << 8 | rx_buff[4]));
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measure->real_current = (1 - CURRENT_SMOOTH_COEF) * measure->real_current +
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CURRENT_SMOOTH_COEF * (float)((int16_t)(rx_buff[3] << 8 | rx_buff[2]));
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measure->temperate = rx_buff[1];
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// 计算多圈角度
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if (measure->ecd - measure->last_ecd > 32678)
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measure->total_round--;
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else if (measure->ecd - measure->last_ecd < -32678)
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measure->total_round++;
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measure->total_angle = measure->total_round * 360 + measure->angle_single_round;
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}
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LKMotorInstance *LKMotroInit(Motor_Init_Config_s *config)
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{
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lkmotor_instance[idx] = (LKMotorInstance *)malloc(sizeof(LKMotorInstance));
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memset(lkmotor_instance[idx], 0, sizeof(LKMotorInstance));
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lkmotor_instance[idx]->motor_settings = config->controller_setting_init_config;
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PID_Init(&lkmotor_instance[idx]->current_PID, &config->controller_param_init_config.current_PID);
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PID_Init(&lkmotor_instance[idx]->speed_PID, &config->controller_param_init_config.speed_PID);
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PID_Init(&lkmotor_instance[idx]->angle_PID, &config->controller_param_init_config.angle_PID);
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lkmotor_instance[idx]->other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
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lkmotor_instance[idx]->other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
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config->can_init_config.id = lkmotor_instance[idx];
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config->can_init_config.can_module_callback = LKMotorDecode;
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config->can_init_config.rx_id = 0x140 + config->can_init_config.tx_id;
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config->can_init_config.tx_id = config->can_init_config.tx_id + 0x280;
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lkmotor_instance[idx]->motor_can_ins = CANRegister(&config->can_init_config);
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if (idx == 0)
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sender_instance = lkmotor_instance[idx]->motor_can_ins;
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LKMotorEnable(lkmotor_instance[idx]);
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return lkmotor_instance[idx++];
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}
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/* 第一个电机的can instance用于发送数据,向其tx_buff填充数据 */
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void LKMotorControl()
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{
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static float pid_measure, pid_ref;
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static int16_t set;
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static LKMotorInstance *motor;
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static LKMotor_Measure_t *measure;
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static Motor_Control_Setting_s *setting;
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for (size_t i = 0; i < idx; ++i)
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{
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motor = lkmotor_instance[i];
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measure = &motor->measure;
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setting = &motor->motor_settings;
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pid_ref = motor->pid_ref;
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if ((setting->close_loop_type & ANGLE_LOOP) && setting->outer_loop_type == ANGLE_LOOP)
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{
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if (setting->angle_feedback_source == OTHER_FEED)
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pid_measure = *motor->other_angle_feedback_ptr;
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else
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pid_measure = measure->real_current;
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pid_ref = PID_Calculate(&motor->angle_PID, pid_measure, pid_ref);
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if (setting->feedforward_flag & SPEED_FEEDFORWARD)
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pid_ref += *motor->speed_feedforward_ptr;
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}
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if ((setting->close_loop_type & SPEED_LOOP) && setting->outer_loop_type & (ANGLE_LOOP | SPEED_LOOP))
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{
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if (setting->angle_feedback_source == OTHER_FEED)
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pid_measure = *motor->other_speed_feedback_ptr;
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else
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pid_measure = measure->speed_aps;
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pid_ref = PID_Calculate(&motor->angle_PID, pid_measure, pid_ref);
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if (setting->feedforward_flag & CURRENT_FEEDFORWARD)
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pid_ref += *motor->current_feedforward_ptr;
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}
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if (setting->close_loop_type & CURRENT_LOOP)
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{
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pid_ref = PID_Calculate(&motor->current_PID, measure->real_current, pid_ref);
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}
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set = pid_ref;
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if (setting->reverse_flag == MOTOR_DIRECTION_REVERSE)
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set *= -1;
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// 这里随便写的,为了兼容多电机命令.后续应该将tx_id以更好的方式表达电机id,单独使用一个CANInstance,而不是用第一个电机的CANInstance
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memcpy(sender_instance->tx_buff + (motor->motor_can_ins->tx_id - 0x280 - 1) * 2, &set, sizeof(uint16_t));
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if (motor->stop_flag == MOTOR_STOP)
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{ // 若该电机处于停止状态,直接将发送buff置零
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memset(sender_instance->tx_buff + (motor->motor_can_ins->tx_id - 0x280 - 1) * 2, 0, sizeof(uint16_t));
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}
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}
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if (idx) // 如果有电机注册了
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{
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CANTransmit(sender_instance);
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}
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}
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void LKMotorStop(LKMotorInstance *motor)
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{
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motor->stop_flag = MOTOR_STOP;
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}
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void LKMotorEnable(LKMotorInstance *motor)
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{
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motor->stop_flag = MOTOR_ENALBED;
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}
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void LKMotorSetRef(LKMotorInstance *motor, float ref)
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{
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motor->pid_ref = ref;
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}
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