48 lines
1.9 KiB
C
48 lines
1.9 KiB
C
#include"LK9025.h"
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static driven_instance driven_motor_info[2];
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void LKMotroInit(uint16_t motor_id,uint16_t rx_id,CAN_HandleTypeDef* hcan)
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{
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static uint8_t idx;
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driven_motor_info[idx].motor_can_instance.can_handle=hcan;
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driven_motor_info[idx].motor_can_instance.can_module_callback=DecodeDriven;
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driven_motor_info[idx].motor_can_instance.rx_id=rx_id;
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driven_motor_info[idx].motor_can_instance.tx_id=motor_id;
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CANRegister(&driven_motor_info[idx].motor_can_instance);
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}
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void DrivenControl(int16_t motor1_current,int16_t motor2_current)
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{
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// LIMIT_MIN_MAX(motor1_current, I_MIN, I_MAX);
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// LIMIT_MIN_MAX(motor2_current, I_MIN, I_MAX);
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driven_motor_info[0].motor_can_instance.tx_buff[0] = motor1_current;
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driven_motor_info[0].motor_can_instance.tx_buff[1] = motor1_current>>8;
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driven_motor_info[0].motor_can_instance.tx_buff[2] = motor2_current;
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driven_motor_info[0].motor_can_instance.tx_buff[3] = motor2_current>>8;
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CANTransmit(&driven_motor_info[0].motor_can_instance);
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}
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void SetDrivenMode(driven_mode cmd,uint16_t motor_id)
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{
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static uint8_t buf[8] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00};
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// code goes here ...
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// CANTransmit(driven_mode)
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}
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void DecodeDriven(can_instance* _instance)
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{
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for (size_t i = 0; i < LK_MOTOR_CNT; i++)
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{
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if(&driven_motor_info[i].motor_can_instance==_instance)
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{
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driven_motor_info[i].last_ecd = driven_motor_info[i].ecd;
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driven_motor_info[i].ecd = (uint16_t)((_instance->rx_buff[7]<<8) | _instance->rx_buff[6]);
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driven_motor_info[i].speed_rpm = (uint16_t)(_instance->rx_buff[5] << 8 | _instance->rx_buff[4]);
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driven_motor_info[i].given_current = (uint16_t)(_instance->rx_buff[3] << 8 | _instance->rx_buff[2]);
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driven_motor_info[i].temperate = _instance->rx_buff[1];
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break;
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}
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}
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} |