117 lines
3.7 KiB
C
117 lines
3.7 KiB
C
#include "HT04.h"
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#include "memory.h"
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#include "general_def.h"
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static uint8_t idx;
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HTMotorInstance *ht_motor_info[HT_MOTOR_CNT];
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/**
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* @brief
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*
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* @param cmd
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* @param motor
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*/
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static void HTMotorSetMode(HTMotor_Mode_t cmd, HTMotorInstance *motor)
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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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buf[7] = (uint8_t)cmd;
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memcpy(motor->motor_can_instace->tx_buff, buf, sizeof(buf));
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CANTransmit(motor->motor_can_instace);
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}
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/* 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 */
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static uint16_t float_to_uint(float x, float x_min, float x_max, uint8_t bits)
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{
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float span = x_max - x_min;
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float offset = x_min;
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return (uint16_t)((x - offset) * ((float)((1 << bits) - 1)) / span);
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}
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static float uint_to_float(int x_int, float x_min, float x_max, int bits)
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{
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float span = x_max - x_min;
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float offset = x_min;
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return ((float)x_int) * span / ((float)((1 << bits) - 1)) + offset;
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}
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/**
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* @brief 解析电机反馈值
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*
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* @param motor_can 收到
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*/
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static void HTMotorDecode(CANInstance *motor_can)
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{
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static uint16_t tmp; // 用于暂存解析值,稍后转换成float数据,避免多次创建临时变量
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static HTMotor_Measure_t *measure;
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static uint8_t *rxbuff;
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rxbuff = motor_can->rx_buff;
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measure = &((HTMotorInstance *)motor_can->id)->motor_measure;
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measure->last_angle = measure->total_angle;
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tmp = (uint16_t)((rxbuff[1] << 8) | rxbuff[2]);
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measure->total_angle = RAD_2_ANGLE * uint_to_float(tmp, P_MAX, P_MIN, 16);
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tmp = (uint16_t)((rxbuff[3] << 4) | (rxbuff[4] >> 4));
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measure->speed_aps = RAD_2_ANGLE * SPEED_SMOOTH_COEF * uint_to_float(tmp, V_MAX, V_MIN, 12) +
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(1 - SPEED_SMOOTH_COEF) * measure->speed_aps;
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tmp = (uint16_t)(((rxbuff[4] & 0x0f) << 8) | rxbuff[5]);
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measure->real_current = CURRENT_SMOOTH_COEF * uint_to_float(tmp, T_MAX, T_MIN, 12) +
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(1 - CURRENT_SMOOTH_COEF) * measure->real_current;
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}
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HTMotorInstance *HTMotorInit(Motor_Init_Config_s *config)
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{
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ht_motor_info[idx] = (HTMotorInstance *)malloc(sizeof(HTMotorInstance));
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memset(ht_motor_info[idx], 0, sizeof(HTMotorInstance));
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ht_motor_info[idx]->motor_settings = config->controller_setting_init_config;
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PID_Init(&ht_motor_info[idx]->current_PID, &config->controller_param_init_config.current_PID);
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PID_Init(&ht_motor_info[idx]->speed_PID, &config->controller_param_init_config.speed_PID);
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PID_Init(&ht_motor_info[idx]->angle_PID, &config->controller_param_init_config.angle_PID);
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ht_motor_info[idx]->other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
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ht_motor_info[idx]->other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
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config->can_init_config.can_module_callback = HTMotorDecode;
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config->can_init_config.id = ht_motor_info[idx];
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ht_motor_info[idx]->motor_can_instace = CANRegister(&config->can_init_config);
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HTMotorEnable(ht_motor_info[idx]);
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return ht_motor_info[idx++];
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}
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void HTMotorSetRef(HTMotorInstance *motor, float ref)
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{
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motor->pid_ref = ref;
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}
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void HTMotorControl()
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{
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static uint16_t tmp;
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for (size_t i = 0; i < idx; i++)
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{
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// tmp=float_to_uint()
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// _instance->motor_can_instace->rx_buff[6] = tmp >> 8;
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// _instance->motor_can_instace->rx_buff[7] = tmp & 0xff;
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// CANTransmit(_instance->motor_can_instace);
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}
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}
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void HTMotorStop(HTMotorInstance *motor)
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{
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HTMotorSetMode(CMD_RESET_MODE, motor);
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}
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void HTMotorEnable(HTMotorInstance *motor)
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{
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HTMotorSetMode(CMD_MOTOR_MODE, motor);
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}
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void HTMotorCalibEncoder(HTMotorInstance *motor)
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{
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HTMotorSetMode(CMD_ZERO_POSITION, motor);
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}
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