131 lines
3.5 KiB
C
131 lines
3.5 KiB
C
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//
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// Created by SJQ on 2023/12/11.
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//
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#ifndef BASIC_FRAMEWORK_ECA8210_H
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#define BASIC_FRAMEWORK_ECA8210_H
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#include "stdint.h"
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#include "bsp_can.h"
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#include "controller.h"
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#include "motor_def.h"
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#include "daemon.h"
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#define EC_MOTOR_MX_CNT 4
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#pragma pack(1)
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typedef struct
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{
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uint8_t bug_info:5; //错误信息
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uint8_t report_type:3; //报文类别
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uint16_t angle_raw:16; //输出端位置数值范围：0~65536 对应-12.5f~12.5f，单位 rad
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uint16_t speed_raw:12; //输出端转速数值范围：0~4095 对应-18.0f~18.0f，单位 rad/s
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uint16_t current_raw:12; //实际电流：0~4095 对应-30~30A
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uint8_t temperature_raw:8;//电机温度：反馈的数值数据类型为无符号 8 位，数值等于实际温度*2+50
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}ECMotor_Report_t;
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#pragma pack()
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typedef struct
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{
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uint8_t mode:3; //控制模式
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float32_t pos_target; //错误信息
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uint16_t spd_target:15; //输出端位置数值范围：0~65536 对应-12.5f~12.5f，单位 rad
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uint16_t max_current:12; //输出端转速数值范围：0~4095 对应-18.0f~18.0f，单位 rad/s
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uint8_t ack_type:2; //实际电流：0~4095 对应-30~30A
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}ECMotor_PosCMD_t;
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#pragma pack(1)
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typedef struct
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{
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uint8_t ack_type:2;
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uint8_t reserve:3;
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uint8_t mode:3; //控制模式
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float32_t spd_target; //输出端速度指令 单位RPM
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uint16_t max_current; //电流限幅 电机电流阈值数值解释：0~65536 对应 0~6553.6A，比例为10
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}ECMotor_SpdCMD_t;
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#pragma pack()
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typedef struct // EC-A8120
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{
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uint16_t last_ecd; // 上一次读取的编码器值
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uint16_t ecd; // 当前编码器值
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float angle_single_round; // 单圈角度
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float speed_rads; // speed rad/s
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float real_current; // 实际电流
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uint8_t temperature; // 温度,C°
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float total_angle; // 总角度
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int32_t total_round; // 总圈数
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float feed_dt;
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uint32_t feed_dwt_cnt;
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} ECMotor_Measure_t;
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typedef struct
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{
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ECMotor_Measure_t measure;
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Motor_Control_Setting_s motor_settings;
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float *other_angle_feedback_ptr; // 其他反馈来源的反馈数据指针
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float *other_speed_feedback_ptr;
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float *speed_feedforward_ptr; // 速度前馈数据指针,可以通过此指针设置速度前馈值,或LQR等时作为速度状态变量的输入
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float *current_feedforward_ptr; // 电流前馈指针
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PIDInstance current_PID;
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PIDInstance speed_PID;
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PIDInstance angle_PID;
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float pid_ref;
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Motor_Working_Type_e stop_flag; // 启停标志
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CANInstance *motor_can_ins;
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DaemonInstance *daemon;
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} ECMotorInstance;
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/**
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* @brief 初始化LK电机
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*
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* @param config 电机配置
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* @return LKMotorInstance* 返回实例指针
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*/
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ECMotorInstance *ECMotorInit(Motor_Init_Config_s *config);
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/**
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* @brief 设置参考值
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* @attention 注意此函数设定的ref是最外层闭环的输入,若要设定内层闭环的值请通过前馈数据指针设置
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*
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* @param motor 要设置的电机
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* @param ref 设定值
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*/
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void ECMotorSetRef(ECMotorInstance *motor, float ref);
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/**
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* @brief 为所有EC电机计算pid/反转/模式控制,并通过bspcan发送电流值(发送CAN报文)
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*
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*/
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void ECMotorControl();
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/**
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* @brief 停止EC电机,之后电机不会响应任何指令
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*
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* @param motor
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*/
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void ECMotorStop(ECMotorInstance *motor);
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/**
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* @brief 启动EC电机
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*
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* @param motor
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*/
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void ECMotorEnable(ECMotorInstance *motor);
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uint8_t ECMotorIsOnline(ECMotorInstance *motor);
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#endif //BASIC_FRAMEWORK_ECA8210_H
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