99 lines
2.5 KiB
C
99 lines
2.5 KiB
C
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#ifndef LK9025_H
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#define LK9025_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 LK_MOTOR_MX_CNT 4 // 最多允许4个LK电机使用多电机指令,挂载在一条总线上
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#define I_MIN -2000
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#define I_MAX 2000
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#define CURRENT_SMOOTH_COEF 0.9f
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#define SPEED_SMOOTH_COEF 0.85f
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#define REDUCTION_RATIO_DRIVEN 1
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#define ECD_ANGLE_COEF_LK (360.0f / 65536.0f)
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#define CURRENT_TORQUE_COEF_LK 0.003645f // 电流设定值转换成扭矩的系数,算出来的设定值除以这个系数就是扭矩值
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typedef struct // 9025
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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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int16_t 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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} LKMotor_Measure_t;
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typedef struct
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{
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LKMotor_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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} LKMotorInstance;
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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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LKMotorInstance *LKMotorInit(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 LKMotorSetRef(LKMotorInstance *motor, float ref);
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/**
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* @brief 为所有LK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 LKMotorControl();
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/**
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* @brief 停止LK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 LKMotorStop(LKMotorInstance *motor);
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/**
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* @brief 启动LK电机
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*
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* @param motor
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*/
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void LKMotorEnable(LKMotorInstance *motor);
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uint8_t LKMotorIsOnline(LKMotorInstance *motor);
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#endif // LK9025_H
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