76 lines
1.9 KiB
C
76 lines
1.9 KiB
C
#ifndef DM4310_H
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#define DM4310_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 DM_MOTOR_CNT 6
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#define DM_P_MIN (-12.56637)//(-3.1415926f)
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#define DM_P_MAX 12.56637//3.1415926f
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#define DM_V_MIN (-45.0f)
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#define DM_V_MAX 45.0f
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#define DM_T_MIN (-18.0f)
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#define DM_T_MAX 18.0f
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typedef struct
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{
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uint8_t id;
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uint8_t state;
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float velocity; //速度
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float last_position; //上次位置
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float position; //位置
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float torque; //力矩
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float T_Mos; //mos温度
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float T_Rotor; //电机温度
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float angle_single_round; //单圈角度
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int32_t total_round; //总圈数
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float total_angle; //总角度
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}DM_Motor_Measure_s;
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typedef struct
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{
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uint16_t position_des;
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uint16_t velocity_des;
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uint16_t torque_des;
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uint16_t Kp;
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uint16_t Kd;
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}DMMotor_Send_s;
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typedef struct
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{
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DM_Motor_Measure_s measure;
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Motor_Control_Setting_s motor_settings;
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Motor_Controller_s motor_controller;//电机控制器
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CANInstance *motor_can_instance;//电机can实例
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Motor_Type_e motor_type;//电机类型
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Motor_Working_Type_e stop_flag;
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DaemonInstance* motor_daemon;
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uint32_t lost_cnt;
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}DMMotorInstance;
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typedef enum
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{
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DM_CMD_MOTOR_MODE = 0xfc, // 使能,会响应指令
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DM_CMD_RESET_MODE = 0xfd, // 停止
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DM_CMD_ZERO_POSITION = 0xfe, // 将当前的位置设置为编码器零位
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DM_CMD_CLEAR_ERROR = 0xfb // 清除电机过热错误
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}DMMotor_Mode_e;
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DMMotorInstance *DMMotorInit(Motor_Init_Config_s *config);
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void DMMotorSetRef(DMMotorInstance *motor, float ref);
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void DMMotorOuterLoop(DMMotorInstance *motor,Closeloop_Type_e closeloop_type);
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void DMMotorEnable(DMMotorInstance *motor);
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void DMMotorSetMode(DMMotor_Mode_e cmd, DMMotorInstance *motor);
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void DMMotorStop(DMMotorInstance *motor);
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void DMMotorCaliEncoder(DMMotorInstance *motor);
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void DMMotorControlInit();
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void DMMotorControl();
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#endif // !DMMOTOR
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