57 lines
1.2 KiB
C
57 lines
1.2 KiB
C
#ifndef UP_UTILS_H
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#define UP_UTILS_H
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#include "gpio.h"
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#include "user_math.h"
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#include "bsp_buzzer.h"
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#include "bsp_delay.h"
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#include "struct_typedef.h"
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#include "pid.h"
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#include "user_math.h"
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#include "ahrs.h"
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#include "filter.h"
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#include "bsp_usart.h"
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#include "GO_M8010_6_Driver.h"
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#define CAN2_G3508_ID (0x200)
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#define GEAR_RATIO_2006 (36) // 2006减速比
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#define GEAR_RATIO_3508 (19)
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#define CAN_MOTOR_ENC_RES 8191 // 编码器分辨率
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#define MOTOR2006_ECD_TO_ANGLE (360.0 / 8191.0 / (GEAR_RATIO_2006)) //2006编码值转轴角度
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#define MOTOR3508_ECD_TO_ANGLE (360.0 / 8191.0 / (GEAR_RATIO_3508)) //3508编码值转轴角度
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typedef struct
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{
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fp32 ecd;
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fp32 rpm;
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uint8_t id;
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fp32 orig_angle;
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fp32 last_angle;
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int32_t round_cnt;
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int init_cnt;
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fp32 total_angle;
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}DJmotor_feedback_t;
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typedef enum {
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CURVE_58,
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CURVE_66
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} CurveType;
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static float curve_58(float d) ;
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static float curve_66(float d) ;
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float CurveChange(float d, float x, float y, CurveType *cs);
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int8_t GO_SendData( GO_MotorData_t *go_data,GO_MotorCmd_t *go_cmd,float pos, float limit);
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int8_t DJ_processdata(DJmotor_feedback_t *f,fp32 ecd_to_angle);
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#endif
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