186 lines
3.5 KiB
C
186 lines
3.5 KiB
C
#ifndef _CAN_USE_H
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#define _CAN_USE_H
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#include <cmsis_os2.h>
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#include "bsp_can.h"
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typedef enum {
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CAN_M3508_M1_ID = 0x201, /* 1 */
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CAN_M3508_M2_ID = 0x202, /* 2 */
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CAN_M3508_M3_ID = 0x203, /* 3 */
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CAN_M3508_M4_ID = 0x204, /* 4 */
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CAN_G6020_AgvM1 =0x205,
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CAN_G6020_AgvM2 =0x206,
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CAN_G6020_AgvM3 =0x207,
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CAN_G6020_AgvM4 =0x208,
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CAN_SICK_ID=0x301,
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CAN_G6020_Pitch =0x209,
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// CAN_VESC5065_M1 =0x211, //vesc的数据指令使用了扩展id，[0:7]为驱动器id，[8:15]为帧类型
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// CAN_VESC5065_M2 =0x212,
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// CAN_VESC5065_M3 =0x213,
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// CAN_VSEC5065_M4 =0x214,
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CAN_VESC5065_M1_MSG1 =0x90a, //vesc的数据回传使用了扩展id，[0:7]为驱动器id，[8:15]为帧类型
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CAN_VESC5065_M2_MSG1 =0x90b,
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// CAN_VESC5065_M3_MSG1 =0x90d,
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// CAN_VSEC5065_M4_MSG1 =0x90e,
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// CAN_VESC5065_M1_MSG4 =0x1011,
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// CAN_VESC5065_M2_MSG4 =0x1012,
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// CAN_VESC5065_M3_MSG4 =0x1013,
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// CAN_VSEC5065_M4_MSG4 =0x1014,
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//
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} CAN_MotorId_t;
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typedef enum {
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CAN_MOTOR_CHASSIS6020 = 0,
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CAN_MOTOR_PITCH6020,
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CAN_MOTOR_CHASSIS5065,
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CAN_MOTOR_3508,
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CAN_MOTOR_GROUT_NUM,
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} CAN_MotorGroup_e;
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typedef union {
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float as_array[4];
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struct {
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float m1;
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float m2;
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float m3;
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float m4;
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} named;
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} CAN_DJIOutput_t;
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typedef union {
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int erpm[4];
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struct {
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int m1;
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int m2;
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int m3;
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int m4;
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} named;
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} CAN_VescOutput_t;
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typedef union{
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int as_array;
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struct{
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int8_t byte1;
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int8_t byte2;
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int8_t byte3;
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int8_t byte4;
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}byte;
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}Vesc_ByteGet;
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typedef struct {
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CAN_DJIOutput_t chassis6020;
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CAN_VescOutput_t chassis5065;
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CAN_DJIOutput_t motor3508;
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CAN_DJIOutput_t pitch6020;
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} CAN_Output_t;
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typedef struct {
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CAN_RxHeaderTypeDef rx_header;
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uint8_t rx_data[8];
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CAN_HandleTypeDef *hcan;
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} CAN_RawRx_t;
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typedef struct {
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CAN_TxHeaderTypeDef tx_header;
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uint8_t tx_data[8];
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} CAN_RawTx_t;
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typedef struct {
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BSP_CAN_t chassis6020;
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BSP_CAN_t chassis5065;
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BSP_CAN_t motor3508;
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BSP_CAN_t pitch6020;
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BSP_CAN_t sick;
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} CAN_Params_t;
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/* 电机反馈信息 */
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typedef struct {
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float rotor_ecd;
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float rotor_speed;
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float torque_current;
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float temp;
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} CAN_MotorFeedback_t;
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/* sick反馈信息 */
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typedef struct {
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uint16_t raw_dis[4];
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int changed_dis[4];
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}CAN_SickFeedback_t;
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typedef union {
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CAN_MotorFeedback_t as_array[4];
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struct {
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CAN_MotorFeedback_t m1;
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CAN_MotorFeedback_t m2;
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CAN_MotorFeedback_t m3;
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CAN_MotorFeedback_t m4;
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} named;
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} CAN_ChassisMotor_t;
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typedef union {
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CAN_MotorFeedback_t as_array[4];
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struct {
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CAN_MotorFeedback_t m1;
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CAN_MotorFeedback_t m2;
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CAN_MotorFeedback_t m3;
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CAN_MotorFeedback_t m4;
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} named;
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} CAN_VescMotor_t;
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typedef struct {
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CAN_ChassisMotor_t chassis6020;
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CAN_ChassisMotor_t chassis5065;
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CAN_ChassisMotor_t motor3508;
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CAN_ChassisMotor_t pit6020;
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} CAN_Motor_t;
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typedef struct {
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uint32_t recive_flag;
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CAN_Motor_t motor;
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CAN_SickFeedback_t sickfed;
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const CAN_Params_t *param;
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struct {
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uint32_t up_3508;
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uint32_t up_6020;
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uint32_t up_5065;
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uint32_t up_other;
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} mailbox; //用于can发送邮箱
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osMessageQueueId_t msgq_raw;
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} CAN_t;
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int8_t CAN_Init(CAN_t *can,const CAN_Params_t *param);
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int8_t CAN_StoreMsg(CAN_t *can,CAN_RawRx_t *can_rx);
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bool_t CAN_CheckFlag(CAN_t *can,uint32_t flag);
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int8_t CAN_ClearFlag(CAN_t *can,uint32_t flag);
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int8_t CAN_DJIMotor_Control(CAN_MotorGroup_e group,CAN_Output_t *output,CAN_t *can);
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int8_t CAN_VESC_Control(int id,CAN_MotorGroup_e group, CAN_Output_t *output,CAN_t *can);
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void CAN_Sick_Control(CAN_t *can);
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#endif
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