219 lines
3.6 KiB
C
219 lines
3.6 KiB
C
#include "config.h"
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#include "string.h"
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#define DEBUG
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#define CONFIG_BASE_ADDRESS (ADDR_FLASH_SECTOR_11)
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#ifdef DEBUG
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Config_Param_t config = {
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#else
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static const Config_Param_t config = {
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#endif
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.assemble={ /*assemble_paran_start*/
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.motor_param={ /*motor_param_start*/
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.motor_4310_param[0]={
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.can=BSP_CAN_2,
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.can_id=0x1,
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.master_id=0x11,
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.module=MOTOR_DM_J4310,
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.reverse=false,
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},
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.motor_4310_param[1]={
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.can=BSP_CAN_2,
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.can_id=0x2,
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.master_id=0x12,
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.module=MOTOR_DM_J4310,
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.reverse=false,
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},
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.motor_4310_param[2]={
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.can=BSP_CAN_2,
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.can_id=0x3,
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.master_id=0x13,
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.module=MOTOR_DM_J4310,
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.reverse=false,
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},
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},/*motor_param_end*/
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.pid_param={ /*pid_param_start*/
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.assemble_4310_Angle_param[0]={
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.k=5.0f,
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.p=2.0f,
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.i=0.0f,
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.d=0.0f,
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.i_limit=1.0f,
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.out_limit = 10.0f,
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.d_cutoff_freq =30.0f,
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.range = M_2PI,
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},
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.assemble_4310_Omega_param[0]={
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.k=0.5f,
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.p=0.5f,
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.i=0.0f,
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.d=0.0f,
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.i_limit=1.0f,
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.out_limit = 1.0f,
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.d_cutoff_freq =30.0f,
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.range = -1.0f,
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},
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.assemble_4310_Angle_param[1]={
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.k=5.0f,
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.p=2.5f,
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.i=0.0f,
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.d=0.0f,
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.i_limit=1.0f,
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.out_limit = 10.0f,
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.d_cutoff_freq =30.0f,
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.range = M_2PI,
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},
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.assemble_4310_Omega_param[1]={
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.k=0.5f,
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.p=0.5f,
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.i=0.0f,
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.d=0.0f,
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.i_limit=1.0f,
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.out_limit = 1.0f,
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.d_cutoff_freq =30.0f,
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.range = -1.0f,
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},
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.assemble_4310_Angle_param[2]={
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.k=5.0f,
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.p=2.0f,
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.i=0.0f,
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.d=0.0f,
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.i_limit=1.0f,
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.out_limit = 10.0f,
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.d_cutoff_freq =30.0f,
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.range = M_2PI,
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},
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.assemble_4310_Omega_param[2]={
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.k=0.5f,
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.p=0.5f,
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.i=0.0f,
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.d=0.0f,
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.i_limit=1.0f,
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.out_limit = 1.0f,
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.d_cutoff_freq =30.0f,
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.range = -1.0f,
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},
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}, /*pid_param_end*/
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},/*assemble_param_end*/
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.chassis={ /*chassis_param_start*/
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.motor_5065_param[0]={
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.can=BSP_CAN_1,
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.id = VESC_1,
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.mode = RPM_CONTROL,
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.reverse = false,
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},
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.motor_5065_param[1]={
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.can=BSP_CAN_1,
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.id = VESC_2,
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.mode = RPM_CONTROL,
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.reverse = false,
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},
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.motor_5065_param[2]={
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.can=BSP_CAN_1,
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.id = VESC_3,
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.mode = RPM_CONTROL,
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.reverse = false,
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},
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.motor_5065_param[3]={
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.can=BSP_CAN_1,
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.id = VESC_4,
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.mode = RPM_CONTROL,
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.reverse = false,
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},
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.motor_6020_param[0]={
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.can=BSP_CAN_2,
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.id = 0x205, /*1*/
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.module = MOTOR_GM6020,
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.reverse = false,
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.gear=false,
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},
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.motor_6020_param[1]={
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.can=BSP_CAN_2,
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.id = 0x206, /*2*/
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.module = MOTOR_GM6020,
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.reverse = false,
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.gear=false,
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},
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.motor_6020_param[2]={
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.can=BSP_CAN_2,
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.id = 0x207, /*3*/
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.module = MOTOR_GM6020,
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.reverse = false,
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.gear=false,
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},
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.motor_6020_param[3]={
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.can=BSP_CAN_2,
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.id = 0x208, /*4*/
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.module = MOTOR_GM6020,
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.reverse = false,
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.gear=false,
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},
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.C6020Angle_param={
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.k=0.3f,
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.p=0.4f,
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.i=0.0f,
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.d=0.0f,
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.i_limit=1.0f,
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.out_limit = 10.0f,
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.d_cutoff_freq =30.0f,
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.range = M_2PI,
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},
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.C6020Omega_param={
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.k=0.3f,
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.p=0.5f,
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.i=0.0f,
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.d=0.0f,
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.i_limit=1.0f,
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.out_limit = 1.0f,
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.d_cutoff_freq =30.0f,
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.range = -1.0f,
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},
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},/*chassis_param_end*/
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};
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/**
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* @brief 获取机器人配置参数
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* @return 机器人配置参数指针
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*/
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Config_Param_t *Config_GetRobotParam(void)
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{
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return &config;
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} |