/**
****************************(C) COPYRIGHT ZhouCc****************************
* @file djiMotor.c/h
* @brief 大疆电机接收发送程序
* @note
* @history
* Version Date Author Modification
* V1.0.0 2023.12.11 ZhouCc 完成
*
@verbatim
==============================================================================
==============================================================================
@endverbatim
****************************(C) COPYRIGHT ZhouCc****************************
*/
#include "djiMotor.h"
#include "can_it.h"
#include "can_init.h"
#if FREERTOS_DJI == 1
#include "TopDefine.h"
#include<cmsis_os2.h>
#include "FreeRTOS.h"
#include "odrive_can.h"
#endif
//motor data read
#define get_motor_measure(ptr, data) \
{ \
(ptr)->last_ecd = (ptr)->ecd; \
(ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]); \
(ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]); \
(ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]); \
(ptr)->temperate = (data)[6]; \
if ((ptr)->ecd - (ptr)->last_ecd > 4096) \
(ptr)->round_cnt--; \
else if ((ptr)->ecd - (ptr)->last_ecd < -4096) \
(ptr)->round_cnt++; \
if((ptr)->type == M3508) \
(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_3508; \
else if((ptr)->type == M2006) \
(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_2006; \
else \
(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_6020; \
(ptr)->real_round = (ptr)->total_angle / 360; \
(ptr)->real_angle = (ptr)->total_angle % 360; \
}
// #define get_5065motor_measure(ptr, data) \
// { \
// (ptr)->last_ecd = (ptr)->ecd; \
// (ptr)->ecd = (float)((data)[0] << 4 | (data)[1] <<3 |(data)[2] < 2 |(data)[3]); \
// (ptr)->speed_rpm = (float)((data)[4] << 4 | (data)[5] <<3 |(data)[6] < 2 |(data)[7]);; \
// }
/*(ptr)->real_angle = (ptr)->real_angle % 360; */
#define get_motor_offset(ptr, data) \
{ \
(ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]); \
(ptr)->offset_ecd = (ptr)->ecd; \
}
/*上下3508为0；翻转3508为1；前后2006为2；夹球2006为3，取球2006为4*/
#if DEBUG == 1
motor_measure_t motor_chassis[5];
#else
static motor_measure_t motor_chassis[5];
#endif
static CAN_TxHeaderTypeDef tx_meessage_1ff;
static uint8_t can_send_data_1ff[8];
static CAN_TxHeaderTypeDef tx_meessage_2ff;
static uint8_t can_send_data_2ff[8];
static CAN_TxHeaderTypeDef tx_message_200;
static uint8_t can_send_data_200[8];
CAN_RxHeaderTypeDef dji_rx_header;
uint8_t dji_rx_data[8];
/**
* @brief 数据处理函数
* @param[in] none
* @retval none
*/
void djiMotorEncode()
{
switch (dji_rx_header.StdId)
{
case 0x201:
case 0x202:
case 0x203:
case 0x204:
case 0x205:
case 0x206:
case 0x207:
{
static uint8_t i = 0;
//get motor id
i = dji_rx_header.StdId - 0x201;
if(motor_chassis[i].msg_cnt<=50)
{
motor_chassis[i].msg_cnt++;
get_motor_offset(&motor_chassis[i], dji_rx_data);
}else{
get_motor_measure(&motor_chassis[i], dji_rx_data);
}
break;
}
default:
{
break;
}
}
}
#if FREERTOS_DJI == 0
/**
* @brief hal库CAN回调函数,接收电机数据
* @param[in] hcan:CAN句柄指针
* @retval none
*/
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &dji_rx_header, dji_rx_data);
djiMotorEncode();
}
#else
static osEventFlagsId_t eventReceive;
/**
* @brief 自定义大疆电机回调函数
* @param[in] none
* @retval none
*/
void Dji_Motor_CB()
{
HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &dji_rx_header, dji_rx_data);
osEventFlagsSet(eventReceive, EVENT_CAN);
}
/**
* @brief 大疆电机初始化
* @param none
* @retval none
*/
void djiInit(void)
{
BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB,
Dji_Motor_CB);
can_filter_init();
}
/**
* @brief 等待新数据
*/
uint32_t waitNewDji()
{
return osEventFlagsWait(
eventReceive, EVENT_CAN,osFlagsWaitAny, osWaitForever);
}
#endif
/**
* @brief 发送电机控制电流(0x205,0x206,0x207,0x208)
* @param[in] motor1: (0x205) 电机控制电流
* @param[in] motor2: (0x206) 电机控制电流
* @param[in] motor3: (0x207) 电机控制电流
* @param[in] motor4: (0x208) 电机控制电流
* @retval none
*/
extern void CAN_cmd_1FF(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4,CAN_HandleTypeDef*hcan)
{
uint32_t send_mail_box;
tx_meessage_1ff.StdId = 0x1FF;
tx_meessage_1ff.IDE = CAN_ID_STD;
tx_meessage_1ff.RTR = CAN_RTR_DATA;
tx_meessage_1ff.DLC = 0x08;
can_send_data_1ff[0] = (motor1 >> 8);
can_send_data_1ff[1] = motor1;
can_send_data_1ff[2] = (motor2 >> 8);
can_send_data_1ff[3] = motor2;
can_send_data_1ff[4] = (motor3 >> 8);
can_send_data_1ff[5] = motor3;
can_send_data_1ff[6] = (motor4 >> 8);
can_send_data_1ff[7] = motor4;
HAL_CAN_AddTxMessage(hcan, &tx_meessage_1ff, can_send_data_1ff, &send_mail_box);
}
/**
* @brief 发送电机控制电流(0x201,0x202,0x203,0x204)
* @param[in] motor1: (0x201) 电机控制电流
* @param[in] motor2: (0x202) 电机控制电流
* @param[in] motor3: (0x203) 电机控制电流
* @param[in] motor4: (0x204) 电机控制电流
* @retval none
*/
void CAN_cmd_200(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4,CAN_HandleTypeDef*hcan)
{
uint32_t send_mail_box;
tx_message_200.StdId = 0x200;
tx_message_200.IDE = CAN_ID_STD;
tx_message_200.RTR = CAN_RTR_DATA;
tx_message_200.DLC = 0x08;
can_send_data_200[0] = motor1 >> 8;
can_send_data_200[1] = motor1;
can_send_data_200[2] = motor2 >> 8;
can_send_data_200[3] = motor2;
can_send_data_200[4] = motor3 >> 8;
can_send_data_200[5] = motor3;
can_send_data_200[6] = motor4 >> 8;
can_send_data_200[7] = motor4;
HAL_CAN_AddTxMessage(hcan, &tx_message_200, can_send_data_200, &send_mail_box);
}
/**
* @brief 发送电机控制电流(0x205,0x206,0x207,0x208)
* @param[in] motor1: (0x209) 电机控制电流
* @param[in] motor2: (0x20A) 电机控制电流
* @param[in] motor3: (0x20B) 电机控制电流
* @retval none
*/
void CAN_cmd_2FF(int16_t motor1, int16_t motor2, int16_t motor3, CAN_HandleTypeDef*hcan)
{
uint32_t send_mail_box;
tx_meessage_2ff.StdId = 0x1FF;
tx_meessage_2ff.IDE = CAN_ID_STD;
tx_meessage_2ff.RTR = CAN_RTR_DATA;
tx_meessage_2ff.DLC = 0x08;
can_send_data_2ff[0] = (motor1 >> 8);
can_send_data_2ff[1] = motor1;
can_send_data_2ff[2] = (motor2 >> 8);
can_send_data_2ff[3] = motor2;
can_send_data_2ff[4] = (motor3 >> 8);
can_send_data_2ff[5] = motor3;
can_send_data_2ff[6] = (0 >> 8);
can_send_data_2ff[7] = 0;
HAL_CAN_AddTxMessage(hcan, &tx_meessage_2ff, can_send_data_2ff, &send_mail_box);
}
/**
* @brief 返回电机数据指针
* @param[in] i: 电机编号
* @retval 电机数据指针
*/
motor_measure_t *get_motor_point(uint8_t i)
{
return &motor_chassis[i];
}