536 lines
17 KiB
C
536 lines
17 KiB
C
/**
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****************************(C) COPYRIGHT ZhouCc****************************
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* @file djiMotor.c/h
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* @brief 大疆电机接收发送程序
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* @note
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* @history
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* Version Date Author Modification
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* V1.0.0 2023.12.11 ZhouCc 完成
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*
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@verbatim
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==============================================================================
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==============================================================================
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@endverbatim
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****************************(C) COPYRIGHT ZhouCc****************************
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*/
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#include "djiMotor.h"
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#include "can_it.h"
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#include "can_init.h"
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#if FREERTOS_DJI == 1
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#include "TopDefine.h"
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#include<cmsis_os2.h>
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#include "FreeRTOS.h"
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#endif
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//motor data read
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#define get_motor_measure(ptr, data) \
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{ \
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(ptr)->last_ecd = (ptr)->ecd; \
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(ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]); \
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(ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]); \
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(ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]); \
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(ptr)->temperate = (data)[6]; \
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if ((ptr)->ecd - (ptr)->last_ecd > 4096) \
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(ptr)->round_cnt--; \
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else if ((ptr)->ecd - (ptr)->last_ecd < -4096) \
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(ptr)->round_cnt++; \
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if((ptr)->type == M3508) \
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(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_3508; \
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else if((ptr)->type == M2006) \
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(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_2006; \
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else \
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(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_6020; \
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(ptr)->real_round = (ptr)->total_angle / 360; \
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(ptr)->real_angle = (ptr)->total_angle % 360; \
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}
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//单圈绝对值式解析
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#define get_6020_motor_measure(ptr, data) \
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{ \
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(ptr)->last_ecd = (ptr)->ecd; \
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(ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]); \
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(ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]); \
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(ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]); \
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(ptr)->temperate = (data)[6]; \
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(ptr)->real_round=(ptr)->ecd/ (float)CAN_MOTOR_ENC_RES * 360.0f; \
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(ptr)->ecd - (ptr)->last_ecd > 4096 ? ((ptr)->round_cnt--) : ((ptr)->round_cnt=(ptr)->round_cnt); \
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(ptr)->ecd - (ptr)->last_ecd < -4096 ? ((ptr)->round_cnt++) : ((ptr)->round_cnt=(ptr)->round_cnt); \
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(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_6020; \
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}
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/*(ptr)->real_angle = (ptr)->real_angle % 360; */
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#define get_motor_offset(ptr, data) \
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{ \
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(ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]); \
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(ptr)->offset_ecd = (ptr)->ecd; \
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}
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static void VescMotor_Decode(CAN_MotorFeedback_t *feedback, CAN_RxHeaderTypeDef *rx_header, const uint8_t *rx_data)
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{
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// 检查接收到的ID是否匹配我们期望的VESC状态消息ID
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// 提取数据字段
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feedback->rotor_speed = ((int32_t)(rx_data[0]) << 24) | ((int32_t)(rx_data[1]) << 16) | ((int32_t)(rx_data[2]) << 8) | ((int32_t)(rx_data[3]));
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feedback->torque_current = ((int16_t)(rx_data[5]) << 8) | (int16_t)(rx_data[4]);
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feedback->torque_current /= 1000; // 将单位从 0.1A 转换为实际电流值
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feedback->duty_cycle = ((int16_t)(rx_data[7]) << 8) | (int16_t)(rx_data[6]);
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feedback->duty_cycle /= 1000.0f; // 将单位从千分之一转换为实际的占空比值 (-1.0 到 1.0)
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}
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//小米
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#define ID_xiaomi 1
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#define Pmax 1
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#define speed_full_scale 200.0f
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#define current_full_scale 4.0f
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#if DEBUG == 1
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//电机回传数据结构体
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motor_measure_t motor_chassis[10];
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CAN_MotorFeedback_t motor_5065[3];
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#else
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static motor_measure_t motor_chassis[5];
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#endif
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static CAN_TxHeaderTypeDef tx_meessage_1ff;
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static uint8_t can_send_data_1ff[8];
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static CAN_TxHeaderTypeDef tx_meessage_2ff;
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static uint8_t can_send_data_2ff[8];
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static CAN_TxHeaderTypeDef tx_message_200;
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static uint8_t can_send_data_200[8];
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//can1 dji
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CAN_RxHeaderTypeDef dji_rx_header;
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uint8_t dji_rx_data[8];
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CAN_RawTx_t raw_tx;
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//can2 vesc xiaomi
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CAN_RxHeaderTypeDef rx_header;
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uint8_t rx_data[8];
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static CAN_TxHeaderTypeDef vesc_tx_message;
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static uint8_t vesc_send_data[4];
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//小米
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uint8_t can_send_data[8];
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// 定义 CAN 传输头部信息
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static CAN_TxHeaderTypeDef tx_message;
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MotorFeedback_t MotorFeedback;
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/**
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* @brief 数据处理函数
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* @param[in] none
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* @retval none
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*/
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void djiMotorEncode()
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{
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switch (dji_rx_header.StdId)
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{
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case M3508_1:
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case M3508_2:
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case M3508_3:
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case M3508_4:
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case M2006_1:
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{
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static uint8_t i = 0;
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//get motor id
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i = dji_rx_header.StdId - 0x201;
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if(motor_chassis[i].msg_cnt<=50)
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{
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motor_chassis[i].msg_cnt++;
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get_motor_offset(&motor_chassis[i], dji_rx_data);
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}else{
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get_motor_measure(&motor_chassis[i], dji_rx_data);
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}
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break;
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}
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case GM6020_1:
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{
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if(motor_chassis[6].msg_cnt<=50)
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{
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motor_chassis[6].msg_cnt++;
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get_motor_offset(&motor_chassis[6], dji_rx_data);
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}else{
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get_6020_motor_measure(&motor_chassis[6], dji_rx_data);
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}
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break;
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}
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case GM6020_2:
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{
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if(motor_chassis[7].msg_cnt<=50)
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{
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motor_chassis[7].msg_cnt++;
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get_motor_offset(&motor_chassis[7], dji_rx_data);
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}else{
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get_6020_motor_measure(&motor_chassis[7], dji_rx_data);
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}
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break;
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}
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default:
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{
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break;
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}
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}
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}
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void can2MotorEncode()
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{
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switch (rx_header.ExtId) {
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case CAN_VESC5065_M1_MSG1:
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// 存储消息到对应的电机结构体中
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VescMotor_Decode(&motor_5065[0], &rx_header,rx_data);
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break;
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case CAN_VESC5065_M2_MSG1:
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// 存储消息到对应的电机结构体中
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VescMotor_Decode(&motor_5065[1], &rx_header,rx_data);
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case CAN_VESC5065_M3_MSG1:
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// 存储消息到对应的电机结构体中
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VescMotor_Decode(&motor_5065[2], &rx_header,rx_data);
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break;
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default:
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break;
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}
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switch (rx_data[0])
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{
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case ID_xiaomi:
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Parse_CAN_Response (rx_data,&MotorFeedback);
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break ;
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default:
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break;
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}
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}
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#if FREERTOS_DJI == 0
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/**
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* @brief hal库CAN回调函数,接收电机数据
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* @param[in] hcan:CAN句柄指针
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* @retval none
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*/
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void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
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{
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HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &dji_rx_header, dji_rx_data);
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djiMotorEncode();
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}
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#else
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//static osEventFlagsId_t eventReceive;
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static osThreadId_t thread_alert;
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/**
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* @brief 自定义大疆电机回调函数
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* @param[in] none
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* @retval none
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*/
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void Dji_Motor_CB()
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{
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HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &dji_rx_header, dji_rx_data);
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osThreadFlagsSet(thread_alert, EVENT_CAN);
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// osEventFlagsSet(eventReceive, EVENT_CAN);
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}
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void can2_Motor_CB(void)
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{
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HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO1, &rx_header, rx_data);
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}
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/**
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* @brief 大疆电机初始化
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* @param none
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* @retval none
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*/
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void djiInit(void)
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{
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thread_alert = osThreadGetId();
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BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB,
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Dji_Motor_CB);
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BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB,
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can2_Motor_CB);
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can_filter_init();
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}
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/**
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* @brief 等待新数据
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*/
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uint32_t waitNewDji()
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{
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// return osEventFlagsWait(
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// eventReceive, EVENT_CAN,osFlagsWaitAny, osWaitForever);
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return osThreadFlagsWait(
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EVENT_CAN, osFlagsWaitAll, osWaitForever);
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}
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#endif
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/**
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* @brief 发送电机控制电流(0x205,0x206,0x207,0x208)
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* @param[in] motor1: (0x205) 电机控制电流
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* @param[in] motor2: (0x206) 电机控制电流
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* @param[in] motor3: (0x207) 电机控制电流
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* @param[in] motor4: (0x208) 电机控制电流
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* @retval none
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*/
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extern void CAN_cmd_1FF(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4,CAN_HandleTypeDef*hcan)
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{
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uint32_t send_mail_box;
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tx_meessage_1ff.StdId = 0x1FF;
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tx_meessage_1ff.IDE = CAN_ID_STD;
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tx_meessage_1ff.RTR = CAN_RTR_DATA;
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tx_meessage_1ff.DLC = 0x08;
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can_send_data_1ff[0] = (motor1 >> 8);
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can_send_data_1ff[1] = motor1;
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can_send_data_1ff[2] = (motor2 >> 8);
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can_send_data_1ff[3] = motor2;
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can_send_data_1ff[4] = (motor3 >> 8);
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can_send_data_1ff[5] = motor3;
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can_send_data_1ff[6] = (motor4 >> 8);
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can_send_data_1ff[7] = motor4;
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HAL_CAN_AddTxMessage(hcan, &tx_meessage_1ff, can_send_data_1ff, &send_mail_box);
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}
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/**
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* @brief 发送电机控制电流(0x201,0x202,0x203,0x204)
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* @param[in] motor1: (0x201) 电机控制电流
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* @param[in] motor2: (0x202) 电机控制电流
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* @param[in] motor3: (0x203) 电机控制电流
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* @param[in] motor4: (0x204) 电机控制电流
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* @retval none
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*/
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void CAN_cmd_200(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4,CAN_HandleTypeDef*hcan)
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{
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uint32_t send_mail_box;
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tx_message_200.StdId = 0x200;
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tx_message_200.IDE = CAN_ID_STD;
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tx_message_200.RTR = CAN_RTR_DATA;
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tx_message_200.DLC = 0x08;
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can_send_data_200[0] = motor1 >> 8;
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can_send_data_200[1] = motor1;
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can_send_data_200[2] = motor2 >> 8;
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can_send_data_200[3] = motor2;
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can_send_data_200[4] = motor3 >> 8;
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can_send_data_200[5] = motor3;
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can_send_data_200[6] = motor4 >> 8;
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can_send_data_200[7] = motor4;
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HAL_CAN_AddTxMessage(hcan, &tx_message_200, can_send_data_200, &send_mail_box);
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}
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/**
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* @brief 发送电机控制电流(0x205,0x206,0x207,0x208)
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* @param[in] motor1: (0x209) 电机控制电流
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* @param[in] motor2: (0x20A) 电机控制电流
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* @param[in] motor3: (0x20B) 电机控制电流
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* @retval none
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*/
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void CAN_cmd_2FF(int16_t motor1, int16_t motor2, int16_t motor3, CAN_HandleTypeDef*hcan)
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{
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uint32_t send_mail_box;
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tx_meessage_2ff.StdId = 0x2FF;
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tx_meessage_2ff.IDE = CAN_ID_STD;
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tx_meessage_2ff.RTR = CAN_RTR_DATA;
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tx_meessage_2ff.DLC = 0x08;
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can_send_data_2ff[0] = (motor1 >> 8);
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can_send_data_2ff[1] = motor1;
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can_send_data_2ff[2] = (motor2 >> 8);
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can_send_data_2ff[3] = motor2;
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can_send_data_2ff[4] = (motor3 >> 8);
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can_send_data_2ff[5] = motor3;
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can_send_data_2ff[6] = (0 >> 8);
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can_send_data_2ff[7] = 0;
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HAL_CAN_AddTxMessage(hcan, &tx_meessage_2ff, can_send_data_2ff, &send_mail_box);
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}
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//控制四个vesc的发送
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int8_t CAN_VESC_Control(int id,int speed ,CAN_HandleTypeDef*hcan)
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{
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uint32_t send_mail_box;
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int Byte[4];
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Vesc_ByteGet raw[4];
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//将期望的四个电机输出值分别对应到四个联合体 为了下面的拆分字节
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raw[0].as_array = speed;
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raw[1].as_array = speed;
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for(int i=0 ; i < 2 ; i ++)
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{
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//将单个电机的期望输出值通过联合体拆分
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Byte[0] = raw[i].byte.byte1;
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Byte[1] = raw[i].byte.byte2;
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Byte[2] = raw[i].byte.byte3;
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Byte[3] = raw[i].byte.byte4;
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raw_tx.tx_header.ExtId = id+i+CAN_VESC_CTRL_ID_BASE;
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raw_tx.tx_header.IDE = CAN_ID_EXT;
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raw_tx.tx_header.RTR = CAN_RTR_DATA;
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raw_tx.tx_header.DLC = CAN_MOTOR_TX_BUF_SIZE;
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raw_tx.tx_data[0] = Byte[3];
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raw_tx.tx_data[1] = Byte[2];
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raw_tx.tx_data[2] = Byte[1];
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raw_tx.tx_data[3] = Byte[0];
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raw_tx.tx_data[4] = 0;
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raw_tx.tx_data[5] = 0;
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raw_tx.tx_data[6] = 0;
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raw_tx.tx_data[7] = 0;
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HAL_CAN_AddTxMessage(hcan, &raw_tx.tx_header, raw_tx.tx_data, &send_mail_box);
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}
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return DEVICE_OK;
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}
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/**
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* @brief 限制vesc电机转速
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* @param[in/out] rpm: vesce电机转速
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* @retval none
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*
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* 如果rpm的绝对值大于wtrcfg_VESC_COMMAND_ERPM_MAX,
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* 则将rpm的值设置为wtrcfg_VESC_COMMAND_ERPM_MAX或-wtrcfg_VESC_COMMAND_ERPM_MAX
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*/
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void assert_param_rpm(float *rpm){
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if( fabsf(*rpm) > wtrcfg_VESC_COMMAND_ERPM_MAX )
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*rpm = *rpm > 0 ? wtrcfg_VESC_COMMAND_ERPM_MAX : - wtrcfg_VESC_COMMAND_ERPM_MAX ;
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}
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/**
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* @brief 使vesc电机进入转速模式
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* @param[in] controller_id: vesc电机控制器id
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* @param[in] RPM: 电机转速
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* @retval RPM（1000-50000之间的数）
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*/
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void CAN_VESC_RPM(uint8_t controller_id, float RPM)
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{
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uint32_t id;
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int32_t data;
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uint32_t send_mail_box;
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id = controller_id | ((uint32_t)CAN_PACKET_SET_RPM << 8);
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assert_param_rpm(&RPM);
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data = (int32_t)(RPM);
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vesc_tx_message.ExtId = id;
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vesc_tx_message.IDE = CAN_ID_EXT;
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vesc_tx_message.RTR = CAN_RTR_DATA;
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vesc_tx_message.DLC = 0x04;
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vesc_send_data[0] = data >> 24 ;
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vesc_send_data[1] = data >> 16 ;
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vesc_send_data[2] = data >> 8 ;
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vesc_send_data[3] = data ;
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HAL_CAN_AddTxMessage(&hcan2, &vesc_tx_message, vesc_send_data, &send_mail_box);
|
||
}
|
||
|
||
|
||
/**
|
||
* @brief 使vesc电机进入制动模式
|
||
* @param[in] controller_id: vesc电机控制器id
|
||
* @retval none
|
||
*/
|
||
void CAN_VESC_HEAD(uint8_t controller_id)
|
||
{
|
||
uint32_t id;
|
||
uint32_t send_mail_box;
|
||
|
||
id = controller_id | ((uint32_t)CAN_PACKET_SET_CURRENT_BRAKE << 8);
|
||
|
||
vesc_tx_message.ExtId = id;
|
||
vesc_tx_message.IDE = CAN_ID_EXT;
|
||
vesc_tx_message.RTR = CAN_RTR_DATA;
|
||
vesc_tx_message.DLC = 0x04;
|
||
|
||
HAL_CAN_AddTxMessage(&hcan2, &vesc_tx_message, vesc_send_data, &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];
|
||
}
|
||
|
||
CAN_MotorFeedback_t *get_vesc_point(uint8_t i)
|
||
{
|
||
return &motor_5065[i];
|
||
}
|
||
|
||
|
||
//小米
|
||
void Parse_CAN_Response(uint8_t* rx_data, MotorFeedback_t* feedback) {
|
||
// 1. 解析位置
|
||
int16_t pos_code = (rx_data[1] << 8) | rx_data[2];
|
||
feedback->position_deg = ((int16_t)(pos_code - 0x8000) / 32768.0f) * 360.0f * Pmax;
|
||
|
||
// 2. 解析速度
|
||
int16_t speed_code = ((rx_data[3] << 4) | (rx_data[4] >> 4)) - 0x800;
|
||
feedback->speed_rads = (speed_code / 2048.0f) * speed_full_scale;
|
||
|
||
// 3. 解析电流
|
||
int16_t current_code = (((rx_data[4] & 0x0F) << 8) | rx_data[5]) - 0x800;
|
||
feedback->current_A = (current_code / 2048.0f) * current_full_scale;
|
||
|
||
// 记录电机ID
|
||
feedback->can_id = rx_data[0];
|
||
}
|
||
|
||
|
||
void CAN_cmd(int id,JZ_xiaomi_t *JZ_xiaomi)
|
||
{
|
||
uint32_t send_mail_box;
|
||
static int is_open=0; //是否开启电机，根据手册，第一次使用需要ff开启
|
||
tx_message.StdId = id;
|
||
tx_message.IDE = CAN_ID_STD;
|
||
tx_message.RTR = CAN_RTR_DATA;
|
||
tx_message.DLC = 0x08;
|
||
if(is_open){
|
||
|
||
uint16_t pos_code = (uint16_t)((JZ_xiaomi->position / (Pmax * 360.0f)) * 32768.0f + 32768.0f);
|
||
uint16_t speed_code = (uint16_t)((JZ_xiaomi->speed / 200.0f) * 2048.0f + 2048.0f);
|
||
uint16_t current_code = (uint16_t)((JZ_xiaomi->K_C / 4.0f) * 2048.0f + 2048.0f);
|
||
|
||
|
||
can_send_data[0] = (pos_code >> 8) & 0xFF; // 位置高8位
|
||
can_send_data[1] = pos_code & 0xFF; // 位置低8位
|
||
|
||
can_send_data[2] = (speed_code >> 4) & 0xFF; // 速度高8位（取12位中的高8）
|
||
can_send_data[3] = ((speed_code & 0x0F) << 4) | ((JZ_xiaomi->K_P >> 8) & 0x0F); // 速度低4位 + Kp高4位
|
||
|
||
can_send_data[4] = JZ_xiaomi->K_P & 0xFF; // Kp低8位
|
||
|
||
can_send_data[5] = (JZ_xiaomi->K_D >> 4) & 0xFF; // Kd高8位（取12位中的高8）
|
||
can_send_data[6] = ((JZ_xiaomi->K_D & 0x0F) << 4) | ((current_code >> 8) & 0x0F); // Kd低4位 + 电流高4位
|
||
|
||
can_send_data[7] = current_code & 0xFF; // 电流低8位
|
||
|
||
}
|
||
else
|
||
{
|
||
can_send_data[0] = 0xFF;
|
||
can_send_data[1] = 0xFF;
|
||
can_send_data[2] = 0xFF;
|
||
can_send_data[3] = 0xFF;
|
||
can_send_data[4] = 0xFF;
|
||
can_send_data[5] = 0xFF;
|
||
can_send_data[6] = 0xFF;
|
||
can_send_data[7] = 0xFC;
|
||
is_open=1;
|
||
}
|
||
|
||
|
||
HAL_CAN_AddTxMessage(&hcan2, &tx_message, can_send_data, &send_mail_box);
|
||
}
|
||
|