116 lines
4.1 KiB
C
116 lines
4.1 KiB
C
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#ifndef __GO_M8010_6_H
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#define __GO_M8010_6_H
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#ifdef __cplusplus
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extern "C"{
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#endif
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#include "main.h"
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#include "crc_ccitt.h"
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#include "usart.h"
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#include "string.h"
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#include <math.h>
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#define GO_NUM 2
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/**
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* @brief <EFBFBD><EFBFBD><EFBFBD>ģʽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
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*
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*/
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typedef struct
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{
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uint8_t id :4; // <20><><EFBFBD>ID: 0,1...,14 15<31><35>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD>㲥<EFBFBD><E3B2A5><EFBFBD><EFBFBD>(<28><>ʱ<EFBFBD><EFBFBD><DEB7><EFBFBD>)
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uint8_t status :3; // <20><><EFBFBD><EFBFBD>ģʽ: 0.<2E><><EFBFBD><EFBFBD> 1.FOC<4F>ջ<EFBFBD> 2.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У 3.<2E><><EFBFBD><EFBFBD>
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uint8_t none :1; // <20><><EFBFBD><EFBFBD>λ
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} RIS_Mode_t /*__attribute__((packed))*/; // <20><><EFBFBD><EFBFBD>ģʽ 1Byte
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/**
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* @brief <EFBFBD><EFBFBD><EFBFBD>״̬<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
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*
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*/
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typedef struct
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{
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int16_t tor_des; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD>Ť<EFBFBD><C5A4> unit: N.m (q8)
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int16_t spd_des; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> unit: rad/s (q7)
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int32_t pos_des; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB> unit: rad (q15)
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uint16_t k_pos; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽڸն<DAB8>ϵ<EFBFBD><CFB5> unit: 0.0-1.0 (q15)
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uint16_t k_spd; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5> unit: 0.0-1.0 (q15)
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} RIS_Comd_t; // <20><><EFBFBD>Ʋ<EFBFBD><C6B2><EFBFBD> 12Byte
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/**
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* @brief <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD><EFBFBD><EFBFBD>ʽ
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*
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*/
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typedef struct
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{
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uint8_t head[2]; // <20><>ͷ 2Byte
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RIS_Mode_t mode; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ 1Byte
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RIS_Comd_t comd; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 12Byte
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uint16_t CRC16; // CRC 2Byte
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} ControlData_t; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 17Byte
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typedef struct {
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unsigned short id; // <20><><EFBFBD>ID<49><44>0xBB<42><42><EFBFBD><EFBFBD>ȫ<EFBFBD><C8AB><EFBFBD><EFBFBD><EFBFBD> why<68><79><EFBFBD><EFBFBD><EFBFBD><EFBFBD>f<EFBFBD><66><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD><EFBFBD>
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unsigned short mode; // 0:<3A><><EFBFBD><EFBFBD>, 5:<3A><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>, 10:<3A>ջ<EFBFBD>FOC<4F><43><EFBFBD><EFBFBD> why<68><79><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD>ջ<EFBFBD><D5BB><EFBFBD>2У<D0A3><D7BC>
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uint16_t correct; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD> <20><>1 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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int MError; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0.<2E><><EFBFBD><EFBFBD> 1.<2E><><EFBFBD><EFBFBD> 2.<2E><><EFBFBD><EFBFBD> 3.<2E><>ѹ 4.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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int Temp; // <20>¶<EFBFBD>
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float tar_pos; // target position
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float tar_w; // target speed
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float T; // <20><>ǰʵ<C7B0>ʵ<EFBFBD><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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float W; // <20><>ǰʵ<C7B0>ʵ<EFBFBD><CAB5><EFBFBD>ٶȣ<D9B6><C8A3><EFBFBD><EFBFBD>٣<EFBFBD>
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float Pos; // <20><>ǰ<EFBFBD><C7B0><EFBFBD>λ<EFBFBD><CEBB>
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int footForce; // They dont even know what 7 is this so we dont update this
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uint8_t buffer[17];
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uint8_t Rec_buffer[16];
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ControlData_t motor_send_data;
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}GO_Motorfield;
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/**
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*@brief <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>
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*/
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void GO_M8010_init(void);
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/**
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*@brief go<EFBFBD><EFBFBD><EFBFBD>Ϳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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*@input[in] huart <EFBFBD><EFBFBD><EFBFBD>ô<EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>
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*@input[in] id <EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><EFBFBD>id
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*@input[in] rev <EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>֪<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɶ<EFBFBD>õģ<EFBFBD>githubΪ<EFBFBD>ش<EFBFBD>issue
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*@input[in] T <EFBFBD><EFBFBD><EFBFBD>أ<EFBFBD><EFBFBD><EFBFBD>λN<EFBFBD><EFBFBD>m
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*@input[in] Pos Ŀ<EFBFBD><EFBFBD>λ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD>λrad
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*@input[in] W Ŀ<EFBFBD><EFBFBD><EFBFBD>ٶȣ<EFBFBD><EFBFBD><EFBFBD>λrad/s
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*@input[in] K_P λ<EFBFBD>û<EFBFBD><EFBFBD><EFBFBD>kp
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*@input[in] K_W <EFBFBD>ٶȻ<EFBFBD>kp
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*@note <EFBFBD><EFBFBD><EFBFBD>ƹ<EFBFBD>ʽ <EFBFBD><EFBFBD> t = T + <EFBFBD><EFBFBD><EFBFBD>趨λ<EFBFBD><EFBFBD> - ʵ<EFBFBD><EFBFBD>λ<EFBFBD>ã<EFBFBD>*K_P + <EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD> - ʵ<EFBFBD><EFBFBD><EFBFBD>ٶȣ<EFBFBD>*K_W
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*/
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void GO_M8010_send_data(UART_HandleTypeDef *huart,int id, int rev,float T,float W,float Pos,float K_P,float K_W);
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/**
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*@brief <EFBFBD>û<EFBFBD><EFBFBD>Զ<EFBFBD><EFBFBD>崮<EFBFBD>ڷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϻص<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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*/
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void uartTxCB(UART_HandleTypeDef *huart);
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//<2F><>λ<EFBFBD><CEBB>Ͽ<EFBFBD><CFBF><EFBFBD>
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void basic_ForceControl (UART_HandleTypeDef *huart, int id, float bias, float length, float mass,
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float tar_pos, float tar_w, float K_P,float K_W);
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/**
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*@brief go<EFBFBD><EFBFBD><EFBFBD>Ϳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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*@input[in] id <EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><EFBFBD>id
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*@revtal <EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>
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*/
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GO_Motorfield* getGoPoint(uint8_t id);
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#ifdef __cplusplus
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}
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#endif
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#endif /*__GO_M8010_6_H */
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