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DJI解析

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This commit is contained in:
ws 2025-03-15 16:42:56 +08:00
parent 83a9c93e16
commit f50817a218
4 changed files with 19 additions and 7 deletions
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15
User/device/djiMotor.c
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@ -37,7 +37,7 @@
(ptr)->temperate = (data)[6]; \ (ptr)->temperate = (data)[6]; \
(ptr)->ecd - (ptr)->last_ecd > 4096 ? ((ptr)->round_cnt--) : ((ptr)->round_cnt=(ptr)->round_cnt); \ (ptr)->ecd - (ptr)->last_ecd > 4096 ? ((ptr)->round_cnt--) : ((ptr)->round_cnt=(ptr)->round_cnt); \
(ptr)->ecd - (ptr)->last_ecd < -4096 ? ((ptr)->round_cnt++) : ((ptr)->round_cnt=(ptr)->round_cnt); \ (ptr)->ecd - (ptr)->last_ecd < -4096 ? ((ptr)->round_cnt++) : ((ptr)->round_cnt=(ptr)->round_cnt); \
(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE; \ (ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_3508; \
}//ptr指向电机测量数据结构体的指针，data包含电机测量数据的数组. }//ptr指向电机测量数据结构体的指针，data包含电机测量数据的数组.
/*(ptr)->real_angle = (ptr)->real_angle % 360; */ /*(ptr)->real_angle = (ptr)->real_angle % 360; */
#define get_motor_offset(ptr, data) \ #define get_motor_offset(ptr, data) \
@ -55,6 +55,17 @@
(ptr)->ecd - (ptr)->last_ecd > 4096 ? ((ptr)->round_cnt--) : ((ptr)->round_cnt=(ptr)->round_cnt); \ (ptr)->ecd - (ptr)->last_ecd > 4096 ? ((ptr)->round_cnt--) : ((ptr)->round_cnt=(ptr)->round_cnt); \
(ptr)->ecd - (ptr)->last_ecd < -4096 ? ((ptr)->round_cnt++) : ((ptr)->round_cnt=(ptr)->round_cnt); \ (ptr)->ecd - (ptr)->last_ecd < -4096 ? ((ptr)->round_cnt++) : ((ptr)->round_cnt=(ptr)->round_cnt); \
(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_6020; \ (ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_6020; \
}
#define get_2006_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]; \
(ptr)->ecd - (ptr)->last_ecd > 4096 ? ((ptr)->round_cnt--) : ((ptr)->round_cnt=(ptr)->round_cnt); \
(ptr)->ecd - (ptr)->last_ecd < -4096 ? ((ptr)->round_cnt++) : ((ptr)->round_cnt=(ptr)->round_cnt); \
(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_2006; \
} }
// 解析出初始编码器值 // 解析出初始编码器值
// #define get_5065motor_measure(ptr, data) \ // #define get_5065motor_measure(ptr, data) \
@ -132,7 +143,7 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
} }
#else #else
static osEventFlagsId_t eventReceive; static osEventFlagsId_t eventReceive;//事件标志
/** /**
* @brief 自定义大疆电机回调函数 * @brief 自定义大疆电机回调函数
* @param[in] none * @param[in] none

3
User/device/djiMotor.h
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@ -47,7 +47,8 @@ typedef struct
//motor calc ecd to angle //motor calc ecd to angle
#define MOTOR_ECD_TO_ANGLE (360.0 / 8191.0 / (3591.0/187.0)) #define MOTOR_ECD_TO_ANGLE_3508 (360.0 / 8191.0 / (3591.0/187.0))
#define MOTOR_ECD_TO_ANGLE_2006 (360.0 / 8191.0 / 36)
#define MOTOR_ECD_TO_RAD 0.000766990394f #define MOTOR_ECD_TO_RAD 0.000766990394f
#define MOTOR_ECD_TO_ANGLE_6020 (360.0 / 8191.0 ) #define MOTOR_ECD_TO_ANGLE_6020 (360.0 / 8191.0 )

2
User/task/dji_task.c
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@ -48,7 +48,7 @@ void Task_Motor(void *argument)
//当最高点时进入离合 //当最高点时进入离合
if(encoder.round_cnt>=8) if(encoder.round_cnt>=8)
{ {
trigger_angle_o=-1; trigger_angle_o=2;
trigger_pos(m); trigger_pos(m);
} }

4
User/task/shoot_task.c
View File

@ -19,8 +19,8 @@ extern int mode;
//odrive发射 //odrive发射
#define SHOOT3 12 #define SHOOT3 12
#define TOP 8 #define TOP 6
#define MIDDLE 4 #define MIDDLE 3
#define BOTTOM 0 #define BOTTOM 0
void Task_Shoot(void *argument) void Task_Shoot(void *argument)