176 lines
4.4 KiB
C
176 lines
4.4 KiB
C
#ifndef DJI_MOTOR_H
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#define DJI_MOTOR_H
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#ifdef __cplusplus
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extern "C"{
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#endif
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#define FREERTOS_DJI 1
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#include "struct_typedef.h"
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#include "can.h"
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#include "odrive_can.h"
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typedef enum{
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GM6020 = 0,
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M3508 = 1,
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M2006 = 2
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}motor_type_e;
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enum{
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M3508_1 = 0x201,
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M3508_2 = 0x202,
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M3508_3 = 0x203,
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M3508_4 = 0x204,
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M2006_1 = 0x205,
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M2006_2 = 0x206,
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GM6020_1 = 0x207,
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GM6020_2 = 0x208,
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CAN_VESC5065_M1_MSG1 =0x1001, //vesc的数据回传使用了扩展id，[0:7]为驱动器id，[8:15]为帧类型
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CAN_VESC5065_M2_MSG1 =0x1002,
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};
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//rm motor data
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typedef struct
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{
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uint16_t ecd;//编码器返回值0-8192
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int16_t speed_rpm;//速度
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int16_t given_current;//电流
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uint16_t temperate;//温度
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int16_t last_ecd;//上次的编码器角度
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int16_t round_cnt;//转子圈数(ecd round)
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int32_t total_angle;//输出轴角度
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uint16_t offset_ecd;//开始的ecd值
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uint32_t msg_cnt;//初始化开始ecd值用的
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int16_t real_round;//输出轴圈数
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int16_t real_angle;//输出轴单圈角度
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motor_type_e type;//电机类型，详见motor_type_e
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} motor_measure_t;
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typedef struct
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{
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uint16_t ecd;
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int16_t speed_rpm;
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int16_t given_current;
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uint8_t temperate;
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int16_t last_ecd;
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} odrive_measure_t;
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typedef enum {
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CAN_PACKET_SET_DUTY = 0,
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CAN_PACKET_SET_CURRENT = 1,
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CAN_PACKET_SET_CURRENT_BRAKE =2,
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CAN_PACKET_SET_RPM = 3,
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CAN_PACKET_SET_POS = 4,
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CAN_PACKET_FILL_RX_BUFFER = 5,
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CAN_PACKET_FILL_RX_BUFFER_LONG = 6,
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CAN_PACKET_PROCESS_RX_BUFFER = 7,
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CAN_PACKET_PROCESS_SHORT_BUFFER = 8,
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CAN_PACKET_STATUS = 9,
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CAN_PACKET_SET_CURRENT_REL = 10,
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CAN_PACKET_SET_CURRENT_BRAKE_REL = 11,
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CAN_PACKET_SET_CURRENT_HANDBRAKE = 12,
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CAN_PACKET_SET_CURRENT_HANDBRAKE_REL = 13
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} CAN_PACKET_ID;
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//motor calc ecd to angle
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/* 电机反馈信息 */
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typedef struct {
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float rotor_ecd;
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float rotor_speed;
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float torque_current;
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float temp;
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} CAN_MotorFeedback_t;
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#define MOTOR_ECD_TO_ANGLE_3508 (360.0 / 8191.0 / (3591.0/187.0))
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#define MOTOR_ECD_TO_ANGLE_2006 (360.0 / 8191.0 / 36)
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#define MOTOR_ECD_TO_RAD 0.000766990394f
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#define MOTOR_ECD_TO_ANGLE_6020 (360.0 / 8191.0 )
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#define wtrcfg_VESC_COMMAND_ERPM_MAX 35000
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#define CAN_VESC_CTRL_ID_BASE (0x300)
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#if FREERTOS_DJI == 1
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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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* @brief 等待新数据
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*/
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uint32_t waitNewDji(void);
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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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* @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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extern 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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* @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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extern void CAN_cmd_2FF(int16_t motor1, int16_t motor2, int16_t motor3, CAN_HandleTypeDef*hcan);
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/**
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* @brief 返回电机数据指针
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* @param[in] i: 电机编号
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* @retval 电机数据指针
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*/
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extern motor_measure_t *get_motor_point(uint8_t i);
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/**
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* @brief 返回GM6020电机数据指针
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* @param[in] i: 电机编号
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* @retval 电机数据指针
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*/
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motor_measure_t *get_6020_motor_point(uint8_t i);
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/**
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* @brief 返回M2006电机数据指针
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* @param[in] i: 电机编号
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* @retval 电机数据指针
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*/
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motor_measure_t *get_2006_motor_point(uint8_t i);
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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(void);
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void vescMotorEncode(void);
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void CAN_VESC_RPM(uint8_t controller_id, float RPM);
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void CAN_VESC_HEAD(uint8_t controller_id);
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#ifdef __cplusplus
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}
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#endif
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#endif
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