315 lines
9.3 KiB
C
315 lines
9.3 KiB
C
#include "Xiaomi.h"
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#include "can_it.h"
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#include "can_init.h"
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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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//小米电机
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CAN_RxHeaderTypeDef rxMsg;//发送接收结构体
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CAN_TxHeaderTypeDef txMsg;//发送配置结构体
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uint32_t Motor_Can_ID; //接收数据电机ID
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uint8_t byte[4]; //转换临时数据
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uint32_t send_mail_box = {0};//NONE
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#define can_txd() HAL_CAN_AddTxMessage(&hcan2, &txMsg, tx_data, &send_mail_box)//CAN发送宏定义
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MI_Motor mi_motor[4];//预先定义四个小米电机
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CAN_RxHeaderTypeDef xm_rx_header;
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uint8_t xm_rx_data[8];
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/**
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* @brief 浮点数转4字节函数
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* @param[in] f:浮点数
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* @retval 4字节数组
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* @description : IEEE 754 协议
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*/
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static uint8_t* Float_to_Byte(float f)
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{
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unsigned long longdata = 0;
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longdata = *(unsigned long*)&f;
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byte[0] = (longdata & 0xFF000000) >> 24;
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byte[1] = (longdata & 0x00FF0000) >> 16;
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byte[2] = (longdata & 0x0000FF00) >> 8;
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byte[3] = (longdata & 0x000000FF);
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return byte;
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}
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/**
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* @brief 小米电机回文16位数据转浮点
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* @param[in] x:16位回文
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* @param[in] x_min:对应参数下限
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* @param[in] x_max:对应参数上限
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* @param[in] bits:参数位数
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* @retval 返回浮点值
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*/
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static float uint16_to_float(uint16_t x,float x_min,float x_max,int bits)
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{
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uint32_t span = (1 << bits) - 1;
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float offset = x_max - x_min;
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return offset * x / span + x_min;
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}
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/**
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* @brief 小米电机发送浮点转16位数据
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* @param[in] x:浮点
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* @param[in] x_min:对应参数下限
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* @param[in] x_max:对应参数上限
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* @param[in] bits:参数位数
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* @retval 返回浮点值
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*/
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static int float_to_uint(float x, float x_min, float x_max, int bits)
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{
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float span = x_max - x_min;
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float offset = x_min;
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if(x > x_max) x=x_max;
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else if(x < x_min) x= x_min;
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return (int) ((x-offset)*((float)((1<<bits)-1))/span);
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}
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/**
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* @brief 写入电机参数
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* @param[in] Motor:对应控制电机结构体
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* @param[in] Index:写入参数对应地址
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* @param[in] Value:写入参数值
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* @param[in] Value_type:写入参数数据类型
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* @retval none
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*/
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static void Set_Motor_Parameter(MI_Motor *Motor,uint16_t Index,float Value,char Value_type){
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uint8_t tx_data[8];
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txMsg.ExtId = Communication_Type_SetSingleParameter<<24|Master_CAN_ID<<8|Motor->CAN_ID;
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tx_data[0]=Index;
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tx_data[1]=Index>>8;
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tx_data[2]=0x00;
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tx_data[3]=0x00;
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if(Value_type == 'f'){
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Float_to_Byte(Value);
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tx_data[4]=byte[3];
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tx_data[5]=byte[2];
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tx_data[6]=byte[1];
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tx_data[7]=byte[0];
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}
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else if(Value_type == 's'){
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tx_data[4]=(uint8_t)Value;
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tx_data[5]=0x00;
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tx_data[6]=0x00;
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tx_data[7]=0x00;
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}
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can_txd();
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}
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/**
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* @brief 提取电机回复帧扩展ID中的电机CANID
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* @param[in] CAN_ID_Frame:电机回复帧中的扩展CANID
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* @retval 电机CANID
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*/
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static uint32_t Get_Motor_ID(uint32_t CAN_ID_Frame)
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{
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return (CAN_ID_Frame&0xFFFF)>>8;
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}
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/**
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* @brief 电机回复帧数据处理函数
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* @param[in] Motor:对应控制电机结构体
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* @param[in] DataFrame:数据帧
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* @param[in] IDFrame:扩展ID帧
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* @retval None
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*/
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static void Motor_Data_Handler(MI_Motor *Motor,uint8_t DataFrame[8],uint32_t IDFrame)
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{
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Motor->Angle=uint16_to_float(DataFrame[0]<<8|DataFrame[1],MIN_P,MAX_P,16);
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Motor->Speed=uint16_to_float(DataFrame[2]<<8|DataFrame[3],V_MIN,V_MAX,16);
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Motor->Torque=uint16_to_float(DataFrame[4]<<8|DataFrame[5],T_MIN,T_MAX,16);
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Motor->Temp=(DataFrame[6]<<8|DataFrame[7])*Temp_Gain;
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Motor->error_code=(IDFrame&0x1F0000)>>16;
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}
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/**
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* @brief 小米电机ID检查
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* @param[in] id: 控制电机CAN_ID【出厂默认0x7F】
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* @retval none
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*/
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void chack_cybergear(uint8_t ID)
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{
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uint8_t tx_data[8] = {0};
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txMsg.ExtId = Communication_Type_GetID<<24|Master_CAN_ID<<8|ID;
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can_txd();
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}
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/**
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* @brief 使能小米电机
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* @param[in] Motor:对应控制电机结构体
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* @retval none
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*/
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void start_cybergear(MI_Motor *Motor)
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{
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uint8_t tx_data[8] = {0};
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txMsg.ExtId = Communication_Type_MotorEnable<<24|Master_CAN_ID<<8|Motor->CAN_ID;
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can_txd();
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}
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/**
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* @brief 停止电机
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* @param[in] Motor:对应控制电机结构体
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* @param[in] clear_error:清除错误位（0 不清除 1清除）
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* @retval None
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*/
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void stop_cybergear(MI_Motor *Motor,uint8_t clear_error)
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{
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uint8_t tx_data[8]={0};
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tx_data[0]=clear_error;//清除错误位设置
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txMsg.ExtId = Communication_Type_MotorStop<<24|Master_CAN_ID<<8|Motor->CAN_ID;
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can_txd();
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}
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/**
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* @brief 设置电机模式(必须停止时调整！)
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* @param[in] Motor: 电机结构体
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* @param[in] Mode: 电机工作模式（1.运动模式Motion_mode 2. 位置模式Position_mode 3. 速度模式Speed_mode 4. 电流模式Current_mode）
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* @retval none
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*/
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void set_mode_cybergear(MI_Motor *Motor,uint8_t Mode)
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{
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Set_Motor_Parameter(Motor,Run_mode,Mode,'s');
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}
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/**
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* @brief 电流控制模式下设置电流
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* @param[in] Motor: 电机结构体
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* @param[in] Current:电流设置
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* @retval none
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*/
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void set_current_cybergear(MI_Motor *Motor,float Current)
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{
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Set_Motor_Parameter(Motor,Iq_Ref,Current,'f');
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}
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/**
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* @brief 设置电机零点
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* @param[in] Motor: 电机结构体
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* @retval none
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*/
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void set_zeropos_cybergear(MI_Motor *Motor)
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{
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uint8_t tx_data[8]={0};
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tx_data[0] = 1;
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txMsg.ExtId = Communication_Type_SetPosZero<<24|Master_CAN_ID<<8|Motor->CAN_ID;
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can_txd();
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}
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/**
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* @brief 设置电机CANID
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* @param[in] Motor: 电机结构体
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* @param[in] Motor: 设置新ID
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* @retval none
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*/
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void set_CANID_cybergear(MI_Motor *Motor,uint8_t CAN_ID)
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{
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uint8_t tx_data[8]={0};
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txMsg.ExtId = Communication_Type_CanID<<24|CAN_ID<<16|Master_CAN_ID<<8|Motor->CAN_ID;
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Motor->CAN_ID = CAN_ID;//将新的ID导入电机结构体
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can_txd();
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}
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/**
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* @brief 小米电机初始化
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* @param[in] Motor: 电机结构体
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* @param[in] Can_Id: 小米电机ID(默认0x7F)
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* @param[in] Motor_Num: 电机编号
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* @param[in] mode: 电机工作模式（0.运动模式Motion_mode 1. 位置模式Position_mode 2. 速度模式Speed_mode 3. 电流模式Current_mode）
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* @retval none
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*/
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void init_cybergear(MI_Motor *Motor,uint8_t Can_Id, uint8_t mode)
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{
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txMsg.StdId = 0; //配置CAN发送：标准帧清零
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txMsg.ExtId = 0; //配置CAN发送：扩展帧清零
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txMsg.IDE = CAN_ID_EXT; //配置CAN发送：扩展帧
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txMsg.RTR = CAN_RTR_DATA; //配置CAN发送：数据帧
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txMsg.DLC = 0x08; //配置CAN发送：数据长度
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Motor->CAN_ID=Can_Id; //ID设置
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set_mode_cybergear(Motor,mode);//设置电机模式
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start_cybergear(Motor); //使能电机
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}
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/**
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* @brief 小米运控模式指令
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* @param[in] Motor: 目标电机结构体
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* @param[in] torque: 力矩设置[-12,12] N*M
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* @param[in] MechPosition: 位置设置[-12.5,12.5] rad
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* @param[in] speed: 速度设置[-30,30] rpm
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* @param[in] kp: 比例参数设置
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* @param[in] kd: 微分参数设置
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* @retval none
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*/
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void motor_controlmode(MI_Motor *Motor,float torque, float MechPosition, float speed, float kp, float kd)
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{
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uint8_t tx_data[8];//发送数据初始化
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//装填发送数据
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tx_data[0]=float_to_uint(MechPosition,P_MIN,P_MAX,16)>>8;
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tx_data[1]=float_to_uint(MechPosition,P_MIN,P_MAX,16);
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tx_data[2]=float_to_uint(speed,V_MIN,V_MAX,16)>>8;
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tx_data[3]=float_to_uint(speed,V_MIN,V_MAX,16);
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tx_data[4]=float_to_uint(kp,KP_MIN,KP_MAX,16)>>8;
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tx_data[5]=float_to_uint(kp,KP_MIN,KP_MAX,16);
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tx_data[6]=float_to_uint(kd,KD_MIN,KD_MAX,16)>>8;
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tx_data[7]=float_to_uint(kd,KD_MIN,KD_MAX,16);
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txMsg.ExtId = Communication_Type_MotionControl<<24|float_to_uint(torque,T_MIN,T_MAX,16)<<8|Motor->CAN_ID;//装填扩展帧数据
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can_txd();
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}
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/**
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* @brief 小米电机数据处理函数
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* @param[in] none
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* @retval none
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*/
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void XM_MotorEncode()
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{
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if(xm_rx_header.IDE == CAN_ID_EXT)
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{
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Motor_Can_ID=Get_Motor_ID(xm_rx_header.ExtId);//首先获取回传电机ID信息
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switch(Motor_Can_ID)
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{
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case 0x01:
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if(xm_rx_header.ExtId>>24 != 0) //检查是否为广播模式
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Motor_Data_Handler(&mi_motor[0],xm_rx_data,xm_rx_header.ExtId);
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else
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mi_motor[0].MCU_ID = xm_rx_data[0];
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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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}
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static osEventFlagsId_t eventReceive;//事件标志
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/**
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* @brief 自定义小米电机回调函数
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* @param[in] none
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* @retval none
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*/
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void XM_Motor_CB()
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{
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HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO1, &xm_rx_header, xm_rx_data);
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osEventFlagsSet(eventReceive, EVENT_CAN);
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}
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/**
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* @brief 小米电机初始化
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* @param none
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* @retval none
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*/
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void xia0miInit(void)
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{
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BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB,
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XM_Motor_CB);
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// can_filter_init();//dji那里已经初始化了
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}
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