113 lines
3.4 KiB
C
113 lines
3.4 KiB
C
#ifndef _XIAOMI_H
|
||
#define _XIAOMI_H
|
||
|
||
#include "struct_typedef.h"
|
||
#include "can.h"
|
||
|
||
/*小米电机部分参数和函数*/
|
||
//控制参数最值，谨慎更改
|
||
#define P_MIN -12.5f
|
||
#define P_MAX 12.5f
|
||
#define V_MIN -30.0f
|
||
#define V_MAX 30.0f
|
||
#define KP_MIN 0.0f
|
||
#define KP_MAX 500.0f
|
||
#define KD_MIN 0.0f
|
||
#define KD_MAX 5.0f
|
||
#define T_MIN -12.0f
|
||
#define T_MAX 12.0f
|
||
#define MAX_P 720
|
||
#define MIN_P -720
|
||
//主机CANID设置
|
||
#define Master_CAN_ID 0x00 //主机ID
|
||
//控制命令宏定义
|
||
#define Communication_Type_GetID 0x00 //获取设备的ID和64位MCU唯一标识符
|
||
#define Communication_Type_MotionControl 0x01 //用来向主机发送控制指令
|
||
#define Communication_Type_MotorRequest 0x02 //用来向主机反馈电机运行状态
|
||
#define Communication_Type_MotorEnable 0x03 //电机使能运行
|
||
#define Communication_Type_MotorStop 0x04 //电机停止运行
|
||
#define Communication_Type_SetPosZero 0x06 //设置电机机械零位
|
||
#define Communication_Type_CanID 0x07 //更改当前电机CAN_ID
|
||
#define Communication_Type_Control_Mode 0x12
|
||
#define Communication_Type_GetSingleParameter 0x11 //读取单个参数
|
||
#define Communication_Type_SetSingleParameter 0x12 //设定单个参数
|
||
#define Communication_Type_ErrorFeedback 0x15 //故障反馈帧
|
||
//参数读取宏定义
|
||
#define Run_mode 0x7005
|
||
#define Iq_Ref 0x7006
|
||
#define Spd_Ref 0x700A
|
||
#define Limit_Torque 0x700B
|
||
#define Cur_Kp 0x7010
|
||
#define Cur_Ki 0x7011
|
||
#define Cur_Filt_Gain 0x7014
|
||
#define Loc_Ref 0x7016
|
||
#define Limit_Spd 0x7017
|
||
#define Limit_Cur 0x7018
|
||
|
||
#define Gain_Angle 720/32767.0
|
||
#define Bias_Angle 0x8000
|
||
#define Gain_Speed 30/32767.0
|
||
#define Bias_Speed 0x8000
|
||
#define Gain_Torque 12/32767.0
|
||
#define Bias_Torque 0x8000
|
||
#define Temp_Gain 0.1
|
||
|
||
#define Motor_Error 0x00
|
||
#define Motor_OK 0X01
|
||
|
||
enum CONTROL_MODE //控制模式定义
|
||
{
|
||
Motion_mode = 0,//运控模式
|
||
Position_mode, //位置模式
|
||
Speed_mode, //速度模式
|
||
Current_mode //电流模式
|
||
};
|
||
enum ERROR_TAG //错误回传对照
|
||
{
|
||
OK = 0,//无故障
|
||
BAT_LOW_ERR = 1,//欠压故障
|
||
OVER_CURRENT_ERR = 2,//过流
|
||
OVER_TEMP_ERR = 3,//过温
|
||
MAGNETIC_ERR = 4,//磁编码故障
|
||
HALL_ERR_ERR = 5,//HALL编码故障
|
||
NO_CALIBRATION_ERR = 6//未标定
|
||
};
|
||
|
||
typedef struct{ //小米电机结构体
|
||
uint8_t CAN_ID; //CAN ID
|
||
uint8_t MCU_ID; //MCU唯一标识符[后8位，共64位]
|
||
float Angle; //回传角度
|
||
float Speed; //回传速度
|
||
float Torque; //回传力矩
|
||
float Temp; //回传温度
|
||
|
||
uint16_t set_current;
|
||
uint16_t set_speed;
|
||
uint16_t set_position;
|
||
|
||
uint8_t error_code;
|
||
|
||
float Angle_Bias;
|
||
|
||
}MI_Motor;
|
||
extern MI_Motor mi_motor[4];//预先定义四个小米电机
|
||
|
||
//小米
|
||
|
||
void XM_MotorEncode(void);
|
||
void xia0miInit(void);
|
||
extern void chack_cybergear(uint8_t ID);
|
||
extern void start_cybergear(MI_Motor *Motor);
|
||
extern void stop_cybergear(MI_Motor *Motor, uint8_t clear_error);
|
||
extern void set_mode_cybergear(MI_Motor *Motor, uint8_t Mode);
|
||
extern void set_current_cybergear(MI_Motor *Motor, float Current);
|
||
extern void set_zeropos_cybergear(MI_Motor *Motor);
|
||
extern void set_CANID_cybergear(MI_Motor *Motor, uint8_t CAN_ID);
|
||
extern void init_cybergear(MI_Motor *Motor, uint8_t Can_Id, uint8_t mode);
|
||
extern void motor_controlmode(MI_Motor *Motor,float torque, float MechPosition, float speed, float kp, float kd);
|
||
|
||
|
||
|
||
|
||
#endif
|