378 lines
12 KiB
C
378 lines
12 KiB
C
/**
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****************************(C) COPYRIGHT ZhouCc****************************
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* @file djiMotor.c/h
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* @brief 大疆电机接收发送程序
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* @note
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* @history
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* Version Date Author Modification
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* V1.0.0 2023.12.11 ZhouCc 完成
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*
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@verbatim
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==============================================================================
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==============================================================================
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@endverbatim
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****************************(C) COPYRIGHT ZhouCc****************************
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*/
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#include "djiMotor.h"
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#include "can_it.h"
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#include "can_init.h"
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#if FREERTOS_DJI == 1
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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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#include "odrive_can.h"
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static CAN_TxHeaderTypeDef vesc_tx_message;
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static uint8_t vesc_send_data[4];
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#endif
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//motor data read
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#define get_motor_measure(ptr, data) \
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{ \
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(ptr)->last_ecd = (ptr)->ecd; \
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(ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]); \
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(ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]); \
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(ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]); \
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(ptr)->temperate = (data)[6]; \
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(ptr)->ecd - (ptr)->last_ecd > 4096 ? ((ptr)->round_cnt--) : ((ptr)->round_cnt=(ptr)->round_cnt); \
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(ptr)->ecd - (ptr)->last_ecd < -4096 ? ((ptr)->round_cnt++) : ((ptr)->round_cnt=(ptr)->round_cnt); \
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(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_3508; \
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}//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.
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/*(ptr)->real_angle = (ptr)->real_angle % 360; */
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#define get_motor_offset(ptr, data) \
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{ \
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(ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]); \
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(ptr)->offset_ecd = (ptr)->ecd; \
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}
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#define get_6020_motor_measure(ptr, data) \
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{ \
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(ptr)->last_ecd = (ptr)->ecd; \
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(ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]); \
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(ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]); \
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(ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]); \
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(ptr)->temperate = (data)[6]; \
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(ptr)->ecd - (ptr)->last_ecd > 4096 ? ((ptr)->round_cnt--) : ((ptr)->round_cnt=(ptr)->round_cnt); \
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(ptr)->ecd - (ptr)->last_ecd < -4096 ? ((ptr)->round_cnt++) : ((ptr)->round_cnt=(ptr)->round_cnt); \
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(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_6020; \
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}
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#define get_2006_motor_measure(ptr, data) \
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{ \
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(ptr)->last_ecd = (ptr)->ecd; \
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(ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]); \
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(ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]); \
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(ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]); \
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(ptr)->temperate = (data)[6]; \
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(ptr)->ecd - (ptr)->last_ecd > 4096 ? ((ptr)->round_cnt--) : ((ptr)->round_cnt=(ptr)->round_cnt); \
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(ptr)->ecd - (ptr)->last_ecd < -4096 ? ((ptr)->round_cnt++) : ((ptr)->round_cnt=(ptr)->round_cnt); \
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(ptr)->total_angle = (fp64)((ptr)->round_cnt * 8192 + (ptr)->ecd - (ptr)->offset_ecd ) * MOTOR_ECD_TO_ANGLE_2006; \
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}
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// 解析出初始编码器值
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// #define get_5065motor_measure(ptr, data) \
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// { \
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// (ptr)->last_ecd = (ptr)->ecd; \
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// (ptr)->ecd = (float)((data)[0] << 4 | (data)[1] <<3 |(data)[2] < 2 |(data)[3]); \
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// (ptr)->speed_rpm = (float)((data)[4] << 4 | (data)[5] <<3 |(data)[6] < 2 |(data)[7]);; \
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// }
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/*(ptr)->real_angle = (ptr)->real_angle % 360; */
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static void CAN_VescMotor_Decode_1(CAN_MotorFeedback_t *feedback,
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const uint8_t *raw)
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{
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if (feedback == NULL || raw == NULL) return;
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union
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{
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int x;
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uint8_t data[4];
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}speed;
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speed.data[0]= raw[3];
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speed.data[1]= raw[2];
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speed.data[2]= raw[1];
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speed.data[3]= raw[0];
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feedback->rotor_speed = speed.x;
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union
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{
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int16_t y;
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uint8_t dat[2];
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}current;
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current.dat[0]= raw[5];
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current.dat[1]= raw[4];
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feedback->torque_current =(fp32)current.y/10;
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}
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#if DEBUG == 1
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motor_measure_t motor_chassis[5];
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CAN_MotorFeedback_t motor_6384;
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#else
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static motor_measure_t motor_chassis[5];
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#endif
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static CAN_TxHeaderTypeDef tx_meessage_1ff;
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static uint8_t can_send_data_1ff[8];
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static CAN_TxHeaderTypeDef tx_meessage_2ff;
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static uint8_t can_send_data_2ff[8];
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static CAN_TxHeaderTypeDef tx_message_200;
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static uint8_t can_send_data_200[8];
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CAN_RxHeaderTypeDef dji_rx_header;
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uint8_t dji_rx_data[8];
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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()
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{
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switch (dji_rx_header.StdId)
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{
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case 0x201:
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case 0x202:
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case 0x203:
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case 0x204:
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case 0x205:
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case 0x206:
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case 0x207:
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{
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static uint8_t i = 0;
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//get motor id
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i = dji_rx_header.StdId - 0x201;
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if(motor_chassis[i].msg_cnt<=50)
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{
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motor_chassis[i].msg_cnt++;
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get_motor_offset(&motor_chassis[i], dji_rx_data);
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}else{
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get_motor_measure(&motor_chassis[i], dji_rx_data);
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}
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break;
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}
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default:
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{
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break;
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}
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}
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}
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void vescMotorEncode()
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{
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switch (dji_rx_header.ExtId) {
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case CAN_VESC5065_M1_MSG1:
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// 存储消息到对应的电机结构体中
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CAN_VescMotor_Decode_1(&motor_6384, dji_rx_data);
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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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#if FREERTOS_DJI == 0
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/**
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* @brief hal库CAN回调函数,接收电机数据
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* @param[in] hcan:CAN句柄指针
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* @retval none
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*/
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void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
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{
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HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &dji_rx_header, dji_rx_data);
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djiMotorEncode();
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}
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#else
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static osEventFlagsId_t eventReceive;//事件标志
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/**
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* @brief 自定义大疆电机回调函数
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* @param[in] none
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* @retval none
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*/
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void Dji_Motor_CB()
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{
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HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &dji_rx_header, dji_rx_data);
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osEventFlagsSet(eventReceive, EVENT_CAN);
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}
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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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BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB,
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Dji_Motor_CB);
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can_filter_init();
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}
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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()
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{
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return osEventFlagsWait(
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eventReceive, EVENT_CAN,osFlagsWaitAny, osWaitForever);
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}
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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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uint32_t send_mail_box;
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tx_meessage_1ff.StdId = 0x1FF;
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tx_meessage_1ff.IDE = CAN_ID_STD;
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tx_meessage_1ff.RTR = CAN_RTR_DATA;
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tx_meessage_1ff.DLC = 0x08;
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can_send_data_1ff[0] = (motor1 >> 8);
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can_send_data_1ff[1] = motor1;
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can_send_data_1ff[2] = (motor2 >> 8);
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can_send_data_1ff[3] = motor2;
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can_send_data_1ff[4] = (motor3 >> 8);
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can_send_data_1ff[5] = motor3;
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can_send_data_1ff[6] = (motor4 >> 8);
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can_send_data_1ff[7] = motor4;
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HAL_CAN_AddTxMessage(hcan, &tx_meessage_1ff, can_send_data_1ff, &send_mail_box);
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}
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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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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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uint32_t send_mail_box;
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tx_message_200.StdId = 0x200;
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tx_message_200.IDE = CAN_ID_STD;
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tx_message_200.RTR = CAN_RTR_DATA;
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tx_message_200.DLC = 0x08;
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can_send_data_200[0] = motor1 >> 8;
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can_send_data_200[1] = motor1;
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can_send_data_200[2] = motor2 >> 8;
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can_send_data_200[3] = motor2;
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can_send_data_200[4] = motor3 >> 8;
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can_send_data_200[5] = motor3;
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can_send_data_200[6] = motor4 >> 8;
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can_send_data_200[7] = motor4;
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HAL_CAN_AddTxMessage(hcan, &tx_message_200, can_send_data_200, &send_mail_box);
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}
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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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void CAN_cmd_2FF(int16_t motor1, int16_t motor2, int16_t motor3, CAN_HandleTypeDef*hcan)
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{
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uint32_t send_mail_box;
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tx_meessage_2ff.StdId = 0x1FF;
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tx_meessage_2ff.IDE = CAN_ID_STD;
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tx_meessage_2ff.RTR = CAN_RTR_DATA;
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tx_meessage_2ff.DLC = 0x08;
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can_send_data_2ff[0] = (motor1 >> 8);
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can_send_data_2ff[1] = motor1;
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can_send_data_2ff[2] = (motor2 >> 8);
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can_send_data_2ff[3] = motor2;
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can_send_data_2ff[4] = (motor3 >> 8);
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can_send_data_2ff[5] = motor3;
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can_send_data_2ff[6] = (0 >> 8);
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can_send_data_2ff[7] = 0;
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HAL_CAN_AddTxMessage(hcan, &tx_meessage_2ff, can_send_data_2ff, &send_mail_box);
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}
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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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motor_measure_t *get_motor_point(uint8_t i)
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{
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return &motor_chassis[i];
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}
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/**
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* @brief 限制vesc电机转速
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* @param[in/out] rpm: vesce电机转速
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* @retval none
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*
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* 如果rpm的绝对值大于wtrcfg_VESC_COMMAND_ERPM_MAX,
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* 则将rpm的值设置为wtrcfg_VESC_COMMAND_ERPM_MAX或-wtrcfg_VESC_COMMAND_ERPM_MAX
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*/
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void assert_param_rpm(float *rpm){
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if( fabsf(*rpm) > wtrcfg_VESC_COMMAND_ERPM_MAX )
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*rpm = *rpm > 0 ? wtrcfg_VESC_COMMAND_ERPM_MAX : - wtrcfg_VESC_COMMAND_ERPM_MAX ;
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}
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/**
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* @brief 使vesc电机进入转速模式
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* @param[in] controller_id: vesc电机控制器id
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* @param[in] RPM: 电机转速
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* @retval RPM（1000-50000之间的数）
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*/
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void CAN_VESC_RPM(uint8_t controller_id, float RPM)
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{
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uint32_t id;
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int32_t data;
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uint32_t send_mail_box;
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id = controller_id | ((uint32_t)CAN_PACKET_SET_RPM << 8);
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assert_param_rpm(&RPM);
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data = (int32_t)(RPM);
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vesc_tx_message.ExtId = id;
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vesc_tx_message.IDE = CAN_ID_EXT;
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vesc_tx_message.RTR = CAN_RTR_DATA;
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vesc_tx_message.DLC = 0x04;
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vesc_send_data[0] = data >> 24 ;
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vesc_send_data[1] = data >> 16 ;
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vesc_send_data[2] = data >> 8 ;
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vesc_send_data[3] = data ;
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HAL_CAN_AddTxMessage(&hcan1, &vesc_tx_message, vesc_send_data, &send_mail_box);
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}
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/**
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* @brief 使vesc电机进入制动模式
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* @param[in] controller_id: vesc电机控制器id
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* @retval none
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*/
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void CAN_VESC_HEAD(uint8_t controller_id)
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{
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uint32_t id;
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uint32_t send_mail_box;
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id = controller_id | ((uint32_t)CAN_PACKET_SET_CURRENT_BRAKE << 8);
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vesc_tx_message.ExtId = id;
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vesc_tx_message.IDE = CAN_ID_EXT;
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vesc_tx_message.RTR = CAN_RTR_DATA;
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vesc_tx_message.DLC = 0x04;
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HAL_CAN_AddTxMessage(&hcan1, &vesc_tx_message, vesc_send_data, &send_mail_box);
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}
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