656 lines
20 KiB
C
656 lines
20 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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//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(&hcan1, &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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/**
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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 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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if(dji_rx_header.IDE == CAN_ID_STD)
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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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if(dji_rx_header.IDE == CAN_ID_EXT)
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{
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Motor_Can_ID=Get_Motor_ID(dji_rx_header.ExtId);//首先获取回传电机ID信息
|
||
|
||
switch(Motor_Can_ID)
|
||
{
|
||
|
||
case 0x01:
|
||
if(dji_rx_header.ExtId>>24 != 0) //检查是否为广播模式
|
||
Motor_Data_Handler(&mi_motor[0],dji_rx_data,dji_rx_header.ExtId);
|
||
else
|
||
mi_motor[0].MCU_ID = dji_rx_data[0];
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
|
||
|
||
|
||
|
||
}
|
||
|
||
void vescMotorEncode()
|
||
{
|
||
switch (dji_rx_header.ExtId) {
|
||
|
||
case CAN_VESC5065_M1_MSG1:
|
||
// 存储消息到对应的电机结构体中
|
||
CAN_VescMotor_Decode_1(&motor_6384, dji_rx_data);
|
||
break;
|
||
|
||
default:
|
||
break;
|
||
}
|
||
|
||
}
|
||
|
||
#if FREERTOS_DJI == 0
|
||
/**
|
||
* @brief hal库CAN回调函数,接收电机数据
|
||
* @param[in] hcan:CAN句柄指针
|
||
* @retval none
|
||
*/
|
||
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
|
||
{
|
||
HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &dji_rx_header, dji_rx_data);
|
||
|
||
djiMotorEncode();
|
||
|
||
}
|
||
#else
|
||
static osEventFlagsId_t eventReceive;//事件标志
|
||
/**
|
||
* @brief 自定义大疆电机回调函数
|
||
* @param[in] none
|
||
* @retval none
|
||
*/
|
||
void Dji_Motor_CB()
|
||
{
|
||
HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &dji_rx_header, dji_rx_data);
|
||
|
||
osEventFlagsSet(eventReceive, EVENT_CAN);
|
||
}
|
||
|
||
/**
|
||
* @brief 大疆电机初始化
|
||
* @param none
|
||
* @retval none
|
||
*/
|
||
void djiInit(void)
|
||
{
|
||
BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB,
|
||
Dji_Motor_CB);
|
||
can_filter_init();
|
||
}
|
||
|
||
/**
|
||
* @brief 等待新数据
|
||
*/
|
||
uint32_t waitNewDji()
|
||
{
|
||
return osEventFlagsWait(
|
||
eventReceive, EVENT_CAN,osFlagsWaitAny, osWaitForever);
|
||
}
|
||
#endif
|
||
|
||
/**
|
||
* @brief 发送电机控制电流(0x205,0x206,0x207,0x208)
|
||
* @param[in] motor1: (0x205) 电机控制电流
|
||
* @param[in] motor2: (0x206) 电机控制电流
|
||
* @param[in] motor3: (0x207) 电机控制电流
|
||
* @param[in] motor4: (0x208) 电机控制电流
|
||
* @retval none
|
||
*/
|
||
extern void CAN_cmd_1FF(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4,CAN_HandleTypeDef*hcan)
|
||
{
|
||
uint32_t send_mail_box;
|
||
tx_meessage_1ff.StdId = 0x1FF;
|
||
tx_meessage_1ff.IDE = CAN_ID_STD;
|
||
tx_meessage_1ff.RTR = CAN_RTR_DATA;
|
||
tx_meessage_1ff.DLC = 0x08;
|
||
can_send_data_1ff[0] = (motor1 >> 8);
|
||
can_send_data_1ff[1] = motor1;
|
||
can_send_data_1ff[2] = (motor2 >> 8);
|
||
can_send_data_1ff[3] = motor2;
|
||
can_send_data_1ff[4] = (motor3 >> 8);
|
||
can_send_data_1ff[5] = motor3;
|
||
can_send_data_1ff[6] = (motor4 >> 8);
|
||
can_send_data_1ff[7] = motor4;
|
||
HAL_CAN_AddTxMessage(hcan, &tx_meessage_1ff, can_send_data_1ff, &send_mail_box);
|
||
}
|
||
|
||
/**
|
||
* @brief 发送电机控制电流(0x201,0x202,0x203,0x204)
|
||
* @param[in] motor1: (0x201) 电机控制电流
|
||
* @param[in] motor2: (0x202) 电机控制电流
|
||
* @param[in] motor3: (0x203) 电机控制电流
|
||
* @param[in] motor4: (0x204) 电机控制电流
|
||
* @retval none
|
||
*/
|
||
void CAN_cmd_200(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4,CAN_HandleTypeDef*hcan)
|
||
{
|
||
uint32_t send_mail_box;
|
||
tx_message_200.StdId = 0x200;
|
||
tx_message_200.IDE = CAN_ID_STD;
|
||
tx_message_200.RTR = CAN_RTR_DATA;
|
||
tx_message_200.DLC = 0x08;
|
||
can_send_data_200[0] = motor1 >> 8;
|
||
can_send_data_200[1] = motor1;
|
||
can_send_data_200[2] = motor2 >> 8;
|
||
can_send_data_200[3] = motor2;
|
||
can_send_data_200[4] = motor3 >> 8;
|
||
can_send_data_200[5] = motor3;
|
||
can_send_data_200[6] = motor4 >> 8;
|
||
can_send_data_200[7] = motor4;
|
||
|
||
HAL_CAN_AddTxMessage(hcan, &tx_message_200, can_send_data_200, &send_mail_box);
|
||
}
|
||
|
||
/**
|
||
* @brief 发送电机控制电流(0x205,0x206,0x207,0x208)
|
||
* @param[in] motor1: (0x209) 电机控制电流
|
||
* @param[in] motor2: (0x20A) 电机控制电流
|
||
* @param[in] motor3: (0x20B) 电机控制电流
|
||
* @retval none
|
||
*/
|
||
void CAN_cmd_2FF(int16_t motor1, int16_t motor2, int16_t motor3, CAN_HandleTypeDef*hcan)
|
||
{
|
||
uint32_t send_mail_box;
|
||
tx_meessage_2ff.StdId = 0x1FF;
|
||
tx_meessage_2ff.IDE = CAN_ID_STD;
|
||
tx_meessage_2ff.RTR = CAN_RTR_DATA;
|
||
tx_meessage_2ff.DLC = 0x08;
|
||
can_send_data_2ff[0] = (motor1 >> 8);
|
||
can_send_data_2ff[1] = motor1;
|
||
can_send_data_2ff[2] = (motor2 >> 8);
|
||
can_send_data_2ff[3] = motor2;
|
||
can_send_data_2ff[4] = (motor3 >> 8);
|
||
can_send_data_2ff[5] = motor3;
|
||
can_send_data_2ff[6] = (0 >> 8);
|
||
can_send_data_2ff[7] = 0;
|
||
HAL_CAN_AddTxMessage(hcan, &tx_meessage_2ff, can_send_data_2ff, &send_mail_box);
|
||
}
|
||
|
||
/**
|
||
* @brief 返回电机数据指针
|
||
* @param[in] i: 电机编号
|
||
* @retval 电机数据指针
|
||
*/
|
||
motor_measure_t *get_motor_point(uint8_t i)
|
||
{
|
||
return &motor_chassis[i];
|
||
}
|
||
|
||
|
||
/**
|
||
* @brief 限制vesc电机转速
|
||
* @param[in/out] rpm: vesce电机转速
|
||
* @retval none
|
||
*
|
||
* 如果rpm的绝对值大于wtrcfg_VESC_COMMAND_ERPM_MAX,
|
||
* 则将rpm的值设置为wtrcfg_VESC_COMMAND_ERPM_MAX或-wtrcfg_VESC_COMMAND_ERPM_MAX
|
||
*/
|
||
void assert_param_rpm(float *rpm){
|
||
if( fabsf(*rpm) > wtrcfg_VESC_COMMAND_ERPM_MAX )
|
||
*rpm = *rpm > 0 ? wtrcfg_VESC_COMMAND_ERPM_MAX : - wtrcfg_VESC_COMMAND_ERPM_MAX ;
|
||
}
|
||
|
||
/**
|
||
* @brief 使vesc电机进入转速模式
|
||
* @param[in] controller_id: vesc电机控制器id
|
||
* @param[in] RPM: 电机转速
|
||
* @retval RPM（1000-50000之间的数）
|
||
*/
|
||
void CAN_VESC_RPM(uint8_t controller_id, float RPM)
|
||
{
|
||
uint32_t id;
|
||
int32_t data;
|
||
uint32_t send_mail_box;
|
||
|
||
id = controller_id | ((uint32_t)CAN_PACKET_SET_RPM << 8);
|
||
assert_param_rpm(&RPM);
|
||
data = (int32_t)(RPM);
|
||
|
||
vesc_tx_message.ExtId = id;
|
||
vesc_tx_message.IDE = CAN_ID_EXT;
|
||
vesc_tx_message.RTR = CAN_RTR_DATA;
|
||
vesc_tx_message.DLC = 0x04;
|
||
vesc_send_data[0] = data >> 24 ;
|
||
vesc_send_data[1] = data >> 16 ;
|
||
vesc_send_data[2] = data >> 8 ;
|
||
vesc_send_data[3] = data ;
|
||
|
||
HAL_CAN_AddTxMessage(&hcan1, &vesc_tx_message, vesc_send_data, &send_mail_box);
|
||
}
|
||
|
||
|
||
/**
|
||
* @brief 使vesc电机进入制动模式
|
||
* @param[in] controller_id: vesc电机控制器id
|
||
* @retval none
|
||
*/
|
||
void CAN_VESC_HEAD(uint8_t controller_id)
|
||
{
|
||
uint32_t id;
|
||
uint32_t send_mail_box;
|
||
|
||
id = controller_id | ((uint32_t)CAN_PACKET_SET_CURRENT_BRAKE << 8);
|
||
|
||
vesc_tx_message.ExtId = id;
|
||
vesc_tx_message.IDE = CAN_ID_EXT;
|
||
vesc_tx_message.RTR = CAN_RTR_DATA;
|
||
vesc_tx_message.DLC = 0x04;
|
||
|
||
HAL_CAN_AddTxMessage(&hcan1, &vesc_tx_message, vesc_send_data, &send_mail_box);
|
||
}
|