277 lines
7.7 KiB
C
277 lines
7.7 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 <math.h>
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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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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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//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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/* 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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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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typedef enum {
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CAN_M3508_M1_ID = 0x201, /* 1 */
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CAN_M3508_M2_ID = 0x202, /* 2 */
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CAN_M3508_M3_ID = 0x203, /* 3 */
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CAN_M3508_M4_ID = 0x204, /* 4 */
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CAN_G6020_AgvM1 =0x205,
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CAN_G6020_AgvM2 =0x206,
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CAN_G6020_AgvM3 =0x207,
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CAN_G6020_AgvM4 =0x208,
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CAN_SICK_ID=0x301,
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CAN_G6020_Pitch =0x209,
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// CAN_VESC5065_M1 =0x211, //vesc的数据指令使用了扩展id，[0:7]为驱动器id，[8:15]为帧类型
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// CAN_VESC5065_M2 =0x212,
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// CAN_VESC5065_M3 =0x213,
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// CAN_VSEC5065_M4 =0x214,
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CAN_VESC5065_M1_MSG1 =0x90a, //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 =0x90b,
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//
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} CAN_MotorId_t;
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//motor calc ecd to angle
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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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#if FREERTOS_DJI == 1
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/*小米电机部分参数和函数*/
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//控制参数最值，谨慎更改
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#define P_MIN -12.5f
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#define P_MAX 12.5f
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#define V_MIN -30.0f
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#define V_MAX 30.0f
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#define KP_MIN 0.0f
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#define KP_MAX 500.0f
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#define KD_MIN 0.0f
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#define KD_MAX 5.0f
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#define T_MIN -12.0f
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#define T_MAX 12.0f
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#define MAX_P 720
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#define MIN_P -720
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//主机CANID设置
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#define Master_CAN_ID 0x00 //主机ID
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//控制命令宏定义
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#define Communication_Type_GetID 0x00 //获取设备的ID和64位MCU唯一标识符
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#define Communication_Type_MotionControl 0x01 //用来向主机发送控制指令
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#define Communication_Type_MotorRequest 0x02 //用来向主机反馈电机运行状态
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#define Communication_Type_MotorEnable 0x03 //电机使能运行
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#define Communication_Type_MotorStop 0x04 //电机停止运行
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#define Communication_Type_SetPosZero 0x06 //设置电机机械零位
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#define Communication_Type_CanID 0x07 //更改当前电机CAN_ID
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#define Communication_Type_Control_Mode 0x12
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#define Communication_Type_GetSingleParameter 0x11 //读取单个参数
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#define Communication_Type_SetSingleParameter 0x12 //设定单个参数
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#define Communication_Type_ErrorFeedback 0x15 //故障反馈帧
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//参数读取宏定义
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#define Run_mode 0x7005
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#define Iq_Ref 0x7006
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#define Spd_Ref 0x700A
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#define Limit_Torque 0x700B
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#define Cur_Kp 0x7010
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#define Cur_Ki 0x7011
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#define Cur_Filt_Gain 0x7014
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#define Loc_Ref 0x7016
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#define Limit_Spd 0x7017
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#define Limit_Cur 0x7018
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#define Gain_Angle 720/32767.0
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#define Bias_Angle 0x8000
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#define Gain_Speed 30/32767.0
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#define Bias_Speed 0x8000
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#define Gain_Torque 12/32767.0
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#define Bias_Torque 0x8000
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#define Temp_Gain 0.1
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#define Motor_Error 0x00
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#define Motor_OK 0X01
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enum CONTROL_MODE //控制模式定义
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{
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Motion_mode = 0,//运控模式
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Position_mode, //位置模式
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Speed_mode, //速度模式
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Current_mode //电流模式
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};
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enum ERROR_TAG //错误回传对照
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{
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OK = 0,//无故障
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BAT_LOW_ERR = 1,//欠压故障
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OVER_CURRENT_ERR = 2,//过流
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OVER_TEMP_ERR = 3,//过温
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MAGNETIC_ERR = 4,//磁编码故障
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HALL_ERR_ERR = 5,//HALL编码故障
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NO_CALIBRATION_ERR = 6//未标定
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};
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typedef struct{ //小米电机结构体
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uint8_t CAN_ID; //CAN ID
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uint8_t MCU_ID; //MCU唯一标识符[后8位，共64位]
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float Angle; //回传角度
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float Speed; //回传速度
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float Torque; //回传力矩
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float Temp; //回传温度
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uint16_t set_current;
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uint16_t set_speed;
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uint16_t set_position;
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uint8_t error_code;
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float Angle_Bias;
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}MI_Motor;
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extern MI_Motor mi_motor[4];//预先定义四个小米电机
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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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//小米
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extern void chack_cybergear(uint8_t ID);
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extern void start_cybergear(MI_Motor *Motor);
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extern void stop_cybergear(MI_Motor *Motor, uint8_t clear_error);
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extern void set_mode_cybergear(MI_Motor *Motor, uint8_t Mode);
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extern void set_current_cybergear(MI_Motor *Motor, float Current);
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extern void set_zeropos_cybergear(MI_Motor *Motor);
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extern void set_CANID_cybergear(MI_Motor *Motor, uint8_t CAN_ID);
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extern void init_cybergear(MI_Motor *Motor, uint8_t Can_Id, uint8_t mode);
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extern void motor_controlmode(MI_Motor *Motor,float torque, float MechPosition, float speed, float kp, float kd);
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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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