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146 lines
3.3 KiB
C
146 lines
3.3 KiB
C
#pragma once
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/* Includes ----------------------------------------------------------------- */
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#include "device/device.h"
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#include "device/motor.h"
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#include "bsp/can.h"
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/* Private define ----------------------------------------------------------- */
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#define wtrcfg_VESC_COMMAND_DUTY_MAX 100
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#define wtrcfg_VESC_COMMAND_CURRENT_MAX 10
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#define wtrcfg_VESC_COMMAND_POS_MAX 360
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#define wtrcfg_VESC_COMMAND_ERPM_MAX 35000
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#define wtrcfg_VESC_UART_TIMEOUT 0xff
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// VESC数量根据实际情况调整
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#define VESC_MAX_MOTORS 4
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/* Exported constants ------------------------------------------------------- */
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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typedef enum
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{
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VESC_1 = 1,
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VESC_2 = 2,
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VESC_3 = 3,
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VESC_4 = 4,
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CAN_VESC5065_M1_MSG1 = 0x901, // 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 = 0x902,
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CAN_VESC5065_M3_MSG1 = 0x903,
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CAN_VESC5065_M4_MSG1 = 0x904,
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}VESC_ID;
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typedef enum
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{
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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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// Control Modes
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typedef enum
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{
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DUTY_CONTROL = 0x0,
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RPM_CONTROL = 0x1,
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CURRENT_CONTROL = 0x2,
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POSITION_CONTROL = 0x3
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} Control_Mode;
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/*每个电机需要的参数*/
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typedef struct
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{
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BSP_CAN_t can;
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uint16_t id;
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uint16_t mode;
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bool reverse;
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} VESC_Param_t;
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/*电机实例*/
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typedef struct ODrive_t
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{
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VESC_Param_t param;
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MOTOR_t motor;
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} VESC_t;
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/*CAN管理器，管理一个CAN总线上所有的电机*/
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typedef struct
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{
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BSP_CAN_t can;
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VESC_t *motors[VESC_MAX_MOTORS];
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uint8_t motor_count;
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} VESC_CANManager_t;
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/* Exported functions prototypes -------------------------------------------- */
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/**
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* @brief 注册一个vesc电机
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* @param param 电机参数
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* @return
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*/
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int8_t VESC_Register(VESC_Param_t *param);
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/**
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* @brief 更新指定电机数据
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* @param param 电机参数
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* @return
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*/
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int8_t VESC_Update(VESC_Param_t *param);
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/**
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* @brief 更新所有电机数据
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* @return
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*/
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int8_t VESC_UpdateAll(void);
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/**
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* @brief 设置一个电机的输出
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* @param param 电机参数
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* @param value 输出值
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* @return
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*/
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int8_t VESC_SetOutput(VESC_Param_t *param, float value);
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/**
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* @brief 获取指定电机的实例指针
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* @param param 电机参数
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* @return
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*/
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VESC_t* VESC_GetMotor(VESC_Param_t *param);
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/**
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* @brief 使电机松弛（设置输出为0）
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* @param param
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* @return
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*/
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int8_t VESC_Relax(VESC_Param_t *param);
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/**
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* @brief 使电机离线（设置在线状态为false）
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* @param param
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* @return
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*/
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int8_t VESC_Offine(VESC_Param_t *param);
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#ifdef __cplusplus
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}
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#endif |