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https://github.com/goldenfishs/MRobot.git
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321 lines
12 KiB
C
321 lines
12 KiB
C
/*
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RM电机驱动
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "motor_rm.h"
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#include <stdbool.h>
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#include <string.h>
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#include "bsp/can.h"
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#include "bsp/mm.h"
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#include "bsp/time.h"
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#include "component/user_math.h"
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/* USER INCLUDE BEGIN */
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/* USER INCLUDE END */
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/* Private define ----------------------------------------------------------- */
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#define GM6020_FB_ID_BASE (0x205)
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#define GM6020_CTRL_ID_BASE (0x1ff)
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#define GM6020_CTRL_ID_EXTAND (0x2ff)
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#define M3508_M2006_FB_ID_BASE (0x201)
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#define M3508_M2006_CTRL_ID_BASE (0x200)
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#define M3508_M2006_CTRL_ID_EXTAND (0x1ff)
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#define M3508_M2006_ID_SETTING_ID (0x700)
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#define GM6020_MAX_ABS_LSB (30000)
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#define M3508_MAX_ABS_LSB (16384)
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#define M2006_MAX_ABS_LSB (10000)
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#define MOTOR_TX_BUF_SIZE (8)
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#define MOTOR_RX_BUF_SIZE (8)
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#define MOTOR_ENC_RES (8192) /* 电机编码器分辨率 */
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#define MOTOR_CUR_RES (16384) /* 电机转矩电流分辨率 */
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/* USER DEFINE BEGIN */
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/* USER DEFINE END */
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/* Private macro ------------------------------------------------------------ */
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/* Private typedef ---------------------------------------------------------- */
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/* USER STRUCT BEGIN */
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/* USER STRUCT END */
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/* Private variables -------------------------------------------------------- */
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static MOTOR_RM_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL};
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/* Private function -------------------------------------------------------- */
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/* USER FUNCTION BEGIN */
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/* USER FUNCTION END */
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static int8_t MOTOR_RM_GetLogicalIndex(uint16_t can_id, MOTOR_RM_Module_t module) {
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switch (module) {
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case MOTOR_M2006:
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case MOTOR_M3508:
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if (can_id >= M3508_M2006_FB_ID_BASE && can_id < M3508_M2006_FB_ID_BASE + 7) {
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return can_id - M3508_M2006_FB_ID_BASE;
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}
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break;
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case MOTOR_GM6020:
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if (can_id >= GM6020_FB_ID_BASE && can_id < GM6020_FB_ID_BASE + 6) {
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return can_id - GM6020_FB_ID_BASE + 4;
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}
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break;
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default:
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break;
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}
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return DEVICE_ERR;
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}
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static float MOTOR_RM_GetRatio(MOTOR_RM_Module_t module) {
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switch (module) {
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case MOTOR_M2006: return 36.0f;
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case MOTOR_M3508: return 3591.0f / 187.0f;
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case MOTOR_GM6020: return 1.0f;
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default: return 1.0f;
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}
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}
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static int16_t MOTOR_RM_GetLSB(MOTOR_RM_Module_t module) {
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switch (module) {
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case MOTOR_M2006: return M2006_MAX_ABS_LSB;
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case MOTOR_M3508: return M3508_MAX_ABS_LSB;
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case MOTOR_GM6020: return GM6020_MAX_ABS_LSB;
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default: return DEVICE_ERR;
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}
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}
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static MOTOR_RM_CANManager_t* MOTOR_RM_GetCANManager(BSP_CAN_t can) {
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if (can >= BSP_CAN_NUM) return NULL;
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return can_managers[can];
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}
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static int8_t MOTOR_RM_CreateCANManager(BSP_CAN_t can) {
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if (can >= BSP_CAN_NUM) return DEVICE_ERR;
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if (can_managers[can] != NULL) return DEVICE_OK;
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can_managers[can] = (MOTOR_RM_CANManager_t*)BSP_Malloc(sizeof(MOTOR_RM_CANManager_t));
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if (can_managers[can] == NULL) return DEVICE_ERR;
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memset(can_managers[can], 0, sizeof(MOTOR_RM_CANManager_t));
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can_managers[can]->can = can;
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return DEVICE_OK;
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}
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static void Motor_RM_Decode(MOTOR_RM_t *motor, BSP_CAN_Message_t *msg) {
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uint16_t raw_angle = (uint16_t)((msg->data[0] << 8) | msg->data[1]);
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int16_t raw_speed = (int16_t)((msg->data[2] << 8) | msg->data[3]);
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int16_t raw_current = (int16_t)((msg->data[4] << 8) | msg->data[5]);
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int16_t lsb = MOTOR_RM_GetLSB(motor->param.module);
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float ratio = MOTOR_RM_GetRatio(motor->param.module);
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float rotor_angle = raw_angle / (float)MOTOR_ENC_RES * M_2PI;
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float rotor_speed = raw_speed;
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float torque_current = raw_current * lsb / (float)MOTOR_CUR_RES;
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if (motor->param.gear) {
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// 多圈累加
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int32_t delta = (int32_t)raw_angle - (int32_t)motor->last_raw_angle;
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if (delta > (MOTOR_ENC_RES / 2)) {
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motor->gearbox_round_count--;
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} else if (delta < -(MOTOR_ENC_RES / 2)) {
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motor->gearbox_round_count++;
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}
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motor->last_raw_angle = raw_angle;
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float single_turn = rotor_angle;
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motor->gearbox_total_angle = (motor->gearbox_round_count * M_2PI + single_turn) / ratio;
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// 输出轴多圈绝对值
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motor->feedback.rotor_abs_angle = motor->gearbox_total_angle;
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motor->feedback.rotor_speed = rotor_speed / ratio;
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motor->feedback.torque_current = torque_current * ratio;
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} else {
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// 非gear模式，直接用转子单圈
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motor->gearbox_round_count = 0;
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motor->last_raw_angle = raw_angle;
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motor->gearbox_total_angle = 0.0f;
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motor->feedback.rotor_abs_angle = rotor_angle;
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motor->feedback.rotor_speed = rotor_speed;
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motor->feedback.torque_current = torque_current;
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}
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while (motor->feedback.rotor_abs_angle < 0) {
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motor->feedback.rotor_abs_angle += M_2PI;
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}
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while (motor->feedback.rotor_abs_angle >= M_2PI) {
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motor->feedback.rotor_abs_angle -= M_2PI;
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}
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if (motor->motor.reverse) {
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motor->feedback.rotor_abs_angle = M_2PI - motor->feedback.rotor_abs_angle;
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motor->feedback.rotor_speed = -motor->feedback.rotor_speed;
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motor->feedback.torque_current = -motor->feedback.torque_current;
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}
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motor->feedback.temp = msg->data[6];
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}
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/* Exported functions ------------------------------------------------------- */
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int8_t MOTOR_RM_Register(MOTOR_RM_Param_t *param) {
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if (param == NULL) return DEVICE_ERR_NULL;
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if (MOTOR_RM_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR;
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MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can);
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if (manager == NULL) return DEVICE_ERR;
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// 检查是否已注册
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for (int i = 0; i < manager->motor_count; i++) {
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if (manager->motors[i] && manager->motors[i]->param.id == param->id) {
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return DEVICE_ERR_INITED;
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}
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}
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// 检查数量
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if (manager->motor_count >= MOTOR_RM_MAX_MOTORS) return DEVICE_ERR;
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// 创建新电机实例
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MOTOR_RM_t *new_motor = (MOTOR_RM_t*)BSP_Malloc(sizeof(MOTOR_RM_t));
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if (new_motor == NULL) return DEVICE_ERR;
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memcpy(&new_motor->param, param, sizeof(MOTOR_RM_Param_t));
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memset(&new_motor->motor, 0, sizeof(MOTOR_t));
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new_motor->motor.reverse = param->reverse;
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// 注册CAN接收ID
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if (BSP_CAN_RegisterId(param->can, param->id, 3) != BSP_OK) {
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BSP_Free(new_motor);
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return DEVICE_ERR;
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}
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manager->motors[manager->motor_count] = new_motor;
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manager->motor_count++;
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return DEVICE_OK;
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}
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int8_t MOTOR_RM_Update(MOTOR_RM_Param_t *param) {
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if (param == NULL) return DEVICE_ERR_NULL;
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MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can);
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if (manager == NULL) return DEVICE_ERR_NO_DEV;
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for (int i = 0; i < manager->motor_count; i++) {
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MOTOR_RM_t *motor = manager->motors[i];
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if (motor && motor->param.id == param->id) {
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BSP_CAN_Message_t rx_msg;
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if (BSP_CAN_GetMessage(param->can, param->id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
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uint64_t now_time = BSP_TIME_Get();
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if (now_time - motor->motor.header.last_online_time > 1000) {
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motor->motor.header.online = false;
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return DEVICE_ERR_NO_DEV;
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}
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return DEVICE_ERR;
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}
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motor->motor.header.online = true;
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motor->motor.header.last_online_time = BSP_TIME_Get();
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Motor_RM_Decode(motor, &rx_msg);
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motor->motor.feedback = motor->feedback;
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return DEVICE_OK;
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}
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}
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return DEVICE_ERR_NO_DEV;
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}
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int8_t MOTOR_RM_UpdateAll(void) {
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int8_t ret = DEVICE_OK;
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for (int can = 0; can < BSP_CAN_NUM; can++) {
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MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager((BSP_CAN_t)can);
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if (manager == NULL) continue;
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for (int i = 0; i < manager->motor_count; i++) {
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MOTOR_RM_t *motor = manager->motors[i];
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if (motor != NULL) {
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if (MOTOR_RM_Update(&motor->param) != DEVICE_OK) {
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ret = DEVICE_ERR;
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}
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}
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}
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}
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return ret;
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}
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int8_t MOTOR_RM_SetOutput(MOTOR_RM_Param_t *param, float value) {
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if (param == NULL) return DEVICE_ERR_NULL;
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MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can);
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if (manager == NULL) return DEVICE_ERR_NO_DEV;
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if (value > 1.0f) value = 1.0f;
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if (value < -1.0f) value = -1.0f;
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if (param->reverse){
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value = -value;
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}
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MOTOR_RM_t *motor = MOTOR_RM_GetMotor(param);
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if (motor == NULL) return DEVICE_ERR_NO_DEV;
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int8_t logical_index = MOTOR_RM_GetLogicalIndex(param->id, param->module);
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if (logical_index < 0) return DEVICE_ERR;
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MOTOR_RM_MsgOutput_t *output_msg = &manager->output_msg;
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int16_t output_value = (int16_t)(value * (float)MOTOR_RM_GetLSB(param->module));
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output_msg->output[logical_index] = output_value;
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return DEVICE_OK;
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}
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int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param) {
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if (param == NULL) return DEVICE_ERR_NULL;
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MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can);
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if (manager == NULL) return DEVICE_ERR_NO_DEV;
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MOTOR_RM_MsgOutput_t *output_msg = &manager->output_msg;
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BSP_CAN_StdDataFrame_t tx_frame;
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uint16_t id = param->id;
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switch (id) {
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case M3508_M2006_FB_ID_BASE:
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case M3508_M2006_FB_ID_BASE+1:
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case M3508_M2006_FB_ID_BASE+2:
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case M3508_M2006_FB_ID_BASE+3:
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tx_frame.id = M3508_M2006_CTRL_ID_BASE;
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tx_frame.dlc = MOTOR_TX_BUF_SIZE;
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for (int i = 0; i < 4; i++) {
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tx_frame.data[i*2] = (uint8_t)((output_msg->output[i] >> 8) & 0xFF);
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tx_frame.data[i*2+1] = (uint8_t)(output_msg->output[i] & 0xFF);
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}
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break;
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case M3508_M2006_FB_ID_BASE+4:
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case M3508_M2006_FB_ID_BASE+5:
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case M3508_M2006_FB_ID_BASE+6:
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case M3508_M2006_FB_ID_BASE+7:
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tx_frame.id = M3508_M2006_CTRL_ID_EXTAND;
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tx_frame.dlc = MOTOR_TX_BUF_SIZE;
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for (int i = 4; i < 8; i++) {
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tx_frame.data[(i-4)*2] = (uint8_t)((output_msg->output[i] >> 8) & 0xFF);
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tx_frame.data[(i-4)*2+1] = (uint8_t)(output_msg->output[i] & 0xFF);
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}
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break;
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case GM6020_FB_ID_BASE+4:
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case GM6020_FB_ID_BASE+5:
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case GM6020_FB_ID_BASE+6:
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tx_frame.id = GM6020_CTRL_ID_EXTAND;
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tx_frame.dlc = MOTOR_TX_BUF_SIZE;
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for (int i = 8; i < 11; i++) {
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tx_frame.data[(i-8)*2] = (uint8_t)((output_msg->output[i] >> 8) & 0xFF);
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tx_frame.data[(i-8)*2+1] = (uint8_t)(output_msg->output[i] & 0xFF);
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}
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tx_frame.data[6] = 0;
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tx_frame.data[7] = 0;
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break;
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default:
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return DEVICE_ERR;
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}
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return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
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}
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MOTOR_RM_t* MOTOR_RM_GetMotor(MOTOR_RM_Param_t *param) {
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if (param == NULL) return NULL;
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MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can);
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if (manager == NULL) return NULL;
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for (int i = 0; i < manager->motor_count; i++) {
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MOTOR_RM_t *motor = manager->motors[i];
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if (motor && motor->param.id == param->id) {
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return motor;
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}
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}
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return NULL;
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}
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int8_t MOTOR_RM_Relax(MOTOR_RM_Param_t *param) {
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return MOTOR_RM_SetOutput(param, 0.0f);
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}
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int8_t MOTOR_RM_Offine(MOTOR_RM_Param_t *param) {
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MOTOR_RM_t *motor = MOTOR_RM_GetMotor(param);
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if (motor) {
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motor->motor.header.online = false;
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return DEVICE_OK;
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}
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return DEVICE_ERR_NO_DEV;
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} |