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162 lines
4.4 KiB
C
162 lines
4.4 KiB
C
#pragma once
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#ifdef __cplusplus
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extern "C" {
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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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//ODrive型号根据实际情况调整
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#define ODRIVE_MAX_MOTORS 2
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//COMMAND ID
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#define ODRIVE_HEARTBEAT_MESSAGE 0x001 // ODrive心跳消息
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#define SET_AXIS_NODE_ID 0x006 // 设置电机节点ID
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#define GET_ENCODER_ESTIMATES 0x008 // 获取编码器估计值
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#define GET_ENCODER_COUNT 0x00A // 获取编码器计数
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#define SET_AXIS_REQUESTED_STATE 0x007 // 设置电机请求状态
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#define ENCODER_ESTIMATES 0x009 // 编码器估计值
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#define GET_ENCODER_COUNT 0x00A // 获取编码器计数
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#define SET_CONTROLLER_MODES 0x00B // 设置控制器模式
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#define SET_INPUT_POS 0x00C // 设置输入位置
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#define SET_INPUT_VEL 0x00D // 设置输入速度
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#define SET_INPUT_TORQUE 0x00E // 设置输入转矩
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#define SET_LIMITS 0x00F // 设置限制
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#define GET_IQ 0x014 // 获取电流
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#define REBOOT_ODRIVE 0x016 // 重启ODrive
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#define GET_BUS_VOLTAGE_CURRENT 0x017 // 获取总线电压和电流
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#define CLEAR_ERRORS 0x018 // 清除错误
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#define SET_POSITION_GAIN 0x01A // 设置位置增益
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#define SET_VEL_GAINS 0x01B // 设置速度增益
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#define SET_TRAJ_ACCEL_LIMITS 0x012 // 设置轨迹加速度限制
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/* Exported constants ------------------------------------------------------- */
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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//Axis States
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typedef enum {
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UNDEFINED = 0x0,
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IDLE = 0x1,
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STARTUP_SEQUENCE = 0x2,
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FULL_CALIBRATION_SEQUENCE = 0x3,
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MOTOR_CALIBRATION = 0x4,
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ENCODER_INDEX_SEARCH = 0x6,
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ENCODER_OFFSET_CALIBRATION = 0x7,
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CLOSED_LOOP_CONTROL = 0x8,
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LOCKIN_SPIN = 0x9,
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ENCODER_DIR_FIND = 0xA,
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HOMING = 0xB,
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ENCODER_HALL_POLARITY_CALIBRATION = 0xC,
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ENCODER_HALL_PHASE_CALIBRATION = 0xD
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} Axis_State;
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//Control Modes
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typedef enum{
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VOLTAGE_CONTROL = 0x0,
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TORQUE_CONTROL = 0x1,
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VELOCITY_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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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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} ODrive_Param_t;
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/*电机实例*/
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typedef struct ODrive_t {
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ODrive_Param_t param;
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MOTOR_t motor;
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} ODrive_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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BSP_CAN_t can;
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ODrive_t *motors[ODRIVE_MAX_MOTORS];
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uint8_t motor_count;
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} ODrive_CANManager_t;
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/* Exported functions prototypes -------------------------------------------- */
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/**
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* @brief 注册一个odrive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 ODrive_Register(ODrive_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 ODrive_Update(ODrive_Param_t *param);
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/** * @brief 更新所有ODrive电机状态
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* @return
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*/
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int8_t ODrive_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 ODrive_SetOutput(ODrive_Param_t *param, float value);
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/** * @brief 设置电机加速度和减速度限制
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* @param param 电机参数
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* @param accel 加速度
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* @param decel 减速度
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* @return
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*/
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int8_t ODrive_SetAccel(ODrive_Param_t *param, float accel, float decel);
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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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ODrive_t* ODrive_GetMotor(ODrive_Param_t *param);
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/** * @brief 获取指定电机的编码器估计值
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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 ODrive_RequestEncoderEstimates(ODrive_Param_t *param);
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/** * @brief 设置轴请求状态（一般用来重启 ODrive 的某个轴）
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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 ODrive_SetAxisRequestedState(ODrive_Param_t *param, Axis_State state);
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/** * @brief 清除错误
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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 ODrive_ClearErrors(ODrive_Param_t *param);
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/** * @brief 重启 ODrive
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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 ODrive_Reboot(ODrive_Param_t *param);
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#ifdef __cplusplus
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}
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#endif |