333 lines
12 KiB
C
333 lines
12 KiB
C
/*
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CAN总线上的设
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将所有CAN总线上挂载的设抽象成一设进行配和控制
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "can.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 "component\user_math.h"
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#include "device\referee.h"
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/* Private define ----------------------------------------------------------- */
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/* Motor id */
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/* id feedback id control id */
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/* 1-4 0x205 to 0x208 0x1ff */
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/* 5-6 0x209 to 0x20B 0x2ff */
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#define CAN_GM6020_FB_ID_BASE (0x205)
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#define CAN_GM6020_CTRL_ID_BASE (0x1ff)
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#define CAN_GM6020_CTRL_ID_EXTAND (0x2ff)
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/* id feedback id control id */
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/* 1-4 0x201 to 0x204 0x200 */
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/* 5-6 0x205 to 0x208 0x1ff */
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#define CAN_M3508_M2006_FB_ID_BASE (0x201)
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#define CAN_M3508_M2006_CTRL_ID_BASE (0x200)
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#define CAN_M3508_M2006_CTRL_ID_EXTAND (0x1ff)
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#define CAN_M3508_M2006_ID_SETTING_ID (0x700)
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/* 电机最大控制输出绝对值 */
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#define CAN_GM6020_MAX_ABS_LSB (30000)
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#define CAN_M3508_MAX_ABS_LSB (16384)
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#define CAN_M2006_MAX_ABS_LSB (10000)
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#define CAN_MOTOR_TX_BUF_SIZE (8)
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#define CAN_MOTOR_RX_BUF_SIZE (8)
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#define CAN_MOTOR_ENC_RES (8192) /* 电机编码器分辨率 */
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#define CAN_MOTOR_CUR_RES (16384) /* 电机转矩电流分辨率 */
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#define CAN_MOTOR_RX_FIFO CAN_RX_FIFO0
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/* Super capacitor */
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#define CAN_CAP_FB_ID_BASE (0x211)
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#define CAN_CAP_CTRL_ID_BASE (0x210)
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#define CAN_CAP_RES (100) /* 电容数据分辨率 */
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#define CAN_CAP_RX_FIFO CAN_RX_FIFO1
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/* TOF */
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#define CAN_TOF_ID_BASE (0x280)
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/* Private macro ------------------------------------------------------------ */
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/* Private typedef ---------------------------------------------------------- */
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/* Private variables -------------------------------------------------------- */
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static CAN_RawRx_t raw_rx1;
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static CAN_RawRx_t raw_rx2;
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static CAN_RawTx_t raw_tx;
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static osThreadId_t thread_alert;
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static CAN_t *gcan;
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static bool inited = false;
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/* Private function -------------------------------------------------------- */
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static void CAN_Motor_Decode(CAN_MotorFeedback_t *feedback,
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const uint8_t *raw) {
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uint16_t raw_angle = (uint16_t)((raw[0] << 8) | raw[1]);
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int16_t raw_current = (int16_t)((raw[4] << 8) | raw[5]);
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feedback->rotor_angle = raw_angle / (float)CAN_MOTOR_ENC_RES * M_2PI;
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feedback->rotor_speed = (int16_t)((raw[2] << 8) | raw[3]);
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feedback->torque_current =
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raw_current * CAN_M3508_MAX_ABS_CUR / (float)CAN_MOTOR_CUR_RES;
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feedback->temp = raw[6];
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}
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void CAN_Cap_Decode(CAN_CapFeedback_t *feedback, const uint8_t *raw) {
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feedback->input_volt = (float)((raw[1] << 8) | raw[0]) / (float)CAN_CAP_RES;
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feedback->cap_volt = (float)((raw[3] << 8) | raw[2]) / (float)CAN_CAP_RES;
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feedback->input_curr = (float)((raw[5] << 8) | raw[4]) / (float)CAN_CAP_RES;
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feedback->target_power = (float)((raw[7] << 8) | raw[6]) / (float)CAN_CAP_RES;
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}
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void CAN_Tof_Decode(CAN_Tof_t *tof, const uint8_t *raw) {
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tof->dist = (float)((raw[2] << 16) | (raw[1] << 8) | raw[0]) / 1000.0f;
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tof->status = raw[3];
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tof->signal_strength = (raw[5] << 8) | raw[4];
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}
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static void CAN_CAN1RxFifoMsgPendingCallback(void) {
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HAL_CAN_GetRxMessage(BSP_CAN_GetHandle(BSP_CAN_1), CAN_MOTOR_RX_FIFO,
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&raw_rx1.rx_header, raw_rx1.rx_data);
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osMessageQueuePut(gcan->msgq_raw, &raw_rx1, 0, 0);
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}
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static void CAN_CAN2RxFifoMsgPendingCallback(void) {
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HAL_CAN_GetRxMessage(BSP_CAN_GetHandle(BSP_CAN_2), CAN_CAP_RX_FIFO,
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&raw_rx2.rx_header, raw_rx2.rx_data);
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osMessageQueuePut(gcan->msgq_raw, &raw_rx2, 0, 0);
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}
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/* Exported functions ------------------------------------------------------- */
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int8_t CAN_Init(CAN_t *can, const CAN_Params_t *param) {
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if (can == NULL) return DEVICE_ERR_NULL;
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if (inited) return DEVICE_ERR_INITED;
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if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
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can->msgq_raw = osMessageQueueNew(32, sizeof(CAN_RawRx_t), NULL);
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can->param = param;
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CAN_FilterTypeDef can_filter = {0};
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can_filter.FilterBank = 0;
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can_filter.FilterIdHigh = 0;
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can_filter.FilterIdLow = 0;
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can_filter.FilterMode = CAN_FILTERMODE_IDMASK;
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can_filter.FilterScale = CAN_FILTERSCALE_32BIT;
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can_filter.FilterMaskIdHigh = 0;
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can_filter.FilterMaskIdLow = 0;
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can_filter.FilterActivation = ENABLE;
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can_filter.SlaveStartFilterBank = 14;
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can_filter.FilterFIFOAssignment = CAN_MOTOR_RX_FIFO;
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HAL_CAN_ConfigFilter(BSP_CAN_GetHandle(BSP_CAN_1), &can_filter);
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HAL_CAN_Start(BSP_CAN_GetHandle(BSP_CAN_1));
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BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB,
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CAN_CAN1RxFifoMsgPendingCallback);
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HAL_CAN_ActivateNotification(BSP_CAN_GetHandle(BSP_CAN_1),
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CAN_IT_RX_FIFO0_MSG_PENDING);
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can_filter.FilterBank = 14;
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can_filter.FilterFIFOAssignment = CAN_CAP_RX_FIFO;
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HAL_CAN_ConfigFilter(BSP_CAN_GetHandle(BSP_CAN_2), &can_filter);
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HAL_CAN_Start(BSP_CAN_GetHandle(BSP_CAN_2));
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BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB,
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CAN_CAN2RxFifoMsgPendingCallback);
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HAL_CAN_ActivateNotification(BSP_CAN_GetHandle(BSP_CAN_2),
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CAN_IT_RX_FIFO1_MSG_PENDING);
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gcan = can;
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inited = true;
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return DEVICE_OK;
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}
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int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
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CAN_t *can) {
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if (output == NULL) return DEVICE_ERR_NULL;
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int16_t motor1, motor2, motor3, motor4;
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int16_t yaw_motor, pit_motor;
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int16_t fric1_motor, fric2_motor, trig_motor;
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switch (group) {
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case CAN_MOTOR_GROUT_CHASSIS:
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motor1 =
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(int16_t)(output->chassis.named.m1 * (float)CAN_M3508_MAX_ABS_LSB);
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motor2 =
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(int16_t)(output->chassis.named.m2 * (float)CAN_M3508_MAX_ABS_LSB);
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motor3 =
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(int16_t)(output->chassis.named.m3 * (float)CAN_M3508_MAX_ABS_LSB);
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motor4 =
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(int16_t)(output->chassis.named.m4 * (float)CAN_M3508_MAX_ABS_LSB);
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raw_tx.tx_header.StdId = CAN_M3508_M2006_CTRL_ID_BASE;
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raw_tx.tx_header.IDE = CAN_ID_STD;
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raw_tx.tx_header.RTR = CAN_RTR_DATA;
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raw_tx.tx_header.DLC = CAN_MOTOR_TX_BUF_SIZE;
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raw_tx.tx_data[0] = (uint8_t)((motor1 >> 8) & 0xFF);
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raw_tx.tx_data[1] = (uint8_t)(motor1 & 0xFF);
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raw_tx.tx_data[2] = (uint8_t)((motor2 >> 8) & 0xFF);
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raw_tx.tx_data[3] = (uint8_t)(motor2 & 0xFF);
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raw_tx.tx_data[4] = (uint8_t)((motor3 >> 8) & 0xFF);
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raw_tx.tx_data[5] = (uint8_t)(motor3 & 0xFF);
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raw_tx.tx_data[6] = (uint8_t)((motor4 >> 8) & 0xFF);
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raw_tx.tx_data[7] = (uint8_t)(motor4 & 0xFF);
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HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->chassis),
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&raw_tx.tx_header, raw_tx.tx_data,
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&(can->mailbox.chassis));
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break;
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case CAN_MOTOR_GROUT_GIMBAL1:
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case CAN_MOTOR_GROUT_GIMBAL2:
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yaw_motor =
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(int16_t)(output->gimbal.named.yaw * (float)CAN_GM6020_MAX_ABS_LSB);
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pit_motor =
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(int16_t)(output->gimbal.named.pit * (float)CAN_GM6020_MAX_ABS_LSB);
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raw_tx.tx_header.StdId = CAN_GM6020_CTRL_ID_EXTAND;
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raw_tx.tx_header.IDE = CAN_ID_STD;
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raw_tx.tx_header.RTR = CAN_RTR_DATA;
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raw_tx.tx_header.DLC = CAN_MOTOR_TX_BUF_SIZE;
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raw_tx.tx_data[0] = (uint8_t)((yaw_motor >> 8) & 0xFF);
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raw_tx.tx_data[1] = (uint8_t)(yaw_motor & 0xFF);
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raw_tx.tx_data[2] = (uint8_t)((pit_motor >> 8) & 0xFF);
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raw_tx.tx_data[3] = (uint8_t)(pit_motor & 0xFF);
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raw_tx.tx_data[4] = 0;
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raw_tx.tx_data[5] = 0;
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raw_tx.tx_data[6] = 0;
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raw_tx.tx_data[7] = 0;
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HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->gimbal.yaw),
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&raw_tx.tx_header, raw_tx.tx_data,
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&(can->mailbox.gimbal));
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HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->gimbal.pitch),
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&raw_tx.tx_header, raw_tx.tx_data,
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&(can->mailbox.gimbal));
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// HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->shoot),
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// &raw_tx.tx_header, raw_tx.tx_data,
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// &(can->mailbox.gimbal));
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break;
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case CAN_MOTOR_GROUT_SHOOT1:
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case CAN_MOTOR_GROUT_SHOOT2:
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fric1_motor =
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(int16_t)(output->shoot.named.fric1 * (float)CAN_M3508_MAX_ABS_LSB);
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fric2_motor =
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(int16_t)(output->shoot.named.fric2 * (float)CAN_M3508_MAX_ABS_LSB);
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trig_motor =
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(int16_t)(output->shoot.named.trig * (float)CAN_M2006_MAX_ABS_LSB);
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raw_tx.tx_header.StdId = CAN_M3508_M2006_CTRL_ID_EXTAND;
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raw_tx.tx_header.IDE = CAN_ID_STD;
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raw_tx.tx_header.RTR = CAN_RTR_DATA;
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raw_tx.tx_header.DLC = CAN_MOTOR_TX_BUF_SIZE;
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raw_tx.tx_data[0] = (uint8_t)((fric1_motor >> 8) & 0xFF);
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raw_tx.tx_data[1] = (uint8_t)(fric1_motor & 0xFF);
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raw_tx.tx_data[2] = (uint8_t)((fric2_motor >> 8) & 0xFF);
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raw_tx.tx_data[3] = (uint8_t)(fric2_motor & 0xFF);
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raw_tx.tx_data[4] = (uint8_t)((trig_motor >> 8) & 0xFF);
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raw_tx.tx_data[5] = (uint8_t)(trig_motor & 0xFF);
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raw_tx.tx_data[6] = 0;
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raw_tx.tx_data[7] = 0;
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HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->shoot),
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&raw_tx.tx_header, raw_tx.tx_data,
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&(can->mailbox.shoot));
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HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->trig),
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&raw_tx.tx_header, raw_tx.tx_data,
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&(can->mailbox.shoot));
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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_OK;
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}
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int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx) {
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if (can == NULL) return DEVICE_ERR_NULL;
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if (can_rx == NULL) return DEVICE_ERR_NULL;
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uint32_t index;
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switch (can_rx->rx_header.StdId) {
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case CAN_M3508_M1_ID:
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case CAN_M3508_M2_ID:
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case CAN_M3508_M3_ID:
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case CAN_M3508_M4_ID:
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index = can_rx->rx_header.StdId - CAN_M3508_M1_ID;
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CAN_Motor_Decode(&(can->motor.chassis.as_array[index]), can_rx->rx_data);
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can->recive_flag |= 1 << index;
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break;
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case CAN_M3508_FRIC1_ID:
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case CAN_M3508_FRIC2_ID:
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case CAN_M2006_TRIG_ID:
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index = can_rx->rx_header.StdId - CAN_M3508_FRIC1_ID;
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can->recive_flag |= 1 << (index + 6);
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CAN_Motor_Decode(&(can->motor.shoot.as_array[index]), can_rx->rx_data);
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break;
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case CAN_GM6020_YAW_ID:
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case CAN_GM6020_PIT_ID:
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index = can_rx->rx_header.StdId - CAN_GM6020_YAW_ID;
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can->recive_flag |= 1 << (index + 4);
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CAN_Motor_Decode(&(can->motor.gimbal.as_array[index]), can_rx->rx_data);
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break;
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case CAN_CAP_FB_ID_BASE:
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can->recive_flag |= 1 << 9;
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CAN_Cap_Decode(&(can->cap.cap_feedback), can_rx->rx_data);
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break;
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case CAN_TOF_ID_BASE:
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can->recive_flag |= 1 << 10;
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CAN_Tof_Decode(&(can->tof), can_rx->rx_data);
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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_OK;
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}
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bool CAN_CheckFlag(CAN_t *can, uint32_t flag) {
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if (can == NULL) return false;
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return (can->recive_flag & flag) == flag;
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}
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int8_t CAN_ClearFlag(CAN_t *can, uint32_t flag) {
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if (can == NULL) return DEVICE_ERR_NULL;
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can->recive_flag &= ~flag;
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return DEVICE_OK;
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}
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int8_t CAN_Cap_Control(CAN_CapOutput_t *output, CAN_t *can) {
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float power_limit = output->power_limit;
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uint16_t cap = (uint16_t)(power_limit * CAN_CAP_RES);
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raw_tx.tx_header.StdId = CAN_CAP_CTRL_ID_BASE;
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raw_tx.tx_header.IDE = CAN_ID_STD;
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raw_tx.tx_header.RTR = CAN_RTR_DATA;
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raw_tx.tx_header.DLC = CAN_MOTOR_TX_BUF_SIZE;
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raw_tx.tx_data[0] = (cap >> 8) & 0xFF;
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raw_tx.tx_data[1] = cap & 0xFF;
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HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
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raw_tx.tx_data, &(can->mailbox.cap));
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return DEVICE_OK;
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}
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void CAN_CAP_HandleOffline(CAN_Capacitor_t *cap, CAN_CapOutput_t *cap_out,
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float power_chassis) {
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cap->cap_status = CAN_CAP_STATUS_OFFLINE;
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cap_out->power_limit = power_chassis;
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}
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