134 lines
5.0 KiB
C
134 lines
5.0 KiB
C
/*
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ctrl_lz Task
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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#include "bsp/can.h"
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#include "device/motor_lz.h"
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#include "device/motor_lk.h"
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#include "module/config.h"
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#include <string.h>
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/* USER INCLUDE END */
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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/* USER STRUCT BEGIN */
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static bool command_received = false;
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/* USER STRUCT END */
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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void Task_ctrl_lz(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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/* 计算任务运行到指定频率需要等待的tick数 */
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const uint32_t delay_tick = osKernelGetTickFreq() / CTRL_LZ_FREQ;
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osDelay(CTRL_LZ_INIT_DELAY); /* 延时一段时间再开启任务 */
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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/* USER CODE INIT BEGIN */
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BSP_CAN_Init();
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MOTOR_LZ_Init();
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for (int i = 0; i < 4; i++) {
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MOTOR_LZ_Register(&Config_GetRobotParam()->joint_param[i]);
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}
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// 注册CAN接收ID
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BSP_CAN_RegisterId(BSP_CAN_1, 121, 0); // 使能命令
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BSP_CAN_RegisterId(BSP_CAN_1, 122, 0); // 力矩控制命令
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for (int i = 0; i < 4; i++) {
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MOTOR_LZ_Enable(&Config_GetRobotParam()->joint_param[i]);
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}
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/* USER CODE INIT END */
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while (1) {
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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/* USER CODE BEGIN */
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MOTOR_LZ_UpdateAll();
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// 检查CAN接收消息
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BSP_CAN_Message_t rx_msg;
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command_received = false; // 重置命令接收标志
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// 检查ID 121 - 使能4个电机
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if (BSP_CAN_GetMessage(BSP_CAN_1, 121, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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command_received = true;
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for (int i = 0; i < 4; i++) {
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MOTOR_LZ_Enable(&Config_GetRobotParam()->joint_param[i]);
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}
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}
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// 检查ID 122 - 运控模式控制4个电机
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if (BSP_CAN_GetMessage(BSP_CAN_1, 122, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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command_received = true;
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// 8字节数据分别是4个电机的力矩 (每个电机2字节，有符号整数，精度0.01 Nm)
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for (int i = 0; i < 4; i++) {
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int16_t torque_raw;
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memcpy(&torque_raw, &rx_msg.data[i * 2], sizeof(int16_t));
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float torque = (float)torque_raw / 100.0f; // 转换为浮点数力矩值
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// 使用运控模式控制电机，只设置力矩，其他参数为0
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MOTOR_LZ_MotionParam_t motion_param = {
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.target_angle = 0.0f,
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.target_velocity = 0.0f,
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.kp = 0.0f,
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.kd = 0.0f,
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.torque = torque
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};
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MOTOR_LZ_MotionControl(&Config_GetRobotParam()->joint_param[i], &motion_param);
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}
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}
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// 如果没有收到任何控制命令，电机进入relax模式
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if (!command_received) {
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for (int i = 0; i < 4; i++) {
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MOTOR_LZ_Relax(&Config_GetRobotParam()->joint_param[i]);
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}
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}
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// 发送4个电机的反馈数据，ID分别为124、125、126、127
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for (int i = 0; i < 4; i++) {
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MOTOR_LZ_t* motor = MOTOR_LZ_GetMotor(&Config_GetRobotParam()->joint_param[i]);
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if (motor != NULL) {
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BSP_CAN_StdDataFrame_t motor_frame = {
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.id = 124 + i, // ID: 124, 125, 126, 127
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.dlc = 8,
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.data = {0}
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};
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// 数据重构：转矩电流(2字节) + 位置(3字节) + 速度(3字节) = 8字节
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// 转矩电流 - 转换为16位整数 (精度0.01 Nm)
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int16_t torque_int = (int16_t)(motor->lz_feedback.current_torque * 100);
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memcpy(&motor_frame.data[0], &torque_int, sizeof(int16_t));
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// 位置 - 转换为24位整数，使用3字节 (精度0.0001 rad)
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int32_t angle_int = (int32_t)(motor->lz_feedback.current_angle * 10000) & 0xFFFFFF;
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motor_frame.data[2] = (angle_int >> 16) & 0xFF;
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motor_frame.data[3] = (angle_int >> 8) & 0xFF;
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motor_frame.data[4] = angle_int & 0xFF;
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// 速度 - 转换为24位整数，使用3字节 (精度0.001 rad/s)
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int32_t velocity_int = (int32_t)(motor->lz_feedback.current_velocity * 1000) & 0xFFFFFF;
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motor_frame.data[5] = (velocity_int >> 16) & 0xFF;
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motor_frame.data[6] = (velocity_int >> 8) & 0xFF;
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motor_frame.data[7] = velocity_int & 0xFF;
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BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &motor_frame);
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}
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}
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/* USER CODE END */
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osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
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}
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} |