/** ****************************(C) COPYRIGHT 2019 DJI**************************** * @file can_receive.c/h * @brief there is CAN interrupt function to receive motor data, * and CAN send function to send motor current to control motor. * * @note * @history * Version Date Author Modification * V1.0.0 Dec-26-2018 RM 1. done * V1.1.0 Nov-11-2019 RM 1. support hal lib * @verbatim ============================================================================== ============================================================================== @endverbatim ****************************(C) COPYRIGHT 2019 DJI**************************** */ #include "CAN_receive.h" #include "main.h" extern CAN_HandleTypeDef hcan1; extern CAN_HandleTypeDef hcan2; //motor data read #define get_motor_measure(ptr, data) \ { \ (ptr)->last_ecd = (ptr)->ecd; \ (ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]); \ (ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]); \ (ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]); \ (ptr)->temperate = (data)[6]; \ } static motor_measure_t motor_chassis[7]; static CAN_TxHeaderTypeDef gimbal_tx_message; static uint8_t gimbal_can_send_data[8]; static CAN_TxHeaderTypeDef chassis_tx_message; uint8_t chassis_can_send_data[8]; /** * @brief hal CAN fifo call back, receive motor data * @param[in] hcan, the point to CAN handle * @retval none */ // CAN_RxHeaderTypeDef rx_header; //void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) //{ // uint8_t rx_data[8]; // HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data); // switch (rx_header.StdId) // { // case CAN_3508_M1_ID: // case CAN_3508_M2_ID: // case CAN_3508_M3_ID: // case CAN_3508_M4_ID: // case CAN_YAW_MOTOR_ID: // case CAN_PIT_MOTOR_ID: // case CAN_TRIGGER_MOTOR_ID: // { // static uint8_t i = 0; // //get motor id // i = rx_header.StdId - CAN_3508_M1_ID; // get_motor_measure(&motor_chassis[i], rx_data); // break; // } // // default: // { // break; // } // } // //} /** * @brief send control current of motor (0x205, 0x206, 0x207, 0x208) * @param[in] yaw: (0x205) 6020 motor control current, range [-30000,30000] * @param[in] pitch: (0x206) 6020 motor control current, range [-30000,30000] * @param[in] shoot: (0x207) 2006 motor control current, range [-10000,10000] * @param[in] rev: (0x208) reserve motor control current * @retval none */ void CAN_cmd_gimbal(int16_t yaw, int16_t pitch, int16_t shoot, int16_t rev) { uint32_t send_mail_box; gimbal_tx_message.StdId = CAN_GIMBAL_ALL_ID; gimbal_tx_message.IDE = CAN_ID_STD; gimbal_tx_message.RTR = CAN_RTR_DATA; gimbal_tx_message.DLC = 0x08; gimbal_can_send_data[0] = (yaw >> 8); gimbal_can_send_data[1] = yaw; gimbal_can_send_data[2] = (pitch >> 8); gimbal_can_send_data[3] = pitch; gimbal_can_send_data[4] = (shoot >> 8); gimbal_can_send_data[5] = shoot; gimbal_can_send_data[6] = (rev >> 8); gimbal_can_send_data[7] = rev; HAL_CAN_AddTxMessage(&hcan1, &gimbal_tx_message, gimbal_can_send_data, &send_mail_box);//GIMBAL_CAN } /** * @brief send CAN packet of ID 0x700, it will set chassis motor 3508 to quick ID setting * @param[in] none * @retval none */ void CAN_cmd_chassis_reset_ID(void) { uint32_t send_mail_box; chassis_tx_message.StdId = CAN_CHASSIS_ALL_ID; chassis_tx_message.IDE = CAN_ID_STD; chassis_tx_message.RTR = CAN_RTR_DATA; chassis_tx_message.DLC = 0x08; chassis_can_send_data[0] = 0; chassis_can_send_data[1] = 0; chassis_can_send_data[2] = 0; chassis_can_send_data[3] = 0; chassis_can_send_data[4] = 0; chassis_can_send_data[5] = 0; chassis_can_send_data[6] = 0; chassis_can_send_data[7] = 0; HAL_CAN_AddTxMessage(&CHASSIS_CAN, &chassis_tx_message, chassis_can_send_data, &send_mail_box); } /** * @brief send control current of motor (0x201, 0x202, 0x203, 0x204) * @param[in] motor1: (0x201) 3508 motor control current, range [-16384,16384] * @param[in] motor2: (0x202) 3508 motor control current, range [-16384,16384] * @param[in] motor3: (0x203) 3508 motor control current, range [-16384,16384] * @param[in] motor4: (0x204) 3508 motor control current, range [-16384,16384] * @retval none */ int l; void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4) { uint32_t send_mail_box; chassis_tx_message.StdId = CAN_CHASSIS_ALL_ID; chassis_tx_message.IDE = CAN_ID_STD; chassis_tx_message.RTR = CAN_RTR_DATA; chassis_tx_message.DLC = 0x08; chassis_can_send_data[0] = motor1 >> 8; chassis_can_send_data[1] = motor1; chassis_can_send_data[2] = motor2 >> 8; chassis_can_send_data[3] = motor2; chassis_can_send_data[4] = motor3 >> 8; chassis_can_send_data[5] = motor3; chassis_can_send_data[6] = motor4 >> 8; chassis_can_send_data[7] = motor4; if(HAL_CAN_AddTxMessage(&CHASSIS_CAN, &chassis_tx_message, chassis_can_send_data, &send_mail_box)==HAL_OK) {l=1;} } /** * @brief return the yaw 6020 motor data point * @param[in] none * @retval motor data point */ const motor_measure_t *get_yaw_gimbal_motor_measure_point(void) { return &motor_chassis[4]; } /** * @brief return the pitch 6020 motor data point * @param[in] none * @retval motor data point */ const motor_measure_t *get_pitch_gimbal_motor_measure_point(void) { return &motor_chassis[5]; } /** * @brief return the trigger 2006 motor data point * @param[in] none * @retval motor data point */ const motor_measure_t *get_trigger_motor_measure_point(void) { return &motor_chassis[6]; } /** * @brief return the chassis 3508 motor data point * @param[in] i: motor number,range [0,3] * @retval motor data point */ const motor_measure_t *get_chassis_motor_measure_point(uint8_t i) { return &motor_chassis[(i & 0x03)]; }