159 lines
5.0 KiB
C
159 lines
5.0 KiB
C
/**
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****************************(C) COPYRIGHT 2019 DJI****************************
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* @file can_receive.c/h
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* @brief there is CAN interrupt function to receive motor data,
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* and CAN send function to send motor current to control motor.
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* 这里是CAN中断接收函数，接收电机数据,CAN发送函数发送电机电流控制电机.
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* @note
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* @history
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* Version Date Author Modification
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* V1.0.0 Dec-26-2018 RM 1. done
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* V1.1.0 Nov-11-2019 RM 1. support hal lib
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*
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@verbatim
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==============================================================================
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==============================================================================
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@endverbatim
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****************************(C) COPYRIGHT 2019 DJI****************************
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*/
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#ifndef CAN_RECEIVE_H
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#define CAN_RECEIVE_H
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#include "struct_typedef.h"
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#define CHASSIS_CAN hcan1
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#define GIMBAL_CAN hcan2
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/* CAN send and receive ID */
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typedef enum
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{
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CAN_CHASSIS_ALL_ID = 0x200,
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CAN_3508_M1_ID = 0x201,
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CAN_3508_M2_ID = 0x202,
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CAN_3508_M3_ID = 0x203,
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CAN_3508_M4_ID = 0x204,
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CAN_YAW_MOTOR_ID = 0x205,
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CAN_PIT_MOTOR_ID = 0x206,
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CAN_TRIGGER_MOTOR_ID = 0x207,
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CAN_GIMBAL_ALL_ID = 0x1FF,
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} can_msg_id_e;
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//rm motor data
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typedef struct
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{
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uint16_t ecd;
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int16_t speed_rpm;
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int16_t given_current;
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uint16_t temperate;
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int16_t last_ecd;
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int16_t round_cnt;
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int16_t total_angle;
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uint16_t offset_ecd;
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uint32_t msg_cnt;
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} motor_measure_t;
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//rm motor data
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/**
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* @brief send control current of motor (0x205, 0x206, 0x207, 0x208)
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* @param[in] yaw: (0x205) 6020 motor control current, range [-30000,30000]
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* @param[in] pitch: (0x206) 6020 motor control current, range [-30000,30000]
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* @param[in] shoot: (0x207) 2006 motor control current, range [-10000,10000]
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* @param[in] rev: (0x208) reserve motor control current
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* @retval none
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*/
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/**
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* @brief 发送电机控制电流(0x205,0x206,0x207,0x208)
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* @param[in] yaw: (0x205) 6020电机控制电流, 范围 [-30000,30000]
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* @param[in] pitch: (0x206) 6020电机控制电流, 范围 [-30000,30000]
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* @param[in] shoot: (0x207) 2006电机控制电流, 范围 [-10000,10000]
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* @param[in] rev: (0x208) 保留，电机控制电流
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* @retval none
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*/
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extern void CAN_cmd_gimbal(int16_t yaw, int16_t pitch, int16_t shoot, int16_t rev);
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/**
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* @brief send CAN packet of ID 0x700, it will set chassis motor 3508 to quick ID setting
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* @param[in] none
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* @retval none
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*/
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/**
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* @brief 发送ID为0x700的CAN包,它会设置3508电机进入快速设置ID
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* @param[in] none
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* @retval none
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*/
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extern void CAN_cmd_chassis_reset_ID(void);
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/**
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* @brief send control current of motor (0x201, 0x202, 0x203, 0x204)
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* @param[in] motor1: (0x201) 3508 motor control current, range [-16384,16384]
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* @param[in] motor2: (0x202) 3508 motor control current, range [-16384,16384]
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* @param[in] motor3: (0x203) 3508 motor control current, range [-16384,16384]
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* @param[in] motor4: (0x204) 3508 motor control current, range [-16384,16384]
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* @retval none
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*/
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/**
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* @brief 发送电机控制电流(0x201,0x202,0x203,0x204)
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* @param[in] motor1: (0x201) 3508电机控制电流, 范围 [-16384,16384]
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* @param[in] motor2: (0x202) 3508电机控制电流, 范围 [-16384,16384]
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* @param[in] motor3: (0x203) 3508电机控制电流, 范围 [-16384,16384]
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* @param[in] motor4: (0x204) 3508电机控制电流, 范围 [-16384,16384]
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* @retval none
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*/
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extern void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4);
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/**
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* @brief return the yaw 6020 motor data point
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* @param[in] none
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* @retval motor data point
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*/
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/**
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* @brief 返回yaw 6020电机数据指针
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* @param[in] none
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* @retval 电机数据指针
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*/
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extern const motor_measure_t *get_yaw_gimbal_motor_measure_point(void);
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/**
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* @brief return the pitch 6020 motor data point
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* @param[in] none
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* @retval motor data point
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*/
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/**
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* @brief 返回pitch 6020电机数据指针
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* @param[in] none
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* @retval 电机数据指针
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*/
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extern const motor_measure_t *get_pitch_gimbal_motor_measure_point(void);
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/**
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* @brief return the trigger 2006 motor data point
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* @param[in] none
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* @retval motor data point
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*/
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/**
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* @brief 返回拨弹电机 2006电机数据指针
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* @param[in] none
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* @retval 电机数据指针
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*/
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extern const motor_measure_t *get_trigger_motor_measure_point(void);
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/**
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* @brief return the chassis 3508 motor data point
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* @param[in] i: motor number,range [0,3]
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* @retval motor data point
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*/
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/**
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* @brief 返回底盘电机 3508电机数据指针
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* @param[in] i: 电机编号,范围[0,3]
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* @retval 电机数据指针
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*/
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extern const motor_measure_t *get_chassis_motor_measure_point(uint8_t i);
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void CAN2_board_to_board_send(void);
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#endif
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