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更新dji_motor初始化的配置,优化参数传递

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NeoZng
2022-11-12 12:39:36 +08:00
parent 55e12955b7
commit 0fb67070b8
12 changed files with 234 additions and 174 deletions
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40
modules/motor/HT04.c
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@@ -1,63 +1,63 @@
#include "HT04.h"
#include "memory.h"
joint_instance* joint_motor_info[HT_MOTOR_CNT];
joint_instance *joint_motor_info[HT_MOTOR_CNT];
static uint16_t float_to_uint(float x, float x_min, float x_max, uint8_t bits)
{
float span = x_max - x_min;
float offset = x_min;
return (uint16_t) ((x-offset)*((float)((1<<bits)-1))/span);
return (uint16_t)((x - offset) * ((float)((1 << bits) - 1)) / span);
}
static float uint_to_float(int x_int, float x_min, float x_max, int bits)
{
float span = x_max - x_min;
float offset = x_min;
return ((float)x_int)*span/((float)((1<<bits)-1)) + offset;
return ((float)x_int) * span / ((float)((1 << bits) - 1)) + offset;
}
static void DecodeJoint(can_instance* motor_instance)
static void DecodeJoint(can_instance *motor_instance)
{
uint16_t tmp;
for (size_t i = 0; i < HT_MOTOR_CNT; i++)
{
if(joint_motor_info[i]->motor_can_instace==motor_instance)
if (joint_motor_info[i]->motor_can_instace == motor_instance)
{
tmp = (motor_instance->rx_buff[1] << 8) | motor_instance->rx_buff[2];
joint_motor_info[i]->last_ecd=joint_motor_info[i]->ecd;
joint_motor_info[i]->ecd=uint_to_float(tmp,P_MAX,P_MIN,16);
joint_motor_info[i]->last_ecd = joint_motor_info[i]->ecd;
joint_motor_info[i]->ecd = uint_to_float(tmp, P_MAX, P_MIN, 16);
tmp = (motor_instance->rx_buff[3] << 4) | (motor_instance->rx_buff[4] >> 4);
joint_motor_info[i]->speed_rpm= uint_to_float(tmp,V_MAX,V_MIN,12);
tmp=((motor_instance->rx_buff[4]&0xf)<<8) | motor_instance->rx_buff[5];
joint_motor_info[i]->given_current=uint_to_float(tmp,T_MAX,T_MIN,12);
joint_motor_info[i]->speed_rpm = uint_to_float(tmp, V_MAX, V_MIN, 12);
tmp = ((motor_instance->rx_buff[4] & 0xf) << 8) | motor_instance->rx_buff[5];
joint_motor_info[i]->given_current = uint_to_float(tmp, T_MAX, T_MIN, 12);
break;
}
}
}
joint_instance* HTMotorInit(can_instance_config config)
joint_instance *HTMotorInit(can_instance_config_s config)
{
static uint8_t idx;
joint_motor_info[idx]=(joint_instance*)malloc(sizeof(joint_instance));
CANRegister(joint_motor_info[idx++]->motor_can_instace,config);
joint_motor_info[idx] = (joint_instance *)malloc(sizeof(joint_instance));
CANRegister(joint_motor_info[idx++]->motor_can_instace, config);
return joint_motor_info[idx++];
}
void JointControl(joint_instance* _instance,float current)
void JointControl(joint_instance *_instance, float current)
{
uint16_t tmp;
LIMIT_MIN_MAX(current, T_MIN, T_MAX);
LIMIT_MIN_MAX(current, T_MIN, T_MAX);
tmp = float_to_uint(current, T_MIN, T_MAX, 12);
_instance->motor_can_instace->rx_buff[6] = tmp>>8;
_instance->motor_can_instace->rx_buff[7] = tmp&0xff;
_instance->motor_can_instace->rx_buff[6] = tmp >> 8;
_instance->motor_can_instace->rx_buff[7] = tmp & 0xff;
CANTransmit(_instance->motor_can_instace);
}
void SetJointMode(joint_mode cmd,joint_instance* _instance)
void SetJointMode(joint_mode cmd, joint_instance *_instance)
{
static uint8_t buf[8] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00};
buf[7]=(uint8_t)cmd;
memcpy(_instance->motor_can_instace->rx_buff,buf,8*sizeof(uint8_t));
buf[7] = (uint8_t)cmd;
memcpy(_instance->motor_can_instace->rx_buff, buf, 8 * sizeof(uint8_t));
CANTransmit(_instance->motor_can_instace);
}