TuxMonkey/bf_original_balance_chassis
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增加了LK电机和HT电机的基本支持,待编写控制

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NeoZng
2022-12-13 19:40:03 +08:00
parent 2f41e67de0
commit 11329aaddb
21 changed files with 280 additions and 171 deletions
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66
modules/motor/LK9025.c
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@@ -2,25 +2,25 @@
#include "stdlib.h"
static uint8_t idx;
static LKMotorInstance* lkmotor_instance[LK_MOTOR_MX_CNT]={NULL};
static LKMotorInstance *lkmotor_instance[LK_MOTOR_MX_CNT] = {NULL};
static void LKMotorDecode(CANInstance *_instance)
{
static LKMotor_Measure_t* measure;
static uint8_t* rx_buff;
rx_buff=_instance->rx_buff;
measure=&((LKMotorInstance*)_instance)->measure;
measure->last_ecd=measure->ecd;
measure->ecd=(uint16_t)((rx_buff[7] << 8) | rx_buff[6]);
measure->angle_single_round=ECD_ANGLE_COEF*measure->ecd;
measure->speed_aps=(1-SPEED_SMOOTH_COEF)*measure->speed_aps+
SPEED_SMOOTH_COEF*(float)((int16_t)(rx_buff[5] << 8 | rx_buff[4]));
measure->real_current=(1-CURRENT_SMOOTH_COEF)*measure->real_current+
CURRENT_SMOOTH_COEF*(float)((int16_t)(rx_buff[3] << 8 | rx_buff[2]));
measure->temperate=rx_buff[1];
static LKMotor_Measure_t *measure;
static uint8_t *rx_buff;
rx_buff = _instance->rx_buff;
measure = &((LKMotorInstance *)_instance)->measure;
//计算多圈角度
measure->last_ecd = measure->ecd;
measure->ecd = (uint16_t)((rx_buff[7] << 8) | rx_buff[6]);
measure->angle_single_round = ECD_ANGLE_COEF_LK * measure->ecd;
measure->speed_aps = (1 - SPEED_SMOOTH_COEF) * measure->speed_aps +
SPEED_SMOOTH_COEF * (float)((int16_t)(rx_buff[5] << 8 | rx_buff[4]));
measure->real_current = (1 - CURRENT_SMOOTH_COEF) * measure->real_current +
CURRENT_SMOOTH_COEF * (float)((int16_t)(rx_buff[3] << 8 | rx_buff[2]));
measure->temperate = rx_buff[1];
// 计算多圈角度
if (measure->ecd - measure->last_ecd > 32678)
measure->total_round--;
else if (measure->ecd - measure->last_ecd < -32678)
@@ -28,48 +28,46 @@ static void LKMotorDecode(CANInstance *_instance)
measure->total_angle = measure->total_round * 360 + measure->angle_single_round;
}
void LKMotorControl()
{
for (size_t i = 0; i < idx; i++)
for (size_t i = 0; i < idx; ++i)
{
}
}
LKMotorInstance *LKMotroInit(Motor_Init_Config_s *config)
{
lkmotor_instance[idx]=(LKMotorInstance*)malloc(sizeof(LKMotorInstance));
memset(lkmotor_instance[idx],0,sizeof(LKMotorInstance));
lkmotor_instance[idx] = (LKMotorInstance *)malloc(sizeof(LKMotorInstance));
memset(lkmotor_instance[idx], 0, sizeof(LKMotorInstance));
lkmotor_instance[idx]->motor_settings=config->controller_setting_init_config;
PID_Init(&lkmotor_instance[idx]->current_PID,&config->controller_param_init_config.current_PID);
PID_Init(&lkmotor_instance[idx]->current_PID,&config->controller_param_init_config.current_PID);
PID_Init(&lkmotor_instance[idx]->current_PID,&config->controller_param_init_config.current_PID);
lkmotor_instance[idx]->other_angle_feedback_ptr=config->controller_param_init_config.other_angle_feedback_ptr;
lkmotor_instance[idx]->other_speed_feedback_ptr=config->controller_param_init_config.other_speed_feedback_ptr;
lkmotor_instance[idx]->motor_settings = config->controller_setting_init_config;
PID_Init(&lkmotor_instance[idx]->current_PID, &config->controller_param_init_config.current_PID);
PID_Init(&lkmotor_instance[idx]->speed_PID, &config->controller_param_init_config.speed_PID);
PID_Init(&lkmotor_instance[idx]->angle_PID, &config->controller_param_init_config.angle_PID);
lkmotor_instance[idx]->other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
lkmotor_instance[idx]->other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
config->can_init_config.can_module_callback=LKMotorDecode;
config->can_init_config.rx_id=0x140+config->can_init_config.tx_id;
config->can_init_config.tx_id=config->can_init_config.tx_id+0x240;
lkmotor_instance[idx]->motor_can_ins=CANRegister(&config->can_init_config);
config->can_init_config.id = lkmotor_instance[idx];
config->can_init_config.can_module_callback = LKMotorDecode;
config->can_init_config.rx_id = 0x140 + config->can_init_config.tx_id;
config->can_init_config.tx_id = config->can_init_config.tx_id + 0x240;
lkmotor_instance[idx]->motor_can_ins = CANRegister(&config->can_init_config);
LKMotorEnable(lkmotor_instance[idx]);
return lkmotor_instance[idx++];
}
void LKMotorStop(LKMotorInstance *motor)
{
motor->stop_flag=MOTOR_STOP;
motor->stop_flag = MOTOR_STOP;
}
void LKMotorEnable(LKMotorInstance *motor)
{
motor->stop_flag=MOTOR_ENALBED;
motor->stop_flag = MOTOR_ENALBED;
}
void LKMotorSetRef(LKMotorInstance *motor, float ref)
{
motor->pid_ref=ref;
motor->pid_ref = ref;
}