TuxMonkey/bf_original_balance_chassis
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add motor

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This commit is contained in:
NeoZng
2022-10-29 23:14:19 +08:00
parent f46a463449
commit 5f59ebb916
21 changed files with 88 additions and 18731 deletions
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13
modules/motor/dji_motor.c
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@@ -9,11 +9,11 @@ static void DecodeDJIMotor(can_instance* _instance)
{
if(dji_motor_info[i]->motor_can_instance==_instance)
{
dji_motor_info[i]->last_ecd = dji_motor_info[i]->ecd;
dji_motor_info[i]->ecd = (uint16_t)(_instance->rx_buff[0] << 8 | _instance->rx_buff[1]);
dji_motor_info[i]->speed_rpm = (uint16_t)(_instance->rx_buff[2] << 8 | _instance->rx_buff[3]);
dji_motor_info[i]->given_current = (uint16_t)(_instance->rx_buff[4] << 8 | _instance->rx_buff[5]);
dji_motor_info[i]->temperate = _instance->rx_buff[6];
dji_motor_info[i]->motor_measure.last_ecd = dji_motor_info[i]->motor_measure.ecd;
dji_motor_info[i]->motor_measure.ecd = (uint16_t)(_instance->rx_buff[0] << 8 | _instance->rx_buff[1]);
dji_motor_info[i]->motor_measure.speed_rpm = (uint16_t)(_instance->rx_buff[2] << 8 | _instance->rx_buff[3]);
dji_motor_info[i]->motor_measure.given_current = (uint16_t)(_instance->rx_buff[4] << 8 | _instance->rx_buff[5]);
dji_motor_info[i]->motor_measure.temperate = _instance->rx_buff[6];
break;
}
}
@@ -26,6 +26,9 @@ dji_motor_instance* DJIMotorInit(CAN_HandleTypeDef* _hcan,uint16_t tx_id,uint16_
dji_motor_info[idx++]->motor_can_instance=CANRegister(tx_id,rx_id,_hcan,DecodeDJIMotor);
}
void DJIMotorSetRef();
void DJIMotorControl()
{

37
modules/motor/dji_motor.h
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@@ -5,25 +5,46 @@
#include "bsp_can.h"
#include "controller.h"
#include "motor_def.h"
typedef struct
{
uint16_t ecd;
int16_t speed_rpm;
int16_t given_current;
uint8_t temperate;
int16_t last_ecd;
struct
{
uint16_t ecd;
uint16_t last_ecd;
int16_t speed_rpm;
int16_t given_current;
uint8_t temperate;
int16_t total_round;
int32_t total_angle;
} motor_measure;
struct
{
closeloop_e close_loop_type;
reverse_flag_e reverse_flag;
feedback_source_e angle_feedback_source;
feedback_source_e speed_feedback_source;
} controll_state;
float* other_angle_feedback_ptr;
float* other_speed_feedback_ptr;
PID_t* current_PID;
PID_t* speed_PID;
PID_t* angle_PID;
PID_t motor_pid;
can_instance *motor_can_instance;
} dji_motor_instance;
dji_motor_instance* DJIMotorInit(CAN_HandleTypeDef* _hcan,uint16_t tx_id,uint16_t rx_id);
void DJIMotorSetRef();
void DJIMotorControl();
#endif // !DJI_MOTOR_H
#endif // !DJI_MOTOR_H

26
modules/motor/motor_def.h Normal file
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@@ -0,0 +1,26 @@
#ifndef MOTOR_DEF_H
#define MOTOR_DEF_H
typedef enum
{
CURRENT=0,
SPEED=1,
ANGLE=2
} closeloop_e;
typedef enum
{
MOTOR=0,
OTHER=1
} feedback_source_e;
typedef enum
{
CLOCKWISE=0,
COUNTER_CLOCKWISE=1
} reverse_flag_e;
#endif // !MOTOR_DEF_H

23
modules/motor/motor_task.c
View File

@@ -10,20 +10,21 @@ void RegisterMotor(Motor_Type_e motor_type,void* motor_instance)
static uint8_t dji_idx,joint_idx,driven_idx;
switch (motor_type)
{
case GM6020:
case M3508:
case M2006:
dji_motor_info[dji_idx++]=(dji_motor_instance*)motor_instance;
break;
case LK9025:
driven_motor_info[driven_idx++]=(driven_instance*)motor_instance;
break;
case HT04:
joint_motor_info[joint_idx++]=(joint_instance*)motor_instance;
break;
case GM6020:
case M3508:
case M2006:
dji_motor_info[dji_idx++]=(dji_motor_instance*)motor_instance;
break;
case LK9025:
driven_motor_info[driven_idx++]=(driven_instance*)motor_instance;
break;
case HT04:
joint_motor_info[joint_idx++]=(joint_instance*)motor_instance;
break;
}
}
void MotorControlTask()
{