mirror of
https://gitee.com/dlmu-cone/bf_original_balance_chassis
synced 2026-07-23 19:25:09 +08:00
add driver for DMMotor
This commit is contained in:
chenfu
173
modules/motor/DMmotor/dmmotor.c
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173
modules/motor/DMmotor/dmmotor.c
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#include "dmmotor.h"
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#include "memory.h"
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#include "general_def.h"
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#include "user_lib.h"
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#include "cmsis_os.h"
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#include "string.h"
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#include "daemon.h"
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#include "stdlib.h"
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#include "bsp_log.h"
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static uint8_t idx;
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static DMMotorInstance *dm_motor_instance[DM_MOTOR_CNT];
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static osThreadId dm_task_handle[DM_MOTOR_CNT];
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/* 两个用于将uint值和float值进行映射的函数,在设定发送值和解析反馈值时使用 */
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static uint16_t float_to_uint(float x, float x_min, float x_max, uint8_t bits)
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{
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float span = x_max - x_min;
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float offset = x_min;
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return (uint16_t)((x - offset) * ((float)((1 << bits) - 1)) / span);
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}
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static float uint_to_float(int x_int, float x_min, float x_max, int bits)
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{
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float span = x_max - x_min;
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float offset = x_min;
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return ((float)x_int) * span / ((float)((1 << bits) - 1)) + offset;
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}
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static void DMMotorSetMode(DMMotor_Mode_e cmd, DMMotorInstance *motor)
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{
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memset(motor->motor_can_instace->tx_buff, 0xff, 7); // 发送电机指令的时候前面7bytes都是0xff
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motor->motor_can_instace->tx_buff[7] = (uint8_t)cmd; // 最后一位是命令id
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CANTransmit(motor->motor_can_instace, 1);
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}
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static void DMMotorDecode(CANInstance *motor_can)
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{
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uint16_t tmp; // 用于暂存解析值,稍后转换成float数据,避免多次创建临时变量
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uint8_t *rxbuff = motor_can->rx_buff;
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DMMotorInstance *motor = (DMMotorInstance *)motor_can->id;
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DM_Motor_Measure_s *measure = &(motor->measure); // 将can实例中保存的id转换成电机实例的指针
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DaemonReload(motor->motor_daemon);
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measure->last_position = measure->position;
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tmp = (uint16_t)((rxbuff[1] << 8) | rxbuff[2]);
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measure->position = uint_to_float(tmp, DM_P_MIN, DM_P_MAX, 16);
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tmp = (uint16_t)((rxbuff[3] << 4) | rxbuff[4] >> 4);
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measure->velocity = uint_to_float(tmp, DM_V_MIN, DM_V_MAX, 12);
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tmp = (uint16_t)(((rxbuff[4] & 0x0f) << 8) | rxbuff[5]);
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measure->torque = uint_to_float(tmp, DM_T_MIN, DM_T_MAX, 12);
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measure->T_Mos = (float)rxbuff[6];
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measure->T_Rotor = (float)rxbuff[7];
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}
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static void DMMotorLostCallback(void *motor_ptr)
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{
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}
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void DMMotorCaliEncoder(DMMotorInstance *motor)
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{
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DMMotorSetMode(DM_CMD_ZERO_POSITION, motor);
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DWT_Delay(0.1);
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}
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DMMotorInstance *DMMotorInit(Motor_Init_Config_s *config)
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{
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DMMotorInstance *motor = (DMMotorInstance *)malloc(sizeof(DMMotorInstance));
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memset(motor, 0, sizeof(DMMotorInstance));
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motor->motor_settings = config->controller_setting_init_config;
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PIDInit(&motor->current_PID, &config->controller_param_init_config.current_PID);
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PIDInit(&motor->speed_PID, &config->controller_param_init_config.speed_PID);
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PIDInit(&motor->angle_PID, &config->controller_param_init_config.angle_PID);
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motor->other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
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motor->other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
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config->can_init_config.can_module_callback = DMMotorDecode;
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config->can_init_config.id = motor;
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motor->motor_can_instace = CANRegister(&config->can_init_config);
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Daemon_Init_Config_s conf = {
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.callback = DMMotorLostCallback,
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.owner_id = motor,
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.reload_count = 10,
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};
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motor->motor_daemon = DaemonRegister(&conf);
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DMMotorEnable(motor);
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DMMotorSetMode(DM_CMD_MOTOR_MODE, motor);
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DWT_Delay(0.1);
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DMMotorCaliEncoder(motor);
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DWT_Delay(0.1);
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dm_motor_instance[idx++] = motor;
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return motor;
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}
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void DMMotorSetRef(DMMotorInstance *motor, float ref)
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{
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motor->pid_ref = ref;
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}
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void DMMotorEnable(DMMotorInstance *motor)
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{
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motor->stop_flag = MOTOR_ENALBED;
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}
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void DMMotorStop(DMMotorInstance *motor)//不使用使能模式是因为需要收到反馈
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{
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motor->stop_flag = MOTOR_STOP;
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}
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void DMMotorOuterLoop(DMMotorInstance *motor, Closeloop_Type_e type)
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{
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motor->motor_settings.outer_loop_type = type;
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}
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void DMMotorTask(void const *argument)
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{
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float pid_measure, pid_ref, set;
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DMMotorInstance *motor = (DMMotorInstance *)argument;
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DM_Motor_Measure_s *measure = &motor->measure;
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Motor_Control_Setting_s *setting = &motor->motor_settings;
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CANInstance *motor_can = motor->motor_can_instace;
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uint16_t tmp;
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DMMotor_Send_s motor_send_mailbox;
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while (1)
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{
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pid_ref = motor->pid_ref;
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set = pid_ref;
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if (setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
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set *= -1;
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LIMIT_MIN_MAX(set, DM_T_MIN, DM_T_MAX);
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motor_send_mailbox.position_des = float_to_uint(0, DM_P_MIN, DM_P_MAX, 16);
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motor_send_mailbox.velocity_des = float_to_uint(0, DM_V_MIN, DM_V_MAX, 12);
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motor_send_mailbox.torque_des = float_to_uint(pid_ref, DM_T_MIN, DM_T_MAX, 12);
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motor_send_mailbox.Kp = 0;
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motor_send_mailbox.Kd = 0;
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if(motor->stop_flag == MOTOR_STOP)
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motor_send_mailbox.torque_des = float_to_uint(0, DM_T_MIN, DM_T_MAX, 12);
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motor->motor_can_instace->tx_buff[0] = (uint8_t)(motor_send_mailbox.position_des >> 8);
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motor->motor_can_instace->tx_buff[1] = (uint8_t)(motor_send_mailbox.position_des);
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motor->motor_can_instace->tx_buff[2] = (uint8_t)(motor_send_mailbox.velocity_des >> 4);
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motor->motor_can_instace->tx_buff[3] = (uint8_t)(((motor_send_mailbox.velocity_des & 0xF) << 4) | (motor_send_mailbox.Kp >> 8));
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motor->motor_can_instace->tx_buff[4] = (uint8_t)(motor_send_mailbox.Kp);
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motor->motor_can_instace->tx_buff[5] = (uint8_t)(motor_send_mailbox.Kd >> 4);
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motor->motor_can_instace->tx_buff[6] = (uint8_t)(((motor_send_mailbox.Kd & 0xF) << 4) | (motor_send_mailbox.torque_des >> 8));
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motor->motor_can_instace->tx_buff[7] = (uint8_t)(motor_send_mailbox.torque_des);
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CANTransmit(motor->motor_can_instace, 1);
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osDelay(2);
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}
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}
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void DMMotorControlInit()
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{
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char dm_task_name[5] = "dm";
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// 遍历所有电机实例,创建任务
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if (!idx)
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return;
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for (size_t i = 0; i < idx; i++)
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{
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char dm_id_buff[2] = {0};
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__itoa(i, dm_id_buff, 10);
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strcat(dm_task_name, dm_id_buff);
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osThreadDef(dm_task_name, DMMotorTask, osPriorityNormal, 0, 128);
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dm_task_handle[i] = osThreadCreate(osThread(dm_task_name), dm_motor_instance[i]);
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}
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}
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76
modules/motor/DMmotor/dmmotor.h
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76
modules/motor/DMmotor/dmmotor.h
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@@ -0,0 +1,76 @@
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#ifndef DMMOTOR_H
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#define DMMOTOR_H
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#include <stdint.h>
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#include "bsp_can.h"
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#include "controller.h"
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#include "motor_def.h"
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#include "daemon.h"
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#define DM_MOTOR_CNT 4
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#define DM_P_MIN -12.5f
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#define DM_P_MAX 12.5f
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#define DM_V_MIN -45.0f
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#define DM_V_MAX 45.0f
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#define DM_T_MIN -18.0f
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#define DM_T_MAX 18.0f
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typedef struct
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{
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uint8_t id;
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uint8_t state;
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float velocity;
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float last_position;
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float position;
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float torque;
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float T_Mos;
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float T_Rotor;
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int32_t total_round;
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}DM_Motor_Measure_s;
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typedef struct
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{
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uint16_t position_des;
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uint16_t velocity_des;
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uint16_t torque_des;
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uint16_t Kp;
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uint16_t Kd;
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}DMMotor_Send_s;
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typedef struct
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{
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DM_Motor_Measure_s measure;
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Motor_Control_Setting_s motor_settings;
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PIDInstance current_PID;
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PIDInstance speed_PID;
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PIDInstance angle_PID;
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float *other_angle_feedback_ptr;
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float *other_speed_feedback_ptr;
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float *speed_feedforward_ptr;
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float *current_feedforward_ptr;
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float pid_ref;
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Motor_Working_Type_e stop_flag;
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CANInstance *motor_can_instace;
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DaemonInstance* motor_daemon;
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uint32_t lost_cnt;
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}DMMotorInstance;
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typedef enum
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{
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DM_CMD_MOTOR_MODE = 0xfc, // 使能,会响应指令
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DM_CMD_RESET_MODE = 0xfd, // 停止
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DM_CMD_ZERO_POSITION = 0xfe, // 将当前的位置设置为编码器零位
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DM_CMD_CLEAR_ERROR = 0xfb // 清除电机过热错误
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}DMMotor_Mode_e;
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DMMotorInstance *DMMotorInit(Motor_Init_Config_s *config);
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void DMMotorSetRef(DMMotorInstance *motor, float ref);
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void DMMotorOuterLoop(DMMotorInstance *motor,Closeloop_Type_e closeloop_type);
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void DMMotorEnable(DMMotorInstance *motor);
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void DMMotorStop(DMMotorInstance *motor);
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void DMMotorCaliEncoder(DMMotorInstance *motor);
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void DMMotorControlInit();
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#endif // !DMMOTOR
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