TuxMonkey/bf_original_balance_chassis
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add motor_task.c

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This commit is contained in:
NeoZng
2022-10-20 21:14:17 +08:00
parent 78f85b7fda
commit a3a95768e6
12 changed files with 204 additions and 43 deletions
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26
modules/motor/HT04.c
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@@ -1,7 +1,19 @@
#include "HT04.h"
#include "memory.h"
joint_instance joint_motor_info[HT_MOTOR_CNT];
joint_instance* joint_motor_info[HT_MOTOR_CNT];
void HTMotorInit(joint_instance* _instance,CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id)
{
static uint8_t idx;
_instance->motor_can_instace.can_handle=_hcan;
_instance->motor_can_instace.tx_id=tx_id;
_instance->motor_can_instace.rx_id=rx_id;
_instance->motor_can_instace.can_module_callback=DecodeJoint;
CANRegister(&_instance->motor_can_instace);
joint_motor_info[idx++]=_instance;
}
static uint16_t float_to_uint(float x, float x_min, float x_max, uint8_t bits)
{
@@ -24,7 +36,7 @@ void JointControl(joint_instance* _instance,float current)
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;
CANTransmit(_instance);
CANTransmit(&_instance->motor_can_instace);
}
void SetJointMode(joint_mode cmd,joint_instance* _instance)
@@ -40,15 +52,15 @@ 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);
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]->given_current=uint_to_float(tmp,T_MAX,T_MIN,12);
break;
}
}