TuxMonkey/bf_original_balance_chassis
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add motor_task.c

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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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60
modules/motor/LK9025.c
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@@ -1,26 +1,43 @@
#include"LK9025.h"
static driven_instance driven_motor_info[2];
static driven_instance* driven_motor_info[LK_MOTOR_CNT];
void LKMotroInit(uint16_t motor_id,uint16_t rx_id,CAN_HandleTypeDef* hcan)
static void DecodeDriven(can_instance* _instance)
{
for (size_t i = 0; i < LK_MOTOR_CNT; i++)
{
if(&driven_motor_info[i]->motor_can_instance==_instance)
{
driven_motor_info[i]->last_ecd = driven_motor_info[i]->ecd;
driven_motor_info[i]->ecd = (uint16_t)((_instance->rx_buff[7]<<8) | _instance->rx_buff[6]);
driven_motor_info[i]->speed_rpm = (uint16_t)(_instance->rx_buff[5] << 8 | _instance->rx_buff[4]);
driven_motor_info[i]->given_current = (uint16_t)(_instance->rx_buff[3] << 8 | _instance->rx_buff[2]);
driven_motor_info[i]->temperate = _instance->rx_buff[1];
break;
}
}
}
void LKMotroInit(driven_instance* instance,CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id)
{
static uint8_t idx;
driven_motor_info[idx].motor_can_instance.can_handle=hcan;
driven_motor_info[idx].motor_can_instance.can_module_callback=DecodeDriven;
driven_motor_info[idx].motor_can_instance.rx_id=rx_id;
driven_motor_info[idx].motor_can_instance.tx_id=motor_id;
CANRegister(&driven_motor_info[idx].motor_can_instance);
instance->motor_can_instance.can_module_callback=DecodeDriven;
instance->motor_can_instance.can_handle=_hcan;
instance->motor_can_instance.tx_id=tx_id;
instance->motor_can_instance.rx_id=rx_id;
CANRegister(&instance->motor_can_instance);
driven_motor_info[idx++]=instance;
}
void DrivenControl(int16_t motor1_current,int16_t motor2_current)
{
// LIMIT_MIN_MAX(motor1_current, I_MIN, I_MAX);
// LIMIT_MIN_MAX(motor2_current, I_MIN, I_MAX);
driven_motor_info[0].motor_can_instance.tx_buff[0] = motor1_current;
driven_motor_info[0].motor_can_instance.tx_buff[1] = motor1_current>>8;
driven_motor_info[0].motor_can_instance.tx_buff[2] = motor2_current;
driven_motor_info[0].motor_can_instance.tx_buff[3] = motor2_current>>8;
CANTransmit(&driven_motor_info[0].motor_can_instance);
LIMIT_MIN_MAX(motor1_current, I_MIN, I_MAX);
LIMIT_MIN_MAX(motor2_current, I_MIN, I_MAX);
driven_motor_info[0]->motor_can_instance.tx_buff[0] = motor1_current;
driven_motor_info[0]->motor_can_instance.tx_buff[1] = motor1_current>>8;
driven_motor_info[0]->motor_can_instance.tx_buff[2] = motor2_current;
driven_motor_info[0]->motor_can_instance.tx_buff[3] = motor2_current>>8;
CANTransmit(&driven_motor_info[0]->motor_can_instance);
}
void SetDrivenMode(driven_mode cmd,uint16_t motor_id)
@@ -31,18 +48,3 @@ void SetDrivenMode(driven_mode cmd,uint16_t motor_id)
// CANTransmit(driven_mode)
}
void DecodeDriven(can_instance* _instance)
{
for (size_t i = 0; i < LK_MOTOR_CNT; i++)
{
if(&driven_motor_info[i].motor_can_instance==_instance)
{
driven_motor_info[i].last_ecd = driven_motor_info[i].ecd;
driven_motor_info[i].ecd = (uint16_t)((_instance->rx_buff[7]<<8) | _instance->rx_buff[6]);
driven_motor_info[i].speed_rpm = (uint16_t)(_instance->rx_buff[5] << 8 | _instance->rx_buff[4]);
driven_motor_info[i].given_current = (uint16_t)(_instance->rx_buff[3] << 8 | _instance->rx_buff[2]);
driven_motor_info[i].temperate = _instance->rx_buff[1];
break;
}
}
}