stm32 通過CAN 電機控制源碼 C語言程序 - ELEOK

#include "CAN_receive.h"
#include "main.h"
extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2;
//motor data read
#define get_motor_measure(ptr, data) \
{ \
(ptr)->last_ecd = (ptr)->ecd; \
(ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]); \
(ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]); \
(ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]); \
(ptr)->temperate = (data)[6]; \
}
/*
motor data, 0:chassis motor1 3508;1:chassis motor3 3508;2:chassis motor3 3508;3:chassis motor4 3508;
4:yaw gimbal motor 6020;5:pitch gimbal motor 6020;6:trigger motor 2006;
電機數據, 0:底盤電機1 3508電機, 1:底盤電機2 3508電機,2:底盤電機3 3508電機,3:底盤電機4 3508電機;
4:yaw云臺電機 6020電機; 5:pitch云臺電機 6020電機; 6:撥彈電機 2006電機*/
static motor_measure_t motor_chassis[7];
static CAN_TxHeaderTypeDef gimbal_tx_message;
static uint8_t gimbal_can_send_data[8];
static CAN_TxHeaderTypeDef chassis_tx_message;
static uint8_t chassis_can_send_data[8];
/**
* @brief hal CAN fifo call back, receive motor data
* @param[in] hcan, the point to CAN handle
* @retval none
*/
/**
* @brief hal庫CAN回調函數,接收電機數據
* @param[in] hcan:CAN句柄指針
* @retval none
*/
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
CAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[8];
HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data);
switch (rx_header.StdId)
{
case CAN_3508_M1_ID:
case CAN_3508_M2_ID:
case CAN_3508_M3_ID:
case CAN_3508_M4_ID:
case CAN_YAW_MOTOR_ID:
case CAN_PIT_MOTOR_ID:
case CAN_TRIGGER_MOTOR_ID:
{
static uint8_t i = 0;
//get motor id
i = rx_header.StdId - CAN_3508_M1_ID;
get_motor_measure(&motor_chassis<i>, rx_data);
break;
}
default:
{
break;
}
}
}
/**
* @brief send control current of motor (0x205, 0x206, 0x207, 0x208)
* @param[in] yaw: (0x205) 6020 motor control current, range [-30000,30000]
* @param[in] pitch: (0x206) 6020 motor control current, range [-30000,30000]
* @param[in] shoot: (0x207) 2006 motor control current, range [-10000,10000]
* @param[in] rev: (0x208) reserve motor control current
* @retval none
*/
/**
* @brief 發送電機控制電流(0x205,0x206,0x207,0x208)
* @param[in] yaw: (0x205) 6020電機控制電流, 范圍 [-30000,30000]
* @param[in] pitch: (0x206) 6020電機控制電流, 范圍 [-30000,30000]
* @param[in] shoot: (0x207) 2006電機控制電流, 范圍 [-10000,10000]
* @param[in] rev: (0x208) 保留，電機控制電流
* @retval none
*/
void CAN_cmd_gimbal(int16_t yaw, int16_t pitch, int16_t shoot, int16_t rev)
{
uint32_t send_mail_box;
gimbal_tx_message.StdId = CAN_GIMBAL_ALL_ID;
gimbal_tx_message.IDE = CAN_ID_STD;
gimbal_tx_message.RTR = CAN_RTR_DATA;
gimbal_tx_message.DLC = 0x08;
gimbal_can_send_data[0] = (yaw >> 8);
gimbal_can_send_data[1] = yaw;
gimbal_can_send_data[2] = (pitch >> 8);
gimbal_can_send_data[3] = pitch;
gimbal_can_send_data[4] = (shoot >> 8);
gimbal_can_send_data[5] = shoot;
gimbal_can_send_data[6] = (rev >> 8);
gimbal_can_send_data[7] = rev;
HAL_CAN_AddTxMessage(&GIMBAL_CAN, &gimbal_tx_message, gimbal_can_send_data, &send_mail_box);
}
/**
* @brief send CAN packet of ID 0x700, it will set chassis motor 3508 to quick ID setting
* @param[in] none
* @retval none
*/
/**
* @brief 發送ID為0x700的CAN包,它會設置3508電機進入快速設置ID
* @param[in] none
* @retval none
*/
void CAN_cmd_chassis_reset_ID(void)
{
uint32_t send_mail_box;
chassis_tx_message.StdId = 0x700;
chassis_tx_message.IDE = CAN_ID_STD;
chassis_tx_message.RTR = CAN_RTR_DATA;
chassis_tx_message.DLC = 0x08;
chassis_can_send_data[0] = 0;
chassis_can_send_data[1] = 0;
chassis_can_send_data[2] = 0;
chassis_can_send_data[3] = 0;
chassis_can_send_data[4] = 0;
chassis_can_send_data[5] = 0;
chassis_can_send_data[6] = 0;
chassis_can_send_data[7] = 0;
HAL_CAN_AddTxMessage(&CHASSIS_CAN, &chassis_tx_message, chassis_can_send_data, &send_mail_box);
}
/**
* @brief send control current of motor (0x201, 0x202, 0x203, 0x204)
* @param[in] motor1: (0x201) 3508 motor control current, range [-16384,16384]
* @param[in] motor2: (0x202) 3508 motor control current, range [-16384,16384]
* @param[in] motor3: (0x203) 3508 motor control current, range [-16384,16384]
* @param[in] motor4: (0x204) 3508 motor control current, range [-16384,16384]
* @retval none
*/
/**
* @brief 發送電機控制電流(0x201,0x202,0x203,0x204)
* @param[in] motor1: (0x201) 3508電機控制電流, 范圍 [-16384,16384]
* @param[in] motor2: (0x202) 3508電機控制電流, 范圍 [-16384,16384]
* @param[in] motor3: (0x203) 3508電機控制電流, 范圍 [-16384,16384]
* @param[in] motor4: (0x204) 3508電機控制電流, 范圍 [-16384,16384]
* @retval none
*/
void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4)
{
uint32_t send_mail_box;
chassis_tx_message.StdId = CAN_CHASSIS_ALL_ID;
chassis_tx_message.IDE = CAN_ID_STD;
chassis_tx_message.RTR = CAN_RTR_DATA;
chassis_tx_message.DLC = 0x08;
chassis_can_send_data[0] = motor1 >> 8;
chassis_can_send_data[1] = motor1;
chassis_can_send_data[2] = motor2 >> 8;
chassis_can_send_data[3] = motor2;
chassis_can_send_data[4] = motor3 >> 8;
chassis_can_send_data[5] = motor3;
chassis_can_send_data[6] = motor4 >> 8;
chassis_can_send_data[7] = motor4;
HAL_CAN_AddTxMessage(&CHASSIS_CAN, &chassis_tx_message, chassis_can_send_data, &send_mail_box);
}
const motor_measure_t *get_yaw_gimbal_motor_measure_point(void)
{
return &motor_chassis[4];
}
const motor_measure_t *get_pitch_gimbal_motor_measure_point(void)
{
return &motor_chassis[5];
}
const motor_measure_t *get_trigger_motor_measure_point(void)
{
return &motor_chassis[6];
}
const motor_measure_t *get_chassis_motor_measure_point(uint8_t i)
{
return &motor_chassis[(i & 0x03)];
}
</i>

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