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加入C板样例的bsp_can和CAN_receive函数库

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Wei Zitong
2026-07-14 19:57:46 +08:00
parent c4e1ed7a3d
commit cbef3e6fc4
18 changed files with 13010 additions and 37 deletions
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137
Core/Src/CAN_receive.c Normal file
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/**
****************************(C) COPYRIGHT 2019 DJI****************************
* @file can_receive.c/h
* @brief there is CAN interrupt function to receive motor data,
* and CAN send function to send motor current to control motor.
* @note
* @history
* Version Date Author Modification
* V1.0.0 Dec-26-2018 RM 1. done
*
@verbatim
==============================================================================
==============================================================================
@endverbatim
****************************(C) COPYRIGHT 2019 DJI****************************
*/
#include "CAN_receive.h"
#include "main.h"
extern CAN_HandleTypeDef hcan1;
//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 motor2 3508;2:chassis motor3 3508;3:chassis motor4 3508;
*/
static motor_measure_t motor_chassis[4];
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
*/
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:
{
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 CAN packet of ID 0x700, it will set chassis motor 3508 to quick ID setting
* @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
*/
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);
}
/**
* @brief return the chassis 3508 motor data point
* @param[in] i: motor number,range [0,3]
* @retval motor data point
*/
const motor_measure_t *get_chassis_motor_measure_point(uint8_t i)
{
return &motor_chassis[(i & 0x03)];
}