137 lines
4.5 KiB
C
137 lines
4.5 KiB
C
/**
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****************************(C) COPYRIGHT 2019 DJI****************************
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* @file can_receive.c/h
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* @brief there is CAN interrupt function to receive motor data,
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* and CAN send function to send motor current to control motor.
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* @note
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* @history
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* Version Date Author Modification
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* V1.0.0 Dec-26-2018 RM 1. done
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*
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@verbatim
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==============================================================================
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==============================================================================
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@endverbatim
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****************************(C) COPYRIGHT 2019 DJI****************************
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*/
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#include "CAN_receive.h"
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#include "main.h"
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extern CAN_HandleTypeDef hcan1;
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//motor data read读取电机数据，更新电机状态结构体
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#define get_motor_measure(ptr, data) \
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{ \
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(ptr)->last_ecd = (ptr)->ecd; \
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(ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]); \
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(ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]); \
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(ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]); \
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(ptr)->temperate = (data)[6]; \
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}
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/*
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motor data, 0:chassis motor1 3508;1:chassis motor2 3508;2:chassis motor3 3508;3:chassis motor4 3508;
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*/
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static motor_measure_t motor_chassis[4];
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static CAN_TxHeaderTypeDef chassis_tx_message;
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static uint8_t chassis_can_send_data[8];
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/**
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* @brief hal CAN fifo call back, receive motor data
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* @param[in] hcan, the point to CAN handle
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* @retval none
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*/
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void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
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{
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CAN_RxHeaderTypeDef rx_header;
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uint8_t rx_data[8];
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HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data);
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switch (rx_header.StdId)
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{
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case CAN_3508_M1_ID:
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case CAN_3508_M2_ID:
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case CAN_3508_M3_ID:
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case CAN_3508_M4_ID:
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{
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static uint8_t i = 0;
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//get motor id
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i = rx_header.StdId - CAN_3508_M1_ID;
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get_motor_measure(&motor_chassis[i], rx_data);
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break;
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}
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default:
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{
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break;
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}
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}
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}
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/**
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* @brief send CAN packet of ID 0x700, it will set chassis motor 3508 to quick ID setting
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* @param[in] none
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* @retval none
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*/
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void CAN_cmd_chassis_reset_ID(void)
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{
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uint32_t send_mail_box;
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chassis_tx_message.StdId = 0x700;
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chassis_tx_message.IDE = CAN_ID_STD;
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chassis_tx_message.RTR = CAN_RTR_DATA;
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chassis_tx_message.DLC = 0x08;
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chassis_can_send_data[0] = 0;
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chassis_can_send_data[1] = 0;
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chassis_can_send_data[2] = 0;
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chassis_can_send_data[3] = 0;
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chassis_can_send_data[4] = 0;
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chassis_can_send_data[5] = 0;
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chassis_can_send_data[6] = 0;
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chassis_can_send_data[7] = 0;
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HAL_CAN_AddTxMessage(&CHASSIS_CAN, &chassis_tx_message, chassis_can_send_data, &send_mail_box);
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}
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/**
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* @brief send control current of motor (0x201, 0x202, 0x203, 0x204)
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* @param[in] motor1: (0x201) 3508 motor control current, range [-16384,16384]
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* @param[in] motor2: (0x202) 3508 motor control current, range [-16384,16384]
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* @param[in] motor3: (0x203) 3508 motor control current, range [-16384,16384]
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* @param[in] motor4: (0x204) 3508 motor control current, range [-16384,16384]
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* @retval none
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*/
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void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4)
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{
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uint32_t send_mail_box;
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chassis_tx_message.StdId = CAN_CHASSIS_ALL_ID;
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chassis_tx_message.IDE = CAN_ID_STD;
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chassis_tx_message.RTR = CAN_RTR_DATA;
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chassis_tx_message.DLC = 0x08;
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chassis_can_send_data[0] = motor1 >> 8;
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chassis_can_send_data[1] = motor1;
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chassis_can_send_data[2] = motor2 >> 8;
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chassis_can_send_data[3] = motor2;
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chassis_can_send_data[4] = motor3 >> 8;
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chassis_can_send_data[5] = motor3;
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chassis_can_send_data[6] = motor4 >> 8;
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chassis_can_send_data[7] = motor4;
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HAL_CAN_AddTxMessage(&CHASSIS_CAN, &chassis_tx_message, chassis_can_send_data, &send_mail_box);
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}
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/**
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* @brief return the chassis 3508 motor data point
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* @param[in] i: motor number,range [0,3]
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* @retval motor data point
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*/
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const motor_measure_t *get_chassis_motor_measure_point(uint8_t i)
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{
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return &motor_chassis[(i & 0x03)];
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} |