tianjialong
/
medical_beauty_photography
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

控制指令

devtest
zwsd 3 years ago
parent
c46f5444a2
commit
aca6089dec
3 changed files with 111 additions and 42 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 20
      main/main.c
  2. 70
      main/motor_drive.c
  3. 63
      main/motor_drive.h

20
main/main.c
View File

@ -57,16 +57,18 @@ void app_main(void) {
// char* test_str = "This is a test string.\n";
while (true) {
bluetooth_gatts_try_process_data();
if (s_bluetooth_processer.auto_report_flag) {
receipt_json_get_status();
s_bluetooth_processer.auto_report_flag = false;
}
// bluetooth_gatts_try_process_data();
// if (s_bluetooth_processer.auto_report_flag) {
// receipt_json_get_status();
// s_bluetooth_processer.auto_report_flag = false;
// }
if ((motor_drive_read_encoder() == s_bluetooth_processer.position) && s_bluetooth_processer.motor_drive_turn_flag == true) {
ESP_LOGI("test", "info log ok\n");
s_bluetooth_processer.motor_drive_turn_flag = false;
}
// if ((motor_drive_read_encoder() == s_bluetooth_processer.position) && s_bluetooth_processer.motor_drive_turn_flag == true) {
// ESP_LOGI("test", "info log ok\n");
// s_bluetooth_processer.motor_drive_turn_flag = false;
// }
motor_drive_set_packages_ctr(35.68);
// uart_write_bytes(UART_NUM_2, (const char*)test_str, strlen(test_str));
// ets_delay_us(1000000);

70
main/motor_drive.c
View File

@ -1,10 +1,30 @@
#include "motor_drive.h"
#include "driver/uart.h"
#include "esp_log.h"
#define MOTOR_DRIVE "MOTOR_DRIVE"
void motor_drive_uart_init() {}
#define uart_num UART_NUM_2
#define tx_io_num 4
#define rx_io_num 5
#define buffer_size 128
void motor_drive_uart_init() {
uart_config_t uart_config = {
.baud_rate = 115200,
.data_bits = UART_DATA_8_BITS,
.parity = UART_PARITY_DISABLE,
.stop_bits = UART_STOP_BITS_1,
.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
.source_clk = UART_SCLK_APB,
};
ESP_ERROR_CHECK(uart_driver_install(uart_num, buffer_size * 2, 0, 0, NULL, 0));
ESP_ERROR_CHECK(uart_param_config(uart_num, &uart_config));
ESP_ERROR_CHECK(uart_set_pin(uart_num, tx_io_num, rx_io_num, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE));
}
void motor_drive_turn(int direction, int speed_level, double position) {
if ((direction > 2) || (direction < 0)) {
@ -16,8 +36,52 @@ void motor_drive_turn(int direction, int speed_level, double position) {
if ((position > 360) || (position <= 0)) {
ESP_LOGW(MOTOR_DRIVE, "Position out of range");
}
motor_drive_set_packages_ctr(position);
uart_write_bytes(uart_num, "test", strlen("test"));
}
double motor_drive_read_encoder() { return 0.0; }
void motor_drive_set_packages() {}
void motor_drive_set_packages_ctr(double position) {
int position_int = 0;
uint8_t position_remainder = 0;
uint8_t position_buffer_size = 5; //从第五位开始(低位)
uint8_t checksum = 0;
uint8_t buffer[10] = {0x3E, 0XA7, 0X01, 0X04, 0XEA, 0X00, 0X00, 0X00, 0X00, 0X00};
uint8_t strbuffer[20] = {0};
position_int = position * 100;
if (position_int != 0) {
while ((position_int / 256) > 0) {
position_remainder = position_int % 256;
buffer[position_buffer_size] = position_remainder;
position_buffer_size += 1;
position_int = position_int / 256;
checksum += position_remainder;
}
buffer[position_buffer_size] = position_int;
checksum += position_int;
checksum %= 256;
buffer[9] = checksum;
}
for (int i = 0; i < 10; i++) {
ESP_LOGI(MOTOR_DRIVE, "%d", buffer[i]);
}
motor_drive_hex_to_str((char *)buffer, 10, (char *)strbuffer);
ESP_LOGI(MOTOR_DRIVE, "%s", strbuffer);
}
void motor_drive_hex_to_str(char *hex, int hex_len, char *str) {
int i, pos = 0;
for (i = 0; i < hex_len; i++)
{
sprintf(str + pos, "%02x", hex[i]);
pos += 2;
}
}

63
main/motor_drive.h
View File

@ -5,37 +5,40 @@
#include <string.h>
typedef enum {
RMDRs485CMDOrder30 = 0x30, //读取PID参数命令
RMDRs485CMDOrder31 = 0x31, //写入PID参数到RAM命令
RMDRs485CMDOrder32 = 0x32, //写入PID参数到ROM命令
RMDRs485CMDOrder33 = 0x33, //读取加速度命令
RMDRs485CMDOrder34 = 0x34, //写入加速度到RAM命令
RMDRs485CMDOrder90 = 0x90, //读取编码器命令
RMDRs485CMDOrder91 = 0x91, //写入编码器值到ROM作为电机零点命令
RMDRs485CMDOrder19 = 0x19, //写入当前位置到ROM作为电机零点命令
RMDRs485CMDOrder92 = 0x92, //读取多圈角度命令
RMDRs485CMDOrder94 = 0x94, //读取单圈角度命令
RMDRs485CMDOrder95 = 0x95, //清除电机角度命令(设置电机初始位置)
RMDRs485CMDOrder9A = 0x9A, //读取电机状态1和错误标志命令
RMDRs485CMDOrder9B = 0x9B, //清除电机错误标志命令
RMDRs485CMDOrder9C = 0x9C, //读取电机状态2命令
RMDRs485CMDOrder9D = 0x9D, //读取电机状态3命令
RMDRs485CMDOrder80 = 0x80, //电机关闭命令
RMDRs485CMDOrder81 = 0x81, //电机停止命令
RMDRs485CMDOrder88 = 0x88, //电机运行命令
RMDRs485CMDOrderA1 = 0xA1, //转矩闭环控制命令
RMDRs485CMDOrderA2 = 0xA2, //速度闭环控制命令
RMDRs485CMDOrderA3 = 0xA3, //多圈位置闭环控制命令1
RMDRs485CMDOrderA4 = 0xA4, //多圈位置闭环控制命令2
RMDRs485CMDOrderA5 = 0xA5, //单圈位置闭环控制命令1
RMDRs485CMDOrderA6 = 0xA6, //单圈位置闭环控制命令2
RMDRs485CMDOrderA7 = 0xA7, //增量位置闭环控制命令1
RMDRs485CMDOrderA8 = 0xA8, //增量位置闭环控制命令2
RMDRs485CMDOrder12 = 0x12, //读取驱动和电机型号命令
RMDRs485CMDOrderC2 = 0xC2, //读取多圈角度命令2
RMDRs485CMDOrderD8 = 0xD8, //增量位置闭环控制命令2
RMDRs485CMDOrder30 = 0x30, //读取PID参数命令
RMDRs485CMDOrder31 = 0x31, //写入PID参数到RAM命令
RMDRs485CMDOrder32 = 0x32, //写入PID参数到ROM命令
RMDRs485CMDOrder33 = 0x33, //读取加速度命令
RMDRs485CMDOrder34 = 0x34, //写入加速度到RAM命令
RMDRs485CMDOrder90 = 0x90, //读取编码器命令
RMDRs485CMDOrder91 = 0x91, //写入编码器值到ROM作为电机零点命令
RMDRs485CMDOrder19 = 0x19, //写入当前位置到ROM作为电机零点命令
RMDRs485CMDOrder92 = 0x92, //读取多圈角度命令
RMDRs485CMDOrder94 = 0x94, //读取单圈角度命令
RMDRs485CMDOrder95 = 0x95, //清除电机角度命令(设置电机初始位置)
RMDRs485CMDOrder9A = 0x9A, //读取电机状态1和错误标志命令
RMDRs485CMDOrder9B = 0x9B, //清除电机错误标志命令
RMDRs485CMDOrder9C = 0x9C, //读取电机状态2命令
RMDRs485CMDOrder9D = 0x9D, //读取电机状态3命令
RMDRs485CMDOrder80 = 0x80, //电机关闭命令
RMDRs485CMDOrder81 = 0x81, //电机停止命令
RMDRs485CMDOrder88 = 0x88, //电机运行命令
RMDRs485CMDOrderA1 = 0xA1, //转矩闭环控制命令
RMDRs485CMDOrderA2 = 0xA2, //速度闭环控制命令
RMDRs485CMDOrderA3 = 0xA3, //多圈位置闭环控制命令1
RMDRs485CMDOrderA4 = 0xA4, //多圈位置闭环控制命令2
RMDRs485CMDOrderA5 = 0xA5, //单圈位置闭环控制命令1
RMDRs485CMDOrderA6 = 0xA6, //单圈位置闭环控制命令2
RMDRs485CMDOrderA7 = 0xA7, //增量位置闭环控制命令1
RMDRs485CMDOrderA8 = 0xA8, //增量位置闭环控制命令2
RMDRs485CMDOrder12 = 0x12, //读取驱动和电机型号命令
RMDRs485CMDOrderC2 = 0xC2, //读取多圈角度命令2
RMDRs485CMDOrderD8 = 0xD8, //增量位置闭环控制命令2
} RMDMotorDriverRs485CMD;
void motor_drive_uart_init();
void motor_drive_turn(int direction, int speed_level, double position);
double motor_drive_read_encoder();
double motor_drive_read_encoder();
void motor_drive_set_packages();
void motor_drive_set_packages_ctr(double position);
void motor_drive_hex_to_str(char *hex, int hex_len, char *str);
Write Preview
Loading…
Cancel
Save