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279 lines
7.6 KiB
279 lines
7.6 KiB
/**
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* @file dj.c
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* @author 1722451300@qq.com
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* @brief
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* @version 0.1
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* @date 2021-12-15
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*
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* @copyright Copyright (c) 2021
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*
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*/
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#include "motor.h"
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volatile int32_t recv_motor_data_state=0;//1就判断是不是接收完成，0不判断
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volatile int32_t motor_jerk_state = 0;
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extern volatile int32_t lcd_issue_motor_speed;
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volatile int16_t motor_off_state=0;
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extern int32_t recv_motor_data_time;
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extern int32_t inquire_error_time=0;
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void motor_uart_config(void)
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{
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/**
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* @brief 用的 UART0 作为与单机的通信接口 CH340电机端
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*
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*/
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uart0_config();
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rs485_re_pin = 0;
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rs485_re_port &= ~(0x01 << 3); //初始化为低电平默认接收模式
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}
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void send_cmd_to_motor(volatile char buff[20], unsigned int num)
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{
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/**
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* @brief 向电机发送命令
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* @param buff 发送的命令
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*/
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rs485_re_port |= (0x01 << 3);
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while (num--) {
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while (!TRMT0)
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;
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TX0B = *buff;
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buff++;
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}
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while (!TRMT0)
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; //等待向电机发送数据完成
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rs485_re_port &= ~(0x01 << 3);
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}
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void inquire_motor_error_state(void)
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{
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/**
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* @brief 每3秒查询一次电机的状态
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* 3E 9C 01 00 DB
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*/
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unsigned char inquire_motor_error_cmd[20] = {0};
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unsigned char str[2]={0};
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if(inquire_error_time>=2000)//2s查询一次
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{
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inquire_error_time=0;
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//读取错误信息
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inquire_motor_error_cmd[0] = 0x3E;
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inquire_motor_error_cmd[1] = 0x9A;
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inquire_motor_error_cmd[2] = 0X01;
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inquire_motor_error_cmd[3] = 0x00;
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inquire_motor_error_cmd[4] = 0xD9;
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//send_cmd_to_motor(inquire_motor_error_cmd, 5);
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sleep_ms(10);
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//读取速度的值
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inquire_motor_error_cmd[0] = 0x3E;
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inquire_motor_error_cmd[1] = 0x9C;
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inquire_motor_error_cmd[2] = 0X01;
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inquire_motor_error_cmd[3] = 0x00;
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inquire_motor_error_cmd[4] = 0xDB;
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//send_cmd_to_motor(inquire_motor_error_cmd, 5);
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sleep_ms(10);
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}
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}
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//----------------------------------------------------
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//----------------------------------------------------
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//----------------------------------------------------
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uint8_t g_motor_rxbuf_isready = 0;
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volatile char motor_rxbuff[50] = {0};
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volatile uint32_t motor_count = 0;
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uint32_t g_process_recv_motor_data_time = 0;
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void recv_from_motor_data(unsigned char data)
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{
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/**
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* @brief 接受来自电机的数据
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*
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*/
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g_motor_rxbuf_isready=true;//进入中断就让他为真
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motor_rxbuff[motor_count++] = data;
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g_process_recv_motor_data_time= hal_get_irqticket();//记录最后的时间
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}
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uint32_t judge_recv_motor_data_finish(uint32_t time)
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{
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/**
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* @brief 接收motor的数据完成
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*/
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static uint32_t recv_motor_data_time = 0;
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recv_motor_data_time = time;
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if(recv_motor_data_time=0)
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{
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recv_motor_data_time = hal_get_ticket();
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return recv_motor_data_time;
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}
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else if (hal_has_passedms(recv_motor_data_time) > 10) {
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g_motor_rxbuf_isready=false;
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recv_motor_data_time = hal_get_ticket();
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send_cmd_to_motor(motor_rxbuff,motor_count);//接收完成将数据发给电脑
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motor_count=0;
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return 0;
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}
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}
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void motor_data_analyse(volatile char buff[20], unsigned int num)
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{
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/**
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* @brief 对电机回复的数据进行分析
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* @param 电机回复的数据
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* @param 数据长度
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* buff[8]电机速度低字节,buff[9]电机速度高字节
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*/
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if (buff[0] == 0x3E && buff[1] == 0x9A)//查询电机错误状态命令下发后，电机的回复
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{
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if((buff[11]>>0&0x01)||(buff[11]>>3&0x01))
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{
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lcd_switch_anomaly_page();
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}
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}
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if (buff[0] == 0x3E && buff[1] == 0x9C)//读取点击速度数值
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{
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}
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}
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volatile int32_t speed_dsp_now = 0;//记录现在的速度
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volatile int32_t first_set_motor_speed_dsp = 0;
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int32_t motor_jerk_status(void)
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{
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/**
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* @brief 判断急停按键是否被按下
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*
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*/
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if(!((PA>>0)&1)&&motor_jerk_state==0)
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{
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sleep_ms(10);
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if(!((PA>>0)&1))
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{
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motor_jerk_state = 1;
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speed_dsp_now=0;
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first_set_motor_speed_dsp=0;
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lcd_switch_anomaly_page();//急停状态的时候显示异常界面
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clear_zero();
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sleep_ms(3000);
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lcd_switch_anomaly_page_key();
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}
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}
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else if((PA >> 0) & 1) //不是急停状态
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{
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if((PA >> 0) & 1)
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{
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motor_jerk_state = 0;
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beep_off;
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}
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}
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}
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int32_t judge_foreward_or_reversal(int32_t speed,int32_t turn_state) {
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/**
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* @brief 用户点击正转反转时，判断现在的状态是正转还是反转
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*
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*/
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if(turn_state==0) //正转
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{
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if(first_set_motor_speed_dsp<0)
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{
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speed =~speed+1;
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}
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return speed;
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}
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else if (turn_state == 1) //反转
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{
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if(first_set_motor_speed_dsp>0)
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{
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speed = ~(speed - 1);
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}
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return speed;
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}
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}
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void set_motor_off(void)
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{
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/**
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* @brief 电机速度为0时也不能彻底停止需要再发一个停止指令
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* 3E 80 01 00 BF
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*/
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motor_off_state=1;
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unsigned char motor_off_cmd[20] = {0};
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motor_off_cmd[0] = 0x3E;
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motor_off_cmd[1] = 0x80;
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motor_off_cmd[2] = 0X01;
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motor_off_cmd[3] = 0x00;
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motor_off_cmd[4] = 0xBF;
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send_cmd_to_motor(motor_off_cmd, 5);
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}
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//===========================================================================
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//===========================================================================
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//===========================================================================
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//===========================================================================
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int32_t set_moter_speed_internal(int32_t speed_dsp)
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{
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/**
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* @brief 速度闭环控制命令用来控制电机的速度
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*/
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unsigned char motor_speed_cmd[20] = {0};
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speed_dsp_now = speed_dsp;
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first_set_motor_speed_dsp = speed_dsp;
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speed_dsp = speed_dsp * 100; //电机下发速度要乘以100
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motor_speed_cmd[0] = 0x3E;
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motor_speed_cmd[1] = 0xA2;
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motor_speed_cmd[2] = 0X01;
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motor_speed_cmd[3] = 0x04;
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motor_speed_cmd[4] = motor_speed_cmd[0] + motor_speed_cmd[1] + motor_speed_cmd[2] + motor_speed_cmd[3];
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motor_speed_cmd[5] = speed_dsp & 0xFF;
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motor_speed_cmd[6] = (speed_dsp >> 8) & 0xFF;
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motor_speed_cmd[7] = (speed_dsp >> 16) & 0xFF;
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motor_speed_cmd[8] = (speed_dsp >> 24) & 0xFF;
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motor_speed_cmd[9] = motor_speed_cmd[5] + motor_speed_cmd[6] + motor_speed_cmd[7] + motor_speed_cmd[8];
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send_cmd_to_motor(motor_speed_cmd, 10);
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if(speed_dsp_now==0)
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{
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sleep_ms(10);
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set_motor_off();
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}
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}
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/*
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void set_motor_speed(int32_t speed_dsp_target)
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{
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/**
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* @brief 设置电机的速度
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* @param 要设置的速度（经过单位换算过的）
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*/
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/*
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while(1)
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{
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if(speed_dsp_target==speed_dsp_now)//目标速度与现在的速度相等
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{
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break;
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}
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else if(speed_dsp_target < speed_dsp_now)//说明用户向让速度减小
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{
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int32_t setspeedthistime = speed_dsp_now - 10;
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if (setspeedthistime < speed_dsp_target) {
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setspeedthistime = speed_dsp_target;
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}
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set_moter_speed_internal(setspeedthistime);
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}
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else if (speed_dsp_target > speed_dsp_now) //说明用户想让速度进行增加 要设置的speed_dsp_target是150，现在的speed_dsp_now 0
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{
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int32_t nowexpectspeed = speed_dsp_now + 10;
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if (nowexpectspeed > speed_dsp_target) {
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nowexpectspeed = speed_dsp_target;
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}
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set_moter_speed_internal(nowexpectspeed);// 去设置的是10
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}
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sleep_ms(10);
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}
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}
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*/
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