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liumin
2025-10-21 19:14:21 +08:00
parent 2acba0caf0
commit 5a84d13ae4
23 changed files with 2510 additions and 2079 deletions
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69
drive_rs04.h Normal file
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#ifndef _DRIVE_RS04_H_
#define _DRIVE_RS04_H_
#define MASTER_CANID 0xFD
#define PI 3.1415926
#define MOTOR_RxCAN_Mask 0x1F00FFFF //<2F><><EFBFBD><EFBFBD>CAN<41><4E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>Ƴ<EFBFBD><C6B3><EFBFBD><EFBFBD><EFBFBD>λ
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD><C4B5><EFBFBD><EFBFBD>仯<EFBFBD><E4BBAF> (A)
#define MAX_STEP 1.0f // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>仯<EFBFBD><E4BBAF> (A)<29><><EFBFBD><EFBFBD>5A<35><41>ʼ
#define MAX_DI_DT 1000.0f // <20><><EFBFBD><EFBFBD><EFBFBD>仯<EFBFBD><E4BBAF> (A/s)<29><><EFBFBD><EFBFBD>5000A/s<><73>ʼ
#define LIMIT_SPEED_INDEX 0x7017//CSP<53><50><EFBFBD>ٶ<EFBFBD>
#define LOC_REF_INDEX 0x7016//CSP<53><50>λ<EFBFBD><CEBB>
#define IQ_REF_INDEX 0x7006//<2F><><EFBFBD><EFBFBD>ģʽ<C4A3><CABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define SPD_REF 0x700A//<2F>ٶ<EFBFBD>ģʽ <20>ٶ<EFBFBD>ֵ
#define LIMIT_CUR 0X7018//<2F>ٶ<EFBFBD>λ<EFBFBD><CEBB>ģʽ<C4A3><CABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define RUM_MODE 0x7005//modeģʽ
#define OPERATION_MODE 0 // <20>˿<EFBFBD>ģʽ
#define POSITION_MODE_PP 1 // λ<><CEBB>ģʽ (PP - Profile Position)
#define VELOCITY_MODE 2 // <20>ٶ<EFBFBD>ģʽ
#define CURRENT_MODE 3 // <20><><EFBFBD><EFBFBD>ģʽ
#define POSITION_MODE_CSP 5 // λ<><CEBB>ģʽ (CSP - Cyclic Synchronous Position)
// <20>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD>̶<EFBFBD><CCB6><EFBFBD> (<28><>ӦByte0~1: <20><>ǰ<EFBFBD>Ƕ<EFBFBD>)
#define ANGLE_RANGE_MIN (-4.0f * PI) // <20><>С<EFBFBD>Ƕ<EFBFBD>: -4<><34> <20><><EFBFBD><EFBFBD>
#define ANGLE_RANGE_MAX (4.0f * PI) // <20><><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD>: 4<><34> <20><><EFBFBD><EFBFBD>
// <20><><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD>̶<EFBFBD><CCB6><EFBFBD> (<28><>ӦByte2~3: <20><>ǰ<EFBFBD><C7B0><EFBFBD>ٶ<EFBFBD>)
#define RS02_ANGULAR_VELOCITY_MAX 20.0f // RS02<30>ͺ<EFBFBD><CDBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>: 20 rad/s
#define RS04_ANGULAR_VELOCITY_MAX 15.0f // RS04<30>ͺ<EFBFBD><CDBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>: 15 rad/s
#define MOTOR_VELOCITY_DEADZONE 0.1f// <20><><EFBFBD><EFBFBD>
#define MOTOR_ANGLE_DEADZONE 0.01f// <20><><EFBFBD><EFBFBD>
#define SWAP_ENDIAN_16(x) ((((x) & 0xFF) << 8) | (((x) >> 8) & 0xFF))
#define SWAP_ENDIAN_32(x) (((x) << 24) | (((x) & 0xFF00) << 8) | (((x) >> 8) & 0xFF00) | ((x) >> 24))
float constrain(float value, float min_val, float max_val);
float convertPhysical(uint16_t raw_value, float min, float max, float deadzone);
uint32_t floatToUint32(float num);
int8_t motorDisable(uint8_t master_id, uint8_t motor_id, StrTxCanFrame *unsdodata);
int8_t motorEnable(uint8_t master_id, uint8_t motor_id, StrTxCanFrame *unsdodata);
int8_t setMotorMode(uint8_t master_id, uint8_t motor_id, StrTxCanFrame *unsdodata, uint8_t mode);
int8_t setMotorWrite(uint8_t master_id, uint8_t motor_id, StrTxCanFrame *unsdodata, uint16_t index, float ref);
float dynamic_current_limit(float *last_command, float target_current, float delta_time);
#ifdef __cplusplus
}
#endif
#endif // _DRIVE_RS04_H_