取消can调试数据发送

2025-11-07 09:52:24 +08:00
parent 9a71ca1edb
commit 565c3f8918
9 changed files with 829 additions and 234 deletions
--- a/app_turntable.h
+++ b/app_turntable.h
@@ -0,0 +1,119 @@
+#ifndef TURNTAABLE_H
+#define TURNTAABLE_H
+
+
+#include "app_power.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define   MASTER_CANID             0xFD    
+  
+#define   PITCH_MOTOR_CANID        0x7D 
+#define   RIGHT_MOTOR_CANID        0x7E
+#define   TURN_MOTOR_CANID         0x7F   
+  
+#define   PITCH_MOTOR_RxCANID      (0x20000FD + (PITCH_MOTOR_CANID << 8))  // 0x2007DFD 
+#define   RIGHT_MOTOR_RxCANID      (0x20000FD + (RIGHT_MOTOR_CANID << 8))  // 0x2007EFD
+#define   TURN_MOTOR_RxCANID       (0x20000FD + (TURN_MOTOR_CANID << 8))   // 0x2007FFD
+ 
+#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
+
+#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   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><><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
+  
+  
+// <20><>ѧ<EFBFBD><D1A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+#define   PI                         3.14159f  // <20>߾<EFBFBD><DFBE>Ȧ<EFBFBD>ֵ
+
+// <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   ANGULAR_VELOCITY_MIN      -15.0f                   // <20><>С<EFBFBD><D0A1><EFBFBD>ٶ<EFBFBD>: -15 rad/s
+#define   ANGULAR_VELOCITY_MAX      15.0f                    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>: 15 rad/s
+ 
+
+#define   MOTOR_VELOCITY_DEADZONE    1.0f// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 120 Nm      
+  
+// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̶<EFBFBD><CCB6><EFBFBD> (<28><>ӦByte4~5: <20><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD>)
+#define   TORQUE_MIN                -120.0f                  // <20><>С<EFBFBD><D0A1><EFBFBD><EFBFBD>: -120 Nm
+#define   TORQUE_MAX                120.0f                   // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 120 Nm  
+          
+#define   ZERO_VAULE                0x0080                   // 32768,<2C><>Ҫ<EFBFBD><D2AA>λ<EFBFBD><CEBB>ǰ
+
+
+  
+  
+#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))  
+  
+  
+  
+typedef struct TurnableData
+{
+    uint8_t turnable_state;
+    PowerState  current_state;         // <20><>ǰ<EFBFBD><C7B0>Դ״̬       
+
+    float position_x;                  //ת̨<D7AA><CCA8><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>x
+    float position_y;                  //ת̨<D7AA><CCA8><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>y
+    float position_z;                  //ת̨<D7AA><CCA8><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>z
+    
+    float desired_speed;               // <20><><EFBFBD><EFBFBD>ת̨<D7AA>ٶ<EFBFBD>
+    float desired_pitch_position;      // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
+    float desired_horizontal_position; // <20><><EFBFBD><EFBFBD>ˮƽλ<C6BD><CEBB>    
+    
+    float left_motor_speed;            // <20><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
+    float right_motor_speed;           // <20><>ǰ<EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD><EFBFBD>ٶ<EFBFBD>     
+    float speed;                       // <20><>ǰת<C7B0><D7AA><EFBFBD>ٶ<EFBFBD>
+    float pitch_position;              // <20><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
+    float horizontal_position;         // <20><>ǰˮƽλ<C6BD><CEBB>     
+                                      
+    float max_speed;                   // <20><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
+    float out_left_motor_ampere;       // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    float out_right_motor_ampere;      // <20><><EFBFBD><EFBFBD><EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    float out_pitch_motor_ampere;      // <20><><EFBFBD><EFBFBD><EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 
+    
+    float out_left_motor_ampere_last;  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    float out_right_motor_ampere_last; // <20><><EFBFBD><EFBFBD><EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    float out_pitch_motor_ampere_last; // <20><><EFBFBD><EFBFBD><EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 
+
+    float out_left_motor_ampere_limit;  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
+    float out_right_motor_ampere_limit; // <20><><EFBFBD><EFBFBD><EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
+    float out_pitch_motor_ampere_limit; // <20><><EFBFBD><EFBFBD><EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ    
+    
+    
+    Timer turnable_timer;              // <20><>ʱ<EFBFBD><CAB1>
+    Timer turnable_timer1;             // <20><>ʱ<EFBFBD><CAB1>      
+    Timer turnable_timer2;             // <20><>ʱ<EFBFBD><CAB1>    
+    uint8_t turnable_cnt;    
+                                      
+    float max_ampere;                  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>       
+} TurnableData;  
+  
+
+
+void turnableInit();
+    
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TURNTAABLE_H