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151 lines
5.2 KiB
151 lines
5.2 KiB
/******************************************************************************
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版权所有 (C), 2018-2099, Radkil
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******************************************************************************
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文 件 名 : motor_adapter.c
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版 本 号 : 初稿
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作 者 : radkil
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生成日期 : 2026年4月21日
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最近修改 :
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功能描述 : 电机适配层
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修改历史 :
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1.日 期 : 2026年4月21日
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作 者 : radkil
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修改内容 : 创建文件
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******************************************************************************/
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#ifdef BUILD_MOTOR
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#include "motor.h"
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#include "msp_TTMotor_ZQ.h"
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/*----------------------------------------------*
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* 外部变量说明 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 外部函数原型说明 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 内部函数原型说明 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 全局变量 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 模块级变量 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 常量定义 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 宏定义 *
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*----------------------------------------------*/
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static void WheelSendHeartbeat(TMotorCtrl *ptLeftMotorCtrl, TMotorCtrl *ptRightMotorCtrl)
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{
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static int Heartbeat_Flag_01;
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Heartbeat_Flag_01++;
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if(Heartbeat_Flag_01%7==0)
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{
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Consumer_Or_microcontroller_Heartbeat(ptLeftMotorCtrl, 4);
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Consumer_Or_microcontroller_Heartbeat(ptRightMotorCtrl, 4);
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Heartbeat_Flag_01=0;
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}
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}
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void MotorGetState(TMotorCtrl *ptMotorCtrl, char *buffer)
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{
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TT_Analytic_Fun(ptMotorCtrl, buffer);
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}
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void WheelFuncInit(TMotorCtrl *ptLeftMotorCtrl, TMotorCtrl *ptRightMotorCtrl)
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{
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ActivateMotor(ptLeftMotorCtrl, 6000);
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ActivateMotor(ptRightMotorCtrl, 2000);
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ActivateMotor(ptLeftMotorCtrl, 2000);
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ActivateMotor(ptRightMotorCtrl, 2000);
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ActivateMotor(ptLeftMotorCtrl, 2000);
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ActivateMotor(ptRightMotorCtrl, 2000);
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ActivateMotor(ptLeftMotorCtrl, 2000);
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ActivateMotor(ptRightMotorCtrl, 2000);
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Enable_NMT(ptLeftMotorCtrl,1000);
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Enable_NMT(ptRightMotorCtrl,1000);
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Configure_Asynchronous_Mode(ptLeftMotorCtrl, 7,600);
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Consumer_Or_microcontroller_Heartbeat(ptLeftMotorCtrl, 4);
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Configure_Asynchronous_Mode(ptRightMotorCtrl, 8,600);
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Consumer_Or_microcontroller_Heartbeat(ptLeftMotorCtrl, 4);
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SpeedModeSetup(ptLeftMotorCtrl, 6, 500, 500, 0);
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Consumer_Or_microcontroller_Heartbeat(ptRightMotorCtrl, 4);
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SpeedModeSetup(ptRightMotorCtrl, 6, 500, 500, 0);
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Consumer_Or_microcontroller_Heartbeat(ptLeftMotorCtrl, 4);
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Consumer_Or_microcontroller_Heartbeat(ptRightMotorCtrl, 4);
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WheelSendHeartbeat(ptLeftMotorCtrl, ptRightMotorCtrl);
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}
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void WheelFuncProc(TMotorCtrl *ptLeftMotorCtrl, TMotorCtrl *ptRightMotorCtrl)
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{
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TT_Request_Position(ptLeftMotorCtrl, 6);
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TT_Request_Velocity(ptLeftMotorCtrl, 6);
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TT_Request_Current(ptLeftMotorCtrl, 6);
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TT_Request_Fault(ptLeftMotorCtrl, 6);
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TT_Request_Position(ptRightMotorCtrl, 6);
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TT_Request_Velocity(ptRightMotorCtrl, 6);
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TT_Request_Current(ptRightMotorCtrl, 6);
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TT_Request_Fault(ptRightMotorCtrl, 6);
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TT_SpeedMode_Set_TargetSpeed(ptLeftMotorCtrl, 6, GV.LeftMotor.Target_Velcity);
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TT_SpeedMode_Set_TargetSpeed(ptRightMotorCtrl, 6, GV.RightMotor.Target_Velcity);
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WheelSendHeartbeat(ptLeftMotorCtrl, ptRightMotorCtrl);
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}
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void WheelSetVelcity(TMotorCtrl *ptMotorCtrl, float fSpeed_M_min)
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{
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ptMotorCtrl->pMotorParam->Target_Velcity = (int32_t)(fSpeed_M_min * Move_Base_Speed_Count_m_Min);
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}
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void SwingFuncInit(TMotorCtrl *ptMotorCtrl)
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{
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ActivateMotor(ptMotorCtrl, 6000);
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ActivateMotor(ptMotorCtrl, 2000);
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ActivateMotor(ptMotorCtrl, 2000);
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ActivateMotor(ptMotorCtrl, 2000);
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ActivateMotor(ptMotorCtrl, 2000);
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Postion_Velcocity_Run_SetParameter(ptMotorCtrl, 0, 0, 500, 500, 100);
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}
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void SwingFuncProc(TMotorCtrl *ptMotorCtrl)
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{
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TT_Request_Position(ptMotorCtrl, 10);
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TT_Request_Fault(ptMotorCtrl, 10);
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switch(GV.SwingMotor.Position_immediately1_Lag2)
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{
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case 1:
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Position_Immediately_Setting(ptMotorCtrl, GV.SwingMotor.Tar_Position_count,GV.SwingMotor.Tar_Position_Velcity_RPM,30);
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break;
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case 2:
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Position_Lag_Setting(ptMotorCtrl, GV.SwingMotor.Tar_Position_count,GV.SwingMotor.Tar_Position_Velcity_RPM,30);
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break;
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}
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}
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void SwingSetPosition(TMotorCtrl *ptMotorCtrl, float fPositionAngle, int32_t iVelcityDegreeS)
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{
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ptMotorCtrl->pMotorParam->Tar_Position_count = (int32_t)(middle_position_motor - fPositionAngle * TT_One_Deg_Count_motor);
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ptMotorCtrl->pMotorParam->Tar_Position_Velcity_RPM = iVelcityDegreeS*Swing_Speed_Deg_Sencond_motor;
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}
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#endif
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