RC_WheelLeg/01_doc/firmware/can_application_notes.md at 0b91dfffe67d2aff362cf38038bc9efa1b25cca6

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zeitvex 0b91dfffe6 [release] 发布8DOF串联足中期检查版本

2026-07-21 12:18:00 +08:00

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#include "main.h" #include "can.h" #include "app_can.h" motor_measure_t m3508[8]; motor_measure_t m2006[8]; static CAN_TxHeaderTypeDef can1_tx_message; static uint8_t can1_send_data[8]; static CAN_TxHeaderTypeDef can2_tx_message; static uint8_t can2_send_data[8];

extern CAN_HandleTypeDef hcan1; extern CAN_HandleTypeDef hcan2; void can_filter_init(void) {

CAN_FilterTypeDef can_filter_st;
can_filter_st.FilterActivation = ENABLE;
can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK;
can_filter_st.FilterScale = CAN_FILTERSCALE_32BIT;
can_filter_st.FilterIdHigh = 0x0000;
can_filter_st.FilterIdLow = 0x0000;
can_filter_st.FilterMaskIdHigh = 0x0000;
can_filter_st.FilterMaskIdLow = 0x0000;
can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;

can_filter_st.FilterBank = 0;
HAL_CAN_ConfigFilter(&hcan1, &can_filter_st);
HAL_CAN_Start(&hcan1);
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);

can_filter_st.SlaveStartFilterBank = 14;
can_filter_st.FilterBank = 14;
HAL_CAN_ConfigFilter(&hcan2, &can_filter_st);
HAL_CAN_Start(&hcan2);
HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);

} /*******************************************************************************************

@Func void get_moto_measure(moto_measure_t ptr, CAN_HandleTypeDef hcan)
@Brief 接收3508电机通过CAN发过来的信息
@Param
@Retval None
@Date 2015/11/24 *******************************************************************************************/ void get_moto_measure(motor_measure_t *ptr, uint8_t Data[]) { ptr->last_angle = ptr->angle; ptr->angle = (uint16_t)(Data[0] << 8 | Data[1]) ; ptr->speed = (int16_t)(Data[2] << 8 | Data[3]); ptr->troque = (Data[4] << 8 | Data[5]); ptr->temperate = Data[6];

if(ptr->angle - ptr->last_angle > 4096) ptr->round_cnt --; else if (ptr->angle - ptr->last_angle < -4096) ptr->round_cnt ++;

ptr->total_angle = ptr->round_cnt * 8192 + ptr->angle - ptr->offset_angle; ptr->real_angle = ptr->total_angle / 22.75555556f; }

/**

@brief hal CAN fifo call back, receive motor data
@param[in] hcan, the point to CAN handle
@retval none / /*
@brief hal库CAN回调函数,接收电机数据
@param[in] hcan:CAN句柄指针
@retval none / void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef hcan) { CAN_RxHeaderTypeDef rx1_header; CAN_RxHeaderTypeDef rx2_header; uint8_t rx1_data[8]; uint8_t rx2_data[8]; / if(hcan==(&hcan1))另一种方式/ if(hcan->Instance == CAN1) { HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &rx1_header, rx1_data); switch (rx1_header.StdId)//3508接收 { case 0x201: case 0x202: case 0x203: case 0x204: case 0x205: case 0x206: case 0x207: case 0x208: { static u8 i = 0; static u8 offset_sign[8] = {0}; //八个电机上电角度标志位 //get motor id i = rx1_header.StdId - 0x201; get_moto_measure(&m3508[i], rx1_data);//获取电机信息
```
            if(offset_sign[i] == 0)  //只记一次上电角度
            {
                get_moto_offset(&m3508[i]);//获取上电角度
                offset_sign[i]++;
            }
        }
        default:
        {
            break;
        }
    }
}
```
if(hcan->Instance == CAN2) { HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO0, &rx2_header, rx2_data); switch (rx2_header.StdId) { case 0x201: case 0x202: case 0x203: case 0x204: case 0x205: case 0x206: case 0x207: case 0x208: { static u8 i = 0; static u8 offset_sign[8] = {0}; //八个电机上电角度标志位 //get motor id i = rx2_header.StdId - 0x201; get_moto_measure(&m2006[i],rx2_data);//获取电机信息
```
        if(offset_sign[i] == 0)  //只记一次上电角度
        {
            get_moto_offset(&m2006[i]);//获取上电角度
            offset_sign[i]++;
        }
        break;
    }
    default:
    {
        break;
    }
}
```
} } /**
@brief 发送电机控制电流(0x201,0x202,0x203,0x204)
@param[in] motor1: (0x201) 3508电机控制电流, 范围 [-16384,16384]
@param[in] motor2: (0x202) 3508电机控制电流, 范围 [-16384,16384]
@param[in] motor3: (0x203) 3508电机控制电流, 范围 [-16384,16384]
@param[in] motor4: (0x204) 3508电机控制电流, 范围 [-16384,16384]
@retval none */ void can1_cmd1(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4) { uint32_t send_mail_box; can1_tx_message.StdId = 0x200; can1_tx_message.IDE = CAN_ID_STD; can1_tx_message.RTR = CAN_RTR_DATA; can1_tx_message.DLC = 0x08; can1_send_data[0] = motor1 >> 8; can1_send_data[1] = motor1; can1_send_data[2] = motor2 >> 8; can1_send_data[3] = motor2; can1_send_data[4] = motor3 >> 8; can1_send_data[5] = motor3; can1_send_data[6] = motor4 >> 8; can1_send_data[7] = motor4;

HAL_CAN_AddTxMessage(&hcan1, &can1_tx_message, can1_send_data, &send_mail_box); } void can1_cmd2(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4) { uint32_t send_mail_box; can1_tx_message.StdId = 0x1FF; can1_tx_message.IDE = CAN_ID_STD; can1_tx_message.RTR = CAN_RTR_DATA; can1_tx_message.DLC = 0x08; can1_send_data[0] = motor1 >> 8; can1_send_data[1] = motor1; can1_send_data[2] = motor2 >> 8; can1_send_data[3] = motor2; can1_send_data[4] = motor3 >> 8; can1_send_data[5] = motor3; can1_send_data[6] = motor4 >> 8; can1_send_data[7] = motor4;

HAL_CAN_AddTxMessage(&hcan1, &can1_tx_message, can1_send_data, &send_mail_box); }

/**

@brief 发送电机控制电流(0x201,0x202,0x203,0x204)
@param[in] motor1: (0x201) 2006电机控制电流, 范围 [-16384,16384]
@param[in] motor2: (0x202) 2006电机控制电流, 范围 [-16384,16384]
@param[in] motor3: (0x203) 2006电机控制电流, 范围 [-16384,16384]
@param[in] motor4: (0x204) 2006电机控制电流, 范围 [-16384,16384]
@retval none */ void can2_cmd1(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4) { uint32_t send_mail_box; can2_tx_message.StdId = 0x200; can2_tx_message.IDE = CAN_ID_STD; can2_tx_message.RTR = CAN_RTR_DATA; can2_tx_message.DLC = 0x08; can2_send_data[0] = (motor1 >> 8); can2_send_data[1] = motor1; can2_send_data[2] = (motor2 >> 8); can2_send_data[3] = motor2; can2_send_data[4] = (motor3 >> 8); can2_send_data[5] = motor3; can2_send_data[6] = (motor4 >> 8); can2_send_data[7] = motor4; HAL_CAN_AddTxMessage(&hcan2, &can2_tx_message, can2_send_data, &send_mail_box); } void can2_cmd2(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4) { uint32_t send_mail_box; can2_tx_message.StdId = 0x1FF; can2_tx_message.IDE = CAN_ID_STD; can2_tx_message.RTR = CAN_RTR_DATA; can2_tx_message.DLC = 0x08; can2_send_data[0] = (motor1 >> 8); can2_send_data[1] = motor1; can2_send_data[2] = (motor2 >> 8); can2_send_data[3] = motor2; can2_send_data[4] = (motor3 >> 8); can2_send_data[5] = motor3; can2_send_data[6] = (motor4 >> 8); can2_send_data[7] = motor4; HAL_CAN_AddTxMessage(&hcan2, &can2_tx_message, can2_send_data, &send_mail_box); } /*this function should be called after system+can init */ void get_moto_offset(motor_measure_t *ptr) { ptr->offset_angle = ptr->angle; ptr->round_cnt = 0;//防止角度差8192即一圈 }

8.1 KiB Raw Blame History

8.1 KiB

Raw Blame History