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DATA_COMMAND/data_command.cpp@5:6a95726e45b0, 2019-10-08 (annotated)
- Committer:
- WXD
- Date:
- Tue Oct 08 04:35:23 2019 +0000
- Revision:
- 5:6a95726e45b0
- Child:
- 6:aad89fd109c2
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
WXD | 5:6a95726e45b0 | 1 | #include "data_command.h" |
WXD | 5:6a95726e45b0 | 2 | |
WXD | 5:6a95726e45b0 | 3 | |
WXD | 5:6a95726e45b0 | 4 | Serial command(PC_10, PC_11); |
WXD | 5:6a95726e45b0 | 5 | DigitalOut sf_m_c(PC_12); |
WXD | 5:6a95726e45b0 | 6 | |
WXD | 5:6a95726e45b0 | 7 | int enabled = 0; // 进入电机模式标志位 |
WXD | 5:6a95726e45b0 | 8 | int counter = 0; // 输出计数器 |
WXD | 5:6a95726e45b0 | 9 | int c_control = 0; // 命令帧标志位 |
WXD | 5:6a95726e45b0 | 10 | float SP_pf = 0, SP_df = 0; |
WXD | 5:6a95726e45b0 | 11 | int c_lock = 2; // 位置锁定标志位 |
WXD | 5:6a95726e45b0 | 12 | |
WXD | 5:6a95726e45b0 | 13 | unsigned int flag_A = 0, flag_B = 0; |
WXD | 5:6a95726e45b0 | 14 | unsigned int Snum = 0; |
WXD | 5:6a95726e45b0 | 15 | uint16_t Sget[10] = {0}; |
WXD | 5:6a95726e45b0 | 16 | uint16_t Suse[10] = {0}; |
WXD | 5:6a95726e45b0 | 17 | |
WXD | 5:6a95726e45b0 | 18 | |
WXD | 5:6a95726e45b0 | 19 | void serial_command_isr() |
WXD | 5:6a95726e45b0 | 20 | { |
WXD | 5:6a95726e45b0 | 21 | while(command.readable()) |
WXD | 5:6a95726e45b0 | 22 | { |
WXD | 5:6a95726e45b0 | 23 | uint8_t c = command.getc(); |
WXD | 5:6a95726e45b0 | 24 | if(c == 'A') |
WXD | 5:6a95726e45b0 | 25 | { |
WXD | 5:6a95726e45b0 | 26 | flag_A = 1; |
WXD | 5:6a95726e45b0 | 27 | |
WXD | 5:6a95726e45b0 | 28 | flag_B = 0; |
WXD | 5:6a95726e45b0 | 29 | Snum = 0; |
WXD | 5:6a95726e45b0 | 30 | for(unsigned int i = 0; i < 10; i++) |
WXD | 5:6a95726e45b0 | 31 | { |
WXD | 5:6a95726e45b0 | 32 | Sget[i] = 0; |
WXD | 5:6a95726e45b0 | 33 | } |
WXD | 5:6a95726e45b0 | 34 | |
WXD | 5:6a95726e45b0 | 35 | break; |
WXD | 5:6a95726e45b0 | 36 | } |
WXD | 5:6a95726e45b0 | 37 | if(c == 'B') |
WXD | 5:6a95726e45b0 | 38 | { |
WXD | 5:6a95726e45b0 | 39 | flag_B = 1; |
WXD | 5:6a95726e45b0 | 40 | } |
WXD | 5:6a95726e45b0 | 41 | |
WXD | 5:6a95726e45b0 | 42 | if(flag_A == 1) |
WXD | 5:6a95726e45b0 | 43 | { |
WXD | 5:6a95726e45b0 | 44 | if((flag_B != 1) && (Snum < 10)) |
WXD | 5:6a95726e45b0 | 45 | { |
WXD | 5:6a95726e45b0 | 46 | Sget[Snum] = c; |
WXD | 5:6a95726e45b0 | 47 | } |
WXD | 5:6a95726e45b0 | 48 | |
WXD | 5:6a95726e45b0 | 49 | Snum++; |
WXD | 5:6a95726e45b0 | 50 | |
WXD | 5:6a95726e45b0 | 51 | if((flag_B == 1) && (Snum != 11)) |
WXD | 5:6a95726e45b0 | 52 | { |
WXD | 5:6a95726e45b0 | 53 | flag_A = 0; |
WXD | 5:6a95726e45b0 | 54 | flag_B = 0; |
WXD | 5:6a95726e45b0 | 55 | Snum = 0; |
WXD | 5:6a95726e45b0 | 56 | } |
WXD | 5:6a95726e45b0 | 57 | |
WXD | 5:6a95726e45b0 | 58 | if((flag_B == 1) && (Snum == 11)) |
WXD | 5:6a95726e45b0 | 59 | { |
WXD | 5:6a95726e45b0 | 60 | flag_A = 0; |
WXD | 5:6a95726e45b0 | 61 | flag_B = 0; |
WXD | 5:6a95726e45b0 | 62 | Snum = 0; |
WXD | 5:6a95726e45b0 | 63 | |
WXD | 5:6a95726e45b0 | 64 | for(unsigned int i = 0; i < 10; i++) |
WXD | 5:6a95726e45b0 | 65 | { |
WXD | 5:6a95726e45b0 | 66 | Suse[i] = Sget[i]; |
WXD | 5:6a95726e45b0 | 67 | } |
WXD | 5:6a95726e45b0 | 68 | |
WXD | 5:6a95726e45b0 | 69 | c_control = 1; // 命令帧接收成功 |
WXD | 5:6a95726e45b0 | 70 | |
WXD | 5:6a95726e45b0 | 71 | //pc.printf("%c%c%c%c%c%c%c%c%c%c\n\r", S340use[0], S340use[1], S340use[2], S340use[3], S340use[4], S340use[5], S340use[6], S340use[7], S340use[8], S340use[9]); |
WXD | 5:6a95726e45b0 | 72 | } |
WXD | 5:6a95726e45b0 | 73 | } |
WXD | 5:6a95726e45b0 | 74 | } |
WXD | 5:6a95726e45b0 | 75 | } |
WXD | 5:6a95726e45b0 | 76 | |
WXD | 5:6a95726e45b0 | 77 | |
WXD | 5:6a95726e45b0 | 78 | void command_control() |
WXD | 5:6a95726e45b0 | 79 | { |
WXD | 5:6a95726e45b0 | 80 | SP_pf = 10*(Suse[2] - '0') + 1*(Suse[3] - '0') + 0.1*(Suse[4] - '0'); |
WXD | 5:6a95726e45b0 | 81 | SP_df = 10*(Suse[7] - '0') + 1*(Suse[8] - '0') + 0.1*(Suse[9] - '0'); |
WXD | 5:6a95726e45b0 | 82 | if(Suse[1] == '+') |
WXD | 5:6a95726e45b0 | 83 | SP_pf = 0 + SP_pf; |
WXD | 5:6a95726e45b0 | 84 | if(Suse[1] == '-') |
WXD | 5:6a95726e45b0 | 85 | SP_pf = 0 - SP_pf; |
WXD | 5:6a95726e45b0 | 86 | if(Suse[6] == '+') |
WXD | 5:6a95726e45b0 | 87 | SP_df = 0 + SP_df; |
WXD | 5:6a95726e45b0 | 88 | if(Suse[6] == '-') |
WXD | 5:6a95726e45b0 | 89 | SP_df = 0 - SP_df; |
WXD | 5:6a95726e45b0 | 90 | |
WXD | 5:6a95726e45b0 | 91 | |
WXD | 5:6a95726e45b0 | 92 | sf_m_c = 1; // 切换为发送模式 |
WXD | 5:6a95726e45b0 | 93 | wait_us(200); |
WXD | 5:6a95726e45b0 | 94 | |
WXD | 5:6a95726e45b0 | 95 | switch(Suse[0]) |
WXD | 5:6a95726e45b0 | 96 | { |
WXD | 5:6a95726e45b0 | 97 | case('e'): |
WXD | 5:6a95726e45b0 | 98 | command.printf("\n\rPF exiting motor mode\r"); |
WXD | 5:6a95726e45b0 | 99 | ExitMotorMode(&PF_can); |
WXD | 5:6a95726e45b0 | 100 | c_lock = 1; // 电机位置解锁 |
WXD | 5:6a95726e45b0 | 101 | send_enable = 0; // main不发送CAN位置命令 |
WXD | 5:6a95726e45b0 | 102 | break; |
WXD | 5:6a95726e45b0 | 103 | case('m'): |
WXD | 5:6a95726e45b0 | 104 | command.printf("\n\rPF entering PC motor mode\r"); |
WXD | 5:6a95726e45b0 | 105 | EnterMotorMode(&PF_can); |
WXD | 5:6a95726e45b0 | 106 | c_lock = 1; // 电机位置锁定 |
WXD | 5:6a95726e45b0 | 107 | send_enable = 1; // main发送CAN位置命令 |
WXD | 5:6a95726e45b0 | 108 | break; |
WXD | 5:6a95726e45b0 | 109 | case('M'): |
WXD | 5:6a95726e45b0 | 110 | command.printf("\n\rPF entering BOARD motor mode\r"); |
WXD | 5:6a95726e45b0 | 111 | EnterMotorMode(&PF_can); |
WXD | 5:6a95726e45b0 | 112 | c_lock = 0; // 电机位置解锁 |
WXD | 5:6a95726e45b0 | 113 | send_enable = 0; // M模式下,命令是否发送,命令是什么由calculate决定 |
WXD | 5:6a95726e45b0 | 114 | break; |
WXD | 5:6a95726e45b0 | 115 | case('z'): |
WXD | 5:6a95726e45b0 | 116 | command.printf("\n\rPF zeroing\r"); |
WXD | 5:6a95726e45b0 | 117 | Zero(&PF_can); |
WXD | 5:6a95726e45b0 | 118 | break; |
WXD | 5:6a95726e45b0 | 119 | } |
WXD | 5:6a95726e45b0 | 120 | switch(Suse[5]) |
WXD | 5:6a95726e45b0 | 121 | { |
WXD | 5:6a95726e45b0 | 122 | case('e'): |
WXD | 5:6a95726e45b0 | 123 | command.printf("DF exiting motor mode\n\r"); |
WXD | 5:6a95726e45b0 | 124 | ExitMotorMode(&DF_can); |
WXD | 5:6a95726e45b0 | 125 | c_lock = 1; // 电机位置解锁 |
WXD | 5:6a95726e45b0 | 126 | send_enable = 0; // main不发送CAN位置命令 |
WXD | 5:6a95726e45b0 | 127 | break; |
WXD | 5:6a95726e45b0 | 128 | case('m'): |
WXD | 5:6a95726e45b0 | 129 | command.printf("DF entering PC motor mode\n\r"); |
WXD | 5:6a95726e45b0 | 130 | EnterMotorMode(&DF_can); |
WXD | 5:6a95726e45b0 | 131 | c_lock = 1; // 电机位置锁定 |
WXD | 5:6a95726e45b0 | 132 | send_enable = 1; // main发送CAN位置命令 |
WXD | 5:6a95726e45b0 | 133 | break; |
WXD | 5:6a95726e45b0 | 134 | case('M'): |
WXD | 5:6a95726e45b0 | 135 | command.printf("DF entering BOARD motor mode\n\r"); |
WXD | 5:6a95726e45b0 | 136 | EnterMotorMode(&DF_can); |
WXD | 5:6a95726e45b0 | 137 | c_lock = 0; // 电机位置解锁 |
WXD | 5:6a95726e45b0 | 138 | send_enable = 0; // M模式下,命令是否发送,命令是什么由calculate决定 |
WXD | 5:6a95726e45b0 | 139 | break; |
WXD | 5:6a95726e45b0 | 140 | case('z'): |
WXD | 5:6a95726e45b0 | 141 | command.printf("DF zeroing\n\r"); |
WXD | 5:6a95726e45b0 | 142 | Zero(&DF_can); |
WXD | 5:6a95726e45b0 | 143 | break; |
WXD | 5:6a95726e45b0 | 144 | } |
WXD | 5:6a95726e45b0 | 145 | |
WXD | 5:6a95726e45b0 | 146 | wait_ms(2); |
WXD | 5:6a95726e45b0 | 147 | sf_m_c = 0; // 恢复接收模式 |
WXD | 5:6a95726e45b0 | 148 | wait_us(200); |
WXD | 5:6a95726e45b0 | 149 | |
WXD | 5:6a95726e45b0 | 150 | |
WXD | 5:6a95726e45b0 | 151 | // 电机模式命令在此发送,锁定控制模式的位置量在main中发送 |
WXD | 5:6a95726e45b0 | 152 | WriteAll(); |
WXD | 5:6a95726e45b0 | 153 | wait(1.0f); |
WXD | 5:6a95726e45b0 | 154 | |
WXD | 5:6a95726e45b0 | 155 | // 解除串口控制,缓冲区清0 |
WXD | 5:6a95726e45b0 | 156 | c_control = 0; |
WXD | 5:6a95726e45b0 | 157 | for(unsigned int i = 0; i < 10; i++) |
WXD | 5:6a95726e45b0 | 158 | { |
WXD | 5:6a95726e45b0 | 159 | Suse[i] = 0; |
WXD | 5:6a95726e45b0 | 160 | } |
WXD | 5:6a95726e45b0 | 161 | } |
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