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Dependencies: mbed-dev-f303 FastPWM3
CAN/CAN_com.cpp@48:1b51771c3647, 2020-02-07 (annotated)
- Committer:
- shaorui
- Date:
- Fri Feb 07 11:31:37 2020 +0000
- Revision:
- 48:1b51771c3647
- Parent:
- 45:aadebe074af6
- Child:
- 49:7eac11914980
test;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
benkatz | 42:738fa01b0346 | 1 | #include "CAN_com.h" |
benkatz | 42:738fa01b0346 | 2 | |
benkatz | 42:738fa01b0346 | 3 | |
benkatz | 45:aadebe074af6 | 4 | |
benkatz | 42:738fa01b0346 | 5 | |
benkatz | 42:738fa01b0346 | 6 | |
benkatz | 42:738fa01b0346 | 7 | /// CAN Reply Packet Structure /// |
benkatz | 42:738fa01b0346 | 8 | /// 16 bit position, between -4*pi and 4*pi |
benkatz | 42:738fa01b0346 | 9 | /// 12 bit velocity, between -30 and + 30 rad/s |
benkatz | 42:738fa01b0346 | 10 | /// 12 bit current, between -40 and 40; |
benkatz | 42:738fa01b0346 | 11 | /// CAN Packet is 5 8-bit words |
benkatz | 42:738fa01b0346 | 12 | /// Formatted as follows. For each quantity, bit 0 is LSB |
benkatz | 42:738fa01b0346 | 13 | /// 0: [position[15-8]] |
benkatz | 42:738fa01b0346 | 14 | /// 1: [position[7-0]] |
benkatz | 42:738fa01b0346 | 15 | /// 2: [velocity[11-4]] |
benkatz | 42:738fa01b0346 | 16 | /// 3: [velocity[3-0], current[11-8]] |
benkatz | 42:738fa01b0346 | 17 | /// 4: [current[7-0]] |
benkatz | 42:738fa01b0346 | 18 | void pack_reply(CANMessage *msg, float p, float v, float t){ |
benkatz | 42:738fa01b0346 | 19 | int p_int = float_to_uint(p, P_MIN, P_MAX, 16); |
benkatz | 42:738fa01b0346 | 20 | int v_int = float_to_uint(v, V_MIN, V_MAX, 12); |
benkatz | 42:738fa01b0346 | 21 | int t_int = float_to_uint(t, -T_MAX, T_MAX, 12); |
benkatz | 42:738fa01b0346 | 22 | msg->data[0] = CAN_ID; |
benkatz | 42:738fa01b0346 | 23 | msg->data[1] = p_int>>8; |
benkatz | 42:738fa01b0346 | 24 | msg->data[2] = p_int&0xFF; |
benkatz | 42:738fa01b0346 | 25 | msg->data[3] = v_int>>4; |
benkatz | 42:738fa01b0346 | 26 | msg->data[4] = ((v_int&0xF)<<4) + (t_int>>8); |
benkatz | 42:738fa01b0346 | 27 | msg->data[5] = t_int&0xFF; |
benkatz | 42:738fa01b0346 | 28 | } |
benkatz | 42:738fa01b0346 | 29 | |
benkatz | 42:738fa01b0346 | 30 | /// CAN Command Packet Structure /// |
benkatz | 42:738fa01b0346 | 31 | /// 16 bit position command, between -4*pi and 4*pi |
benkatz | 42:738fa01b0346 | 32 | /// 12 bit velocity command, between -30 and + 30 rad/s |
benkatz | 42:738fa01b0346 | 33 | /// 12 bit kp, between 0 and 500 N-m/rad |
benkatz | 42:738fa01b0346 | 34 | /// 12 bit kd, between 0 and 100 N-m*s/rad |
benkatz | 42:738fa01b0346 | 35 | /// 12 bit feed forward torque, between -18 and 18 N-m |
benkatz | 42:738fa01b0346 | 36 | /// CAN Packet is 8 8-bit words |
benkatz | 42:738fa01b0346 | 37 | /// Formatted as follows. For each quantity, bit 0 is LSB |
benkatz | 42:738fa01b0346 | 38 | /// 0: [position[15-8]] |
benkatz | 42:738fa01b0346 | 39 | /// 1: [position[7-0]] |
benkatz | 42:738fa01b0346 | 40 | /// 2: [velocity[11-4]] |
benkatz | 42:738fa01b0346 | 41 | /// 3: [velocity[3-0], kp[11-8]] |
benkatz | 42:738fa01b0346 | 42 | /// 4: [kp[7-0]] |
benkatz | 42:738fa01b0346 | 43 | /// 5: [kd[11-4]] |
shaorui | 48:1b51771c3647 | 44 | /// 6: [kd[3-0], ETX,ETY校验值,ETX=1时设置为0,ETY=1时设置为1,ETX=1,ETY=1时设置为2] |
shaorui | 48:1b51771c3647 | 45 | /// 7: [BCT校验值[7-0]] |
benkatz | 42:738fa01b0346 | 46 | void unpack_cmd(CANMessage msg, ControllerStruct * controller){ |
benkatz | 42:738fa01b0346 | 47 | int p_int = (msg.data[0]<<8)|msg.data[1]; |
benkatz | 42:738fa01b0346 | 48 | int v_int = (msg.data[2]<<4)|(msg.data[3]>>4); |
benkatz | 42:738fa01b0346 | 49 | int kp_int = ((msg.data[3]&0xF)<<8)|msg.data[4]; |
benkatz | 42:738fa01b0346 | 50 | int kd_int = (msg.data[5]<<4)|(msg.data[6]>>4); |
shaorui | 48:1b51771c3647 | 51 | controller->sidebct = ((msg.data[6]&0xF)<<8)|msg.data[7];//设置为传送BCT校验值,以及设置ETX,ETY的值 |
shaorui | 48:1b51771c3647 | 52 | //int t_int = ((msg.data[6]&0xF)<<8)|msg.data[7];//设置为传送BCT校验值,以及设置ETX,ETY的值 |
benkatz | 42:738fa01b0346 | 53 | |
benkatz | 42:738fa01b0346 | 54 | controller->p_des = uint_to_float(p_int, P_MIN, P_MAX, 16); |
benkatz | 42:738fa01b0346 | 55 | controller->v_des = uint_to_float(v_int, V_MIN, V_MAX, 12); |
benkatz | 42:738fa01b0346 | 56 | controller->kp = uint_to_float(kp_int, KP_MIN, KP_MAX, 12); |
benkatz | 42:738fa01b0346 | 57 | controller->kd = uint_to_float(kd_int, KD_MIN, KD_MAX, 12); |
shaorui | 48:1b51771c3647 | 58 | //controller->t_ff = uint_to_float(t_int, T_MIN, T_MAX, 12); |
benkatz | 42:738fa01b0346 | 59 | //printf("Received "); |
benkatz | 42:738fa01b0346 | 60 | //printf("%.3f %.3f %.3f %.3f %.3f %.3f", controller->p_des, controller->v_des, controller->kp, controller->kd, controller->t_ff, controller->i_q_ref); |
benkatz | 42:738fa01b0346 | 61 | //printf("\n\r"); |
benkatz | 42:738fa01b0346 | 62 | } |
benkatz | 42:738fa01b0346 | 63 |