标签：ptr rate call eset mamicode activate ddt let end
配置好后生成代码
1、HAL库滤波器设置c文件
#include "bsp_can.h" #include "main.h" 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.FilterBank = 0; can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0; 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); }
2、HAL库滤波器h文件
#ifndef BSP_CAN_H #define BSP_CAN_H #include "main.h" extern void can_filter_init(void); #endif
3、HAL库can接收发送c文件
/** ****************************(C) COPYRIGHT 2019 DJI**************************** * @file can_receive.c/h * @brief there is CAN interrupt function to receive motor data, * and CAN send function to send motor current to control motor. * ?aà?ê?CAN?D???óê?oˉêy￡??óê?μ??úêy?Y,CAN·￠?íoˉêy·￠?íμ??úμ?á÷????μ??ú. * @note * @history * Version Date Author Modification * V1.0.0 Dec-26-2018 RM 1. done * @verbatim ============================================================================== ============================================================================== @endverbatim ****************************(C) COPYRIGHT 2019 DJI**************************** */ #include "CAN_receive.h" #include "main.h" extern CAN_HandleTypeDef hcan1; extern CAN_HandleTypeDef hcan2; //motor data read #define get_motor_measure(ptr, data) { (ptr)->last_ecd = (ptr)->ecd; (ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]); (ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]); (ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]); (ptr)->temperate = (data)[6]; } /* motor data, 0:chassis motor1 3508;1:chassis motor3 3508;2:chassis motor3 3508;3:chassis motor4 3508; 4:yaw gimbal motor 6020;5:pitch gimbal motor 6020;6:trigger motor 2006; μ??úêy?Y, 0:μ×?ìμ??ú1 3508μ??ú, 1:μ×?ìμ??ú2 3508μ??ú,2:μ×?ìμ??ú3 3508μ??ú,3:μ×?ìμ??ú4 3508μ??ú; 4:yaw??ì¨μ??ú 6020μ??ú; 5:pitch??ì¨μ??ú 6020μ??ú; 6:2|μˉμ??ú 2006μ??ú*/ static motor_measure_t motor_chassis[7]; static CAN_TxHeaderTypeDef gimbal_tx_message; static uint8_t gimbal_can_send_data[8]; static CAN_TxHeaderTypeDef chassis_tx_message; static uint8_t chassis_can_send_data[8]; /** * @brief hal CAN fifo call back, receive motor data * @param[in] hcan, the point to CAN handle * @retval none */ /** * @brief hal?aCAN??μ÷oˉêy,?óê?μ??úêy?Y * @param[in] hcan:CAN??±ú???? * @retval none */ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) { CAN_RxHeaderTypeDef rx_header; uint8_t rx_data[8]; HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data); switch (rx_header.StdId) { case CAN_3508_M1_ID: case CAN_3508_M2_ID: case CAN_3508_M3_ID: case CAN_3508_M4_ID: case CAN_YAW_MOTOR_ID: case CAN_PIT_MOTOR_ID: case CAN_TRIGGER_MOTOR_ID: { static uint8_t i = 0; //get motor id i = rx_header.StdId - CAN_3508_M1_ID; get_motor_measure(&motor_chassis[i], rx_data); break; } default: { break; } } } /** * @brief send control current of motor (0x205, 0x206, 0x207, 0x208) * @param[in] yaw: (0x205) 6020 motor control current, range [-30000,30000] * @param[in] pitch: (0x206) 6020 motor control current, range [-30000,30000] * @param[in] shoot: (0x207) 2006 motor control current, range [-10000,10000] * @param[in] rev: (0x208) reserve motor control current * @retval none */ /** * @brief ·￠?íμ??ú????μ?á÷(0x205,0x206,0x207,0x208) * @param[in] yaw: (0x205) 6020μ??ú????μ?á÷, ·??§ [-30000,30000] * @param[in] pitch: (0x206) 6020μ??ú????μ?á÷, ·??§ [-30000,30000] * @param[in] shoot: (0x207) 2006μ??ú????μ?á÷, ·??§ [-10000,10000] * @param[in] rev: (0x208) ±￡á?￡?μ??ú????μ?á÷ * @retval none */ void CAN_cmd_gimbal(int16_t yaw, int16_t pitch, int16_t shoot, int16_t rev) { uint32_t send_mail_box; gimbal_tx_message.StdId = CAN_GIMBAL_ALL_ID; gimbal_tx_message.IDE = CAN_ID_STD; gimbal_tx_message.RTR = CAN_RTR_DATA; gimbal_tx_message.DLC = 0x08; gimbal_can_send_data[0] = (yaw >> 8); gimbal_can_send_data[1] = yaw; gimbal_can_send_data[2] = (pitch >> 8); gimbal_can_send_data[3] = pitch; gimbal_can_send_data[4] = (shoot >> 8); gimbal_can_send_data[5] = shoot; gimbal_can_send_data[6] = (rev >> 8); gimbal_can_send_data[7] = rev; HAL_CAN_AddTxMessage(&GIMBAL_CAN, &gimbal_tx_message, gimbal_can_send_data, &send_mail_box); } /** * @brief send CAN packet of ID 0x700, it will set chassis motor 3508 to quick ID setting * @param[in] none * @retval none */ /** * @brief ·￠?íID?a0x700μ?CAN°ü,?ü?áéè??3508μ??ú??è??ì?ùéè??ID * @param[in] none * @retval none */ void CAN_cmd_chassis_reset_ID(void) { uint32_t send_mail_box; chassis_tx_message.StdId = 0x700; chassis_tx_message.IDE = CAN_ID_STD; chassis_tx_message.RTR = CAN_RTR_DATA; chassis_tx_message.DLC = 0x08; chassis_can_send_data[0] = 0; chassis_can_send_data[1] = 0; chassis_can_send_data[2] = 0; chassis_can_send_data[3] = 0; chassis_can_send_data[4] = 0; chassis_can_send_data[5] = 0; chassis_can_send_data[6] = 0; chassis_can_send_data[7] = 0; HAL_CAN_AddTxMessage(&CHASSIS_CAN, &chassis_tx_message, chassis_can_send_data, &send_mail_box); } /** * @brief send control current of motor (0x201, 0x202, 0x203, 0x204) * @param[in] motor1: (0x201) 3508 motor control current, range [-16384,16384] * @param[in] motor2: (0x202) 3508 motor control current, range [-16384,16384] * @param[in] motor3: (0x203) 3508 motor control current, range [-16384,16384] * @param[in] motor4: (0x204) 3508 motor control current, range [-16384,16384] * @retval none */ /** * @brief ·￠?íμ??ú????μ?á÷(0x201,0x202,0x203,0x204) * @param[in] motor1: (0x201) 3508μ??ú????μ?á÷, ·??§ [-16384,16384] * @param[in] motor2: (0x202) 3508μ??ú????μ?á÷, ·??§ [-16384,16384] * @param[in] motor3: (0x203) 3508μ??ú????μ?á÷, ·??§ [-16384,16384] * @param[in] motor4: (0x204) 3508μ??ú????μ?á÷, ·??§ [-16384,16384] * @retval none */ void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4) { uint32_t send_mail_box; chassis_tx_message.StdId = CAN_CHASSIS_ALL_ID; chassis_tx_message.IDE = CAN_ID_STD; chassis_tx_message.RTR = CAN_RTR_DATA; chassis_tx_message.DLC = 0x08; chassis_can_send_data[0] = motor1 >> 8; chassis_can_send_data[1] = motor1; chassis_can_send_data[2] = motor2 >> 8; chassis_can_send_data[3] = motor2; chassis_can_send_data[4] = motor3 >> 8; chassis_can_send_data[5] = motor3; chassis_can_send_data[6] = motor4 >> 8; chassis_can_send_data[7] = motor4; HAL_CAN_AddTxMessage(&CHASSIS_CAN, &chassis_tx_message, chassis_can_send_data, &send_mail_box); } /** * @brief return the yaw 6020 motor data point * @param[in] none * @retval motor data point */ /** * @brief ·μ??yaw 6020μ??úêy?Y???? * @param[in] none * @retval μ??úêy?Y???? */ const motor_measure_t *get_yaw_gimbal_motor_measure_point(void) { return &motor_chassis[4]; } /** * @brief return the pitch 6020 motor data point * @param[in] none * @retval motor data point */ /** * @brief ·μ??pitch 6020μ??úêy?Y???? * @param[in] none * @retval μ??úêy?Y???? */ const motor_measure_t *get_pitch_gimbal_motor_measure_point(void) { return &motor_chassis[5]; } /** * @brief return the trigger 2006 motor data point * @param[in] none * @retval motor data point */ /** * @brief ·μ??2|μˉμ??ú 2006μ??úêy?Y???? * @param[in] none * @retval μ??úêy?Y???? */ const motor_measure_t *get_trigger_motor_measure_point(void) { return &motor_chassis[6]; } /** * @brief return the chassis 3508 motor data point * @param[in] i: motor number,range [0,3] * @retval motor data point */ /** * @brief ·μ??μ×?ìμ??ú 3508μ??úêy?Y???? * @param[in] i: μ??ú±ào?,·??§[0,3] * @retval μ??úêy?Y???? */ const motor_measure_t *get_chassis_motor_measure_point(uint8_t i) { return &motor_chassis[(i & 0x03)]; }
4、HAL库can接收发送h文件
/** ****************************(C) COPYRIGHT 2019 DJI**************************** * @file can_receive.c/h * @brief there is CAN interrupt function to receive motor data, * and CAN send function to send motor current to control motor. * ?aà?ê?CAN?D???óê?oˉêy￡??óê?μ??úêy?Y,CAN·￠?íoˉêy·￠?íμ??úμ?á÷????μ??ú. * @note * @history * Version Date Author Modification * V1.0.0 Dec-26-2018 RM 1. done * @verbatim ============================================================================== ============================================================================== @endverbatim ****************************(C) COPYRIGHT 2019 DJI**************************** */ #ifndef CAN_RECEIVE_H #define CAN_RECEIVE_H #include "struct_typedef.h" #define CHASSIS_CAN hcan1 #define GIMBAL_CAN hcan2 /* CAN send and receive ID */ typedef enum { CAN_CHASSIS_ALL_ID = 0x200, CAN_3508_M1_ID = 0x201, CAN_3508_M2_ID = 0x202, CAN_3508_M3_ID = 0x203, CAN_3508_M4_ID = 0x204, CAN_YAW_MOTOR_ID = 0x205, CAN_PIT_MOTOR_ID = 0x206, CAN_TRIGGER_MOTOR_ID = 0x207, CAN_GIMBAL_ALL_ID = 0x1FF, } can_msg_id_e; //rm motor data typedef struct { uint16_t ecd; int16_t speed_rpm; int16_t given_current; uint8_t temperate; int16_t last_ecd; } motor_measure_t; /** * @brief send control current of motor (0x205, 0x206, 0x207, 0x208) * @param[in] yaw: (0x205) 6020 motor control current, range [-30000,30000] * @param[in] pitch: (0x206) 6020 motor control current, range [-30000,30000] * @param[in] shoot: (0x207) 2006 motor control current, range [-10000,10000] * @param[in] rev: (0x208) reserve motor control current * @retval none */ /** * @brief ·￠?íμ??ú????μ?á÷(0x205,0x206,0x207,0x208) * @param[in] yaw: (0x205) 6020μ??ú????μ?á÷, ·??§ [-30000,30000] * @param[in] pitch: (0x206) 6020μ??ú????μ?á÷, ·??§ [-30000,30000] * @param[in] shoot: (0x207) 2006μ??ú????μ?á÷, ·??§ [-10000,10000] * @param[in] rev: (0x208) ±￡á?￡?μ??ú????μ?á÷ * @retval none */ extern void CAN_cmd_gimbal(int16_t yaw, int16_t pitch, int16_t shoot, int16_t rev); /** * @brief send CAN packet of ID 0x700, it will set chassis motor 3508 to quick ID setting * @param[in] none * @retval none */ /** * @brief ·￠?íID?a0x700μ?CAN°ü,?ü?áéè??3508μ??ú??è??ì?ùéè??ID * @param[in] none * @retval none */ extern void CAN_cmd_chassis_reset_ID(void); /** * @brief send control current of motor (0x201, 0x202, 0x203, 0x204) * @param[in] motor1: (0x201) 3508 motor control current, range [-16384,16384] * @param[in] motor2: (0x202) 3508 motor control current, range [-16384,16384] * @param[in] motor3: (0x203) 3508 motor control current, range [-16384,16384] * @param[in] motor4: (0x204) 3508 motor control current, range [-16384,16384] * @retval none */ /** * @brief ·￠?íμ??ú????μ?á÷(0x201,0x202,0x203,0x204) * @param[in] motor1: (0x201) 3508μ??ú????μ?á÷, ·??§ [-16384,16384] * @param[in] motor2: (0x202) 3508μ??ú????μ?á÷, ·??§ [-16384,16384] * @param[in] motor3: (0x203) 3508μ??ú????μ?á÷, ·??§ [-16384,16384] * @param[in] motor4: (0x204) 3508μ??ú????μ?á÷, ·??§ [-16384,16384] * @retval none */ extern void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4); /** * @brief return the yaw 6020 motor data point * @param[in] none * @retval motor data point */ /** * @brief ·μ??yaw 6020μ??úêy?Y???? * @param[in] none * @retval μ??úêy?Y???? */ extern const motor_measure_t *get_yaw_gimbal_motor_measure_point(void); /** * @brief return the pitch 6020 motor data point * @param[in] none * @retval motor data point */ /** * @brief ·μ??pitch 6020μ??úêy?Y???? * @param[in] none * @retval μ??úêy?Y???? */ extern const motor_measure_t *get_pitch_gimbal_motor_measure_point(void); /** * @brief return the trigger 2006 motor data point * @param[in] none * @retval motor data point */ /** * @brief ·μ??2|μˉμ??ú 2006μ??úêy?Y???? * @param[in] none * @retval μ??úêy?Y???? */ extern const motor_measure_t *get_trigger_motor_measure_point(void); /** * @brief return the chassis 3508 motor data point * @param[in] i: motor number,range [0,3] * @retval motor data point */ /** * @brief ·μ??μ×?ìμ??ú 3508μ??úêy?Y???? * @param[in] i: μ??ú±ào?,·??§[0,3] * @retval μ??úêy?Y???? */ extern const motor_measure_t *get_chassis_motor_measure_point(uint8_t i); #endif
5、主函数中
---》初始化CAN总线和滤波器
MX_CAN1_Init();
MX_CAN2_Init();
can_filter_init();
--》循环中加入电机控制函数
CAN_cmd_chassis(4000, 4000, 4000, 4000); HAL_Delay(2); CAN_cmd_gimbal(10000, 10000, 10000, 10000); HAL_Delay(2);
关于嵌入式学习随笔->14《STM32CubeMX应用5-CAN总线的配置》
标签：ptr rate call eset mamicode activate ddt let end
原文地址：https://www.cnblogs.com/vcan123/p/12250662.html
