CanUpdate.c
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#include "CanUpdate.h"
#include "user_motor.h"
#include "user_setup.h"
#include "includes.h"
#include "QRcode.h"
u8 setPosModel[] = {0x2F,0x60,0x60,0x00,0x01,0x00,0x00,0x00};
u8 setTargetPos[] = {0x23,0x7A,0x60,0x00,0x2C,0x37,0x09,0x00};
u8 setPosSpeed[] = {0x23,0x81,0x60,0x00,0x00,0x46,0xC3,0x23};
u8 setSpeedSlope1[] = {0x23,0x83,0x60,0x00,0x20,0x4E,0x08,0x00};
u8 setSpeedSlope2[] = {0x23,0x84,0x60,0x00,0x20,0x4E,0x08,0x00};
u8 enable[] = {0x2B,0x40,0x60,0x00,0x0F,0x00,0x00,0x00};
u8 enable06[] = {0x2B,0x40,0x60,0x00,0x06,0x00,0x00,0x00};
u8 enable0F[] = {0x2B,0x40,0x60,0x00,0x0F,0x00,0x00,0x00};
u8 PosEnable[] = {0x2B,0x40,0x60,0x00,0x3F,0x00,0x00,0x00};
u8 speedModel[] = {0x2F,0x60,0x60,0x00,0x03,0x00,0x00,0x00};
u8 setSpeed[] = {0x23,0xFF,0x60,0x00,0x00,0x00,0x00,0x00};
u8 seterror[] = {0x40,0x01,0x26,0x00,0x00,0x00,0x00,0x00};
u8 setZeroPoint1[] = {0x2F,0x60,0x60,0x00,0x06,0x00,0x00,0x00};
u8 setZeroPoint2[] = {0x2F,0x98,0x60,0x00,0x23,0x00,0x00,0x00};
u8 setZeroPoint3[] = {0x2B,0x40,0x60,0x00,0x1F,0x00,0x00,0x00};
u8 getEncodespeed[8] = {0x40, 0x6C, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00};
u8 readPos[] = {0x40,0x63,0x60,0x00,0x00,0x00,0x00,0x00};
void DriverFunction(DriverStruct *Motor) //行走 举升 移轴 推杆电机
{
if (Motor->Private.initStep != 255) //*****************************************如果未初始化先初始化
{
init_driver(Motor); //非阻塞函数
}
else //**************************************************************************无其他问题则发速度
{
if (set_speed(Motor) == 1) //返回0证明发了指令 则本轮不要发指令 否则会造成上一条指令无法匹配
{
}
}
}
void steeringFunction(DriverStruct *Motor, DriverStruct *refMotor) //转向电机 行走轮有速度则开使能 无速度则视情况关使能
{
if (Motor->Private.initStep != 255) //如果未初始化先初始化
{
init_driver(Motor); //非阻塞函数
}
else
{
set_steering_speed(Motor, refMotor); //发速度
}
}
float GetSpeedSlope(float SlopeSpeed, float CurSpeed,float TargetSpeed)
{
if (TargetSpeed > CurSpeed)
{
CurSpeed += SlopeSpeed;
}
else if (TargetSpeed < CurSpeed)
{
CurSpeed -= SlopeSpeed;
}
if (_fabsf(CurSpeed - TargetSpeed) <= SlopeSpeed)
{
CurSpeed = TargetSpeed;
}
return CurSpeed;
}
void sendLeftWheelInit()
{
if(KincoStruct1.initStep == 0)
{
CAN1_Send_Msg(0x601,speedModel,8,2);
}
else if(KincoStruct1.initStep == 1)
{
CAN1_Send_Msg(0x601,enable06,8,2);
}
else if(KincoStruct1.initStep == 2)
{
CAN1_Send_Msg(0x601,enable0F,8,2);
}
}
void LeftWheelDataProcess(CanRxMsg *CanRxMsg)
{
if(CanRxMsg->Data[0] == 0x60 && CanRxMsg->Data[1] == 0x60 && CanRxMsg->Data[2] == 0x60)//设置速度模式
{
KincoStruct1.initStep = 1;
}
else if(CanRxMsg->Data[0] == 0x60 && CanRxMsg->Data[1] == 0x40 && CanRxMsg->Data[2] == 0x60&&CanRxMsg->Data[4] == 0x06)//使能
{
KincoStruct1.initStep = 2;
}
else if(CanRxMsg->Data[0] == 0x60 && CanRxMsg->Data[1] == 0x40 && CanRxMsg->Data[2] == 0x60&&CanRxMsg->Data[4] == 0x0F)//使能
{
KincoStruct1.initStep = 3;//初始化完成
}
if(CanRxMsg->Data[0] == 0x43 && CanRxMsg->Data[1] == 0x6C && CanRxMsg->Data[2] == 0x60)
{
KincoStruct1.encodeSpeed = (float)((CanRxMsg->Data[7] << 24) + (CanRxMsg->Data[6]<<16)+(CanRxMsg->Data[5] << 8) + CanRxMsg->Data[4])/-2730.7*0.714*1.05/2/1.083;
if(fabs(KincoStruct1.encodeSpeed) < 10)
KincoStruct1.encodeSpeed = 0;
}
}
void sendRightWheelInit()
{
if(KincoStruct2.initStep == 0)
{
CAN1_Send_Msg(0x602,speedModel,8,2);
}
else if(KincoStruct2.initStep == 1)
{
CAN1_Send_Msg(0x602,enable06,8,2);
}
else if(KincoStruct2.initStep == 2)
{
CAN1_Send_Msg(0x602,enable0F,8,2);
}
}
void RightWheelDataProcess(CanRxMsg *CanRxMsg)
{
if(CanRxMsg->Data[0] == 0x60 && CanRxMsg->Data[1] == 0x60 && CanRxMsg->Data[2] == 0x60)//设置速度模式
{
KincoStruct2.initStep = 1;
}
else if(CanRxMsg->Data[0] == 0x60 && CanRxMsg->Data[1] == 0x40 && CanRxMsg->Data[2] == 0x60&&CanRxMsg->Data[4] == 0x06)//使能
{
KincoStruct2.initStep = 2;
}
else if(CanRxMsg->Data[0] == 0x60 && CanRxMsg->Data[1] == 0x40 && CanRxMsg->Data[2] == 0x60&&CanRxMsg->Data[4] == 0x0F)//使能
{
KincoStruct2.initStep = 3;//初始化完成
}
if(CanRxMsg->Data[0] == 0x43 && CanRxMsg->Data[1] == 0x6C && CanRxMsg->Data[2] == 0x60)
{
KincoStruct2.encodeSpeed = (float)((CanRxMsg->Data[7] << 24) + (CanRxMsg->Data[6]<<16)+(CanRxMsg->Data[5] << 8) + CanRxMsg->Data[4])/2730.7*0.714*1.05/2/1.083;
if(fabs(KincoStruct2.encodeSpeed) < 10)
KincoStruct2.encodeSpeed = 0;
}
}
extern void change_data(u8 *_data, int data);
void sendKincoSpeed()
{
static int lastTime1 = 0,lastTime2 = 0;
static u8 data1[8] = {0};
static u8 data2[8] = {0};
static float curSpeed1 = 0,curSpeed2 = 0;
static float speedSlope1 = 0,speedSlope2 = 0;
static int i = 0,EnableCount = 10,UnEnableCount = 100;
if(i++ >10)
{
i = 0;
CAN1_Send_Msg(0x601,getEncodespeed,8,0);
CAN1_Send_Msg(0x602,getEncodespeed,8,0);
}
if(KincoStruct1.initStep != 3)
{
sendLeftWheelInit();
}
else if(KincoStruct2.initStep != 3)
{
sendRightWheelInit();
}
else
{
if(!agv.Public.i_QuickStopSig)
{
UnEnableCount = 100;
if(EnableCount-- > 0)//先开使能
{
CAN1_Send_Msg(0x601,enable0F,8,0);
CAN1_Send_Msg(0x602,enable0F,8,0);
}
else//发送速度 大于预停车速度，减小斜坡，异常报警直接停车
{
if(fabs(KincoStruct1.setSpeed) > fabs(curSpeed1))
{
// if(agv.Parameter.AGVID == 0xA006)
// {
// speedSlope1 = 2;
// }
// else
// {
// speedSlope1 = 2.5;
// }
speedSlope1 = 2;
}
else
speedSlope1 = 4;
if(fabs(KincoStruct2.setSpeed) > fabs(curSpeed2))
{
// if(agv.Parameter.AGVID == 0xA006)
// {
// speedSlope2 = 2;
// }
// else
// {
// speedSlope2 = 2.5;
// }
speedSlope2 = 2;
}
else
speedSlope2 = 4;
KincoStruct1.setSpeed = GetSpeedSlope(speedSlope1*2,curSpeed1,KincoStruct1.setSpeed);
curSpeed1 = KincoStruct1.setSpeed;
KincoStruct2.setSpeed = GetSpeedSlope(speedSlope2*2,curSpeed2,KincoStruct2.setSpeed);
curSpeed2 = KincoStruct2.setSpeed;
int speed1 = (int)(KincoStruct1.setSpeed/0.714*-2730.7);
int speed2 = (int)(KincoStruct2.setSpeed/0.714*2730.7);
//左电机
if(agv.Public.SystemTime - lastTime1 > 5)
{
lastTime1 = agv.Public.SystemTime;
change_data(setSpeed,speed1);
CAN1_Send_Msg(0x601,setSpeed,8,0);
sendRotateSpeed();
//右电机
change_data(setSpeed,speed2);
CAN1_Send_Msg(0x602,setSpeed,8,0);
}
}
}
else
{
sendRotateSpeed();
EnableCount = 10;//重新赋值使能计数
if(UnEnableCount-- > 0)
{
change_data(setSpeed,0);
CAN1_Send_Msg(0x601,setSpeed,8,0);
CAN1_Send_Msg(0x602,setSpeed,8,0);
}
else
{
CAN1_Send_Msg(0x601,enable06,8,0);
CAN1_Send_Msg(0x602,enable06,8,0);
}
}
}
}
void sendLiftSpeed()
{
change_data(setSpeed,(int)Lifter1.setSpeed);
//第一次进入速度模式
if(Lifter1.initState == 0)
{
CAN1_Send_Msg(0x603,speedModel,8,0);
}
else if(Lifter1.initState == 1)
{
CAN1_Send_Msg(0x603,enable06,8,0);
}
else if(Lifter1.initState == 2)
{
CAN1_Send_Msg(0x603,enable0F,8,0);
}
else//初始化完成，发送目标速度
{
CAN1_Send_Msg(0x603,setSpeed,8,0);
}
}
void LiftDataProcess(CanRxMsg *CanRxMsg)
{
static int lastEncodeValue = 0,EncodeValue = 0;
if(CanRxMsg->Data[0] == 0x60 && CanRxMsg->Data[1] == 0x60 && CanRxMsg->Data[2] == 0x60)//设置速度模式
{
Lifter1.initState = 1;
Uart_Printf(COM1,"举升设置速度模式成功\r\n");
}
else if(CanRxMsg->Data[0] == 0x60 && CanRxMsg->Data[1] == 0x40 && CanRxMsg->Data[2] == 0x60&&CanRxMsg->Data[4] == 0x06)//使能
{
Lifter1.initState = 2;
Uart_Printf(COM1,"举升设置使能06成功\r\n");
}
else if(CanRxMsg->Data[0] == 0x60 && CanRxMsg->Data[1] == 0x40 && CanRxMsg->Data[2] == 0x60&&CanRxMsg->Data[4] == 0x0F)//使能
{
Lifter1.initState = 3;
Uart_Printf(COM1,"举升设置使能0F成功\r\n");
}
//读电机位置
if(CanRxMsg->Data[0] == 0x43 && CanRxMsg->Data[1] == 0x63 && CanRxMsg->Data[2] == 0x60)//
{
if(!agv.Public.i_Lift1DownLimit)
{
EncodeValue = CanRxMsg->Data[4]|CanRxMsg->Data[5]<<8|CanRxMsg->Data[6]<<16|CanRxMsg->Data[7]<<24;
Lifter1.encodePos += (float)(EncodeValue - lastEncodeValue)/80000;
lastEncodeValue = EncodeValue;
}
else
{
Lifter1.encodePos = 0;
}
}
if(CanRxMsg->Data[1] == 0x01 && CanRxMsg->Data[2] == 0x26 )
{
Lifter1.errorState[0] = CanRxMsg->Data[5]<<8|CanRxMsg->Data[6];
Lifter1.errorState[1] = CanRxMsg->Data[7]<<8|CanRxMsg->Data[8];
}
if(Lifter1.errorState[0])
{
SetAlarm(0x0800);//驱动器报警
}
else if(!Lifter1.errorState[2])
{
Reset_Alarm(0x0800);//复位
}
}
extern u8 liftFirstToZero1;
u8 restRotateOkFlag = 0;
void sendRotateSpeed()
{
static u8 iFirst = 1;
if(iFirst && !liftFirstToZero1)
{
if(X1 & X2)
{
Rotate1.encodeAngle = 0;
Rotate1.setSpeed = 0;
restRotateOkFlag = 1;
iFirst = 0;
}
else
{
SetAlarm(0x400);//平台报警
}
}
if(agv.Public.i_QuickStopSig)
{
Rotate1.setSpeed = 0;
}
change_data(setSpeed,(int)Rotate1.setSpeed);
//第一次进入速度模式
if(Rotate1.initState == 0)
{
CAN1_Send_Msg(0x604,speedModel,8,0);
Uart_Printf(COM1,"旋转设置速度模式\r\n");
}
else if(Rotate1.initState == 1)
{
CAN1_Send_Msg(0x604,enable06,8,0);
Uart_Printf(COM1,"旋转设置使能06\r\n");
}
else if(Rotate1.initState == 2)
{
CAN1_Send_Msg(0x604,enable0F,8,0);
Uart_Printf(COM1,"旋转设置使能0F\r\n");
}
else//初始化完成，发送目标速度2418367
{
CAN1_Send_Msg(0x604,setSpeed,8,0);
}
}
int EncodeValue = 0;
void RotateDataProcess(CanRxMsg *CanRxMsg)
{
static u8 FirstFlag = 1;//第一次上电，角度置0
static int lastEncodeValue = 0;
if(CanRxMsg->Data[0] == 0x60 && CanRxMsg->Data[1] == 0x60 && CanRxMsg->Data[2] == 0x60)//设置速度模式
{
Rotate1.initState = 1;
Uart_Printf(COM1,"旋转设置速度模式成功\r\n");
}
else if(CanRxMsg->Data[0] == 0x60 && CanRxMsg->Data[1] == 0x40 && CanRxMsg->Data[2] == 0x60&&CanRxMsg->Data[4] == 0x06)//使能
{
Rotate1.initState = 2;
Uart_Printf(COM1,"旋转设置使能06成功\r\n");
}
else if(CanRxMsg->Data[0] == 0x60 && CanRxMsg->Data[1] == 0x40 && CanRxMsg->Data[2] == 0x60&&CanRxMsg->Data[4] == 0x0F)//使能
{
Rotate1.initState = 3;
Uart_Printf(COM1,"旋转设置使能0F成功\r\n");
}
//读电机位置
if(CanRxMsg->Data[0] == 0x43 && CanRxMsg->Data[1] == 0x63 && CanRxMsg->Data[2] == 0x60)//
{
EncodeValue = CanRxMsg->Data[4]|CanRxMsg->Data[5]<<8|CanRxMsg->Data[6]<<16|CanRxMsg->Data[7]<<24;
if(FirstFlag)//第一次上电，角度置0
{
FirstFlag = 0;
lastEncodeValue = EncodeValue;
}
if(abs(EncodeValue - lastEncodeValue) > 100)
{
Rotate1.encodeAngle += (float)(lastEncodeValue - EncodeValue)*360/2560000;
if(Rotate1.encodeAngle > 180)
{
Rotate1.encodeAngle -= 360;
}
else if(Rotate1.encodeAngle < -180)
{
Rotate1.encodeAngle += 360;
}
lastEncodeValue = EncodeValue;
}
}
if(CanRxMsg->Data[1] == 0x01 && CanRxMsg->Data[2] == 0x26 )
{
Lifter1.errorState[2] = CanRxMsg->Data[5]<<8|CanRxMsg->Data[6];
Lifter1.errorState[3] = CanRxMsg->Data[7]<<8|CanRxMsg->Data[8];
}
if(Lifter1.errorState[2])
{
SetAlarm(0x0800);//驱动器报警
}
else if(!Lifter1.errorState[0])
{
Reset_Alarm(0x0800);//复位
}
}
void _AppCanUpdate(void)
{
static int i_First = 1,i_Count = 0,lastTime = 0,lastTime1 = 0,lastTime2 = 0,lastTime3 = 0;
/****************************行走驱动************************************************/
static int initCount = 0;
static int i_First1 = 1, i_First2 = 1;
if(initCount ++ > 1000)
{
sendKincoSpeed();
UpdateCameraData();
// UpdateCameraData2();
DecodeIMUdata();//获取惯导数据
if(agv.Public.SystemTime - lastTime > 9)
{
lastTime = agv.Public.SystemTime;
sendLiftSpeed();
}
if(agv.Public.SystemTime - lastTime1 > 11)
{
//lastTime1 = agv.Public.SystemTime;
CAN1_Send_Msg(0x603,readPos,8,0);
}
if(agv.Public.SystemTime - lastTime2 > 15)
{
if(i_First1)
{
CAN1_Send_Msg(0x603,seterror,8,0);
// i_First1 = 0;
}
if(agv.Public.SystemTime - lastTime2 > 17)
{
lastTime2 = agv.Public.SystemTime;
if(i_First2)
{
CAN1_Send_Msg(0x604,seterror,8,0);
// i_First2 = 0;
}
}
}
if(agv.Public.SystemTime - lastTime3 > 13)
{
lastTime3 = agv.Public.SystemTime;
CAN1_Send_Msg(0x604,readPos,8,0);
}
if(!agv.Command.Au_Hand)
{
if(agv.Public.i_HandCentringUp | agv.Public.i_HandCentringDown)
agv.Command.MusicFlag = 43;
else
agv.Command.MusicFlag = 1;
}
Music_Select(agv.Command.MusicFlag, agv.Command.Vol);
}
}