/* * UserCan.c * * Created on: 2023年1月16日 * Author: senco */ #include "var.h" // DSP2803x Examples Include File #include "UserCan.h" // DSP2803x Headerfile Include File //#include "DSP2803x_Device.h" // DSP28 Headerfile Include File #include "DSP2803x_Examples.h" // DSP28 Examples Include File #define Reverse 0 #define Normal 1 // Global variable for this example #define TX_PERIOD 20 //ms //绘制曲线 #pragma DATA_SECTION(CanCurveData,"MemoryFile"); #pragma DATA_SECTION(CanCurveData2,"MemoryFile2"); int16 CanCurveData[0x400]; int16 CanCurveFlag = 0; int16 CanDebugFlag = 1; int16 CanCurveData2[0x400]; struct CANMBOX_USER_REGS CanMboxUserRegsT; //用户CAN数据发送结构体 struct CANMBOX_USER_REGS CanMboxUserRegsT2; //用户CAN数据发送结构体 struct CANMBOX_USER_REGS CanMboxUserRegsR; //用户CAN接收数据结构体1 struct CANMBOX_USER_REGS CanMboxUserRegsR2; //用户CAN接收数据结构体2 struct CANMBOX_USER_REGS CanMboxUserRegsR3; //用户CAN接收数据结构体2 #define ID_MOTOR1_COMMAND 0x014E540A #define ID_MOTOR2_COMMAND 0x014E560A #define ID_MOTOR3_COMMAND 0x014E5A0A #define ID_MOTOR1_SET 0x014E5C0A Uint32 motor_command[]={ID_MOTOR1_COMMAND,ID_MOTOR2_COMMAND,ID_MOTOR3_COMMAND}; void CanVar(void){ CanMboxUserRegsR.MboxRxFlg = 0; CanMboxUserRegsR.MboxNum = 0; CanMboxUserRegsR.MboxDLC = 0; CanMboxUserRegsR.MboxID = 0; CanMboxUserRegsR.MboxWord1 = 0; CanMboxUserRegsR.MboxWord2 = 0; CanMboxUserRegsR.MboxWord3 = 0; CanMboxUserRegsR.MboxWord4 = 0; CanMboxUserRegsR2.MboxRxFlg = 0; CanMboxUserRegsR2.MboxNum = 0; CanMboxUserRegsR2.MboxDLC = 0; CanMboxUserRegsR2.MboxID = 0; CanMboxUserRegsR2.MboxWord1 = 0; CanMboxUserRegsR2.MboxWord2 = 0; CanMboxUserRegsR2.MboxWord3 = 0; CanMboxUserRegsR2.MboxWord4 = 0; CanMboxUserRegsR3.MboxRxFlg = 0; CanMboxUserRegsR3.MboxNum = 0; CanMboxUserRegsR3.MboxDLC = 0; CanMboxUserRegsR3.MboxID = 0; CanMboxUserRegsR3.MboxWord1 = 0; CanMboxUserRegsR3.MboxWord2 = 0; CanMboxUserRegsR3.MboxWord3 = 0; CanMboxUserRegsR3.MboxWord4 = 0; CanMboxUserRegsT.MboxRxFlg = 0; CanMboxUserRegsT.MboxNum = 0; CanMboxUserRegsT.MboxDLC = 0; CanMboxUserRegsT.MboxID = 0; CanMboxUserRegsT.MboxWord1 = 0; CanMboxUserRegsT.MboxWord2 = 0; CanMboxUserRegsT.MboxWord3 = 0; CanMboxUserRegsT.MboxWord4 = 0; } void InitCan(void){ struct ECAN_REGS ECanaShadow; InitECanaGpio();//引脚初始化 //设置波特率 InitECana(); // Initialize eCAN-A module // Mailboxes can be written to 16-bits or 32-bits at a time // Write to the MSGID field of TRANSMIT mailboxes MBOX0 - 15 ECanaMboxes.MBOX0.MSGID.all = 0x014E600B|EXTFRAME;//定时上传 ECanaMboxes.MBOX1.MSGID.all = 0x014E600B|EXTFRAME;//定时上传 ECanaMboxes.MBOX2.MSGID.all = 0x014E600B|EXTFRAME;//定时上传 ECanaMboxes.MBOX3.MSGID.all = 0x014E5D0B|EXTFRAME;//飞控参数返回 ECanaMboxes.MBOX4.MSGID.all = 0x014E5D0B|EXTFRAME;//飞控参数返回 ECanaMboxes.MBOX5.MSGID.all = 0x9555AAA5;//调试参数返回1 给定速度 目标速度 反馈速度 正反转 ECanaMboxes.MBOX6.MSGID.all = 0x9555AAA6;//调试参数返回2 速度PID输出 运行占空比 ECanaMboxes.MBOX7.MSGID.all = 0x9555AAA7;//调试参数返回3 ECanaMboxes.MBOX8.MSGID.all = 0x9555AAA8;//调试参数返回4 ECanaMboxes.MBOX9.MSGID.all = 0x9555AAA9;//调试参数返回5 ECanaMboxes.MBOX10.MSGID.all = 0x9555AAAA; ECanaMboxes.MBOX11.MSGID.all = 0x9555AAAB; ECanaMboxes.MBOX12.MSGID.all = 0x9555AAAC; ECanaMboxes.MBOX13.MSGID.all = 0x9555AAAD; ECanaMboxes.MBOX14.MSGID.all = 0x9555AAAE; ECanaMboxes.MBOX15.MSGID.all = 0x9555AAAF; // Write to the MSGID field of RECEIVE mailboxes MBOX16 - 31 ECanaMboxes.MBOX16.MSGID.all = 0xC0000000;//014E540A esc1 esc2 ECanaMboxes.MBOX17.MSGID.all = 0x814E540A; ECanaMboxes.MBOX18.MSGID.all = 0x814E560A; ECanaMboxes.MBOX19.MSGID.all = 0x814E5A0A; ECanaMboxes.MBOX20.MSGID.all = 0x814E5C0A; ECanaMboxes.MBOX21.MSGID.all = 0xC0000000; ECanaMboxes.MBOX22.MSGID.all = 0xC0000000; ECanaMboxes.MBOX23.MSGID.all = 0xC0000000; ECanaMboxes.MBOX24.MSGID.all = 0x9555AAA8; ECanaMboxes.MBOX25.MSGID.all = 0x9555AAA9; ECanaMboxes.MBOX26.MSGID.all = 0x9555AAAA; ECanaMboxes.MBOX27.MSGID.all = 0x9555AAAB; ECanaMboxes.MBOX28.MSGID.all = 0x9555AAAC; ECanaMboxes.MBOX29.MSGID.all = 0x9555AAAD; ECanaMboxes.MBOX30.MSGID.all = 0x9555AAAE; ECanaMboxes.MBOX31.MSGID.all = 0x9555AAAF; // Configure Mailboxes 0-15 as Tx, 16-31 as Rx // Since this write is to the entire register (instead of a bit // field) a shadow register is not required. ECanaRegs.CANMD.all = 0xFFFF0000;// 0 transmit or 1 receive // Enable all Mailboxes // Since this write is to the entire register (instead of a bit // field) a shadow register is not required. /* ECanaLAMRegs.LAM20.all = 0x9FFFFFFF;//20号邮箱不在乎ID号 // ECanaLAMRegs.LAM21.all = 0x9FFFFFFF;//21号邮箱不在乎ID号，当没有设置优先级的时候高位邮箱优先接收 //ECanaRegs.CANME.all = 0x000FC3FF;//16-19号接收邮箱必须完全等于ID才能接收 ECanaRegs.CANME.all = 0x001FC3FF;//由于设置20号邮箱不在乎ID，接收信息优先进入20号邮箱*/ ECanaLAMRegs.LAM16.all = 0x9FFFFFFF;//16号邮箱不在乎ID号 不在乎ID的放在低位 //ECanaRegs.CANME.all = 0x001FC3FF;//1 Mailbox enable bits 0-4 飞控协议 5-9用于发送调试上位机代码 14-15 用于发送绘图数据 //17-20 用于飞控格式接收 16 用于调试上位机数据接收 ECanaRegs.CANME.all = 0x0001C7E0;//屏蔽飞控相关传输 // Specify that 8 bits will be sent/received ECanaMboxes.MBOX0.MSGCTRL.bit.DLC = 8; ECanaMboxes.MBOX1.MSGCTRL.bit.DLC = 8; ECanaMboxes.MBOX2.MSGCTRL.bit.DLC = 8; ECanaMboxes.MBOX3.MSGCTRL.bit.DLC = 8; ECanaMboxes.MBOX4.MSGCTRL.bit.DLC = 8; ECanaMboxes.MBOX5.MSGCTRL.bit.DLC = 8; ECanaMboxes.MBOX6.MSGCTRL.bit.DLC = 8; ECanaMboxes.MBOX7.MSGCTRL.bit.DLC = 8; ECanaMboxes.MBOX8.MSGCTRL.bit.DLC = 8; ECanaMboxes.MBOX9.MSGCTRL.bit.DLC = 8; ECanaMboxes.MBOX10.MSGCTRL.bit.DLC = 8; ECanaMboxes.MBOX11.MSGCTRL.bit.DLC = 8; ECanaMboxes.MBOX12.MSGCTRL.bit.DLC = 8; ECanaMboxes.MBOX13.MSGCTRL.bit.DLC = 8; ECanaMboxes.MBOX14.MSGCTRL.bit.DLC = 8; ECanaMboxes.MBOX15.MSGCTRL.bit.DLC = 8; ECanaMboxes.MBOX16.MSGCTRL.all = 0x00000008; ECanaMboxes.MBOX17.MSGCTRL.all = 0x00000008; ECanaMboxes.MBOX18.MSGCTRL.all = 0x00000008; ECanaMboxes.MBOX19.MSGCTRL.all = 0x00000008; ECanaMboxes.MBOX20.MSGCTRL.all = 0x00000008; ECanaMboxes.MBOX21.MSGCTRL.all = 0x00000008; // Write to the mailbox RAM field of MBOX0 - 15 // Message Data Registers MBOX0.MDL低字节和MBOX0.MDH高字节 // Since this write is to the entire register (instead of a bit // field) a shadow register is not required. EALLOW; ECanaRegs.CANMIM.all = 0xFFFFFFFF;//中断使能 // Configure the eCAN for self test mode // Enable the enhanced features of the eCAN. EALLOW; ECanaShadow.CANMC.all = ECanaRegs.CANMC.all; ECanaShadow.CANMC.bit.STM = 0; // Configure CAN for self-test mode //1回环模式 ECanaRegs.CANMC.all = ECanaShadow.CANMC.all; EDIS; CanVar();//数据初始化 } void ECanMboxSend(struct CANMBOX_USER_REGS *pRegs) {// Configure Mailboxes 0-15 as Tx, 16-31 as Rx struct ECAN_REGS ECanaShadow; volatile struct MBOX *Mailbox; ECanaShadow.CANME.all = ECanaRegs.CANME.all; ECanaShadow.CANME.all &= ~((Uint32)1 << pRegs->MboxNum);//DISABLE ECanaRegs.CANME.all = ECanaShadow.CANME.all; Mailbox = &ECanaMboxes.MBOX0 + pRegs->MboxNum; Mailbox->MSGID.all = pRegs->MboxID | 0x80000000; //扩展帧 // Mailbox->MSGID.all = pRegs->MboxID << 18; //标准帧 Mailbox->MDL.word.LOW_WORD = pRegs->MboxWord1; Mailbox->MDL.word.HI_WORD = pRegs->MboxWord2; Mailbox->MDH.word.LOW_WORD = pRegs->MboxWord3; Mailbox->MDH.word.HI_WORD = pRegs->MboxWord4; Mailbox->MSGCTRL.all = pRegs->MboxDLC; ECanaShadow.CANME.all = ECanaRegs.CANME.all; ECanaShadow.CANME.all |= (Uint32)1 << pRegs->MboxNum;//ENABLE ECanaRegs.CANME.all = ECanaShadow.CANME.all; ECanaRegs.CANTRS.all = (Uint32)1 << pRegs->MboxNum; ECanaRegs.CANTA.all = (Uint32)1 << pRegs->MboxNum; } // MBXnbr 16-31 struct CANMBOX_USER_REGS ECanMboxRead(int16 MBXnbr) {//Mailboxes 0-15 as Tx, 16-31 as Rx struct CANMBOX_USER_REGS CanMboxUserRegs; volatile struct MBOX *Mailbox; Mailbox = &ECanaMboxes.MBOX0 + MBXnbr; if ((ECanaRegs.CANRMP.all & ((Uint32)1<MSGID.all & 0x1FFFFFFF; //扩展帧 CanMboxUserRegs.MboxDLC = Mailbox->MSGCTRL.bit.DLC; CanMboxUserRegs.MboxWord1 = Mailbox->MDL.word.LOW_WORD; CanMboxUserRegs.MboxWord2 = Mailbox->MDL.word.HI_WORD; CanMboxUserRegs.MboxWord3 = Mailbox->MDH.word.LOW_WORD; CanMboxUserRegs.MboxWord4 = Mailbox->MDH.word.HI_WORD; ECanaRegs.CANRMP.all = ECanaRegs.CANRMP.all|((Uint32)1<= TxPeriod) { TxPeriod = TX_PERIOD*MAINLOOPRATE;// =TX_PERIOD/1000/(1/mainloop) mainloop = 8k TxCnt = 0; step++; if(step ==1){ //给定速度 目标速度 反馈速度 正反转 CanMboxUserRegsT.MboxID = 0x11111303; CanMboxUserRegsT.MboxNum = 5; CanMboxUserRegsT.MboxDLC = 8; CanMboxUserRegsT.MboxWord1 = _IQtoIQ15(rc1.TargetValue);//Q15主控给的速度 CanMboxUserRegsT.MboxWord2 = _IQtoIQ15(pid1_spd.Ref);//Q15 pid给定的速度 CanMboxUserRegsT.MboxWord3 = _IQtoIQ15(pid1_spd.Fbk);//Q15 pid反馈速度 CanMboxUserRegsT.MboxWord4 = _IQtoIQ12(pid1_spd.Ref)*speed1.BaseRpm>>12;//rpm PID给定速度 ECanMboxSend(&CanMboxUserRegsT); }else if(step ==2){ //速度PID输出 运行占空比 速度闭环 相位 CanMboxUserRegsT.MboxID = 0x11111304; CanMboxUserRegsT.MboxNum = 6; CanMboxUserRegsT.MboxDLC = 8; CanMboxUserRegsT.MboxWord1 = speed1.SpeedRpm;//pid反馈速度 rpm CanMboxUserRegsT.MboxWord2 = _IQtoIQ15(pid1_spd.Out);//PID输出 CanMboxUserRegsT.MboxWord3 = pwm1.DutyFunc;//占空比 CanMboxUserRegsT.MboxWord4 = test4;//0-5 ECanMboxSend(&CanMboxUserRegsT); }else if(step ==3){ //是否触发过零 速度闭环标志 运行方向 0 CanMboxUserRegsT.MboxID = 0x11111305; CanMboxUserRegsT.MboxNum = 7; CanMboxUserRegsT.MboxDLC = 8; CanMboxUserRegsT.MboxWord1 = pwmlimit;//过零点 CanMboxUserRegsT.MboxWord2 = IsrTime; CanMboxUserRegsT.MboxWord3 = test2; CanMboxUserRegsT.MboxWord4 =0; ECanMboxSend(&CanMboxUserRegsT); }else if(step ==4){ //数据内容：UA UB UC IDC CanMboxUserRegsT.MboxID = 0x11111306; CanMboxUserRegsT.MboxNum = 8; CanMboxUserRegsT.MboxDLC = 8; CanMboxUserRegsT.MboxWord1 = hall1.HallGpioAccepted;//放大10倍 CanMboxUserRegsT.MboxWord2 = test4; CanMboxUserRegsT.MboxWord3 = test3; CanMboxUserRegsT.MboxWord4 = XintTime>>16; ECanMboxSend(&CanMboxUserRegsT); }else if(step ==5){ //速度PI 电流PI CanMboxUserRegsT.MboxID = 0x11111307; CanMboxUserRegsT.MboxNum = 9; CanMboxUserRegsT.MboxDLC = 8; CanMboxUserRegsT.MboxWord1 = (int16)(pid1_spd.Kp); CanMboxUserRegsT.MboxWord2 = (int16)(pid1_spd.Ki); CanMboxUserRegsT.MboxWord3 = (int16)(pid1_idc.Kp); CanMboxUserRegsT.MboxWord4 = (int16)(pid1_idc.Ki); ECanMboxSend(&CanMboxUserRegsT); }else if(step ==6){ //电流给定 电流反馈 平均电流 滤波后的平均电流 CanMboxUserRegsT.MboxID = 0x11111308; CanMboxUserRegsT.MboxNum = 10; CanMboxUserRegsT.MboxDLC = 8; CanMboxUserRegsT.MboxWord1 = _IQtoIQ15(pid1_idc.Ref);//电流给定 CanMboxUserRegsT.MboxWord2 = _IQtoIQ15(pid1_idc.Fbk);//电流反馈pid1_idc.Fbk CanMboxUserRegsT.MboxWord3 = (DC_current_avr*1000)>>12; CanMboxUserRegsT.MboxWord4 = (DC_current_filter_avr*1000)>>12; ECanMboxSend(&CanMboxUserRegsT); }else if(step ==7){ step = 0; // CanMboxUserRegsT.MboxID = 0x11111309; CanMboxUserRegsT.MboxNum = 11; CanMboxUserRegsT.MboxDLC = 8; CanMboxUserRegsT.MboxWord1 = DCbus_voltage;//直流电压 CanMboxUserRegsT.MboxWord2 = Tmotor;//电机温度 CanMboxUserRegsT.MboxWord3 = Tvot;//电调温度 CanMboxUserRegsT.MboxWord4 = FaultFlag.all;//故障 ECanMboxSend(&CanMboxUserRegsT); } } } void carveData1(){ //当发送标志位为0时，采集并记录模拟数据，但不发送 if (CanCurveFlag == 0) { DebugData1(0,0); DebugData1(1,0); DebugData1(2,0); DebugData1(3,0); DebugData2(0,test2*10); DebugData2(1,speed1.SpeedRpm*10); DebugData2(2,0); DebugData2(3,0); } } void CanCurve(void) {// Configure Mailboxes 0-15 as Tx, 16-31 as Rx static int16 i = 0; static int16 DubugCnt = 0; static int16 DubugPer = 0; //当数据大于发送间隔时，发送绘图数据 DubugCnt++; if (DubugCnt >= DubugPer) { //发送间隔数据 DubugPer = TX_PERIOD*MAINLOOPRATE; DubugCnt = 0; //当发送标志位为1时，发送绘图波形数据 if (CanCurveFlag == 1) { CanMboxUserRegsT.MboxID = 0x1111130E; CanMboxUserRegsT.MboxNum = 14; CanMboxUserRegsT.MboxDLC = 8; CanMboxUserRegsT.MboxWord1 = CanCurveData[i]; CanMboxUserRegsT.MboxWord2 = CanCurveData[i+0x100]; CanMboxUserRegsT.MboxWord3 = CanCurveData[i+0x200]; CanMboxUserRegsT.MboxWord4 = CanCurveData[i+0x300]; ECanMboxSend(&CanMboxUserRegsT); CanMboxUserRegsT.MboxID = 0x1111130F; CanMboxUserRegsT.MboxNum = 15; CanMboxUserRegsT.MboxDLC = 8; CanMboxUserRegsT.MboxWord1 = CanCurveData2[i]; CanMboxUserRegsT.MboxWord2 = CanCurveData2[i+0x100]; CanMboxUserRegsT.MboxWord3 = CanCurveData2[i+0x200]; CanMboxUserRegsT.MboxWord4 = CanCurveData2[i+0x300]; ECanMboxSend(&CanMboxUserRegsT); i++; if (i >= 0x100) { i = 0; CanCurveFlag = 0; } } } } /**********采集并存储绘图数据1**********/ void DebugData1(int16 num,int16 data) { static int16 cnt[4] ={0,0,0,0}; CanCurveData[cnt[num]+ 0x100*num] = data; cnt[num]++; if (cnt[num] >= 0x100) { cnt[num]=0; CanCurveFlag = 1; } } /*********采集并存储绘图数据2**********/ void DebugData2(int16 num,int16 data) { static int16 cnt[4] ={0,0,0,0}; CanCurveData2[cnt[num]+0x100*num] = data; cnt[num]++; if (cnt[num] >= 0x100) { cnt[num] = 0; } } void CanReceive(void){ struct CANMBOX_USER_REGS CanMboxTempRegs; //CanDebugFlag 为真表示CAN通信正确 //------------------------------调试上位机---------------------- CanMboxTempRegs = ECanMboxRead(16); if (CanMboxTempRegs.MboxRxFlg == TRUE) { if (CanMboxTempRegs.MboxID == ID_DMC_DEBUG) {//握手 可以不握手 if (CanMboxTempRegs.MboxWord1 == 0x5A5A && CanMboxTempRegs.MboxWord2 == 0x2013 && CanMboxTempRegs.MboxWord3 == 0x0218 && CanMboxTempRegs.MboxWord4 == 0xA5A5) { CanDebugFlag = TRUE; } else { CanDebugFlag = TRUE;//FALSE; } } else if (CanMboxTempRegs.MboxID == ID_DMC_SET || CanMboxTempRegs.MboxID == ID_DMC_CLEAR) { if (CanDebugFlag == TRUE) { CanMboxUserRegsR2 = CanMboxTempRegs;// } } else if (CanMboxTempRegs.MboxID == ID_DMC_SET1 || CanMboxTempRegs.MboxID == ID_DMC_SET2\ ||CanMboxTempRegs.MboxID == ID_DMC_SET3 || CanMboxTempRegs.MboxID == ID_DMC_SET4|| CanMboxTempRegs.MboxID == ID_DMC_SET5) { if (CanDebugFlag == TRUE) { CanMboxUserRegsR3 = CanMboxTempRegs; } } } } void CanMaster(void){ CanReceive(); CanDebugTx(); // CanCurve(); } void UserCANprocess(void){ if (CanMboxUserRegsR2.MboxID == ID_DMC_SET) { EnableFlag = 1; if (CanMboxUserRegsR3.MboxID == ID_DMC_SET1) { SpeedRef = _IQdiv(CanMboxUserRegsR3.MboxWord1,speed1.BaseRpm);//速度给定 //test2 = CanMboxUserRegsR3.MboxWord1,speed1.BaseRpm; /* if(CanMboxUserRegsR3.MboxWord1<0){ direction = Reverse; }else{ direction = Normal; }*/ } else if (CanMboxUserRegsR3.MboxID == ID_DMC_SET2) { // CurrentSet = _IQ((float)CanMboxUserRegsR3.MboxWord1/1000); test = CanMboxUserRegsR3.MboxWord1; } else if (CanMboxUserRegsR3.MboxID == ID_DMC_SET3) { } } else if (CanMboxUserRegsR2.MboxID == ID_DMC_CLEAR) { SpeedRef = _IQabs(0.0); CurrentSet = _IQabs(0.0); EnableFlag = 0; if (CanMboxUserRegsR3.MboxID == ID_DMC_SET4) { pid1_spd.Kp = (int32)CanMboxUserRegsR3.MboxWord1; pid1_spd.Ki = (int32)(CanMboxUserRegsR3.MboxWord2); pid1_idc.Kp = (int32)(CanMboxUserRegsR3.MboxWord3); pid1_idc.Ki = (int32)(CanMboxUserRegsR3.MboxWord4); } } if (CanMboxUserRegsR3.MboxID == ID_DMC_SET5) { // Fault_clear = 1; CanMboxUserRegsR3.MboxID = 0; } }