Gitee

https://gitee.com/WangXi_Chn/RttOs_ModuleLib

开发环境

CubeMX
MDK5 IDE
STM32F407IGH6TR 芯片
大疆开发板 C型
冯哈伯 3863 直流电机 带减速箱（38：2）
RoboModule直流伺服电机驱动器 RMDS-303
RoboModule电机配置上位机
RT-Thread操作系统
面向对象模块接口设计

硬件条件

  • 需要一根RS232转USB线，电脑上位机配置电调
  • 电机与Robomodule连接正确

  • 单片机通过Can线与Robomodule连接

    配置电机

  • Robomodule内部集成电机控制算法，仅需通过上位机配置电机的PID参数等

  • 单片机仅需根据协议发送指令即可驱动电机

Robomodule配置电机教程
http://www.robomodule.net/download.html

核心思想

  • 同3508电机思路一样，视挂载在同一条Can线上的所有Robomodule电机为一个电机群
  • 根据结构体成员的赋值实现电机使能
  • 因为实际使用中，用到的3863电机不会超过8个，因此注释掉了多余的ID选项（可自行扩展）
  • Can报文协议也遵循最多8电机编写(组号为0，电机号为1~8)（格式参照Robomodule教程）

    Module_RobomoduleGroup.h

    ```c /*
    • Copyright (c) 2020 - ~, HIT_HERO Team *
    • ROBOMODULE MODULE HEAD FILE
    • Used in RT-Thread Operate System *
    • Change Logs:
    • Date Author Notes Mail
    • 2020-08-22 WangXi first version WangXi_chn@foxmail.com
    • Note:
    • */

include

include

include

enum ROBOMODULE_GROUPID { ROBOMODULE_GROUPID_0 = 0, // ROBOMODULE_GROUPID_1 = 1, // ROBOMODULE_GROUPID_2 = 2, // ROBOMODULE_GROUPID_3 = 3, // ROBOMODULE_GROUPID_4 = 4, // ROBOMODULE_GROUPID_5 = 5, // ROBOMODULE_GROUPID_6 = 6, // ROBOMODULE_GROUPID_7 = 7, };

enum ROBOMODULE_NUMID { ROBOMODULE_NUMID_1 = 0, ROBOMODULE_NUMID_2 = 1, ROBOMODULE_NUMID_3 = 2, ROBOMODULE_NUMID_4 = 3, ROBOMODULE_NUMID_5 = 4, ROBOMODULE_NUMID_6 = 5, ROBOMODULE_NUMID_7 = 6, ROBOMODULE_NUMID_8 = 7, // ROBOMODULE_NUMID_9 = 9, // ROBOMODULE_NUMID_10 = 10, // ROBOMODULE_NUMID_11 = 11, // ROBOMODULE_NUMID_12 = 12, // ROBOMODULE_NUMID_13 = 13, // ROBOMODULE_NUMID_14 = 14, // ROBOMODULE_NUMID_15 = 15, };

enum ROBOMODULE_MODE { ROBOMODULE_MODE_OPENLOOP = 1, ROBOMODULE_MODE_CURRENT = 2, ROBOMODULE_MODE_SPEED = 3, ROBOMODULE_MODE_LOCATION = 4, ROBOMODULE_MODE_SPEEDLOCATION = 5, ROBOMODULE_MODE_CURRENTSPEED = 6, ROBOMODULE_MODE_CURRENLOCATION = 7, ROBOMODULE_MODE_CURRENSPEEDLOCATION = 8, };

/ Single module label —————————————————————————————/ struct _MODULE_ROBOMODULE { / Property / rt_uint8_t Property_Enable; enum ROBOMODULE_GROUPID Property_GroupID; enum ROBOMODULE_NUMID Property_NumID; enum ROBOMODULE_MODE Property_Mode;

  1. /* Value */    
  2. rt_device_t         Value_can_dev;
  3. struct rt_can_msg     Value_can_msg;
  4. struct rt_can_msg     Value_can_mrg;
  6. rt_int16_t Value_motor_AimCurrent;
  7. rt_int16_t Value_motor_AimRPM;
  8. rt_int32_t Value_motor_AimAngle;
  9. rt_int16_t Value_motor_RealCurrent;
  10. rt_int16_t Value_motor_RealRPM;
  11. rt_int32_t Value_motor_RealAngle;
  13. /* Method */
  14. void (*Method_Init)(struct _MODULE_ROBOMODULE *module);

}; typedef struct _MODULE_ROBOMODULE MODULE_ROBOMODULE;

/ Motor group label —————————————————————————————/ struct _MODULE_ROBOMODULEGROUP { / Property / char * Property_CanDevName; 

  1. /* Value */
  2. MODULE_ROBOMODULE             Value_robomodule[8];    
  3. rt_device_t         Value_can_dev;
  4. struct rt_can_msg     Value_can_msg;
  5. struct rt_can_msg     Value_can_mrg;
  7. rt_uint8_t             Value_moduleUsedMask;
  9. /* Method */
  10. void (*Method_Init)            (struct _MODULE_ROBOMODULEGROUP *module);
  11. void (*Method_Send)            (struct _MODULE_ROBOMODULEGROUP *module);
  12. void (*Method_Feed)            (struct _MODULE_ROBOMODULEGROUP *module);
  13. rt_err_t (*Method_Handle)    (rt_device_t dev,rt_size_t size);

}; typedef struct _MODULE_ROBOMODULEGROUP MODULE_ROBOMODULEGROUP;

/ Glodal Method / rt_err_t Module_RobomoduleGroup_Config(MODULE_ROBOMODULEGROUP *module);

  1. <a name="nlcHm"></a>
  2. ## Module_RobomoduleGroup.c
  3. ```c
  4. /*
  5.  * Copyright (c) 2020 - ~, HIT_HERO Team
  6.  *
  7.  * ROBOMODULE MODULE SOUCE FILE
  8.  * Used in RT-Thread Operate System
  9.  *
  10.  * Change Logs:
  11.  * Date           Author       Notes                Mail
  12.  * 2020-08-22     WangXi       first version        WangXi_chn@foxmail.com
  13.  * 
  14.  * Note:
  15.  * 
  16.  */
  18. #include "Module_RobomoduleGroup.h"
  20. /* User Code Begin*/
  23. /* User Code End */
  25. /* Static Method */
  27. static void     Module_RobomoduleGroupInit(MODULE_ROBOMODULEGROUP *module);
  28. static void     Module_RobomoduleGroupSend(MODULE_ROBOMODULEGROUP *module);
  29. static void     Module_RobomoduleGroupFeed(MODULE_ROBOMODULEGROUP *module);
  30. static rt_err_t Module_RobomoduleGroupHandle(rt_device_t dev, rt_size_t size);
  32. static rt_err_t Module_Robomodule_Config(MODULE_ROBOMODULE *module);
  33. static void     Module_RobomoduleInit(MODULE_ROBOMODULE *module);
  35. static struct rt_semaphore canRobomodule_sem;
  38. /* Global Method */
  39. rt_err_t Module_RobomoduleGroup_Config(MODULE_ROBOMODULEGROUP *module)
  40. {
  41.     if( module->Method_Init        ==NULL &&
  42.         module->Method_Feed        ==NULL &&
  43.         module->Method_Send        ==NULL &&
  44.         module->Method_Handle    ==NULL
  46.     ){  
  47.         /* Link the Method */
  48.         module->Method_Init     = Module_RobomoduleGroupInit;
  49.         module->Method_Feed        = Module_RobomoduleGroupFeed;
  50.         module->Method_Send        = Module_RobomoduleGroupSend;
  51.         module->Method_Handle    = Module_RobomoduleGroupHandle;
  53.     }
  54.     else{
  55.         rt_kprintf("Warning: Module Robomodule is Configed twice\n");
  56.         return RT_ERROR;
  57.     }
  59.     /* Device Init */
  60.     module->Method_Init(module);
  62.     /* Motor Config */
  63.     for(int i=0;i<8;i++)
  64.     {
  65.         if(module->Value_robomodule[i].Property_Enable!= 0)
  66.         {
  67.             module->Value_moduleUsedMask |= 0x01<<i; 
  68.             module->Value_robomodule[i].Value_can_dev = module->Value_can_dev;
  69.             Module_Robomodule_Config(&(module->Value_robomodule[i]));
  70.         }
  71.     }
  73.     return RT_EOK;
  74. }
  76. static void Module_RobomoduleGroupInit(MODULE_ROBOMODULEGROUP *module)
  77. {
  78.     rt_err_t res;
  80.     /* link can devices */
  81.     module->Value_can_dev = rt_device_find(module->Property_CanDevName);
  82.     if (!module->Value_can_dev)
  83.         rt_kprintf("find %s failed!\n", module->Property_CanDevName);
  85.     /* init semaphone */
  86.     rt_sem_init(&canRobomodule_sem, "canRobomodule_sem", 0, RT_IPC_FLAG_FIFO);
  88.     res = rt_device_open(module->Value_can_dev, RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
  89.     RT_ASSERT(res == RT_EOK);    
  91.     /* set up can baudrate */
  92.     rt_device_control(module->Value_can_dev, RT_CAN_CMD_SET_BAUD, (void *)CAN1MBaud);
  94.     /* link call back function */
  95.     rt_device_set_rx_indicate(module->Value_can_dev, module->Method_Handle);
  96. }
  98. rt_err_t Module_Robomodule_Config(MODULE_ROBOMODULE *module)
  99. {
  100.     if( module->Method_Init        ==NULL
  102.     ){  
  103.         /* Link the Method */
  104.         module->Method_Init     = Module_RobomoduleInit;
  105.     }
  106.     else{
  107.         rt_kprintf("Warning: Module Motor 3508 is Configed twice\n");
  108.         return RT_ERROR;
  109.     }
  111.     /* Device Init */
  112.     module->Method_Init(module);
  114.     return RT_EOK;
  115. }
  117. /* Static Method */
  118. static void Module_RobomoduleInit(MODULE_ROBOMODULE *module)
  119. {    
  120.     /* Reset the motor */
  121.     module->Value_can_msg.id  = (module->Property_GroupID<<8)|((module->Property_NumID+1)<<4);
  122.     module->Value_can_msg.id  += 0x000;
  123.     module->Value_can_msg.ide = RT_CAN_STDID;
  124.     module->Value_can_msg.rtr = RT_CAN_DTR;
  125.     module->Value_can_msg.len = 8;
  126.     for(int i=0;i<8;i++)
  127.         module->Value_can_msg.data[i]=0x55;
  128.     rt_size_t size = rt_device_write(module->Value_can_dev, 0, &(module->Value_can_msg), sizeof(module->Value_can_msg));
  129.     if (size == 0)
  130.         rt_kprintf("can dev write data failed!\n");
  132.     rt_thread_mdelay(500);
  134.     /* Set the motor mode*/
  135.     module->Value_can_msg.id  = (module->Property_GroupID<<8)|((module->Property_NumID+1)<<4);
  136.     module->Value_can_msg.id  += 0x001;
  137.     module->Value_can_msg.ide = RT_CAN_STDID;
  138.     module->Value_can_msg.rtr = RT_CAN_DTR;
  139.     module->Value_can_msg.len = 8;
  140.     module->Value_can_msg.data[0]=module->Property_Mode;
  141.     for(int i=1;i<8;i++)
  142.         module->Value_can_msg.data[i]=0x55;    
  143.     size = rt_device_write(module->Value_can_dev, 0, &(module->Value_can_msg), sizeof(module->Value_can_msg));
  144.     if (size == 0)
  145.         rt_kprintf("can dev write data failed!\n");
  147.     rt_thread_mdelay(500);
  149.     module->Value_motor_AimAngle = 0;
  150.     module->Value_motor_AimCurrent = 0;
  151.     module->Value_motor_AimRPM = 0;
  152. }
  154. static void Module_RobomoduleGroupSend(MODULE_ROBOMODULEGROUP *module)
  155. {
  156.     rt_size_t  size;
  158.     /* Send motor data */    
  159.     for(int i=0;i<8;i++)
  160.     {
  161.         if((module->Value_moduleUsedMask & (0x01<<i))!=0x00)
  162.         {
  163.             switch(module->Value_robomodule[i].Property_Mode)
  164.             {                            
  165.                 case ROBOMODULE_MODE_OPENLOOP:                    
  166.                     break;
  167.                 case ROBOMODULE_MODE_CURRENT:                    
  168.                     break;
  169.                 case ROBOMODULE_MODE_SPEED:                    
  170.                     break;
  171.                 case ROBOMODULE_MODE_LOCATION:
  172.                     module->Value_can_msg.id  
  173.                         =(module->Value_robomodule[i].Property_GroupID<<8)
  174.                         |((module->Value_robomodule[i].Property_NumID+1)<<4);
  175.                     module->Value_can_msg.id  += 0x005;
  176.                     module->Value_can_msg.ide = RT_CAN_STDID;
  177.                     module->Value_can_msg.rtr = RT_CAN_DTR;
  178.                     module->Value_can_msg.len = 8;
  179.                     module->Value_can_msg.data[0]= (unsigned char)(5000>>8)&0xFF;
  180.                     module->Value_can_msg.data[1]= (unsigned char)(5000)&0xFF;
  181.                     module->Value_can_msg.data[2]=0x55;
  182.                     module->Value_can_msg.data[3]=0x55;
  183.                     module->Value_can_msg.data[4]= 
  184.                         (unsigned char)((module->Value_robomodule[i].Value_motor_AimAngle>>24)&0xff);
  185.                     module->Value_can_msg.data[5]= 
  186.                         (unsigned char)((module->Value_robomodule[i].Value_motor_AimAngle>>16)&0xff);
  187.                     module->Value_can_msg.data[6]= 
  188.                         (unsigned char)((module->Value_robomodule[i].Value_motor_AimAngle>>8)&0xff);
  189.                     module->Value_can_msg.data[7]= 
  190.                         (unsigned char)(module->Value_robomodule[i].Value_motor_AimAngle&0xff);
  192.                     size = rt_device_write(module->Value_can_dev, 0, 
  193.                             &(module->Value_can_msg), sizeof(module->Value_can_msg));
  194.                     if (size == 0)
  195.                         rt_kprintf("robomodule can dev write data failed!\n");
  197.                     break;
  198.                 case ROBOMODULE_MODE_SPEEDLOCATION:                    
  199.                     break;
  200.                 case ROBOMODULE_MODE_CURRENTSPEED:                    
  201.                     break;
  202.                 case ROBOMODULE_MODE_CURRENLOCATION:                    
  203.                     break;
  204.                 case ROBOMODULE_MODE_CURRENSPEEDLOCATION:                    
  205.                     break;
  206.             }            
  207.         }        
  208.     }
  209. }
  211. static rt_err_t Module_RobomoduleGroupHandle(rt_device_t dev, rt_size_t size)
  212. {
  213.     rt_sem_release(&canRobomodule_sem);
  215.     return RT_EOK;
  216. }
  218. static void Module_RobomoduleGroupFeed(MODULE_ROBOMODULEGROUP *module)
  219. {    
  220.     rt_sem_take(&canRobomodule_sem, RT_WAITING_FOREVER);
  222.     /* Get true value of the motor */
  223.     rt_device_read(module->Value_can_dev, 0, &(module->Value_can_mrg), sizeof(module->Value_can_mrg));
  225. }
  227. /************************ (C) COPYRIGHT 2020 WANGXI **************END OF FILE****/

使用

  1. /*
  2.  * Copyright (c) 2020 - ~, HIT_HERO Team
  3.  *
  4.  * MAIN SOUCE FILE
  5.  * Used in RT-Thread Operate System
  6.  *
  7.  * Change Logs:
  8.  * Date           Author       Notes                Mail
  9.  * 2020-08-08     WangXi       first version        WangXi_chn@foxmail.com
  10.  * 2020-08-13     WangXi       second version        WangXi_chn@foxmail.com
  11.  *
  12.  * Note:
  13.  * Used for friction gear shot Rugby
  14.  *
  15.  */
  17. #include <rtthread.h>
  18. #include <rtdevice.h>
  19. #include <board.h>
  21. #include "Module_LED.h"
  22. #include "Module_BlueToothHC06.h"
  23. #include "Module_RobomoduleGroup.h"
  25. /* Module param list ---------------------------------------------------------------------------------------- */
  26. MODULE_LED dev_led_state = 
  27.     {    
  28.         .pin                 = GET_PIN(H, 10),
  29.         .LED_TIME_CYCLE     = 4000,
  30.         .LED_TIME_OUTPUT     = 200
  31.     };
  33. MODULE_BLUETOOTHHC06 dev_communicate = 
  34.     {
  35.         .Property_UartDevName    = "uart6",
  36.     };
  38. MODULE_ROBOMODULEGROUP dev_robomoduleGroup = 
  39.     {
  40.         .Property_CanDevName = "can1",
  41.         .Value_robomodule[ROBOMODULE_NUMID_1] = 
  42.         {
  43.             .Property_Enable     = 1,
  44.             .Property_GroupID     = ROBOMODULE_GROUPID_0,
  45.             .Property_NumID     = ROBOMODULE_NUMID_1,
  46.             .Property_Mode         = ROBOMODULE_MODE_LOCATION,
  47.         },
  48.         .Value_robomodule[ROBOMODULE_NUMID_2] = 
  49.         {
  50.             .Property_Enable     = 1,
  51.             .Property_GroupID     = ROBOMODULE_GROUPID_0,
  52.             .Property_NumID     = ROBOMODULE_NUMID_2,
  53.             .Property_Mode         = ROBOMODULE_MODE_LOCATION,
  54.         },
  56.     };
  59. /* thread entry list ---------------------------------------------------------------------------------------- */
  60. static void led_shine_entry(void *parameter)
  61. {
  62.     while (1)
  63.     {
  64.         rt_thread_mdelay(1);        
  65.         dev_led_state.Handle(&dev_led_state);        
  66.     }
  67. }
  69. static void motor_entry(void *parameter)
  70. {
  71.     while (1)
  72.     {    
  73.         rt_thread_mdelay(1);
  75.         dev_robomoduleGroup.Method_Send(&dev_robomoduleGroup);
  77.     }
  78. }
  80. static void bluetupdata_entry(void *parameter)
  81. {
  82.     dev_communicate.Method_Feed(&dev_communicate);
  83. }
  85. static void bluetcontrol_entry(void *parameter)
  86. {
  87.     static rt_uint32_t time_1000m = 0;
  88.     while(1)
  89.     {
  90.         rt_thread_mdelay(1);
  91.         time_1000m++;
  93.         switch(dev_communicate.Value_keyMask)
  94.         {
  95.             case (0x0001<<0):      
  96.                 dev_robomoduleGroup.Value_robomodule[ROBOMODULE_NUMID_1].Value_motor_AimAngle= 27500;  //360°
  97.                 dev_robomoduleGroup.Value_robomodule[ROBOMODULE_NUMID_2].Value_motor_AimAngle= -27500;
  98.                 break;
  99.             case (0x0001<<1):    
  100.                 dev_robomoduleGroup.Value_robomodule[ROBOMODULE_NUMID_1].Value_motor_AimAngle=0;
  101.                 dev_robomoduleGroup.Value_robomodule[ROBOMODULE_NUMID_2].Value_motor_AimAngle=0;
  102.                 break;
  103.             case (0x0001<<2):    
  105.                 break;
  106.             case (0x0001<<3):    
  108.                 break;
  109.             case (0x0001<<4):    
  111.                 break;
  112.             case (0x0001<<5):    
  114.                 break;
  115.             case (0x0001<<6):
  116.                 break;
  117.             case (0x0001<<7):
  118.                 break;
  119.             case (0x0001<<8):
  120.                 break;
  121.             case (0x0001<<9):
  122.                 break;
  123.             case (0x0001<<10):
  124.                 break;
  125.             case (0x0001<<11):
  126.                 break;
  128.         }
  129.         dev_communicate.Value_keyMask = 0x0000;
  131.         if(time_1000m >= 1000)
  132.         {
  133.             time_1000m = 0;    
  135.             rt_int16_t temp = dev_robomoduleGroup.Value_robomodule[ROBOMODULE_NUMID_1].Value_motor_AimAngle*360/27500;
  137.             dev_communicate.Method_Send(&dev_communicate,PARAM_SHOW_1,
  138.                                         temp);
  140.         }
  141.     }
  142. }
  144. int main(void)
  145. {
  146.     /* Config module ---------------------------------------------------------------------------------------- */
  147.     Module_Led_Config(&dev_led_state);    
  148.     dev_led_state.Set(&dev_led_state,9);
  150.     Module_RobomoduleGroup_Config(&dev_robomoduleGroup);
  152.     Module_BlueToothHC06_Config(&dev_communicate);
  154.     /* Enable task thread ---------------------------------------------------------------------------------------- */
  155.     /* system running shine led thread */
  156.     rt_thread_t led_thread = rt_thread_create("ledshine", led_shine_entry, RT_NULL,
  157.                                   512, RT_THREAD_PRIORITY_MAX - 3, 20);
  158.     if (led_thread != RT_NULL){
  159.         rt_thread_startup(led_thread);
  160.     }    
  162.     /* motor control thread */
  163.     rt_thread_t motor_thread = rt_thread_create("motor", motor_entry, RT_NULL,
  164.                                   1024, RT_THREAD_PRIORITY_MAX - 2, 20);
  165.     if (motor_thread != RT_NULL){
  166.         rt_thread_startup(motor_thread);
  167.     }
  169.     /* blue tooth updata thread */
  170.     rt_thread_t bluetupdata_thread = rt_thread_create("bluetupdata", bluetupdata_entry, RT_NULL,
  171.                                   512, RT_THREAD_PRIORITY_MAX - 5, 20);
  172.     if (bluetupdata_thread != RT_NULL){
  173.         rt_thread_startup(bluetupdata_thread);
  174.     }    
  176.     /* blue tooth updata thread */
  177.     rt_thread_t bluetcontrol_thread = rt_thread_create("bluetcontrol", bluetcontrol_entry, RT_NULL,
  178.                                   512, RT_THREAD_PRIORITY_MAX - 5, 20);
  179.     if (bluetcontrol_thread != RT_NULL){
  180.         rt_thread_startup(bluetcontrol_thread);
  181.     }
  183. }
  185. /************************ (C) COPYRIGHT 2020 WANGXI **************END OF FILE****/

补充说明

  • 目前模块支持电机的多种模式设置，但由于仅用到了位置模式，所以填充的发送位置模式报文的地方
  • 如果需要其他模式，在结构体成员赋值时，配置模式，并填充对应分支即可
  • 模块的初始化大致分为两步
    • 电机群初始化：完成Can线的驱动，根据电机使能标记，选择性初始化电机
    • 电机初始化：完成电机复位指令发送，电机模式选择指令发送
  • 目前还未解读报文返回信息，仅是放置在了缓冲区内，用一个信号量指示接收到了报文
  • 后期可根据需求解析报文
  • 使用上与前面的3508电机群模块使用基本一致
    • 声明结构体变量，并赋值，使能电机，设置模式，设置ID
    • 在主函数完成电机群模块的初始化
    • 在电机控制线程中调用电机群的发送报文方法
    • 然后在任何一个位置中均可以设置电机群中某一个电机的转角

注意：如果需要同其他类型的Can设备（如3508电机群）公用同一Can线，注意会出现RTT的Can设备被多次初始化而被报错的情况，建议同种协议的设备唯一占用一趟Cans线，比如3508电机和2006电机使用Can1，Robomodule使用Can2即可避免该问题