openarm/arm_joint_sensor
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增加转速信息上报

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shen 2026-02-27 10:23:32 +08:00
parent 996b791072
commit 8c98fbc0d2
2 changed files with 48 additions and 12 deletions
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50
Core/Src/main.c
View File

@ -72,6 +72,20 @@ uint8_t can_checksum_calculate(uint8_t *data, uint8_t length)
}
return sum & 0xff;
}
float as5600_velocity(uint16_t a2, uint16_t a1, float dt_s)
{
if (dt_s <= 0.0f) return 0.0f;
int32_t d = (int32_t)a2 - (int32_t)a1;
// AS5600 12bit回绕修正：取最短路径差值
if (d > 2048) d -= 4096;
else if (d < -2048) d += 4096;
// 返回单位：rps (revolutions per second)
return ((float)d / 4096.0f) / dt_s;
}
/* USER CODE END 0 */
/**
@ -84,6 +98,9 @@ int main(void)
/* USER CODE BEGIN 1 */
int status = -1;
uint16_t angle = 0;
uint16_t prev_angle = 0;
uint32_t prev_tick_ms = 0;
float velocity_deg_s = 0.0f;
FlashConfig_t *flashConfig = NULL;
/* USER CODE END 1 */
@ -126,6 +143,8 @@ int main(void)
case -1:
if (AS5600_Init() == 0)
{
prev_angle = AS5600_GetAngle();
status = 0;
}
else
@ -137,28 +156,45 @@ int main(void)
}
break;
case 0:
{
HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_SET);
prev_tick_ms = HAL_GetTick();
angle = AS5600_GetAngle();
_dbg_printf("Angle: %d\r\n", angle);
HAL_Delay(5); // 10ms采样周期
uint32_t now_ms = HAL_GetTick();
uint32_t dt_ms = now_ms - prev_tick_ms;
if (dt_ms > 0U)
{
velocity_deg_s = as5600_velocity(angle, prev_angle, (float)dt_ms * 0.001f) * 360.0f;
}
prev_angle = angle;
prev_tick_ms = now_ms;
_dbg_printf("Angle: %u, Vel: %.2f dt: %u ms\r\n", angle, velocity_deg_s, dt_ms);
HAL_GPIO_TogglePin(LED_G_GPIO_Port, LED_G_Pin);
// HAL_Delay(100);
status = 1;
}
break;
case 1:
{
uint8_t canData[8] = {0};
int16_t vel_cdeg_s = (int16_t)(velocity_deg_s * 100.0f); // 0.01 deg/s
canData[0] = 0xAA; // 头
canData[1] = flashConfig->can_id; // canID
canData[2] = (angle >> 8) & 0xFF;
canData[3] = angle & 0xFF;
canData[4] = 0x00; // 保留
canData[1] = (angle >> 8) & 0xFF;
canData[2] = angle & 0xFF;
canData[3] = (vel_cdeg_s >> 8) & 0xFF;
canData[4] = vel_cdeg_s & 0xFF;
canData[5] = 0x00; // 保留
canData[6] = 0x00; // 保留
canData[7] = can_checksum_calculate(canData, 7);
can_node_transmit(flashConfig->can_id, canData);
// _dbg_printf("CAN Message send done checksum: %d\n", canData[7]);
status = 0;
}
break;
default:
break;
}

2
MDK-ARM/arm_joint_sensor.uvguix.66437
View File

@ -1838,7 +1838,7 @@
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<OriginalItems>
<Len>898</Len>