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重构DMmulti为继承GM6020 #58

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重构DMmulti为继承GM6020 #58

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10 changes: 3 additions & 7 deletions GSRL/Device/inc/dvc_motor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -209,20 +209,16 @@ using MotorDM2325 = MotorDM4310;
* @note 反馈帧: 反馈ID = 0x300 + 电机ID, 数据段为大端字节序
* @note 控制电流为标幺值，含义参见达妙力位混控模式中的 i_des 说明
*/
class MotorDMmulti : public Motor
class MotorDMmulti : public MotorGM6020
{
protected:
uint8_t m_dmMotorID; // 达妙电机ID [1,8]
uint16_t m_encoderHistory[2]; // 0:当前值 1:上一次值
int16_t m_currentRPMSpeed; // 电机速度, 单位RPM(已除以100后的真实值)
uint8_t m_errorState; // 反馈帧D[7]错误状态字节, 具体含义详见达妙错误状态说明书
uint8_t m_mergedData[8]; // getMergedControlData 输出缓冲区
uint8_t m_errorState; // 反馈帧D[7]错误状态字节, 具体含义详见达妙错误状态说明书

public:
MotorDMmulti(uint8_t dmMotorID, Controller *controller, uint16_t encoderOffset = 0);
uint8_t getDmMotorID() const;
uint8_t getErrorState() const;
const uint8_t *getMergedControlData(MotorDMmulti &otherMotor);
// getMergedControlData 继承自 MotorGM6020，控制ID不同的电机间调用会被ID守卫拦截

protected:
bool decodeCanRxMessage(const can_rx_message_t &rxMessage) override;
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39 changes: 7 additions & 32 deletions GSRL/Device/src/dvc_motor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -713,16 +713,13 @@ void MotorDM4310::setMotorZeroPosition()
* | 控制ID | 0x3FE | 0x4FE |
*/
MotorDMmulti::MotorDMmulti(uint8_t dmMotorID, Controller *controller, uint16_t encoderOffset)
: Motor(dmMotorID <= 4 ? 0x3FE : 0x4FE,
0x300u + dmMotorID,
controller,
encoderOffset),
m_dmMotorID(dmMotorID),
m_currentRPMSpeed(0),
: MotorGM6020(dmMotorID, controller, encoderOffset),
m_errorState(0)
{
m_encoderHistory[0] = 0;
m_encoderHistory[1] = 0;
// 调用GM6020构造函数后修正为达妙一控四固件的发送和接收ID
m_motorControlMessageID = dmMotorID <= 4 ? 0x3FE : 0x4FE;
m_motorFeedbackMessageID = 0x300u + dmMotorID;
m_motorControlHeader.StdId = m_motorControlMessageID;
}

/**
Expand All @@ -732,7 +729,7 @@ MotorDMmulti::MotorDMmulti(uint8_t dmMotorID, Controller *controller, uint16_t e
void MotorDMmulti::convertControllerOutputToMotorControlData()
{
int16_t giveControlValue = (int16_t)m_controllerOutput; // 控制电流标幺值
uint8_t offset = (uint8_t)(((m_dmMotorID - 1) & 0x3) * 2);
uint8_t offset = (uint8_t)(((m_djiMotorID - 1) & 0x3) * 2);
m_motorControlData[offset] = (uint8_t)(giveControlValue & 0xFF); // 低 8 位
m_motorControlData[offset + 1] = (uint8_t)((giveControlValue >> 8) & 0xFF); // 高 8 位
}
Expand Down Expand Up @@ -769,7 +766,7 @@ bool MotorDMmulti::decodeCanRxMessage(const can_rx_message_t &rxMessage)
*/
uint8_t MotorDMmulti::getDmMotorID() const
{
return m_dmMotorID;
return m_djiMotorID;
}

/**
Expand All @@ -781,28 +778,6 @@ uint8_t MotorDMmulti::getErrorState() const
return m_errorState;
}

/**
* @brief 合并两个同控制ID的一控四固件达妙电机CAN控制数据, 同时触发双方掉线检测
* @param otherMotor 另一个同控制ID的达妙一控四电机
* @return const uint8_t* 合并后的8字节CAN控制数据
* @note 返回的指针指向内部静态缓冲区, 下次调用会覆盖
*/
const uint8_t *MotorDMmulti::getMergedControlData(MotorDMmulti &otherMotor)
{
const uint8_t *selfData = this->getMotorControlData();
const uint8_t *otherData = otherMotor.getMotorControlData();

if (m_motorControlMessageID != otherMotor.m_motorControlMessageID) {
return selfData;
}

memcpy(m_mergedData, selfData, 8);
uint8_t offset = (uint8_t)(((otherMotor.m_dmMotorID - 1) & 0x3) * 2);
m_mergedData[offset] = otherData[offset];
m_mergedData[offset + 1] = otherData[offset + 1];
return m_mergedData;
}

/******************************************************************************
* 瓴控MG系列电机类实现
******************************************************************************/
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