Arduino控制小米微電機(基于MCP2515)運動

ID:1115042 · 發(fā)表于 2024-4-1 20:04

一、前言
最近接觸到一個項目需要用到小米電機，本來是想用STM32進行控制，但是必須得使用Arduino進行開發(fā)，于是嘗試了一下。小米電機是基于CAN通訊的，但恰好Arduino不帶CAN通訊協(xié)議，于是難度上了一個檔次。在查閱了相關(guān)資料后，偶然間看到B站某位大佬的視頻，得到了啟發(fā)，在此感謝這位大佬，并成功實現(xiàn)了目標功能，鏈接如下：www.bilibili.com/video/BV1P64y1p7hx/

二、準備
硬件：
1、MCP2515 SPI2CAN轉(zhuǎn)換器 *1
2、小米微電機 *1
3、電機轉(zhuǎn)接頭 *1
4、Arduino Nano *1
5、轉(zhuǎn)接線 *若干
6、usb to can轉(zhuǎn)換頭

知識儲備：
1、掌握Arduino開發(fā)，能讀懂程序
2、了解CAN協(xié)議
3、了解小米微電機相關(guān)參數(shù)，電機運轉(zhuǎn)方式

三、接線及庫的準備
參考一篇文章的CAN協(xié)議進行接線，鏈接如下：gitcodecom/autowp/arduino-mcp2515/overview?utm_source=csdn_github_accelerator&isLogin=1

注意，小米電機供電為24V，電流在額定電流左右即可。具體相關(guān)參數(shù)在小米電機手冊中查看。CAN通訊線最好雙絞。

并下載相關(guān)庫函數(shù)，導入我們的library文件夾中
CAN庫需要我們另外下載，下載渠道很多，這里貼一個下載鏈接：githubcom/sandeepmistry/arduino-CAN

四、電機ID使用usb2can轉(zhuǎn)換頭連接電腦，并進行如下設置：

五、運行代碼xm_motor.cpp

#include "xm_motor.h"
#include <Arduino.h>
MCP2515 mcp2515(10);
struct can_frame canMsg;
uint32_t ExtId; //定義can擴展id
uint8_t rx_data[8]; //接收數(shù)據(jù)
uint32_t Motor_Can_ID; //接收數(shù)據(jù)電機ID
static uint8_t byte_ls[4]; //轉(zhuǎn)換臨時數(shù)據(jù)
uint8_t tx_data[8]; //can寫入的數(shù)據(jù)
int filter(int queue[], char n) //數(shù)值過濾
{
int sum = 0;
byte i;
int maxsz = queue[0]; //尋找最大值
int minsz = queue[0]; //尋找最小值
for (i = 0; i < n; i++) {
if (maxsz < queue[i]) { maxsz = queue[i]; } //尋找最大值和最小值
if (minsz > queue[i]) { minsz = queue[i]; }
}
for (i = 0; i < n; i++) {
sum += queue[i];
}
sum = sum - maxsz - minsz; //去除最大值和最小值
return (sum / (n - 2));
} //數(shù)值過濾
int check(byte ao_port, byte n) //采樣
{
int check_date[n]; //定義采樣數(shù)組
for (byte i = 0; i < n; ++i) {
check_date[i] = analogRead(ao_port); //獲得指定傳感器數(shù)據(jù)
}
int vvvv = filter(check_date, n);
return vvvv;
} //采樣
void xm_can_start() {
mcp2515.reset();
mcp2515.setBitrate(CAN_1000KBPS, MCP_8MHZ);
mcp2515.setNormalMode();
delay(4);
}
static uint8_t* Float_to_Byte(float f) //float分解成四個byte數(shù)據(jù)
{
unsigned long longdata = 0;
longdata = *(unsigned long*)&f;
byte_ls[0] = (longdata & 0xFF000000) >> 24;
byte_ls[1] = (longdata & 0x00FF0000) >> 16;
byte_ls[2] = (longdata & 0x0000FF00) >> 8;
byte_ls[3] = (longdata & 0x000000FF);
return byte_ls;
}
static float uint16_to_float(uint16_t x, float x_min, float x_max, int bits) //把uint 16位數(shù)據(jù)變成浮點數(shù) 用在接受數(shù)據(jù)的處理上
{
uint32_t span = (1 << bits) - 1;
float offset = x_max - x_min;
return offset * x / span + x_min;
}
static int float_to_uint(float x, float x_min, float x_max, int bits) //把浮點數(shù)轉(zhuǎn)換成uint_16 用在位置扭矩上面
{
float span = x_max - x_min;
float offset = x_min;
if (x > x_max) x = x_max;
else if (x < x_min) x = x_min;
return (int)((x - offset) * ((float)((1 << bits) - 1)) / span);
}
void exid_count(uint8_t Communication_Type, uint16_t msid, uint8_t can_id) //計算擴展ExtId,Communication_Type通信類型，msid主canid，
{
uint8_t msid_l = msid;
uint8_t msid_h = msid >> 8;
uint32_t di_data = ((0xFFFFFFFF & Communication_Type) << 24) | 0x00FFFFFF; //求出高32位
uint32_t di_datab = ((0xFFFFFFFF & msid_h) << 16) | 0xFF00FFFF; //求出高32位
uint32_t di_datac = ((0xFFFFFFFF & msid_l) << 8) | 0xFFFF00FF; //求出高32位
uint32_t di_datad = (0xFFFFFFFF & can_id) | 0xFFFFFF00; //求出高32位
ExtId = (di_data & di_datab & di_datac & di_datad);
} //計算擴展ExtId,Communication_Type通信類型，msid主canid，
void data_count_dcs(uint16_t Index, float Value, char Value_type) {
//計算can在單參數(shù)寫入，通信類型 12下發(fā)送的8位數(shù)據(jù)，Index 是命令類型0: 運控模式1: 位置模式2: 速度模式3: 電流模式Value是0 值，Value_type是數(shù)據(jù)類型，浮點數(shù)用f非浮點用s
//速度數(shù)值要注明浮點數(shù) f ,
//寫入扭矩 n
canMsg.data[0] = Index;
canMsg.data[1] = Index >> 8;
canMsg.data[2] = 0x00;
canMsg.data[3] = 0x00;
if (Value_type == 'f') {
Float_to_Byte(Value);
canMsg.data[4] = byte_ls[3];
canMsg.data[5] = byte_ls[2];
canMsg.data[6] = byte_ls[1];
canMsg.data[7] = byte_ls[0];
} else if (Value_type == 's') {
canMsg.data[4] = (uint8_t)Value;
canMsg.data[5] = 0x00;
canMsg.data[6] = 0x00;
canMsg.data[7] = 0x00;
}
} //計算can在單參數(shù)寫入，通信類型 12下發(fā)送的8位數(shù)據(jù)，Index 是命令類型Value是值，Value_type是數(shù)據(jù)類型，浮點數(shù)用f非浮點用s
void data_count_zero() //can數(shù)據(jù)置零
{
canMsg.data[0] = 0x00;
canMsg.data[1] = 0x00;
canMsg.data[2] = 0x00;
canMsg.data[3] = 0x00;
canMsg.data[4] = 0x00;
canMsg.data[5] = 0x00;
canMsg.data[6] = 0x00;
canMsg.data[7] = 0x00;
} //can數(shù)據(jù)置零
void motor_enable(uint8_t id = 1) //電機使能電機canid
{
exid_count(3, Master_CAN_ID, id);
canMsg.can_id = ExtId | CAN_EFF_FLAG;
canMsg.can_dlc = 8;
data_count_zero();
mcp2515.sendMessage(MCP2515::TXB1, &canMsg);
delay(4);
} //電機使能電機canid
void motor_mode(uint8_t id, char type) //電機運行模式電機canid 模式值1位置模式2速度模式 3 電流模式0運控模式
{
exid_count(0x12, Master_CAN_ID, CanID);
canMsg.can_id = ExtId | CAN_EFF_FLAG; //ExtId 0x12000001
canMsg.can_dlc = 8;
data_count_dcs(0x7005, type, 's');
mcp2515.sendMessage(MCP2515::TXB1, &canMsg);
delay(4);
}
void motor_speed_value(uint8_t id, float speed_ref) { //設置速度模式下的參數(shù)轉(zhuǎn)速
exid_count(0x12, Master_CAN_ID, CanID);
canMsg.can_id = ExtId | CAN_EFF_FLAG; //ExtId 0x12000001
canMsg.can_dlc = 8;
data_count_dcs(0x700A, speed_ref, 'f');
mcp2515.sendMessage(MCP2515::TXB1, &canMsg);
delay(4);
}
void motor_pos_zero(uint8_t id = 1) //位置置0
{
exid_count(6, Master_CAN_ID, id);
canMsg.can_id = ExtId | CAN_EFF_FLAG;
canMsg.can_dlc = 8;
data_count_zero();
canMsg.data[0] = 1;
mcp2515.sendMessage(MCP2515::TXB1, &canMsg);
delay(4);
} //位置置0
void motor_pos_value(uint8_t id, float speed_ref) { //設置位置模式下的位置
exid_count(0x12, Master_CAN_ID, CanID);
canMsg.can_id = ExtId | CAN_EFF_FLAG; //ExtId 0x12000001
canMsg.can_dlc = 8;
data_count_dcs(0x7016, speed_ref, 'f');
mcp2515.sendMessage(MCP2515::TXB1, &canMsg);
delay(4);
}
void motor_pow_value(uint8_t id, float torque, float limit_cur, float kp = 1, float ki = 0.0158) { //設置速度電流限制，kp,kd
exid_count(0x12, Master_CAN_ID, CanID);
canMsg.can_id = ExtId | CAN_EFF_FLAG; //ExtId 0x12000001
canMsg.can_dlc = 8;
data_count_dcs(0x7017, torque, 'f');
mcp2515.sendMessage(MCP2515::TXB1, &canMsg);
delay(4);
data_count_dcs(0x7018, limit_cur, 'f');
mcp2515.sendMessage(MCP2515::TXB1, &canMsg);
delay(4);
data_count_dcs(0x7010, kp, 'f');
mcp2515.sendMessage(MCP2515::TXB1, &canMsg);
delay(4);
data_count_dcs(0x7011, ki, 'f');
mcp2515.sendMessage(MCP2515::TXB1, &canMsg);
delay(4);
}

復制代碼

xm_motor.h

#include "Arduino.h"
#include <SPI.h>
#include "mcp2515.h"
#define pi 3.14159265359f
#define Communication_Type_MotorEnable 0x03
#define Master_CAN_ID 0x00
#define CanID 0x01
#define P_MIN -12.5f
#define P_MAX 12.5f
#define V_MIN -30.0f
#define V_MAX 30.0f
#define KP_MIN 0.0f
#define KP_MAX 500.0f
#define KD_MIN 0.0f
#define KD_MAX 5.0f
#define T_MIN -12.0f
#define T_MAX 12.0f
#define MAX_P 720
#define MIN_P -720
#define Communication_Type_GetID 0x00 //獲取設備的ID和64位MCU唯一標識符
#define Communication_Type_MotionControl 0x01 //用來向主機發(fā)送控制指令
#define Communication_Type_MotorRequest 0x02 //用來向主機反饋電機運行狀態(tài)
#define Communication_Type_MotorEnable 0x03 //電機使能運行
#define Communication_Type_MotorStop 0x04 //電機停止運行
#define Communication_Type_SetPosZero 0x06 //設置電機機械零位
#define Communication_Type_CanID 0x07 //更改當前電機CAN_ID
#define Communication_Type_Control_Mode 0x12
#define Communication_Type_GetSingleParameter 0x11 //讀取單個參數(shù)
#define Communication_Type_SetSingleParameter 0x12 //設定單個參數(shù)
#define Communication_Type_ErrorFeedback 0x15 //故障反饋幀
//參數(shù)讀取宏定義
#define Run_mode 0x7005
#define Iq_Ref 0x7006
#define Spd_Ref 0x700A
#define Limit_Torque 0x700B
#define Cur_Kp 0x7010
#define Cur_Ki 0x7011
#define Cur_Filt_Gain 0x7014
#define Loc_Ref 0x7016
#define Limit_Spd 0x7017
#define Limit_Cur 0x7018
#define Gain_Angle 720/32767.0
#define Bias_Angle 0x8000
#define Gain_Speed 30/32767.0
#define Bias_Speed 0x8000
#define Gain_Torque 12/32767.0
#define Bias_Torque 0x8000
#define Temp_Gain 0.1
#define Motor_Error 0x00
#define Motor_OK 0X01
enum CONTROL_MODE //控制模式定義
{
Motion_mode = 0,//運控模式
Position_mode, //位置模式
Speed_mode, //速度模式
Current_mode //電流模式
};
enum ERROR_TAG //錯誤回傳對照
{
OK = 0,//無故障
BAT_LOW_ERR = 1,//欠壓故障
OVER_CURRENT_ERR = 2,//過流
OVER_TEMP_ERR = 3,//過溫
MAGNETIC_ERR = 4,//磁編碼故障
HALL_ERR_ERR = 5,//HALL編碼故障
NO_CALIBRATION_ERR = 6//未標定
};
typedef struct{ //小米電機結(jié)構(gòu)體
uint8_t CAN_ID; //CAN ID
uint8_t MCU_ID; //MCU唯一標識符【后8位，共64位】
float Angle; //回傳角度
float Speed; //回傳速度
float Torque; //回傳力矩
float Temp; //回傳溫度
uint16_t set_current;
uint16_t set_speed;
uint16_t set_position;
uint8_t error_code;
float Angle_Bias;
}MI_Motor;
extern MI_Motor mi_motor;//預先定義1個小米電機
void xm_can_start();
void motor_enable( uint8_t id=1 ) ;
void motor_mode( uint8_t id ,char type );
void motor_speed_value( uint8_t id ,float speed_ref );//-30rad-30rad
void motor_yk( uint8_t id ,float torque, float MechPosition, float speed, float kp, float kd );
void motor_pos_zero( uint8_t id=1 ); //位置置0
void motor_pos_value( uint8_t id ,float speed_ref );
void motor_pow_value( uint8_t id , float torque,float limit_cur ,float kp,float kd );
int filter(int queue[], char n) ; //數(shù)值過濾
int check(byte ao_port, byte n); //獲取ad口電壓

復制代碼

main.ino

#include "xm_motor.h"
String comdata = ""; //藍牙字符
void setup() {
while (!Serial)
;
Serial.begin(115200);
xm_can_start(); //初始化can設置
motor_enable(1); //使能id 1電機
motor_pos_zero(1); //位置置0
motor_mode(1, 1); //電機運行模式電機canid 模式值 1位置模式2速度模式 3 電流模式0運控模式
motor_pow_value(1, 30, 20, 0.2, 0.13); //uint8_t id , float torque 位置模式速度限制 ,float limit_cur ,float kp=0.8,float ki=0.13 id 速度電流限制，kp,kd 速度 0~30rad/s 6.28rad 等于1圈電流最大23A
Serial.println("Example: Write to CAN");
}
void loop() {
int speed_value = 100;
int speed_valueb = map(speed_value, 0, 1023, 0, 30); //前進模擬量
float bb = (float)speed_value;
bb = bb / 163.9423;
if (bb > 6.2) { bb = 6.2; }
motor_pos_value(1, bb); //電機位置模式賦值，id，位置角度rad 2派=360度。
delay(20);
}

復制代碼

在main.ino中更改loop里speed_value的值即可更改角度，在0-1023范圍內(nèi)進行更改。

ID:444392 · 發(fā)表于 2024-4-26 22:55

之前我理解錯了，你說的雙絞線應該就是使用網(wǎng)線

ID:1119621 · 發(fā)表于 2024-5-7 15:32

CAN Config Soft V2.3.9可以發(fā)一下嗎？

ID:380280 · 發(fā)表于 2024-10-2 23:51

#include "mcp2515.h"

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Arduino控制小米微電機(基于MCP2515)運動

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