【求助帖】云台电机如何才能转起来？

使用官方给的例程去控制云台电机
下面附上CAN的初始化代码和发送云台电机控制命令的代码：

1. /*************************************************************************
   
2.                           CAN1_Configuration
   
3. ÃèÊö£º³õʼ»¯CAN1ÅäÖÃΪ1M²¨ÌØÂÊ
   
4. *************************************************************************/
   
5. void CAN1_Configuration(void)
   
6. {
   
7.     CAN_InitTypeDef        can;
   
8.     CAN_FilterInitTypeDef  can_filter;
   
9.     GPIO_InitTypeDef       gpio;
   
10.     NVIC_InitTypeDef       nvic;
    
11. 
    
12.     RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
    
13.     RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
    
14. 
    
15.     GPIO_PinAFConfig(GPIOA, GPIO_PinSource11, GPIO_AF_CAN1);
    
16.     GPIO_PinAFConfig(GPIOA, GPIO_PinSource12, GPIO_AF_CAN1);
    
17. 
    
18.     gpio.GPIO_Pin = GPIO_Pin_11 | GPIO_Pin_12;
    
19.     gpio.GPIO_Mode = GPIO_Mode_AF;
    
20.     GPIO_Init(GPIOA, &gpio);
    
21.    
    
22.     nvic.NVIC_IRQChannel = CAN1_RX0_IRQn;
    
23.     nvic.NVIC_IRQChannelPreemptionPriority = 0;
    
24.     nvic.NVIC_IRQChannelSubPriority = 1;
    
25.     nvic.NVIC_IRQChannelCmd = ENABLE;
    
26.     NVIC_Init(&nvic);
    
27.    
    
28.     nvic.NVIC_IRQChannel = CAN1_TX_IRQn;
    
29.     nvic.NVIC_IRQChannelPreemptionPriority = 1;
    
30.     nvic.NVIC_IRQChannelSubPriority = 1;
    
31.     nvic.NVIC_IRQChannelCmd = ENABLE;
    
32.     NVIC_Init(&nvic);
    
33.    
    
34.     CAN_DeInit(CAN1);
    
35.     CAN_StructInit(&can);
    
36.    
    
37.     can.CAN_TTCM = DISABLE;
    
38.     can.CAN_ABOM = DISABLE;
    
39.     can.CAN_AWUM = DISABLE;
    
40.     can.CAN_NART = DISABLE;
    
41.     can.CAN_RFLM = DISABLE;
    
42.     can.CAN_TXFP = ENABLE;
    
43.     can.CAN_Mode = CAN_Mode_Normal;
    
44.     can.CAN_SJW  = CAN_SJW_1tq;
    
45.     can.CAN_BS1 = CAN_BS1_9tq;
    
46.     can.CAN_BS2 = CAN_BS2_4tq;
    
47.     can.CAN_Prescaler = 3;   //CAN BaudRate 42/(1+9+4)/3=1Mbps
    
48.     CAN_Init(CAN1, &can);
    
49. 
    
50.     can_filter.CAN_FilterNumber=0;
    
51.     can_filter.CAN_FilterMode=CAN_FilterMode_IdMask;
    
52.     can_filter.CAN_FilterScale=CAN_FilterScale_32bit;
    
53.     can_filter.CAN_FilterIdHigh=0x0000;
    
54.     can_filter.CAN_FilterIdLow=0x0000;
    
55.     can_filter.CAN_FilterMaskIdHigh=0x0000;
    
56.     can_filter.CAN_FilterMaskIdLow=0x0000;
    
57.     can_filter.CAN_FilterFIFOAssignment=0;//the message which pass the filter save in fifo0
    
58.     can_filter.CAN_FilterActivation=ENABLE;
    
59.     CAN_FilterInit(&can_filter);
    
60.    
    
61.     CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);
    
62.     CAN_ITConfig(CAN1,CAN_IT_TME,ENABLE);
    
63. }
    
64. 
    
65. 
    
66. 
    
67. /********************************************************************************
    
68.    ¸øµçµ÷°å·¢ËÍÖ¸ÁIDºÅΪ0x200£¬Ö»ÓÃÁ½¸öµçµ÷°å£¬Êý¾Ý»Ø´«IDΪ0x201ºÍ0x202
    
69.          cyq:¸ü¸ÄΪ·¢ËÍÈý¸öµçµ÷µÄÖ¸Áî¡£
    
70. *********************************************************************************/
    
71. void Cmd_ESC(int16_t current_201,int16_t current_202,int16_t current_203)
    
72. {
    
73.     CanTxMsg tx_message;
    
74.    
    
75.     tx_message.StdId = 0x200;
    
76.     tx_message.IDE = CAN_Id_Standard;
    
77.     tx_message.RTR = CAN_RTR_Data;
    
78.     tx_message.DLC = 0x08;
    
79.    
    
80.     tx_message.Data[0] = (unsigned char)(current_201 >> 8); //¸ß8λ
    
81.     tx_message.Data[1] = (unsigned char)current_201;                                //µÍ8λ
    
82.     tx_message.Data[2] = (unsigned char)(current_202 >> 8);
    
83.     tx_message.Data[3] = (unsigned char)current_202;
    
84.     tx_message.Data[4] = (unsigned char)(current_203 >> 8);
    
85.     tx_message.Data[5] = (unsigned char)current_203;
    
86.     tx_message.Data[6] = 0x00;
    
87.     tx_message.Data[7] = 0x00;
    
88.    
    
89.     CAN_Transmit(CAN1,&tx_message);
    
90. }
    

复制代码

jinzhong 发表于 2015-5-3 18:19
71.void Cmd_ESC(int16_t current_201,int16_t current_202,int16_t current_203)

72.{

我使用的就是这个函数发送的命令，经过测试，CAN1没有进入接收中断。请问如何修改程序？

71.void Cmd_ESC(int16_t current_201,int16_t current_202,int16_t current_203)

72.{

73.    CanTxMsg tx_message;

74.   

75.    tx_message.StdId = 0x200;

76.    tx_message.IDE = CAN_Id_Standard;

77.    tx_message.RTR = CAN_RTR_Data;

78.    tx_message.DLC = 0x08;

79.   

80.    tx_message.Data[0] = (unsigned char)(current_201 >> 8); //¸ß8λ

81.    tx_message.Data[1] = (unsigned char)current_201;                                //µÍ8λ

82.    tx_message.Data[2] = (unsigned char)(current_202 >> 8);

83.    tx_message.Data[3] = (unsigned char)current_202;

84.    tx_message.Data[4] = (unsigned char)(current_203 >> 8);

85.    tx_message.Data[5] = (unsigned char)current_203;

86.    tx_message.Data[6] = 0x00;

87.    tx_message.Data[7] = 0x00;

88.   

89.    CAN_Transmit(CAN1,&tx_message);

90.}
发这个就行了

jinzhong 发表于 2015-5-3 18:19
71.void Cmd_ESC(int16_t current_201,int16_t current_202,int16_t current_203)

72.{

请问官方的CAN1配置程序不需要改动，可以直接拿来用吗，感觉有点问题

云台和主控之间的CAN通信 正常，就是云台和电机之间的CAN通信不正常。接收中断进入不了，请问如何解决？

666.xuexixuexi

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控制不了啊

还是不会。。。。。

你用的是什么型号的电机？