odrive ——foc_can通信

参知识点：

报文id就决定了优先级；

控制板STM32F103ZET6

flash：512k

SRAM：65k

ODrive的CAN通信_odrive can通信-CSDN博客

ODrive的CAN通信采用标准帧格式，也就是11bit。Address = node_ID | cmd_ID。

节点ID（node_ID）为高6bit，设置范围1 — 0x3F，一个ODrive的M0/M1需设置为不同的node_ID。

命令ID（cmd_ID）为低5bit，

can收发函数参考

STM32，odrive之间的can通信配置_odrive can通信-CSDN博客

联合体的作用

CAN波特率设置

约定双方波特率位250000

代码

用can通信主要用odrive的代码和他通信

int main(void)
{

    /* USER CODE BEGIN 1 */

    /* USER CODE END 1 */

    /* MCU Configuration--------------------------------------------------------*/

    /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    HAL_Init();

    /* USER CODE BEGIN Init */

    /* USER CODE END Init */

    /* Configure the system clock */
    SystemClock_Config();

    /* USER CODE BEGIN SysInit */

    /* USER CODE END SysInit */

    /* Initialize all configured peripherals */
    MX_GPIO_Init();
    MX_CAN_Init();
    MX_IWDG_Init();
    MX_TIM2_Init();
    /* USER CODE BEGIN 2 */


    /*
  for(int i =0;i==0;)
  {
    uint8_t txData3[8]={0x04,0x01, 0x04, 0xAA, 0x00, 0x00, 0x00, 0x00};
    CAN_SendMessage_Custom(0x01, txData3 , 8);
    uint8_t txData4[8]={0x04,0x02, 0x04, 0xAA, 0x00, 0x00, 0x00, 0x00};
    CAN_SendMessage_Custom(0x02, txData4 , 8);
	uint8_t txData7[8]={0x04,0x03, 0x04, 0xAA, 0x00, 0x00, 0x00, 0x00};
	CAN_SendMessage_Custom(0x03, txData7 , 8);
	uint8_t txData8[8]={0x04,0x04, 0x04, 0xAA, 0x00, 0x00, 0x00, 0x00};
	CAN_SendMessage_Custom(0x04, txData8 , 8);
    i=1;
  }
*/	

    /* USER CODE END 2 */

    /* Infinite loop */
    /* USER CODE BEGIN WHILE */
    while (1)
    {
        /* USER CODE END WHILE */

        /* USER CODE BEGIN 3 */


        uint8_t node_id = 0x00;
        float target_position = 1.0; 
        odrive_set_pos(node_id, target_position);

        HAL_Delay(1000);


        target_position = 0.5;
        odrive_set_pos(node_id, target_position);
        HAL_Delay(1000);

        return 0;
    }

//
uint8_t CAN_Send_Msg(CAN_HandleTypeDef *hcan,uint16_t StdID,uint8_t *msg,uint8_t len,uint8_t Frame_type)
{
    CAN_TxHeaderTypeDef TxHeader;

    uint8_t index=0;
    uint32_t TxMailbox;   
    uint8_t send_buf[8] = {0};
    TxHeader.StdId=StdID;        
    TxHeader.ExtId=0;        
    TxHeader.IDE=CAN_ID_STD;   
    TxHeader.RTR = Frame_type != CAN_RTR_REMOTE ? CAN_RTR_DATA : CAN_RTR_REMOTE;  
    TxHeader.DLC=len;
    /***********/
    for ( index = 0; index < len; index++) {
        send_buf[index] = msg[index];
    }
    /**********/
    if(HAL_CAN_AddTxMessage(hcan, &TxHeader, send_buf, &TxMailbox) != HAL_OK)//
    {
        return 1;
    }
    return 0;
}