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106 lines
4.1 KiB
106 lines
4.1 KiB
3 weeks ago
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/*
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* msp_TTMotor_ZQ.h
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*
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* Created on: Oct 10, 2024
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* Author: akeguo
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*/
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#ifndef INC_MSP_MSP_TTMOTOR_ZQ_H_
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#define INC_MSP_MSP_TTMOTOR_ZQ_H_
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#include "bsp_include.h"
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#include "bsp_FDCAN.h"
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#include "msp_ZQ_MotorParameters.pb.h"
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#include "fsm.h"
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#define DF_MSP_TT_Motor_PositionMode 01
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#define DF_MSP_TT_Motor_SpeedMode 02
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#define DF_MSP_TT_Motor_CurrentMode 03
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#define DF_MSP_TT_Motor_Posi_Now 04
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#define TT_One_Deg_Count 11014///32768*121/360(减速比121)=11014
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#define TT_Left_limt 84080 //-775000+75*11014
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#define TT_Right_limt -1568020 //-775000-75*11014
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//#define Sw_Rust_Mid_Posi -775000 //-775000-75*11014
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//double Sw_Rust_Mid_Posi=-775000;//需检测修改
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#define DF_MSP_TT_Motor_StartID 2
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void SwingMotorSetCheckTargetPositon();
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void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer);
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extern int SwingMotorID;
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extern int LeftMotorID;
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extern int RightMotorID;
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extern TT_MotorParameters *TT_Motor[7];
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extern void ActivateMotor(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller,
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int32_t WaitTime) ;
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extern void CANSendMessageSDO_ADD_To_SendList(int32_t MotorID, uint8_t Function,
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uint16_t ControlWord, uint8_t subWord, int32_t ControlWordValue,
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FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime);
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//位置速度模式
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extern void Postion_Velcocity_Run_SetParameter(int32_t MotorID, int32_t TargetPosition,
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int32_t TargetSpeed, int32_t AccTime, int32_t DecTime,
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FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime);
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extern void Postion_Velcocity_Set_Position(int32_t MotorID, int32_t TargetPosition,
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FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ;
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extern void Driver_ReadError(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller,
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int32_t WaitTime);
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extern void SetMotorTargetPosition(int32_t MotorID, int32_t TargetPosition,
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FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ;
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extern void Postion_Velcocity_Stop(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller,
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int32_t WaitTime) ;
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//extern void SetCurrentPositionZero(int MotorID, FDCANHandler *ZQ_Motor_Controller,
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// int32_t WaitTime) ;
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extern void Motor_Controller_intialize(FDCANHandler *Handler);
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extern void Swing_Motor_Set_Target_Position() ;
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extern void Swing_Motor_Read_ReachedEnd() ;
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extern void Set_Current_Positon_Zero(uint8_t MotorID,
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FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ;
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extern void TT_Request_Position(uint32_t Motor_ID_1,
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FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ;
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extern void TT_Request_Velocity(uint32_t Motor_ID_1,
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FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ;
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extern void Position_Immediately_Setting(uint8_t MotorID, FDCANHandler *ZQ_Motor_Controller,
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int32_t Deri_Position,int32_t Deri_Speed, int32_t WaitTime); // Home 设置当前位置为零点
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extern void Position_Lag_Setting(uint8_t MotorID, FDCANHandler *ZQ_Motor_Controller,
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int32_t Deri_Position,int32_t Deri_Speed, int32_t WaitTime) ; // Home 设置当前位置为零点
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extern void TT_Request_Fault(uint32_t Motor_ID_1,
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FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ;
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extern void TT_Request_Current(uint32_t Motor_ID_1,
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FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime);
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extern void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer);
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extern void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer);
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extern void SpeedModeSetup(int32_t MotorID,FDCANHandler *ZQ_Motor_Controller,int32_t WaitTime,int32_t Acc, int32_t Dec, int32_t TargetVelocity); //设定速度模式，并更改相关速度
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extern void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer);
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extern void TT_SpeedMode_Set_TargetSpeed(uint32_t MotorID,FDCANHandler *ZQ_Motor_Controller,int32_t WaitTime,int32_t TargetSpeed);
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extern void Enable_NMT(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller, int32_t Node_Number, int32_t WaitTime);
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extern void Configure_Asynchronous_Mode(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller, int32_t Node_Number, int32_t WaitTime);
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extern void Consumer_Or_microcontroller_Heartbeat(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime);
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#endif /* INC_MSP_MSP_TTMOTOR_ZQ_H_ */
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