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115 lines
4.7 KiB
115 lines
4.7 KiB
3 weeks ago
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/******************************************************************************
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版权所有 (C), 2018-2099, Radkil
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******************************************************************************
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文 件 名 : msp_TTMotor_ZQ.h
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版 本 号 : 初稿
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作 者 : radkil
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生成日期 : 2026年4月20日
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最近修改 :
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功能描述 : msp_TTMotor_ZQ.c 的头文件
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修改历史 :
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1.日 期 : 2026年4月20日
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作 者 : radkil
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修改内容 : 创建文件
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******************************************************************************/
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/*----------------------------------------------*
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* 外部变量说明 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 外部函数原型说明 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 内部函数原型说明 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 全局变量 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 模块级变量 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 常量定义 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 宏定义 *
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*----------------------------------------------*/
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#ifdef BUILD_MOTOR
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#ifndef __MSP_TTMOTOR_ZQ_H__
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#define __MSP_TTMOTOR_ZQ_H__
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#ifdef __cplusplus
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#if __cplusplus
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extern "C"{
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#endif
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#endif /* __cplusplus */
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/*==============================================*
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* include header files *
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*----------------------------------------------*/
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#include "motor.h"
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/*==============================================*
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* constants or macros define *
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*----------------------------------------------*/
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/*==============================================*
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* project-wide global variables *
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*----------------------------------------------*/
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/*==============================================*
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* routines' or functions' implementations *
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*----------------------------------------------*/
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extern void ActivateMotor(TMotorCtrl *ptMotorCtrl, int32_t WaitTime);
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extern void CANSendMessageSDO_ADD_To_SendList(TMotorCtrl *ptMotorCtrl, uint8_t Function,
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uint16_t ControlWord, uint8_t subWord, int32_t ControlWordValue, int32_t WaitTime);
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extern void Configure_Asynchronous_Mode(TMotorCtrl *ptMotorCtrl, int32_t Node_Number, int32_t WaitTime);
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extern void Consumer_Or_microcontroller_Heartbeat(TMotorCtrl *ptMotorCtrl, int32_t WaitTime);
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extern void Driver_ReadError(TMotorCtrl *ptMotorCtrl, int32_t WaitTime);
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extern void Enable_NMT(TMotorCtrl *ptMotorCtrl, int32_t WaitTime);
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extern void MotorMoveCAN2ParamInit(void);
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extern void MotorMoveParamInit(void);
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extern void Position_Immediately_Setting(TMotorCtrl *ptMotorCtrl, int32_t Deri_Position, int32_t Deri_Speed, int32_t WaitTime);
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extern void Position_Lag_Setting(TMotorCtrl *ptMotorCtrl, int32_t Deri_Position, int32_t Deri_Speed, int32_t WaitTime);
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extern void Position_Lay_Setting(TMotorCtrl *ptMotorCtrl, int32_t Deri_Position,int32_t Deri_Speed, int32_t WaitTime);
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extern void Postion_Velcocity_Run_SetParameter(TMotorCtrl *ptMotorCtrl, int32_t TargetPosition,
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int32_t TargetSpeed, int32_t AccTime, int32_t DecTime, int32_t WaitTime);
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extern void Postion_Velcocity_Set_Position(TMotorCtrl *ptMotorCtrl, int32_t TargetPosition, int32_t WaitTime);
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extern void Postion_Velcocity_Stop(TMotorCtrl *ptMotorCtrl, int32_t WaitTime);
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extern void SetMotorTargetPosition(TMotorCtrl *ptMotorCtrl, int32_t TargetPosition, int32_t WaitTime);
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extern void Set_Current_Positon_Zero(TMotorCtrl *ptMotorCtrl, int32_t WaitTime);
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extern void SpeedModeSetup(TMotorCtrl *ptMotorCtrl, int32_t WaitTime, int32_t Acc, int32_t Dec, int32_t TargetVelocity);
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extern void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer);
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extern void TT_Request_Current(TMotorCtrl *ptMotorCtrl, int32_t WaitTime);
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extern void TT_Request_Fault(TMotorCtrl *ptMotorCtrl, int32_t WaitTime);
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extern void TT_Request_Position(TMotorCtrl *ptMotorCtrl, int32_t WaitTime);
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extern void TT_Request_Velocity(TMotorCtrl *ptMotorCtrl, int32_t WaitTime);
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extern void TT_SpeedMode_Set_TargetSpeed(TMotorCtrl *ptMotorCtrl, int32_t WaitTime, int32_t TargetSpeed);
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#ifdef __cplusplus
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#if __cplusplus
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}
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#endif
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#endif /* __cplusplus */
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#endif
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#endif /* __MSP_TTMOTOR_ZQ_H__ */
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