From ce6fcce60c6ff9e797a818d17df09e9f02d92501 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Fri, 16 Oct 2026 14:34:44 +0800
Subject: [PATCH] =?UTF-8?q?=E6=96=B0=E5=A2=9E485=E7=94=B5=E6=9C=BA?=
 =?UTF-8?q?=E9=A9=B1=E5=8A=A8=E6=BA=90=E7=A0=81?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../Core/BASE/Inc/MSP/msp_LeiSai_485.h        | 16 +++++
 .../Core/BASE/Src/MSP/msp_LeiSai_485.c        | 71 +++++++++++++++++++
 2 files changed, 87 insertions(+)
 create mode 100644 diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Inc/MSP/msp_LeiSai_485.h
 create mode 100644 diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_LeiSai_485.c

diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Inc/MSP/msp_LeiSai_485.h b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Inc/MSP/msp_LeiSai_485.h
new file mode 100644
index 0000000..c596123
--- /dev/null
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Inc/MSP/msp_LeiSai_485.h
@@ -0,0 +1,16 @@
+/*
+ * msp_LeiSai_485.h
+ *
+ *  Created on: 2025年12月19日
+ *      Author: xsq
+ */
+
+#ifndef BASE_INC_MSP_MSP_LEISAI_485_H_
+#define BASE_INC_MSP_MSP_LEISAI_485_H_
+#include "BHBF_ROBOT.h"
+
+
+
+extern uint8_t LS_485Motors_Speed;
+
+#endif /* BASE_INC_MSP_MSP_LEISAI_485_H_ */
diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_LeiSai_485.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_LeiSai_485.c
new file mode 100644
index 0000000..9c1830b
--- /dev/null
+++ b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_LeiSai_485.c
@@ -0,0 +1,71 @@
+/*
+ * msp_LeiSai_485.c
+ *
+ *  Created on: 2025年12月19日
+ *      Author: xsq
+ */
+
+#include "msp_LeiSai_485.h"
+#include "BHBF_ROBOT.h"
+//雷赛485电机
+
+
+struct UARTHandler *LS_485Motors_handler;
+DispacherController *LS_485Motors_dispacherController;
+uint8_t LS_485Motors_slave_id = 0x00; //默认为0 广播形式
+uint8_t LS_485Motors_Speed=0;
+uint8_t speedModeSet=1;
+
+void LS_485Motor_loop();
+
+void LS_485Motors_intialize(struct UARTHandler *Handler)
+{
+
+	LS_485Motors_handler = Handler;
+	LS_485Motors_handler->Wait_time = 20; //等待10ms 最低不要低于4；
+	LS_485Motors_dispacherController = Handler->dispacherController;
+	LS_485Motors_dispacherController->Dispacher_Enable = 1;
+	//不周期性发送
+	LS_485Motors_dispacherController->Add_Dispatcher_List(
+			LS_485Motors_dispacherController, LS_485Motor_loop);
+
+	LOG("LS_485Motors_intialize");
+}
+
+void LS_485Motor_loop()
+{
+
+	/*雷赛485电机控制*/
+	if(speedModeSet==1)
+	{
+		MB_WriteHoldingReg(&LS_485Motors_handler->Tx_Buf,
+			        &LS_485Motors_handler->TxCount, LS_485Motors_slave_id, 0x6208, 0x02);//PR1为速度模式
+
+		LS_485Motors_handler->AddSendList(LS_485Motors_handler,
+				LS_485Motors_handler->Tx_Buf, LS_485Motors_handler->TxCount, OneLineWaitTime,
+				NULL);
+
+		speedModeSet=0;
+	}
+
+		MB_WriteHoldingReg(&LS_485Motors_handler->Tx_Buf,
+			        &LS_485Motors_handler->TxCount, LS_485Motors_slave_id, 0x620B, LS_485Motors_Speed);//PR1速度
+
+		LS_485Motors_handler->AddSendList(LS_485Motors_handler,
+				LS_485Motors_handler->Tx_Buf, LS_485Motors_handler->TxCount, OneLineWaitTime,
+				NULL);
+
+		MB_WriteHoldingReg(&LS_485Motors_handler->Tx_Buf,
+				&LS_485Motors_handler->TxCount, LS_485Motors_slave_id, 0x6002, 0x11);//PR1运行
+
+		LS_485Motors_handler->AddSendList(LS_485Motors_handler,
+				LS_485Motors_handler->Tx_Buf, LS_485Motors_handler->TxCount, OneLineWaitTime,
+				NULL);
+
+
+
+
+}
+
+
+