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100 lines
3.0 KiB
100 lines
3.0 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_motor_leisai.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7月13日
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最近修改 :
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功能描述 : 雷赛ISV2电机CAN协议实现
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修改历史 :
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1.日 期 : 2026年7月13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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#ifndef __MOTOR_LEISAI_H__
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#define __MOTOR_LEISAI_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_manager.h"
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/*==============================================*
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* constants or macros define *
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*----------------------------------------------*/
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// SDO命令字
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#define LEISAI_SDO_CMD_READ 0x40
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#define LEISAI_SDO_CMD_WRITE_1B 0x2F
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#define LEISAI_SDO_CMD_WRITE_2B 0x2B
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#define LEISAI_SDO_CMD_WRITE_3B 0x27
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#define LEISAI_SDO_CMD_WRITE_4B 0x23
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// CANopen 对象字典索引
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#define LEISAI_OD_CONTROL_WORD 0x6040
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#define LEISAI_OD_STATUS_WORD 0x6041
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#define LEISAI_OD_MODE_OF_OPERATION 0x6060
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#define LEISAI_OD_POSITION_ACTUAL 0x6064
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#define LEISAI_OD_VELOCITY_ACTUAL 0x606C
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#define LEISAI_OD_TORQUE_ACTUAL 0x6077
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#define LEISAI_OD_TARGET_VELOCITY 0x60FF
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#define LEISAI_OD_TARGET_POSITION 0x607A
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#define LEISAI_OD_ACCELERATION 0x6083
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#define LEISAI_OD_DECELERATION 0x6084
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#define LEISAI_OD_FAULT_CODE 0x603F
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#define LEISAI_OD_HOMING_METHOD 0x6098
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#define LEISAI_OD_WATCHDOG_TIME 0x5004
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// 操作模式
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#define LEISAI_MODE_PROFILE_POS 0x01
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#define LEISAI_MODE_PROFILE_VEL 0x03
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#define LEISAI_MODE_HOMING 0x06
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// 控制字命令
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#define LEISAI_CTRL_SHUTDOWN 0x06
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#define LEISAI_CTRL_SWITCH_ON 0x07
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#define LEISAI_CTRL_ENABLE 0x0F
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#define LEISAI_CTRL_START_MOVE 0x5F
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#define LEISAI_CTRL_RELATIVE_MOVE 0x4F
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/*==============================================*
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* data structures *
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*----------------------------------------------*/
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/*==============================================*
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* project-wide global variables *
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*----------------------------------------------*/
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// 雷赛协议操作函数表（全局单例）
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extern const Motor_Protocol_t g_stLeiSaiProtocol;
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/*==============================================*
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* routines' or functions' implementations *
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*----------------------------------------------*/
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/**
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* @brief 获取雷赛协议操作函数表
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* @return 协议操作函数表指针
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*/
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const Motor_Protocol_t* LeiSai_GetProtocol(void);
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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 /* __MOTOR_LEISAI_H__ */
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