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123 lines
3.3 KiB
123 lines
3.3 KiB
5 days 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_TI5MOTOR.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6月8日
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最近修改 :
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功能描述 : msp_TI5MOTOR.c 的头文件
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修改历史 :
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1.日 期 : 2026年6月8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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#ifndef __MSP_TI5MOTOR_H__
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#define __MSP_TI5MOTOR_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 <stdint.h>
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/*==============================================*
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* constants or macros define *
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*----------------------------------------------*/
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typedef struct _MotorParameters {
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int32_t MotorID;
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int32_t RxIndex;
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int32_t Run_Mode;
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int32_t Current;
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int32_t Target_Current;
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int32_t Velcity;
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int32_t Target_Velcity;
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int32_t Position;
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int32_t Target_Position;
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int32_t ERROR_Flag;
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int32_t Temperature_Motor;
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int32_t Temperature_PCB;
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int32_t AccTime;
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int32_t DecTime;
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int32_t EncoderOffset; /* 53 83 设置位置偏移 int32_t "设置偏移值和目标位置
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（目标位置=编码器位置 - 偏移值）" */
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} MotorParameters;
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#pragma pack (2) /*指定按2字节对齐*/
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typedef struct _CSP
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{
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int16_t Current;
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int16_t Velocity;
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int32_t Position;
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} CSP;
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typedef struct _TSP
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{
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int32_t Torque;
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int32_t Velocity;
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int32_t Position;
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} TSP;
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#pragma pack () /*取消指定对齐，恢复缺省对齐*/
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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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#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 /* __MSP_TI5MOTOR_H__ */
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