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63 lines
2.4 KiB
63 lines
2.4 KiB
1 week ago
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/*
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* msp_TI5MOTOR.h
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*
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* Created on: Oct 26, 2023
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* Author: shiya
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*
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*/
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#ifndef INC_MSP_MSP_TI5MOTOR_H_
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#define INC_MSP_MSP_TI5MOTOR_H_
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#include "../../BASE/Inc/BSP/bsp_include.h"
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#include "msp_Motor.pb.h"
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#define DF_MSP_Ti5Motor_PositionMode 44
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#define DF_MSP_Ti5Motor_SpeedMode 43
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#define DF_MSP_Ti5Motor_CurrentMode 42
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#define DF_MSP_Ti5Motor_State_Read 41
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void DecodeTi5MotorCAN(uint32_t canID, uint8_t *buffer, uint32_t length);
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extern int32_t Function_code;
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//电机的ID必须是连续的，第一个电机ID需要在此定义
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#define DF_MSP_Ti5Motor_StartID 0
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//#define DF_MSP_Ti5Motor_StartID 1
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//需要将此函数放置到对应的CAN接收中断函数中
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void GF_MSP_Ti5Motor_CANRx_Callback();
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//需要每间隔2ms执行一次
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void GF_MSP_Ti5Motor_Control_Timer();
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//void GF_Tis_Control_Single();
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void GF_MSP_Ti5Motor_Error_Clean();
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//uint8_t Motor_Control_Motor_Index;
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//uint8_t Motor_Control_State;
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//
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void FiveByteCommand(int8_t MotorID, uint8_t command, int32_t content,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
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void OneByteCommand(int8_t MotorID, uint8_t command,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
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void Motor_Stop(uint8_t id,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
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void Motor_ClearFault(uint8_t id,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
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void Motor_SetVelocityModeAndTargetVelocity(uint8_t id, int32_t targetSpeed,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
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void MotorSpeedSetup();
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void Motor_GetFaultState(uint8_t id,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
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void GetCSPByCommand(uint8_t id,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
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//void Ti5_Motor_Controller_intialize(FDCANHandler *Handler);
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void SetMaximumAllowablePositiveVelocity(uint8_t id, int32_t maxSpeed,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
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void SetMinimumAllowableNegativeVelocity(uint8_t id, int32_t minmaxSpeed,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
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void SetMaximumPositivePosition(uint8_t id, int32_t position,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
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/// <summary>
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/// 获取最小负向位置 减速机角度为：(返回值/65536/减速比)*360<
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/// </summary>
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void SetCurrentModeAndTargetCurent(uint8_t id, int32_t targetCurrent,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
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void SetMinimumNegativePosition(uint8_t id, int32_t position,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
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#endif /* INC_MSP_MSP_TI5MOTOR_H_ */
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