/*
 * msp_TI5MOTOR.h
 *
 *  Created on: Oct 26, 2023
 *      Author: shiya
 *
 */

#ifndef INC_MSP_MSP_TI5MOTOR_H_
#define INC_MSP_MSP_TI5MOTOR_H_

#include "../../BASE/Inc/BSP/bsp_include.h"
#include "msp_Motor.pb.h"
#define DF_MSP_Ti5Motor_PositionMode 44
#define DF_MSP_Ti5Motor_SpeedMode 43
#define DF_MSP_Ti5Motor_CurrentMode 42
#define DF_MSP_Ti5Motor_State_Read 41


void DecodeTi5MotorCAN(uint32_t canID, uint8_t *buffer, uint32_t length);

extern int32_t Function_code;
//电机的ID必须是连续的，第一个电机ID需要在此定义
#define DF_MSP_Ti5Motor_StartID 0
//#define DF_MSP_Ti5Motor_StartID 1
//需要将此函数放置到对应的CAN接收中断函数中
void GF_MSP_Ti5Motor_CANRx_Callback();

//需要每间隔2ms执行一次
void GF_MSP_Ti5Motor_Control_Timer();

//void GF_Tis_Control_Single();
void GF_MSP_Ti5Motor_Error_Clean();


//uint8_t Motor_Control_Motor_Index;
//uint8_t Motor_Control_State;
//

void FiveByteCommand(int8_t MotorID, uint8_t command, int32_t content,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
void OneByteCommand(int8_t MotorID, uint8_t command,FDCANHandler *Ti5_Motor_Controller,int WaitTime);

void Motor_Stop(uint8_t id,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
void Motor_ClearFault(uint8_t id,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
void Motor_SetVelocityModeAndTargetVelocity(uint8_t id, int32_t targetSpeed,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
void MotorSpeedSetup();
void Motor_GetFaultState(uint8_t id,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
void GetCSPByCommand(uint8_t id,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
//void Ti5_Motor_Controller_intialize(FDCANHandler *Handler);

void SetMaximumAllowablePositiveVelocity(uint8_t id, int32_t maxSpeed,FDCANHandler *Ti5_Motor_Controller,int WaitTime);

void SetMinimumAllowableNegativeVelocity(uint8_t id, int32_t minmaxSpeed,FDCANHandler *Ti5_Motor_Controller,int WaitTime);

void SetMaximumPositivePosition(uint8_t id, int32_t position,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
/// <summary>
/// 获取最小负向位置 减速机角度为：(返回值/65536/减速比)*360<
/// </summary>
void SetCurrentModeAndTargetCurent(uint8_t id, int32_t targetCurrent,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
void SetMinimumNegativePosition(uint8_t id, int32_t position,FDCANHandler *Ti5_Motor_Controller,int WaitTime);

#endif /* INC_MSP_MSP_TI5MOTOR_H_ */