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

#ifndef INC_MSP_MSP_NOOPLOOP_H_
#define INC_MSP_MSP_NOOPLOOP_H_

#include "BSP/bsp_include.h"

//#define DF_MSP_Ti5Motor_PositionMode 44
//#define DF_MSP_Ti5Motor_SpeedMode 43
//#define DF_MSP_Ti5Motor_CurrentMode 42


typedef struct
 {
  int32_t Forward_Dist;
  int32_t Backward_Dist;
 }NooploopPara;


uint8_t GF_MSP_Nooploop_Init(uint8_t FDCAN_CH, NooploopPara* BJ_Distance,uint8_t Num_Nooploop_p);
void GF_MSP_Nooploop_Inqurey(uint32_t Motor_ID_1);

//The ID of the motor is continuous, 1\2\3\4\5
//The starting ID of the motor is DF_MSP_Ti5Motor_StartID
//电机的ID必须是连续的，第一个电机ID需要在此定义



//需要将此函数放置到对应的CAN接收中断函数中


//需要每间隔2ms执行一次


//void GF_Tis_Control_Single();




#endif /* INC_MSP_MSP_TI5MOTOR_H_ */
