/*
 * msp_LeiSaiCan_Motor.h
 *
 *  Created on: Aug 19, 2024
 *      Author: SQ-X
 */

#ifndef INC_MSP_MSP_LEISAICAN_MOTOR_H_
#define INC_MSP_MSP_LEISAICAN_MOTOR_H_

#include "BSP/bsp_include.h"


#define DF_MSP_LSMotor_SpeedMode 6200
#define DF_MSP_LSMotor_SpeedValue 6203
#define DF_MSP_LSMotor_Poweron 6002

extern uint16_t ID1;
extern uint16_t ID2;

typedef struct
 {
  int32_t MotorID;
  int32_t Run_Mode;
  int32_t Target_Velcity;
  int32_t Error_Flag;
 }SP_MSP_LeiSaiCan_MotorParameters;
 uint32_t GF_MSP_LeiSaiCan_Motor_Init(uint8_t FDCAN_CH, SP_MSP_LeiSaiCan_MotorParameters *_Bat_LeiSai);
void  GF_LeiSaiCan_Unscramble_Callback();

void GF_MSP_LeisaiCan_Motor_Control_Timer();

#endif /* INC_MSP_MSP_LEISAICAN_MOTOR_H_ */
