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36 lines
904 B
36 lines
904 B
11 months ago
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/*
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* bsp_Motor_Helper.c
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*
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* Created on: Jul 30, 2024
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* Author: akeguo
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*/
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#include "bsp_Motor_Helper.h"
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#include "bsp_GV.pb.h"
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#include "msp_Motor.pb.h"
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struct MotorHelper
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{
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MotorParameters* MotorPara;//电机的参数,直接将指针指到GV上
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//Set
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void (*SetMode)(void);
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void (*SetVelocity)(void);
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void (*SetPosition)(void);
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//Read 部分
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void (*ReadCurrent)(void);
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void (*ReadPosition)(void);
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void (*ReadVelocity)(void);
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void (*ReadError)(void);
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void (*ReadTemperature_PCB)(void);
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void (*ReadTemperature_Motor)(void);
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uint8_t Rx_Buf[256]; // 接收缓存,最大256字节
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uint8_t Tx_Buf[2048]; // 发送缓存
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uint16_t TxCount;
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uint16_t RxCount;
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void (*Motor_Tx)(struct MotorHelper*); //发送数据，不管使用CAN还是用485 都可以进行发送
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void (*Motor_Rx)(struct MotorHelper*);
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void (*Motor_Decode)(uint8_t*, uint16_t);
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};
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