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88 lines
2.0 KiB
88 lines
2.0 KiB
11 months ago
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/*
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* msp_DC_CAN.h
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*
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* Created on: 2024年6月21日
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* Author: SQ-X
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*/
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#ifndef INC_MSP_MSP_DC_CAN_SWING_CONTROLLER_H_
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#define INC_MSP_MSP_DC_CAN_SWING_CONTROLLER_H_
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#include "BSP/bsp_include.h"
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typedef struct _DHCANopenData0x2E4
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{
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uint8_t EmergencyStop :1; //first byte
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uint8_t Forwards :1;
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uint8_t BackWards :1;
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uint8_t TurnLeft :1;
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uint8_t TurnRight :1;
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uint8_t Speed1 :1;
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uint8_t Speed2 :1;
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uint8_t Speed3 :1; //8 bit
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uint8_t Speed4 :1;
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uint8_t Speed5 :1;
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uint8_t Speed6 :1;
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uint8_t Speed7 :1;
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uint8_t Speed8 :1;
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uint8_t Speed9 :1;
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uint8_t Speed10 :1;
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uint8_t Mode0 :1; //8 bit
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uint8_t Mode1 :1;
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uint8_t Mode2 :1;
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uint8_t Mode3 :1;
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uint8_t Mode4 :1;
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uint8_t Mode5 :1;
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uint8_t Mode6 :1;
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uint8_t Mode7 :1;
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uint8_t Mode8 :1; //8 bit
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uint8_t Mode9 :1; // third byte
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uint8_t Mode10 :1;
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uint8_t Incresss :1;
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uint8_t Decresss :1;
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uint8_t TaskStart :1; //作业开始
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uint8_t LaneChnge :1;
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uint8_t UpWards :1;
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uint8_t DownWards :1; //8 bit
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uint8_t SwingLeft :1;
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uint8_t SwingRight :1;
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uint8_t None4 :6; //8 bit
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uint8_t None5 :8;
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uint8_t None6 :8;
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uint8_t None7 :6;
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uint8_t HeartBeat :1;
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uint8_t WireState :1; //8 bit
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} DHCANopenData0x2E4;
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//region 对外数据接口
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extern DH_CAN_Remote *DH_CAN; //对外数据接口
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extern int32_t *Send_Left_Compensation;
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extern int32_t *Send_Right_Compensation;
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extern int32_t *Send_BackwardDistance;
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extern int32_t *Send_LaneChangeDistance;
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extern int32_t *Send_Swing_Speed;
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extern int32_t *Send_Swing_Angle;
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extern int32_t *Send_Move_Speed;
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extern int32_t *Send_Robot_Angle;
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extern int32_t *Robot_Move_Speed;
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// Region 对外函数接口
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void DecodeCAN(uint32_t canID, uint8_t *buffer, uint32_t length);
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void SendCANTest();
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void SendRobtDataToController_0x364(); //Send 换道距离, 0x364
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void SendRobtDataToController_0x264();
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int32_t GetMode(DHCANopenData0x2E4 dHCANopenData0x2E4);
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int32_t GetSpeed(DHCANopenData0x2E4 dHCANopenData0x2E4);
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#endif /* INC_MSP_MSP_DC_CAN_SWING_CONTROLLER_H_ */
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