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32 lines
840 B
32 lines
840 B
/*
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* bsp_steering_engine.h
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*
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* Created on: Jul 29, 2024
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* Author: akeguo
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*/
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#ifndef INC_MSP_MSP_STEERING_ENGINE_H_
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#define INC_MSP_MSP_STEERING_ENGINE_H_
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#include <stdio.h>
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#include <string.h>
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#include "bsp_MB_host.h"
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#include "stdio.h"
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#include "BSP/bsp_UART.h"
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#include "usart.h"
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#include "gpio.h"
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extern int32_t* Desulfurizer_Steering_Set_Speed;
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extern int32_t* Desulfurizer_Steering_Angle;
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extern int32_t* Desulfurizer_Steering_Current;
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extern int32_t* Desulfurizer_Steering_Real_Angle;
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void setSteeringRobotProtectionMode();
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void read_steering_Angle();
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void steering_set_angle();
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//FSUS_STATUS FSUS_ReadData(uint8_t servo_id, uint8_t address, uint8_t *sendbytes, uint8_t *length);
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void read_steering_current();
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void decode_steering_angle(uint8_t *buffer, uint16_t length);
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#endif /* INC_MSP_MSP_STEERING_ENGINE_H_ */
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