2025-03-12 10:46:02 +08:00
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#ifndef __GO_M8010_6_H
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#define __GO_M8010_6_H
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#ifdef __cplusplus
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extern "C"{
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#endif
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#include "main.h"
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#include "crc16.h"
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#include "usart.h"
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#include "string.h"
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#include <math.h>
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#define GO_NUM 2
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/**
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* @brief
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*
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*/
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typedef struct
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{
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uint8_t id :4;
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uint8_t status :3;
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uint8_t none :1;
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} RIS_Mode_t /*__attribute__((packed))*/;
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/**
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* @brief <EFBFBD><EFBFBD><EFBFBD>״̬<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
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*
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*/
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typedef struct
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{
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int16_t tor_des; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD>Ť<EFBFBD><C5A4> unit: N.m (q8)
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int16_t spd_des; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> unit: rad/s (q7)
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int32_t pos_des; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB> unit: rad (q15)
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uint16_t k_pos; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽڸն<DAB8>ϵ<EFBFBD><CFB5> unit: 0.0-1.0 (q15)
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uint16_t k_spd; // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5> unit: 0.0-1.0 (q15)
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2025-03-13 19:07:44 +08:00
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} RIS_Comd_t;
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2025-03-12 10:46:02 +08:00
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/**
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2025-03-13 19:07:44 +08:00
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*
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2025-03-12 10:46:02 +08:00
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*
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*/
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typedef struct
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{
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2025-03-13 19:07:44 +08:00
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uint8_t head[2];
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RIS_Mode_t mode;
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RIS_Comd_t comd;
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uint16_t CRC16;
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2025-03-12 10:46:02 +08:00
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2025-03-13 19:07:44 +08:00
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} ControlData_t;
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2025-03-12 10:46:02 +08:00
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typedef struct {
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unsigned short id;
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unsigned short mode;
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uint16_t correct;
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int MError;
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int Temp;
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float tar_pos; // target position
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float tar_w; // target speed
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float T; // <20><>ǰʵ<C7B0>ʵ<EFBFBD><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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float W; // <20><>ǰʵ<C7B0>ʵ<EFBFBD><CAB5><EFBFBD>ٶȣ<D9B6><C8A3><EFBFBD><EFBFBD>٣<EFBFBD>
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float Pos; // <20><>ǰ<EFBFBD><C7B0><EFBFBD>λ<EFBFBD><CEBB>
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int footForce; // They dont even know what 7 is this so we dont update this
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uint8_t buffer[17];
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uint8_t Rec_buffer[16];
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ControlData_t motor_send_data;
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}GO_Motorfield;
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void GO_M8010_init(void);
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void GO_M8010_send_data(UART_HandleTypeDef *huart,int id, int rev,float T,float W,float Pos,float K_P,float K_W);
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void USART6_RxCompleteCallback(void );
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void uartTxCB(UART_HandleTypeDef *huart);
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void basic_ForceControl (UART_HandleTypeDef *huart, int id, float bias, float length, float mass,
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float tar_pos, float tar_w, float K_P,float K_W);
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GO_Motorfield* getGoPoint(uint8_t id);
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#ifdef __cplusplus
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}
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#endif
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#endif /*__GO_M8010_6_H */
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