go/User/device/GO_M8010_6_Driver.h

#ifndef __GO_M8010_6_H
#define __GO_M8010_6_H
#ifdef __cplusplus
extern "C"{
#endif
#include "main.h"
#include "crc_ccitt.h"
#include "usart.h"
#include "string.h"
#include <math.h>
#define GO_NUM 2
/**
 * @brief <EFBFBD><EFBFBD><EFBFBD>ģʽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
 * 
 */
typedef struct
{
    uint8_t id     :4;      // <20><><EFBFBD>ID: 0,1...,14 15<31><35>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD>㲥<EFBFBD><E3B2A5><EFBFBD><EFBFBD>(<28><>ʱ<EFBFBD>޷<EFBFBD><DEB7><EFBFBD>)
    uint8_t status :3;      // <20><><EFBFBD><EFBFBD>ģʽ: 0.<2E><><EFBFBD><EFBFBD> 1.FOC<4F>ջ<EFBFBD> 2.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У׼ 3.<2E><><EFBFBD><EFBFBD>
    uint8_t none   :1;      // <20><><EFBFBD><EFBFBD>λ
} RIS_Mode_t /*__attribute__((packed))*/;   // <20><><EFBFBD><EFBFBD>ģʽ 1Byte



/**
 * @brief <EFBFBD><EFBFBD><EFBFBD>״̬<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
 * 
 */
typedef struct
{
    int16_t tor_des;        // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD>Ť<EFBFBD><C5A4> unit: N.m     (q8)
    int16_t spd_des;        // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> unit: rad/s   (q7)
    int32_t pos_des;        // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB> unit: rad     (q15)
    uint16_t  k_pos;        // <20><><EFBFBD><EFBFBD><EFBFBD>ؽڸն<DAB8>ϵ<EFBFBD><CFB5> unit: 0.0-1.0 (q15)
    uint16_t  k_spd;        // <20><><EFBFBD><EFBFBD><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5> unit: 0.0-1.0 (q15)
    
} RIS_Comd_t;   // <20><><EFBFBD>Ʋ<EFBFBD><C6B2><EFBFBD> 12Byte




/**
 * @brief <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD><EFBFBD><EFBFBD>ʽ
 * 
 */
typedef struct
{
    uint8_t head[2];    // <20><>ͷ         2Byte
    RIS_Mode_t mode;    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ  1Byte
    RIS_Comd_t comd;    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 12Byte
    uint16_t   CRC16;   // CRC          2Byte

} ControlData_t;    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>     17Byte




typedef struct {              
        unsigned short id;              // <20><><EFBFBD>ID<49><44>0xBB<42><42><EFBFBD><EFBFBD>ȫ<EFBFBD><C8AB><EFBFBD><EFBFBD><EFBFBD> why<68><79><EFBFBD><EFBFBD><EFBFBD><EFBFBD>f<EFBFBD><66><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD><EFBFBD>
        unsigned short mode;            // 0:<3A><><EFBFBD><EFBFBD>, 5:<3A><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>, 10:<3A>ջ<EFBFBD>FOC<4F><43><EFBFBD><EFBFBD> why<68><79><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD>ջ<EFBFBD><D5BB><EFBFBD>2У׼<D0A3><D7BC>
        uint16_t correct;               // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD> <20><>1 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
        int MError;                     // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0.<2E><><EFBFBD><EFBFBD> 1.<2E><><EFBFBD><EFBFBD> 2.<2E><><EFBFBD><EFBFBD> 3.<2E><>ѹ 4.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
        int Temp;                       // <20>¶<EFBFBD>
        float tar_pos;                  // target position 
        float tar_w;                    // target speed
        float T;                        // <20><>ǰʵ<C7B0>ʵ<EFBFBD><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
        float W;                        // <20><>ǰʵ<C7B0>ʵ<EFBFBD><CAB5><EFBFBD>ٶȣ<D9B6><C8A3><EFBFBD><EFBFBD>٣<EFBFBD>
        float Pos;                      // <20><>ǰ<EFBFBD><C7B0><EFBFBD>λ<EFBFBD><CEBB>
        int footForce;                  // They dont even know what 7 is this so we dont update this
        uint8_t buffer[17];
        uint8_t Rec_buffer[16];
        ControlData_t  motor_send_data;  
}GO_Motorfield;

/**
	*@brief		<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>
	*/
void GO_M8010_init(void);

/**
	*@brief				go<EFBFBD><EFBFBD><EFBFBD>Ϳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	*@input[in]		huart <EFBFBD><EFBFBD><EFBFBD>ô<EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>
	*@input[in]		id <EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><EFBFBD>id
	*@input[in]		rev <EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>֪<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɶ<EFBFBD>õģ<EFBFBD>githubΪ<EFBFBD>ش<EFBFBD>issue
	*@input[in]		T	<EFBFBD><EFBFBD><EFBFBD>أ<EFBFBD><EFBFBD><EFBFBD>λN<EFBFBD><EFBFBD>m
	*@input[in]		Pos Ŀ<EFBFBD><EFBFBD>λ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD>λrad
	*@input[in]		W Ŀ<EFBFBD><EFBFBD><EFBFBD>ٶȣ<EFBFBD><EFBFBD><EFBFBD>λrad/s
	*@input[in]		K_P λ<EFBFBD>û<EFBFBD><EFBFBD><EFBFBD>kp
	*@input[in]		K_W <EFBFBD>ٶȻ<EFBFBD>kp
	*@note				<EFBFBD><EFBFBD><EFBFBD>ƹ<EFBFBD>ʽ <EFBFBD><EFBFBD> t = T + <EFBFBD><EFBFBD><EFBFBD>趨λ<EFBFBD><EFBFBD> - ʵ<EFBFBD><EFBFBD>λ<EFBFBD>ã<EFBFBD>*K_P + <EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD>ٶ<EFBFBD> - ʵ<EFBFBD><EFBFBD><EFBFBD>ٶȣ<EFBFBD>*K_W
	*/
void GO_M8010_send_data(UART_HandleTypeDef *huart,int id, int rev,float T,float W,float Pos,float K_P,float K_W);

/**
	*@brief		<EFBFBD>û<EFBFBD><EFBFBD>Զ<EFBFBD><EFBFBD>崮<EFBFBD>ڷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϻص<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	*/
void uartTxCB(UART_HandleTypeDef *huart);


//<2F><>λ<EFBFBD><CEBB>Ͽ<EFBFBD><CFBF><EFBFBD>
void basic_ForceControl (UART_HandleTypeDef *huart, int id, float bias, float length, float mass, 
                        float tar_pos, float tar_w, float K_P,float K_W);


/**
	*@brief				go<EFBFBD><EFBFBD><EFBFBD>Ϳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	*@input[in]		id <EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><EFBFBD>id
	*@revtal			<EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD>
	*/
GO_Motorfield* getGoPoint(uint8_t id);

#ifdef __cplusplus
}
#endif
#endif /*__GO_M8010_6_H */