diff --git a/config.csv b/config.csv index 32290e1..1d5327e 100644 --- a/config.csv +++ b/config.csv @@ -1,4 +1,4 @@ bsp,can,dwt,gpio,i2c,mm,spi,uart,pwm,time component,ahrs,capacity,cmd,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math -device,dr16,bmi088,ist8310,motor,motor_rm,motor_dm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,rc_can,servo,buzzer,led,ws2812,vofa,ops9 +device,dr16,bmi088,ist8310,motor,motor_rm,motor_dm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,rc_can,servo,buzzer,led,ws2812,vofa,ops9,oid module,config, \ No newline at end of file diff --git a/device/config.yaml b/device/config.yaml index a24a6f6..c46a4a3 100644 --- a/device/config.yaml +++ b/device/config.yaml @@ -224,4 +224,14 @@ devices: thread_signals: [] files: header: "vofa.h" - source: "vofa.c" \ No newline at end of file + source: "vofa.c" + oid: + name: "oid编码器" + description: "oid编码器驱动" + dependencies: + bsp: ["time", "can", "mm"] + component: ["user_math"] + thread_signals: [] + files: + header: "oid.h" + source: "oid.c" \ No newline at end of file diff --git a/device/oid.c b/device/oid.c new file mode 100644 index 0000000..6570526 --- /dev/null +++ b/device/oid.c @@ -0,0 +1,467 @@ +/* + oid编码器驱动 +*/ + +/*编码器can通信的默认波特率为500kHZ*/ +/* Includes ----------------------------------------------------------------- */ +#include "device/oid.h" +#include "bsp/time.h" +#include "mm.h" +/* Private function prototypes ---------------------------------------------- */ + +static OID_CANManager_t* OID_GetCANManager(BSP_CAN_t can); + +/* Private functions -------------------------------------------------------- */ + +static OID_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL}; + +/** + * @brief 接收数据处理 + * @param[in] none + * @retval none + */ +static void OID_ParseFeedbackFrame( OID_t *encoder , uint8_t *rx_data ) +{ + if(encoder->param.id == rx_data[1])//判断编码器id + { + switch(rx_data[2])//判断指令 + { + case 0x01: + encoder->feedback.angle_fbk = rx_data[3]|rx_data[4]<<8|rx_data[5]<<16|rx_data[6]<<24; + encoder->feedback.angle_360 = encoder->feedback.angle_fbk*360.0f/OID_RESOLUTION; + encoder->feedback.angle_2PI = encoder->feedback.angle_fbk*M_2PI/OID_RESOLUTION; + break; + + case 0x0A: + encoder->feedback.speed_fbk=rx_data[3]|rx_data[4]<<8|rx_data[5]<<16|rx_data[6]<<24; + encoder->feedback.speed_rpm=encoder->feedback.speed_fbk/OID_RESOLUTION/(0.1f/60.0f); + break; + + default: + break; + } + } +} + +int8_t OID_Update(OID_Param_t *param) +{ + + if (param == NULL) return DEVICE_ERR_NULL; + + OID_CANManager_t *manager = OID_GetCANManager(param->can); + if (manager == NULL) return DEVICE_ERR_NULL; + + OID_t *encoder = NULL; + + for (int i = 0; i < manager->encoder_count; i++) { + if (manager->encoders[i] && manager->encoders[i]->param.id == param->id) { + encoder = manager->encoders[i]; + break; + } + } + + if (encoder == NULL) return DEVICE_ERR_NO_DEV; + + // 从CAN队列获取数据 + BSP_CAN_Message_t rx_msg; + if (BSP_CAN_GetMessage( param->can , param->id , &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) + { + uint64_t now_time = BSP_TIME_Get(); + if (now_time - encoder->header.last_online_time > 100000) // 100ms超时，单位微秒 + { + encoder->header.online = false; + } + return DEVICE_ERR; + } + + encoder->header.online = true; + encoder->header.last_online_time = BSP_TIME_Get(); + // 处理接收到的数据 + OID_ParseFeedbackFrame( encoder , rx_msg.data ); + return DEVICE_OK; // 没有新数据 +} + +/** + * @brief 更新所有编码器数据 + * @return 更新结果 + */ +int8_t OID_UpdateAll(void) { + int8_t ret = DEVICE_OK; + for (int can = 0; can < BSP_CAN_NUM; can++) { + OID_CANManager_t *manager = OID_GetCANManager((BSP_CAN_t)can); + if (manager == NULL) continue; + + for (int i = 0; i < manager->encoder_count; i++) { + OID_t *encoder = manager->encoders[i]; + if (encoder != NULL) { + if (OID_Update(&encoder->param) != DEVICE_OK) { + ret = DEVICE_ERR; + } + } + } + } + return ret; +} + +/** + * @brief 获取指定CAN总线的管理器 + * @param can CAN总线 + * @return CAN管理器指针 + */ +static OID_CANManager_t* OID_GetCANManager(BSP_CAN_t can) { + if (can >= BSP_CAN_NUM) { + return NULL; + } + + return can_managers[can]; +} + +/** + * @brief 创建CAN管理器 + * @param can CAN总线 + * @return 创建结果 + */ +static int8_t OID_CreateCANManager(BSP_CAN_t can) { + if (can >= BSP_CAN_NUM) return DEVICE_ERR; + if (can_managers[can] != NULL) return DEVICE_OK; + + can_managers[can] = (OID_CANManager_t*)BSP_Malloc(sizeof(OID_CANManager_t)); + if (can_managers[can] == NULL) return DEVICE_ERR; + + memset(can_managers[can], 0, sizeof(OID_CANManager_t)); + can_managers[can]->can = can; + return DEVICE_OK; +} + +/** + * @brief 注册一个欧艾迪编码器 + * @param param 编码器参数 + * @return 注册结果 + */ +int8_t OID_Register(OID_Param_t *param) +{ + if (param == NULL) { + return DEVICE_ERR_NULL; + } + + /* 创建CAN管理器 */ + if (OID_CreateCANManager(param->can) != DEVICE_OK) { + return DEVICE_ERR; + } + + /* 获取CAN管理器 */ + OID_CANManager_t *manager = OID_GetCANManager(param->can); + if (manager == NULL) { + return DEVICE_ERR; + } + + /* 检查是否已注册 */ + for (int i = 0; i < manager->encoder_count; i++) { + if (manager->encoders[i] && manager->encoders[i]->param.id == param->id) { + return DEVICE_ERR_INITED; + } + } + + /* 检查是否已达到最大数量 */ + if (manager->encoder_count >= OID_MAX_NUM) { + return DEVICE_ERR; + } + + /* 分配内存 */ + OID_t *encoder = (OID_t *)BSP_Malloc(sizeof(OID_t)); + if (encoder == NULL) { + return DEVICE_ERR; + } + + /* 初始化电机 */ + memset(encoder, 0, sizeof(OID_t)); + memcpy(&encoder->param, param, sizeof(OID_Param_t)); + encoder->header.online = false; +// encoder->encoder.reverse = param->reverse; + + /* 注册CAN接收ID - DM电机使用Master ID接收反馈 */ + uint16_t feedback_id = param->id; + if (BSP_CAN_RegisterId(param->can, feedback_id, 3) != BSP_OK) { + BSP_Free(encoder); + return DEVICE_ERR; + } + + /* 添加到管理器 */ + manager->encoders[manager->encoder_count] = encoder; + manager->encoder_count++; + + return DEVICE_OK; +} + +/** + * @brief 使编码器离线（设置在线状态为false） + * @param param 编码器参数 + * @return 操作结果 + */ +int8_t OID_Offline(OID_Param_t *param) { + if (param == NULL) { + return DEVICE_ERR_NULL; + } + + OID_t *encoder = OID_GetEncoder(param); + if (encoder == NULL) { + return DEVICE_ERR_NO_DEV; + } + + encoder->header.online = false; + return DEVICE_OK; +} + +/** + * @brief 获取指定编码器的实例指针 + * @param param 编码器参数 + * @return 编码器实例指针 + */ +OID_t* OID_GetEncoder(OID_Param_t *param) { + if (param == NULL) { + return NULL; + } + + OID_CANManager_t *manager = OID_GetCANManager(param->can); + if (manager == NULL) { + return NULL; + } + + /* 查找对应的编码器 */ + for (int i = 0; i < manager->encoder_count; i++) { + OID_t *encoder = manager->encoders[i]; + if (encoder && encoder->param.can == param->can && + encoder->param.id == param->id) { + return encoder; + } + } + + return NULL; +} +/** + * @brief 读取编码器值 + * @param[in] 编码器id + * @retval none + */ +int8_t OID_Read_Value(OID_Param_t *param) +{ + BSP_CAN_StdDataFrame_t frame; + frame.id = param->id; + frame.dlc = 4; + frame.data[0] = 0x04; + frame.data[1] = param->id; + frame.data[2] = 0x01; + frame.data[3] = 0x00; + + + return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} +/** + * @brief 设置编码器id + * @param[in] 编码器当前id，编码器设置id + * @retval none + */ +int8_t OID_Set_ID(OID_Param_t *param,OID_Param_t *param_new) +{ + BSP_CAN_StdDataFrame_t frame; + frame.id = param->id; + frame.dlc = 4; + frame.data[0] = 0x04; + frame.data[1] = param->id; + frame.data[2] = 0x02; + frame.data[3] = param_new->id; + + + return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} +/** + * @brief 设置can通讯波特率 0x00：500K（默认）；0x01:1M；0x02：250K；0x03:125K；0x04：100K； + * @param[in] 编码器id，编码器设置波特率 + * @retval none + */ +int8_t OID_Set_Baudrate(OID_Param_t *param,OID_Baudrate_t encoder_vaud_rate) +{ + BSP_CAN_StdDataFrame_t frame; + frame.id = param->id; + frame.dlc = 4; + frame.data[0] = 0x04; + frame.data[1] = param->id; + frame.data[2] = 0x03; + frame.data[3] = encoder_vaud_rate; + + + return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} +/** + * @brief 设置编码器模式 0x00：查询，0x02：自动返回编码器角速度值，0xAA：自动返回编码器值 + * @param[in] 编码器id，编码器设置模式 + * @retval none + */ +int8_t OID_Set_Mode(OID_Param_t *param,OID_Mode_t encoder_mode) +{ + BSP_CAN_StdDataFrame_t frame; + frame.id = param->id; + frame.dlc = 4; + frame.data[0] = 0x04; + frame.data[1] = param->id; + frame.data[2] = 0x04; + frame.data[3] = encoder_mode; + + + return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} +/** + * @brief 设置编码器自动回传时间(掉电记忆，单位：微秒)，数值范围：50~65535（16 位无符号整数） + 注意：设置太短的返回时间后，通过编码器上位机再设置其他参数很容易失败，谨慎使用！ + * @param[in] 编码器id，编码器自动回传时间 + * @retval none + */ +int8_t OID_Set_AutoFeedbackTime(OID_Param_t *param,uint8_t encoder_time) +{ + BSP_CAN_StdDataFrame_t frame; + frame.id = param->id; + frame.dlc = 4; + frame.data[0] = 0x04; + frame.data[1] = param->id; + frame.data[2] = 0x05; + frame.data[3] = encoder_time; + + + return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} +/** + * @brief 设置当前位置值为零点 + * @param[in] 编码器id + * @retval none + */ +int8_t OID_Set_ZeroPoint(OID_Param_t *param) +{ + BSP_CAN_StdDataFrame_t frame; + frame.id = param->id; + frame.dlc = 4; + frame.data[0] = 0x04; + frame.data[1] = param->id; + frame.data[2] = 0x06; + frame.data[3] = 0x00; + + + return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} +/** + * @brief 设置编码器值递增方向 0x00：顺时针，0x01：逆时针 + * @param[in] 编码器id + * @retval none + */ +int8_t OID_Set_Polarity(OID_Param_t *param,OID_Direction_t encoder_direction) +{ + BSP_CAN_StdDataFrame_t frame; + frame.id = param->id; + frame.dlc = 4; + frame.data[0] = 0x04; + frame.data[1] = param->id; + frame.data[2] = 0x07; + frame.data[3] = encoder_direction; + + + return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} +/** + * @brief 读取编码器角度值 + * @param[in] 编码器id + * @retval none + 编码器旋转速度=编码器角速度值/单圈 + 精度/转速计算时间（单位：转/分钟） + 例如：编码器角速度值回传为1000，单圈 + 精度为32768，转速采样时间为 + 100ms(0.1/60min) + 编码器旋转速度=1000/32768/(0.1/60) + =1000*0.0183=18.31转/分钟 + */ +int8_t OID_Read_AngularVelocity(OID_Param_t *param) +{ + BSP_CAN_StdDataFrame_t frame; + frame.id = param->id; + frame.dlc = 4; + frame.data[0] = 0x04; + frame.data[1] = param->id; + frame.data[2] = 0x0A; + frame.data[3] = 0x00; + + + return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} +/** + * @brief 设置编码器角速度采样时间(掉电记忆，单位：毫秒) + * @param[in] 编码器id,采样时间 + * @retval none + */ +int8_t OID_Set_AngularVelocitySamplingTime(OID_Param_t *param,uint8_t encoder_time) +{ + BSP_CAN_StdDataFrame_t frame; + frame.id = param->id; + frame.dlc = 4; + frame.data[0] = 0x04; + frame.data[1] = param->id; + frame.data[2] = 0x0B; + frame.data[3] = encoder_time; + + + return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} +/** + * @brief 设置编码器中点 设定当前编码器值为 M(M 为单圈分辨率*圈数/2) + * @param[in] 编码器id + * @retval none + */ +int8_t OID_Set_Midpoint(OID_Param_t *param) +{ + BSP_CAN_StdDataFrame_t frame; + frame.id = param->id; + frame.dlc = 4; + frame.data[0] = 0x04; + frame.data[1] = param->id; + frame.data[2] = 0x0C; + frame.data[3] = 0x01; + + + return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} +/** + * @brief 设置编码器当前位置值 数值范围：0~X（X 为单圈分辨率*圈数- 1） + * @param[in] 编码器id + * @retval none + */ +int8_t OID_Set_CurrentPosition(OID_Param_t *param,uint8_t encoder_direction) +{ + BSP_CAN_StdDataFrame_t frame; + frame.id = param->id; + frame.dlc = 4; + frame.data[0] = 0x04; + frame.data[1] = param->id; + frame.data[2] = 0x0D; + frame.data[3] = encoder_direction; + + + return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} +/** + * @brief 编码器设置当前值为 5 圈值 即当前编码器值为 Z(Z 为单圈分辨率*5) + * @param[in] 编码器id + * @retval none + */ +int8_t OID_Set_CurrentValue5Turns(OID_Param_t *param) +{ + BSP_CAN_StdDataFrame_t frame; + frame.id = param->id; + frame.dlc = 4; + frame.data[0] = 0x04; + frame.data[1] = param->id; + frame.data[2] = 0x0F; + frame.data[3] = 0x01; + + + return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} + + + diff --git a/device/oid.h b/device/oid.h new file mode 100644 index 0000000..9b74764 --- /dev/null +++ b/device/oid.h @@ -0,0 +1,269 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include "device/device.h" +#include "bsp/can.h" +#include "component/user_math.h" + +/* Exported constants ------------------------------------------------------- */ +#define OID_MAX_NUM 32 +#define OID_RESOLUTION 1024 //编码器分辨率 +/* Exported macro ----------------------------------------------------------- */ +/* Exported types ----------------------------------------------------------- */ + +/** + * @brief 编码器工作模式枚举 + */ +typedef enum { + OID_MODE_QUERY = 0x00, // 查询模式 + OID_MODE_AUTO_SPEED = 0x02, // 自动返回编码器角速度值 + OID_MODE_AUTO_POSITION = 0xAA // 自动返回编码器值 +} OID_Mode_t; + +/** + * @brief 编码器方向枚举 + */ +typedef enum { + OID_DIR_CW = 0x00, // 顺时针 + OID_DIR_CCW = 0x01 // 逆时针 +} OID_Direction_t; + +/** + * @brief 编码器波特率枚举 + * 当编码器的ID和波特率更改后，闪灯的颜色会相应变化，状态灯颜色参照表及代表的意义如下： + * + * 颜色及其数值定义关系： + * - 蓝色(0) : 500K（默认） + * - 青色(1) : 1M + * - 橙色(2) : 250K + * - 紫色(3) : 125K + * - 绿色(4) : 100K + * - 红色(5) : 保留 + */ +typedef enum { + OID_BAUD_500K = 0x00, // 蓝色 - 500K（默认） + OID_BAUD_1M = 0x01, // 青色 - 1M + OID_BAUD_250K = 0x02, // 橙色 - 250K + OID_BAUD_125K = 0x03, // 紫色 - 125K + OID_BAUD_100K = 0x04 // 绿色 - 100K +} OID_Baudrate_t; + +typedef struct { + BSP_CAN_t can; + uint16_t id; + +} OID_Param_t; + +typedef struct { + //0x01 编码器值反馈 + float angle_fbk; + float angle_360; + float angle_2PI; + //0x0A 速度反馈 + float speed_fbk; + float speed_rpm; + +} OID_Feedback_t; + +typedef struct { + DEVICE_Header_t header; + OID_Param_t param; + OID_Feedback_t feedback; +} OID_t; + +/*CAN管理器，管理一个CAN总线上所有的编码器*/ +typedef struct { + BSP_CAN_t can; + OID_t *encoders[OID_MAX_NUM]; + uint8_t encoder_count; +} OID_CANManager_t; + + +/** + * @brief 更新指定编码器数据 + * @param param 编码器参数指针 + * @return 操作结果 + * - DEVICE_OK: 成功 + * - DEVICE_ERR_NULL: 参数为空 + * - DEVICE_ERR_NO_DEV: 编码器未找到 + * - DEVICE_ERR: 其他错误 + */ +int8_t OID_Update(OID_Param_t *param); + +/** + * @brief 更新所有已注册编码器数据 + * @return 操作结果 + * - DEVICE_OK: 全部成功 + * - DEVICE_ERR: 部分或全部失败 + */ +int8_t OID_UpdateAll(void); + +/** + * @brief 注册一个欧艾迪编码器 + * @param param 编码器参数指针 + * @return 注册结果 + * - DEVICE_OK: 注册成功 + * - DEVICE_ERR_NULL: 参数为空 + * - DEVICE_ERR_INITED: 已注册 + * - DEVICE_ERR: 其他错误 + */ +int8_t OID_Register(OID_Param_t *param); + +/** + * @brief 设置编码器离线状态 + * @param param 编码器参数指针 + * @return 操作结果 + * - DEVICE_OK: 成功 + * - DEVICE_ERR_NULL: 参数为空 + * - DEVICE_ERR_NO_DEV: 编码器未找到 + */ +int8_t OID_Offline(OID_Param_t *param); + +/** + * @brief 获取指定编码器实例指针 + * @param param 编码器参数指针 + * @return 编码器实例指针，失败返回NULL + */ +OID_t* OID_GetEncoder(OID_Param_t *param); + +/** + * @brief 设置编码器ID + * @param param 当前编码器参数 + * @param param_new 新编码器参数（包含新ID） + * @return 操作结果 + * - DEVICE_OK: 成功 + * - DEVICE_ERR: 失败 + */ +int8_t OID_Set_ID(OID_Param_t *param, OID_Param_t *param_new); + +/** + * @brief 设置编码器CAN通信波特率 + * @param param 编码器参数 + * @param encoder_vaud_rate 波特率设置 + * - 0x00: 500K（默认） + * - 0x01: 1M + * - 0x02: 250K + * - 0x03: 125K + * - 0x04: 100K + * @return 操作结果 + * - DEVICE_OK: 成功 + * - DEVICE_ERR: 失败 + */ +int8_t OID_Set_Baudrate(OID_Param_t *param, OID_Baudrate_t encoder_vaud_rate); + +/** + * @brief 设置编码器工作模式 + * @param param 编码器参数 + * @param encoder_mode 工作模式 + * - 0x00: 查询模式 + * - 0x02: 自动返回编码器角速度值 + * - 0xAA: 自动返回编码器值 + * @return 操作结果 + * - DEVICE_OK: 成功 + * - DEVICE_ERR: 失败 + */ +int8_t OID_Set_Mode(OID_Param_t *param, OID_Mode_t encoder_mode); + +/** + * @brief 设置编码器自动回传时间 + * @param param 编码器参数 + * @param encoder_time 自动回传时间（单位：微秒） + * 数值范围：50~65535（16位无符号整数） + * @note 注意：设置太短的返回时间后，通过编码器上位机再设置其他参数很容易失败，谨慎使用！ + * @return 操作结果 + * - DEVICE_OK: 成功 + * - DEVICE_ERR: 失败 + */ +int8_t OID_Set_AutoFeedbackTime(OID_Param_t *param, uint8_t encoder_time); + +/** + * @brief 设置当前位置为零点 + * @param param 编码器参数 + * @return 操作结果 + * - DEVICE_OK: 成功 + * - DEVICE_ERR: 失败 + */ +int8_t OID_Set_ZeroPoint(OID_Param_t *param); + +/** + * @brief 设置编码器值递增方向 + * @param param 编码器参数 + * @param encoder_direction 方向设置 + * - 0x00: 顺时针 + * - 0x01: 逆时针 + * @return 操作结果 + * - DEVICE_OK: 成功 + * - DEVICE_ERR: 失败 + */ +int8_t OID_Set_Polarity(OID_Param_t *param, OID_Direction_t encoder_direction); + +/** + * @brief 设置编码器角速度采样时间 + * @param param 编码器参数 + * @param encoder_time 采样时间（单位：毫秒） + * @note 掉电记忆功能 + * @return 操作结果 + * - DEVICE_OK: 成功 + * - DEVICE_ERR: 失败 + */ +int8_t OID_Set_AngularVelocitySamplingTime(OID_Param_t *param, uint8_t encoder_time); + +/** + * @brief 设置编码器中点位置 + * @param param 编码器参数 + * @note 设定当前编码器值为 M（M 为单圈分辨率 × 圈数 / 2） + * @return 操作结果 + * - DEVICE_OK: 成功 + * - DEVICE_ERR: 失败 + */ +int8_t OID_Set_Midpoint(OID_Param_t *param); + +/** + * @brief 设置编码器当前位置值 + * @param param 编码器参数 + * @param encoder_direction 位置值 + * 数值范围：0~X（X 为单圈分辨率 × 圈数 - 1） + * @return 操作结果 + * - DEVICE_OK: 成功 + * - DEVICE_ERR: 失败 + */ +int8_t OID_Set_CurrentPosition(OID_Param_t *param, uint8_t encoder_direction); + +/** + * @brief 设置编码器当前值为5圈值 + * @param param 编码器参数 + * @note 即当前编码器值为 Z（Z 为单圈分辨率 × 5） + * @return 操作结果 + * - DEVICE_OK: 成功 + * - DEVICE_ERR: 失败 + */ +int8_t OID_Set_CurrentValue5Turns(OID_Param_t *param); + +/** + * @brief 读取编码器角速度值 + * @param param 编码器参数 + * @note 编码器旋转速度 = 编码器角速度值 / 单圈精度 / 转速计算时间（单位：转/分钟） + * 例如：编码器角速度值回传为1000，单圈精度为32768，转速采样时间为100ms(0.1/60min) + * 编码器旋转速度 = 1000 / 32768 / (0.1/60) = 1000 × 0.0183 = 18.31转/分钟 + * @return 操作结果 + * - DEVICE_OK: 成功 + * - DEVICE_ERR: 失败 + */ +int8_t OID_Read_AngularVelocity(OID_Param_t *param); + +/** + * @brief 读取编码器值 + * @param param 编码器参数 + * @return 操作结果 + * - DEVICE_OK: 成功 + * - DEVICE_ERR: 失败 + */ +int8_t OID_Read_Value(OID_Param_t *param); + +#ifdef __cplusplus +} +#endif