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119 lines
2.5 KiB
C
119 lines
2.5 KiB
C
#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ----------------------------------------------------------------- */
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#include "device/device.h"
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#include "device/motor.h"
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#include "bsp/can.h"
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/* Exported constants ------------------------------------------------------- */
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#define MOTOR_LK_MAX_MOTORS 32
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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typedef enum {
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MOTOR_LK_MF9025,
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MOTOR_LK_MF9035,
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} MOTOR_LK_Module_t;
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/*每个电机需要的参数*/
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typedef struct {
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BSP_CAN_t can;
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uint16_t id;
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MOTOR_LK_Module_t module;
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bool reverse;
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} MOTOR_LK_Param_t;
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/*电机实例*/
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typedef struct{
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MOTOR_LK_Param_t param;
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MOTOR_t motor;
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} MOTOR_LK_t;
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/*CAN管理器，管理一个CAN总线上所有的电机*/
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typedef struct {
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BSP_CAN_t can;
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MOTOR_LK_t *motors[MOTOR_LK_MAX_MOTORS];
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uint8_t motor_count;
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} MOTOR_LK_CANManager_t;
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/* Exported functions prototypes -------------------------------------------- */
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/**
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* @brief 注册一个LK电机
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* @param param 电机参数
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* @return
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*/
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int8_t MOTOR_LK_Register(MOTOR_LK_Param_t *param);
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/**
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* @brief 更新指定电机数据
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* @param param 电机参数
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* @return
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*/
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int8_t MOTOR_LK_Update(MOTOR_LK_Param_t *param);
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/**
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* @brief 设置一个电机的输出
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* @param param 电机参数
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* @param value 输出值，范围[-1.0, 1.0]
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* @return
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*/
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int8_t MOTOR_LK_SetOutput(MOTOR_LK_Param_t *param, float value);
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/**
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* @brief 发送控制命令到电机，注意一个CAN可以控制多个电机，所以只需要发送一次即可
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* @param param 电机参数
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* @return
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*/
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int8_t MOTOR_LK_Ctrl(MOTOR_LK_Param_t *param);
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/**
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* @brief 发送电机开启命令
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* @param param 电机参数
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* @return
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*/
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int8_t MOTOR_LK_MotorOn(MOTOR_LK_Param_t *param);
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/**
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* @brief 发送电机关闭命令
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* @param param 电机参数
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* @return
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*/
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int8_t MOTOR_LK_MotorOff(MOTOR_LK_Param_t *param);
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/**
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* @brief 获取指定电机的实例指针
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* @param param 电机参数
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* @return
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*/
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MOTOR_LK_t* MOTOR_LK_GetMotor(MOTOR_LK_Param_t *param);
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/**
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* @brief 使电机松弛（设置输出为0）
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* @param param
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* @return
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*/
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int8_t MOTOR_LK_Relax(MOTOR_LK_Param_t *param);
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/**
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* @brief 使电机离线（设置在线状态为false）
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* @param param
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* @return
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*/
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int8_t MOTOR_LK_Offine(MOTOR_LK_Param_t *param);
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/**
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* @brief
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* @param
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* @return
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*/
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int8_t MOTOR_LK_UpdateAll(void);
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#ifdef __cplusplus
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}
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#endif |