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98 lines
2.2 KiB
C
98 lines
2.2 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_DM_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_DM_J4310,
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} MOTOR_DM_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 master_id; /* 主站ID，用于发送控制命令 */
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uint16_t can_id; /* 反馈ID，用于接收电机反馈 */
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MOTOR_DM_Module_t module;
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bool reverse;
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} MOTOR_DM_Param_t;
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/*电机实例*/
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typedef struct{
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MOTOR_DM_Param_t param;
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MOTOR_t motor;
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} MOTOR_DM_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_DM_t *motors[MOTOR_DM_MAX_MOTORS];
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uint8_t motor_count;
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} MOTOR_DM_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_DM_Register(MOTOR_DM_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_DM_Update(MOTOR_DM_Param_t *param);
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/**
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* @brief 更新所有电机数据
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* @return
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*/
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int8_t MOTOR_DM_UpdateAll(void);
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int8_t MOTOR_DM_MITCtrl(MOTOR_DM_Param_t *param, MOTOR_MIT_Output_t *output);
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int8_t MOTOR_DM_PosVelCtrl(MOTOR_DM_Param_t *param, float target_pos, float target_vel);
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int8_t MOTOR_DM_VelCtrl(MOTOR_DM_Param_t *param, float target_vel);
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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_DM_t* MOTOR_DM_GetMotor(MOTOR_DM_Param_t *param);
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int8_t MOTOR_DM_Enable(MOTOR_DM_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_DM_Relax(MOTOR_DM_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_DM_Offine(MOTOR_DM_Param_t *param);
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#ifdef __cplusplus
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}
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#endif |