rgv-kinco/applications/kinco.h

/*
 * @Description: 
 * @version: 
 * @Author: Joe
 * @Date: 2021-11-13 21:55:17
 * @LastEditTime: 2021-11-13 21:55:18
 */
#ifndef __KINCO_H__
#define __KINCO_H__

#include <rtthread.h>
#include <rtdevice.h>
#include <board.h>

#define SEND_ADCC_EN
#define	SEND_MODE_EN
#define	SEND_RPM_EN



typedef struct
{       
	uint8_t  mode;  		/*电机模式*/    			
    uint16_t err;      		/*故障*/
	int16_t rpm;      		/*转速*/
	uint32_t id;	 		/*电机id*/
	uint8_t  control;  		/*电机控制字*/   
	
	uint8_t  acc  	    :1;  /*设置好加减速*/
	uint8_t  dcc  		:1;  /*设置好加减速*/
	uint8_t 		   	:4;
}  MOTOR_TypeDef;



#if defined SEND_ADCC_EN
uint8_t get_motor_acc(void);
uint8_t get_motor_dcc(void);
struct rt_can_msg send_motor_acc(void);
struct rt_can_msg send_motor_dcc(void);
#endif /* SEND_ADCC_EN */

#if defined SEND_MODE_EN
#define mode_pos		0x06
#define mode_speed		0x02
uint8_t get_motor_mode(void);
struct rt_can_msg send_motor_speed_mode(void);
struct rt_can_msg send_motor_control_mode(void) ;
#endif /* SEND_MODE_EN */

#if defined SEND_RPM_EN
void set_motor_rpm(int16_t rpm);
int16_t get_motor_real_rpm(void);
struct rt_can_msg send_motor_rpm(void) ;
#endif /* SEND_RPM_EN */

struct rt_can_msg send_motor_reset(void) ;
uint8_t motor_msg_parse(struct rt_can_msg *msg);
void check_motor_miss(void);
uint8_t get_motor_err(void);
uint8_t get_motor_miss_err(void);
uint8_t motor_init_ok(void);
#endif