rgv-kinco/applications/nav/dl-dwd.h

/*
 * dl-dwd.h
 *
 *  Created on: 2019��6��20��
 *      Author: Eric
 */

#ifndef DRIVER_DL_DWD_H_
#define DRIVER_DL_DWD_H_
#include <stdbool.h>
#include <stdint.h>

/* ת������Ҫʵ�ֵĺ��� */
typedef bool (*McSteerInit_t)(void);
typedef bool (*McSteerProcess_t)(void);
typedef bool (*McSteerQueryProcess_t)(void);
typedef bool (*McSteerParesQuery_t)(uint16_t canId, uint8_t *data);

/* ���ߵ����Ҫʵ�ֵĺ��� */
typedef bool (*McWalkInit_t)(void);
typedef bool (*McWalkProcess_t)(void);
typedef bool (*McWalkQueryProcess_t)(void);
typedef bool (*McWalkParse_t)(uint16_t canId, uint8_t *data);

typedef bool (*McLiftInit_t)(void);
typedef bool (*McLiftProcess_t)(void);

#define DrAngleToPulse(a) (Cfg.MtsPlsDeg * (DR_HOME_PCT_DEG + (a)) / DR_PER_DEG)
#define DrPulseToAngle(p) ((p)*DR_PER_DEG/Cfg.MtsPlsDeg - DR_HOME_PCT_DEG)
#endif /* DRIVER_DL_DWD_H_ */