35 lines
1.3 KiB
C
35 lines
1.3 KiB
C
#ifndef __GM6020_H
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#define __GM6020_H
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typedef enum
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{
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GM6020_1=0x205,//ID1
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GM6020_2=0x206,//ID2
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GM6020_3=0x207,//ID3
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GM6020_4=0x208,//ID4
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GM6020_5=0x209,//ID5
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GM6020_6=0x20A,//ID6
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GM6020_7=0x20B,//ID7
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}GM6020_ID;//GM6020电机ID号枚举
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typedef struct
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{
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uint16_t Angle;//GM6020电机机械角度
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uint8_t First_Flag;//GM6020电机首次接收标志位
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int64_t r;//GM6020电机转过圈数(默认圈数只会出现0,1)
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int64_t Position;//GM6020电机角度位置原始数据
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int16_t Speed;//GM6020电机转速
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int16_t Current;//GM6020电机实际转矩电流
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uint8_t Temperature;//GM6020电机电机温度
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}GM6020_Motor;//GM6020电机状态结构体
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extern GM6020_Motor GM6020_MotorStatus[];//GM6020电机状态数组
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uint8_t GM6020_CAN1SetLIDVoltage(int16_t Voltage1,int16_t Voltage2,int16_t Voltage3,int16_t Voltage4);//CAN1总线设置GM6020低位ID电压
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uint8_t GM6020_CAN1SetHIDVoltage(int16_t Voltage5,int16_t Voltage6,int16_t Voltage7);//CAN1总线设置GM6020高位ID电压
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uint8_t GM6020_CAN2SetLIDVoltage(int16_t Voltage1,int16_t Voltage2,int16_t Voltage3,int16_t Voltage4);//CAN2总线设置GM6020低位ID电压
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uint8_t GM6020_CAN2SetHIDVoltage(int16_t Voltage5,int16_t Voltage6,int16_t Voltage7);//CAN2总线设置GM6020高位ID电压
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void GM6020_CANDataProcess(GM6020_ID ID,uint8_t *Data);//GM6020数据处理
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#endif
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