SkyLiCoder
ea493af11f
- Delete attitude_t struct from ins_task.h - INS_Init() returns INS_t* directly instead of casting from INS.Gyro offset - Change Gimbal_Upload_Data_s.gimbal_imu_data to INS_t* pointer - Update gimbal.c and robot_cmd.c accordingly
58 lines
1.3 KiB
C
58 lines
1.3 KiB
C
#ifndef MOTOR_DEF_H
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#define MOTOR_DEF_H
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#include "controller.h"
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#include "stdint.h"
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#include "bsp_can.h"
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#define LIMIT_MIN_MAX(x, min, max) (x) = (((x) <= (min)) ? (min) : (((x) >= (max)) ? (max) : (x)))
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/* 输出反向标志 */
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typedef enum
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{
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OUTPUT_DIRECTION_NORMAL = 0,
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OUTPUT_DIRECTION_REVERSE = 1,
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} Output_Reverse_Flag_e;
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/* 电机类型枚举 */
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typedef enum
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{
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MOTOR_TYPE_NONE = 0,
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DM_MOTOR,
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} Motor_Type_e;
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/* 电机控制器: PID 实例和外部反馈指针 */
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typedef struct
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{
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float *other_angle_feedback_ptr; // 外部角度反馈指针 (如 IMU)
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float *other_speed_feedback_ptr; // 外部速度反馈指针 (如 IMU 陀螺仪)
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PIDInstance angle_PID;
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PIDInstance speed_PID;
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PIDInstance current_PID;
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float pid_ref;
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} Motor_Controller_s;
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/* 电机控制器初始化配置 */
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typedef struct
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{
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float *other_angle_feedback_ptr;
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float *other_speed_feedback_ptr;
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PID_Init_Config_s angle_PID;
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PID_Init_Config_s speed_PID;
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PID_Init_Config_s current_PID;
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} Motor_Controller_Init_s;
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/* CAN 电机通用初始化结构体 */
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typedef struct
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{
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Motor_Controller_Init_s controller_param_init_config;
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Output_Reverse_Flag_e output_reverse;
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Motor_Type_e motor_type;
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CAN_Init_Config_s can_init_config;
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} Motor_Init_Config_s;
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#endif // MOTOR_DEF_H
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