init commit

modules/motor/LK9025.h

@@ -0,0 +1,36 @@
+#ifndef LK9025_H
+#define LK9025_H
+
+#include "struct_typedef.h"
+#include "bsp_can.h"
+
+#define LK_MOTOR_CNT 2
+#define I_MIN -2000
+#define I_MAX 2000
+
+#define LIMIT_MIN_MAX(x,min,max) (x) = (((x)<=(min))?(min):(((x)>=(max))?(max):(x)))
+
+typedef struct //9025
+{
+    uint16_t last_ecd;
+    uint16_t ecd;
+    int16_t speed_rpm;
+    int16_t given_current;
+    uint8_t temperate;
+    can_instance motor_can_instance;
+} driven_instance;
+
+typedef enum
+{
+    unused = 0,
+} driven_mode;
+
+void LKMotroInit(uint16_t motor_id,uint16_t rx_id,CAN_HandleTypeDef* hcan);
+
+void DrivenControl(int16_t motor1_current,int16_t motor2_current);
+
+void SetDrivenMode(driven_mode cmd,uint16_t motor_id);
+
+void DecodeDriven(can_instance* _instance);
+
+#endif // LK9025_H