medical_beauty_photography/main/motor_drive.h

#pragma once

#include <stdio.h>
#include <stdlib.h>
#include <string.h>

typedef enum {
  RMDRs485CMDOrder30 = 0x30,  //读取PID参数命令
  RMDRs485CMDOrder31 = 0x31,  //写入PID参数到RAM命令
  RMDRs485CMDOrder32 = 0x32,  //写入PID参数到ROM命令
  RMDRs485CMDOrder33 = 0x33,  //读取加速度命令
  RMDRs485CMDOrder34 = 0x34,  //写入加速度到RAM命令
  RMDRs485CMDOrder90 = 0x90,  //读取编码器命令
  RMDRs485CMDOrder91 = 0x91,  //写入编码器值到ROM作为电机零点命令
  RMDRs485CMDOrder19 = 0x19,  //写入当前位置到ROM作为电机零点命令
  RMDRs485CMDOrder92 = 0x92,  //读取多圈角度命令
  RMDRs485CMDOrder94 = 0x94,  //读取单圈角度命令
  RMDRs485CMDOrder95 = 0x95,  //清除电机角度命令(设置电机初始位置)
  RMDRs485CMDOrder9A = 0x9A,  //读取电机状态1和错误标志命令
  RMDRs485CMDOrder9B = 0x9B,  //清除电机错误标志命令
  RMDRs485CMDOrder9C = 0x9C,  //读取电机状态2命令
  RMDRs485CMDOrder9D = 0x9D,  //读取电机状态3命令
  RMDRs485CMDOrder80 = 0x80,  //电机关闭命令
  RMDRs485CMDOrder81 = 0x81,  //电机停止命令
  RMDRs485CMDOrder88 = 0x88,  //电机运行命令
  RMDRs485CMDOrderA1 = 0xA1,  //转矩闭环控制命令
  RMDRs485CMDOrderA2 = 0xA2,  //速度闭环控制命令
  RMDRs485CMDOrderA3 = 0xA3,  //多圈位置闭环控制命令1
  RMDRs485CMDOrderA4 = 0xA4,  //多圈位置闭环控制命令2
  RMDRs485CMDOrderA5 = 0xA5,  //单圈位置闭环控制命令1
  RMDRs485CMDOrderA6 = 0xA6,  //单圈位置闭环控制命令2
  RMDRs485CMDOrderA7 = 0xA7,  //增量位置闭环控制命令1
  RMDRs485CMDOrderA8 = 0xA8,  //增量位置闭环控制命令2
  RMDRs485CMDOrder12 = 0x12,  //读取驱动和电机型号命令
  RMDRs485CMDOrderC2 = 0xC2,  //读取多圈角度命令2
  RMDRs485CMDOrderD8 = 0xD8,  //增量位置闭环控制命令2
} RMDMotorDriverRs485CMD;

void motor_drive_uart_init();
void motor_drive_turn(int direction, int speed_level, double position);
double motor_drive_read_encoder();
void motor_drive_set_packages_data_max64bit(uint8_t cmd, uint8_t buffer_data_size, uint64_t buffer_data);
uint8_t motor_drive_set_packages_ctr(double position, int direction);
void motor_drive_hex_to_str(const char *hex, int hex_len, char *str);
size_t motor_drive_buffer_cmd_generate(uint8_t *buffer, uint8_t cmd, uint8_t buffer_data_size, uint64_t buffer_data);
void motor_drive_buffer_cmd_parse(uint8_t *buffer);
u_int8_t motor_drive_set_motor_current_size();
double motor_drive_read_single_turn_angle();
void motor_drive_set_motor_to_angle(int rotation_direction, double position, int speed_level);