28 lines
735 B
C
28 lines
735 B
C
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#ifndef _SENSOR_WHEEL_H_
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#define _SENSOR_WHEEL_H_
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#include <stdint.h>
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#define WHEEL_FRAME_LENGTH 19
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#define WHEEL_EXP 1000
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#define WHEEL_LIMIT4 4.294967296e9
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typedef struct __attribute__((packed))
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{
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uint8_t header;
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uint8_t rotate_speed[4]; //飞轮转速
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uint8_t current[4]; //飞轮电流
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uint8_t control_state[4]; //控制状态
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uint8_t acc_torque[4]; //飞轮加速力矩指令
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uint8_t id; //飞轮ID
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uint8_t checksum;
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}FlyWheel_Frame;
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//uint8_t generate_wheel_frame(uint8_t *frame);
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uint8_t generate_wheel_frame(uint8_t *frame,double CmdWheel);
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double cal_message_para(int s1, int s2, int s3, int s4, int exp);
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void sensor_WheelMeas(double WheelTorqueBody[3], double WheelAM[3], double CmdWheel[3]);
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#endif
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