Initial commit from DCSP - 2026/1/15 15:11:58

sensor/include/sensor_wheel.h

@@ -0,0 +1,28 @@
+#ifndef _SENSOR_WHEEL_H_
+#define _SENSOR_WHEEL_H_
+
+#include <stdint.h>
+
+#define WHEEL_FRAME_LENGTH	19
+
+#define WHEEL_EXP 	  1000
+#define WHEEL_LIMIT4  4.294967296e9
+
+typedef struct __attribute__((packed))
+{
+	uint8_t	header;
+	uint8_t rotate_speed[4];	//飞轮转速
+	uint8_t current[4];			//飞轮电流
+	uint8_t control_state[4];	//控制状态
+	uint8_t acc_torque[4];		//飞轮加速力矩指令
+	uint8_t id;					//飞轮ID
+	uint8_t checksum;
+}FlyWheel_Frame;
+
+//uint8_t generate_wheel_frame(uint8_t *frame);
+uint8_t generate_wheel_frame(uint8_t *frame,double CmdWheel);
+double cal_message_para(int s1, int s2, int s3, int s4, int exp);
+
+void sensor_WheelMeas(double WheelTorqueBody[3], double WheelAM[3], double CmdWheel[3]);
+
+#endif