NEW_bubing4_gimbal/modules/super_cap/super_cap.c

50 lines
1.5 KiB
C

#include "super_cap.h"
#include "memory.h"
#include "stdlib.h"
static SuperCapInstance *super_cap_instance = NULL; // 可以由app保存此指针
static void SuperCapRxCallback(CANInstance *_instance)
{
uint8_t *rxbuff;
SuperCap_Msg_s *Msg;
rxbuff = _instance->rx_buff;
Msg = &super_cap_instance->cap_msg;
Msg->input_vol = (int16_t)(rxbuff[1] << 8 | rxbuff[0]);
Msg->cap_vol = (int16_t)(rxbuff[3] << 8 | rxbuff[2]);
Msg->input_cur = (int16_t)(rxbuff[5] << 8 | rxbuff[4]);
Msg->power_set = (int16_t)(rxbuff[7] << 8 | rxbuff[6]);
}
SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s *supercap_config)
{
super_cap_instance = (SuperCapInstance *)malloc(sizeof(SuperCapInstance));
memset(super_cap_instance, 0, sizeof(SuperCapInstance));
supercap_config->can_config.can_module_callback = SuperCapRxCallback;
super_cap_instance->can_ins = CANRegister(&supercap_config->can_config);
PIDInit(&super_cap_instance->buffer_pid, &supercap_config->buffer_config_pid);
return super_cap_instance;
}
void SuperCapSend(SuperCapInstance *instance, uint8_t *data)
{
memcpy(instance->can_ins->tx_buff, data, 8);
CANTransmit(instance->can_ins,1);
}
void SuperCapSetPower(SuperCapInstance *instance, float power_set)
{
uint16_t tmpPower = (uint16_t)(power_set * 100);
uint8_t data[8] = {0};
data[0] = tmpPower >> 8;
data[1] = tmpPower;
SuperCapSend(instance,data);
}
SuperCap_Msg_s SuperCapGet(SuperCapInstance *instance)
{
return instance->cap_msg;
}