AGV / agv_shengyiPPxiaoche · Files

user_motor.c 72.2 KB
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#include "user_motor.h"

DriverStruct DriverMotor1;
DriverStruct DriverMotor2;
DriverStruct DriverMotor3;
DriverStruct DriverMotor4;

DriverStruct DriverSteering1;
DriverStruct DriverSteering2;
DriverStruct DriverSteering3;
DriverStruct DriverSteering4;

DriverStruct DriverLifter1;
DriverStruct DriverLifter2;
DriverStruct DriverLifter3;
DriverStruct DriverLifter4;

DriverStruct DriverShifter1;
DriverStruct DriverShifter2;
DriverStruct DriverShifter3;

DriverStruct DriverPusher1;
DriverStruct DriverPusher2;
DriverStruct DriverPusher3;

#if ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_SDO) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_SDO) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_SDO) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_SDO))

unsigned char quick_stop_back[] = {0x00};
unsigned char motor_reset[] = {0x81, 0x00};

unsigned char msg_set_heartbeat_time[] = {0x2B, 0x16, 0x10, 0x01, 0xD0, 0x07, 0x01, 0x00};
unsigned char msg_set_heartbeat[] = {0x2B, 0x17, 0x10, 0x00, 0xB8, 0x0B, 0x00, 0x00};
unsigned char msg_send_heartbeat[] = {0x00};

unsigned char msg_setmode[8] = {0x2F, 0x60, 0x60, 0x00, 0x03, 0x00, 0x00, 0x00}; //速度模式
unsigned char msg_setmode_back[8] = {0x60, 0x60, 0x60, 0x00, 0x03, 0x00, 0x00, 0x00};

unsigned char msg_disable06[] = {0x2B, 0x40, 0x60, 0x00, 0x06, 0x00, 0x00, 0x00}; // node 禁止
unsigned char msg_disable[] = {0x2B, 0x40, 0x60, 0x00, 0x07, 0x00, 0x00, 0x00};   // node 禁止
unsigned char msg_enable[] = {0x2B, 0x40, 0x60, 0x00, 0x0F, 0x00, 0x00, 0x00};    // node 使能
unsigned char enable_back[] = {0x60, 0x40, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00};   //使能驱动器成功返回

//unsigned char msg_BK_disable_backTwo[8] = {0x0F,0x40,0x60,0x00,0x07,0x00,0x00,0x00};

unsigned char msg_setspeed[8] = {0x23, 0xFF, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00}; //设置速度
unsigned char msg_setspeed_back[8] = {0x60, 0xFF, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00};

unsigned char msg_getpos[8] = {0x40, 0x64, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00};
unsigned char msg_getpos_back[8] = {0x43, 0x64, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00};

unsigned char msg_getspeed[8] = {0x40, 0x6C, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00};
unsigned char msg_getspeed_back[8] = {0x43, 0x6C, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00};

unsigned char msg_getVoltage[8] = {0x40, 0x79, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00};
unsigned char msg_getVoltage_back[8] = {0x43, 0x79, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00};

unsigned char msg_get_state[] = {0x40, 0x41, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00}; //获取驱动器状态
unsigned char msg_get_state_back[] = {0x4B, 0x41, 0x60, 0x00, 0x28, 0x00, 0x00, 0x00};

unsigned char msg_read_ampere[] = {0x40, 0x77, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00};      //读驱动器的温度
unsigned char msg_read_ampere_back[] = {0x4B, 0x77, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00}; //读驱动器的温度返回
#endif
static u8 EmptyBuffer[] = {0, 0, 0, 0, 0, 0, 0, 0};
u32 driverShareErrorInfo = 0; //由于结构体不能定义static 变量 此变量为所有驱动器可读写的变量 代表有驱动出现错误
bool allDriverEnable = 0;     //所有驱动在速度为0时候不关使能

double SendSpeedCoefficient(void)
{
    double num = P_SETUP_MOTOR_SPEED_RATIO_NUM;
    double den = P_SETUP_MOTOR_SPEED_RATIO_DEN;

    return num / den;
}

double GetPosCoefficient(void)
{
    double num = P_SETUP_MOTOR_DIS_RATIO_NUM;
    double den = P_SETUP_MOTOR_DIS_RATIO_DEN;

    return num / den;
}

double SendPalstanceCoefficient(void)
{
    double num = P_SETUP_STEERING_SPEED_RATIO_NUM;
    double den = P_SETUP_STEERING_SPEED_RATIO_DEN;

    return num / den;
}

double GetPalstanceCoefficient(void)
{
    double num = P_SETUP_STEERING_SPEED_RATIO_NUM;
    double den = P_SETUP_STEERING_SPEED_RATIO_DEN;

    return num / den;
}

double SendLiftingSpeedCoefficient(void)
{
    double num = P_SETUP_LIFTER_SPEED_RATIO_NUM;
    double den = P_SETUP_LIFTER_SPEED_RATIO_DEN;

    return num / den;
    //	return 1;
}

double GetLiftingPosValueBack(void)
{
    double num = P_SETUP_LIFTER_DIS_RATIO_NUM;
    double den = P_SETUP_LIFTER_DIS_RATIO_DEN;

    return num / den; //1
    //	return 1.0/100000.0;
}

double SendShifterSpeedValue(void)
{
    double num = P_SETUP_SHIFTER_SPEED_RATIO_NUM;
    double den = P_SETUP_SHIFTER_SPEED_RATIO_DEN;

    return num / den;
    //	return 1;
}

double GetShifterPosValueBack(void)
{
    double num = P_SETUP_SHIFTER_DIS_RATIO_NUM;
    double den = P_SETUP_SHIFTER_DIS_RATIO_DEN;

    return num / den;
    //	return 1.0/260000.0;
}

double SendPusherSpeedValue(void)
{
    double num = P_SETUP_PUSHER_SPEED_RATIO_NUM;
    double den = P_SETUP_PUSHER_SPEED_RATIO_DEN;

    return num / den;
    //	return 1;
}

double GetPusherPosValueBack(void)
{
    double num = P_SETUP_PUSHER_DIS_RATIO_NUM;
    double den = P_SETUP_PUSHER_DIS_RATIO_DEN;

    return num / den;
    //	return 1.0/60000.0;
}

float getSpeedSlope(DriverStruct *Motor)
{
    float currentSpeed = Motor->Private.lastSpeed;
    float speedSlope = Motor->Command.speedSlope;
    float tarSpeed = Motor->Command.speed;
    float sendSpeed = 0;

    if (tarSpeed > currentSpeed)
    {
        sendSpeed = currentSpeed + speedSlope;
    }
    else if (tarSpeed < currentSpeed)
    {
        sendSpeed = currentSpeed - speedSlope;
    }

    if (_fabsf(currentSpeed - tarSpeed) <= speedSlope)
    {
        sendSpeed = tarSpeed;
    }
    Motor->Private.lastSpeed = sendSpeed;
    return sendSpeed;
}

int getDecimalMap(short Dec, u8 Bit)
{
    if (Bit == 5)
    {
        if (Dec / 10000 % 10 == 1)
            return -1;
        else
            return 1;
    }
    else if (Bit == 4)
    {
        if (Dec / 1000 % 10 == 1)
            return -1;
        else
            return 1;
    }
    else if (Bit == 3)
    {
        if (Dec / 100 % 10 == 1)
            return -1;
        else
            return 1;
    }
    else if (Bit == 2)
    {
        if (Dec / 10 % 10 == 1)
            return -1;
        else
            return 1;
    }
    else if (Bit == 1)
    {
        if (Dec / 1 % 10 == 1)
            return -1;
        else
            return 1;
    }

    return 0;
}

void change_data(u8 *_data, int data)
{
    u32 ch_data = (u32)data;

    _data[4] = ch_data & 0xff;
    _data[5] = (ch_data >> 8) & 0xff;
    _data[6] = (ch_data >> 16) & 0xff;
    _data[7] = (ch_data >> 24) & 0xff;
}

void change_data_zero(u8 *_data)
{
    _data[4] = 0;
    _data[5] = 0;
    _data[6] = 0;
    _data[7] = 0;
}

void initDriverParam(void)
{
    u8 hinsEmptyBuffer[8] = {0, 1, 0, 0, 0, 0, 0, 0};
    /***********************************************行走驱动参数初始化************************************************************************************************/
    {
        DriverMotor1.Private.driverID = MOTOR1_ID; //驱动ID
        DriverMotor2.Private.driverID = MOTOR2_ID;
        DriverMotor3.Private.driverID = MOTOR3_ID;
        DriverMotor4.Private.driverID = MOTOR4_ID;

				#if (P_SETUP_MOTOR_NUM == P_SETUP_STEERING_NUM)
        {
            hinsEmptyBuffer[1] = 1;
            DriverMotor1.Private.slaveID = hinsEmptyBuffer[0] = 1; //一拖二驱动 驱动子ID
            memcpy(DriverMotor1.Private.sendBuffer, hinsEmptyBuffer, 8);

            DriverMotor2.Private.slaveID = hinsEmptyBuffer[0] = 1;
            memcpy(DriverMotor2.Private.sendBuffer, hinsEmptyBuffer, 8);

            DriverMotor3.Private.slaveID = hinsEmptyBuffer[0] = 1;
            memcpy(DriverMotor3.Private.sendBuffer, hinsEmptyBuffer, 8);

            DriverMotor4.Private.slaveID = hinsEmptyBuffer[0] = 1;
            memcpy(DriverMotor4.Private.sendBuffer, hinsEmptyBuffer, 8);
        }
				#else
        {
						#if (P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_HINS_BLD2L)
            {
                DriverMotor1.Private.slaveID = hinsEmptyBuffer[0] = 1; //一拖二驱动 驱动子ID
                memcpy(DriverMotor1.Private.sendBuffer, hinsEmptyBuffer, 8);

                DriverMotor2.Private.slaveID = hinsEmptyBuffer[0] = 2;
                memcpy(DriverMotor2.Private.sendBuffer, hinsEmptyBuffer, 8);

                DriverMotor3.Private.slaveID = hinsEmptyBuffer[0] = 1;
                memcpy(DriverMotor3.Private.sendBuffer, hinsEmptyBuffer, 8);

                DriverMotor4.Private.slaveID = hinsEmptyBuffer[0] = 2;
                memcpy(DriverMotor4.Private.sendBuffer, hinsEmptyBuffer, 8);
            }
						#else
            {
                DriverMotor1.Private.slaveID = hinsEmptyBuffer[0] = hinsEmptyBuffer[1] = 1; //一拖二驱动 驱动子ID
                memcpy(DriverMotor1.Private.sendBuffer, hinsEmptyBuffer, 8);

                DriverMotor2.Private.slaveID = hinsEmptyBuffer[0] = hinsEmptyBuffer[1] = 2;
                memcpy(DriverMotor2.Private.sendBuffer, hinsEmptyBuffer, 8);

                DriverMotor3.Private.slaveID = hinsEmptyBuffer[0] = hinsEmptyBuffer[1] = 1;
                memcpy(DriverMotor3.Private.sendBuffer, hinsEmptyBuffer, 8);

                DriverMotor4.Private.slaveID = hinsEmptyBuffer[0] = hinsEmptyBuffer[1] = 2;
                memcpy(DriverMotor4.Private.sendBuffer, hinsEmptyBuffer, 8);
            }
						#endif
        }
				#endif
        DriverMotor1.driverShareErrorInfo = DriverMotor2.driverShareErrorInfo = DriverMotor3.driverShareErrorInfo = DriverMotor4.driverShareErrorInfo = &driverShareErrorInfo;

        DriverMotor1.Private.sendHeartBeatCount = DriverMotor1.Private.readStateCount = DriverMotor1.Private.readAmpereCount = 0;
        DriverMotor2.Private.sendHeartBeatCount = DriverMotor2.Private.readStateCount = DriverMotor2.Private.readAmpereCount = 1;
        DriverMotor3.Private.sendHeartBeatCount = DriverMotor3.Private.readStateCount = DriverMotor3.Private.readAmpereCount = 2;
        DriverMotor4.Private.sendHeartBeatCount = DriverMotor4.Private.readStateCount = DriverMotor4.Private.readAmpereCount = 3;

        DriverMotor1.Private.canSelect = getDecimalMap(P_SETUP_MOTOR_CAN_CONNECTION, 4); //CAN口选择
        DriverMotor2.Private.canSelect = getDecimalMap(P_SETUP_MOTOR_CAN_CONNECTION, 3);
        DriverMotor3.Private.canSelect = getDecimalMap(P_SETUP_MOTOR_CAN_CONNECTION, 2);
        DriverMotor4.Private.canSelect = getDecimalMap(P_SETUP_MOTOR_CAN_CONNECTION, 1);

        DriverMotor1.Private.driverBrand = DriverMotor2.Private.driverBrand = DriverMotor3.Private.driverBrand = DriverMotor4.Private.driverBrand = P_SETUP_MOTOR_DRIVER_BRAND; //驱动品牌

        //发送速度系数 读取速度系数 读取位置系数
        DriverMotor1.Private.sendSpeedCoefficient = DriverMotor2.Private.sendSpeedCoefficient = DriverMotor3.Private.sendSpeedCoefficient = DriverMotor4.Private.sendSpeedCoefficient = SendSpeedCoefficient();
        DriverMotor1.Private.getSpeedCoefficient = DriverMotor2.Private.getSpeedCoefficient = DriverMotor3.Private.getSpeedCoefficient = DriverMotor4.Private.getSpeedCoefficient = (1.0 / SendSpeedCoefficient());
        DriverMotor1.Private.getPoseCoefficient = DriverMotor2.Private.getPoseCoefficient = DriverMotor3.Private.getPoseCoefficient = DriverMotor4.Private.getPoseCoefficient = GetPosCoefficient();

        //发送速度系数正反转方向调整
        DriverMotor1.Private.sendSpeedCoefficient *= getDecimalMap(P_SETUP_MOTOR_DIR, 4);
        DriverMotor2.Private.sendSpeedCoefficient *= getDecimalMap(P_SETUP_MOTOR_DIR, 3);
        DriverMotor3.Private.sendSpeedCoefficient *= getDecimalMap(P_SETUP_MOTOR_DIR, 2);
        DriverMotor4.Private.sendSpeedCoefficient *= getDecimalMap(P_SETUP_MOTOR_DIR, 1);

        //读取速度系数正反转方向调整
        DriverMotor1.Private.getSpeedCoefficient *= getDecimalMap(P_SETUP_MOTOR_DIR, 4);
        DriverMotor2.Private.getSpeedCoefficient *= getDecimalMap(P_SETUP_MOTOR_DIR, 3);
        DriverMotor3.Private.getSpeedCoefficient *= getDecimalMap(P_SETUP_MOTOR_DIR, 2);
        DriverMotor4.Private.getSpeedCoefficient *= getDecimalMap(P_SETUP_MOTOR_DIR, 1);

        //读取位置系数正反转方向调整
        DriverMotor1.Private.getPoseCoefficient *= getDecimalMap(P_SETUP_MOTOR_DIR, 4);
        DriverMotor2.Private.getPoseCoefficient *= getDecimalMap(P_SETUP_MOTOR_DIR, 3);
        DriverMotor3.Private.getPoseCoefficient *= getDecimalMap(P_SETUP_MOTOR_DIR, 2);
        DriverMotor4.Private.getPoseCoefficient *= getDecimalMap(P_SETUP_MOTOR_DIR, 1);
    }
    /***********************************************转向驱动参数初始化********************************************************************************************/
    {
        DriverSteering1.Private.driverID = STEERING1_ID; //驱动ID
        DriverSteering2.Private.driverID = STEERING2_ID;
        DriverSteering3.Private.driverID = STEERING3_ID;
        DriverSteering4.Private.driverID = STEERING4_ID;

				#if (P_SETUP_MOTOR_NUM == P_SETUP_STEERING_NUM)
        {
            hinsEmptyBuffer[1] = 1;
            DriverSteering1.Private.slaveID = hinsEmptyBuffer[0] = 1; //一拖二驱动 驱动子ID
            memcpy(DriverSteering1.Private.sendBuffer, hinsEmptyBuffer, 8);
            DriverSteering2.Private.slaveID = hinsEmptyBuffer[0] = 2;
            memcpy(DriverSteering2.Private.sendBuffer, hinsEmptyBuffer, 8);
            DriverSteering3.Private.slaveID = hinsEmptyBuffer[0] = 1;
            memcpy(DriverSteering3.Private.sendBuffer, hinsEmptyBuffer, 8);
            DriverSteering4.Private.slaveID = hinsEmptyBuffer[0] = 2;
            memcpy(DriverSteering4.Private.sendBuffer, hinsEmptyBuffer, 8);
        }
				#else
        {
            DriverSteering1.Private.slaveID = hinsEmptyBuffer[0] = hinsEmptyBuffer[1] = 1; //一拖二驱动 驱动子ID
            memcpy(DriverSteering1.Private.sendBuffer, hinsEmptyBuffer, 8);
            DriverSteering2.Private.slaveID = hinsEmptyBuffer[0] = hinsEmptyBuffer[1] = 2;
            memcpy(DriverSteering2.Private.sendBuffer, hinsEmptyBuffer, 8);
            DriverSteering3.Private.slaveID = hinsEmptyBuffer[0] = hinsEmptyBuffer[1] = 1;
            memcpy(DriverSteering3.Private.sendBuffer, hinsEmptyBuffer, 8);
            DriverSteering4.Private.slaveID = hinsEmptyBuffer[0] = hinsEmptyBuffer[1] = 2;
            memcpy(DriverSteering4.Private.sendBuffer, hinsEmptyBuffer, 8);
        }
				#endif

        DriverSteering1.driverShareErrorInfo = DriverSteering2.driverShareErrorInfo = DriverSteering3.driverShareErrorInfo = DriverSteering4.driverShareErrorInfo = &driverShareErrorInfo;

        DriverSteering1.Private.sendHeartBeatCount = DriverSteering1.Private.readStateCount = DriverSteering1.Private.readAmpereCount = 4;
        DriverSteering2.Private.sendHeartBeatCount = DriverSteering2.Private.readStateCount = DriverSteering2.Private.readAmpereCount = 5;
        DriverSteering3.Private.sendHeartBeatCount = DriverSteering3.Private.readStateCount = DriverSteering3.Private.readAmpereCount = 6;
        DriverSteering4.Private.sendHeartBeatCount = DriverSteering4.Private.readStateCount = DriverSteering4.Private.readAmpereCount = 7;

        DriverSteering1.Private.canSelect = getDecimalMap(P_SETUP_STEERING_CAN_CONNECTION, 4); //CAN口选择
        DriverSteering2.Private.canSelect = getDecimalMap(P_SETUP_STEERING_CAN_CONNECTION, 3);
        DriverSteering3.Private.canSelect = getDecimalMap(P_SETUP_STEERING_CAN_CONNECTION, 2);
        DriverSteering4.Private.canSelect = getDecimalMap(P_SETUP_STEERING_CAN_CONNECTION, 1);

        DriverSteering1.Private.driverBrand = DriverSteering2.Private.driverBrand = DriverSteering3.Private.driverBrand = DriverSteering4.Private.driverBrand = P_SETUP_STEERING_DRIVER_BRAND; //驱动品牌

        //发送速度系数 读取速度系数 读取位置系数
        DriverSteering1.Private.sendSpeedCoefficient = DriverSteering2.Private.sendSpeedCoefficient = DriverSteering3.Private.sendSpeedCoefficient = DriverSteering4.Private.sendSpeedCoefficient = SendPalstanceCoefficient();
        DriverSteering1.Private.getSpeedCoefficient = DriverSteering2.Private.getSpeedCoefficient = DriverSteering3.Private.getSpeedCoefficient = DriverSteering4.Private.getSpeedCoefficient = (1.0 / SendPalstanceCoefficient());
        DriverSteering1.Private.getPoseCoefficient = DriverSteering2.Private.getPoseCoefficient = DriverSteering3.Private.getPoseCoefficient = DriverSteering4.Private.getPoseCoefficient = GetPalstanceCoefficient();

        //发送速度系数正反转方向调整
        DriverSteering1.Private.sendSpeedCoefficient *= getDecimalMap(P_SETUP_STEERING_DIR, 4);
        DriverSteering2.Private.sendSpeedCoefficient *= getDecimalMap(P_SETUP_STEERING_DIR, 3);
        DriverSteering3.Private.sendSpeedCoefficient *= getDecimalMap(P_SETUP_STEERING_DIR, 2);
        DriverSteering4.Private.sendSpeedCoefficient *= getDecimalMap(P_SETUP_STEERING_DIR, 1);

        //读取速度系数正反转方向调整
        DriverSteering1.Private.getSpeedCoefficient *= getDecimalMap(P_SETUP_STEERING_DIR, 4);
        DriverSteering2.Private.getSpeedCoefficient *= getDecimalMap(P_SETUP_STEERING_DIR, 3);
        DriverSteering3.Private.getSpeedCoefficient *= getDecimalMap(P_SETUP_STEERING_DIR, 2);
        DriverSteering4.Private.getSpeedCoefficient *= getDecimalMap(P_SETUP_STEERING_DIR, 1);
    }
    /***********************************************举升驱动参数初始化************************************************************************************************/
    {
        DriverLifter1.Private.driverID = LIFTER1_ID; //驱动ID
        DriverLifter2.Private.driverID = LIFTER2_ID;
        DriverLifter3.Private.driverID = LIFTER3_ID;
        DriverLifter4.Private.driverID = LIFTER4_ID;

				#if (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_HINS_BLD2L)
        {
            hinsEmptyBuffer[1] = 1;
            DriverLifter1.Private.slaveID = hinsEmptyBuffer[0] = 1; //一拖二驱动 驱动子ID
            memcpy(DriverLifter1.Private.sendBuffer, hinsEmptyBuffer, 8);
            DriverLifter2.Private.slaveID = hinsEmptyBuffer[0] = 2;
            memcpy(DriverLifter2.Private.sendBuffer, hinsEmptyBuffer, 8);
            DriverLifter3.Private.slaveID = hinsEmptyBuffer[0] = 1;
            memcpy(DriverLifter3.Private.sendBuffer, hinsEmptyBuffer, 8);
            DriverLifter4.Private.slaveID = hinsEmptyBuffer[0] = 2;
            memcpy(DriverLifter4.Private.sendBuffer, hinsEmptyBuffer, 8);
        }
				#else
        {
            DriverLifter1.Private.slaveID = hinsEmptyBuffer[0] = hinsEmptyBuffer[1] = 1; //一拖二驱动 驱动子ID
            memcpy(DriverLifter1.Private.sendBuffer, hinsEmptyBuffer, 8);
            DriverLifter2.Private.slaveID = hinsEmptyBuffer[0] = hinsEmptyBuffer[1] = 2;
            memcpy(DriverLifter2.Private.sendBuffer, hinsEmptyBuffer, 8);
            DriverLifter3.Private.slaveID = hinsEmptyBuffer[0] = hinsEmptyBuffer[1] = 1;
            memcpy(DriverLifter3.Private.sendBuffer, hinsEmptyBuffer, 8);
            DriverLifter4.Private.slaveID = hinsEmptyBuffer[0] = hinsEmptyBuffer[1] = 2;
            memcpy(DriverLifter4.Private.sendBuffer, hinsEmptyBuffer, 8);
        }
				#endif

        DriverLifter1.driverShareErrorInfo = DriverLifter2.driverShareErrorInfo = DriverLifter3.driverShareErrorInfo = DriverLifter4.driverShareErrorInfo = &driverShareErrorInfo;

        DriverLifter1.Private.sendHeartBeatCount = DriverLifter1.Private.readStateCount = DriverLifter1.Private.readAmpereCount = 8;
        DriverLifter2.Private.sendHeartBeatCount = DriverLifter2.Private.readStateCount = DriverLifter2.Private.readAmpereCount = 9;
        DriverLifter3.Private.sendHeartBeatCount = DriverLifter3.Private.readStateCount = DriverLifter3.Private.readAmpereCount = 10;
        DriverLifter4.Private.sendHeartBeatCount = DriverLifter4.Private.readStateCount = DriverLifter4.Private.readAmpereCount = 11;

        DriverLifter1.Private.canSelect = getDecimalMap(P_SETUP_LIFTER_CAN_CONNECTION, 4); //CAN口选择
        DriverLifter2.Private.canSelect = getDecimalMap(P_SETUP_LIFTER_CAN_CONNECTION, 3);
        DriverLifter3.Private.canSelect = getDecimalMap(P_SETUP_LIFTER_CAN_CONNECTION, 2);
        DriverLifter4.Private.canSelect = getDecimalMap(P_SETUP_LIFTER_CAN_CONNECTION, 1);

        DriverLifter1.Private.driverBrand = DriverLifter2.Private.driverBrand = DriverLifter3.Private.driverBrand = DriverLifter4.Private.driverBrand = P_SETUP_LIFTER_DRIVER_BRAND; //驱动品牌

        //发送速度系数 读取速度系数 读取位置系数
        DriverLifter1.Private.sendSpeedCoefficient = DriverLifter2.Private.sendSpeedCoefficient = DriverLifter3.Private.sendSpeedCoefficient = DriverLifter4.Private.sendSpeedCoefficient = SendLiftingSpeedCoefficient();
        DriverLifter1.Private.getSpeedCoefficient = DriverLifter2.Private.getSpeedCoefficient = DriverLifter3.Private.getSpeedCoefficient = DriverLifter4.Private.getSpeedCoefficient = (1.0 / SendLiftingSpeedCoefficient());
        DriverLifter1.Private.getPoseCoefficient = DriverLifter2.Private.getPoseCoefficient = DriverLifter3.Private.getPoseCoefficient = DriverLifter4.Private.getPoseCoefficient = GetLiftingPosValueBack();

        //发送速度系数正反转方向调整
        DriverLifter1.Private.sendSpeedCoefficient *= getDecimalMap(P_SETUP_LIFTER_DIR, 4);
        DriverLifter2.Private.sendSpeedCoefficient *= getDecimalMap(P_SETUP_LIFTER_DIR, 3);
        DriverLifter3.Private.sendSpeedCoefficient *= getDecimalMap(P_SETUP_LIFTER_DIR, 2);
        DriverLifter4.Private.sendSpeedCoefficient *= getDecimalMap(P_SETUP_LIFTER_DIR, 1);

        //读取速度系数正反转方向调整
        DriverLifter1.Private.getSpeedCoefficient *= getDecimalMap(P_SETUP_LIFTER_DIR, 4);
        DriverLifter2.Private.getSpeedCoefficient *= getDecimalMap(P_SETUP_LIFTER_DIR, 3);
        DriverLifter3.Private.getSpeedCoefficient *= getDecimalMap(P_SETUP_LIFTER_DIR, 2);
        DriverLifter4.Private.getSpeedCoefficient *= getDecimalMap(P_SETUP_LIFTER_DIR, 1);

        //读取位置系数正反转方向调整
        DriverLifter1.Private.getPoseCoefficient *= getDecimalMap(P_SETUP_LIFTER_DIR, 4);
        DriverLifter2.Private.getPoseCoefficient *= getDecimalMap(P_SETUP_LIFTER_DIR, 3);
        DriverLifter3.Private.getPoseCoefficient *= getDecimalMap(P_SETUP_LIFTER_DIR, 2);
        DriverLifter4.Private.getPoseCoefficient *= getDecimalMap(P_SETUP_LIFTER_DIR, 1);
    }
    /***********************************************移轴驱动参数初始化************************************************************************************************/
    {
        DriverShifter1.Private.driverID = SHIFTER1_ID;
        DriverShifter2.Private.driverID = SHIFTER2_ID;
        DriverShifter3.Private.driverID = SHIFTER3_ID;

				#if (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_HINS_BLD2L)
        {
            hinsEmptyBuffer[1] = 1;
            DriverShifter1.Private.slaveID = hinsEmptyBuffer[0] = 2; //一拖二驱动 驱动子ID
            memcpy(DriverShifter1.Private.sendBuffer, hinsEmptyBuffer, 8);
            DriverShifter2.Private.slaveID = hinsEmptyBuffer[0] = 2;
            memcpy(DriverShifter2.Private.sendBuffer, hinsEmptyBuffer, 8);
            DriverShifter3.Private.slaveID = hinsEmptyBuffer[0] = 1;
            memcpy(DriverShifter3.Private.sendBuffer, hinsEmptyBuffer, 8);
        }
				#else
        {
            DriverShifter1.Private.slaveID = hinsEmptyBuffer[0] = hinsEmptyBuffer[1] = 1; //一拖二驱动 驱动子ID
            memcpy(DriverShifter1.Private.sendBuffer, hinsEmptyBuffer, 8);
            DriverShifter2.Private.slaveID = hinsEmptyBuffer[0] = hinsEmptyBuffer[1] = 2;
            memcpy(DriverShifter2.Private.sendBuffer, hinsEmptyBuffer, 8);
            DriverShifter3.Private.slaveID = hinsEmptyBuffer[0] = hinsEmptyBuffer[1] = 1;
            memcpy(DriverShifter3.Private.sendBuffer, hinsEmptyBuffer, 8);
        }
				#endif

        DriverShifter1.driverShareErrorInfo = DriverShifter2.driverShareErrorInfo = DriverShifter3.driverShareErrorInfo = &driverShareErrorInfo;

        DriverShifter1.Private.sendHeartBeatCount = DriverShifter1.Private.readStateCount = DriverShifter1.Private.readAmpereCount = 12;
        DriverShifter2.Private.sendHeartBeatCount = DriverShifter2.Private.readStateCount = DriverShifter2.Private.readAmpereCount = 13;
        DriverShifter3.Private.sendHeartBeatCount = DriverShifter3.Private.readStateCount = DriverShifter3.Private.readAmpereCount = 14;

        DriverShifter1.Private.canSelect = getDecimalMap(P_SETUP_SHIFTER_CAN_CONNECTION, 4); //CAN口选择
        DriverShifter2.Private.canSelect = getDecimalMap(P_SETUP_SHIFTER_CAN_CONNECTION, 3);
        DriverShifter3.Private.canSelect = getDecimalMap(P_SETUP_SHIFTER_CAN_CONNECTION, 2);

        DriverShifter1.Private.driverBrand = DriverShifter2.Private.driverBrand = DriverShifter3.Private.driverBrand = P_SETUP_SHIFTER_DRIVER_BRAND; //驱动品牌

        //发送速度系数 读取速度系数 读取位置系数
        DriverShifter1.Private.sendSpeedCoefficient = DriverShifter2.Private.sendSpeedCoefficient = DriverShifter3.Private.sendSpeedCoefficient = SendShifterSpeedValue();
        DriverShifter1.Private.getSpeedCoefficient = DriverShifter2.Private.getSpeedCoefficient = DriverShifter3.Private.getSpeedCoefficient = (1.0 / SendShifterSpeedValue());
        DriverShifter1.Private.getPoseCoefficient = DriverShifter2.Private.getPoseCoefficient = DriverShifter3.Private.getPoseCoefficient = GetShifterPosValueBack();

        //发送速度系数正反转方向调整
        DriverShifter1.Private.sendSpeedCoefficient *= getDecimalMap(P_SETUP_SHIFTER_DIR, 4);
        DriverShifter2.Private.sendSpeedCoefficient *= getDecimalMap(P_SETUP_SHIFTER_DIR, 3);
        DriverShifter3.Private.sendSpeedCoefficient *= getDecimalMap(P_SETUP_SHIFTER_DIR, 2);

        //读取速度系数正反转方向调整
        DriverShifter1.Private.getSpeedCoefficient *= getDecimalMap(P_SETUP_SHIFTER_DIR, 4);
        DriverShifter2.Private.getSpeedCoefficient *= getDecimalMap(P_SETUP_SHIFTER_DIR, 3);
        DriverShifter3.Private.getSpeedCoefficient *= getDecimalMap(P_SETUP_SHIFTER_DIR, 2);

        //读取位置系数正反转方向调整
        DriverShifter1.Private.getPoseCoefficient *= getDecimalMap(P_SETUP_SHIFTER_DIR, 4);
        DriverShifter2.Private.getPoseCoefficient *= getDecimalMap(P_SETUP_SHIFTER_DIR, 3);
        DriverShifter3.Private.getPoseCoefficient *= getDecimalMap(P_SETUP_SHIFTER_DIR, 2);
    }
    /***********************************************推杆驱动参数初始化************************************************************************************************/
    {
        DriverPusher1.Private.driverID = PUSHER1_ID;
        DriverPusher2.Private.driverID = PUSHER2_ID;
        DriverPusher3.Private.driverID = PUSHER3_ID;

				#if (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_HINS_BLD2L)
        {
            hinsEmptyBuffer[1] = 1;
            DriverPusher1.Private.slaveID = hinsEmptyBuffer[0] = 1; //一拖二驱动 驱动子ID
            memcpy(DriverPusher1.Private.sendBuffer, hinsEmptyBuffer, 8);
            DriverPusher2.Private.slaveID = hinsEmptyBuffer[0] = 2;
            memcpy(DriverPusher2.Private.sendBuffer, hinsEmptyBuffer, 8);
            DriverPusher3.Private.slaveID = hinsEmptyBuffer[0] = 1;
            memcpy(DriverPusher3.Private.sendBuffer, hinsEmptyBuffer, 8);
        }
				#else
        {
            DriverPusher1.Private.slaveID = hinsEmptyBuffer[0] = hinsEmptyBuffer[1] = 1; //一拖二驱动 驱动子ID
            memcpy(DriverPusher1.Private.sendBuffer, hinsEmptyBuffer, 8);
            DriverPusher2.Private.slaveID = hinsEmptyBuffer[0] = hinsEmptyBuffer[1] = 2;
            memcpy(DriverPusher2.Private.sendBuffer, hinsEmptyBuffer, 8);
            DriverPusher3.Private.slaveID = hinsEmptyBuffer[0] = hinsEmptyBuffer[1] = 1;
            memcpy(DriverPusher3.Private.sendBuffer, hinsEmptyBuffer, 8);
        }
				#endif

        DriverPusher1.driverShareErrorInfo = DriverPusher2.driverShareErrorInfo = DriverPusher3.driverShareErrorInfo = &driverShareErrorInfo;

        DriverPusher1.Private.sendHeartBeatCount = DriverPusher1.Private.readStateCount = DriverPusher1.Private.readAmpereCount = 12;
        DriverPusher2.Private.sendHeartBeatCount = DriverPusher2.Private.readStateCount = DriverPusher2.Private.readAmpereCount = 13;
        DriverPusher3.Private.sendHeartBeatCount = DriverPusher3.Private.readStateCount = DriverPusher3.Private.readAmpereCount = 14;

        DriverPusher1.Private.canSelect = getDecimalMap(P_SETUP_PUSHER_CAN_CONNECTION, 4); //CAN口选择
        DriverPusher2.Private.canSelect = getDecimalMap(P_SETUP_PUSHER_CAN_CONNECTION, 3);
        DriverPusher3.Private.canSelect = getDecimalMap(P_SETUP_PUSHER_CAN_CONNECTION, 2);

        DriverPusher1.Private.driverBrand = DriverPusher2.Private.driverBrand = DriverPusher3.Private.driverBrand = P_SETUP_PUSHER_DRIVER_BRAND; //驱动品牌

        //发送速度系数 读取速度系数 读取位置系数
        DriverPusher1.Private.sendSpeedCoefficient = DriverPusher2.Private.sendSpeedCoefficient = DriverPusher3.Private.sendSpeedCoefficient = SendPusherSpeedValue();
        DriverPusher1.Private.getSpeedCoefficient = DriverPusher2.Private.getSpeedCoefficient = DriverPusher3.Private.getSpeedCoefficient = (1.0 / SendPusherSpeedValue());
        DriverPusher1.Private.getPoseCoefficient = DriverPusher2.Private.getPoseCoefficient = DriverPusher3.Private.getPoseCoefficient = GetPusherPosValueBack();

        //发送速度系数正反转方向调整
        DriverPusher1.Private.sendSpeedCoefficient *= getDecimalMap(P_SETUP_PUSHER_DIR, 4);
        DriverPusher2.Private.sendSpeedCoefficient *= getDecimalMap(P_SETUP_PUSHER_DIR, 3);
        DriverPusher3.Private.sendSpeedCoefficient *= getDecimalMap(P_SETUP_PUSHER_DIR, 2);

        //读取速度系数正反转方向调整
        DriverPusher1.Private.getSpeedCoefficient *= getDecimalMap(P_SETUP_PUSHER_DIR, 4);
        DriverPusher2.Private.getSpeedCoefficient *= getDecimalMap(P_SETUP_PUSHER_DIR, 3);
        DriverPusher3.Private.getSpeedCoefficient *= getDecimalMap(P_SETUP_PUSHER_DIR, 2);

        //读取位置系数正反转方向调整
        DriverPusher1.Private.getPoseCoefficient *= getDecimalMap(P_SETUP_PUSHER_DIR, 4);
        DriverPusher2.Private.getPoseCoefficient *= getDecimalMap(P_SETUP_PUSHER_DIR, 3);
        DriverPusher3.Private.getPoseCoefficient *= getDecimalMap(P_SETUP_PUSHER_DIR, 2);
    }
}

#if ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_SDO) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_SDO) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_SDO) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_SDO))
void Set_Heartbeat_Time(DriverStruct *Motor) //设置心跳时间
{
    Motor->Private.compareNum = 0;
    CAN_Send_Msg(Motor->Private.driverID, msg_set_heartbeat_time, 8, 3, Motor->Private.canSelect);
    CAN_Send_Msg(Motor->Private.driverID, msg_set_heartbeat, 8, 3, Motor->Private.canSelect);
}

void send_heartbeat(DriverStruct *Motor) //发送心跳
{
    CAN_Send_Msg(Motor->Private.driverID + 0x100, msg_send_heartbeat, 1, 0, Motor->Private.canSelect);
}

void send_reset_command(DriverStruct *Motor) //驱动复位
{
    Motor->Private.compareNum = 0;         //需要比较的长度
    Motor->Private.tarFlag = DONTSETVALUE; //是否需要在比较成功后置位一个变量 为DONTSETVALUE时候不设置变量 为其他值得时候设置变量
    motor_reset[1] = Motor->Private.driverID & 0xff;
    Motor->Private.compareBuffer = EmptyBuffer;
    CAN_Send_Msg(0, motor_reset, 2, 0, Motor->Private.canSelect);
}

void motor_disable06(DriverStruct *Motor) //电机关使能
{
    Motor->Private.noResponseNum++;
    Motor->Private.compareNum = 4;                         //需要比较的长度
    Motor->Private.tarFlag = 0x06;                         //是否需要在比较成功后置位一个变量 为DONTSETVALUE时候不设置变量 为其他值得时候设置变量
    Motor->Private.setFlagOffset = &Motor->Private.enable; //如果返回数据比较成功则在中断中将0赋值给Motor->Private.enable
    Motor->Private.setSpeed = 0;                           //如果已经关使能则setspeed = 0;
    Motor->Private.realEnable = 0;
    Motor->Private.lastSpeed = 0;
    Motor->Private.enableDelay = 0;
    Motor->Private.compareBuffer = enable_back; //需要在中断中进行比较的字符串地址
    CAN_Send_Msg(Motor->Private.driverID, msg_disable06, 8, 0, Motor->Private.canSelect);
}

void motor_disable07(DriverStruct *Motor) //电机关使能
{
    Motor->Private.noResponseNum++;
    Motor->Private.compareNum = 4;                         //需要比较的长度
    Motor->Private.tarFlag = 0x07;                         //是否需要在比较成功后置位一个变量 为DONTSETVALUE时候不设置变量 为其他值得时候设置变量
    Motor->Private.setFlagOffset = &Motor->Private.enable; //如果返回数据比较成功则在中断中将0赋值给Motor->Private.enable
    Motor->Private.setSpeed = 0;                           //如果已经关使能则setspeed = 0;
    Motor->Private.realEnable = 0;
    Motor->Private.lastSpeed = 0;
    Motor->Private.enableDelay = 0;
    Motor->Private.compareBuffer = enable_back; //需要在中断中进行比较的字符串地址
    CAN_Send_Msg(Motor->Private.driverID, msg_disable, 8, 0, Motor->Private.canSelect);
}

void motor_enable(DriverStruct *Motor) //电机开使能
{
    Motor->Private.noResponseNum++;
    Motor->Private.compareNum = 4;                         //需要比较的长度
    Motor->Private.tarFlag = 0x0f;                         //是否需要在比较成功后置位一个变量 为DONTSETVALUE时候不设置变量 为其他值得时候设置变量
    Motor->Private.setFlagOffset = &Motor->Private.enable; //如果返回数据比较成功则在中断中将1赋值给Motor->Private.enable
    Motor->Private.compareBuffer = enable_back;            //需要在中断中进行比较的字符串地址
    CAN_Send_Msg(Motor->Private.driverID, msg_enable, 8, 0, Motor->Private.canSelect);
}

void set_speed_model(DriverStruct *Motor) //设置速度模式
{
    Motor->Private.noResponseNum++;
    Motor->Private.compareNum = 4;                              //需要比较的长度
    Motor->Private.tarFlag = 0;                                 //是否需要在比较成功后置位一个变量 为DONTSETVALUE时候不设置变量 为其他值得时候设置变量
    Motor->Private.setFlagOffset = &Motor->Private.currentMode; //如果返回数据比较成功则在中断中将0赋值给Motor->Private.currentMode
    Motor->Private.compareBuffer = msg_setmode_back;
    CAN_Send_Msg(Motor->Private.driverID, msg_setmode, 8, 0, Motor->Private.canSelect);
}

void set_pos_model(DriverStruct *Motor) //设置位置模式
{
    //	Motor->Private.noResponseNum++;
    //	Motor->Private.compareNum	 = 4;//需要比较的长度
    //	Motor->Private.tarFlag       = 1; //是否需要在比较成功后置位一个变量 为DONTSETVALUE时候不设置变量 为其他值得时候设置变量
    //	Motor->Private.setFlagOffset = &Motor->Private.currentMode;//如果返回数据比较成功则在中断中将1赋值给Motor->Private.currentMode
    //	Motor->Private.compareBuffer = msg_set_mode_back;
    //	CAN_Send_Msg(Motor->Private.driverID,msg_set_model_pos,8,0,Motor->Private.canSelect);
}

void send_speed_to_buffer(DriverStruct *Motor)
{
    float sendSpeed = getSpeedSlope(Motor) * Motor->Private.sendSpeedCoefficient; //计算速度斜坡
    Motor->Private.noResponseNum++;
    Motor->Private.compareNum = 4;                           //需要比较的长度
    Motor->Private.tarFlag = (int)(sendSpeed * 1000);        //是否需要在比较成功后置位一个变量 为DONTSETVALUE时候不设置变量 为其他值得时候设置变量
    Motor->Private.setFlagOffset = &Motor->Private.setSpeed; //如果返回数据比较成功则在中断中将Motor->Command.speed赋值给Motor->Private.setSpeed
    if (fabs(Motor->Command.speed) > 0.1)
        change_data(msg_setspeed, (int)sendSpeed);
    else
        change_data_zero(msg_setspeed);
    Motor->Private.compareBuffer = msg_setspeed_back;                                    //需要在中断中进行比较的字符串地址
    CAN_Send_Msg(Motor->Private.driverID, msg_setspeed, 8, 0, Motor->Private.canSelect); //发送8个字节
}

void get_actual_speed(DriverStruct *Motor)
{
    Motor->Private.noResponseNum++;
    Motor->Private.compareNum = 4;                                                       //需要比较的长度
    Motor->Private.tarFlag = DONTSETVALUE;                                               //是否需要在比较成功后置位一个变量 为DONTSETVALUE时候不设置变量 为其他值得时候设置变量
    Motor->Private.compareBuffer = msg_getspeed_back;                                    //需要在中断中进行比较的字符串地址
    CAN_Send_Msg(Motor->Private.driverID, msg_getspeed, 8, 0, Motor->Private.canSelect); //发送8个字节
}

void get_actual_pos(DriverStruct *Motor)
{
    Motor->Private.noResponseNum++;
    Motor->Private.compareNum = 4;                                                     //需要比较的长度
    Motor->Private.tarFlag = DONTSETVALUE;                                             //是否需要在比较成功后置位一个变量 为DONTSETVALUE时候不设置变量 为其他值得时候设置变量
    Motor->Private.compareBuffer = msg_getpos_back;                                    //需要在中断中进行比较的字符串地址
    CAN_Send_Msg(Motor->Private.driverID, msg_getpos, 8, 0, Motor->Private.canSelect); //发送8个字节
}

void clr_actual_pos(DriverStruct *Motor)
{
    //	Motor->Private.noResponseNum++;
    //	Motor->Private.compareNum	 = 4;//需要比较的长度
    //	Motor->Private.tarFlag       = 0;//是否需要在比较成功后置位一个变量 为DONTSETVALUE时候不设置变量 为其他值得时候设置变量
    //	Motor->Private.setFlagOffset = &Motor->Command.clrPos;//如果返回数据比较成功则在中断中将0赋值给Motor->Public.encoderPose
    //	Motor->Private.compareBuffer = clean_actual_pos_back;//需要在中断中进行比较的字符串地址
    //	CAN_Send_Msg(Motor->Private.driverID, msg_clean_actual_pos, 8, 0,Motor->Private.canSelect);//发送8个字节
}

void get_driver_state(DriverStruct *Motor)
{
    Motor->Private.noResponseNum++;
    Motor->Private.compareNum = 4;                                                        //需要比较的长度
    Motor->Private.tarFlag = DONTSETVALUE;                                                //是否需要在比较成功后置位一个变量 为DONTSETVALUE时候不设置变量 为其他值得时候设置变量
    Motor->Private.compareBuffer = msg_get_state_back;                                    //需要在中断中进行比较的字符串地址
    CAN_Send_Msg(Motor->Private.driverID, msg_get_state, 8, 0, Motor->Private.canSelect); //发送8个字节
    if (Motor->Private.noResponseNum > 20)                                                //如果20次未收到驱动器应答
    {
        Motor->Private.noResponseNum = 0;
        Motor->Private.initStep = 0;  //重新初始化
        Motor->Public.errorState = 1; //错误状态置1
        *Motor->driverShareErrorInfo |= (1 << ((Motor->Private.driverID - 1) & 0xff));
        Uart_Printf(COM1, "noresponse id = %d ,%04X\r\n", *Motor->driverShareErrorInfo, Motor->Private.driverID);
    }
}

void get_driver_ampere(DriverStruct *Motor)
{
    Motor->Private.noResponseNum++;
    Motor->Private.compareNum = 4;                                                          //需要比较的长度
    Motor->Private.tarFlag = DONTSETVALUE;                                                  //是否需要在比较成功后置位一个变量 为DONTSETVALUE时候不设置变量 为其他值得时候设置变量
    Motor->Private.compareBuffer = msg_read_ampere_back;                                    //需要在中断中进行比较的字符串地址
    CAN_Send_Msg(Motor->Private.driverID, msg_read_ampere, 8, 0, Motor->Private.canSelect); //发送8个字节
}
#endif

#if ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_HINS_BLD2L) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_HINS_BLD2L) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_HINS_BLD2L) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_HINS_BLD2L)) || ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_HINS_BLD30) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_HINS_BLD30) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_HINS_BLD30) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_HINS_BLD30))
void hins_driver_init(DriverStruct *Motor, u8 reset)
{
    Motor->Private.noResponseNum++;
    Motor->Private.tarFlag = DONTSETVALUE; //是否需要在比较成功后置位一个变量 为DONTSETVALUE时候不设置变量 为其他值得时候设置变量
    Motor->Private.lastSpeed = 0;
    Motor->Private.sendBuffer[3] = reset;
    Motor->Private.sendBuffer[6] = 0;                                                                 //速度高位
    Motor->Private.sendBuffer[7] = 0;                                                                 //速度低位
    CAN_Send_Msg(Motor->Private.driverID, Motor->Private.sendBuffer, 8, 0, Motor->Private.canSelect); //发送8个字节
}

void hins_driver_proc(DriverStruct *Motor)
{
    short sendSpeed = (short)(getSpeedSlope(Motor) * Motor->Private.sendSpeedCoefficient); //计算速度斜坡

    if (sendSpeed < 0)
        Motor->Private.dir = 1;
    else
        Motor->Private.dir = 0;

    if (*Motor->driverShareErrorInfo) //如果有其他驱动报错则速度给0
    {
        Motor->Private.lastSpeed = sendSpeed = 0;
    }

    Motor->Private.noResponseNum++;
    Motor->Private.tarFlag = (int)(sendSpeed);               //是否需要在比较成功后置位一个变量 为DONTSETVALUE时候不设置变量 为其他值得时候设置变量
    Motor->Private.setFlagOffset = &Motor->Private.setSpeed; //如果返回数据比较成功则在中断中将Motor->Command.speed赋值给Motor->Private.setSpeed

    if (allDriverEnable || abs(sendSpeed) > 0) //如果要求驱动器一直使能或者速度不为0
        Motor->Private.sendBuffer[4] = 1;      //使能
    else
        Motor->Private.sendBuffer[4] = 0; //使能

    if (abs(sendSpeed) > 1 && abs(sendSpeed) < 50)
    {
        sendSpeed = 50;
    }
		
    Motor->Private.sendBuffer[5] = Motor->Private.dir;  //方向
    Motor->Private.sendBuffer[6] = abs(sendSpeed) >> 8; //速度高位
    Motor->Private.sendBuffer[7] = abs(sendSpeed);      //速度低位

    CAN_Send_Msg(Motor->Private.driverID, Motor->Private.sendBuffer, 8, 0, Motor->Private.canSelect); //发送8个字节
    if (Motor->Private.noResponseNum > 20)                                                            //如果20次未收到驱动器应答
    {
        Motor->Private.noResponseNum = 0;
        Motor->Private.initStep = 0;  //重新初始化
        Motor->Public.errorState = 1; //错误状态置1
        *Motor->driverShareErrorInfo |= (1 << ((Motor->Private.driverID - 1) & 0xff));
        Uart_Printf(COM1, "noresponse id = %d ,%04X\r\n", *Motor->driverShareErrorInfo, Motor->Private.driverID);
    }
}
#endif

#if ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_CURTIS) | (P_SETUP_STEERING_DRIVER_BRAND == DRIVER_CURTIS) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_CURTIS) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_CURTIS) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_CURTIS))
void curtis_driver_proc(DriverStruct *Motor)
{
    short sendSpeed = (short)(getSpeedSlope(Motor) * Motor->Private.sendSpeedCoefficient); //计算速度斜坡
    short sendAngle = (short)Motor->Command.pose;

    if (sendSpeed < 0)
        Motor->Private.dir = 5;
    else
        Motor->Private.dir = 3;

    if (*Motor->driverShareErrorInfo) //如果有其他驱动报错则速度给0
        Motor->Private.lastSpeed = sendSpeed = 0;

    Motor->Private.noResponseNum++;
    Motor->Private.tarFlag = (u32)((sendSpeed << 16) | sendAngle); //是否需要在比较成功后置位一个变量 为DONTSETVALUE时候不设置变量 为其他值得时候设置变量
    Motor->Private.setFlagOffset = &Motor->Private.responseValue;  //如果返回数据比较成功则在中断中将Motor->Command.speed赋值给Motor->Private.setSpeed

    Motor->Private.sendBuffer[0] = Motor->Private.dir;  //方向
    Motor->Private.sendBuffer[1] = abs(sendSpeed);      //速度低位
    Motor->Private.sendBuffer[2] = abs(sendSpeed) >> 8; //速度高位
    Motor->Private.sendBuffer[3] = 2;
    Motor->Private.sendBuffer[4] = 2;
    Motor->Private.sendBuffer[5] = abs(sendAngle);      //速度低位
    Motor->Private.sendBuffer[6] = abs(sendAngle) >> 8; //速度高位
    Motor->Private.sendBuffer[7] = 0;

    CAN_Send_Msg(Motor->Private.driverID, Motor->Private.sendBuffer, 8, 0, Motor->Private.canSelect); //发送8个字节
    if (Motor->Private.noResponseNum > 20)                                                            //如果20次未收到驱动器应答
    {
        Motor->Private.noResponseNum = 0;
        Motor->Private.initStep = 0;  //重新初始化
        Motor->Public.errorState = 1; //错误状态置1
        *Motor->driverShareErrorInfo |= (1 << ((Motor->Private.driverID - 1) & 0xff));
        Uart_Printf(COM1, "noresponse id = %d ,%04X\r\n", *Motor->driverShareErrorInfo, Motor->Private.driverID);
    }
}
#endif

int get_int_data(u8 *RawData)
{
    return (RawData[3] << 24 | RawData[2] << 16 | RawData[1] << 8 | RawData[0]);
}

void DriverDataProcess(DriverStruct *Motor, CanRxMsg *CanRxMsg)
{
		#if ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_SDO) | (P_SETUP_STEERING_DRIVER_BRAND == DRIVER_SDO) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_SDO) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_SDO) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_SDO))
    if (Motor->Private.driverBrand == DRIVER_SDO)
    {
        if (memcmp(Motor->Private.compareBuffer, CanRxMsg->Data, Motor->Private.compareNum) == 0) //如果接收到的数据和要比较的数据一致则
        {
            Motor->Private.noResponseNum = 0; //无应答累计清零

            if (Motor->Private.tarFlag != DONTSETVALUE) //如果需要设置变量
            {
                *Motor->Private.setFlagOffset = Motor->Private.tarFlag;
            }
            if (Motor->Private.compareBuffer == msg_getspeed_back) //如果要接收速度值
            {
                if (abs(get_int_data(CanRxMsg->Data + 4)) > 40000)
                    Motor->Public.encoderSpeed = get_int_data(CanRxMsg->Data + 4) * Motor->Private.getSpeedCoefficient; //返回的速度原始值乘以转换系数
                else
                    Motor->Public.encoderSpeed = 0;
            }
            else if (Motor->Private.compareBuffer == msg_getpos_back) //如果要接收编码器位置值
            {
                Motor->Public.encoderPose = (int)((float)get_int_data(CanRxMsg->Data + 4) * Motor->Private.getPoseCoefficient); //返回的位置原始值乘以转换系数
            }
            else if (Motor->Private.compareBuffer == msg_get_state_back) //如果要获取状态值
            {
                if ((CanRxMsg->Data[4] & 0xf) == 0x8) //驱动报错
                {
                    Motor->Private.initStep = 0;                                                   //重新初始化
                    Motor->Public.errorState = 1;                                                  //错误状态置1
                    *Motor->driverShareErrorInfo |= (1 << ((Motor->Private.driverID - 1) & 0xff)); //驱动错误状态共享信息对应bit置1
                                                                                                   //Uart_Printf(COM1,"id = %04X,ERROR = %X\r\n",Motor->Private.driverID,CanRxMsg->Data[4]);
                }
                else
                {
                    Motor->Public.errorState = 0;
                    *Motor->driverShareErrorInfo &= ~(1 << ((Motor->Private.driverID - 1) & 0xff));
                }
            }
            else if (Motor->Private.compareBuffer == msg_read_ampere_back) //如果要获取电流值
            {
                Motor->Public.ampere = abs(get_int_data(CanRxMsg->Data + 4));
            }
        }
        else
        {
            Uart_Printf(COM1, "id = %04x com = %02X %02X %02X %02X,rec = %02X %02X %02X %02X %02X %02X %02X %02X\r\n",
                        Motor->Private.driverID, Motor->Private.compareBuffer[0], Motor->Private.compareBuffer[1], Motor->Private.compareBuffer[2], Motor->Private.compareBuffer[3], CanRxMsg->Data[0], CanRxMsg->Data[1], CanRxMsg->Data[2], CanRxMsg->Data[3], CanRxMsg->Data[4], CanRxMsg->Data[5], CanRxMsg->Data[6], CanRxMsg->Data[7]);
        }
        Motor->Private.compareBuffer = EmptyBuffer;
        Motor->Private.compareNum = 0;
    }
		#endif
		#if ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_HINS_BLD2L) | (P_SETUP_STEERING_DRIVER_BRAND == DRIVER_HINS_BLD2L) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_HINS_BLD2L) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_HINS_BLD2L) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_HINS_BLD2L))
    if (Motor->Private.driverBrand == DRIVER_HINS_BLD2L && Motor->Private.slaveID == CanRxMsg->Data[0])
    {
        Motor->Private.noResponseNum = 0;           //无应答累计清零
        if (Motor->Private.tarFlag != DONTSETVALUE) //如果需要设置变量
        {
            *Motor->Private.setFlagOffset = Motor->Private.tarFlag;
        }
        if (CanRxMsg->Data[0] == 2)
        {
            Motor->Private.tarFlag = 0;
        }
        if (CanRxMsg->Data[1]) //驱动报错
        {
            Motor->Private.initStep = 0;                                                   //重新初始化
            *Motor->driverShareErrorInfo |= (1 << ((Motor->Private.driverID - 1) & 0xff)); //驱动错误状态共享信息对应bit置1
            Motor->Public.errorState = CanRxMsg->Data[1];
            //Uart_Printf(COM1,"id = %04X,ERROR = %X\r\n",Motor->Private.driverID,CanRxMsg->Data[4]);
        }
        else
        {
            Motor->Public.errorState = 0;
            *Motor->driverShareErrorInfo &= ~(1 << ((Motor->Private.driverID - 1) & 0xff));
        }

        Motor->Public.voltage = (float)((short)(CanRxMsg->Data[2] << 8 | CanRxMsg->Data[3])) / 100;

        if (Motor->Private.dir == 0)
            Motor->Public.encoderSpeed = (float)((short)(CanRxMsg->Data[4] << 8 | CanRxMsg->Data[5])) * Motor->Private.getSpeedCoefficient;
        else
            Motor->Public.encoderSpeed = (float)((short)(CanRxMsg->Data[4] << 8 | CanRxMsg->Data[5])) * Motor->Private.getSpeedCoefficient;

        Motor->Public.ampere = (float)((short)(CanRxMsg->Data[6] << 8 | CanRxMsg->Data[7])) / 10;
    }
		#endif
		#if ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_HINS_BLD30) | (P_SETUP_STEERING_DRIVER_BRAND == DRIVER_HINS_BLD30) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_HINS_BLD30) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_HINS_BLD30) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_HINS_BLD30))
    if (Motor->Private.driverBrand == DRIVER_HINS_BLD30 && Motor->Private.slaveID == CanRxMsg->Data[0])
    {
        if (CanRxMsg->Data[0] == 1) //A电机
        {
            Motor->Private.noResponseNum = 0; //无应答累计清零

            if (Motor->Private.tarFlag != DONTSETVALUE) //如果需要设置变量
            {
                *Motor->Private.setFlagOffset = Motor->Private.tarFlag;
            }

            Motor->Public.ampere = (float)((short)(CanRxMsg->Data[1] << 8 | CanRxMsg->Data[2])) / 10;

            if (CanRxMsg->Data[3] == 0)
                Motor->Public.encoderSpeed = (float)((short)(CanRxMsg->Data[4] << 8 | CanRxMsg->Data[5])) * Motor->Private.getSpeedCoefficient;
            else
                Motor->Public.encoderSpeed = -(float)((short)(CanRxMsg->Data[4] << 8 | CanRxMsg->Data[5])) * Motor->Private.getSpeedCoefficient;

            if (CanRxMsg->Data[6] || CanRxMsg->Data[7]) //驱动报错
            {
                Motor->Private.initStep = 0;                                                   //重新初始化
                *Motor->driverShareErrorInfo |= (1 << ((Motor->Private.driverID - 1) & 0xff)); //驱动错误状态共享信息对应bit置1
                Motor->Public.errorState = CanRxMsg->Data[6] | CanRxMsg->Data[7];
                //Uart_Printf(COM1,"id = %04X,ERROR = %X\r\n",Motor->Private.driverID,CanRxMsg->Data[4]);
            }
            else
            {
                Motor->Public.errorState = 0;
                *Motor->driverShareErrorInfo &= ~(1 << ((Motor->Private.driverID - 1) & 0xff));
            }
        }
        else if (CanRxMsg->Data[0] == 2) //B电机
        {
            Motor->Private.noResponseNum = 0;           //无应答累计清零
            if (Motor->Private.tarFlag != DONTSETVALUE) //如果需要设置变量
            {
                *Motor->Private.setFlagOffset = Motor->Private.tarFlag;
            }
            Motor->Public.ampere = (float)((short)(CanRxMsg->Data[1] << 8 | CanRxMsg->Data[2])) / 10;

            Motor->Public.voltage = (float)((short)(CanRxMsg->Data[6] << 8 | CanRxMsg->Data[7])) / 100;

            if (CanRxMsg->Data[3] == 0)
                Motor->Public.encoderSpeed = (float)((short)(CanRxMsg->Data[4] << 8 | CanRxMsg->Data[5])) * Motor->Private.getSpeedCoefficient;
            else
                Motor->Public.encoderSpeed = -(float)((short)(CanRxMsg->Data[4] << 8 | CanRxMsg->Data[5])) * Motor->Private.getSpeedCoefficient;
        }
    }
		#endif
		#if ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_CURTIS) | (P_SETUP_STEERING_DRIVER_BRAND == DRIVER_CURTIS) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_CURTIS) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_CURTIS) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_CURTIS))
    if (Motor->Private.driverBrand == DRIVER_CURTIS)
    {
        Motor->Private.noResponseNum = 0; //无应答累计清零

        if (Motor->Private.tarFlag != DONTSETVALUE) //如果需要设置变量
        {
            *Motor->Private.setFlagOffset = Motor->Private.tarFlag;
        }

        Motor->Public.voltage = CanRxMsg->Data[6];

        Motor->Public.encoderSpeed = (float)((short)(CanRxMsg->Data[1] << 8 | CanRxMsg->Data[0])) * Motor->Private.getSpeedCoefficient;
        float encoderPose = (float)((short)(CanRxMsg->Data[3] << 8 | CanRxMsg->Data[2])) * Motor->Private.getPoseCoefficient;
        if (encoderPose > 180)
            encoderPose -= 360;
        encoderPose *= 0.017453;
        Motor->Public.encoderPose = encoderPose;

        //		if(CanRxMsg->Data[6] || CanRxMsg->Data[7])//驱动报错
        //		{
        //			Motor->Private.initStep = 0;//重新初始化
        //			*Motor->driverShareErrorInfo |=(1<<((Motor->Private.driverID-1)&0xff));//驱动错误状态共享信息对应bit置1
        //			Motor->Public.errorState = CanRxMsg->Data[6] | CanRxMsg->Data[7];
        //			//Uart_Printf(COM1,"id = %04X,ERROR = %X\r\n",Motor->Private.driverID,CanRxMsg->Data[4]);
        //		}
        //		else
        //		{
        //			Motor->Public.errorState = 0;
        //			*Motor->driverShareErrorInfo &=~(1<<((Motor->Private.driverID-1)&0xff));
        //		}
    }
		#endif
}

void init_driver(DriverStruct *Motor)
{
    *Motor->driverShareErrorInfo |= (1 << ((Motor->Private.driverID - 1) & 0xff)); //驱动错误状态共享信息对应bit置1	Motor->Private.setSpeed = 0;
    Motor->Private.realEnable = 0;
    Motor->Private.setSpeed = 0;
    Motor->Private.lastSpeed = 0;
    Motor->Public.encoderSpeed = 0;
		#if ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_SDO) | (P_SETUP_STEERING_DRIVER_BRAND == DRIVER_SDO) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_SDO) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_SDO) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_SDO))
    if (Motor->Private.driverBrand == DRIVER_SDO) //(Motor->Private.driverBrand == 0)
    {
        switch (Motor->Private.initStep)
        {
        case 0:
            if (Motor->Private.initSubStep == 0)
            {
                Uart_Printf(COM1, "0 %x\r\n", Motor->Private.driverID);
                Motor->Command.speed = 0;
                send_speed_to_buffer(Motor); //发速度
                Motor->Private.initSubStep++;
            }
            else if (Motor->Private.initSubStep++ > 2) //延迟2循环去下一个
            {
                if (Motor->Private.noResponseNum == 0) //判断是否无响应
                {
                    Motor->Private.initStep = 1;
                }
                else if (Motor->Private.noResponseNum > 20)
                {
                    Motor->Private.initStep = 0;
                }
                Motor->Private.initSubStep = 0;
            }
            break;

        case 1:
            if (Motor->Private.initSubStep == 0) //第一次进发送指令，然后延迟多少个循环进入下一个
            {
                Uart_Printf(COM1, "1 %x\r\n", Motor->Private.driverID);
                send_reset_command(Motor); /*复位驱动器*/
                send_reset_command(Motor); /*复位驱动器*/
                Motor->Private.initSubStep++;
            }
            else if (Motor->Private.initSubStep++ > 200) //延迟200循环去下一个
            {
                Motor->Private.initStep = 2;
                Motor->Private.initSubStep = 0;
            }
            break;

        case 2:
            if (Motor->Private.initSubStep == 0)
            {
                Uart_Printf(COM1, "2 %x\r\n", Motor->Private.driverID);
                motor_disable06(Motor); /*使能06驱动器*/
                Motor->Private.initSubStep++;
            }
            else if (Motor->Private.initSubStep++ > 2) //延迟2循环去下一个
            {
                if (Motor->Private.noResponseNum == 0) //判断是否无响应
                {
                    Motor->Private.initStep = 3;
                }
                else if (Motor->Private.noResponseNum > 20)
                {
                    Motor->Private.initStep = 0;
                }
                Motor->Private.initSubStep = 0;
            }
            break;

        case 3:
            if (Motor->Private.initSubStep == 0)
            {
                Uart_Printf(COM1, "3 %x\r\n", Motor->Private.driverID);
                motor_disable07(Motor); /*使能07驱动器*/
                Motor->Private.initSubStep++;
            }
            else if (Motor->Private.initSubStep++ > 2) //延迟2循环去下一个
            {
                if (Motor->Private.noResponseNum == 0) //判断是否无响应
                {
                    Motor->Private.initStep = 4;
                }
                else if (Motor->Private.noResponseNum > 20)
                {
                    Motor->Private.initStep = 0;
                }
                Motor->Private.initSubStep = 0;
            }
            break;

        case 4:
            if (Motor->Private.initSubStep == 0)
            {
                Uart_Printf(COM1, "4 %x\r\n", Motor->Private.driverID);
                motor_enable(Motor); /*使能0f驱动器*/
                Motor->Private.initSubStep++;
            }
            else if (Motor->Private.initSubStep++ > 2) //延迟2循环去下一个
            {
                if (Motor->Private.noResponseNum == 0) //判断是否无响应
                {
                    Motor->Private.initStep = 5;
                }
                else if (Motor->Private.noResponseNum > 20)
                {
                    Motor->Private.initStep = 0;
                }
                Motor->Private.initSubStep = 0;
            }
            break;

        case 5:
            if (Motor->Private.initSubStep == 0)
            {
                Uart_Printf(COM1, "5 %x\r\n", Motor->Private.driverID);
                set_speed_model(Motor); /*设置为速度模式*/
                Motor->Private.initSubStep++;
            }
            else if (Motor->Private.initSubStep++ > 2) //延迟2循环去下一个
            {
                if (Motor->Private.noResponseNum == 0) //判断是否无响应
                {
                    Motor->Private.initStep = 6;
                }
                else if (Motor->Private.noResponseNum > 20)
                {
                    Motor->Private.initStep = 1;
                }
                Motor->Private.initSubStep = 0;
            }
            break;

        case 6:
            Uart_Printf(COM1, "6 %x\r\n", Motor->Private.driverID);
            //				os_dly_wait (1);
            //				Set_Heartbeat_Time(Motor);//设置心跳
            //				os_dly_wait (1);
            //				Set_Heartbeat_Time(Motor);//设置心跳
            os_dly_wait(1);
            send_heartbeat(Motor);
            Motor->Private.initStep = 255;
            *Motor->driverShareErrorInfo &= ~(1 << ((Motor->Private.driverID - 1) & 0xff));
            Motor->Private.setSpeed = 0;
            break;

        default:

            break;
        }
    }
		#endif

		#if ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_HINS_BLD2L) | (P_SETUP_STEERING_DRIVER_BRAND == DRIVER_HINS_BLD2L) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_HINS_BLD2L) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_HINS_BLD2L) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_HINS_BLD2L))
    if (Motor->Private.driverBrand == DRIVER_HINS_BLD2L || Motor->Private.driverBrand == DRIVER_HINS_BLD30)
    {
        switch (Motor->Private.initStep)
        {
        case 0:
            if (Motor->Private.initSubStep == 0)
            {
                Uart_Printf(COM1, "0 %x\r\n", Motor->Private.driverID);
                hins_driver_init(Motor, 1); //驱动复位
                Motor->Private.initSubStep++;
            }
            else if (Motor->Private.initSubStep++ > 10) //延迟10循环去下一个
            {
                if (Motor->Private.noResponseNum == 0) //判断是否无响应
                {
                    Motor->Private.initStep = 1;
                }
                else if (Motor->Private.noResponseNum > 20)
                {
                    Motor->Private.initStep = 0;
                }
                Motor->Private.initSubStep = 0;
            }
            break;

        case 1:
            if (Motor->Private.initSubStep == 0)
            {
                Uart_Printf(COM1, "1 %x\r\n", Motor->Private.driverID);
                hins_driver_init(Motor, 0); //驱动复位
                Motor->Private.initSubStep++;
            }
            else if (Motor->Private.initSubStep++ > 10) //延迟10循环去下一个
            {
                if (Motor->Private.noResponseNum == 0) //判断是否无响应
                {
                    Motor->Private.initStep = 255;
                }
                else if (Motor->Private.noResponseNum > 20)
                {
                    Motor->Private.initStep = 0;
                }
                Motor->Private.initSubStep = 0;
            }
            break;

        default:

            break;
        }
    }
		#endif

		#if ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_HINS_BLD30) | (P_SETUP_STEERING_DRIVER_BRAND == DRIVER_HINS_BLD30) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_HINS_BLD30) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_HINS_BLD30) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_HINS_BLD30))
    if (Motor->Private.driverBrand == DRIVER_HINS_BLD2L || Motor->Private.driverBrand == DRIVER_HINS_BLD30)
    {
        switch (Motor->Private.initStep)
        {
        case 0:
            if (Motor->Private.initSubStep == 0)
            {
                Uart_Printf(COM1, "0 %x\r\n", Motor->Private.driverID);
                hins_driver_init(Motor, 1); //驱动复位
                Motor->Private.initSubStep++;
            }
            else if (Motor->Private.initSubStep++ > 10) //延迟10循环去下一个
            {
                if (Motor->Private.noResponseNum == 0) //判断是否无响应
                {
                    Motor->Private.initStep = 1;
                }
                else if (Motor->Private.noResponseNum > 20)
                {
                    Motor->Private.initStep = 0;
                }
                Motor->Private.initSubStep = 0;
            }
            break;

        case 1:
            if (Motor->Private.initSubStep == 0)
            {
                Uart_Printf(COM1, "1 %x\r\n", Motor->Private.driverID);
                hins_driver_init(Motor, 0); //驱动复位
                Motor->Private.initSubStep++;
            }
            else if (Motor->Private.initSubStep++ > 10) //延迟10循环去下一个
            {
                if (Motor->Private.noResponseNum == 0) //判断是否无响应
                {
                    Motor->Private.initStep = 255;
                }
                else if (Motor->Private.noResponseNum > 20)
                {
                    Motor->Private.initStep = 0;
                }
                Motor->Private.initSubStep = 0;
            }
            break;

        default:

            break;
        }
    }
		#endif

		#if ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_CURTIS) | (P_SETUP_STEERING_DRIVER_BRAND == DRIVER_CURTIS) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_CURTIS) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_CURTIS) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_CURTIS))
    if (Motor->Private.driverBrand == DRIVER_CURTIS)
    {
        Motor->Private.initStep = 255;
    }
		#endif
}

void DriverState(DriverStruct *Motor, float speedThreshold)
{
    if (Motor->Private.initStep == 255) //如果已经初始化完成
    {
				#if ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_SDO) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_SDO) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_SDO) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_SDO))
        if (Motor->Private.driverBrand == DRIVER_SDO) //如果是步科 风得控驱动
        {
            Motor->Private.readStateCount++;
            Motor->Private.sendHeartBeatCount++;
            Motor->Private.readAmpereCount++;
            if (Motor->Private.readAmpereCount > 30) //30个循环读电流
            {
                Motor->Private.readAmpereCount = 0;
                if (fabs(Motor->Command.speed) > 0.01f)
                {
                    get_driver_ampere(Motor); //获取状态
                }
                else
                {
                    Motor->Public.ampere = 0;
                }
            }
            else if (Motor->Private.readStateCount > 15) //15个循环读状态
            {
                Motor->Private.readStateCount = 0;
                get_driver_state(Motor); //获取状态
            }
            else if (Motor->Private.sendHeartBeatCount > 14) //14个循环发心跳
            {
                Motor->Private.sendHeartBeatCount = 0;
                send_heartbeat(Motor); //发送心跳
            }
            else
            {
                if (Motor->Private.sendStep == 0)
                {
                    get_actual_speed(Motor); //获取速度
                    Motor->Private.sendStep = 1;
                }
                else
                {
                    get_actual_pos(Motor); //获取位置
                    Motor->Private.sendStep = 0;
                }
            }

            if (Motor->Private.realEnable == 0 && (fabs(Motor->Command.speed) > speedThreshold)) //如果还未真正使能
            {
                if (fabs(Motor->Public.encoderSpeed) > speedThreshold && Motor->Private.enable == 0x0f) //如果已经发了使能指令和速度并且有返回速度
                {
                    Motor->Private.realEnable = 1; //真正使能信号置1
                }
                else
                {
//                    Uart_Printf(COM1, "id：%x speed: %.1f\r\n", Motor->Private.driverID, Motor->Public.encoderSpeed);
                }
            }
        }
				#endif
				#if ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_HINS_BLD2L) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_HINS_BLD2L) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_HINS_BLD2L) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_HINS_BLD2L)) || ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_HINS_BLD30) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_HINS_BLD30) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_HINS_BLD30) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_HINS_BLD30))
        if (Motor->Private.driverBrand == DRIVER_HINS_BLD2L || Motor->Private.driverBrand == DRIVER_HINS_BLD30) //如果是兴颂驱动
        {
            Motor->Private.sendHeartBeatCount++;
            if (Motor->Private.sendHeartBeatCount > 10) //500ms内要发一次数据
            {
                Motor->Private.sendHeartBeatCount = 0;
                hins_driver_proc(Motor); //发送心跳
            }
						
						if (Motor->Private.realEnable == 0 && (fabs(Motor->Command.speed) > speedThreshold)) //如果还未真正使能
            {
                if (fabs(Motor->Public.encoderSpeed) > speedThreshold && Motor->Private.enable == 0x0f) //如果已经发了使能指令和速度并且有返回速度
                {
                    Motor->Private.realEnable = 1; //真正使能信号置1
                }
                else
                {
//                    Uart_Printf(COM1, "id：%x speed: %.1f\r\n", Motor->Private.driverID, Motor->Public.encoderSpeed);
                }
            }
        }
				#endif
				#if ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_CURTIS) | (P_SETUP_STEERING_DRIVER_BRAND == DRIVER_CURTIS) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_CURTIS) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_CURTIS) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_CURTIS))
        if (Motor->Private.driverBrand == DRIVER_CURTIS) //如果是兴颂驱动
        {
            Motor->Private.sendHeartBeatCount++;
            if (Motor->Private.sendHeartBeatCount > 10) //500ms内要发一次数据
            {
                Motor->Private.sendHeartBeatCount = 0;
                curtis_driver_proc(Motor); //发送心跳
            }
        }
				#endif
    }
}

u8 set_speed(DriverStruct *Motor) //return 0 代表发了指令 则本轮不能再发指令
{
		#if ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_SDO) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_SDO) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_SDO) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_SDO))
    if (Motor->Private.driverBrand == DRIVER_SDO)
    {
        //		 有其他驱动器报错            or    											速度为0                              进入只使能状态
        if ((*Motor->driverShareErrorInfo) || (Motor->Command.speed < 0.1 && Motor->Command.speed > -0.1 && allDriverEnable))
        {
            if (Motor->Private.enable != 0x0f) //如果是关使能状态
            {
                if (Motor->Private.enable == 0x06) //如果还没关使能
                {
                    motor_disable07(Motor); //关使能
                    return 0;
                }
                else if (Motor->Private.enable == 0x07)
                {
                    motor_enable(Motor); //开使能
                    return 0;
                }
                motor_disable06(Motor); //关使能
                return 0;
            }
            else if (Motor->Private.setSpeed != 0) //如果设置的速度！= 0
            {
                send_speed_to_buffer(Motor); //发速度
                return 0;
            }
        }
        else if (fabs(Motor->Command.speed) < 0.001f) //速度为 0代表要关使能并且给速度0
        {
            if (Motor->Private.enable == 0x0f) //如果还没关使能
            {
                /*如果发现此次速度为0 那么先发送给驱动器速度0 然后再关闭驱动器*/
                if (fabs(Motor->Public.encoderSpeed) > 15) //速度大于5时候不关闭驱动
                {
                    if (abs(Motor->Private.setSpeed) != 0)
                    {
                        send_speed_to_buffer(Motor); //发速度
                        return 0;
                    }
                }
                else
                {
                    motor_disable07(Motor); //关使能
                    return 0;
                }
            }
            else if (Motor->Private.enable == 0x07)
            {
                motor_disable06(Motor); //关使能
                return 0;
            }
        }
        else //有速度
        {
            if (Motor->Private.enable == 0x06)
            {
                Motor->Private.enableDelay++;
                motor_disable07(Motor); //开使能07
                return 0;
            }
            else if (Motor->Private.enable == 0x07)
            {
                Motor->Private.enableDelay++;
                motor_enable(Motor); //开使能
                return 0;
            }
            else if (Motor->Private.enable != 0x0f)
            {
                Motor->Private.enableDelay++;
                motor_disable06(Motor); //开使能06
                return 0;
            }
            else if (Motor->Private.enableDelay < 30)
            {
                Motor->Private.enableDelay++;
            }
            else if (((int)(Motor->Command.speed * 1000 * Motor->Private.sendSpeedCoefficient) != Motor->Private.setSpeed) || (Motor->Private.realEnable == 0)) //如果指令速度和已经设置的速度不同 或者 在未真正使能的时候发了速度
            {
                //Uart_Printf(COM1,"motor = %d , %d , %d\r\n",(int)(Motor->Command.speed*1000), Motor->Private.setSpeed,(Motor->Private.realEnable));
                send_speed_to_buffer(Motor); //发速度
                return 0;
            }
        }
    }
		#endif

		#if ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_HINS_BLD2L) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_HINS_BLD2L) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_HINS_BLD2L) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_HINS_BLD2L)) || ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_HINS_BLD30) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_HINS_BLD30) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_HINS_BLD30) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_HINS_BLD30))
    if (Motor->Private.driverBrand == DRIVER_HINS_BLD2L || Motor->Private.driverBrand == DRIVER_HINS_BLD30)
    {
        if (((int)(Motor->Command.speed * Motor->Private.sendSpeedCoefficient) != Motor->Private.setSpeed) || (Motor->Private.realEnable == 0 && abs(Motor->Command.speed) > 0.1f)) //如果指令速度和已经设置的速度不同 或者 在未真正使能的时候发了速度
        {
            //Uart_Printf(COM1,"motor = %d , %d , %d\r\n",(int)(Motor->Command.speed*1000), Motor->Private.setSpeed,(Motor->Private.realEnable));
            hins_driver_proc(Motor); //发速度
            return 0;
        }
    }
		#endif
    return 1;
}

u8 set_steering_speed(DriverStruct *Motor, DriverStruct *refMotor)
{
		#if ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_HINS_BLD2L) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_HINS_BLD2L) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_HINS_BLD2L) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_HINS_BLD2L)) || ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_HINS_BLD30) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_HINS_BLD30) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_HINS_BLD30) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_HINS_BLD30))
    if (Motor->Private.driverBrand == DRIVER_HINS_BLD2L || Motor->Private.driverBrand == DRIVER_HINS_BLD30)
    {
        if (((int)(Motor->Command.speed * Motor->Private.sendSpeedCoefficient) != Motor->Private.setSpeed) || (Motor->Private.realEnable == 0)) //如果指令速度和已经设置的速度不同 或者 在未真正使能的时候发了速度
        {
            //Uart_Printf(COM1,"motor = %d , %d , %d\r\n",(int)(Motor->Command.speed*1000), Motor->Private.setSpeed,(Motor->Private.realEnable));
            hins_driver_proc(Motor); //发速度
            return 0;
        }
    }
		#endif

		#if ((P_SETUP_MOTOR_DRIVER_BRAND == DRIVER_CURTIS) | (P_SETUP_STEERING_DRIVER_BRAND == DRIVER_CURTIS) | (P_SETUP_LIFTER_DRIVER_BRAND == DRIVER_CURTIS) | (P_SETUP_SHIFTER_DRIVER_BRAND == DRIVER_CURTIS) | (P_SETUP_PUSHER_DRIVER_BRAND == DRIVER_CURTIS))
    if (Motor->Private.driverBrand == DRIVER_CURTIS)
    {
        if (((int)(Motor->Command.speed * Motor->Private.sendSpeedCoefficient) != (int)(Motor->Private.responseValue >> 16)) || ((int)(Motor->Command.pose * Motor->Private.sendSpeedCoefficient) != (int)(Motor->Private.responseValue & 0xffff)) || (Motor->Private.realEnable == 0)) //如果指令速度和已经设置的速度不同 或者 在未真正使能的时候发了速度
        {
            curtis_driver_proc(Motor);
            return 0;
        }
    }
		#endif
    return 1;
}