optical/EMBOS/Users/EmbFunc/busmotos/ruanyictrl.c

#include "ruanyictrl.h"

#if (BUSCTRL_MOTO == RUANYI)

#include "modbus_m.h"
#include "workctrl.h"

typedef struct
{
	u16 motoreturndat;	//<2F><><EFBFBD><EFBFBD><EFBFBD>ذ<EFBFBD><D8B0><EFBFBD><EFBFBD><EFBFBD>
	u16 motoparaval;	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
	u16 zerocodeval;	//<2F><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ֵ
	int curtozeroval;	//<2F><>ǰλ<C7B0><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>ֵ
	u32 curtozeroabs;

	u8 zeroflag;
	s16 motocurpuspos;
}RYDriverCtrl;

RYDriverCtrl g_rydriverctrl;

void InitRuanyiCom(void)	//<2F><>ʼ<EFBFBD><CABC>
{
	memset(&g_rydriverctrl, 0, sizeof(RYDriverCtrl));

}


/*<2A>ƶ<EFBFBD><C6B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ijλ<C4B3><CEBB> (<28><><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>)
 * decIdx:<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><EFBFBD>ַ<EFBFBD><EFBFBD>1-127
 * pos:Ŀ<EFBFBD><EFBFBD>λ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * spd:<EFBFBD>ٶ<EFBFBD> 0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ı<EFBFBD><EFBFBD>ٶ<EFBFBD>
 * */

int MoveRyiToAbsolutePos(u8 devIdx, s16 pos, u16 spd)
{
	int err = 0;
	static u16 oldRyspd = 500;
	if(spd != oldRyspd)
	{
		oldRyspd = spd;
		err = ModbusComm16(0,devIdx, MODBUS_WR, 8256, (u16)spd, &g_rydriverctrl.motoreturndat);  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
		DelayRef(300);
	}
	if(err >= 0 &&
			pos != 0)
	{
		err = ModbusComm16(0,devIdx, MODBUS_WR, 9473, (u16)pos, &g_rydriverctrl.motoreturndat);
		if(g_rydriverctrl.motoreturndat != (u16)pos)
		{
			err = -10;
		}
	}

	return err;
}



/*<2A>ƶ<EFBFBD><C6B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ijλ<C4B3>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>ã<EFBFBD>
 * decIdx:<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><EFBFBD>ַ<EFBFBD><EFBFBD>1-127
 * pos:Ŀ<EFBFBD><EFBFBD>λ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 * spd:<EFBFBD>ٶ<EFBFBD> 0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ı<EFBFBD><EFBFBD>ٶ<EFBFBD>
 * */

int MoveRyiToRelativePos(u8 devIdx, s16 pos, u16 spd)
{
	int err = 0;
	static u16 oldRyspd = 1500;
	if(spd != oldRyspd)
	{
		oldRyspd = spd;
		err = ModbusComm16(0,devIdx, MODBUS_WR, 8256, (u16)spd, &g_rydriverctrl.motoreturndat);  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
		DelayRef(300);
	}
	if(err >= 0 &&
			pos != 0)
	{
		err = ModbusComm16(0,devIdx, MODBUS_WR, 9475, (u16)pos, &g_rydriverctrl.motoreturndat);
		if(g_rydriverctrl.motoreturndat != (u16)pos)
		{
			err = -10;
		}
	}

	return err;
}

/*<2A><><EFBFBD><EFBFBD>JOG+ <20><><EFBFBD><EFBFBD>
 * decIdx:<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><EFBFBD>ַ<EFBFBD><EFBFBD>1-127
 * spd:<EFBFBD>ٶ<EFBFBD> 0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ı<EFBFBD><EFBFBD>ٶ<EFBFBD>
 * */

int MoveRyiJOGP(u8 devIdx, u16 spd)
{
	int err = 0;
	if(spd != 0)
	{
		err = ModbusComm16(0,devIdx, MODBUS_WR, 8241, (u16)spd, &g_rydriverctrl.motoreturndat);	//<2F>㶯<EFBFBD>ٶ<EFBFBD>
	}
	if(err >= 0)
	{
		err = ModbusComm16(0,devIdx, MODBUS_WR, BITMOVEADDR, BITJOGPCMD, &g_rydriverctrl.motoreturndat);
	}
	return err;
}

int MoveRyiJOGN(u8 devIdx, u16 spd)
{
	int err = 0;
	if(spd != 0)
	{
		err = ModbusComm16(0,devIdx, MODBUS_WR, 8241, (u16)spd, &g_rydriverctrl.motoreturndat);	//<2F>㶯<EFBFBD>ٶ<EFBFBD>
	}
	if(err >= 0)
	{
		err = ModbusComm16(0,devIdx, MODBUS_WR, BITMOVEADDR, BITJOGNCMD, &g_rydriverctrl.motoreturndat);
	}
	return err;
}

//<2F><><EFBFBD><EFBFBD>ֹͣ
int RyiMotoStop(u8 devIdx)
{
	int err = 0;
	err = ModbusComm16(0,devIdx, MODBUS_WR, BITMOVEADDR, BITSTOPCMD, &g_rydriverctrl.motoreturndat);
	return err;
}

//<2F><>ǰλ<C7B0>ø<EFBFBD><C3B8><EFBFBD>
int SetRyiCurPos(u8 devIdx, s16 pos)
{
	int err = 0;
	err = ModbusComm16(0,devIdx, MODBUS_WR, 9472, pos, &g_rydriverctrl.motoreturndat);
	return err;
}

//<2F><>ǰλ<C7B0><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
int RyiMotoSetCurPosZero(u8 devIdx)
{
	int err = 0;
	err = ModbusComm16(0,devIdx, MODBUS_WR, BITMOVEADDR, BITSETCPOSZEROCMD, &g_rydriverctrl.motoreturndat);
	return err;
}

//<2F><><EFBFBD><EFBFBD>Ӧλ<D3A6><CEBB>
int RyiMotoToPos(u8 devIdx, u16 pos)
{
	int err = 0;
	err = ModbusComm16(0,devIdx, MODBUS_WR, BITTOPOSADDR, pos, &g_rydriverctrl.motoreturndat);
	return err;
}


//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>λ<EFBFBD><CEBB> <20><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
int GetCurPusPos(u8 devIdx, s16 * puspos)
{
	int err = 0;
	u16 upuspos = 0;
	err = ModbusComm16(0,devIdx, MODBUS_RD, 9729, 0, &upuspos);
	*puspos = (s16)upuspos;
	return err;
}

//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>״̬ <20><>ǰָ<C7B0><D6B8><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><30>δ<EFBFBD><CEB4><EFBFBD>ɣ<EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 2<><32><EFBFBD><EFBFBD>ת 3<><33><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
int GetCurStatus(u8 devIdx, int * statuflg)
{
	int err = 0;
	u16 sta = 0;
	err = ModbusComm16(0,devIdx, MODBUS_RD, 9728, 0, &sta);
	if(err < 0)
	{
		return err;
	}
	else
	{
		if(sta == 1)
		{
			*statuflg = 1;
		}
		else if(sta == 0)
		{
			*statuflg = 0;
		}
		else
		{
			*statuflg = -1;
		}
	}
	return err;
}

#endif