260 lines
4.4 KiB
C
260 lines
4.4 KiB
C
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#ifndef __DRIVERPARAS_H__
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#define __DRIVERPARAS_H__
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#include "config.h"
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#define DRIVER_PARA_ST 0
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#define DRIVER_PARA_NOR 1
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#ifndef DRIVER_PARA
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#define DRIVER_PARA DRIVER_PARA_NOR
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#endif
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#if (DRIVERS_NUM > 0)
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#if (DRIVER_PARA == DRIVER_PARA_NOR)
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#include "norparas.h"
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#define DRV_PARA_NUMS PARA_NUM_PER_BLK
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#define DRV_PARA_STR_LEN PARA_STR_LEN
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#else
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#define DRV_PARA_NUMS 64
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#define DRV_PARA_STR_LEN 30
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#endif
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#define CTRLMODE_OPEN 0
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#define CTRLMODE_CLOSE 1
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typedef struct
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{
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// 0
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int closeCtrlMode; // <20><><EFBFBD>ջ<EFBFBD>ģʽ
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int cmdSource; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ, 0 <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>; 1, <20>ⲿ<EFBFBD><E2B2BF><EFBFBD><EFBFBD>;
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int stepPerCircle; // ÿȦ<C3BF><C8A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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// 3
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int openRunCircle; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD>
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int openLockCircle; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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int openMaxOffset; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƫ<EFBFBD><C6AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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// 6
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s32 maxSpeed; // <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><>λ: <20>ɿ<EFBFBD>λ<EFBFBD>ø<EFBFBD><C3B8><EFBFBD>/<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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// 7
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int closeAdjust; // <20>ջ<EFBFBD><D5BB>ų<EFBFBD><C5B3><EFBFBD><EFBFBD><EFBFBD>
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int closeCircle; // <20>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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// 9
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int maxAdvance; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƫ<EFBFBD><C6AB>
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// 10
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// <20>ջ<EFBFBD>λ<EFBFBD>ÿ<EFBFBD><C3BF><EFBFBD>pid
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int kp; // λ<>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>Χ(0--1000), Ĭ<><C4AC> 500
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int ki; // λ<>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>Χ(0--1000), Ĭ<><C4AC> 20
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int kd; // λ<>û<EFBFBD><EFBFBD><CEA2><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>Χ(0--1000), Ĭ<><C4AC> 800
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// 13
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int ecdAdjust; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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// 14
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u32 startPPS; // <20><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
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u32 runPPS; // <20><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
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u32 addPPSS; // <20><><EFBFBD>ٶ<EFBFBD>
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u32 brkPPSS; // ɲ<><C9B2><EFBFBD>ٶ<EFBFBD>
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// 18
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u32 numerator; // <20><><EFBFBD>ӳ<EFBFBD><D3B3>ַ<EFBFBD><D6B7><EFBFBD>
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u32 denominator; // <20><><EFBFBD>ӳ<EFBFBD><D3B3>ַ<EFBFBD>ĸ
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// 20
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u32 basecircle; // <20>ջ<EFBFBD><D5BB><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD>
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// 21
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u32 rev[DRV_PARA_NUMS-21];
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}DriverPara;
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#ifdef _IN_DRIVERPARAS_C
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// Ĭ<>ϲ<EFBFBD><CFB2><EFBFBD><EFBFBD><EFBFBD>
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static const u32 g_defDriverParaList[DRV_PARA_NUMS][3] =
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{
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// <09><>С <09><><EFBFBD><EFBFBD> Ĭ<><C4AC>
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// 0
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{0, 1, 0 } , // int closeCtrlMode; // <20><><EFBFBD>ջ<EFBFBD>ģʽ
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{0, 1, 0 } , // int cmdSource; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ, 0 <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>; 1, <20>ⲿ<EFBFBD><E2B2BF><EFBFBD><EFBFBD>;
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{100, 204800, 4000} , // int stepPerCircle; // ÿȦ<C3BF><C8A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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// 3
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{1, 320, 200 } , // int openRunCircle; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD>
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{0, 320, 0 } , // int openLockCircle; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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{1, 1000, 200 } , // int openMaxOffset; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƫ<EFBFBD><C6AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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// 6
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{1, 10000, 4000} , // s32 maxSpeed; // <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><>λ: <20>ɿ<EFBFBD>λ<EFBFBD>ø<EFBFBD><C3B8><EFBFBD>/<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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// 7
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{0, 0, 0 } , // int closeAdjust; // <20>ջ<EFBFBD><D5BB>ų<EFBFBD><C5B3><EFBFBD><EFBFBD><EFBFBD>
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{1, 1000, 100 } , // int closeCircle; // <20>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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{1, 1200, 1200} , // int maxAdvance; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƫ<EFBFBD><C6AB>
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// 10
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// <20>ջ<EFBFBD><D5BB><EFBFBD><EFBFBD><EFBFBD>pid
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{0, 1000, 400 } , // int kp; // λ<>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>Χ(0--1000), Ĭ<><C4AC> 400
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{0, 1000, 20 } , // int ki; // λ<>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>Χ(0--1000), Ĭ<><C4AC> 20
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{0, 1000, 800 } , // int kd; // λ<>û<EFBFBD><EFBFBD><CEA2><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>Χ(0--1000), Ĭ<><C4AC> 800
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// 13
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{0, 0, 0 } , // int ecdAdjust; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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// 14
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{1, 10000, 1000 } , // u32 startPPS; // <20><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
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{1, 200000, 40000 } , // u32 runPPS; // <20><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
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{1, 40000, 100 } , // u32 addPPSS; // <20><><EFBFBD>ٶ<EFBFBD>
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{1, 40000, 10000 } , // u32 brkPPSS; // ɲ<><C9B2><EFBFBD>ٶ<EFBFBD>
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// 18
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{100, 204800, 4000} , // u32 numerator; // <20><><EFBFBD>ӳ<EFBFBD><D3B3>ַ<EFBFBD><D6B7><EFBFBD>
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{1, 204800, 1 } , // u32 denominator; // <20><><EFBFBD>ӳ<EFBFBD><D3B3>ַ<EFBFBD>ĸ
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// 20
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{0, 50, 0 }, // <20>ջ<EFBFBD><D5BB><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD>
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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// 32
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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{0, 0, 0 },
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};
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static const char g_driverParaStrList[DRV_PARA_NUMS][DRV_PARA_STR_LEN] =
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{
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"<EFBFBD><EFBFBD><EFBFBD>ջ<EFBFBD>ģʽ; 0<><30><EFBFBD><EFBFBD>; 1, <20>ջ<EFBFBD>;",
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"<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ, 0 <20>ڲ<EFBFBD>; 1, <20>ⲿ;",
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"ÿȦ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>",
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"<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><EFBFBD><EFBFBD>",
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"<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>",
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"<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƫ<EFBFBD><EFBFBD>",
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"<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>",
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"<EFBFBD>ջ<EFBFBD><EFBFBD>ų<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>",
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"<EFBFBD>ջ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>",
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"<EFBFBD>ջ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƫ<EFBFBD><EFBFBD>",
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"λ<EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(0--1000)",
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"λ<EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(0--1000)",
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"λ<EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(0--1000)",
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"<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĭ<EFBFBD><EFBFBD>0",
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"<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>",
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"<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>",
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"<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>",
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"ɲ<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>",
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"<EFBFBD><EFBFBD><EFBFBD>ӳ<EFBFBD><EFBFBD>ַ<EFBFBD><EFBFBD><EFBFBD>",
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"<EFBFBD><EFBFBD><EFBFBD>ӳ<EFBFBD><EFBFBD>ַ<EFBFBD>ĸ",
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// 20
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"<EFBFBD>ջ<EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><EFBFBD><EFBFBD><EFBFBD>(0-50)",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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// 32
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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"",
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};
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#endif
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//-----------------------
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void InitDriverParas(void);
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DriverPara * GetDriverParas(int didx);
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void SaveDriverParas(int didx);
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const char * GetDriverParaName(int pidx);
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//-----------------------
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#endif
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//-----------------------
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#endif
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