105 lines
2.8 KiB
C
105 lines
2.8 KiB
C
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//-------------------------------------------------------------------------------
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// File Name: sewhead.h
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// Brief:
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// Version: 1.0.0
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// Create Date: 2024/10/11
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// Create by: W.X
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// Copyright:
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// TIANJIN GETONAGAIN TECHNOLOGY CO., LIMITED
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// All rights reserved.
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//
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// Modify by: W.X
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// Modify Date: 2024/10/17
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//-------------------------------------------------------------------------------
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#ifndef APP_SEWHEAD_H_
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#define APP_SEWHEAD_H_
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#include "config.h"
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#if (BOARD_USE_FOR == SEW_HEAD)
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#define EN_FALG 0x55AA
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// MODBUS<55><53><EFBFBD><EFBFBD>ͨѶָ<D1B6><D6B8>
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#define MOTO_CTRL_CMD 9216 // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#define MOTO_CMD_RST 0x0000 // <20><><EFBFBD>λ
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#define MOTO_TO_ZERO 0x0001 // <20><><EFBFBD><EFBFBD>
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#define MOTO_SET_ZERO 0x0100 // <20><>ǰλ<C7B0><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
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#define MOTO_DIS 0x0400 // ȥʹ<C8A5><CAB9>
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#define MOTO_EN 0x0800 // ʹ<><CAB9>
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#define MOTO_RESET 0x2000 // <20><><EFBFBD><EFBFBD>
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#define MOTO_CTRL_TOPOS 9218 // <20><><EFBFBD><EFBFBD>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
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#define PFOOT_HIGH_POS 1
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#define PFOOT_LOW_POS 2
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#define PFOOT_BACK_POS 4
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#define MOTO_CTRL_TOZPOS 9473 // <20><><EFBFBD><EFBFBD>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
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#define MOTO_PARA_ZERO 8225 // <20>趨<EFBFBD><E8B6A8><EFBFBD>㷽ʽ
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#define MOTO_TZ_EVAL 0 // <20><><EFBFBD>趨λ<E8B6A8><CEBB>
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#define MOTO_TZ_NLMT 1 // <20>ط<EFBFBD><D8B7><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5>λ
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#define MOTO_PARA_POS0 8320 // <20>趨λ<E8B6A8><CEBB>0<EFBFBD><30><EFBFBD><EFBFBD>
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#define MOTO_PARA_POS1 8321 // <20>趨λ<E8B6A8><CEBB>1<EFBFBD><31><EFBFBD><EFBFBD>
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#define MOTO_PARA_POS2 8322 // <20>趨λ<E8B6A8><CEBB>2<EFBFBD><32><EFBFBD><EFBFBD>
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#define MOTO_PARA_POS3 8323 // <20>趨λ<E8B6A8><CEBB>3<EFBFBD><33><EFBFBD><EFBFBD>
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#define SetElasticMotoMode SetSTM32Moto1Mode
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#define GetElasticMotoState GetSTM32Moto1State
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#define ElasticMotoStart STM32Moto1Start
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#define ElasticMotoEnSta GetMoto1EnStatus
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#define ElasticMotoEnOn SetMoto1EnOn
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#define GetElasticMotoRealPos GetSTM32Moto1RealPos
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#define SetElasticMotoRealPos SetSTM32Moto1RealPos
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#define ADVAL_BASE 1635 // ADC<44><43><EFBFBD><EFBFBD>ֵ
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#define PINEL_BASE 0 // ADC<44><43>Сֵ
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#define TAUTL_BASE 4000 // ADC<44><43><EFBFBD><EFBFBD>ֵ
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#define ERROR_RANGE 10 //ADC<44><43><EFBFBD>Χ
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#define MOVE 33000 //<2F><><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>
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#define FOOT_PULS_CL 600
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#define FOOT_MAX_LEN 40
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>崥<EFBFBD><E5B4A5><EFBFBD><EFBFBD>ʽ
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#define TRG_ECD_AP 1 // AP <20><><EFBFBD><EFBFBD>
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#define TRG_ECD_BP 2 // BP <20><><EFBFBD><EFBFBD>
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#define TRG_ECD_AB2 3 // AB <20><><EFBFBD><EFBFBD>, 2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#define TRG_ECD_AB4 4 // AB <20><><EFBFBD><EFBFBD>, 4<><34><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#define TRIGGER_TYPE TRG_ECD_AP
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#if (TRIGGER_TYPE == TRG_ECD_AP || TRIGGER_TYPE == TRG_ECD_BP)
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#define ENCODER_PNUM 1000
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#elif (TRIGGER_TYPE == TRG_ECD_AB2)
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#define ENCODER_PNUM 2000
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#elif (TRIGGER_TYPE == TRG_ECD_AB4)
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#define ENCODER_PNUM 4000
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#else
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#endif
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typedef struct
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{
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u32 stspd;
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u32 runspd;
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u32 add;
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u32 brkadd;
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}spdCtrl;
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//#define OutputStepOn() SetMoto1StepOn()
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#define OutputStepOff() SetMoto1StepOff()
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#define OutputDirOn() SetMoto1DirOn()
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#define OutputDirOff() SetMoto1DirOff()
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void InitSewHeadBoard(void);
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void SewHeadBoardTask(void);
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void APIntProc(void);
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void BPIntProc(void);
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void ZPIntProc(void);
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void SoftPwmIntProc(void);
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#endif
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#endif /* APP_SEWHEAD_H_ */
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