add modbus support, need to test

2026-08-13 19:49:24 +03:00 · 2026-08-12 10:31:13 +03:00
parent a996bae853
commit 11f3553344
6 changed files with 174 additions and 28 deletions
--- a/BTA_dome_modbus/esq770.h
+++ b/BTA_dome_modbus/esq770.h
@@ -0,0 +1,57 @@
+/*
+ * This file is part of the sslsosk project.
+ * Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+// Registers and their fields for ESQ-770 frequency converter
+
+// command register (rw)
+#define REG_CMD                 0x2000  // 8192
+// set frequency (rw)
+#define REG_FREQ_SET            0x3000  // 12288
+// torque limit (rw)
+#define REG_TORQUE_LIMIT        0x3006  // 12294
+#define REG_BRAKE_TORQUE_LIMIT  0x3007  // 12295
+// status (r)
+#define REG_STATUS_MAIN         0x6000  // 24576
+#define REG_STATUS_EXT          0x6001  // 24577
+// monitoring (r)
+#define REG_OUTPUT_FREQ         0xA201  // 41473 (freq * 100)
+#define REG_OUTPUT_CURRENT      0xA204  // 41476 (current * 10)
+#define REG_MOTOR_SPEED         0xA205  // 41477 (speed, depends on settings)
+
+// REG_CMD bits
+#define CMD_FORWARD             1
+#define CMD_REVERSE             2
+#define CMD_STOP                5
+#define CMD_FAST_STOP           6
+#define CMD_RESET_FAULT         7
+
+// REG_STATUS_MAIN bits
+#define STATUS_CW               1
+#define STATUS_CCW              2
+#define STATUS_STOP             3
+#define STATUS_ERR              4
+#define STATUS_LOW_V            5
+
+// REG_STATUS_EXT bit
+#define STATUS_READY_MASK       0x01
+
+#define FREQ_SCALE              100.
+#define CURRENT_SCALE           10.
+