mirror of
https://github.com/eddyem/pusirobot.git
synced 2025-12-06 10:35:11 +03:00
87 lines
2.7 KiB
C
87 lines
2.7 KiB
C
/*
|
|
* This file is part of the stepper project.
|
|
* Copyright 2020 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
|
|
#ifndef PUSIROBOT_H__
|
|
#define PUSIROBOT_H__
|
|
|
|
#include <stdint.h>
|
|
|
|
// entry of SDO dictionary
|
|
typedef struct{
|
|
uint16_t index; // SDO index
|
|
uint8_t subindex; // SDO subindex
|
|
uint8_t datasize; // data size: 1,2,3 or 4 bytes
|
|
uint8_t issigned; // signess: if issigned==1, then signed, else unsigned
|
|
} SDO_dic_entry;
|
|
|
|
#ifndef DICENTRY
|
|
#define DICENTRY(name, idx, sidx, sz, s) extern const SDO_dic_entry name;
|
|
#endif
|
|
|
|
// heartbeat time
|
|
DICENTRY(HEARTBTTIME, 0x1017, 0, 2, 0)
|
|
// node ID
|
|
DICENTRY(NODEID, 0x2002, 0, 1, 0)
|
|
// baudrate
|
|
DICENTRY(BAUDRATE, 0x2003, 0, 1, 0)
|
|
// system control: 1- bootloader, 2 - save parameters, 3 - reset factory settings
|
|
DICENTRY(SYSCONTROL, 0x2007, 0, 1, 0)
|
|
// error state
|
|
DICENTRY(ERRSTATE, 0x6000, 0, 1, 0)
|
|
// controller status
|
|
DICENTRY(DEVSTATUS, 0x6001, 0, 1, 0)
|
|
// rotation direction
|
|
DICENTRY(ROTDIR, 0x6002, 0, 1, 0)
|
|
// maximal speed
|
|
DICENTRY(MAXSPEED, 0x6003, 0, 4, 1)
|
|
// relative displacement
|
|
DICENTRY(RELSTEPS, 0x6004, 0, 4, 0)
|
|
// operation mode
|
|
DICENTRY(OPMODE, 0x6005, 0, 1, 0)
|
|
// start speed
|
|
DICENTRY(STARTSPEED, 0x6006, 0, 2, 0)
|
|
// stop speed
|
|
DICENTRY(STOPSPEED, 0x6007, 0, 2, 0)
|
|
// acceleration coefficient
|
|
DICENTRY(ACCELCOEF, 0x6008, 0, 1, 0)
|
|
// deceleration coefficient
|
|
DICENTRY(DECELCOEF, 0x6009, 0, 1, 0)
|
|
// microstepping
|
|
DICENTRY(MICROSTEPS, 0x600A, 0, 2, 0)
|
|
// max current
|
|
DICENTRY(MAXCURNT, 0x600B, 0, 2, 0)
|
|
// current position
|
|
DICENTRY(POSITION, 0x600C, 0, 4, 0)
|
|
// motor enable
|
|
DICENTRY(ENABLE, 0x600E, 0, 1, 0)
|
|
// absolute displacement
|
|
DICENTRY(ABSSTEPS, 0x601C, 0, 4, 1)
|
|
// stop motor
|
|
DICENTRY(STOP, 0x6020, 0, 1, 0)
|
|
|
|
#define MAX_SPEED_MIN -200000
|
|
#define MAX_SPEED_MAX 200000
|
|
|
|
// unclearable status
|
|
#define BUSY_STATE (1<<3)
|
|
const char *devstatus(uint8_t status, uint8_t bit);
|
|
const char *errname(uint8_t error, uint8_t bit);
|
|
//int get_current_position(uint8_t NID);
|
|
|
|
#endif // PUSIROBOT_H__
|