90 lines
3.3 KiB
C
90 lines
3.3 KiB
C
/**
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* @file emm_v5.h
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* @brief Emm_V5.0 步进闭环电机驱动器 - ESP-IDF 组件
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* @author 移植自 Arduino 版本 (原作者: ZHANGDATOU)
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*
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* 通信协议: UART, 115200bps, 8N1
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* 使用方式:
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* Emm_V5_Init(UART_NUM_1, GPIO_NUM_6, GPIO_NUM_7);
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*/
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#ifndef EMM_V5_H
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#define EMM_V5_H
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#include <stdint.h>
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#include <stdbool.h>
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#include "driver/uart.h"
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#include "driver/gpio.h"
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#include "esp_log.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* ============================================================
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* 可配置常量
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* ============================================================ */
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#define EMM_V5_UART_BAUDRATE 115200
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#define EMM_V5_UART_BUF_SIZE 256
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/* LED 指示 (GPIO2 为多数 ESP32 板载 LED) */
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#define EMM_V5_LED_GPIO GPIO_NUM_2
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/* 接收超时时间 (毫秒) */
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#define EMM_V5_RX_TIMEOUT_MS 100
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/* ============================================================
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* 系统参数枚举 (与 Arduino 版本一致)
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* ============================================================ */
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typedef enum {
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S_VER = 0, /* 读取固件版本和对应的硬件版本 */
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S_RL = 1, /* 读取相电阻和相电感 */
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S_PID = 2, /* 读取PID参数 */
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S_VBUS = 3, /* 读取总线电压 */
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S_CPHA = 5, /* 读取相电流 */
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S_ENCL = 7, /* 读取经过线性化校准后的编码器值 */
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S_TPOS = 8, /* 读取电机目标位置角度 */
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S_VEL = 9, /* 读取电机实时转速 */
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S_CPOS = 10, /* 读取电机实时位置角度 */
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S_PERR = 11, /* 读取电机位置误差角度 */
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S_FLAG = 13, /* 读取使能/到位/堵转状态标志位 */
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S_Conf = 14, /* 读取驱动参数 */
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S_State = 15, /* 读取系统状态参数 */
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S_ORG = 16, /* 读取正在回零/回零失败状态标志位 */
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} EmmSysParams_t;
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/* ============================================================
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* API 函数声明
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* ============================================================ */
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/**
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* @brief 初始化 UART 和 LED GPIO
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* @param port UART 端口号, 如 UART_NUM_1
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* @param tx_pin TX 引脚, 如 GPIO_NUM_6
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* @param rx_pin RX 引脚, 如 GPIO_NUM_7
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*/
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void Emm_V5_Init(uart_port_t port, int tx_pin, int rx_pin);
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void Emm_V5_Reset_CurPos_To_Zero(uint8_t addr);
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void Emm_V5_Reset_Clog_Pro(uint8_t addr);
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void Emm_V5_Read_Sys_Params(uint8_t addr, EmmSysParams_t s);
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void Emm_V5_Modify_Ctrl_Mode(uint8_t addr, bool svF, uint8_t ctrl_mode);
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void Emm_V5_En_Control(uint8_t addr, bool state, bool snF);
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void Emm_V5_Vel_Control(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc, bool snF);
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void Emm_V5_Pos_Control(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc,
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uint32_t clk, bool raF, bool snF);
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void Emm_V5_Stop_Now(uint8_t addr, bool snF);
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void Emm_V5_Synchronous_motion(uint8_t addr);
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void Emm_V5_Origin_Set_O(uint8_t addr, bool svF);
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void Emm_V5_Origin_Modify_Params(uint8_t addr, bool svF, uint8_t o_mode,
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uint8_t o_dir, uint16_t o_vel, uint32_t o_tm,
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uint16_t sl_vel, uint16_t sl_ma, uint16_t sl_ms, bool potF);
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void Emm_V5_Origin_Trigger_Return(uint8_t addr, uint8_t o_mode, bool snF);
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void Emm_V5_Origin_Interrupt(uint8_t addr);
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uint8_t Emm_V5_Receive_Data(uint8_t *rxCmd, uint8_t maxLen);
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#ifdef __cplusplus
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}
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#endif
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#endif /* EMM_V5_H */
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