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104 lines
4.8 KiB
104 lines
4.8 KiB
#pragma once
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#include "project_configs.h"
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#define MAX_USR_NAME_SIZE 31
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/***********************************************************************************************************************
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* 调试指示灯 *
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***********************************************************************************************************************/
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#define DEBUG_LIGHT_IO PE2
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#define DEBUG_UART_INDEX 1
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#define DEBUG_UART_INS huart1
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#define DEBUG_UART_BAUDRATE 460800
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#define DEBUG_TX_PIN PB6
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#define DEBUG_RX_PIN PB7
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/***********************************************************************************************************************
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* ID配置 *
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***********************************************************************************************************************/
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#define ID0_IO PE1
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#define ID1_IO PE3
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#define ID2_IO PE4
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#define ID3_IO PE5
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#define ID4_IO PE6
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/***********************************************************************************************************************
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* 驱动器引脚配置 *
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***********************************************************************************************************************/
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// SPI
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#define MOTOR_SPI_INS hspi1
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#define MOTOR_SPI_INDEX 1
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#define MOTOR_SPI_SCK PA5
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#define MOTOR_SPI_SDO PA6
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#define MOTOR_SPI_SDI PA7
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// POWER EN
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#define MOTO_POWER_EN_IO PE7
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// CSN
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#define MOTO1_CSN_IO PE8
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#define MOTO2_CSN_IO PE9
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#define MOTO3_CSN_IO PE10
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#define MOTO4_CSN_IO PE11
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// ENN
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#define MOTO1_DRV_ENN_IO PE12
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#define MOTO2_DRV_ENN_IO PE13
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#define MOTO3_DRV_ENN_IO PE14
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#define MOTO4_DRV_ENN_IO PE15
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// REF
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#define MOTOR1_REF_L_IO PD6
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#define MOTOR1_REF_R_IO PD7
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#define MOTOR2_REF_L_IO PD10
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#define MOTOR2_REF_R_IO PD11
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#define MOTOR3_REF_L_IO PD12
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#define MOTOR3_REF_R_IO PD13
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#define MOTOR4_REF_L_IO PD14
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#define MOTOR4_REF_R_IO PD15
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/***********************************************************************************************************************
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* CAN驱动器 *
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***********************************************************************************************************************/
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#define CAN1_TX_PIN PD1
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#define CAN1_RX_PIN PD0
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#define IO_OUT1_IO PC0
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#define IO_OUT2_IO PC1
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/***********************************************************************************************************************
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* BLE_REMOTER *
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***********************************************************************************************************************/
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#define BLE_UART_INS huart3
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#define BLE_CONNECTED_STATE_IO PB4
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#define BLE_UART_TX PD8
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#define BLE_UART_RX PD9
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#define BLE_UART_BAUDRATE 115200
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/***********************************************************************************************************************
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* TJC *
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***********************************************************************************************************************/
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#define TJC_UART_CH_SEL_PIN PB12
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#define TJC_UART_CH_EN_PIN PB13
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#define TJC_UART_TX PC10
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#define TJC_UART_RX PC11
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#define TJC_UART_INS huart4
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/***********************************************************************************************************************
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* MOTOR_CFG *
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***********************************************************************************************************************/
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#define MOTOR_SHAFT false
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#define STEPMOTOR_IHOLD 3
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#define STEPMOTOR_IHOLDDELAY 100
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#define MOTOR_VSTART 150 // 启动速度
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#define MOTOR_A1 5 // 阶段1_加速度
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#define MOTOR_AMAX 20 // 阶段2_加速度
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#define MOTOR_V1 500 // 阶段2_开始速度
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#define MOTOR_TZEROWAIT 100 // 速度零点点切换时间
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#define BLENAME "AciDisp" // BLE名字
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// #define MAX_RPM 800 // 最大转速
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#define PUMP_TEST_RPM 500 // 泵机测试时转速
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/***********************************************************************************************************************
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* 配置默认数值 *
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***********************************************************************************************************************/
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#define USER_DEFAULT_PWD "888888"
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#define PUMPDEFVEL 400 // 100r/min
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