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#pragma once
#include "project_configs.h"
#define MAX_USR_NAME_SIZE 10
/***********************************************************************************************************************
* ����ָʾ�� * ***********************************************************************************************************************/#define DEBUG_LIGHT_IO PE2
#define DEBUG_UART_INDEX 1
#define DEBUG_UART_INS huart1
#define DEBUG_UART_BAUDRATE 460800
#define DEBUG_TX_PIN PB6
#define DEBUG_RX_PIN PB7
/***********************************************************************************************************************
* ID���� * ***********************************************************************************************************************/#define ID0_IO PE1
#define ID1_IO PE3
#define ID2_IO PE4
#define ID3_IO PE5
#define ID4_IO PE6
/***********************************************************************************************************************
* �������������� * ***********************************************************************************************************************/// SPI
#define MOTOR_SPI_INS hspi1
#define MOTOR_SPI_INDEX 1
#define MOTOR_SPI_SCK PA5
#define MOTOR_SPI_SDO PA6
#define MOTOR_SPI_SDI PA7
// POWER EN
#define MOTO_POWER_EN_IO PE7
// CSN
#define MOTO1_CSN_IO PE8
#define MOTO2_CSN_IO PE9
#define MOTO3_CSN_IO PE10
#define MOTO4_CSN_IO PE11
// ENN
#define MOTO1_DRV_ENN_IO PE12
#define MOTO2_DRV_ENN_IO PE13
#define MOTO3_DRV_ENN_IO PE14
#define MOTO4_DRV_ENN_IO PE15
// REF
#define MOTOR1_REF_L_IO PD6
#define MOTOR1_REF_R_IO PD7
#define MOTOR2_REF_L_IO PD10
#define MOTOR2_REF_R_IO PD11
#define MOTOR3_REF_L_IO PD12
#define MOTOR3_REF_R_IO PD13
#define MOTOR4_REF_L_IO PD14
#define MOTOR4_REF_R_IO PD15
/***********************************************************************************************************************
* CAN������ * ***********************************************************************************************************************/#define CAN1_TX_PIN PD1
#define CAN1_RX_PIN PD0
#define IO_OUT1_IO PC0
#define IO_OUT2_IO PC1
/***********************************************************************************************************************
* BLE_REMOTER * ***********************************************************************************************************************/#define BLE_UART_INS huart3
#define BLE_CONNECTED_STATE_IO PB4
#define BLE_UART_TX PD8
#define BLE_UART_RX PD9
#define BLE_UART_BAUDRATE 115200
/***********************************************************************************************************************
* TJC * ***********************************************************************************************************************/
#define TJC_UART_CH_SEL_PIN PB12
#define TJC_UART_CH_EN_PIN PB13
#define TJC_UART_TX PC10
#define TJC_UART_RX PC11
#define TJC_UART_INS huart4
/***********************************************************************************************************************
* MOTOR_CFG * ***********************************************************************************************************************/#define MOTOR_SHAFT false
#define STEPMOTOR_IHOLD 10
#define STEPMOTOR_IHOLDDELAY 100
#define MOTOR_VSTART 150 // �����ٶ�
#define MOTOR_A1 5 // ��1_���ٶ�
#define MOTOR_AMAX 20 // ��2_���ٶ�
#define MOTOR_V1 500 // ��2_��ʼ�ٶ�
#define MOTOR_TZEROWAIT 100 // �ٶ��������л�ʱ��
#define BLENAME "AciDisp" // BLE����
// #define MAX_RPM 800 // ����ת��
#define PUMP_TEST_RPM 500 // �û�����ʱת��
/***********************************************************************************************************************
* ����Ĭ����ֵ * ***********************************************************************************************************************/#define USER0_DEFAULT_NAME "����Ա"
#define USER1_DEFAULT_NAME "�û�1"
#define USER2_DEFAULT_NAME "�û�2"
#define USER3_DEFAULT_NAME "�û�3"
#define USER4_DEFAULT_NAME "�û�4"
#define USER5_DEFAULT_NAME "�û�5"
#define USER_DEFAULT_PWD "888888"
#define PUMPDEFVEL 400 // 100r/min
// // ͨ��ÿ��С������Һ�峤��
// #define CH0APPENDML 0.2
// #define CH1APPENDML 0.2
// #define CH2APPENDML 0.1
// #define CH3APPENDML 0.1
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