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a8000_protocol
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TMC电机驱动支持多个默认速度

master
zhaohe 4 months ago
parent
590c891795
commit
ffd944277e
4 changed files with 30 additions and 31 deletions
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  1. 5
      protocol/cmdid.cpp
  2. 20
      protocol/cmdid.hpp
  3. 3
      protocol/reg_index.cpp
  4. 3
      protocol/reg_index.hpp

5
protocol/cmdid.cpp
View File

@ -23,7 +23,6 @@ static cmdinfo_t table[] = {
CMD_ITERM(kmodule_get_type), //
CMD_ITERM(kmodule_get_status), //
CMD_ITERM(kxymotor_enable), //
CMD_ITERM(kxymotor_move_by), //
CMD_ITERM(kxymotor_move_to), //
@ -58,6 +57,10 @@ static cmdinfo_t table[] = {
CMD_ITERM(kstep_motor_active_cfg), //
CMD_ITERM(kstep_motor_read_io_state), //
CMD_ITERM(kstep_motor_easy_move_to_end_point), //
CMD_ITERM(kstep_motor_move_by), //
CMD_ITERM(kstep_motor_move_to), //
CMD_ITERM(kstep_motor_move_to_zero_point_quick), //
CMD_ITERM(kstep_motor_rotate), //
CMD_ITERM(kstep_motor_read_tmc5130_status), //
CMD_ITERM(kstep_motor_read_tmc5130_state), //
CMD_ITERM(kstep_motor_read_io_index_in_stm32), //

20
protocol/cmdid.hpp
View File

@ -28,21 +28,6 @@ typedef enum {
kmodule_get_type = 0x0131,
kmodule_get_status = 0x0132,
// kmodule_ping = 0x0100, //
// kmodule_stop = 0x0101, //
// kmodule_enable = 0x0102, //
// kmodule_clear_error = 0x0103, //
// kmodule_active_cfg = 0x0104, //
// kmodule_reset_reg = 0x0105, //
// kmodule_set_reg = 0x0106, //(int32_t index,int32_t val)->()
// kmodule_get_reg = 0x0107, //(int32_t index)->(int32_t val)
// kmodule_get_version = 0x0150, //()->int32_t
// kmodule_get_type = 0x0151, //()->int32_t
// kmodule_get_status = 0x0153, //{}{int32_t}
// kmodule_get_error = 0x0154, //
// kmodule_get_detail_errorcode = 0x0155, //()->int32_t
//
kxymotor_enable = 0x0301, //
kxymotor_move_by = 0x0302, //
@ -81,6 +66,10 @@ typedef enum {
kstep_motor_active_cfg = 0x0229, //
kstep_motor_read_io_state = 0x022a, //
kstep_motor_easy_move_to_end_point = 0x022c, //
kstep_motor_move_by = 0x021d, // (dpos,speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high)
kstep_motor_move_to = 0x021e, // (pos,speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high)
kstep_motor_move_to_zero_point_quick = 0x021f, // (speedlevel)->null speedlevel=0,1,2,3(default,low,mid,high)
kstep_motor_rotate = 0x0220, //
kstep_motor_read_tmc5130_status = 0x0232, //
kstep_motor_read_tmc5130_state = 0x0233, //
kstep_motor_read_io_index_in_stm32 = 0x0238, //
@ -88,6 +77,7 @@ typedef enum {
kstep_motor_get_subdevice_reg = 0x023a, //
kstep_motor_easy_reciprocating_motion = 0x022d, //
kstep_motor_easy_move_to_zero_point_quick = 0x022e, //
kmini_servo_enable = 0x6601, //
kmini_servo_read_pos = 0x6602, //
kmini_servo_active_cfg = 0x6603, //

3
protocol/reg_index.cpp
View File

@ -147,6 +147,9 @@ static reginfo_t table[] = {
REG_ITERM(kreg_step_motor_one_circle_pulse),
REG_ITERM(kreg_step_motor_one_circle_pulse_denominator),
REG_ITERM(kreg_step_motor_default_velocity),
REG_ITERM(kreg_step_motor_low_velocity),
REG_ITERM(kreg_step_motor_mid_velocity),
REG_ITERM(kreg_step_motor_high_velocity),
REG_ITERM(kreg_step_motor_ihold),
REG_ITERM(kreg_step_motor_irun),
REG_ITERM(kreg_step_motor_iholddelay),

3
protocol/reg_index.hpp
View File

@ -166,6 +166,9 @@ typedef enum {
kreg_step_motor_one_circle_pulse = 10152, // x轴一圈脉冲数
kreg_step_motor_one_circle_pulse_denominator = 10153, // 设置一圈脉冲数的分母
kreg_step_motor_default_velocity = 10154, // 默认速度
kreg_step_motor_low_velocity = 10155, // 低速
kreg_step_motor_mid_velocity = 10156, // 中速
kreg_step_motor_high_velocity = 10157, // 高速
kreg_step_motor_ihold = 10158, // 步进电机电流配置
kreg_step_motor_irun = 10159, // 步进电机电流配置
kreg_step_motor_iholddelay = 10160, // 步进电机电流配置

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