69 lines
1.7 KiB
C
69 lines
1.7 KiB
C
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#ifndef __MOTOR_CONTROL_H__
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#define __MOTOR_CONTROL_H__
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#ifdef __cplisplus
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extern "C" {
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#endif
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/queue.h"
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#include "freertos/semphr.h"
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#define MOTOR_WITH_MAGNET_RING 0 //带磁环的时候
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#define OLD_MOTOR 0 //旧电机参数
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typedef enum
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{
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MOTOR_POSITION_ZERO = 0,
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MOTOR_POSITION_LEFT_15 ,
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MOTOR_POSITION_RIGHT_15 ,
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MOTOR_POSITION_LEFT_30 ,
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MOTOR_POSITION_RIGHT_30 ,
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MOTOR_POSITION_LEFT_90 ,
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MOTOR_POSITION_RIGHT_90 ,
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MOTOR_POSITION_LEFT_180 ,
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MOTOR_POSITION_RIGHT_180,
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MOTOR_POSITION_LEFT_2 ,//微步
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}MOTOR_POSITION;
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typedef enum
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{
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MOTOR_CW,
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MOTOR_CCW,
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}MOTOR_DIR;
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typedef struct
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{
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uint32_t run_to_left_15;
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uint32_t run_to_left_30;
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uint32_t run_to_left_90;
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uint32_t run_to_left_180;
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uint32_t run_to_right_15;
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uint32_t run_to_right_30;
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uint32_t run_to_right_180;
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}MOTOR_RUN_TIME;
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extern TaskHandle_t motor_control_handle;
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extern MOTOR_DIR motor_dir;
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extern MOTOR_POSITION motor_current_position ;
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extern MOTOR_POSITION motor_target_position ;
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extern SemaphoreHandle_t motor_action_down_sem;
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void motor_control_init(void);
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void motor_control_task(void *pvParameter);
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void motor_run_dir(MOTOR_DIR dir);
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/** 串行入队执行；满则丢最旧再入队，避免 Overwrite 丢命令 */
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bool motor_post_cmd(uint32_t cmd);
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/** play_sticker 方向：左右切换时先排队 0x0A；0x00 在头仍左/右时排队 0x0A；与上次同字节且侧向未变则跳过 */
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bool motor_post_play_sticker_direction(uint8_t direction);
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void motor_post_cmd_from_isr(uint32_t cmd, BaseType_t *pxHigherPriorityTaskWoken);
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#ifdef __cplusplus
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}
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#endif
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#endif
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