106 lines
2.6 KiB
C
106 lines
2.6 KiB
C
/**
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***************************************************************************************
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* @file buffer.cpp
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* @author lijihu
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* @version V1.0.0
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* @date 2025/05/10
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* @brief 实现缓冲器功能
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*缓冲器说明
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光感：遮挡1，不遮挡0；
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耗材开关：有耗材0，无耗材1；
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按键：按下0，松开1；
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引脚：
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HALL1 --> PB2 (光感3)
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HALL2 --> PB3 (光感2)
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HALL3 --> PB4 (光感1)
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ENDSTOP_3 --> PB7(耗材开关)
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KEY1 --> PB13(后退)
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KEY2 --> PB12(前进)
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*
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* @note
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***************************************************************************************
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* 版权声明 COPYRIGHT 2024 xxx@126.com
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***************************************************************************************
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**/
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#ifndef __BUFFER_H__
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#define __BUFFER_H__
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#include <TMCStepper.h>
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#include <Arduino.h>
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#include <EEPROM.h>
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#define HALL1 PB2 //光感3
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#define HALL2 PB3 //光感2
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#define HALL3 PB4 //光感1
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#define ENDSTOP_3 PB7 //耗材开关
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#define KEY1 PB13 //后退
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#define KEY2 PB12 //前进
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#define EN_PIN PA6 //使能
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#define DIR_PIN PA7 //方向
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#define STEP_PIN PC13 //步
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#define UART PB1 //软串口
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#define DUANLIAO PB15 //断料
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#define ERR_LED PA15 //指示灯
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#define START_LED PA8 //指示灯
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#define DRIVER_ADDRESS 0b00 // TMC Driver address according to MS1 and MS2
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#define R_SENSE 0.11f // Match to your driver
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#define SPEED 300 //转速(单位：r/min)
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#define Move_Divide_NUM ((int32_t)(64)) //(每步柔性件控制细分量)
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#define VACTRUAL_VALUE (uint32_t)(SPEED*Move_Divide_NUM*200/60/0.715) //VACTUAL寄存器值
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#define STOP 0 //停止
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#define I_CURRENT (600) //电流
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#define WRITE_EN_PIN(x) digitalWrite(EN_PIN,x)//使能EN引脚
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#define FORWARD 1//耗材方向
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#define BACK 0
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#define DEBUG 0
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//定义结构体存储缓冲器中各传感器的的状态
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typedef struct Buffer
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{
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//buffer1
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bool buffer1_pos1_sensor_state;
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bool buffer1_pos2_sensor_state;
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bool buffer1_pos3_sensor_state;
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bool buffer1_material_swtich_state;
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bool key1;
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bool key2;
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}Buffer;
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//电机状态控制枚举
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typedef enum
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{
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Forward=0,//向前
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Stop, //停止
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Back //后退
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}Motor_State;
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extern void buffer_sensor_init();
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extern void buffer_motor_init();
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extern void read_sensor_state(void);
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extern void motor_control(void);
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extern void buffer_init();
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extern void buffer_loop(void);
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extern void timer_it_callback();
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extern void buffer_debug(void);
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extern bool is_error;
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extern uint32_t front_time;//前进时间
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extern uint32_t timeout;
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extern bool is_front;
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extern TMC2209Stepper driver;
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#endif |