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alpha_setting.h
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// 文件描述: 电机的寄存器配置与底层控制
#ifndef ALPHA_SETTING_H
#define ALPHA_SETTING_H
#include "modbus.h"
#ifdef __cplusplus
extern "C" {
#endif
// 发送次数，用于发送失败时的重复发送
#define OPLOOPS (2)
// 寄存器地址, 用于寄存器参数设置
#define PA1_01_ad (0x4000)
#define PA1_02_ad (0x4001)
#define PA1_03_ad (0x4002)
#define PA1_04_ad (0x4003)
#define PA1_05_ad (0x4004)
#define PA1_06_ad (0x4005)
#define PA1_07_ad (0x4006)
#define PA1_12_ad (0x400B)
#define PA1_33_ad (0x4020)
#define PA1_35_ad (0x4022)
#define PA2_01_ad (0x4100)
#define PA2_25_ad (0x4118)
#define PA2_26_ad (0x4119)
#define PA2_27_ad (0x411A)
#define PA2_28_ad (0x411B)
#define PA2_29_ad (0x411C)
#define PA2_40_ad (0x4127)
#define PA2_41_ad (0x4128)
#define PA2_72_ad (0x4147)
#define PA2_73_ad (0x4148)
#define PA2_93_ad (0x415C)
#define PA2_94_ad (0x415D)
#define PA2_95_ad (0x415E)
#define PA2_97_ad (0x4160)
#define PA2_99_ad (0x4162)
#define PA3_01_ad (0x4200)
#define PA3_02_ad (0x4201)
#define PA3_03_ad (0x4202)
#define PA3_04_ad (0x4203)
#define PA3_05_ad (0x4204)
#define PA3_09_ad (0x4208)
#define PA3_10_ad (0x4209)
#define PA3_11_ad (0x420A)
#define PA3_12_ad (0x420B)
#define PA3_13_ad (0x420C)
#define PA3_14_ad (0x420D)
#define PA3_15_ad (0x420E)
#define PA3_16_ad (0x420F)
#define PA3_17_ad (0x4210)
#define PA3_18_ad (0x4211)
#define PA3_19_ad (0x4212)
#define PA3_20_ad (0x4213)
#define PA3_21_ad (0x4214)
#define PA3_22_ad (0x4215)
#define PA3_23_ad (0x4216)
#define PA3_24_ad (0x4217)
#define PA3_36_ad (0x4223)
#define PA3_51_ad (0x4232)
#define PA3_52_ad (0x4233)
#define PA3_53_ad (0x4234)
#define PA3_56_ad (0x4237)
#define PA3_57_ad (0x4238)
#define PA3_58_ad (0x4239)
#define PA3_59_ad (0x423A)
#define PA3_60_ad (0x423B)
#define PA3_61_ad (0x423C)
#define PA3_62_ad (0x423D)
#define PA3_63_ad (0x423E)
#define PA3_64_ad (0x423F)
#define PA3_65_ad (0x4240)
#define PA3_66_ad (0x4241)
#define PA3_67_ad (0x4242)
#define PA3_68_ad (0x4243)
#define PA3_69_ad (0x4244)
#define PA3_70_ad (0x4245)
#define PA3_71_ad (0x4246)
// 用于立即值控制的寄存器
#define IMME_VLU_STATUS_ad (0x5100)
#define IMME_VLU_POSITION_ad (0x5101)
#define IMME_VLU_SPEED_ad (0x5102)
#define IMME_VLU_ACC_TIM_ad (0x5103)
#define IMME_VLU_DEC_TIM_ad (0x5104)
// 线圈地址，用于信号控制
// (注意: 后面的寄存器编号表示，设置指定的寄存器就可以使一种信号与线圈绑定)
#define CONT1_ad (0x0400) //PA3_01
#define CONT2_ad (0x0401) //PA3_02
#define CONT3_ad (0x0402) //PA3_03
#define CONT4_ad (0x0403) //PA3_04
#define CONT5_ad (0x0404) //PA3_05
#define CONT9_ad (0x0208) //PA3_09
#define CONT10_ad (0x0209) //PA3_10
#define CONT11_ad (0x020A) //PA3_11
#define CONT12_ad (0x020B) //PA3_12
#define CONT13_ad (0x020C) //PA3_13
#define CONT14_ad (0x020D) //PA3_14
#define CONT15_ad (0x020E) //PA3_15
#define CONT16_ad (0x020F) //PA3_16
#define CONT17_ad (0x0210) //PA3_17
#define CONT18_ad (0x0211) //PA3_18
#define CONT19_ad (0x0212) //PA3_19
#define CONT20_ad (0x0213) //PA3_20
#define CONT21_ad (0x0214) //PA3_21
#define CONT22_ad (0x0215) //PA3_22
#define CONT23_ad (0x0216) //PA3_23
#define CONT24_ad (0x0217) //PA3_24
#define OUT1_ad (0x0500) //PA3_51
#define OUT2_ad (0x0501) //PA3_52
#define OUT3_ad (0x0502) //PA3_53
#define OUT6_ad (0x0305) //PA3_56
#define OUT7_ad (0x0306) //PA3_57
#define OUT8_ad (0x0307) //PA3_58
#define OUT9_ad (0x0308) //PA3_59
#define OUT10_ad (0x0309) //PA3_60
#define OUT11_ad (0x030A) //PA3_61
#define OUT12_ad (0x030B) //PA3_62
#define OUT13_ad (0x030C) //PA3_63
#define OUT14_ad (0x030D) //PA3_64
#define OUT15_ad (0x030E) //PA3_65
#define OUT16_ad (0x030F) //PA3_66
#define OUT17_ad (0x0310) //PA3_67
#define OUT18_ad (0x0311) //PA3_68
#define OUT19_ad (0x0312) //PA3_69
#define OUT20_ad (0x0313) //PA3_70
#define OUT21_ad (0x0314) //PA3_71
// 输入信号的功能编码，用于对参数寄存器赋值，使相应信号与线圈绑定
#define SERVO_ON_fc (1)
#define FWD_fc (2)
#define REV_fc (3)
#define START_fc (4)
#define ORG_fc (5)
#define LS_fc (6)
#define OT_PLUS_fc (7)
#define OT_MINUS_fc (8)
#define EMG_fc (10)
#define RST_fc (11)
#define ACCO_fc (14)
#define PST_PRESET_fc (16)
#define GAIN_SWITCH_fc (17)
#define TRQ_LMT0_fc (19)
#define TRQ_LMT1_fc (20)
#define IMME_VLU_CTINU_fc (22)
#define IMME_VLU_CHG_fc (23)
#define ELCT_GEAR_NUM_SEL0_fc (24)
#define ELCT_GEAR_NUM_SEL1_fc (25)
#define CMD_PULSE_INHIBIT_fc (26)
#define CMD_PULSE_RTO1_fc (27)
#define COM_PULSE_RTO2_fc (28)
#define PROPORTIONAL_CTRL_fc (29)
#define PAUSE_fc (31)
#define PST_CANCEL_fc (32)
#define EXTR_REGN_RESIST_OH_fc (34)
#define TEACHING_fc (35)
#define CTRL_MOD_SLCT_fc (36)
#define PST_CTRL_fc (37)
#define TRQ_CTRL_fc (38)
#define OVERRIDE_EN_fc (43)
#define OVERRIDE1_fc (44)
#define OVERRIDE2_fc (45)
#define OVERRIDE4_fc (46)
#define OVERRIDE8_fc (47)
#define INTRUPT_IN_EN_fc (48)
#define INTRUPT_IN_fc (49)
#define DEVIATION_CLR_fc (50)
#define X1_fc (51)
#define X2_fc (52)
#define X3_fc (53)
#define FREE_RUN_fc (54)
#define EDT_PERMISSION_fc (55)
#define ANTI_FREQ_SLCT0_fc (57)
#define ANTI_FREQ_SLCT1_fc (58)
#define AD0_fc (60)
#define AD1_fc (61)
#define AD2_fc (62)
#define AD3_fc (63)
#define PST_DATA_SLCT_fc (77)
#define BRDCST_CANCEL_fc (78)
// 输出信号的功能编码，用于对参数寄存器赋值，使相应信号与线圈绑定
#define RDY_fc (1)
#define INP_fc (2)
#define SPD_LMT_DETC_fc (11)
#define OVER_WR_CMPL_fc (13)
#define BRK_TIMING_fc (14)
#define ALRM_DECT_A_fc (16)
#define POINT_DETC_AREA1_fc (17)
#define POINT_DETC_AREA2_fc (18)
#define LMTER_DETC_fc (19)
#define OT_DETC_fc (20)
#define CYC_END_DETC_fc (21)
#define HMING_CMPL_fc (22)
#define ZRO_DEVI_fc (23)
#define ZRO_SPEED_fc (24)
#define SPD_COINCD_fc (25)
#define TRQ_LMT_DETC_fc (26)
#define ORLD_WRNING_fc (27)
#define S_RDY_fc (28)
#define ED_PRMSION_RSP_fc (29)
#define DATA_ERROR_fc (30)
#define ADDR_ERROR_fc (31)
#define ALRM_CODE0_fc (32)
#define ALRM_CODE1_fc (33)
#define ALRM_CODE2_fc (34)
#define ALRM_CODE3_fc (35)
#define ALRM_CODE4_fc (36)
#define OT_PLUS_DETC_fc (38)
#define OT_MINUS_DETC_fc (39)
#define HM_PST_LS_DETC_fc (40)
#define FRC_STP_DETC_fc (41)
#define BATRY_WRNING_fc (45)
#define LIFE_WRNING_fc (46)
#define MD0_fc (60)
#define MD1_fc (61)
#define MD2_fc (62)
#define MD3_fc (63)
#define MD4_fc (64)
#define MD5_fc (65)
#define MD6_fc (66)
#define MD7_fc (67)
#define PST_PRST_CMPL_fc (75)
#define ALRM_DETC_B_fc (76)
#define IMME_VLU_CNTIN_PERMS_fc (79)
#define IMME_VLU_CNTIN_CMPL_fc (80)
#define IMME_VLU_CHG_CMPL_fc (81)
#define CMD_PST_CMPL_fc (82)
#define RANGE1_OF_PST_fc (83)
#define RANGE2_OF_PST_fc (84)
#define INTRUPT_PST_DECT_fc (85)
#define CONT_A_THROUGH_fc (91)
#define CONT_B_THROUGH_fc (92)
#define CONT_C_THROUGH_fc (93)
#define CONT_D_THROUGH_fc (94)
#define CONT_E_THROUGH_fc (95)
// 对绑定后的线圈地址重命名，便于突出其信号的功能 [输入信号]
#define SERVO_ON_ad (CONT9_ad) //伺服
#define FWD_ad
#define REV_ad
#define START_ad (CONT11_ad) //自动启动
#define ORG_ad (CONT1_ad) //原点复位ORG
#define LS_ad (CONT2_ad) //原点LS
#define OT_PLUS_ad (CONT12_ad) //+方向超程
#define OT_MINUS_ad (CONT13_ad) //-方向超程
#define EMG_ad (CONT14_ad) //强制停止EMG
#define RST_ad (CONT10_ad) //报警复位RST
#define ACCO_ad
#define PST_PRESET_ad (CONT15_ad) //位置预置
#define GAIN_SWITCH_ad
#define TRQ_LMT0_ad
#define TRQ_LMT1_ad
#define IMME_VLU_CTINU_ad (CONT16_ad) //立即值继续指令
#define IMME_VLU_CHG_ad (CONT17_ad) //立即值变更指令
#define ELCT_GEAR_NUM_SEL0_ad
#define ELCT_GEAR_NUM_SEL1_ad
#define CMD_PULSE_INHIBIT_ad
#define CMD_PULSE_RTO1_ad
#define COM_PULSE_RTO2_ad
#define PROPORTIONAL_CTRL_ad
#define PAUSE_ad (CONT18_ad) //临时停止
#define PST_CANCEL_ad (CONT19_ad) //定位取消
#define EXTR_REGN_RESIST_OH_ad
#define TEACHING_ad (CONT20_ad) //示教
#define CTRL_MOD_SLCT_ad
#define PST_CTRL_ad
#define TRQ_CTRL_ad
#define OVERRIDE_EN_ad
#define OVERRIDE1_ad
#define OVERRIDE2_ad
#define OVERRIDE4_ad
#define OVERRIDE8_ad
#define INTRUPT_IN_EN_ad
#define INTRUPT_IN_ad
#define DEVIATION_CLR_ad (CONT21_ad) //偏差清除
#define X1_ad
#define X2_ad
#define X3_ad
#define FREE_RUN_ad (CONT22_ad) //自由运转BX
#define EDT_PERMISSION_ad
#define ANTI_FREQ_SLCT0_ad
#define ANTI_FREQ_SLCT1_ad
#define AD0_ad (CONT23_ad) //AD0
#define AD1_ad //AD1
#define AD2_ad //AD2
#define AD3_ad //AD3
#define PST_DATA_SLCT_ad
#define BRDCST_CANCEL_ad
// 对绑定后的线圈地址重命名，便于突出其信号的功能 [输出信号]
#define RDY_ad (OUT1_ad) //运行准备结束RDY
#define INP_ad (OUT2_ad) //定位结束INP
#define SPD_LMT_DETC_ad
#define OVER_WR_CMPL_ad
#define BRK_TIMING_ad (OUT6_ad) //制动器时机
#define ALRM_DECT_A_ad
#define POINT_DETC_AREA1_ad
#define POINT_DETC_AREA2_ad
#define LMTER_DETC_ad
#define OT_DETC_ad (OUT7_ad) //OT检测，输入信号的OT处于OFF时，该信号ON
#define CYC_END_DETC_ad
#define HMING_CMPL_ad (OUT8_ad) //原点复位结束
#define ZRO_DEVI_ad (OUT9_ad) //偏差零
#define ZRO_SPEED_ad (OUT10_ad) //速度零
#define SPD_COINCD_ad
#define TRQ_LMT_DETC_ad
#define ORLD_WRNING_ad
#define S_RDY_ad (OUT11_ad) //伺服准备就绪
#define ED_PRMSION_RSP_ad
#define DATA_ERROR_ad (OUT12_ad) //数据错误，RS485不能正常读写
#define ADDR_ERROR_ad
#define ALRM_CODE0_ad (OUT13_ad) //报警代码0
#define ALRM_CODE1_ad (OUT14_ad) //报警代码1
#define ALRM_CODE2_ad (OUT15_ad) //报警代码2
#define ALRM_CODE3_ad (OUT16_ad) //报警代码3
#define ALRM_CODE4_ad (OUT17_ad) //报警代码4
#define OT_PLUS_DETC_ad
#define OT_MINUS_DETC_ad
#define HM_PST_LS_DETC_ad
#define FRC_STP_DETC_ad
#define BATRY_WRNING_ad
#define LIFE_WRNING_ad (OUT18_ad) //使用寿命预报
#define MD0_ad
#define MD1_ad
#define MD2_ad
#define MD3_ad
#define MD4_ad
#define MD5_ad
#define MD6_ad
#define MD7_ad
#define PST_PRST_CMPL_ad (OUT19_ad) //位置预置结束
#define ALRM_DETC_B_ad (OUT3_ad) //报警检测b接，OFF为报警
#define IMME_VLU_CNTIN_PERMS_ad (OUT20_ad) //立即值继续许可
#define IMME_VLU_CNTIN_CMPL_ad
#define IMME_VLU_CHG_CMPL_ad
#define CMD_PST_CMPL_ad (OUT21_ad) //指令定位结束
#define RANGE1_OF_PST_ad
#define RANGE2_OF_PST_ad
#define INTRUPT_PST_DECT_ad
#define CONT_A_THROUGH_ad
#define CONT_B_THROUGH_ad
#define CONT_C_THROUGH_ad
#define CONT_D_THROUGH_ad
#define CONT_E_THROUGH_ad
// 伺服电机的每圈脉冲数量、传动减速比
#define M_PULSE_PER_CIRCLE (36000)
#define TRANSMISSION_RATIO (202*10)
// 为modbus控制准备的缓冲区内存
#define REGISTERS_BUFFER_SIZE (12)
#define BITS_BUFFER_SIZE (24)
// modbus句柄
extern modbus_t *ctx;
extern uint16_t *tab_rq_registers;
extern uint8_t *tab_rq_bits;
extern uint16_t *tab_rp_registers;
extern uint8_t *tab_rp_bits;
// modbus参数对象格式
struct rtu_master_t;
typedef struct rtu_master_t rtu_master_t;
struct rtu_master_t{
char device[32];
int baud;
char parity;
int data_bit;
int stop_bit;
int slave;
int reset_parameter; // 使用指定参数重置控制器寄存器
};
// 初始化modbus控制使用的内存缓冲区
// 返回值: 0 表示初始化成功，-1 表示失败
int init_buffers_for_modbus();
// 释放内存空间
void free_buffers_for_modbus();
// 打开modbus控制终端
// 返回值: 0 表示打开成功，-1 表示失败
int open_modbus_rtu_master(const char *device, int baud, char parity, int data_bit, int stop_bit, int slave);
// 关闭终端
void close_modbus_rtu_master();
// 初始化寄存器，reset_parameter设置为1时调用
void init_parameters();
// 确认寄存器的设置正确
// 返回值: 0 表示校验通过， -1 表示寄存器的设置有误
int check_parameters();
#ifdef __cplusplus
}
#endif
#endif //ALPHA_SETTING_H