80 lines
1.8 KiB
C
80 lines
1.8 KiB
C
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#pragma once
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#include "ZZ_Types.h"
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#define MAXBUFFER 10240
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using namespace ZZ_MISCDEF;
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typedef struct tagTransportLayerInfomation
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{
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//Serial
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int iPortType = 0;
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int iPortNumber;
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int iIndexBaudRate;
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int iBaudRate = 9600;
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int indexParity = 0, indexBytesize = 3, indexStopBits = 0; //Mode
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bool Hw;
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bool Sw;
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bool Dtr, Rts;
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QString qstrFullPortName = "";
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//Bit
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//Stop
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//MODEM CONTROL setting
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//MODEM LINE STATUS
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//TCP UDP
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}PortInfo;
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typedef struct tagMotorStatusInfo
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{
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float fVelocity;
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int iPosition;
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ZZ_U32 uiFlags;
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}MSInfo;
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typedef struct tagControllerParams
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{
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int bdr = 9600; //baud
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int mcs = 6; //microsteps 0:full 1:half 2:4 3:8 4:16 5:32 6:64 7:128 8:256
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float spd = 64000; //velocity
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float acc = 100000; //acceleration
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float dec = 100000; //deceleration
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float cra = (float)0.8; //acc state current
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float crn = (float)0.8; //normal state current
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float crh = (float)0.8; //hold state current
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ZZ_U8 s1f;
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ZZ_U8 s1r;
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ZZ_U8 s2f;
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ZZ_U8 s2r;
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ZZ_U8 zmd = 3; //zero mode
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ZZ_U8 osv = 0; //open state sensor value
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ZZ_U8 snr = 0; //zero sensor
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ZZ_U8 zsp = 200; //zero safe position
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float zsd = 50000; //zero velocity
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}ControllerParams;
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typedef union
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{
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ZZ_U8 byteValue[4];
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short i16Value[2];
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ZZ_U16 u16Value[2];
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int i32Value;
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float fValue;
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ZZ_U32 u32Value;
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}unValue;
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enum emVSMDTriggerEvent
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{
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NoAction =0, //<2F><EFBFBD><DEB6><EFBFBD><EFBFBD><EFBFBD>ֻ<EFBFBD><D6BB>״̬λ S1 <20>仯֪ͨ<CDA8><D6AA>
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ResetZeroPosition, //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD><D4AD>λ<EFBFBD><CEBB>
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DecSpdStop, //<2F><><EFBFBD><EFBFBD>ֹͣ
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DecSpdStopRZP, //<2F><><EFBFBD><EFBFBD>ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD><D4AD>λ<EFBFBD><CEBB>
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Stop, //<2F><><EFBFBD><EFBFBD>ֹͣ
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StopRZP, //<2F><><EFBFBD><EFBFBD>ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD><D4AD>λ<EFBFBD><CEBB>
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RunningPosDirect, //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD>ٶȣ<D9B6>
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RunningNegDirect, //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD>ٶȣ<D9B6>
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OfflineModeOn, //<2F><><EFBFBD><EFBFBD>ģʽ<C4A3><CABD><EFBFBD><EFBFBD>
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OfflineModeOff //<2F><><EFBFBD><EFBFBD>ģʽֹͣ
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};
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