#ifndef __L6235D_H_ #define __L6235D_H_ #include #include "gd32f4xx_gpio.h" #include "ptz_type_select.h" #ifdef L6235D //中断里面使用 #define L6235D_HORI_H1_PIN 13 #define L6235D_HORI_H2_PIN 14 #define L6235D_HORI_H3_PIN 15 #define L6235D_VERT_H1_PIN 6 #define L6235D_VERT_H2_PIN 7 #define L6235D_VERT_H3_PIN 8 //水平电机,水平电机PD11-EN,PD12-F/R,PD10-BRK //DrvGPIO_ClrBit(L6235D_HORI_DIAG_PORT,L6235D_HORI_DIAG_PIN); #define L6235D_HORI_REV gpio_bit_reset(GPIOD,GPIO_PIN_12) #define L6235D_HORI_FWD gpio_bit_set(GPIOD,GPIO_PIN_12) #define L6235D_HORI_BRAKE_STOP gpio_bit_reset(GPIOD,GPIO_PIN_10) #define L6235D_HORI_BRAKE_START gpio_bit_set(GPIOD,GPIO_PIN_10) #define L6235D_HORI_EN_ENABLE gpio_bit_set(GPIOD,GPIO_PIN_11) #define L6235D_HORI_EN_DISABLE gpio_bit_reset(GPIOD,GPIO_PIN_11) /****************************************************************/ //垂直电机PA8-EN,PA11-F/R,PC9-BRK //DrvGPIO_ClrBit(L6235D_VERT_DIAG_PORT,L6235D_VERT_DIAG_PIN); #define L6235D_VERT_REV gpio_bit_reset(GPIOA,GPIO_PIN_11) #define L6235D_VERT_FWD gpio_bit_set(GPIOA,GPIO_PIN_11) #define L6235D_VERT_BRAKE_STOP gpio_bit_reset(GPIOC,GPIO_PIN_9) #define L6235D_VERT_BRAKE_START gpio_bit_set(GPIOC,GPIO_PIN_9) #define L6235D_VERT_EN_ENABLE gpio_bit_set(GPIOA,GPIO_PIN_8) #define L6235D_VERT_EN_DISABLE gpio_bit_reset(GPIOA,GPIO_PIN_8) /****************************************************************/ ///电机转动方向 ///电机正转 #define L6235D_MOTOR_DIR_FWD 0 ///电机反转 #define L6235D_MOTOR_DIR_REV 1 ///电机是否刹车 ///电机刹车 #define L6235D_MOTOR_STOP 0 ///电机启动 #define L6235D_MOTOR_START 1 #define L6235D_HALL_H1 1 //霍尔传感器1 #define L6235D_HALL_H2 2 //霍尔传感器2 #define L6235D_HALL_H3 3 //霍尔传感器3 #define L6235D_HALL_SAVE_NUM 100//霍尔状态保存总数 void l6235d_init(); char l6235d_hori_set_direction(char dir); char l6235d_vert_set_direction(char dir); char l6235d_hori_start_stop(char flag); char l6235d_vert_start_stop(char flag); //DAC输出 void dac_hori_vr(unsigned int Vref); void dac_vert_vr(unsigned int Vref); #endif #endif