394 lines
16 KiB
C
394 lines
16 KiB
C
#ifndef _TMC2160_H_
|
||
#define _TMC2160_H_
|
||
#include "ptz_type_select.h"
|
||
#include "gd32f4xx_gpio.h"
|
||
#include "agent_hyt.h"
|
||
|
||
#ifdef TMC2160
|
||
|
||
#define ADD 0x80
|
||
#define TMC2160_GCONF 0x00 //((ADD | TMC2160_GCONF)<<32) | 0x314c,,使能DIAG0输出过热预警，DIAG1输出堵转信号
|
||
#define TMC2160_GSTAT 0x01 //((ADD | TMC2160_GSTAT)<<32) | 0x07,读写1清零，状态标志
|
||
#define TMC2160_IOIN 0x04 //只读，外设引脚状态
|
||
#define TMC2160_SHORT_CONF 0x09 //短路保护
|
||
#define TMC2160_DRV_CONF 0x0A //((ADD | TMC2160_DRV_CONF)<<32) | 0x0820
|
||
#define TMC2160_GLOBAL_SCALER 0x0B //写0
|
||
#define TMC2160_IHOLD_IRUN 0x10 //8-12为设置电流，其余设置0，如0x14:((ADD | TMC2160_IHOLD_IRUN)<<32)|(0x14<<8)
|
||
#define TMC2160_TPOWERDOWN 0x11 //((ADD | TMC2160_TPOWERDOWN)<<32) | 0x02
|
||
#define TMC2160_TSTEP 0x12 //只读
|
||
#define TMC2160_TPWMTHRS 0x13
|
||
#define TMC2160_TCOOLTHRS 0x14
|
||
#define TMC2160_THIGH 0x15
|
||
#define TMC2160_XDIRECT 0x2D
|
||
#define TMC2160_VDCMIN 0x33
|
||
#define TMC2160_MSLUT0 0x60
|
||
#define TMC2160_MSLUT1 0x61
|
||
#define TMC2160_MSLUT2 0x62
|
||
#define TMC2160_MSLUT3 0x63
|
||
#define TMC2160_MSLUT4 0x64
|
||
#define TMC2160_MSLUT5 0x65
|
||
#define TMC2160_MSLUT6 0x66
|
||
#define TMC2160_MSLUT7 0x67
|
||
#define TMC2160_MSLUTSEL 0x68
|
||
#define TMC2160_MSLUTSTART 0x69
|
||
#define TMC2160_MSCNT 0x6A
|
||
#define TMC2160_MSCURACT 0x6B
|
||
#define TMC2160_CHOPCONF 0x6C //((ADD | TMC2160_CHOPCONF)<<32) | 0x5110083,24-27位配置细分，最后左移24位
|
||
#define TMC2160_COOLCONF 0x6D //智能电流控制
|
||
#define TMC2160_DCCTRL 0x6E //不用
|
||
#define TMC2160_DRV_STATUS 0x6F //只读
|
||
#define TMC2160_PWMCONF 0x70 //((ADD | TMC2160_PWMCONF)<<32) | 0xc401321e，时钟35.1KHZ
|
||
#define TMC2160_PWM_SCALE 0x71 //只读,斩波调幅结果
|
||
#define TMC2160_PWM_AUTO 0x72 //只读，自动标定的偏移值
|
||
#define TMC2160_LOST_STEPS 0x73 //只读，
|
||
|
||
|
||
|
||
/* 驱动器电源控制引脚 */
|
||
|
||
#define TMC2160_H_POWER_OFF gpio_bit_reset(GPIOE,GPIO_PIN_0)
|
||
#define TMC2160_H_POWER_ON gpio_bit_set(GPIOE,GPIO_PIN_0)
|
||
|
||
#define TMC2160_V_POWER_OFF gpio_bit_reset(GPIOE,GPIO_PIN_1)
|
||
#define TMC2160_V_POWER_ON gpio_bit_set(GPIOE,GPIO_PIN_1)
|
||
|
||
|
||
|
||
/// ===== SPI配置 =====
|
||
#define TMC2160_SCLK_LOW gpio_bit_reset(GPIOE,GPIO_PIN_13)
|
||
#define TMC2160_SCLK_HIGH gpio_bit_set(GPIOE,GPIO_PIN_13)
|
||
|
||
#define TMC2160_SDATI_0 gpio_bit_reset(GPIOE,GPIO_PIN_14)
|
||
#define TMC2160_SDATI_1 gpio_bit_set(GPIOE,GPIO_PIN_14)
|
||
|
||
#define TMC2160_SDATO_READ gpio_input_bit_get(GPIOE, GPIO_PIN_15)
|
||
// #define TMC2160_SDATO_0 drv_gpio_clrbit(TMC2160_SDATO_PORT,TMC2160_SDATO_PIN)
|
||
// #define TMC2160_SDATO_1 drv_gpio_setbit(TMC2160_SDATO_PORT,TMC2160_SDATO_PIN)
|
||
|
||
|
||
/// ===== 水平驱动器配置 =====
|
||
/// ===== 引脚定义 =====
|
||
/// ===== IO模式 =====
|
||
//SPI片选输出设置
|
||
#define TMC2160_HORI_CSN_ENABLE gpio_bit_reset(GPIOD,GPIO_PIN_15) //低电平使能SPI
|
||
#define TMC2160_HORI_CSN_DISABLE gpio_bit_set(GPIOD,GPIO_PIN_15)
|
||
//故障接收，低电平为正常状态，用于故障检测读取
|
||
#define TMC2160_HORI_DIAG1_READ gpio_input_bit_get(GPIOD, GPIO_PIN_13)
|
||
#define TMC2160_HORI_DIAG0_READ gpio_input_bit_get(GPIOD, GPIO_PIN_14)
|
||
//转向设置，R反转，F正转
|
||
#define TMC2160_HORI_DIR_R gpio_bit_reset(GPIOD,GPIO_PIN_11) //电机转向
|
||
#define TMC2160_HORI_DIR_F gpio_bit_set(GPIOD,GPIO_PIN_11)
|
||
//驱动器使能，初始化为低电平，失能驱动器
|
||
#define TMC2160_HORI_DISABLE gpio_bit_set(GPIOD,GPIO_PIN_10) //驱动器低电平使能
|
||
#define TMC2160_HORI_ENABLE gpio_bit_reset(GPIOD,GPIO_PIN_10)
|
||
|
||
/// ===== 垂直驱动器配置 =====
|
||
/// ===== 引脚定义 =====
|
||
/// ===== IO模式 =====
|
||
//SPI片选输出设置
|
||
#define TMC2160_VERT_CSN_ENABLE gpio_bit_reset(GPIOA,GPIO_PIN_11) //低电平使能SPI
|
||
#define TMC2160_VERT_CSN_DISABLE gpio_bit_set(GPIOA,GPIO_PIN_11)
|
||
//故障接收，低电平为正常状态
|
||
#define TMC2160_VERT_DIAG1_READ gpio_input_bit_get(GPIOA, GPIO_PIN_8)
|
||
#define TMC2160_VERT_DIAG0_READ gpio_input_bit_get(GPIOC, GPIO_PIN_9)
|
||
//转向设置，R反转，F正转
|
||
#define TMC2160_VERT_DIR_R gpio_bit_reset(GPIOC,GPIO_PIN_8) //电机转向
|
||
#define TMC2160_VERT_DIR_F gpio_bit_set(GPIOC,GPIO_PIN_8)
|
||
//驱动器使能，初始化为低电平，失能驱动器
|
||
#define TMC2160_VERT_DISABLE gpio_bit_set(GPIOC,GPIO_PIN_7) //低电平使能
|
||
#define TMC2160_VERT_ENABLE gpio_bit_reset(GPIOC,GPIO_PIN_7)
|
||
|
||
|
||
/// ===== 步进电机分频 =====
|
||
#define TMC2160_1_1_STEP 0
|
||
#define TMC2160_1_2_STEP 1
|
||
#define TMC2160_1_4_STEP 2
|
||
#define TMC2160_1_8_STEP 3
|
||
#define TMC2160_1_16_STEP 4
|
||
#define TMC2160_1_32_STEP 5
|
||
#define TMC2160_1_64_STEP 6
|
||
#define TMC2160_1_128_STEP 7
|
||
#define TMC2160_1_256_STEP 8
|
||
|
||
#ifdef PTZ_MEDIUM_WORM_STEP_TMC2160_AS5047D_24V
|
||
/// ===== 水平电机速度 =====
|
||
// 1/8细分
|
||
#define PTZ_HORI_1_8_STEP_V_MAX 0.0//750.0 //允许的最大转速r/minPTZ_HORI_MOTOR_MAX_SPEED
|
||
#define PTZ_HORI_1_8_STEP_V_MIN 0.0//500.0 //允许的最小转速r/min
|
||
// 1/16细分
|
||
#define PTZ_HORI_1_16_STEP_V_MAX 500.0 //允许的最大转速r/min
|
||
#define PTZ_HORI_1_16_STEP_V_MIN 250.0 //允许的最小转速r/min
|
||
// 1/32细分
|
||
#define PTZ_HORI_1_32_STEP_V_MAX 250.0 //允许的最大转速r/min
|
||
#define PTZ_HORI_1_32_STEP_V_MIN 100.0 //允许的最小转速r/min
|
||
// 1/64细分
|
||
#define PTZ_HORI_1_64_STEP_V_MAX 100.0 //允许的最大转速r/min
|
||
#define PTZ_HORI_1_64_STEP_V_MIN 1.0//50.0 //允许的最小转速r/min
|
||
// 1/128细分
|
||
#define PTZ_HORI_1_128_STEP_V_MAX 0.0//50.0 //允许的最大转速r/min
|
||
#define PTZ_HORI_1_128_STEP_V_MIN 0.0//1.0 //允许的最小转速r/min
|
||
|
||
/// ===== 垂直电机速度 =====
|
||
// 1/8细分
|
||
//#define PTZ_VERT_1_8_STEP_V_MAX PTZ_VERT_MOTOR_MAX_SPEED//210.0//允许的最大转速r/min
|
||
//#define PTZ_VERT_1_8_STEP_V_MIN 50.0//128.0 //允许的最小转速r/min
|
||
// 1/16细分
|
||
#define PTZ_VERT_1_16_STEP_V_MAX 0.0//500.0//128.0//允许的最大转速r/min
|
||
#define PTZ_VERT_1_16_STEP_V_MIN 0.0//250.0//37.0 //允许的最小转速r/min
|
||
// 1/32细分
|
||
#define PTZ_VERT_1_32_STEP_V_MAX 300.0//允许的最大转速r/min
|
||
#define PTZ_VERT_1_32_STEP_V_MIN 100.0 //允许的最小转速r/min
|
||
// 1/64细分
|
||
#define PTZ_VERT_1_64_STEP_V_MAX 100.0//18.0//允许的最大转速r/min
|
||
#define PTZ_VERT_1_64_STEP_V_MIN 50.0 //允许的最小转速r/min
|
||
// 1/128细分
|
||
#define PTZ_VERT_1_128_STEP_V_MAX 50.0//允许的最大转速r/min
|
||
#define PTZ_VERT_1_128_STEP_V_MIN 1.0 //允许的最小转速r/min
|
||
|
||
#endif
|
||
|
||
#ifdef PTZ_SUPER_LIGHT_WORM_STEP_TMC2160_AS5047D_24V
|
||
/// ===== 水平电机速度 =====
|
||
// 1/8细分
|
||
#define PTZ_HORI_1_8_STEP_V_MAX 750.0 //允许的最大转速r/minPTZ_HORI_MOTOR_MAX_SPEED
|
||
#define PTZ_HORI_1_8_STEP_V_MIN 500.0 //允许的最小转速r/min
|
||
// 1/16细分
|
||
#define PTZ_HORI_1_16_STEP_V_MAX 500.0 //允许的最大转速r/min
|
||
#define PTZ_HORI_1_16_STEP_V_MIN 250.0 //允许的最小转速r/min
|
||
// 1/32细分
|
||
#define PTZ_HORI_1_32_STEP_V_MAX 250.0 //允许的最大转速r/min
|
||
#define PTZ_HORI_1_32_STEP_V_MIN 100.0 //允许的最小转速r/min
|
||
// 1/64细分
|
||
#define PTZ_HORI_1_64_STEP_V_MAX 100.0 //允许的最大转速r/min
|
||
#define PTZ_HORI_1_64_STEP_V_MIN 1.0//50.0 //允许的最小转速r/min
|
||
// 1/128细分
|
||
#define PTZ_HORI_1_128_STEP_V_MAX 0.0//50.0 //允许的最大转速r/min
|
||
#define PTZ_HORI_1_128_STEP_V_MIN 0.0//1.0 //允许的最小转速r/min
|
||
|
||
/// ===== 垂直电机速度 =====
|
||
// 1/8细分
|
||
//#define PTZ_VERT_1_8_STEP_V_MAX PTZ_VERT_MOTOR_MAX_SPEED//210.0//允许的最大转速r/min
|
||
//#define PTZ_VERT_1_8_STEP_V_MIN 50.0//128.0 //允许的最小转速r/min
|
||
// 1/16细分
|
||
#define PTZ_VERT_1_16_STEP_V_MAX 500.0//128.0//允许的最大转速r/min
|
||
#define PTZ_VERT_1_16_STEP_V_MIN 250.0//37.0 //允许的最小转速r/min
|
||
// 1/32细分
|
||
#define PTZ_VERT_1_32_STEP_V_MAX 250.0//允许的最大转速r/min
|
||
#define PTZ_VERT_1_32_STEP_V_MIN 100.0 //允许的最小转速r/min
|
||
// 1/64细分
|
||
#define PTZ_VERT_1_64_STEP_V_MAX 100.0//18.0//允许的最大转速r/min
|
||
#define PTZ_VERT_1_64_STEP_V_MIN 50.0 //允许的最小转速r/min
|
||
// 1/128细分
|
||
#define PTZ_VERT_1_128_STEP_V_MAX 50.0//允许的最大转速r/min
|
||
#define PTZ_VERT_1_128_STEP_V_MIN 1.0 //允许的最小转速r/min
|
||
|
||
#endif
|
||
|
||
|
||
/// ===== 加减速默认时间 =====
|
||
#define PTZ_HORI_ACC_TIME_MAX 3000.0 //从0加速到最大速度所需要的时间,单位毫秒
|
||
#define PTZ_HORI_DEC_TIME_MAX 1000.0 //从0减速到最刹车速度所需要的时间 设定减速
|
||
#define PTZ_HORI_DEC_TIME_DEF 1000.0 //从0减速到最刹车速度所需要的时间 快速减速
|
||
|
||
#define PTZ_VERT_ACC_TIME_MAX 3000.0//从0加速到最大速度所需要的时间
|
||
#define PTZ_VERT_DEC_TIME_MAX 1000.0 //从0减速到最刹车速度所需要的时间 设定减速
|
||
#define PTZ_VERT_DEC_TIME_DEF 1000.0 //从0减速到最刹车速度所需要的时间 快速减速
|
||
|
||
/// ===== 电机转动方向 =====
|
||
///电机正转
|
||
#define TMC2160_MOTOR_DIR_FWD 1
|
||
///电机反转
|
||
#define TMC2160_MOTOR_DIR_REV 3//0
|
||
|
||
/// ===== 电机是否刹车 =====
|
||
///电机刹车
|
||
#define TMC2160_MOTOR_DISABLE 0
|
||
///电机启动
|
||
#define TMC2160_MOTOR_ENABLE 1
|
||
|
||
/// ===== 24V供电正常运行时的TORQUE值 =====
|
||
#define TMC2160_HORI_TORQUE_VALUE 16//默认值0-31，建议16-31，10进制
|
||
#define TMC2160_VERT_TORQUE_VALUE 20//16//默认值
|
||
|
||
#ifdef PTZ_SUPER_LIGHT_WORM_STEP_TMC2160_AS5047D_24V
|
||
#define CURR_GLOBAL_SCALER 160//电流全局缩放，取0时为最大值256,当电阻取33毫欧
|
||
#endif
|
||
|
||
#ifdef PTZ_MEDIUM_WORM_STEP_TMC2160_AS5047D_24V
|
||
#define CURR_GLOBAL_SCALER 200//电流全局缩放，取0时为最大值256
|
||
#endif
|
||
|
||
#define TMC2160_WORK_TORQUE_MAX 31//量化扭矩最大值
|
||
#define TMC2160_WORK_TORQUE_MIN 5 //量化扭矩最小值
|
||
|
||
/// ===== 选择驱动器 =====
|
||
#define TMC2160_HORI 0
|
||
#define TMC2160_VERT 1
|
||
|
||
/// ===== 运动参数存储 =====
|
||
#define TMC2160_PARAMETER_FLASH_ADD 0X008A0000//参数存储地址
|
||
#define TMC2160_PARAMETER_BACKUP_FLASH_ADD 0X008B0000//参数备用存储地址
|
||
#define TMC2160_PARAMETER_SAVE_FLASH_NUM 3 //参数保存次数
|
||
#define TMC2160_PARAMETER_READ_FLASH_NUM 3 //参数读取次数
|
||
|
||
/// ===== 读寄存器
|
||
typedef struct _TMC2160Regis_
|
||
{
|
||
unsigned long int gstae;
|
||
unsigned long int g_conf;
|
||
unsigned long int drv_conf;
|
||
unsigned long int global_scaler;
|
||
unsigned long int tpowerdown;
|
||
unsigned long int pwmconf;
|
||
unsigned long int tpwmthrs;
|
||
unsigned long int i_run;
|
||
unsigned long int chop_conf;
|
||
unsigned long int coolconf;
|
||
unsigned long int short_conf;
|
||
}TMC2160Regis;
|
||
|
||
/// ===== 驱动器控制参数
|
||
typedef struct _TMC2160Control_
|
||
{
|
||
float set_v;//设定的转速
|
||
unsigned int start_f;//启动频率
|
||
float set_f;//设定频率
|
||
|
||
float f;//当前实际频率
|
||
|
||
unsigned char microstep;//细分等级为0,1,2,3,4,5,6,7,8
|
||
unsigned short int microstep_vlue;//细分值1,2,4,8,16,32,64,128,256
|
||
|
||
char off_on;//芯片开启状态，0关闭状态，1开启状态
|
||
|
||
unsigned char actual_microstep;//实际已经设置到芯片内的细分等级：0,1,2,3,4,5,6,7,8
|
||
|
||
float stop_angle;
|
||
}TMC2160Control;
|
||
|
||
typedef struct _SPIpacka_
|
||
{
|
||
unsigned char data[5];
|
||
}SPIpacka;
|
||
|
||
/// ===== 驱动参数设置 =====
|
||
typedef struct _TMC2160Parameter_
|
||
{
|
||
char hori_step_1_1_en;//是否有效，0无效，1有效
|
||
float hori_step_1_1_v_max;//该细分程度下对应得最大转速
|
||
float hori_step_1_1_v_min;//该细分程度下对应得最小转速
|
||
|
||
char hori_step_1_2_en;//是否有效，0无效，1有效
|
||
float hori_step_1_2_v_max;//该细分程度下对应得最大转速
|
||
float hori_step_1_2_v_min;//该细分程度下对应得最小转速
|
||
|
||
char hori_step_1_4_en;//是否有效，0无效，1有效
|
||
float hori_step_1_4_v_max;//该细分程度下对应得最大转速
|
||
float hori_step_1_4_v_min;//该细分程度下对应得最小转速
|
||
|
||
char hori_step_1_8_en;//是否有效，0无效，1有效
|
||
float hori_step_1_8_v_max;//该细分程度下对应得最大转速
|
||
float hori_step_1_8_v_min;//该细分程度下对应得最小转速
|
||
|
||
char hori_step_1_16_en;//是否有效，0无效，1有效
|
||
float hori_step_1_16_v_max;//该细分程度下对应得最大转速
|
||
float hori_step_1_16_v_min;//该细分程度下对应得最小转速
|
||
|
||
char hori_step_1_32_en;//是否有效，0无效，1有效
|
||
float hori_step_1_32_v_max;//该细分程度下对应得最大转速
|
||
float hori_step_1_32_v_min;//该细分程度下对应得最小转速
|
||
|
||
char hori_step_1_64_en;//是否有效，0无效，1有效
|
||
float hori_step_1_64_v_max;//该细分程度下对应得最大转速
|
||
float hori_step_1_64_v_min;//该细分程度下对应得最小转速
|
||
|
||
char hori_step_1_128_en;//是否有效，0无效，1有效
|
||
float hori_step_1_128_v_max;//该细分程度下对应得最大转速
|
||
float hori_step_1_128_v_min;//该细分程度下对应得最小转速
|
||
|
||
char hori_step_1_256_en;//是否有效，0无效，1有效
|
||
float hori_step_1_256_v_max;//该细分程度下对应得最大转速
|
||
float hori_step_1_256_v_min;//该细分程度下对应得最小转速
|
||
|
||
unsigned char hori_work_torque;//工作时torque的值
|
||
// unsigned char hori_self_lock_micr;//自锁时，采用的细分等级，值为0，1，2，3，4，5，6，7，8
|
||
// unsigned char hori_self_lock_torque;//自锁时，torque的值
|
||
|
||
unsigned char hori_global_scaler;//电流全局缩放
|
||
|
||
unsigned short int hori_acc_time_max;//电机从0加速到最大速度所用时间
|
||
unsigned short int hori_dec_time_max;//电机从最大速度减速到0所用时间
|
||
|
||
|
||
char vert_step_1_1_en;//是否有效，0无效，1有效
|
||
float vert_step_1_1_v_max;//该细分程度下对应得最大转速
|
||
float vert_step_1_1_v_min;//该细分程度下对应得最小转速
|
||
|
||
char vert_step_1_2_en;//是否有效，0无效，1有效
|
||
float vert_step_1_2_v_max;//该细分程度下对应得最大转速
|
||
float vert_step_1_2_v_min;//该细分程度下对应得最小转速
|
||
|
||
char vert_step_1_4_en;//是否有效，0无效，1有效
|
||
float vert_step_1_4_v_max;//该细分程度下对应得最大转速
|
||
float vert_step_1_4_v_min;//该细分程度下对应得最小转速
|
||
|
||
char vert_step_1_8_en;//是否有效，0无效，1有效
|
||
float vert_step_1_8_v_max;//该细分程度下对应得最大转速
|
||
float vert_step_1_8_v_min;//该细分程度下对应得最小转速
|
||
|
||
char vert_step_1_16_en;//是否有效，0无效，1有效
|
||
float vert_step_1_16_v_max;//该细分程度下对应得最大转速
|
||
float vert_step_1_16_v_min;//该细分程度下对应得最小转速
|
||
|
||
char vert_step_1_32_en;//是否有效，0无效，1有效
|
||
float vert_step_1_32_v_max;//该细分程度下对应得最大转速
|
||
float vert_step_1_32_v_min;//该细分程度下对应得最小转速
|
||
|
||
char vert_step_1_64_en;//是否有效，0无效，1有效
|
||
float vert_step_1_64_v_max;//该细分程度下对应得最大转速
|
||
float vert_step_1_64_v_min;//该细分程度下对应得最小转速
|
||
|
||
char vert_step_1_128_en;//是否有效，0无效，1有效
|
||
float vert_step_1_128_v_max;//该细分程度下对应得最大转速
|
||
float vert_step_1_128_v_min;//该细分程度下对应得最小转速
|
||
|
||
char vert_step_1_256_en;//是否有效，0无效，1有效
|
||
float vert_step_1_256_v_max;//该细分程度下对应得最大转速
|
||
float vert_step_1_256_v_min;//该细分程度下对应得最小转速
|
||
|
||
unsigned char vert_work_torque;//工作时torque的值
|
||
// unsigned char vert_self_lock_micr;//自锁时，采用的细分等级，值为0，1，2，3，4，5，6，7，8
|
||
// unsigned char vert_self_lock_torque;//自锁时，torque的值
|
||
|
||
unsigned char vert_global_scaler;//电流全局缩放
|
||
|
||
unsigned short int vert_acc_time_max;//电机从0加速到最大速度所用时间
|
||
unsigned short int vert_dec_time_max;//电机从最大速度减速到0所用时间
|
||
|
||
unsigned int crc;//效验码
|
||
}TMC2160Parameter;
|
||
|
||
|
||
|
||
unsigned long int tmc2160_write_hori_data(char choice, unsigned char x1, unsigned char x2, unsigned char x3,unsigned char x4,unsigned char x5);
|
||
unsigned long int tmc2160_ihold_irun_data(unsigned char data);
|
||
unsigned long int tmc2160_write_vert_data(char choice, unsigned char x1, unsigned char x2, unsigned char x3,unsigned char x4,unsigned char x5);
|
||
unsigned long int tmc2160_chopconf_data(unsigned char data);
|
||
char tmc2160_write_register(char choice, unsigned char mode, unsigned char data);
|
||
char tmc2160_data_init();
|
||
char tmc2160_set_hori_dir(char dir);
|
||
char tmc2160_set_vert_dir(char dir);
|
||
char tmc2160_hori_motor_enable(char state);
|
||
char tmc2160_vert_motor_enable(char state);
|
||
void tmc2160_init();
|
||
void tmc2160_parameter_process(char dev, PTZ_DATA_PACK *pack);
|
||
void tmc2160_parameter_upload(char dev);
|
||
void tmc2160_state_return(char dev);
|
||
void read_regis();
|
||
void restart_tmc2160();
|
||
void h_tmc2160_power_on();
|
||
void v_tmc2160_power_on();
|
||
#endif
|
||
|
||
#endif
|