54 lines
1.2 KiB
C
54 lines
1.2 KiB
C
/*
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* @Author: DaMing zxm5337@163.com
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* @Date: 2024-03-28 09:58:33
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* @LastEditors: 张小明 zxm5337@163.com
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* @LastEditTime: 2024-05-28 11:08:29
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* @FilePath: \Proxi_CheckBoard\User\App\motor.h
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* @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
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*/
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#ifndef __CTRL_LOGIC_H__
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#define __CTRL_LOGIC_H__
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#include "gpio.h"
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#include "data_type_def.h"
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#include "motor.h"
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#define BEEP_MUTE_OPEN() HAL_GPIO_WritePin(BEEPER_EN_GPIO_Port, BEEPER_EN_Pin, GPIO_PIN_SET)
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#define BEEP_MUTE_CLOSE() HAL_GPIO_WritePin(BEEPER_EN_GPIO_Port, BEEPER_EN_Pin, GPIO_PIN_RESET)
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#define SCREW_PITCH 1.0f
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#define STEP_PER_CIRL 200 * 528
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#define DISTANCE_MAX 26.5f
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#define DISTANCE_MIN 0.0f
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#define DISTANCE_RATED 24.00f
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#define DISTANCE_ZERO 0.00f
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typedef struct
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{
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BOOL en;
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uint32_t delay;
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uint32_t time;
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}beep_t;
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typedef struct
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{
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BOOL busy_flag;
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uint8_t ctr_seq;
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uint8_t senor_seq;
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uint32_t timer;
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uint32_t delay;
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float32 current;
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}pars_cmd_time_t;
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extern beep_t beep_1;
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extern pars_cmd_time_t pars_cmd_time_A;
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extern pars_cmd_time_t pars_cmd_time_B;
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void fun_ctr_motor(motor_t *motor);
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void fun_ctr_beep(uint16_t delay_ms);
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#endif
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