200 lines
10 KiB
C
200 lines
10 KiB
C
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/*
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* @Date: 2025-06-26 10:32:57
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* @Author: mypx
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* @LastEditors: mypx mypx_coder@163.com
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* @LastEditTime: 2025-08-19 08:28:42
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* @FilePath: sv_common.h
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* @Description:
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* Copyright (c) 2025 by mypx, All Rights Reserved.
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*/
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#ifndef __SV_COMMON_H__
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#define __SV_COMMON_H__
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#include "nanomodbus.h"
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#include <stddef.h>
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#include <stdint.h>
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#define SV630P_OK 0x00
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#define SV630P_ERR 0x01
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#define SV630P_TIMEOUT 0x02
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#define SV630P_CHECKSUM_ERR 0x03
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#define SV630P_NOT_INIT 0x04
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#define SV630P_INDEX_ERR 0x05
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#define SV630P_BUS_ERR 0x06
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#define SV630P_PARAM_ERR 0x07
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#define SV630P_MB_ERR 0x08
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/**
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* @brief SV630P Servo Drive DIDO Input Function (FunIN) Enumeration
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* Format: SV630P_FunIN_Code_Name
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*/
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typedef enum
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{
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SV630P_FunIN_1_S_ON = 1, ///< FunIN.1 - S-ON - Servo Enable
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SV630P_FunIN_2_ALM_RST, ///< FunIN.2 - ALM-RST - Fault and Warning Reset
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SV630P_FunIN_3_GAIN_SEL, ///< FunIN.3 - GAIN-SEL - Gain Switch
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SV630P_FunIN_4_CMD_SEL, ///< FunIN.4 - CMD-SEL - Main Shaft Operation Command Switch
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SV630P_FunIN_5_DIR_SEL, ///< FunIN.5 - DIR-SEL - Multi-speed DI Switch Running Direction Setting
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SV630P_FunIN_6_CMD1, ///< FunIN.6 - CMD1 - Multi-segment Run Command Switch 1
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SV630P_FunIN_7_CMD2, ///< FunIN.7 - CMD2 - Multi-segment Run Command Switch 2
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SV630P_FunIN_8_CMD3, ///< FunIN.8 - CMD3 - Multi-segment Run Command Switch 3
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SV630P_FunIN_9_CMD4, ///< FunIN.9 - CMD4 - Multi-segment Run Command Switch 4
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SV630P_FunIN_10_M1_SEL, ///< FunIN.10 - M1-SEL - Mode Switch 1
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SV630P_FunIN_11_M2_SEL, ///< FunIN.11 - M2-SEL - Mode Switch 2
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SV630P_FunIN_12_ZCLAMP, ///< FunIN.12 - ZCLAMP - Zero Position Fixed Enable
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SV630P_FunIN_13_INHIBIT, ///< FunIN.13 - INHIBIT - Position Command Inhibit
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SV630P_FunIN_14_P_OT, ///< FunIN.14 - P-OT - Positive Overtravel Switch
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SV630P_FunIN_15_N_OT, ///< FunIN.15 - N-OT - Negative Overtravel Switch
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SV630P_FunIN_16_P_CL, ///< FunIN.16 - P-CL - Positive External Torque Limit
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SV630P_FunIN_17_N_CL, ///< FunIN.17 - N-CL - Negative External Torque Limit
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SV630P_FunIN_18_JOGCMD_PLUS, ///< FunIN.18 - JOGCMD+ - Positive Jog
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SV630P_FunIN_19_JOGCMD_MINUS, ///< FunIN.19 - JOGCMD- - Negative Jog
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SV630P_FunIN_20_POSSTEP, ///< FunIN.20 - POSSTEP - Step enable
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SV630P_FunIN_21_HX1, ///< FunIN.21 - HX1 - Handwheel ratio signal 1
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SV630P_FunIN_22_HX2, ///< FunIN.22 - HX2 - Handwheel ratio signal 2
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SV630P_FunIN_23_HX_EN, ///< FunIN.23 - HX_EN - Handwheel enable signal
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SV630P_FunIN_24_GEAR_SEL, ///< FunIN.24 - GEAR_SEL - Electronic gear selection
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SV630P_FunIN_25_TOQDirSel, ///< FunIN.25 - TOQDirSel - Torque command direction setting
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SV630P_FunIN_26_SPDDirSel, ///< FunIN.26 - SPDDirSel - Speed command direction setting
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SV630P_FunIN_27_POSDirSel, ///< FunIN.27 - POSDirSel - Position command direction setting
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SV630P_FunIN_28_PosinSen, ///< FunIN.28 - PosinSen - Multi-segment position command enable
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SV630P_FunIN_29_XintFree, ///< FunIN.29 - XintFree - Interrupted fixed-length state release
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SV630P_FunIN_31_HomeSwitch, ///< FunIN.31 - HomeSwitch - Origin switch (original table FunIN.31, if 30 exists it can be added)
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SV630P_FunIN_32_HomingStart, ///< FunIN.32 - HomingStart - Homing enable
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SV630P_FunIN_33_XintInhibit, ///< FunIN.33 - XintInhibit - Interrupted fixed-length prohibition
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SV630P_FunIN_34_EmergencyStop, ///< FunIN.34 - EmergencyStop - Emergency shutdown
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SV630P_FunIN_35_ClrPosErr, ///< FunIN.35 - ClrPosErr - Clear position error
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SV630P_FunIN_36_V_LmtSel, ///< FunIN.36 - V_LmtSel - Internal speed limit source
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SV630P_FunIN_37_PulseInhibit, ///< FunIN.37 - PulseInhibit - Pulse command inhibition
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SV630P_FunIN_38_MultiBlockTrig, ///< FunIN.38 - MultiBlockTrig - Axis control write interrupt
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SV630P_FunIN_39_MultiBlockWr, ///< FunIN.39 - MultiBlockWr - Axis control write without interrupt
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SV630P_FunIN_40_ClrCmdOkAndArrOk, ///< FunIN.40 - ClrCmdOkAndArrOk - Clear command and positioning completion
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SV630P_FunIN_41_HomeRecord, ///< FunIN.41 - HomeRecord - Set current position as origin
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} SV630P_DIDO_FunIN;
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/**
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* @brief SV630P Servo Drive DIDO Output Function (FunOUT) Enumeration
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* Format: SV630P_FunOUT_Code_Name
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*/
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typedef enum
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{
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SV630P_FunOUT_1_S_RDY = 1001, ///< FunOUT.1 - S-RDY - Servo ready
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SV630P_FunOUT_2_TGON, ///< FunOUT.2 - TGON - Motor rotation output
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SV630P_FunOUT_3_ZERO, ///< FunOUT.3 - ZERO - Zero speed
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SV630P_FunOUT_4_V_CMP, ///< FunOUT.4 - V-CMP - Speed match
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SV630P_FunOUT_5_COIN, ///< FunOUT.5 - COIN - Positioning complete
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SV630P_FunOUT_6_NEAR, ///< FunOUT.6 - NEAR - Positioning near
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SV630P_FunOUT_7_C_LT, ///< FunOUT.7 - C-LT - Torque limit
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SV630P_FunOUT_8_V_LT, ///< FunOUT.8 - V-LT - Speed limit
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SV630P_FunOUT_9_BK, ///< FunOUT.9 - BK - Brake output
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SV630P_FunOUT_10_WARN, ///< FunOUT.10 - WARN - Warning output
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SV630P_FunOUT_11_ALM, ///< FunOUT.11 - ALM - Fault output
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SV630P_FunOUT_12_ALM01, ///< FunOUT.12 - ALM01 - Output 3-bit alarm code
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SV630P_FunOUT_13_ALM02, ///< FunOUT.13 - ALM02 - Output 3-bit alarm code
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SV630P_FunOUT_14_ALM03, ///< FunOUT.14 - ALM03 - Output 3-bit alarm code
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SV630P_FunOUT_15_Xintcoin, ///< FunOUT.15 - Xintcoin - Interrupted fixed-length completion
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SV630P_FunOUT_16_HomeAttain, ///< FunOUT.16 - HomeAttain - Homing completed
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SV630P_FunOUT_17_ElectHomeAttain, ///< FunOUT.17 - ElectHomeAttain - Electrical homing output
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SV630P_FunOUT_18_ToqReach, ///< FunOUT.18 - ToqReach - Torque reached output
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SV630P_FunOUT_19_V_Arr, ///< FunOUT.19 - V-Arr - Speed arrived output
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SV630P_FunOUT_20_AngIntRdy, ///< FunOUT.20 - AngIntRdy - Angle identification output
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SV630P_FunOUT_21_DB, ///< FunOUT.21 - DB - DB brake output
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SV630P_FunOUT_22_CmdOk, ///< FunOUT.22 - CmdOk - Internal command output
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SV630P_FunOUT_23_WrNextBlockEn, ///< FunOUT.23 - WrNextBlockEn - Allow next segment write output
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SV630P_FunOUT_24_McOk, ///< FunOUT.24 - McOk - Motion control output
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SV630P_FunOUT_26_RefAllow, ///< FunOUT.26 - RefAllow - Servo enable to receive reference command
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SV630P_FunOUT_27_AlmAndWarn, ///< FunOUT.27 - AlmAndWarn - Fault or warning active output signal
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} SV630P_DIDO_FunOUT;
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typedef struct sv630_trace
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{
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void (*debug)(const char *fmt, ...);
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void (*info)(const char *fmt, ...);
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void (*warn)(const char *fmt, ...);
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void (*error)(const char *fmt, ...);
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} sv630_trace_t;
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#define SV630_DEBUG(dev, fmt, ...) \
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do \
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{ \
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if ((dev) && ((dev)->trace.debug)) \
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{ \
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(dev)->trace.debug(fmt, ##__VA_ARGS__); \
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} \
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} while (0)
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#define SV630_INFO(dev, fmt, ...) \
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do \
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{ \
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if ((dev) && ((dev)->trace.info)) \
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{ \
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(dev)->trace.info(fmt, ##__VA_ARGS__); \
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} \
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} while (0)
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#define SV630_WARN(dev, fmt, ...) \
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do \
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{ \
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if ((dev) && ((dev)->trace.warn)) \
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{ \
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(dev)->trace.warn(fmt, ##__VA_ARGS__); \
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} \
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} while (0)
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#define SV630_ERROR(dev, fmt, ...) \
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do \
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{ \
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if ((dev) && ((dev)->trace.error)) \
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{ \
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(dev)->trace.error(fmt, ##__VA_ARGS__); \
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} \
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} while (0)
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#define SV630P_ARGS_CHECK(dev) \
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do \
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{ \
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if (dev == NULL || dev->init == false) \
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{ \
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SV630_ERROR(dev, "sv630p device not initialized\n"); \
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return SV630P_NOT_INIT; \
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} \
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} while (0)
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struct sv630p_handle;
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// return SV630P_OK or SV630P_BUS_ERR for operate modbus device
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typedef struct
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{
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int (*read_holding_regs)(struct sv630p_handle *dev, uint16_t address, uint16_t quantity, uint16_t *data);
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int (*read_input_regs)(struct sv630p_handle *dev, uint16_t address, uint16_t quantity, uint16_t *data);
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int (*write_single_reg)(struct sv630p_handle *dev, uint16_t address, uint16_t data);
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int (*write_multiple_regs)(struct sv630p_handle *dev, uint16_t address, uint16_t quantity, uint16_t *data);
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} sv630p_ops_t;
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typedef enum
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{
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SV630P_DIR_UNKNOWN = 0,
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SV630P_DIR_FORWARD,
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SV630P_DIR_BACKWARD,
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SV630P_DIR_STOP,
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} SV630P_Dir;
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typedef struct sv630p_handle
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{
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sv630p_ops_t *ops; ///< Servo drive operation interface
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void *mb_handle; ///< Modbus communication handle
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sv630_trace_t trace; ///< Servo drive debug information output interface
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bool init; ///< Servo drive initialization status
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bool is_error; ///< 0: no error, 1: error occurred
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bool is_timer_running; ///< Timer running status
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SV630P_Dir dir;
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double rpm;
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double last_rpm;
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} sv630p_handle_t;
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int sv630p_init(sv630p_handle_t *dev, sv630p_ops_t *ops, void *mb);
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#endif
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