217 lines
11 KiB
C
217 lines
11 KiB
C
/*
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* @Date: 2025-07-01 10:50:37
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* @Author: mypx
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* @LastEditors: mypx mypx_coder@163.com
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* @LastEditTime: 2025-07-02 16:35:55
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* @FilePath: h03_di_do.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 __H03_DI_DO_H__
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#define __H03_DI_DO_H__
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#include "sv_common.h"
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typedef struct
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{
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SV630P_DIDO_FunIN funin; // DI function enum
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uint16_t mask; // Corresponding bit mask
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const char *desc; // Function description string
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} funin_map_entry_t;
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#define FUNIN_MAP_SIZE(x) (sizeof(x) / sizeof(x[0]))
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/* H03.00: Power-on DI function assignment 1 */
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#define REG_H03_00_POWER_ON_DI1 0x0300
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typedef enum
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{
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SV630P_DIFUNC1_NONE = 0x0000, /**< No defined function - value 0 */
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SV630P_DIFUNC1_FUNIN_1 = 0x0001, /**< FunIN.1 function - value 1 */
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SV630P_DIFUNC1_FUNIN_2 = 0x0002, /**< FunIN.2 function - value 2 */
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SV630P_DIFUNC1_FUNIN_3 = 0x0004, /**< FunIN.3 function - value 4 */
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SV630P_DIFUNC1_FUNIN_4 = 0x0008, /**< FunIN.4 function - value 8 */
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SV630P_DIFUNC1_FUNIN_5 = 0x0010, /**< FunIN.5 function - value 16 */
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SV630P_DIFUNC1_FUNIN_6 = 0x0020, /**< FunIN.6 function - value 32 */
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SV630P_DIFUNC1_FUNIN_7 = 0x0040, /**< FunIN.7 function - value 64 */
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SV630P_DIFUNC1_FUNIN_8 = 0x0080, /**< FunIN.8 function - value 128 */
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SV630P_DIFUNC1_FUNIN_9 = 0x0100, /**< FunIN.9 function - value 256 */
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SV630P_DIFUNC1_FUNIN_10 = 0x0200, /**< FunIN.10 function - value 512 */
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SV630P_DIFUNC1_FUNIN_11 = 0x0400, /**< FunIN.11 function - value 1024 */
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SV630P_DIFUNC1_FUNIN_12 = 0x0800, /**< FunIN.12 function - value 2048 */
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SV630P_DIFUNC1_FUNIN_13 = 0x1000, /**< FunIN.13 function - value 4096 */
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SV630P_DIFUNC1_FUNIN_14 = 0x2000, /**< FunIN.14 function - value 8192 */
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SV630P_DIFUNC1_FUNIN_15 = 0x4000, /**< FunIN.15 function - value 16384 */
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} SV630P_FuncTypeMask1;
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/* H03.01: Power-on DI function assignment 2 */
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#define REG_H03_01_POWER_ON_DI2 0x0301
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typedef enum
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{
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SV630P_DIFUNC2_NONE = 0x0000, /**< No defined function - value 0 */
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SV630P_DIFUNC2_FUNIN_17 = 0x0001, /**< FunIN.17 function - value 1 (bit 0 of high 16 bits) */
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SV630P_DIFUNC2_FUNIN_18 = 0x0002, /**< FunIN.18 function - value 2 (bit 1 of high 16 bits) */
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SV630P_DIFUNC2_FUNIN_19 = 0x0004, /**< FunIN.19 function - value 4 (bit 2 of high 16 bits) */
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SV630P_DIFUNC2_FUNIN_20 = 0x0008, /**< FunIN.20 function - value 8 (bit 3 of high 16 bits) */
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SV630P_DIFUNC2_FUNIN_21 = 0x0010, /**< FunIN.21 function - value 16 (bit 4 of high 16 bits) */
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SV630P_DIFUNC2_FUNIN_22 = 0x0020, /**< FunIN.22 function - value 32 (bit 5 of high 16 bits) */
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SV630P_DIFUNC2_FUNIN_23 = 0x0040, /**< FunIN.23 function - value 64 (bit 6 of high 16 bits) */
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SV630P_DIFUNC2_FUNIN_24 = 0x0080, /**< FunIN.24 function - value 128 (bit 7 of high 16 bits) */
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SV630P_DIFUNC2_FUNIN_25 = 0x0100, /**< FunIN.25 function - value 256 (bit 8 of high 16 bits) */
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SV630P_DIFUNC2_FUNIN_26 = 0x0200, /**< FunIN.26 function - value 512 (bit 9 of high 16 bits) */
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SV630P_DIFUNC2_FUNIN_27 = 0x0400, /**< FunIN.27 function - value 1024 (bit 10 of high 16 bits) */
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SV630P_DIFUNC2_FUNIN_28 = 0x0800, /**< FunIN.28 function - value 2048 (bit 11 of high 16 bits) */
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SV630P_DIFUNC2_FUNIN_29 = 0x1000, /**< FunIN.29 function - value 4096 (bit 12 of high 16 bits) */
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SV630P_DIFUNC2_FUNIN_30 = 0x2000, /**< FunIN.30 function - value 8192 (bit 13 of high 16 bits) */
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SV630P_DIFUNC2_FUNIN_31 = 0x4000, /**< FunIN.31 function - value 16384 (bit 14 of high 16 bits) */
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SV630P_DIFUNC2_FUNIN_32 = 0x8000 /**< FunIN.32 function - value 32768 (bit 15 of high 16 bits) */
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} SV630P_FuncTypeMask2;
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typedef enum
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{
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DI_FUNC_NONE = 0, // 0: No defined function
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DI_FUNC_SERVO_ENABLE = 1, // 1: Servo enable
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DI_FUNC_ALARM_RESET = 2, // 2: Alarm reset signal
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DI_FUNC_GAIN_SWITCH = 3, // 3: Gain switch
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DI_FUNC_MAIN_AUX_SWITCH = 4, // 4: Main/auxiliary command switch
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DI_FUNC_MULTI_SEG_DIR = 5, // 5: Multi-segment direction selection
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DI_FUNC_MULTI_SEG_CMD1 = 6, // 6: Multi-segment command switch CMD1
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DI_FUNC_MULTI_SEG_CMD2 = 7, // 7: Multi-segment command switch CMD2
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DI_FUNC_MULTI_SEG_CMD3 = 8, // 8: Multi-segment command switch CMD3
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DI_FUNC_MULTI_SEG_CMD4 = 9, // 9: Multi-segment command switch CMD4
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DI_FUNC_MODE_SWITCH_M1 = 10, // 10: Mode switch M1-SEL
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DI_FUNC_MODE_SWITCH_M2 = 11, // 11: Mode switch M2-SEL
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DI_FUNC_ZERO_POS_LOCK = 12, // 12: Zero position lock enable
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DI_FUNC_POS_CMD_PROHIBIT = 13, // 13: Position command prohibit
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DI_FUNC_OVERRUN_POSITIVE = 14, // 14: Positive overtravel switch
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DI_FUNC_OVERRUN_NEGATIVE = 15, // 15: Negative overtravel switch
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DI_FUNC_TORQUE_LIMIT_POSITIVE = 16, // 16: Positive external torque limit
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DI_FUNC_TORQUE_LIMIT_NEGATIVE = 17, // 17: Negative external torque limit
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DI_FUNC_JOG_POSITIVE = 18, // 18: Jog command +
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DI_FUNC_JOG_NEGATIVE = 19, // 19: Jog command -
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DI_FUNC_STEP_ENABLE = 20, // 20: Step enable
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DI_FUNC_HANDWHEEL_RATIO1 = 21, // 21: Handwheel ratio signal 1
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DI_FUNC_HANDWHEEL_RATIO2 = 22, // 22: Handwheel ratio signal 2
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DI_FUNC_HANDWHEEL_ENABLE = 23, // 23: Handwheel enable signal
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DI_FUNC_GEAR_SELECT = 24, // 24: Electronic gear select
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DI_FUNC_TORQUE_DIR = 25, // 25: Torque command direction select
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DI_FUNC_SPEED_DIR = 26, // 26: Speed command direction select
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DI_FUNC_POS_DIR = 27, // 27: Position command direction select
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DI_FUNC_MULTI_POS_ENABLE = 28, // 28: Multi-position command enable
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DI_FUNC_INTERRUPT_FIX_LENGTH = 29, // 29: Interrupt fixed length state release
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DI_FUNC_NO_FUNCTION = 30, // 30: None
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DI_FUNC_HOME_SWITCH = 31, // 31: Home switch
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DI_FUNC_HOME_ENABLE = 32, // 32: Homing enable
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DI_FUNC_INTERRUPT_FIX_PROHIBIT = 33, // 33: Interrupt fixed length prohibit
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DI_FUNC_EMERGENCY_STOP = 34, // 34: Emergency stop
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DI_FUNC_CLEAR_POS_ERROR = 35, // 35: Clear position error
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DI_FUNC_INTERNAL_SPEED_LIMIT = 36, // 36: Internal speed limit source
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DI_FUNC_PULSE_CMD_PROHIBIT = 37, // 37: Pulse command prohibit
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DI_FUNC_WRITE_CMD_INTERRUPT = 38, // 38: Write command generates interrupt
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DI_FUNC_WRITE_CMD_NO_INTERRUPT = 39, // 39: Write command does not generate interrupt
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DI_FUNC_POS_COMPLETE_CLEAR = 40, // 40: Clear position and command complete signal
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DI_FUNC_SET_CURRENT_AS_HOME = 41 // 41: Set current position as home
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} DiFunctionType;
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// 脉冲宽度必须大于3ms才有效
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typedef enum
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{
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LOW_LEVEL_EFFECTIVE = 0, // Low level active
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HIGH_LEVEL_EFFECTIVE = 1, // High level active
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DEF_LEVEL_EFFECTIVE = LOW_LEVEL_EFFECTIVE,
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} DI_LogicType;
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#define REG_H03_02_DI1_FUNC 0x0302 /* H03.02: DI1 terminal function selection */
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#define REG_H03_03_DI1_LOGIC 0x0303 /* H03.03: DI1 terminal logic selection */
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#define REG_H03_04_DI2_FUNC 0x0304 /* H03.04: DI2 terminal function selection */
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#define REG_H03_05_DI2_LOGIC 0x0305 /* H03.05: DI2 terminal logic selection */
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#define REG_H03_06_DI3_FUNC 0x0306 /* H03.06: DI3 terminal function selection */
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#define REG_H03_07_DI3_LOGIC 0x0307 /* H03.07: DI3 terminal logic selection */
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#define REG_H03_08_DI4_FUNC 0x0308 /* H03.08: DI4 terminal function selection */
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#define REG_H03_09_DI4_LOGIC 0x0309 /* H03.09: DI4 terminal logic selection */
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#define REG_H03_10_DI5_FUNC 0x030A /* H03.10: DI5 terminal function selection */
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#define REG_H03_11_DI5_LOGIC 0x030B /* H03.11: DI5 terminal logic selection */
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#define REG_H03_16_DI8_FUNC 0x0310 /* H03.16: DI8 terminal function selection */
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#define REG_H03_17_DI8_LOGIC 0x0311 /* H03.17: DI8 terminal logic selection */
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#define REG_H03_18_DI9_FUNC 0x0312 /* H03.18: DI9 terminal function selection */
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#define REG_H03_19_DI9_LOGIC 0x0313 /* H03.19: DI9 terminal logic selection */
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#define REG_H03_34_POWER_ON_DI3 0x0322 /* H03.34: Power-on DI function assignment 3 */
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typedef enum
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{
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SV630P_DIFUNC3_NONE = 0x0000, /**< None */
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SV630P_DIFUNC3_FUNIN_33 = 0x0001, /**< FunIN.33 */
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SV630P_DIFUNC3_FUNIN_34 = 0x0002, /**< FunIN.34 */
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SV630P_DIFUNC3_FUNIN_35 = 0x0004, /**< FunIN.35 */
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SV630P_DIFUNC3_FUNIN_36 = 0x0008, /**< FunIN.36 */
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SV630P_DIFUNC3_FUNIN_37 = 0x0010, /**< FunIN.37 */
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SV630P_DIFUNC3_FUNIN_38 = 0x0020, /**< FunIN.38 */
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SV630P_DIFUNC3_FUNIN_39 = 0x0040, /**< FunIN.39 */
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SV630P_DIFUNC3_FUNIN_40 = 0x0080, /**< FunIN.40 */
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SV630P_DIFUNC3_FUNIN_41 = 0x0100, /**< FunIN.41 */
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SV630P_DIFUNC3_FUNIN_42 = 0x0200, /**< FunIN.42 */
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SV630P_DIFUNC3_FUNIN_43 = 0x0400, /**< FunIN.43 */
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SV630P_DIFUNC3_FUNIN_44 = 0x0800, /**< FunIN.44 */
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SV630P_DIFUNC3_FUNIN_45 = 0x1000, /**< FunIN.45 */
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SV630P_DIFUNC3_FUNIN_46 = 0x2000, /**< FunIN.46 */
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SV630P_DIFUNC3_FUNIN_47 = 0x4000 /**< FunIN.47 */
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} SV630P_FuncTypeMask3;
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/* H03.35: Power-on DI function assignment 4 */
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#define REG_H03_35_POWER_ON_DI4 0x0323
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typedef enum
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{
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SV630P_DIFUNC4_NONE = 0x0000, /**< None */
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SV630P_DIFUNC4_FUNIN_49 = 0x0001, /**< FunIN.49 */
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SV630P_DIFUNC4_FUNIN_50 = 0x0002, /**< FunIN.50 */
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SV630P_DIFUNC4_FUNIN_51 = 0x0004, /**< FunIN.51 */
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SV630P_DIFUNC4_FUNIN_52 = 0x0008, /**< FunIN.52 */
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SV630P_DIFUNC4_FUNIN_53 = 0x0010, /**< FunIN.53 */
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SV630P_DIFUNC4_FUNIN_54 = 0x0020, /**< FunIN.54 */
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SV630P_DIFUNC4_FUNIN_55 = 0x0040, /**< FunIN.55 */
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SV630P_DIFUNC4_FUNIN_56 = 0x0080, /**< FunIN.56 */
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SV630P_DIFUNC4_FUNIN_57 = 0x0100, /**< FunIN.57 */
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SV630P_DIFUNC4_FUNIN_58 = 0x0200, /**< FunIN.58 */
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SV630P_DIFUNC4_FUNIN_59 = 0x0400, /**< FunIN.59 */
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SV630P_DIFUNC4_FUNIN_60 = 0x0800, /**< FunIN.60 */
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SV630P_DIFUNC4_FUNIN_61 = 0x1000, /**< FunIN.61 */
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SV630P_DIFUNC4_FUNIN_62 = 0x2000, /**< FunIN.62 */
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SV630P_DIFUNC4_FUNIN_63 = 0x4000 /**< FunIN.63 */
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} SV630P_FuncTypeMask4;
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#define REG_H03_60_DI1_FILTER 0x033D /* H03.60: DI1 filter time constant */
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#define REG_H03_61_DI2_FILTER 0x033E /* H03.61: DI2 filter time constant */
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#define REG_H03_62_DI3_FILTER 0x033F /* H03.62: DI3 filter time constant */
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#define REG_H03_63_DI4_FILTER 0x0340 /* H03.63: DI4 filter time constant */
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#define REG_H03_64_DI5_FILTER 0x0341 /* H03.64: DI5 filter time constant */
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#define REG_H03_65_DI8_FILTER1 0x0342 /* H03.65: DI8 filter time 1 */
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#define REG_H03_66_DI9_FILTER1 0x0343 /* H03.66: DI9 filter time 1 */
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#if defined(__cplusplus)
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extern "C"
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{
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#endif
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/**
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* @brief Write power-on DI function assignment 2, 设置某一DI功能(FunIN.17~FunIN.32)重新上电后立即有效
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* @param dev Pointer to servo handle
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* @param func DI function enum to write
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* @return SV630P_OK on success, error code otherwise
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* @description: 再上电生效, 实时更改
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*/
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int sv630p_h03_01_write_power_on_di_func_assign2(sv630p_handle_t *dev, SV630P_DIDO_FunIN func);
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/**
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* @brief DI1端子功能选择
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* @param dev
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* @param type - 设置硬件DI1端子对应的DI功能
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*/
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int sv630p_h03_02_write_di1_function_selection(sv630p_handle_t *dev, DiFunctionType type);
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#if defined(__cplusplus)
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}
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#endif
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#endif
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