189 lines
6.1 KiB
C
189 lines
6.1 KiB
C
/*
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* @Date: 2025-06-26 16:30:18
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* @Author: mypx
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* @LastEditors: mypx mypx_coder@163.com
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* @LastEditTime: 2025-07-22 10:18:43
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* @FilePath: h0c_comm.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 __H0C_COMM_H__
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#define __H0C_COMM_H__
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#include "sv_common.h"
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/* SV630P Servo Driver H0C Group Communication Parameter Register Address Macros */
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/* H0C.00: Station address */
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#define REG_H0C_00_AXIS_ADDR 0x0C00
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#define H0C_00_MIN 0x01
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#define H0C_00_MAX 0xF7
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/* H0C.02: Communication baud rate */
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#define REG_H0C_02_BAUD_RATE 0x0C02
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typedef enum
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{
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SV630P_BAUD_2400 = 0, /**0:2400bps */
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SV630P_BAUD_4800 = 1, /**1:4800bps */
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SV630P_BAUD_9600 = 2, /**2:9600bps */
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SV630P_BAUD_19200 = 3, /**3:19200bps */
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SV630P_BAUD_38400 = 4, /**4:38400bps */
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SV630P_BAUD_57600 = 5, /**5:57600bps */
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SV630P_BAUD_115200 = 6 /**6:115200bps */
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} SV630P_BaudRate;
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/* H0C.03: Data format */
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#define REG_H0C_03_DATA_FORMAT 0x0C03
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typedef enum
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{
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SV630P_MODBUS_NONE_2STOP = 0, /**< 0:No parity, 2 stop bits */
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SV630P_MODBUS_EVEN_1STOP = 1, /**< 1:Even parity, 1 stop bit */
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SV630P_MODBUS_ODD_1STOP = 2, /**< 2:Odd parity, 1 stop bit */
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SV630P_MODBUS_NONE_1STOP = 3 /**< 3:No parity, 1 stop bit */
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} SV630P_ModbusFormat;
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/* H0C.08: CANopen communication baud rate */
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#define REG_H0C_08_CAN_RATE 0x0C08
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#define H0C_08_MIN 0x0000
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#define H0C_08_MAX 8
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/* H0C.09: Communication VDI enable (200C-09h)
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* Enable virtual DI function, 0=disable, 1=enable
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* Address: 0x0C09
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* Range: 0~1 */
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#define REG_H0C_09_VDI_ENABLE 0x0C09
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typedef enum
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{
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VDI_DISABLE = 0,
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VDI_ENABLE = 1
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} VDI_StatusTypeDef;
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/* H0C.10: Default VDI value after power-on (200C-0Bh)
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* Initial VDI level configuration when servo is powered on, bit0 for VDI1, bit1 for VDI2...
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* Address: 0x0C10
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* Range: 0~0xFFFF */
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#define REG_H0C_10_VDI_DEFAULT 0x0C10
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#define H0C_10_MIN 0x0000
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#define H0C_10_MAX 0xFFFF
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/* H0C.11: Communication VDO enable (200C-0Ch)
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* Enable virtual DO function, 0=disable, 1=enable
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* Address: 0x0C11
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* Range: 0~1 */
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#define REG_H0C_11_VDO_ENABLE 0x0C11
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#define H0C_11_MIN 0x0000
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#define H0C_11_MAX 0x0001
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/* H0C.12: Default output level when VDO function select is 0 (200C-0Dh)
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* Default output level when VDO function is not enabled
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* Address: 0x0C12
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* Range: 0~0xFFFF */
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#define REG_H0C_12_VDO_DEFAULT_LEVEL 0x0C12
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#define H0C_12_MIN 0x0000
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#define H0C_12_MAX 0xFFFF
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/* H0C.13: Whether to update communication function code value to EEPROM (200C-0Eh)
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* 0=not update, 1=update
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* Address: 0x0C13
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* Range: 0~1 */
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#define REG_H0C_13_FUNC_CODE_EEPROM 0x0C13
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#define H0C_13_MIN 0x0000
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#define H0C_13_MAX 0x0001
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/* H0C.14: Modbus error code (200C-0Fh)
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* Display Modbus communication error code
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* Address: 0x0C14
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* Range: 0~4 (0x0000~0x0004) */
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#define REG_H0C_14_MODBUS_ERROR_CODE 0x0C14
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#define H0C_14_MIN 0x0000
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#define H0C_14_MAX 0x0004
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/* H0C.16: Whether to update CAN communication function code value to EEPROM (200C-10h)
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* 0=not update, 1=update
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* Address: 0x0C16
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* Range: 0~1 */
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#define REG_H0C_16_CAN_EEPROM_UPDATE 0x0C16
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#define H0C_16_MIN 0x0000
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#define H0C_16_MAX 0x0001
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/* H0C.25: Modbus command response delay (200C-19h)
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* Modbus response delay time setting (unit: 100μs)
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* Address: 0x0C25
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* Range: 0~20 (0~2000μs) */
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#define REG_H0C_25_RESPONSE_DELAY 0x0C25
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#define H0C_25_MIN 0x0000
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#define H0C_25_MAX 0x0014
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/* H0C.26: Modbus communication data byte order (200C-1Ah)
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* 0=high 16 bits first, 1=low 16 bits first
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* Address: 0x0C26
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* Range: 0~1 */
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#define REG_H0C_26_DATA_BYTE_ORDER 0x0C26
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#define H0C_26_MIN 0x0000
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#define H0C_26_MAX 0x0001
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/* H0C.30: Modbus error frame format selection (200C-1Eh)
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* 0=standard error frame, 1=extended error frame
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* Address: 0x0C30
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* Range: 0~1 */
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#define REG_H0C_30_ERROR_FRAME_FORMAT 0x0C30
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#define H0C_30_MIN 0x0000
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#define H0C_30_MAX 0x0001
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/* H0C.31: Modbus receive handling (200C-1Fh)
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* 0=standard handling, 1=fast handling
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* Address: 0x0C31
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* Range: 0~1 */
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#define REG_H0C_31_RX_HANDLING 0x0C31
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#define H0C_31_MIN 0x0000
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#define H0C_31_MAX 0x0001
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/**
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* @brief H0C.00 Read Drive Axis Address (16-bit)
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* @param value Pointer to store the axis address (1-247)
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* @return nmbs_error
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* @note The drive axis address must be consistent with the host configuration
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*/
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nmbs_error sv630p_read_axis_address(uint16_t *value);
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/**
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* @brief H0C.00 Write Drive Axis Address (16-bit)
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* @param value Axis address to write (1-247)
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* @return nmbs_error
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* @note Change when stopped, takes effect immediately
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*/
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nmbs_error sv630p_write_axis_address(uint16_t value);
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/**
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* @brief H0C.02 Read Serial Baud Rate Setting (16-bit)
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* @param value Pointer to store the baud rate setting (0-6)
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* @return nmbs_error
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* @note 0:2400bps, 1:4800bps, 2:9600bps, 3:19200bps, 4:38400bps, 5:57600bps, 6:115200bps
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*/
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nmbs_error sv630p_read_baud_rate(SV630P_BaudRate *baud_rate);
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/**
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* @brief H0C.02 Write Serial Baud Rate Setting (16-bit)
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* @param value Baud rate setting to write (0-6)
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* @return nmbs_error
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* @note Communication will be interrupted after modification, serial port needs to be re-initialized
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*/
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nmbs_error sv630p_write_baud_rate(SV630P_BaudRate baud_rate);
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/**
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* @brief H0C.03 Read Modbus Communication Data Format (16-bit)
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* @param value Pointer to store the data format (0-3)
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* @return nmbs_error
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* @note 0:No parity+2 stop bits, 1:Even parity+1 stop bit, 2:Odd parity+1 stop bit, 3:No parity+1 stop bit
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*/
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nmbs_error sv630p_read_modbus_data_format(SV630P_ModbusFormat *fmt);
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/**
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* @brief H0C.03 Write Modbus Communication Data Format (16-bit)
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* @param value Data format to write (0-3)
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* @return nmbs_error
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* @note Must be consistent with the host computer, otherwise communication will fail. Takes effect immediately.
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*/
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nmbs_error sv630p_write_modbus_data_format(SV630P_ModbusFormat fmt);
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#endif // __SV_COM_ARGS_REG_H__
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