zhengxinandCursor
851e347cf5
纳入固件源码、屏幕组件、nand_xfer 工具和文档。忽略本机构建产物、sdkconfig，以及含本机路径的依赖锁。 Co-authored-by: Cursor <[email protected]>
51 lines
1.8 KiB
C
51 lines
1.8 KiB
C
#ifndef __STEP_MOTOT_INIT_H__
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#define __STEP_MOTOT_INIT_H__
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdbool.h>
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#include <stdint.h>
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#include "driver/gpio.h"
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#include "esp_log.h"
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#include "driver/mcpwm_prelude.h"
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/* ---- 步进电机引脚 ---- */
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#define STEPPER_PIN_A1 GPIO_NUM_20 /* A 相正 */
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#define STEPPER_PIN_A2 GPIO_NUM_21 /* A 相负 */
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#define STEPPER_PIN_B1 GPIO_NUM_23 /* B 相正 */
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#define STEPPER_PIN_B2 GPIO_NUM_22 /* B 相负 */
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/* ---- MCPWM 配置 ---- */
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#define STEPPER_MCPWM_GROUP 0
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#define STEPPER_PWM_RESOL_HZ 4000000U /* 定时器时钟分辨率 4 MHz */
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#define STEPPER_PWM_FREQ_HZ 8000U /* PWM 载波频率 8 kHz */
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#define STEPPER_DUTY_MAX 1000U /* 占空比满量程，和 A_PULS_DUTY 等变量一致 */
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#define STEPPER_STARTUP_DUTY_RAW (STEPPER_DUTY_MAX / 2)
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#define STEPPER_OPENLOOP_STEP_HZ 100U /* 上电演示转动的步进频率 */
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#define STEPPER_DEFAULT_RUN_STEPS (STEPPER_OPENLOOP_STEP_HZ * 4U)
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typedef enum {
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STEPPER_DIR_FORWARD = 1,//原为 1
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STEPPER_DIR_REVERSE = -1,//原为 -1
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} stepper_motor_direction_t;
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void stepper_motor_init(void);
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void stepper_motor_set_duty_raw(uint16_t a_plus, uint16_t a_minus, uint16_t b_plus, uint16_t b_minus);
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void stepper_motor_output_enable(void);
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void stepper_motor_output_disable(void);
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void stepper_motor_openloop_start(void);
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void stepper_motor_openloop_start_dir(stepper_motor_direction_t direction);
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void stepper_motor_forward(void);
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void stepper_motor_reverse(void);
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void stepper_motor_run_steps(stepper_motor_direction_t direction, uint32_t steps);
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void stepper_motor_stop(void);
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void stepper_motor_openloop_stop(void);
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bool stepper_motor_output_is_enabled(void);
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stepper_motor_direction_t stepper_motor_get_direction(void);
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#ifdef __cplusplus
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}
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#endif
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#endif /* __STEP_MOTOR_INIT_H__ */
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