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35 lines
745 B
35 lines
745 B
#include "dmk.h"
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#include "modbus.h"
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uint16_t Is_First_Run = 0;
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void handle_dmk_motor(uint16_t velocity, int state)
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{
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char ms_100_state = HAL_GetTick() / 300 % 3;
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switch (ms_100_state)
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{
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case 1:
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MB_WriteHoldingReg(1, 0x06A, velocity);
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break;
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case 2:
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if (state == 1)
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{
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MB_WriteHoldingReg(1, 0x033, 0x01); /* 正转 */
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}
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else if (state == 0)
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{
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MB_WriteHoldingReg(1, 0x033, 0x00); /* 停止 */
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}
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else if (state == 2)
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{
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MB_WriteHoldingReg(1, 0x033, 0x14); /* 反转 */
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}
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break;
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case 0:
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MB_WriteHoldingReg(1, 0x000, 0); /* 设置模式为0 */
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break;
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}
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}
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