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71 lines
1.8 KiB
71 lines
1.8 KiB
/*
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* msp_485MOTOR.c
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*
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* Created on: Apr 3, 2026
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* Author: SHI
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* 电机型号：42步进电机，减速比20
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* 驱动器型号：MKS SERVO42_RS485 （开环控制）
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* 左电机1#，右电机2#；1正2负为前进
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*/
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#include "msp_485MOTOR.h"
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static const int32_t maxSpeed = 800;
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MotorParameters *Motor485[ 2 +1];
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uint8_t getCheckSum(uint8_t *buffer, uint8_t size);
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/**
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* 速度控制模式运行指令
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* @param slaveAddr 从机地址 (0-255)
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* @param dir 方向: 0=正转(CCW), 1=反转(CW)
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* @param speed 转速 (0-800 RPM)
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* @param Handler UART 句柄
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*/
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void speedModeRun_485(uint8_t slaveAddr, int32_t speed, struct UARTHandler *Handler)
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{
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uint8_t dir = 0;
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uint8_t acc = 254;//0.1s加速到1000，246对应0.5s 加速到1000 // （256 -acc）×50 × RPM ÷1000 = 加速时间ms
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if(speed > maxSpeed) speed = maxSpeed;
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if(speed < -maxSpeed) speed = -maxSpeed;
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if(speed < 0)
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{
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dir = 1;
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speed = -speed;
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}
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Handler->Tx_Buf[0] = 0xFA; //
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Handler->Tx_Buf[1] = slaveAddr; //
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Handler->Tx_Buf[2] = 0xF6; //
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Handler->Tx_Buf[3] = (dir<<7) | ((speed>>8) & 0x0F); //
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Handler->Tx_Buf[4] = speed & 0x00FF; //
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Handler->Tx_Buf[5] = acc; //
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Handler->Tx_Buf[6] = getCheckSum(Handler->Tx_Buf, 6); //
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Handler->TxCount = 7; //发送7个字节
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Handler->AddSendList(
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Handler,
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Handler->Tx_Buf,
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Handler->TxCount,
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15,
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Motor_485_Decode);
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// Handler->UART_Tx(Handler);
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}
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uint8_t getCheckSum(uint8_t *buffer, uint8_t size)
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{
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uint16_t sum = 0;
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for(uint8_t i=0; i<size; i++)
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{
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sum += buffer[i]; //累加
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}
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return(sum & 0xFF); //返回校验和
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}
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void Decode485Motor(uint8_t *buffer, uint16_t length)
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{
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//驱动器返回：FB 地址 功能码 01/00（运行成功/失败） 和校验
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//开环控制
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}
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