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feat: 增加步进电机绝对和相对位置设置函数

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bmy
2024-05-01 01:51:36 +08:00
parent 13d9324385
commit 7ef6f87c84
11 changed files with 321 additions and 93 deletions
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33
app/by_stepper.h
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@@ -1,10 +1,29 @@
#ifndef _BY_STEPPER_H__
#define _BY_STEPPER_H__
#include "at32f413.h"
typedef enum stepper_speed_t {
STEPPER_SPEED_DIV0 = 0,
STEPPER_SPEED_DIV2 = 2,
STEPPER_SPEED_DIV4 = 4,
STEPPER_SPEED_DIV8 = 8,
STEPPER_SPEED_DIV16 = 16,
STEPPER_SPEED_DIV32 = 32
} stepper_speed_t;
STEPPER_SPEED_DIV1 = 1,
STEPPER_SPEED_DIV2 = 2,
STEPPER_SPEED_DIV4 = 4,
STEPPER_SPEED_DIV8 = 8,
STEPPER_SPEED_DIV16 = 16,
STEPPER_SPEED_DIV32 = 32
} stepper_speed_t;
extern void by_stepper_set_dir(uint8_t dir);
extern void by_stepper_set_speed(stepper_speed_t speed);
extern void by_stepper_init(void);
extern void by_stepper_run(void);
extern void by_stepper_stop(uint8_t hold);
extern void by_stepper_set_position_millimeter(float distance);
extern void by_stepper_add_position_millimeter(float distance);
extern void by_stepper_loop(void);
extern void by_stpepper_int(void);
extern int64_t position;
extern int64_t position_aim;
extern int64_t position_offset;
#endif