motor.h

步进电机控制程序

void Motor_Init(void);
unsigned short Motor_Get_Z_Order(void);
unsigned short Motor_Get_STMT_Order(void);
void Motor_Set_X_Direct(unsigned short u_Value);
void Motor_Set_Y_Direct(unsigned short u_Value);
signed short Motor_Get_Speed_Order(void);
unsigned short Motor_Get_X_Step(void);
void Motor_Set_X_Step(unsigned short u_Value);
unsigned short Motor_Get_Y_Step(void);
void Motor_Set_Y_Step(unsigned short u_Value);
unsigned short Motor_Get_X_Step_Timer(void);
unsigned short Motor_Get_Y_Step_Timer(void);
unsigned short Motor_Get_Order_Flag(void);
void Motor_Set_Order_Flag(unsigned short Value);
void Motor_Control_Proc(void);
void Motor_Speed_Ramp(void);
unsigned short Motor_Midway_Brake(void);
void Motor_Z_Motor_Control(void);
void Motor_Needle_Check(void);
void Motor_Drive_Set(void);
void Motor_Brake_Set(void);
void Motor_Stop_Set(void);
void Motor_Update(void);
void Motor_First_Read(void);
void Motor_File_Read(void);
void Motor_Set_Order_Flag(unsigned short u_Value);
void Cal_Speed_Limit(void);
unsigned short Draw_String_Set(void);
unsigned short Draw_String_Control(void);
unsigned short Buckle_String_Set(void);
unsigned short Buckle_String_Control(void);
unsigned short Cut_String_Set(void);
unsigned short Cut_String_Control(void);
unsigned short Change_Color_Control(unsigned short u_Color);
#ifndef __MOTOR_H__
#define __MOTOR_H__
extern unsigned short u_X_Step;
extern unsigned short u_Y_Step;
extern unsigned short u_X_Step_Timer;    //>=2
extern unsigned short u_Y_Step_Timer;    //>=2
extern unsigned short u_Needle_Over;
extern signed int n_Speed_Desired;
extern signed short  n_THETA;
extern unsigned short Z_Ref;			//速度给定
extern unsigned short Z_Fbk;			//速度反馈
extern unsigned short u_Drive_Flag;
extern unsigned short u_Brake_Flag;
extern unsigned short u_Z_Debug_Flag;
extern signed short n_THETA_Shifted;    //移动相对角度
extern signed int n_X_Reference;	       //绣花离原点坐标0.1mm
extern signed int n_Y_Reference;          //绣花离原点坐标0.1mm
extern unsigned int   u_Over_Needle_Index;		//当前绣完针
extern unsigned short   u_Embroider_Speed_Des;   //绣花速度设定值
extern unsigned short  u_Error_Flag;
extern unsigned short u_Jump_num;
extern unsigned int  u_File_Point;
extern unsigned int Max_Speed_Limit;
extern unsigned short Cut_Request_Flag;
extern unsigned short Buckle_Request_Flag;
extern unsigned short Draw_Request_Flag;
extern unsigned short Change_Request_Flag;
extern unsigned short u_Color_Select;
extern unsigned short u_Circle_Count;    //已绣完针数
extern union{
      struct
	{
         unsigned X_Motor   	:3;//0:stop 1:auto 2:manual 
	 unsigned X_Direct      :1;	   //0:negative 1:positive  
	 unsigned Y_Motor	:3;		   //0:stop 1:auto 2:manual 
	 unsigned Y_Direct      :1;    //0:negative 1:positive
	 unsigned Flag          :1;    //0:未接收 1：接收   
         }b;                                                 
         unsigned short Word;                               
       }STMT_Order;
extern union{
      struct
	{
         unsigned UP_Needle     :1;//0:Up 1:Down  
	 unsigned Run   	:4;//0:Stop 1:Run 2:one Circle 3:Break
	 unsigned Stop_Circle   :8; //刹车圈数
         }b;                                                 
         unsigned short Word;                               
       }Z_Order;
       
extern union{
      struct
	{
         unsigned UP_Needle     :1;//0:Up 1:Down  
	 unsigned Run   	:4;//0:Stop 1:Run 2:one Circle 3:Break
	 unsigned Stop_Circle   :8; //刹车圈数
         }b;                                                 
         unsigned short Word;                               
       }Z_FBK;
extern struct 
       {
	unsigned  System    :2;   //0:调试 Debug 1：绣花Normal 2:错误 Fault
	unsigned  Normal    :2;   //0:Ready 1: Enable 3:Run
	unsigned  Run       :4;   //0:Z_Nothing 1:Z_Run 3:Z_One
	unsigned  Handle    :8;   //0:left 01:left Hold 2:right 3:right Hold 4：Null 5:enter 6:Back 7:原点设定
	}State;
#endif  //__TIMER_H__