55 lines
1.1 KiB
C
55 lines
1.1 KiB
C
#ifndef MotroStat_h
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#define MotroStat_h
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#include "stm32f10x.h"
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struct StructMotorStat{
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int NmberoNow;
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int direction;
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int speed;
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int MoveMode;
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int moveflag;
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int acc;
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int dec;
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int speedflag;
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int Targetspeed;
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__int64 NmberoTarget;
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int backzero;
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int Nmbertargetflag;
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int accflag;
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int decflag;
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void (*set_speed)(int speed);
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void (*stopmove)();
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int pulse_count; // 增加脉冲计数器
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int target_position; //保存目标位置
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int accel; //加速度 steps/s2
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int decel; //减速度 steps/s2
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int max_speed; //最大速度 steps/s
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int total_steps; //总步数
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int step_counter; //当前步数
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int accel_steps; //加速段步数
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int decel_steps; //减速段步数
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int const_steps; //匀速段步数
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float current_speed; //当前速度
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int move_phase; //运动阶段 -1_停止 0-加速 1-匀速 2-减速
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u8 zero_flag; // 归零标志位（0-未归零 1-归零中）
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int zheng_LimitTrigger;
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int fu_LimitTrigger;
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};
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extern struct StructMotorStat MotorStat;
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void motorloop(void);
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#endif // !Motro
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