基本固化

BSP/bsp.h

@@ -107,6 +107,33 @@ typedef enum {
 
 //电机有个参数定义哪个方向是正向，这样才能适应不同方向的电机
 
+// Motor Parameter
+typedef struct{
+	float X_Step;
+	float X_Fre_Min;
+	float X_Fre_Max;
+	float X_Jerk;
+}X_SpeedList_TypeDef;
+#define		X_TIM3_FREQ						(84000000 / X_TIM3_Prescaler)		// 2MHz
+#define		X_TIM3_Pulse					(X_TIM3_FREQ / 500)
+#define		X_Accel_Step					100.0f
+#define		X_SpeedList_LEN					((uint8_t)X_Accel_Step)
+#define		X_FREQ_MIN						500.0f
+#define		X_FREQ_MAX						5000.0f
+#define		X_JERK							4.0f
+
+// Motor State
+#define		X_ACCEL							1						// acceleration
+#define		X_COSTT							2						// constant
+#define   	X_DECEL                 		3						// deceleration
+#define		X_UNIFM							4						// uniform
+#define		X_STOP							0						// stop
+
+#define		TRUE							1
+#define		FALSE							0
+
+
+
 
 typedef struct MOTOR_s 
 {
@@ -188,18 +215,22 @@ extern SERIAL_t serial3;
 
 typedef struct PAR_s 
 {
+	
 	uint8_t state;//role  key   motor  pad     type    
 	              // 0     0      0     0      0000      
 	              //用来配置该板子是否为主机1，默认为从机0
-                  //按键极性，0 min为0x01 max 0x02,1 min为0x01 max 0x02
+                  //按键极性，0 min为0x01 max 0x02,1 max为0x01 min 0x02
 	              //电机旋转的正方向，0 从后向前看，顺时针为正向，逆时针为反向，1则相反
 	              //驱动类型，0 用按键作为端点，1 用模拟量作为端点，2 串口输入作为端点 ，3无端点
 	uint8_t pad1;
 	uint8_t pad2;
 	uint8_t pad3;
+	uint32_t weight;
+	uint32_t temp1;
+	uint32_t temp2;
 	uint64_t lenght;//端点的总长度，如果没有端点，则这个数为0
 
-	char name[20];
+	char name[32];
 	
 }PAR_t;
 
@@ -211,9 +242,9 @@ extern PAR_t parameters;
 
 
 
-void SYS_initParam();
-void SYS_getParam();
-void SYS_setParam();
+void SYS_initParam(void);
+void SYS_getParam(void);
+void SYS_setParam(void);
 
 
 unsigned char SYS_getID(void);