yuwenhao
/
Modbus-rtu
1
0
派生 0
代码 工单 0 合并请求 0 版本发布 0 百科 动态
您最多选择25个主题 主题必须以字母或数字开头，可以包含连字符 (-)，并且长度不得超过35个字符
36 提交
3 分支
138 MiB
 
 
 
 
 
 
目录树: de8cbf8254
分支列表 标签列表
${ item.name }
创建分支 ${ searchTerm }
从 'de8cbf8254'
${ noResults }
Modbus-rtu/PLSR/Src/plsr_planner.h

91 行
2.2 KiB
原始文件 Blame 文件历史 

  1. #ifndef PLSR_PLANNER_H

  2. #define PLSR_PLANNER_H

  3. 

  4. #include "plsr_platform.h"

  5. 

  6. #include <stdint.h>

  7. 

  8. typedef enum

  9. {

  10.     PLSR_BOUNDARY_STOP = 0,

  11.     PLSR_BOUNDARY_NEXT_FRESH,

  12.     PLSR_BOUNDARY_NEXT_CARRY,

  13.     PLSR_BOUNDARY_WAIT_TIME,

  14.     PLSR_BOUNDARY_WAIT_SIGNAL,

  15.     PLSR_BOUNDARY_WAIT_EXT,

  16.     PLSR_BOUNDARY_JUMP,

  17.     PLSR_BOUNDARY_EXT_CUT

  18. } PLSR_BOUNDARY_ACTION;

  19. 

  20. /* A block is self-contained: the planner must not read live Modbus state. */

  21. typedef struct

  22. {

  23.     uint32_t entryHz;

  24.     uint32_t cruiseHz;

  25.     uint32_t exitHz;

  26.     uint32_t pulseBudget;

  27.     uint32_t referenceSpeedHz;

  28.     uint16_t accelerationTimeMs;

  29.     uint16_t decelerationTimeMs;

  30.     uint16_t curveMode;

  31.     uint8_t pulseOutput;

  32.     PLSR_BOUNDARY_ACTION boundary;

  33. } PLSR_MOTION_BLOCK;

  34. 

  35. typedef struct

  36. {

  37.     PLSR_PLATFORM_TIMER_SETTING setting;

  38.     uint32_t requestedFrequencyHz;

  39.     uint32_t repeatCount;

  40. } PLSR_STREAM_ITEM;

  41. 

  42. typedef enum

  43. {

  44.     PLSR_PLANNER_OK = 0,

  45.     PLSR_PLANNER_CLIPPED,

  46.     PLSR_PLANNER_DONE,

  47.     PLSR_PLANNER_INVALID

  48. } PLSR_PLANNER_STATUS;

  49. 

  50. typedef struct

  51. {

  52.     PLSR_MOTION_BLOCK block;

  53.     uint64_t phasePulses;

  54.     uint32_t startHz;

  55.     uint32_t peakHz;

  56.     uint32_t endHz;

  57.     uint32_t entryPulses;

  58.     uint32_t steadyPulses;

  59.     uint32_t exitPulses;

  60.     uint32_t generatedPulses;

  61.     uint32_t rampRelativePulse;

  62.     uint32_t rampPulseCount;

  63.     uint32_t rampFromHz;

  64.     uint32_t rampToHz;

  65.     uint32_t rampDurationMs;

  66.     uint32_t lastRampHz;

  67.     uint64_t rampTotalAreaQ32;

  68.     uint64_t rampAreaStepQ32;

  69.     uint64_t rampTargetAreaQ32;

  70.     uint64_t rampBoundaryQ32;

  71.     uint64_t rampActualTimeQ32;

  72.     uint64_t rampLastPhaseStepQ32;

  73.     uint64_t rampFirstBoundaryQ32;

  74.     uint64_t rampSecondBoundaryQ32;

  75.     uint32_t rampAreaRemainder;

  76.     uint32_t rampRemainderAccumulator;

  77.     uint8_t rampKind;

  78.     uint8_t clipped;

  79.     uint8_t active;

  80. } PLSR_PLANNER_CONTEXT;

  81. 

  82. PLSR_PLANNER_STATUS PlsrPlannerBegin(PLSR_PLANNER_CONTEXT *context,

  83.                                      const PLSR_MOTION_BLOCK *block,

  84.                                      uint32_t appliedHz,

  85.                                      uint64_t phasePulses);

  86. uint16_t PlsrPlannerGenerate(PLSR_PLANNER_CONTEXT *context,

  87.                              PLSR_STREAM_ITEM *output,

  88.                              uint16_t capacity);

  89. 

  90. #endif /* PLSR_PLANNER_H */