yidong.fan
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ALPS-004


			
				
					
						
						
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							#ifndef MOTOR_H
#define	MOTOR_H

#include <p33FJ64MC204.h>
#include <stdio.h>
#include "math.h"
#include "string.h"

#define		MOTOR1_FORWARD		(!(Motor1.Reset_Direction&0X0001))
#define		MOTOR1_REVERSAL        	(Motor1.Reset_Direction&0X0001)

#define		MOTOR2_FORWARD         (!(Motor2.Reset_Direction&0X0001))
#define		MOTOR2_REVERSAL          (Motor2.Reset_Direction&0X0001)

#define		MOTOR3_FORWARD         (!(Motor3.Reset_Direction&0X0001))
#define		MOTOR3_REVERSAL          (Motor3.Reset_Direction&0X0001)

#define		MOTOR4_FORWARD         (!(Motor4.Reset_Direction&0X0001))
#define		MOTOR4_REVERSAL          (Motor4.Reset_Direction&0X0001)

#define     UNKNOWN          0x03
#define     SUCCESS              0x00
#define	MOTOR1_HOME      !PORTAbits.RA10//1电机复位光电
#define	MOTOR2_HOME	      !PORTCbits.RC2//2电机复位光电
#define	MOTOR3_HOME      !PORTCbits.RC4//3电机复位光电
#define	MOTOR4_HOME      !PORTAbits.RA7//磁铁电机复位光电
#define	MOTOR1_PWM		 LATCbits.LATC9                  //1电机       
#define      MOTOR1_DIR                LATBbits.LATB10                //1电机

#define	MOTOR2_PWM	          LATBbits.LATB4                //2电机          
#define      MOTOR2_DIR                LATAbits.LATA4               //2电机

#define	MOTOR3_PWM		 LATBbits.LATB5                   //3电机 
#define      MOTOR3_DIR                LATCbits.LATC5                  //3电机

#define	MOTOR4_PWM		 LATBbits.LATB13                   //4电机 
#define      MOTOR4_DIR                LATBbits.LATB15                 //4电机
/*电机复位指令定义*/

#define	ACCLTH		              (unsigned int)2000    //加速度脉冲数限值
//#define     ACCLENGTH                 (unsigned int)1000      //实际加速度脉冲数

#define     REAGENT_MOTOR_ACC         (unsigned int)500      //加速脉冲数
#define     REAGENT_MOTOR_FREQMAX     (unsigned int)50000     //电机运行的最大速度
#define     REAGENT_MOTOR_FREQMIN     (unsigned int)3000      //电机运行的起跳速度
#define     REAGENT_MOTOR_XFLEXIBLE   (float)5                //x轴的压缩系数

#define     MOTOR_FREQLIMIT_H     (unsigned int)300000     //电机运行的最大速度
#define     MOTOR_FREQLIMIT_L      (unsigned int)10             //电机运行的起跳速度

#define     REAGENT_MOTOR_ACC2               (unsigned int)1000 //加速脉冲数
#define     REAGENT_MOTOR_FREQMAX2     (unsigned int)60000   //(unsigned int)2000  //电机运行的最大速度
#define     REAGENT_MOTOR_FREQMIN2      (unsigned int)1000//电机运行的起跳速度
#define     REAGENT_MOTOR_XFLEXIBLE2     (float)3               //x轴的压缩系数

#define     REAGENT_MOTOR_ACC3               (unsigned int)1000     //加速脉冲数
#define     REAGENT_MOTOR_FREQMAX3     (unsigned int)65000     //(unsigned int)2000  //电机运行的最大速度
#define     REAGENT_MOTOR_FREQMIN3     (unsigned int)4000     //电机运行的起跳速度
#define     REAGENT_MOTOR_XFLEXIBLE3   (float)2                //x轴的压缩系数

#define     REAGENT_MOTOR_ACC4               (unsigned int)800    //加速脉冲数
#define     REAGENT_MOTOR_FREQMAX4     (unsigned int)50000     //(unsigned int)2000  //电机运行的最大速度
#define     REAGENT_MOTOR_FREQMIN4     (unsigned int)4000     //电机运行的起跳速度
#define     REAGENT_MOTOR_XFLEXIBLE4   (float)2                //x轴的压缩系数
/*电机运行参数定义*/
extern  unsigned char      g_ucMotorXFinishFlag,g_ucMotorYFinishFlag,g_ucMotorZFinishFlag,g_ucMotorZ1FinishFlag,g_ucMotorZ2FinishFlag,g_ucMotor4FinishFlag;   //电机运行完成标志位
extern  unsigned int       g_uiAccIndex ;                    
extern  unsigned long int  g_uliRunningPulse ;                
extern  unsigned long int  g_uliPulseCount ;                  
extern  unsigned int       g_uiReagentMotorPeriod[REAGENT_MOTOR_ACC];
extern  unsigned int       g_uiReagentMotorPeriod2[REAGENT_MOTOR_ACC2];
extern  unsigned int       g_uiReagentMotorPeriod3[REAGENT_MOTOR_ACC3];
extern  unsigned int       g_uiReagentMotorPeriod4[REAGENT_MOTOR_ACC4];
extern  unsigned long      PulseNum;
extern  unsigned char      Motor1_HOME_Flag,Motor2_HOME_Flag,Motor3_HOME_Flag,Motor4_HOME_Flag,Motor5_HOME_Flag;
extern  unsigned int       Moving_Speed;  
extern  unsigned int       Reset_Speed;   
struct MotorParam
{
    unsigned char       ucXDirection;      
    unsigned char       uiXSpeed_switch; 
    unsigned int          uiXSpeed;          
    unsigned int          uiXprd;           
    unsigned long int ulXiPosition;      
    unsigned long int ulXiAccPulse;       
    unsigned long int ulXiConstPulse;   
    
    unsigned char       ucZDirection;     
    unsigned char       uiZSpeed_switch; 
    unsigned int          uiZSpeed;         
    unsigned int          uiZprd;        
    unsigned long int ulZiPosition;      
    unsigned long int ulZiAccPulse;     
    unsigned long int ulZiConstPulse;    
    
    unsigned char       ucZ1Direction;     
    unsigned char       uiZ1Speed_switch; 
    unsigned int          uiZ1Speed;         
    unsigned int          uiZ1prd;          
    unsigned long int ulZ1iPosition;     
    unsigned long int ulZ1iAccPulse;    
    unsigned long int ulZ1iConstPulse;    
    
    unsigned char       uc4Direction;     
    unsigned char       ui4Speed_switch; 
    unsigned int          ui4Speed;          
    unsigned int          ui4prd;           
    unsigned long int ul4iPosition;       
    unsigned long int ul4iAccPulse;     
    unsigned long int ul4iConstPulse;     
};
extern  struct             MotorParam      g_tReagentMotorParam;
struct MotorParamEEPROM
{

    unsigned int      Moving_Speed;
    unsigned int      Reset_Speed;
    unsigned int      Reset_Direction;
    unsigned int      Overshoot_Pulse;
    unsigned int      Back_Pulse;    
    unsigned long int Limit_Pulse;    
    unsigned long int Limit_speed; 
};
extern  struct             MotorParamEEPROM      Motor1; 
extern  struct             MotorParamEEPROM      Motor2; 
extern  struct             MotorParamEEPROM      Motor3;
extern  struct             MotorParamEEPROM      Motor4;  
//extern  struct             MotorParamEEPROM      Motor5;  

extern void CalculateSModelLine( unsigned int * period, unsigned int len, unsigned int fre_max, unsigned int fre_min, float flexible);

extern void InitMotor1PWM(void); 
extern void InitMotor2PWM(void);
extern void InitMotor3PWM(void);
extern void InitMotor4PWM(void);
//extern void InitMotor5PWM(void);

extern void SetMotor1(unsigned long int Pulses,unsigned int spd,unsigned long int *AccPLS,unsigned long int *constVPLS);
extern void SetMotor2(unsigned long int Pulses,unsigned int spd,unsigned long int *AccPLS,unsigned long int *constVPLS);
extern void SetMotor3(unsigned long int Pulses,unsigned int spd,unsigned long int *AccPLS,unsigned long int *constVPLS);
extern void SetMotor4(unsigned long int Pulses,unsigned int spd,unsigned long int *AccPLS,unsigned long int *constVPLS);
//extern void SetMotor5(unsigned long int Pulses,unsigned int spd,unsigned long int *AccPLS,unsigned long int *constVPLS);
 
extern void Motor1Home(unsigned int pulseoffset,unsigned int MOVEspd,unsigned int LEAVspd );
extern void Motor2Home(unsigned int pulseoffset,unsigned int MOVEspd,unsigned int LEAVspd );
extern void Motor3Home(unsigned int pulseoffset,unsigned int MOVEspd,unsigned int LEAVspd );
extern void Motor4Home(unsigned int pulseoffset,unsigned int MOVEspd,unsigned int LEAVspd );
//extern void Motor5Home(unsigned int pulseoffset,unsigned int MOVEspd,unsigned int LEAVspd );

extern void Motor1Move(unsigned long int pulse,unsigned char dir,unsigned int spd);
extern void Motor2Move(unsigned long int pulse,unsigned char dir,unsigned int spd);
extern void Motor3Move(unsigned long int pulse,unsigned char dir,unsigned int spd);
extern void Motor4Move(unsigned long int pulse,unsigned char dir,unsigned int spd);
//extern void Motor5Move(unsigned long int pulse,unsigned char dir,unsigned int spd);

extern void Motor1MoveTo(unsigned long int pulse,unsigned int spd);
extern void Motor2MoveTo(unsigned long int pulse,unsigned int spd);
extern void Motor3MoveTo(unsigned long int pulse,unsigned int spd);
extern void Motor4MoveTo(unsigned long int pulse,unsigned int spd);
//extern void Motor5MoveTo(unsigned long int pulse,unsigned int spd);
extern void Motor2MoveTo_ok(unsigned long int pulse,unsigned int spd);
extern void Move_to_by_volume(unsigned  int volume,unsigned int spd);

#endif	/* MOTOR_H */