27 lines
549 B
C
27 lines
549 B
C
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#ifndef __ABZ_H
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#define __ABZ_H
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#include "main.h"
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#define ENCODER_MAX_COUNT 4096 // <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ (16λ<36><CEBB>ʱ<EFBFBD><CAB1>)
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#define ENCODER_HALF_COUNT (ENCODER_MAX_COUNT / 2) // <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>м<EFBFBD>ֵ
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typedef struct{
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int16_t preCnt;
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int16_t cnt;
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int16_t offsetCnt;
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int16_t angle;
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int16_t elecAngle;
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int16_t incCnt;
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}ABZ_Encoder;
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void TIM2_M1_ABZ(void);
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void Count_M1_ABZ(void);
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void TIM3_M2_ABZ(void);
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void Count_M2_ABZ(void);
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int16_t ModifyIncCnt(int16_t delta);
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int UpdataEncoderCnt(void);
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#endif
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