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Код: Выделить всё

unsigned long minimum_delay_ns = 3500000 * (conn.dataBits + 1 + conn.stopBits) / conn.baudRate; // +1 потому что бит чётности

Код: Выделить всё

#define STATUS_Command_Frequency	0x0001	
#define STATUS_Output_Frequency		0x0002	
#define STATUS_Output_Current		0x0003	
#define STATUS_Output_Voltage		0x0004	
#define STATUS_Output_Power		0x0005	
#define STATUS_Output_Torque		0x0006	
#define STATUS_Motor_RPM		0x0007	
#define STATUS_DC_Bus_Voltage		0x0008	
#define STATUS_Temperature		0x0009	
#define STATUS_Uptime			0x000A	
#define STATUS_Fault_Code		0x000B	


#define COMMAND_REGISTER		0x2000	
#define SET_FREQUENCY_REGISTER		0x2001	


#define CONTROL_Run_Fwd			0x000C	
#define CONTROL_Run_Rev			0x000D	
#define CONTROL_Stop			0x000E	
#define CONTROL_Fault_Reset		0x000F 

Код: Выделить всё

[Common]
MaxSpeedRPM=24000
MinSpeedRPM=1000


[RS485]
SlaveAddress=1
SerialDevice=/dev/ttyUSB0
BaudRate=19200
DataBits=8
Parity=E
StopBits=1
Range: 0 ... 10000.
LoopDelay=200
ProtocolDelay=90

IsConnectedDelay=10



[Control]
# An address of the control register. 
# 50000-1
Address=0x219A

# A value to run spindle forward.
RunForwardValue=0x000F

# A value to run spindle reverse.
RunReverseValue=0x080F

# A value to reset a fault state.
# If this parameter is commented then fault reset feature will be disabled.
FaultResetValue=0x0080

# A value to stop spindle.
StopValue=0x0002


[SpindleRpmIn]
# An address of the command speed (or frequency) register.
# 50010-1
Address=0x219A

# Multiplier and Divider are integer values to correct command speed value
# before it will be written to command speed register.
# Corrected command speed = (command speed) x Multiplier / Divider.
# Use both (Multiplier & Divider) to reach float coefficient.
Multiplier=4000
Divider=24000

[SpindleRpmOut]

# An address of the output speed (or frequency) register.
Address=0x0C82

# Multiplier and Divider are integer values to correct output speed value
# after it has been read from output speed register.
# Corrected output speed = (output speed) x Multiplier / Divider.
# Use both (Multiplier & Divider) to reach float coefficient.
Multiplier=24000
Divider=4000

[User parameter 1]
Address=0x0C84
# HAL pin type: 'bit', 'float', 's32' or 'u32'.
PinType=float
Multiplier=1
Divider=100
PinName=output-current

#[User parameter 2]
#Address=0x4203
#PinType=u32
#Multiplier=1
#Divider=1
#PinName=fault-code

Код: Выделить всё

# A value to run spindle forward.
RunForwardValue=0x000F

# A value to run spindle reverse.
RunReverseValue=0x080F

# A value to stop spindle.
StopValue=0x0002