CAN_Address.cs
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace PUSICANLibrary
{
public class CAN_Address
{
private static Dictionary<uint, SDOAddrInfo> sdoMap = null;
public static Dictionary<uint, SDOAddrInfo> SDOAddrMap()
{
if (sdoMap == null)
{
sdoMap = new Dictionary<uint, SDOAddrInfo>();
sdoMap.Add(NodeID, new SDOAddrInfo(NodeID, DATA_TYPE.DT_UINT8, 0));
sdoMap.Add(BoteValue, new SDOAddrInfo(BoteValue, DATA_TYPE.DT_UINT8, 0));
sdoMap.Add(NodeName, new SDOAddrInfo(NodeName, DATA_TYPE.DT_VISIBLE_STRING, 0));
sdoMap.Add(DeviceVersion, new SDOAddrInfo(DeviceVersion, DATA_TYPE.DT_VISIBLE_STRING, 0));
sdoMap.Add(SoftVersion, new SDOAddrInfo(SoftVersion, DATA_TYPE.DT_VISIBLE_STRING, 0));
sdoMap.Add(DeviceStatus, new SDOAddrInfo(DeviceStatus, DATA_TYPE.DT_UINT8, 0));
sdoMap.Add(ControlStatus, new SDOAddrInfo(ControlStatus, DATA_TYPE.DT_UINT8, 0));
sdoMap.Add(MoveDirection, new SDOAddrInfo(MoveDirection, DATA_TYPE.DT_UINT8, 0));
sdoMap.Add(StopMove, new SDOAddrInfo(StopMove, DATA_TYPE.DT_UINT8, 0));
sdoMap.Add(MoveType, new SDOAddrInfo(MoveType, DATA_TYPE.DT_UINT8, 0));
sdoMap.Add(DelPhaseCurrent, new SDOAddrInfo(DelPhaseCurrent, DATA_TYPE.DT_UINT8, 0));
sdoMap.Add(MotorCanMake, new SDOAddrInfo(MotorCanMake, DATA_TYPE.DT_UINT8, 0));
sdoMap.Add(OutStop_ParamCount, new SDOAddrInfo(OutStop, DATA_TYPE.DT_UINT8, 0));
sdoMap.Add(OutStop_Set, new SDOAddrInfo(OutStop, DATA_TYPE.DT_UINT8, 1));
sdoMap.Add(OutStop_Type, new SDOAddrInfo(OutStop, DATA_TYPE.DT_UINT8, 2));
sdoMap.Add(AddSpeed, new SDOAddrInfo(AddSpeed, DATA_TYPE.DT_UINT16, 0));
sdoMap.Add(StopSpeed, new SDOAddrInfo(StopSpeed, DATA_TYPE.DT_UINT16, 0));
sdoMap.Add(StartSpeed, new SDOAddrInfo(StartSpeed, DATA_TYPE.DT_UINT16, 0));
sdoMap.Add(DelSpeed, new SDOAddrInfo(DelSpeed, DATA_TYPE.DT_UINT16, 0));
sdoMap.Add(MicroStepping, new SDOAddrInfo(MicroStepping, DATA_TYPE.DT_UINT16, 0));
sdoMap.Add(MaxPhaseCurrent, new SDOAddrInfo(MaxPhaseCurrent, DATA_TYPE.DT_UINT16, 0));
sdoMap.Add(MaxSpeed, new SDOAddrInfo(MaxSpeed, DATA_TYPE.DT_UINT32, 0));
sdoMap.Add(RelativeMove, new SDOAddrInfo(RelativeMove, DATA_TYPE.DT_UINT32, 0));
sdoMap.Add(AbsoluteMove, new SDOAddrInfo(AbsoluteMove, DATA_TYPE.DT_UINT32, 0));
// sdoMap.Add(MoveDirection, new SDOAddrInfo(MoveDirection, DATA_TYPE.DT_UINT32, 0));
sdoMap.Add(CurrPosition, new SDOAddrInfo(CurrPosition, DATA_TYPE.DT_UINT32, 0));
sdoMap.Add(OutStop, new SDOAddrInfo(OutStopSingle, DATA_TYPE.DT_UINT8, 0));
sdoMap.Add(GPIO_Value, new SDOAddrInfo(GPIO_Value, DATA_TYPE.DT_INT16, 0));
}
return sdoMap;
}
/// <summary>
/// 节点ID
/// </summary>
public static uint NodeID = 0x2002;
/// <summary>
/// 波特率
/// </summary>
public static uint BoteValue = 0x2003;
/// <summary>
/// 设备节点名称
/// </summary>
public static uint NodeName = 0x1008;
/// <summary>
/// 硬件版本
/// </summary>
public static uint DeviceVersion = 0x1000;
/// <summary>
/// 软件版本= 0x100A
/// </summary>
public static uint SoftVersion = 0x100A;
/// <summary>
/// 驱动错误状态= 0x6000
/// </summary>
public static uint DeviceStatus = 0x6000;
/// <summary>
/// 控制器状态= 0x6001
/// </summary>
public static uint ControlStatus = 0x6001;
/// <summary>
/// 转动反向= 0x6002，0=正方向，1=反方向
/// </summary>
public static uint MoveDirection = 0x6002;
/// <summary>
/// 最大速度= 0x6003
/// </summary>
public static uint MaxSpeed = 0x6003;
/// <summary>
/// 相对位移指令= 0x6004
/// </summary>
public static uint RelativeMove = 0x6004;
/// <summary>
/// 工作模式= 0x6005，0=位置模式，1=速度模式
/// </summary>
public static uint MoveType = 0x6005;
/// <summary>
/// 启动速度= 0x6006
/// </summary>
public static uint StartSpeed = 0x6006;
/// <summary>
/// 停止速度= 0x6007
/// </summary>
public static uint StopSpeed = 0x6007;
/// <summary>
/// 加速度系数= 0x6008
/// </summary>
public static uint AddSpeed = 0x6008;
/// <summary>
/// 减速度系数= 0x6009
/// </summary>
public static uint DelSpeed = 0x6009;
/// <summary>
/// 细分数= 0x600A
/// </summary>
public static uint MicroStepping = 0x600A;
/// <summary>
/// 最大相电流0x600B
/// </summary>
public static uint MaxPhaseCurrent = 0x600B;
/// <summary>
/// 电流衰减0x600D
/// </summary>
public static uint DelPhaseCurrent = 0x600D;
/// <summary>
/// 电机位置0x600C
/// </summary>
public static uint CurrPosition = 0x600C;
/// <summary>
/// 电机使能 0x600E,0=脱机，1=电机使能
/// </summary>
public static uint MotorCanMake = 0x600E;
/// <summary>
/// 对象名称 外部紧急停止 0x60
/// </summary>
public static uint OutStopSingle = 0x600F;
/// <summary>
/// 绝对控制指令0x601c
/// </summary>
public static uint AbsoluteMove = 0x601c;
/// <summary>
/// 终止步进指令0x6020
/// </summary>
public static uint StopMove = 0x6020;
/// <summary>
/// 外部停止，0x600f
/// </summary>
public static uint OutStop= 0x600F;
/// <summary>
/// 外部停止，0x600f ,0h 参数个数 UINT8 RO NO ROM
/// </summary>
public static uint OutStop_ParamCount = 0x600F0;
/// <summary>
/// 外部停止，1h 外部紧急停止使能 UINT8 RW NO
/// </summary>
public static uint OutStop_Set = 0x600F1;
/// <summary>
/// 外部停止，0x600f ,2h 外部紧急停止触发
/// </summary>
public static uint OutStop_Type= 0x600F2;
/// <summary>
/// 通用IO端口值，0x6012 ,U16 0高电平，1低电平
/// </summary>
public static uint GPIO_Value = 0x6012;
}
public class SDOAddrInfo
{
public SDOAddrInfo(uint addr, DATA_TYPE type, uint subindex)
{
this.sdoAddr = addr;
this.dataType = type;
switch (type)
{
case DATA_TYPE.DT_BOOL:
dataLength = 1;
break;
case DATA_TYPE.DT_INT8:
dataLength = 1;
break;
case DATA_TYPE.DT_INT16:
dataLength = 2;
break;
case DATA_TYPE.DT_INT32:
dataLength = 4;
break;
case DATA_TYPE.DT_UINT8:
dataLength = 1;
break;
case DATA_TYPE.DT_UINT16:
dataLength = 2;
break;
case DATA_TYPE.DT_UINT32:
dataLength = 4;
break;
case DATA_TYPE.DT_VISIBLE_STRING:
dataLength = 255;
break;
}
this.subIndex = subindex;
}
/// <summary>
/// 地址
/// </summary>
public uint sdoAddr { get; set; }
public DATA_TYPE dataType { get; set; }
public uint dataLength { get; set; }
public uint subIndex { get; set; }
public uint timeOut = 1000;
}
}