第一次提交，修改保存刷写上位机IP

2025-09-07 19:16:08 +08:00
commit 8242f618d1
58 changed files with 10917 additions and 0 deletions
--- a/app/app_turntable.h
+++ b/app/app_turntable.h
@@ -0,0 +1,54 @@
+#ifndef TURNTAABLE_H
+#define TURNTAABLE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+  
+  
+  
+#define   LIMIT_SPEED_INDEX        0x7017//CSP<53><50><EFBFBD>ٶ<EFBFBD>
+#define   LOC_REF_INDEX            0x7016//CSP<53><50>λ<EFBFBD><CEBB>   
+#define   RUM_MODE                 0x7005//modeģʽ
+  
+  
+
+
+#define   OPERATION_MODE           0   // <20>˿<EFBFBD>ģʽ
+#define   POSITION_MODE_PP         1   // λ<><CEBB>ģʽ (PP - Profile Position)
+#define   VELOCITY_MODE            2   // <20>ٶ<EFBFBD>ģʽ
+#define   CURRENT_MODE             3   // <20><><EFBFBD><EFBFBD>ģʽ
+#define   POSITION_MODE_CSP        5   // λ<><CEBB>ģʽ (CSP - Cyclic Synchronous Position)  
+  
+  
+
+
+// canoeЭ<65><D0AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+typedef struct _StrSdoOutput
+{
+//-----<2D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0x601----------------------------------------------       
+    uint16_t index;                   //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƼĴ<C6BC><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
+    uint16_t object_index;            // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>  Ϊ0x0000
+    uint32_t data;                    // <20><><EFBFBD><EFBFBD>      
+} StrRS04Output;
+
+typedef union _UnSdoOutput
+{
+    StrSdoOutput bit_data;             // ʹ<>ö<EFBFBD><C3B6><EFBFBD><EFBFBD>Ľṹ<C4BD><E1B9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    uint8_t arr[sizeof(StrSdoOutput)]; // ͨ<><CDA8><EFBFBD>ṹ<EFBFBD><E1B9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ<EFBFBD><C8B7><EFBFBD><EFBFBD>С
+} UnRS04Output;
+
+
+  
+  
+  
+  
+  
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TURNTAABLE_H