RA Flexible Software Package Documentation
Release v5.6.0
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Interface for Motor functions.
The Motor interface provides Motor functionality.
Data Structures | |
struct | motor_callback_args_t |
struct | motor_cfg_t |
struct | motor_api_t |
struct | motor_instance_t |
Typedefs | |
typedef void | motor_ctrl_t |
Enumerations | |
enum | motor_error_t |
enum | motor_callback_event_t |
enum | motor_wait_stop_flag_t |
enum | motor_function_select_t |
struct motor_callback_args_t |
callback function parameter data
Data Fields | ||
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void const * | p_context | Placeholder for user data. |
motor_callback_event_t | event |
struct motor_cfg_t |
Configuration parameters.
Data Fields | |
motor_speed_instance_t const * | p_motor_speed_instance |
Speed Instance. | |
motor_current_instance_t const * | p_motor_current_instance |
Current Instance. | |
void(* | p_callback )(motor_callback_args_t *p_args) |
void const * | p_extend |
Placeholder for user extension. | |
void(* motor_cfg_t::p_callback) (motor_callback_args_t *p_args) |
Placeholder for user data. Passed to the user callback in motor_callback_args_t.
struct motor_api_t |
Functions implemented at the HAL layer will follow this API.
Data Fields | |
fsp_err_t(* | open )(motor_ctrl_t *const p_ctrl, motor_cfg_t const *const p_cfg) |
fsp_err_t(* | close )(motor_ctrl_t *const p_ctrl) |
fsp_err_t(* | run )(motor_ctrl_t *const p_ctrl) |
fsp_err_t(* | stop )(motor_ctrl_t *const p_ctrl) |
fsp_err_t(* | reset )(motor_ctrl_t *const p_ctrl) |
fsp_err_t(* | errorSet )(motor_ctrl_t *const p_ctrl, motor_error_t const error) |
fsp_err_t(* | speedSet )(motor_ctrl_t *const p_ctrl, float const speed_rpm) |
fsp_err_t(* | positionSet )(motor_ctrl_t *const p_ctrl, motor_speed_position_data_t const *const p_position) |
fsp_err_t(* | statusGet )(motor_ctrl_t *const p_ctrl, uint8_t *const p_status) |
fsp_err_t(* | angleGet )(motor_ctrl_t *const p_ctrl, float *const p_angle_rad) |
fsp_err_t(* | speedGet )(motor_ctrl_t *const p_ctrl, float *const p_speed_rpm) |
fsp_err_t(* | waitStopFlagGet )(motor_ctrl_t *const p_ctrl, motor_wait_stop_flag_t *const p_flag) |
fsp_err_t(* | errorCheck )(motor_ctrl_t *const p_ctrl, uint16_t *const p_error) |
fsp_err_t(* | functionSelect )(motor_ctrl_t *const p_ctrl, motor_function_select_t const function) |
fsp_err_t(* motor_api_t::open) (motor_ctrl_t *const p_ctrl, motor_cfg_t const *const p_cfg) |
Open driver.
[in] | p_ctrl | Pointer to control structure. |
[in] | p_cfg | Pointer to configuration structure. |
fsp_err_t(* motor_api_t::close) (motor_ctrl_t *const p_ctrl) |
Close driver.
[in] | p_ctrl | Pointer to control structure. |
fsp_err_t(* motor_api_t::run) (motor_ctrl_t *const p_ctrl) |
Run the motor. (Start the motor rotation.)
[in] | p_ctrl | Pointer to control structure. |
fsp_err_t(* motor_api_t::stop) (motor_ctrl_t *const p_ctrl) |
Stop the motor. (Stop the motor rotation.)
[in] | p_ctrl | Pointer to control structure. |
fsp_err_t(* motor_api_t::reset) (motor_ctrl_t *const p_ctrl) |
Reset the motor control. (Recover from the error status.)
[in] | p_ctrl | Pointer to control structure. |
fsp_err_t(* motor_api_t::errorSet) (motor_ctrl_t *const p_ctrl, motor_error_t const error) |
Set Error Information.
[in] | p_ctrl | Pointer to control structure. |
[in] | error | Happend error code |
fsp_err_t(* motor_api_t::speedSet) (motor_ctrl_t *const p_ctrl, float const speed_rpm) |
Set rotation speed.
[in] | p_ctrl | Pointer to control structure. |
[in] | speed_rpm | Required rotation speed [rpm] |
fsp_err_t(* motor_api_t::positionSet) (motor_ctrl_t *const p_ctrl, motor_speed_position_data_t const *const p_position) |
Set reference position.
[in] | p_ctrl | Pointer to control structure. |
[in] | p_position | Pointer to set required data |
fsp_err_t(* motor_api_t::statusGet) (motor_ctrl_t *const p_ctrl, uint8_t *const p_status) |
Get the motor control status.
[in] | p_ctrl | Pointer to control structure. |
[out] | p_status | Pointer to get the motor control status |
fsp_err_t(* motor_api_t::angleGet) (motor_ctrl_t *const p_ctrl, float *const p_angle_rad) |
Get the rotor angle.
[in] | p_ctrl | Pointer to control structure. |
[out] | p_angle_rad | Pointer to get the rotor angle [rad] |
fsp_err_t(* motor_api_t::speedGet) (motor_ctrl_t *const p_ctrl, float *const p_speed_rpm) |
Get the rotation speed.
[in] | p_ctrl | Pointer to control structure. |
[out] | p_speed_rpm | Pointer to get the rotation speed [rpm] |
fsp_err_t(* motor_api_t::waitStopFlagGet) (motor_ctrl_t *const p_ctrl, motor_wait_stop_flag_t *const p_flag) |
Get wait stop flag.
[in] | p_ctrl | Pointer to control structure. |
[out] | p_flag | Pointer to wait stop flag |
fsp_err_t(* motor_api_t::errorCheck) (motor_ctrl_t *const p_ctrl, uint16_t *const p_error) |
Check the error occurrence
[in] | p_ctrl | Pointer to control structure. |
[out] | p_error | Pointer to get occured error |
fsp_err_t(* motor_api_t::functionSelect) (motor_ctrl_t *const p_ctrl, motor_function_select_t const function) |
FunctionSelect.
[in] | p_ctrl | Pointer to control structure. |
[in] | function | Selected function |
struct motor_instance_t |
This structure encompasses everything that is needed to use an instance of this interface.
Data Fields | ||
---|---|---|
motor_ctrl_t * | p_ctrl | Pointer to the control structure for this instance. |
motor_cfg_t const * | p_cfg | Pointer to the configuration structure for this instance. |
motor_api_t const * | p_api | Pointer to the API structure for this instance. |
typedef void motor_ctrl_t |
Motor Control block. Allocate an instance specific control block to pass into the API calls.
enum motor_error_t |
Error information
Events that can trigger a callback function