Motor Return Origin Function Interface

Detailed Description

Interface for Motor return origin functions.

Summary

The Motor interface provides Motor return origin functionality.

Data Structures
struct	motor_return_origin_info_t
struct	motor_return_origin_cfg_t
struct	motor_return_origin_api_t
struct	motor_return_origin_instance_t

Typedefs
typedef void	motor_return_origin_ctrl_t

Enumerations
enum	motor_return_origin_mode_t

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Data Structure Documentation

motor_return_origin_info_t

struct motor_return_origin_info_t

Interface data structure

Data Fields
float	f_position_reference_degree	Position reference [degree].
motor_return_origin_state_t	state
float	f_result_angle	Result angle position.

motor_return_origin_cfg_t

struct motor_return_origin_cfg_t

Configuration parameters.

Data Fields
motor_return_origin_mode_t	mode
void *	p_context
void const *	p_extend	Placeholder for user extension.

motor_return_origin_api_t

struct motor_return_origin_api_t

Functions implemented at the HAL layer will follow this API.

Data Fields
fsp_err_t(*	open )(motor_return_origin_ctrl_t *const p_ctrl, motor_return_origin_cfg_t const *const p_cfg)
fsp_err_t(*	close )(motor_return_origin_ctrl_t *const p_ctrl)
fsp_err_t(*	start )(motor_return_origin_ctrl_t *const p_ctrl)
fsp_err_t(*	stop )(motor_return_origin_ctrl_t *const p_ctrl)
fsp_err_t(*	reset )(motor_return_origin_ctrl_t *const p_ctrl)
fsp_err_t(*	infoGet )(motor_return_origin_ctrl_t *const p_ctrl, motor_return_origin_info_t *const p_info)
fsp_err_t(*	dataSet )(motor_return_origin_ctrl_t *const p_ctrl, motor_return_origin_set_data_t *const p_set_data)
fsp_err_t(*	speedCyclic )(motor_return_origin_ctrl_t *const p_ctrl)
fsp_err_t(*	parameterUpdate )(motor_return_origin_ctrl_t *const p_ctrl, motor_return_origin_cfg_t const *p_cfg)

Field Documentation

open

fsp_err_t(* motor_return_origin_api_t::open) (motor_return_origin_ctrl_t *const p_ctrl, motor_return_origin_cfg_t const *const p_cfg)

Open driver.

Parameters

[in]	p_ctrl	Pointer to control structure.
[in]	p_cfg	Pointer to configuration structure.

close

fsp_err_t(* motor_return_origin_api_t::close) (motor_return_origin_ctrl_t *const p_ctrl)

Close driver.

Parameters

[in]

p_ctrl

Pointer to control structure.

start

fsp_err_t(* motor_return_origin_api_t::start) (motor_return_origin_ctrl_t *const p_ctrl)

Start the function.

Parameters

[in]

p_ctrl

Pointer to control structure.

stop

fsp_err_t(* motor_return_origin_api_t::stop) (motor_return_origin_ctrl_t *const p_ctrl)

Stop the function. (Cancel the function works.)

Parameters

[in]

p_ctrl

Pointer to control structure.

reset

fsp_err_t(* motor_return_origin_api_t::reset) (motor_return_origin_ctrl_t *const p_ctrl)

Reset the function. (Initialize the function.)

Parameters

[in]

p_ctrl

Pointer to control structure.

infoGet

fsp_err_t(* motor_return_origin_api_t::infoGet) (motor_return_origin_ctrl_t *const p_ctrl, motor_return_origin_info_t *const p_info)

Get the function information.

Parameters

[in]	p_ctrl	Pointer to control structure.
[out]	p_info	Pointer to info

dataSet

fsp_err_t(* motor_return_origin_api_t::dataSet) (motor_return_origin_ctrl_t *const p_ctrl, motor_return_origin_set_data_t *const p_set_data)

Set the data to the function

Parameters

[in]	p_ctrl	Pointer to control structure.
[out]	p_set_data	Pointer to set the data

speedCyclic

fsp_err_t(* motor_return_origin_api_t::speedCyclic) (motor_return_origin_ctrl_t *const p_ctrl)

Speed cyclic process of the function

Parameters

[in]

p_ctrl

Pointer to control structure.

parameterUpdate

fsp_err_t(* motor_return_origin_api_t::parameterUpdate) (motor_return_origin_ctrl_t *const p_ctrl, motor_return_origin_cfg_t const *p_cfg)

Update parameters for the function.

Parameters

[in]	p_ctrl	Pointer to control structure.
[in]	p_cfg	Pointer to configuration structure include update parameters.

motor_return_origin_instance_t

struct motor_return_origin_instance_t

This structure encompasses everything that is needed to use an instance of this interface.

Data Fields
motor_return_origin_ctrl_t *	p_ctrl	Pointer to the control structure for this instance.
motor_return_origin_cfg_t const *	p_cfg	Pointer to the configuration structure for this instance.
motor_return_origin_api_t const *	p_api	Pointer to the API structure for this instance.

Typedef Documentation

motor_return_origin_ctrl_t

typedef void motor_return_origin_ctrl_t

Motor return origin function block. Allocate an instance specific control block to pass into the API calls.

Enumeration Type Documentation

motor_return_origin_mode_t

enum motor_return_origin_mode_t

Selection type of return origin function

Enumerator
MOTOR_RETURN_ORIGIN_MODE_PUSH	Return origin position with pushing.
MOTOR_RETURN_ORIGIN_MODE_SENSOR	Return origin position with origin sensor.
MOTOR_RETURN_ORIGIN_MODE_2_SENSOR	Return origin position with 2 sensors.
MOTOR_RETURN_ORIGIN_MODE_3_SENSOR	Return origin position with 3 sensors.