Motor Trajectory Interface

Detailed Description

Interface for motor trajectory functions.

Summary

The Motor trajectory interface provides Motor functionality.

Data Structures
struct	motor_trajectory_callback_args_t
struct	motor_trajectory_cfg_t
struct	motor_trajectory_params_base_t
struct	motor_trajectory_target_t
struct	motor_trajectory_api_t
struct	motor_trajectory_instance_t

Typedefs
typedef uint32_t	motor_trajectory_command_flags_t
typedef void	motor_trajectory_ctrl_t

Enumerations
enum	motor_trajectory_state_t
enum	motor_trajectory_type_id_t
enum	motor_trajectory_bypass_mode_t
enum	motor_trajectory_command_status_t
enum	motor_trajectory_error_t
enum	motor_trajectory_accel_state_t
enum	motor_trajectory_direction_t

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Data Structure Documentation

motor_trajectory_callback_args_t

struct motor_trajectory_callback_args_t

Trajectory callback arguments

Data Fields
float *	p_reference	Pointer to new reference value.
bool	force_align	Force alignment flag.
float	align_value	Alignment value.

motor_trajectory_cfg_t

struct motor_trajectory_cfg_t

Configuration parameters.

Data Fields
void(*	p_user_callback )(void *p_args)
	Callback function.
void *	p_user_callback_args
	Callback function arguments.
void const *	p_context
	User context data.
void const *	p_extend
	Extended configuration.

motor_trajectory_params_base_t

struct motor_trajectory_params_base_t

Basis structure of orbital parameters

Data Fields
uint32_t	type_id	Magic number for type identification.
uint16_t	version	Parameter structure version.
uint16_t	size	Structure size for validation.
motor_trajectory_command_flags_t	command_flags	Command flags.

motor_trajectory_target_t

struct motor_trajectory_target_t

Common Structure for Target Settings

Data Fields
motor_trajectory_params_base_t const *	p_params	Pointer to parameter structure.

motor_trajectory_api_t

struct motor_trajectory_api_t

Functions implemented at the HAL layer will follow this API.

Data Fields
fsp_err_t(*	open )(motor_trajectory_ctrl_t *const p_ctrl, motor_trajectory_cfg_t const *const p_cfg)
fsp_err_t(*	close )(motor_trajectory_ctrl_t *const p_ctrl)
fsp_err_t(*	reset )(motor_trajectory_ctrl_t *const p_ctrl)
fsp_err_t(*	targetSet )(motor_trajectory_ctrl_t *const p_ctrl, const motor_trajectory_target_t *p_target, motor_trajectory_command_status_t *const p_cmd_status)
fsp_err_t(*	statusGet )(motor_trajectory_ctrl_t *const p_ctrl, motor_trajectory_state_t *const p_status)
fsp_err_t(*	bypassModeSet )(motor_trajectory_ctrl_t *const p_ctrl, motor_trajectory_bypass_mode_t bypass_mode)
fsp_err_t(*	callback )(motor_trajectory_ctrl_t *const p_ctrl, motor_trajectory_callback_args_t *const p_args)

Field Documentation

open

fsp_err_t(* motor_trajectory_api_t::open) (motor_trajectory_ctrl_t *const p_ctrl, motor_trajectory_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_trajectory_api_t::close) (motor_trajectory_ctrl_t *const p_ctrl)

Close driver.

Parameters

[in]

p_ctrl

Pointer to control structure.

reset

fsp_err_t(* motor_trajectory_api_t::reset) (motor_trajectory_ctrl_t *const p_ctrl)

Reset the motor control. (Recover from the error status.)

Parameters

[in]

p_ctrl

Pointer to control structure.

targetSet

fsp_err_t(* motor_trajectory_api_t::targetSet) (motor_trajectory_ctrl_t *const p_ctrl, const motor_trajectory_target_t *p_target, motor_trajectory_command_status_t *const p_cmd_status)

Set target information.

Parameters

[in]	p_ctrl	Pointer to control structure.
[in]	p_target	Pointer to target parameters.
[out]	p_cmd_status	Pointer to command status output.

statusGet

fsp_err_t(* motor_trajectory_api_t::statusGet) (motor_trajectory_ctrl_t *const p_ctrl, motor_trajectory_state_t *const p_status)

Get the trajectory control status.

Parameters

[in]	p_ctrl	Pointer to control structure.
[out]	p_status	Pointer to get the motor control status.

bypassModeSet

fsp_err_t(* motor_trajectory_api_t::bypassModeSet) (motor_trajectory_ctrl_t *const p_ctrl, motor_trajectory_bypass_mode_t bypass_mode)

Enable bypass mode for the trajectory module.

Parameters

[in]	p_ctrl	Pointer to control structure.
[out]	bypass_mode	bypass control status

callback

fsp_err_t(* motor_trajectory_api_t::callback) (motor_trajectory_ctrl_t *const p_ctrl, motor_trajectory_callback_args_t *const p_args)

callback for the trajectory module.

Parameters

[in]	p_ctrl	Pointer to control structure.
[in]	p_args	Pointer to callback arguments.

motor_trajectory_instance_t

struct motor_trajectory_instance_t

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

Data Fields
motor_trajectory_ctrl_t *	p_ctrl	Pointer to the control structure for this instance.
motor_trajectory_cfg_t const *	p_cfg	Pointer to the configuration structure for this instance.
motor_trajectory_api_t const *	p_api	Pointer to the API structure for this instance.

Typedef Documentation

motor_trajectory_command_flags_t

typedef uint32_t motor_trajectory_command_flags_t

Command flags

motor_trajectory_ctrl_t

typedef void motor_trajectory_ctrl_t

trajectory Control block. Allocate an instance specific control block to pass into the API calls.

Enumeration Type Documentation

motor_trajectory_state_t

enum motor_trajectory_state_t

Trajectory execution state

Enumerator
MOTOR_TRAJECTORY_STATE_IDLE	Trajectory inactive.
MOTOR_TRAJECTORY_STATE_IN_PROGRESS	Trajectory in execution.
MOTOR_TRAJECTORY_STATE_QUEUED	New command is queued.

motor_trajectory_type_id_t

enum motor_trajectory_type_id_t

Type Identifier Definition

Enumerator
MOTOR_TRAJECTORY_TYPE_ID_LINEAR	"LINR" in ASCII
MOTOR_TRAJECTORY_TYPE_ID_TRAPEZOID	"TRAP" in ASCII
MOTOR_TRAJECTORY_TYPE_ID_POSITION	"POSI" in ASCII
MOTOR_TRAJECTORY_TYPE_ID_SINUSOID	"SINU" in ASCII
MOTOR_TRAJECTORY_TYPE_ID_SCURVE	"SCUR" in ASCII
MOTOR_TRAJECTORY_TYPE_ID_HOMING	"HOMI" in ASCII

motor_trajectory_bypass_mode_t

enum motor_trajectory_bypass_mode_t

Bypass mode

Enumerator
MOTOR_TRAJECTORY_BYPASS_MODE_DISABLE	Disable bypass mode.
MOTOR_TRAJECTORY_BYPASS_MODE_ENABLE	Enable bypass mode.

motor_trajectory_command_status_t

enum motor_trajectory_command_status_t

Command status

Enumerator
MOTOR_TRAJECTORY_COMMAND_STATUS_ACCEPTED_IMMEDIATE	New command applied immediately.
MOTOR_TRAJECTORY_COMMAND_STATUS_QUEUED	Command queued.
MOTOR_TRAJECTORY_COMMAND_STATUS_REJECTED	Command rejected.

motor_trajectory_error_t

enum motor_trajectory_error_t

Error information

motor_trajectory_accel_state_t

enum motor_trajectory_accel_state_t

Acceleration / Deceleration operation status

Enumerator
MOTOR_TRAJECTORY_ACCEL_STATE_ACCELERATING	Accelerating.
MOTOR_TRAJECTORY_ACCEL_STATE_DECELERATING	Decelerating.

motor_trajectory_direction_t

enum motor_trajectory_direction_t

CW/CCW select

Enumerator
MOTOR_TRAJECTORY_DIRECTION_CW	Clock Wize.
MOTOR_TRAJECTORY_DIRECTION_CCW	Counter Clock Wize.