#include <stdio.h>#include <stdlib.h>#include <stdarg.h>#include <string.h>
Go to the source code of this file.
Classes | |
| struct | amtec_powercube_device_t |
| struct | amtec_powercube_params_t |
| struct | amtec_powercube_pos_t |
| struct | amtec_powercube_setting_t |
| struct | amtec_powercube_t |
Defines | |
| #define | B_ACK 0x64 |
| #define | B_DLE 0x10 |
| #define | B_ETX 0x03 |
| #define | B_STX 0x02 |
| #define | CodeActA0 0x56 |
| #define | CodeActC0 0x54 |
| #define | CodeActDamp 0x55 |
| #define | CodeActPos 0x3c |
| #define | CodeActVel 0x41 |
| #define | CodeConfig 0x39 |
| #define | CodeCubeState 0x27 |
| #define | CodeCur 0x4d |
| #define | CodeDefA0 0x53 |
| #define | CodeDefAddress 0x20 |
| #define | CodeDefBrakeTimeOut 0x1f |
| #define | CodeDefBurnCount 0x57 |
| #define | CodeDefC0 0x51 |
| #define | CodeDefConfig 0x1b |
| #define | CodeDefCubeSerial 0x1a |
| #define | CodeDefCubeVersion 0x1d |
| #define | CodeDefCurRatio 0x08 |
| #define | CodeDefDamp 0x52 |
| #define | CodeDefGearRatio 0x01 |
| #define | CodeDefHomeAcc 0x10 |
| #define | CodeDefHomeOffset 0x00 |
| #define | CodeDefHomeVel 0x0f |
| #define | CodeDefLinRatio 0x02 |
| #define | CodeDefMaxAcc 0x0c |
| #define | CodeDefMaxCur 0x0e |
| #define | CodeDefMaxDeltaPos 0x05 |
| #define | CodeDefMaxDeltaVel 0x06 |
| #define | CodeDefMaxPos 0x04 |
| #define | CodeDefMaxVel 0x0a |
| #define | CodeDefMinPos 0x03 |
| #define | CodeDefPrimBaud 0x22 |
| #define | CodeDefPulsesPerTurn 0x1c |
| #define | CodeDefScndBaud 0x23 |
| #define | CodeDefServiceInterval 0x1e |
| #define | CodeDefTorqueRatio 0x07 |
| #define | CodeDioSetup 0x26 |
| #define | CodeGetExtended 0x0a |
| #define | CodeHalt 0x02 |
| #define | CodeHome 0x01 |
| #define | CodeHomeOffset 0x59 |
| #define | CodeMaxAcc 0x4a |
| #define | CodeMaxCur 0x4c |
| #define | CodeMaxPos 0x46 |
| #define | CodeMaxVel 0x48 |
| #define | CodeMinPos 0x45 |
| #define | CodePosCount 0x24 |
| #define | CodeRecalcPIDParam 0x09 |
| #define | CodeRefPosCount 0x25 |
| #define | CodeReset 0x00 |
| #define | CodeResetTime 0x12 |
| #define | CodeSetExtended 0x08 |
| #define | CodeSetIStep 0x0d |
| #define | CodeSetMotion 0x0b |
| #define | CodeSetup 0x58 |
| #define | CodeStepInc 0x2b |
| #define | CodeTargetAcc 0x50 |
| #define | CodeTargetAccInc 0x2a |
| #define | CodeTargetPosInc 0x28 |
| #define | CodeTargetVel 0x4f |
| #define | CodeTargetVelInc 0x29 |
| #define | EPSILON 0.0001 |
| #define | FCOSLOOP 0x18 |
| #define | FCUR_MODE 0x08 |
| #define | FLOAT 6 |
| #define | FRAMP_MODE 0x04 |
| #define | FRAMPLOOP 0x19 |
| #define | FSTEP_MODE 0x06 |
| #define | FVEL_MODE 0x07 |
| #define | ICUR_MODE 0xd |
| #define | INT16 2 |
| #define | INT32 4 |
| #define | INT8 0 |
| #define | IRAMP_MODE 0x09 |
| #define | ISTEP_MODE 0x0b |
| #define | IVEL_MODE 0x0c |
| #define | MAX_ACMD_SIZE 48 |
| #define | MAX_COMMAND_LENGTH 256 |
| #define | MAX_NAME_LENGTH 256 |
| #define | MAX_NUM_LOOPS 10 |
| #define | MAX_STATUS_TIME 3.0 |
| #define | MAX_TIME_DELAY 0.2 |
| #define | OK 1 |
| #define | SHORT_FULLBUFFER 0x80 |
| #define | SHORT_INPROGRESS 0x40 |
| #define | SHORT_MOTION 0x10 |
| #define | SHORT_NOT_OK 0x01 |
| #define | SHORT_RAMP_END 0x20 |
| #define | SHORT_SW1 0x04 |
| #define | SHORT_SW2 0x08 |
| #define | SHORT_SWR 0x02 |
| #define | STATE_BEYOND_HARD 0x02000000 |
| #define | STATE_BEYOND_SOFT 0x04000000 |
| #define | STATE_BRAKEACTIVE 0x00000200 |
| #define | STATE_COMM_ERROR 0x00000020 |
| #define | STATE_CURLIMIT 0x00000400 |
| #define | STATE_ERROR 0x00000001 |
| #define | STATE_FULLBUFFER 0x00020000 |
| #define | STATE_HALTED 0x00000004 |
| #define | STATE_HOME_OK 0x00000002 |
| #define | STATE_INPROGRESS 0x00010000 |
| #define | STATE_LOGIC_VOLT 0x08000000 |
| #define | STATE_MOTION 0x00000800 |
| #define | STATE_POW_FET_TEMP 0x00080000 |
| #define | STATE_POW_INTEGRALERR 0x00800000 |
| #define | STATE_POW_VOLT_ERR 0x00040000 |
| #define | STATE_POWERFAULT 0x00000008 |
| #define | STATE_RAMP_ACC 0x00001000 |
| #define | STATE_RAMP_DEC 0x00004000 |
| #define | STATE_RAMP_END 0x00008000 |
| #define | STATE_RAMP_STEADY 0x00002000 |
| #define | STATE_SW1 0x00000080 |
| #define | STATE_SW2 0x00000100 |
| #define | STATE_SWR 0x00000040 |
| #define | STATE_TOW_ERROR 0x00000010 |
| #define | TIMEOUT -1 |
| #define | UINT16 3 |
| #define | UINT32 5 |
| #define | UINT8 1 |
| #define | WRONG 0 |
Typedefs | |
| typedef struct amtec_powercube_device_t * | amtec_powercube_device_p |
| typedef struct amtec_powercube_t * | amtec_powercube_p |
| typedef struct amtec_powercube_params_t * | amtec_powercube_params_p |
| typedef struct amtec_powercube_pos_t * | amtec_powercube_pos_p |
| typedef struct amtec_powercube_setting_t * | amtec_powercube_setting_p |
Enumerations | |
| enum | PARITY_TYPE { N, E, O } |
Functions | |
| void | amtecClear (amtec_powercube_p powercube) |
| amtec_powercube_p | amtecInitialize () |
| void | amtecPrintInformation (amtec_powercube_p powercube) |
| void | amtecPrintParams (amtec_powercube_params_p params) |
| #define B_ACK 0x64 |
Definition at line 137 of file amtec_base.h.
| #define B_DLE 0x10 |
Definition at line 136 of file amtec_base.h.
| #define B_ETX 0x03 |
Definition at line 130 of file amtec_base.h.
| #define B_STX 0x02 |
Definition at line 129 of file amtec_base.h.
| #define CodeActA0 0x56 |
Definition at line 204 of file amtec_base.h.
| #define CodeActC0 0x54 |
Definition at line 202 of file amtec_base.h.
| #define CodeActDamp 0x55 |
Definition at line 203 of file amtec_base.h.
| #define CodeActPos 0x3c |
Definition at line 189 of file amtec_base.h.
| #define CodeActVel 0x41 |
Definition at line 190 of file amtec_base.h.
| #define CodeConfig 0x39 |
Definition at line 188 of file amtec_base.h.
| #define CodeCubeState 0x27 |
Definition at line 182 of file amtec_base.h.
| #define CodeCur 0x4d |
Definition at line 196 of file amtec_base.h.
| #define CodeDefA0 0x53 |
Definition at line 201 of file amtec_base.h.
| #define CodeDefAddress 0x20 |
Definition at line 176 of file amtec_base.h.
| #define CodeDefBrakeTimeOut 0x1f |
Definition at line 175 of file amtec_base.h.
| #define CodeDefBurnCount 0x57 |
Definition at line 205 of file amtec_base.h.
| #define CodeDefC0 0x51 |
Definition at line 199 of file amtec_base.h.
| #define CodeDefConfig 0x1b |
Definition at line 171 of file amtec_base.h.
| #define CodeDefCubeSerial 0x1a |
Definition at line 170 of file amtec_base.h.
| #define CodeDefCubeVersion 0x1d |
Definition at line 173 of file amtec_base.h.
| #define CodeDefCurRatio 0x08 |
Definition at line 164 of file amtec_base.h.
| #define CodeDefDamp 0x52 |
Definition at line 200 of file amtec_base.h.
| #define CodeDefGearRatio 0x01 |
Definition at line 157 of file amtec_base.h.
| #define CodeDefHomeAcc 0x10 |
Definition at line 169 of file amtec_base.h.
| #define CodeDefHomeOffset 0x00 |
Definition at line 156 of file amtec_base.h.
| #define CodeDefHomeVel 0x0f |
Definition at line 168 of file amtec_base.h.
| #define CodeDefLinRatio 0x02 |
Definition at line 158 of file amtec_base.h.
| #define CodeDefMaxAcc 0x0c |
Definition at line 166 of file amtec_base.h.
| #define CodeDefMaxCur 0x0e |
Definition at line 167 of file amtec_base.h.
| #define CodeDefMaxDeltaPos 0x05 |
Definition at line 161 of file amtec_base.h.
| #define CodeDefMaxDeltaVel 0x06 |
Definition at line 162 of file amtec_base.h.
| #define CodeDefMaxPos 0x04 |
Definition at line 160 of file amtec_base.h.
| #define CodeDefMaxVel 0x0a |
Definition at line 165 of file amtec_base.h.
| #define CodeDefMinPos 0x03 |
Definition at line 159 of file amtec_base.h.
| #define CodeDefPrimBaud 0x22 |
Definition at line 177 of file amtec_base.h.
| #define CodeDefPulsesPerTurn 0x1c |
Definition at line 172 of file amtec_base.h.
| #define CodeDefScndBaud 0x23 |
Definition at line 178 of file amtec_base.h.
| #define CodeDefServiceInterval 0x1e |
Definition at line 174 of file amtec_base.h.
| #define CodeDefTorqueRatio 0x07 |
Definition at line 163 of file amtec_base.h.
| #define CodeDioSetup 0x26 |
Definition at line 181 of file amtec_base.h.
| #define CodeGetExtended 0x0a |
Definition at line 148 of file amtec_base.h.
| #define CodeHalt 0x02 |
Definition at line 145 of file amtec_base.h.
| #define CodeHome 0x01 |
Definition at line 144 of file amtec_base.h.
| #define CodeHomeOffset 0x59 |
Definition at line 207 of file amtec_base.h.
| #define CodeMaxAcc 0x4a |
Definition at line 194 of file amtec_base.h.
| #define CodeMaxCur 0x4c |
Definition at line 195 of file amtec_base.h.
| #define CodeMaxPos 0x46 |
Definition at line 192 of file amtec_base.h.
| #define CodeMaxVel 0x48 |
Definition at line 193 of file amtec_base.h.
| #define CodeMinPos 0x45 |
Definition at line 191 of file amtec_base.h.
| #define CodePosCount 0x24 |
Definition at line 179 of file amtec_base.h.
| #define CodeRecalcPIDParam 0x09 |
Definition at line 146 of file amtec_base.h.
| #define CodeRefPosCount 0x25 |
Definition at line 180 of file amtec_base.h.
| #define CodeReset 0x00 |
Definition at line 143 of file amtec_base.h.
| #define CodeResetTime 0x12 |
Definition at line 151 of file amtec_base.h.
| #define CodeSetExtended 0x08 |
Definition at line 147 of file amtec_base.h.
| #define CodeSetIStep 0x0d |
Definition at line 150 of file amtec_base.h.
| #define CodeSetMotion 0x0b |
Definition at line 149 of file amtec_base.h.
| #define CodeSetup 0x58 |
Definition at line 206 of file amtec_base.h.
| #define CodeStepInc 0x2b |
Definition at line 186 of file amtec_base.h.
| #define CodeTargetAcc 0x50 |
Definition at line 198 of file amtec_base.h.
| #define CodeTargetAccInc 0x2a |
Definition at line 185 of file amtec_base.h.
| #define CodeTargetPosInc 0x28 |
Definition at line 183 of file amtec_base.h.
| #define CodeTargetVel 0x4f |
Definition at line 197 of file amtec_base.h.
| #define CodeTargetVelInc 0x29 |
Definition at line 184 of file amtec_base.h.
| #define EPSILON 0.0001 |
Definition at line 56 of file amtec_base.h.
| #define FCOSLOOP 0x18 |
Definition at line 94 of file amtec_base.h.
| #define FCUR_MODE 0x08 |
Definition at line 89 of file amtec_base.h.
| #define FLOAT 6 |
Definition at line 69 of file amtec_base.h.
| #define FRAMP_MODE 0x04 |
Definition at line 86 of file amtec_base.h.
| #define FRAMPLOOP 0x19 |
Definition at line 95 of file amtec_base.h.
| #define FSTEP_MODE 0x06 |
Definition at line 87 of file amtec_base.h.
| #define FVEL_MODE 0x07 |
Definition at line 88 of file amtec_base.h.
| #define ICUR_MODE 0xd |
Definition at line 93 of file amtec_base.h.
| #define INT16 2 |
Definition at line 65 of file amtec_base.h.
| #define INT32 4 |
Definition at line 67 of file amtec_base.h.
| #define INT8 0 |
Definition at line 63 of file amtec_base.h.
| #define IRAMP_MODE 0x09 |
Definition at line 90 of file amtec_base.h.
| #define ISTEP_MODE 0x0b |
Definition at line 91 of file amtec_base.h.
| #define IVEL_MODE 0x0c |
Definition at line 92 of file amtec_base.h.
| #define MAX_ACMD_SIZE 48 |
Definition at line 51 of file amtec_base.h.
| #define MAX_COMMAND_LENGTH 256 |
Definition at line 50 of file amtec_base.h.
| #define MAX_NAME_LENGTH 256 |
Definition at line 49 of file amtec_base.h.
| #define MAX_NUM_LOOPS 10 |
Definition at line 52 of file amtec_base.h.
| #define MAX_STATUS_TIME 3.0 |
Definition at line 54 of file amtec_base.h.
| #define MAX_TIME_DELAY 0.2 |
Definition at line 53 of file amtec_base.h.
| #define OK 1 |
Definition at line 60 of file amtec_base.h.
| #define SHORT_FULLBUFFER 0x80 |
Definition at line 81 of file amtec_base.h.
| #define SHORT_INPROGRESS 0x40 |
Definition at line 80 of file amtec_base.h.
| #define SHORT_MOTION 0x10 |
Definition at line 78 of file amtec_base.h.
| #define SHORT_NOT_OK 0x01 |
Definition at line 74 of file amtec_base.h.
| #define SHORT_RAMP_END 0x20 |
Definition at line 79 of file amtec_base.h.
| #define SHORT_SW1 0x04 |
Definition at line 76 of file amtec_base.h.
| #define SHORT_SW2 0x08 |
Definition at line 77 of file amtec_base.h.
| #define SHORT_SWR 0x02 |
Definition at line 75 of file amtec_base.h.
| #define STATE_BEYOND_HARD 0x02000000 |
Definition at line 121 of file amtec_base.h.
| #define STATE_BEYOND_SOFT 0x04000000 |
Definition at line 122 of file amtec_base.h.
| #define STATE_BRAKEACTIVE 0x00000200 |
Definition at line 105 of file amtec_base.h.
| #define STATE_COMM_ERROR 0x00000020 |
Definition at line 117 of file amtec_base.h.
| #define STATE_CURLIMIT 0x00000400 |
Definition at line 106 of file amtec_base.h.
| #define STATE_ERROR 0x00000001 |
Definition at line 114 of file amtec_base.h.
| #define STATE_FULLBUFFER 0x00020000 |
Definition at line 113 of file amtec_base.h.
| #define STATE_HALTED 0x00000004 |
Definition at line 101 of file amtec_base.h.
| #define STATE_HOME_OK 0x00000002 |
Definition at line 100 of file amtec_base.h.
| #define STATE_INPROGRESS 0x00010000 |
Definition at line 112 of file amtec_base.h.
| #define STATE_LOGIC_VOLT 0x08000000 |
Definition at line 123 of file amtec_base.h.
| #define STATE_MOTION 0x00000800 |
Definition at line 107 of file amtec_base.h.
| #define STATE_POW_FET_TEMP 0x00080000 |
Definition at line 119 of file amtec_base.h.
| #define STATE_POW_INTEGRALERR 0x00800000 |
Definition at line 120 of file amtec_base.h.
| #define STATE_POW_VOLT_ERR 0x00040000 |
Definition at line 118 of file amtec_base.h.
| #define STATE_POWERFAULT 0x00000008 |
Definition at line 115 of file amtec_base.h.
| #define STATE_RAMP_ACC 0x00001000 |
Definition at line 108 of file amtec_base.h.
| #define STATE_RAMP_DEC 0x00004000 |
Definition at line 110 of file amtec_base.h.
| #define STATE_RAMP_END 0x00008000 |
Definition at line 111 of file amtec_base.h.
| #define STATE_RAMP_STEADY 0x00002000 |
Definition at line 109 of file amtec_base.h.
| #define STATE_SW1 0x00000080 |
Definition at line 103 of file amtec_base.h.
| #define STATE_SW2 0x00000100 |
Definition at line 104 of file amtec_base.h.
| #define STATE_SWR 0x00000040 |
Definition at line 102 of file amtec_base.h.
| #define STATE_TOW_ERROR 0x00000010 |
Definition at line 116 of file amtec_base.h.
| #define TIMEOUT -1 |
Definition at line 58 of file amtec_base.h.
| #define UINT16 3 |
Definition at line 66 of file amtec_base.h.
| #define UINT32 5 |
Definition at line 68 of file amtec_base.h.
| #define UINT8 1 |
Definition at line 64 of file amtec_base.h.
| #define WRONG 0 |
Definition at line 59 of file amtec_base.h.
| typedef struct amtec_powercube_device_t * amtec_powercube_device_p |
| typedef struct amtec_powercube_t * amtec_powercube_p |
| typedef struct amtec_powercube_params_t * amtec_powercube_params_p |
| typedef struct amtec_powercube_pos_t * amtec_powercube_pos_p |
| typedef struct amtec_powercube_setting_t * amtec_powercube_setting_p |
| enum PARITY_TYPE |
Definition at line 209 of file amtec_base.h.
| void amtecClear | ( | amtec_powercube_p | powercube | ) |
Definition at line 152 of file amtec_base.c.
| amtec_powercube_p amtecInitialize | ( | ) |
Definition at line 144 of file amtec_base.c.
| void amtecPrintInformation | ( | amtec_powercube_p | powercube | ) |
Definition at line 210 of file amtec_base.c.
| void amtecPrintParams | ( | amtec_powercube_params_p | params | ) |
Definition at line 157 of file amtec_base.c.