Struct SVHControllerState

Struct Documentation

struct SVHControllerState

The SVHControllerState indicates the current state of the MeCoVis controller IC which is used in the SVH.

Public Functions

inline SVHControllerState(uint16_t pwm_fault = 0, uint16_t pwm_otw = 0, uint16_t pwm_reset = 0, uint16_t pwm_active = 0, uint16_t pos_ctrl = 0, uint16_t cur_ctrl = 0)

Default constructor with zero values for everything.

inline bool operator==(const SVHControllerState &other) const

Compares two SVHControllerState objects.

Public Members

uint16_t pwm_fault

Fault indication of the controllers (0x001F -> high bit to reset software state. 0x00 -> low bit to reset hardware)

Note

The Faults are not yet mapped to channels directly so the information should only be treated as a fault/no fault

uint16_t pwm_otw

Over Temperature Warning of the controllers (0x001F -> high bit to reset software state. 0x00 -> low bit to reset hardware)

Note

The Faults are not yet mapped to channels directly so the information should only be treated as a fault/no fault

uint16_t pwm_reset

Bitmask for low-active resets of the channels (0-8). Channel 9 (0x0200) is a special channel that activates a 12VDV-DV converter for the small motors.

uint16_t pwm_active

Currently unused but should be called the same way as pwm_reset is

Note

This flag is currently unused by the hardware but should be handled exactly the same as pwm reset at the moment

uint16_t pos_ctrl

Enable/Disable of position controller (0x0001 to Activate )

uint16_t cur_ctrl

Enable/Disbale of current controller (0x0001 to Activate)