des70_10_functions.cpp File Reference

Auxiliary functions for this module. This is where private module functions are defined. More...

#include <lar/des70_10.h>

Include dependency graph for des70_10_functions.cpp:

Defines
#define	WAIT   0.05
#define	WAIT   0.05
Functions
int	calc_crc_16 (TYPE_msg_frame *msg)
	function used to get the message crc for 16bits data, the crc is obtained using first the higher byte of the WORD
int	write_msg_inbuf (const int port, unsigned char *data, int size)
	send to serial port a stream of bytes
int	check_msg_aceptance (const int port, float wait_time, unsigned char *msg)
int	send_OpCode (const int port, unsigned char tries, unsigned char OpCode, char flg)
int	send_data (const int port, TYPE_msg_frame *msg, char flg)
int	read_buffer (const int port, TYPE_msg_frame *msg, char flg)
int	send_msg_frame (const int port, TYPE_msg_frame *msg, char flg)
int	DES_ST_read_sys_status (const int port, int *sys_status, char flg)
int	DES_ST_read_error (const int port, int *errors, char flg)
int	DES_ST_clear_errors (const int port, char flg)
int	DES_ST_reset (const int port, char flg)
int	DES_ST_enable (const int port, int *newState, char flg)
int	DES_SPF_read_temp_param (const int port, int paramNb, int dataFormat, int *response, char flg)
int	DES_SPF_set_temp_param (const int port, int paramNb, int dataFormat, int *newValue, char flg)
	Write a new value to a temporary system parameter. Refer to the section about system parameters to find the desired system parameter numbers. SPF is a System Parameter Functions.
int	DES_SPF_read_all_temp_param (const int port, TYPE_des_sysparam *sysparam, char flg)
	Read all temporary system parameters. DES answer the structure described by TYPE_des_sysparam. SPF is a System Parameter Functions.
int	DES_SF_set_velocity (const int port, int newVelocity, char flg)
int	DES_SF_set_current (const int port, int newCurrent, char flg)
int	DES_SF_stop_motion (const int port, char flg)
	This command changes the stopping state. if the motor is already stopped it will be released. Only available in speed regulation mode. SF is a setting function.
int	DES_MF_read_velocity_is_must (const int port, int vel_type, int *velocity, int *requested_vel, char flg)
int	InitDES (const int port, TYPE_des_sysparam *newSysParam, char flg)
	Function that initializes DES servoamplifier with a start configuration. also enables the servoamplifier to be used by software and garantees that the electric brake is not active.
int	stopDES (const int port, char flg)
int	DES_set_new_baud (int *port, int baud, char flg)

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Detailed Description

Auxiliary functions for this module. This is where private module functions are defined.

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Define Documentation

#define WAIT   0.05

#define WAIT   0.05

Referenced by send_data(), and send_OpCode().