des70_10.h File Reference

des70_10.h file for this module. Includes, global vars, funtion prototypes, etc. More...

#include <lar/lar.h>

Include dependency graph for des70_10.h:

Data Structures
struct	TYPE_des_sysparam
	data struct with all DES System Parameters definition, all fields have a length of 16bits but the variable range can change normally [0, 32767] More...
struct	TYPE_DES_status_var
	DES data structure with all status variables, all variables are 16bits except Nb136 that is 32bits (double word). More...
struct	TYPE_msg_frame
	struct with message frame More...
Defines
#define	_DO_NOT_USE_OPENCV_   0
#define	_DO_NOT_USE_CARMEN_   0
Enumerations
enum	ENUM_DES_SYS_PARAMS {   BAUDRATE = 0, SYS_CONFIG = 1, CUR_REG_GAIN_P = 2, CUR_REG_GAIN_I = 3,   MAX_CUR_OUTPUT = 4, SPEED_REG_GAIN_P = 5, SPEED_REG_GAIN_I = 6, INTERNAL_PARAM1 = 7,   INTERNAL_PARAM2 = 8, INTERNAL_PARAM3 = 9, MAX_SPEED_ERROR = 10, SETTING_UNIT_GAIN = 11,   SETTING_UNIT_OFFSET = 12, SETTING_UNIT_DELAY = 13, PEAK_CURRENT = 14, MAX_CONT_CURRENT = 15,   THERM_CONST = 16, MAX_SPEED = 17, ACCELERATION = 18, SPEED_CONSTANT = 19,   ENC_RESOLUTION = 20, POLE_PAIR_NUMBER = 21, INTERNAL_PARAM4 = 22, RPM_2QC_FACTOR = 23,   INDEX_OFFSET = 24, PWM_PERIOD = 25, MAX_DUTY_CYCLE = 26, CUR_DET_PH_U_OFFSET = 27,   CUR_DET_PH_V_OFFSET = 28, AD_CONV_OFFSET = 29, CAN_MODULE_ID = 30, CAN_SERVICE_ID = 31,   CAN_RX_PDO_ID = 32, CAN_TX_PDO_ID = 33, CAN_BCR1 = 34, CAN_BCR2 = 35,   CAN_OP_MODE = 36, CAN_RX_SDO_ID = 37, CAN_TX_SDO_ID = 38, CAN_RTR0_ID = 39,   CAN_RTR1_ID = 40, CAN_CONFIG = 41, INTERNAL_PARAM5 = 42, ERROR_PROC = 43,   MAX_SPEED_CURR = 44, HALL_ANGLE_OFFS = 45 }
	enumerator connected with TYPE_des_sysparam and is used when comunication is required with DES servoamplifier More...
enum	ENUM_DES_STATUS_VAR {   SYS_OP_STATUS = 128, ACTUAL_MEAN_CUR_D = 129, ACTUAL_MEAN_CUR_Q = 130, CUR_SETTING_VAL = 131,   REL_ROT_POS_REV = 132, SPEED_SETTING_VAL = 133, ACTUAL_MEAN_SPEED_VAL = 134, ABS_ROTOR_POS = 135,   STANDARD_ERROR = 136, CAN_ERROR = 137, ACTUAL_CUR_Q = 138, ACTUAL_SPEED_VAL = 139,   ERROR_HIST1 = 140, ERROR_HIST2 = 141, ENC_COUNTER = 142, ENC_COUNTER_LAST_IND = 143,   HALL_SENS_PAT = 144 }
	enumerator connected with DES status var typedefinition, and is used when communicating with DES servo amplifier More...
Functions
int	InitDES_communication (char *com_device, int *port, int baud, TYPE_executionflags *flg)
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

des70_10.h file for this module. Includes, global vars, funtion prototypes, etc.