Data Structures
struct	ST_PosMoveCfg_t
	Defines the ST_PosMoveCfg_t data. More...

struct	ST_PosMoveMsg_t
	Defines the ST_PosMoveMsg_t data. More...

struct	ST_PosMove_t
	Defines the ST_PosMove_t data. More...

Macros
#define	__ST_AXIS_ENUM__

#define	__ST_MOVE_CURVE_TYPE_ENUM__

#define	__ST_MOVE_STATUS_ENUM__

Typedefs
typedef struct _ST_POSMOVE_Handle_ *	ST_POSMOVE_Handle

Enumerations
enum	ST_Axis_e { ST_AXIS0 =0, ST_AXIS1, ST_AXIS0 =0, ST_AXIS1, ST_AXIS0 =0, ST_AXIS1, ST_AXIS0 =0, ST_AXIS1 }
	Enumeration for the Axis Status states. More...

enum	ST_MoveCurveType_e { ST_MOVE_CUR_TRAP =0, ST_MOVE_CUR_SCRV, ST_MOVE_CUR_STCRV, ST_MOVE_CUR_TRAP =0, ST_MOVE_CUR_SCRV, ST_MOVE_CUR_STCRV }
	Enumeration for the Move Curve Mode states. More...

enum	ST_PosMoveProfileType_e { ST_POS_MOVE_VEL_TYPE =0, ST_POS_MOVE_POS_TYPE }
	Enumeration for the Profile Mode states. More...

enum	ST_MoveStatus_e { ST_MOVE_IDLE =0, ST_MOVE_INIT, ST_MOVE_CONF, ST_MOVE_BUSY, ST_MOVE_HALT, ST_MOVE_IDLE =0, ST_MOVE_INIT, ST_MOVE_CONF, ST_MOVE_BUSY, ST_MOVE_HALT }
	Enumeration for the Move Status states. More...

Functions
static void	STPOSMOVE_setAxis (ST_POSMOVE_Handle handle, ST_Axis_e axis)
	Sets the Axis (cfg.Axis) for SpinTAC Position Move. More...

static void	STPOSMOVE_setProfileType (ST_POSMOVE_Handle handle, ST_PosMoveProfileType_e profileType)
	Sets the Profile Type (cfg.ProfileType) for SpinTAC Position Move. More...

static void	STPOSMOVE_setCurveType (ST_POSMOVE_Handle handle, ST_MoveCurveType_e curveType)
	Sets the Curve Type (cfg.CurveType) for SpinTAC Position Move. More...

static void	STPOSMOVE_setSampleTime_sec (ST_POSMOVE_Handle handle, _iq24 sampleTime)
	Sets the Sample Time (cfg.T_sec) for SpinTAC Position Move. More...

static void	STPOSMOVE_setMRevMaximum_mrev (ST_POSMOVE_Handle handle, _iq24 mRevROMax)
	Sets the Mechanical Revolution Maximum (cfg.ROMax_mrev) for SpinTAC Position Move. More...

static void	STPOSMOVE_setUnitConversion (ST_POSMOVE_Handle handle, float_t baseFreq, uint16_t polePairs)
	Sets the Unit Conversions for SpinTAC Position Move. More...

static void	STPOSMOVE_setHaltLimits (ST_POSMOVE_Handle handle, _iq24 haltAccLim, _iq20 haltJrkLim)
	Sets the Halt Limits (cfg.HaltAccLim & cfg.HaltJrkLim) for SpinTAC Position Move. More...

static void	STPOSMOVE_setVelocityStart (ST_POSMOVE_Handle handle, _iq24 velStart)
	Sets the Velocity Start (cfg.VelStart) for SpinTAC Position Move. More...

static _iq24	STPOSMOVE_getVelocityStart (ST_POSMOVE_Handle handle)
	Gets the Velocity Start (cfg.VelStart) for SpinTAC Position Move. More...

static void	STPOSMOVE_setPositionStart_mrev (ST_POSMOVE_Handle handle, _iq24 posStart)
	Sets the Position Start (cfg.PosStart_mrev) for SpinTAC Position Move. More...

static _iq24	STPOSMOVE_getPositionStart_mrev (ST_POSMOVE_Handle handle)
	Gets the Position Start (cfg.PosStart_mrev) for SpinTAC Position Move. More...

static void	STPOSMOVE_getProfileTime_tick (ST_POSMOVE_Handle handle, uint32_t ProTime_tick, uint32_t ProTime_mtick)
	Gets the Profile Time (msg.ProTime_tick) for SpinTAC Position Move. More...

static _iq24	STPOSMOVE_getActualVelocity (ST_POSMOVE_Handle handle)
	Gets the Actual Velocity (msg.ActualVelLim) for SpinTAC Position Move. More...

static _iq24	STPOSMOVE_getActualAcceleration (ST_POSMOVE_Handle handle)
	Gets the Actual Acceleration (msg.ActualAccLim) for SpinTAC Position Move. More...

static _iq24	STPOSMOVE_getActualDeceleration (ST_POSMOVE_Handle handle)
	Gets the Actual Deceleration (msg.ActualDecLim) for SpinTAC Position Move. More...

static _iq20	STPOSMOVE_getActualJerk (ST_POSMOVE_Handle handle)
	Gets the Actual Jerk (msg.ActualJrkLim) for SpinTAC Position Move. More...

static void	STPOSMOVE_setPositionStep_mrev (ST_POSMOVE_Handle handle, int32_t posStepInt, _iq24 posStepFrac)
	Sets the Position Step (posStepInt_mrev, posStepFrac_mrev) for SpinTAC Position Move. More...

static void	STPOSMOVE_getPositionStep_mrev (ST_POSMOVE_Handle handle, int32_t posStepInt, _iq24 posStepFrac)
	Gets the Position Step (posStepInt_mrev, posStepFrac_mrev) for SpinTAC Position Move. More...

static void	STPOSMOVE_setVelocityLimit (ST_POSMOVE_Handle handle, _iq24 velLim)
	Sets the Velocity Limit (VelLim) for SpinTAC Position Move. More...

static void	STPOSMOVE_setAccelerationLimit (ST_POSMOVE_Handle handle, _iq24 accLim)
	Sets the Acceleration Limit (AccLim) for SpinTAC Position Move. More...

static void	STPOSMOVE_setDecelerationLimit (ST_POSMOVE_Handle handle, _iq24 decLim)
	Sets the Deceleration Limit (DecLim) for SpinTAC Position Move. More...

static void	STPOSMOVE_setJerkLimit (ST_POSMOVE_Handle handle, _iq20 jrkLim)
	Sets the Jerk Limit (JrkLim) for SpinTAC Position Move. More...

static void	STPOSMOVE_setVelocityEnd (ST_POSMOVE_Handle handle, _iq24 velEnd)
	Sets the Velocity End (VelEnd) for SpinTAC Position Move. More...

static _iq24	STPOSMOVE_getVelocityEnd (ST_POSMOVE_Handle handle)
	Gets the Velocity End (VelEnd) for SpinTAC Position Move. More...

static void	STPOSMOVE_setPositionRollOver (ST_POSMOVE_Handle handle, int32_t posRollOver)
	Sets the Position RollOver Counts (PosRollOver) for SpinTAC Position Move. More...

static int32_t	STPOSMOVE_getPositionRollOver (ST_POSMOVE_Handle handle)
	Gets the Position RollOver Counts (PosRollOver) for SpinTAC Position Move. More...

static _iq24	STPOSMOVE_getPositionReference_mrev (ST_POSMOVE_Handle handle)
	Gets the Position Reference (PosRef_mrev) for SpinTAC Position Move. More...

static _iq24	STPOSMOVE_getVelocityReference (ST_POSMOVE_Handle handle)
	Gets the Velocity Reference (VelRef) for SpinTAC Position Move. More...

static _iq24	STPOSMOVE_getAccelerationReference (ST_POSMOVE_Handle handle)
	Gets the Acceleration Reference (AccRef) for SpinTAC Position Move. More...

static _iq20	STPOSMOVE_getJerkReference (ST_POSMOVE_Handle handle)
	Gets the Jerk Reference (JrkRef) for SpinTAC Position Move. More...

static void	STPOSMOVE_setEnable (ST_POSMOVE_Handle handle, bool enb)
	Sets the Enable signal (ENB) for SpinTAC Position Move. More...

static bool	STPOSMOVE_getEnable (ST_POSMOVE_Handle handle)
	Gets the Enable signal (ENB) for SpinTAC Position Move. More...

static void	STPOSMOVE_setTest (ST_POSMOVE_Handle handle, bool tst)
	Sets the Test signal (TST) for SpinTAC Position Move. More...

static bool	STPOSMOVE_getTest (ST_POSMOVE_Handle handle)
	Gets the Test signal (TST) for SpinTAC Position Move. More...

static ST_MoveStatus_e	STPOSMOVE_getStatus (ST_POSMOVE_Handle handle)
	Gets the Status value (STATUS) for SpinTAC Position Move. More...

static uint16_t	STPOSMOVE_getErrorID (ST_POSMOVE_Handle handle)
	Gets the Error value (ERR_ID) for SpinTAC Position Move. More...

ST_POSMOVE_Handle	STPOSMOVE_init (void *pMemory, const size_t numBytes)
	Initializes the SpinTAC Position Move object. More...

void	STPOSMOVE_run (ST_POSMOVE_Handle handle)
	Runs the SpinTAC Position Move ISR Function. More...

Detailed Description

Data Structure Documentation

struct ST_PosMoveCfg_t

Defines the ST_PosMoveCfg_t data.

The ST_PosMoveCfg_t object contains all configuration parameters of the Position Move object.

Definition at line 97 of file spintac_pos_move.h.

Data Fields
ST_Axis_e	Axis	Axis ID { ST_AXIS0: axis 0, ST_AXIS1: axis 1}.
ST_MoveCurveType_e	CurveType	Curve mode { ST_MOVE_CUR_TRAP: Trap; ST_MOVE_CUR_SCRV: s-Curve; ST_MOVE_CUR_STCRV: st-Curve }.
_iq24	HaltAccLim	Acceleration Limit during Halt State { unit: [pu/s^2], value range: [0.001, 120.0] }.
_iq20	HaltJrkLim	Jerk Limit during Halt State { unit: [pu/s^3], value range: [0.0005, 2000.0] }.
_iq24	mrev_TO_pu	Conversion ratio from mechanical revolution to pu { value range: [0.002, 1.0]) }.
_iq24	PosStart_mrev	Position Start value { unit: [MRev], value range: [-ROMax, ROMax) }.
ST_PosMoveProfileType_e	ProfileType	Sets the profile type { ST_POS_MOVE_VEL_TYPE: velocity; ST_POS_MOVE_POS_TYPE: position }.
_iq24	ROMax_mrev	Position Rollover bound { unit: [MRev], value range: [2, 100] }.
_iq24	T_sec	Sample time { unit: [s], value range: (0, 0.01] }.
_iq24	VelStart	Velocity Start value { unit: [pu/s], value range: [-1.0, 1.0]) }.

struct ST_PosMoveMsg_t

Defines the ST_PosMoveMsg_t data.

The ST_PosMoveMsg_t object contains all configuration parameters of the Position Move message.

Definition at line 116 of file spintac_pos_move.h.

Data Fields
_iq24	ActualAccLim	Actual maximum acceleration of the profile { unit: [pu/s^2], value range: (0.0, AccLim] }.
_iq24	ActualDecLim	Actual maximum deceleration of the profile { unit: [pu/s^2], value range: (0.0, DecLim] }.
_iq20	ActualJrkLim	Actual maximum jerk of the profile { unit: [pu/s^3], value range: (0.0, JrkLim] }.
_iq24	ActualVelLim	Actual maximum velocity of the profile { unit: [pu/s], value range: (0.0, VelLim] }.
uint32_t	ProTime_mtick	Profile time in million ticks increments { unit: [million tick], value range: (0, uint32_t max] }.
uint32_t	ProTime_tick	Profile time in sub-million ticks { unit: [tick], value range: (0, 1000000) }.

struct ST_PosMove_t

Defines the ST_PosMove_t data.

The ST_PosMove_t object contains all parameters needed to perform Position Move

Definition at line 128 of file spintac_pos_move.h.

Data Fields
_iq24	AccLim	Acceleration Limit { unit: [pu/s^2], value range: [0.001, 120.0] }.
_iq24	AccRef	Acceleration profile { unit: [pu/s^2] }.
ST_PosMoveCfg_t	cfg
_iq24	DecLim	Deceleration Limit { unit: [pu/s^2], value range: [0.001, 120.0] }.
bool	ENB	Enable bit { false: disabled; true: enabled }.
uint16_t	ERR_ID	Error ID { 0: no error; others: see error code }.
_iq20	JrkLim	Jerk Limit { unit: [pu/s^3], value range: [0.0005, 2000.0] }.
_iq20	JrkRef	Jerk profile { unit:; [pu /s^3] }.
ST_PosMoveMsg_t	msg
_iq24	PosRef_mrev	Sawtooth Position profile { unit: [MRev], value range [-ROMax_mrev, ROMax_mrev) }.
int32_t	PosRollOver	Position rollover counts.
_iq24	PosStepFrac_mrev	Position Step value fraction part { unit: [MRev], value range: (-1.0, 1.0) }.
int32_t	PosStepInt_mrev	Position Step value integer part { unit: [MRev], value range: (-2^31, 2^31) }.
uint32_t	s4[66]
ST_MoveStatus_e	STATUS	Profile generator status { ST_MOVE_IDLE, ST_MOVE_INIT, ST_MOVE_CONF, ST_MOVE_BUSY, ST_MOVE_HALT }.
bool	TST	Profile test bit { false: Not Testing; true: Testing Mode }.
_iq24	VelEnd	Velocity End value { unit: [pu/s], value range: [-1.0, 1.0] }.
_iq24	VelLim	Note: VelLim values < 0.001 pu/s may work, but are not guaranteed. Velocity Limit { unit: [pu/s], value range: (0.0, 1.0] )
_iq24	VelRef	Velocity profile { unit: [pu/s] }.

Macro Definition Documentation

#define __ST_AXIS_ENUM__

Definition at line 50 of file spintac_pos_move.h.

#define __ST_MOVE_CURVE_TYPE_ENUM__

Definition at line 61 of file spintac_pos_move.h.

#define __ST_MOVE_STATUS_ENUM__

Definition at line 81 of file spintac_pos_move.h.

Typedef Documentation

typedef struct _ST_POSMOVE_Handle_* ST_POSMOVE_Handle

Definition at line 158 of file spintac_pos_move.h.

Enumeration Type Documentation

enum ST_Axis_e

Enumeration for the Axis Status states.

Enumerator
ST_AXIS0	First Axis.
ST_AXIS1	Second Axis.
ST_AXIS0	First Axis.
ST_AXIS1	Second Axis.
ST_AXIS0	First Axis.
ST_AXIS1	Second Axis.
ST_AXIS0	First Axis.
ST_AXIS1	Second Axis.

Definition at line 53 of file spintac_pos_move.h.

enum ST_MoveCurveType_e

Enumeration for the Move Curve Mode states.

Enumerator
ST_MOVE_CUR_TRAP	Trapezoidal curve.
ST_MOVE_CUR_SCRV	S-Curve.
ST_MOVE_CUR_STCRV	ST-Curve.
ST_MOVE_CUR_TRAP	Trapazoidal curve.
ST_MOVE_CUR_SCRV	S-Curve.
ST_MOVE_CUR_STCRV	ST-Curve.

Definition at line 64 of file spintac_pos_move.h.

enum ST_MoveStatus_e

Enumeration for the Move Status states.

Enumerator
ST_MOVE_IDLE	Move is in idle state, holding position.
ST_MOVE_INIT	Move is in init state, validating configured parameters.
ST_MOVE_CONF	Move is in conf state, determining the curves.
ST_MOVE_BUSY	Move is in busy state, providing the curves.
ST_MOVE_HALT	Move is in busy state, ramping velocity to zero.
ST_MOVE_IDLE	Move is in idle state, holding velocity.
ST_MOVE_INIT	Move is in init state, validating configured parameters.
ST_MOVE_CONF	Move is in conf state, determining the curves.
ST_MOVE_BUSY	Move is in busy state, providing the curves.
ST_MOVE_HALT	Not used in ST_MOVE_VEL.

Definition at line 84 of file spintac_pos_move.h.

enum ST_PosMoveProfileType_e

Enumeration for the Profile Mode states.

Enumerator
ST_POS_MOVE_VEL_TYPE	velocity-determined position profile
ST_POS_MOVE_POS_TYPE	position-determined position profile

Definition at line 74 of file spintac_pos_move.h.

Function Documentation

static _iq24 STPOSMOVE_getAccelerationReference ( ST_POSMOVE_Handle handle )

inlinestatic

Gets the Acceleration Reference (AccRef) for SpinTAC Position Move.

Parameters

[in] handle The handle for the SpinTAC Position Move Object

Returns: _iq24 AccRef Acceleration reference { unit: [pu/s^2] }

Definition at line 472 of file spintac_pos_move.h.

References ST_PosMove_t::AccRef.

static _iq24 STPOSMOVE_getActualAcceleration ( ST_POSMOVE_Handle handle )

inlinestatic

Gets the Actual Acceleration (msg.ActualAccLim) for SpinTAC Position Move.

Parameters

[in] handle The handle for the SpinTAC Position Move Object

Returns: _iq24 Acc Maximum acceleration of the profile { unit: [pu/s^2], value range: (0.0, AccLim] }

Definition at line 319 of file spintac_pos_move.h.

References ST_PosMoveMsg_t::ActualAccLim, and ST_PosMove_t::msg.

static _iq24 STPOSMOVE_getActualDeceleration ( ST_POSMOVE_Handle handle )

inlinestatic

Gets the Actual Deceleration (msg.ActualDecLim) for SpinTAC Position Move.

Parameters

[in] handle The handle for the SpinTAC Position Move Object

Returns: _iq24 Dec Maximum deceleration of the profile { unit: [pu/s^2], value range: (0.0, AccLim] }

Definition at line 328 of file spintac_pos_move.h.

References ST_PosMoveMsg_t::ActualDecLim, and ST_PosMove_t::msg.

static _iq20 STPOSMOVE_getActualJerk ( ST_POSMOVE_Handle handle )

inlinestatic

Gets the Actual Jerk (msg.ActualJrkLim) for SpinTAC Position Move.

Parameters

[in] handle The handle for the SpinTAC Position Move Object

Returns: _iq20 Jrk Maximum jerk of the profile { unit: [pu/s^3], value range: (0.0, JrkLim] }

Definition at line 337 of file spintac_pos_move.h.

References ST_PosMoveMsg_t::ActualJrkLim, and ST_PosMove_t::msg.

static _iq24 STPOSMOVE_getActualVelocity ( ST_POSMOVE_Handle handle )

inlinestatic

Gets the Actual Velocity (msg.ActualVelLim) for SpinTAC Position Move.

Parameters

[in] handle The handle for the SpinTAC Position Move Object

Returns: _iq24 Vel Maximum velocity of the profile { unit: [pu/s], value range: (0.0, VelLim] }

Definition at line 310 of file spintac_pos_move.h.

References ST_PosMoveMsg_t::ActualVelLim, and ST_PosMove_t::msg.

static bool STPOSMOVE_getEnable ( ST_POSMOVE_Handle handle )

inlinestatic

Gets the Enable signal (ENB) for SpinTAC Position Move.

Parameters

[in] handle The handle for the SpinTAC Position Move Object

Returns: bool ENB Enable bit { false: disable; true: enable }

Definition at line 501 of file spintac_pos_move.h.

References ST_PosMove_t::ENB.

static uint16_t STPOSMOVE_getErrorID ( ST_POSMOVE_Handle handle )

inlinestatic

Gets the Error value (ERR_ID) for SpinTAC Position Move.

Parameters

[in] handle The handle for the SpinTAC Position Move Object

Returns: uint16_t ERR_ID Error ID { 0: no error; others: see error code }

Definition at line 539 of file spintac_pos_move.h.

References ST_PosMove_t::ERR_ID.

static _iq20 STPOSMOVE_getJerkReference ( ST_POSMOVE_Handle handle )

inlinestatic

Gets the Jerk Reference (JrkRef) for SpinTAC Position Move.

Parameters

[in] handle The handle for the SpinTAC Position Move Object

Returns: _iq20 JrkRef Jerk reference { unit: [pu/s^3] }

Definition at line 481 of file spintac_pos_move.h.

References ST_PosMove_t::JrkRef.

static _iq24 STPOSMOVE_getPositionReference_mrev ( ST_POSMOVE_Handle handle )

inlinestatic

Gets the Position Reference (PosRef_mrev) for SpinTAC Position Move.

Parameters

[in] handle The handle for the SpinTAC Position Move Object

Returns: _iq24 PosRef_mrev Sawtooth Position profile { unit: [MRev], value range [-ROMax, ROMax] }

Definition at line 454 of file spintac_pos_move.h.

References ST_PosMove_t::PosRef_mrev.

static int32_t STPOSMOVE_getPositionRollOver ( ST_POSMOVE_Handle handle )

inlinestatic

Gets the Position RollOver Counts (PosRollOver) for SpinTAC Position Move.

Parameters

[in] handle The handle for the SpinTAC Position Move Object

Returns: int32_t PosRollOver Position rollover counts

Definition at line 445 of file spintac_pos_move.h.

References ST_PosMove_t::PosRollOver.

static _iq24 STPOSMOVE_getPositionStart_mrev ( ST_POSMOVE_Handle handle )

inlinestatic

Gets the Position Start (cfg.PosStart_mrev) for SpinTAC Position Move.

Parameters

[in] handle The handle for the SpinTAC Position Move Object

Returns: _iq24 PosStart_mrev Position Start value { unit: [MRev], value range: [-ROMax, ROMax] }

Definition at line 290 of file spintac_pos_move.h.

References ST_PosMove_t::cfg, and ST_PosMoveCfg_t::PosStart_mrev.

static void STPOSMOVE_getPositionStep_mrev	(	ST_POSMOVE_Handle	handle,
		int32_t *	posStepInt,
		_iq24 *	posStepFrac
	)

inlinestatic

Gets the Position Step (posStepInt_mrev, posStepFrac_mrev) for SpinTAC Position Move.

Parameters

[in]	handle	The handle for the SpinTAC Position Move Object
[out]	*posStepInt	Position Step integer part value { unit: [MRev], value range: 32-bit integer }
[out]	*posStepFrac	Position Step fraction part value { unit: [MRev], value range: (-1.0, 1.0) }

Definition at line 359 of file spintac_pos_move.h.

References ST_PosMove_t::PosStepFrac_mrev, and ST_PosMove_t::PosStepInt_mrev.

static void STPOSMOVE_getProfileTime_tick	(	ST_POSMOVE_Handle	handle,
		uint32_t *	ProTime_tick,
		uint32_t *	ProTime_mtick
	)

inlinestatic

Gets the Profile Time (msg.ProTime_tick) for SpinTAC Position Move.

Parameters

[in]	handle	The handle for the SpinTAC Position Move Object
[out]	ProTime_tick	Amount of time profile will take { unit: [tick], value range: (0, 1000000] }
[out]	ProTime_mtick	Amount of time profile will take { unit: [million tick], value range: (0, uint32_t max] }

Definition at line 300 of file spintac_pos_move.h.

References ST_PosMove_t::msg, ST_PosMoveMsg_t::ProTime_mtick, and ST_PosMoveMsg_t::ProTime_tick.

static ST_MoveStatus_e STPOSMOVE_getStatus ( ST_POSMOVE_Handle handle )

inlinestatic

Gets the Status value (STATUS) for SpinTAC Position Move.

Parameters

[in] handle The handle for the SpinTAC Position Move Object

Returns: ST_MoveStatus_e STATUS Profile generator status { ST_MOVE_IDLE, ST_MOVE_INIT, ST_MOVE_CONF, ST_MOVE_BUSY}

Definition at line 530 of file spintac_pos_move.h.

References ST_PosMove_t::STATUS.

static bool STPOSMOVE_getTest ( ST_POSMOVE_Handle handle )

inlinestatic

Gets the Test signal (TST) for SpinTAC Position Move.

Parameters

[in] handle The handle for the SpinTAC Position Move Object

Returns: bool TST Profile test bit { false: not testing; true: determining curves }

Definition at line 521 of file spintac_pos_move.h.

References ST_PosMove_t::TST.

static _iq24 STPOSMOVE_getVelocityEnd ( ST_POSMOVE_Handle handle )

inlinestatic

Gets the Velocity End (VelEnd) for SpinTAC Position Move.

Parameters

[in] handle The handle for the SpinTAC Position Move Object

Returns: _iq24 VelEnd Velocity end value { unit: [pu/s], value range: [-1.0, 1.0] }

Definition at line 425 of file spintac_pos_move.h.

References ST_PosMove_t::VelEnd.

static _iq24 STPOSMOVE_getVelocityReference ( ST_POSMOVE_Handle handle )

inlinestatic

Gets the Velocity Reference (VelRef) for SpinTAC Position Move.

Parameters

[in] handle The handle for the SpinTAC Position Move Object

Returns: _iq24 VelRef Velocity reference { unit: [pu/s] }

Definition at line 463 of file spintac_pos_move.h.

References ST_PosMove_t::VelRef.

static _iq24 STPOSMOVE_getVelocityStart ( ST_POSMOVE_Handle handle )

inlinestatic

Gets the Velocity Start (cfg.VelStart) for SpinTAC Position Move.

Parameters

[in] handle The handle for the SpinTAC Position Move Object

Returns: _iq24 VelStart Velocity start value { unit: [pu/s], value range: [-1.0, 1.0] }

Definition at line 268 of file spintac_pos_move.h.

References ST_PosMove_t::cfg, and ST_PosMoveCfg_t::VelStart.

ST_POSMOVE_Handle STPOSMOVE_init	(	void *	pMemory,
		const size_t	numBytes
	)

Initializes the SpinTAC Position Move object.

Parameters

[in]	*pMemory	Pointer to the memory for ST_PosMove_t
[in]	numBytes	The number of bytes in the ST_PosMove_t

Returns: ST_POSMOVE_Handle handle The handle for the SpinTAC Position Move Object

void STPOSMOVE_run ( ST_POSMOVE_Handle handle )

Runs the SpinTAC Position Move ISR Function.

Parameters

[in] handle The handle to the Position Move structure

static void STPOSMOVE_setAccelerationLimit	(	ST_POSMOVE_Handle	handle,
		_iq24	accLim
	)

inlinestatic

Sets the Acceleration Limit (AccLim) for SpinTAC Position Move.

Parameters

[in]	handle	The handle for the SpinTAC Position Move Object
[in]	accLim	Acceleration Limit { unit: [pu/s^2], value range: [0.001, 120.0] }

Definition at line 381 of file spintac_pos_move.h.

References ST_PosMove_t::AccLim.

static void STPOSMOVE_setAxis	(	ST_POSMOVE_Handle	handle,
		ST_Axis_e	axis
	)

inlinestatic

Sets the Axis (cfg.Axis) for SpinTAC Position Move.

Parameters

[in]	handle	The handle for the SpinTAC Position Move Object
[in]	axis	Axis ID { ST_AXIS0: axis 0, ST_AXIS1: axis 1}

Definition at line 163 of file spintac_pos_move.h.

References ST_PosMoveCfg_t::Axis, ST_PosMove_t::cfg, ST_MOVE_IDLE, and ST_PosMove_t::STATUS.

static void STPOSMOVE_setCurveType	(	ST_POSMOVE_Handle	handle,
		ST_MoveCurveType_e	curveType
	)

inlinestatic

Sets the Curve Type (cfg.CurveType) for SpinTAC Position Move.

Parameters

[in]	handle	The handle for the SpinTAC Position Move Object
[in]	curveType	Curve type { ST_MOVE_CUR_TRAP: Trap; ST_MOVE_CUR_SCRV: s-Curve; ST_MOVE_CUR_STCRV: st-Curve }

Definition at line 189 of file spintac_pos_move.h.

References ST_PosMove_t::cfg, and ST_PosMoveCfg_t::CurveType.

static void STPOSMOVE_setDecelerationLimit	(	ST_POSMOVE_Handle	handle,
		_iq24	decLim
	)

inlinestatic

Sets the Deceleration Limit (DecLim) for SpinTAC Position Move.

Parameters

[in]	handle	The handle for the SpinTAC Position Move Object
[in]	decLim	Deceleration Limit { unit: [pu/s^2], value range: [0.001, 120.0] }

Definition at line 392 of file spintac_pos_move.h.

References ST_PosMove_t::DecLim.

static void STPOSMOVE_setEnable	(	ST_POSMOVE_Handle	handle,
		bool	enb
	)

inlinestatic

Sets the Enable signal (ENB) for SpinTAC Position Move.

Parameters

[in]	handle	The handle for the SpinTAC Position Move Object
[in]	enb	Enable bit { false: disable; true: enable }

Definition at line 490 of file spintac_pos_move.h.

References ST_PosMove_t::ENB.

static void STPOSMOVE_setHaltLimits	(	ST_POSMOVE_Handle	handle,
		_iq24	haltAccLim,
		_iq20	haltJrkLim
	)

inlinestatic

Sets the Halt Limits (cfg.HaltAccLim & cfg.HaltJrkLim) for SpinTAC Position Move.

Parameters

[in]	handle	The handle for the SpinTAC Position Move Object
[in]	haltAccLim	Acceleration Limit during Halt State { unit: [pu/s^2], value range: [0.001, 120.0] }
[in]	haltJrkLim	Jerk Limit during Halt State { unit: [pu/s^3], value range: [0.0005, 2000.0] }

Definition at line 241 of file spintac_pos_move.h.

References ST_PosMove_t::cfg, ST_PosMoveCfg_t::HaltAccLim, ST_PosMoveCfg_t::HaltJrkLim, ST_MOVE_IDLE, and ST_PosMove_t::STATUS.

static void STPOSMOVE_setJerkLimit	(	ST_POSMOVE_Handle	handle,
		_iq20	jrkLim
	)

inlinestatic

Sets the Jerk Limit (JrkLim) for SpinTAC Position Move.

Parameters

[in]	handle	The handle for the SpinTAC Position Move Object
[in]	jrkLim	Jerk Limit { unit: [pu/s^3], value range: [0.001, 2000.0] }

Definition at line 403 of file spintac_pos_move.h.

References ST_PosMove_t::JrkLim.

static void STPOSMOVE_setMRevMaximum_mrev	(	ST_POSMOVE_Handle	handle,
		_iq24	mRevROMax
	)

inlinestatic

Sets the Mechanical Revolution Maximum (cfg.ROMax_mrev) for SpinTAC Position Move.

Parameters

[in]	handle	The handle for the SpinTAC Position Move Object
[in]	mRevROMax	Maximum bound for mechanical revolution { unit: [MRev] }

Definition at line 213 of file spintac_pos_move.h.

References ST_PosMove_t::cfg, ST_PosMoveCfg_t::ROMax_mrev, ST_MOVE_IDLE, and ST_PosMove_t::STATUS.

static void STPOSMOVE_setPositionRollOver	(	ST_POSMOVE_Handle	handle,
		int32_t	posRollOver
	)

inlinestatic

Sets the Position RollOver Counts (PosRollOver) for SpinTAC Position Move.

Parameters

[in]	handle	The handle for the SpinTAC Position Move Object
[in]	posRollOver	Position rollover counts

Definition at line 434 of file spintac_pos_move.h.

References ST_PosMove_t::PosRollOver.

static void STPOSMOVE_setPositionStart_mrev	(	ST_POSMOVE_Handle	handle,
		_iq24	posStart
	)

inlinestatic

Sets the Position Start (cfg.PosStart_mrev) for SpinTAC Position Move.

Parameters

[in]	handle	The handle for the SpinTAC Position Move Object
[in]	posStart	Position Start value { unit: [MRev], value range: [-ROMax, ROMax] }

Definition at line 277 of file spintac_pos_move.h.

References ST_PosMove_t::cfg, ST_PosMoveCfg_t::PosStart_mrev, ST_MOVE_IDLE, and ST_PosMove_t::STATUS.

static void STPOSMOVE_setPositionStep_mrev	(	ST_POSMOVE_Handle	handle,
		int32_t	posStepInt,
		_iq24	posStepFrac
	)

inlinestatic

Sets the Position Step (posStepInt_mrev, posStepFrac_mrev) for SpinTAC Position Move.

Parameters

[in]	handle	The handle for the SpinTAC Position Move Object
[in]	posStepInt	Position Step integer part value { unit: [MRev], value range: 32-bit integer }
[in]	posStepFrac	Position Step fraction part value { unit: [MRev], value range: (-1.0, 1.0) }

Definition at line 347 of file spintac_pos_move.h.

References ST_PosMove_t::PosStepFrac_mrev, and ST_PosMove_t::PosStepInt_mrev.

static void STPOSMOVE_setProfileType	(	ST_POSMOVE_Handle	handle,
		ST_PosMoveProfileType_e	profileType
	)

inlinestatic

Sets the Profile Type (cfg.ProfileType) for SpinTAC Position Move.

Parameters

[in]	handle	The handle for the SpinTAC Position Move Object
[in]	profileType	Sets the profile type { ST_POS_MOVE_VEL_TYPE: velocity; ST_POS_MOVE_POS_TYPE: position }

Definition at line 176 of file spintac_pos_move.h.

References ST_PosMove_t::cfg, ST_PosMoveCfg_t::ProfileType, ST_MOVE_IDLE, and ST_PosMove_t::STATUS.

static void STPOSMOVE_setSampleTime_sec	(	ST_POSMOVE_Handle	handle,
		_iq24	sampleTime
	)

inlinestatic

Sets the Sample Time (cfg.T_sec) for SpinTAC Position Move.

Parameters

[in]	handle	The handle for the SpinTAC Position Move Object
[in]	sampleTime	Sample time { unit: [s], value range: (0, 0.01] }

Definition at line 200 of file spintac_pos_move.h.

References ST_PosMove_t::cfg, ST_MOVE_IDLE, ST_PosMove_t::STATUS, and ST_PosMoveCfg_t::T_sec.

static void STPOSMOVE_setTest	(	ST_POSMOVE_Handle	handle,
		bool	tst
	)

inlinestatic

Sets the Test signal (TST) for SpinTAC Position Move.

Parameters

[in]	handle	The handle for the SpinTAC Position Move Object
[in]	tst	Profile test bit { false: not testing; true: determining curves }

Definition at line 510 of file spintac_pos_move.h.

References ST_PosMove_t::TST.

static void STPOSMOVE_setUnitConversion	(	ST_POSMOVE_Handle	handle,
		float_t	baseFreq,
		uint16_t	polePairs
	)

inlinestatic

Sets the Unit Conversions for SpinTAC Position Move.

Parameters

[in]	handle	The handle for the SpinTAC Position Converter Object
[in]	baseFreq	The value that frequency is scaled with in the system { USER_IQ_FULL_SCALE_FREQ_Hz }
[in]	polePairs	The number of Pole Pairs in the motor { USER_MOTOR_NUM_POLE_PAIRS }

Definition at line 227 of file spintac_pos_move.h.

References _IQ24, ST_PosMove_t::cfg, ST_PosMoveCfg_t::mrev_TO_pu, ST_MOVE_IDLE, and ST_PosMove_t::STATUS.

static void STPOSMOVE_setVelocityEnd	(	ST_POSMOVE_Handle	handle,
		_iq24	velEnd
	)

inlinestatic

Sets the Velocity End (VelEnd) for SpinTAC Position Move.

Parameters

[in]	handle	The handle for the SpinTAC Position Move Object
[in]	velEnd	Velocity end value { unit: [pu/s], value range: [-1.0, 1.0] }

Definition at line 414 of file spintac_pos_move.h.

References ST_PosMove_t::VelEnd.

static void STPOSMOVE_setVelocityLimit	(	ST_POSMOVE_Handle	handle,
		_iq24	velLim
	)

inlinestatic

Sets the Velocity Limit (VelLim) for SpinTAC Position Move.

Parameters

[in]	handle	The handle for the SpinTAC Position Move Object
[in]	velLim	Velocity Limit { unit: [pu/s], value range: (0, 1.0]) )

Definition at line 370 of file spintac_pos_move.h.

References ST_PosMove_t::VelLim.

static void STPOSMOVE_setVelocityStart	(	ST_POSMOVE_Handle	handle,
		_iq24	velStart
	)

inlinestatic

Sets the Velocity Start (cfg.VelStart) for SpinTAC Position Move.

Parameters

[in]	handle	The handle for the SpinTAC Position Move Object
[in]	velStart	Velocity start value { unit: [pu/s], value range: [-1.0, 1.0] }

Definition at line 255 of file spintac_pos_move.h.

References ST_PosMove_t::cfg, ST_MOVE_IDLE, ST_PosMove_t::STATUS, and ST_PosMoveCfg_t::VelStart.

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