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

struct	ST_PosPlan_t
	Defines the ST_PosPlan_t data. More...

Macros
#define	ST_POS_PLAN_ACT_DWORDS (5)
	Defines the amount of memory that needs to be allocated for each component. More...

#define	ST_POS_PLAN_COND_DWORDS (3)
	Each configured Condition takes 3 double words of memory. More...

#define	ST_POS_PLAN_VAR_DWORDS (2)
	Each configured Variable takes 2 double words of memory. More...

#define	ST_POS_PLAN_TRAN_DWORDS (7)
	Each configured Transition takes 7 double words of memory. More...

#define	ST_POS_PLAN_STATE_DWORDS (7)
	Each configured State takes 7 double words of memory. More...

#define	__ST_PLAN_ENUM__

#define	__ST_PLAN_ERROR__

Typedefs
typedef struct _ST_POSPLAN_Handle_ *	ST_POSPLAN_Handle

Enumerations
enum	ST_PlanStatus_e { ST_PLAN_IDLE =0, ST_PLAN_INIT, ST_PLAN_BUSY, ST_PLAN_HALT, ST_PLAN_WAIT, ST_PLAN_IDLE =0, ST_PLAN_INIT, ST_PLAN_BUSY, ST_PLAN_HALT, ST_PLAN_WAIT }
	Enumeration for the Plan Status States. More...

enum	ST_PlanCond_e { ST_COND_NC =0, ST_COND_FC, ST_COND_AND, ST_COND_OR, ST_COND_NC =0, ST_COND_FC, ST_COND_AND, ST_COND_OR }
	Enumeration for the Plan Condition options. More...

enum	ST_PlanComp_e { ST_COMP_NA =0, ST_COMP_EQ, ST_COMP_NEQ, ST_COMP_GT, ST_COMP_EGT, ST_COMP_LW, ST_COMP_ELW, ST_COMP_In, ST_COMP_EIn, ST_COMP_InE, ST_COMP_EInE, ST_COMP_Out, ST_COMP_EOut, ST_COMP_OutE, ST_COMP_EOutE, ST_COMP_NA =0, ST_COMP_EQ, ST_COMP_NEQ, ST_COMP_GT, ST_COMP_EGT, ST_COMP_LW, ST_COMP_ELW, ST_COMP_In, ST_COMP_EIn, ST_COMP_InE, ST_COMP_EInE, ST_COMP_Out, ST_COMP_EOut, ST_COMP_OutE, ST_COMP_EOutE }
	Enumeration for the Plan Compare options. More...

enum	ST_PlanActOptn_e { ST_ACT_EQ =0, ST_ACT_ADD, ST_ACT_EQ =0, ST_ACT_ADD }
	Enumeration for the Plan Action Options. More...

enum	ST_PlanActTrgr_e { ST_ACT_ENTR =0, ST_ACT_EXIT, ST_ACT_ENTR =0, ST_ACT_EXIT }
	Enumeration for the Plan Action trigger point types. More...

enum	ST_PlanFsmState_e { ST_FSM_STATE_STAY =0, ST_FSM_STATE_COND, ST_FSM_STATE_TRAN, ST_FSM_STATE_STAY =0, ST_FSM_STATE_COND, ST_FSM_STATE_TRAN }
	Enumeration for the Plan FSM states. More...

enum	ST_PlanVar_e { ST_VAR_INOUT =0, ST_VAR_IN, ST_VAR_OUT, ST_VAR_INOUT =0, ST_VAR_IN, ST_VAR_OUT }
	Enumeration for the Plan variable types. More...

Functions
static void	STPOSPLAN_getPositionStep_mrev (ST_POSPLAN_Handle handle, int32_t posStepInt_mrev, _iq24 posStepFrac_mrev)
	Gets the Position Step (posStepInt_mrev, posStepFrac_mrev) for SpinTAC Position Plan. More...

static _iq24	STPOSPLAN_getVelocityLimit (ST_POSPLAN_Handle handle)
	Gets the Velocity Limit (VelLim) for SpinTAC Position Plan. More...

static _iq24	STPOSPLAN_getAccelerationLimit (ST_POSPLAN_Handle handle)
	Gets the Acceleration Limit (AccLim) for SpinTAC Position Plan. More...

static _iq24	STPOSPLAN_getDecelerationLimit (ST_POSPLAN_Handle handle)
	Gets the Deceleration Limit (DecLim) for SpinTAC Position Plan. More...

static _iq20	STPOSPLAN_getJerkLimit (ST_POSPLAN_Handle handle)
	Gets the Jerk Limit (JrkLim) for SpinTAC Position Plan. More...

static void	STPOSPLAN_setEnable (ST_POSPLAN_Handle handle, bool enb)
	Sets the Enable signal (ENB) for SpinTAC Position Plan. More...

static bool	STPOSPLAN_getEnable (ST_POSPLAN_Handle handle)
	Gets the Enable signal (ENB) for SpinTAC Position Plan. More...

static void	STPOSPLAN_setReset (ST_POSPLAN_Handle handle, bool res)
	Sets the Reset signal (RES) for SpinTAC Position Plan. More...

static bool	STPOSPLAN_getReset (ST_POSPLAN_Handle handle)
	Gets the Reset signal (RES) for SpinTAC Position Plan. More...

static ST_PlanStatus_e	STPOSPLAN_getStatus (ST_POSPLAN_Handle handle)
	Gets the Status value (STATUS) for SpinTAC Position Plan. More...

static uint16_t	STPOSPLAN_getCurrentState (ST_POSPLAN_Handle handle)
	Gets the Current State (CurState) for SpinTAC Position Plan. More...

static uint16_t	STPOSPLAN_getCurrentTransition (ST_POSPLAN_Handle handle)
	Gets the Current Transition (CurTran) for SpinTAC Position Plan. More...

static ST_PlanFsmState_e	STPOSPLAN_getFsmState (ST_POSPLAN_Handle handle)
	Gets the State Machine State (FsmState) for SpinTAC Position Plan. More...

static int32_t	STPOSPLAN_getCurrentTimerValue_tick (ST_POSPLAN_Handle handle)
	Gets the Current Time Value (Timer_tick) for SpinTAC Position Plan. More...

static uint16_t	STPOSPLAN_getCfgError (ST_POSPLAN_Handle handle, uint16_t ERR_idx, uint16_t ERR_code)
	Gets the Configuration Error for SpinTAC Position Plan. More...

static uint16_t	STPOSPLAN_getErrorID (ST_POSPLAN_Handle handle)
	Gets the Error value (ERR_ID) for SpinTAC Position Plan. More...

void	STPOSPLAN_getCfgStateNum (ST_POSPLAN_Handle handle, uint16_t *StateNum)
	Returns the number of configured States in SpinTAC Position Plan. More...

void	STPOSPLAN_getCfgVarNum (ST_POSPLAN_Handle handle, uint16_t *VarNum)
	Returns the number of configured Variables in SpinTAC Position Plan. More...

void	STPOSPLAN_getCfgCondNum (ST_POSPLAN_Handle handle, uint16_t *CondNum)
	Returns the number of configured Conditions in SpinTAC Position Plan. More...

void	STPOSPLAN_getCfgTranNum (ST_POSPLAN_Handle handle, uint16_t *TranNum)
	Returns the number of configured Transitions in SpinTAC Position Plan. More...

void	STPOSPLAN_getCfgActNum (ST_POSPLAN_Handle handle, uint16_t *ActNum)
	Returns the number of configured Actions in SpinTAC Position Plan. More...

void	STPOSPLAN_addCfgCond (ST_POSPLAN_Handle handle, uint16_t VarIdx, ST_PlanComp_e Comp, _iq24 Value1, _iq24 Value2)
	Adds a Condition to the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_delCfgCond (ST_POSPLAN_Handle handle, uint16_t CondIdx)
	Deletes a Condition from the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_setCfgCond (ST_POSPLAN_Handle handle, uint16_t CondIdx, uint16_t VarIdx, ST_PlanComp_e Comp, _iq24 Value1, _iq24 Value2)
	Modifies a Condition in the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_getCfgCond (ST_POSPLAN_Handle handle, uint16_t CondIdx, uint16_t VarIdx, ST_PlanComp_e Comp, _iq24 Value1, _iq24 Value2)
	Returns a Condition from the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_addCfgVarCond (ST_POSPLAN_Handle handle, uint16_t VarIdx1, uint16_t VarIdx2, ST_PlanComp_e Comp)
	Adds a Variable Condition to the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_delCfgVarCond (ST_POSPLAN_Handle handle, uint16_t CondIdx)
	Deletes a Variable Condition from the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_setCfgVarCond (ST_POSPLAN_Handle handle, uint16_t CondIdx, uint16_t VarIdx1, uint16_t VarIdx2, ST_PlanComp_e Comp)
	Modifies a Variable Condition to the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_getCfgVarCond (ST_POSPLAN_Handle handle, uint16_t CondIdx, uint16_t VarIdx1, uint16_t VarIdx2, ST_PlanComp_e *Comp)
	Returns a Variable Condition from the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_addCfgTran (ST_POSPLAN_Handle handle, uint16_t FromState, uint16_t ToState, ST_PlanCond_e AndOr, uint16_t CondIdx1, uint16_t CondIdx2, _iq24 VelLim, _iq24 AccLim, _iq24 DecLim, _iq20 JrkLim)
	Adds a Transition to the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_delCfgTran (ST_POSPLAN_Handle handle, uint16_t TranIdx)
	Deletes a Transition from the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_setCfgTran (ST_POSPLAN_Handle handle, uint16_t TranIdx, uint16_t FromState, uint16_t ToState, ST_PlanCond_e AndOr, uint16_t CondIdx1, uint16_t CondIdx2, _iq24 VelLim, _iq24 AccLim, _iq24 DecLim, _iq20 JrkLim)
	Modifies a Transition in the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_getCfgTran (ST_POSPLAN_Handle handle, uint16_t TranIdx, uint16_t FromState, uint16_t ToState, ST_PlanCond_e AndOr, uint16_t CondIdx1, uint16_t CondIdx2, _iq24 VelLim, _iq24 AccLim, _iq24 DecLim, _iq20 *JrkLim)
	Get a Transition from the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_addCfgAct (ST_POSPLAN_Handle handle, uint16_t State, ST_PlanCond_e AndOr, uint16_t CondIdx1, uint16_t CondIdx2, uint16_t VarIdx, ST_PlanActOptn_e Opt, _iq24 Value, ST_PlanActTrgr_e EnterExit)
	Adds an action to the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_delCfgAct (ST_POSPLAN_Handle handle, uint16_t ActIdx)
	Deletes an action from the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_setCfgAct (ST_POSPLAN_Handle handle, uint16_t ActIdx, uint16_t State, ST_PlanCond_e AndOr, uint16_t CondIdx1, uint16_t CondIdx2, uint16_t VarIdx, ST_PlanActOptn_e Opt, _iq24 Value, ST_PlanActTrgr_e EnterExit)
	Modifies an action in the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_getCfgAct (ST_POSPLAN_Handle handle, uint16_t ActIdx, uint16_t State, ST_PlanCond_e AndOr, uint16_t CondIdx1, uint16_t CondIdx2, uint16_t VarIdx, ST_PlanActOptn_e Opt, _iq24 Value, ST_PlanActTrgr_e EnterExit)
	Returns an action from the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_addCfgVar (ST_POSPLAN_Handle handle, ST_PlanVar_e Type, _iq24 Value)
	Adds a variable to the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_delCfgVar (ST_POSPLAN_Handle handle, uint16_t VarIdx)
	Deletes a Variable from the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_setCfgVar (ST_POSPLAN_Handle handle, uint16_t VarIdx, ST_PlanVar_e Type, _iq24 Value)
	Modifies a variable in the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_getCfgVar (ST_POSPLAN_Handle handle, uint16_t VarIdx, ST_PlanVar_e Type, _iq24 Value)
	Returns a variable from the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_setVar (ST_POSPLAN_Handle handle, uint16_t VarIdx, _iq24 Value)
	Sets the value of a SpinTAC Position Plan variable. More...

void	STPOSPLAN_getVar (ST_POSPLAN_Handle handle, uint16_t VarIdx, _iq24 *Value)
	Gets the value of a SpinTAC Position Plan variable. More...

void	STPOSPLAN_setUnitProfDone (ST_POSPLAN_Handle handle, bool ProDON)
	Sets a flag in SpinTAC Position Plan to indicate if the unit profile is complete. More...

void	STPOSPLAN_setCfg (ST_POSPLAN_Handle handle, _iq24 T_sec, bool LoopENB)
	Configures SpinTAC Position Plan. More...

void	STPOSPLAN_getCfg (ST_POSPLAN_Handle handle, _iq24 T_sec, bool LoopENB)
	Gets the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_setCfgHaltState (ST_POSPLAN_Handle handle, int32_t PosStepInt_mrev, _iq24 PosStepFrac_mrev, _iq24 VelLim, _iq24 AccLim, _iq20 JrkLim, int32_t Timer_tick)
	Configures the SpinTAC Position Plan Halt state. More...

void	STPOSPLAN_getCfgHaltState (ST_POSPLAN_Handle handle, int32_t PosStepInt_mrev, _iq24 PosStepFrac_mrev, _iq24 VelLim, _iq24 AccLim, _iq20 JrkLim, int32_t Timer_tick)
	Gets the SpinTAC Position Plan Halt state. More...

void	STPOSPLAN_addCfgState (ST_POSPLAN_Handle handle, int32_t PosStepInt_mrev, _iq24 PosStep_Fracmrev, int32_t Timer_tick)
	Adds a State to the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_delCfgState (ST_POSPLAN_Handle handle, uint16_t StateIdx)
	Deletes a state from the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_setCfgState (ST_POSPLAN_Handle handle, uint16_t StateIdx, int32_t PosStepInt_mrev, _iq24 PosStepFrac_mrev, int32_t Timer_tick)
	Modifies a state in the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_getCfgState (ST_POSPLAN_Handle handle, uint16_t StateIdx, int32_t PosStepInt_mrev, _iq24 PosStepFrac_mrev, int32_t *Timer_tick)
	Returns a state from the SpinTAC Position Plan configuration. More...

void	STPOSPLAN_reset (ST_POSPLAN_Handle handle)
	Resets the SpinAC Position Plan component. More...

ST_POSPLAN_Handle	STPOSPLAN_init (void *pMemory, const size_t numBytes)
	Initializes the SpinTAC Position Plan component. More...

void	STPOSPLAN_run (ST_POSPLAN_Handle handle)
	Runs SpinTAC Position Plan calculation. More...

void	STPOSPLAN_runTick (ST_POSPLAN_Handle handle)
	Runs SpinTAC Position Plan Timing. Call this only from an ISR. More...

void	STPOSPLAN_setCfgArray (ST_POSPLAN_Handle handle, uint32_t *cfgArray, const size_t numBytes, uint16_t MaxActNum, uint16_t MaxCondNum, uint16_t MaxVarNum, uint16_t MaxTranNum, uint16_t MaxStateNum)
	Prepares SpinTAC Position Plan data structure. More...

Detailed Description

Data Structure Documentation

struct ST_PlanError_t

Defines the ST_PlanError_t data.

The ST_PlanError_t object contains error debugging information for the Position Plan component

The ST_PlanError_t object contains error debugging information for the Velocity Plan component

Definition at line 139 of file spintac_pos_plan.h.

Data Fields
uint16_t	ERR_code	Function specific condition that caused the error.
uint16_t	ERR_idx	Plan component index that caused the error.

struct ST_PosPlan_t

Defines the ST_PosPlan_t data.

The ST_PosPlan_t object contains all configuration parameters of the Position Plan component

Definition at line 148 of file spintac_pos_plan.h.

Data Fields
_iq24	AccLim	Acceleration limit { unit: [pu/s^2], value range: [0.001, 120.0] }.
ST_PlanError_t	CfgError	Error decoding structure.
uint16_t	CurState	Current state of the state machine.
uint16_t	CurTran	Current transition of the state machine.
_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 }.
ST_PlanFsmState_e	FsmState	State of the state machine.
_iq20	JrkLim	Jerk Limit { unit: [pu/s^3], value range: [0.0005, 2000.0] }.
_iq24	PosStepFrac_mrev	Position Step fraction part { unit: [MRev], value range: (-1.0, 1.0)}.
int32_t	PosStepInt_mrev	Position Step Integer part { unit: [MRev] }.
bool	RES	Reset bit { false: not reset; true: reset }.
uint32_t	s0[31]
ST_PlanStatus_e	STATUS	Plan status { ST_PLAN_IDLE, ST_PLAN_INIT, ST_PLAN_BUSY, ST_PLAN_HALT, ST_PLAN_WAIT}.
int32_t	Timer_tick	State Timer { unit: [tick] }.
_iq24	VelLim	Velocity limit { unit: [pu/s], value range: (0.0, 1.0] }.

Macro Definition Documentation

#define __ST_PLAN_ENUM__

Definition at line 63 of file spintac_pos_plan.h.

#define __ST_PLAN_ERROR__

Definition at line 135 of file spintac_pos_plan.h.

#define ST_POS_PLAN_ACT_DWORDS (5)

Defines the amount of memory that needs to be allocated for each component.

Each configured Action takes 3 double words of memory

Definition at line 51 of file spintac_pos_plan.h.

#define ST_POS_PLAN_COND_DWORDS (3)

Each configured Condition takes 3 double words of memory.

Definition at line 53 of file spintac_pos_plan.h.

#define ST_POS_PLAN_STATE_DWORDS (7)

Each configured State takes 7 double words of memory.

Definition at line 59 of file spintac_pos_plan.h.

#define ST_POS_PLAN_TRAN_DWORDS (7)

Each configured Transition takes 7 double words of memory.

Definition at line 57 of file spintac_pos_plan.h.

#define ST_POS_PLAN_VAR_DWORDS (2)

Each configured Variable takes 2 double words of memory.

Definition at line 55 of file spintac_pos_plan.h.

Typedef Documentation

typedef struct _ST_POSPLAN_Handle_* ST_POSPLAN_Handle

Definition at line 172 of file spintac_pos_plan.h.

Enumeration Type Documentation

enum ST_PlanActOptn_e

Enumeration for the Plan Action Options.

Enumerator
ST_ACT_EQ	Action will set the variable equal to a value.
ST_ACT_ADD	Action will add a value to the variable.
ST_ACT_EQ	Action will set the variable equal to a value.
ST_ACT_ADD	Action will add a value to the variable.

Definition at line 105 of file spintac_pos_plan.h.

enum ST_PlanActTrgr_e

Enumeration for the Plan Action trigger point types.

Enumerator
ST_ACT_ENTR	Action will be considered when entering the state.
ST_ACT_EXIT	Action will be considered when exiting the state.
ST_ACT_ENTR	Action will be considered when entering the state.
ST_ACT_EXIT	Action will be considered when exiting the state.

Definition at line 112 of file spintac_pos_plan.h.

enum ST_PlanComp_e

Enumeration for the Plan Compare options.

Enumerator
ST_COMP_NA	No comparison.
ST_COMP_EQ	Compares, VarIdx == Value1 OR VarIdx1 == VarIdx2.
ST_COMP_NEQ	Compares, VarIdx != Value1 OR VarIdx1 != VarIdx2.
ST_COMP_GT	Compares, VarIdx > Value1 OR VarIdx1 > VarIdx2.
ST_COMP_EGT	Compares, VarIdx >= Value1 OR VarIdx1 >= VarIdx2.
ST_COMP_LW	Compares, VarIdx < Value1 OR VarIdx1 < VarIdx2.
ST_COMP_ELW	Compares, VarIdx <= Value1 OR VarIdx1 <= VarIdx2.
ST_COMP_In	Compares, Value1 <= VarIdx <= Value2.
ST_COMP_EIn	Compares, Value1 < VarIdx <= Value2.
ST_COMP_InE	Compares, Value1 <= VarIdx < Value2.
ST_COMP_EInE	Compares, Value1 < VarIdx < Value2.
ST_COMP_Out	Compares, Value1 >= VarIdx >= Value2.
ST_COMP_EOut	Compares, Value1 > VarIdx >= Value2.
ST_COMP_OutE	Compares, Value1 >= VarIdx > Value2.
ST_COMP_EOutE	Compares, Value1 > VarIdx > Value2.
ST_COMP_NA	No comparison.
ST_COMP_EQ	Compares, VarIdx == Value1 OR VarIdx1 == VarIdx2.
ST_COMP_NEQ	Compares, VarIdx != Value1 OR VarIdx1 != VarIdx2.
ST_COMP_GT	Compares, VarIdx > Value1 OR VarIdx1 > VarIdx2.
ST_COMP_EGT	Compares, VarIdx >= Value1 OR VarIdx1 >= VarIdx2.
ST_COMP_LW	Compares, VarIdx < Value1 OR VarIdx1 < VarIdx2.
ST_COMP_ELW	Compares, VarIdx <= Value1 OR VarIdx1 <= VarIdx2.
ST_COMP_In	Compares, Value1 <= VarIdx <= Value2.
ST_COMP_EIn	Compares, Value1 < VarIdx <= Value2.
ST_COMP_InE	Compares, Value1 <= VarIdx < Value2.
ST_COMP_EInE	Compares, Value1 < VarIdx < Value2.
ST_COMP_Out	Compares, Value1 >= VarIdx >= Value2.
ST_COMP_EOut	Compares, Value1 > VarIdx >= Value2.
ST_COMP_OutE	Compares, Value1 >= VarIdx > Value2.
ST_COMP_EOutE	Compares, Value1 > VarIdx > Value2.

Definition at line 85 of file spintac_pos_plan.h.

enum ST_PlanCond_e

Enumeration for the Plan Condition options.

Enumerator
ST_COND_NC	Transition/Action with no conditions satisfied.
ST_COND_FC	Transition/Action with first condition satisfied.
ST_COND_AND	Transition/Action with both conditions satisfied.
ST_COND_OR	Transition/Action with either condition satisfied.
ST_COND_NC	Transition/Action with no conditions satisfied.
ST_COND_FC	Transition/Action with first condition satisfied.
ST_COND_AND	Transition/Action with both conditions satisfied.
ST_COND_OR	Transition/Action with either condition satisfied.

Definition at line 76 of file spintac_pos_plan.h.

enum ST_PlanFsmState_e

Enumeration for the Plan FSM states.

Enumerator
ST_FSM_STATE_STAY	Plan is staying in a state until the timer is up.
ST_FSM_STATE_COND	Plan is waiting for a transition condition to be true.
ST_FSM_STATE_TRAN	Plan is in transition with a motion profile.
ST_FSM_STATE_STAY	Plan is staying in a state until the timer is up.
ST_FSM_STATE_COND	Plan is waiting for a transition condition to be true.
ST_FSM_STATE_TRAN	Plan is in transition with a motion profile.

Definition at line 119 of file spintac_pos_plan.h.

enum ST_PlanStatus_e

Enumeration for the Plan Status States.

Enumerator
ST_PLAN_IDLE	idle state, holding position
ST_PLAN_INIT	init state, initialize internal states
ST_PLAN_BUSY	busy state, running state machine
ST_PLAN_HALT	halt state, return to the position reference in idle state
ST_PLAN_WAIT	wait state, holding the position reference in idle state
ST_PLAN_IDLE	idle state, holding velocity
ST_PLAN_INIT	init state, initialize internal states
ST_PLAN_BUSY	busy state, running state machine
ST_PLAN_HALT	halt state, return to the speed reference in idle state
ST_PLAN_WAIT	wait state, holding the speed reference in idle state

Definition at line 66 of file spintac_pos_plan.h.

enum ST_PlanVar_e

Enumeration for the Plan variable types.

Enumerator
ST_VAR_INOUT	Variable type input/output.
ST_VAR_IN	Variable type input.
ST_VAR_OUT	Variable type output.
ST_VAR_INOUT	Variable type input/output.
ST_VAR_IN	Variable type input.
ST_VAR_OUT	Variable type output.

Definition at line 127 of file spintac_pos_plan.h.

Function Documentation

void STPOSPLAN_addCfgAct	(	ST_POSPLAN_Handle	handle,
		uint16_t	State,
		ST_PlanCond_e	AndOr,
		uint16_t	CondIdx1,
		uint16_t	CondIdx2,
		uint16_t	VarIdx,
		ST_PlanActOptn_e	Opt,
		_iq24	Value,
		ST_PlanActTrgr_e	EnterExit
	)

Adds an action to the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	State	Index of the State the Action happens in
[in]	AndOr	Condition option for the Action
[in]	CondIdx1	Index of the first Condition to consider for the Action
[in]	CondIdx2	Index of the second Condition to consider for the Action
[in]	VarIdx	Index of the Varaible to be acted upon
[in]	Opt	Type of Action to perform on the Varaible
[in]	Value	Value to use in the Action
[in]	EnterExit	State event that will trigger the Action

void STPOSPLAN_addCfgCond	(	ST_POSPLAN_Handle	handle,
		uint16_t	VarIdx,
		ST_PlanComp_e	Comp,
		_iq24	Value1,
		_iq24	Value2
	)

Adds a Condition to the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	VarIdx	Index of the Plan Variable that will be compared
[in]	Comp	Type of comparison that will be done
[in]	Value1	First value to use in the comparison
[in]	Value2	Second value to use in the comparison

void STPOSPLAN_addCfgState	(	ST_POSPLAN_Handle	handle,
		int32_t	PosStepInt_mrev,
		_iq24	PosStep_Fracmrev,
		int32_t	Timer_tick
	)

Adds a State to the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	PosStepInt_mrev	Position step integer part in State { unit: [MRev], value range: 32 bit integer (-2^31, 2^31) }
[in]	PosStepFrac_mrev	Position step fraction part in State { unit: [MRev], value range: (-1.0, 1.0) }
[in]	Timer_tick	Minimum time to stay in State { unit: [tick] }

void STPOSPLAN_addCfgTran	(	ST_POSPLAN_Handle	handle,
		uint16_t	FromState,
		uint16_t	ToState,
		ST_PlanCond_e	AndOr,
		uint16_t	CondIdx1,
		uint16_t	CondIdx2,
		_iq24	VelLim,
		_iq24	AccLim,
		_iq24	DecLim,
		_iq20	JrkLim
	)

Adds a Transition to the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	FromState	Index of the from State
[in]	ToState	Index of the to State
[in]	AndOr	Condition option for the Transition
[in]	CondIdx1	Index of the first Condition to consider for the Transition
[in]	CondIdx2	Index of the second Condition to consider for the Transition
[in]	VelLim	Velocity limit for the Transition { unit: [pu/s], value range: (0.0, 1.0] }
[in]	AccLim	Acceleration limit for the Transition { unit: [pu/s^2], value range: [0.001, 120.0] }
[in]	DecLim	Deceleration limit for the Transition { unit: [pu/s^2], value range: [0.001, 120.0] }
[in]	JrkLim	Jerk limit for the Transition { unit: [pu/s^3], value range: [0.0005, 2000.0] }

void STPOSPLAN_addCfgVar	(	ST_POSPLAN_Handle	handle,
		ST_PlanVar_e	Type,
		_iq24	Value
	)

Adds a variable to the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	Type	Type of Variable
[in]	Value	Initial value of the Variable

void STPOSPLAN_addCfgVarCond	(	ST_POSPLAN_Handle	handle,
		uint16_t	VarIdx1,
		uint16_t	VarIdx2,
		ST_PlanComp_e	Comp
	)

Adds a Variable Condition to the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	VarIdx1	Index of the first Plan Variable that will be compared
[in]	VarIdx2	Index of the second Plan Variable that will be compared
[in]	Comp	Type of comparison that will be done

void STPOSPLAN_delCfgAct	(	ST_POSPLAN_Handle	handle,
		uint16_t	ActIdx
	)

Deletes an action from the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	ActIdx	Index of the Action to delete

void STPOSPLAN_delCfgCond	(	ST_POSPLAN_Handle	handle,
		uint16_t	CondIdx
	)

Deletes a Condition from the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	CondIdx	Index of the Plan Condition to delete

void STPOSPLAN_delCfgState	(	ST_POSPLAN_Handle	handle,
		uint16_t	StateIdx
	)

Deletes a state from the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	StateIdx	Index of the State to delete

void STPOSPLAN_delCfgTran	(	ST_POSPLAN_Handle	handle,
		uint16_t	TranIdx
	)

Deletes a Transition from the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	TranIdx	Index of the Transition to delete

void STPOSPLAN_delCfgVar	(	ST_POSPLAN_Handle	handle,
		uint16_t	VarIdx
	)

Deletes a Variable from the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	VarIdx	Index of the Variable to delete

void STPOSPLAN_delCfgVarCond	(	ST_POSPLAN_Handle	handle,
		uint16_t	CondIdx
	)

Deletes a Variable Condition from the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	CondIdx	Index of the Plan Condition to delete

static _iq24 STPOSPLAN_getAccelerationLimit ( ST_POSPLAN_Handle handle )

inlinestatic

Gets the Acceleration Limit (AccLim) for SpinTAC Position Plan.

Parameters

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

Returns: _iq24 AccLim Acceleration limit { unit: [pu/s^2], value range: (0.0, 120.0] }

Definition at line 197 of file spintac_pos_plan.h.

References ST_PosPlan_t::AccLim.

void STPOSPLAN_getCfg	(	ST_POSPLAN_Handle	handle,
		_iq24 *	T_sec,
		bool *	LoopENB
	)

Gets the SpinTAC Position Plan configuration.

Parameters

[in]	handle	handle The handle for the SpinTAC Position Plan Object
[out]	*T_sec	Sample Time { unit: [sec], value range: (0, 0.01] }
[out]	*LoopENB	Sets if SpinTAC Position Plan should continuously run after it reaches the end { false: Do not continuously run Plan; true: Continuously run Plan }

void STPOSPLAN_getCfgAct	(	ST_POSPLAN_Handle	handle,
		uint16_t	ActIdx,
		uint16_t *	State,
		ST_PlanCond_e *	AndOr,
		uint16_t *	CondIdx1,
		uint16_t *	CondIdx2,
		uint16_t *	VarIdx,
		ST_PlanActOptn_e *	Opt,
		_iq24 *	Value,
		ST_PlanActTrgr_e *	EnterExit
	)

Returns an action from the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	ActIdx	Index of the Action to return
[out]	*State	Index of the State the Action happens in
[out]	*AndOr	Condition option for the Action
[out]	*CondIdx1	Index of the first Condition to consider for the Action
[out]	*CondIdx2	Index of the second Condition to consider for the Action
[out]	*VarIdx	Index of the Varaible to be acted upon
[out]	*Opt	Type of Action to perform on the Varaible
[out]	*Value	Value to use in the Action
[out]	*EnterExit	State event that will trigger the Action

void STPOSPLAN_getCfgActNum	(	ST_POSPLAN_Handle	handle,
		uint16_t *	ActNum
	)

Returns the number of configured Actions in SpinTAC Position Plan.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[out]	*ActNum	The number of configured Actions in SpinTAC Position Plan

void STPOSPLAN_getCfgCond	(	ST_POSPLAN_Handle	handle,
		uint16_t	CondIdx,
		uint16_t *	VarIdx,
		ST_PlanComp_e *	Comp,
		_iq24 *	Value1,
		_iq24 *	Value2
	)

Returns a Condition from the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	CondIdx	Index of the Plan Condition to return
[out]	*VarIdx	Index of the Plan Variable that will be compared
[out]	*Comp	Type of comparison that will be done
[out]	*Value1	First value to use in the comparison
[out]	*Value2	Second value to use in the comparison

void STPOSPLAN_getCfgCondNum	(	ST_POSPLAN_Handle	handle,
		uint16_t *	CondNum
	)

Returns the number of configured Conditions in SpinTAC Position Plan.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[out]	*CondNum	The number of configured Conditions in SpinTAC Position Plan

static uint16_t STPOSPLAN_getCfgError	(	ST_POSPLAN_Handle	handle,
		uint16_t *	ERR_idx,
		uint16_t *	ERR_code
	)

inlinestatic

Gets the Configuration Error for SpinTAC Position Plan.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[out]	*ERR_idx	Component index where error occurred { 0: no index; others: see error code }
[out]	*ERR_code	Specific configuration error { 0: no additional information; others: see error code }

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

Definition at line 312 of file spintac_pos_plan.h.

References ST_PosPlan_t::CfgError, ST_PlanError_t::ERR_code, ST_PosPlan_t::ERR_ID, and ST_PlanError_t::ERR_idx.

void STPOSPLAN_getCfgHaltState	(	ST_POSPLAN_Handle	handle,
		int32_t *	PosStepInt_mrev,
		_iq24 *	PosStepFrac_mrev,
		_iq24 *	VelLim,
		_iq24 *	AccLim,
		_iq20 *	JrkLim,
		int32_t *	Timer_tick
	)

Gets the SpinTAC Position Plan Halt state.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[out]	*PosStepInt_mrev	Position step integer part for Halt State { unit: [MRev] }
[out]	*PosStepFrac_mrev	Position step fraction part for Halt State { unit: [MRev], value range: (-1.0, 1.0) }
[out]	*VelLim	Velocity limit during Halt state { unit: [pu/s], value range: (0, 1] }
[out]	*AccLim	Acceleration limit for Halt state { unit: [pu/s^2], value range: [0.001, 120.0] }

void STPOSPLAN_getCfgState	(	ST_POSPLAN_Handle	handle,
		uint16_t	StateIdx,
		int32_t *	PosStepInt_mrev,
		_iq24 *	PosStepFrac_mrev,
		int32_t *	Timer_tick
	)

Returns a state from the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	StateIdx	Index of the State to modify
[out]	*PosStepInt_mrev	Position step integer part in State { unit: [MRev] }
[out]	*PosStepFrac_mrev	Position step fraction part in State { unit: [MRev] }
[out]	*Timer_tick	Minimum time to stay in State { unit: [tick] }

void STPOSPLAN_getCfgStateNum	(	ST_POSPLAN_Handle	handle,
		uint16_t *	StateNum
	)

Returns the number of configured States in SpinTAC Position Plan.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[out]	*StateNum	The number of configured States in SpinTAC Position Plan

void STPOSPLAN_getCfgTran	(	ST_POSPLAN_Handle	handle,
		uint16_t	TranIdx,
		uint16_t *	FromState,
		uint16_t *	ToState,
		ST_PlanCond_e *	AndOr,
		uint16_t *	CondIdx1,
		uint16_t *	CondIdx2,
		_iq24 *	VelLim,
		_iq24 *	AccLim,
		_iq24 *	DecLim,
		_iq20 *	JrkLim
	)

Get a Transition from the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	TranIdx	Index of the Transition to return
[out]	*FromState	Index of the from State
[out]	*ToState	Index of the to State
[out]	*AndOr	Condition option for the Transition
[out]	*CondIdx1	Index of the first Condition to consider for the Transition
[out]	*CondIdx2	Index of the second Condition to consider for the Transition
[out]	*VelLim	Velocity limit for the Transition { unit: [pu/s], value range: (0.0, 1.0] }
[out]	*AccLim	Acceleration limit for the Transition { unit: [pu/s^2], value range: [0.001, 120.0] }
[out]	*DecLim	Deceleration limit for the Transition { unit: [pu/s^2], value range: [0.001, 120.0] }
[out]	*JrkLim	Jerk limit for the Transition { unit: [pu/s^3], value range: [0.0005, 2000.0] }

void STPOSPLAN_getCfgTranNum	(	ST_POSPLAN_Handle	handle,
		uint16_t *	TranNum
	)

Returns the number of configured Transitions in SpinTAC Position Plan.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[out]	*TranNum	The number of configured Transitions in SpinTAC Position Plan

void STPOSPLAN_getCfgVar	(	ST_POSPLAN_Handle	handle,
		uint16_t	VarIdx,
		ST_PlanVar_e *	Type,
		_iq24 *	Value
	)

Returns a variable from the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	VarIdx	Index of the Variable to return
[out]	*Type	Type of Variable
[out]	*Value	Initial value of the Variable

void STPOSPLAN_getCfgVarCond	(	ST_POSPLAN_Handle	handle,
		uint16_t	CondIdx,
		uint16_t *	VarIdx1,
		uint16_t *	VarIdx2,
		ST_PlanComp_e *	Comp
	)

Returns a Variable Condition from the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	CondIdx	Index of the Plan Condition to return
[out]	*VarIdx1	Index of the first Plan Variable that will be compared
[out]	*VarIdx2	Index of the second Plan Variable that will be compared
[out]	*Comp	Type of comparison that will be done

void STPOSPLAN_getCfgVarNum	(	ST_POSPLAN_Handle	handle,
		uint16_t *	VarNum
	)

Returns the number of configured Variables in SpinTAC Position Plan.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[out]	*VarNum	The number of configured Variables in SpinTAC Position Plan

static uint16_t STPOSPLAN_getCurrentState ( ST_POSPLAN_Handle handle )

inlinestatic

Gets the Current State (CurState) for SpinTAC Position Plan.

Parameters

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

Returns: uint16_t CurState Current state of the state machine

Definition at line 274 of file spintac_pos_plan.h.

References ST_PosPlan_t::CurState.

static int32_t STPOSPLAN_getCurrentTimerValue_tick ( ST_POSPLAN_Handle handle )

inlinestatic

Gets the Current Time Value (Timer_tick) for SpinTAC Position Plan.

Parameters

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

Returns: int32_t Timer State Timer { unit: [tick] }

Definition at line 301 of file spintac_pos_plan.h.

References ST_PosPlan_t::Timer_tick.

static uint16_t STPOSPLAN_getCurrentTransition ( ST_POSPLAN_Handle handle )

inlinestatic

Gets the Current Transition (CurTran) for SpinTAC Position Plan.

Parameters

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

Returns: uint16_t CurTran Current transition of the state machine

Definition at line 283 of file spintac_pos_plan.h.

References ST_PosPlan_t::CurTran.

static _iq24 STPOSPLAN_getDecelerationLimit ( ST_POSPLAN_Handle handle )

inlinestatic

Gets the Deceleration Limit (DecLim) for SpinTAC Position Plan.

Parameters

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

Returns: _iq24 DecLim Deceleration limit { unit: [pu/s^2], value range: (0.0, 120.0] }

Definition at line 206 of file spintac_pos_plan.h.

References ST_PosPlan_t::DecLim.

static bool STPOSPLAN_getEnable ( ST_POSPLAN_Handle handle )

inlinestatic

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

Parameters

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

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

Definition at line 235 of file spintac_pos_plan.h.

References ST_PosPlan_t::ENB.

static uint16_t STPOSPLAN_getErrorID ( ST_POSPLAN_Handle handle )

inlinestatic

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

Parameters

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

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

Definition at line 324 of file spintac_pos_plan.h.

References ST_PosPlan_t::ERR_ID.

static ST_PlanFsmState_e STPOSPLAN_getFsmState ( ST_POSPLAN_Handle handle )

inlinestatic

Gets the State Machine State (FsmState) for SpinTAC Position Plan.

Parameters

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

Returns: ST_PlanFsmState_e FsmState Current operation of the state machine

Definition at line 292 of file spintac_pos_plan.h.

References ST_PosPlan_t::FsmState.

static _iq20 STPOSPLAN_getJerkLimit ( ST_POSPLAN_Handle handle )

inlinestatic

Gets the Jerk Limit (JrkLim) for SpinTAC Position Plan.

Parameters

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

Returns: _iq20 JrkLim Jerk Limit { unit: [pu/s^3], value range: (0.0, 2000.0] }

Definition at line 215 of file spintac_pos_plan.h.

References ST_PosPlan_t::JrkLim.

static void STPOSPLAN_getPositionStep_mrev	(	ST_POSPLAN_Handle	handle,
		int32_t *	posStepInt_mrev,
		_iq24 *	posStepFrac_mrev
	)

inlinestatic

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

Parameters

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

Definition at line 178 of file spintac_pos_plan.h.

References ST_PosPlan_t::PosStepFrac_mrev, and ST_PosPlan_t::PosStepInt_mrev.

static bool STPOSPLAN_getReset ( ST_POSPLAN_Handle handle )

inlinestatic

Gets the Reset signal (RES) for SpinTAC Position Plan.

Parameters

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

Returns: bool RES Reset bit { false: reset; true: not reset }

Definition at line 255 of file spintac_pos_plan.h.

References ST_PosPlan_t::RES.

static ST_PlanStatus_e STPOSPLAN_getStatus ( ST_POSPLAN_Handle handle )

inlinestatic

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

Parameters

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

Returns: ST_PlanStatus_e STATUS Status { ST_VEL_ID_IDLE, ST_VEL_ID_INIT, ST_VEL_ID_BUSY }

Definition at line 264 of file spintac_pos_plan.h.

References ST_PosPlan_t::STATUS.

void STPOSPLAN_getVar	(	ST_POSPLAN_Handle	handle,
		uint16_t	VarIdx,
		_iq24 *	Value
	)

Gets the value of a SpinTAC Position Plan variable.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	VarIdx	Index of the Variable to get
[out]	*Value	Value to get from the Variable

static _iq24 STPOSPLAN_getVelocityLimit ( ST_POSPLAN_Handle handle )

inlinestatic

Gets the Velocity Limit (VelLim) for SpinTAC Position Plan.

Parameters

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

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

Definition at line 188 of file spintac_pos_plan.h.

References ST_PosPlan_t::VelLim.

ST_POSPLAN_Handle STPOSPLAN_init	(	void *	pMemory,
		const size_t	numBytes
	)

Initializes the SpinTAC Position Plan component.

Parameters

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

Returns: ST_POSPLAN_Handle handle The handle for the SpinTAC Position Plan Object

void STPOSPLAN_reset ( ST_POSPLAN_Handle handle )

Resets the SpinAC Position Plan component.

Parameters

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

void STPOSPLAN_run ( ST_POSPLAN_Handle handle )

Runs SpinTAC Position Plan calculation.

Parameters

[in] handle The handle for the Position Plan structure

void STPOSPLAN_runTick ( ST_POSPLAN_Handle handle )

Runs SpinTAC Position Plan Timing. Call this only from an ISR.

Parameters

[in] handle The handle for the Position Plan structure

void STPOSPLAN_setCfg	(	ST_POSPLAN_Handle	handle,
		_iq24	T_sec,
		bool	LoopENB
	)

Configures SpinTAC Position Plan.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	T_sec	Sample Time { unit: [sec], value range: (0, 0.01] }
[in]	LoopENB	Sets if SpinTAC Position Plan should continuously run after it reaches the end { false: Do not continuously run Plan; true: Continuously run Plan }

void STPOSPLAN_setCfgAct	(	ST_POSPLAN_Handle	handle,
		uint16_t	ActIdx,
		uint16_t	State,
		ST_PlanCond_e	AndOr,
		uint16_t	CondIdx1,
		uint16_t	CondIdx2,
		uint16_t	VarIdx,
		ST_PlanActOptn_e	Opt,
		_iq24	Value,
		ST_PlanActTrgr_e	EnterExit
	)

Modifies an action in the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	ActIdx	Index of the Action to modify
[in]	State	Index of the State the Action happens in
[in]	AndOr	Condition option for the Action
[in]	CondIdx1	Index of the first Condition to consider for the Action
[in]	CondIdx2	Index of the second Condition to consider for the Action
[in]	VarIdx	Index of the Varaible to be acted upon
[in]	Opt	Type of Action to perform on the Varaible
[in]	Value	Value to use in the Action
[in]	EnterExit	State event that will trigger the Action

void STPOSPLAN_setCfgArray	(	ST_POSPLAN_Handle	handle,
		uint32_t *	cfgArray,
		const size_t	numBytes,
		uint16_t	MaxActNum,
		uint16_t	MaxCondNum,
		uint16_t	MaxVarNum,
		uint16_t	MaxTranNum,
		uint16_t	MaxStateNum
	)

Prepares SpinTAC Position Plan data structure.

Parameters

[in]	handle	The handle for the Position Plan structure
[in]	*cfgArray	Pointer to the SpinTAC Position Plan configuration array
[in]	numBytes	The number of bytes in the SpinTAC Position Plan configuration array
[in]	MaxActNum	Number of Actions
[in]	MaxCondNum	Number of Conditions
[in]	MaxVarNum	Number of Variables
[in]	MaxTranNum	Number of Transitions
[in]	MaxStateNum	Number of States

void STPOSPLAN_setCfgCond	(	ST_POSPLAN_Handle	handle,
		uint16_t	CondIdx,
		uint16_t	VarIdx,
		ST_PlanComp_e	Comp,
		_iq24	Value1,
		_iq24	Value2
	)

Modifies a Condition in the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	CondIdx	Index of the Plan Condition to modify
[in]	VarIdx	Index of the Plan Variable that will be compared
[in]	Comp	Type of comparison that will be done
[in]	Value1	First value to use in the comparison
[in]	Value2	Second value to use in the comparison

void STPOSPLAN_setCfgHaltState	(	ST_POSPLAN_Handle	handle,
		int32_t	PosStepInt_mrev,
		_iq24	PosStepFrac_mrev,
		_iq24	VelLim,
		_iq24	AccLim,
		_iq20	JrkLim,
		int32_t	Timer_tick
	)

Configures the SpinTAC Position Plan Halt state.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	PosStepInt_mrev	Position step integer part for Halt State { unit: [MRev], value range: 32 bit integer [-2, 2] }
[in]	PosStepFrac_mrev	Position step fraction part for Halt State { unit: [MRev], value range: (-1.0, 1.0) }
[in]	VelLim	Velocity limit during Halt state { unit: [pu/s], value range: (0, 1] }
[in]	AccLim	Acceleration limit for Halt state { unit: [pu/s^2], value range: [0.001, 120.0] }
[in]	JrkLim	Jerk limit for Halt state { unit: [pu/s^3], value range: [0.0005, 2000.0] }
[in]	Timer_tick	Minimum amount of time to stay in Halt state { unit: [tick] }

void STPOSPLAN_setCfgState	(	ST_POSPLAN_Handle	handle,
		uint16_t	StateIdx,
		int32_t	PosStepInt_mrev,
		_iq24	PosStepFrac_mrev,
		int32_t	Timer_tick
	)

Modifies a state in the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	StateIdx	Index of the State to modify
[in]	PosStepInt_mrev	Position step integer part in State { unit: [MRev], value range: 32 bit integer (-2^31, 2^31) }
[in]	PosStepFrac_mrev	Position step fraction part in State { unit: [MRev], value range: (-1.0, 1.0) }
[in]	Timer_tick	Minimum time to stay in State { unit: [tick] }

void STPOSPLAN_setCfgTran	(	ST_POSPLAN_Handle	handle,
		uint16_t	TranIdx,
		uint16_t	FromState,
		uint16_t	ToState,
		ST_PlanCond_e	AndOr,
		uint16_t	CondIdx1,
		uint16_t	CondIdx2,
		_iq24	VelLim,
		_iq24	AccLim,
		_iq24	DecLim,
		_iq20	JrkLim
	)

Modifies a Transition in the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	TranIdx	Index of the Transition to modify
[in]	FromState	Index of the from State
[in]	ToState	Index of the to State
[in]	AndOr	Condition option for the Transition
[in]	CondIdx1	Index of the first Condition to consider for the Transition
[in]	CondIdx2	Index of the second Condition to consider for the Transition
[in]	VelLim	Velocity limit for the Transition { unit: [pu/s], value range: [-1.0, 1.0] }
[in]	AccLim	Acceleration limit for the Transition { unit: [pu/s^2], value range: [0.001, 120.0] }
[in]	DecLim	Deceleration limit for the Transition { unit: [pu/s^2], value range: [0.001, 120.0] }
[in]	JrkLim	Jerk limit for the Transition { unit: [pu/s^3], value range: [0.0005, 2000.0] }

void STPOSPLAN_setCfgVar	(	ST_POSPLAN_Handle	handle,
		uint16_t	VarIdx,
		ST_PlanVar_e	Type,
		_iq24	Value
	)

Modifies a variable in the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	VarIdx	Index of the Variable to modify
[in]	Type	Type of Variable
[in]	Value	Initial value of the Variable

void STPOSPLAN_setCfgVarCond	(	ST_POSPLAN_Handle	handle,
		uint16_t	CondIdx,
		uint16_t	VarIdx1,
		uint16_t	VarIdx2,
		ST_PlanComp_e	Comp
	)

Modifies a Variable Condition to the SpinTAC Position Plan configuration.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	CondIdx	Index of the Plan Condition to modify
[in]	VarIdx1	Index of the first Plan Variable that will be compared
[in]	VarIdx2	Index of the second Plan Variable that will be compared
[in]	Comp	Type of comparison that will be done

static void STPOSPLAN_setEnable	(	ST_POSPLAN_Handle	handle,
		bool	enb
	)

inlinestatic

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

Parameters

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

Definition at line 224 of file spintac_pos_plan.h.

References ST_PosPlan_t::ENB.

static void STPOSPLAN_setReset	(	ST_POSPLAN_Handle	handle,
		bool	res
	)

inlinestatic

Sets the Reset signal (RES) for SpinTAC Position Plan.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	res	Reset bit { false: reset; true: not reset }

Definition at line 244 of file spintac_pos_plan.h.

References ST_PosPlan_t::RES.

void STPOSPLAN_setUnitProfDone	(	ST_POSPLAN_Handle	handle,
		bool	ProDON
	)

Sets a flag in SpinTAC Position Plan to indicate if the unit profile is complete.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	ProDON	Indicates if the unit profile is completed

void STPOSPLAN_setVar	(	ST_POSPLAN_Handle	handle,
		uint16_t	VarIdx,
		_iq24	Value
	)

Sets the value of a SpinTAC Position Plan variable.

Parameters

[in]	handle	The handle for the SpinTAC Position Plan Object
[in]	VarIdx	Index of the Variable to set
[in]	Value	Value to set to the Variable

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