spintac_vel_move.h

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#ifndef __SPINTAC_VEL_MOVE_H__
#define __SPINTAC_VEL_MOVE_H__
/* --COPYRIGHT--,BSD
 * Copyright (c) 2012, LineStream Technologies Incorporated
 * Copyright (c) 2012, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
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 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the names of Texas Instruments Incorporated, LineStream
 *    Technologies Incorporated, nor the names of its contributors may be
 *    used to endorse or promote products derived from this software without
 *    specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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#include "spintac_version.h"

#ifndef __ST_AXIS_ENUM__
#define __ST_AXIS_ENUM__

typedef enum
{
  ST_AXIS0=0,   
  ST_AXIS1              
} ST_Axis_e;
#endif //__ST_AXIS_ENUM__

#ifndef __ST_MOVE_CURVE_TYPE_ENUM__
#define __ST_MOVE_CURVE_TYPE_ENUM__

typedef enum
{
  ST_MOVE_CUR_TRAP=0,   
  ST_MOVE_CUR_SCRV,             
  ST_MOVE_CUR_STCRV             
} ST_MoveCurveType_e;
#endif //__ST_MOVE_CURVE_TYPE_ENUM__

#ifndef __ST_MOVE_STATUS_ENUM__
#define __ST_MOVE_STATUS_ENUM__

typedef enum
{
  ST_MOVE_IDLE=0,       
  ST_MOVE_INIT,         
  ST_MOVE_CONF,         
  ST_MOVE_BUSY,         
  ST_MOVE_HALT          
} ST_MoveStatus_e;
#endif //__ST_MOVE_STATUS_ENUM__

typedef struct {
  //System config parameters: Can be set only once at system startup
  ST_Axis_e Axis;               
  _iq24 T_sec;                  
  _iq20 HaltJrkLim;             
  // Config parameters that may be modified
  ST_MoveCurveType_e CurveType; 
  _iq24 VelStart;                           
} ST_VelMoveCfg_t;      // Structure for SpinTAC Move-Velocity configuration
                                

typedef struct {
  uint32_t ProTime_tick;        
  _iq24 ActualAccLim;           
  _iq20 ActualJrkLim;           
} ST_VelMoveMsg_t;                      

typedef struct {
  // Configuration structure
  ST_VelMoveCfg_t cfg;
  // Information structure
  ST_VelMoveMsg_t msg;
  /* Input variables */
  _iq24 VelEnd;                         
  _iq24 AccLim;                         
  _iq20 JrkLim;                         
  // Control bits
  bool ENB;                                 
  bool TST;                                 
  /* Output variables */
  _iq24 VelRef;                         
  _iq24 AccRef;                         
  _iq20 JrkRef;                         
  // Information variables
  ST_MoveStatus_e STATUS;       
  uint16_t ERR_ID;                      
  /* Internal variables */
  uint32_t s1[23];
} ST_VelMove_t; 

typedef struct _ST_VELMOVE_Handle_ *ST_VELMOVE_Handle; // SpinTAC Velocity Move Handle

static inline void STVELMOVE_setAxis(ST_VELMOVE_Handle handle, ST_Axis_e axis) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        if(obj->STATUS == ST_MOVE_IDLE) {
                obj->cfg.Axis = axis;
        }

        return;
} // end of STVELMOVE_setAxis function

static inline void STVELMOVE_setCurveType(ST_VELMOVE_Handle handle, ST_MoveCurveType_e curveType) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        obj->cfg.CurveType = curveType;

        return;
} // end of STVELMOVE_setCurveType function

static inline ST_MoveCurveType_e STVELMOVE_getCurveType(ST_VELMOVE_Handle handle) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        return(obj->cfg.CurveType);
} // end of STVELMOVE_getCurveType function

static inline void STVELMOVE_setSampleTime_sec(ST_VELMOVE_Handle handle, _iq24 sampleTime) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        if(obj->STATUS == ST_MOVE_IDLE) {
                obj->cfg.T_sec = sampleTime;
        }

        return;
} // end of STVELMOVE_setSampleTime_sec function

static inline void STVELMOVE_setHaltLimits(ST_VELMOVE_Handle handle, _iq20 haltJrkLim) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        if(obj->STATUS == ST_MOVE_IDLE) {
                obj->cfg.HaltJrkLim = haltJrkLim;
        }

        return;
} // end of STVELMOVE_setHaltLimits function

static inline void STVELMOVE_setVelocityStart(ST_VELMOVE_Handle handle, _iq24 velStart) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        if(obj->STATUS == ST_MOVE_IDLE) {
                obj->cfg.VelStart = velStart;
        }

        return;
} // end of STVELMOVE_setVelocityStart function

static inline _iq24 STVELMOVE_getVelocityStart(ST_VELMOVE_Handle handle) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        return(obj->cfg.VelStart);
} // end of STVELMOVE_getVelocityStart function

static inline uint32_t STVELMOVE_getProfileTime_tick(ST_VELMOVE_Handle handle) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        return(obj->msg.ProTime_tick);
} // end of STVELMOVE_getProfileTime_tick function

static inline _iq24 STVELMOVE_getActualAcceleration(ST_VELMOVE_Handle handle) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        return(obj->msg.ActualAccLim);
} // end of STVELMOVE_getActualAcceleration function

static inline _iq20 STVELMOVE_getActualJerk(ST_VELMOVE_Handle handle) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        return(obj->msg.ActualJrkLim);
} // end of STVELMOVE_getActualJerk function

static inline void STVELMOVE_setVelocityEnd(ST_VELMOVE_Handle handle, _iq24 velEnd) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        obj->VelEnd = velEnd;

        return;
} // end of STVELMOVE_setVelocityEnd function

static inline _iq24 STVELMOVE_getVelocityEnd(ST_VELMOVE_Handle handle) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        return(obj->VelEnd);
} // end of STVELMOVE_getVelocityEnd function

static inline void STVELMOVE_setAccelerationLimit(ST_VELMOVE_Handle handle, _iq24 accLim) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        obj->AccLim = accLim;

        return;
} // end of STVELMOVE_setAccelerationLimit function

static inline _iq24 STVELMOVE_getAccelerationLimit(ST_VELMOVE_Handle handle) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        return(obj->AccLim);
} // end of STVELMOVE_getAccelerationLimit function

static inline void STVELMOVE_setJerkLimit(ST_VELMOVE_Handle handle, _iq20 jrkLim) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        obj->JrkLim = jrkLim;

        return;
} // end of STVELMOVE_setJerkLimit function

static inline _iq20 STVELMOVE_getJerkLimit(ST_VELMOVE_Handle handle) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        return(obj->JrkLim);
} // end of STVELMOVE_getJerkLimit function

static inline void STVELMOVE_setEnable(ST_VELMOVE_Handle handle, bool enb) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        obj->ENB = enb;

        return;
} // end of STVELMOVE_setEnable function

static inline bool STVELMOVE_getEnable(ST_VELMOVE_Handle handle) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        return (obj->ENB);
} // end of STVELMOVE_getEnable function

static inline void STVELMOVE_setTest(ST_VELMOVE_Handle handle, bool tst) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        obj->TST = tst;

        return;
} // end of STVELMOVE_setTest function

static inline bool STVELMOVE_getTest(ST_VELMOVE_Handle handle) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        return (obj->TST);
} // end of STVELMOVE_getTest function

static inline _iq24 STVELMOVE_getVelocityReference(ST_VELMOVE_Handle handle) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        return(obj->VelRef);
} // end of STVELMOVE_getVelocityReference function

static inline void STVELMOVE_setVelocityReference(ST_VELMOVE_Handle handle, _iq24 velRef) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        obj->VelRef = velRef;

        return;
} // end of STVELMOVE_setVelocityReference function

static inline _iq24 STVELMOVE_getAccelerationReference(ST_VELMOVE_Handle handle) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        return(obj->AccRef);
} // end of STVELMOVE_getAccelerationReference function

static inline _iq20 STVELMOVE_getJerkReference(ST_VELMOVE_Handle handle) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        return(obj->JrkRef);
} // end of STVELMOVE_getJerkReference function

static inline ST_MoveStatus_e STVELMOVE_getStatus(ST_VELMOVE_Handle handle) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        return (obj->STATUS);
} // end of STVELMOVE_getStatus function

static inline uint16_t STVELMOVE_getErrorID(ST_VELMOVE_Handle handle) {
        ST_VelMove_t *obj = (ST_VelMove_t *)handle;

        return (obj->ERR_ID);
} // end of STVELMOVE_getErrorID function

ST_VELMOVE_Handle STVELMOVE_init(void *pMemory, const size_t numBytes);

void STVELMOVE_run(ST_VELMOVE_Handle handle);

#endif //__SPINTAC_VEL_MOVE_H__