Luca Antolini / Mbed 2 deprecated AAA_Stabilus322699_LA0020

All the previous but the PID

Dependencies:   mbed QEI PID DmTftLibraryEx

SWPos/SWPos.h@23:b9d23a2f390e, 2022-02-10 (annotated)

Committer:
lex9296
Date:
Thu Feb 10 09:39:01 2022 +0000
Revision:
23:b9d23a2f390e
LA_0005 QEI che compila e legge tutti i Passi RT

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lex9296 23:b9d23a2f390e 1 #include "mbed.h"
lex9296 23:b9d23a2f390e 2
lex9296 23:b9d23a2f390e 3 struct in_sPosizionatoreSW {
lex9296 23:b9d23a2f390e 4 bool b_AxisPowered;
lex9296 23:b9d23a2f390e 5 bool b_ACPos_Homed;
lex9296 23:b9d23a2f390e 6 int32_t i32_Max_Speed;
lex9296 23:b9d23a2f390e 7 int32_t i32_ZeroSpeed;
lex9296 23:b9d23a2f390e 8
lex9296 23:b9d23a2f390e 9 bool b_JogMode;
lex9296 23:b9d23a2f390e 10 bool b_JogFW;
lex9296 23:b9d23a2f390e 11 bool b_JogBW;
lex9296 23:b9d23a2f390e 12 //
lex9296 23:b9d23a2f390e 13 int32_t i32_JogAccel_ms;
lex9296 23:b9d23a2f390e 14 int32_t i32_JogDecel_ms;
lex9296 23:b9d23a2f390e 15 //
lex9296 23:b9d23a2f390e 16 float f_JogSpeed_x100_FW; // in_rJogSpeed%_FW
lex9296 23:b9d23a2f390e 17 float f_JogSpeed_x100_BW; // in_rJogSpeed%_BW
lex9296 23:b9d23a2f390e 18
lex9296 23:b9d23a2f390e 19 bool b_ServoLock;
lex9296 23:b9d23a2f390e 20 bool rtServoLock_Q;
lex9296 23:b9d23a2f390e 21 //
lex9296 23:b9d23a2f390e 22 int64_t i64_TargetPosition;
lex9296 23:b9d23a2f390e 23 int64_t i64_ActualPosition;
lex9296 23:b9d23a2f390e 24 int64_t i64_AccelerationWindow;
lex9296 23:b9d23a2f390e 25 int64_t i64_DecelerationWindow;
lex9296 23:b9d23a2f390e 26 int64_t i64_diToleranceWindow;
lex9296 23:b9d23a2f390e 27 //
lex9296 23:b9d23a2f390e 28 float f_ServoLockSpeed_x100_FW; // in_rServoLockSpeed%_FW
lex9296 23:b9d23a2f390e 29 float f_ServoLockSpeed_x100_BW; // in_rServoLockSpeed%_BW
lex9296 23:b9d23a2f390e 30 float f_MaximumSpeed_x100_FW; // LA: in_rMaximumSpeed%_FW
lex9296 23:b9d23a2f390e 31 float f_MaximumSpeed_x100_BW; // LA: in_rMaximumSpeed%_BW
lex9296 23:b9d23a2f390e 32 };
lex9296 23:b9d23a2f390e 33
lex9296 23:b9d23a2f390e 34 struct out_sPosizionatoreSW {
lex9296 23:b9d23a2f390e 35 int64_t i64_StartPosition;
lex9296 23:b9d23a2f390e 36 int64_t i64_Distance;
lex9296 23:b9d23a2f390e 37
lex9296 23:b9d23a2f390e 38 bool b_Accelerating; // LA: bACPos_Accelerating
lex9296 23:b9d23a2f390e 39 bool b_MaxSpeedReached;
lex9296 23:b9d23a2f390e 40 //
lex9296 23:b9d23a2f390e 41 bool b_Decelerating; // bACPos_Decelerating
lex9296 23:b9d23a2f390e 42 bool b_InPosition;
lex9296 23:b9d23a2f390e 43 bool b_InToleranceFW;
lex9296 23:b9d23a2f390e 44 bool b_InToleranceBW;
lex9296 23:b9d23a2f390e 45
lex9296 23:b9d23a2f390e 46 int32_t i32_ATVSpeed;
lex9296 23:b9d23a2f390e 47 bool b_ATVDirectionFW;
lex9296 23:b9d23a2f390e 48 bool b_ATVDirectionBW;
lex9296 23:b9d23a2f390e 49 //
lex9296 23:b9d23a2f390e 50 bool b_STW1_On;
lex9296 23:b9d23a2f390e 51 bool b_STW1_NoCStop;
lex9296 23:b9d23a2f390e 52 bool b_STW1_NoQStop;
lex9296 23:b9d23a2f390e 53 bool b_STW1_Enable;
lex9296 23:b9d23a2f390e 54
lex9296 23:b9d23a2f390e 55 // LA: Disposizioni transitorie e finali
lex9296 23:b9d23a2f390e 56 //
lex9296 23:b9d23a2f390e 57 uint32_t ui32_PreviousStep_ms;
lex9296 23:b9d23a2f390e 58 uint32_t ui32_ActualStepSampled_ms;
lex9296 23:b9d23a2f390e 59 uint32_t ui32_PassedActual_ms;
lex9296 23:b9d23a2f390e 60 };
lex9296 23:b9d23a2f390e 61
lex9296 23:b9d23a2f390e 62 void PosizionatoreSW (const in_sPosizionatoreSW &in, out_sPosizionatoreSW &out);