Diff: SWPos/SWPos.h

Revision:

23:b9d23a2f390e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SWPos/SWPos.h	Thu Feb 10 09:39:01 2022 +0000
@@ -0,0 +1,62 @@
+#include "mbed.h"
+
+struct in_sPosizionatoreSW {
+    bool    b_AxisPowered;
+    bool    b_ACPos_Homed;
+    int32_t     i32_Max_Speed;
+    int32_t     i32_ZeroSpeed;
+
+    bool    b_JogMode;
+    bool    b_JogFW;
+    bool    b_JogBW;
+    //
+    int32_t     i32_JogAccel_ms;
+    int32_t     i32_JogDecel_ms;
+    //
+    float   f_JogSpeed_x100_FW;             //      in_rJogSpeed%_FW
+    float   f_JogSpeed_x100_BW;             //      in_rJogSpeed%_BW
+
+    bool    b_ServoLock;
+    bool    rtServoLock_Q;
+    //
+    int64_t     i64_TargetPosition;
+    int64_t     i64_ActualPosition;
+    int64_t     i64_AccelerationWindow;
+    int64_t     i64_DecelerationWindow;
+    int64_t     i64_diToleranceWindow;
+    //
+    float   f_ServoLockSpeed_x100_FW;       //      in_rServoLockSpeed%_FW
+    float   f_ServoLockSpeed_x100_BW;       //      in_rServoLockSpeed%_BW
+    float   f_MaximumSpeed_x100_FW;         // LA:  in_rMaximumSpeed%_FW
+    float   f_MaximumSpeed_x100_BW;         // LA:  in_rMaximumSpeed%_BW
+};
+
+struct out_sPosizionatoreSW {
+    int64_t   i64_StartPosition;
+    int64_t   i64_Distance;
+
+    bool   b_Accelerating;                   // LA:  bACPos_Accelerating
+    bool   b_MaxSpeedReached;
+    //
+    bool   b_Decelerating;                   //      bACPos_Decelerating
+    bool   b_InPosition;
+    bool   b_InToleranceFW;
+    bool   b_InToleranceBW;
+
+    int32_t    i32_ATVSpeed;
+    bool   b_ATVDirectionFW;
+    bool   b_ATVDirectionBW;
+    //
+    bool   b_STW1_On;
+    bool   b_STW1_NoCStop;
+    bool   b_STW1_NoQStop;
+    bool   b_STW1_Enable;
+
+    // LA:  Disposizioni transitorie e finali
+    //
+    uint32_t    ui32_PreviousStep_ms;
+    uint32_t    ui32_ActualStepSampled_ms;
+    uint32_t    ui32_PassedActual_ms;
+};
+
+void    PosizionatoreSW (const in_sPosizionatoreSW &in, out_sPosizionatoreSW &out);