00001 /* 00002 * Copyright Droids Corporation, Microb Technology, Eirbot (2005) 00003 * 00004 * This program is free software; you can redistribute it and/or modify 00005 * it under the terms of the GNU General Public License as published by 00006 * the Free Software Foundation; either version 2 of the License, or 00007 * (at your option) any later version. 00008 * 00009 * This program is distributed in the hope that it will be useful, 00010 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 * GNU General Public License for more details. 00013 * 00014 * You should have received a copy of the GNU General Public License 00015 * along with this program; if not, write to the Free Software 00016 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00017 * 00018 * Revision : $Id: brushless.h,v 1.2 2007-03-04 13:53:45 zer0 Exp $ 00019 * 00020 */ 00021 00022 00023 #ifndef _BRUSHLESS_ 00024 #define _BRUSHLESS_ 00025 00026 #include <utils.h> 00027 00028 #include <brushless_3phase_digital_hall_double_config.h> 00029 00030 00031 00048 typedef struct 00049 { 00050 brushless_speed speed; 00051 brushless_position position; 00052 } 00053 brushless; 00054 00055 00057 extern void brushless_init(void); 00058 00061 extern void brushless_0_set_parameters(brushless_speed speed, brushless_torque torque); 00062 extern void brushless_1_set_parameters(brushless_speed speed, brushless_torque torque); 00063 00067 #ifdef BRUSHLESS_MANAGE_EXTERNAL 00068 extern void brushless_speed_update_manage(void * dummy); 00069 #endif 00070 00074 extern brushless brushless_0_get_mesures(void); 00075 extern brushless brushless_1_get_mesures(void); 00076 00078 extern void brushless_0_set_position(brushless_position p); 00079 extern void brushless_1_set_position(brushless_position p); 00080 00082 extern void brushless_0_register_periodic_event(void (*f)(brushless)); 00083 extern void brushless_1_register_periodic_event(void (*f)(brushless)); 00084 00085 00086 00092 extern int32_t brushless_get_speed(void * ); 00093 00096 extern int32_t brushless_get_pos(void * ); 00097 00100 extern void brushless_set_torque(void *, int32_t torque); 00101 00104 extern void brushless_set_speed(void *, int32_t speed); 00105 00106 00107 00108 #endif
1.5.6