aversive_10-03-12/modules/devices/brushless_motors/brushless_3phase_digital_hall_double/brushless.h File Reference

#include <utils.h>
#include <brushless_3phase_digital_hall_double_config.h>

Go to the source code of this file.

Data Structures
struct	brushless
Functions
void	brushless_init (void)
void	brushless_0_set_parameters (brushless_speed speed, brushless_torque torque)
void	brushless_1_set_parameters (brushless_speed speed, brushless_torque torque)
brushless	brushless_0_get_mesures (void)
brushless	brushless_1_get_mesures (void)
void	brushless_0_set_position (brushless_position p)
void	brushless_1_set_position (brushless_position p)
void	brushless_0_register_periodic_event (void(*f)(brushless))
void	brushless_1_register_periodic_event (void(*f)(brushless))
int32_t	brushless_get_speed (void *)
int32_t	brushless_get_pos (void *)
void	brushless_set_torque (void *, int32_t torque)
void	brushless_set_speed (void *, int32_t speed)

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Function Documentation

brushless brushless_0_get_mesures

(

void

)

calculates the speed update info. To be called externally only if not internally, ie if the BRUSHLESS_MANAGE_EXTERNAL is set get current speed and position This function is very useful to get synchronous speed and torque info

Definition at line 475 of file brushless.c.

References IRQ_LOCK, and IRQ_UNLOCK.

Referenced by brushless_get_pos(), and brushless_get_speed().

void brushless_0_register_periodic_event

(

void(*)(brushless)

f

)

registers an event function that triggers periodically, and synchronously with the speed measurement

Definition at line 500 of file brushless.c.

References parse_symbols::f, IRQ_LOCK, IRQ_UNLOCK, and periodic_event_0.

void brushless_0_set_parameters	(	brushless_speed	speed,
		brushless_torque	torque
	)

sets a consign speed and torque if you do not use the speed coarse limitation, please configure with BRUSHLESS_MAX_SPEED

Definition at line 438 of file brushless.c.

References g_brushless_0_pwm_divider, g_brushless_0_torque, IRQ_LOCK, IRQ_UNLOCK, and pwm_previous_sensors_0.

Referenced by brushless_set_speed(), and brushless_set_torque().

void brushless_0_set_position

(

brushless_position

p

)

sets the position counter

Definition at line 489 of file brushless.c.

References g_brushless_0_position_previous, IRQ_LOCK, IRQ_UNLOCK, and brushless::position.

brushless brushless_1_get_mesures

(

void

)

Definition at line 634 of file brushless.c.

References IRQ_LOCK, and IRQ_UNLOCK.

Referenced by brushless_get_pos(), and brushless_get_speed().

void brushless_1_register_periodic_event

(

void(*)(brushless)

f

)

Definition at line 673 of file brushless.c.

References parse_symbols::f, IRQ_LOCK, IRQ_UNLOCK, and periodic_event_1.

void brushless_1_set_parameters	(	brushless_speed	speed,
		brushless_torque	torque
	)

Definition at line 588 of file brushless.c.

References g_brushless_1_pwm_divider, g_brushless_1_torque, IRQ_LOCK, IRQ_UNLOCK, and pwm_previous_sensors_1.

Referenced by brushless_set_speed(), and brushless_set_torque().

void brushless_1_set_position

(

brushless_position

p

)

Definition at line 656 of file brushless.c.

References g_brushless_1_position_previous, IRQ_LOCK, IRQ_UNLOCK, and brushless::position.

int32_t brushless_get_pos

(

void *

motor_num

)

get position function, compatible with control_system. Argument is the number of the adressed motor, which is casted to (void*)

get position function, compatible with control_system. Argument not used.

Definition at line 524 of file brushless.c.

References brushless_0_get_mesures(), brushless_1_get_mesures(), and brushless::position.

int32_t brushless_get_speed

(

void *

motor_num

)

acess functions for the control system interface get speed function, compatible with control_system. Argument is the number of the adressed motor, which is casted to (void*)

acess functions for the control system interface get speed function, compatible with control_system. Argument not used.

Definition at line 514 of file brushless.c.

References brushless_0_get_mesures(), brushless_1_get_mesures(), and brushless::speed.

void brushless_init

(

void

)

initialisation, also executes pwm_init

Definition at line 417 of file brushless.c.

References INIT_INT, pwm_init(), and sbi.

void brushless_set_speed	(	void *	motor_num,
		int32_t	speed
	)

set speed function, compatible with control_system. Argument is the number of the adressed motor, which is casted to (void*)

set speed function, compatible with control_system. first argument not used.

Definition at line 540 of file brushless.c.

References brushless_0_set_parameters(), and brushless_1_set_parameters().

void brushless_set_torque	(	void *	motor_num,
		int32_t	torque
	)

set torque function, compatible with control_system. Argument is the number of the adressed motor, which is casted to (void*)

set torque function, compatible with control_system. first argument not used.

Definition at line 534 of file brushless.c.

References brushless_0_set_parameters(), and brushless_1_set_parameters().