File syn_cia402.h¶

File List > proto > syn_cia402.h
#ifndef SYN_CIA402_H
#define SYN_CIA402_H

#include "../common/syn_defs.h"
#include "../util/syn_scurve.h"
#include "syn_canopen.h"

#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef enum {
    SYN_CIA402_STATE_NOT_READY = 0,          
    SYN_CIA402_STATE_SWITCH_ON_DISABLED = 1, 
    SYN_CIA402_STATE_READY_TO_SWITCH_ON = 2, 
    SYN_CIA402_STATE_SWITCHED_ON = 3,        
    SYN_CIA402_STATE_OPERATION_ENABLED = 4,  
    SYN_CIA402_STATE_QUICK_STOP_ACTIVE = 5,  
    SYN_CIA402_STATE_FAULT_REACTION = 6,     
    SYN_CIA402_STATE_FAULT = 7               
} SYN_CiA402State;

typedef enum {
    SYN_CIA402_MODE_NO_MODE = 0, 
    SYN_CIA402_MODE_PP = 1,      
    SYN_CIA402_MODE_PV = 3,      
    SYN_CIA402_MODE_PT = 4,      
    SYN_CIA402_MODE_HM = 6,      
    SYN_CIA402_MODE_CSP = 8,     
    SYN_CIA402_MODE_CSV = 9,     
    SYN_CIA402_MODE_CST = 10     
} SYN_CiA402Mode;

#define SYN_CIA402_CW_SWITCH_ON (1U << 0)      
#define SYN_CIA402_CW_ENABLE_VOLTAGE (1U << 1) 
#define SYN_CIA402_CW_QUICK_STOP (1U << 2)     
#define SYN_CIA402_CW_ENABLE_OP (1U << 3)      
#define SYN_CIA402_CW_NEW_SETPOINT (1U << 4)   
#define SYN_CIA402_CW_CHANGE_IMMED (1U << 5)   
#define SYN_CIA402_CW_ABS_REL (1U << 6)        
#define SYN_CIA402_CW_FAULT_RESET (1U << 7)    
#define SYN_CIA402_CW_HALT (1U << 8)           
#define SYN_CIA402_SW_READY_TO_SWITCH_ON (1U << 0) 
#define SYN_CIA402_SW_SWITCHED_ON (1U << 1)        
#define SYN_CIA402_SW_OPERATION_ENABLED (1U << 2)  
#define SYN_CIA402_SW_FAULT (1U << 3)              
#define SYN_CIA402_SW_VOLTAGE_ENABLED (1U << 4)    
#define SYN_CIA402_SW_QUICK_STOP (1U << 5)         
#define SYN_CIA402_SW_SWITCH_ON_DISABLED (1U << 6) 
#define SYN_CIA402_SW_WARNING (1U << 7)            
#define SYN_CIA402_SW_TARGET_REACHED (1U << 10)    
#define SYN_CIA402_SW_INTERNAL_LIMIT (1U << 11)    
#define SYN_CIA402_SW_SETPOINT_ACK (1U << 12)      
typedef struct {
    int32_t max_profile_velocity;    
    int32_t profile_acceleration;    
    int32_t profile_deceleration;    
    int32_t quick_stop_deceleration; 
    int16_t max_torque;              
} SYN_CiA402Config;

typedef struct {
    SYN_CiA402State state; 
    SYN_CiA402Config cfg;  
    /* 0x6000-series Object Dictionary Variables */
    uint16_t controlword;     
    uint16_t statusword;      
    int8_t mode_of_operation; 
    int8_t mode_display;      
    int32_t target_position;  
    int32_t actual_position;  
    int32_t target_velocity;  
    int32_t actual_velocity;  
    int16_t target_torque;    
    int16_t actual_torque;    
    uint16_t error_code;      
    /* Motion Trajectory & State Flags */
    SYN_SCurve scurve;         
    float current_speed;       
    float current_pos;         
    bool setpoint_ack;         
    bool target_reached;       
    uint16_t prev_controlword; 
} SYN_CiA402Drive;

SYN_Status syn_cia402_init(SYN_CiA402Drive *drive, const SYN_CiA402Config *cfg);

SYN_Status syn_cia402_set_controlword(SYN_CiA402Drive *drive, uint16_t controlword);

uint16_t syn_cia402_get_statusword(const SYN_CiA402Drive *drive);

SYN_Status syn_cia402_set_mode(SYN_CiA402Drive *drive, int8_t mode);

SYN_Status syn_cia402_set_target_position(SYN_CiA402Drive *drive, int32_t target_pos);

SYN_Status syn_cia402_set_target_velocity(SYN_CiA402Drive *drive, int32_t target_vel);

SYN_Status syn_cia402_set_target_torque(SYN_CiA402Drive *drive, int16_t target_torque);

SYN_Status syn_cia402_update(SYN_CiA402Drive *drive, uint32_t dt_ms);

SYN_Status syn_cia402_report_actuals(SYN_CiA402Drive *drive, int32_t actual_pos, int32_t actual_vel,
                                     int16_t actual_torque);

SYN_Status syn_cia402_trigger_fault(SYN_CiA402Drive *drive, uint16_t error_code);

size_t syn_cia402_populate_od(SYN_CANOpenODEntry *entries, size_t max_entries,
                              SYN_CiA402Drive *drive);

#ifdef __cplusplus
}
#endif

#endif /* SYN_CIA402_H */