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diff --git a/AT91SAM7S256/Source/c_output.iom b/AT91SAM7S256/Source/c_output.iom
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-//
-// Date init 14.12.2004
-//
-// Revision date $Date:: 14-11-07 12:40 $
-//
-// Filename $Workfile:: c_output.iom $
-//
-// Version $Revision:: 1 $
-//
-// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_outp $
-//
-// Platform C
-//
-
-#ifndef COUTPUT_IOM
-#define COUTPUT_IOM
-
-#define NO_OF_OUTPUTS 3
-#define pMapOutPut ((IOMAPOUTPUT*)(pHeaders[ENTRY_OUTPUT]->pIOMap))
-
-// Constants reffering to mode
-enum
-{
- MOTORON = 0x01,
- BRAKE = 0x02,
- REGULATED = 0x04,
- REG_METHOD = 0xF0 /* Regulation methods - to be designed! */
-};
-
-// Constants related to Flags
-enum
-{
- UPDATE_MODE = 0x01,
- UPDATE_SPEED = 0x02,
- UPDATE_TACHO_LIMIT = 0x04,
- UPDATE_RESET_COUNT = 0x08,
- UPDATE_PID_VALUES = 0x10,
- UPDATE_RESET_BLOCK_COUNT = 0x20,
- UPDATE_RESET_ROTATION_COUNT = 0x40,
- PENDING_UPDATES = 0x80
-};
-
-// Constant related to RunState
-#define MOTOR_RUN_STATE_IDLE 0x00
-#define MOTOR_RUN_STATE_RAMPUP 0x10
-#define MOTOR_RUN_STATE_RUNNING 0x20
-#define MOTOR_RUN_STATE_RAMPDOWN 0x40
-
-// Constant related to RegMode
-enum
-{
- REGULATION_MODE_IDLE = 0,
- REGULATION_MODE_MOTOR_SPEED = 1,
- REGULATION_MODE_MOTOR_SYNC = 2,
- REGULATION_MODE_MOTOR_POS = 4,
-};
-
-typedef struct
-{
- SLONG TachoCnt; /* R - Holds current number of counts, since last reset, updated every 1 mS */
- SLONG BlockTachoCount; /* R - Holds current number of counts for the current output block */
- SLONG RotationCount; /* R - Holds current number of counts for the rotation counter to the output */
- ULONG TachoLimit; /* RW - Holds number of counts to travel, 0 => Run forever */
- SWORD MotorRPM; /* !! Is not updated, will be removed later !! */
- UBYTE Flags; /* RW - Holds flags for which data should be updated */
- UBYTE Mode; /* RW - Holds motor mode: Run, Break, regulated, ... */
- SBYTE Speed; /* RW - Holds the wanted speed */
- SBYTE ActualSpeed; /* R - Holds the current motor speed */
- UBYTE RegPParameter; /* RW - Holds the P-constant use din the regulation, Is set to a default value at init => Setting this value is optional for the user */
- UBYTE RegIParameter; /* RW - Holds the I-constant use din the regulation, Is set to a default value at init => Setting this value is optional for the user */
- UBYTE RegDParameter; /* RW - Holds the D-constant use din the regulation, Is set to a default value at init => Setting this value is optional for the user */
- UBYTE RunState; /* RW - Holds the current RunState in the output module */
- UBYTE RegMode; /* RW - Tells which regulation mode should be used */
- UBYTE Overloaded; /* R - True if the motor has been overloaded within speed control regulation */
- SBYTE SyncTurnParameter; /* RW - Holds the turning parameter need within MoveBlock */
- UBYTE Options;
- SBYTE MaxSpeed; /* RW - Maximum speed for absolute regulation, or 0 for no limit */
- SBYTE MaxAcceleration; /* RW - Maximum acceleration for absolute regulation, or 0 for no limit */
-}OUTPUT;
-
-
-typedef struct
-{
- OUTPUT Outputs[NO_OF_OUTPUTS];
- UBYTE RegulationTime; /* RW - Interval between regulation computations */
- UBYTE RegulationOptions; /* RW - Options for regulation, see REGOPTION_* */
-}IOMAPOUTPUT;
-
-
-
-#endif
-
-
-