cml__amp_8h-source.html

来自「美国COPLEY驱动器,程序开发工具之一.」· HTML 代码 · 共 482 行 · 第 1/5 页

<a name="l00089"></a><a class="code" href="classAmpFault.html#s1">00089</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpFault.html">AmpFault</a> <a class="code" href="classAmpFault.html#s1">ADC</a>;            <span class="comment">///&lt; Fatal hardware error: An A/D offset error has occurred.  </span>
<a name="l00090"></a><a class="code" href="classAmpFault.html#s2">00090</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpFault.html">AmpFault</a> <a class="code" href="classAmpFault.html#s2">ShortCircuit</a>;   <span class="comment">///&lt; The amplifier detected a short circuit condition         </span>
<a name="l00091"></a><a class="code" href="classAmpFault.html#s3">00091</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpFault.html">AmpFault</a> <a class="code" href="classAmpFault.html#s3">AmpTemp</a>;        <span class="comment">///&lt; The amplifier is over temperature                        </span>
<a name="l00092"></a><a class="code" href="classAmpFault.html#s4">00092</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpFault.html">AmpFault</a> <a class="code" href="classAmpFault.html#s4">MotorTemp</a>;      <span class="comment">///&lt; A motor temperature error was detected                   </span>
<a name="l00093"></a><a class="code" href="classAmpFault.html#s5">00093</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpFault.html">AmpFault</a> <a class="code" href="classAmpFault.html#s5">OverVolt</a>;       <span class="comment">///&lt; The amplifier bus voltage is over the acceptable limit   </span>
<a name="l00094"></a><a class="code" href="classAmpFault.html#s6">00094</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpFault.html">AmpFault</a> <a class="code" href="classAmpFault.html#s6">UnderVolt</a>;      <span class="comment">///&lt; The amplifier bus voltage is below the acceptable limit  </span>
<a name="l00095"></a><a class="code" href="classAmpFault.html#s7">00095</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpFault.html">AmpFault</a> <a class="code" href="classAmpFault.html#s7">EncoderPower</a>;   <span class="comment">///&lt; Over current on the encoder power supply                 </span>
<a name="l00096"></a><a class="code" href="classAmpFault.html#s8">00096</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpFault.html">AmpFault</a> <a class="code" href="classAmpFault.html#s8">PhaseErr</a>;       <span class="comment">///&lt; Amplifier phasing error                                  </span>
<a name="l00097"></a><a class="code" href="classAmpFault.html#s9">00097</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpFault.html">AmpFault</a> <a class="code" href="classAmpFault.html#s9">TrackErr</a>;       <span class="comment">///&lt; Tracking error, the position error is too large.         </span>
<a name="l00098"></a><a class="code" href="classAmpFault.html#s10">00098</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpFault.html">AmpFault</a> <a class="code" href="classAmpFault.html#s10">I2TLimit</a>;       <span class="comment">///&lt; Current limited by I^2 algorithm.         </span>
<a name="l00099"></a><a class="code" href="classAmpFault.html#s11">00099</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpFault.html">AmpFault</a> <a class="code" href="classAmpFault.html#s11">Unknown</a>;        <span class="comment">///&lt; Some unknown amplifier fault has occurred</span>
<a name="l00100"></a>00100 <span class="comment"></span>
<a name="l00101"></a>00101    <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classAmpFault.html">AmpFault</a> *<a class="code" href="classAmpFault.html#e0">DecodeFault</a>( <a class="code" href="CML__AmpDef_8h.html#a400">AMP_FAULT</a> f );
<a name="l00102"></a>00102 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00103"></a>00103 <span class="comment">   /// Standard protected constructor</span>
<a name="l00104"></a><a class="code" href="classAmpFault.html#b0">00104</a> <span class="comment"></span>   <a class="code" href="classAmpFault.html#b0">AmpFault</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> <span class="keywordtype">id</span>, <span class="keyword">const</span> <span class="keywordtype">char</span> *desc ): <a class="code" href="classAmpError.html">AmpError</a>( id, desc ){}
<a name="l00105"></a>00105 };
<a name="l00106"></a>00106 
<a name="l00107"></a>00107 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00108"></a>00108 <span class="comment">/**</span>
<a name="l00109"></a>00109 <span class="comment">Transmit PDO used to send out status word updates.</span>
<a name="l00110"></a>00110 <span class="comment">*/</span>
<a name="l00111"></a>00111 <span class="comment">/***************************************************************************/</span>
<a name="l00112"></a><a class="code" href="classTPDO__Status.html">00112</a> <span class="keyword">class </span><a class="code" href="classTPDO__Status.html">TPDO_Status</a>: <span class="keyword">public</span> <a class="code" href="classTPDO.html">TPDO</a>
<a name="l00113"></a>00113 {
<a name="l00114"></a>00114    <span class="keyword">class </span><a class="code" href="classAmp.html">Amp</a> *ampPtr;                <span class="comment">///&lt; Points to the amplifier to which this PDO belongs</span>
<a name="l00115"></a>00115 <span class="comment"></span><span class="keyword">public</span>:
<a name="l00116"></a><a class="code" href="classTPDO__Status.html#o0">00116</a>    <a class="code" href="classPmap16.html">Pmap16</a> <a class="code" href="classTPDO__Status.html#o0">status</a>;                    <span class="comment">///&lt; Used to map the CAN status word passed in the PDO</span>
<a name="l00117"></a><a class="code" href="classTPDO__Status.html#o1">00117</a> <span class="comment"></span>   <a class="code" href="classPmap32.html">Pmap32</a> <a class="code" href="classTPDO__Status.html#o1">estat</a>;                     <span class="comment">///&lt; Used to map the 'event status' word to the PDO</span>
<a name="l00118"></a><a class="code" href="classTPDO__Status.html#o2">00118</a> <span class="comment"></span>   <a class="code" href="classPmap16.html">Pmap16</a> <a class="code" href="classTPDO__Status.html#o2">inputs</a>;
<a name="l00119"></a>00119 <span class="comment"></span>
<a name="l00120"></a>00120 <span class="comment">   /// Default constructor for this PDO</span>
<a name="l00121"></a><a class="code" href="classTPDO__Status.html#a0">00121</a> <span class="comment"></span>   <a class="code" href="classTPDO__Status.html#a0">TPDO_Status</a>(){}
<a name="l00122"></a>00122    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classPDO.html#a2">Init</a>( <a class="code" href="classAmp.html">Amp</a> &amp;amp, <a class="code" href="CML__Utils_8h.html#a8">uint16</a> slot );
<a name="l00123"></a>00123    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classTPDO__Status.html#a2">Received</a>( <span class="keywordtype">void</span> );
<a name="l00124"></a>00124 <span class="keyword">private</span>:
<a name="l00125"></a>00125    <span class="keywordtype">void</span> UpdateEvents( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> stat, <a class="code" href="CML__Utils_8h.html#a10">uint32</a> events, <a class="code" href="CML__Utils_8h.html#a8">uint16</a> <a class="code" href="classTPDO__Status.html#o2">inputs</a> );
<a name="l00126"></a>00126 };
<a name="l00127"></a>00127 
<a name="l00128"></a>00128 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00129"></a>00129 <span class="comment">/**</span>
<a name="l00130"></a>00130 <span class="comment">Transmit PDO used to send out PVT buffer status updates</span>
<a name="l00131"></a>00131 <span class="comment">*/</span>
<a name="l00132"></a>00132 <span class="comment">/***************************************************************************/</span>
<a name="l00133"></a><a class="code" href="classTPDO__PvtBuffStat.html">00133</a> <span class="keyword">class </span><a class="code" href="classTPDO__PvtBuffStat.html">TPDO_PvtBuffStat</a>: <span class="keyword">public</span> <a class="code" href="classTPDO.html">TPDO</a>
<a name="l00134"></a>00134 {
<a name="l00135"></a>00135    <span class="keyword">class </span><a class="code" href="classAmp.html">Amp</a> *ampPtr;                <span class="comment">///&lt; Points to the amplifier to which this PDO belongs</span>
<a name="l00136"></a>00136 <span class="comment"></span>   <a class="code" href="classPmap32.html">Pmap32</a> stat;                      <span class="comment">///&lt; Used to map the PVT buffer status information</span>
<a name="l00137"></a>00137 <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a6">uint8</a> ct;
<a name="l00138"></a>00138 
<a name="l00139"></a>00139 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00140"></a>00140 <span class="comment">   /// Default constructor for this PDO</span>
<a name="l00141"></a><a class="code" href="classTPDO__PvtBuffStat.html#a0">00141</a> <span class="comment"></span>   <a class="code" href="classTPDO__PvtBuffStat.html#a0">TPDO_PvtBuffStat</a>(){}
<a name="l00142"></a>00142    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classPDO.html#a2">Init</a>( <a class="code" href="classAmp.html">Amp</a> &amp;amp, <a class="code" href="CML__Utils_8h.html#a8">uint16</a> slot );
<a name="l00143"></a>00143    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classTPDO__PvtBuffStat.html#a2">Received</a>( <span class="keywordtype">void</span> );
<a name="l00144"></a>00144 };
<a name="l00145"></a>00145 
<a name="l00146"></a>00146 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00147"></a>00147 <span class="comment">/**</span>
<a name="l00148"></a>00148 <span class="comment">Receive PDO used to send PVT segments to the amplifier</span>
<a name="l00149"></a>00149 <span class="comment">*/</span>
<a name="l00150"></a>00150 <span class="comment">/***************************************************************************/</span>
<a name="l00151"></a><a class="code" href="classRPDO__Pvt.html">00151</a> <span class="keyword">class </span><a class="code" href="classRPDO__Pvt.html">RPDO_Pvt</a>: <span class="keyword">public</span> <a class="code" href="classRPDO.html">RPDO</a>
<a name="l00152"></a>00152 {
<a name="l00153"></a>00153    <span class="keyword">class </span><a class="code" href="classAmp.html">Amp</a> *ampPtr;                <span class="comment">///&lt; Points to the amplifier to which this PDO belongs</span>
<a name="l00154"></a>00154 <span class="comment"></span>   <a class="code" href="classPmapRaw.html">PmapRaw</a> dat;                      <span class="comment">///&lt; Used to map PVT buffer information passed to the amplifier</span>
<a name="l00155"></a>00155 <span class="comment"></span>
<a name="l00156"></a>00156 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00157"></a>00157 <span class="comment">   /// Default constructor for this PDO</span>
<a name="l00158"></a><a class="code" href="classRPDO__Pvt.html#a0">00158</a> <span class="comment"></span>   <a class="code" href="classRPDO__Pvt.html#a0">RPDO_Pvt</a>(){}
<a name="l00159"></a>00159 
<a name="l00160"></a>00160    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classPDO.html#a2">Init</a>( <a class="code" href="classAmp.html">Amp</a> &amp;amp, <a class="code" href="CML__Utils_8h.html#a8">uint16</a> slot );
<a name="l00161"></a>00161 
<a name="l00162"></a>00162    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classRPDO__Pvt.html#a2">Transmit</a>( <a class="code" href="CML__Utils_8h.html#a2">byte</a> *data );
<a name="l00163"></a>00163 };
<a name="l00164"></a>00164 
<a name="l00165"></a>00165 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00166"></a>00166 <span class="comment">/**</span>
<a name="l00167"></a>00167 <span class="comment">Copley amplifier settings object.  This object is passed to the Init() </span>
<a name="l00168"></a>00168 <span class="comment">method of the Copley amp.  It holds the various customizable settings </span>
<a name="l00169"></a>00169 <span class="comment">used by the amplifier.  </span>
<a name="l00170"></a>00170 <span class="comment">*/</span>
<a name="l00171"></a>00171 <span class="comment">/***************************************************************************/</span>
<a name="l00172"></a><a class="code" href="classAmpSettings.html">00172</a> <span class="keyword">class </span><a class="code" href="classAmpSettings.html">AmpSettings</a>
<a name="l00173"></a>00173 {
<a name="l00174"></a>00174 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00175"></a>00175 <span class="comment">   /// Create a settings object with all default values.</span>
<a name="l00176"></a>00176 <span class="comment">   /// The default values for each member of this class are defined below.</span>
<a name="l00177"></a>00177 <span class="comment"></span>   <a class="code" href="classAmpSettings.html#a0">AmpSettings</a>();
<a name="l00178"></a>00178 <span class="comment"></span>
<a name="l00179"></a>00179 <span class="comment">   /// Synch object period in microseconds.</span>
<a name="l00180"></a>00180 <span class="comment">   /// The synch object is a message that is transmitted by one node on a </span>
<a name="l00181"></a>00181 <span class="comment">   /// CANopen network at a fixed interval.  This message is used to </span>
<a name="l00182"></a>00182 <span class="comment">   /// synchronize the devices on the network.</span>
<a name="l00183"></a>00183 <span class="comment">   ///</span>
<a name="l00184"></a>00184 <span class="comment">   /// Default is 10,000 (10 ms).</span>
<a name="l00185"></a><a class="code" href="classAmpSettings.html#o0">00185</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a10">uint32</a> <a class="code" href="classAmpSettings.html#o0">synchPeriod</a>;