OpenEL
3.0.0
|
OpenEL Common Header File 3.0.0. More...
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Classes | |
struct | HALId |
struct | Property |
struct | HALObserver |
struct | HALComponent |
struct | TimerObserver |
struct | EventTimer |
struct | PositionControlActuator |
struct | VelocityControlActuator |
struct | TorqueControlActuator |
struct | TorqueSensor |
union | HalComponent |
struct | elGenaralFncTblSt |
union | elCommonFncTbl |
struct | elPort_st |
struct | elCompoTbl_st |
Macros | |
#define | OPENEL_MAJOR 3 |
#define | OPENEL_MINOR 0 |
#define | OPENEL_PATCHLEVEL 0 |
#define | OPENEL_VERSION "OpenEL 3.0.0" |
#define | HALCOMPONENT_MEMBER |
#define | EL_SW_COMPOMENT_PROPERTY_TABLE 1 |
#define | EL_PORT_ID_MAX (16) |
#define | EL_SW_COMPONENT_PROPERTY_HEADER 1 |
Typedefs | |
typedef float | float32_t |
typedef double | float64_t |
typedef float32_t | halfloat |
typedef struct HALId | HALID_T |
typedef struct Property | PROPERTY_T |
typedef union HalComponent | HALCOMPONENT_T |
typedef struct HALObserver | HALOBSERVER_T |
typedef struct HALComponent | HALCOMPONENT_CORE_T |
typedef struct EventTimer | EVENTTIMER_T |
typedef struct TimerObserver | TIMEROBSERVER_T |
typedef struct PositionControlActuator | POSITIONCONTROLACTUATOR_T |
typedef struct VelocityControlActuator | VELOCITYCONTROLACTUATOR_T |
typedef struct TorqueControlActuator | TORQUECONTROLACTUATOR_T |
typedef struct TorqueSensor | TORQUESENSOR_T |
typedef struct elGenaralFncTblSt | EL_GENERAL_FNC_TBL_T |
typedef union elCommonFncTbl | EL_CMN_FNC_TBL_T |
Enumerations | |
enum | ReturnCode { HAL_OK = 0, HAL_ERROR } |
Variables | |
const uint32_t | elSzCompoTbl |
const struct elCompoTbl_st | elCompoTbl [] |
OpenEL Common Header File 3.0.0.
Definition in file openEL.h.
#define HALCOMPONENT_MEMBER |
typedef union elCommonFncTbl EL_CMN_FNC_TBL_T |
function table universal
typedef struct elGenaralFncTblSt EL_GENERAL_FNC_TBL_T |
general component — function table
typedef struct EventTimer EVENTTIMER_T |
typedef struct HALComponent HALCOMPONENT_CORE_T |
typedef union HalComponent HALCOMPONENT_T |
typedef struct HALObserver HALOBSERVER_T |
typedef struct PositionControlActuator POSITIONCONTROLACTUATOR_T |
typedef struct Property PROPERTY_T |
typedef struct TimerObserver TIMEROBSERVER_T |
typedef struct TorqueControlActuator TORQUECONTROLACTUATOR_T |
typedef struct TorqueSensor TORQUESENSOR_T |
typedef struct VelocityControlActuator VELOCITYCONTROLACTUATOR_T |
enum ReturnCode |
enum ReturnCode Dummy | ( | ) |
Definition at line 82 of file openEL_0000000012345678.c.
int32_t elGetPhyicalPortID | ( | uint32_t | handle, |
uint32_t | profileID | ||
) |
enum ReturnCode HalAddObserver | ( | HALCOMPONENT_T * | halComponent, |
HALOBSERVER_T * | halObserver | ||
) |
enum ReturnCode HalEventTimerAddObserver | ( | EVENTTIMER_T * | eventTimer, |
TIMEROBSERVER_T * | timerObserver | ||
) |
enum ReturnCode HalEventTimerRemoveObserver | ( | EVENTTIMER_T * | eventTimer, |
TIMEROBSERVER_T * | timerObserver | ||
) |
enum ReturnCode HalEventTimerSetEventPeriod | ( | EVENTTIMER_T * | eventTimer, |
int32_t | eventPeriod | ||
) |
enum ReturnCode HalEventTimerStartTimer | ( | EVENTTIMER_T * | eventTimer | ) |
enum ReturnCode HalEventTimerStopTimer | ( | EVENTTIMER_T * | eventTimer | ) |
enum ReturnCode HalFinalize | ( | HALCOMPONENT_T * | halComponent | ) |
enum ReturnCode HalGetPosition | ( | HALCOMPONENT_T * | halComponent, |
halfloat * | position | ||
) |
OpenELモーター 位置の取得(I32)
[in] | portID | : ポートID |
[in] | idx | : 0:現在の検出位置 / 1:指定された目標位置 / 2:現在の指令位置 |
[out] | pOutPos |
Definition at line 69 of file openEL_motor.c.
enum ReturnCode HalGetProperty | ( | HALCOMPONENT_T * | halComponent, |
PROPERTY_T * | property | ||
) |
enum ReturnCode HalGetTime | ( | HALCOMPONENT_T * | halComponent, |
int32_t * | time | ||
) |
enum ReturnCode HalGetTorque | ( | HALCOMPONENT_T * | torqueControlActuator, |
halfloat * | torque | ||
) |
enum ReturnCode HalGetVelocity | ( | HALCOMPONENT_T * | velocityControlActuator, |
halfloat * | velocity | ||
) |
enum ReturnCode HalInit | ( | HALCOMPONENT_T * | halComponent | ) |
enum ReturnCode HalReInit | ( | HALCOMPONENT_T * | halComponent | ) |
enum ReturnCode HalRemoveObserver | ( | HALCOMPONENT_T * | halComponent, |
HALOBSERVER_T * | halObserver | ||
) |
enum ReturnCode HalSetPosition | ( | HALCOMPONENT_T * | halComponent, |
halfloat | position | ||
) |
OpenELモーター 位置決め運転
[in] | portID | : ポートID |
[in] | angle | : 絶対位置指令 [ユーザー単位] |
[in] | speed | : 速度 [ユーザー単位/s] 範囲 0より大きい~製品仕様 |
[in] | tmAcc | : 加減速時間 [ms](I32),[s](F64) 0以上~製品仕様 |
Definition at line 41 of file openEL_motor.c.
enum ReturnCode HalSetTorque | ( | HALCOMPONENT_T * | torqueControlActuator, |
halfloat | torque | ||
) |
enum ReturnCode HalSetVelocity | ( | HALCOMPONENT_T * | velocityControlActuator, |
halfloat | velocity | ||
) |
enum ReturnCode HalTorqueSensorGetTimedValue | ( | HALCOMPONENT_T * | torqueSensor, |
halfloat * | list, | ||
int32_t * | timer | ||
) |
Definition at line 46 of file openEL_sensor.c.
enum ReturnCode HalTorqueSensorGetUnit | ( | HALCOMPONENT_T * | torqueSensor, |
char * | units | ||
) |
enum ReturnCode HalTorqueSensorGetValue | ( | HALCOMPONENT_T * | torqueSensor, |
halfloat * | list | ||
) |
Definition at line 30 of file openEL_sensor.c.
enum ReturnCode HalTorqueSensorSetReset | ( | HALCOMPONENT_T * | torqueSensor | ) |
enum ReturnCode HalTorqueSensorSetUnit | ( | HALCOMPONENT_T * | torqueSensor, |
char | units | ||
) |
enum ReturnCode HalTorqueSensorStart | ( | HALCOMPONENT_T * | torqueSensor | ) |
enum ReturnCode HalTorqueSensorStop | ( | HALCOMPONENT_T * | torqueSensor | ) |
const struct elCompoTbl_st elCompoTbl[] |
Component Table
Definition at line 31 of file openEL_compoCnf.c.
const uint32_t elSzCompoTbl |
Definition at line 49 of file openEL_compoCnf.c.