OpenEL  3.0.0
Classes | Macros | Typedefs | Enumerations | Functions | Variables
openEL.h File Reference

OpenEL Common Header File 3.0.0. More...

#include <stdint.h>
#include "openEL_profCnf.h"

Go to the source code of this file.

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 }
 

Functions

enum ReturnCode HalInit (HALCOMPONENT_T *halComponent)
 
enum ReturnCode HalReInit (HALCOMPONENT_T *halComponent)
 
enum ReturnCode HalFinalize (HALCOMPONENT_T *halComponent)
 
enum ReturnCode HalAddObserver (HALCOMPONENT_T *halComponent, HALOBSERVER_T *halObserver)
 
enum ReturnCode HalRemoveObserver (HALCOMPONENT_T *halComponent, HALOBSERVER_T *halObserver)
 
enum ReturnCode HalGetProperty (HALCOMPONENT_T *halComponent, PROPERTY_T *property)
 
enum ReturnCode HalGetTime (HALCOMPONENT_T *halComponent, int32_t *time)
 
enum ReturnCode HalEventTimerStartTimer (EVENTTIMER_T *eventTimer)
 
enum ReturnCode HalEventTimerStopTimer (EVENTTIMER_T *eventTimer)
 
enum ReturnCode HalEventTimerSetEventPeriod (EVENTTIMER_T *eventTimer, int32_t eventPeriod)
 
enum ReturnCode HalEventTimerAddObserver (EVENTTIMER_T *eventTimer, TIMEROBSERVER_T *timerObserver)
 
enum ReturnCode HalEventTimerRemoveObserver (EVENTTIMER_T *eventTimer, TIMEROBSERVER_T *timerObserver)
 
enum ReturnCode HalSetPosition (HALCOMPONENT_T *positionControlActuator, halfloat position)
 
enum ReturnCode HalGetPosition (HALCOMPONENT_T *positionControlActuator, halfloat *position)
 
enum ReturnCode HalSetVelocity (HALCOMPONENT_T *velocityControlActuator, halfloat velocity)
 
enum ReturnCode HalGetVelocity (HALCOMPONENT_T *velocityControlActuator, halfloat *velocity)
 
enum ReturnCode HalSetTorque (HALCOMPONENT_T *torqueControlActuator, halfloat torque)
 
enum ReturnCode HalGetTorque (HALCOMPONENT_T *torqueControlActuator, halfloat *torque)
 
enum ReturnCode HalTorqueSensorGetValue (HALCOMPONENT_T *torqueSensor, halfloat *list)
 
enum ReturnCode HalTorqueSensorGetTimedValue (HALCOMPONENT_T *torqueSensor, halfloat *list, int32_t *timer)
 
enum ReturnCode HalTorqueSensorSetUnit (HALCOMPONENT_T *torqueSensor, char units)
 
enum ReturnCode HalTorqueSensorGetUnit (HALCOMPONENT_T *torqueSensor, char *units)
 
enum ReturnCode HalTorqueSensorSetReset (HALCOMPONENT_T *torqueSensor)
 
enum ReturnCode HalTorqueSensorStart (HALCOMPONENT_T *torqueSensor)
 
enum ReturnCode HalTorqueSensorStop (HALCOMPONENT_T *torqueSensor)
 
enum ReturnCode Dummy ()
 
int32_t elGetPhyicalPortID (uint32_t portID, uint32_t PropertyID)
 

Variables

const uint32_t elSzCompoTbl
 
const struct elCompoTbl_st elCompoTbl []
 

Detailed Description

OpenEL Common Header File 3.0.0.

Definition in file openEL.h.

Macro Definition Documentation

◆ EL_PORT_ID_MAX

#define EL_PORT_ID_MAX   (16)

Definition at line 237 of file openEL.h.

◆ EL_SW_COMPOMENT_PROPERTY_TABLE

#define EL_SW_COMPOMENT_PROPERTY_TABLE   1

Definition at line 216 of file openEL.h.

◆ EL_SW_COMPONENT_PROPERTY_HEADER

#define EL_SW_COMPONENT_PROPERTY_HEADER   1

Definition at line 252 of file openEL.h.

◆ HALCOMPONENT_MEMBER

#define HALCOMPONENT_MEMBER
Value:
int32_t handle; \
HALID_T halId;\
PROPERTY_T property;\
HALOBSERVER_T observerList[8];\
int32_t time;

Definition at line 80 of file openEL.h.

◆ OPENEL_MAJOR

#define OPENEL_MAJOR   3

Definition at line 38 of file openEL.h.

◆ OPENEL_MINOR

#define OPENEL_MINOR   0

Definition at line 39 of file openEL.h.

◆ OPENEL_PATCHLEVEL

#define OPENEL_PATCHLEVEL   0

Definition at line 40 of file openEL.h.

◆ OPENEL_VERSION

#define OPENEL_VERSION   "OpenEL 3.0.0"

Definition at line 41 of file openEL.h.

Typedef Documentation

◆ EL_CMN_FNC_TBL_T

function table universal

◆ EL_GENERAL_FNC_TBL_T

general component — function table

◆ EVENTTIMER_T

typedef struct EventTimer EVENTTIMER_T

Definition at line 99 of file openEL.h.

◆ float32_t

typedef float float32_t

Definition at line 50 of file openEL.h.

◆ float64_t

typedef double float64_t

Definition at line 51 of file openEL.h.

◆ HALCOMPONENT_CORE_T

◆ HALCOMPONENT_T

Definition at line 71 of file openEL.h.

◆ halfloat

Definition at line 53 of file openEL.h.

◆ HALID_T

typedef struct HALId HALID_T

◆ HALOBSERVER_T

typedef struct HALObserver HALOBSERVER_T

Definition at line 78 of file openEL.h.

◆ POSITIONCONTROLACTUATOR_T

◆ PROPERTY_T

typedef struct Property PROPERTY_T

◆ TIMEROBSERVER_T

◆ TORQUECONTROLACTUATOR_T

◆ TORQUESENSOR_T

typedef struct TorqueSensor TORQUESENSOR_T

◆ VELOCITYCONTROLACTUATOR_T

Enumeration Type Documentation

◆ ReturnCode

enum ReturnCode
Enumerator
HAL_OK 
HAL_ERROR 

Definition at line 44 of file openEL.h.

Function Documentation

◆ Dummy()

enum ReturnCode Dummy ( )

Definition at line 82 of file openEL_0000000012345678.c.

◆ elGetPhyicalPortID()

int32_t elGetPhyicalPortID ( uint32_t  handle,
uint32_t  profileID 
)

物理portIDに変換

物理handleに変換

Definition at line 196 of file openEL.c.

◆ HalAddObserver()

enum ReturnCode HalAddObserver ( HALCOMPONENT_T halComponent,
HALOBSERVER_T halObserver 
)

Definition at line 146 of file openEL.c.

◆ HalEventTimerAddObserver()

enum ReturnCode HalEventTimerAddObserver ( EVENTTIMER_T eventTimer,
TIMEROBSERVER_T timerObserver 
)

Definition at line 183 of file openEL.c.

◆ HalEventTimerRemoveObserver()

enum ReturnCode HalEventTimerRemoveObserver ( EVENTTIMER_T eventTimer,
TIMEROBSERVER_T timerObserver 
)

Definition at line 189 of file openEL.c.

◆ HalEventTimerSetEventPeriod()

enum ReturnCode HalEventTimerSetEventPeriod ( EVENTTIMER_T eventTimer,
int32_t  eventPeriod 
)

Definition at line 178 of file openEL.c.

◆ HalEventTimerStartTimer()

enum ReturnCode HalEventTimerStartTimer ( EVENTTIMER_T eventTimer)

Definition at line 167 of file openEL.c.

◆ HalEventTimerStopTimer()

enum ReturnCode HalEventTimerStopTimer ( EVENTTIMER_T eventTimer)

Definition at line 173 of file openEL.c.

◆ HalFinalize()

enum ReturnCode HalFinalize ( HALCOMPONENT_T halComponent)

OpenELデバイスの終了

Definition at line 130 of file openEL.c.

◆ HalGetPosition()

enum ReturnCode HalGetPosition ( HALCOMPONENT_T halComponent,
halfloat position 
)

OpenELモーター 位置の取得(I32)

Parameters
[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
Returns
エラーコード 0:正常 / 0以外:異常 ユーザースレッド (ノンブロッキング)

Definition at line 69 of file openEL_motor.c.

◆ HalGetProperty()

enum ReturnCode HalGetProperty ( HALCOMPONENT_T halComponent,
PROPERTY_T property 
)

Definition at line 157 of file openEL.c.

◆ HalGetTime()

enum ReturnCode HalGetTime ( HALCOMPONENT_T halComponent,
int32_t *  time 
)

Definition at line 162 of file openEL.c.

◆ HalGetTorque()

enum ReturnCode HalGetTorque ( HALCOMPONENT_T torqueControlActuator,
halfloat torque 
)

◆ HalGetVelocity()

enum ReturnCode HalGetVelocity ( HALCOMPONENT_T velocityControlActuator,
halfloat velocity 
)

◆ HalInit()

enum ReturnCode HalInit ( HALCOMPONENT_T halComponent)

Initialize the openEL component

Parameters
[in]vendorID
[in]productID
[in]componentindex
Returns
0:OK / less than -1:error code

Definition at line 75 of file openEL.c.

◆ HalReInit()

enum ReturnCode HalReInit ( HALCOMPONENT_T halComponent)

OpenELデバイスのリセット

Definition at line 114 of file openEL.c.

◆ HalRemoveObserver()

enum ReturnCode HalRemoveObserver ( HALCOMPONENT_T halComponent,
HALOBSERVER_T halObserver 
)

Definition at line 152 of file openEL.c.

◆ HalSetPosition()

enum ReturnCode HalSetPosition ( HALCOMPONENT_T halComponent,
halfloat  position 
)

OpenELモーター 位置決め運転

Parameters
[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
Returns
エラーコード 0:正常 / 0以外:異常(運転を受け付けられない状態) ユーザースレッド (ノンブロッキング) 速度、加減速時間を設定しない関数の場合はパラメーターに従う パラメーターID:16で浮動小数点にしている場合はエラー

Definition at line 41 of file openEL_motor.c.

◆ HalSetTorque()

enum ReturnCode HalSetTorque ( HALCOMPONENT_T torqueControlActuator,
halfloat  torque 
)

◆ HalSetVelocity()

enum ReturnCode HalSetVelocity ( HALCOMPONENT_T velocityControlActuator,
halfloat  velocity 
)

◆ HalTorqueSensorGetTimedValue()

enum ReturnCode HalTorqueSensorGetTimedValue ( HALCOMPONENT_T torqueSensor,
halfloat list,
int32_t *  timer 
)

Definition at line 46 of file openEL_sensor.c.

◆ HalTorqueSensorGetUnit()

enum ReturnCode HalTorqueSensorGetUnit ( HALCOMPONENT_T torqueSensor,
char *  units 
)

◆ HalTorqueSensorGetValue()

enum ReturnCode HalTorqueSensorGetValue ( HALCOMPONENT_T torqueSensor,
halfloat list 
)

Definition at line 30 of file openEL_sensor.c.

◆ HalTorqueSensorSetReset()

enum ReturnCode HalTorqueSensorSetReset ( HALCOMPONENT_T torqueSensor)

◆ HalTorqueSensorSetUnit()

enum ReturnCode HalTorqueSensorSetUnit ( HALCOMPONENT_T torqueSensor,
char  units 
)

◆ HalTorqueSensorStart()

enum ReturnCode HalTorqueSensorStart ( HALCOMPONENT_T torqueSensor)

◆ HalTorqueSensorStop()

enum ReturnCode HalTorqueSensorStop ( HALCOMPONENT_T torqueSensor)

Variable Documentation

◆ elCompoTbl

const struct elCompoTbl_st elCompoTbl[]

Component Table

Definition at line 31 of file openEL_compoCnf.c.

◆ elSzCompoTbl

const uint32_t elSzCompoTbl

Definition at line 49 of file openEL_compoCnf.c.