26 #define OPENEL_SW_SURFACE_FRIEND (1)    42     printf(
"HalSetPosition()\n");
    46     printf(
"this=%x\n", 
this);
    51     uint32_t physicalPortID;
    75     uint32_t physicalPortID;
   102 int32_t elMotorSetCtlMode(uint32_t portID,uint32_t mode);
   111 uint32_t elMotorGetCtlMode(uint32_t portID);
   124 int32_t elMotorSetBrake_I32(uint32_t portID,uint32_t ctlAftBrk,int32_t tmDec) {
   128     uint32_t physicalPortID;
   136 int32_t elMotorSetBrake_F64(uint32_t portID,uint32_t ctlAftBrk,
double tmDec) {
   140     uint32_t physicalPortID;
   145     int32_t tmDecI32 = (int32_t)( tmDec/1000.0 );
   159 int32_t elMotorSetPosition_I32(uint32_t portID,int32_t position,int32_t speed,int32_t tmAcc) {
   163     uint32_t physicalPortID;
   181 int32_t elMotorSetPosition_F64(uint32_t portID,
double position,
double speed,
double tmAcc) {
   182     int32_t posI32,speedI32,tmAccI32;
   188     uint32_t physicalPortID;
   195     pMotorFbl->pFncGetParam(physicalPortID,ELMOTOR_PRM_K_MOVE,  &kMov, 
sizeof(kMov) );
   197     posI32   = (int32_t)( kMov * position );
   198     speedI32 = (int32_t)( kMov * speed );
   199     tmAccI32 = (int32_t)( 1000.0 * tmAcc );
   201     return pMotorFbl->
pFncSetPosition(physicalPortID,posI32,speedI32,tmAccI32);
   214 int32_t elMotorSetSpeed_I32(uint32_t portID,int32_t speed,int32_t tmAcc) {
   218     uint32_t physicalPortID;
   235 int32_t elMotorSetSpeed_F64(uint32_t portID,
double speed,
double tmAcc) {
   236     int32_t speedI32,tmAccI32;
   242     uint32_t physicalPortID;
   249     pMotorFbl->pFncGetParam(physicalPortID,ELMOTOR_PRM_K_MOVE,  &kMov, 
sizeof(kMov) );
   251     speedI32 = (int32_t)( kMov * speed );
   252     tmAccI32 = (int32_t)( 1000.0 * tmAcc );
   254     return pMotorFbl->pFncSetSpeed(physicalPortID,speedI32,tmAccI32);
   315 int32_t elMotorGetPosition_I32(uint32_t portID,uint32_t idx,int32_t *pOutPos) {
   319     uint32_t physicalPortID;
   335 int32_t elMotorGetPosition_F64(uint32_t portID,uint32_t idx,
double  *pOutPosition) {
   343     uint32_t physicalPortID;
   350     pMotorFbl->pFncGetParam(physicalPortID,ELMOTOR_PRM_K_MOVE,  &kMov, 
sizeof(kMov) );
   352     *pOutPosition = (double)posI32/kMov;
   364 int32_t elMotorGetSpeed_I32(uint32_t portID,int32_t idx,int32_t *pOutSpeed) {
   368     uint32_t physicalPortID;
   384 int32_t elMotorGetSpeed_F64(uint32_t portID,int32_t idx,
double  *pOutSpeed) {
   392     uint32_t physicalPortID;
   399     pMotorFbl->pFncGetParam(physicalPortID,ELMOTOR_PRM_K_MOVE,  &kMov, 
sizeof(kMov) );
   400     retVal = pMotorFbl->pFncGetSpeed(physicalPortID,idx,&speedI32);
   401     *pOutSpeed = (double)speedI32/kMov;
   410 int32_t elMotorGoHome_I32(uint32_t portID,uint32_t idx,int32_t speed) {
   411     uint32_t physicalPortID;
   424 int32_t elMotorGoHome_F64(uint32_t portID,uint32_t idx,
double speed) {
   428     uint32_t physicalPortID;
   434     pMotorFbl->pFncGetParam(physicalPortID,ELMOTOR_PRM_K_MOVE,  &kMov, 
sizeof(kMov) );
   436     speedI32 = (int32_t)( kMov * speed );
   447 int32_t elMotorSetCallBack_I32(uint32_t portID,uint32_t idx,ELMOTOR_P_FNC_CALLBACK pFncCB,int32_t val) {
   451     uint32_t physicalPortID;
   465 int32_t elMotorSetCallBack_F64(uint32_t portID,uint32_t idx,ELMOTOR_P_FNC_CALLBACK pFncCB,
double val) {
   472     uint32_t physicalPortID;
   478     pMotorFbl->pFncGetParam(physicalPortID,ELMOTOR_PRM_K_MOVE,  &kMov, 
sizeof(kMov) );
   479     valI32 = (int32_t)( kMov*val );
   480     return pMotorFbl->pFncSetCallBack(physicalPortID,idx,pFncCB,valI32);
   494 int32_t elMotorSetParam_U16(uint32_t portID,uint32_t prmID,uint16_t val) {
   498     uint32_t physicalPortID;
   505 int32_t elMotorSetParam_I16(uint32_t portID,uint32_t prmID,int16_t  val) {
   509     uint32_t physicalPortID;
   516 int32_t elMotorSetParam_U32(uint32_t portID,uint32_t prmID,uint32_t val) {
   520     uint32_t physicalPortID;
   527 int32_t elMotorSetParam_I32(uint32_t portID,uint32_t prmID,uint32_t val) {
   531     uint32_t physicalPortID;
   538 int32_t elMotorSetParam_F32(uint32_t portID,uint32_t prmID,
float    val) {
   542     uint32_t physicalPortID;
   549 int32_t elMotorSetParam_F64(uint32_t portID,uint32_t prmID,
double val) {
   553     uint32_t physicalPortID;
   567 int32_t elMotorGetParam_U16(uint32_t portID,uint32_t prmID,uint16_t *pOutVal) {
   571     uint32_t physicalPortID;
   576     return elPortTbl[portID].
fncTbl.
pMotor->pFncGetParam(physicalPortID,prmID,pOutVal,
sizeof(*pOutVal) );
   578 int32_t elMotorGetParam_I16(uint32_t portID,uint32_t prmID,int16_t  *pOutVal) {
   582     uint32_t physicalPortID;
   587     return elPortTbl[portID].
fncTbl.
pMotor->pFncGetParam(physicalPortID,prmID,pOutVal,
sizeof(*pOutVal) );
   589 int32_t elMotorGetParam_U32(uint32_t portID,uint32_t prmID,uint32_t *pOutVal) {
   593     uint32_t physicalPortID;
   598     return elPortTbl[portID].
fncTbl.
pMotor->pFncGetParam(physicalPortID,prmID,pOutVal,
sizeof(*pOutVal) );
   600 int32_t elMotorGetParam_I32(uint32_t portID,uint32_t prmID,int32_t  *pOutVal) {
   604     uint32_t physicalPortID;
   609     return elPortTbl[portID].
fncTbl.
pMotor->pFncGetParam(physicalPortID,prmID,pOutVal,
sizeof(*pOutVal) );
   611 int32_t elMotorGetParam_F32(uint32_t portID,uint32_t prmID,
float    *pOutVal) {
   615     uint32_t physicalPortID;
   620     return elPortTbl[portID].
fncTbl.
pMotor->pFncGetParam(physicalPortID,prmID,pOutVal,
sizeof(*pOutVal) );
   622 int32_t elMotorGetParam_F64(uint32_t portID,uint32_t prmID,
double   *pOutVal) {
   626     uint32_t physicalPortID;
   631     return elPortTbl[portID].
fncTbl.
pMotor->pFncGetParam(physicalPortID,prmID,pOutVal,
sizeof(*pOutVal) );
 struct elPort_st elPortTbl[EL_PORT_ID_MAX]
struct elMotorFncTblSt * pMotor
OpenEL Common Header File  3.0.0. 
HALCOMPONENT_CORE_T halComponent_core
enum ReturnCode HalGetPosition(HALCOMPONENT_T *halComponent, halfloat *position)
int32_t elGetPhyicalPortID(uint32_t portID, uint32_t PropertyID)
enum ReturnCode HalSetPosition(HALCOMPONENT_T *halComponent, halfloat position)
enum ReturnCode(* pFncGetPosition)(HALCOMPONENT_T **halComponent, halfloat **position)
enum ReturnCode(* pFncSetPosition)(HALCOMPONENT_T **halComponent, halfloat position)