Renesas H8S/2635 Manual descargar pdf (Pagina 47)

pxmc_d/jointfilesconvert/452639/bg_gnr

This function is seen from outside of the PXMC library and in fact

it prepares all necessary elements for storing the speed

generator profile.

pxmc_d/jointfilesconvert/452639/bgset

This function sets debugging options for a given motor.

Nowadays it is possible only to switch on or off debugging. It is

also possible to give as a parameter a pointer to a function for

debugging. This function sets PXMS_DBG_b flag automatically so

we don't need to worry about it.

*- function is not accessible from outside of the library.

5.3.7. PXMC_GEN_INFO.H

This is just header file, which defines several constants and fields for others functions.

These functions are later responsible for initialization generator(s).

5.3.8. PXMC_GEN_SPDTRP.C

This file contains mainly implementation of all generators which are available for a motor

control. Now, because a generator works as finite state machine, so it is possible to

represent it by a pointer to a functions which describe it. In other words we can imagine it

as a trapezoid, where at the beginning our pointer shows to a function which increases

speed. When the maximal speed will be reached then we automatically change the

pointer to function which will keep the speed as a constant. Then before we reach desired

position we change the pointer to another function which will slow down and finally will

stop our motor.

Name of pole

Short description

pxmc_add_cspdfg

Adds fine-grained speed to requested position.

pxmc_add_vspd

Adds variable speed to requested position.

pxmc_set_spd

Sets new value of requested speed.

pxmc_set_spdfg

Sets new value of fine-grained speed.

pxmc_spdfg_gnr

Constant speed fine-grained generator.

pxmc_spd_gacc

Smooth transition to new requested speed.

pxmc_nop_gd

No-operation generator state.

pxmc_cont_gi

Initializes continuation generator. This type of generator is

temporarily used when new generator parameters are

computed.

pxmc_trp_gi

Initializes trapezoid generator. This complex generator realizes

motion to requested end position with trapezoid speed profile.

pxmc_trp_spdfg_gi

Initializes fine-grained trapezoid generator.

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