load.h File Reference

Detailed Description

load Module

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Overview

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#include "brake.h"
#include "stdint.h"
#include "softStop.h"
#include "measure.h"
#include "triState.h"

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Data Structures
union	LOAD_FLAGS_T
	Load Flags Working Structure. More...
struct	LOAD_FLAGS_T::loadFlags
	Load Flags Struct. More...
struct	LOAD_T
	Load Working Structure. More...

Enumerations
enum	LOAD_STATE_TYPES {   LOAD_INIT = 0,   LOAD_TRISTATE = 1,   LOAD_BRAKE = 2,   LOAD_START = 3,   LOAD_RUN = 4,   LOAD_STOP_INIT = 5,   LOAD_SOFT_STOP = 6,   LOAD_STOP = 7,   LOAD_FAULT = 8,   LOAD_ALIGN_STOP = 9 }
	Load State Machine Values. More...
enum	LOAD_FAULT_TYPES { LOAD_NO_FAULT = 0 }
	Load Fault Values. More...

Functions
void	loadInit (LOAD_T *pLoad)
	Load Init. More...
void	loadRun (LOAD_T *pLoad)
	Load Run. More...
void	loadLowPriorityRun (LOAD_T *pLoad)
	Load Low Priority Run. More...
_Bool	getLoadStartReadyStatus (LOAD_T *pLoad)
	LoadStartReadyStatus Status check. More...
_Bool	getLoadStopReadyStatus (LOAD_T *pLoad)
	Load Stop Status check. More...
_Bool	getLoadStallStatus (LOAD_T *pLoad)
	Load Stall Status check. More...
_Bool	runMotorDuringStop (LOAD_T *pLoad)
	Motor Run Status check. More...

Enumeration Type Documentation

LOAD_STATE_TYPES

enum LOAD_STATE_TYPES

Load State Machine Values.

Enumerator
LOAD_INIT	Initialize load
LOAD_TRISTATE	Open all switches
LOAD_BRAKE	Brake the motor
LOAD_START	Start the load
LOAD_RUN	Running of load
LOAD_STOP_INIT	Stop Initialization
LOAD_SOFT_STOP	Soft stop the load
LOAD_STOP	Load stopped
LOAD_FAULT	Load Fault
LOAD_ALIGN_STOP	Align Stop

LOAD_FAULT_TYPES

enum LOAD_FAULT_TYPES

Load Fault Values.

Enumerator
LOAD_NO_FAULT	No fault on load

Function Documentation

loadInit()

void loadInit

(

LOAD_T *

pLoad

)

Load Init.

Parameters

[in]

*pLoad

Input Pointer

References LOAD_FLAGS_T::b, BRAKE_FLAGS_T::b, LOAD_T::brake, brakeInit(), BRAKE_FLAGS_T::brakeFlags::enableOnStop, FALSE, BRAKE_T::flags, LOAD_T::flags, LOAD_FLAGS_T::loadFlags::loadStartReadyStatus, LOAD_FLAGS_T::loadFlags::loadStopReadyStatus, SOFT_STOP_T::minimumSpeed, SOFT_STOP_T::minimumSpeedBrake, SOFT_STOP_T::minimumSpeedSoftStop, LOAD_T::softStop, softStopInit(), LOAD_T::triState, and triStateInit().

Referenced by loadRun().

loadRun()

void loadRun

(

LOAD_T *

pLoad

)

Load Run.

Parameters

[in]

*pLoad

Input Pointer

References SOFT_STOP_FLAGS_T::b, LOAD_FLAGS_T::b, BRAKE_FLAGS_T::b, MEASURE_CURRENT_FLAGS_T::b, LOAD_T::brake, BRAKE_FLAGS_T::brakeFlags::brakeCheckCurrentFault, BRAKE_FLAGS_T::brakeFlags::brakeCheckCurrentStart, BRAKE_FLAGS_T::brakeFlags::brakeCheckCurrentStop, BRAKE_FLAGS_T::brakeFlags::brakeCheckOnCurrent, brakeInit(), BRAKE_FLAGS_T::brakeFlags::brakeOnStart, brakeRun(), HAL_MEASURE_MOTOR_INPUTS_T::current, HAL_MEASURE_CURRENT_T::currentShunt, SOFT_STOP_FLAGS_T::softStopFlags::enable, SOFT_STOP_FLAGS_T::softStopFlags::enableOnBrake, BRAKE_FLAGS_T::brakeFlags::enableOnFault, BRAKE_FLAGS_T::brakeFlags::enableOnStart, BRAKE_FLAGS_T::brakeFlags::enableOnStop, FALSE, SOFT_STOP_T::flags, BRAKE_T::flags, LOAD_T::flags, HAL_MEASURE_CURRENT_T::flags, getBrakeStatusCurrent(), getBrakeStatusTimeOut(), getSoftStopStatus(), getTriStateStatus(), HAL_EnableLowSideBrake(), HAL_SetPhaseCurrentChannels(), LOAD_BRAKE, LOAD_FAULT, LOAD_INIT, LOAD_RUN, LOAD_SOFT_STOP, LOAD_START, LOAD_STOP, LOAD_STOP_INIT, LOAD_TRISTATE, loadInit(), LOAD_FLAGS_T::loadFlags::loadStartReadyStatus, LOAD_FLAGS_T::loadFlags::loadStopReadyStatus, LOAD_T::pMotorInputs, LOAD_T::softStop, softStopRun(), LOAD_T::state, measureCurrentFlags::threeShuntDynamic, BRAKE_T::timeOutCountMax, BRAKE_T::timeOutCountMaxOnStart, BRAKE_T::timeOutCountMaxOnStop, LOAD_T::triState, and TRUE.

loadLowPriorityRun()

void loadLowPriorityRun

(

LOAD_T *

pLoad

)

Load Low Priority Run.

Parameters

[in]

*pLoad

Input Pointer

References LOAD_T::brake, brakeLowPriorityRun(), LOAD_BRAKE, LOAD_TRISTATE, LOAD_T::state, LOAD_T::triState, and triStateRun().

getLoadStartReadyStatus()

_Bool getLoadStartReadyStatus ( LOAD_T *  pLoad )

inline

LoadStartReadyStatus Status check.

Parameters

[in]

*pLoad

Pointer

Returns

Returns the status

References LOAD_FLAGS_T::b, LOAD_T::flags, and LOAD_FLAGS_T::loadFlags::loadStartReadyStatus.

getLoadStopReadyStatus()

_Bool getLoadStopReadyStatus ( LOAD_T *  pLoad )

inline

Load Stop Status check.

Parameters

[in]

*pLoad

Pointer

Returns

Returns the status

References LOAD_FLAGS_T::b, LOAD_T::flags, and LOAD_FLAGS_T::loadFlags::loadStopReadyStatus.

getLoadStallStatus()

_Bool getLoadStallStatus ( LOAD_T *  pLoad )

inline

Load Stall Status check.

Parameters

[in]

*pLoad

Pointer

Returns

Returns the status

References LOAD_T::faultStatus, and LOAD_NO_FAULT.

runMotorDuringStop()

_Bool runMotorDuringStop ( LOAD_T *  pLoad )

inline

Motor Run Status check.

Parameters

[in]

*pLoad

Pointer

Returns

Returns the status

References LOAD_ALIGN_STOP, LOAD_SOFT_STOP, LOAD_STOP_INIT, and LOAD_T::state.