softStop.h

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/*!****************************************************************************
 *  @file       softStop.h
 *  @brief      softStop Module
 *
 * 
 *  @anchor softStop_h
 *  # Overview
 *
 *
 *  <hr>
 ******************************************************************************/


#ifndef ALGOLIB_LOAD_INCLUDE_SOFTSTOP_H_
#define ALGOLIB_LOAD_INCLUDE_SOFTSTOP_H_

#include "stdint.h"

typedef union
{
    struct softStopFlags
    {
        _Bool
            enable: 1,
            enableOnBrake: 1,
            status: 1;
    }
    b;
    uint16_t w;

}SOFT_STOP_FLAGS_T;

typedef struct
{
    const int32_t
        **ppVelocityReference,
        *pSpeed;

    int32_t
        minimumSpeed,
        minimumSpeedBrake,
        minimumSpeedSoftStop;

    SOFT_STOP_FLAGS_T
        flags;

}SOFT_STOP_T;

void softStopInit(SOFT_STOP_T *pSoftStop);
void softStopRun(SOFT_STOP_T *pSoftStop);
inline _Bool getSoftStopStatus(SOFT_STOP_T *pSoftStop)
{
    return pSoftStop->flags.b.status;
}

#endif /* ALGOLIB_LOAD_INCLUDE_SOFTSTOP_H_ */