sw/app/rocon/appl_pxmccmds.c

   1 /*******************************************************************
   2   Motion and Robotic System (MARS) aplication components.
   3
   4   appl_pxmccmds.c - position controller RoCoN specific commands
   5
   6   Copyright (C) 2001-2013 by Pavel Pisa - originator
   7                           pisa@cmp.felk.cvut.cz
   8             (C) 2001-2013 by PiKRON Ltd. - originator
   9                     http://www.pikron.com
  10
  11   This file can be used and copied according to next
  12   license alternatives
  13    - GPL - GNU Public License
  14    - other license provided by project originators
  15
  16  *******************************************************************/
  17
  18 #include <system_def.h>
  19 #include <pxmc.h>
  20 #include <stdlib.h>
  21 #include <string.h>
  22 #include "pxmc_cmds.h"
  23
  24 #include "appl_defs.h"
  25 #include "appl_fpga.h"
  26 #include "appl_pxmc.h"
  27
  28
  29 cmd_des_t const cmd_des_regcurdp={0, CDESM_OPCHR|CDESM_RW,
  30                         "REGCURDP?","current controller d component p parameter", cmd_do_reg_short_val,
  31                         {(char*)pxmc_rocon_state_offs(cur_d_p),
  32                          0}};
  33
  34 cmd_des_t const cmd_des_regcurdi={0, CDESM_OPCHR|CDESM_RW,
  35                         "REGCURDI?","current controller d component i parameter", cmd_do_reg_short_val,
  36                         {(char*)pxmc_rocon_state_offs(cur_d_i),
  37                          0}};
  38
  39 cmd_des_t const cmd_des_regcurqp={0, CDESM_OPCHR|CDESM_RW,
  40                         "REGCURQP?","current controller q component p parameter", cmd_do_reg_short_val,
  41                         {(char*)pxmc_rocon_state_offs(cur_q_p),
  42                          0}};
  43
  44 cmd_des_t const cmd_des_regcurqi={0, CDESM_OPCHR|CDESM_RW,
  45                         "REGCURQI?","current controller q component i parameter", cmd_do_reg_short_val,
  46                         {(char*)pxmc_rocon_state_offs(cur_q_i),
  47                          0}};
  48
  49 cmd_des_t const cmd_des_regcurhold={0, CDESM_OPCHR|CDESM_RW,
  50                         "REGCURHOLD?","current steady hold value for stepper", cmd_do_reg_short_val,
  51                         {(char*)pxmc_rocon_state_offs(cur_hold),
  52                          0}};
  53
  54
  55 cmd_des_t const *cmd_appl_pxmc[] =
  56 {
  57   &cmd_des_regcurdp,
  58   &cmd_des_regcurdi,
  59   &cmd_des_regcurqp,
  60   &cmd_des_regcurqi,
  61   &cmd_des_regcurhold,
  62   NULL
  63 };