102 lines
3.2 KiB
C
102 lines
3.2 KiB
C
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/*
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* @Date: 2025-07-02 13:06:24
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* @Author: mypx
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* @LastEditors: mypx mypx_coder@163.com
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* @LastEditTime: 2025-07-22 11:44:02
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* @FilePath: h02_basic_control.c
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* @Description:
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* Copyright (c) 2025 by mypx, All Rights Reserved.
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*/
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#include "h02_basic_control.h"
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/**
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* @brief Read control mode from servo
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* @param dev Pointer to servo handle
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* @param src Pointer to store the read control mode
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* @return SV630P_OK on success, error code otherwise
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*/
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int sv630p_h02_00_read_control_mode(sv630p_handle_t *dev, SV630P_ControlMode *src)
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{
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uint16_t value = 0;
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SV630P_ARGS_CHECK(dev);
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if (dev->ops->read_holding_regs(dev, REG_H02_00_CONTROL_MODE, 1, &value) == SV630P_OK)
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{
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*src = (SV630P_ControlMode)value;
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return SV630P_OK;
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}
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return SV630P_BUS_ERR;
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}
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/**
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* @brief Write control mode to servo
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* @param dev Pointer to servo handle
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* @param src Control mode to write
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* @return SV630P_OK on success, error code otherwise
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* @note Takes effect immediately, can be changed when stopped
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*/
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int sv630p_h02_00_write_control_mode(sv630p_handle_t *dev, SV630P_ControlMode src)
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{
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SV630P_ARGS_CHECK(dev);
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return dev->ops->write_single_reg(dev, REG_H02_00_CONTROL_MODE, (uint16_t)src);
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}
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/**
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* @brief Read rotation direction from servo
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* @param dev Pointer to servo handle
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* @param dir Pointer to store the read rotation direction
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* @return SV630P_OK on success, error code otherwise
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*/
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int sv630p_h02_02_read_rot_dir(sv630p_handle_t *dev, SV630P_RotDir *dir)
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{
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uint16_t value = 0;
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SV630P_ARGS_CHECK(dev);
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if (dev->ops->read_holding_regs(dev, REG_H02_02_ROT_DIR_SELECT, 1, &value) == SV630P_OK)
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{
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*dir = (SV630P_RotDir)value;
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return SV630P_OK;
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}
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return SV630P_BUS_ERR;
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}
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/**
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* @brief Write rotation direction to servo
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* @param dev Pointer to servo handle
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* @param dir Rotation direction to write
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* @return SV630P_OK on success, error code otherwise
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* @note Takes effect immediately, can be changed when stopped
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*/
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int sv630p_h02_02_write_rot_dir(sv630p_handle_t *dev, SV630P_RotDir dir)
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{
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SV630P_ARGS_CHECK(dev);
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return dev->ops->write_single_reg(dev, REG_H02_02_ROT_DIR_SELECT, (uint16_t)dir);
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}
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/**
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* @brief Read system parameter initialization value from servo
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* @param dev Pointer to servo handle
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* @param param Pointer to store the read value
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* @return SV630P_OK on success, error code otherwise
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*/
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int sv630p_h02_31_read_system_param_init(sv630p_handle_t *dev, SV630P_SystemParamInit *param)
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{
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uint16_t value = 0;
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SV630P_ARGS_CHECK(dev);
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if (dev->ops->read_holding_regs(dev, REG_H02_31_SYSTEM_PARAMETER_INIT, 1, &value) == SV630P_OK)
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{
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*param = (SV630P_SystemParamInit)value;
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return SV630P_OK;
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}
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return SV630P_BUS_ERR;
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}
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/**
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* @brief Write system parameter initialization value to servo
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* @param dev Pointer to servo handle
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* @param param Value to write (restore factory, clear fault, etc.)
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* @return SV630P_OK on success, error code otherwise
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*/
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int sv630p_h02_31_write_system_param_init(sv630p_handle_t *dev, SV630P_SystemParamInit param)
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{
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SV630P_ARGS_CHECK(dev);
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return dev->ops->write_single_reg(dev, REG_H02_31_SYSTEM_PARAMETER_INIT, (uint16_t)param);
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}
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