91 lines
2.8 KiB
C
91 lines
2.8 KiB
C
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/*
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* @Date: 2025-07-01 17:18:39
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* @Author: mypx
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* @LastEditors: mypx mypx_coder@163.com
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* @LastEditTime: 2025-07-22 09:22:46
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* @FilePath: h05_pos_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 "h05_pos_control.h"
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/**
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* @brief Read main position command source
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* @param dev Pointer to servo handle
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* @param src Pointer to store the read command source
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* @return SV630P_OK on success, error code otherwise
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* @note In position control mode, used to select the position command source.
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* Pulse command is external, step and multi-segment are internal.
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*/
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int sv630p_h05_00_read_command_source(sv630p_handle_t *dev, SV630P_PositionCommandSource *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_H05_00_POSITION_CMD_SRC, 1, &value) == SV630P_OK)
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{
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*src = (SV630P_PositionCommandSource)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 main position command source
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* @param dev Pointer to servo handle
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* @param src Command source to write
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* @return SV630P_OK on success, error code otherwise
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*/
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int sv630p_h05_00_write_command_source(sv630p_handle_t *dev, SV630P_PositionCommandSource 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_H05_00_POSITION_CMD_SRC, (uint16_t)src);
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}
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/**
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* @brief Read pulse input mode
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* @param dev Pointer to servo handle
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* @param mode Pointer to store the read pulse input mode
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* @return SV630P_OK on success, error code otherwise
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*/
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int sv630p_h05_01_read_pulse_input_mode(sv630p_handle_t *dev, SV630P_PulseInputMode *mode)
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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_H05_01_PULSE_INPUT_MODE, 1, &value) == SV630P_OK)
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{
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*mode = (SV630P_PulseInputMode)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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int sv630p_h05_01_write_pulse_input_mode(sv630p_handle_t *dev, SV630P_PulseInputMode mode)
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{
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SV630P_ARGS_CHECK(dev);
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return dev->ops->write_single_reg(dev, REG_H05_01_PULSE_INPUT_MODE, (uint16_t)mode);
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}
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int sv630p_h05_02_read_position_unit(sv630p_handle_t *dev, uint16_t *unit)
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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_H05_02_POSITION_UNIT, 1, &value) == SV630P_OK)
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{
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*unit = 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 Set the number of position commands required for motor to rotate 1 circle.
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* @description: For example, when motor encoder resolution is 2^18 (262144 pulses/rev),
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* mechanical gear ratio 1:1, H05.02 = 262144.
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*/
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int sv630p_h05_02_write_position_unit(sv630p_handle_t *dev, uint16_t unit)
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{
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SV630P_ARGS_CHECK(dev);
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return dev->ops->write_single_reg(dev, REG_H05_02_POSITION_UNIT, unit);
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}
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