SA2-RasPi2.hh

[詳解]

 
//
// Copyright (C) 2011-2020 Yokokura, Yuki
// This program is free software;
// you can redistribute it and/or modify it under the terms of the FreeBSD License.
// For details, see the License.txt file.
 
#ifndef SA2RASPI2
#define SA2RASPI2
 
#include "RPi2GPIO.hh"
 
namespace ARCS {    // ARCS名前空間
    class SA2RasPi2 {
        public:
            SA2RasPi2();                
            SA2RasPi2(SA2RasPi2&& r);   
            ~SA2RasPi2();               
            void StartProcess(void);            
            void EndProcess(void);              
            void SetVoltage(double Vu, double Vv, double Vw, double Vdc);   
            void SetDutyRatioPWM(double DutyU, double DutyV, double DutyW); 
            void SetDutyRatioPWMU(double Duty); 
            void SetDutyRatioPWMV(double Duty); 
            void SetDutyRatioPWMW(double Duty); 
            void SetSinglePhaseDutyRatio(double Duty);      
            void SetVoltageDAC(double Vdac1, double Vdac2); 
            void SetVoltageDAC1(double Vdac);               
            void SetVoltageDAC2(double Vdac);               
            void GetPhaseCurrent(double& Iu, double& Iv, double& Iw);   
            void GetSinglePhaseCurrent(double& I);  
            void GetPosition(double& theta_rm, double& theta_re);       
            uint32_t GetIncEncoder(void);           
            int32_t GetIncMultiTurnEncoder(void);   
            double GetIncPosition(void);            
            
        private:
            SA2RasPi2(const SA2RasPi2&) = delete;                   
            const SA2RasPi2& operator=(const SA2RasPi2&) = delete;  
            static const uint32_t ADDR_PWMU = 0b00000000;       
            static const uint32_t ADDR_PWMV = 0b00000001;       
            static const uint32_t ADDR_PWMW = 0b00000010;       
            static const uint32_t ADDR_DAC1 = 0b00000011;       
            static const uint32_t ADDR_DAC2 = 0b00000100;       
            static const uint32_t ADDR_ABSL = 0b00000000;       
            static const uint32_t ADDR_ABSH = 0b00000001;       
            static const uint32_t ADDR_IU   = 0b00000010;       
            static const uint32_t ADDR_IV   = 0b00000011;       
            static const uint32_t ADDR_IW   = 0b00000100;       
            static const uint32_t ADDR_INCL = 0b00000101;       
            static const uint32_t ADDR_INCH = 0b00000110;       
            static const uint32_t INC_MASK  = 0x00000FFF;       
            RPi2GPIO gpio;      
            uint32_t DATA_PWMU; 
            uint32_t DATA_PWMV; 
            uint32_t DATA_PWMW; 
            uint32_t DATA_DAC1; 
            uint32_t DATA_DAC2; 
            uint32_t DATA_IU;   
            uint32_t DATA_IV;   
            uint32_t DATA_IW;   
            uint32_t DATA_ABS;  
            uint32_t DATA_INC;  
            uint32_t RawCountPrev;  
            int32_t UpperCount;     
            int32_t AbsMultCount;   
            uint32_t IncRawCountPrev;   
            int32_t IncUpperCount;      
            void WaitPwmSyncHigh(void);                         
            void WaitPwmSyncLow(void);                          
            void WaitEndOfConversionIuvw(void);                 
            void WaitEndOfConversionAbs(void);                  
            void WaitEndOfConversionInc(void);                  
            void SendConversionStart(void);                     
            void SendWriteSelect(void);                         
            void SetReadSelect(void);                           
            void ClearReadSelect(void);                         
            void SetBusModeIn(void);                            
            void SetBusModeOut(void);                           
            void WaitUsingNop(const unsigned int N) const;      
            void WriteDataBus(uint32_t Address, uint32_t Data); 
            uint32_t ReadDataBus(uint32_t Address);             
            int32_t GetMultiTurnCount(uint32_t RawCount);       
            int32_t GetIncMultiTurnCount(uint32_t RawCount);    
            static uint32_t VoltToDacData(double Vdac);         
            static uint32_t DutyToPwmData(double Duty);         
            static double AdcDataToAmpere(uint32_t AdcData);    
            static double AbsDataToRadian(int32_t AbsMultData); 
            static double ConvElectAngle(uint32_t AbsData);     
    };
}
 
#endif