#include <os_command.h>

Public Types
enum class	Command { kEncoderRegisterCommunication = 0 , kIcmuCalibration = 1 , kOpenLoopFieldMode = 2 , kHrdStreaming = 3 , kMotorPhaseOrderDetection = 4 , kCommutationOffsetMeasurement = 5 , kOpenPhaseDetection = 6 , kPolePairDetection = 7 , kPhaseResistanceMeasurement = 8 , kPhaseInductanceMeasurement = 9 , kTorqueConstantMeasurement = 10 , kIgnoreBissStatusBits = 14 , kReserved = 255 }

Public Member Functions
	OsCommand (Cia402Drive &cia402_drive, uint8_t *command_bytes, uint32_t timeout_in_ms=1000, bool auto_abort=false, bool wait=true, const std::function< void()> &started_callback={}, const std::function< void(uint8_t)> &progress_callback={})
	Create an OS command object. More...

	OsCommand (Cia402Drive &cia402_drive, uint32_t timeout_in_ms=1000, bool auto_abort=false, bool wait=true, const std::function< void()> &started_callback={}, const std::function< void(uint8_t)> &progress_callback={})
	Create an OS command object. More...

	OsCommand (Cia402Drive &cia402_drive, Command command, uint8_t command_byte_1=0, uint8_t command_byte_2=0, uint8_t command_byte_3=0, uint8_t command_byte_4=0, uint8_t command_byte_5=0, uint8_t command_byte_6=0, uint8_t command_byte_7=0, uint32_t timeout_in_ms=1000, bool auto_abort=false, bool wait=true, const std::function< void()> &started_callback={}, const std::function< void(uint8_t)> &progress_callback={})
	Create an OS command object. More...

MotionMasterError	run ()
	Run the previously initialized OS command. More...

void	set_command (const std::string &command)
	Set the OS command as a string (of bytes) More...

void	set_command (uint8_t *command_bytes)
	Set the OS command as an array of bytes. More...

void	set_command (Command command, uint8_t command_byte_1=0, uint8_t command_byte_2=0, uint8_t command_byte_3=0, uint8_t command_byte_4=0, uint8_t command_byte_5=0, uint8_t command_byte_6=0, uint8_t command_byte_7=0)
	Set the OS command as a command enum and separate byte values. More...

void	set_command_uint32_value (uint32_t value)
	Set the data payload of the OS command as an unsigned 32-bit value. More...

void	set_timeout (uint32_t timeout_in_ms)
	Set a timeout in milliseconds. More...

void	set_auto_abort (bool auto_abort)
	Set the auto abort flag. More...

void	set_wait (bool wait)
	Set the wait flag. More...

uint8_t *	response_data ()
	Returns a pointer to the complete response data. More...

uint8_t	get_uint8_response_data ()
	Get the unsigned 8-bit response payload if possible. More...

uint16_t	get_uint16_response_data ()
	Get the unsigned 16-bit response payload if possible. More...

uint32_t	get_uint32_response_data ()
	Get the unsigned 32-bit response payload if possible. More...

uint8_t	get_error_code ()
	Get the OS command response error code. More...

Member Enumeration Documentation

◆ Command

enum class OsCommand::Command

strong

Enumerator
kEncoderRegisterCommunication
kIcmuCalibration
kOpenLoopFieldMode
kHrdStreaming
kMotorPhaseOrderDetection
kCommutationOffsetMeasurement
kOpenPhaseDetection
kPolePairDetection
kPhaseResistanceMeasurement
kPhaseInductanceMeasurement
kTorqueConstantMeasurement
kIgnoreBissStatusBits
kReserved

Constructor & Destructor Documentation

◆ OsCommand() [1/3]

OsCommand::OsCommand	(	Cia402Drive &	cia402_drive,
		uint8_t *	command_bytes,
		uint32_t	timeout_in_ms = `1000`,
		bool	auto_abort = `false`,
		bool	wait = `true`,
		const std::function< void()> &	started_callback = `{}`,
		const std::function< void(uint8_t)> &	progress_callback = `{}`
	)

Create an OS command object.

Parameters

cia402_drive	reference to the Cia402Drive device
bytes	OS command - 8 bytes
timeout_in_ms	timeout in milliseconds
auto_abort	abort if the device is not running any more
wait	wait for the previous OS command to finish
started_callback	function to call on OS command start
progress_callback	function to call on OS command progress change

◆ OsCommand() [2/3]

OsCommand::OsCommand	(	Cia402Drive &	cia402_drive,
		uint32_t	timeout_in_ms = `1000`,
		bool	auto_abort = `false`,
		bool	wait = `true`,
		const std::function< void()> &	started_callback = `{}`,
		const std::function< void(uint8_t)> &	progress_callback = `{}`
	)

explicit

Create an OS command object.

Parameters

cia402_drive	reference to the Cia402Drive device
timeout_in_ms	timeout in milliseconds
auto_abort	abort if the device is not running any more
wait	wait for the previous OS command to finish
started_callback	function to call on OS command start
progress_callback	function to call on OS command progress change

◆ OsCommand() [3/3]

OsCommand::OsCommand	(	Cia402Drive &	cia402_drive,
		OsCommand::Command	command,
		uint8_t	command_byte_1 = `0`,
		uint8_t	command_byte_2 = `0`,
		uint8_t	command_byte_3 = `0`,
		uint8_t	command_byte_4 = `0`,
		uint8_t	command_byte_5 = `0`,
		uint8_t	command_byte_6 = `0`,
		uint8_t	command_byte_7 = `0`,
		uint32_t	timeout_in_ms = `1000`,
		bool	auto_abort = `false`,
		bool	wait = `true`,
		const std::function< void()> &	started_callback = `{}`,
		const std::function< void(uint8_t)> &	progress_callback = `{}`
	)

Create an OS command object.

Parameters

cia402_drive	reference to the Cia402Drive device
command	OS command to execute
command_byte_1	byte 1 of the OS command
command_byte_2	byte 2 of the OS command
command_byte_3	byte 3 of the OS command
command_byte_4	byte 4 of the OS command
command_byte_5	byte 5 of the OS command
command_byte_6	byte 6 of the OS command
command_byte_7	byte 7 of the OS command
timeout_in_ms	timeout in milliseconds
auto_abort	abort if the device is not running any more
wait	wait for the previous OS command to finish
started_callback	function to call on OS command start
progress_callback	function to call on OS command progress change

Member Function Documentation

◆ get_error_code()

uint8_t OsCommand::get_error_code ( )

Get the OS command response error code.

Returns: error code

◆ get_uint16_response_data()

uint16_t OsCommand::get_uint16_response_data ( )

Get the unsigned 16-bit response payload if possible.

Returns: unsigned 16-bit response payload data

◆ get_uint32_response_data()

uint32_t OsCommand::get_uint32_response_data ( )

Get the unsigned 32-bit response payload if possible.

Returns: unsigned 32-bit response payload data

◆ get_uint8_response_data()

uint8_t OsCommand::get_uint8_response_data ( )

Get the unsigned 8-bit response payload if possible.

Returns: unsigned 8-bit response payload data

◆ response_data()

uint8_t * OsCommand::response_data ( )

Returns a pointer to the complete response data.

Returns: a pointer to the response data

◆ run()

MotionMasterError OsCommand::run ( )

Run the previously initialized OS command.

Returns: MotionMasterError

◆ set_auto_abort()

void OsCommand::set_auto_abort ( bool auto_abort )

Set the auto abort flag.

Automatically abort any running OS commands if the timeout runs out, or if the CiA402 drive executing the OS command is not running (not in OP ENABLED CiA402 state).

Parameters

auto_abort

◆ set_command() [1/3]

void OsCommand::set_command	(	Command	command,
		uint8_t	command_byte_1 = `0`,
		uint8_t	command_byte_2 = `0`,
		uint8_t	command_byte_3 = `0`,
		uint8_t	command_byte_4 = `0`,
		uint8_t	command_byte_5 = `0`,
		uint8_t	command_byte_6 = `0`,
		uint8_t	command_byte_7 = `0`
	)

Set the OS command as a command enum and separate byte values.

Parameters

command	OS command to execute
command_byte_1	byte 1 of the OS command
command_byte_2	byte 2 of the OS command
command_byte_3	byte 3 of the OS command
command_byte_4	byte 4 of the OS command
command_byte_5	byte 5 of the OS command
command_byte_6	byte 6 of the OS command
command_byte_7	byte 7 of the OS command

◆ set_command() [2/3]

void OsCommand::set_command ( const std::string & command )

Set the OS command as a string (of bytes)

Parameters

command an OS command as a string of bytes

◆ set_command() [3/3]

void OsCommand::set_command ( uint8_t * command_bytes )

Set the OS command as an array of bytes.

Parameters

command_bytes an OS command as an array of bytes

◆ set_command_uint32_value()

void OsCommand::set_command_uint32_value ( uint32_t value )

Set the data payload of the OS command as an unsigned 32-bit value.

Parameters

value

◆ set_timeout()

void OsCommand::set_timeout ( uint32_t timeout_in_ms )

Set a timeout in milliseconds.

Parameters

timeout_in_ms

◆ set_wait()

void OsCommand::set_wait ( bool wait )

Set the wait flag.

Wait until the OS command lock has been acquired.

Parameters

wait

The documentation for this class was generated from the following files:

apps/motion_master/os_command.h
apps/motion_master/os_command.cc

Public Types

Public Member Functions

Member Enumeration Documentation

◆ Command

Constructor & Destructor Documentation

◆ OsCommand() [1/3]

◆ OsCommand() [2/3]

◆ OsCommand() [3/3]

Member Function Documentation

◆ get_error_code()

◆ get_uint16_response_data()

◆ get_uint32_response_data()

◆ get_uint8_response_data()

◆ response_data()

◆ run()

◆ set_auto_abort()

◆ set_command() [1/3]

◆ set_command() [2/3]

◆ set_command() [3/3]

◆ set_command_uint32_value()

◆ set_timeout()

◆ set_wait()