From 1f53eeda1b497f044e76affc784e5123be172f44 Mon Sep 17 00:00:00 2001 From: Tero Kontkanen Date: Thu, 11 May 2017 18:57:12 +0300 Subject: Redefine DEVICE_CAPABILITIES parameters --- simplemotion_defs.h | 47 ++++++++++++++++++++++++++++++++++------------- 1 file changed, 34 insertions(+), 13 deletions(-) diff --git a/simplemotion_defs.h b/simplemotion_defs.h index 20d2c88..619c1c1 100644 --- a/simplemotion_defs.h +++ b/simplemotion_defs.h @@ -749,19 +749,40 @@ //read only bit field that is can be used to identify device capabilities //the list below is subject to extend -#define SMP_DEVICE_CAPABILITIES 6006 - #define DEVICE_CAPABILITY_HOMING BV(0) - #define DEVICE_CAPABILITY_SERIAL_FBD BV(1) - #define DEVICE_CAPABILITY_RESTORE_SAVED_CONFIG BV(2) - #define DEVICE_CAPABILITY_MEASURE_RL BV(3) - #define DEVICE_CAPABILITY_TORQUE_RIPPLE_COMPENSATION BV(4) - #define DEVICE_CAPABILITY_NOTCH_FILTER BV(5) - #define DEVICE_CAPABILITY_TORQUE_EFFECTS BV(6) - #define DEVICE_CAPABILITY_AUTOSETUP_COMMUTATION_SENSOR BV(7) - #define DEVICE_CAPABILITY_SENSORLESS_COMMUTATION BV(8) - #define DEVICE_CAPABILITY_ANALOG_OUTPUT BV(9) - #define DEVICE_CAPABILITY_SCOPE_TRIGGER_DELAY BV(10) /*also means that params SMP_CAPTURE_BEFORE_TRIGGER_PERCENTS and SMP_CAPTURE_STATE exist */ - #define DEVICE_CAPABILITY_SCOPE_EXTERNAL_TRIGGER BV(11) +#define SMP_DEVICE_CAPABILITIES1 6006 + #define DEVICE_CAPABILITY1_PMDC BV(0) + #define DEVICE_CAPABILITY1_PMAC BV(1) + #define DEVICE_CAPABILITY1_STEPPER BV(2) + #define DEVICE_CAPABILITY1_TORQUE BV(3) + #define DEVICE_CAPABILITY1_POSITIONING BV(4) + #define DEVICE_CAPABILITY1_VELOCITY BV(5) + #define DEVICE_CAPABILITY1_TRAJ_PLANNER BV(6) + #define DEVICE_CAPABILITY1_HALLS BV(7) + #define DEVICE_CAPABILITY1_INDEXER BV(8) + #define DEVICE_CAPABILITY1_HOMING BV(9) + #define DEVICE_CAPABILITY1_REF_PULSETRAIN BV(10) + #define DEVICE_CAPABILITY1_REF_PWM BV(11) + #define DEVICE_CAPABILITY1_REF_ANALOG BV(12) + #define DEVICE_CAPABILITY1_REF_QUADRATURE BV(13) + #define DEVICE_CAPABILITY1_FB_QUADRATURE BV(14) + #define DEVICE_CAPABILITY1_FB_SSI BV(15) + #define DEVICE_CAPABILITY1_FB_BISS BV(16) + #define DEVICE_CAPABILITY1_FB_SINCOS BV(17) + #define DEVICE_CAPABILITY1_GEARING BV(18) + #define DEVICE_CAPABILITY1_AUTOSETUP_COMMUTATION_SENSOR BV(19) + +//read only bit field that is can be used to identify device capabilities +//the list below is subject to extend +#define SMP_DEVICE_CAPABILITIES2 6006 + #define DEVICE_CAPABILITY2_RESTORE_SAVED_CONFIG BV(0) + #define DEVICE_CAPABILITY2_MEASURE_RL BV(1) + #define DEVICE_CAPABILITY2_TORQUE_RIPPLE_COMPENSATION BV(2) + #define DEVICE_CAPABILITY2_NOTCH_FILTER BV(3) + #define DEVICE_CAPABILITY2_TORQUE_EFFECTS BV(4) + #define DEVICE_CAPABILITY2_SENSORLESS_COMMUTATION BV(5) + #define DEVICE_CAPABILITY2_ANALOG_OUTPUT BV(6) + #define DEVICE_CAPABILITY2_SCOPE_TRIGGER_DELAY BV(7) /*also means that params SMP_CAPTURE_BEFORE_TRIGGER_PERCENTS and SMP_CAPTURE_STATE exist */ + #define DEVICE_CAPABILITY2_SCOPE_EXTERNAL_TRIGGER BV(8) #define SMP_FIRMWARE_VERSION 6010 #define SMP_FIRMWARE_BACKWARDS_COMP_VERSION 6011 -- cgit v1.2.3