AIC I/O Interface

Defines
#define	REF_FREQ   10e6
	Reference frequency = 10MHz.
#define	SW_FREQ   20e3
	Default Switching Frequency = 20KHz.
#define	TURNOFF_DELAY   600e-9
	H-bridge turn-off delay.
#define	MIN_COUNT   (unsigned int)(2*TURNOFF_DELAY*REF_FREQ)
	PWM minimal count value.
#define	MAX_COUNT   (unsigned int)(REF_FREQ/SW_FREQ)
	PWM maximal count value.
Functions
void	brake_initialize (unsigned long base)
	Initializes brake.
void	brake_apply (void)
	Applies the electromagnetic brake Since: AIC-1.4.2.
void	brake_release (void)
	Releases the electromagnetic brake Since: AIC-1.4.2.
void	index_initialize (unsigned long base)
	Initializes Index.
unsigned long	index_read (void)
	Reads the sync-switch.
void	pwm_set_count (unsigned int count)
	Sets the frequency of PWM in cycles of 10MHz.
void	pwm_set_freq (float frequency)
	Sets the frequency of PWM.
float	pwm_get_freq (void)
	Returns the frequency of PWM.
void	pwm_initialize (unsigned long base, unsigned int min_count, unsigned int count)
	PWM initialization.
void	pwm_finalize (void)
	Finalizes the PWM Since: AIC-1.4.2.
unsigned long	pwm_set_duty_float (float dutycycle)
	Sets the duty-cycle of PWM.
unsigned long	pwm_set_duty (unsigned long dutycycle)
	Sets the duty-cycle of PWM.
void	pwm_on (void)
	Turns the PWM on Since: AIC-1.4.2.
void	pwm_off (void)
	Turns the PWM off Since: AIC-1.4.2.
void	motor_initialize (unsigned long base, float voltage, float freq)
	Initializes the motor driver.
void	motor_finalize (void)
	Finalizes the motor driver Since: AIC-1.5.0.
void	motor_on (void)
	Turns the motor driver on Since: AIC-1.5.0.
void	motor_off (void)
	Turns the motor driver off Since: AIC-1.5.0.
float	motor_set (float voltage)
	Sets the voltage to be applied by the motor driver.
	encoder_clear (void)
	Clears the counter on the quadrature decoder chip Since: AIC-1.5.0.
void	encoder_initialize (unsigned long base, long pulses)
	Initializes Encoder, clears the counter on the quadrature decoder chip.
void	encoder_finalize (void)
	Finalizes Encoder Since: AIC-1.5.0.
long	encoder_get_count (void)
	Gets the count on the quadrature decoder chip.
long	encoder_get_count_and_clear (void)
	Gets the count and clears the counter on the quadrature decoder chip.
float	encoder_read (void)
	Reads the counter on the quadrature decoder chip and converts the motion to radians.
float	encoder_read_and_clear (void)
	Reads the counter on the quadrature decoder chip, converts the motion to radians and clears the counter.
void	aic_on (void)
	Turns an AIC on Since: AIC-1.5.0.
void	aic_off (void)
	Turns an AIC off Since: AIC-1.5.0.
void	aic_initialize (unsigned long base, float vm, float freq, long np)
	Initializes an AIC.
void	aic_finalize (void)
	Finalizes an AIC Since: AIC-1.5.0.

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Function Documentation

void aic_initialize (  unsigned long  base, float  vm, float  freq, long  np )

Initializes an AIC. Parameters: base  Base address for on board devices vm  Motor Voltage freq  PWM frequency np  Pulses per encoder revolution Since: AIC-1.5.0

void brake_initialize (  unsigned long  base  )

Initializes brake. Parameters: base  Base address for on board devices Since: AIC-1.4.2

long encoder_get_count (  void   )

Gets the count on the quadrature decoder chip. Returns: the number of pulses (in 2-complement) since the last time the counter was cleared Since: AIC-1.5.0

long encoder_get_count_and_clear (  void   )

Gets the count and clears the counter on the quadrature decoder chip. Returns: the number of pulses (in 2-complement) since the last time the counter was cleared Since: AIC-1.5.0

void encoder_initialize (  unsigned long  base, long  pulses )

Initializes Encoder, clears the counter on the quadrature decoder chip. Parameters: base  Base address for on board devices pulses  Number of pulses per revolution of the encoder, considering the quadrature decoder Since: AIC-1.5.0

float encoder_read (  void   )

Reads the counter on the quadrature decoder chip and converts the motion to radians. Returns: the displacement in radians since the last time the encoder was cleared Since: AIC-1.5.0

float encoder_read_and_clear (  void   )

Reads the counter on the quadrature decoder chip, converts the motion to radians and clears the counter. Returns: the displacement in radians since the last time the encoder was cleared Since: AIC-1.5.0

void index_initialize (  unsigned long  base  )

Initializes Index. Parameters: base  Base address for on board devices Since: AIC-1.4.2

unsigned long index_read (  void   )

Reads the sync-switch. Returns: the sync-switch state Since: AIC-1.4.2

void motor_initialize (  unsigned long  base, float  voltage, float  freq )

Initializes the motor driver. Parameters: base  Base address for on board devices voltage  Motor Voltage freq  PWM frequency Since: AIC-1.5.0

float motor_set (  float  voltage  )

Sets the voltage to be applied by the motor driver. Parameters: voltage  to be applied by the motor driver Returns: the duty-cycle of the associated PWM Since: AIC-1.5.0

float pwm_get_freq (  void   )

Returns the frequency of PWM. Returns: PWM frequency in Hz Since: AIC-1.4.2

void pwm_initialize (  unsigned long  base, unsigned int  min_count, unsigned int  count )

PWM initialization. Parameters: base  Base address for on board devices min_count  MIN_COUNT count  frequency of PWM in cycles of 10MHz. Number of cycles from 10 to 65530. Since: AIC-1.4.2

void pwm_set_count (  unsigned int  count  )

Sets the frequency of PWM in cycles of 10MHz. Parameters: count  number of cycles from 10 to 65530. Default value is 500 Since: AIC-1.4.2

unsigned long pwm_set_duty (  unsigned long  dutycycle  )

Sets the duty-cycle of PWM. Parameters: dutycycle  to be used by PWM as a int from 0 to 1000000 Returns: the count value programmed to the PWM timer Since: AIC-1.4.2

unsigned long pwm_set_duty_float (  float  dutycycle  )

Sets the duty-cycle of PWM. Parameters: dutycycle  to be used by PWM as a float from 0 to 1.0 Returns: the count value programmed to the PWM timer Since: AIC-1.4.2

void pwm_set_freq (  float  frequency  )

Sets the frequency of PWM. Parameters: frequency  frequency in Hz from 152.60Hz to 1MHz. Default value is 20KHz Since: AIC-1.4.2

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