diff --git a/source/current_sense/sdfm/include/sdfm_api.h b/source/current_sense/sdfm/include/sdfm_api.h index ac7435d..247e83c 100644 --- a/source/current_sense/sdfm/include/sdfm_api.h +++ b/source/current_sense/sdfm/include/sdfm_api.h @@ -43,14 +43,14 @@ extern "C" { #include /** - * \defgroup MOTOR_CONTROL_API APIs for Motor Control Encoders + * \defgroup CURRENT_SENSE_API APIs for Current Sense * - * This module contains APIs for device drivers for various motor control encoders supported in this SDK. + * This module contains APIs for device drivers for current sense supported in this SDK. */ /** * \defgroup SDFM_API_MODULE APIs for SDFM - * \ingroup MOTOR_CONTROL_API + * \ingroup CURRENT_SENSE_API * * Here is the list of APIs used for Sigma Delta interface * diff --git a/source/position_sense/endat/include/endat_api.h b/source/position_sense/endat/include/endat_api.h index 78a62f1..5ad8290 100644 --- a/source/position_sense/endat/include/endat_api.h +++ b/source/position_sense/endat/include/endat_api.h @@ -30,162 +30,6 @@ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -/* - * \par - * - * - * Example API usage (host trigger mode, single channel): - * ------------------------------------------------------ - * - * A. Obtain handle - * - * struct endat_priv priv = endat_init(); - * [AM437x: endat_init(0x54440000);] - * - * B. Configure to host trigger mode - * - * endat_config_host_trigger(priv); - * - * C. Select channel - * - * endat_config_channel(priv, <#channel>); - * - * D. Load & run the firmware - * - * E. Wait for firmware to initialize, clock frequency would be set to 8MHz by the end of the following command - * - * endat_wait_initialization(priv, ); - * - * F. Set 200KHz frequency to read encoder information so as to not to be affected by propagation delay - * - * endat_config_clock(priv, clk_cfg); - * - * G. Get encoder information - * - * endat_get_encoder_info(priv); - * - * H. Set operating frequency, say 8MHz - * - * endat_config_clock(priv, &clk_cfg); - * - * I. Get the propagation delay estimated by the firmware - * - * prop_delay = endat_get_prop_delay(priv); - * - * J. Handle propagation delay - * - * endat_config_rx_arm_cnt(priv, ); - * endat_config_rx_clock_disable(priv, ); - * - * K. Configure tST - * - * endat_config_tst_delay(priv, 1MHz, use 2000, else 0)>); - * - * L. Process the EnDat command, transmit, this returns upon receive & command is complete, - * - * endat_command_process(priv, cmd, cmd_supplement); - * - * M. Process the received data - * - * endat_recvd_process(priv, cmd, &endat_format_data); - * - * N. Do CRC verification - * - * endat_recvd_validate(priv, cmd, &endat_format_data); - * - * O. Update additional information state tracking, if needed - * - * endat_addinfo_track(priv, cmd, &cmd_supplement); - * - * Result would be in union endat_format_data - * - * - * Example API usage [simplified] (periodic trigger mode, single channel): - * ----------------------------------------------------------------------- - * - * Note: IEP CMP2 is the trigger event in periodic trigger mode and has to be setup beforehand. - * - * A. Get encoder info, follow steps A, B, C, D, E, G of host trigger mode, firmware defaults to 8MHz frequency - * - * B. Switch to periodic trigger mode, this will take effect after the next command completes - * - * endat_config_periodic_trigger(priv); - * - * C. Setup & send the 2.2 position periodic command, needs to be done only once - * - * endat_command_process(priv, 8, NULL); - * - * D. After giving enough time to complete the command after periodic event, to read angle for rotary encoder quickly - * - * endat_get_2_2_angle(priv); - * - * - * Example API usage (periodic trigger mode, single channel): - * --------------------------------------------------------- - * - * Note: IEP CMP2 is the trigger event in periodic trigger mode and has to be setup beforehand. - * - * A. Get encoder info & set desired timings for required frequency taking care of propagation delay, steps A-K of host trigger mode - * - * B. Switch to periodic trigger mode, this will take effect after the next command completes - * - * endat_config_periodic_trigger(priv); - * - * C. Setup the command to be periodically sent - * - * endat_command_build(priv, cmd, cmd_supplement); - * - * D. Send the command - * - * endat_command_send(priv); - * - * E. Wait for the command to finish - * - * endat_command_wait(priv); - * - * F. Process the received data - * - * endat_recvd_process(priv, cmd, &endat_format_data); - * - * G. Do CRC verification - * - * endat_recvd_validate(priv, cmd, &endat_format_data); - * - * H. Update additional information state tracking, if needed - * - * endat_addinfo_track(priv, cmd, &cmd_supplement); - * - * Result would be in union endat_format_data - * - * Repeat E-H to get periodic update after the next periodic event
- * happens, this can be done in say ISR (which could be linked to the
- * periodic event). For a new command to be executed periodically,
- * endat_command_build() can invoked after step H, this will take effect
- * from the next periodic event. - * - * EnDat commands: - * --------------- - * - * Command description of command numbers passed to endat_command_process() - * and endat_command_build() as follows, - * - * 1: Encoder send position values
- * 2: Selection of memory area
- * 3: Encoder receive parameter
- * 4: Encoder send parameter
- * 5: Encoder receive reset
- * 6: Encoder send test values
- * 7: Encoder receive test command
- * 8: Encoder to send position + AI(s)
- * 9: Encoder to send position + AI(s) and receive selection of memory area
- * 10: Encoder to send position + AI(s) and receive parameter
- * 11: Encoder to send position + AI(s) and send parameter
- * 12: Encoder to send position + AI(s) and receive error reset
- * 13: Encoder to send position + AI(s) and receive test command
- * 14: Encoder receive communication command
- * - */ - #ifndef ENDAT_API_H_ #define ENDAT_API_H_ @@ -194,14 +38,14 @@ extern "C" { #endif /** - * \defgroup MOTOR_CONTROL_API APIs for Motor Control Encoders + * \defgroup POSITION_SENSE_API APIs for Position Sense * - * This module contains APIs for device drivers for various motor control encoders supported in this SDK. + * This module contains APIs for device drivers for various position sense encoders supported in this SDK. */ /** * \defgroup ENDAT_API_MODULE APIs for ENDAT Encoder - * \ingroup MOTOR_CONTROL_API + * \ingroup POSITION_SENSE_API * * Here is the list of APIs used for EnDAT encoder communication protocol * diff --git a/source/position_sense/hdsl/include/hdsl_drv.h b/source/position_sense/hdsl/include/hdsl_drv.h index e10666e..aee4366 100644 --- a/source/position_sense/hdsl/include/hdsl_drv.h +++ b/source/position_sense/hdsl/include/hdsl_drv.h @@ -35,7 +35,7 @@ /** * \defgroup HDSL_API_MODULE APIs for HDSL Encoder - * \ingroup MOTOR_CONTROL_API + * \ingroup POSITION_SENSE_API * * Here is the list of APIs used for HDSL Encoder communication protocol * diff --git a/source/position_sense/tamagawa/include/tamagawa_drv.h b/source/position_sense/tamagawa/include/tamagawa_drv.h index 337ddc5..cb440c5 100644 --- a/source/position_sense/tamagawa/include/tamagawa_drv.h +++ b/source/position_sense/tamagawa/include/tamagawa_drv.h @@ -35,7 +35,7 @@ /** * \defgroup TAMAGAWA_API_MODULE APIs for Tamagawa Encoder - * \ingroup MOTOR_CONTROL_API + * \ingroup POSITION_SENSE_API * * Here is the list of APIs used for Tamagawa encoder communication protocol * diff --git a/source/position_sense/tamagawa_over_soc_uart/include/tamagawa_soc_uart_interface.h b/source/position_sense/tamagawa_over_soc_uart/include/tamagawa_soc_uart_interface.h index 1ff70cb..a4b5f86 100644 --- a/source/position_sense/tamagawa_over_soc_uart/include/tamagawa_soc_uart_interface.h +++ b/source/position_sense/tamagawa_over_soc_uart/include/tamagawa_soc_uart_interface.h @@ -33,14 +33,14 @@ #ifndef TAMAGAWA_UART_DRV_H_ #define TAMAGAWA_UART_DRV_H_ /** - * \defgroup MOTOR_CONTROL_API APIs for Motor Control Encoders + * \defgroup POSITION_SENSE_API APIs for Position Sense * - * This module contains APIs for device drivers for various motor control encoders supported in this SDK. + * This module contains APIs for device drivers for position sense encoders supported in this SDK. */ /** * \defgroup TAMAGAWA_UART_API_MODULE APIs for Tamagawa Encoder Over UART - * \ingroup MOTOR_CONTROL_API + * \ingroup POSITION_SENSE_API * * Here is the list of APIs used for Tamagawa encoder communication protocol *